Automatic cleaning device

Abstract

The present invention provides an automatic cleaning device comprising a moving platform including a bottom shell, configured to move automatically on an operating surface, and a cleaning module configured to be assembled on the bottom shell, wherein the cleaning module includes a roller brush bracket configured to support roller brushes, a motor provided on one side of the roller brush bracket, and an elastic member provided on the side of the roller brush bracket closer to the motor, configured to be able to be hung on the bottom shell by at least one end.

Description

Cross-reference to related applications

[0001] This disclosure is based on a Chinese patent application with the application number 202320571678.X and the filing date of March 21, 2023, claims the priority of the Chinese patent application, and the entire content of the Chinese patent application is incorporated herein by reference.

Technical Field

[0002] This disclosure relates to the technical field of cleaning robots, and more specifically to an automatic cleaning device.

Background Art

[0003] In recent years, with the development of science and technology, various cleaning devices have emerged one after another. These cleaning devices reduce the burden of people's cleaning work, meet people's needs, and provide great convenience to people's lives. In the current robot vacuum cleaners on the market, a motor is provided at one end of the dust cleaning module to drive the roller brush to rotate to realize the dust cleaning function. However, due to the imbalance of the weights at both left and right ends of the dust cleaning module, it affects the cleaning performance.

Summary of the Invention

[0004] The object of this application is to provide an automatic cleaning device that can solve the problem of weight imbalance at both left and right ends of the dust cleaning module during the cleaning process of the automatic cleaning device. The embodiments of this application provide an automatic cleaning device, a moving platform configured to automatically move on an operation surface and including a bottom shell, and a cleaning module configured to be assembled to the bottom shell, the cleaning module including a roller brush bracket configured to support a roller brush, a motor provided on one side of the roller brush bracket, and an elastic member provided on a side of the roller brush bracket close to the motor and configured to be able to be hung on the bottom shell by at least one end.

[0005] In some embodiments, the cleaning module is provided with a first hook point and a second hook point, the second hook point being positioned higher than the first hook point, the bottom shell is provided with a third hook point, and the elastic member includes a first end configured to be hooked onto the first hook point of the cleaning module and a second end configured to be hooked onto the second hook point of the cleaning module or the third hook point of the bottom shell, the third hook point of the bottom shell being configured to connect to the second end of the elastic member in response to a movement operation relative to the second end of the elastic member. In some embodiments, the second mounting point is provided on the top of the roller brush bracket and / or the top of the motor.

[0006] In some embodiments, the cleaning module is The present invention further includes a gearbox provided on the side of the roller brush bracket closest to the motor and configured to transmit the driving force of the motor, wherein the second engagement point is provided on the top of the gearbox. In some embodiments, the second hook point is detachably provided on the cleaning module. In some embodiments, the second hanging point includes at least one of a plastic hook, a metal hook, or a screw. In some embodiments, the second mounting point is integrally provided on the top of the roller brush bracket and / or the top of the motor. In some embodiments, the second mounting point is configured such that the second mounting point and the third mounting point are located in substantially the same horizontal plane when the cleaning module is assembled to the bottom shell.

[0007] In some embodiments, the second hook point is configured to be close to the third hook point when the cleaning module is assembled to the bottom shell. In some embodiments, the elastic member includes at least one of a tension spring, an elastic band, or an elastic rope. In some embodiments, when the elastic member is hung between the first hanging point and the second hanging point, it is approximately vertical, and when the elastic member is hung between the first hanging point and the third hanging point, it is also approximately vertical. Compared to the prior art, the embodiments of this disclosure have the following technical advantages.

[0008] In this invention, the cleaning module is provided with two attachment points, one at a high position and the other at a low position on the cleaning module. First, the two ends of the tension spring are attached to the attachment points at the high and low positions on the cleaning module, respectively. After fixing the cleaning module to the bottom shell of the vacuum cleaner, the two ends of the tension spring can be easily attached to the cleaning module and the bottom shell by moving one end of the tension spring (for example, by using a tool to remove one end of the tension spring from the attachment point at the high position on the cleaning module and attaching it to the attachment point on the bottom shell of the vacuum cleaner). This solves the technical problem of difficulty in attaching the tension spring after eliminating the outer housing of the cleaning module. [Brief explanation of the drawing]

[0009] The drawings herein are incorporated into the specification and constitute part of this specification, illustrating embodiments applicable to this disclosure and are used together with the specification to interpret the principles of this disclosure. Of course, the drawings described below are only a few embodiments of the present invention, and those skilled in the art can obtain other drawings based on these without any creative effort. In the drawings, [Figure 1] This is a perspective view of an automatic cleaning device according to some embodiments of the present disclosure. [Figure 2] This is a schematic diagram of the bottom structure of an automatic cleaning device according to some embodiments of the present disclosure. [Figure 3] This is a schematic diagram of the overall structure of a cleaning module according to some embodiments of the present disclosure. [Figure 4] This is a schematic diagram of a local structure in which a cleaning module according to some embodiments of the present disclosure is assembled on the bottom shell. [Figure 5] This is a schematic diagram of a local structure in which an elastic member according to some embodiments of the present disclosure moves from the attachment point of the cleaning module to the bottom shell. [Explanation of Symbols]

[0010] Mobile platform 100, forward section 111, rear section 110, sensing system 120, control system 130, drive system 140, cleaning module 150, energy system 160, human-machine interaction system 170, positioning device 121, buffer 122, cliff sensor 123, drive wheel assembly 141, steering assembly 142, bottom shell 180, roller brush bracket 151, motor 152, elastic member 153, gearbox 154, first end 1531, second end 1532, first hook point 1501, second hook point 1502, third hook point 1801. [Modes for carrying out the invention]

[0011] To further clarify the purpose, technical solutions, and advantages of this application, the application will be described in more detail below with reference to the drawings. However, the embodiments described are, of course, only a part of the embodiments of this application, not all of them. All other embodiments that a person skilled in the art could obtain without creative work based on the embodiments of this application are all within the scope of protection of this application. The terminology used in the embodiments of this application is for the purpose of describing specific embodiments and is not intended to limit this application. The singular forms “one kind,” “the said,” and “the said” used in the embodiments and the appended claims are also intended to include the plural form unless the context clearly indicates otherwise, and “plural kind” generally includes at least two kinds. To be understood, the terms "and / or" as used herein merely describe the relationship between related objects, indicating that three types of relationships may exist. For example, A and / or B can refer to three situations: when A exists alone, when A and B exist simultaneously, and when B exists alone. Furthermore, the letter " / " in this specification generally indicates that the preceding and succeeding related objects are in an "or" relationship.

[0012] To ensure that it is understood, while the embodiments of this application may use terms such as first, second, and third for illustrative purposes, the descriptions shall not be limited to these terms. These terms are used merely for distinction. For example, the first may be referred to as second, and similarly, the second may be referred to as first, as long as it does not deviate from the scope of the embodiments of this application.

[0013] It should be further explained that the terms “includes,” “inclusion,” or any other variation thereof are intended to encompass non-exclusive inclusion, thereby including not only those elements but also other elements not explicitly listed, or elements specific to such goods or devices. Unless otherwise specified, an element limited by the phrase “includes one…” does not preclude the presence of other similar elements in the goods or devices containing the aforementioned element. Selective embodiments of the present invention will be described in detail below, in accordance with the drawings.

[0014] Figures 1 and 2 are schematic diagrams of the structure of an automatic cleaning device based on an exemplary embodiment. As shown in Figures 1 and 2, the automatic cleaning device may be a vacuum suction robot, a mop / scrub robot, a window climbing robot, etc., and may include a mobile platform 100, a sensing system 120, a control system 130, a drive system 140, a cleaning module 150, an energy system 160, and a human-machine interaction system 170. The mobile platform 100 may be configured to move automatically along the target direction on its operating surface. The operating surface may be the surface on which the automatic cleaning device performs the cleaning operation. In some embodiments, the automatic cleaning device may be a mop robot, which operates on the ground, and the ground is the operating surface; the automatic cleaning device may be a window cleaning robot, which operates on the outer surface of building glass, and the glass is the operating surface; and furthermore, the automatic cleaning device may be a pipe cleaning robot, which operates on the inner surface of pipes, and the inner surface of pipes is the operating surface. For the purposes of demonstration only, the following description in this application uses a mop robot as an example.

[0015] In some embodiments, the mobile platform 100 may be an autonomous mobile platform or a non-autonomous mobile platform. The autonomous mobile platform means that the mobile platform 100 itself can make operational decisions automatically and adaptively based on unexpected environmental inputs, while the non-autonomous mobile platform itself cannot make operational decisions adaptively based on unexpected environmental inputs, but can execute a predetermined program or operate according to certain logic. Accordingly, if the mobile platform 100 is an autonomous mobile platform, the target direction may be determined autonomously by an automatic cleaning device, and if the mobile platform 100 is a non-autonomous mobile platform, the target direction may be determined by the system or artificially. If the mobile platform 100 is an autonomous mobile platform, the mobile platform 100 includes a forward portion 111 and a rearward portion 110. The sensing system 120 includes a positioning device 121 located above the moving platform 100, a buffer 122 located in the front portion 111 of the moving platform 100, a cliff sensor 123 located at the bottom of the moving platform, and sensor devices such as an ultrasonic sensor (not shown), an infrared sensor (not shown), a magnetometer (not shown), an accelerometer (not shown), a gyroscope (not shown), and an odometer (not shown), and provides various position information and operating state information of the machine to the control system 130.

[0016] To more clearly describe the behavior of the automatic cleaning device, the directions are defined as follows. The automatic cleaning device can travel on the ground by various combinations of movements with respect to three mutually perpendicular axes: the lateral axis Y, the front-rear axis X, and the central vertical axis Z defined by the moving platform 100. The forward driving direction along the front-rear axis X is marked as "forward", and the backward driving direction along the front-rear axis X is marked as "backward". The lateral axis Y extends between the right and left wheels of the automatic cleaning device essentially along the axis defined by the center point of the drive wheel assembly 141. Among them, the automatic cleaning device can rotate around the Y axis. When the front portion of the automatic cleaning device is inclined upward and the rear portion is inclined downward, it is called "upward", and when the front portion of the automatic cleaning device is inclined downward and the rear portion is inclined upward, it is called "downward". Also, the automatic cleaning device can rotate around the Z axis. In the forward direction of the automatic cleaning device, when the automatic cleaning device is inclined to the right side of the X axis, it is called "right turn", and when the automatic cleaning device is inclined to the left side of the X axis, it is called "left turn".

[0017] As shown in FIG. 2, cliff sensors 123 are provided at the bottom of the mobile platform 100 and in the forward and backward directions of the drive wheel assembly 141. The cliff sensors are used to prevent the automatic cleaning device from falling when it moves backward, thereby avoiding damage to the automatic cleaning device. The "forward direction" refers to the same side as the traveling direction of the automatic cleaning device, and the "backward direction" refers to the opposite side to the traveling direction of the automatic cleaning device.

[0018] Specific types of the position identification device 121 include, but are not limited to, cameras and laser distance measuring devices (LDS). Each assembly in the sensing system 120 may operate independently or in cooperation to more accurately achieve the intended function. The cliff sensors 123 and ultrasonic sensors identify the surface to be cleaned, determine the physical characteristics of the surface to be cleaned, including the surface material, cleaning degree, etc., and can make a more accurate determination in combination with cameras, laser distance measuring devices, etc. For example, the ultrasonic sensor can determine whether the surface to be cleaned is a carpet. When the ultrasonic sensor determines that the surface to be cleaned is a carpet material, the control system 130 causes the automatic cleaning device to perform carpet mode cleaning.

[0019] A buffer 122 is provided in the forward portion 111 of the mobile platform 100. During the cleaning process, when the drive wheel assembly 141 drives the automatic cleaning device to travel on the ground, the buffer 122 detects one or more events (or objects) in the traveling path of the automatic cleaning device through a sensor system, such as an infrared sensor. The automatic cleaning device can control the drive wheel assembly 141 to respond to the event (or object) detected by the buffer 122, such as an obstacle or a wall, for example, to move away from the obstacle. The control system 130 is provided on a circuit board within the mobile platform 100 and includes a computing processor such as a central processing unit and an application processor that communicates with non-temporary storage media such as a hard disk, flash memory, and random access memory. The application processor receives environmental information sensed by the multiple sensors transmitted from the sensing system 120, and, based on obstacle information and other information fed back from the positioning device 121, uses a position estimation algorithm such as SLAM to create a real-time map of the environment in which the automatic cleaning device exists. Based on the environmental information and the environmental map, it autonomously determines a travel path, and then controls the drive system 140 based on the autonomously determined travel path to perform actions such as moving forward, backward, and / or steering. Furthermore, the control system 130 can also decide whether to activate the cleaning module 150 and perform a cleaning operation based on the environmental information and the environmental map.

[0020] Specifically, the control system 130, in conjunction with distance and speed information fed back from the buffer 122, cliff sensor 123, and sensor devices such as ultrasonic sensors, infrared sensors, magnetometers, accelerometers, gyroscopes, and odometers, can comprehensively determine the current operating state of the vacuum cleaner, such as whether it has crossed a threshold, is on a carpet, is located on a cliff, is clogged above or below, has a full dustbin, or has been picked up. It can also present specific next action strategies according to different situations, ensuring that the operation of the automatic cleaning device better matches the user's requirements and provides a better user experience. Furthermore, the control system can plan the most efficient and rational cleaning path and cleaning method based on real-time map information created by SLAM, significantly improving the cleaning efficiency of the automatic cleaning device.

[0021] The drive system 140 can execute drive commands to operate the automatic cleaning device to travel across the ground based on specific distance and angle information, such as x, y, and θ components. As shown in Figure 2, the drive system 140 includes a drive wheel assembly 141, and the drive system 140 can control the left and right wheels simultaneously. To control the operation of the machine more precisely, it is preferable that the drive system 140 includes a left drive wheel assembly and a right drive wheel assembly, respectively. The left and right drive wheel assemblies are arranged symmetrically along a transverse axis defined by the moving platform 100. To enable the automatic cleaning device to operate more stably on the ground or to have stronger operating capabilities, the automatic cleaning device may include one or more steering assemblies 142, the steering assemblies 142 may be driven wheels or drive wheels, and their structural configuration may include, but is not limited to, swivel wheels, and the steering assemblies 142 may be located in front of the drive wheel assemblies 141.

[0022] The energy system 160 includes rechargeable batteries such as nickel-metal hydride batteries and lithium batteries. A charging control circuit, a battery pack charging temperature detection circuit, and a battery voltage low monitoring circuit may be connected to the rechargeable batteries, and these charging control circuit, battery pack charging temperature detection circuit, and battery voltage low monitoring circuit may be further connected to a single-chip microcontroller control circuit. The main unit is connected to a charging stand via charging electrodes provided on the side or bottom of the unit for charging.

[0023] The human-machine interaction system 170 includes buttons on the main unit panel, which are used by the user to select functions. The human-machine interaction system 170 may further include at least one of a display screen, indicator lights, and a speaker, which display the current machine status or function selection items to the user. The human-machine interaction system 170 may further include a mobile phone client program. The route navigation type cleaning machine can display a map of the environment in which the machine is located and the location of the machine to the user via the mobile phone client, providing the user with a richer and more user-friendly set of functions.

[0024] As shown in Figure 2, the cleaning module 150 may include a dry cleaning module. A dry cleaning module includes a dust box, a fan, and a main brush module. The main brush module sweeps debris from the ground in front of the dust collection port between the main brush module and the dust box by oscillating back and forth near the ground, and then the debris is sucked into the dust box by a suction-forced gas generated by the fan and passing through the dust box. The dust collection capacity of a vacuum cleaner can be characterized by its dust pickup efficiency (DPU), which is affected by the wind power utilization rate of the airflow path consisting of the dust collection port, dust box, fan, air outlet, and connecting members between the four, and is also affected by the type and output of the fan, making it a complex system design problem. Compared to a typical plug-in vacuum cleaner, an improvement in the dust collection capacity of a vacuum cleaner is of greater significance for energy-constrained automatic cleaning devices. Because improved dust collection capacity directly and effectively reduces energy requirements, a machine that can clean 80 square meters of ground on a single charge can evolve to clean 180 square meters or more on a single charge. Furthermore, reducing the number of charging cycles significantly increases the battery's lifespan, reducing the frequency with which users need to replace batteries. More intuitively and importantly, improved dust removal capabilities are the most noticeable and important user experience, allowing users to directly determine whether the cleaning / wiping is effective. The dry cleaning module may further include a side brush having a rotating shaft, which is used to move debris to the roller brush area of ​​the cleaning module 150 at a constant angle to the ground. In related technologies, a motor is provided at one end of the cleaning module to drive and rotate a roller brush to perform the dust removal function. However, the presence of the motor causes an imbalance in weight between the left and right ends of the cleaning module, affecting cleaning performance. A spring can be added to one side of the motor to reduce part of its weight. If there is a fixed shell on the outside of the cleaning module, a tension spring is placed between the roller brush bracket and the fixed shell, and the fixed shell is secured to the bottom shell of the cleaning equipment with screws to complete the fixation of the tension spring.

[0025] However, if there is no fixing shell on the outside of the cleaning module, that is, if the cleaning module is directly fixed to the bottom shell of the cleaning equipment, then because there is no fixing shell, one end of the tension spring cannot be directly fixed to the bottom shell of the cleaning equipment, making it difficult to assemble the cleaning equipment and the tension spring.

[0026] Therefore, this embodiment provides an automatic cleaning device including a mobile platform and a cleaning module. The mobile platform is configured to move automatically on an operating surface and includes a bottom shell. The cleaning module is configured to be assembled to the bottom shell and includes a roller brush bracket configured to support roller brushes, a motor provided on one side of the roller brush bracket, and an elastic member provided on the side of the roller brush bracket closer to the motor and configured to be able to be hung on the bottom shell by at least one end. In some embodiments, the cleaning module is provided with a first hook point and a second hook point, the second hook point being positioned higher than the first hook point, the bottom shell is provided with a third hook point, and the elastic member includes a first end configured to hook onto the first hook point of the cleaning module, and a second end configured to hook onto the second hook point of the cleaning module or the third hook point of the bottom shell. The third hook point of the bottom shell is configured to connect to the second end of the elastic member in response to a movement operation relative to the second end of the elastic member.

[0027] In this invention, the cleaning module is provided with two attachment points, one at a high position and the other at a low position on the cleaning module. First, the two ends of the tension spring are attached to the attachment points at the high and low positions on the cleaning module, respectively. After fixing the cleaning module to the bottom shell of the vacuum cleaner, the two ends of the tension spring can be easily attached to the cleaning module and the bottom shell by moving one end of the tension spring (for example, by using a tool to remove one end of the tension spring from the attachment point at the high position on the cleaning module and attaching it to the attachment point on the bottom shell of the vacuum cleaner). This solves the technical problem of difficulty in attaching the tension spring after eliminating the outer housing of the cleaning module.

[0028] Specifically, the present application will be described in detail in conjunction with Figures 3 to 5. As an example of an automatic cleaning device provided in the embodiment of the present application, Figure 3 shows an illustrative schematic diagram of the overall structure of the cleaning module in the automatic cleaning device, Figure 4 shows a schematic diagram of the local structure in which the cleaning module is assembled to the bottom shell, and Figure 5 shows an illustrative schematic diagram of the local structure in which the elastic member moves from the attachment point of the cleaning module to the bottom shell.

[0029] As shown in Figures 3 to 5, embodiments of the present invention provide an automatic cleaning device, which includes a mobile platform 100 configured to move automatically on an operating surface (e.g., the ground), the mobile platform includes a bottom shell 180, the automatic cleaning device further includes a cleaning module 150 assembled to the bottom shell 180 by screws or bolts, the cleaning module 150 includes a roller brush bracket 151 configured to support a roller brush, the roller brush rotates under the support of the roller brush bracket 151 and cleans the ground, the cleaning module 150 further includes a motor 152, the motor 152 is usually located on one side of the roller brush bracket 151, i.e., the motor 152 is located off-center to one side of the midline of the roller brush bracket 151 to avoid the position of the air duct, the roller brush bracket 151 further includes an elastic member 153, the elastic member 153 may be, for example, a tension spring, an elastic band or an elastic rope, and the elastic member 153 is located on the side of the roller brush bracket 151 closer to the motor 152 The elastic member 153 is positioned such that the first end 1531 of the elastic member 153 is hooked onto the first hook point 1501 of the cleaning module 150, the second end 1532 of the elastic member 153 is hooked onto the second hook point 1502 of the cleaning module 150, the second hook point 1502 is positioned higher than the first hook point 1501, and the bottom shell 180 is provided with a third hook point 1801, and the elastic member 153 is cleaned by operating on the second end 1532 of the elastic member 153, for example, by using tools such as hooks, pliers, or clips. The elastic member 153 is configured to respond to movement operations such as detaching it from the second attachment point 1502 of module 150 and attaching it to the third attachment point 1801 of the bottom shell of the cleaning equipment, and the second end 1532 of the elastic member 153 moves from the second attachment point 1502 to the third attachment point 1801, thereby easily achieving the purpose of attaching both ends of the elastic member 153 to the cleaning module 150 and the bottom shell 180, respectively, and at this time, the elastic tension of the elastic member reduces the pressure on the heavier end of the cleaning module against the ground.This ensures that the pressure on the ground is nearly evenly distributed across both ends of the roller brush, resulting in more uniform cleaning of the ground by the cleaning module and reduced bias wear on the roller brush.

[0030] In some embodiments, as shown in Figure 3, the first hook point 1501 is located approximately on the lower edge of the roller brush bracket 151 within the cleaning module, and the second hook point 1502 is located approximately on the top of the roller brush bracket 151, for example, at the highest or relatively high position extending upward corresponding to the first hook point 1501, the top of which is exposed from a cutout position in the bottom shell 180 after the roller brush bracket 151 is assembled to the bottom shell 180, making it easy to move the elastic member on the second hook point 1502 to the bottom shell 180. In some embodiments, the second mounting point 1502 may be located approximately at the top of the motor 152, for example, at the highest or relatively high position extending upward corresponding to the first mounting point 1501, such that the top is exposed from a cutout position in the bottom shell 180 after the roller brush bracket 151 is assembled to the bottom shell 180, facilitating the movement of the elastic member on the second mounting point 1502 to the bottom shell 180.

[0031] In some embodiments, as shown in Figure 3, the cleaning module 150 further includes a gearbox 154, which is located on the side of the roller brush bracket 151 closer to the motor 152, and is configured to transmit the driving force of the motor 152 to the roller brush or other components, the second hook point 1502 may also be located at the top of the gearbox 154. For example, it may be located at the highest or relatively high position, extending upward in correspondence with the first hook point 1501, and the top is exposed from a cutout position in the bottom shell 180 after the roller brush bracket 151 is assembled to the bottom shell 180, facilitating the movement of the elastic member on the second hook point 1502 to the bottom shell 180.

[0032] In some embodiments, the second attachment point may be integrally provided on the top of the roller brush bracket, the motor, or the gearbox. For example, a protruding structure, such as a protruding hook for facilitating attachment of the elastic member, may be provided on the top of the roller brush bracket and / or the top of the motor and / or the top of the gearbox by a mold integral molding process. The integrally provided structure ensures that the second attachment point is stable, does not fall off during the pulling process of the elastic member, and does not interfere with the assembly of the elastic member.

[0033] In some embodiments, the second attachment point may be provided as a detachable structure on the cleaning module, for example, a plastic hook, a metal hook, or a screw, which can be temporarily attached to or attached to the top of at least one of the roller brush bracket, the motor, or the gearbox, and the elastic member can be temporarily attached as the second attachment point. After the elastic member moves to the third attachment point, the detachable second attachment point can be removed, thereby reducing the weight of the cleaning module. Furthermore, the detachable structure can be flexibly set according to the spatial size of the assembly location, making it more convenient to use. In some embodiments, as shown in Figure 5, the second attachment point 1502 is configured such that when the cleaning module 150 is assembled to the bottom shell 180, the second attachment point 1502 and the third attachment point 1801 are located in substantially the same horizontal plane. In this case, the third attachment point 1801 is located substantially outside the bottom shell 180, and the second attachment point 1502 is also located substantially outside the bottom shell 180, so that the user can easily move the elastic member from the second attachment point 1502 to the third attachment point 1801 using a tool.

[0034] In some embodiments, as shown in Figure 5, the second hook point 1502 is configured to be close to the third hook point 1801 when the cleaning module 150 is assembled to the bottom shell 180. By selectively arranging, for example, the second hook point 1502 and the third hook point 1801 to be adjacent and facing each other, the user can more easily move the second hook point 1502 to the third hook point 1801.

[0035] In some embodiments, as described above, the first attachment point 1501 is located approximately at the lower edge of the roller brush bracket 151 within the cleaning module, while both the second attachment point 1502 and the third attachment point 1801 are located higher than the first attachment point 1501. Therefore, when the elastic member 153 is attached between the first attachment point 1501 and the second attachment point 1502, it is approximately vertical, and when the elastic member 153 is attached between the first attachment point 1501 and the third attachment point 1801, it is also approximately vertical. Here, "approximately vertical" can be considered to mean that the angle between the extending direction of the elastic member and the vertical is within a range of 10 degrees, thereby ensuring that the tensile force of the elastic member is basically vertical and is used to effectively counteract the gravity of the motor and / or gearbox within a limited tensile range. In this invention, the cleaning module is provided with two attachment points, one at a high position and the other at a low position on the cleaning module. First, the two ends of the tension spring are attached to the attachment points at the high and low positions on the cleaning module, respectively. After fixing the cleaning module to the bottom shell of the vacuum cleaner, the two ends of the tension spring can be easily attached to the cleaning module and the bottom shell by moving one end of the tension spring (for example, by using a tool to remove one end of the tension spring from the attachment point at the high position on the cleaning module and attaching it to the attachment point on the bottom shell of the vacuum cleaner). This solves the technical problem of difficulty in attaching the tension spring after eliminating the outer housing of the cleaning module.

[0036] Finally, it should be noted that each example in this specification is described in an incremental manner, with emphasis on the differences between each example and the others, and any similar or identical parts between the examples should be referenced to one another.

[0037] The above embodiments are used solely to illustrate the technical concepts of the present disclosure and are not intended to limit them. While the present disclosure has been described in detail with reference to the embodiments described above, those skilled in the art can still modify the technical concepts described in the above embodiments or substitute some of their technical features equally, but such modifications or substitutions should be understood not to cause the essence of the corresponding technical concepts to deviate from the spirit and scope of the technical concepts of the embodiments of the present disclosure.

Claims

1. An automatic cleaning device, It is configured to move automatically on the operating surface, and includes a moving platform with a bottom shell, Includes a cleaning module configured to be assembled onto the bottom shell, The cleaning module is A roller brush bracket configured to support the roller brush, A motor provided on one side of the roller brush bracket, An automatic cleaning device comprising: an elastic member provided on the side of the roller brush bracket closest to the motor, and configured to be able to be attached to the bottom shell by at least one end.

2. The cleaning module is provided with a first hanging point and a second hanging point, the second hanging point being located higher than the first hanging point. The bottom shell is provided with a third attachment point. The elastic member is A first end configured to be hung on a first hanging point of the cleaning module, It includes a second end configured to be hooked onto a second hook point of the cleaning module or a third hook point of the bottom shell, The automatic cleaning device according to claim 1, wherein the third attachment point of the bottom shell is configured to connect to the second end of the elastic member in response to a movement operation relative to the second end of the elastic member.

3. The automatic cleaning device according to claim 2, characterized in that the second attachment point is provided on the top of the roller brush bracket and / or the top of the motor.

4. The cleaning module is The system further includes a gearbox provided on the side of the roller brush bracket closest to the motor and configured to transmit the driving force of the motor, The automatic cleaning device according to claim 2, characterized in that the second engagement point is provided on the top of the gearbox.

5. The automatic cleaning device according to claim 2, characterized in that the second hook point is detachably provided on the cleaning module.

6. The automatic cleaning device according to claim 5, characterized in that the second hanging point includes at least one of a plastic hook, a metal hook, or a screw.

7. The automatic cleaning device according to claim 3, characterized in that the second attachment point is integrally provided on the top of the roller brush bracket and / or the top of the motor.

8. The automatic cleaning device according to claim 2, characterized in that the second mounting point is configured such that when the cleaning module is assembled to the bottom shell, the second mounting point and the third mounting point are located in substantially the same horizontal plane.

9. The automatic cleaning device according to claim 2, characterized in that the second hook point is configured to be close to the third hook point when the cleaning module is assembled to the bottom shell.

10. The automatic cleaning device according to claim 2, characterized in that the elastic member includes at least one of a tension spring, an elastic band, or an elastic rope.

11. The automatic cleaning device according to claim 2, characterized in that when the elastic member is hung between the first hanging point and the second hanging point, it is in a substantially vertical direction, and when the elastic member is hung between the first hanging point and the third hanging point, it is also in a substantially vertical direction.

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