Shoe washing machine and cleaning apparatus

Abstract

The utility model provides a kind of shoe washing machine and cleaning equipment, the shoe washing machine includes box, cleaning assembly, injection assembly and control assembly, shoe warehouse is equipped in box, bracket is rotatably equipped in shoe warehouse, bracket is used to place shoes;Cleaning assembly includes mechanical arm and brush head, one end of mechanical arm is connected to box, the other end of mechanical arm is connected with brush head;Injection assembly includes dry cleaning liquid warehouse, dry cleaning pipe and multiple cleaning spray head, dry cleaning liquid warehouse is equipped in box, one end of dry cleaning pipe is connected dry cleaning liquid warehouse, the other end of dry cleaning pipe is connected with cleaning spray head, dry cleaning pump is used to promote dry cleaning liquid in dry cleaning liquid warehouse to be injected towards brush head through dry cleaning pipe and cleaning spray head;Control assembly, cleaning assembly and injection assembly are electrically connected between, control assembly is used to regulate and control cleaning assembly and injection assembly operation, so that brush head moves along the surface of shoe to realize cleaning.The utility model can satisfy the high quality cleaning demand to shoe, improve user experience.

Description

Technical Field

[0001] This utility model relates to the field of shoe cleaning technology, specifically to a shoe washing machine and a cleaning device. Background Technology

[0002] As people's living standards continue to improve, the demand for shoe cleaning is also showing a continuous upward trend. Currently, the main method for cleaning shoes is soaking, which involves placing the shoes in a shoe-washing tub containing detergent. A motor drives the tub or an internal agitator to rotate, utilizing the soaking of the detergent and the rinsing friction between the shoes and the detergent to remove stains from the shoe surface. However, this method is not only limited in its application, especially for leather shoes, but also makes it difficult to ensure that every part of the shoe makes full contact with the detergent and agitator to generate effective friction. This often results in some areas of the shoe not being cleaned properly, seriously affecting the overall cleanliness and appearance of the shoes. Utility Model Content

[0003] This utility model is based on the inventor's discovery and understanding of the following facts and problems:

[0004] In related technologies, shoe cleaning methods mainly involve placing shoes in a shoe-washing tub containing detergent, and using a motor to drive the tub or an internal agitator to rotate. The detergent soaking process, along with the rinsing and friction between the shoes and the detergent, removes stains from the shoe surface. However, after long-term practice and application, this soaking and washing method has many obvious defects and shortcomings.

[0005] From a suitability perspective, different shoe materials have different cleaning requirements. For example, leather shoes contain protein fibers and natural oils. When soaked, a large amount of water seeps in, causing the leather fibers to swell, damaging the structure and texture, making the leather hard, deformed, or even cracked. Chemical components may also react with the oils, leading to reduced gloss and fading, affecting the appearance and lifespan. Furthermore, some shoes with special processes, such as waterproof coatings or gold foil patterns, are also easily damaged by soaking, making it difficult to meet the cleaning needs of shoes made of various materials.

[0006] From a cleaning quality perspective, shoes generally have a complex structure with irregular parts and hidden gaps, such as shoelace holes and the edges of the tongue. During the soaking and washing process, the position of the shoes in the tub is difficult to control, often resulting in some areas not fully contacting the cleaning agent, leaving stains incompletely removed, affecting the overall cleanliness and appearance, and potentially becoming a breeding ground for bacteria.

[0007] Therefore, this utility model provides a shoe washing machine and a cleaning device that can meet the high-quality cleaning needs of shoes and improve the user experience.

[0008] The shoe washing machine provided by this utility model includes:

[0009] The box contains a shoe compartment, and a bracket is rotatably mounted inside the shoe compartment for placing shoes.

[0010] A cleaning assembly, comprising a robotic arm and a brush head, wherein one end of the robotic arm is connected to the housing and the other end of the robotic arm is connected to the brush head;

[0011] The spray assembly includes a dry cleaning liquid tank, a dry cleaning tube, and multiple cleaning nozzles. The dry cleaning liquid tank is located in the housing. One end of the dry cleaning tube is connected to the dry cleaning liquid tank, and the other end of the dry cleaning tube is connected to the cleaning nozzles. The dry cleaning pump is used to spray the dry cleaning liquid in the dry cleaning liquid tank towards the brush head through the dry cleaning tube and the cleaning nozzles.

[0012] A control component is electrically connected to the cleaning component and the spraying component. The control component is used to regulate the operation of the cleaning component and the spraying component so that the brush head moves along the surface of the shoe to achieve cleaning.

[0013] In summary, the shoe washing machine provided by this utility model can achieve shoe cleaning (dry cleaning) by using a brush head in conjunction with dry cleaning liquid, which can not only ensure cleaning quality, but also improve cleaning efficiency.

[0014] In some embodiments, the spraying assembly further includes a foamer disposed on the dry cleaning tube, the foamer being used to induce foaming of the dry cleaning fluid.

[0015] In some embodiments, the spraying assembly further includes a curing agent tank, a curing nozzle, a curing pipeline, and a curing pump. The curing agent tank, the curing nozzle, the curing pipeline, and the curing pump are all located in the housing. The two ends of the curing pipeline are connected to the curing agent tank and the curing nozzle. The curing pump is located in the curing pipeline and is used to spray the curing agent in the curing agent tank through the curing pipeline and the curing nozzle onto the brush head.

[0016] In some embodiments, the cleaning assembly further includes a brush box rotatably disposed on the housing, the brush box having at least two fixing portions for holding brush heads, the brush heads including at least a cleaning brush and a maintenance brush.

[0017] In some embodiments, the shoe washing machine further includes a drying assembly, which includes an air duct, a heat exchanger, and a fan. The heat exchanger and the fan are both located in the air duct. The air duct has an exhaust port located on the inner wall of the shoe compartment. The fan is used to drive the gas in the air duct that has been heated by the heat exchanger to flow into the shoe compartment.

[0018] In some embodiments, the exhaust vent has a first vent and a second vent, the first vent and the second vent being spaced apart around the bracket on the inner wall of the shoe compartment.

[0019] In some embodiments, the control component includes an image acquisition module and a path planning module. The image acquisition module is positioned facing the bracket and is used to capture images of the shoes to be cleaned. The path planning module is used to perform feature recognition based on the images captured by the image acquisition module and plan the movement path of the cleaning brush along the shoes. The feature recognition includes at least stain recognition and material recognition.

[0020] In some embodiments, the bracket includes a plurality of shoe supports, each shoe support including a support body, the support body including a heel portion, a mid-section portion and a toe portion connected together, the heel portion and the toe portion being respectively located on opposite sides of the mid-section along its length, and both the heel portion and the toe portion being movable relative to the mid-section.

[0021] In some embodiments, the shoe support further includes a side support assembly, which includes a support rod, a first bracket, and a second bracket. The support rod extends along the height direction of the support body and is connected to the support body. The first bracket and the second bracket are respectively located on opposite sides of the support body in the width direction. Both the first bracket and the second bracket include a swing rod and a support plate. The two ends of the swing rod are correspondingly connected to the support rod and the support plate. The support plate is used to support the side of the shoe. When one of the first bracket and the second bracket is subjected to a force, the two support plates can swing towards or away from each other to adjust the opening width of the side support assembly.

[0022] Furthermore, the cleaning equipment provided by this utility model includes the shoe washing machine provided in any of the above embodiments. Attached Figure Description

[0023] The accompanying drawings are provided to further illustrate the embodiments of the present invention and form part of the specification. They are used together with the following detailed description to explain the embodiments of the present invention, but do not constitute a limitation thereof. In the drawings:

[0024] Figure 1 This is a schematic diagram of the structure of a shoe washing machine provided in one embodiment of the present invention.

[0025] Figure 2 This is a top view schematic diagram of a shoe washing machine provided in an embodiment of this utility model.

[0026] Figure 3 This is an exploded view of the components of a shoe washing machine provided in one embodiment of the present invention.

[0027] Figure 4 This is a schematic diagram of the structure of a shoe washing machine after removing the outer shell, according to an embodiment of the present invention.

[0028] Figure 5 yes Figure 2 The diagram shows a cross-sectional view of the shoe washing machine along line AA.

[0029] Figure 6 This is a schematic diagram of the structure related to dry cleaning and maintenance in a shoe washing machine provided in one embodiment of the present invention.

[0030] Figure 7 yes Figure 2 The diagram shows a cross-sectional view of the shoe washing machine along BB.

[0031] Figure 8 This is a schematic diagram of the structure of the brush box in a shoe washing machine provided in one embodiment of the present invention.

[0032] Figure 9 This is a schematic diagram of the structure of the robotic arm in a shoe washing machine provided in one embodiment of the present invention.

[0033] Figure 10 This is an exploded view of the robotic arm components in a shoe washing machine according to an embodiment of the present invention.

[0034] Figure 11 This is a partial schematic diagram of the connection between the rotating mechanism and the linkage mechanism of the robotic arm in a shoe washing machine provided in an embodiment of this utility model.

[0035] Figure 12 This is a schematic diagram of the structure of the bracket in a shoe washing machine provided in one embodiment of the present invention.

[0036] Figure 13 This is a schematic diagram of the structure of the shoe washing machine bracket provided in one embodiment of the present invention from another angle.

[0037] Figure 14 This is a schematic diagram of the shoe support structure in a shoe washing machine provided in one embodiment of the present invention.

[0038] Figure 15 This is a schematic diagram of the side support assembly in a shoe washing machine according to an embodiment of the present invention.

[0039] Figure 16This is a schematic diagram of the assembly of the adjusting sleeve and the support rod in a shoe washing machine according to an embodiment of the present invention.

[0040] Figure 17 This is an exploded view of the adjusting sleeve component in a shoe washing machine according to an embodiment of the present invention.

[0041] Figure 18 This is a schematic diagram of the structure of the buckle component in a shoe washing machine provided in one embodiment of the present invention.

[0042] Figure 19 This is a schematic diagram of the structure of the support body in a shoe washing machine provided in one embodiment of the present invention.

[0043] Figure 20 This is a schematic diagram of the assembly of the shoe upper support and the support body in a shoe washing machine according to an embodiment of the present invention.

[0044] Figure 21 This is a schematic diagram of the rotating disc in a shoe washing machine provided in one embodiment of the present invention.

[0045] Figure 22 This is a schematic diagram of the control component in a shoe washing machine according to an embodiment of the present invention.

[0046] Attached image label: 100, shoe washing machine;

[0047] 10. Box body; 111. Shoe washing compartment; 1111. First opening; 112. Outer shell; 1121. Opening; 113. Inner shell; 1131. Bottom plate; 1132. Side wall; 114. Door; 115. Equipment cavity; 13. Bracket; 14. Mounting platform; 141. Second pivot; 15. Limiting platform; 151. Limiting hole; 152. Rotary bearing; 17. Shoe support; 171. Spray nozzle; 172. Support body; 1721. Heel; 17211 1722. First rack; 17221. Middle section; 17222. Synchronous gear; 17222. Guide groove; 1723. Toe of shoe; 17231. Second rack; 1724. Guide block; 17241. First guide ramp; 17242. High end; 17243. Low end; 1725. Second elastic element; 1726. Upper support; 17261. First connector; 17262. Second connector; 17263. Connector; 17264. Positioning 17265, Slide groove; 1727, Insertion part; 173, Third elastic element; 173, Side support assembly; 1731, Support rod; 17311, Slot; 17312, Guide protrusion; 1732, First side support; 1733, Second side support; 1734, Swing rod; 1735, Support plate; 1736, Synchronous meshing teeth; 1737, Guide strip; 17371, Insertion hole; 1738, Adjusting element; 1739, Adjusting sleeve; 17391, First sliding sleeve; 1 7392, Second sliding sleeve; 17393, Small diameter portion; 17394, Receiving groove; 17395, Guide groove; 17396, Second guide slope; 1741, Fastening element; 17411, Engaging head; 17412, Rotating shaft; 17413, Pressing part; 1742, First elastic element; 191, Rotating disk; 1911, First protrusion; 1912, Second protrusion; 192, Fifth actuator; 193, First pulley; 194, Second pulley;

[0048] 30. Brush assembly; 31. Robotic arm; 311. Rotating mechanism; 3111. Rotating frame; 31111. First rotating shaft; 31112. First plate; 31113. Second plate; 31114. Receiving cavity; 31115. Third gear; 31116. Insertion block; 31117. Slot; 3112. Second driver; 31121. Fourth gear; 3113. Third rotating shaft; 313. Linkage mechanism; 3131. Brush holder; 3132. First connecting rod; 31321. Rotating hole; 31322. Rod body; 31323. Boss; 31324. Threaded hole; 31322, First gear; 3133, Second connecting rod; 3134, Third actuator; 31341, Second gear; 3136, Mounting cylinder; 315, Limiting module; 3151, First position sensor; 3152, Second position sensor; 33, Brush head; 331, Connecting part; 351, Brush box; 3511, Fixing part; 35111, Guide channel; 35112, Fixing hole; 3512, Side panel; 3513, Top panel; 3514, Bottom panel; 352, First actuator; 371, Rotary joint; 372, Fourth actuator;

[0049] 50. Spray assembly; 51. Liquid reservoir; 511. Washing solution reservoir; 512. Dry cleaning solution reservoir; 52. Cleaning nozzle; 521. Washing nozzle; 522. Dry cleaning nozzle; 5211. First part nozzle; 5212. Second part nozzle; 531. Washing tubing; 5311. Return port; 532. Washing circulation pump; 533. Filter; 541. Dry cleaning tubing; 542. Dry cleaning pump; 543. Foamer; 551. Curing agent reservoir; 552. Curing nozzle; 553. Curing piping; 554. Curing pump;

[0050] 60. Drying assembly; 61. Air duct; 611. Exhaust vent; 6111. First air vent; 6112. Second air vent; 62. Heat exchanger; 63. Fan;

[0051] 70. Control component; 71. Image acquisition module; 71. Camera component; 72. Image processing module; 73. Stain detection module; 74. Path generation module. Detailed Implementation

[0052] The embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0053] like Figures 1 to 22As shown, this utility model provides a shoe washing machine, which includes a housing 10, a brush assembly 30, a spray assembly 50, and a control assembly 70. The housing 10 contains a shoe washing chamber 111, and the shoe washing chamber 111 contains a bracket 13 for placing shoes. The brush assembly 30 includes a robotic arm 31 and a brush head 33. One end of the robotic arm 31 is connected to the housing 10, and the other end of the robotic arm 31 is connected to the brush head 33. The spray assembly 50 includes a liquid storage tank 51 and multiple cleaning nozzles 52. The liquid storage tank 51 is located inside the housing 10, and the cleaning nozzles 52 are connected to the liquid storage tank 51. The multiple cleaning nozzles 52 are spaced around the bracket 13 on the inner wall of the shoe washing chamber 111. The liquid storage tank 51 stores cleaning medium, and the cleaning nozzles 52 spray cleaning medium toward the shoes and / or the brush head 33. The control component 70, the brush assembly 30, and the spray assembly 50 are electrically connected. The control component 70 is used to regulate the operation of the brush assembly 30 and the spray assembly 50, so that the brush head 33 moves along the surface of the shoe to achieve cleaning.

[0054] Specifically, the housing 10 is the main structure of the entire device, and its interior contains a shoe-washing chamber 111 for cleaning shoes. Inside the shoe-washing chamber 111 is a bracket 13 for placing the shoes to be cleaned, ensuring the shoes remain stable during the cleaning process and guaranteeing its smooth operation. The brush assembly 30 is a key component for achieving physical cleaning of the shoes. The robotic arm 31 can flexibly extend and move within the shoe-washing chamber 111, thereby driving the brush head 33 to perform a comprehensive cleaning operation on the surface of the shoes.

[0055] The spray assembly 50 provides the cleaning medium. The reservoir 51 stores cleaning media, such as water, washing liquid, and dry cleaning solution, which effectively removes stains, dust, and odors from the shoe surface. Multiple cleaning nozzles 52 are spaced around the bracket 13 on the inner wall of the shoe cleaning chamber 111, allowing the cleaning medium to be sprayed onto the shoe surface and / or the brush head 33 as needed, facilitating cleaning of the shoes by the brush head 33.

[0056] The control component 70 is the central control hub of the entire shoe washing machine. It is electrically connected to the brush assembly 30 and the spray assembly 50, and can regulate the operation of these components, including the extension, retraction, and rotation of the robotic arm 31, as well as parameters such as the spray flow rate and spray time of the cleaning nozzle 52. Through the precise control of the control component 70, the brush head 33 can move along a preset path and in a manner on the shoe surface, achieving comprehensive cleaning. Simultaneously, the control component 70 can automatically adjust the spray volume and cleaning intensity of the cleaning medium based on factors such as the shoe's material and the degree of soiling, to achieve optimal cleaning results while avoiding unnecessary damage to the shoes.

[0057] It should be noted that the cleaning brush head 33 is shown only in the form of an opening in the accompanying drawings of this application. It is conceivable that the cleaning nozzle 52 can also be set in other forms, such as a circular nozzle, a fan-shaped nozzle, or a multi-hole nozzle, all of which are within the protection scope of this application.

[0058] In summary, the shoe washing machine provided by this utility model achieves efficient, automated and intelligent shoe cleaning functions through the cooperation of the brush assembly 30, the spray assembly 50 and the control assembly 70, ensuring that the shoes can be cleaned without damage, thus significantly improving the cleaning efficiency of the shoes.

[0059] like Figure 1 , Figure 2 and Figure 3 As shown, in this embodiment, the housing 10 includes an outer shell 112, an inner shell 113, and a door 114. The outer shell 112 covers the outside of the inner shell 113, and the shoe washing compartment 111 is located in the inner shell 113. The outer shell 112 has an opening 1121, and the door 114 is rotatably disposed at the opening 1121 to open and close the opening 1121. An equipment cavity 115 is provided between the inner shell 113 and the outer shell 112, and at least a portion of the spray assembly 50, the brush assembly 30, and the control assembly 70 can be disposed within the equipment cavity 115.

[0060] Furthermore, the inner shell 113 includes a base plate 1131 and multiple side walls 1132, which are sequentially connected to the base plate 1131 to form a shoe washing chamber 111. The bracket 13 is used to place the shoes upside down in the shoe washing chamber 111, that is, the shoe opening is set facing the base plate 1131, so that the dust, stains and impurities loosened by the brush head 33 and cleaning medium inside the shoes can slide or drip more naturally down the inner wall of the shoes to the bottom of the shoe washing chamber 111. The effect of gravity is fully utilized, so that the stains inside the shoes can be removed more thoroughly, avoiding the residue of stains inside the shoes, thereby improving the cleaning effect.

[0061] like Figure 3 , Figure 4 and Figure 5 As shown, in some embodiments, the cleaning medium includes a washing liquid, and the spray assembly 50 includes a washing pipe 531 and a washing circulation pump 532. One end of the washing pipe 531 has a return port 5311, and the other end of the washing pipe 531 is connected to a storage tank 51. The return port 5311 is located at the bottom of the shoe washing chamber 111. The washing circulation pump 532 is used to cause the washing liquid in the shoe washing chamber 111 to flow back to the storage tank 51 through the return port 5311 and spray it toward the shoes through the cleaning nozzle 52.

[0062] Specifically, the shoe washing machine may have a water washing mode. The liquid storage tank 51 may include a water washing liquid tank 511, and the cleaning nozzle 52 may include a water washing nozzle 521. The water washing pipe 531, water washing circulation pump 532, water washing liquid tank 511, and water washing nozzle 521 constitute a water washing circulation system. In water washing mode, the washing liquid in the water washing liquid tank 511 is sprayed towards the shoes through the cleaning nozzle 52, wetting and dissolving stains on the shoe surface. The washing liquid then drips or flows to the bottom of the shoe washing chamber 111, and is collected through the return port 5311 at the bottom of the shoe washing chamber 111. It then flows back into the water washing liquid tank 511 through the water washing pipe 531. This not only improves the efficiency of washing liquid use and reduces waste of cleaning media, but also ensures that the shoes always come into contact with a sufficient amount of cleaning media during the washing process, contributing to improved cleaning results. Furthermore, during or after the washing liquid is sprayed onto the shoes, the brush head 33, driven by the robotic arm 31, can move along the surface of the shoes to remove stains.

[0063] Furthermore, multiple water-washing nozzles 521 are provided. The water-washing nozzles 521 can be divided into a first part nozzle 5211 and a second part nozzle 5212, allowing the washing liquid to more comprehensively and precisely cover all parts of the shoe, thereby achieving a more efficient cleaning effect. The first part nozzle 5211 is located on the side wall 1132, and its height is at least flush with or higher than the top of the bracket 13, ensuring that the washing liquid sprayed by the water-washing nozzle 521 covers the shoe. The second part nozzle 5212 is located below the bracket 13 in the height direction, and its angled orientation towards the bracket 13 allows it to spray the washing liquid obliquely onto the shoe on the bracket 13. The second part nozzle 5212 can be located at the junction of two adjacent side walls 1132, avoiding interference with the bracket 13 or other components.

[0064] Furthermore, the spray assembly 50 may also include a filter 533, which is disposed in the wash pipe 531. The filter 533 is used to filter impurities in the returned wash liquid to prevent clogging of the cleaning nozzle 52.

[0065] like Figure 3 and Figure 6 As shown, in some embodiments, the cleaning medium includes dry cleaning fluid, and the spray assembly 50 includes a dry cleaning tube 541 and a dry cleaning pump 542. One end of the dry cleaning tube 541 is connected to the liquid storage tank 51, and the other end of the dry cleaning tube 541 is provided with a cleaning nozzle 52. The dry cleaning pump 542 is used to cause the dry cleaning fluid in the liquid storage tank 51 to be sprayed toward the brush head 33 through the dry cleaning tube 541 and the cleaning nozzle 52.

[0066] Specifically, the shoe washing machine may have a dry cleaning mode. The liquid storage tank 51 may include a dry cleaning liquid tank 512. The cleaning nozzle 52 includes a dry cleaning nozzle 522. In dry cleaning mode, the dry cleaning pump 542 draws dry cleaning liquid from the dry cleaning liquid tank 512 and delivers it to the cleaning nozzle 52 through the dry cleaning tube 541. The cleaning nozzle 52 sprays the dry cleaning liquid onto the surface of the brush head 33 at an appropriate flow rate and pressure. Driven by the robotic arm 31, the brush head 33 moves along the surface of the shoe, using the cleaning action of the dry cleaning liquid to remove stains. Due to the high volatility of the dry cleaning liquid, the residual dry cleaning liquid on the shoe surface will evaporate quickly after cleaning, leaving no obvious traces or dampness, thus achieving a fast and efficient dry cleaning effect.

[0067] As can be imagined, the shoe washing machine provided by this utility model uses a brush head in conjunction with dry cleaning liquid to clean shoes during the dry cleaning process, which not only ensures the cleaning quality but also improves the cleaning efficiency.

[0068] Furthermore, the spray assembly 50 also includes a foamer 543, which is located in the dry cleaning tube 541. The foamer 543 is used to cause the dry cleaning fluid to generate foam, thereby reducing the amount of dry cleaning fluid used while achieving the same cleaning effect, which helps to reduce cleaning costs.

[0069] In some embodiments, the spraying assembly 50 further includes a curing agent tank 551, a curing nozzle 552, a curing pipeline 553, and a curing pump 554. The curing agent tank 551, the curing nozzle 552, the curing pipeline 553, and the curing pump 554 are all located in the housing 10. The two ends of the curing pipeline 553 are connected to the curing agent tank 551 and the curing nozzle 552. The curing pump 554 is located in the curing pipeline 553 and is used to spray the curing agent in the curing agent tank 551 through the curing pipeline 553 and the curing nozzle 552 to the brush head 33.

[0070] Specifically, the shoe washing machine may have a maintenance mode. In maintenance mode, the user can select a suitable maintenance agent according to the material of the shoes and their maintenance needs, and pour it into the maintenance agent tank 551. When the maintenance mode is activated, the maintenance pump 554 starts working, drawing the maintenance agent from the maintenance agent tank 551 and delivering it to the maintenance nozzle 552 through the maintenance pipeline 553. The maintenance nozzle 552 sprays the maintenance agent in the form of a mist or a fine stream onto the brush head 33 or the surface of the shoes.

[0071] Driven by the brush assembly 30, the brush head 33 moves along the surface of the shoe, evenly spreading the sprayed conditioner. For areas requiring intensive care, such as leather uppers, heels, or edges, the spray angle and flow rate of the conditioner nozzle 552 can be adjusted to ensure more thorough treatment. The conditioner forms a protective film on the shoe surface, effectively preventing stains from adhering, reducing wear, and maintaining the shoe's shine and suppleness.

[0072] like Figure 3 and Figure 7 As shown, in some embodiments, the shoe washing machine further includes a drying assembly 60, which includes an air duct 61, a heat exchanger 62, and a fan 63. The heat exchanger 62 is disposed in the air duct 61, which has an exhaust port 611 located on the inner wall of the shoe washing chamber 111. The fan 63 is used to cause the gas in the air duct 61, after being heated by the heat exchanger 62, to flow into the shoe washing chamber 111.

[0073] Specifically, the shoe washing machine may have a drying mode. In drying mode, the fan 63 starts working, drawing in air from the outside and sending it into the air duct 61. As the air passes through the heat exchanger 62 within the air duct 61, it absorbs heat and heats up, forming hot air. The hot air then enters the shoe washing chamber 111 through the exhaust vent 611, directly acting on the surface and interior of the shoes. During the drying process, the hot air removes moisture from the surface and interior of the shoes, gradually drying them.

[0074] Furthermore, the exhaust vent 611 has a first vent 6111 and a second vent 6112. The first vent 6111 and the second vent 6112 are spaced around the bracket 13 on the inner wall of the shoe washing chamber 111, so that the hot air can be more evenly distributed throughout the shoe washing chamber 111, thereby improving the drying effect of the shoes.

[0075] Furthermore, the temperature and airflow of the hot air can be adjusted according to the material of the shoes and the drying requirements. For example, for leather shoes, the temperature can be set between 40-50 degrees Celsius to prevent the leather from deforming or being damaged by high temperatures; while for canvas shoes or athletic shoes, the temperature can be appropriately increased to 50-60 degrees Celsius to speed up the drying process. The airflow of the fan 63 can also be adjusted according to the size and material of the shoes to ensure that the hot air can evenly cover all parts of the shoes.

[0076] In this embodiment, the heat exchanger 62 may include an electric heating wire, which has the advantages of simple structure, high heating efficiency and fast response speed, and can well meet the hot air demand in the drying mode of the shoe washing machine.

[0077] In summary, the shoe washing machine provided by this utility model can have one or more of the following modes: water washing, dry cleaning, maintenance, and drying, realizing integrated operation of cleaning, maintenance, and drying, which helps to improve the user experience. In this embodiment, the shoe washing machine integrates all of the following modes: water washing, dry cleaning, maintenance, and drying. These modes can be used in combination or individually as needed. For example, the drying mode can be executed after the water washing or dry cleaning mode is completed to speed up the drying of the shoes; or the maintenance mode can be executed after the dry cleaning mode is completed to maintain the shoes and extend their service life.

[0078] Furthermore, the control component 70 also includes a control panel with multiple touch points, each corresponding to a washing mode, dry cleaning mode, conditioning mode, and drying mode, to facilitate user selection.

[0079] Furthermore, the touch area can be set as a button, allowing users to start or switch different modes of the shoe washing machine (such as water washing mode, dry cleaning mode, maintenance mode and drying mode) with a simple pressing action.

[0080] Of course, in some embodiments, the control component 70 can also automatically select the washing mode, dry cleaning mode, maintenance mode and drying mode by recognizing characteristics such as the material, shape or stains of the shoes.

[0081] like Figure 3 , Figure 5 and Figure 8 As shown, in some embodiments, the robotic arm 31 is detachably connected to the brush head 33. The brush assembly 30 also includes a brush box 351, which is rotatably mounted on the housing 10. The brush box 351 has at least two fixing parts 3511 for holding the brush head 33. That is, during the operation of the shoe washing machine 100, when the brush head 33 needs to be replaced or installed, the brush box 351 can rotate relative to the housing 10 to expose the brush head 33 at the fixing part 3511. The robotic arm 31 can then move to the corresponding fixing part 3511 to remove or install the brush head 33.

[0082] Furthermore, the brush assembly 30 also includes a first driver 352, the output end of which is connected to the brush box 351. The inner wall of the shoe washing chamber 111 is provided with a first opening 1111. The brush box 351 is rotatably disposed within the equipment cavity 115 and moves into or out of the equipment cavity 115 through the first opening 1111. That is to say, the brush box 351 has a storage position and a replacement position during its rotation relative to the housing 10. In the storage position, the brush box 351 is hidden inside the equipment cavity 115; in the replacement position, the fixing part 3511 is exposed in the shoe washing chamber 111, which facilitates the replacement of the brush head 33 by the robotic arm 31.

[0083] Furthermore, at least one fixing part 3511 in the brush box 351 is empty, meaning that no brush head 33 is placed on it. To facilitate the replacement of the brush head 33, there are at least multiple replacement positions, and each replacement position corresponds to one of the fixing parts 3511.

[0084] In this embodiment, as Figure 3 , Figure 5 and Figure 8 As shown, the brush box 351 is provided with two fixing parts 3511. One of the two fixing parts 3511 can be used to hold and fix the brush head 33 in use, and the other can be used to hold and fix the brush head 33 to be replaced. The two fixing parts 3511 are arranged in the same direction on the brush box 351. When the fixing part 3511 is rotated to the replacement position, the brush head 33 on the fixing part 3511 is facing upward, so as to facilitate connection or separation with the robotic arm 31.

[0085] During the process of replacing the brush head 33 by the robotic arm 31, the first driver 352 can drive the brush box 351 to move from the storage position to the replacement position (which corresponds to the empty fixing part 3511). Correspondingly, the robotic arm 31 can also drive the brush head 33 to the replacement position. At this time, the robotic arm 31 can insert the brush head 33 on it into the empty fixing part 3511 on the brush box 351 and separate the robotic arm 31 from the brush head 33. At this time, the first driver 352 can drive the brush box 351 to rotate again, so that the brush box 351 rotates to the replacement position opposite to the fixing part 3511 where the brush head 33 is placed. Then the robotic arm 31 moves to the replacement position to realize the connection between the robotic arm 31 and the brush head 33, thereby completing the replacement of the brush head 33.

[0086] like Figure 8 As shown, in some embodiments, the brush head 33 has a connecting portion 331, and the fixing portion 3511 includes a guide channel 35111 and a fixing hole 35112. When both the fixing portion 3511 and the robotic arm 31 move to the replacement position, the connecting portion 331 of the brush head 33 is located exactly within the fixing hole 35112. The guide channel 35111 connects the edge of the brush box 351 and the fixing hole 35112. When the brush head 33 is inserted into the fixing portion 3511, the connecting portion 331 on the brush head 33 can pass horizontally through the guide channel 35111 into the fixing hole 35112. When the brush head 33 is removed from the fixing portion 3511, the connecting portion 331 on the brush head 33 can move horizontally and exit from the fixing hole 35112 through the guide channel 35111. The fixing hole 35112 is used to fix and support the connecting portion 331, allowing the brush head 33 to be placed inside the brush box 351.

[0087] Optionally, the fixing hole 35112 is elongated, the shape of the connecting part 331 is adapted to the shape of the fixing hole 35112, and the side wall 1132 of the fixing hole 35112 is inclined, that is, the shape is small at the bottom and large at the top, so that when the connecting part 331 is placed in the fixing hole 35112, due to the effect of gravity, the connecting part 331 will be coaxial with the fixing hole 35112, so that the robotic arm 31 can be aligned and connected with the connecting part 331 in the fixing hole 35112.

[0088] In this embodiment, the brush box 351 includes a side panel 3512, a top panel 3513, and a bottom panel 3514. A fixing part 3511 is disposed on the bottom panel 3514. The top panel 3513 and the bottom panel 3514 are disposed opposite each other and located on the same side of the side panel 3512. The top panel 3513 and the bottom panel 3514 are semi-circular. When the brush box 351 is in the storage position, the side panel 3512 is flush with the inner wall of the shoe washing chamber 111, and the top panel 3513 and the bottom panel 3514 are located inside the equipment cavity 115.

[0089] Furthermore, such as Figure 3 , Figure 5 and Figure 8 As shown, the brush box 351 rotates horizontally, and fixing parts 3511 are respectively provided on both sides of the rotation center of the brush box 351. Of course, in other embodiments, the brush box 351 rotates vertically, that is, the axis of rotation of the brush box 351 is set in the horizontal direction, which will not be described in detail here.

[0090] like Figure 1 and Figure 9 As shown, in some embodiments, the brush assembly 30 further includes a rotary joint 371, which is located at the output end of the robotic arm 31. The rotary joint 371 has an external thread, and the bottom of the brush head 33 has an internal thread that mates with the external thread. During the replacement of the brush head 33, the robotic arm 31 drives the rotary joint 371 to rotate in the forward direction, allowing the rotary joint 371 to screw into the brush head 33, thus connecting the robotic arm 31 and the brush head 33. By rotating the robotic arm 31 in the reverse direction, the rotary joint 371 can be screwed out of the brush head 33, thus separating the robotic arm 31 and the brush head 33.

[0091] It should be noted that when the robotic arm 31 is connected to the brush head 33, the robotic arm 31 rotates forward and moves upward; when the robotic arm 31 is separated from the brush head 33, the robotic arm 31 rotates in the opposite direction and moves downward, ensuring that the brush head 33 remains stationary within the fixing part 3511, making it easier to connect and separate the robotic arm 31 and the brush head 33. Of course, in some embodiments, the robotic arm 31 can also achieve a detachable connection with the brush through a magnetic structure, all of which are within the protection scope of this utility model.

[0092] In this embodiment, the brush assembly 30 further includes a fourth driver 372, which is located at the movable end of the robotic arm 31, and a rotary joint 371 is located at the output end of the fourth driver 372. The fourth driver 372 can drive the rotary joint 371 to rotate during the assembly and disassembly of the robotic arm 31 and the brush head 33.

[0093] In summary, the shoe washing machine provided by this utility model allows for automatic replacement of the brush head 33, enabling it to handle different shoe washing processes. From the moment the shoes are placed in the shoe washing machine 100 until a pair of dry shoes is removed from the machine, no other manual operation is required, completely freeing people's hands and making it more convenient and efficient to use. For example, when dry cleaning shoes, a stiffer brush can be used to brush the shoes first, and then the brush can be changed to a softer brush to wipe away the foam. Of course, this shoe washing machine can also be used for shoe maintenance. For example, when maintaining leather shoes, a stiffer brush can be used to brush away the dust, and then the brush can be changed to a softer brush to apply shoe polish to the surface of the leather shoes. Finally, the brush rotates at high speed to polish the leather shoes.

[0094] like Figure 1 , Figure 2 , Figure 3 , Figure 9 , Figure 10 and Figure 11 As shown, in some embodiments, the robotic arm 31 includes a rotating mechanism 311 and a linkage mechanism 313. The rotating mechanism 311 includes a rotating frame 3111 and a second driver 3112. The rotating frame 3111 is rotatable in the horizontal direction relative to the housing 10. The output end of the second driver 3112 is connected to the rotating frame 3111 in a transmission connection. The linkage mechanism 313 includes a brush holder 3131, a first link 3132, a second link 3133, and a third driver 3134. The first link 3132 and the second link 3133 are arranged in parallel and have equal lengths. One end of the first link 3132 is rotatably connected to the rotating frame 3111, and the other end of the first link 3132 is rotatably connected to the brush holder 3131. One end of the second link 3133 is rotatably connected to the rotating frame 3111, and the other end of the second link 3133 is rotatably connected to the brush holder 3131. The brush holder 3131 is used to mount the brush head 33, and the third driver 3134 is used to drive the first link 3132 or the second link 3133 to rotate relative to the rotating frame 3111 around the straight line of the second direction, so as to drive the brush holder 3131 and the brush head 33 to move in the shoe washing chamber 111.

[0095] In this embodiment, such as Figure 3As shown, the first direction is the height direction of the housing 10 (i.e., the vertical direction of the housing 10), and the second direction is the horizontal direction of the housing 10 (i.e., the direction of the horizontal plane on which the housing 10 is located). The horizontal direction includes the front-back direction and the left-right direction. During operation, the second driver 3112 drives the rotating frame 3111 to swing relative to the housing 10 in the horizontal direction of the housing 10, and the third driver 3134 can drive the first connecting rod 3132 or the second connecting rod 3133 to swing in the height direction of the housing 10.

[0096] Specifically, the linkage mechanism 313 is mounted on the housing 10 via the rotating mechanism 311. Driven by the second driver 3112 and the third driver 3134, the brush head 33 can move freely within the shoe washing chamber 111 to reach any position within the chamber, thereby achieving effective cleaning of the shoes inside. In other words, during shoe cleaning, especially for cleaning a specific area (such as the toe, lace holes, or other dirty areas), the second driver 3112 and the third driver 3134 can drive the brush head 33 to that area via the rotating frame 3111 and the linkage mechanism 313, achieving effective cleaning of that specific area. This allows for more flexible and precise adaptation to shoe cleaning needs, improving cleaning efficiency and effectiveness.

[0097] Furthermore, the rotating frame 3111, the first connecting rod 3132, the brush holder 3131, and the second connecting rod 3133 can form a parallelogram structure, allowing the brush head 33 to maintain a stable movement trajectory. That is, the first connecting rod 3132 and the second connecting rod 3133 are located between the rotating frame 3111 and the brush holder 3131, with their ends connected to the rotating frame 3111 and the brush holder 3131, respectively. During operation, the third driver 3134 can drive the brush holder 3131 to translate in a first direction via the first connecting rod 3132 and the second connecting rod 3133, ensuring that the brush head 33 always maintains a single direction and ensuring stable operation of the brush head 33.

[0098] In this embodiment, the rotating frame 3111 is located at the connection between two adjacent side walls 1132 of the housing 10, making full use of the space inside the housing 10 and allowing the rotating frame 3111 to have a larger range of motion when rotating, thereby driving the linkage mechanism 313 to move more flexibly and comprehensively within the shoe washing chamber 111. It also avoids interference between the rotating frame 3111 and other components inside the housing 10 during rotation, ensuring operational stability and reliability.

[0099] Specifically, when the second actuator 3112 drives the rotating frame 3111 to rotate around the straight line of the first direction, since the rotating frame 3111 is located at the corner of the housing 10, its rotation can drive the linkage mechanism 313 to form a larger sweeping area within the shoe washing chamber 111, thereby ensuring that the brush head 33 can cover every part of the shoe. At the same time, the third actuator 3134 drives the first linkage 3132 or the second linkage 3133 to rotate relative to the rotating frame 3111 around the straight line of the second direction, further adjusting the position and angle of the brush holder 3131 and the brush head 33, so that they can more accurately conform to the shape of the shoe and the distribution of dirt.

[0100] like Figure 9 , Figure 10 and Figure 11 As shown, in some embodiments, the rotating frame 3111 is provided with a first rotating shaft 31111, which extends along a straight line in the second direction. Both the first connecting rod 3132 and the second connecting rod 3133 have a rotating hole 31321, and the first rotating shaft 31111 passes through the rotating hole 31321. At least one of the first connecting rod 3132 and the second connecting rod 3133 is provided with a first gear 31325, and the output end of the third driver 3134 is provided with a second gear 31341. The first gear 31325 and the second gear 31341 mesh, which helps to improve transmission accuracy.

[0101] Specifically, when the position or angle of the brush head 33 needs to be adjusted, the third driver 3134 will be activated and drive the second gear 31341 to rotate. Due to the meshing relationship between the second gear 31341 and the first gear 31325, the first gear 31325 will rotate accordingly, and drive the first connecting rod 3132 or the second connecting rod 3133 to rotate around the first rotating shaft 31111, thereby driving the brush holder 3131 and the brush head 33 to move within the shoe washing chamber 111, so as to achieve precise cleaning of different parts of the shoe by the brush head 33.

[0102] Furthermore, the first gear 31325 is configured as a first sector gear, and the arc of the first sector gear is at least greater than or equal to the rotation angle of the first connecting rod 3132. That is, the tooth surface of the first sector gear only covers a portion of the circumference to form a specific arc. When the third driver 3134 drives the second gear 31341 to rotate, the second gear 31341 meshes with the first sector gear. Due to the arc limitation of the tooth surface of the first sector gear, the rotation angle of the first connecting rod 3132 is strictly limited to a preset range. The preset range can be set according to actual needs, for example, 0° to 30°, 0° to 60°, etc.

[0103] Furthermore, the physical limit formed by the first sector gear ensures that the movement range of the brush head 33 within the shoe washing chamber 111 is effectively controlled. During the shoe washing process, the brush head 33 needs to cover all parts of the shoe, but it does not need to rotate without restriction. By setting the curvature of the first sector gear, the maximum rotation angle of the brush head 33 can be precisely controlled, preventing it from exceeding the necessary working range, thereby improving cleaning efficiency and reducing unnecessary energy consumption.

[0104] Furthermore, the first gear 31325 is also a face gear, which can convert the rotational motion of the second gear 31341 into the oscillating motion of the first connecting rod 3132 or the second connecting rod 3133, and can also reduce the impact and vibration during the transmission process.

[0105] In this embodiment, the first connecting rod 3132 is located above the second connecting rod 3133 in the height direction of the housing 10, and the first gear 31325 is disposed on the first connecting rod 3132. The first gear 31325 can be detachably installed on the first connecting rod 3132 via a threaded structure. Of course, in some embodiments, the first gear 31325 and the first connecting rod 3132 can also be integrated; or the first gear 31325 and the first connecting rod 313232 can be connected by means of snap-fit, welding, etc.

[0106] Furthermore, the first connecting rod 3132 includes a rod body 31322, a boss 31323, and a stud. The boss 31323 is provided with a threaded hole 31324, and the second gear 31341 is provided with a through hole. One end of the stud can pass through the through hole and be threaded into the threaded hole 31324, thereby connecting the first gear 31325 and the first connecting rod 3132. This not only ensures a secure fixation but also facilitates disassembly.

[0107] like Figure 9 , Figure 10 and Figure 11 As shown, the rotating frame 3111 includes a first plate 31112 and a second plate 31113 arranged opposite to each other. A receiving cavity 31114 is provided between the first plate 31112 and the second plate 31113. A first rotating shaft 31111 is disposed in the receiving cavity 31114. The two ends of the first rotating shaft 31111 are correspondingly connected to the first plate 31112 and the second plate 31113, so that the ends of the first connecting rod 3132 and the second connecting rod 3133 are both received in the receiving cavity 31114.

[0108] Optionally, the first plate 31112 and the second plate 31113 can be joined by a threaded connection.

[0109] like Figure 9 , Figure 10 and Figure 11As shown, in some embodiments, the housing 10 is provided with a mounting platform 14, and the mounting platform 14 is provided with a second rotating shaft 141, which extends along a straight line in the first direction. The rotating frame 3111 also includes a third gear 31115, which is sleeved on the second rotating shaft 141. A fourth gear 31121 is provided on the output end of the second driver 3112, and the third gear 31115 meshes with the fourth gear 31121.

[0110] Specifically, when a specific area of ​​the shoe needs to be cleaned, the second drive 3112 is activated and drives the fourth gear 31121 to rotate. The fourth gear 31121 transmits power to the rotating frame 3111 through meshing with the third gear 31115, causing the rotating frame 3111 to swing around the second rotating shaft 141. This drives the linkage mechanism 313 (including the brush head 33) to move synchronously within the shoe washing chamber 111, thereby precisely moving the brush head 33 to the area to be cleaned. This achieves precise cleaning of different parts of the shoe, helping to improve cleaning effectiveness and efficiency.

[0111] Furthermore, the third gear 31115 is configured as a second sector gear, the curvature of which is greater than or equal to the rotation angle of the rotating frame 3111. Similar to the first sector gear provided in the above embodiment, the second sector gear's tooth surface only covers a portion of the circumference, forming a specific curvature. That is, when the fourth gear 31121 drives the second sector gear to rotate, the rotation range of the rotating frame 3111 is strictly limited to a preset angle. Similarly, the second sector gear can be configured as needed, for example, 0° to 30°, 0° to 60°, etc.

[0112] In this embodiment, the first plate 31112 of the rotating frame 3111 is provided with a connector block 31116, and the third gear 31115 is provided with a slot 31117 that matches the connector block 31116. The connector block 31116 is elongated, which provides sufficient contact area and friction to effectively prevent loosening or slippage during relative movement. At the same time, the elongated shape also helps to disperse stress and reduce the risk of structural damage caused by excessive local stress.

[0113] like Figure 9 , Figure 10 and Figure 11As shown, in some embodiments, the housing 10 is further provided with a limiting platform 15, which is correspondingly arranged with the mounting platform 14. The limiting platform 15 is provided with a limiting hole 151, and the rotating frame 3111 has a third rotating shaft 3113, which passes through the limiting hole 151. That is, in the height direction of the housing 10, the limiting platform 15 is located above the mounting platform 14, thereby limiting the rotating frame 3111 in the height direction and ensuring that the rotating frame 3111 can rotate stably. In this embodiment, the third rotating shaft 3113 is provided on the second plate 31113.

[0114] Furthermore, the limiting platform 15 is also equipped with a rotating bearing 152, part of which can be housed within the limiting hole 151. The third rotating shaft 3113 passes through the inner hole of the rotating bearing 152, which not only reduces energy loss due to friction, lowers the wear rate of mechanical parts, and extends service life, but also improves the stability of the rotating frame 3111 during operation. Moreover, due to the supporting effect of the bearing, the rotating frame 3111 can maintain a more stable posture when rotating around the third rotating shaft 3113, reducing noise and vibration caused by swaying or deviation. This not only improves overall performance but also provides users with a more comfortable user experience.

[0115] In this embodiment, the limiting platform 15 is located on the top of the housing 10. The upper end of the rotating frame 3111 is attached to the limiting platform 15, and the lower end of the rotating frame 3111 is attached to the mounting platform 14. This not only ensures stable support for the rotating frame 3111 in the height direction, but also effectively prevents the rotating frame 3111 from shaking or deviating during operation through the friction between the limiting platform 15 and the rotating frame 3111. At the same time, the limiting platform 15 also plays a role in precise positioning, restricting the range of motion of the rotating frame 3111 in the height direction, thereby ensuring that the rotating frame 3111 can rotate smoothly along a predetermined trajectory.

[0116] Optionally, the mounting platform 14 and the limiting platform 15 are flat plate structures, and can be installed onto the inner shell 113 via a threaded structure. That is, the inner shell 113 has threaded holes, and the mounting platform 14 and the limiting platform 15 are securely installed onto the threaded holes of the inner shell 113 using studs to achieve installation and fixation. This method is not only simple and quick, but also ensures that the mounting platform 14 and the limiting platform 15 maintain stable performance during long-term use, effectively preventing mechanical failures caused by loosening or detachment.

[0117] like Figure 9 , Figure 10 and Figure 11As shown, in some embodiments, the robotic arm 31 further includes a limiting module 315, which is electrically connected to the second driver 3112. The limiting module 315 includes a first position sensor 3151 and a second position sensor 3152. The first position sensor 3151 and the second position sensor 3152 are spaced apart around the second rotating shaft 141 on the mounting platform 14. This not only ensures that the sensors can fully and accurately capture the position changes of the rotating frame 3111 during rotation, but also effectively avoids blind spots or errors that may be caused by a single sensor through their spaced arrangement.

[0118] The first position sensor 3151 and the second position sensor 3152 can detect the rotation angle and position of the rotating frame 3111 around the second rotating shaft 141 in real time and accurately. When the rotating frame 3111 rotates to a preset position during the cleaning process, the sensor will immediately feed this information back to the second driver 3112. The second driver 3112 then quickly adjusts its output state according to the received signal, thereby controlling the rotation speed, direction, or stop position of the rotating frame 3111, which can improve the control accuracy of the cleaning process and help improve the cleaning effect and efficiency.

[0119] Optionally, the first position sensor 3151 and the second position sensor 3152 can be configured as limit switches or inductive grating sensors. When the first position sensor 3151 and the second position sensor 3152 are configured as limit switches, the first position sensor 3151 and the second position sensor 3152 can be respectively located at the first limit position and the second limit position of the rotating frame 3111 in the horizontal direction to avoid the rotating frame 3111 being over-rotated.

[0120] In some embodiments, the brush holder 3131 has a mounting cylinder 3136, and the fourth driver 372 is mounted inside the mounting cylinder 3136. The brush head 33 may include a ball brush, which can adapt to irregular surfaces on the shoe, such as the curved surfaces of the toe, heel, and side of the shoe, and can effectively remove stubborn stains along the gaps and textures of the shoe.

[0121] The fourth actuator 372 not only allows for the installation and removal of the brush head 33, but also drives the ball brush to rotate, improving the cleaning efficiency of shoes. Especially for heavily soiled areas, the fourth actuator 372 can rotate the ball brush, enabling continuous, high-intensity rotary cleaning in that area. This targeted cleaning method concentrates cleaning power, precisely targeting stubborn stains, thus significantly improving cleaning efficiency and effectiveness.

[0122] like Figure 1 , Figure 2 , Figure 12 , Figure 13 , Figure 14 , Figure 15 , Figure 16 , Figure 17 , Figure 18 and Figure 19 As shown, in some embodiments, the bracket 13 includes a shoe support 17, which is inserted into the shoe. The shoe support 17 is provided with a plurality of spray holes 171, which are connected to the liquid storage tank 51 through a pipeline. The spray holes 171 are used to spray the cleaning medium (washing liquid) in the liquid storage tank 51 into the shoe to clean the stains inside the shoe.

[0123] In this embodiment, the shoe support 17 can be inserted into the shoe cavity to support the shoe and prevent it from changing shape during the washing process. The shoe support 17 may include a support body 172, which includes a heel portion 1721, a middle portion 1722, and a toe portion 1723 connected to each other. The heel portion 1721, the middle portion 1722, and the toe portion 1723 are all provided with hollow cavities for storing cleaning media. Spray holes 171 are evenly arranged on the surfaces of the heel portion 1721, the middle portion 1722, and the toe portion 1723 for spraying the cleaning media in the hollow cavities into the shoe cavity to clean the stains inside the shoe.

[0124] That is, when the shoe washing machine 100 is in water washing mode, the washing liquid in the liquid storage tank 51 can enter the hollow cavity through the pipeline, and then spray it into the shoe cavity through the spray hole 171, and evenly cover the shoe cavity, thereby achieving a comprehensive cleaning of the stains inside the shoe cavity. This not only improves the efficiency of cleaning the inside of the shoe, but also ensures that the cleaning process is more even and thorough, so that the shoes can be restored to a clean and tidy state after cleaning.

[0125] In this embodiment, the heel portion 1721 and the toe portion 1723 are respectively located on opposite sides of the middle portion 1722. At least one of the heel portion 1721 and the toe portion 1723 is movable relative to the middle portion 1722, allowing the shoe support 17 to more flexibly adjust its overall shape and length, thereby better conforming to the internal contour of the shoe. For example, when the shoe support 17 is inserted into the shoe, if the toe portion 1723 of the shoe is narrower or wider, the toe portion 1723 can be moved and adjusted accordingly to ensure that the shoe support 17 can closely conform to the shape of the toe. Similarly, the heel portion 1721 can also be moved appropriately according to the shape of the shoe heel, thereby improving the fit between the shoe support 17 and the shoe.

[0126] Furthermore, the shoe support 17 also includes a side support assembly 173, which includes a support rod 1731, a first side support frame 1732, and a second side support frame 1733. The support rod 1731 extends along the height direction of the support body 172 and is connected to the support body 172. The first side support frame 1732 and the second side support frame 1733 are respectively located on opposite sides of the width direction of the support body 172. Both the first side support frame 1732 and the second side support frame 1733 include a swing rod 1734 and a support plate 1735. The two ends of the swing rod 1734 are connected to the support rod 1731 and the support plate 1735 respectively. The support plate 1735 is used to support the side of the shoe. When one of the first side support frame 1732 and the second side support frame 1733 is subjected to force, the two support plates 1735 can swing towards or away from each other to adjust the opening width of the side support assembly 173, thereby better fitting the shoe cavity and helping to improve the support strength of the shoe.

[0127] Optionally, when the shoe is narrow, the two support plates 1735 can swing towards each other, thereby reducing the opening width and better fitting the shoe; while when the shoe is wide, the two support plates 1735 can swing away from each other, increasing the opening width to accommodate the shoe's width. In this way, the side support assembly 173 can flexibly adjust the opening width, thereby better adapting to shoes of different widths, providing stable support for the shoe, ensuring that the shoe remains fixed during washing or other operations, and avoiding poor cleaning results or damage to the shoe due to shaking.

[0128] In some embodiments, the swing rod 1734 is rotatably connected to the support rod 1731. The swing rod 1734 is provided with a synchronous meshing tooth 1736. The synchronous meshing tooth 1736 of the first side support 1732 meshes with the synchronous meshing tooth 1736 of the second side support 1733, so that the first side support 1732 and the second side support 1733 swing synchronously, ensuring that the support plate 1735 of the first side support 1732 and the second side support 1733 always maintains a consistent motion state during the swinging process.

[0129] In other words, when the user applies an external force to the first side support 1732 to make it swing, the second side support 1733 will also swing simultaneously with the same amplitude and direction through the meshing transmission of the synchronous meshing teeth 1736. Conversely, when an external force is applied to the second side support 1733, the first side support 1732 will also respond synchronously. This synchronous swing design not only improves the convenience of operation, but also ensures the stability and consistency of the side support assembly 173 when adjusting the opening width.

[0130] For example, when washing shoes, if it is necessary to adjust the opening width of the side support assembly 173 to fit the width of the shoe, the user only needs to apply appropriate external force to one of the supports 13, and the other support 13 will automatically swing synchronously with it. This design avoids uneven force on the side of the shoe or the side support assembly 173 failing to fit tightly against the side of the shoe due to inconsistent swinging of the two supports 13, thereby improving the support effect and stability of the shoe support 17.

[0131] Optionally, the synchronizing teeth 1736 on the swing arm 1734 may be arranged in a fan shape.

[0132] In this embodiment, both the first side support 1732 and the second side support 1733 further include a guide strip 1737 and an adjusting member 1738. The guide strip 1737 is connected to the support plate 1735, and the middle part 1722 is provided with a guide groove 17222. The guide strip 1737 is movably inserted into the guide groove 17222.

[0133] Furthermore, the guide strip 1737 is provided with a plug hole 17371, and one end of the adjusting member 1738 in the first side support 1732 passes through the plug hole 17371 to abut against the guide strip 1737 of the second side support 1733.

[0134] Optionally, the insertion hole 17371 can be a threaded hole, and the adjusting member 1738 can be a threaded post.

[0135] like Figure 12 , Figure 16 , Figure 17 and Figure 18 As shown, in some embodiments, the side support assembly 173 further includes an adjusting sleeve 1739, which is slidably fitted onto the support rod 1731. The adjusting sleeve 1739 has a first position and a second position relative to the support rod 1731. When the adjusting sleeve 1739 is in the first position, at least a portion of the swing rod 1734 is inserted into the adjusting sleeve 1739, and the opening width between the first side support 1732 and the second side support 1733 is A. When the adjusting sleeve 1739 is in the second position, the opening angle between the first side support 1732 and the second side support 1733 is B, and A is less than B. That is, by moving the adjusting sleeve 1739 up and down along the length of the support rod 1731, the opening width of the side support assembly 173 can be adjusted.

[0136] Furthermore, the side support assembly 173 also includes a latching member 1741 and a first elastic member 1742. The latching member 1741 is rotatably connected to the adjusting sleeve 1739. The latching member 1741 has a locking head 17411. The support rod 1731 is provided with a slot 17311 that cooperates with the locking head 17411. The two ends of the first elastic member 1742 are correspondingly connected to the latching member 1741 and the adjusting sleeve 1739. When the adjusting sleeve 1739 is in the first position, the locking head 17411 is engaged in the slot 17311 to ensure the stability of the side support assembly 173 in this position.

[0137] Furthermore, the latching component 1741 also includes a rotating shaft 17412 and a pressing part 17413. The pressing part 17413 and the engaging head 17411 are located on both sides of the rotating shaft 17412, which is connected to the adjusting sleeve 1739. When it is necessary to adjust the opening width of the side support assembly 173, the user only needs to press the pressing part 17413, and the engaging head 17411 will disengage from the slot 17311 on the support rod 1731. At this time, the adjusting sleeve 1739 can slide freely along the support rod 1731, and the user can move it to the desired position. When the adjusting sleeve 1739 reaches the target position, the user releases the pressing part 17413, and the engaging head 17411 will automatically spring back and re-engage in the slot 17311 under the action of the first elastic element 1742, thereby fixing the adjusting sleeve 1739 in the new position.

[0138] In this embodiment, the adjusting sleeve 1739 includes a first sliding sleeve 17391 and a second sliding sleeve 17392. The first sliding sleeve 17391 has a small diameter portion 17393, and the second sliding sleeve 17392 is sleeved on the outside of the small diameter portion 17393. The small diameter portion 17393 has a receiving groove 17394, and the fastening member 1741 is rotatably disposed in the receiving groove 17394. One end of the first elastic member 1742 abuts against the fastening member 1741, and the other end of the first elastic member 1742 abuts against the inner wall of the second sliding sleeve 17392.

[0139] In some embodiments, the support rod 1731 is provided with a guide protrusion 17312, which extends along the length of the support rod 1731. The adjusting sleeve 1739 is provided with a guide groove 17395 that cooperates with the guide protrusion 17312. The adjusting sleeve 1739 moves through the sliding cooperation between the guide groove 17395 and the guide protrusion 17312, which helps to improve the smoothness and accuracy of the movement. In this embodiment, there are two guide protrusions 17312, which are respectively provided on opposite sides of the support rod 1731, and correspondingly, there are two guide grooves 17395.

[0140] In some embodiments, at least one of the heel portion 1721 and the toe portion 1723 is provided with a guide block 1724. The guide block 1724 has a first guide ramp 17241, and the adjusting sleeve 1739 is provided with a second guide ramp 17396 that cooperates with the first guide ramp 17241. When the adjusting sleeve 1739 moves from the second position to the first position, the adjusting sleeve 1739 moves toward the support body 172, and the second guide ramp 17396 pushes against the first guide ramp 17241, causing the toe portion 1723 and the heel portion 1721 to move toward each other. That is, during the movement of the adjusting sleeve 1739, the opposing movement of the heel portion 1721 and the toe portion 1723 can precisely adjust the overall length of the shoe support 17, thereby better adapting to the shape and size of different shoes. This adjustment method not only improves the flexibility of the shoe support 17, but also ensures the smoothness and reliability of the adjustment process.

[0141] In this embodiment, the guide block 1724 is provided on the heel portion 1721. The guide block 1724 has a high end 17242 and a low end 17243 on the first guide slope 17241. The high end 17242 is located above the low end 17243, and the second point is away from the middle portion 1722 relative to the high end 17242.

[0142] Furthermore, such as Figure 16 , Figure 19 and Figure 20 As shown, the middle part 1722 is provided with a synchronizing gear 17221, the heel part 1721 is provided with a first rack 17211, and the toe part 1723 is provided with a second rack 17231. The first rack 17211 and the second rack 17231 are located on opposite sides of the synchronizing gear 17221, and both the first rack 17211 and the second rack 17231 mesh with the synchronizing gear 17221.

[0143] Furthermore, the support body 172 also includes a second elastic member 1725, one end of which is connected to the middle portion 1722, and the other end of which is connected to the heel portion 1721 and / or the toe portion 1723.

[0144] like Figure 16 and Figure 20 As shown, in some embodiments, the support body 172 further includes an upper support 1726 and a third elastic member 1727. The upper support 1726 is rotatably connected to the toe of the shoe 1723. One end of the third elastic member 1727 abuts against the upper support 1726, and the other end of the third elastic member 1727 abuts against the toe of the shoe 1723.

[0145] Furthermore, the shoe upper support 1726 includes a first connecting body 17261, a second connecting body 17262, and a connector 17263. The first connecting body 17261 is rotatably connected to the shoe toe 1723. The first connecting body 17261 is provided with a positioning groove 17264. The second connecting body 17262 is provided with a plug-in part 17265 that cooperates with the positioning groove 17264. The connector 17263 connects the first connecting body 17261 and the second connecting body 17262 to fix the two together.

[0146] Optionally, the connector 17263 can be a threaded post, and the first connector 17261 is provided with a threaded hole that mates with the threaded post. There can be multiple threaded holes, which are arranged at intervals along the extension direction of the positioning groove.

[0147] In this embodiment, the support rod 1731 can be detachably connected to the intermediate portion 1722. The support rod 1731 may have a threaded section, and the intermediate portion 1722 may have a threaded hole 31324 that matches the threaded section of the support rod 1731. During the installation of the shoe support 17, the shoe support 17 is installed through the mutual cooperation between the threaded hole 31324 and the threaded section.

[0148] like Figure 4 , Figure 5 , Figure 7 , Figure 12 , Figure 13 and Figure 21 As shown, in some embodiments, the bracket 13 further includes a rotating disk 191 and a fifth actuator 192. The rotating disk 191 is rotatably connected to the housing 10, the support rod 1731 is connected to the rotating disk 191, and the output end of the fifth actuator 192 is connected to the rotating disk 191 in a transmission connection, so that the rotating disk 191 can rotate freely inside the housing 10, thereby driving the entire bracket 13 to perform circular motion, which helps to provide a more uniform and comprehensive cleaning effect for the shoes.

[0149] Furthermore, the rotating disk 191 is provided with a first pulley 193, and the output end of the fifth driver 192 is provided with a second pulley 194. The first pulley 193 and the second pulley 194 are connected by a belt. The belt drive has a certain elastic buffering effect, which can absorb and disperse the impact and vibration during the transmission process to a certain extent, thereby improving the stability and reliability of the entire transmission system.

[0150] Furthermore, two shoe supports 17 are provided, and a rotating disk 191 is located at the bottom of the housing 10. The rotating disk 191 has a first protrusion 1911 and a second protrusion 1912, which are symmetrically arranged around the rotation axis 17412 of the rotating disk 191. The two shoe supports 17 are respectively connected to the first protrusion 1911 and the second protrusion 1912 by support rods 1731. The two shoe supports 17 are arranged in the same direction, that is, the toe 1723 of one shoe support 17 is relatively close to the heel 1721 of the other shoe support 17.

[0151] It should be noted that in this application, the rotational connections between the components can all be achieved using bearing structures, thereby reducing wear and improving rotational stability. In the embodiments provided in this application, the first driver 352, the second driver 3112, the third driver 3134, the fourth driver 372, and the fifth driver 192 can be configured as components such as motors and pneumatic motors.

[0152] like Figure 22 As shown, in some embodiments, the control component 70 includes an image acquisition module 71 and a path planning module. The image acquisition module 71 is positioned facing the bracket 13. The image acquisition module 71 is used to capture images of the shoes to be cleaned. The path planning module is used to perform feature recognition based on the images acquired by the image acquisition module 71 and plan the movement path of the cleaning brush along the shoes. The feature recognition includes at least stain recognition and material recognition.

[0153] Furthermore, the path planning module may include a stain detection module 73 and a path generation module 74. The stain detection module 73 is used to detect stains in the preprocessed image using an image recognition algorithm to generate stain quantification data, which includes: stain degree quantification value, stain area ratio, and stain location coordinate value. The path generation module 74 is used to generate a cleaning plan and movement path for the shoe cleaning brush head 33 based on the stain quantification data and the shoe's feature data, including the shoe's shape and material.

[0154] Furthermore, the control component 70 also includes an image processing module 72, which is used to preprocess the acquired shoe surface image, including image denoising, image enhancement, and other methods.

[0155] In other words, in this embodiment, the image processing module 72 preprocesses the acquired shoe surface image, and the stain detection module 73 detects stains in the preprocessed image to generate stain quantification data. Finally, the path planning module generates a cleaning plan and movement path for the shoe cleaning brush head 33 based on the stain quantification data and the shoe's feature data, including the shoe's shape and material. Thus, a personalized shoe cleaning path is planned according to the degree and location of the stains, increasing cleaning time and intensity for heavily stained areas and reducing operations for lightly stained areas, greatly improving the cleaning effect and meeting the diverse cleaning needs of different shoes. Simultaneously, by intelligently planning the shoe cleaning path of the brush head 33, the spray volume of cleaning fluid and water pressure are precisely controlled, cleaning only the necessary areas and to the necessary degree. For example, less cleaning fluid is used for lightly stained areas, avoiding unnecessary wear on the shoe upper material, reducing resource consumption and shoe cleaning costs from multiple aspects. This achieves concentrated resource cleaning for heavily stained areas in one go, and a fast path for simple stains. If you find small, serious stains on the shoe surface, focus on cleaning that area first, then clean the shoe surface as usual. This will significantly shorten the shoe washing time and better meet the efficiency requirements of large-scale shoe washing.

[0156] like Figure 1 and Figure 3 As shown, in this embodiment, the image acquisition module 71 may include a camera assembly 711, which is located at the connection between the side wall of the inner shell and the bottom plate, and the camera assembly 711 is positioned facing the shoe upper on the bracket to ensure that the external features of the shoe can be captured from all angles.

[0157] In some other embodiments of the invention, such as Figure 3 As shown, at least one camera assembly 711 in the image acquisition module 71 is located on the inside of the door 114. When the door 114 is rotated to close the opening 1121, the camera assembly 711 can be positioned facing the bracket to facilitate the imaging and identification of shoe features. Furthermore, the camera assembly 711 being located above the bracket ensures the clarity of the camera assembly 711 and prevents cleaning media or water from blurring the camera assembly 711 and affecting the imaging results.

[0158] Optionally, the camera assembly 711 can be located on the side of the door away from the pivot, so that the camera assembly 711 is as far away from the cleaning chamber as possible when the door is open, allowing the camera assembly 711 to dry quickly and preventing water ingress or water stains on it from affecting the shooting results. At the same time, when the door is open, the user can more easily observe the status of the camera assembly 711 (whether there are water stains affecting the shooting), making it easier for the operator to clean the camera assembly 711 and helping to improve the image clarity.

[0159] It should be noted that the camera assembly 711 can be installed at the connection between the side wall and the bottom plate of the inner shell or on the door 114, as needed. Of course, in some embodiments, multiple camera assemblies 711 can be provided, with camera assemblies installed at the connection between the side wall and the bottom plate of the inner shell and on the door 114.

[0160] In addition, the shoe washing path planning process of the control component 70 by identifying the degree of dirt on the shoes may include the following steps:

[0161] S10. Acquire an image of the shoe surface and preprocess the acquired image.

[0162] In this embodiment, the shoe surface images include images of the shoe upper, sole, and collar, as well as images of designated locations on the shoe taken by a camera installed on the automated cleaning equipment, based on the shoe's cleaning requirements. In practice, using a high-resolution color camera with good color reproduction to capture shoe surface images is beneficial for providing high-quality metadata information for stain detection. The camera's location in the corner of the shoe box within the automated cleaning equipment determines that its field of view exhibits a certain fan-shaped characteristic, allowing for the acquisition of as much shoe information as possible in a single image capture, which is beneficial for identification with images from previous and subsequent frames. Inside the shoe washing machine 100, the color camera is installed at the bottom, ensuring its shooting angle fully covers the shoes placed in the cleaning area. The camera lens is specially designed, for example, by coating the camera's imaging part with a nano-waterproof membrane, ensuring stable operation of the camera in humid environments and preventing water splashes during cleaning from affecting the image quality. The images captured by the camera are transmitted via data transmission to a system that plans the shoe washing path based on the degree of staining. After receiving the image information, the system performs preprocessing to remove noise interference.

[0163] In some implementations, step S10 is specifically implemented in the following ways:

[0164] First, the pixel values ​​of the image are mapped to the range [0,1] to obtain normalized image pixel values;

[0165] Then, a weighted average of the pixels in the image neighborhood is applied using a Gaussian function to obtain a noise-removed image.

[0166] This embodiment maps image pixel values ​​to [0,1], which can accelerate model convergence and help reduce the impact of large differences in pixel value ranges between different images. Simultaneously, it uses a Gaussian function to perform a weighted average of pixels in the neighborhood, effectively preserving image edge information while removing noise. The Gaussian function, also known as the normal distribution function, is an important continuous probability distribution function in mathematics and statistics. Its core characteristic is that it is a bell-shaped curve, symmetrical about the mean, and its width and height are controlled by the standard deviation. By substituting the image pixel values ​​into the Gaussian function, weights are generated for the Gaussian kernel. The Gaussian kernel is then used to smooth the image, remove noise, and enhance image clarity, thereby improving the accuracy of subsequent stain detection.

[0167] Furthermore, the image processing module 72 can also perform feature recognition and extraction on the acquired image through step S10. The features may include physical parameters such as the shape and material of the shoe.

[0168] S20. Use an image recognition algorithm to detect stains in the preprocessed image and generate stain quantification data. The stain quantification data includes: stain degree quantification value, stain area ratio and stain location coordinate value.

[0169] In practical applications, image recognition algorithms are used to detect stains in preprocessed images. Specifically, the degree and type of stains are determined by analyzing color information in the image. Simultaneously, image recognition technology is used to pinpoint the specific location of the stain on the shoe, providing data support for subsequent shoe cleaning path planning. The stain degree quantification value refers to a numerical value defined according to pre-set stain assessment standards based on the severity, difficulty, and type of stain. The stain area ratio refers to the ratio of the stain area to the overall surface area of ​​the shoe. The stain location coordinates are generated by constructing a spatial coordinate system on the shoe surface to determine the coordinates of the stain's location.

[0170] In some implementations, step S20 is carried out in the following ways:

[0171] The degree and type of stains are determined by analyzing the color information in the preprocessed image.

[0172] Based on the degree and type of stain, a quantitative value for the degree of stain and the percentage of stain area are generated according to the established quantitative evaluation standards.

[0173] Based on the shape of the shoe and the pre-processed image, the specific location coordinates of the stain on the shoe are determined, and stain location coordinate values ​​are generated.

[0174] In practice, the quantitative evaluation standard can be the system default standard or a custom standard based on factors such as shoe shape, material, and surface pattern. For example, in one application scenario, the stain quantification value ranges from [1, 10]. For stains detected on the shoe upper, based on their color, shape, and characteristics combined with the shoe upper material and color, if the stain is assessed as severe, the stain degree is quantified as 8; if it is moderate, the stain degree is quantified as 4; and if it is light, the stain degree is quantified as 2. The total area of ​​the shoe is defined as 1, and the stain area ratio is calculated based on the detected stain area and the total shoe area.

[0175] This embodiment quantifies the degree, type, and location of stains to generate specific numerical values, transforming abstract image recognition and analysis into concrete data information. This provides an accurate data foundation for shoe washing path planning, ensuring the effectiveness and rationality of the shoe washing path planning.

[0176] S30. Based on the stain quantification data and the shoe's feature data, generate a cleaning plan and movement path for the shoe cleaning brush head 33. The shoe's feature data includes the shoe's shape and material.

[0177] The cleaning scheme of the shoe cleaning brush head 33 includes, but is not limited to: the brush head 33 setting method that affects the cleaning effect of shoe stains, such as the rotation speed of the brush head 33, the selection of the softness and hardness of the bristles, the amount of cleaning liquid sprayed, and the water flow pressure; the movement path of the brush head 33 includes, but is not limited to: the position of the brush head 33 on the shoe when it starts working, and the route and order of cleaning stains as it moves to the next stain after cleaning one area.

[0178] In some implementations, step S30 is specifically implemented by:

[0179] Calculate the cleaning intensity coefficient and cleaning time coefficient for different locations on the shoe surface based on stain quantification data;

[0180] The cleaning scheme and movement path of the shoe cleaning brush head 33 are generated based on the cleaning intensity coefficient, cleaning time coefficient, and stain location coordinates.

[0181] In practice, when a shoe washing machine is working, the cleaning intensity and time of the brush head 33 are set according to the shoe washing scenario. In existing technologies, operators primarily set fixed cleaning intensity and time based on observed stains to complete the entire shoe washing process. This application, by setting cleaning intensity and time coefficients, allows the system to map corresponding cleaning schemes through these coefficients. This enables the shoe washing machine to flexibly adjust the cleaning scheme and brush head 33's movement path according to actual shoe washing needs, improving the automation efficiency of the equipment.

[0182] In some implementations, the above-mentioned calculation of the cleaning intensity coefficient and cleaning time coefficient at different locations on the shoe surface based on stain quantification data includes the following specific implementation methods:

[0183] Based on the quantitative value of stain degree, a formula is constructed to establish the relationship between stain degree and cleaning intensity, and the stain cleaning intensity coefficient at different locations on the shoe surface is calculated.

[0184] Based on the quantitative value of stain degree and the percentage of stain area, a formula is constructed to establish the relationship between stain degree and cleaning time, and the cleaning time coefficient of stains at different locations on the shoe surface is calculated.

[0185] In practical applications, assuming the shoes to be cleaned require cleaning mainly of three parts: the upper, sole, and vamp, then the image data of these three parts is focused on, and the stain detection data is quantified to obtain the stain degree quantification value and stain area percentage data as follows:

[0186] Assume the pre-defined stain severity quantification criteria based on the cleaning scenario are as follows: Stain severity on the shoe upper ranges from [1, 10], light stains from [1, 3], moderate stains from [4, 6], and severe stains from [7, 10]. For ease of calculation, the total area of ​​the shoe is set to 1. The quantification process is as follows:

[0187] Shoe upper: The stain severity assessment value is 8 (severe stain), and the area ratio is 0.3.

[0188] Sole: The degree of staining is quantitatively assessed as 2 (light staining), with an area ratio of 0.4.

[0189] Shoe upper: The degree of staining is quantitatively assessed as 4 (moderate staining), and the area ratio is 0.3.

[0190] An example of calculating the cleaning intensity coefficient and cleaning time coefficient at different locations on the shoe surface based on the above stain quantification data can be as follows:

[0191] Based on the quantified stain severity, a relationship between stain severity and cleaning intensity is constructed, with a cleaning intensity coefficient k, which is directly proportional to the quantified stain severity. The formula is k = n / 10, where n is the quantified stain severity assessment value. Based on the quantified stain severity and stain area percentage, a relationship between stain severity and cleaning time is constructed, with a cleaning time coefficient t, which is directly proportional to the product of the quantified stain severity and the stain area percentage. The formula is t = α × n × s, where α is a proportionality constant. In practice, the value of α is set according to the shoe washing scenario; here, we assume α = 1, and s is the stain area percentage. The cleaning intensity coefficient and cleaning time coefficient for the upper, sole, and vamp are calculated separately as follows:

[0192] The cleaning intensity coefficient for the shoe upper is kface = 8 / 10 = 0.8; the cleaning time coefficient is tface = 1 × 8 × 0.3 = 2.4.

[0193] The cleaning force coefficient for the sole is kface = 2 / 10 = 0.2; the cleaning time coefficient is tface = 1 × 2 × 0.4 = 0.8.

[0194] The cleaning intensity coefficient for the shoe upper is kface = 4 / 10 = 0.4; the cleaning time coefficient is tface = 1 × 4 × 0.3 = 1.2.

[0195] In this embodiment, the relationship between the degree of stain and the cleaning intensity, the quantitative value of the degree of stain and the percentage of stain area are constructed to establish the relationship between the degree of stain and the cleaning time. This transforms the shoe washing plan design into a specific mathematical calculation problem, providing accurate data preparation for generating the optimal shoe washing planning path.

[0196] In some embodiments, the cleaning scheme and movement path of the shoe cleaning brush head 33 are generated based on the cleaning intensity coefficient, the cleaning time coefficient, and the coordinates of the stain location. Specific implementation methods include:

[0197] The brushing force of the brush head 33 is set at different positions on the surface of the shoe according to the cleaning force coefficient. The brushing force includes the amount of cleaning liquid sprayed and the water flow pressure at the brush head 33.

[0198] The dwell time of brush head 33 on different parts of the shoe surface is set according to the cleaning time coefficient.

[0199] To illustrate, using the above practical example, based on the above calculation results, the specific scenario for generating the cleaning scheme and movement path of the shoe cleaning brush head 33 according to the cleaning intensity coefficient, cleaning time coefficient, and stain location coordinates can be as follows:

[0200] Based on the quantitative results of the above data, it can be seen that the shoe surface has the highest degree of staining (n=8). According to the principle of "prioritizing the cleaning of heavily stained areas and increasing the dwell time and brushing intensity of brush head 33", brush head 33 is planned to prioritize cleaning the shoe surface. Therefore, the dwell time of brush head 33 on the shoe surface is tface=2.4 time units. In practice, the actual time unit can be set to 1 minute or 5 minutes depending on the specific scenario. Here, we assume that one time unit is 1 minute. The brushing intensity is kface=0.8. In practice, each brushing intensity value or range can correspond to a brushing scheme. Assuming that 1 is the maximum intensity, the brush head 33 has the highest rotation speed, the largest cleaning fluid spray dosage, and the largest water flow pressure.

[0201] After cleaning the upper, the shoe collar is the next step, as the collar is dirtier (n=4) than the sole (n=2). Brush head 33 is used to clean the collar, with a dwell time of tface = 1.2 time units and a brushing intensity of kface = 0.4.

[0202] Finally, clean the soles of the shoes. The brush head stays on the sole for tface = 0.8 time units, and the brushing force is kface = 0.2.

[0203] This embodiment can map different shoe washing programs according to the degree of stains in different parts of the shoe. During the operation of the shoe washing machine, the execution parameters of the brush head 33 are dynamically adjusted according to the cleaning intensity coefficient and cleaning time coefficient of each part. This ensures that heavily stained areas are thoroughly cleaned, while avoiding over-cleaning of lightly stained areas, saving resources and protecting shoe materials.

[0204] In some implementations, the specific method for implementing step S30 further includes:

[0205] Set the start and end positions of the brush head 33 for shoe washing according to the quantitative value of the stain severity from large to small.

[0206] A heuristic search algorithm is used to generate the optimal path for brush head 33 to wash shoes. The optimal path is the path distance that brush head 33 moves from the starting position to the ending position with the minimum distance.

[0207] In practice, when the shoe washing machine starts working, the brush head 33 first determines its starting and ending positions, and then plans the optimal path for its movement, reducing ineffective movement paths and improving cleaning efficiency. Preferably, in this embodiment, the starting and ending positions of the brush head 33 are set according to the quantification value of the stain severity from largest to smallest. In practice, the order can also be set according to the needs of the scenario, such as from smallest to largest stain severity or according to the length of cleaning time.

[0208] This embodiment uses a heuristic search algorithm to generate the optimal path for the brush head 33 to clean shoes, so that the brush head 33 can pass through the different stains on the shoe surface, upper, and sole in the shortest possible way, avoiding repeated and ineffective movements, reducing the distance the brush head 33 moves between different parts of the shoe, and thus improving cleaning efficiency.

[0209] It should be noted that during the execution of the process of planning the shoe washing path by identifying the degree of stains on the shoes, the control component 70 may use one or more of the corresponding image acquisition module, image processing module, stain detection module and path generation module as needed, which will not be elaborated here.

[0210] In addition, one embodiment of this utility model also provides a cleaning device, which includes the shoe washing machine provided in any of the above embodiments. Optionally, the cleaning device can be a washing machine, shoe washing machine, or other similar equipment.

[0211] In the description of this utility model, it should be understood that the terms "center", "length", "width", "upper", "lower", "front", "rear", "left", "right", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0212] Furthermore, 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. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0213] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0214] In this utility model, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0215] In this utility model, the terms "one embodiment," "some embodiments," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this utility model. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0216] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A shoe washing machine, characterized in that, include: The box contains a shoe compartment, and a bracket is rotatably mounted inside the shoe compartment for placing shoes. A cleaning assembly, comprising a robotic arm and a brush head, wherein one end of the robotic arm is connected to the housing and the other end of the robotic arm is connected to the brush head; The spray assembly includes a dry cleaning liquid tank, a dry cleaning tube, a dry cleaning pump, and multiple cleaning nozzles. The dry cleaning liquid tank is located in the housing. One end of the dry cleaning tube is connected to the dry cleaning liquid tank, and the other end of the dry cleaning tube is connected to the cleaning nozzles. The dry cleaning pump is used to spray the dry cleaning liquid in the dry cleaning liquid tank towards the brush head through the dry cleaning tube and the cleaning nozzles. A control component is electrically connected to the cleaning component and the spraying component. The control component is used to regulate the operation of the cleaning component and the spraying component so that the brush head moves along the surface of the shoe to achieve cleaning.

2. The shoe washing machine according to claim 1, characterized in that, The spraying assembly also includes a foamer disposed on the dry cleaning tube, the foamer being used to induce foaming of the dry cleaning fluid.

3. The shoe washing machine according to claim 1, characterized in that, The spraying assembly also includes a curing agent tank, a curing nozzle, a curing pipeline, and a curing pump. The curing agent tank, the curing nozzle, the curing pipeline, and the curing pump are all located in the housing. The two ends of the curing pipeline are connected to the curing agent tank and the curing nozzle. The curing pump is located in the curing pipeline. The curing pump is used to spray the curing agent in the curing agent tank through the curing pipeline and the curing nozzle to the brush head.

4. The shoe washing machine according to claim 3, characterized in that, The cleaning assembly also includes a brush box, which is rotatably mounted on the housing. The brush box has at least two fixing parts for holding brush heads, which include at least a cleaning brush and a maintenance brush.

5. The shoe washing machine according to claim 1, characterized in that, It also includes a drying assembly, which includes an air duct, a heat exchanger, and a fan. The heat exchanger and the fan are both located in the air duct. The air duct has an exhaust port located on the inner wall of the shoe compartment. The fan is used to drive the gas in the air duct that has been heated by the heat exchanger to flow into the shoe compartment.

6. The shoe washing machine according to claim 5, characterized in that, The exhaust vent has a first vent and a second vent, which are spaced apart around the bracket on the inner wall of the shoe compartment.

7. The shoe washing machine according to claim 1, characterized in that, The control component includes an image acquisition module and a path planning module. The image acquisition module is positioned facing the bracket and is used to capture images of the shoes to be cleaned. The path planning module is used to perform feature recognition based on the images captured by the image acquisition module and plan the movement path of the cleaning brush along the shoes. The feature recognition includes at least stain recognition and material recognition.

8. The shoe washing machine according to claim 1, characterized in that, The bracket includes multiple shoe supports, each shoe support including a support body. The support body includes a heel portion, a middle portion, and a toe portion connected together. The heel portion and the toe portion are respectively located on opposite sides of the middle portion along its length. Both the heel portion and the toe portion are movable relative to the middle portion.

9. The shoe washing machine according to claim 8, characterized in that, The shoe support also includes a side support assembly, which includes a support rod, a first bracket, and a second bracket. The support rod extends along the height direction of the support body and is connected to the support body. The first bracket and the second bracket are respectively located on opposite sides of the width direction of the support body. Both the first bracket and the second bracket include a swing rod and a support plate. The two ends of the swing rod are correspondingly connected to the support rod and the support plate. The support plate is used to support the side of the shoe. When one of the first bracket and the second bracket is subjected to force, the two support plates can swing towards or away from each other to adjust the opening width of the side support assembly.

10. A cleaning device, characterized in that, The shoe washing machine includes any one of claims 1 to 9.

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