Cleaning system and self-propelled cleaning apparatus

Abstract

A cleaning system, comprising a self-propelled cleaning device (1) and a base station (300). The self-propelled cleaning device (1) comprises a driving wheel (125), a device main body (100), and a hand-held dust suction apparatus (200). The hand-held dust suction apparatus (200) is detachably connected to the device main body (100). The driving wheel (125) is mounted on the device main body (100) and is used to drive the device main body (100) to travel on a working surface. The hand-held dust suction apparatus (200) comprises a handle (241) and a fan (209). A dust collection cavity (201) as well as an air inlet (202) and a dust removal port (203) in communication with the dust collection cavity (201) are formed in the hand-held dust suction apparatus (200). The device main body (100) is provided with a dust suction port (101). The dust suction port (101) is in communication with the air inlet (202). The fan (209) is provided with an air intake port (2091) in communication with the dust collection cavity (201). The fan (209) is used to form an air flow that flows from the dust suction port (101) into the dust collection cavity (201) via the air inlet (202), and the dust collection cavity (201) is used to accommodate garbage objects carried by the air flow. The base station (300) is provided with a dust collection port (301). The dust collection port (301) is used to be in communication with the dust removal port (203), so that the garbage objects in the dust collection cavity (201) can enter the inside of the base station (300) via the dust removal port (203) and the dust collection port (301). By means of the described method, the cleaning system can have diverse cleaning actions.

Description

Cleaning systems and self-propelled cleaning devices

[0001] This application claims priority to Chinese patent applications with application numbers 202410939317.5, 202410942449.3, 202421658174.2, 202323448127.3 and 202410940022.X filed on July 12, 2024, with invention names “A cleaning system” and “Self-propelled cleaning device”, and incorporates them into this application by reference.

Technical field

[0002] The present application relates to the technical field of cleaning equipment, and in particular to a cleaning system and a self-propelled cleaning device. [Background Technology]

[0003] With the development of science and technology, smart devices have entered every aspect of people's lives. Among them, smart cleaning equipment such as sweeping robots, dust collectors, vacuum cleaners, etc. have been widely welcomed by people.

[0004] During the cleaning process, cleaning equipment often removes debris from the environment to maintain a clean environment. For example, a fan can generate airflow to absorb dust and debris from the environment. Base stations can use dust collection to remove debris from the equipment. However, in existing technologies, the dust collection actions of base stations are relatively simple, limiting their effectiveness. [Summary of the invention]

[0005] The main technical problem solved by this application is to provide a cleaning system and a self-propelled cleaning device, which can reduce the risk of garbage objects clogging during the dust collection process and improve the dust collection effect.

[0006] In order to solve the above technical problems, the technical solution adopted in this application is:

[0007] In a first aspect, a cleaning system is provided, which includes a self-propelled cleaning device and a base station for docking with the self-propelled cleaning device. The self-propelled cleaning device has a dust collecting chamber. The self-propelled cleaning device includes a fan, which is connected to the dust collecting chamber and is used to form an airflow into the dust collecting chamber, and the dust collecting chamber is used to receive garbage objects carried by the airflow. The base station includes a dust collecting fan, which is used to suck garbage objects in the dust collecting chamber into the base station. The cleaning system has a dust collection mode. In the dust collection mode: the self-propelled cleaning device and the base station are docked. The dust collecting fan and the fan have an alternating start-up phase. In the alternating start-up phase, the dust collecting fan and the fan are started alternately.

[0008] In a second aspect, a cleaning system is provided, which includes a self-propelled cleaning device and a base station. The self-propelled cleaning device includes a driving wheel, a device body, and a handheld dust suction device, which is detachably connected to the device body. The driving wheel is mounted on the device body and is used to drive the device body to move on the work surface. The handheld dust suction device includes a handle and a blower. The handheld dust suction device is formed with a dust collecting chamber and an air inlet and a dust removal port connected to the dust collecting chamber. The device body is provided with a dust suction port, which is connected to the air inlet. The blower has an air inlet connected to the dust collecting chamber, and the blower is used to form an air flow from the dust suction port through the air inlet into the dust collecting chamber, and the dust collecting chamber is used to accommodate garbage objects carried by the air flow. The base station is provided with a dust collecting port. The dust collecting port is used to be connected to the dust removal port so that garbage objects in the dust collecting chamber can enter the base station through the dust removal port and the dust collecting port.

[0009] In a third aspect, a self-propelled cleaning device is provided. The self-propelled cleaning device comprises: a first functional mechanism comprising a first body and an electronic control system disposed on the first body; and a device body, the first body being detachably connected to the device body; wherein the electronic control system comprises: a power circuit and a monitoring circuit electrically connected to the power circuit, the monitoring circuit being configured to detect the electrical connection between the first functional mechanism and the device body and control the power circuit to supply power to the device body when the first functional mechanism and the device body are electrically connected.

[0010] The beneficial effects of the present application are as follows: different from the prior art, the self-propelled cleaning device includes a driving wheel, a device body and a handheld dust suction device, the handheld dust suction device is detachably connected to the device body, the driving wheel is installed on the device body, and is used to drive the device body to walk on the working surface, the handheld dust suction device includes a handle and a fan, the handheld dust suction device is formed with a dust collecting chamber and an air inlet and a dust removal port connected to the dust collecting chamber, the device body is provided with a dust suction port, the dust suction port is connected to the air inlet, the fan has an air inlet connected to the dust collecting chamber, the fan is used to form an air flow from the dust suction port through the air inlet into the dust collecting chamber, the dust collecting chamber is used to accommodate garbage objects carried by the air flow, and the base station is provided. A dust collecting port is provided, which is used to communicate with the dust removal port so that garbage objects in the dust collecting chamber can enter the base station through the dust removal port and the dust collecting port. The handheld dust suction device can suck up garbage objects when it is held after being removed from the device body. The handheld dust suction device can also be assembled with the device body to cooperate in sucking up garbage objects, so that the self-propelled cleaning device has a variety of cleaning actions. The dust collecting chamber can be used by the handheld dust suction device independently, and can also be used by the self-propelled cleaning device with the handheld dust suction device assembled on the device body. It can save space and improve the space utilization rate of the self-propelled cleaning device. The saved space can be used to set parts that can enhance the cleaning function and improve the cleaning effect.

Brief Description of the Drawings

[0011] FIG1 is a schematic structural diagram of a base station of an embodiment of a cleaning system of the present application;

[0012] FIG2 is a schematic diagram of the three-dimensional structure of the self-propelled cleaning device of the present application;

[0013] FIG3 is a schematic cross-sectional view of the self-propelled cleaning device shown in FIG2 ;

[0014] FIG4 is a schematic cross-sectional view of the handheld vacuum cleaner shown in FIG2 ;

[0015] FIG5 is a bottom view of the self-propelled cleaning device shown in FIG2 ;

[0016] FIG6 is a schematic structural diagram of the device body and the handheld vacuum device shown in FIG2 , which are disassembled and separated;

[0017] FIG7 is a schematic diagram of the three-dimensional structure of the handheld dust collection device shown in FIG2 ;

[0018] FIG8 is a schematic structural diagram of an embodiment of a cleaning system of the present application;

[0019] FIG9 is a schematic diagram of the three-dimensional structure of the self-propelled cleaning device of the present application;

[0020] FIG10 is a schematic cross-sectional view of the self-propelled cleaning device shown in FIG9 ;

[0021] FIG11 is a schematic structural diagram of the device body and the handheld vacuum device shown in FIG9 detachably separated;

[0022] FIG12 is a schematic cross-sectional view of the handheld vacuum cleaner shown in FIG9 ;

[0023] FIG13 is a schematic diagram of the assembly structure of the handheld vacuum cleaner and the brush suction head shown in FIG9 ;

[0024] FIG14 is a schematic diagram of the assembly structure of the handheld vacuum cleaner shown in FIG9 and the vacuum tube serving as a suction nozzle;

[0025] FIG15 is a schematic diagram of the assembly structure of the handheld vacuum device shown in FIG9 and another vacuum tube;

[0026] FIG16 is a schematic diagram of the partial structure of the handheld vacuum device and the vacuum tube;

[0027] FIG17 is a schematic diagram of the storage bracket in working state;

[0028] FIG18 is a schematic structural diagram of an embodiment of the self-propelled cleaning device of the present application;

[0029] FIG19 is a schematic diagram of the circuit structure of the electric control system of the self-propelled cleaning device of the present application;

[0030] FIG20 is a schematic diagram of the circuit structure of the first communication circuit and the second communication circuit in the self-propelled cleaning device of the present application;

[0031] FIG21 is a schematic diagram of the communication interaction between the first functional mechanism and the device body of the self-propelled cleaning device of the present application;

[0032] FIG22 is a flow chart of an embodiment of a control method for a self-propelled cleaning device according to the present invention;

[0033] FIG23 is a flow chart of another embodiment of a control method for a self-propelled cleaning device of the present application. [Specific implementation method]

[0034] As shown in Figures 1 to 3 and Figure 8, the cleaning system described in the embodiment of the present application includes a self-propelled cleaning device 1 and a base station 300. The self-propelled cleaning device 1 is provided with a dust collection chamber 201. The function of the dust collection chamber 201 is to collect various waste objects absorbed by the self-propelled cleaning device 1 during cleaning. The base station 300 is provided with a dust collection port 301, which is used to communicate with the dust collection chamber 201.

[0035] Furthermore, the self-propelled cleaning device 1 is provided with a dust removal port 203 . When the self-propelled cleaning device 1 is docked with the base station 300 , garbage objects collected in the dust collecting chamber 201 can enter the base station 300 through the dust removal port 203 and the dust collecting port 301 .

[0036] As shown in FIG. 3 to FIG. 5 and FIG. 9 to FIG. 12 , the self-propelled cleaning device 1 may include a device body 100 and a blower 209 .

[0037] The device body 100 may further include a main housing 124 , a travel assembly, and a cleaning assembly 126 . The main housing 124 may serve as the overall structural framework of the device body 100 .

[0038] The travel assembly can be primarily located within the main housing 124, enabling the self-propelled cleaning device 1 to be mobile and self-propelled. The travel assembly includes a drive wheel 125 and a universal wheel 1251, which is driven by the drive wheel 125 to propel the device. The cleaning assembly 126 can include a roller brush, located at the bottom of the main housing 124, to clean the working surface of the self-propelled cleaning device 1 while it is in operation. The fan 209 is used to draw dust, debris, and other debris from the working surface into the dust collection chamber 201.

[0039] The cleaning assembly 126 and the fan 209 can cooperate with each other and work together. For example, the dust suction port 101 can be arranged adjacent to the roller brush so that the garbage or dust swept out during the rotation of the roller brush can be sucked into the dust collection chamber 201.

[0040] The structure of the self-propelled cleaning device 1 described above is merely an example and is not limited to the above example structure.

[0041] Optionally, as shown in FIG1 , the base station 300 may include a base station body 310 and a base 30. The base station body 310 and the base 30 are connected. For example, the base station body 310 may be disposed on one side of the base 30, or the base station body 310 may be disposed above the base 30. The base 30 may be used to support the self-propelled cleaning device 1. In some embodiments, the base station 300 may not be configured with a base 30.

[0042] Optionally, the base station 300 may include a dust box 23, a sewage tank 24, a dust collection fan 320, a water pumping mechanism 26, a liquid supply mechanism 27, and an air supply mechanism 28. Specifically, the base station body 310 includes the dust box 23, a clean water tank 21, a sewage tank 24, a dust collection fan 320, a water pumping mechanism 26, a liquid supply mechanism 27, and an air supply mechanism 28. Furthermore, the base station body 310 may also include a first housing 29. The clean water tank 21, the dust box 23, the sewage tank 24, and the air supply mechanism 28 may be disposed within the first housing 29, spaced apart from one another.

[0043] Regarding the self-propelled cleaning device 1 described in the embodiment of the cleaning system of this application, please refer to the following content for details.

[0044] As shown in Figures 2 to 5, the self-propelled cleaning device 1 includes a drive wheel 125, a device body 100, and a handheld dust suction device 200, which is detachably connected to the device body 100. The drive wheel 125 is mounted on the device body 100 and is used to drive the device body 100 to move on the work surface. The handheld dust suction device 200 includes a handle 241 and a fan 209. The handheld dust suction device 200 is formed with a dust collection chamber 201, an air inlet 202 and a dust removal port 203 connected to the dust collection chamber 201. The device body 100 is provided with a dust collection port 101, which is connected to the air inlet 202. The fan 209 has an air inlet 2091 connected to the dust collection chamber 201. The fan 209 is used to form an air flow from the dust collection port 101 through the air inlet 202 into the dust collection chamber 201. The dust collection chamber 201 is used to receive garbage objects carried by the air flow. The base station 300 is provided with a dust collecting port 301 . The dust collecting port 301 is used to communicate with the dust removal port 203 , so that garbage objects in the dust collecting chamber 201 can enter the base station 300 through the dust removal port 203 and the dust collecting port 301 .

[0045] After the handheld vacuum cleaner 200 is detached from the main body 100, the handheld vacuum cleaner 200 can be used by the user to collect waste. Specifically, after being detached from the main body 100, the handheld vacuum cleaner 200 can generate an airflow into the handheld vacuum cleaner 200 through the air inlet 202 during operation, thereby transporting waste carried by the airflow through the air inlet 202 to the dust collection chamber 201.

[0046] When the handheld vacuum cleaner 200 is mounted on the device body 100, the handheld vacuum cleaner 200 and the device body 100 can cooperate to collect waste. Specifically, when the handheld vacuum cleaner 200 is mounted on the device body 100, the suction port 101 is connected to the air inlet 202. When the handheld vacuum cleaner 200 is in operation, an airflow is generated from the suction port 101 through the air inlet 202 into the handheld vacuum cleaner 200. The airflow then transports waste carried by the airflow through the suction port 101 and the air inlet 202 to the dust collection chamber 201.

[0047] In some embodiments, when the handheld vacuum cleaner 200 and the device body 100 are both in working condition, the formed airflow can enter the interior of the device body 100 from the suction port 101, and then flow into the handheld vacuum cleaner 200 through the air inlet 202 and transport the garbage objects carried by the airflow to the dust collecting chamber 201.

[0048] As shown in Figures 3 to 6, the dust removal port 203 can be spaced apart from the air inlet 202. The dust removal port 203 is used to connect with the dust collection port 301 of the base station 300 when the self-propelled cleaning equipment 1 and the base station 300 are docked, so that garbage objects in the dust collecting chamber 201 can be sucked into the base station 300 through the dust removal port 203 and the dust collection port 301.

[0049] In some embodiments, the dust collection port 301 is connected to the dust removal port 203 by docking.

[0050] Optionally, as shown in Figures 3 to 6, the device body 100 is provided with a dust outlet 102 that is connected to the dust suction port 101. The dust outlet 102 is configured to be connected to the air inlet 202 when the handheld dust suction device 200 is mounted on the device body 100. Furthermore, the dust outlet 102 is configured to dock with and connect to the air inlet 202 when the handheld dust suction device 200 is mounted on the device body 100.

[0051] When the handheld vacuum cleaner 200 is assembled on the device body 100, the airflow generated when the handheld vacuum cleaner 200 is working can enter the interior of the device body 100 from the vacuum port 101, then flow out from the dust outlet 102, and flow into the dust collecting chamber 201 in the handheld vacuum cleaner 200 through the air inlet 202 and transport the garbage objects carried by the airflow to the dust collecting chamber 201 to achieve the cleaning function.

[0052] Optionally, as shown in FIG3 , the device body 100 is provided with a dust exhaust port 103 and a dust inlet 104 that are interconnected. The dust exhaust port 103 is configured to communicate with the dust collection port 301, and the dust inlet 104 is configured to communicate with the dust removal port 203. Furthermore, the dust exhaust port 103 is configured to dock with and communicate with the dust collection port 301, and the dust inlet 104 is configured to dock with and communicate with the dust removal port 203.

[0053] When the handheld vacuum cleaner 200 is mounted on the device body 100 and the base station 300 is collecting dust, the airflow generated by the base station 300 can flow into the dust collection chamber 201 through the dust suction port 101 and the air inlet 202 in sequence, then leave the dust collection chamber 201 through the dust removal port 203 and enter the device body 100 through the dust inlet 104, and then enter the base station 300 through the dust discharge port 103 and the dust collection port 301. The airflow is used to carry the garbage in the dust collection chamber 201 as it flows through the dust collection chamber 201, thereby collecting the garbage in the dust collection chamber 201 into the base station 300.

[0054] By arranging the dust exhaust port 103 on the device body 100 , the compatibility of the base station 300 with different self-propelled cleaning devices 1 can be improved.

[0055] Optionally, as shown in Figures 2 and 4, the handheld dust collection device 200 is provided with a shielding member 210, which is movably provided at the dust removal port 203 so as to be switchable between a closed position and an open position relative to the dust removal port 203. The shielding member 210 is configured to cover the dust removal port 203 in the closed position, and is also configured to be attracted by the dust collection fan 320 and move from the closed position to the open position to open the dust removal port 203.

[0056] When the self-propelled cleaning device 1 is performing cleaning operations or the handheld vacuum cleaner 200 is removed from the device body 100 and held for cleaning operations, the shield 210 can be in the closed position to cover the dust removal port 203. When the self-propelled cleaning device 1 needs to collect dust, the suction force of the dust collection blower 320 can move the shield 210 to the open position to open the dust removal port 203. The airflow generated by the dust collection blower 320 can carry garbage objects from the dust removal port 203 out of the dust collection chamber 201 to the base station 300, thereby achieving the dust collection function.

[0057] Optionally, the handheld vacuum cleaner 200 is provided with an elastic member, and the shielding member 210 is rotatably provided at the dust removal port 203. The elastic member is used to limit the shielding member 210 to the covering position, and the elastic member is in an elastically compressed state when the shielding member 210 is in the open position.

[0058] In some embodiments, the shielding member 210 is configured to be attracted by the fan 209 and move to the closed position. In some embodiments, the shielding member 210 is configured to be moved to the closed position by the combined action of the fan 209 and the elastic recovery of the elastic member. In some embodiments, the elastic member can be omitted, and the shielding member 210 itself can be made of an elastic material, for example, the shielding member 210 can be made of rubber. In some embodiments, the shielding member 210 can also be configured to be driven by a motor to move between the closed position and the open position.

[0059] 6 and 7 , the device body 100 is provided with a first electrical connection portion 110, and the handheld vacuum cleaner 200 is provided with a second electrical connection portion 220. When the handheld vacuum cleaner 200 is assembled to the device body 100, the first electrical connection portion 110 and the second electrical connection portion 220 are electrically connected.

[0060] As shown in Figure 18, the handheld vacuum cleaner 200 of the self-propelled cleaning device 1 includes a first body 11a and an electronic control system arranged on the first body 11a; the first body 11a and the device body 100 are detachably connected; the electronic control system includes: a power supply circuit 121a and a monitoring circuit 122a electrically connected to the power supply circuit 121a, the monitoring circuit 122a is used to detect the electrical connection status between the handheld vacuum cleaner 200 and the device body 100, and control the power supply circuit 121a to supply power to the device body 100 when the handheld vacuum cleaner 200 and the device body 100 are in an electrically connected state.

[0061] Among them, the first body 11a of the handheld vacuum cleaner 200 includes at least the device body 240 of the handheld vacuum cleaner 200, which can at least be used to carry the electronic control system, etc., and cooperate with the electronic control system to realize the functions of the handheld vacuum cleaner 200 and power the device body 100.

[0062] Optionally, the monitoring circuit 122a is used to detect the voltage change of the transmission voltage between the handheld vacuum cleaner 200 and the device body 100, and determine the electrical connection state between the handheld vacuum cleaner 200 and the device body 100 based on the voltage change; wherein, if the transmission voltage changes from a first preset voltage value to a second preset voltage value, it is determined that the connection state between the handheld vacuum cleaner 200 and the device body 100 is switched from a separated state to an electrically connected state; the first preset voltage value is different from the second preset voltage value.

[0063] Among them, the first preset voltage value is different from the second preset voltage value. The first preset voltage value is the voltage value of the transmission voltage between the handheld vacuum cleaner 200 and the device body 100 when they are in a separated state; the second preset voltage value is the voltage value of the transmission voltage between the handheld vacuum cleaner 200 and the device body 100 when they are in a separated state.

[0064] Optionally, the monitoring circuit 122a of this embodiment includes: a main control circuit 123a, a second electrical connection part 220 and an insertion detection circuit 125a, the device body 100 includes a second body 21a, a power supply circuit 22a arranged on the second body 21a and a first electrical connection part 110; the second electrical connection part 220 is used to be electrically connected to the first electrical connection part 110; the insertion detection circuit 125a is electrically connected to the main control circuit 123a and the second electrical connection part 220 respectively, for detecting the voltage change of the transmission voltage on the second electrical connection part 220; the power supply circuit 22a is electrically connected to the first electrical connection part 110; the power supply circuit 121a is electrically connected to the second electrical connection part 220 and the main control circuit 123a respectively; when the main control circuit 123a determines that the second electrical connection part 220 is electrically connected to the first electrical connection part 110 based on the detection result of the insertion detection circuit, it controls the power supply circuit 121a to supply power to the second electrical connection part 220, so as to supply power to the first electrical connection part 220.

[0065] When the handheld vacuum cleaner 200 is in a separated state from the device main body 100, the second electrical connection part 220 is not electrically connected to the first electrical connection part 110, and when the handheld vacuum cleaner 200 is in a connected state with the device main body 100, the second electrical connection part 220 is electrically connected to the first electrical connection part 110; in these two states, the voltage on the second electrical connection part 220, that is, the above-mentioned transmission voltage will change. In this embodiment, the voltage change of the second electrical connection part 220 can be detected by the insertion detection circuit 125a, and this change can be fed back to the main control circuit 123a. The main control circuit 123a can determine the electrical connection state between the second electrical connection part 220 and the first electrical connection part 110 based on the detection result of the insertion detection circuit 125a, and when the two are electrically connected, control the power supply circuit 121a to supply power to the second electrical connection part 220, so as to supply power to the first electrical connection part 110, thereby supplying power to the power supply circuit 22a of the device main body 100, so that the device main body 100 is powered.

[0066] The second body 21a of the device body 100 serves as the main shell 124 of the device body 100 and is also used to carry the power supply circuit 22a and the first electrical connection part 110, and cooperate with the power supply circuit 22a and the first electrical connection part 110 to realize the functions of the device body 100.

[0067] Optionally, as shown in Figures 18 and 19, the insertion detection circuit 125a includes: a first voltage-dividing resistor R447, a second voltage-dividing resistor R448 and a third voltage-dividing resistor R450; the first end of the first voltage-dividing resistor R447 is used to access the power supply voltage VBAT_SYS; the first end of the second voltage-dividing resistor R448 is electrically connected to the second end of the first voltage-dividing resistor R447, the power supply circuit 121a, and the second electrical connection part 220 respectively; the first end of the third voltage-dividing resistor R450 is electrically connected to the main control circuit 123a and the second end of the second voltage-dividing resistor R448, and the second end of the third voltage-dividing resistor R450 is grounded; the device body 100 also includes: a fourth voltage-dividing resistor R451, the first end of the fourth voltage-dividing resistor R451 is electrically connected to the first electrical connection part 110 and the power supply circuit 22a, respectively, and the second end of the fourth voltage-dividing resistor R451 is grounded.

[0068] The first end of the third voltage-dividing resistor R450 serves as a detection end BASE_DET and is electrically connected to the main control circuit 123a.

[0069] When the handheld vacuum cleaner 200 is separated from the device body 100, the voltage on the detection terminal BASE_DET is equal to the second preset voltage value:

[0070] When the handheld vacuum cleaner 200 is electrically connected to the device body 100, the voltage on the detection terminal BASE_DET is equal to the first preset voltage value:

[0071] Among them, R446=R448+R450.

[0072] When the voltage of the detection terminal BASE_DET changes from the first preset voltage value to the second preset voltage value, the main control circuit 123a controls the power supply circuit 121a, i.e., the VBASE1 terminal electrically connects the power supply circuit 22a of the device body 100 to the VBASE2 terminal to supply power to the device body 100.

[0073] Optionally, the insertion detection circuit 125a of this embodiment further includes a diode D135, wherein an anode of the diode D135 is connected to the power supply voltage VBAT_SYS, and a cathode of the diode D135 is electrically connected to a first end of the first voltage-dividing resistor R447.

[0074] Optionally, the insertion detection circuit 125a of this embodiment further includes a current limiting filter circuit electrically connected to the main control circuit 123a, the second end of the second voltage-dividing resistor R448, and the first end of the third voltage-dividing resistor R450 respectively.

[0075] In this embodiment, the current limiting and filtering functions are implemented between the detection circuit 125 a and the main control circuit 123 a through the current limiting and filtering circuit, thereby improving the accuracy of the voltage on the detection terminal BASE_DET.

[0076] Optionally, the current limiting filter circuit may include a resistor R449 and a capacitor C473; wherein, one end of the resistor R449 is electrically connected to the second end of the second voltage-dividing resistor R448 and the first end of the third voltage-dividing resistor R450, and the other end is electrically connected to the main control circuit 123a as the detection end BASE_DET, and one end of the capacitor C473 is grounded, and the other end is electrically connected to the other end of the resistor R449.

[0077] Optionally, the electronic control system of this embodiment also includes: a switch SW, the control end of the switch SW is electrically connected to the monitoring circuit 122a, one communication end of the switch SW is electrically connected to the power supply circuit 121a, and the other communication end of the switch SW is used to be electrically connected to the device body 100; the monitoring circuit 122a controls the switch SW to close when the handheld vacuum cleaner 200 and the device body 100 are in an electrically connected state, and controls the switch SW to disconnect when the handheld vacuum cleaner 200 and the device body 100 are in a separated state.

[0078] Optionally, the control end of the switch SW can be specifically electrically connected to the main control circuit 123a, and the main control circuit 123a controls the switch SW to close when the second electrical connection part 220 and the first electrical connection part 110 are in an electrically connected state, and controls the switch SW to disconnect when the second electrical connection part 220 and the first electrical connection part 110 are in a separated state.

[0079] Optionally, the handheld vacuum cleaner 200 of this embodiment also includes: a first communication circuit 126a; the device body 100 also includes a second communication circuit 24a; the first communication circuit 126a is used for signal communication with the second communication circuit 24a; the monitoring circuit 122a is electrically connected to the first communication circuit 126a; the monitoring circuit 122a determines that when the handheld vacuum cleaner 200 is separated from the device body 100 based on the communication status between the first communication circuit 126a and the second communication circuit 24a, the control power supply circuit 121a disconnects the power supply to the device body 100.

[0080] Optionally, the main control circuit 123a is electrically connected to the first communication circuit 126a. Based on the communication status between the first communication circuit 126a and the second communication circuit 24a, the main control circuit 123a controls the power supply circuit 121a to disconnect power to the second electrical connection portion 220 when the second electrical connection portion 220 is separated from the first electrical connection portion 110. This embodiment can determine the separation status between the handheld vacuum cleaner 200 and the device body 100 through communication, eliminating the need for electrical signal detection. This avoids the issue of low separation status detection accuracy caused by voltage changes in the second electrical connection portion 220 caused by power supplied by the power supply circuit 121a to the second electrical connection portion 220 when the handheld vacuum cleaner 200 and the device body 100 are electrically connected. Therefore, this embodiment determines the separation status between the handheld vacuum cleaner 200 and the device body 100 through communication, thereby improving the accuracy of separation status detection and enhancing safety and reliability.

[0081] The first communication circuit 126a and the second communication circuit 24a may include wired communication modules, such as serial communication modules or optical communication modules. The serial communication modules may include RS48 buses, etc. When the second electrical connection portion 220 is electrically connected to the first electrical connection portion 110, the first communication circuit 126a and the second communication circuit 24a are in a communication connection state. When the second electrical connection portion 220 and the first electrical connection portion 110 are disconnected, the first communication circuit 126a and the second communication circuit 24a are in a non-communication connection state.

[0082] For example, the insertion detection circuit 125a detects the insertion status of the handheld vacuum cleaner and the device body, and uses voltage or changes to identify whether the handheld vacuum cleaner is connected to the device body. When the handheld vacuum cleaner is inserted into the device body, the handheld vacuum cleaner supplies power to the device body and determines through communication whether the handheld vacuum cleaner is subsequently removed from the device body.

[0083] After the main control circuit 123a controls the power supply circuit 121a to supply power to the device main body 100, it detects through the above-mentioned communication module whether the handheld vacuum cleaner 200 and the device main body 100 are in a separated state. If so, the power supply circuit 121a is controlled to disconnect the power supply to the second electrical connection part 220 after a certain period of time, which can greatly reduce the arc generated by the insertion of power, and avoid the problem of sparks and blackening of the electrical connection terminals.

[0084] Optionally, when the handheld vacuum cleaner 200 is electrically connected to the device body 100, the first communication circuit 126a sends a heartbeat data packet to the second communication circuit 24a, and receives feedback data of the heartbeat data packet from the second communication circuit 24a; when the first communication circuit 126a does not receive feedback data within a preset time period, the monitoring circuit 122a controls the power supply circuit 121a to disconnect the power supply to the device body 100.

[0085] Optionally, when the second electrical connection part 220 and the first electrical connection part 110 are in an electrically connected state, the main control circuit 123a controls the first communication circuit 126a to send a heartbeat data packet to the second communication circuit 24a, and controls the first communication circuit 126a to receive feedback data of the heartbeat data packet from the second communication circuit 24a; if the main control circuit 123a determines that no feedback data is received within a preset time period, it controls the power supply circuit 121a to disconnect the power supply to the second electrical connection part 220, thereby disconnecting the power supply to the device body 100.

[0086] Optionally, as shown in Figure 20, the first communication circuit 126a includes: a first communication terminal 127a and a first protection circuit 128a electrically connected to the first communication terminal 127a; the second communication circuit 24a includes: a second communication terminal 129a and a second protection circuit 130a electrically connected to the second communication terminal 129a; wherein, the first communication terminal 127a is used to be electrically connected to the second communication terminal 129a to realize signal communication; the first protection circuit 128a is used to block the high-voltage input when the first communication terminal 127a is electrically connected to the second communication terminal 129a, and the second protection circuit 130a is used to block the high-voltage input when the second communication terminal 129a is electrically connected to the first communication terminal 127a.

[0087] Optionally, the first communication terminal 127a, the first protection circuit 128a, the second communication terminal 129a and the second protection circuit 130a are also electrically connected to the main control circuit 123a.

[0088] The first protection circuit 128a may include a current-limiting resistor R1, a current-limiting resistor R3, a switch tube Q27, a switch tube Q28, a pull-up resistor R11, etc. The first communication circuit 126a is provided with two first communication terminals 127a; the control end of the switch tube Q27 and the control end of the switch tube Q28 are connected to the main control circuit 123a through the pull-up resistor R11 to obtain the power supply voltage; the switch tube Q27 and the current-limiting resistor R1 are connected in series between the MCU_TX end of the main control circuit 123a and the first first communication terminal 127a; the switch tube Q28 and the current-limiting resistor R3 are connected in series between the MCU_RX end of the main control circuit 123a and the second first communication terminal 127a.

[0089] The second communication circuit 24a also includes a communication module, and the second protection circuit 130a may include a current-limiting resistor R4, a current-limiting resistor R2, a switch tube Q3 and a switch tube Q5, etc. The second communication circuit 24a is provided with two second communication terminals 129a; the control end of the switch tube Q3 and the control end of the switch tube Q5 are connected to the power supply voltage; the switch tube Q3 and the current-limiting resistor R2 are connected in series between the BASE_RX end of the communication module and the first second communication terminal 129a; the switch tube Q5 and the current-limiting resistor R4 are connected in series between the BASE_TX end of the communication module and the second second communication terminal 129a.

[0090] The first second communication terminal 129a is used for communication connection with the first first communication terminal 127a, and the second second communication terminal 129a is used for communication connection with the second first communication terminal 127a.

[0091] In some embodiments, the second electrical connection portion 220 of the handheld vacuum cleaner 200 and the first communication terminal 127a can be integrated into the same interface, and the first electrical connection portion 110 and the second communication terminal 129a of the device body 100 can be integrated into the same first interface. The above terminals can be connected through corresponding electrode pads. For example, the handheld vacuum cleaner 200 is provided with four electrode pads, two of which are used for power supply, namely Vcc and GND, and the other two are used for communication, namely Tx and Rx. The device body 100 can also have a similar design.

[0092] In one application scenario, as shown in FIG22 , the control method of the self-propelled cleaning device specifically includes the following steps:

[0093] Step S41: using a monitoring circuit to detect the electrical connection state between the second electrical connection portion and the first electrical connection portion.

[0094] Step S42: If the second electrical connection portion is in an electrically connected state with the first electrical connection portion, the power supply circuit is controlled to supply power to the second electrical connection portion, so as to supply power to the device body.

[0095] In another application scenario, as shown in FIG23 , the control method of the self-propelled cleaning device specifically includes the following steps:

[0096] Step S51: using a monitoring circuit to detect the electrical connection state between the second electrical connection portion and the first electrical connection portion.

[0097] For a specific implementation, please refer to the above step S41.

[0098] Step S52: If the second electrical connection portion is in an electrically connected state with the first electrical connection portion, the power supply circuit is controlled to supply power to the second electrical connection portion to supply power to the device body.

[0099] For a specific implementation, please refer to the above step S42.

[0100] Step S53: When the second electrical connection portion is electrically connected to the first electrical connection portion, control the first communication circuit to send a heartbeat data packet to the second communication circuit, and control the first communication circuit to receive feedback data of the heartbeat data packet from the second communication circuit.

[0101] Step S54: If the first communication circuit does not receive any feedback data within a preset time period, the power supply circuit is controlled to cut off the power supply to the second electrical connection portion.

[0102] Optionally, as shown in FIG4 , the handheld vacuum cleaner 200 further includes a power supply assembly 221, which is electrically connected to the second electrical connection portion 220 and the blower 209, respectively. The power supply assembly 221 is configured to supply power to the device body 100 when the second electrical connection portion 220 is electrically connected to the first electrical connection portion 110. The power supply assembly 221 can also be configured to supply power to the blower 209.

[0103] The power supply component 221 serves as a power supply circuit 121 a and is electrically connected to the fan 209 and the monitoring circuit 122 a . The power supply component 221 supplies power to the handheld vacuum cleaner 200 under the control of the monitoring circuit 122 a .

[0104] Optionally, the fan 209 is also electrically connected to the monitoring circuit 122 a , and the monitoring circuit 122 a controls the operation of the fan 209 .

[0105] Optionally, the power supply assembly 221 may include a battery or the like.

[0106] Furthermore, as shown in FIG11 , the second electrical connection portion 220 and the first electrical connection portion 110 are electrically connected by plugging or elastically abutting.

[0107] In other embodiments, a power supply component 221 is detachably provided on the device body 100, or, in some embodiments, batteries may be provided on the device body 100 and the handheld vacuum cleaner 200 respectively. When the handheld vacuum cleaner 200 is assembled on the device body 100, the two batteries are connected in series. When the handheld vacuum cleaner 200 is removed from the device body 100, the two batteries can work independently.

[0108] Optionally, as shown in Figures 2 and 6, the device body 100 is provided with a recessed groove 105, and the handheld vacuum device 200 is detachably disposed in the recessed groove 105. The provision of the recessed groove 105 facilitates the assembly of the handheld vacuum device 200 on the device body 100. The recessed groove 105 can limit the position of the handheld vacuum device 200, thereby improving the connection stability between the handheld vacuum device 200 and the device body 100.

[0109] Optionally, as shown in Figures 2 and 6, the device body 100 includes a limiting column 106 arranged in the recessed groove 105, and the handheld vacuum cleaner 200 is provided with a limiting groove 204 that cooperates with the limiting column 106. The limiting column 106 is used to be inserted into the limiting groove 204 so as to limit the handheld vacuum cleaner 200 in the recessed groove 105.

[0110] By providing the limiting column 106 and the limiting groove 204 , the handheld vacuum cleaner 200 and the device body 100 can be assembled, positioned, and fixed in position, which is beneficial to improving the connection stability of the handheld vacuum cleaner 200 and the device body 100.

[0111] 6 , the handheld vacuum cleaner 200 includes a device body 240 and a handle 241 , wherein the handle 241 and the device body 240 are arranged to form a limiting groove 204 . A user can insert his fingers into the limiting groove 204 to hold the handle 241 .

[0112] Optionally, as shown in Figures 4 and 6, the limiting column 106 is provided with a hook portion 107, and the groove wall of the limiting groove 204 is provided with a snap groove 205. The hook portion 107 is used to be embedded in the snap groove 205 when the limiting column 106 is inserted into the limiting groove 204, so that the handheld vacuum device 200 is snap-connected to the device body 100.

[0113] Furthermore, the handle 241 forms part of the wall of the limiting groove 204, and the buckle groove 205 is provided on the handle 241. Alternatively, as shown in FIG11 , the device body 240 forms part of the wall of the limiting groove 204, and the buckle groove 205 is provided on the device body 240.

[0114] Optionally, the hook portion 107 protrudes from the side of the limiting column 106. The insertion direction of the hook portion 107 into the buckle slot 205 intersects with the extension direction of the limiting column 106. Further, the limiting column 106 extends along the height direction D4 of the self-propelled cleaning device 1.

[0115] Furthermore, the device body 100 includes an unlocking mechanism 109, which is movably mounted on the limiting post 106 and is exposed to the outside world. The unlocking mechanism 109 is configured to be pressed to disengage the hook portion 107 from the locking groove 205, thereby releasing the locking connection between the handheld vacuum cleaner 200 and the device body 100. Furthermore, the unlocking mechanism 109 is mounted on the upward-facing top surface of the limiting post 106 to facilitate user depressing.

[0116] Alternatively, as shown in Figures 8 and 11, the first electrical connection portion 110 is disposed on the periphery of the limiting column 106, and the second electrical connection portion 220 is disposed adjacent to the snap groove 205. The second electrical connection portion 220 and the first electrical connection portion 110 are plugged into or elastically abutted against each other along the height direction D4 of the self-propelled cleaning device 1. In this way, the stability of the second electrical connection portion 220 and the first electrical connection portion 110 can be improved.

[0117] Optionally, as shown in Figures 3 and 5 , the device body 100 has a top 121 and a bottom 122 disposed opposite each other, and the recessed groove 105 is recessed from the top 121 toward the bottom 122. Furthermore, the device body 100 has a peripheral side 123 connected between the top 121 and the bottom 122, and the recessed groove 105 is recessed from the top 121 toward the bottom 122 and extends through a portion of the peripheral side 123. The dust suction port 101 is provided at the bottom 122.

[0118] 10 and 11 , the bottom 122 is provided with an extension opening 1051 , which is in communication with the recessed groove 105 . When the handheld vacuum cleaner 200 is assembled to the device body 100 , part of the handheld vacuum cleaner 200 is exposed from the extension opening 1051 .

[0119] Specifically, the recessed groove 105 is connected to the outside through the extension opening 1051. Part of the handheld vacuum device 200 can be located in the extension opening 1051. For example, the bottom wall of the recessed groove 105 is provided with the extension opening 1051.

[0120] Furthermore, a portion of the handheld vacuum cleaner 200 can extend outward through the extension opening 1051. Specifically, the travel mechanism supports the device body 100, thereby forming a space at the bottom 122 of the device body 100, thereby separating the device body 100 from a work surface (e.g., the ground). The recessed groove 105 can communicate with the space through the extension opening 1051, and a portion of the handheld vacuum cleaner 200 can extend into the space through the extension opening 1051. This arrangement helps further reduce the height of the self-propelled cleaning device 1. In some embodiments, the extension opening 1051 can also be omitted.

[0121] Furthermore, the extending direction of the limiting column 106 is parallel to the recessed direction of the recessed groove 105 .

[0122] Optionally, as shown in Figure 6, the device body 100 has a head portion 128 facing the forward direction of the self-propelled cleaning device 1 and a tail portion 129 facing away from this forward direction. The handheld vacuum cleaner 200 is detachably mounted on the tail portion 129 and is exposed externally. This arrangement makes the center of gravity layout of the device body 100 more compact and reasonable, while also facilitating installation and removal of the handheld vacuum cleaner 200 from the device body 100. The forward direction of the self-propelled cleaning device 1 refers to the direction in which the self-propelled cleaning device 1 moves while cleaning the scene to be cleaned.

[0123] Optionally, the dust outlet 103 is disposed at the tail portion 129. This arrangement helps reduce the distance between the dust outlet 103 and the dust collection chamber 201, shortening the path length of waste objects during dust collection and reducing the risk of blockage. Accordingly, in this embodiment, the dust collection outlet 301 is disposed on the base station body 310. In some embodiments, the dust outlet 103 may also be disposed at the bottom portion 122. Accordingly, in this embodiment, the dust collection outlet 301 is disposed on the base 30.

[0124] Optionally, as shown in FIG9 , the outer shape of the handheld vacuum cleaner 200 matches the contour of the peripheral side 123 of the device body 100. For example, the peripheral contour of the tail portion 129 is arc-shaped, and accordingly, the outer contour of the handheld vacuum cleaner 200 near the peripheral contour of the tail portion 129 is a matching arc-shaped contour to correspond to and match the peripheral contour of the tail portion 129.

[0125] 9 , on a reference plane perpendicular to the height direction D4 of the self-propelled cleaning device 1, the projection of the handheld vacuum device 200 falls within the projection of the device body 100. Specifically, the projection of the handheld vacuum device 200 on the working surface falls within the projection of the device body 100 on the working surface.

[0126] Optionally, as shown in Figure 6, the self-propelled cleaning device 1 also includes an accessory 400a for the handheld vacuum cleaner 200. The accessory 400a is designed to be mounted on the air inlet 202. The device body 100 has a head portion 128 facing the direction of travel of the self-propelled cleaning device 1 and a tail portion 129 facing away from the direction of travel. The head portion 128 defines a receiving slot 108, into which the accessory 400a is removably received. This arrangement makes the layout of the device body 100 more compact and reasonable.

[0127] 6 , the self-propelled cleaning device 1 further includes an accessory 400a for the handheld dust collecting device 200. At least one accessory 400a is detachably mounted on the device body 100.

[0128] As shown in Figures 8 and 13 to 17, the accessory 400a can be used in conjunction with the handheld vacuum cleaner 200. For example, the accessory 400a can include a vacuum tube 400 and a brush head 402. The brush head 402 can be used for cleaning sofas, crevices, and other application scenarios.

[0129] Specifically, the suction tube 400 is configured to be detachably mounted to the air inlet 202 when the handheld vacuum device 200 is detached from the device body 100. The suction tube 400 can be used to improve the compatibility of the handheld vacuum device 200 with cleaning scenarios. The number of suction tubes 400 can be one, two, or more, and different suction tubes 400 may have different shapes and application scenarios.

[0130] The following describes in detail two different shapes of the dust collection tube 400 and their corresponding application scenarios.

[0131] In some embodiments, as shown in Figures 8 and 14 , a suction tube 400 is detachably mounted on the device body 100. The suction tube 400 can function as a suction nozzle. Specifically, the diameter of the end of the suction tube 400 away from the air inlet 202 can be smaller than the diameter of the air inlet 202, thereby facilitating cleaning of narrow gaps and enhancing suction.

[0132] By detachably setting the dust suction tube 400 on the device body 100, the original space of the device body 100 is fully utilized, and the space occupied by the entire cleaning system is reduced. The device body 100 can store the dust suction tube 400, which is also convenient for taking out the dust suction tube 400 when needed.

[0133] Optionally, as shown in FIG. 6 , the device body 100 is provided with a receiving groove 108 , and the dust suction tube 400 is detachably received in the receiving groove 108 .

[0134] Furthermore, the dust suction tube 400 can be directly placed in the receiving groove 108, or the dust suction tube 400 is connected to the inner wall of the receiving groove 108 by tight fit, snap fastening and / or magnetic attraction.

[0135] Optionally, the receiving groove 108 is recessed from the top 121 toward the bottom 122 .

[0136] Optionally, as shown in Figures 15 to 17, the accessory 400a may also include a floor brush assembly 403 and an extension tube 404, one end of the extension tube 404 is used to be detachably connected to the handheld vacuum cleaner 200 so that the extension tube 404 is connected to the air inlet 202, and the other end of the vacuum cleaner tube is detachably connected to the floor brush assembly 403.

[0137] Specifically, the extension tube 404 has a first docking port 4001, a second docking port 4002, and an extension channel 4005. The extension channel 4005 extends along the extension direction of the extension tube 404, and the ends of the extension channel 4005 are respectively connected to the first docking port 4001 and the second docking port 4002. The first docking port 4001 is used to communicate with the air inlet 202. The second docking port 4002 is used to allow waste objects to enter the extension channel 4005.

[0138] The floor brush assembly 403 is arranged at the second docking interface 4002. The floor brush assembly 403 can be used to clean the work surface. The dust and garbage swept out by the floor brush assembly 403 can be sucked into the extension channel 4005 through the second docking interface 4002 under the suction force of the handheld vacuum cleaner 200, and then pass through the extension channel 4005 and the first docking interface 4001 in turn, and then be sucked into the dust collecting chamber 201 of the handheld vacuum cleaner 200 through the air inlet 202.

[0139] Optionally, the floor brush assembly 403 includes a floor brush body, a driving motor and a brush body. The driving motor is arranged on the floor brush body. The brush body is rotatably connected to the floor brush body. The driving motor can drive the brush body to rotate relative to the floor brush body.

[0140] Optionally, the handheld vacuum cleaner 200 includes a power supply assembly 221. When the extension tube 404 is assembled and connected to the handheld vacuum cleaner 200 and the floor brush assembly 403 respectively, the power supply assembly 221 is electrically connected to the floor brush assembly 403 through the extension tube 404, so that the power supply assembly 221 can supply power to the floor brush assembly 403.

[0141] Specifically, as shown in Figures 15 to 17, the handheld vacuum cleaner 200 is provided with a first electrical connection contact 2021 electrically connected to the power supply assembly 221. A second electrical connection contact 4003 and a third electrical connection contact are respectively provided at both ends of the extension tube 404. When the extension tube 404 is assembled and connected to the handheld vacuum cleaner 200, the first electrical connection contact 2021 and the second electrical connection contact 4003 are electrically connected. A fourth electrical connection contact is provided on the floor brush assembly 403. When the extension tube 404 is assembled and connected to the floor brush assembly 403, the third electrical connection contact and the fourth electrical connection contact are electrically connected. A wire may be provided in the extension tube 404 and connected between the second electrical connection contact 4003 and the third electrical connection contact. In this way, when the extension tube 404 is assembled and connected to the handheld vacuum cleaner 200 and the floor brush assembly 403 respectively, the power supply assembly 221 can supply power to the floor brush assembly 403. By extending the extension tube 404, the suction range of the handheld vacuum cleaner 200 can be extended to a farther distance. Through the floor brush assembly 403, dust and garbage on the work surface can be swept out, thereby enriching the application scenarios of the handheld vacuum cleaner 200 and improving the cleaning effect.

[0142] The configuration of the third electrical connection contact and the fourth electrical connection contact may refer to the above-mentioned first electrical connection contact 2021 and the second electrical connection contact 4003 .

[0143] Optionally, as shown in Figure 16, the handheld vacuum cleaner 200 is provided with a first snap-fit ​​portion 2022, and the end of the extension tube 404 for docking with the handheld vacuum cleaner 200 is provided with a second snap-fit ​​portion 4004, and the first snap-fit ​​portion 2022 is used to snap with the second snap-fit ​​portion 4004, and the extension tube 404 and the handheld vacuum cleaner 200 are detachably connected through the first snap-fit ​​portion 2022 and the second snap-fit ​​portion 4004.

[0144] Furthermore, the second locking portion 4004 and the second electrical connection contact 4003 are both disposed in the first docking port 4001 and are adjacent to each other.

[0145] Optionally, a pressing mechanism is provided on the outer side of the extension tube 404 and is transmission-connected to the second buckle portion 4004 . When the pressing mechanism is pressed, the second buckle portion 4004 can be driven to break away from the connection with the first buckle portion 2022 .

[0146] Optionally, the extension tube 404 and the floor brush assembly 403 are detachably connected via a third and fourth snap-fitting portions. This facilitates a stable connection between the extension tube 404 and the floor brush assembly 403 and helps maintain the electrical connection stability between the third and fourth electrical connection contacts. The configuration of the third and fourth snap-fitting portions can also be similar to that described above for the first and second snap-fitting portions 2022 and 4004.

[0147] Optionally, as shown in FIG. 17 , the cleaning system 10 includes a storage bracket 401 , and the storage bracket 401 is configured to fix an idle accessory 400 a .

[0148] Optionally, the storage bracket 401 is provided with at least two fixing positions, one of which can be used to fix the idle extension tube 404, and the other fixing position can be used to fix the idle brush head 402. The extension tube 404 or the brush head 402 can be removed from the storage bracket 401 when work is needed.

[0149] Optionally, the device body 100 includes a laser radar 127, which is used to draw a three-dimensional map and perform positioning functions. The laser radar 127 is installed in the area between the accommodating groove 108 and the recessed groove 105.

[0150] Optionally, as shown in FIG6 , the handheld vacuum cleaner 200 includes a housing 242 that is detachably connected to the device body 240 to form a dust collection chamber 201. An air inlet 202 is provided on the device body 240, a dust removal port 203 is provided on the housing 242, a fan 209 is provided within the device body 240, and a handle 241 is connected to the device body 240.

[0151] In some embodiments, as shown in FIG. 4 , when the receiving portion 242 is detached from the device body 240 , the separation space 232 is exposed to the outside world, so that garbage objects in the separation space 232 can be dumped to the outside world.

[0152] Optionally, the power supply assembly 221 is disposed adjacent to the accommodating portion 242 .

[0153] Optionally, as shown in Figures 9 and 11 to 13, the handheld vacuum cleaner 200 includes a control button group 2411, and the handle 241 and the air inlet 202 are respectively disposed on opposite sides of the device body 240. The handle 241 has a first end and a second end. The power supply assembly 221 is adjacent to the first end of the handle 241, and the second end of the handle 241 is connected to the device body 240. The control button group 2411 is disposed on the handle 241 and is adjacent to the second end of the handle 241.

[0154] Specifically, as shown in Figures 9 and 11 to 13, the handheld vacuum cleaner 200 has a first direction D1, a second direction D2, and a third direction D3 that are mutually perpendicular. The handle 241 and the air inlet 202 are respectively disposed on either side of the handheld vacuum cleaner 200 along the first direction D1, thereby facilitating the user's grip on the handheld vacuum cleaner 200 for cleaning. The fan 209 and the power supply assembly 221 are respectively disposed on either side of the handheld vacuum cleaner 200 along the second direction D2. Both the fan 209 and the power supply assembly 221 are relatively heavy, thereby facilitating a balanced weight distribution throughout the handheld vacuum cleaner 200, facilitating the user's balance when gripping the handheld vacuum cleaner 200, and making the handheld vacuum cleaner 200 more ergonomically designed.

[0155] Optionally, the handheld vacuum cleaner 200 is provided with an exhaust vent 207 that communicates with the outside world. The fan 209 is connected to the exhaust vent 207. Specifically, the air inlet 2091 is connected to the outside world through the exhaust vent 207. The exhaust vent 207 faces the outside world along a third direction D3. This ensures that when a user holds the handheld vacuum cleaner 200 for cleaning, the exhaust vent 207 is not directly facing the user or the area being cleaned, thereby reducing the impact of the airflow from the exhaust vent 207 on the cleaning process.

[0156] Optionally, when the handheld vacuum cleaner 200 is assembled and connected to the device body 100 , the exhaust port 207 is arranged to face upward, and the device body 100 is arranged to avoid the exhaust port 207 .

[0157] When the handheld vacuum cleaner 200 is assembled and connected to the device body 100, the device body 100 can avoid the exhaust port 207 so that air can be discharged smoothly from the exhaust port 207. For example, when the handheld vacuum cleaner 200 is assembled and connected to the device body 100, the exhaust port 207 can face upward.

[0158] Furthermore, the fan 209 has an air outlet 2092 connected to the air inlet 2091 , and air flows into the fan 209 from the air inlet 2091 and flows out of the fan 209 from the air outlet 2092 . Furthermore, the air outlet 2092 is connected to the exhaust port 207 .

[0159] Optionally, the power supply assembly 221 is located at a corner of the handheld vacuum cleaner 200 near the handle 241. When the user holds the handheld vacuum cleaner 200 for cleaning, the power supply assembly 221 can be located at the bottom and the fan 209 can be located at the top and front. Under the weight of the fan 209 and the power supply assembly 221, the air inlet 202 can be oriented to a position slightly forward and downward, thereby facilitating the user's cleaning activities.

[0160] Optionally, when the handheld vacuum device 200 is assembled to the device body 100 , the third direction D3 is parallel to the height direction D4 of the self-propelled cleaning device 1 .

[0161] Optionally, as shown in FIG9 , a control button group 2411 is provided at the second end of the handle 241 in the second direction D2. The control button group 2411 is used to control the power on / off and gear switching functions of the handheld vacuum cleaner 200. This arrangement facilitates the user to hold the handle 241 with one hand while pressing the control button group 2411 with their thumb, while reducing the risk of accidental touch or pressing of the control button group 2411. When the user removes the handheld vacuum cleaner 200 from the device body 100, they can press the unlocking mechanism 109 with one hand while holding the handle 241, and then press the control button group 2411 to start the handheld vacuum cleaner 200.

[0162] Optionally, as shown in FIG9 , an indicator light 243 is provided on the handheld vacuum cleaner 200 .

[0163] Optionally, as shown in Figures 4, 6, and 12, the handheld vacuum cleaner 200 includes a fan 209 and a filter assembly 230. The filter assembly 230 is disposed on a side of the fan 209 near the dust collection chamber 201. The filter assembly 230 is used to intercept waste objects that enter the dust collection chamber 201 through the air inlet 202 and allow the waste objects to enter the dust collection chamber 201. By providing the filter assembly 230, the airflow and the waste objects can be separated from each other, allowing the dust collection chamber 201 to collect the waste objects.

[0164] For example, the filter assembly 230 includes a centrifugal separation mechanism 231. Since air and garbage objects have different densities, the centrifugal separation mechanism 231 can separate the airflow and garbage objects through the principle of centrifugal separation.

[0165] The centrifugal separation mechanism 231 is connected to the device body 240 and is located in the dust collecting chamber 201. This is beneficial for evenly distributing the overall weight of the handheld vacuum device 200.

[0166] Optionally, the centrifugal separation mechanism 231 is located between the fan 209 and the accommodating portion 242, and the air inlet 202 is located between the fan 209 and the accommodating portion 242. In this way, the air inlet 202 is centered, which facilitates the handheld vacuum cleaner 200 to be used by hand.

[0167] Optionally, as shown in Figures 10 to 12, the centrifugal separation mechanism 231 has a separation space 232 therein, which is in communication with the air inlet 2091 and the dust collection chamber 201, respectively. The airflow generated by the fan 209 flows sequentially through the dust suction port 101, the air inlet 202, the dust collection chamber 201, the separation space 232, and the air inlet 2091. The dust collection chamber 201 is used to receive large particles of waste that are intercepted by the centrifugal separation mechanism 231 outside the separation space 232. The centrifugal separation mechanism 231 is used to centrifugally separate the airflow and waste in the separation space 232, thereby retaining small particles of waste in the separation space 232.

[0168] Optionally, as shown in Figures 10 to 12 , filter assembly 230 includes an interception net 233 disposed at the entrance of separation space 232. Interception net 233 can prevent large waste objects from entering separation space 232, thereby improving the efficiency of separating airflow from waste objects. Specifically, interception net 233 is a metal mesh.

[0169] In some embodiments, as shown in Figures 10 to 12, the centrifugal separation mechanism 231 further includes an air outlet 234 communicating with the separation space 232, and the separation space 232 is communicated with the exhaust port 207 via the air outlet 234. The purified air flow in the separation space 232 can flow toward the air inlet 2091 through the air outlet 234 and finally be discharged to the outside through the exhaust port 207.

[0170] 10 to 12 , a filter element 250 may be provided between the fan 209 and the filter assembly 230 . Furthermore, the filter element 250 is provided between the centrifugal separation mechanism 231 and the fan 209 .

[0171] Optionally, the handheld vacuum cleaner 200 is provided with a communication port 2013, through which the dust collection chamber 201 communicates with the separation space 232. During dust collection by the base station 300, garbage objects in the separation space 232 enter the dust collection chamber 201 through the communication port 2013, then leave the dust collection chamber 201 through the dust removal port 203 and enter the base station 300 through the dust collection port 301.

[0172] Optionally, as shown in Figures 10 to 12, the handheld dust collection device 200 includes a partition 2014, which is movably disposed at the communication port 2013 to open or close the communication port 2013. The base station 300 includes a dust collection fan 320 in communication with the dust collection port 301. The partition 2014 is configured to be attracted by the dust collection fan 320 and move from a position covering the communication port 2013 to a position opening the communication port 2013. In some embodiments, the partition 2014 is configured to be attracted by the fan 209 and move from a position opening the communication port 2013 to a position covering the communication port 2013.

[0173] When the self-propelled cleaning device 1 is performing cleaning work or the handheld vacuum cleaner 200 is removed from the device body 100 and held for cleaning work, the partition 2014 can be in a position covering the communication port 2013. When the self-propelled cleaning device 1 needs to collect dust, the partition 2014 can be in a position opening the communication port 2013 due to the suction force of the dust collection fan 320.

[0174] Optionally, the handheld vacuum cleaner 200 is provided with an elastic reset member, and the partition 2014 is rotatably provided on the communication opening 2013. The elastic reset member is used to limit the partition 2014 to a position covering the communication opening 2013, and the elastic reset member is in an elastically compressed state when the partition 2014 is in a position opening the communication opening 2013.

[0175] In other embodiments, as shown in FIG4 , different from the embodiment shown in FIG12 , in the embodiment shown in FIG4 , the partition 2014 is omitted, and the connecting port 2013 extends to abut against the inner wall of the accommodating portion 242 . In this embodiment, the garbage in the separation space 232 cannot be sucked away by the base station, and the user can pour out the garbage in the separation space 232 by removing the accommodating portion 242 .

[0176] Optionally, as shown in Figure 10, the device body 100 includes a body 130, a roller brush 1011 and comb teeth 1012. The roller brush 1011 is rotatably connected to the body 130 and is arranged at the suction port 101. The comb teeth 1012 are connected to the body 130 and are used to clean the hair wrapped around the roller brush 1011.

[0177] Optionally, as shown in Figures 10 and 12 , the handheld vacuum cleaner 200 includes a blocking member 2023 for blocking the air inlet 202. The blocking member 2023 is movably disposed on the air inlet 202 so as to be switchable between a blocking position and a connecting position relative to the air inlet 202. The blocking member 2023 is configured to cover the air inlet 202 in the blocking position and is further configured to be attracted by the fan 209 or the dust collection fan 320 to move from the blocking position to the connecting position to open the air inlet 202. Furthermore, the blocking member 2023 blocks the air inlet 202 within the handheld vacuum cleaner 200.

[0178] Optionally, the handheld dust suction device 200 includes an elastic pressing member, which is used to keep the blocking member 2023 in the blocking position through elastic action.

[0179] The dust collection process of the base station 300 is described in further detail below.

[0180] The cleaning system 10 described in the embodiment of the cleaning system of the present application includes a self-propelled cleaning device 1 and a base station 300 for docking with the self-propelled cleaning device 1. The self-propelled cleaning device 1 has a dust collecting chamber 201. The self-propelled cleaning device 1 includes a fan 209, which is connected to the dust collecting chamber 201. The fan 209 is used to form an airflow into the dust collecting chamber 201, and the dust collecting chamber 201 is used to accommodate garbage objects carried by the airflow. The base station 300 includes a dust collecting fan 320, and the dust collecting fan 320 is used to suck the garbage objects in the dust collecting chamber 201 into the base station 300. The cleaning system 10 has a dust collection mode. In the dust collection mode: the self-propelled cleaning device 1 and the base station 300 are docked. The dust collecting fan 320 and the fan 209 have an alternating start-up phase. In the alternating start-up phase, the dust collecting fan 320 and the fan 209 are alternately started.

[0181] In some embodiments, the self-propelled cleaning device 1 and the base station 300 cooperate with each other to perform a dust collection method. The dust collection method includes: S100: controlling the self-propelled cleaning device to dock with the base station; S200: controlling the dust collection fan and the fan to operate in sequence; S300: controlling the dust collection fan to operate again.

[0182] When the dust collection fan 320 is operating, it draws waste objects within the dust collection chamber 201 along the suction path into the base station 300. If there is a large amount of waste objects within the dust collection chamber 201, the suction path can easily become clogged with waste objects. For example, waste objects within the dust collection chamber 201 can be drawn into the dust bag of the base station 300 through the dust collection channel 1031. If there is a large amount of waste objects within the dust collection chamber 201, this can easily cause waste objects to clog the dust collection channel 1031 or the entrance to the dust collection channel 1031. The dust collection fan 320 can be controlled to activate at least twice. When the dust collection fan 320 is activated and operating, its operating power and operating time can be controlled to initially draw some of the waste objects within the dust collection chamber 201 into the base station 300, minimizing the risk of waste object blockage. When the dust collection fan 320 is subsequently activated and operating, the remaining waste objects within the dust collection chamber 201 can be drawn into the base station 300.

[0183] During the alternating start-up phase, when the dust collecting fan 320 is controlled to stop working, the fan 209 can be controlled to start. The airflow path formed by the operation of the fan 209 is different from the airflow path formed by the operation of the dust collecting fan 320. Therefore, the operation of the fan 209 can reduce the risk of blockage by garbage objects and improve the dust collection effect.

[0184] In addition, the dust collecting fan 320 and the fan 209 are started alternately, which can reduce the noise generated.

[0185] In some embodiments, in the dust collection mode: in the alternating start-up phase, the fan 209 and the dust collection fan 320 work alternately to reduce the noise generated and to avoid the partial airflow generated by the dust collection fan 320 and the fan 209 from offsetting each other.

[0186] In other embodiments, during the alternating startup phase, the dust collection fan 320 and the fan 209 partially overlap in their operating time. That is, during the alternating startup phase, the dust collection fan 320 and the fan 209 may operate at different times or simultaneously. The simultaneous operation of the dust collection fan 320 and the fan 209 can create a more complex airflow path, further reducing dust collection blind spots and enhancing the suction force on the roller brush 1011, thereby enhancing the cleaning effect of the roller brush 1011.

[0187] In some embodiments, step S200 may be performed once during the dust collection process. In other embodiments, step S200 may be repeated during the dust collection process, and step S200 may be performed at least twice. For example, step S200 may be performed two or three times, and step S300 is performed after step S200 is performed two or three times.

[0188] In some embodiments, during the dust collection process, the dust collection fan 320 may be started continuously for at least two times, after which the dust collection fan 320 stops working and the fan 209 starts.

[0189] In some embodiments, during the dust collection process, the fan 209 may be started continuously for at least two times, after which the fan 209 stops working and the dust collection fan 320 starts.

[0190] Optionally, in the dust collection mode: the dust collection fan 320 is started for the first time before the fan 209 is started for the first time. Further, the dust collection fan 320 works for the first time before the fan 209 works for the first time, that is, the dust collection fan 320 stops working for the first time before the fan 209 is started for the first time.

[0191] With such an arrangement, the garbage objects in the dust collecting chamber 201 can be sucked into the base station 300 as early as possible, which is beneficial to shortening the dust collection time.

[0192] In other embodiments, in the dust collection mode, the fan 209 is started first.

[0193] Optionally, in the dust collection mode: the dust collection fan 320 is last started after the last start of the fan 209. Further, the dust collection fan 320 last works after the fan 209 last works, that is, the dust collection fan 320 last starts after the fan 209 last stops working.

[0194] For example, during the dust collection process, dust collection fan 320 may operate twice and fan 209 may operate once, with the operation of fan 209 occurring between the two operations of dust collection fan 320. For another example, during the dust collection process, dust collection fan 320 may operate three times and fan 209 may operate two times. For example, dust collection fan 320 and fan 209 may operate alternately according to the sequence in Table 1. For another example, dust collection fan 320 and fan 209 may operate alternately according to Tables 2 and 3.

[0195] Table 1 Example of the working sequence of the dust collection fan, blower and roller brush motor in dust collection mode

[0196] Optionally, there is a power increase process in the operation of the dust collecting fan 320. During the power increase process, the operating power of the dust collecting fan 320 in the previous operation process is less than the operating power in the next operation process.

[0197] Furthermore, in the dust collection mode: the dust collection fan 320 is started at least twice, and the working power of the dust collection fan 320 when it is started for the first time is less than the working power when it is started for the second time.

[0198] Such a setting can ensure that during the dust collection process, the working power of the dust collecting fan 320 is relatively small before the power raising process, so that the amount of garbage objects sucked by the dust collecting fan 320 will not be too large, and it is not easy to cause blockage of garbage objects. After the power raising process, the working power of the dust collecting fan 320 is relatively large, which is conducive to fully sucking garbage objects into the base station 300 and improving the dust collection effect.

[0199] In some embodiments, as shown in Table 1, the power boosting process occurs during the first and second operations of the dust collecting fan 320 , and the ratio of the operating power to the rated power of the dust collecting fan 320 increases from 65% to 100%.

[0200] In some embodiments, the power boost process may occur during three or four consecutive operations of the dust collecting fan 320. For example, the ratio of the operating power of the dust collecting fan 320 to the rated power may be increased from 40% during the first operation to 65% during the second operation, and then to 100% during the third operation. The number of operations of the dust collecting fan 320 included in the power boost process may be set based on the capacity of the dust collecting chamber 201 and the cross-section of the suction path. The larger the capacity of the dust collecting chamber 201 and the smaller the cross-section of the suction path, the more times the dust collecting fan 320 will operate during the power boost process, and the lower the operating power of the dust collecting fan 320 in the early stages of the operation.

[0201] Certainly, in other embodiments, the operating power of the dust collecting fan 320 when it is first started may also be equal to the operating power when it is started for the second time. In this embodiment, the operating power of the dust collecting fan 320 when it is started each time may remain consistent.

[0202] In some embodiments, the ratio of the operating power to the rated power of the dust collecting fan 320 may be 30%, 40%, 50% or 70%.

[0203] Optionally, during the power increase process, the ratio of the working power of the dust collecting fan 320 in the previous working process to the working power in the next working process ranges from 50% to 80%.

[0204] For example, the ratio of the working power of the dust collecting fan 320 in the previous working process to the working power in the next working process is in the range of 55%, 65% or 75%.

[0205] Optionally, the operating power of the dust collecting fan 320 after the power raising process is the same as the last operating power during the power raising process.

[0206] Furthermore, in the dust collection mode: the dust collecting fan 320 is started at least three times, and the working power of the dust collecting fan 320 each time after the second start-up is the same as the working power of the second start-up.

[0207] The dust collection fan 320 can be activated at its maximum operating power or another set power level for the second time. For example, if the dust collection fan 320 is activated at 100% of its rated power for the second time, the dust collection fan 320 will be activated at 100% of its rated power after the second activation. This helps to fully draw waste objects into the base station 300, improving dust collection efficiency. For example, after reaching its maximum operating power, the dust collection fan 320 may continue to operate for one, two, or three times.

[0208] Optionally, during the dust collection process, the operating power of the fan 209 can be 80% of the rated power, which helps to increase the service life of the fan 209. The operating power of the fan 209 can also be 80% of the rated power when the self-propelled cleaning device 1 is cleaning the work surface. It is worth mentioning that the rated power of the fan 209 can be less than or equal to the rated power of the dust collection fan 320.

[0209] Optionally, during the power increase process, the operating duration of the dust collecting fan 320 in the next operating process is longer than the operating duration of the previous operating process. For example, as shown in Table 1, during the power increase process, the operating duration of the dust collecting fan 320 in the next operating process is 8 seconds, while the operating duration of the previous operating process is 5 seconds. In other words, during the power increase process, as the operating power of the dust collecting fan 320 increases, the operating duration of each dust collecting fan 320 also increases.

[0210] In other embodiments, if the dust collecting fan 320 operates more than twice during the power raising process, the operating time of the dust collecting fan 320 may be gradually increased. For example, the operating time of the dust collecting fan 320 may be increased from 5 seconds for the first operation to 8 seconds for the second operation, and then to 12 seconds for the third operation. In the later stage of the power raising process, the operating time of the dust collecting fan 320 may be set according to the capacity of the dust collecting chamber 201 and the cross-section of the suction path. The larger the capacity of the dust collecting chamber 201 and the smaller the cross-section of the suction path, the longer the operating time of the dust collecting fan 320 may be in the later stage of the power raising process.

[0211] In some embodiments, the dust collecting fan 320 may work for 3 seconds, 10 seconds, or 15 seconds each time.

[0212] Optionally, the last operating duration of the dust collecting fan 320 during the power boost process is longer than the single operating duration of the dust collecting fan 320 after the power boost process. For example, as shown in Table 1, the last operating duration of the dust collecting fan 320 during the power boost process is 8 seconds, and the single operating duration of the dust collecting fan 320 after the power boost process is 5 seconds. For another example, the last operating duration of the dust collecting fan 320 during the power boost process is 12 seconds, and the single operating duration of the dust collecting fan 320 after the power boost process is 6 seconds.

[0213] When the dust collecting fan 320 works for the last time during the power raising process, its working power and working time reach the maximum, and most of the garbage objects can be sucked into the base station 300. Therefore, when the dust collecting fan 320 works after the power raising process, the single working time is short, which is beneficial to saving suction time and improving time efficiency.

[0214] Optionally, after the dust collecting fan stops working, controlling the fan operation includes:

[0215] S201: Controlling the dust collecting fan to operate after stopping the fan for a preset interval.

[0216] After the fan stops working, controlling the dust collection fan to work again includes:

[0217] S301: Controlling the dust collecting fan to operate after the fan is stopped for a preset interval.

[0218] For example, as shown in Table 1, the preset interval is 1 second. Fan 209 is controlled to start 1 second after dust collection fan 320 is stopped, and dust collection fan 320 is controlled to start 1 second after fan 209 is stopped. In other embodiments, the preset interval can also be set to 0.5 seconds, 2 seconds, or 3 seconds. In addition, the two preset intervals can be the same or different.

[0219] After the dust collecting fan 320 or the fan 209 stops, there will be a lag in stopping the generated airflow. By setting a preset interval time, the situation where part of the airflow generated by the dust collecting fan 320 and the fan 209 offsets each other can be reduced.

[0220] Optionally, in the dust collection mode, the fan 209 has at least a first operating power and a second operating power, wherein the first operating power is less than the second operating power. For example, as shown in Table 2, the first operating power may be 12% of the rated power, and the second operating power may be 80% of the rated power.

[0221] In this way, the fan 209 can change the dust collecting power to achieve different functional effects.

[0222] Furthermore, in the dust collection mode: during at least one continuous operation of the fan 209 , the operating power of the fan 209 is increased from the first operating power to the second operating power.

[0223] Specifically, the fan 209 operates at a first operating power to suck garbage objects into the dust collecting chamber 201 , and operates at a second operating power to move and lift garbage objects in the dust collecting chamber 201 so that they can be fully sucked into the base station 300 .

[0224] Table 2 Another example of the working sequence of the fan in dust collection mode

[0225] Table 3 Another example of the working sequence of the dust collection fan in dust collection mode

[0226] Table 4 Another example of the working sequence of the roller brush motor in dust collection mode

[0227] Optionally, the self-propelled cleaning device 1 further includes a roller brush motor for driving the roller brush 1011 to rotate. In dust collection mode, the roller brush motor drives the roller brush 1011 to rotate alternately between forward and reverse directions. The forward direction is the direction of rotation of the roller brush 1011 when the self-propelled cleaning device 1 is cleaning the work surface.

[0228] As shown in Table 1 and Table 4, when the voltage of the roller brush motor is positive, the roller brush 1011 is controlled to rotate in the forward direction. When the voltage of the roller brush motor is negative, the roller brush 1011 is controlled to rotate in the reverse direction.

[0229] Optionally, in the dust collection mode, after the roller brush motor is first started, the roller brush 1011 is driven to rotate forward. At the beginning of the dust collection process, in order to prevent the roller brush 1011 from spitting out large particles of garbage from the suction port 101, the roller brush motor is driven to rotate forward first after the first start, and then switches to reverse rotation. Of course, in other embodiments, the roller brush motor can also first drive the roller brush 1011 to rotate reversely.

[0230] Optionally, in the dust collection mode: the stopping time of the roller brush 1011 after the last start is earlier than the stopping time of the dust collection fan 320 after the last start.

[0231] The dust collecting fan 320 can suck the garbage objects on the roller brush 1011 into the dust collecting chamber 201 and further suck them into the base station 300. Such an arrangement is conducive to improving the cleaning effect of the dust collecting fan 320 on the roller brush 1011.

[0232] Optionally, in the dust collection mode, the roller brush 1011 switches from forward rotation to reverse rotation at least twice. That is, in the dust collection mode, the roller brush 1011 rotates forward and reverse at least twice. This arrangement is conducive to improving the cleaning effect of the roller brush 1011.

[0233] Specifically, in this embodiment, the dust discharge port 103 is located at the rear portion 129 of the device body 100. Therefore, in dust collection mode, the rear portion of the self-propelled cleaning device 1 docks with the base station 300, that is, the rear portion 129 of the device body 100 docks with the base station 300. As shown in FIG5 , the self-propelled cleaning device 1 also includes a charging electrode 500. The charging electrode 500 is located at the bottom 122 of the device body 100, near the head portion 128. Therefore, in charging mode, the head portion of the self-propelled cleaning device 1 docks with the base station 300, that is, the head portion 128 of the device body 100 docks with the base station 300. That is, when the self-propelled cleaning device 1 needs to perform dust collection, it first moves toward the base station 300 with its rear portion 129 facing the base station 300. After completing the dust collection operation, the self-propelled cleaning device 1 must first leave the base station 300, rotate 180 degrees, and then move its head portion 128 toward the base station 300 to allow the base station 300 to charge the self-propelled cleaning device 1. In this embodiment, setting the charging electrode 500 at the bottom 122 of the device body 100 and close to the head 128 can reduce the weight of the tail 129 of the device body 100, reasonably distribute the center of gravity of the self-propelled cleaning device 1, and avoid the phenomenon of the self-propelled cleaning device 1 tilting during walking.

[0234] In other embodiments, the charging electrode 500 can also be set at the tail 129 of the device body 100. In this way, in the charging mode and the dust collection mode, the docking position of the self-propelled cleaning device 1 and the base station 300 is the same. When the dust collection mode is changed to the charging mode, the self-propelled cleaning device 1 does not need to change its position to improve the overall efficiency.

Claims

1. A cleaning system, wherein: include: A self-propelled cleaning device, the self-propelled cleaning device comprising a driving wheel, a device body and a handheld vacuum device, the handheld vacuum device being detachably connected to the device body; The driving wheel is mounted on the device body, and is used to drive the device body to move on the working surface; the handheld dust suction device includes a handle and a fan; the handheld dust suction device is formed with a dust collecting chamber and an air inlet and a dust removal port connected to the dust collecting chamber; the device body is provided with a dust suction port, and the dust suction port is connected to the air inlet; the fan has an air inlet connected to the dust collecting chamber, and the fan is used to form an airflow from the dust suction port through the air inlet into the dust collecting chamber, and the dust collecting chamber is used to accommodate garbage objects carried by the airflow; The base station is provided with a dust collecting port; the dust collecting port is used to communicate with the dust removing port, so that the garbage objects in the dust collecting cavity can enter the base station through the dust removing port and the dust collecting port.

2. The cleaning system according to claim 1, wherein: The device body is provided with a dust outlet connected to the dust suction port, and the dust outlet is used to dock with and connect with the air inlet when the handheld dust suction device is assembled on the device body; The equipment body is provided with a dust exhaust port and a dust inlet which are connected to each other. The dust exhaust port is used to be connected to the dust collecting port, and the dust inlet is used to be connected to the dust removing port.

3. The cleaning system according to claim 1, wherein: The base station is provided with a dust collecting fan; the handheld dust suction device is provided with a covering member, which is movably arranged at the dust removal port so as to be switchable between a covering position and an open position relative to the dust removal port; the covering member is configured to cover the dust removal port at the covering position, and is also configured to be attracted by the dust collecting fan and move from the covering position to the open position to open the dust removal port.

4. The cleaning system according to claim 1, wherein: The device body is provided with a first electrical connection part, and the handheld vacuum cleaner is provided with a second electrical connection part; when the handheld vacuum cleaner is assembled on the device body, the first electrical connection part and the second electrical connection part are connected; The handheld vacuum cleaner also includes a power supply assembly, which is electrically connected to the second electrical connection part and the fan respectively; the power supply assembly is used to supply power to the device body when the second electrical connection part is connected to the first electrical connection part.

5. The cleaning system according to any one of claims 1 to 4, wherein: The equipment body is provided with a recessed groove, and the handheld dust suction device is detachably arranged in the recessed groove.

6. The cleaning system according to claim 5, wherein: The device body has a top and a bottom disposed opposite to each other, and the concave groove is concave from the top to the bottom; The bottom is provided with an extension opening, the extension opening is communicated with the recessed groove, and when the handheld vacuum cleaner is assembled on the equipment body, part of the handheld vacuum cleaner is exposed from the extension opening.

7. The cleaning system according to claim 5, wherein: The device body includes a limiting column arranged in the recessed groove, the handheld vacuum cleaner is provided with a limiting groove matched with the limiting column, and the limiting column is used to be inserted into the limiting groove to limit the handheld vacuum cleaner in the recessed groove; The limiting column is provided with a hook portion, and the groove wall of the limiting groove is provided with a buckle groove, and the hook portion is used to be embedded in the buckle groove when the limiting column is inserted into the limiting groove, so that the handheld vacuum device is buckled and connected with the device body; The device body includes an unlocking mechanism, which is movably arranged on the limiting column and exposed to the outside world. The unlocking mechanism is used to be pressed to drive the hook portion to disengage from the buckle groove, thereby releasing the buckle connection between the handheld vacuum device and the device body.

8. The cleaning system according to claim 1, wherein: The equipment body has a head portion facing the forward direction of the self-propelled cleaning equipment and a tail portion facing away from the forward direction, and the handheld vacuum device is detachably arranged on the tail portion and exposed to the outside; The equipment body is provided with a dust exhaust port and a dust inlet which are connected to each other, the dust exhaust port is used to be connected to the dust collecting port, and the dust inlet is used to be connected to the dust removal port; the dust exhaust port is opened at the tail; The peripheral contour of the tail portion is in an arc shape; the outer contour of the peripheral contour of the handheld vacuum cleaner close to the tail portion is in a matching arc shape.

9. The cleaning system according to claim 1, wherein: The cleaning system further comprises an accessory for the handheld vacuum device, the accessory being used to be mounted on the air inlet; At least one of the accessories is detachably arranged on the device body; The equipment body comprises a head portion facing the forward direction of the self-propelled cleaning equipment and a tail portion away from the forward direction. The head portion is provided with a receiving groove, and the accessory is detachably received in the receiving groove.

10. The cleaning system of claim 1, wherein: The handheld vacuum cleaner is provided with an exhaust port connected to the outside, and the fan is connected to the exhaust port; When the handheld vacuum cleaner is assembled and connected to the equipment body, the air outlet is arranged to face upward, and the equipment body is arranged to avoid the air outlet.

11. The cleaning system according to claim 1, wherein: The handheld vacuum cleaner also includes a device body and a receiving portion, wherein the receiving portion is detachably connected to the device body to form the dust collecting chamber; the air inlet is arranged on the device body, the dust removal port is arranged on the receiving portion, the fan is arranged in the device body, and the handle is connected to the device body.

12. The cleaning system according to claim 11, wherein: The handheld vacuum cleaner also includes a power supply assembly and a control button group, wherein the power supply assembly is arranged adjacent to the accommodating portion; the handle and the air inlet are respectively arranged on opposite sides of the device body; the handle has a first end and a second end, the power supply assembly is adjacent to the first end of the handle, and the second end of the handle is connected to the device body; the control button group is arranged on the handle and close to the second end of the handle.

13. The cleaning system of claim 11, wherein: The handheld vacuum cleaner further comprises a centrifugal separation mechanism, which is connected to the device body and is located in the dust collecting chamber. The centrifugal separation mechanism has a separation space inside, and the separation space is respectively connected to the air inlet and the dust collecting chamber; the airflow formed by the fan flows through the dust suction port, the air inlet, the dust collecting chamber, the separation space and the air inlet in sequence; The centrifugal separation mechanism is located between the fan and the accommodating portion; the air inlet is located between the fan and the accommodating portion.

14. The cleaning system of claim 13, wherein: The centrifugal separation mechanism is provided with a communication port; The handheld vacuum cleaner comprises a partition, which is movably arranged at the communication port to open or cover the communication port; The base station includes a dust collecting fan connected to the dust collecting port, and the partition is also configured to be attracted by the dust collecting fan and move from a position covering the connecting port to a position opening the connecting port.

15. The cleaning system of claim 1, wherein: The device body comprises a body, a roller brush and comb teeth, wherein the roller brush is rotatably connected to the body and arranged at the suction port, and the comb teeth are connected to the body and used for cleaning hair entangled on the roller brush.

16. A cleaning system, wherein: The cleaning system comprises a self-propelled cleaning device and a base station for docking with the self-propelled cleaning device; the self-propelled cleaning device has a dust collecting chamber; the self-propelled cleaning device comprises a fan, the fan is connected to the dust collecting chamber, the fan is used to form an airflow into the dust collecting chamber, and the dust collecting chamber is used to receive garbage objects carried by the airflow; the base station comprises a dust collecting fan, and the dust collecting fan is used to suck the garbage objects in the dust collecting chamber into the base station; The cleaning system has a dust collection mode, in which: The self-propelled cleaning device is docked with the base station; The dust collecting fan and the fan have an alternating start-up phase, and during the alternating start-up phase, the dust collecting fan and the fan are started alternately.

17. The cleaning system of claim 16, wherein: In the dust collection mode described: The first start of the dust collecting fan is before the first start of the fan; The stop time after the dust collecting fan was last started is after the stop time after the fan was last started; The dust collecting fan is started at least twice, and the working power of the dust collecting fan when it is started for the first time is less than or equal to the working power when it is started for the second time; And / or, the dust collecting fan is started at least three times, and the working power of the dust collecting fan at each start-up after the second start-up is the same as the working power at the second start-up.

18. A cleaning system according to any one of claims 16 or 17, wherein: In the dust collection mode described: The fan has at least a first working power and a second working power, and the first working power is less than the second working power; During at least one continuous operation of the fan, the operating power of the fan is increased from the first operating power to the second operating power.

19. The cleaning system according to any one of claims 16 or 17, wherein: In the dust collection mode described: In the alternating start-up phase, the fan and the dust collecting fan work alternately; or During the alternating start-up phase, the working time of the dust collecting fan and the fan partially overlaps.

20. The cleaning system according to any one of claims 16 or 17, wherein: The self-propelled cleaning device is provided with a dust suction port connected to the dust collecting chamber; the self-propelled cleaning device comprises a roller brush motor and a roller brush, the roller brush is arranged at the dust suction port, and the roller brush motor is used to drive the roller brush to rotate; in the dust collection mode: The roller brush motor drives the roller brush to alternate between forward rotation and reverse rotation; wherein the forward direction is the rotation direction of the roller brush when the self-propelled cleaning device cleans the working surface.

21. The cleaning system of claim 20, wherein: In the dust collection mode described: After the roller brush motor is started for the first time, it drives the roller brush to rotate forward; The stopping time of the roller brush after the last start is earlier than the stopping time of the dust collecting fan after the last start; The roller brush switches from forward rotation to reverse rotation at least twice.

22. The cleaning system according to any one of claims 16 or 17, wherein: The cleaning system has a charging mode, in which the base station charges the self-propelled cleaning device; After the cleaning system ends the dust collection mode, the cleaning system enters the charging mode; In the dust collection mode, the tail of the self-propelled cleaning device is docked with the base station; In the charging mode, the head of the self-propelled cleaning device is docked with the base station.

23. A self-propelled cleaning device, wherein: The self-propelled cleaning device comprises: A first functional mechanism, comprising a first body and an electric control system disposed on the first body; A device body, wherein the first body is detachably connected to the device body; Among them, the electronic control system includes: a power supply circuit and a monitoring circuit electrically connected to the power supply circuit, the monitoring circuit is used to detect the electrical connection state between the first functional mechanism and the device body, and control the power supply circuit to supply power to the device body when the first functional mechanism and the device body are in an electrically connected state.

24. The self-propelled cleaning device according to claim 23, wherein: The monitoring circuit is used to detect a voltage change of a transmission voltage between the first functional mechanism and the device body, and determine an electrical connection state between the first functional mechanism and the device body based on the voltage change; Among them, if the transmission voltage changes from a first preset voltage value to a second preset voltage value, it is determined that the connection state between the first functional mechanism and the device body is switched from a separated state to an electrically connected state; the first preset voltage value is different from the second preset voltage value.

25. The self-propelled cleaning device of claim 24, wherein: The monitoring circuit includes: a main control circuit, a second electrical connection part and an insertion detection circuit, and the device body includes a second body, a power supply circuit arranged on the second body and a first electrical connection part; The second electrical connection portion is used to be electrically connected to the first electrical connection portion; the insertion detection circuit is electrically connected to the main control circuit and the second electrical connection portion respectively, and is used to detect the voltage change of the transmission voltage on the second electrical connection portion; the power supply circuit is electrically connected to the first electrical connection portion; The power supply circuit is electrically connected to the second electrical connection part and the main control circuit respectively; when the main control circuit determines that the second electrical connection part is electrically connected to the first electrical connection part based on the detection result of the insertion detection circuit, the main control circuit controls the power supply circuit to supply power to the second electrical connection part so as to supply power to the first electrical connection part.

26. The self-propelled cleaning device of claim 25, wherein: The insertion detection circuit comprises: A first voltage-dividing resistor, wherein a first end of the first voltage-dividing resistor is used to connect to a power supply voltage; a second voltage-dividing resistor, wherein a first end of the second voltage-dividing resistor is electrically connected to a second end of the first voltage-dividing resistor, the power supply circuit, and the second electrical connection portion respectively; a third voltage-dividing resistor, wherein a first end of the third voltage-dividing resistor is electrically connected to the main control circuit and a second end of the second voltage-dividing resistor respectively, and a second end of the third voltage-dividing resistor is grounded; The device body also includes: a fourth voltage-dividing resistor, wherein a first end of the fourth voltage-dividing resistor is electrically connected to the first electrical connection portion and the power supply circuit respectively, and a second end of the fourth voltage-dividing resistor is grounded; The insertion detection circuit further includes: a diode, an anode of the diode being connected to the supply voltage, and a cathode of the diode being electrically connected to a first end of the first voltage-dividing resistor; and / or The insertion detection circuit further includes: a current limiting filter circuit, which is electrically connected to the main control circuit, the second end of the second voltage-dividing resistor, and the first end of the third voltage-dividing resistor respectively.

27. The self-propelled cleaning device of claim 23, wherein: The first functional mechanism further includes: a first communication circuit, and the device body further includes a second communication circuit; The first communication circuit is used for signal communication with the second communication circuit; the monitoring circuit is electrically connected to the first communication circuit; When the monitoring circuit determines based on the communication state between the first communication circuit and the second communication circuit that the first functional mechanism is separated from the device body, the monitoring circuit controls the power supply circuit to cut off the power supply to the device body.

28. The self-propelled cleaning device of claim 27, wherein: When the first functional mechanism is in an electrically connected state with the device body, the first communication circuit sends a heartbeat data packet to the second communication circuit, and receives feedback data of the heartbeat data packet from the second communication circuit; When the first communication circuit does not receive the feedback data within a preset time period, the monitoring circuit controls the power circuit to disconnect the power supply to the device body; The first communication circuit includes: a first communication terminal and a first protection circuit electrically connected to the first communication terminal; The second communication circuit includes: a second protection circuit electrically connected to the second communication terminal and the second communication terminal; Among them, the first communication terminal is used to be electrically connected to the second communication terminal to achieve signal communication; the first protection circuit is used to block the high voltage input when the first communication terminal is electrically connected to the second communication terminal, and the second protection circuit is used to block the high voltage input when the second communication terminal is electrically connected to the first communication terminal.

29. The self-propelled cleaning device of claim 23, wherein: The electric control system further comprises: a switch, a control end of the switch being electrically connected to the monitoring circuit, a communication end of the switch being electrically connected to the power circuit, and another communication end of the switch being electrically connected to the device body; The monitoring circuit controls the switch to be closed when the first functional mechanism is in an electrically connected state with the device body, and controls the switch to be opened when the first functional mechanism is in a separated state with the device body.

30. A self-propelled cleaning device according to any one of claims 23 to 29, wherein: The device body has a dust suction port, the first functional mechanism includes a handheld dust suction device, the handheld dust suction device also includes: a handle, a fan and a power supply assembly, and the handheld dust suction device is formed with a dust collection chamber and an air inlet for connecting to the dust collection chamber, the fan has an air inlet connected to the dust collection chamber, when the first functional mechanism is connected to the device body, the dust suction port is connected to the air inlet, the fan is used to form an airflow from the dust suction port and the air inlet into the dust collection chamber, and the dust collection chamber is used to receive garbage objects carried by the airflow; Among them, the power supply component serves as the power supply circuit and is electrically connected to the fan and the monitoring circuit; the power supply component provides electrical energy to the fan and supplies power to the device body under the control of the monitoring circuit.

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