Cleaning assembly, cleaning device and cleaning system

Abstract

This disclosure provides a cleaning component, cleaning device, and cleaning system, relating to the field of smart home technology. The cleaning component includes a cleaning element, a transmission element, and a sensing module. The cleaning element is a wet cleaning element, and the transmission element is connected to the cleaning element. The transmission element can drive the cleaning element to a first position, a second position, and a third position, and the transmission element is provided with multiple sensing elements. The sensing module includes a first sensor and a second sensor. The first sensor, the second sensor, and the multiple sensing elements are configured to generate a first sensing signal in response to the cleaning element being located in the first position, a second sensing signal in response to the cleaning element being located in the second position, and a third sensing signal in response to the cleaning element being located in the third position. The cleaning component provided by this disclosure relatively reduces the number of sensors.

Description

Technical Field

[0001] This disclosure relates to the field of smart home technology, and more specifically, to a cleaning component, cleaning device, and cleaning system. Background Technology

[0002] As society continues to develop and people's living standards improve, cleaning robots are becoming increasingly popular in households because they save time and effort compared to traditional manual cleaning. A typical cleaning robot consists of the main unit and a high-speed rotating cleaning component that mops the floor.

[0003] To improve mopping performance, some cleaning robots are equipped with lateral expansion mechanisms to cover a wider cleaning area. Therefore, accurate detection of the cleaning component's position is necessary.

[0004] It should be noted that the information disclosed in the background section above is only used to enhance the understanding of the background of this disclosure, and therefore may include information that does not constitute prior art known to those skilled in the art. Utility Model Content

[0005] The purpose of this disclosure is to provide a location cleaning component, cleaning equipment, and cleaning system.

[0006] According to one aspect of this disclosure, a cleaning component is provided, the cleaning component comprising:

[0007] Cleaning component, wherein the cleaning component is a wet cleaning component;

[0008] A transmission component is connected to the cleaning component, and the transmission component can drive the cleaning component to be located in a first position, a second position, and a third position. The transmission component is provided with multiple sensing parts.

[0009] The sensing module includes a first sensor and a second sensor, wherein the first sensor, the second sensor, and a plurality of the sensing elements are configured to generate a first sensing signal in response to the cleaning component being located at a first position, a second sensing signal in response to the cleaning component being located at a second position, and a third sensing signal in response to the cleaning component being located at a third position.

[0010] In one exemplary embodiment of this disclosure, the first sensor is triggered by the sensing unit when the cleaning member moves to one or two of the first position, the second position, and the third position; the second sensor is triggered by the sensing unit when the transmission member moves to one or two of the first position, the second position, and the third position.

[0011] When the transmission component moves to one of the first position, the second position, and the third position, at least one of the first sensor and the second sensor is triggered by the sensing unit.

[0012] In one exemplary embodiment of this disclosure, when the cleaning component is located at the first position, the first sensor is triggered to generate the first sensing signal;

[0013] When the cleaning component is in the second position, both the first sensor and the second sensor are triggered to generate the second sensing signal;

[0014] When the cleaning component is in the third position, the second sensor is triggered to generate the third sensing signal.

[0015] In one exemplary embodiment of this disclosure, the plurality of sensing units include two first sensing units for triggering the first sensor and two second sensing units for triggering the second sensor.

[0016] In one exemplary embodiment of this disclosure, the plurality of sensing units further includes a plurality of third sensing units for triggering the second sensor, the plurality of third sensing units being located between two of the two sensing units;

[0017] The second sensor is in a first trigger state after being triggered by the second sensing unit, and in a second trigger state after being triggered by the third sensing unit. The first trigger state is different from the second trigger state.

[0018] In one exemplary embodiment of this disclosure, in a direction intersecting the direction from the second position to the third position, the first sensor and the first sensing part are located on one side of the transmission member, and the second sensor and the second sensing part are located on the other side of the transmission member.

[0019] In one exemplary embodiment of this disclosure, when the cleaning component is located at the first position, the first sensor is triggered to generate the first sensing signal;

[0020] When the cleaning device is in the second position and the third position, the second sensor is triggered. After the first sensor is triggered, the signal generated by the first triggering of the second sensor is the second sensing signal, and the signal generated by the second triggering of the second sensor is the third sensing signal.

[0021] In one exemplary embodiment of this disclosure, the plurality of sensing units include a first sensing unit for triggering the first sensor and two second sensing units for triggering the second sensor, as well as a plurality of third sensing units for triggering the first sensor, wherein the plurality of third sensing units are located between two second sensing units;

[0022] The second sensor is in a first trigger state after being triggered by the second sensing unit, and in a second trigger state after being triggered by the third sensing unit. The first trigger state is different from the second trigger state.

[0023] In one exemplary embodiment of this disclosure, the second sensing part and the third sensing part have different light transmittance, and the second sensor is a photoelectric sensor.

[0024] In one exemplary embodiment of this disclosure, the sensing module generates a fourth sensing signal in response to the third sensing unit, the fourth sensing signal being used to determine the extension amount of the cleaning component.

[0025] In one exemplary embodiment of this disclosure, the fourth sensing signal includes a trigger signal and a counting signal. The trigger signal is a signal emitted by the second sensor when it is triggered by the third sensing unit, and the counting signal is the number of times the second sensor is triggered by the third sensing unit after the cleaning component departs from the first position.

[0026] In one exemplary embodiment of this disclosure, the first sensor, the second sensor, the first sensor unit, the second sensing unit, and the third sensing unit are located on the same side of the transmission member in a direction intersecting the direction from the second position to the third position; or, the first sensor and the first sensing unit are located on one side of the transmission member, and the second sensor, the second sensing unit, and the third sensing unit are located on the other side of the transmission member.

[0027] In one exemplary embodiment of this disclosure, the sensing part is a protruding structure on the transmission member.

[0028] In one exemplary embodiment of this disclosure, the first sensor and / or the second sensor is a photoelectric sensor.

[0029] In one exemplary embodiment of this disclosure, the cleaning component is a roller mop or a tracked mop.

[0030] According to another aspect of this disclosure, a cleaning apparatus is provided, the cleaning apparatus comprising:

[0031] Equipment body;

[0032] The cleaning component described above is disposed on the device body.

[0033] In one exemplary embodiment of this disclosure, the cleaning device further includes:

[0034] A drive assembly connected to the transmission member, the drive assembly being configured to drive the transmission member to move between the first position, the second position, and the third position.

[0035] In one exemplary embodiment of this disclosure, in the height direction of the device body, the ground clearance of the cleaning component when it is in the first position is greater than the ground clearance of the cleaning component when it is in the second and third positions.

[0036] In one exemplary embodiment of this disclosure, when the transmission member is located at the first position and the second position, the orthographic projection of the device body in the height direction completely covers the orthographic projection of the cleaning member in the height direction;

[0037] When the transmission component is in the third position, the orthographic projection of the device body in the height direction covers part of the orthographic projection of the cleaning component in the height direction.

[0038] According to another aspect of this disclosure, a cleaning system is provided, the cleaning system comprising:

[0039] The aforementioned cleaning equipment;

[0040] A base station, which is used to interface with the cleaning equipment.

[0041] The cleaning assembly provided in this disclosure includes a first sensor, a second sensor, and a plurality of sensing elements configured to generate a first sensing signal in response to the cleaning component being located in a first position, a second sensing signal in response to the cleaning component being located in a second position, and a third sensing signal in response to the cleaning component being located in a third position. In other words, the accurate position of the moving component between the first, second, and third positions can be determined by the states of the first and second sensors. Only two sensors are required, which relatively reduces the number of sensors, thereby reducing hardware costs, avoiding excessive installation space occupation, reducing debugging complexity, and improving equipment stability.

[0042] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0043] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure. It is obvious that the drawings described below are merely some embodiments of this disclosure, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0044] Figure 1 A schematic diagram of a cleaning system provided in one embodiment of this disclosure.

[0045] Figure 2 This is a schematic diagram showing the transmission component in a first position according to an embodiment of the present disclosure.

[0046] Figure 3 This is a schematic diagram showing the transmission component in a second position according to an embodiment of the present disclosure.

[0047] Figure 4 This is a schematic diagram showing the transmission component in a third position according to an embodiment of the present disclosure.

[0048] Figure 5 This is a schematic diagram showing the transmission component in a first position, according to another embodiment of the present disclosure.

[0049] Figure 6 This is a schematic diagram showing the transmission component in a second position, according to another embodiment of the present disclosure.

[0050] Figure 7 A schematic diagram showing the transmission component in a third position, according to another embodiment of this disclosure.

[0051] Explanation of reference numerals in the attached figures:

[0052] 10. Cleaning equipment;

[0053] 110. Transmission component; 111. First sensing unit; 112. Second sensing unit; 113. Third sensing unit;

[0054] 121. First sensor; 122. Second sensor; 130. Rack; 20. Base station. Detailed Implementation

[0055] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, they are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and therefore their detailed description will be omitted.

[0056] Although relative terms such as "up" and "down" are used in this specification to describe the relative relationship of one component of an icon to another, these terms are used only for convenience, such as according to the orientation of the examples shown in the accompanying drawings. It is understood that if the device of the icon is flipped upside down, the component described as "up" will become the component described as "down." When a structure is "up" of another structure, it may mean that the structure is integrally formed on the other structure, or that the structure is "directly" mounted on the other structure, or that the structure is "indirectly" mounted on the other structure through another structure.

[0057] The terms “a,” “one,” “the,” “the,” and “at least one” are used to indicate the presence of one or more elements / components / etc.; the terms “including” and “having” are used to indicate an open-ended inclusion and to mean that there may be other elements / components / etc. in addition to the listed elements / components / etc.; the terms “first,” “second,” and “third,” etc., are used only as markers and are not a limitation on the number of objects.

[0058] Embodiments of this disclosure provide a cleaning system, such as Figure 1 As shown, the cleaning system includes a cleaning device 10 and a base station 20. The cleaning device 10 can be, for example, a mopping robot, a sweeping robot, or a combined sweeping and mopping robot; the cleaning device 10 may include a device body, a drive module, a sensing module, a control module, a cleaning module, an energy module, and a human-machine interaction module. The base station 20 is used to dock with the cleaning device 10, allowing it to be parked. The cleaning device 10 can perform functions such as charging, self-cleaning, docking, sewage discharge, water replenishment, and dust collection on the base station 20.

[0059] In one embodiment, the device body is configured to automatically move along a target direction on a travel surface, which can be the surface to be cleaned by the cleaning device 10. If the cleaning device 10 is a sweeping and mopping robot, then the cleaning device 10 operates on the ground.

[0060] In one embodiment, the drive module may include a drive wheel assembly. The drive module can simultaneously control the left and right wheels. For more precise control of the machine's movement, the drive module preferably includes a left drive wheel assembly and a right drive wheel assembly. The left and right drive wheel assemblies are symmetrically arranged along a transverse axis defined by the device body. In one embodiment, to enable the automatic cleaning device 10 to move more stably or with greater mobility on the ground, the automatic cleaning device 10 may include one or more steering wheels. These steering wheels may be driven wheels or drive wheels, and their structural forms include, but are not limited to, omnidirectional wheels. The steering wheels may be located in front of the drive wheel assembly. A drive motor provides power to the drive wheel assembly and / or the steering wheels.

[0061] In one embodiment, the sensing module may include a position determination device located above the device body, a buffer located in the forward portion of the device body, and a cliff sensor and ultrasonic sensor, infrared sensor, magnetometer, accelerometer, gyroscope, odometer, and other sensing devices located at the bottom of the device body, providing the control module with various position and motion state information of the device body. For example, the forward portion of the device body is provided with a buffer. During the cleaning process, when the drive wheel assembly propels the cleaning device 10 to move on the ground, the buffer detects one or more objects in the travel path of the cleaning device 10 via a sensor module, such as a collision sensor. The cleaning device 10 can pass through the objects detected by the collision sensor, such as steps, obstacles, or walls, and the control drive structure causes the cleaning device 10 to respond to the objects, such as stepping over steps.

[0062] In one embodiment, the control module can combine distance and speed information fed back from sensors such as buffers, cliff sensors, ultrasonic sensors, infrared sensors, magnetometers, accelerometers, gyroscopes, and odometers to comprehensively determine the current working state of the robot vacuum cleaner, such as climbing stairs, crossing thresholds, walking on carpets, being on a cliff, stuck above or below, having a full dustbin, or being picked up. It will also provide specific next action strategies for different situations, making the cleaning device 10 work more in line with the user's requirements and providing a better user experience. Furthermore, the control module can plan the most efficient and reasonable cleaning path and cleaning method based on real-time map information drawn using SLAM (Simultaneous Localization and Mapping), which can improve the cleaning efficiency of the cleaning device 10.

[0063] In one embodiment, the energy module may include a rechargeable battery, such as a nickel-metal hydride battery or a lithium battery. The rechargeable battery may be connected to a charging control circuit, a battery pack charging temperature detection circuit, and a battery undervoltage monitoring circuit. These circuits are then connected to a microcontroller control circuit. The main unit is charged by connecting to a charging station via charging electrodes located on the side or bottom of the unit.

[0064] In one embodiment, the human-machine interaction module may include buttons on the main unit panel for users to select functions; it may also include a display screen and / or indicator lights and / or a speaker, which display the current status of the machine or the available functions to the user; and it may also include a mobile client application. For path navigation cleaning equipment, the mobile client can display a map of the environment where the equipment is located, as well as the machine's position, providing users with richer and more user-friendly functions.

[0065] In one embodiment, the cleaning module may include a dry cleaning module, or a dry and wet cleaning module. The dry cleaning module may include a roller brush assembly, side brushes, etc., while the wet cleaning module may include a mop head, water tank, etc.

[0066] In one embodiment, the cleaning component of the cleaning device 10 is provided with an expansion mechanism to allow the cleaning element to cover a wider cleaning area. The cleaning element may be a wet cleaning element, and its rotation method may be a roller mop or a track mop to mop the surface to be cleaned.

[0067] The cleaning component is driven by a drive assembly as it switches between the raised, retracted, and expanded positions. Specifically, for example... Figures 2-7 As shown, the drive assembly is connected to the cleaning component via the transmission component 110. The drive assembly drives the transmission component 110 to reciprocate between the first position, the second position, and the third position, so as to switch the cleaning component between the raised position, the retracted position, and the expanded position.

[0068] The first position corresponds to the raised position, the second position corresponds to the retracted position, and the third position corresponds to the expanded position. When the transmission component 110 is in the first and second positions, the cleaning component is in the raised and retracted positions, respectively. The orthographic projection of the device body in the height direction covers the orthographic projection of the cleaning component in the height direction, meaning the cleaning component is located inside the device body when in the raised and retracted positions. When the transmission component 110 is in the third position, the cleaning component is in the expanded position, and the orthographic projection of the cleaning component in the height direction protrudes beyond the orthographic projection of the device body in the height direction along the first direction X. That is, the cleaning component protrudes beyond the outer contour of the device body by moving, so that the cleaning component can cover a wider cleaning area.

[0069] During normal cleaning, the cleaning equipment 10 uses a drive assembly to position the transmission component 110 in a second position, where the cleaning component is retracted, continuously cleaning the surface to be cleaned. When the cleaning equipment 10 travels to a surface covered with carpet or other materials that require the cleaning component to be lifted, the drive assembly moves the transmission component 110 to a first position, where the cleaning component is raised. After the cleaning equipment 10 moves away from the carpet or other surfaces, the drive assembly moves the transmission component 110 back to the second position, returning the cleaning component to the retracted position to continue cleaning the surface. When the cleaning equipment 10 encounters hard-to-reach areas such as walls, corners, or table legs during cleaning, the drive assembly moves the transmission component 110 to a third position, where the cleaning component extends outwards to cover these areas and improve cleaning effectiveness. After cleaning these hard-to-reach areas, the drive assembly moves the transmission component 110 back to the second position, returning the cleaning component to the retracted position to continue cleaning the surface.

[0070] The switching between the retracted and extended positions of the cleaning component can be a horizontal movement, meaning that the height of the cleaning component above the ground is the same when the transmission component 110 is in the second and third positions along the height of the equipment body. The switching between the retracted and raised positions of the cleaning component can be a diagonal linear movement or a linear movement along the height direction, meaning that the height of the cleaning component above the ground is greater when the transmission component 110 is in the first position than when the transmission component 110 is in the second and third positions, thus achieving the lifting of the cleaning component.

[0071] In some embodiments, a sliding structure extending along the first direction X may be provided between the cleaning member and the transmission member 110. When the transmission member 110 is in the position of moving from the second position toward the first position, the sliding structure enables the transmission member 110 to move relative to the other member in the height direction, so that the cleaning member moves laterally from the retracted position toward the raised position while moving upward in the height direction, thereby achieving the lifting effect on the cleaning head.

[0072] The cleaning component and the transmission component 110 are connected by a connector, which is fixedly connected to the cleaning component in the first direction X. The sliding structure includes a sliding hole and an inclined slide on the transmission component 110, and a transmission part on the connector, with the transmission part located in the sliding hole. When the cleaning component is in the retracted position and the transmission component 110 is in the second position, the transmission part is located at the end of the sliding hole. When the cleaning component needs to return from the retracted position to the expanded position, the transmission component 110 moves from the second position to the third position, and the transmission component 110 drives the transmission part to move synchronously, thereby moving the cleaning component to the expanded position. When the cleaning component needs to return from the expanded position to the retracted position, and the transmission component 110 moves from the third position to the second position, the inclined slide drives the transmission part to move synchronously, thereby moving the cleaning component to the retracted position. When the cleaning component needs to move from the retracted position to the raised position, and the transmission component 110 moves from the second position to the first position, the transmission part moves relative to the inclined slide. This causes the transmission part to move horizontally while simultaneously moving upwards in height, or only downwards in height, thereby driving the cleaning component to the raised position. When the cleaning component needs to return from the raised position to the retracted position, and the transmission component 110 moves from the first position to the second position, the transmission part moves downwards from the inclined slide. This causes the transmission part to move horizontally while simultaneously moving downwards in height, or only downwards in height, thereby driving the cleaning component back to the retracted position.

[0073] Currently, the detection of the outward expansion position of the cleaning component usually relies on multiple sets of optocouplers for position identification to ensure accurate control of the cleaning component during the switching process between the outward expansion position, the retracted position, and the lifting position.

[0074] However, since the cleaning component uses multiple sets of optocouplers for position identification at various locations, the setup of multiple optocouplers increases hardware costs, occupies excessive installation space, and increases debugging complexity, while also posing certain challenges to equipment stability. In response, embodiments of this disclosure provide a cleaning component for cleaning equipment.

[0075] In one embodiment, such as Figures 2-7 As shown, the cleaning assembly includes a cleaning component, a transmission component 110, and a sensing module. The transmission component 110 is connected to the cleaning component and can drive the cleaning component to a first position, a second position, and a third position. The transmission component 110 is provided with multiple sensing elements. The sensing module includes a first sensor 121 and a second sensor 122. The first sensor 121, the second sensor 122, and the multiple sensing elements are configured to generate a first sensing signal in response to the cleaning component being located in the first position, a second sensing signal in response to the cleaning component being located in the second position, and a third sensing signal in response to the cleaning component being located in the third position.

[0076] The cleaning assembly provided in this disclosure includes a first sensor 121, a second sensor 122, and a plurality of sensing elements configured to generate a first sensing signal in response to the cleaning component being located at a first position, a second sensing signal in response to the cleaning component being located at a second position, and a third sensing signal in response to the cleaning component being located at a third position. In other words, the accurate position of the transmission component 110 moving between the first position, the second position, and the third position can be determined by the state of the first sensor 121 and the second sensor 122. Only two sensors are required, which reduces the number of sensors, thereby reducing hardware costs, avoiding excessive installation space occupation, reducing debugging complexity, and improving equipment stability.

[0077] Specifically, the first sensor 121 is triggered by the sensing unit when the transmission member 110 moves to one or two of the first, second, and third positions; the second sensor 122 is triggered by the sensing unit when the transmission member 110 moves to one or two of the first, second, and third positions. In this way, when the transmission member 110 moves to one of the first, second, and third positions, at least one of the first sensor 121 and the second sensor 122 is triggered by the sensing unit. That is, by judging the state of the first sensor 121 and the second sensor 122, or by judging the state of the first sensor 121 and the second sensor 122 in conjunction with the states of the first sensor 121 and the second sensor 122 when the transmission member 110 moves to the current position and the previous position, the accurate position of the transmission member 110 between the first, second, and third positions can be determined, requiring only two sensors.

[0078] In one embodiment, such as Figures 2-4As shown, when the transmission member 110 moves to the first position, the second position, and the third position respectively, the trigger state of the first sensor 121 and the trigger state of the second sensor 122 are different after combination. Different first sensing signals, second sensing signals, and third sensing signals are generated by the combination of the trigger states of the first sensor 121 and the second sensor 122, thereby realizing the accurate determination of the position of the transmission member 110 between the first position, the second position, and the third position.

[0079] Specifically, when the transmission member 110 moves to the first position, one of the first sensor 121 and the second sensor 122 is triggered by the sensing element; when the transmission member 110 moves to the second position, both the first sensor 121 and the second sensor 122 are triggered by the sensing element; when the transmission member 110 moves to the third position, the other of the first sensor 121 and the second sensor 122 is triggered by the sensing element. For example, as... Figure 2 As shown, when the transmission component 110 moves to the first position, the first sensor 121 is triggered by the first sensing unit 111; as Figure 3 As shown, when the transmission component 110 moves to the second position, the first sensor 121 and the second sensor 122 are triggered by the first sensing part 111 and the second sensing part 112, respectively; as Figure 4 As shown, when the transmission member 110 moves to the third position, the second sensor 122 is triggered by the second sensing unit 112.

[0080] It is understandable that when the transmission member 110 moves to the first position, the first sensor 121 and the second sensor 122 may be triggered by the sensing unit; when the transmission member 110 moves to the second position, one of the first sensor 121 and the second sensor 122 may be triggered by the sensing unit; and when the transmission member 110 moves to the third position, the other of the first sensor 121 and the second sensor 122 may be triggered by the sensing unit. Alternatively, when the transmission member 110 moves to the first position, one of the first sensor 121 and the second sensor 122 may be triggered by the sensing unit; when the transmission member 110 moves to the second position, the other of the first sensor 121 and the second sensor 122 may be triggered by the sensing unit; and when the transmission member 110 moves to the third position, both the first sensor 121 and the second sensor 122 may be triggered by the sensing unit.

[0081] Among them, such as Figures 2-4As shown, the plurality of sensing units include two first sensing units 111 for triggering the first sensor 121 and two second sensing units 112 for triggering the second sensor 122. For example, when the transmission member 110 moves to the first position, the first sensor 121 is triggered by the first sensing unit 111; when the transmission member 110 moves to the second position, the first sensor 121 and the second sensor 122 are triggered by the first sensing unit 111 and the second sensing unit 112, respectively; when the transmission member 110 moves to the third position, the second sensor 122 is triggered by the second sensing unit 112. The two first sensing units 111 can be directly opposite the position of the first sensor 121 when the first sensor 121 is in the first position and the second position, respectively, to trigger the first sensor 121. The two second sensing units 112 can be directly opposite the position of the second sensor 122 when the second sensor 122 is in the second position and the third position, respectively, to trigger the second sensor 122. In other words, the first sensing signal is that the first sensor 121 is triggered by the first sensing unit 111, and the second sensor 122 is not triggered by the second sensing unit 112; the second sensing signal is that the first sensor 121 is triggered by the first sensing unit 111, and the second sensor 122 is triggered by the second sensing unit 112; the third sensing signal is that the first sensor 121 is not triggered by the first sensing unit 111, and the second sensor 122 is triggered by the second sensing unit 112.

[0082] Among them, such as Figures 2-4 As shown, the first sensing part 111 and the second sensing part 112 are located on both sides of the transmission member 110 along the second direction Y. The first sensor 121 and the second sensor 122 are located on both sides of the transmission member 110 along the second direction Y. The second direction Y intersects with the first direction X, wherein the first direction X can be the width direction (left-right direction) of the cleaning device 10, and the second direction Y can be the length direction (forward direction) of the cleaning device 10.

[0083] Specifically, the plurality of sensing units may further include a plurality of third sensing units for triggering the second sensor 122, the plurality of third sensing units being located between the second sensing units 112 along the first direction X; the second sensor 122 is in a first trigger state after being triggered by the second sensing unit 112, and in a second trigger state after being triggered by the third sensing unit, the first trigger state being different from the second trigger state. By providing a plurality of third sensing units between the two second sensing units 112, and making the trigger state of the second sensor 122 different after being triggered by the second sensing unit 112 and after being triggered by the third sensing unit, the sensing module generates a fourth sensing signal in response to the third sensing units. The fourth sensing signal is used to determine the extension amount of the cleaning component, that is, the fourth sensing signal indicates that the first sensor 121 is in a state not triggered by the first sensing unit 111, and the second sensor 122 is in a state triggered by the third sensing unit. In detail, the position of the transmission member 110 between the second position and the third position can be determined by the second sensor 122 and multiple third sensors, thereby determining multiple positions of the cleaning member between the retracted position and the extended position. This allows the cleaning member to move to multiple positions between the retracted position and the extended position, thus adjusting the extension distance of the cleaning member from the retracted position to the extended position. It is understood that the more third sensors there are, the more adjustable positions the cleaning member can have between the retracted and extended positions, enabling more precise control of the extension distance of the cleaning member.

[0084] The fourth sensing signal may include a trigger signal and a counting signal. The trigger signal is the signal emitted when the second sensor 122 is triggered by the third sensing unit. The counting signal is the number of times the second sensor 122 is triggered by the third sensing unit after the cleaning member moves from the first position. Specifically, when the transmission member 110 moves from the retracted position to the outward expansion position, the count signal increments by 1 each time the second sensor 122 is triggered by the third sensing unit; when the transmission member 110 moves from the outward expansion position to the retracted position, the count signal decrements by 1 each time the second sensor 122 is triggered by the third sensing unit; and when the transmission member 110 returns to the retracted position, the count signal is reset to zero.

[0085] The first sensing unit 111 and the third sensing unit have different light transmittance. The first sensor 121 is a photoelectric sensor. When the photoelectric sensor is triggered at a position corresponding to the second sensing unit 112 and the third sensing unit with different light transmittance, the output sensing signal is different. For example, the first sensing unit 111 can be made of an opaque material, and the third sensing unit can be made of a semi-transparent material. The photoelectric sensor includes a light emitter and a light receiver. When the light path between the light emitter and the light receiver is completely blocked by the opaque material, the photoelectric sensor output signal is 0; when the light path between the light emitter and the light receiver is blocked by the semi-transparent material, the photoelectric sensor output signal is 0.5; when the light path between the light emitter and the light receiver is not blocked by the sensing unit, the photoelectric sensor output signal is 1.

[0086] Among them, such as Figures 2-4 As shown, the first sensing part 111, the second sensing part 112, and the third sensing part can be protruding structures on the transmission member 110, such as rectangular protrusions. It should be noted that when the protruding structure passes through the photoelectric sensor, it only needs to block the optical path between the light emitter and the receiver in the photoelectric sensor to change the state of the photoelectric sensor. This disclosure does not limit the specific structure of the protruding structure used to trigger the photoelectric sensor.

[0087] In one embodiment, such as Figures 5-7 As shown, when the transmission member 110 moves to the first position, the second position and the third position respectively, the states of the first sensor 121 and the second sensor 122 are different depending on the state of the first sensor 121 and the second sensor 122 when the transmission member 110 moves to the current position and the previous position.

[0088] Specifically, such as Figures 5-7 As shown, when the transmission member 110 moves to the first position, the first sensor 121 is triggered by the first sensing unit 111, and the second sensor 122 is not triggered by the second sensing unit 112; when the transmission member 110 moves to the second position, the first sensor 121 is not triggered by the first sensing unit 111, and the second sensor 122 is triggered by the second sensing unit 112; when the transmission member 110 moves to the third position, the first sensor 121 is not triggered by the first sensing unit 111, and the second sensor 122 is triggered by the second sensing unit 112. It can be seen that when the transmission component 110 moves to the second position and the third position, the first sensor 121 and the second sensor 122 are in the same state in the two positions. However, when in the first position and the second position, the states of the first sensor 121 and the second sensor 122 are different in the two positions. Therefore, when determining whether the transmission component 110 has moved to the second position and the third position, the position of the transmission component 110 can be determined based on the different states of the first sensor 121 and the second sensor 122 in the previous position. That is, when the cleaning component is in the second position and the third position, the second sensor 122 is triggered. After the first sensor 121 is triggered, the signal generated by the second sensor 122 being triggered for the first time is the second sensing signal, and the signal generated by the second sensor 122 being triggered for the second time is the third sensing signal. For example, if the first sensor 121 is triggered by the sensing unit while the second sensor 122 is not triggered by the sensing unit in the previous position, it is determined that the transmission member 110 has moved to the second position; if the first sensor 121 is not triggered by the sensing unit while the second sensor 122 is triggered by the sensing unit in the previous position, it is determined that the transmission member 110 has moved to the third position.

[0089] It should be noted that when the transmission member 110 reciprocates between the second position and the third position, the previous position is the third position and the second position, and the first sensor 121 and the second sensor 122 are in the same state in the previous position. At this time, taking the transmission member 110 moving to the first position as the reference position, the position where the first sensor 121 and the second sensor 122 are in the state of not being triggered by the sensing part and the second sensor 122 being triggered by the sensing part after the transmission member 110 leaves the first position is taken as the second position. The other position where the first sensor 121 and the second sensor 122 are in the state of not being triggered by the sensing part and the second sensor 122 being triggered by the sensing part is taken as the third position. In order to accurately determine whether the transmission member 110 is in the second position or the third position when the transmission member 110 reciprocates between the second position and the third position.

[0090] Among them, such as Figures 5-7 As shown, the plurality of sensing units include a first sensing unit 111 for triggering the first sensor 121 and two second sensing units 112 for triggering the second sensor 122. For example, when the transmission member 110 moves to the first position, the first sensor 121 is triggered by the first sensing unit 111, and the second sensor 122 is not triggered by the second sensing unit 112; when the transmission member 110 moves to the second position, the second sensor 122 is triggered by the second sensing unit 112, and the first sensor 121 is not triggered by the first sensing unit 111; when the transmission member 110 moves to the third position, the second sensor 122 is triggered by the other second sensing unit 112, and the first sensor 121 is not triggered by the first sensing unit 111. In other words, the first sensing signal is that the first sensor 121 is triggered by the first sensing unit 111, and the second sensor 122 is not triggered by the second sensing unit 112; the second sensing signal is that the first sensor 121 is not triggered by the first sensing unit 111, and the second sensor 122 is triggered by the second sensing unit 112; the third sensing signal is that the first sensor 121 is not triggered by the first sensing unit 111, and the second sensor 122 is triggered by another second sensing unit 112.

[0091] Among them, such as Figures 5-7 As shown, the first sensing unit 111 and the second sensing unit 112 are located on the same side of the transmission member 110 along the second direction Y. The first sensor 121 and the second sensor 122 are located on the same side of the transmission member 110 along the second direction Y. The second direction Y intersects with the first direction X, wherein the first direction X can be the width direction (left-right direction) of the cleaning device 10, and the second direction Y can be the length direction (forward direction) of the cleaning device 10.

[0092] Specifically, such as Figures 5-7As shown, the plurality of sensing units may further include a plurality of third sensing units 113 for triggering the second sensor 122. The plurality of third sensing units 113 are located between the second sensing units 112 along the first direction X. After the second sensing unit 112 of the second sensor 122 is triggered, it is in a first trigger state. After being triggered by the third sensing unit 113, it is in a second trigger state. The first trigger state is different from the second trigger state. The sensing module generates a fourth sensing signal in response to the third sensing unit 113. The fourth sensing signal is used to determine the extension amount of the cleaning component. That is, the fourth sensing signal is when the first sensor 121 is not triggered by the first sensing unit 111, and the second sensor 122 is triggered by the third sensing unit 113. In detail, by providing multiple third sensors 113 between the second sensors 112, and ensuring that the triggering state of the second sensor 122 after being triggered by the second sensor 112 differs from that after being triggered by the third sensors 113, the position of the transmission member 110 between the second and third positions can be determined by the multiple third sensors 113. This allows for the determination of multiple positions of the cleaning member between the retracted and extended positions, enabling the cleaning member to move to multiple positions between the retracted and extended positions, thereby adjusting the extension distance of the cleaning member from the retracted position to the extended position. It is understood that the more third sensors 113 there are, the more adjustable positions the cleaning member can have between the retracted and extended positions, allowing for more precise control of the extension distance. Specifically, when the first sensor 121 is triggered by the first sensor 111, the second sensor 122 is not triggered by the second sensor 112 or the third sensors 113.

[0093] The fourth sensing signal may include a trigger signal and a counting signal. The trigger signal is the signal emitted when the second sensor 122 is triggered by the third sensing unit 113. The counting signal is the number of times the second sensor 122 is triggered by the third sensing unit 113 after the cleaning member moves from the first position. Specifically, when the transmission member 110 moves from the retracted position to the outward position, the count signal increments by 1 each time the second sensor 122 is triggered by the third sensing unit 113; when the transmission member 110 moves from the outward position to the retracted position, the count signal decrements by 1 each time the second sensor 122 is triggered by the third sensing unit 113; and when the transmission member 110 returns to the retracted position, the count signal is reset to zero.

[0094] The second sensing unit 112 and the third sensing unit 113 have different light transmittance. The second sensor 122 is a photoelectric sensor. When the photoelectric sensor is triggered, the corresponding sensing unit with different light transmittance outputs a different sensing signal. For example, the second sensing unit 112 can be made of an opaque material, and the third sensing unit 113 can be made of a semi-transparent material. The photoelectric sensor includes a light emitter and a light receiver. When the light path between the light emitter and the light receiver is completely blocked by the opaque material, the photoelectric sensor outputs a signal of 0. When the light path between the light emitter and the light receiver is blocked by the semi-transparent material, the photoelectric sensor outputs a signal of 0.5. When the light path between the light emitter and the light receiver is not blocked by the sensing unit, the photoelectric sensor outputs a signal of 1.

[0095] Among them, such as Figures 5-7 As shown, the first sensing part 111, the second sensing part 112, and the third sensing part 113 can be protruding structures on the transmission member 110, such as rectangular protrusions. It should be noted that when the protruding structure passes through the photoelectric sensor, it only needs to block the optical path between the light emitter and the receiver in the photoelectric sensor to change the state of the photoelectric sensor. This disclosure does not limit the specific structure of the protruding structure used to trigger the photoelectric sensor.

[0096] It should be noted that in the above embodiments, the first sensor 121 and the second sensor 122 can be photoelectric sensors. The photoelectric sensors cooperate with the protruding structure on the transmission member 110 to detect the position of the transmission member 110. In other embodiments, the first sensor 121 and the second sensor 122 can be contact sensors, and a contact structure is provided on the transmission member 110. During the movement of the transmission member 110, after the contact structure comes into contact with the contact sensor, the contact structure can trigger the contact sensor to change the state of the contact sensor. That is, the position of the transmission member 110 is detected through physical contact, thereby realizing the monitoring of the position of the cleaning component. The contact sensor can have multiple trigger positions. For example, the trigger position of the contact sensor after being triggered by the second sensing part 112 is different from that after being triggered by the third sensing part 113, thereby determining the sensing part that triggers the contact sensor.

[0097] In one embodiment, such as Figures 2-7 As shown, a rack 130 extending along the first direction X can be provided on the transmission component 110. The drive assembly may include a driver and a gear connected to the output shaft of the driver, with the gear meshing with the rack 130. The driver drives the gear to rotate forward or backward, thereby driving the transmission component 110 to reciprocate along the first direction X. The transmission method of gear and rack 130 engagement can avoid slippage between transmission structures, thereby precisely controlling the movement stroke of the drive transmission component 110; at the same time, the transmission structure between the drive assembly and the transmission component 110 can be more compact, saving space.

[0098] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the appended claims.

Claims

1. A cleaning assembly characterized by, include: Cleaning component, wherein the cleaning component is a wet cleaning component; A transmission component is connected to the cleaning component, and the transmission component can drive the cleaning component to be located in a first position, a second position, and a third position. The transmission component is provided with multiple sensing parts. The sensing module includes a first sensor and a second sensor, wherein the first sensor, the second sensor, and a plurality of the sensing elements are configured to generate a first sensing signal in response to the cleaning component being located at a first position, a second sensing signal in response to the cleaning component being located at a second position, and a third sensing signal in response to the cleaning component being located at a third position.

2. The cleaning component according to claim 1, characterized in that, The first sensor is triggered by the sensing unit when the cleaning component moves to one or two of the first position, the second position, and the third position; the second sensor is triggered by the sensing unit when the transmission component moves to one or two of the first position, the second position, and the third position. When the transmission component moves to one of the first position, the second position, and the third position, at least one of the first sensor and the second sensor is triggered by the sensing unit.

3. The cleaning component according to claim 1, characterized in that, When the cleaning component is in the first position, the first sensor is triggered to generate the first sensing signal; When the cleaning component is in the second position, both the first sensor and the second sensor are triggered to generate the second sensing signal; When the cleaning component is in the third position, the second sensor is triggered to generate the third sensing signal.

4. The cleaning component according to claim 3, characterized in that, The plurality of sensing units includes two first sensing units for triggering the first sensor and two second sensing units for triggering the second sensor.

5. The cleaning component according to claim 4, characterized in that, The plurality of sensing units further includes a plurality of third sensing units for triggering the second sensor, the plurality of third sensing units being located between the two second sensing units; The second sensor is in a first trigger state after being triggered by the second sensing unit, and in a second trigger state after being triggered by the third sensing unit. The first trigger state is different from the second trigger state.

6. The cleaning component according to claim 4, characterized in that, In the direction intersecting the direction pointing from the second position to the third position, the first sensor and the first sensing part are located on one side of the transmission member, and the second sensor and the second sensing part are located on the other side of the transmission member.

7. The cleaning component according to claim 1, characterized in that, When the cleaning component is in the first position, the first sensor is triggered to generate the first sensing signal; When the cleaning device is in the second position and the third position, the second sensor is triggered. After the first sensor is triggered, the signal generated by the first triggering of the second sensor is the second sensing signal, and the signal generated by the second triggering of the second sensor is the third sensing signal.

8. The cleaning component according to claim 7, characterized in that, The plurality of sensing units include a first sensing unit for triggering the first sensor and two second sensing units for triggering the second sensor, as well as a plurality of third sensing units for triggering the first sensor, wherein the plurality of third sensing units are located between two second sensing units; The second sensor is in a first trigger state after being triggered by the second sensing unit, and in a second trigger state after being triggered by the third sensing unit. The first trigger state is different from the second trigger state.

9. The cleaning component according to claim 5 or 8, characterized in that, The second sensing part has a different light transmittance than the third sensing part, and the second sensor is a photoelectric sensor.

10. The cleaning component as claimed in claim 9, characterized in that, The sensing module generates a fourth sensing signal in response to the third sensing unit, and the fourth sensing signal is used to determine the extension amount of the cleaning component.

11. The cleaning component as claimed in claim 10, characterized in that, The fourth sensing signal includes a trigger signal and a counting signal. The trigger signal is the signal emitted by the second sensor when it is triggered by the third sensing unit. The counting signal is the number of times the second sensor is triggered by the third sensing unit after the cleaning component moves from the first position.

12. The cleaning component according to claim 8, characterized in that, In a direction intersecting the direction pointing from the second position to the third position, the first sensor, the second sensor, the first sensor unit, the second sensor unit, and the third sensor unit are located on the same side of the transmission member; or, the first sensor and the first sensor unit are located on one side of the transmission member, and the second sensor, the second sensor unit, and the third sensor unit are located on the other side of the transmission member.

13. The cleaning component according to claim 1, characterized in that, The sensing part is a protruding structure on the transmission component.

14. The cleaning component according to claim 1, characterized in that, The first sensor and / or the second sensor are photoelectric sensors.

15. The cleaning component according to claim 1, characterized in that, The cleaning device is a roller mop or a tracked mop.

16. A cleaning device, characterized in that, include: Equipment body; The cleaning component according to any one of claims 1 to 15, wherein the cleaning component is disposed on the device body.

17. The cleaning equipment according to claim 16, characterized in that, The cleaning equipment also includes: A drive assembly connected to the transmission member, the drive assembly being configured to drive the transmission member to move between the first position, the second position, and the third position.

18. The cleaning equipment according to claim 16, characterized in that, In the height direction of the device body, the height of the cleaning component above the ground when it is in the first position is greater than the height of the cleaning component above the ground when it is in the second and third positions.

19. The cleaning equipment according to claim 18, characterized in that, When the transmission component is located in the first position and the second position, the orthographic projection of the device body in the height direction completely covers the orthographic projection of the cleaning component in the height direction; When the transmission component is in the third position, the orthographic projection of the device body in the height direction covers part of the orthographic projection of the cleaning component in the height direction.

20. A cleaning system, characterized in that, include: The cleaning equipment according to any one of claims 16 to 19; A base station, which is used to interface with the cleaning equipment.

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