Side brush and cleaning robot

Abstract

Side brush suitable for a cleaning robot, characterized in that the side brush includes: a main body configured to rotate about a first axis inclined towards a surface to be cleaned when the cleaning robot is in an operating state; and a first purification branch and a second purification branch, which are directly or indirectly connected to the main body, wherein the first cleaning branch is rigidly connected to the main body, and the second cleaning branch is movably connected to the main body; wherein, when the main body rotates in a first direction, an included angle between the first cleaning branch and the second cleaning branch is a first included angle which is less than or equal to 180°; wherein, when the direction of rotation of the main body changes, the second cleaning branch moves closer to or away from the first cleaning branch under the influence of inertia or external force, so that the enclosed angle between the first cleaning branch and the second cleaning branch decreases to a second enclosed angle when the main body rotates in a second direction, the second enclosed angle being 0° to 15°.

Description

[0001] The present application claims priority over the Chinese utility model patent application with application number 2024216707168, filed on July 15, 2024, the entire contents of which are incorporated into this application by reference. TECHNICAL AREA

[0002] The present application relates to the technical field of cleaning technology and in particular to a side brush and a cleaning robot. STATE OF THE ART

[0003] Nowadays, cleaning robots are widespread in people's daily lives thanks to the continuous advancement of science and technology, significantly simplifying household cleaning and reducing the intensity of housework. However, the side brushes with which conventional cleaning robots are equipped pose a risk of hair, wires, or other elongated objects becoming entangled. DISCLOSURE OF THE USE PATTERN

[0004] The present application proposes a side brush and a cleaning robot that can reduce the risk of hair, wires or other elongated objects getting caught in the side brush and improve the cleaning performance and user comfort.

[0005] To solve the aforementioned technical problem, the present application provides a side brush suitable for a cleaning robot. The side brush comprises a main body, a first cleaning branch, and a second cleaning branch. The main body is configured to rotate about a first axis inclined towards a surface to be cleaned when the cleaning robot is in an operating state. The first cleaning branch and the second cleaning branch are connected directly or indirectly to the main body, with the first cleaning branch being rigidly connected to the main body and the second cleaning branch being movably connected to the main body.When the main body rotates in a first direction, an included angle between the first cleaning branch and the second cleaning branch is a first included angle which is less than or equal to 180°; when the direction of rotation of the main body changes, the second cleaning branch moves closer to or away from the first cleaning branch under the influence of inertia or external force, so that the included angle between the first cleaning branch and the second cleaning branch decreases to a second included angle when the main body rotates in a second direction, the second included angle being 0° to 15°.

[0006] To solve the aforementioned technical problem, the present application further provides a cleaning robot comprising a body, the aforementioned side brush, a main brush, a drive wheel, and a control unit. The side brush is located on a lower edge of the body; the main brush is located on the underside of the body, and a cleaning area of ​​the side brush overlaps at least partially with a cleaning area of ​​the main brush. The drive wheel is used to propel the body for movement and is located at least partially within a cleaning area of ​​the side brush. The control unit is configured to control the movement of the side brush, the main brush, and the drive wheel.

[0007] The advantageous effects of the present application are: In the present application, an enclosed angle between the first cleaning branch and the second cleaning branch can be controlled by controlling the direction of rotation of the main body in the operating state. For example, the first cleaning branch and the second cleaning branch can be made to maintain a first enclosed angle between them and to follow the main body to rotate about a first axis in a first direction, so that the side brush operates in a first operating mode, with the first cleaning branch and the second cleaning branch spaced apart from each other, thereby improving the cleaning effect. The first cleaning branch and the second cleaning branch can also be made to maintain a second enclosed angle between them and to follow the main body to rotate about the first axis in a second direction, i.e.,It is possible to switch the side brush to a second operating mode. The side brush can also alternate between the two operating modes mentioned above to clean the surface. This means that the angle between the first and second cleaning arms can vary within a certain range during operation, reducing the risk of hair, wires, or other elongated objects becoming entangled in the side brush, thus improving cleaning performance and user comfort. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] To more clearly illustrate the technical solutions in the embodiments of the present application, the drawings that must be used in the description of the embodiments are briefly presented below. Obviously, the drawings in the following description represent only some embodiments of the present application. For the person skilled in the art, other drawings can also be prepared on the basis of these drawings without requiring any inventive effort. Herein, the following are shown: Fig. Figure 1 is a schematic structure diagram of an embodiment of a side brush in the first operating mode of the present application; Fig. Figure 2 is a schematic structure diagram of an embodiment of a side brush in the second operating mode of the present application; Fig. Figure 3 is a schematic top view of the embodiment shown in Fig. 2 of the present application; Fig. Figure 4 is a schematic structure diagram of a main body of a side brush of an exemplary embodiment. Fig. 1 of the present application; Fig. Figure 5 is a schematic structure diagram of a second cleaning branch of a side brush of an exemplary embodiment. Fig. 1 of the present application; Fig. Figure 6 is a schematic structure diagram of another embodiment of a side brush in the second operating mode of the present application; Fig. Figure 7 is a schematic side view of the embodiment shown. Fig. 6 of the present application; Fig. 8 is a schematic structure diagram of a further embodiment of a side brush in the first operating mode of the present application; Fig. Figure 9 is a cross-sectional view of part of the structure of the exemplary embodiment. Fig. 8 of the present application; Fig. 10 is a schematic structure diagram of a further embodiment of a side brush in the second operating mode of the present application; Fig. Figure 11 is a cross-sectional view of part of the structure of the exemplary embodiment. Fig. 10 of the present application; Fig. 12 is a schematic structure diagram of a further embodiment of a side brush in the first operating mode of the present application; Fig. 13 is a schematic structure diagram of a further embodiment of a side brush in the second operating mode of the present application; Fig. 14 is a schematic structure diagram of a further embodiment of a side brush in the first operating mode of the present application; Fig. 15 is a schematic structure diagram of a further embodiment of a side brush in the second operating mode of the present application; Fig. 16 is a schematic structure diagram of an embodiment of a side brush of the present application; Fig. Figure 17 is a schematic side view of the embodiment shown. Fig. 16 of the present application; Fig. Figure 18 is another schematic side view of the embodiment from Fig. 16 of the present application; Fig. Figure 19 is a schematic top view of the embodiment shown in Fig. 16 of the present application; Fig. Figure 20 is a schematic top view of the embodiment shown. Fig. 16 of the present application; Fig. 21 is a schematic structure diagram of a further embodiment of a side brush of the present application; Fig. 22 is a schematic structure diagram of a further embodiment of a side brush of the present application; Fig. Figure 23 is a schematic structure diagram of a further embodiment of a side brush of the present application; Fig. 24 is a schematic structure diagram of a further embodiment of a side brush of the present application; Fig. 25 is a schematic structure diagram of a further embodiment of a side brush of the present application; Fig. 26 is a schematic structure diagram of a further embodiment of a side brush of the present application; Fig. Figure 27 is a schematic structure diagram of an embodiment of a cleaning robot of the present application when the side brush is in the second working mode; Fig. Figure 28 is a schematic structure diagram of an embodiment of a cleaning robot of the present application when the side brush is in the first working mode; Fig. Figure 29 is a schematic structure diagram of a further embodiment of a cleaning robot of the present application when the side brush is in the second working mode; Fig. Figure 30 is a schematic structure diagram of a further embodiment of a cleaning robot of the present application when the side brush is in the first working mode. DETAILED EXAMPLES OF EXECUTION

[0009] The following description provides specific details, such as particular system structures and technologies, for illustrative purposes and not as limitations, to facilitate a comprehensive understanding of the embodiments of the present application. However, it is clear to a person skilled in the art that the present application can also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of known systems, devices, circuits, and methods are omitted to avoid obscuring the description of the present application with unnecessary details.

[0010] In this application, the terms "first," "second," "third," etc., are used to distinguish between different subject matter and not to describe a specific sequence. Furthermore, the terms "comprise" and "have" and any variations thereof are not intended to cover exclusive inclusions. It is understood that, as used in this description and the attached claims, the term "comprise" indicates the presence of described features, wholes, steps, operations, elements, and / or components, but does not exclude the existence or addition of one or more other features, wholes, steps, operations, elements, components, and / or combinations thereof. It should also be clear that the terms used in the description of this application serve only to describe certain embodiments and are not intended to limit the present application.The singular forms “eine / r / s”, “eins”, and “der / das / die” used in this description and the attached claims are intended to include the plural forms unless the context clearly indicates otherwise. Furthermore, the term “and / or”, as used in this description and the attached claims, refers to and encompasses all possible combinations of one or more of the associated listed elements.

[0011] It should be noted that the attachment of a particular element to another element includes either the direct attachment of the element to the other element or the attachment of the element to the other element via at least one intervening element. When an element is connected to another element, this includes either the direct connection of the element to the other element or the connection of the element to the other element via at least one intervening element.

[0012] The technical solutions in the embodiments of the present application are clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments represent only some of the embodiments of the present application and not all of them. Based on the embodiments in this application, all other embodiments that a person skilled in the art in the field could obtain without inventive effort fall within the scope of protection of the present application.

[0013] The present application initially proposes a side brush suitable for a cleaning robot, such as Fig. 1 to Fig. Figure 15 shows the side brush comprising a main body 10, a first cleaning branch 21, and a second cleaning branch 22. The main body 10 is configured to rotate about a first axis s1, which is inclined toward a surface to be cleaned when the cleaning robot is in an operating state. The first cleaning branch 21 and the second cleaning branch 22 are connected directly or indirectly to the main body 10, with the first cleaning branch 21 being fixedly connected to the main body 10 and the second cleaning branch 22 being movably connected to the main body 10. As the main body 10 rotates in a first direction x1, an included angle B1 between the first cleaning branch 21 and the second cleaning branch 22 is a first included angle that is less than or equal to 180°. In some embodiments, the first included angle is 30° to 180°.In some embodiments, the first enclosed angle is 45° to 180°. In some embodiments, the first enclosed angle is 60° to 180°. In some embodiments, the first enclosed angle is 90° to 180°. In some embodiments, the first enclosed angle is 120° to 180°. When the direction of rotation of the main body 10 changes, the second cleaning branch 22 moves closer to or away from the first cleaning branch 21 under the influence of inertia, so that the enclosed angle B1 between the first cleaning branch 21 and the second cleaning branch 22 is adjusted to a second enclosed angle that is less than or equal to 45° when the main body 10 rotates in a second direction x2. In some embodiments, the second enclosed angle is 0° to 45°. In some embodiments, the second enclosed angle is 0° to 35°.In some embodiments, the second enclosed angle is between 0° and 15°.

[0014] It should be noted that the first direction x1 and the second direction x2 are two opposite directions of rotation about the first axis s1; an end of the first cleaning branch 21 (also referred to as the first cleaning end) facing away from the main body 10 and an end of the second cleaning branch 22 (also referred to as the second cleaning end) facing away from the main body 10 are inclined towards a side of the main body 10 that is close to a surface to be cleaned. That is, the first cleaning end and the second cleaning end are arranged so that they face the surface to be cleaned in order to facilitate cleaning, with the second included angle being smaller than the first included angle.

[0015] In particular, in a specific operating state, the main body 10 drives the first cleaning branch 21 and the second cleaning branch 22 to rotate together around the first axis s1, and the first axis s1 is inclined towards the surface to be cleaned, i.e., the first axis s1 is arranged at an angle to the surface to be cleaned. In the operating state, this arrangement allows for an improvement in the cleaning force of the side brush on the surface to be cleaned when the side brush comes into contact with the surface to be cleaned during the rotation process.

[0016] Furthermore, the first cleaning branch 21 and the second cleaning branch 22 are directly or indirectly connected to the main body 10. In one application scenario, the cleaning branch includes a cleaning element that is directly connected to the main body 10, and the cleaning element includes bristles, etc., with which the surface to be cleaned can be cleaned; in another application scenario, the cleaning branch comprises a first connecting part and a cleaning element which is detachably connected to the main body 10 via the first connecting part; in another application scenario (not shown), the cleaning branch comprises a first connecting part, and the cleaning robot may further comprise a cleaning element; the first connecting part is used to install the cleaning element, and the side brush serves as a side brush holder and can be used for the cleaning robot after the side brush has been fitted with the cleaning element.

[0017] Furthermore, the first cleaning branch 21 is fixedly connected to the main body 10, and the second cleaning branch 22 is movably connected to the main body 10, so that the first cleaning branch 21 can be driven to rotate by the main body 10 in order to change the enclosed angle B1 between the first cleaning branch 21 and the second cleaning branch 22.

[0018] In some embodiments, the side brush comprises at least two operating modes. In the first operating mode, the main body 10 rotates in the first direction x1. At this time, the enclosed angle B1 between the first cleaning branch 21 and the second cleaning branch 22 remains fixed and is considered a first enclosed angle; that is, the first cleaning branch 21 and the second cleaning branch 22 maintain the first enclosed angle between them and follow the main body 10 to rotate about the first axis s1 in the first direction x1. In some embodiments, the range of values ​​of the first included angle is less than or equal to 180°, for example it may be 15°, 30°, 60°, 70°, 95°, 100°, 103°, 110°, 125°, 130°, 138°, 140°, 145°, 150°, 159°, 160°, 163°, 170°, 177° or 180° etc.In other words, the first cleaning branch 21 and the second cleaning branch 22 are connected to the main body 10 at a distance from each other. This arrangement allows for an improvement in the cleaning effect and cleaning area of ​​the side brush.

[0019] In some application scenarios, the first working mode is a normal cleaning mode and the second working mode is a mode for removing matted hair, which can also be called a detangling mode.

[0020] Furthermore, in the second operating mode, the main body 10 rotates in the second direction x2, and the included angle B1 between the first cleaning branch 21 and the second cleaning branch 22 remains fixed and is either the second included angle or gradually changes to the second included angle. Subsequently, the first cleaning branch 21 and the second cleaning branch 22 maintain the second included angle between them and follow the main body 10 to rotate around the first axis s1 in the second direction x2. The range of values ​​for the second included angle is 0° to 15°, and can be, for example, 0°, 3°, 5°, 8°, 10°, 11°, 13°, or 15°.

[0021] Furthermore, the second cleaning branch 22 moves closer to or away from the first cleaning branch 21 under the influence of inertia or an external force when the direction of rotation of the main body 10 changes. The external force can act as a resistance from the surface to be cleaned or from the main body 10, and this resistance can be passive or active. The resistance from the main body 10 can be at the movable connection point between the second cleaning branch 22 and the main body 10. For example, the main body 10 has a limiting groove 30, and the inner surface of the limiting groove 30 provides the aforementioned resistance. If, for example, the direction of rotation of the main body 10 is changed from the first direction x1 to the second direction x2, the second cleaning branch 22 moves with reference to Figures 8 to 9.11 under the influence of inertia moves closer to the first cleaning branch 21, so that the enclosed angle B1 between the second cleaning branch 22 and the first cleaning branch 21 initially begins to decrease until, after being reduced to the second enclosed angle, the enclosed angle B1 between the second cleaning branch 22 and the first cleaning branch 21 is fixed at the second enclosed angle, i.e., the side brush leaves the first working mode and enters the second working mode, and the side brush folds. For another example, refer to... Fig. 14, Fig. 15. When the direction of rotation of the main body 10 is changed from the first direction x1 to the second direction x2, the second cleaning branch 22 initially moves away from the first cleaning branch 21 under the influence of inertia until the enclosed angle B1 between the second cleaning branch 22 and the first cleaning branch 21 reaches 180°, and then the second cleaning branch 22 again approaches the first cleaning branch 21, so that the enclosed angle B1 between the second cleaning branch 22 and the first cleaning branch 21 initially begins to increase, and then gradually decreases until the enclosed angle B1 between the second cleaning branch 22 and the first cleaning branch 21, after being reduced to the second enclosed angle, is fixed at the second enclosed angle, i.e. the side brush leaves the first working mode and enters the second working mode, and the side brush is folded.For yet another example, refer to . Fig. 8 to Fig. 11 the direction of rotation of the main body 10 is changed from the second direction x2 to the first direction x1, so the second cleaning branch 22 moves away from the first cleaning branch 21 under the influence of inertia, so that the enclosed angle B1 between the second cleaning branch 22 and the first cleaning branch 21 begins to increase, until the enclosed angle B1 between the second cleaning branch 22 and the first cleaning branch 21, after being increased to the first enclosed angle, is fixed to the first enclosed angle, i.e. the side brush leaves the second working mode and enters the first working mode, and the side brush is unfolded.

[0022] In one application scenario, the side brush operates alternately in the first working mode and the second working mode to clean the surface to be cleaned; in another application scenario, the side brush operates in either the first working mode or the second working mode. In yet another application scenario, the side brush operates in the first working mode. After the cleaning task is completed, the main body 10 of the side brush can be controlled to change its direction of rotation from the first direction x1 to the second direction x2, so that the main body 10 of the side brush is controlled to stop rotating after the enclosed angle B1 between the second cleaning branch 22 and the first cleaning branch 21 has been reduced to the second enclosed angle; i.e.The side brush can be folded from the first direction x1 to the second direction x2 by changing the direction of rotation of the main body 10, making it easier to remove hair and other objects caught in the side brush.

[0023] The above arrangement allows the enclosed angle B1 between the first cleaning branch 21 and the second cleaning branch 22 to be controlled by controlling the direction of rotation of the main body 10 in the operating state. For example, the first cleaning branch 21 and the second cleaning branch 22 can be made to maintain a first enclosed angle between them and follow the main body 10 to rotate about a first axis s1 in a first direction x1, so that the side brush operates in a first working mode, and the first cleaning branch 21 and the second cleaning branch 22 are spaced apart from each other, thus improving the cleaning effect. The first cleaning branch 21 and the second cleaning branch 22 can also be made to maintain a second enclosed angle between them and follow the main body 10 to rotate about the first axis s1 in a second direction x2, i.e.,It is possible to switch the side brush to a second operating mode. The side brush can also alternate between the two operating modes mentioned above to clean the surface. This means that the angle B1 between the first cleaning arm 21 and the second cleaning arm 22 can vary within a certain range during operation, reducing the risk of hair, wires, or other elongated objects becoming entangled in the side brush, thus improving cleaning performance and user comfort.

[0024] In some embodiments, the first enclosed angle is 120°, which, provided a certain cleaning effect is ensured, can reduce the risk of entanglement to a certain degree and also better reduce the risk of larger particles being blown away during the cleaning process.

[0025] In some embodiments, the second cleaning branch 22 is pivotably connected to the main body 10, with the second axis s2 serving as the pivot axis.

[0026] In particular, if the direction of rotation of the main body 10 is the first direction x1, the second cleaning branch 22 rotates together with the main body 10 about the first axis s1; if the direction of rotation of the main body 10 is changed from the first direction x1 to the second direction x2, the second cleaning branch 22 initially rotates under the influence of inertia or external force relative to the main body 10 about the second axis s2 to approach the first cleaning branch 21, until the included angle B1 between the second cleaning branch 22 and the first cleaning branch 21 is reduced to the second included angle and remains unchanged (for example, the second cleaning branch 22 rotates relative to the main body 10 until it is abutting the main body 10), the second cleaning branch 22 then follows the main body 10 to rotate together about the first axis s1 in the second direction x2.If the direction of rotation of the main body 10 is changed from the second direction x2 to the first direction x1, the second cleaning branch 22 initially rotates under the influence of inertia or external force relative to the main body 10 about the second axis s2 to move away from the first cleaning branch 21, until the included angle B1 between the second cleaning branch 22 and the first cleaning branch 21 is increased to the first included angle and remains unchanged (for example, the second cleaning branch 22 rotates relative to the main body 10 until it is again in contact with the main body 10), the second cleaning branch 22 then follows the main body 10 to rotate together about the first axis s1 in the first direction x1.

[0027] In an application scenario and with reference to Fig. 8 to Fig. In 11, the first axis s1 and the second axis s2 are parallel and do not coincide. Adjusting the second axis s2 can allow the enclosed angle B1 between the first cleaning branch 21 and the second cleaning branch 22 to reach 0°, thereby further improving the effects of preventing hair and other elongated objects from becoming entangled and removing tangled hair from the side brushes.

[0028] In another application scenario and with reference to Fig. 6 and Fig. 7. The second axis s2 and the first axis s1 can also be arranged so that they coincide, and the first cleaning branch 21 and the second cleaning branch 22 can be arranged along the first axis s1. That is to say, it is to be understood that the first cleaning branch 21 and the second cleaning branch 22 lie at different heights on the first axis s1, and the included angle B1 between the first cleaning branch 21 and the second cleaning branch 22 can also be 0°.

[0029] In some embodiments, a limiting column 31 is arranged on the main body 10, and one end of the second cleaning branch 22 is movably connected to the limiting column 31. When the direction of rotation of the main body 10 changes, the second cleaning branch 22 rotates around the limiting column 31 under the influence of inertia.

[0030] The movable connection can be achieved by adjusting the limiting column 31 and the position of the second axis s2 can be conveniently adjusted by adjusting the position of the limiting column 31.

[0031] In some embodiments and as in Fig. 4 and Fig. As shown in Figure 5, a limiting groove 30 is provided on the main body 10, and the limiting groove 30 is configured to limit the movement of the second cleaning branch 22 relative to the main body 10, so that the enclosed angle B1 between the first cleaning branch 21 and the second cleaning branch 22 varies between a first enclosed angle and a second enclosed angle.

[0032] The limiting groove 30 serves to limit the movement of the second cleaning branch 22, which makes it easier to limit the movement of the second cleaning branch 22 in the limiting groove 30 when the direction of rotation of the main body 10 changes, if the second cleaning branch 22 moves closer to or away from the first cleaning branch 21 under the influence of inertia; and thus the enclosed angle B1 between the first cleaning branch 21 and the second cleaning branch 22 can be controlled, and this arrangement has a simple design and is easy to assemble.

[0033] In some embodiments, the main body 10 is a quasi-cylindrical body. With reference to Fig. 8 to Fig. 13 the distance between the first axis s1 and the central axis of the quasi-cylindrical body is smaller than the distance between the second axis s2 and the central axis.

[0034] In an application scenario and how Fig. 8 to Fig. As shown in Figure 11, the second axis s2 coincides with the central axis of the boundary column 31, and the central axis of the boundary column 31 is parallel to the first axis s1 and does not coincide with it. The first axis s1 is arranged such that it coincides with the central axis of the quasi-cylindrical body, the central axis of the quasi-cylindrical body passes through the geometric center O of the quasi-cylindrical body, and the second axis s2 and the first axis s1 are parallel to the central axis of the quasi-cylindrical body. Of course, in other embodiments, the central axis of the quasi-cylindrical body may not pass through the geometric center of the quasi-cylindrical body.This arrangement allows the second axis s2 to be positioned away from the central axis of the quasi-cylindrical body, thus facilitating the positioning of the second cleaning branch 22 away from the central axis of the main body 10. This allows the enclosed angle B1 between the first cleaning branch 21 and the second cleaning branch 22 to easily reach 0°, further improving the effects of preventing hair and other elongated objects from becoming entangled and removing tangled hair from the side brushes. In one application scenario, the first axis s1 can be positioned to coincide with the central axis of the quasi-cylindrical body, thereby reducing the rotational space occupied by the main body 10 during rotation.

[0035] It should be noted that there are many ways to adjust the limiting column 31 and the limiting groove 30, and the present application is explained by way of example based on the following embodiments.

[0036] In some embodiments and as in Fig. 3 to Fig. As shown in Figure 5, the main body 10 is a quasi-cylindrical body, and the first axis s1 of the main body 10 coincides with the central axis of the quasi-cylindrical body. The central axis of the limiting column 31 for adjusting the second cleaning branch 22 also coincides with the first axis s1. That is, the first axis s1 and the second axis s2 are parallel and coincide. One end of the second cleaning branch 22, which is movably connected to the main body 10, forms an annular connecting part that is placed on the limiting column 31 of the main body 10 to define the relative positional relationship between the axis of rotation (i.e., the second axis s2) of the second cleaning branch 22 and the main body 10. The second cleaning branch 22 and the main body 10 are rotatably mounted.On one side of the main body 10, near the annular connecting part, two projections are formed as the first limiting block 311. On one side of the annular connecting part of the second cleaning branch 22, near the main body 10, a projection is formed as the second limiting block 312. A limiting groove 30 is formed between the two first limiting blocks 311, in which the second limiting block 312 can move. The first limiting block 311 and the second limiting block 312 together limit the rotation angle of the second cleaning branch 22 under the influence of inertia or an external force. This arrangement has a simple structure and facilitates the movable connection between the second cleaning branch 22 and the main body 10.

[0037] In other embodiments and as in Fig. 6 and Fig. As shown in Figure 7, the main body 10 is a quasi-cylindrical body, and the first axis s1 of the main body 10 coincides with the central axis of the quasi-cylindrical body. The central axis of the limiting column 31 for adjusting the second cleaning branch 22 also coincides with the first axis s1. That is, the first axis s1 and the second axis s2 are parallel and coincide. One end of the second cleaning branch 22, which is movably connected to the main body 10, forms an annular connecting part that is placed on the limiting column 31 of the main body 10 to define the relative positional relationship between the axis of rotation (i.e., the second axis s2) of the second cleaning branch 22 and the main body 10. The second cleaning branch 22 and the main body 10 are rotatably mounted.Furthermore, the first cleaning branch 21 and the second cleaning branch 22 are arranged along the direction of the first axis s1, meaning that the first cleaning branch 21 and the second cleaning branch 22 are located at different heights on the first axis s1. This arrangement allows the included angle B1 between the first cleaning branch 21 and the second cleaning branch 22 to reach 0° when the first axis s1 and the second axis s2 are parallel and coincident.

[0038] In other embodiments and as in Fig. 8 to Fig. As shown in Figure 11, the main body 10 is a quasi-cylindrical body whose central axis is perpendicular to the plane of the paper and passes through the geometric center O of the quasi-cylindrical body. The first axis s1, about which the main body 10 rotates, coincides with the central axis of the quasi-cylindrical body, so that the first axis s1, about which the main body 10 rotates, is perpendicular to the plane of the paper and passes through the geometric center O of the quasi-cylindrical body. The central axis of the boundary column 31 for setting the second cleaning branch 22 is arranged such that it is perpendicular to the plane of the paper and offset from the geometric center O of the quasi-cylindrical body; that is, the central axis of the boundary column 31 and the central axis of the quasi-cylindrical body are parallel but do not coincide.Therefore, it can be seen that the second axis s2, which is parallel to and coincides with the central axis of the boundary column 31, is parallel to the first axis s1 but does not coincide with it; that is, the distance of the first axis s1 from the central axis of the quasi-cylindrical body is less than the distance of the second axis s2 from this central axis. Furthermore, a boundary groove 30 is formed between the upper and lower walls of the main body 10, and the boundary column 31 is located in the boundary groove 30. The second cleaning branch 22 pivots relative to the boundary column 31 in order to move within the boundary groove 30 relative to the main body 10. This arrangement allows the enclosed angle B1 between the first cleaning branch 21 and the second cleaning branch 22 to reach 0° when the first axis s1 and the second axis s2 are parallel but not coincident.

[0039] In other embodiments and as in Fig. 12 to Fig. As shown in Figure 13, the main body 10 is a quasi-cylindrical body whose central axis is perpendicular to the plane of the paper and passes through the geometric center O of the quasi-cylindrical body. The first axis s1, about which the main body 10 rotates, coincides with the central axis of the quasi-cylindrical body, so that the first axis s1, about which the main body 10 rotates, is perpendicular to the plane of the paper and passes through the geometric center O of the quasi-cylindrical body. The central axis of the limiting column 31 for adjusting the second cleaning branch 22 is arranged such that it is perpendicular to the plane of the paper and offset from the geometric center of the quasi-cylindrical body. Therefore, it is evident that the central axis of the limiting column 31 and the central axis of the quasi-cylindrical body are parallel, but do not coincide.It is easy to see that the second axis s2 is parallel to the first axis s1, but does not coincide with the first axis s1; that is, the distance of the first axis s1 from the central axis of the quasi-cylindrical body is less than the distance of the second axis s2 from this central axis. Furthermore, a limiting groove 30 is formed between the upper and lower walls of the main body 10, and the limiting column 31 lies between the upper and lower walls. One end of the second cleaning branch 22, which is movably connected to the main body 10, forms an annular connecting part that rests on the limiting column 31, thus defining that the second cleaning branch 22 and the main body 10 are rotatably arranged.Furthermore, two projections are formed on one side of the lower wall of the main body 10 near the upper wall as first limiting blocks 311, and a projection is formed on one side of the annular connecting part of the second cleaning branch 22 near the lower wall as second limiting block 312. The two first limiting blocks 311 and the second limiting block 312 together limit the rotation angle of the second cleaning branch 22.This arrangement allows the enclosed angle B1 between the first cleaning branch 21 and the second cleaning branch 22 to vary within a certain range when the first axis s1 and the second axis s2 are parallel but not coincident; and since the distance between the first axis s1 and the central axis of the quasi-cylindrical body is smaller than the distance between the second axis s2 and this central axis, the second cleaning branch can move radially to the central axis of the quasi-cylindrical body when rotating about the second axis s2.

[0040] In some embodiments, the position of the second axis s2 can be changed by changing the position of the boundary column 31, so that the distance between the first axis s1 and the geometric center O of the quasi-cylindrical body is smaller than the distance between the second axis s2 and this geometric center O.

[0041] In some embodiments, the enclosed angle between the first axis s1 and the vertical direction in the operating state of the cleaning robot is 5° to 10°.

[0042] For example, the included angle is 5°, 6°, 8°, 9°, or 10°, etc., and the included angle between the first axis s1 and the vertical direction is set to 5° to 10° to allow the first cleaning branch 21 and the second cleaning branch 22 of the side brush to be inclined at a corresponding angle to the horizontal plane in the operating state, and to allow a cleaning element mounted on the first connecting part or a cleaning element directly connected to the main body 10 to be inclined at a corresponding angle to the horizontal plane, thereby facilitating the improvement of the cleaning power and cleaning effect of the cleaning element on the surface to be cleaned. For example, if the surface to be cleaned is uneven, this setting can effectively improve the cleaning effect of the cleaning element in recessed areas.

[0043] In other embodiments, the included angle can be set to other degrees, for example 3°, 12°, 15°, etc.

[0044] In some embodiments and with reference to Fig. 14 and Fig. The side brush also includes a third cleaning branch 23, which is directly or indirectly connected to the main body 10 and is located between the first cleaning branch 21 and the second cleaning branch 22. This arrangement allows the number of cleaning branches of the side brush to be increased and the cleaning effect of the side brush to be improved.

[0045] In some embodiments, the third cleaning branch 23 is movably connected to the main body 10. This arrangement increases the flexibility of the third cleaning branch 23 and facilitates the folding and unfolding of the side brush.

[0046] In some embodiments, the third cleaning branch 23 is pivotably connected to the main body 10, the third axis being the pivot axis; the main body 10 is a quasi-cylindrical body, and the central axis of the quasi-cylindrical body is perpendicular to the plane of the paper and passes through the geometric center of the quasi-cylindrical body. The first axis about which the main body 10 rotates coincides with the central axis of the quasi-cylindrical body and passes through the geometric center of the quasi-cylindrical body. The second axis corresponding to the second cleaning branch 22 is parallel to and coincides with the first axis. The third axis corresponding to the third cleaning branch 23 is parallel to and coincides with the first axis.When the main body 10 rotates in the first direction x1, the included angle B2 between the first cleaning branch 21 and the third cleaning branch 23 is the third included angle greater than 0°. The included angle between the second cleaning branch 22 and the third cleaning branch 23 is greater than 0°, i.e., the side brush is in the unfolded state, with the first cleaning branch 21, the second cleaning branch 22, and the third cleaning branch 23 spaced apart from each other.When the direction of rotation of the main body 10 changes, the third cleaning branch 23 moves closer to or away from the first cleaning branch 21 under the influence of inertia or an external force, such that the enclosed angle B2 between the first cleaning branch 21 and the third cleaning branch 23 is adjusted to a fourth enclosed angle, which is smaller than the second enclosed angle, when the main body 10 rotates in a second direction x2. That is, the side brush is in a folded state, and the third cleaning branch 23 is located between the first cleaning branch 21 and the second cleaning branch 22.

[0047] In an application scenario, with reference to Fig. 14 is set so that, in the unfolded state of the side brush, the enclosed angle between two adjacent branches of the first cleaning branch 21, the second cleaning branch 22 and the third cleaning branch 23 is 120°.

[0048] In some other embodiments (not shown), the third cleaning branch is pivotally connected to the main body, with a third axis serving as the pivot axis. This third axis is parallel to the second axis and does not coincide with the first and second axes. When the main body rotates in the first direction, the included angle between the first cleaning branch and the third cleaning branch is the third included angle greater than 0°. The included angle between the second cleaning branch and the third cleaning branch is also greater than 0°.When the direction of rotation of the main body changes, the third cleaning branch moves closer to or away from the first cleaning branch under the influence of inertia or external force. As the main body rotates in a second direction, the enclosed angle between the first and third cleaning branches adjusts to a fourth enclosed angle, which is less than or equal to the second enclosed angle. This arrangement allows the third axis to be parallel to the second axis and not coincide with the first and second axes. Consequently, when the side brush is folded, the enclosed angle between the first, second, and third cleaning branches is 0°, thus improving the effectiveness in preventing elongated objects from becoming entangled.

[0049] Of course, in other embodiments, it can be achieved that, in the folded state of the side brush, the enclosed angle between the first cleaning branch, the second cleaning branch, and the third cleaning branch is 0° when the third axis coincides with the first and second axes. These improvements can be implemented with reference to the embodiments described above and are not repeated here.

[0050] In some embodiments, a limiting groove or a limiting block analogous to the limiting method for the second cleaning branch 22 may be provided to limit the third cleaning branch. In some embodiments, for example, a stepped limiting groove (not shown) may be provided on the main body 10 to limit the movement of the second cleaning branch 22 and the third cleaning branch 23, respectively, so that the enclosed angle B2 between the third cleaning branch 23 and the first cleaning branch 21 varies within a certain range, and that the enclosed angle B1 between the first cleaning branch 21 and the second cleaning branch 22 varies within a certain range.

[0051] In some embodiments (not shown), the first cleaning branch and / or the second cleaning branch comprises an arc-shaped connecting piece and a cleaning element, wherein the cleaning element is integrally arranged on the arc-shaped connecting piece or detachably mounted on it. This arrangement facilitates the reduction of the tangling rate and extends the service life of the side brush to a certain extent.

[0052] In other embodiments, similar improvements can be made to the side brush, which are not described in detail here.

[0053] Some other embodiments of the present application provide a side brush. With reference to Fig. 16 to Fig. For the sake of simplicity, a cleaning branch 102 is hereby referred to as the first cleaning branch 21 or the second cleaning branch 22, and a cleaning device described below comprises a cleaning robot. The side brush comprises a main body 10 and at least two cleaning branches 102, which are spaced apart from one another and directly or indirectly connected to the main body 10, forming a plane of rotation c when the main body 10 rotates, the connecting lines between the projection points of the two cleaning branches 102 furthest apart on the plane of rotation c and the center of rotation of the plane of rotation c form an enclosed angle A1 of less than 120°.

[0054] In one application scenario, the side brush can be used in a cleaning device. The main body 10 rotates about an axis of rotation b in the plane of rotation c to rotate the cleaning arm 102. The cleaning device can control the side brush to rotate in the plane of rotation c of the main body 10 to facilitate cleaning operations on the surface to be cleaned, such as removing dust, debris, or other waste.

[0055] It should be noted that the projection point refers to the projection point of the central axis of the cleaning branch 102 on the plane of rotation c.

[0056] It should be noted that, unless otherwise stated, the specific structure of the cleaning branch 102 is not restricted in the present application. For example, in one application scenario (not shown), the cleaning branch comprises a cleaning element 12 directly connected to the main body 10. The connecting lines between the projection points of the two cleaning elements 12 furthest apart on the plane of rotation c and the center of rotation of the plane of rotation c form an included angle of less than 120°. The cleaning element 12, for example bristles, can be used to clean the surface to be cleaned. In another application scenario, for example, the cleaning branch 102 comprises a first connecting part 11 and a cleaning element 12.The cleaning element 12 is detachably connected to the main body 10 by the first connecting part 11, and the connecting lines between the projection points of the two furthest apart cleaning elements 12 on the plane of rotation c and the center of rotation of the plane of rotation c form an included angle of less than 120°. In another application scenario (not shown), for example, the cleaning branch 102 includes a first connecting part 11. The connecting lines between the projection points of the two furthest apart first connecting parts 11 on the plane of rotation c and the center of rotation of the plane of rotation c form an included angle of less than 120°. In this case, the first connecting part 11 is used to install the cleaning element 12.In this context, the side brush serves as a side brush holder, which can be used for the cleaning device after the cleaning element 12 has been installed.

[0057] There are several projection points of the cleaning branches 102 on the plane of rotation c. The two cleaning branches 102 that are furthest apart can be referred to as one cleaning branch and another cleaning branch. There are several first projection points of one cleaning branch on the plane of rotation c, and there are several second projection points of the other cleaning branches on the plane of rotation c. The line connecting the first projection point and the center of rotation is called the first line of connection; the line connecting the second projection point and the center of rotation is called the second line of connection; the included angle formed by each first line of connection and each second line of connection is less than 120°.

[0058] The cleaning effect and cleaning area of ​​the side brush can be improved by connecting a plurality of cleaning branches 102 to the main body 10 at intervals; the connecting lines between the projection points of the two furthest cleaning branches 102 on the plane of rotation c and the center of rotation of the plane c enclose an angle of less than 120°, thereby reducing the risk of the cleaning branch 102 becoming entangled in hair, wires, or other elongated objects when the side brush sets the cleaning branch 102 in rotation, for example, reducing the risk of hair becoming caught between the plurality of cleaning branches 102, which could impair the cleaning effect. This arrangement therefore also improves the ease of cleaning and maintenance of the cleaning branch 102.This arrangement reduces the risk of hair, wires or other elongated objects getting caught in the side brush, thereby improving cleaning performance and user comfort.

[0059] Furthermore, the arrangement of the numerous cleaning branches 102 can cause larger particulate pollutants that are blown away to be reabsorbed by other cleaning branches 102 as the cleaning branches 102 rotate. Therefore, the risk of larger particulate pollutants being blown away when the side brush drives the cleaning branches 102 to rotate can be reduced.

[0060] In some embodiments, the included angle A1 is greater than 0° and less than or equal to 119°.

[0061] For example, the included angle A1 of the sector area lies within the value range of 0° to 10°, 0° to 25°, 0° to 33°, 0° to 36°, 0° to 39°, 0° to 40°, 0° to 55°, 0° to 60°, 0° to 89°, 0° to 90°, 0° to 105°, 0° to 115°, 0° to 118°, 0° to 119°, 10° to 22°, 15° to 38°, 10° to 58°, 12° to 69°, 32° to 87°, 10° to 105°, 12° to 99°, 20° to 119°, 30° to 119°, 40° to 110°, 60° to 119° or 66° to 108° etc.

[0062] For example, the included angle A1 of the sector area is 5°, 18°, 29°, 36°, 45°, 65°, 80°, 89°, 90°, 102.5°, 100°, 60°, 30°, 110° or 119° etc.

[0063] In some embodiments, the enclosed angle A1 of the sector area is 119°.

[0064] This arrangement not only allows for a better cleaning effect of the side brush, but also reduces the risk of a large number of cleaning branches getting caught in elongated objects, such as hair, when cleaning the surface to be cleaned, and also better reduces the risk of larger particles being blown away during the cleaning process, thus improving user comfort.

[0065] In some embodiments, the projections of the plurality of cleaning branches 102 on the plane of rotation c are uniformly distributed over the sector area with the included angle A1 of less than 120°; i.e., according to the Fig. In the embodiment shown in Figure 19, the enclosed angle A2 is equal to the enclosed angle A3, so that the projections of the plurality of cleaning branches 102 on the plane of rotation c are uniformly distributed over the sector area with an enclosed angle A1 of less than 120°. A uniform distribution enables a more uniform cleaning effect and a simple structure, thus simplifying manufacturing.

[0066] In some embodiments, it may also be provided that the projections of the plurality of cleaning branches 102 on the plane of rotation c are not uniformly distributed over the sector area with the included angle A1 of less than 120°. That is, according to the in Fig. In the embodiment shown in Figure 19, the enclosed angle A2 is not equal to the enclosed angle A3, so that the projections of the plurality of cleaning branches 102 on the plane of rotation c are not uniformly distributed over the sector area with the enclosed angle A1 of less than 120°. There are no particular limitations to this.

[0067] In some embodiments, the plurality of cleaning branches 102 are arranged sequentially along the direction of rotation a of the main body 10, and the distance from the ends of the plurality of cleaning branches 102 facing away from the main body 10 to the axis of rotation b of the main body 10 decreases sequentially along the direction of rotation a.

[0068] As in Fig. As shown in Figure 20, for a given main body 10 in the rotation direction a of the main body 10 itself, the distance from the second end of the corresponding cleaning branch 102 to its rotation axis b gradually decreases along the rotation direction a, i.e., M3 > M2 > M1, which can improve the ability to prevent larger particle pollutants from flying away and improve the cleaning effect.

[0069] The direction of rotation a of the main body 10 is not limited. In one application scenario, the cleaning device includes two side brushes, one on the left and one on the right. The cleaning arm 102 of the side brush extends toward the side of the main body 10 closest to the surface to be cleaned. When facing the surface to be cleaned, the main body 10 of the left side brush drives the corresponding cleaning arm 102 to rotate clockwise, and the main body 10 of the right side brush drives the corresponding cleaning arm 102 to rotate counterclockwise.

[0070] The advantageous effects of the above arrangement are as follows: The arrangement of the cleaning branches 102 sequentially along the direction of rotation a of the main body 10 advantageously leads to an improvement in the cleaning effect of the cleaning device for the surface to be cleaned when the main body 10 drives the cleaning branch 102 to rotation; the sequential decrease in the distance from the ends of the plurality of cleaning branches 102 facing away from the main body 10 to the axis of rotation b of the main body 10 along the direction of rotation a makes it possible to improve the ability to prevent larger particle pollutants from being thrown away, and thus to improve the cleaning effect.

[0071] In some embodiments, it may also be provided that the distance from the ends of the plurality of cleaning branches 102 facing away from the main body 10 to the axis of rotation b is equal, that is, according to the Fig. In the embodiment shown in 20, M3 = M2 = M1.

[0072] In some embodiments, the projection of the cleaning branch 102 on the plane of rotation c extends along the direction perpendicular to the axis of rotation b of the main body 10, as in Fig. 19 to Fig. 21 shown.

[0073] This arrangement has a simple design and is inexpensive to manufacture. If the cleaning branch 102 further comprises at least the first connecting part 11, the projection of which extends on the plane of rotation c along the direction perpendicular to the axis of rotation b of the main body 10, such an arrangement facilitates the attachment of the cleaning element 12. For example, in an application scenario, a mounting hole can be arranged at a connecting port 13 of the first connecting part 11 (for connecting to the cleaning element 12), which mounting hole runs parallel to the extension direction of the first connecting part 11 in the axial direction to accommodate the cleaning element 12. If the cleaning element 12 comprises a linear cleaning element, this arrangement advantageously allows the projection of the cleaning element 12 to extend on the plane of rotation c along the direction perpendicular to the axis of rotation b.Therefore, it is advantageous to adjust the first connecting part 11 so that the projection of the cleaning element 12 on the plane of rotation c lies within the sector area with the included angle A1 of less than 120°. This means that the connecting lines between the projection points of the two furthest cleaning elements 12 on the plane of rotation c and the center of rotation of the plane of rotation c form an included angle of less than 120°. This reduces the risk of the cleaning elements 12 becoming entangled in hair, wires, or other elongated objects, thus improving the cleaning effect and user comfort.

[0074] In some embodiments, the cleaning branch 102 comprises a first connecting part 11 which is connected to the main body 10. The first connecting part 11 is used to install the cleaning element 12.

[0075] In particular, the cleaning branch 102 includes at least the first connecting part 11. In some application scenarios, the cleaning branch 102 also includes a cleaning element 12; in other application scenarios (not shown), the cleaning branch 102 does not include a cleaning element 12, but does include the first connecting part 11; in this case, the side brush can be used as a side brush holder for attaching the cleaning element 12.

[0076] This arrangement allows for the detachable mounting of the cleaning element 12, for example, by conventional detachable connection methods such as snap-fit ​​connections. The detachable connection allows the user to repair or replace the cleaning elements 12 as needed during product use. For example, one or more worn cleaning elements 12 can be replaced to improve the cleaning performance of the side brush. In this way, operating costs for the user are reduced and the user experience is further enhanced. Furthermore, the side brush comprises at least two cleaning arms 102; therefore, the side brush includes at least two first connecting parts 11.This arrangement advantageously allows the distribution pattern of the cleaning elements 12 to be adjusted by adjusting the distribution pattern of the first connecting part 11 in the sector area, thereby improving the flexibility of the structural design of the side brush.

[0077] In other embodiments, the first connecting part and the main body are arranged to be detachable, thereby improving the applicability of the side brush in several scenarios.

[0078] In other embodiments, the cleaning element can be permanently connected to the connection port; there are no particular restrictions for this.

[0079] In some application scenarios, the cleaning branch 102 includes at least one first connecting part 11; by adjusting the lengths of the first connecting parts 11, it is possible to achieve a sequential decrease in the distance from the ends of the cleaning elements 12 facing away from the main body 10 to the axis of rotation b of the main body 10 along the direction of rotation a, in order to reduce the manufacturing effort of the side brush.

[0080] In some embodiments, the cleaning branch 102 comprises at least one first connecting part 11. The first connecting parts 11 may be arranged sequentially along the direction of rotation a of the main body 10, and the distance from the ends of the first connecting parts 11 facing away from the main body 10 to the axis of rotation b of the main body 10 decreases sequentially along the direction of rotation a. The ends of the first connecting parts 11 facing away from the main body 10 serve as connection points 13 for installing the cleaning element 12.

[0081] For example, in Fig. As shown in Figure 20, the sides of the first connecting parts 11 facing away from the main body 10 extend in a direction away from the main body 10 to form a plurality of ends with different extension lengths, at each of which a connecting port 13 is arranged for connecting the cleaning element 12. That is, it can be set so that L3 > L2 > L1, in order to allow the distance from the plurality of connecting ports 13 to the axis of rotation b of the main body 10 to decrease sequentially along the direction of rotation a by adjusting the extension length.

[0082] This arrangement facilitates the use of the large number of cleaning elements 12 of the same shape and dimensions, thereby making mass production of the cleaning elements 12 feasible, reducing the production costs of the cleaning elements 12 and improving ease of assembly.

[0083] In some embodiments, a plurality of first connecting parts 11 are formed in one piece to create a second connecting part 101, which is connected to the main body 10. The second connecting part 101 is provided with a plurality of connecting ports 13 for attaching the cleaning element 12.

[0084] The above arrangement has a simple structure and is suitable for adjusting the cleaning element 12.

[0085] In some embodiments, the second connecting part 101 comprises, as in Fig. 22, Fig. Figure 23 shows a sector-shaped connecting part on which the plurality of connecting terminals 13 are arranged spaced apart from one another along the direction of rotation a of the main body 10.

[0086] In particular, the second connecting part 101 extends along the circumferential direction of the main body 10 to form a sector-shaped connecting part. The side of the second connecting part 101 facing away from the main body 10 is provided with a plurality of connecting terminals 13, which are spaced apart from one another along the circumferential direction of the main body 10. This arrangement advantageously makes it possible to adjust the area of ​​overlap of the projections of the plurality of connecting terminals 13 on the plane of rotation c of the main body 10 by adjusting the enclosed angle of the sector-shaped connecting part.It is again advantageous that the projections of the plurality of connecting terminals 13 on the plane of rotation c lie in a sector area with the included angle A1 of less than 120°, and it is again advantageous that the projection of the cleaning element 12 on the plane of rotation c lies in the sector-shaped area; i.e., the connecting lines between the projection points of the two cleaning elements 12 furthest apart on the plane of rotation c and the center of rotation of the plane of rotation c form an included angle of less than 120°, thereby advantageously reducing the risk of the cleaning elements 12 becoming entangled with hair, wires, or other elongated objects, and thus improving the cleaning effect and user comfort.

[0087] In some embodiments, a plurality of circumferentially spaced connection terminals 13 can be evenly distributed across the sector area to improve ease of production. Of course, according to the above, Fig. In the embodiment shown in Figure 23, a plurality of circumferentially spaced connection terminals 13 may also be unevenly distributed in the sector area.

[0088] In some embodiments, the second connecting part 101 comprises, as in Fig. Figure 25 shows a first connecting rod 103. One end of the first connecting rod 103 is connected to the main body 10, and the other end forms a plurality of connecting branches 104. The projection of the first connecting rod 103 onto the plane of rotation c of the main body 10 extends along the direction perpendicular to the axis of rotation b of the main body 10. At least some of the connecting branches 104 are at an acute angle to the first connecting rod 103. A plurality of connecting terminals 13 are provided on the plurality of connecting branches 104.

[0089] The connecting port 13 serves to connect the cleaning element 12; the projection of the first connecting rod 103 on the plane of rotation c of the main body 10 extends along the direction perpendicular to the axis of rotation b of the main body 10 and the structure is thus simple.By having at least part of the connecting branches 104 at an acute angle to the first connecting rod 103, it is advantageous to arrange a plurality of connecting branches 104 on the first connecting rod 103, and thus to attach a plurality of cleaning elements 12. This advantageously allows the extension direction of the projection of the cleaning element 12 on the plane of rotation c of the main body 10 to be adjusted by adapting the extension direction of the connecting branches 104, so that the projections of the plurality of cleaning elements 12 on the plane of rotation c of the main body 10 are spaced apart from one another in the aforementioned sector area along the direction of rotation a of the main body, thereby reducing the interference between the plurality of cleaning elements 12.

[0090] In some embodiments, the projection of at least part of the connecting branches 104 onto the plane of rotation c and the projection of the first connecting rod 103 onto the plane of rotation c are arranged at an acute angle B, as in Fig. 25 shown.

[0091] The above arrangement conveniently allows the multitude of connection terminals 13 to be spaced apart from one another along the direction of rotation c of the main body 10, thereby facilitating the arrangement of the cleaning elements 12 spaced apart from one another along the direction of rotation c of the main body 10, which results in the interferences between the cleaning elements 12 being reduced and the cleaning elements 12 being able to cover as much as possible of the sector-shaped area corresponding to the aforementioned enclosed angle A1 in order to improve the cleaning effect.

[0092] Optionally, the specific value of the acute angle B is not limited and can be, for example, 10°, 13°, 25°, 39°, 60°, 88° or 89°, etc.

[0093] In some embodiments, the second connecting part 101 comprises, as in Fig. Figure 26 shows a second connecting rod 105. The projection of the second connecting rod 105 onto the plane of rotation c of the main body 10 runs along the direction perpendicular to the axis of rotation b of the main body 10. Connecting connections 13 are provided at one end facing away from the main body 10 and on the side of the second connecting rod 105.

[0094] The connecting port 13 serves to connect the cleaning element 12; the projection of the second connecting rod 105 onto the plane of rotation c of the main body 10 extends in a direction perpendicular to the axis of rotation b of the main body 10, thus simplifying the structure. Providing the connecting ports 13 at the end furthest from the main body 10 and on the side of the second connecting rod 105 is structurally simple and easy to implement, allowing for the easy arrangement of multiple connecting ports 13 on the second connecting rod 105. If the connecting port 13 is provided with a mounting hole for installing the cleaning element 12, the direction of projection of the cleaning element 12 onto the plane of rotation c of the main body 10 can be adjusted by changing the axial direction of the mounting hole, thereby reducing interference between multiple cleaning elements 12.

[0095] In some embodiments, the projection of at least part of the cleaning elements 12 onto the plane of rotation c and the projection of the second connecting rod 105 onto the plane of rotation c of the main body 10 are arranged at an acute angle B. The specific value of the acute angle B is not limited and can be, for example, 10°, 13°, 25°, 39°, 60°, 88°, or 89°, etc.

[0096] In some embodiments, a plurality of connecting ports 13 are provided on the side of the second connecting rod 105, and at least some of the connecting ports 13 are arranged along the extension direction of the second connecting rod 105. This arrangement facilitates the provision of the plurality of connecting ports 13 on the second connecting rod 105 and thus simplifies the installation of the plurality of cleaning elements 12. It should be noted that the projections of the plurality of cleaning elements 12 onto the plane of rotation c of the main body 10 all lie within a sector area corresponding to the enclosed angle A1.

[0097] In other embodiments, the shapes and dimensions of the cleaning elements can also be adapted so that the projection of the extension direction of the cleaning element on the plane of rotation of the main body is arranged at an acute angle with the direction perpendicular to the axis of rotation of the main body.

[0098] In some embodiments and as in Fig. Figure 24 shows that a portion of the plurality of first connecting parts 11 is formed in one piece to form a third connecting part 1011, which is connected to the main body 10, and a portion of the plurality of first connecting parts 11 is formed in one piece to form a fourth connecting part 1012, which is connected to the main body 10. Both the third connecting part 1011 and the fourth connecting part 1012 extend along the circumferential direction of the main body 10. The third connecting part 1011 and the fourth connecting part 1012 are spaced apart from each other along the circumferential direction. The side of the third connecting part 1011 and the fourth connecting part 1012 facing away from the main body 10 is provided with a plurality of circumferentially arranged connecting terminals 13.The projections of all connection terminals 13 lie on the rotational plane c of the main body 10 in the sector area with the included angle A1 of less than 120°.

[0099] In some embodiments, the distribution of the cleaning elements 12 can also be adapted by structural modifications to the third connecting part 1011 and the fourth connecting part 1012. For example, in the embodiment shown in Fig. In the embodiment shown in Figure 24, the enclosed angle A4 is set so that it is not equal to the enclosed angle A5, i.e., the extension ranges of the third connecting part 1011 and the fourth connecting part 1012 along the circumferential direction of the main body 10 are different; for another example (not shown), the number of connection terminals on the side of the third connecting part and the fourth connecting part furthest from the main body may also be different.

[0100] In other embodiments, the plurality of first connecting elements can be further subdivided into three or more groups. The plurality of first connecting elements in each group are formed in one piece, and the projections of all connecting connections onto the plane of rotation of the main body lie within the sector region with an included angle of less than 120°.

[0101] In some embodiments, the cleaning branch 102 also includes a cleaning element 12.

[0102] It should be noted that the shape and dimensions of each cleaning element 12 may be the same or different, and the connection method between the first connecting part 11 and the cleaning element 12 is not restricted, for example by gluing or detachable snap connection.

[0103] In some embodiments, if the cleaning branch 102 includes at least the first connecting part 11, the structure of the first connecting part 11 (e.g., the specific structure of the connecting connection 13 of the first connecting part 11) can be designed such that the connecting lines between the projection points of the two furthest cleaning elements 12 on the plane of rotation c and the center of rotation of the plane of rotation c form an included angle of less than 120°. It can also be achieved by adjusting the shape and dimensions of the cleaning elements that the connecting lines between the projection points of the two furthest cleaning elements 12 on the plane of rotation c and the center of rotation of the plane of rotation c form an included angle of less than 120°.Alternatively, it is also possible to adjust the shapes and dimensions of the multitude of connection ports 13 and of the multitude of cleaning elements 12 simultaneously in order to ensure that the connecting lines between the projection points of the two cleaning elements 12 furthest apart on the plane of rotation c and the center of rotation of the plane of rotation c form an included angle of less than 120°.

[0104] In other embodiments, the cleaning branch includes a cleaning element that is directly or indirectly connected to the main body.

[0105] In particular, the cleaning arm does not include a first connecting part; the side brush comprises a main body and a cleaning element connected to the main body. For example, in an application scenario, a variety of connection ports may be provided on the main body for connecting to the cleaning elements. This design is simple and convenient to manufacture and assemble.

[0106] In other embodiments, similar improvements can be made to the side brushes, which are not described again here.

[0107] In some embodiments, the cleaning element 12 comprises a linear cleaning element 12.

[0108] The linear cleaning element 12 is easy to install, and its distribution area can be limited and adjusted by the arrangement of the first connecting part 11 and other connecting structures. This structure is simple and suitable for mass production.

[0109] In other embodiments, the cleaning element can also include a curved cleaning element in order to realize, with the specific structure of the first connecting part and other connecting structures, that the projection of the cleaning element on the plane of rotation is located in the sector area mentioned above.

[0110] In some embodiments, the multitude of linear cleaning elements are identical in shape and dimensions.

[0111] This arrangement makes it easier for users to repair and replace cleaning elements, is easy to install and is suitable for mass production, which can reduce production costs.

[0112] In some embodiments, the first connecting part 11 comprises a deformable connecting claw. When the cleaning element 12 is located near the surface to be cleaned, the deformable connecting claw can elastically deform to a certain degree, thereby reducing the risk of damage due to collision effects when the cleaning element 12 comes into contact with the surface to be cleaned.

[0113] This application still suggests a side brush, as in Fig. 16 to Fig. Figure 26 shows the side brush comprising a main body 10 and at least two cleaning branches 102, which are spaced apart from each other and are directly or indirectly connected to the main body 10, with an enclosed angle of less than 120° between the two cleaning branches 102 that are furthest apart.

[0114] The enclosed angle between the two furthest cleaning branches 102 of less than 120° can reduce the risk of the cleaning branch becoming entangled in hair, wires or other elongated objects during the cleaning process, thereby improving the cleaning effect and user comfort.

[0115] The embodiments and the functional principles of the main body 10 and the cleaning branch 102 can be referred to in the above exemplary embodiments and are not described again here.

[0116] It should be noted that if you are in the Fig. 1 to Fig. In the embodiments shown in 15, the main body 10 rotates in the first direction x1, namely that the side brush rotates in the first operating mode of the Fig. 1 to Fig. The exemplary embodiments shown in 15 contain similar improvements to those described in Fig. 16 to Fig. The embodiments shown in 26 can be carried out on the side brush of the cleaning robot. If the following applies to the Fig. 1 to Fig. In the embodiments shown in 15, the main body 10 rotates in the second direction x2, namely that the side brush rotates in the second operating mode of the Fig. 1 to Fig. The embodiments shown in 15 can also be similar to those described in the following examples. Fig. 16 to Fig. The embodiments shown in 26 are applied to the side brush of the cleaning robot.

[0117] The present application also proposes a side brush (not shown) comprising a main body and three or more cleaning branches; the main body includes a fan-shaped connecting element, with one cleaning branch being fixedly connected to the fan-shaped connecting element and the remaining cleaning branches being movably connected to the fan-shaped connecting element. The main body is configured to rotate about a first axis inclined towards the surface to be cleaned when the cleaning robot is in its operating state; when the main body rotates in a first direction, the side brush is in an unfolded state, and the enclosed angle between the two furthest cleaning branches is a fixed enclosed angle of less than or equal to 180°.When the direction of rotation of the main body changes, the multiple cleaning arms movably connected to the main body move closer to or away from a cleaning arm fixed to the main body under the influence of inertia or external force, causing the side brush to alternate between the unfolded and folded states. When the main body rotates in the second direction, the side brush is in the folded state, and the enclosed angle between the two furthest cleaning arms is reduced to a different fixed enclosed angle of 0° to 15°.

[0118] The present application further proposes a cleaning robot, as in Fig. 1 to Fig. Figure 30 shows the cleaning robot comprising a body 40, a side brush, a main brush, a drive wheel, and a control unit. The side brush is located on a lower edge of the body 40; the main brush is located on the underside of the body 40, and a cleaning area of ​​the side brush overlaps at least partially with a cleaning area of ​​the main brush. The drive wheel is used to propel the body 40 for movement and is located at least partially within a cleaning area of ​​the side brush. The control unit is configured to control the movement of the side brush, the main brush, and the drive wheel.

[0119] In the Fig. 27 and Fig. In the embodiments shown in Figure 28, the first axis of the main body 10 coincides with the central axis of the quasi-cylindrical body, and the second axis, corresponding to the second cleaning branch 22, is parallel to the first axis and does not coincide with it. In the embodiment shown in Fig. In the embodiment shown in Figure 27, the side brush is in a folded state, i.e., in the second operating mode mentioned above. ... Fig. In the embodiment shown in Figure 28, the side brush is in an extended state, i.e., in the first operating mode mentioned above. In the Fig. 27 and Fig. In the embodiments shown in 28, the limiting method for the movable connection between the second cleaning branch 22 and the main body 10 can be described with reference to the one in Fig. 8 to Fig. The embodiments shown in 11 can be improved in a similar way.

[0120] In the Fig. 29 and Fig. In the embodiments shown in Figure 30, the first axis of the main body 10 coincides with the central axis of the quasi-cylindrical body, and the second axis, corresponding to the second cleaning branch 22, is parallel to the first axis and does not coincide with it. In the embodiment shown in Fig. In the embodiment shown in Figure 27, the side brush is in a folded state, i.e., in the second operating mode mentioned above. ... Fig. In the embodiment shown in Figure 28, the side brush is in an extended state, i.e., in the first operating mode mentioned above. In the Fig. 29 and Fig. In the embodiments shown in 30, the limiting method for the movable connection between the second cleaning branch 22 and the main body 10 can be reduced to the one described in Fig. 12 to Fig. Reference is made to the 13 examples shown.

[0121] The specific embodiments and the operating principle of the side brush can be seen in the above exemplary embodiments and are not described again here.

[0122] The cleaning robots covered by this application include sweeping robots, sweeping and mopping machines, etc.

[0123] The side brush is positioned along the bottom edge of the body 40, and the main brush is located on the underside of the body 40 to enhance the cleaning performance of both the bottom edge and the underside of the body 40. The cleaning area of ​​the side brush overlaps at least partially with a cleaning area of ​​the main brush, thus amplifying the cleaning effect of the overlapping area. In this way, hair caught on the side brush obstructs the main brush and is more easily drawn into the dustbin inside the cleaning robot by the suction at the main brush nozzle, thereby removing the tangled hair. The drive wheel is located at least partially within a cleaning area of ​​the side brush, allowing the side brush to clean the tracks left by the drive wheel when it moves the main body 40, thus improving the user experience.

[0124] In some embodiments, the side brush is arranged at the right front edge of the main body 40 and the first axis s1 is inclined upwards relative to the surface to be cleaned and inclined towards the right front of the main body 40.

[0125] In particular, when looking down at the cleaning robot, a side brush is provided on the right front edge of the body 40, and the first axis s1 is inclined upwards relative to the surface to be cleaned and inclined towards the right front of the main body 40, so that the right front side brush is inclined towards the right front of the main body 40 to achieve an inward curvature, which can improve the cleaning power on the right front edge of the body 40.

[0126] In some embodiments, the upper end of the first axis s1 is inclined relative to the vertical direction towards a side facing away from the main body 40. For example, in an application scenario, when looking down at the cleaning robot, side brushes may be arranged at the left and right front edges of the body 40, and the upper ends of the first axes s1 of the side brushes are arranged such that they are inclined relative to the vertical direction towards a side facing away from the main body 40, i.e., the left front side brush is inclined towards the left front of the body 40 to achieve an inward curve, and the right front side brush is inclined towards the right front of the main body 40 to achieve an inward curve, thereby improving the cleaning power at the left and right front edges of the body 40.The above arrangement allows the cleaning power of the first cleaning branch 21 and the second cleaning branch 22 to be specifically increased on the lower edge area of ​​the main body 40 when the main body 10 drives the first cleaning branch 21 and the second cleaning branch 22 to rotate, thereby increasing the cleaning power of the side brush on the lower edge of the body 40 and thus improving the cleaning effect of the cleaning robot.

[0127] In some embodiments, the cleaning robot also includes a side brush motion sensor configured to detect the direction and position of the side brush, or to detect the direction of movement of the side brush alone, or to detect the position of the side brush alone.

[0128] In particular, the side brush motion sensor can be used to detect the direction of movement or position of the main body 10, or only the direction of movement or position of the first cleaning branch 21 and the second cleaning branch 22, or it can be configured to detect the direction of movement or position of the main body 10, the first cleaning branch 21, and the second cleaning branch 22. This arrangement allows the cleaning robot's control unit to easily control the operation of the side brush based on the direction of movement or position of the side brush.

[0129] In some embodiments, the cleaning robot also includes a side brush motion sensor configured to detect the direction of rotation of the main body 10.

[0130] For example, if it is detected that the direction of rotation of the main body 10 changes from the first direction x1 to the second direction x2, the side brush can be controlled to stop its movement, or if it is detected that the direction of rotation of the main body 10 changes from the first direction x1 to the second direction x2 and the main body 10 continuously rotates in the second direction x2 for a certain preset setting, the side brush can be controlled to stop its movement.

[0131] This means that the movement of the side brush can be stopped when the enclosed angle B1 between the first cleaning branch 21 and the second cleaning branch 22 is close to or equal to the second enclosed angle. Therefore, if it is necessary to stop the side brush of the cleaning robot, the direction of rotation of the main body 10 can first be controlled to change from the first direction x1 to the second direction x2, so that the enclosed angle B1 between the first cleaning branch 21 and the second cleaning branch 22 is reduced to the second enclosed angle, thus achieving the folding effect of the side brush and reducing the space required for the side brush.

[0132] In some embodiments, the side brush motion sensor can also be configured to detect the movement position of the second cleaning arm 22. For example, if it is detected that the second cleaning arm 22 has moved so far that the enclosed angle B1 between the first cleaning arm 21 and the second cleaning arm 22 is the second enclosed angle, the side brush is controlled to stop its movement.

[0133] In some embodiments, the side brush motion sensor can also be configured to detect the direction of rotation of the main body 10 and the movement position of the second cleaning arm 22. For example, the side brush motion sensor detects that the main body 10 is rotating in the second direction x2 and / or that the included angle B1 between the second cleaning arm 22 and the first cleaning arm 21 is the second included angle; if the first cleaning arm 21 and / or the second cleaning arm 22 are within or exceeding the cleaning area of ​​the main brush, the control unit controls the side brush to stop its movement.

[0134] In some application scenarios, the control unit controls the side brush so that it stops its movement when the side brush motion sensor detects that the main body 10 is rotating in the second direction x2 and the included angle B1 between the second cleaning branch 22 and the first cleaning branch 21 is the second included angle.

[0135] In some embodiments, if the side brush motion sensor detects that the main body 10 is rotating in the second direction x2 and the enclosed angle B1 between the second cleaning arm 22 and the first cleaning arm 21 is the second enclosed angle, the control unit controls the side brush to stop its movement, and the main body 10 of the side brush is controlled to drive the second cleaning arm 22 and the first cleaning arm 21 to rise in a direction away from the surface to be cleaned. This arrangement facilitates the repositioning of the cleaning robot.

[0136] In some embodiments, the side brush motion sensor controls the side brush to stop its movement in response to the detection that the side brush is in the folded state and that the first cleaning arm 21 or the second cleaning arm 22 is within the cleaning area of ​​the main brush. This arrangement facilitates the suction of hair and other elongated objects that have become entangled in the first cleaning arm 21 or the second cleaning arm 22 through the main brush opening into the dust container under the influence of negative pressure.

[0137] In some embodiments, the side brush motion sensor controls the side brush to stop its movement in response to the detection that the side brush is in the folded state and the first cleaning arm 21 or the second cleaning arm 22 is sweeping over the cleaning area of ​​the main brush. This arrangement facilitates the suction of hair and other elongated objects that have become entangled in the first cleaning arm 21 or the second cleaning arm 22 through the main brush opening into the dust container under the influence of negative pressure.

[0138] In some embodiments, the step of the side brush motion sensor, in response to the detection that the side brush is in the folded state, specifically: The side brush motion sensor, in response to the detection that the direction of rotation of the main body 10 has changed from the first direction x1 to the second direction x2, determines that the side brush is in the folded state. In some other embodiments, the step of the side brush motion sensor, in response to the detection that the side brush is in the folded state, specifically: The side brush motion sensor, in response to the detection that the main body 10 is rotating in the second direction x2 and that the enclosed angle B1 between the first cleaning branch 21 and the second cleaning branch 22 is the second enclosed angle, determines that the side brush is in the folded state.In some other embodiments, the step of the side brush motion sensor, in response to detecting that the side brush is in the folded state, specifically: The side brush motion sensor, in response to detecting that the main body 10 is rotating in the second direction x2 and that the enclosed angle B1 between the first cleaning branch 21 and the second cleaning branch 22 is 0°, determines that the side brush is in the folded state. This better prevents hair and other elongated objects from becoming entangled in the first cleaning branch 21 or the second cleaning branch 22, and thus improves the suction of hair and other elongated objects through the main brush opening into the dust container under the influence of negative pressure.

[0139] Unlike the prior art, in the present application an enclosed angle between the first cleaning branch and the second cleaning branch can be controlled by controlling the direction of rotation of the main body in the operating state. For example, the first cleaning branch and the second cleaning branch can be made to maintain a first enclosed angle between them and follow the main body to rotate about a first axis in a first direction, so that the side brush operates in a first operating mode, with the first cleaning branch and the second cleaning branch spaced apart from each other, thereby improving the cleaning effect. The first cleaning branch and the second cleaning branch can also be made to maintain a second enclosed angle between them and follow the main body to rotate about the first axis in a second direction, i.e.,It is possible to switch the side brush to a second operating mode. The side brush can also alternate between the two operating modes mentioned above to clean the surface. This means that the angle between the first and second cleaning arms can vary within a certain range during operation, reducing the risk of hair, wires, or other elongated objects becoming entangled in the side brush, thus improving cleaning performance and user comfort.

[0140] It is worth noting that the drawings in this text serve only to show the structural relationships and connection relationships of the product of the present application and not to restrict the specific structural dimensions of the product of the present application.

[0141] The above descriptions are merely exemplary embodiments of the present application and do not limit the scope of patent protection granted in the present application. Any equivalent structure or equivalent process transformation carried out using the contents of the description and drawings of the present application, or applied directly or indirectly to other relevant technical fields, also falls within the scope of patent protection granted in the present application.

Claims

[1] Side brush suitable for a cleaning robot, characterized by , that the side brush includes: a main body configured to rotate about a first axis inclined towards a surface to be cleaned when the cleaning robot is in an operating state; and a first purification branch and a second purification branch, which are directly or indirectly connected to the main body, wherein the first cleaning branch is rigidly connected to the main body, and the second cleaning branch is movably connected to the main body; wherein, when the main body rotates in a first direction, an included angle between the first cleaning branch and the second cleaning branch is a first included angle which is less than or equal to 180°; wherein, when the direction of rotation of the main body changes, the second cleaning branch moves closer to or away from the first cleaning branch under the influence of inertia or external force, so that the enclosed angle between the first cleaning branch and the second cleaning branch decreases to a second enclosed angle when the main body rotates in a second direction, the second enclosed angle being 0° to 15°. [2] Side brush according to claim 1, characterized by , that the second cleaning branch is pivotably connected to the main body via a second axis as a pivot axis. [3] Side brush according to claim 2, characterized by that the first axis and the second axis are parallel to each other, but do not coincide. [4] Side brush according to claim 2 or 3, characterized by, that a limiting groove is provided on the main body, which is configured to limit the movement of the second cleaning branch relative to the main body, so that the enclosed angle between the first cleaning branch and the second cleaning branch varies between a first enclosed angle and a second enclosed angle. [5] Side brush according to one of claims 2 to 4, characterized by , that the main body is a quasi-cylindrical body, and a distance between the first axis and a central axis of the quasi-cylindrical body is smaller than a distance between the second axis and the central axis. [6] Side brush according to any one of claims 1 to 5, characterized by , that an enclosed angle between the first axis and the vertical direction in the operating state of the cleaning robot is 5° to 10°. [7] Side brush according to any one of claims 1 to 6, characterized by, that the side brush further comprises a third cleaning branch which is directly or indirectly connected to the main body and is located between the first cleaning branch and the second cleaning branch. [8] Side brush according to claim 7, characterized by that the third cleaning branch is movably connected to the main body. [9] Side brush according to claim 7 or 8, characterized by, that the third cleaning branch is pivotably connected to the main body by a third axis as a pivot axis, wherein the third axis is parallel to the second axis and does not coincide with the first axis and the second axis;wherein, when the main body rotates in the first direction, an included angle between the first cleaning branch and the third cleaning branch is a third included angle greater than 0°, and an included angle between the second cleaning branch and the third cleaning branch is greater than 0°, wherein, when the direction of rotation of the main body changes, the third cleaning branch moves closer to or away from the first cleaning branch under the influence of inertia or external force, such that, when the main body rotates in the second direction, the included angle between the first cleaning branch and the third cleaning branch is adjusted to a fourth included angle less than or equal to the second included angle. [10] Side brush according to claim 1, characterized by, that the first cleaning branch and / or the second cleaning branch comprise an arc-shaped connecting part and a cleaning element, wherein the cleaning element is integrally or detachably connected to the arc-shaped connecting part. [11] Cleaning robots, characterized by , that the cleaning robot includes: a body; a side brush according to one of claims 1 to 10, which is arranged on a lower edge of the body; a main brush located on the underside of the body, wherein a cleaning area of ​​the side brush overlaps at least partially with a cleaning area of ​​the main brush; a drive wheel used to propel the body to move, and which is located at least partially within a cleaning area of ​​the side brush, and a control unit configured to control the movement of the side brush, the main brush and the drive wheel. [12] Cleaning robot according to claim 11, characterized by , that the side brush is positioned on a right front edge of the main body and the first axis is inclined upwards relative to the surface to be cleaned and is inclined towards a right front of the main body. [13] Cleaning robot according to claim 11 or 12, characterized by that the cleaning robot further includes a side brush motion sensor configured to detect a direction of movement and / or a position of the side brush. [14] Cleaning robot according to claim 13, characterized by, that the side brush motion sensor detects that the main body is rotating in the second direction and / or that an enclosed angle between the second cleaning branch and the first cleaning branch is a second enclosed angle; if the first cleaning branch and / or the second cleaning branch are within the cleaning area of ​​the main brush, or extend beyond the cleaning area of ​​the main brush, the control unit controls the side brush to stop its movement.

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