Self-cleaning equipment and cleaning systems

Abstract

This application provides a self-cleaning device and system, applicable to the cleaning field. The self-cleaning device includes: a body; a roller module with a receiving space at the bottom of the body; the roller module includes a roller mop and a mop drive mechanism; a water replenishment mechanism and a smearing mechanism are provided in the rotation direction of the roller mop; the roller module drive mechanism has an inward-retracting position and an outward-expanding position; the outward-expanding position includes a maximum outward-expanding position and a transition position; when the roller module is in the maximum outward-expanding position, the distance between one end of the roller module and the opposite end of the receiving space is greater than or equal to 40 mm and less than or equal to 60 mm; during the outward-expanding movement of the roller module, the roller mop continues to rotate; when the roller module stops in the outward-expanding position, the roller mop continues to rotate with a rotational speed greater than or equal to 60 rpm and less than or equal to 240 rpm. This improves the cleaning effect of the cleaning device.

Description

Technical Field

[0001] This application relates to the field of cleaning technology, and in particular to an autonomous cleaning device and cleaning system. Background Technology

[0002] Cleaning equipment such as sweepers can suck up dust and dirt from the ground to keep it clean.

[0003] In related technologies, cleaning equipment includes a body and a roller assembly. The bottom of the body has a receiving space, within which the roller assembly is movable. In practical use, the roller assembly typically expands outward along the axial direction (parallel to the ground) to increase the cleaning area. The cleaning of floor stains is achieved through the rotation of the roller mop within the roller assembly.

[0004] However, during the outward or inward movement of the roller assembly, the coordination of its cleaning actions is insufficient, resulting in inadequate or missed cleaning. Utility Model Content

[0005] This application provides an autonomous cleaning device and cleaning system to solve the problem of insufficient or missed cleaning in related technologies.

[0006] On the one hand, this application provides a self-cleaning device, comprising:

[0007] Organism;

[0008] A roller module is provided in the receiving space at the bottom of the machine body. The roller module includes a roller mop and a mop drive mechanism for driving the roller mop to rotate. A water replenishment mechanism and a dirt scraping mechanism are provided in the rotation direction of the roller mop.

[0009] A roller module drive mechanism is used to drive the roller module to move in the receiving space. The roller module has an inward position within the receiving space and an outward position with one end extending beyond the outer edge of the machine body. The outward position includes a maximum outward position and a transition position. The transition position is any position of the roller module between the inward position and the maximum outward position. When the roller module is in the maximum outward position, the distance between the end of the roller module within the receiving space and the end opposite to the receiving space is greater than or equal to 40 mm and less than or equal to 60 mm.

[0010] During the sweeping and mopping cleaning task performed by the device, the roller module drive mechanism can drive the roller module to move outward from the inward position to the outward position. During the outward movement, the roller mop continues to rotate. When the roller module stops at the outward position, the roller mop continues to rotate and the rotation speed of the roller mop is greater than or equal to 60 revolutions per minute and less than or equal to 240 revolutions per minute.

[0011] By adopting the above technical solution, the self-cleaning device includes a body, a roller module, and a roller module drive mechanism. The roller module is disposed in a receiving space at the bottom of the body, and includes a roller mop and a mop drive mechanism for driving the mop to rotate. A water replenishment mechanism and a smearing mechanism are provided along the direction of mop rotation. The roller module drive mechanism is used to drive the roller module to move within the receiving space, allowing it to switch between an inward position fully contained within the body and an outward position with one end extending out of the body. Specifically, during the entire outward movement of the roller module, its roller mop remains rotating; and when the roller module stops in the outward position to perform cleaning, the roller mop continues to rotate at a specific range of rotational speeds.

[0012] When the device performs a sweeping and mopping task, the roller module drive mechanism drives the roller module to move outward from its retracted position. During this movement, the roller mop continues to rotate, ensuring that the areas it passes over are promptly wetted and wiped. When the roller module moves to its maximum outward position and stops, the roller mop continues to rotate to provide continuous and deep cleaning for the key areas.

[0013] Understandably, compared to related technologies where the roller module may stop rotating or provide inconsistent cleaning during outward movement, this solution ensures effective cleaning coverage of the entire movement path from the bottom of the machine to the outward edge by keeping the roller mop rotating throughout the outward movement. This eliminates missed or weakly cleaned areas caused by the movement of the roller module. Furthermore, optimized speed settings during the outward movement stop further guarantee cleaning intensity in key areas such as edges, thereby improving the overall cleaning efficiency and user experience.

[0014] In some embodiments of this application, the speed of the outward movement is greater than or equal to 20 mm / s and less than or equal to 60 mm / s, and during the outward movement, the rotational speed of the roller mop is greater than or equal to 60 rpm and less than or equal to 210 rpm.

[0015] In some embodiments of this application, when the device is performing a sweeping and mopping cleaning task and the roller module is stopped in the retracted position, the rotational speed of the roller is greater than or equal to 30 revolutions per minute and less than or equal to 240 revolutions per minute.

[0016] In some embodiments of this application, the device further includes:

[0017] A side-sweeping module is disposed at the bottom or side of the machine body, and includes a side-brush drive mechanism and a side brush. The side-brush drive mechanism is used to drive the side brush to rotate.

[0018] The middle sweeping module is located at the bottom of the machine body and includes a roller brush drive mechanism and a roller brush. The roller brush is located in the dust suction chamber at the bottom of the machine body, and the roller brush drive mechanism is used to drive the roller brush to rotate.

[0019] During the outward movement, the side brush and / or the roller brush remain rotating.

[0020] On one hand, this application provides a self-cleaning device, the device comprising:

[0021] Organism;

[0022] A side-sweeping module is disposed at the bottom or side of the machine body, and includes a side-brush drive mechanism and a side brush. The side-brush drive mechanism is used to drive the side brush to rotate.

[0023] The middle sweeping module is located at the bottom of the machine body and includes a roller brush drive mechanism and a roller brush. The roller brush is located in the dust suction chamber at the bottom of the machine body, and the roller brush drive mechanism is used to drive the roller brush to rotate.

[0024] A roller module is provided in the receiving space at the bottom of the machine body. The roller module includes a roller mop and a mop drive mechanism for driving the roller mop to rotate. A water replenishment mechanism and a dirt scraping mechanism are provided in the rotation direction of the roller mop.

[0025] A roller module drive mechanism is used to drive the roller module to move in the receiving space. The roller module has an inward position within the receiving space and an outward position with one end extending beyond the outer edge of the machine body. The outward position includes a maximum outward position and a transition position. The transition position is any position of the roller module between the inward position and the maximum outward position. When the roller module is in the maximum outward position, the distance between the end of the roller module within the receiving space and the end opposite to the receiving space is greater than or equal to 40 mm and less than or equal to 60 mm.

[0026] During the sweeping and mopping cleaning task performed by the device, the roller module drive mechanism can drive the roller module to move outward from the inward position to the outward position. The speed of the outward movement is greater than or equal to 20 mm per second and less than or equal to 60 mm per second. During the outward movement, the roller mop continues to rotate, and the rotation speed is greater than or equal to 120 revolutions per minute and less than or equal to 210 revolutions per minute.

[0027] During the outward movement, the side brush and / or the roller brush remain rotating.

[0028] On one hand, this application provides a self-cleaning device, the device comprising:

[0029] Organism;

[0030] A side-sweeping module is disposed at the bottom or side of the machine body, and includes a side-brush drive mechanism and a side brush. The side-brush drive mechanism is used to drive the side brush to rotate.

[0031] The middle sweeping module is located at the bottom of the machine body and includes a roller brush drive mechanism and a roller brush. The roller brush is located in the dust suction chamber at the bottom of the machine body, and the roller brush drive mechanism is used to drive the roller brush to rotate.

[0032] A roller module is provided in the receiving space at the bottom of the machine body. The roller module includes a roller mop and a mop drive mechanism for driving the roller mop to rotate. A water replenishment mechanism and a dirt scraping mechanism are provided in the rotation direction of the roller mop.

[0033] A roller module drive mechanism is used to drive the roller module to move in the receiving space. The roller module has an inward position within the receiving space and an outward position with one end extending beyond the outer edge of the machine body. The outward position includes a maximum outward position and a transition position. The transition position is any position of the roller module between the inward position and the maximum outward position. When the roller module is in the maximum outward position, the distance between the end of the roller module within the receiving space and the end opposite to the receiving space is greater than or equal to 40 mm and less than or equal to 60 mm.

[0034] During the sweeping and mopping cleaning task performed by the device, the roller module drive mechanism can drive the roller module to move outward from the inward position to the outward position. The speed of the outward movement is greater than or equal to 20 mm / s and less than or equal to 60 mm / s. During the outward movement, the roller mop continues to rotate at a speed greater than or equal to 120 rpm and less than or equal to 210 rpm. When the roller module stops at the outward position, the roller mop continues to rotate at a speed greater than or equal to 120 rpm and less than or equal to 240 rpm.

[0035] During the outward movement, the side brush and / or the roller brush remain rotating.

[0036] On one hand, this application provides a self-cleaning device, the device comprising:

[0037] Organism;

[0038] A side-sweeping module is disposed at the bottom or side of the machine body, and includes a side-brush drive mechanism and a side brush. The side-brush drive mechanism is used to drive the side brush to rotate.

[0039] The middle sweeping module is located at the bottom of the machine body and includes a roller brush drive mechanism and a roller brush. The roller brush is located in the dust suction chamber at the bottom of the machine body, and the roller brush drive mechanism is used to drive the roller brush to rotate.

[0040] A roller module is provided in the receiving space at the bottom of the machine body. The roller module includes a roller mop and a mop drive mechanism for driving the roller mop to rotate. A water replenishment mechanism and a dirt scraping mechanism are provided in the rotation direction of the roller mop.

[0041] A roller module drive mechanism is used to drive the roller module to move in the receiving space. The roller module has an inward position within the receiving space and an outward position with one end extending beyond the outer edge of the machine body. The outward position includes a maximum outward position and a transition position. The transition position is any position of the roller module between the inward position and the maximum outward position. When the roller module is in the maximum outward position, the distance between the end of the roller module within the receiving space and the end opposite to the receiving space is greater than or equal to 40 mm and less than or equal to 60 mm.

[0042] During the sweeping and mopping cleaning task performed by the device, the roller module drive mechanism can drive the roller module to move outward from the inward position to the outward position. The speed of the outward movement is greater than or equal to 20 mm per second and less than or equal to 60 mm per second. During the outward movement, the roller mop continues to rotate, and the rotation speed is greater than or equal to 120 revolutions per minute and less than or equal to 210 revolutions per minute.

[0043] During the sweeping and mopping cleaning task performed by the device, the roller module drive mechanism can drive the roller module to move inward from the outward expansion position to the inward retraction position. The inward retraction movement speed is greater than or equal to 20 mm / s and less than or equal to 60 mm / s. During the inward retraction movement, the roller mop continues to rotate, and the rotation speed is greater than or equal to 120 rpm and less than or equal to 210 rpm.

[0044] During the outward expansion movement, the side brush and / or the roller brush remain rotating;

[0045] During the inward movement, the side brush and / or the roller brush remain rotating.

[0046] On one hand, this application provides a self-cleaning device, the device comprising:

[0047] Organism;

[0048] A side-sweeping module is disposed at the bottom or side of the machine body, and includes a side-brush drive mechanism and a side brush. The side-brush drive mechanism is used to drive the side brush to rotate.

[0049] The middle sweeping module is located at the bottom of the machine body and includes a roller brush drive mechanism and a roller brush. The roller brush is located in the dust suction chamber at the bottom of the machine body, and the roller brush drive mechanism is used to drive the roller brush to rotate.

[0050] A roller module is provided in the receiving space at the bottom of the machine body. The roller module includes a roller mop and a mop drive mechanism for driving the roller mop to rotate. A water replenishment mechanism and a dirt scraping mechanism are provided in the rotation direction of the roller mop.

[0051] A roller module drive mechanism is used to drive the roller module to move in the receiving space. The roller module has an inward position within the receiving space and an outward position with one end extending beyond the outer edge of the machine body. The outward position includes a maximum outward position and a transition position. The transition position is any position of the roller module between the inward position and the maximum outward position. When the roller module is in the maximum outward position, the distance between the end of the roller module within the receiving space and the end opposite to the receiving space is greater than or equal to 40 mm and less than or equal to 60 mm.

[0052] During the sweeping and mopping cleaning task performed by the device, the roller module drive mechanism can drive the roller module to move outward from the inward position to the outward position. The speed of the outward movement is greater than or equal to 20 mm / s and less than or equal to 60 mm / s. During the outward movement, the roller mop continues to rotate at a speed greater than or equal to 120 rpm and less than or equal to 210 rpm. When the roller module stops at the outward position, the roller mop continues to rotate at a speed greater than or equal to 120 rpm and less than or equal to 240 rpm.

[0053] During the sweeping and mopping cleaning task performed by the device, the roller module drive mechanism can drive the roller module to move inward from the outward expansion position to the inward retraction position. The inward retraction movement speed is greater than or equal to 20 mm / s and less than or equal to 60 mm / s. During the inward retraction movement, the roller mop continues to rotate, and the rotation speed is greater than or equal to 120 rpm and less than or equal to 210 rpm.

[0054] During the outward expansion movement, the side brush and / or the roller brush remain rotating;

[0055] During the inward movement, the side brush and / or the roller brush remain rotating.

[0056] On one hand, this application provides a self-cleaning device, the device comprising:

[0057] Organism;

[0058] A side-sweeping module is disposed at the bottom or side of the machine body, and includes a side-brush drive mechanism and a side brush. The side-brush drive mechanism is used to drive the side brush to rotate.

[0059] The middle sweeping module is located at the bottom of the machine body and includes a roller brush drive mechanism and a roller brush. The roller brush is located in the dust suction chamber at the bottom of the machine body, and the roller brush drive mechanism is used to drive the roller brush to rotate.

[0060] A roller module is provided in the receiving space at the bottom of the machine body. The roller module includes a roller mop and a mop drive mechanism for driving the roller mop to rotate. A water replenishment mechanism and a dirt scraping mechanism are provided in the rotation direction of the roller mop.

[0061] A roller module drive mechanism is used to drive the roller module to move in the receiving space. The roller module has an inward position within the receiving space and an outward position with one end extending beyond the outer edge of the machine body. The outward position includes a maximum outward position and a transition position. The transition position is any position of the roller module between the inward position and the maximum outward position. When the roller module is in the maximum outward position, the distance between the end of the roller module within the receiving space and the end opposite to the receiving space is greater than or equal to 40 mm and less than or equal to 60 mm.

[0062] During the sweeping and mopping cleaning task performed by the device, the roller module drive mechanism drives the roller module to move from the inward position to the maximum outward position. The outward movement takes more than or equal to 1 second and less than or equal to 2 seconds. During the outward movement, the roller mop continues to rotate at a speed greater than or equal to 120 revolutions per minute and less than or equal to 210 revolutions per minute. When the roller module stops at the maximum outward position, the roller mop continues to rotate at a speed greater than or equal to 120 revolutions per minute and less than or equal to 240 revolutions per minute.

[0063] During the outward movement, the side brush and / or the roller brush remain rotating.

[0064] In some embodiments of this application, during the outward expansion movement, the side brush rotates at a speed greater than or equal to 180 revolutions per minute and less than or equal to 300 revolutions per minute, and the roller brush rotates at a speed greater than or equal to 300 revolutions per minute and less than or equal to 600 revolutions per minute.

[0065] In some embodiments of this application, when the roller module is stopped at the outward expansion position, the side brush and / or the roller brush continue to rotate, the side brush rotation speed is greater than or equal to 180 rpm and less than or equal to 300 rpm, and the roller brush rotation speed is greater than or equal to 300 rpm and less than or equal to 600 rpm.

[0066] In some embodiments of this application, during a portion of the time period of the outward expansion movement process, the device performs the following actions:

[0067] After turning, continue moving, or continue moving in the direction of movement before expanding outward, or continue moving in the direction of movement before expanding outward after pausing, or move backward a distance after pausing and then continue moving forward.

[0068] In some embodiments of this application, during a portion of the inward movement process, the device performs the following actions:

[0069] After turning, continue moving, or continue moving in the direction of movement before the inward movement, or pause and then continue moving in the direction of movement before the inward movement.

[0070] In some embodiments of this application, during the outward movement, the roller mop continues to rotate at a speed greater than or equal to 120 revolutions per minute and less than or equal to 180 revolutions per minute.

[0071] In some embodiments of this application, when the roller module is stopped at the maximum outward expansion position, the roller mop continues to rotate and the rotational speed of the roller mop is greater than or equal to 120 revolutions per minute and less than or equal to 190 revolutions per minute.

[0072] On the one hand, this application provides a cleaning system, including a base station and any of the above-described autonomous cleaning devices.

[0073] Since the cleaning system includes any of the above-mentioned autonomous cleaning devices, the advantages of the cleaning system including any of the above-mentioned autonomous cleaning devices can be found in the relevant descriptions above, and will not be repeated here. Attached Figure Description

[0074] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0075] Figure 1 A schematic diagram of the self-cleaning equipment provided in this application;

[0076] Figure 2 for Figure 1 A diagram showing the state of the roller module retracted to the innermost part of the machine body;

[0077] Figure 3 for Figure 1 A diagram showing the roller module in its outward expansion position.

[0078] Figure 4 A schematic diagram showing the relationship between the cleaning effect evaluation index provided in this application and the rotation speed of the roller mop.

[0079] Figure label:

[0080] 100. Self-cleaning equipment;

[0081] 110. Body; 111. Storage space; 120. Roller module; 121. Roller mop; 130. Side sweeping module; 131. Side brush; 140. Center sweeping module; 141. Roller brush; 150. Drive wheel.

[0082] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0083] Self-cleaning devices, such as robotic vacuum cleaners with mopping functions, can wipe and clean floors using roller mops on their bottoms. These devices typically use laterally movable roller modules to expand the cleaning range and cover traditionally hard-to-reach areas such as walls and furniture legs.

[0084] Currently, some cleaning equipment is equipped with an expandable roller module. This module is located in a storage space at the bottom of the machine body and can be moved in a direction parallel to the ground by an independent drive mechanism, so that one end of the roller mop extends out of the outer edge of the machine body during cleaning to reach and clean the edge areas.

[0085] However, the related technologies have cleaning efficiency deficiencies when expanding the cleaning range by extending the roller module. Specifically, as the roller module moves from the retracted position to the expanded position, the rotation of the roller mop often fails to coordinate effectively with this horizontal movement.

[0086] For example, during movement, the roller mop may be stationary or rotating at a low speed. This prevents the roller mop from completing an effective cleaning cycle of scraping, moisturizing, and wiping over the area it travels across. This results in insufficient or complete omissions in areas covered by the movement path (especially along edges where stains may be heavier), creating "missed mopping" or "weak mopping" blind spots, thus reducing the overall cleaning effectiveness and user experience of the equipment.

[0087] Therefore, there is an urgent need for an autonomous cleaning device that can maintain efficient cleaning and avoid creating blind spots during outward movement.

[0088] To address the technical problem of insufficient or missed cleaning caused by uncoordinated cleaning actions during the outward movement of roller modules in related technologies, this solution provides an autonomous cleaning device. This device controls the continuous rotation of the roller mop during its outward movement, coordinating this rotation with the moving speed, stationary rotation speed, and outward distance to ensure continuous and uniform water cleaning throughout the process while expanding the cleaning range.

[0089] This self-cleaning device includes a main body, a roller module, and a roller module drive mechanism. The roller module is housed within a recessed space at the bottom of the main body and includes a roller mop and a mop drive mechanism for rotating the mop. A water replenishment mechanism and a smearing mechanism are provided along the direction of mop rotation. The roller module drive mechanism moves the roller module within the recessed space, allowing it to switch between an inward position fully contained within the main body and an outward position with one end extending out of the main body. Specifically, the roller mop remains rotated throughout the outward movement of the roller module; and even when the roller module stops cleaning in the outward position, the roller mop continues to rotate at a specific range of speeds.

[0090] When the device performs a sweeping and mopping task, the roller module drive mechanism drives the roller module to move outward from its retracted position. During this movement, the roller mop continues to rotate, ensuring that the areas it passes over are promptly wetted and wiped. When the roller module moves to its maximum outward position and stops, the roller mop continues to rotate to provide continuous and deep cleaning for the key areas.

[0091] Understandably, compared to related technologies where the roller module may stop rotating or provide inconsistent cleaning during outward movement, this solution ensures effective cleaning coverage of the entire movement path from the bottom of the machine to the outward edge by keeping the roller mop rotating throughout the outward movement. This eliminates missed or weakly cleaned areas caused by the movement of the roller module. Furthermore, optimized speed settings during the outward movement stop further guarantee cleaning intensity in key areas such as edges, thereby improving the overall cleaning efficiency and user experience.

[0092] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses consistent with some aspects of this application as detailed in the appended claims.

[0093] In the embodiments of this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the embodiments of this application, unless otherwise stated, "multiple" means two or more.

[0094] Furthermore, in the embodiments of this application, the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application.

[0095] In the embodiments of this application, unless otherwise explicitly specified and limited, the terms "installation", "connection", "linking", "fixing", etc., should be interpreted broadly. For example, they can be fixed connections, detachable connections, or integrated; they can be direct connections or indirect connections through an intermediate medium; they can be connections within two components or interactions between two components.

[0096] In embodiments of this application, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, article, or apparatus that includes that element.

[0097] In the embodiments of this application, the terms "exemplary" or "for example" are used to indicate that something is an example, illustration, or description. Any embodiment or design that is described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design. Specifically, the use of the terms "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0098] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0099] See Figures 1 to 3 This application provides an autonomous cleaning device 100, which may include a body 110, a roller module 120 and a roller module 120 drive mechanism.

[0100] The autonomous cleaning device 100 includes, but is not limited to, a sweeping robot (including those with one or more cleaning mechanisms), a floor scrubber (a robot with mopping function but no sweeping function), a sweeping and mopping robot, and a floor scrubber (such as a handheld floor scrubber or a non-handheld floor scrubber).

[0101] The body 110 serves as the main frame structure of the entire autonomous cleaning device 100, providing a mounting base and support for other components and playing a role in bearing and protecting the internal components. A receiving space 111 can be provided at the bottom of the body 110, which is used to accommodate the roller module 120 and allows the roller module 120 to move in a specific direction within it.

[0102] For example, a drive wheel 150 may be provided below the body 110 for moving the body.

[0103] The roller module 120 can be disposed in the receiving space 111 at the bottom of the body 110. The roller module 120 may include a roller mop 121 and a mop drive mechanism for driving the roller mop 121 to rotate.

[0104] The roller mop 121 is a rotatable cleaning component, typically covered with a cleaning material, used to wipe the floor during rotation. The mop drive mechanism is connected to the roller mop 121 and provides power to drive the roller mop 121 to rotate around its own axis.

[0105] A water replenishment mechanism and a sludge scraping mechanism can be provided in the rotation direction of the roller mop 121. The function of the water replenishment mechanism is to supply cleaning liquid, such as water or cleaning solution, to the rotating roller mop 121 to keep it moist, thereby improving the cleaning effect. The sludge scraping mechanism can be set after the roller mop 121 has finished wiping the ground and before it rotates to a position where it contacts the water replenishment mechanism again, to scrape off the sewage and dirt adhering to the surface of the roller mop 121, so that the roller mop 121 can re-contact clean liquid in subsequent rotations, forming a living water cleaning cycle and avoiding mopping dirt with dirt.

[0106] The roller module 120 drive mechanism can be used to drive the roller module 120 to move within the receiving space 111. Through the action of the roller module 120 drive mechanism, the roller module 120 can change its position within the receiving space 111.

[0107] For example, the roller module 120 may have an inward position located within the receiving space 111 and an outward position extending beyond the outer edge of the body 110.

[0108] It should be noted that: the retraction position includes multiple retraction position points, such as... Figure 2 As shown, when the roller module 120 retracts to the innermost position of the body 110, that is, when it contacts the end of the receiving space 111, the roller module 120 is at the limit position of the retracted position. The outward expansion position includes multiple outward expansion point points. When the roller module 120 expands to the outermost position of the body 110, that is, the maximum outward expansion position, the roller module 120 is at the limit position of the outward expansion position. Positions within a first predetermined distance range from the limit position of the retracted position to the limit position of the outward expansion position are all considered part of the retracted position; for example... Figure 3 As shown, the positions within a second predetermined distance range from the extreme position of the outward expansion position to the extreme position of the inward contraction position of the roller module 120 are all considered to be in the outward expansion position.

[0109] The direction in which the roller module 120 moves inward can be referenced. Figure 3 In the Y direction, the direction in which the roller module 120 moves towards the maximum outward expansion position can be referenced to the X direction in the figure. The X direction is the opposite of the Y direction.

[0110] When in the retracted position, the roller module 120 is entirely within the bottom contour of the body 110, and its cleaning width is basically the same as the width of the body 110, which is suitable for cleaning regular areas. When in the expanded position, one end of the roller module 120 extends beyond the outer edge of the body 110, thereby expanding the effective cleaning width of the equipment.

[0111] The outward expansion position includes the maximum outward expansion position and the transition position. The transition position is any position of the roller module 120 between the inward retraction position and the maximum outward expansion position.

[0112] The maximum outward expansion position refers to the farthest limit position that the roller module 120 can reach in the outward expansion direction. The transition position refers to any intermediate position that the roller module 120 may stop at during its movement between the inward position and the maximum outward expansion position, providing flexibility to adapt to gaps along edges or obstacles of different widths.

[0113] When the roller module 120 is in the maximum outward expansion position, the distance between the end of the roller module 120 located in the receiving space 111 and the opposite end of the receiving space 111 can be greater than or equal to 40 mm and less than or equal to 60 mm.

[0114] This range allows the roller mop 121 to effectively cover the cleaning blind spots along the outer edge of the machine body, while ensuring that its extension is not too large, so as not to affect the equipment's passage in narrow spaces or exceed the effective monitoring range of the safety sensors.

[0115] For example, when the roller module 120 is in the maximum outward expansion position, the distance between the roller module 120 and the end of the receiving space 111 can be 40 mm, 45 mm, 50 mm, 53 mm, 55 mm, 57 mm or 60 mm, etc.

[0116] During the sweeping and mopping cleaning task, the roller module 120 drive mechanism can drive the roller module 120 to move outward from the retracted position to the outward expansion position. During the outward expansion movement, the roller mop 121 can continue to rotate. When the roller module 120 stops in the outward expansion position, the roller mop 121 can continue to rotate, and the rotation speed of the roller mop 121 is greater than or equal to 60 revolutions per minute and less than or equal to 240 revolutions per minute.

[0117] That is, when the roller module 120 changes its position in the horizontal direction to cover a new floor area, its cleaning function is not interrupted, and the roller mop 121 continues to wipe the floor along the movement path. When the roller module 120 drive mechanism stops driving, so that the roller module 120 is stably stopped at a selected outward expansion position, the roller mop 121 also continues to rotate, and its rotation speed is controlled within a specific speed range, for example, greater than or equal to 60 revolutions per minute and less than or equal to 240 revolutions per minute.

[0118] For example, the rotational speed of the roller mop 121 can be 60 rpm, 70 rpm, 80 rpm, 90 rpm, 100 rpm, 150 rpm, 210 rpm or 240 rpm, etc., and this application embodiment does not limit it.

[0119] The lower speed limit is set to ensure that the roller mop 121 can complete at least one full cycle of scraping, rehydrating, and mopping within a unit of time, ensuring continuous cleaning with running water in conjunction with the device's movement. The upper speed limit is set considering the practical constraints of the compact internal space, limited battery capacity, and limited drive power of the small autonomous cleaning device 100, as well as the potential negative impact of excessively high speeds on motor and battery life and operational safety. Furthermore, after verification, exceeding this upper speed limit has very limited effect on improving cleaning performance.

[0120] By keeping the roller mop 121 rotating throughout the entire outward expansion movement, effective cleaning coverage is ensured along the entire movement path from the bottom of the machine body to the outward edge, eliminating missed or weakly cleaned areas caused by the movement of the roller module 120. Simultaneously, the optimized rotation speed when the outward expansion is stopped further guarantees the cleaning intensity of key areas such as the edges, thereby improving the overall cleaning efficiency of the equipment and the user experience.

[0121] As a specific embodiment of this application, the speed of the outward movement can be greater than or equal to 20 mm / s and less than or equal to 60 mm / s.

[0122] For example, the speed of the outward movement can be 20 mm / s, 30 mm / s, 40 mm / s, 45 mm / s, 47 mm / s, 50 mm / s, 55 mm / s, or 60 mm / s, etc., and the embodiments of this application do not limit this.

[0123] The outward expansion speed can refer to the linear speed at which the roller module 120 drive mechanism drives the entire roller module 120 to move horizontally from the inward position to the outward expansion position within the accommodating space 111.

[0124] If the moving speed is too fast, the roller module 120 may move unsteadily, or the effective contact time between the roller mop 121 and the ground may be too short; if the moving speed is too slow, it will affect the overall efficiency of the cleaning task.

[0125] For example, the drive mechanism of the roller module 120 may include a stepper motor, a servo motor with a lead screw and nut pair, or a linear drive device such as a linear motor, and adjust the speed of outward movement by controlling the speed or pulse frequency of the motor.

[0126] During the outward movement, the rotation speed of the roller mop 121 can be greater than or equal to 60 revolutions per minute and less than or equal to 210 revolutions per minute.

[0127] For example, the rotational speed of the roller mop 121 can be 60 rpm, 70 rpm, 80 rpm, 90 rpm, 100 rpm, 120 rpm, 150 rpm, 200 rpm or 210 rpm, etc., and this application embodiment does not limit it.

[0128] Rotational speed refers to the angular velocity at which the mop drive mechanism drives the roller mop 121 to rotate around its own axis. Maintaining this rotational speed range during outward movement ensures that the roller mop 121 has a sufficient rotational frequency to perform effective wiping actions at every point on the ground it passes through during horizontal movement.

[0129] The lower speed limit ensures that the roller mop 121 can complete at least one full cycle of cleaning (scraping, rehydrating, and mopping) during the brief outward movement, thus preventing weak mopping areas due to insufficient cleaning, especially along heavily soiled edges. The upper speed limit is set slightly lower than the maximum speed of the device when stationary in the outward position because the roller module 120 drive mechanism and the mop drive mechanism may operate simultaneously during outward movement, increasing the system's total power consumption and heat load. This optimizes energy distribution, prevents motor overload, and ensures operational safety and component lifespan while maintaining basic cleaning performance.

[0130] By coordinating and optimizing the speed of outward movement with the rotational speed of the roller mop 121 during the process, and limiting its range, the autonomous cleaning device 100 can ensure that the roller mop 121 performs continuous and uniform water cleaning on the covered movement trajectory area while expanding its cleaning width. This effectively eliminates the problem of cleaning blind spots or inconsistent cleaning effects that may occur due to module movement, and improves the cleaning quality and reliability when dynamically expanding the cleaning range.

[0131] As a specific embodiment of this application, when the device is performing a sweeping and mopping cleaning task and the roller module 120 is stopped in the retracted position, the rotation speed of the roller can be greater than or equal to 30 revolutions per minute and less than or equal to 240 revolutions per minute.

[0132] For example, the rotational speed of the roller mop 121 can be 30 rpm, 60 rpm, 80 rpm, 90 rpm, 100 rpm, 120 rpm, 150 rpm, 200 rpm or 240 rpm, etc., and this application embodiment does not limit it.

[0133] During the sweeping and mopping process of the autonomous cleaning device 100, the roller module 120 is not always in an outward-expanding state. When the cleaning task involves a large open area, or when special cleaning of edges or obstacle edges is not required, the roller module 120 can stop in its retracted position. The retracted position refers to the state in which the roller module 120 is completely contained within the bottom contour of the body 110, and at this time, the cleaning width of the device is mainly determined by the width of the body 110 itself.

[0134] The lower limit of the rotational speed range is set with consideration for the operational characteristics of the equipment when cleaning large areas along a conventional zigzag path. Since this type of path planning typically involves repeated coverage of the same area (e.g., cross-sweeping), the cleaning intensity required per unit area of ​​the floor during a single pass can be appropriately reduced. Therefore, setting the minimum rotational speed in the retracted position to a relatively low value can achieve a certain degree of energy saving and reduce operating noise while ensuring basic cleaning effectiveness.

[0135] The upper limit of the rotation speed range can be consistent with the upper limit of the rotation speed of the equipment when it is stopped in the extended position, ensuring that the maximum cleaning capacity that the roller mop 121 can provide is consistent in various working states. Its setting is mainly based on the power limit of the overall drive system of the equipment, thermal management requirements, and marginal benefits of cleaning effect.

[0136] For example, the mop drive mechanism can switch between different speed levels of the roller mop 121 by adjusting the input voltage or current of the DC motor or by adjusting the frequency of the AC motor through a frequency converter, according to the instructions of the equipment control system.

[0137] By setting a wide range of rotational speeds, from low to high, for the roller mop 121 in the retracted position of the roller module 120, the autonomous cleaning device 100 can flexibly adjust cleaning intensity and energy consumption according to different cleaning modes (such as standard mopping, heavy-duty mopping, and energy-saving mopping), the degree of dirt on the floor, or user settings. This allows the device to efficiently complete basic cleaning of large areas in the retracted position, while reserving sufficient room for improvement in cleaning capacity to deal with potentially heavily soiled areas, achieving a balance between cleaning efficiency and operational economy.

[0138] As a specific embodiment of this application, the device may further include a side scanning module 130 and a center scanning module 140.

[0139] The side brush module 130 can be located at the bottom or side of the body 110, and includes a side brush drive mechanism and a side brush 131. The side brush drive mechanism can be used to drive the side brush 131 to rotate.

[0140] The side brush 131 can be a rotating component with multiple bristle bundles, whose axis of rotation is approximately perpendicular to the ground. A side brush drive mechanism is connected to the side brush 131 and can provide power to drive the side brush 131 to rotate about its axis.

[0141] The function of the side brush 131 is to sweep dust, debris, and other waste located on the walls, corners, or sides of the machine body 110 towards the suction path at the bottom center of the machine during the movement of the device. For example, the side brush drive mechanism can be a separate micro DC motor that directly drives the side brush 131, or it can be connected to the main drive system through a transmission mechanism such as a gearbox or transmission belt.

[0142] The central cleaning module 140 can be located at the bottom of the body 110, including a roller brush drive mechanism and a roller brush 141. The roller brush 141 is located in the suction chamber at the bottom of the body 110, and the roller brush drive mechanism can be used to drive the roller brush 141 to rotate.

[0143] The roller brush 141 can be a cylindrical component with bristles or rubber strips, installed in the channel of the suction chamber at the bottom of the body 110. The suction chamber is a hollow structure at the bottom of the body 110, connected to the suction duct of the device above.

[0144] A roller brush drive mechanism can be connected to the roller brush 141 to drive the roller brush 141 to rotate around its own axis. The function of the roller brush 141 is to pick up and throw up particles and dust on the ground by rotating, while simultaneously using the suction generated by the internal fan of the device to suck this debris into the dust collection container of the device through the suction chamber. For example, the roller brush drive mechanism can be a motor that drives the shaft of the roller brush 141 via a belt or gear set.

[0145] During the outward expansion movement, the side brush 131 and / or the roller brush 141 can continue to rotate. While the device expands its wet mopping range by driving the roller module 120 outward, its dry cleaning function is not paused or interrupted. The continuous rotation of the side brush 131 and the roller brush 141 ensures that as the roller mop 121 expands its cleaning width, dry debris in the corresponding expanded area and adjacent areas is also cleaned simultaneously.

[0146] By maintaining the coordinated operation of the side brush 131 and / or roller brush 141 with the roller mop 121 during the outward expansion movement, the device achieves seamless linkage of sweeping and mopping functions during spatial expansion. This avoids cleaning blind spots or efficiency gaps that may occur due to function module switching or asynchronous actions, such as mopping without sweeping or sweeping before mopping. It ensures that dry waste and wet stains in the entire target area from the center of the device to the edge of the expansion can be processed synchronously and continuously, thereby improving the overall integrity, consistency, and final effect of the cleaning operation.

[0147] As a specific embodiment of this application, during the outward expansion movement, the rotational speed of the side brush 131 can be greater than or equal to 180 revolutions per minute and less than or equal to 300 revolutions per minute.

[0148] For example, the rotation speed of the side brush 131 can be 180 rpm, 200 rpm, 235 rpm, 257 rpm, 280 rpm or 300 rpm, etc., and this application embodiment does not limit it.

[0149] The rotational speed of the side brush 131 is set so that it can effectively sweep dust and debris located at the edges and corners of the extended area towards the center of the device with a sufficient rotational frequency, preparing for the subsequent roller brush 141 and vacuuming action. This rotational speed range ensures that the side brush 131's edge cleaning capability is active and effective while the device moves laterally to extend the cleaning width.

[0150] The 141 roller brush can rotate at a speed greater than or equal to 300 revolutions per minute and less than or equal to 600 revolutions per minute.

[0151] For example, the rotational speed of the roller brush 141 can be 300 rpm, 400 rpm, 450 rpm, 510 rpm, 580 rpm or 600 rpm, etc., and the embodiments of this application do not limit this.

[0152] The roller brush 141 is set to a relatively high rotation speed because it needs to powerfully lift up particles and dust from the ground (including the debris swept in by the side brush 131) and use the airflow generated by its high-speed rotation to throw them into the suction chamber. During the outward movement, the equipment covers the edge areas where more debris may accumulate, so maintaining a high roller brush 141 rotation speed helps ensure a strong ability to pick up and remove dry debris in these areas.

[0153] By controlling the rotation speeds of the side brush 131 and the roller brush 141 within the aforementioned optimized range during the outward expansion process, the device ensures that its dry sweeping subsystem operates efficiently during coordinated expansion. This achieves performance matching and deep synergy between sweeping and mopping functions during this dynamic outward expansion phase, allowing the floor in the expanded area to be wet-mopped while simultaneously and powerfully sweeping away dry debris, thereby improving the thoroughness and efficiency of the overall cleaning during this phase.

[0154] As a specific embodiment of this application, when the roller module 120 is stopped in the outward expansion position, the side brush 131 and / or the roller brush 141 can continue to rotate.

[0155] The side brush 131 can rotate at a speed greater than or equal to 180 revolutions per minute and less than or equal to 300 revolutions per minute.

[0156] For example, the rotation speed of the side brush 131 can be 180 rpm, 200 rpm, 235 rpm, 257 rpm, 280 rpm or 300 rpm, etc., and this application embodiment does not limit it.

[0157] The 141 roller brush can rotate at a speed greater than or equal to 300 revolutions per minute and less than or equal to 600 revolutions per minute.

[0158] For example, the rotational speed of the roller brush 141 can be 300 rpm, 400 rpm, 450 rpm, 510 rpm, 580 rpm or 600 rpm, etc., and the embodiments of this application do not limit this.

[0159] Setting the side brush 131 and roller brush 141 to the same speed range as during the outward movement when they are stationary in the outward expansion position ensures consistent performance of the cleaning subsystem when cleaning key areas. When the roller module 120 stops in the outward expansion position, it means that the device is performing spot cleaning or low-speed deep cleaning on areas such as wall edges and furniture legs. The side brush 131 continues to rotate within this speed range, effectively cleaning static or newly disturbed small debris close to the edges. The roller brush 141 continues to work within this higher speed range, ensuring strong physical sweeping and pickup capabilities in the area, effectively removing dry dirt in conjunction with suction.

[0160] By keeping the side brush 131 and roller brush 141 within the same optimized rotational speed range as during the outward movement while the outward movement is stopped, the continuous effectiveness and stable performance of the dry cleaning function are ensured throughout the entire outward cleaning cycle. This achieves full-process deep synergy between sweeping and mopping functions when cleaning key edge areas, ensuring that while the roller mop 121 continuously wets and wipes these areas, dry debris is also powerfully and continuously swept away, thus guaranteeing that the overall cleaning effect on complex edge areas meets the expected standards.

[0161] As a specific embodiment of this application, during a certain period of time during the outward expansion movement, the device can perform the following actions:

[0162] After turning, you can continue moving, or continue moving in the direction you were moving in before expanding outwards, or stop moving and then continue moving in the direction you were moving in before expanding outwards, or stop moving and then move backwards a certain distance before continuing forwards.

[0163] That is, the equipment can perform one or more of the following actions in combination: during the outward expansion movement of the roller module 120, the equipment body is controlled to turn and continue to move in the new direction after the turn is completed; or, the equipment body is controlled to maintain and continue to move in the original direction of movement before the outward expansion movement is started; or, the equipment body is controlled to temporarily stop its overall movement, and after a period of pause, continue to move in the direction of movement before the outward expansion movement; or, the equipment body is controlled to pause briefly, then move backward a distance, and then continue to move forward.

[0164] For example, when the equipment needs to clean the inside of an L-shaped corner, a strategy of expanding outwards while turning can be adopted, allowing the roller module 120 to extend outwards as the equipment body rotates into the corner, thus ensuring that the roller mop 121 can seamlessly fit against both sides of the corner for cleaning. Another example is the strategy of pausing and then moving forward or pausing and then moving backward and forward again. When facing heavily soiled areas or complex obstacles, a brief pause or minor position adjustment allows the roller module 120 more time to fully extend or adjust its angle, while enabling the roller mop 121 to stay on specific points for a longer period of time to improve cleaning intensity. The backward movement helps to reposition itself in narrow spaces or avoid the risk of entanglement.

[0165] By allowing or actively controlling the device body to perform the aforementioned complex actions such as turning, pausing, and reversing during its outward expansion movement, the device's cleaning behavior exhibits greater environmental adaptability and cleaning strategy flexibility. This transforms the outward expansion function from a simple unidirectional linear extension into a dynamic and intelligent collaborative cleaning mode deeply integrated with the device's overall navigation, obstacle avoidance, and path planning. This effectively solves the technical challenge of coordinating the body movement and module expansion to achieve thorough cleaning in complex scenarios such as right-angle turns, narrow passages, or areas where dirt accumulates, thus improving the completeness and intelligence of cleaning coverage.

[0166] This application embodiment also provides an autonomous cleaning device 100, including a body 110, a side sweeping module 130, a center sweeping module 140, a roller module 120, and a roller module 120 drive mechanism.

[0167] The side brush module 130 is located at the bottom or side of the body 110 and includes a side brush drive mechanism and a side brush 131. The side brush drive mechanism is used to drive the side brush 131 to rotate.

[0168] The central cleaning module 140 is located at the bottom of the body 110 and includes a roller brush drive mechanism and a roller brush 141. The roller brush 141 is located in the suction chamber at the bottom of the body 110, and the roller brush drive mechanism is used to drive the roller brush 141 to rotate.

[0169] The roller module 120 is located in the receiving space 111 at the bottom of the body 110. The roller module 120 includes a roller mop 121 and a mop drive mechanism for driving the roller mop 121 to rotate. A water replenishment mechanism and a dirt scraping mechanism are provided in the rotation direction of the roller mop 121.

[0170] The roller module 120 drive mechanism is used to drive the roller module 120 to move in the receiving space 111. The roller module 120 has an inward position located in the receiving space 111 and an outward position with one end extending beyond the outer edge of the body 110. The outward position includes a maximum outward position and a transition position. The transition position is any position of the roller module 120 from the inward position to the maximum outward position. When the roller module 120 is in the maximum outward position, the distance between the end of the roller module 120 located in the receiving space 111 and the end opposite to the receiving space 111 is greater than or equal to 40 mm and less than or equal to 60 mm.

[0171] During the sweeping and mopping cleaning task, the roller module 120 drive mechanism can drive the roller module 120 to move outward from the inward position to the outward position. The outward movement speed is greater than or equal to 20 mm / s and less than or equal to 60 mm / s. During the outward movement, the roller mop 121 keeps rotating, and the rotation speed is greater than or equal to 120 revolutions per minute and less than or equal to 210 revolutions per minute.

[0172] During the outward movement, the side brush 131 and / or the roller brush 141 remain rotating.

[0173] The specific structures of the body 110, the side sweeping module 130, the center sweeping module 140, the roller module 120, and the roller module 120 drive mechanism are the same as those in the previous embodiments, and will not be described again in this embodiment.

[0174] For example, the speed of the outward movement can be 20 mm / s, 30 mm / s, 40 mm / s, 45 mm / s, 47 mm / s, 50 mm / s, 55 mm / s, or 60 mm / s, etc., and the embodiments of this application do not limit this.

[0175] The outward expansion speed can refer to the linear speed at which the roller module 120 drive mechanism drives the entire roller module 120 to move horizontally from the inward position to the outward expansion position within the accommodating space 111.

[0176] If the moving speed is too fast, the roller module 120 may move unsteadily, or the effective contact time between the roller mop 121 and the ground may be too short; if the moving speed is too slow, it will affect the overall efficiency of the cleaning task.

[0177] For example, the drive mechanism of the roller module 120 may include a stepper motor, a servo motor with a lead screw and nut pair, or a linear drive device such as a linear motor, and adjust the speed of outward movement by controlling the speed or pulse frequency of the motor.

[0178] During the outward movement, the rotation speed of the roller mop 121 can be greater than or equal to 120 revolutions per minute and less than or equal to 210 revolutions per minute.

[0179] For example, the rotational speed of the roller mop 121 can be 120 rpm, 130 rpm, 140 rpm, 150 rpm, 160 rpm, 165 rpm, 170 rpm, 187 rpm or 210 rpm, etc., and this application embodiment does not limit it.

[0180] For example, during the outward movement, the roller mop 121 continues to rotate at a speed greater than or equal to 120 revolutions per minute and less than or equal to 180 revolutions per minute. For instance, the speed of the roller mop 121 can be 120 revolutions per minute, 130 revolutions per minute, 140 revolutions per minute, 150 revolutions per minute, 160 revolutions per minute, 165 revolutions per minute, 170 revolutions per minute, etc.

[0181] Rotational speed refers to the angular velocity at which the mop drive mechanism drives the roller mop 121 to rotate around its own axis. Maintaining this rotational speed range during outward movement ensures that the roller mop 121 has a sufficient rotational frequency to perform effective wiping actions at every point on the ground it passes through during horizontal movement.

[0182] Setting the lower limit of the rotation speed during outward movement to a higher value is primarily due to the specific characteristics of outward cleaning scenarios. Outward movement is typically performed to cover and clean areas along edges or around obstacles where stains may be more concentrated or stubborn. The higher initial rotation speed ensures that every point on the horizontal movement path of the roller mop 121 can wipe the ground at a higher frequency, thus providing a more thorough water circulation along the path within a limited movement time and avoiding weak wiping due to movement.

[0183] The upper limit of the rotational speed is set slightly lower than the maximum rotational speed of the equipment when it is stationary in the extended position. This is because during the extended movement, the roller module 120 drive mechanism and the mop drive mechanism may work simultaneously, which would increase the total power consumption and heat load of the system. This is to optimize the energy distribution of the whole machine, prevent motor overload, and ensure operational safety and component lifespan while ensuring basic cleaning effect.

[0184] During the outward expansion movement, the side brush 131 of the side sweeping module 130 and / or the roller brush 141 of the center sweeping module 140 continue to rotate under the drive of their respective drive mechanisms. As the roller mop 121 expands its wet mopping range outward, the side brush 131 can simultaneously sweep up debris at the edges of the expanded area and push it towards the center, while the roller brush 141 continues to rotate to pick up particles on the ground and remove them with the suction of the fan. For example, the drive of the side brush 131 and the roller brush 141 can be controlled independently or linked with the main travel motor or the outward expansion movement.

[0185] By coordinating the outward movement speed with the rotation speed of the roller mop 121, and maintaining the rotation of the side brush 131 and / or roller brush 141, the device ensures that its movement path and the expanded area simultaneously achieve efficient and continuous sweeping and mopping cleaning coverage during the expansion of the cleaning width. This effectively eliminates dynamic cleaning blind spots caused by asynchronous module actions or insufficient cleaning intensity, and improves the overall cleaning efficiency in complex scenarios such as along edges.

[0186] As a specific embodiment of this application, during the outward expansion movement, the rotational speed of the side brush 131 can be greater than or equal to 180 revolutions per minute and less than or equal to 300 revolutions per minute.

[0187] For example, the rotation speed of the side brush 131 can be 180 rpm, 200 rpm, 235 rpm, 257 rpm, 280 rpm or 300 rpm, etc., and this application embodiment does not limit it.

[0188] The rotational speed of the side brush 131 is set so that it can effectively sweep dust and debris located at the edges and corners of the extended area towards the center of the device with a sufficient rotational frequency, preparing for the subsequent roller brush 141 and vacuuming action. This rotational speed range ensures that the side brush 131's edge cleaning capability is active and effective while the device moves laterally to extend the cleaning width.

[0189] The 141 roller brush can rotate at a speed greater than or equal to 300 revolutions per minute and less than or equal to 600 revolutions per minute.

[0190] For example, the rotational speed of the roller brush 141 can be 300 rpm, 400 rpm, 450 rpm, 510 rpm, 580 rpm or 600 rpm, etc., and the embodiments of this application do not limit this.

[0191] The roller brush 141 is set to a relatively high rotation speed because it needs to powerfully lift up particles and dust from the ground (including the debris swept in by the side brush 131) and use the airflow generated by its high-speed rotation to throw them into the suction chamber. During the outward movement, the equipment covers the edge areas where more debris may accumulate, so maintaining a high roller brush 141 rotation speed helps ensure a strong ability to pick up and remove dry debris in these areas.

[0192] By controlling the rotation speeds of the side brush 131 and the roller brush 141 within the aforementioned optimized range during the outward expansion process, the device ensures that its dry sweeping subsystem operates efficiently during coordinated expansion. This achieves performance matching and deep synergy between sweeping and mopping functions during this dynamic outward expansion phase, allowing the floor in the expanded area to be wet-mopped while simultaneously and powerfully sweeping away dry debris, thereby improving the thoroughness and efficiency of the overall cleaning during this phase.

[0193] As a specific embodiment of this application, during a certain period of time during the outward expansion movement, the device can perform the following actions:

[0194] After turning, you can continue moving, or continue moving in the direction you were moving in before expanding outwards, or stop moving and then continue moving in the direction you were moving in before expanding outwards, or stop moving and then move backwards a certain distance before continuing forwards.

[0195] That is, the equipment can perform one or more of the following actions in combination: during the outward expansion movement of the roller module 120, the equipment body is controlled to turn and continue to move in the new direction after the turn is completed; or, the equipment body is controlled to maintain and continue to move in the original direction of movement before the outward expansion movement is started; or, the equipment body is controlled to temporarily stop its overall movement, and after a period of pause, continue to move in the direction of movement before the outward expansion movement; or, the equipment body is controlled to pause briefly, then move backward a distance, and then continue to move forward.

[0196] For example, when the equipment needs to clean the inside of an L-shaped corner, a strategy of expanding outwards while turning can be adopted, allowing the roller module 120 to extend outwards as the equipment body rotates into the corner, thus ensuring that the roller mop 121 can seamlessly fit against both sides of the corner for cleaning. Another example is the strategy of pausing and then moving forward or pausing and then moving backward and forward again. When facing heavily soiled areas or complex obstacles, a brief pause or minor position adjustment allows the roller module 120 more time to fully extend or adjust its angle, while enabling the roller mop 121 to stay on specific points for a longer period of time to improve cleaning intensity. The backward movement helps to reposition itself in narrow spaces or avoid the risk of entanglement.

[0197] By allowing or actively controlling the device body to perform the aforementioned complex actions such as turning, pausing, and reversing during its outward expansion movement, the device's cleaning behavior exhibits greater environmental adaptability and cleaning strategy flexibility. This transforms the outward expansion function from a simple unidirectional linear extension into a dynamic and intelligent collaborative cleaning mode deeply integrated with the device's overall navigation, obstacle avoidance, and path planning. This effectively solves the technical challenge of coordinating the body movement and module expansion to achieve thorough cleaning in complex scenarios such as right-angle turns, narrow passages, or areas where dirt accumulates, thus improving the completeness and intelligence of cleaning coverage.

[0198] This application embodiment also provides an autonomous cleaning device 100, including a body 110, a side sweeping module 130, a center sweeping module 140, a roller module 120, and a roller module 120 drive mechanism.

[0199] The side brush module 130 is located at the bottom or side of the body 110 and includes a side brush drive mechanism and a side brush 131. The side brush drive mechanism is used to drive the side brush 131 to rotate.

[0200] The central cleaning module 140 is located at the bottom of the body 110 and includes a roller brush drive mechanism and a roller brush 141. The roller brush 141 is located in the suction chamber at the bottom of the body 110, and the roller brush drive mechanism is used to drive the roller brush 141 to rotate.

[0201] The roller module 120 is located in the receiving space 111 at the bottom of the body 110. The roller module 120 includes a roller mop 121 and a mop drive mechanism for driving the roller mop 121 to rotate. A water replenishment mechanism and a dirt scraping mechanism are provided in the rotation direction of the roller mop 121.

[0202] The roller module 120 drive mechanism is used to drive the roller module 120 to move in the receiving space 111. The roller module 120 has an inward position located in the receiving space 111 and an outward position with one end extending beyond the outer edge of the body 110. The outward position includes a maximum outward position and a transition position. The transition position is any position of the roller module 120 from the inward position to the maximum outward position. When the roller module 120 is in the maximum outward position, the distance between the end of the roller module 120 located in the receiving space 111 and the end opposite to the receiving space 111 is greater than or equal to 40 mm and less than or equal to 60 mm.

[0203] During the sweeping and mopping cleaning process, the roller module 120 drive mechanism can drive the roller module 120 to move outward from the inward position to the outward position. The outward movement speed is greater than or equal to 20 mm / s and less than or equal to 60 mm / s. During the outward movement, the roller mop 121 continues to rotate, and the rotation speed is greater than or equal to 120 rpm and less than or equal to 210 rpm. When the roller module 120 stops in the outward position, the roller mop 121 continues to rotate, and the rotation speed of the roller mop 121 is greater than or equal to 120 rpm and less than or equal to 240 rpm.

[0204] The rotating mechanism during outward expansion allows for simultaneous cleaning, preventing excessive or weak mopping of the area being expanded. Since outward expansion typically involves cleaning along edges or around obstacles, and the areas being expanded are usually heavily soiled, a higher rotation speed is required. Through reasoning and experimentation, a speed of at least 120 revolutions per minute is necessary to ensure at least one cycle per second from water replenishment to mopping to scraping. Combined with the equipment's travel speed, this ensures continuous cleaning with running water, guaranteeing that all surfaces are cleaned with running water. Due to the miniaturization requirements and multi-functional needs of cleaning robots, the overall layout space is limited, and the battery pack capacity is restricted. This, in turn, limits the driving power of each cleaning component. Since the roller mop has a high water content and high rotational resistance, if the rotation speed is too high, it will cause the drive motor of the roller mop to exceed the power limit or operate under overload, which may lead to overheating of the motor or battery pack and cause danger, or damage to the life of the motor and battery. Moreover, experimental verification has shown that the marginal contribution of increasing the rotation speed beyond 240 rpm is relatively low. To balance the contribution to cleaning effect with energy consumption, safety and other factors, the upper limit of rotation speed in the extended state is set at 240 rpm.

[0205] Regarding the outward expansion process of the roller module 120, since the roller module 120 is moving, if the roller speed is insufficient, the contact time of the roller in the passing area will be shorter than when the roller module 120 is not moving. If the speed is insufficient, the mopping effect in the passing area will be weaker than that in other areas, resulting in weak mopping, which will be particularly noticeable under heavy soiling conditions, affecting the user experience. Moreover, if the speed is too slow, the contaminated area of ​​the mop will move to the uncleaned area before the dirt is scraped and water is replenished, resulting in mopping the dirty area with dirty mops or mopping the area with insufficient water. Due to the outward expansion speed and distance, the entire outward expansion time is at least about 1 second. At least one scraping-replenishing-mopping cycle must be formed within 1 second to ensure that the passed area undergoes at least one cycle. Therefore, the lower limit of the roller mop speed during the outward expansion process is set to 120 revolutions per minute. Because the expansion drive mechanism is also working during the expansion process, with one more motor operating compared to the expansion state, the upper limit of the rotational speed during the expansion process needs to be lower than the upper limit of the rotational speed in the expansion but non-moving state. This balances the marginal contribution of increased rotational speed to cleaning effect with factors such as energy consumption, safety, battery and motor lifespan. Based on experimental data, the upper limit of the rotational speed during the expansion process in this embodiment is set to 210 revolutions per minute. Of course, in other embodiments of this application, the rotational speed can also be set to other ranges according to actual cleaning needs and energy consumption, such as greater than or equal to 60 revolutions per minute and less than or equal to 180 revolutions per minute, or greater than or equal to 60 revolutions per minute and less than or equal to 200 revolutions per minute. For example, to further save energy, the rotational speed range of the roller mop in the expansion state can be set to greater than or equal to 120 revolutions per minute and less than or equal to 190 revolutions per minute. Correspondingly, during the expansion movement process, the rotational speed range of the roller mop can be set to greater than or equal to 120 revolutions per minute and less than or equal to 180 revolutions per minute. This approach can ensure cleaning effectiveness while further saving energy, and further balance the marginal contribution of increased rotation speed to cleaning effectiveness with energy consumption, safety, and lifespan factors. This application does not limit this aspect.

[0206] During the outward movement, the side brush 131 and / or the roller brush 141 remain rotating.

[0207] The specific structures of the body 110, the side sweeping module 130, the center sweeping module 140, the roller module 120, and the roller module 120 drive mechanism are the same as those in the previous embodiments, and will not be described again in this embodiment.

[0208] For example, the speed of the outward movement can be 20 mm / s, 30 mm / s, 40 mm / s, 45 mm / s, 47 mm / s, 50 mm / s, 55 mm / s, or 60 mm / s, etc., and the embodiments of this application do not limit this.

[0209] The outward expansion speed can refer to the linear speed at which the roller module 120 drive mechanism drives the entire roller module 120 to move horizontally from the inward position to the outward expansion position within the accommodating space 111.

[0210] If the moving speed is too fast, the roller module 120 may move unsteadily, or the effective contact time between the roller mop 121 and the ground may be too short; if the moving speed is too slow, it will affect the overall efficiency of the cleaning task.

[0211] For example, the drive mechanism of the roller module 120 may include a stepper motor, a servo motor with a lead screw and nut pair, or a linear drive device such as a linear motor, and adjust the speed of outward movement by controlling the speed or pulse frequency of the motor.

[0212] During the outward movement, the rotation speed of the roller mop 121 can be greater than or equal to 120 revolutions per minute and less than or equal to 210 revolutions per minute.

[0213] For example, the rotational speed of the roller mop 121 can be 120 rpm, 130 rpm, 140 rpm, 150 rpm, 160 rpm, 165 rpm, 170 rpm, 187 rpm or 210 rpm, etc., and this application embodiment does not limit it.

[0214] Rotational speed refers to the angular velocity at which the mop drive mechanism drives the roller mop 121 to rotate around its own axis. Maintaining this rotational speed range during outward movement ensures that the roller mop 121 has a sufficient rotational frequency to perform effective wiping actions at every point on the ground it passes through during horizontal movement.

[0215] Setting the lower limit of the rotation speed during outward movement to a higher value is primarily due to the specific characteristics of outward cleaning scenarios. Outward movement is typically performed to cover and clean areas along edges or around obstacles where stains may be more concentrated or stubborn. The higher initial rotation speed ensures that every point on the horizontal movement path of the roller mop 121 can wipe the ground at a higher frequency, thus providing a more thorough water circulation along the path within a limited movement time and avoiding weak wiping due to movement.

[0216] The upper limit of the rotational speed is set slightly lower than the maximum rotational speed of the equipment when it is stationary in the extended position. This is because during the extended movement, the roller module 120 drive mechanism and the mop drive mechanism may work simultaneously, which would increase the total power consumption and heat load of the system. This is to optimize the energy distribution of the whole machine, prevent motor overload, and ensure operational safety and component lifespan while ensuring basic cleaning effect.

[0217] When the drive mechanism of the roller module 120 stops driving, so that the roller module 120 is stably stopped at a selected outward expansion position, the roller mop 121 also continues to rotate, and its rotation speed is controlled within a specific speed range, for example, greater than or equal to 120 revolutions per minute and less than or equal to 240 revolutions per minute.

[0218] For example, the rotational speed of the roller mop 121 can be 120 rpm, 130 rpm, 140 rpm, 150 rpm, 175 rpm, 197 rpm, 230 rpm, or 240 rpm, etc., and this application embodiment does not limit it.

[0219] Compared to the outward expansion process, increasing the upper limit of the rotational speed when stopped in the outward expansion state allows the roller mop 121 to apply a stronger and more continuous cleaning action to the key cleaning areas that have been reached. Since the equipment typically stays in the outward expansion position for a period of time to perform edge cleaning, a higher rotational speed can improve the cleaning efficiency and effectiveness per unit time. At the same time, maintaining the lower limit of the rotational speed consistent with the outward expansion movement ensures the basic continuity of cleaning intensity.

[0220] The difference in the upper limit of the rotation speed reflects the power distribution considerations of the system under different working conditions: when expanding outward, energy needs to be supplied to both movement and rotation at the same time; while when the outward expansion stops, energy can be more concentrated on driving the roller mop 121 to rotate at high speed, thereby optimizing the cleaning performance at different stages without exceeding the total system load.

[0221] During the outward expansion movement, the side brush 131 of the side sweeping module 130 and / or the roller brush 141 of the center sweeping module 140 continue to rotate under the drive of their respective drive mechanisms. As the roller mop 121 expands its wet mopping range outward, the side brush 131 can simultaneously sweep up debris at the edges of the expanded area and push it towards the center, while the roller brush 141 continues to rotate to pick up particles on the ground and remove them with the suction of the fan. For example, the drive of the side brush 131 and the roller brush 141 can be controlled independently or linked with the main travel motor or the outward expansion movement.

[0222] By coordinating the outward movement speed with the rotation speed of the roller mop 121, and maintaining the rotation of the side brush 131 and / or roller brush 141, the device ensures that its movement path and the expanded area simultaneously achieve efficient and continuous sweeping and mopping cleaning coverage during the expansion of the cleaning width. This effectively eliminates dynamic cleaning blind spots caused by asynchronous module actions or insufficient cleaning intensity, and improves the overall cleaning efficiency in complex scenarios such as along edges.

[0223] By setting coordinated movement speeds and roller mop rotation speeds for both the outward expansion and stationary states, and by coordinating the operation of side brushes 131 and / or roller brushes 141 during the outward expansion, the equipment ensures continuous sweeping and mopping with matching intensity in both the dynamic expansion and static deep cleaning phases. This effectively solves the problem of full-process cleaning coverage from the expansion path to key areas, avoids weak dynamic mopping and insufficient static cleaning, and significantly improves the overall cleaning quality and efficiency in complex edge areas.

[0224] As a specific embodiment of this application, during the outward expansion movement, the rotational speed of the side brush 131 can be greater than or equal to 180 revolutions per minute and less than or equal to 300 revolutions per minute.

[0225] For example, the rotation speed of the side brush 131 can be 180 rpm, 200 rpm, 235 rpm, 257 rpm, 280 rpm or 300 rpm, etc., and this application embodiment does not limit it.

[0226] The rotational speed of the side brush 131 is set so that it can effectively sweep dust and debris located at the edges and corners of the extended area towards the center of the device with a sufficient rotational frequency, preparing for the subsequent roller brush 141 and vacuuming action. This rotational speed range ensures that the side brush 131's edge cleaning capability is active and effective while the device moves laterally to extend the cleaning width.

[0227] The 141 roller brush can rotate at a speed greater than or equal to 300 revolutions per minute and less than or equal to 600 revolutions per minute.

[0228] For example, the rotational speed of the roller brush 141 can be 300 rpm, 400 rpm, 450 rpm, 510 rpm, 580 rpm or 600 rpm, etc., and the embodiments of this application do not limit this.

[0229] The roller brush 141 is set to a relatively high rotation speed because it needs to powerfully lift up particles and dust from the ground (including the debris swept in by the side brush 131) and use the airflow generated by its high-speed rotation to throw them into the suction chamber. During the outward movement, the equipment covers the edge areas where more debris may accumulate, so maintaining a high roller brush 141 rotation speed helps ensure a strong ability to pick up and remove dry debris in these areas.

[0230] By controlling the rotation speeds of the side brush 131 and the roller brush 141 within the aforementioned optimized range during the outward expansion process, the device ensures that its dry sweeping subsystem operates efficiently during coordinated expansion. This achieves performance matching and deep synergy between sweeping and mopping functions during this dynamic outward expansion phase, allowing the floor in the expanded area to be wet-mopped while simultaneously and powerfully sweeping away dry debris, thereby improving the thoroughness and efficiency of the overall cleaning during this phase.

[0231] As a specific embodiment of this application, when the roller module 120 is stopped in the outward expansion position, the side brush 131 and / or the roller brush 141 can continue to rotate.

[0232] The side brush 131 can rotate at a speed greater than or equal to 180 revolutions per minute and less than or equal to 300 revolutions per minute.

[0233] For example, the rotation speed of the side brush 131 can be 180 rpm, 200 rpm, 235 rpm, 257 rpm, 280 rpm or 300 rpm, etc., and this application embodiment does not limit it.

[0234] The 141 roller brush can rotate at a speed greater than or equal to 300 revolutions per minute and less than or equal to 600 revolutions per minute.

[0235] For example, the rotational speed of the roller brush 141 can be 300 rpm, 400 rpm, 450 rpm, 510 rpm, 580 rpm or 600 rpm, etc., and the embodiments of this application do not limit this.

[0236] Setting the side brush 131 and roller brush 141 to the same speed range as during the outward movement when they are stationary in the outward expansion position ensures consistent performance of the cleaning subsystem when cleaning key areas. When the roller module 120 stops in the outward expansion position, it means that the device is performing spot cleaning or low-speed deep cleaning on areas such as wall edges and furniture legs. The side brush 131 continues to rotate within this speed range, effectively cleaning static or newly disturbed small debris close to the edges. The roller brush 141 continues to work within this higher speed range, ensuring strong physical sweeping and pickup capabilities in the area, effectively removing dry dirt in conjunction with suction.

[0237] By keeping the side brush 131 and roller brush 141 within the same optimized rotational speed range as during the outward movement while the outward movement is stopped, the continuous effectiveness and stable performance of the dry cleaning function are ensured throughout the entire outward cleaning cycle. This achieves full-process deep synergy between sweeping and mopping functions when cleaning key edge areas, ensuring that while the roller mop 121 continuously wets and wipes these areas, dry debris is also powerfully and continuously swept away, thus guaranteeing that the overall cleaning effect on complex edge areas meets the expected standards.

[0238] As a specific embodiment of this application, during a certain period of time during the outward expansion movement, the device can perform the following actions:

[0239] After turning, you can continue moving, or continue moving in the direction you were moving in before expanding outwards, or stop moving and then continue moving in the direction you were moving in before expanding outwards, or stop moving and then move backwards a certain distance before continuing forwards.

[0240] That is, the equipment can perform one or more of the following actions in combination: during the outward expansion movement of the roller module 120, the equipment body is controlled to turn and continue to move in the new direction after the turn is completed; or, the equipment body is controlled to maintain and continue to move in the original direction of movement before the outward expansion movement is started; or, the equipment body is controlled to temporarily stop its overall movement, and after a period of pause, continue to move in the direction of movement before the outward expansion movement; or, the equipment body is controlled to pause briefly, then move backward a distance, and then continue to move forward.

[0241] For example, when the equipment needs to clean the inside of an L-shaped corner, a strategy of expanding outwards while turning can be adopted, allowing the roller module 120 to extend outwards as the equipment body rotates into the corner, thus ensuring that the roller mop 121 can seamlessly fit against both sides of the corner for cleaning. Another example is the strategy of pausing and then moving forward or pausing and then moving backward and forward again. When facing heavily soiled areas or complex obstacles, a brief pause or minor position adjustment allows the roller module 120 more time to fully extend or adjust its angle, while enabling the roller mop 121 to stay on specific points for a longer period of time to improve cleaning intensity. The backward movement helps to reposition itself in narrow spaces or avoid the risk of entanglement.

[0242] By allowing or actively controlling the device body to perform the aforementioned complex actions such as turning, pausing, and reversing during its outward expansion movement, the device's cleaning behavior exhibits greater environmental adaptability and cleaning strategy flexibility. This transforms the outward expansion function from a simple unidirectional linear extension into a dynamic and intelligent collaborative cleaning mode deeply integrated with the device's overall navigation, obstacle avoidance, and path planning. This effectively solves the technical challenge of coordinating the body movement and module expansion to achieve thorough cleaning in complex scenarios such as right-angle turns, narrow passages, or areas where dirt accumulates, thus improving the completeness and intelligence of cleaning coverage.

[0243] This application embodiment also provides an autonomous cleaning device 100, including a body 110, a side sweeping module 130, a center sweeping module 140, a roller module 120, and a roller module 120 drive mechanism.

[0244] The side brush module 130 is located at the bottom or side of the body 110 and includes a side brush drive mechanism and a side brush 131. The side brush drive mechanism is used to drive the side brush 131 to rotate.

[0245] The central cleaning module 140 is located at the bottom of the body 110 and includes a roller brush drive mechanism and a roller brush 141. The roller brush 141 is located in the suction chamber at the bottom of the body 110, and the roller brush drive mechanism is used to drive the roller brush 141 to rotate.

[0246] The roller module 120 is located in the receiving space 111 at the bottom of the body 110. The roller module 120 includes a roller mop 121 and a mop drive mechanism for driving the roller mop 121 to rotate. A water replenishment mechanism and a dirt scraping mechanism are provided in the rotation direction of the roller mop 121.

[0247] The roller module 120 drive mechanism is used to drive the roller module 120 to move in the receiving space 111. The roller module 120 has an inward position located in the receiving space 111 and an outward position with one end extending beyond the outer edge of the body 110. The outward position includes a maximum outward position and a transition position. The transition position is any position of the roller module 120 from the inward position to the maximum outward position. When the roller module 120 is in the maximum outward position, the distance between the end of the roller module 120 located in the receiving space 111 and the end opposite to the receiving space 111 is greater than or equal to 40 mm and less than or equal to 60 mm.

[0248] During the sweeping and mopping cleaning task, the roller module 120 drive mechanism can drive the roller module 120 to move outward from the inward position to the outward position. The outward movement speed is greater than or equal to 20 mm / s and less than or equal to 60 mm / s. During the outward movement, the roller mop 121 keeps rotating, and the rotation speed is greater than or equal to 120 revolutions per minute and less than or equal to 210 revolutions per minute.

[0249] During the sweeping and mopping cleaning task performed by the equipment, the roller module 120 drive mechanism can drive the roller module 120 to move inward from the outward expansion position to the inward retraction position. The inward retraction speed is greater than or equal to 20 mm / s and less than or equal to 60 mm / s. During the inward retraction movement, the roller mop 121 continues to rotate, and the rotation speed is greater than or equal to 120 revolutions per minute and less than or equal to 210 revolutions per minute.

[0250] During the outward movement, the side brush 131 and / or the roller brush 141 remain rotating.

[0251] During the inward movement, the side brush 131 and / or the roller brush 141 remain rotating.

[0252] The specific structures of the body 110, the side sweeping module 130, the center sweeping module 140, the roller module 120, and the roller module 120 drive mechanism are the same as those in the previous embodiments, and will not be described again in this embodiment.

[0253] For example, the speed of the outward movement can be 20 mm / s, 30 mm / s, 40 mm / s, 45 mm / s, 47 mm / s, 50 mm / s, 55 mm / s, or 60 mm / s, etc., and the embodiments of this application do not limit this.

[0254] The outward expansion speed can refer to the linear speed at which the roller module 120 drive mechanism drives the entire roller module 120 to move horizontally from the inward position to the outward expansion position within the accommodating space 111.

[0255] If the moving speed is too fast, the roller module 120 may move unsteadily, or the effective contact time between the roller mop 121 and the ground may be too short; if the moving speed is too slow, it will affect the overall efficiency of the cleaning task.

[0256] For example, the drive mechanism of the roller module 120 may include a stepper motor, a servo motor with a lead screw and nut pair, or a linear drive device such as a linear motor, and adjust the speed of outward movement by controlling the speed or pulse frequency of the motor.

[0257] During the outward movement, the rotation speed of the roller mop 121 can be greater than or equal to 120 revolutions per minute and less than or equal to 210 revolutions per minute.

[0258] For example, the rotational speed of the roller mop 121 can be 120 rpm, 130 rpm, 140 rpm, 150 rpm, 160 rpm, 165 rpm, 170 rpm, 187 rpm or 210 rpm, etc., and this application embodiment does not limit it.

[0259] Rotational speed refers to the angular velocity at which the mop drive mechanism drives the roller mop 121 to rotate around its own axis. Maintaining this rotational speed range during outward movement ensures that the roller mop 121 has a sufficient rotational frequency to perform effective wiping actions at every point on the ground it passes through during horizontal movement.

[0260] Setting the lower limit of the rotation speed during outward movement to a higher value is primarily due to the specific characteristics of outward cleaning scenarios. Outward movement is typically performed to cover and clean areas along edges or around obstacles where stains may be more concentrated or stubborn. The higher initial rotation speed ensures that every point on the horizontal movement path of the roller mop 121 can wipe the ground at a higher frequency, thus providing a more thorough water circulation along the path within a limited movement time and avoiding weak wiping due to movement.

[0261] The upper limit of the rotational speed is set slightly lower than the maximum rotational speed of the equipment when it is stationary in the extended position. This is because during the extended movement, the roller module 120 drive mechanism and the mop drive mechanism may work simultaneously, which would increase the total power consumption and heat load of the system. This is to optimize the energy distribution of the whole machine, prevent motor overload, and ensure operational safety and component lifespan while ensuring basic cleaning effect.

[0262] The inward movement can refer to the action of the roller module 120 moving from its outward expansion position to its inward retraction position according to the control logic after the cleaning of a specific edge area or the area around an obstacle is completed during the sweeping and mopping cleaning task.

[0263] The speed of the inward movement can be greater than or equal to 20 mm / s and less than or equal to 60 mm / s.

[0264] For example, the speed of the inward movement can be 20 mm / s, 30 mm / s, 40 mm / s, 45 mm / s, 47 mm / s, 50 mm / s, 55 mm / s, or 60 mm / s, etc., and the embodiments of this application do not limit this.

[0265] This speed range is consistent with the outward movement speed range, which is designed to ensure that the roller module 120 can be smoothly, quickly and controllably reset to the normal working position during the retraction process, avoiding mechanical vibration or cleaning interruption caused by improper retraction speed.

[0266] During the inward movement, the rotation speed of the roller mop 121 can be greater than or equal to 120 revolutions per minute and less than or equal to 210 revolutions per minute.

[0267] For example, the rotational speed of the roller mop 121 can be 120 rpm, 130 rpm, 140 rpm, 150 rpm, 160 rpm, 165 rpm, 170 rpm, 187 rpm or 210 rpm, etc., and this application embodiment does not limit it.

[0268] Maintaining this rotational speed range during the retraction process ensures that the roller mop 121 can effectively wipe and clean the ground areas it passes over while the roller module 120 is on its horizontal retraction path. This prevents the roller mop 121 from dragging any residual sewage or dirt that may be attached to its surface or located on its movement path into the already cleaned interior area when it retracts, thus avoiding return contamination or regression of cleaning effect.

[0269] During the outward expansion movement, the side brush 131 of the side sweeping module 130 and / or the roller brush 141 of the center sweeping module 140 continue to rotate under the drive of their respective drive mechanisms. As the roller mop 121 expands its wet mopping range outward, the side brush 131 can simultaneously sweep up debris at the edges of the expanded area and push it towards the center, while the roller brush 141 continues to rotate to pick up particles on the ground and remove them with the suction of the fan. For example, the drive of the side brush 131 and the roller brush 141 can be controlled independently or linked with the main travel motor or the outward expansion movement.

[0270] During the inward movement, the side brushes 131 of the side sweeping module 130 and / or the roller brushes 141 of the center sweeping module 140 also remain in a rotating state under the drive of their respective drive mechanisms. As the cleaning range converges from the outside to the inside, the dry cleaning function of the equipment continues to work, simultaneously cleaning the dry waste near the return path of the roller module 120 and in the target area of ​​the inward movement.

[0271] By coordinating and controlling the movement speed throughout the entire process of expansion and contraction, maintaining the rotation of the roller mop 121 and coordinating the operation of the side brushes 131 / roller brush 141, continuous and effective synchronous sweeping and mopping coverage is ensured for both the expansion and contraction paths when the cleaning range dynamically changes. This eliminates dynamic cleaning blind spots and the risk of return contamination caused by the module's extension and retraction movements, achieving seamless connection and consistent results in cleaning operations during spatial transformation.

[0272] As a specific embodiment of this application, during the outward expansion movement, the rotational speed of the side brush 131 can be greater than or equal to 180 revolutions per minute and less than or equal to 300 revolutions per minute.

[0273] For example, the rotation speed of the side brush 131 can be 180 rpm, 200 rpm, 235 rpm, 257 rpm, 280 rpm or 300 rpm, etc., and this application embodiment does not limit it.

[0274] The rotational speed of the side brush 131 is set so that it can effectively sweep dust and debris located at the edges and corners of the extended area towards the center of the device with a sufficient rotational frequency, preparing for the subsequent roller brush 141 and vacuuming action. This rotational speed range ensures that the side brush 131's edge cleaning capability is active and effective while the device moves laterally to extend the cleaning width.

[0275] The 141 roller brush can rotate at a speed greater than or equal to 300 revolutions per minute and less than or equal to 600 revolutions per minute.

[0276] For example, the rotational speed of the roller brush 141 can be 300 rpm, 400 rpm, 450 rpm, 510 rpm, 580 rpm or 600 rpm, etc., and the embodiments of this application do not limit this.

[0277] The roller brush 141 is set to a relatively high rotation speed because it needs to powerfully lift up particles and dust from the ground (including the debris swept in by the side brush 131) and use the airflow generated by its high-speed rotation to throw them into the suction chamber. During the outward movement, the equipment covers the edge areas where more debris may accumulate, so maintaining a high roller brush 141 rotation speed helps ensure a strong ability to pick up and remove dry debris in these areas.

[0278] By controlling the rotation speeds of the side brush 131 and the roller brush 141 within the aforementioned optimized range during the outward expansion process, the device ensures that its dry sweeping subsystem operates efficiently during coordinated expansion. This achieves performance matching and deep synergy between sweeping and mopping functions during this dynamic outward expansion phase, allowing the floor in the expanded area to be wet-mopped while simultaneously and powerfully sweeping away dry debris, thereby improving the thoroughness and efficiency of the overall cleaning during this phase.

[0279] As a specific embodiment of this application, during a certain period of time during the outward expansion movement, the device can perform the following actions:

[0280] After turning, you can continue moving, or continue moving in the direction you were moving in before expanding outwards, or stop moving and then continue moving in the direction you were moving in before expanding outwards, or stop moving and then move backwards a certain distance before continuing forwards.

[0281] That is, the equipment can perform one or more of the following actions in combination: during the outward expansion movement of the roller module 120, the equipment body is controlled to turn and continue to move in the new direction after the turn is completed; or, the equipment body is controlled to maintain and continue to move in the original direction of movement before the outward expansion movement is started; or, the equipment body is controlled to temporarily stop its overall movement, and after a period of pause, continue to move in the direction of movement before the outward expansion movement; or, the equipment body is controlled to pause briefly, then move backward a distance, and then continue to move forward.

[0282] For example, when the equipment needs to clean the inside of an L-shaped corner, a strategy of expanding outwards while turning can be adopted, allowing the roller module 120 to extend outwards as the equipment body rotates into the corner, thus ensuring that the roller mop 121 can seamlessly fit against both sides of the corner for cleaning. Another example is the strategy of pausing and then moving forward or pausing and then moving backward and forward again. When facing heavily soiled areas or complex obstacles, a brief pause or minor position adjustment allows the roller module 120 more time to fully extend or adjust its angle, while enabling the roller mop 121 to stay on specific points for a longer period of time to improve cleaning intensity. The backward movement helps to reposition itself in narrow spaces or avoid the risk of entanglement.

[0283] By allowing or actively controlling the device body to perform the aforementioned complex actions such as turning, pausing, and reversing during its outward expansion movement, the device's cleaning behavior exhibits greater environmental adaptability and cleaning strategy flexibility. This transforms the outward expansion function from a simple unidirectional linear extension into a dynamic and intelligent collaborative cleaning mode deeply integrated with the device's overall navigation, obstacle avoidance, and path planning. This effectively solves the technical challenge of coordinating the body movement and module expansion to achieve thorough cleaning in complex scenarios such as right-angle turns, narrow passages, or areas where dirt accumulates, thus improving the completeness and intelligence of cleaning coverage.

[0284] As a specific embodiment of this application, during a certain period of time during the inward movement process, the device can perform the following actions:

[0285] After turning, continue moving, or continue moving in the direction of movement before the inward movement, or pause and then continue moving in the direction of movement before the inward movement.

[0286] That is, the equipment can perform one or more of the following actions in combination: during the inward movement of the roller module 120, the equipment body is controlled to turn and continue to move in the new direction after the turn is completed; or, the equipment body is controlled to maintain and continue to move in the original direction of movement before the inward movement was started; or, the equipment body is controlled to temporarily stop its overall movement and then continue to move in the direction of movement before the inward movement after a period of pause.

[0287] For example, when the equipment finishes cleaning along the edge of a wall and is ready to leave, a strategy of retracting and turning while moving inward can be adopted. This allows the roller module 120 to retract inward as the equipment body rotates away from the wall, thus achieving a smooth and synchronous transition from the expanded state to the normal state of cleaning, avoiding a disconnect between the machine body and the module's movements. Another example is the strategy of pausing and then continuing to move. At the beginning or end of the retraction movement, a brief pause can be made to ensure that the roller module 120 has been fully or partially retracted to the predetermined position, or to provide a brief window for intensified cleaning of the last area on the retraction path, before resuming normal movement.

[0288] By allowing or actively controlling the equipment body to perform the aforementioned combined actions such as turning and pausing during the inward movement, the equipment achieves coordination between the cleaning range contraction phase and the machine path adjustment. This ensures that the transition process from the outward expansion cleaning mode back to the regular cleaning mode or to the next outward expansion starting point is smooth and controlled, avoiding cleaning omissions, path planning conflicts, or efficiency losses that may occur due to the lack of coordination between module retraction and machine movement, thus guaranteeing the smoothness of cleaning task phase transitions and overall operational efficiency.

[0289] This application embodiment also provides an autonomous cleaning device 100, including a body 110, a side sweeping module 130, a center sweeping module 140, a roller module 120, and a roller module 120 drive mechanism.

[0290] The side brush module 130 is located at the bottom or side of the body 110 and includes a side brush drive mechanism and a side brush 131. The side brush drive mechanism is used to drive the side brush 131 to rotate.

[0291] The central cleaning module 140 is located at the bottom of the body 110 and includes a roller brush drive mechanism and a roller brush 141. The roller brush 141 is located in the suction chamber at the bottom of the body 110, and the roller brush drive mechanism is used to drive the roller brush 141 to rotate.

[0292] The roller module 120 is located in the receiving space 111 at the bottom of the body 110. The roller module 120 includes a roller mop 121 and a mop drive mechanism for driving the roller mop 121 to rotate. A water replenishment mechanism and a dirt scraping mechanism are provided in the rotation direction of the roller mop 121.

[0293] The roller module 120 drive mechanism is used to drive the roller module 120 to move in the receiving space 111. The roller module 120 has an inward position located in the receiving space 111 and an outward position with one end extending beyond the outer edge of the body 110. The outward position includes a maximum outward position and a transition position. The transition position is any position of the roller module 120 from the inward position to the maximum outward position. When the roller module 120 is in the maximum outward position, the distance between the end of the roller module 120 located in the receiving space 111 and the end opposite to the receiving space 111 is greater than or equal to 40 mm and less than or equal to 60 mm.

[0294] During the sweeping and mopping cleaning process, the roller module 120 drive mechanism can drive the roller module 120 to move outward from the inward position to the outward position. The outward movement speed is greater than or equal to 20 mm / s and less than or equal to 60 mm / s. During the outward movement, the roller mop 121 continues to rotate, and the rotation speed is greater than or equal to 120 rpm and less than or equal to 210 rpm. When the roller module 120 stops in the outward position, the roller mop 121 continues to rotate, and the rotation speed of the roller mop 121 is greater than or equal to 120 rpm and less than or equal to 240 rpm.

[0295] During the sweeping and mopping cleaning task performed by the equipment, the roller module 120 drive mechanism can drive the roller module 120 to move inward from the outward expansion position to the inward retraction position. The inward retraction speed is greater than or equal to 20 mm / s and less than or equal to 60 mm / s. During the inward retraction movement, the roller mop 121 continues to rotate, and the rotation speed is greater than or equal to 120 revolutions per minute and less than or equal to 210 revolutions per minute.

[0296] During the outward movement, the side brush 131 and / or the roller brush 141 remain rotating.

[0297] During the inward movement, the side brush 131 and / or the roller brush 141 remain rotating.

[0298] The specific structures of the body 110, the side sweeping module 130, the center sweeping module 140, the roller module 120, and the roller module 120 drive mechanism are the same as those in the previous embodiments, and will not be described again in this embodiment.

[0299] For example, the speed of the outward movement can be 20 mm / s, 30 mm / s, 40 mm / s, 45 mm / s, 47 mm / s, 50 mm / s, 55 mm / s, or 60 mm / s, etc., and the embodiments of this application do not limit this.

[0300] The outward expansion speed can refer to the linear speed at which the roller module 120 drive mechanism drives the entire roller module 120 to move horizontally from the inward position to the outward expansion position within the accommodating space 111.

[0301] If the moving speed is too fast, the roller module 120 may move unsteadily, or the effective contact time between the roller mop 121 and the ground may be too short; if the moving speed is too slow, it will affect the overall efficiency of the cleaning task.

[0302] For example, the drive mechanism of the roller module 120 may include a stepper motor, a servo motor with a lead screw and nut pair, or a linear drive device such as a linear motor, and adjust the speed of outward movement by controlling the speed or pulse frequency of the motor.

[0303] During the outward movement, the rotation speed of the roller mop 121 can be greater than or equal to 120 revolutions per minute and less than or equal to 210 revolutions per minute.

[0304] For example, the rotational speed of the roller mop 121 can be 120 rpm, 130 rpm, 140 rpm, 150 rpm, 160 rpm, 165 rpm, 170 rpm, 187 rpm or 210 rpm, etc., and this application embodiment does not limit it.

[0305] Rotational speed refers to the angular velocity at which the mop drive mechanism drives the roller mop 121 to rotate around its own axis. Maintaining this rotational speed range during outward movement ensures that the roller mop 121 has a sufficient rotational frequency to perform effective wiping actions at every point on the ground it passes through during horizontal movement.

[0306] Setting the lower limit of the rotation speed during outward movement to a higher value is primarily due to the specific characteristics of outward cleaning scenarios. Outward movement is typically performed to cover and clean areas along edges or around obstacles where stains may be more concentrated or stubborn. The higher initial rotation speed ensures that every point on the horizontal movement path of the roller mop 121 can wipe the ground at a higher frequency, thus providing a more thorough water circulation along the path within a limited movement time and avoiding weak wiping due to movement.

[0307] The upper limit of the rotational speed is set slightly lower than the maximum rotational speed of the equipment when it is stationary in the extended position. This is because during the extended movement, the roller module 120 drive mechanism and the mop drive mechanism may work simultaneously, which would increase the total power consumption and heat load of the system. This is to optimize the energy distribution of the whole machine, prevent motor overload, and ensure operational safety and component lifespan while ensuring basic cleaning effect.

[0308] When the drive mechanism of the roller module 120 stops driving, so that the roller module 120 is stably stopped at a selected outward expansion position, the roller mop 121 also continues to rotate, and its rotation speed is controlled within a specific speed range, for example, greater than or equal to 120 revolutions per minute and less than or equal to 240 revolutions per minute.

[0309] For example, the rotational speed of the roller mop 121 can be 120 rpm, 130 rpm, 140 rpm, 150 rpm, 175 rpm, 197 rpm, 230 rpm, or 240 rpm, etc., and this application embodiment does not limit it.

[0310] Compared to the outward expansion process, increasing the upper limit of the rotational speed when stopped in the outward expansion state allows the roller mop 121 to apply a stronger and more continuous cleaning action to the key cleaning areas that have been reached. Since the equipment typically stays in the outward expansion position for a period of time to perform edge cleaning, a higher rotational speed can improve the cleaning efficiency and effectiveness per unit time. At the same time, maintaining the lower limit of the rotational speed consistent with the outward expansion movement ensures the basic continuity of cleaning intensity.

[0311] The difference in the upper limit of the rotation speed reflects the power distribution considerations of the system under different working conditions: when expanding outward, energy needs to be supplied to both movement and rotation at the same time; while when the outward expansion stops, energy can be more concentrated on driving the roller mop 121 to rotate at high speed, thereby optimizing the cleaning performance at different stages without exceeding the total system load.

[0312] The inward movement can refer to the action of the roller module 120 moving from its outward expansion position to its inward retraction position according to the control logic after the cleaning of a specific edge area or the area around an obstacle is completed during the sweeping and mopping cleaning task.

[0313] The speed of the inward movement can be greater than or equal to 20 mm / s and less than or equal to 60 mm / s.

[0314] For example, the speed of the inward movement can be 20 mm / s, 30 mm / s, 40 mm / s, 45 mm / s, 47 mm / s, 50 mm / s, 55 mm / s, or 60 mm / s, etc., and the embodiments of this application do not limit this.

[0315] This speed range is consistent with the outward movement speed range, which is designed to ensure that the roller module 120 can be smoothly, quickly and controllably reset to the normal working position during the retraction process, avoiding mechanical vibration or cleaning interruption caused by improper retraction speed.

[0316] During the inward movement, the rotation speed of the roller mop 121 can be greater than or equal to 120 revolutions per minute and less than or equal to 210 revolutions per minute.

[0317] For example, the rotational speed of the roller mop 121 can be 120 rpm, 130 rpm, 140 rpm, 150 rpm, 160 rpm, 165 rpm, 170 rpm, 187 rpm or 210 rpm, etc., and this application embodiment does not limit it.

[0318] Maintaining this rotational speed range during the retraction process ensures that the roller mop 121 can effectively wipe and clean the ground areas it passes over while the roller module 120 is on its horizontal retraction path. This prevents the roller mop 121 from dragging any residual sewage or dirt that may be attached to its surface or located on its movement path into the already cleaned interior area when it retracts, thus avoiding return contamination or regression of cleaning effect.

[0319] During the outward expansion movement, the side brush 131 of the side sweeping module 130 and / or the roller brush 141 of the center sweeping module 140 continue to rotate under the drive of their respective drive mechanisms. As the roller mop 121 expands its wet mopping range outward, the side brush 131 can simultaneously sweep up debris at the edges of the expanded area and push it towards the center, while the roller brush 141 continues to rotate to pick up particles on the ground and remove them with the suction of the fan. For example, the drive of the side brush 131 and the roller brush 141 can be controlled independently or linked with the main travel motor or the outward expansion movement.

[0320] During the inward movement, the side brushes 131 of the side sweeping module 130 and / or the roller brushes 141 of the center sweeping module 140 also remain in a rotating state under the drive of their respective drive mechanisms. As the cleaning range converges from the outside to the inside, the dry cleaning function of the equipment continues to work, simultaneously cleaning the dry waste near the return path of the roller module 120 and in the target area of ​​the inward movement.

[0321] By symmetrically controlling the outward and inward movement of the roller module 120, and maintaining the rotation of the roller mop 121 and the linkage of the side brushes 131 / roller brush 141 throughout the entire bidirectional movement, it is ensured that the floor receives uninterrupted and consistent synchronous sweeping and mopping coverage throughout the complete dynamic cycle of expansion and contraction. This eliminates any cleaning omissions or contamination migrations that may occur due to the bidirectional movement of the module, achieving consistency and reliability of cleaning results throughout the entire workflow from regular areas to edges and back.

[0322] As a specific embodiment of this application, during the outward expansion movement, the rotational speed of the side brush 131 can be greater than or equal to 180 revolutions per minute and less than or equal to 300 revolutions per minute.

[0323] For example, the rotation speed of the side brush 131 can be 180 rpm, 200 rpm, 235 rpm, 257 rpm, 280 rpm or 300 rpm, etc., and this application embodiment does not limit it.

[0324] The rotational speed of the side brush 131 is set so that it can effectively sweep dust and debris located at the edges and corners of the extended area towards the center of the device with a sufficient rotational frequency, preparing for the subsequent roller brush 141 and vacuuming action. This rotational speed range ensures that the side brush 131's edge cleaning capability is active and effective while the device moves laterally to extend the cleaning width.

[0325] The 141 roller brush can rotate at a speed greater than or equal to 300 revolutions per minute and less than or equal to 600 revolutions per minute.

[0326] For example, the rotational speed of the roller brush 141 can be 300 rpm, 400 rpm, 450 rpm, 510 rpm, 580 rpm or 600 rpm, etc., and the embodiments of this application do not limit this.

[0327] The roller brush 141 is set to a relatively high rotation speed because it needs to powerfully lift up particles and dust from the ground (including the debris swept in by the side brush 131) and use the airflow generated by its high-speed rotation to throw them into the suction chamber. During the outward movement, the equipment covers the edge areas where more debris may accumulate, so maintaining a high roller brush 141 rotation speed helps ensure a strong ability to pick up and remove dry debris in these areas.

[0328] By controlling the rotation speeds of the side brush 131 and the roller brush 141 within the aforementioned optimized range during the outward expansion process, the device ensures that its dry sweeping subsystem operates efficiently during coordinated expansion. This achieves performance matching and deep synergy between sweeping and mopping functions during this dynamic outward expansion phase, allowing the floor in the expanded area to be wet-mopped while simultaneously and powerfully sweeping away dry debris, thereby improving the thoroughness and efficiency of the overall cleaning during this phase.

[0329] As a specific embodiment of this application, when the roller module 120 is stopped in the outward expansion position, the side brush 131 and / or the roller brush 141 can continue to rotate.

[0330] The side brush 131 can rotate at a speed greater than or equal to 180 revolutions per minute and less than or equal to 300 revolutions per minute.

[0331] For example, the rotation speed of the side brush 131 can be 180 rpm, 200 rpm, 235 rpm, 257 rpm, 280 rpm or 300 rpm, etc., and this application embodiment does not limit it.

[0332] The 141 roller brush can rotate at a speed greater than or equal to 300 revolutions per minute and less than or equal to 600 revolutions per minute.

[0333] For example, the rotational speed of the roller brush 141 can be 300 rpm, 400 rpm, 450 rpm, 510 rpm, 580 rpm or 600 rpm, etc., and the embodiments of this application do not limit this.

[0334] Setting the side brush 131 and roller brush 141 to the same speed range as during the outward movement when they are stationary in the outward expansion position ensures consistent performance of the cleaning subsystem when cleaning key areas. When the roller module 120 stops in the outward expansion position, it means that the device is performing spot cleaning or low-speed deep cleaning on areas such as wall edges and furniture legs. The side brush 131 continues to rotate within this speed range, effectively cleaning static or newly disturbed small debris close to the edges. The roller brush 141 continues to work within this higher speed range, ensuring strong physical sweeping and pickup capabilities in the area, effectively removing dry dirt in conjunction with suction.

[0335] By keeping the side brush 131 and roller brush 141 within the same optimized rotational speed range as during the outward movement while the outward movement is stopped, the continuous effectiveness and stable performance of the dry cleaning function are ensured throughout the entire outward cleaning cycle. This achieves full-process deep synergy between sweeping and mopping functions when cleaning key edge areas, ensuring that while the roller mop 121 continuously wets and wipes these areas, dry debris is also powerfully and continuously swept away, thus guaranteeing that the overall cleaning effect on complex edge areas meets the expected standards.

[0336] As a specific embodiment of this application, during a certain period of time during the outward expansion movement, the device can perform the following actions:

[0337] After turning, you can continue moving, or continue moving in the direction you were moving in before expanding outwards, or stop moving and then continue moving in the direction you were moving in before expanding outwards, or stop moving and then move backwards a certain distance before continuing forwards.

[0338] That is, the equipment can perform one or more of the following actions in combination: during the outward expansion movement of the roller module 120, the equipment body is controlled to turn and continue to move in the new direction after the turn is completed; or, the equipment body is controlled to maintain and continue to move in the original direction of movement before the outward expansion movement is started; or, the equipment body is controlled to temporarily stop its overall movement, and after a period of pause, continue to move in the direction of movement before the outward expansion movement; or, the equipment body is controlled to pause briefly, then move backward a distance, and then continue to move forward.

[0339] For example, when the equipment needs to clean the inside of an L-shaped corner, a strategy of expanding outwards while turning can be adopted, allowing the roller module 120 to extend outwards as the equipment body rotates into the corner, thus ensuring that the roller mop 121 can seamlessly fit against both sides of the corner for cleaning. Another example is the strategy of pausing and then moving forward or pausing and then moving backward and forward again. When facing heavily soiled areas or complex obstacles, a brief pause or minor position adjustment allows the roller module 120 more time to fully extend or adjust its angle, while enabling the roller mop 121 to stay on specific points for a longer period of time to improve cleaning intensity. The backward movement helps to reposition itself in narrow spaces or avoid the risk of entanglement.

[0340] By allowing or actively controlling the device body to perform the aforementioned complex actions such as turning, pausing, and reversing during its outward expansion movement, the device's cleaning behavior exhibits greater environmental adaptability and cleaning strategy flexibility. This transforms the outward expansion function from a simple unidirectional linear extension into a dynamic and intelligent collaborative cleaning mode deeply integrated with the device's overall navigation, obstacle avoidance, and path planning. This effectively solves the technical challenge of coordinating the body movement and module expansion to achieve thorough cleaning in complex scenarios such as right-angle turns, narrow passages, or areas where dirt accumulates, thus improving the completeness and intelligence of cleaning coverage.

[0341] As a specific embodiment of this application, during a certain period of time during the inward movement process, the device can perform the following actions:

[0342] After turning, continue moving, or continue moving in the direction of movement before the inward movement, or pause and then continue moving in the direction of movement before the inward movement.

[0343] That is, the equipment can perform one or more of the following actions in combination: during the inward movement of the roller module 120, the equipment body is controlled to turn and continue to move in the new direction after the turn is completed; or, the equipment body is controlled to maintain and continue to move in the original direction of movement before the inward movement was started; or, the equipment body is controlled to temporarily stop its overall movement and then continue to move in the direction of movement before the inward movement after a period of pause.

[0344] For example, when the equipment finishes cleaning along the edge of a wall and is ready to leave, a strategy of retracting and turning while moving inward can be adopted. This allows the roller module 120 to retract inward as the equipment body rotates away from the wall, thus achieving a smooth and synchronous transition from the expanded state to the normal state of cleaning, avoiding a disconnect between the machine body and the module's movements. Another example is the strategy of pausing and then continuing to move. At the beginning or end of the retraction movement, a brief pause can be made to ensure that the roller module 120 has been fully or partially retracted to the predetermined position, or to provide a brief window for intensified cleaning of the last area on the retraction path, before resuming normal movement.

[0345] By allowing or actively controlling the equipment body to perform the aforementioned combined actions such as turning and pausing during the inward movement, the equipment achieves coordination between the cleaning range contraction phase and the machine path adjustment. This ensures that the transition process from the outward expansion cleaning mode back to the regular cleaning mode or to the next outward expansion starting point is smooth and controlled, avoiding cleaning omissions, path planning conflicts, or efficiency losses that may occur due to the lack of coordination between module retraction and machine movement, thus guaranteeing the smoothness of cleaning task phase transitions and overall operational efficiency.

[0346] This application embodiment also provides an autonomous cleaning device 100, including a body 110, a side sweeping module 130, a center sweeping module 140, a roller module 120, and a roller module 120 drive mechanism.

[0347] The side brush module 130 is located at the bottom or side of the body 110 and includes a side brush drive mechanism and a side brush 131. The side brush drive mechanism is used to drive the side brush 131 to rotate.

[0348] The central cleaning module 140 is located at the bottom of the body 110 and includes a roller brush drive mechanism and a roller brush 141. The roller brush 141 is located in the suction chamber at the bottom of the body 110, and the roller brush drive mechanism is used to drive the roller brush 141 to rotate.

[0349] The roller module 120 is located in the receiving space 111 at the bottom of the body 110. The roller module 120 includes a roller mop 121 and a mop drive mechanism for driving the roller mop 121 to rotate. A water replenishment mechanism and a dirt scraping mechanism are provided in the rotation direction of the roller mop 121.

[0350] The roller module 120 drive mechanism is used to drive the roller module 120 to move in the receiving space 111. The roller module 120 has an inward position located in the receiving space 111 and an outward position with one end extending beyond the outer edge of the body 110. The outward position includes a maximum outward position and a transition position. The transition position is any position of the roller module 120 from the inward position to the maximum outward position. When the roller module 120 is in the maximum outward position, the distance between the end of the roller module 120 located in the receiving space 111 and the end opposite to the receiving space 111 is greater than or equal to 40 mm and less than or equal to 60 mm.

[0351] During the sweeping and mopping cleaning process, the roller module 120 drive mechanism drives the roller module 120 to move from the retracted position to the maximum outward position. The outward movement time is greater than or equal to 1 second and less than or equal to 2 seconds. During the outward movement, the roller mop 121 continues to rotate, and the speed is greater than or equal to 120 revolutions per minute and less than or equal to 210 revolutions per minute. When the roller module 120 stops at the maximum outward position, the roller mop 121 continues to rotate, and the speed of the roller mop 121 is greater than or equal to 120 revolutions per minute and less than or equal to 240 revolutions per minute.

[0352] During the outward movement, the side brush 131 and / or the roller brush 141 remain rotating.

[0353] The specific structures of the body 110, the side sweeping module 130, the center sweeping module 140, the roller module 120, and the roller module 120 drive mechanism are the same as those in the previous embodiments, and will not be described again in this embodiment.

[0354] During the sweeping and mopping cleaning process, according to specific cleaning instructions, the roller module 120 drive mechanism drives the roller module 120 to move from its retracted position until it reaches its maximum outward expansion position. The time taken for this complete outward expansion stroke from the starting point to the end point can be greater than or equal to 1 second and less than or equal to 2 seconds.

[0355] The lower limit of the movement time ensures that the roller module 120 has sufficient time for smooth acceleration, uniform movement, and smooth deceleration, avoiding mechanical impact, inaccurate positioning, or sudden changes in the contact pressure between the roller mop 121 and the ground due to excessively rapid movements, thereby affecting the cleaning effect and component lifespan. The upper limit of the movement time ensures the response speed of the outward expansion action and the overall efficiency of the cleaning task, avoiding slowing down the cleaning rhythm due to an excessively slow outward expansion process, especially in complex environments that require frequent outward expansion and inward retraction cycles.

[0356] During the outward movement, the rotation speed of the roller mop 121 can be greater than or equal to 120 revolutions per minute and less than or equal to 210 revolutions per minute.

[0357] For example, the rotational speed of the roller mop 121 can be 120 rpm, 130 rpm, 140 rpm, 150 rpm, 160 rpm, 165 rpm, 170 rpm, 187 rpm or 210 rpm, etc., and this application embodiment does not limit it.

[0358] Rotational speed refers to the angular velocity at which the mop drive mechanism drives the roller mop 121 to rotate around its own axis. Maintaining this rotational speed range during outward movement ensures that the roller mop 121 has a sufficient rotational frequency to perform effective wiping actions at every point on the ground it passes through during horizontal movement.

[0359] Setting the lower limit of the rotation speed during outward movement to a higher value is primarily due to the specific characteristics of outward cleaning scenarios. Outward movement is typically performed to cover and clean areas along edges or around obstacles where stains may be more concentrated or stubborn. The higher initial rotation speed ensures that every point on the horizontal movement path of the roller mop 121 can wipe the ground at a higher frequency, thus providing a more thorough water circulation along the path within a limited movement time and avoiding weak wiping due to movement.

[0360] The upper limit of the rotational speed is set slightly lower than the maximum rotational speed of the equipment when it is stationary in the extended position. This is because during the extended movement, the roller module 120 drive mechanism and the mop drive mechanism may work simultaneously, which would increase the total power consumption and heat load of the system. This is to optimize the energy distribution of the whole machine, prevent motor overload, and ensure operational safety and component lifespan while ensuring basic cleaning effect.

[0361] When the drive mechanism of the roller module 120 stops driving, so that the roller module 120 is stably stopped at a selected outward expansion position, the roller mop 121 also continues to rotate, and its rotation speed is controlled within a specific speed range, for example, greater than or equal to 120 revolutions per minute and less than or equal to 240 revolutions per minute.

[0362] For example, the rotational speed of the roller mop 121 can be 120 rpm, 130 rpm, 140 rpm, 150 rpm, 175 rpm, 197 rpm, 230 rpm, or 240 rpm, etc., and this application embodiment does not limit it.

[0363] Compared to the outward expansion process, increasing the upper limit of the rotational speed when stopped in the outward expansion state allows the roller mop 121 to apply a stronger and more continuous cleaning action to the key cleaning areas that have been reached. Since the equipment typically stays in the outward expansion position for a period of time to perform edge cleaning, a higher rotational speed can improve the cleaning efficiency and effectiveness per unit time. At the same time, maintaining the lower limit of the rotational speed consistent with the outward expansion movement ensures the basic continuity of cleaning intensity.

[0364] The difference in the upper limit of the rotation speed reflects the power distribution considerations of the system under different working conditions: when expanding outward, energy needs to be supplied to both movement and rotation at the same time; while when the outward expansion stops, energy can be more concentrated on driving the roller mop 121 to rotate at high speed, thereby optimizing the cleaning performance at different stages without exceeding the total system load.

[0365] During the outward expansion movement, the side brush 131 of the side sweeping module 130 and / or the roller brush 141 of the center sweeping module 140 continue to rotate under the drive of their respective drive mechanisms. As the roller mop 121 expands its wet mopping range outward, the side brush 131 can simultaneously sweep up debris at the edges of the expanded area and push it towards the center, while the roller brush 141 continues to rotate to pick up particles on the ground and remove them with the suction of the fan. For example, the drive of the side brush 131 and the roller brush 141 can be controlled independently or linked with the main travel motor or the outward expansion movement.

[0366] By controlling the maximum outward expansion movement time to within 1 to 2 seconds, and by matching the optimized rotation speed of the roller mop 121 and the continuously rotating side brush 131 / roller brush 141 during and after the movement, the outward expansion action is completed quickly and smoothly, while ensuring immediate and efficient sweeping and mopping coverage of both the path and the destination area. This improves the equipment's response speed and operational continuity when switching to edge cleaning mode, ensuring uninterrupted cleaning from start to finish, and optimizing the overall cleaning efficiency and effectiveness of complex edge areas.

[0367] As a specific embodiment of this application, during the outward expansion movement, the rotational speed of the side brush 131 can be greater than or equal to 180 revolutions per minute and less than or equal to 300 revolutions per minute.

[0368] For example, the rotation speed of the side brush 131 can be 180 rpm, 200 rpm, 235 rpm, 257 rpm, 280 rpm or 300 rpm, etc., and this application embodiment does not limit it.

[0369] The rotational speed of the side brush 131 is set so that it can effectively sweep dust and debris located at the edges and corners of the extended area towards the center of the device with a sufficient rotational frequency, preparing for the subsequent roller brush 141 and vacuuming action. This rotational speed range ensures that the side brush 131's edge cleaning capability is active and effective while the device moves laterally to extend the cleaning width.

[0370] The 141 roller brush can rotate at a speed greater than or equal to 300 revolutions per minute and less than or equal to 600 revolutions per minute.

[0371] For example, the rotational speed of the roller brush 141 can be 300 rpm, 400 rpm, 450 rpm, 510 rpm, 580 rpm or 600 rpm, etc., and the embodiments of this application do not limit this.

[0372] The roller brush 141 is set to a relatively high rotation speed because it needs to powerfully lift up particles and dust from the ground (including the debris swept in by the side brush 131) and use the airflow generated by its high-speed rotation to throw them into the suction chamber. During the outward movement, the equipment covers the edge areas where more debris may accumulate, so maintaining a high roller brush 141 rotation speed helps ensure a strong ability to pick up and remove dry debris in these areas.

[0373] By controlling the rotation speeds of the side brush 131 and the roller brush 141 within the aforementioned optimized range during the outward expansion process, the device ensures that its dry sweeping subsystem operates efficiently during coordinated expansion. This achieves performance matching and deep synergy between sweeping and mopping functions during this dynamic outward expansion phase, allowing the floor in the expanded area to be wet-mopped while simultaneously and powerfully sweeping away dry debris, thereby improving the thoroughness and efficiency of the overall cleaning during this phase.

[0374] As a specific embodiment of this application, when the roller module 120 is stopped in the outward expansion position, the side brush 131 and / or the roller brush 141 can continue to rotate.

[0375] The side brush 131 can rotate at a speed greater than or equal to 180 revolutions per minute and less than or equal to 300 revolutions per minute.

[0376] For example, the rotation speed of the side brush 131 can be 180 rpm, 200 rpm, 235 rpm, 257 rpm, 280 rpm or 300 rpm, etc., and this application embodiment does not limit it.

[0377] The 141 roller brush can rotate at a speed greater than or equal to 300 revolutions per minute and less than or equal to 600 revolutions per minute.

[0378] For example, the rotational speed of the roller brush 141 can be 300 rpm, 400 rpm, 450 rpm, 510 rpm, 580 rpm or 600 rpm, etc., and the embodiments of this application do not limit this.

[0379] Setting the side brush 131 and roller brush 141 to the same speed range as during the outward movement when they are stationary in the outward expansion position ensures consistent performance of the cleaning subsystem when cleaning key areas. When the roller module 120 stops in the outward expansion position, it means that the device is performing spot cleaning or low-speed deep cleaning on areas such as wall edges and furniture legs. The side brush 131 continues to rotate within this speed range, effectively cleaning static or newly disturbed small debris close to the edges. The roller brush 141 continues to work within this higher speed range, ensuring strong physical sweeping and pickup capabilities in the area, effectively removing dry dirt in conjunction with suction.

[0380] By keeping the side brush 131 and roller brush 141 within the same optimized rotational speed range as during the outward movement while the outward movement is stopped, the continuous effectiveness and stable performance of the dry cleaning function are ensured throughout the entire outward cleaning cycle. This achieves full-process deep synergy between sweeping and mopping functions when cleaning key edge areas, ensuring that while the roller mop 121 continuously wets and wipes these areas, dry debris is also powerfully and continuously swept away, thus guaranteeing that the overall cleaning effect on complex edge areas meets the expected standards.

[0381] As a specific embodiment of this application, during a certain period of time during the outward expansion movement, the device can perform the following actions:

[0382] After turning, you can continue moving, or continue moving in the direction you were moving in before expanding outwards, or stop moving and then continue moving in the direction you were moving in before expanding outwards, or stop moving and then move backwards a certain distance before continuing forwards.

[0383] That is, the equipment can perform one or more of the following actions in combination: during the outward expansion movement of the roller module 120, the equipment body is controlled to turn and continue to move in the new direction after the turn is completed; or, the equipment body is controlled to maintain and continue to move in the original direction of movement before the outward expansion movement is started; or, the equipment body is controlled to temporarily stop its overall movement, and after a period of pause, continue to move in the direction of movement before the outward expansion movement; or, the equipment body is controlled to pause briefly, then move backward a distance, and then continue to move forward.

[0384] For example, when the equipment needs to clean the inside of an L-shaped corner, a strategy of expanding outwards while turning can be adopted, allowing the roller module 120 to extend outwards as the equipment body rotates into the corner, thus ensuring that the roller mop 121 can seamlessly fit against both sides of the corner for cleaning. Another example is the strategy of pausing and then moving forward or pausing and then moving backward and forward again. When facing heavily soiled areas or complex obstacles, a brief pause or minor position adjustment allows the roller module 120 more time to fully extend or adjust its angle, while enabling the roller mop 121 to stay on specific points for a longer period of time to improve cleaning intensity. The backward movement helps to reposition itself in narrow spaces or avoid the risk of entanglement.

[0385] By allowing or actively controlling the device body to perform the aforementioned complex actions such as turning, pausing, and reversing during its outward expansion movement, the device's cleaning behavior exhibits greater environmental adaptability and cleaning strategy flexibility. This transforms the outward expansion function from a simple unidirectional linear extension into a dynamic and intelligent collaborative cleaning mode deeply integrated with the device's overall navigation, obstacle avoidance, and path planning. This effectively solves the technical challenge of coordinating the body movement and module expansion to achieve thorough cleaning in complex scenarios such as right-angle turns, narrow passages, or areas where dirt accumulates, thus improving the completeness and intelligence of cleaning coverage.

[0386] In this embodiment of the application, the rotation speed and cleaning performance of the roller mop 121 of the self-cleaning device 100 were tested, and the test results are as follows: Figure 4 As shown, Figure 4 This diagram illustrates the relationship between the cleaning effect evaluation index and the rotation speed of the roller mop, as provided in this application. The cleaning effect evaluation index characterizes the cleaning effect of the cleaning equipment on dirt. The specific testing method involves setting up a dirty floor with the same level of soiling, controlling the autonomous cleaning device 100 to use different rotation speeds of the roller mop 121 to clean the dirty floor. To avoid interference, the side sweeping module 130 and the center sweeping module 140 are not operating during the cleaning process, and the roller module 120 is in an inward-retracted position. Each time the roller mop 121 passes over the dirty floor, the autonomous cleaning device 100 passes over it once. Multiple internal test users then rate the cleanliness of the dirty floor after the autonomous cleaning device 100 has passed over it, with scores ranging from 1 to 10. Figure 4As can be seen, when the roller mop 121 reaches a speed of 60 revolutions per minute, the cleaning effect evaluation index reaches approximately 3.0. This value indicates that users can clearly perceive changes in the degree of dirt on the floor. This is because at this speed, at least one cycle from water replenishment to mopping to scraping can be achieved per second. Combined with the travel speed of the self-cleaning device 100, the continuous flow of clean water is ensured, ensuring that the floor being cleaned is cleaned by the clean water. As the speed increases, the evaluation index continues to rise but gradually slows down. After the speed reaches 180 revolutions per minute, the increase in the evaluation index becomes significantly slower. After the speed exceeds 240 revolutions per minute, the increase in the evaluation index becomes very small. Further increasing the speed of the roller mop 121 has a relatively low marginal contribution to the cleaning effect. Therefore, balancing the contribution to the cleaning effect with factors such as energy consumption and safety, the upper limit of the speed in the extended state is set to 240 revolutions per minute.

[0387] This application provides a cleaning system, including a base station and an autonomous cleaning device 100 according to any of the above embodiments.

[0388] The base station can be a fixed or semi-fixed device that provides support functions for the autonomous cleaning device 100, and can be set up in a fixed location in the home or environment, such as a corner or charging area.

[0389] The functions of the base station may include, but are not limited to: providing power to the autonomous cleaning device 100, such as charging the built-in battery of the device through charging contacts or wireless charging modules; providing storage and supply of cleaning liquid (such as clean water), such as automatically replenishing the clean water tank of the device when the device returns to the station through the built-in water tank and pipelines; providing wastewater recycling and treatment functions, such as collecting dirty water in the wastewater tank of the device through suction or gravity discharge; and performing maintenance operations such as cleaning and drying on the cleaning components (such as roller mop 121) carried by the device.

[0390] Since the cleaning system includes the autonomous cleaning device 100 of any of the above embodiments, the advantages of the cleaning system including the autonomous cleaning device 100 of any of the above embodiments can be specifically referred to in the relevant description above, and will not be repeated here.

[0391] The above technical description is illustrated with reference to the accompanying drawings, which form a part of this application, and which show implementations according to the described embodiments. While these embodiments are described in sufficient detail to enable those skilled in the art to implement them, these embodiments are not limiting; thus, other embodiments can be used, and variations can be made without departing from the scope of the described embodiments.

[0392] Furthermore, terminology is used in the above technical description to provide a thorough understanding of the described embodiments. However, excessive detail is not required to implement the described embodiments. Therefore, the above description of the embodiments is presented for illustrative and descriptive purposes. The embodiments presented in the above description, as well as the examples disclosed according to these embodiments, are provided separately to add context and aid in understanding the described embodiments. The above specification is not intended to be exhaustive or to limit the described embodiments to the precise form of this application. Based on the above teachings, several modifications, selections, and variations are possible. In some cases, well-known processing steps have not been described in detail to avoid unnecessarily affecting the described embodiments.

[0393] This application uses specific embodiments to illustrate the principles and implementation methods of this application. The description of the above embodiments is only for the purpose of helping to understand the core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

[0394] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A self-cleaning device, characterized in that, The device includes: Body (110); A roller module (120) is provided in a receiving space (111) at the bottom of the body (110). The roller module (120) includes a roller mop (121) and a mop drive mechanism for driving the roller mop (121) to rotate. A water replenishment mechanism and a dirt scraping mechanism are provided in the rotation direction of the roller mop (121). A roller module drive mechanism is used to drive the roller module (120) to move in the receiving space (111). The roller module (120) has an inward position located in the receiving space (111) and an outward position with one end extending beyond the outer edge of the body (110). The outward position includes a maximum outward position and a transition position. The transition position is any position of the roller module (120) from the inward position to the maximum outward position. When the roller module (120) is located in the maximum outward position, the distance between the end of the roller module (120) located in the receiving space (111) and the end opposite to the receiving space (111) is greater than or equal to 40 mm and less than or equal to 60 mm. During the sweeping and mopping cleaning task performed by the device, the roller module drive mechanism can drive the roller module (120) to move outward from the inward position to the outward position. During the outward movement, the roller mop (121) continues to rotate. When the roller module (120) stops at the outward position, the roller mop (121) continues to rotate and the rotation speed of the roller mop (121) is greater than or equal to 60 revolutions per minute and less than or equal to 240 revolutions per minute.

2. The device according to claim 1, characterized in that, The speed of the outward movement is greater than or equal to 20 mm / s and less than or equal to 60 mm / s. During the outward movement, the rotation speed of the roller mop (121) is greater than or equal to 60 rpm and less than or equal to 210 rpm.

3. The device according to claim 1, characterized in that, When the device is performing a sweeping and mopping cleaning task and the roller module (120) is stopped in the retracted position, the rotation speed of the roller is greater than or equal to 30 revolutions per minute and less than or equal to 240 revolutions per minute.

4. The device according to claim 1, characterized in that, The device also includes: The side-sweeping module (130) is mounted on the body (110) and includes a side-brush (131) driving mechanism and a side brush (131). The side-brush (131) driving mechanism is used to drive the side brush (131) to rotate. The middle sweeping module (140) is located at the bottom of the body (110) and includes a roller brush (141) driving mechanism and a roller brush (141). The roller brush (141) is located in the dust suction chamber at the bottom of the body (110). The roller brush (141) driving mechanism is used to drive the roller brush (141) to rotate. During the outward movement, the side brush (131) and / or the roller brush (141) remain rotating.

5. A self-cleaning device, characterized in that, The device includes: Body (110); The side-sweeping module (130) is mounted on the body (110) and includes a side-brush (131) driving mechanism and a side brush (131). The side-brush (131) driving mechanism is used to drive the side brush (131) to rotate. The middle sweeping module (140) is located at the bottom of the body (110) and includes a roller brush (141) driving mechanism and a roller brush (141). The roller brush (141) is located in the dust suction chamber at the bottom of the body (110). The roller brush (141) driving mechanism is used to drive the roller brush (141) to rotate. A roller module (120) is provided in a receiving space (111) at the bottom of the body (110). The roller module (120) includes a roller mop (121) and a mop drive mechanism for driving the roller mop (121) to rotate. A water replenishment mechanism and a dirt scraping mechanism are provided in the rotation direction of the roller mop (121). A roller module drive mechanism is used to drive the roller module (120) to move in the receiving space (111). The roller module (120) has an inward position located in the receiving space (111) and an outward position with one end extending beyond the outer edge of the body (110). The outward position includes a maximum outward position and a transition position. The transition position is any position of the roller module (120) from the inward position to the maximum outward position. When the roller module (120) is located in the maximum outward position, the distance between the end of the roller module (120) located in the receiving space (111) and the end opposite to the receiving space (111) is greater than or equal to 40 mm and less than or equal to 60 mm. During the sweeping and mopping cleaning task performed by the device, the roller module drive mechanism can drive the roller module (120) to move outward from the inward position to the outward position. The speed of the outward movement is greater than or equal to 20 mm per second and less than or equal to 60 mm per second. During the outward movement, the roller mop (121) continues to rotate, and the rotation speed is greater than or equal to 120 revolutions per minute and less than or equal to 210 revolutions per minute. During the outward movement, the side brush (131) and / or the roller brush (141) remain rotating.

6. A self-cleaning device, characterized in that, The device includes: Body (110); The side-sweeping module (130) is disposed at the bottom or side of the body (110) and includes a side brush (131) driving mechanism and a side brush (131). The side brush (131) driving mechanism is used to drive the side brush (131) to rotate. The middle sweeping module (140) is located at the bottom of the body (110) and includes a roller brush (141) driving mechanism and a roller brush (141). The roller brush (141) is located in the dust suction chamber at the bottom of the body (110). The roller brush (141) driving mechanism is used to drive the roller brush (141) to rotate. A roller module (120) is provided in a receiving space (111) at the bottom of the body (110). The roller module (120) includes a roller mop (121) and a mop drive mechanism for driving the roller mop (121) to rotate. A water replenishment mechanism and a dirt scraping mechanism are provided in the rotation direction of the roller mop (121). A roller module drive mechanism is used to drive the roller module (120) to move in the receiving space (111). The roller module (120) has an inward position located in the receiving space (111) and an outward position with one end extending beyond the outer edge of the body (110). The outward position includes a maximum outward position and a transition position. The transition position is any position of the roller module (120) from the inward position to the maximum outward position. When the roller module (120) is located in the maximum outward position, the distance between the end of the roller module (120) located in the receiving space (111) and the end opposite to the receiving space (111) is greater than or equal to 40 mm and less than or equal to 60 mm. During the sweeping and mopping cleaning process, the roller module drive mechanism can drive the roller module (120) to move outward from the inward position to the outward position. The speed of the outward movement is greater than or equal to 20 mm / s and less than or equal to 60 mm / s. During the outward movement, the roller mop (121) continues to rotate, and the rotation speed is greater than or equal to 120 revolutions per minute and less than or equal to 210 revolutions per minute. When the roller module (120) stops at the outward position, the roller mop (121) continues to rotate, and the rotation speed of the roller mop (121) is greater than or equal to 120 revolutions per minute and less than or equal to 240 revolutions per minute. During the outward movement, the side brush (131) and / or the roller brush (141) remain rotating.

7. A self-cleaning device, characterized in that, The device includes: Body (110); The side-sweeping module (130) is disposed at the bottom or side of the body (110) and includes a side brush (131) driving mechanism and a side brush (131). The side brush (131) driving mechanism is used to drive the side brush (131) to rotate. The middle sweeping module (140) is located at the bottom of the body (110) and includes a roller brush (141) driving mechanism and a roller brush (141). The roller brush (141) is located in the dust suction chamber at the bottom of the body (110). The roller brush (141) driving mechanism is used to drive the roller brush (141) to rotate. A roller module (120) is provided in a receiving space (111) at the bottom of the body (110). The roller module (120) includes a roller mop (121) and a mop drive mechanism for driving the roller mop (121) to rotate. A water replenishment mechanism and a dirt scraping mechanism are provided in the rotation direction of the roller mop (121). A roller module drive mechanism is used to drive the roller module (120) to move in the receiving space (111). The roller module (120) has an inward position located in the receiving space (111) and an outward position with one end extending beyond the outer edge of the body (110). The outward position includes a maximum outward position and a transition position. The transition position is any position of the roller module (120) from the inward position to the maximum outward position. When the roller module (120) is located in the maximum outward position, the distance between the end of the roller module (120) located in the receiving space (111) and the end opposite to the receiving space (111) is greater than or equal to 40 mm and less than or equal to 60 mm. During the sweeping and mopping cleaning task performed by the device, the roller module drive mechanism can drive the roller module (120) to move outward from the inward position to the outward position. The speed of the outward movement is greater than or equal to 20 mm per second and less than or equal to 60 mm per second. During the outward movement, the roller mop (121) continues to rotate, and the rotation speed is greater than or equal to 120 revolutions per minute and less than or equal to 210 revolutions per minute. During the sweeping and mopping cleaning task performed by the device, the roller module drive mechanism can drive the roller module (120) to move inward from the outward expansion position to the inward contraction position. The inward movement speed is greater than or equal to 20 mm per second and less than or equal to 60 mm per second. During the inward movement, the roller mop (121) continues to rotate, and the rotation speed is greater than or equal to 120 revolutions per minute and less than or equal to 210 revolutions per minute. During the outward movement, the side brush (131) and / or the roller brush (141) remain rotating; During the inward movement, the side brush (131) and / or the roller brush (141) remain rotating.

8. A self-cleaning device, characterized in that, The device includes: Body (110); The side-sweeping module (130) is mounted on the body (110) and includes a side-brush (131) driving mechanism and a side brush (131). The side-brush (131) driving mechanism is used to drive the side brush (131) to rotate. The middle sweeping module (140) is located at the bottom of the body (110) and includes a roller brush (141) driving mechanism and a roller brush (141). The roller brush (141) is located in the dust suction chamber at the bottom of the body (110). The roller brush (141) driving mechanism is used to drive the roller brush (141) to rotate. A roller module (120) is provided in a receiving space (111) at the bottom of the body (110). The roller module (120) includes a roller mop (121) and a mop drive mechanism for driving the roller mop (121) to rotate. A water replenishment mechanism and a dirt scraping mechanism are provided in the rotation direction of the roller mop (121). A roller module drive mechanism is used to drive the roller module (120) to move in the receiving space (111). The roller module (120) has an inward position located in the receiving space (111) and an outward position with one end extending beyond the outer edge of the body (110). The outward position includes a maximum outward position and a transition position. The transition position is any position of the roller module (120) from the inward position to the maximum outward position. When the roller module (120) is located in the maximum outward position, the distance between the end of the roller module (120) located in the receiving space (111) and the end opposite to the receiving space (111) is greater than or equal to 40 mm and less than or equal to 60 mm. During the sweeping and mopping cleaning process, the roller module drive mechanism can drive the roller module (120) to move outward from the inward position to the outward position. The speed of the outward movement is greater than or equal to 20 mm / s and less than or equal to 60 mm / s. During the outward movement, the roller mop (121) continues to rotate, and the rotation speed is greater than or equal to 120 revolutions per minute and less than or equal to 210 revolutions per minute. When the roller module (120) stops at the outward position, the roller mop (121) continues to rotate, and the rotation speed of the roller mop (121) is greater than or equal to 120 revolutions per minute and less than or equal to 240 revolutions per minute. During the sweeping and mopping cleaning task performed by the device, the roller module drive mechanism can drive the roller module (120) to move inward from the outward expansion position to the inward contraction position. The inward movement speed is greater than or equal to 20 mm per second and less than or equal to 60 mm per second. During the inward movement, the roller mop (121) continues to rotate, and the rotation speed is greater than or equal to 120 revolutions per minute and less than or equal to 210 revolutions per minute. During the outward movement, the side brush (131) and / or the roller brush (141) remain rotating; During the inward movement, the side brush (131) and / or the roller brush (141) remain rotating.

9. A self-cleaning device, characterized in that, The device includes: Body (110); The side-sweeping module (130) is mounted on the body (110) and includes a side-brush (131) driving mechanism and a side brush (131). The side-brush (131) driving mechanism is used to drive the side brush (131) to rotate. The middle sweeping module (140) is located at the bottom of the body (110) and includes a roller brush (141) driving mechanism and a roller brush (141). The roller brush (141) is located in the dust suction chamber at the bottom of the body (110). The roller brush (141) driving mechanism is used to drive the roller brush (141) to rotate. A roller module (120) is provided in a receiving space (111) at the bottom of the body (110). The roller module (120) includes a roller mop (121) and a mop drive mechanism for driving the roller mop (121) to rotate. A water replenishment mechanism and a dirt scraping mechanism are provided in the rotation direction of the roller mop (121). A roller module drive mechanism is used to drive the roller module (120) to move in the receiving space (111). The roller module (120) has an inward position located in the receiving space (111) and an outward position with one end extending beyond the outer edge of the body (110). The outward position includes a maximum outward position and a transition position. The transition position is any position of the roller module (120) from the inward position to the maximum outward position. When the roller module (120) is located in the maximum outward position, the distance between the end of the roller module (120) located in the receiving space (111) and the end opposite to the receiving space (111) is greater than or equal to 40 mm and less than or equal to 60 mm. During the sweeping and mopping cleaning process, the roller module drive mechanism drives the roller module (120) to move from the inward position to the maximum outward position. The outward movement time is greater than or equal to 1 second and less than or equal to 2 seconds. During the outward movement, the roller mop (121) continues to rotate, and the rotation speed is greater than or equal to 120 revolutions per minute and less than or equal to 210 revolutions per minute. When the roller module (120) stops at the maximum outward position, the roller mop (121) continues to rotate, and the rotation speed of the roller mop (121) is greater than or equal to 120 revolutions per minute and less than or equal to 240 revolutions per minute. During the outward movement, the side brush (131) and / or the roller brush (141) remain rotating.

10. The device according to any one of claims 4 to 9, characterized in that, During the outward movement, the side brush (131) rotates at a speed greater than or equal to 180 revolutions per minute and less than or equal to 300 revolutions per minute, and the roller brush (141) rotates at a speed greater than or equal to 300 revolutions per minute and less than or equal to 600 revolutions per minute.

11. The device according to any one of claims 4, 6, 8, and 9, characterized in that, With the roller module (120) stopped in the outward position, the side brush (131) and / or the roller brush (141) continue to rotate, the side brush (131) rotating at a speed greater than or equal to 180 revolutions per minute and less than or equal to 300 revolutions per minute, and the roller brush (141) rotating at a speed greater than or equal to 300 revolutions per minute and less than or equal to 600 revolutions per minute.

12. The device according to any one of claims 5-9, characterized in that, During the outward movement, the roller mop (121) continues to rotate at a speed greater than or equal to 120 revolutions per minute and less than or equal to 180 revolutions per minute.

13. The device according to any one of claims 6, 8, and 9, characterized in that, With the roller module (120) stopped at the maximum outward position, the roller mop (121) continues to rotate and the rotational speed of the roller mop (121) is greater than or equal to 120 revolutions per minute and less than or equal to 190 revolutions per minute.

14. A cleaning system, characterized in that, Includes a base station and the autonomous cleaning device (100) as described in any one of claims 1-13.

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