Cleaning device

Abstract

A cleaning device (10) for cleaning a surface to be cleaned. The cleaning device (10) comprises: a main unit (100), a lower cover plate (130), and a cleaning module (200). The lower cover plate (130) covers the side of the main unit (100) facing the surface to be cleaned. A first opening (131) is formed on the lower cover plate (130). An accommodating cavity is formed between the main unit (100) and the lower cover plate (130). The projection of the accommodating cavity and that of the first opening (131) on the surface to be cleaned at least partially overlap. The cleaning module (200) comprises: a module body (210) and a brush head (220). The module body (210) is located in the accommodating cavity, and one end of the module body (210) is connected to the main unit (100). The brush head (220) is connected to the other end of the module body (210) and can rotate relative to the module body (210). At least part of the brush head (220) protrudes from the first opening (131) and faces the surface to be cleaned, so as to clean the surface to be cleaned by means of interference.

Description

cleaning equipment

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to Chinese patent application No. 202410022447.2 filed on January 5, 2024, the entire contents of which are incorporated herein by reference. Technical Field

[0003] The present disclosure relates to the field of smart home technology, and in particular to a cleaning device. Background Art

[0004] With the development of modern society, more and more people are focusing on work, leaving them with less time to clean their homes. However, daily household cleaning and maintenance constantly impact people's quality of life. To save time and maintain household hygiene, more and more people are purchasing cleaning equipment to clean their homes in a timely and convenient manner. These cleaning equipment can automatically clean the floor of a room using artificial intelligence.

[0005] Most cleaning devices in the related art are sweeping robots. When the sweeping robots perform cleaning tasks, the brush heads of the cleaning robots effectively clean the floor.

[0006] It should be noted that the information disclosed in the above background technology section is only used to enhance the understanding of the background of the present disclosure, and therefore may include information that does not constitute prior art known to ordinary technicians in the field. Summary of the Invention

[0007] An object of the present disclosure is to provide a cleaning device.

[0008] According to one aspect of the present disclosure, there is provided a cleaning device for cleaning a surface to be cleaned, the cleaning device comprising:

[0009] main body;

[0010] a lower cover plate, the lower cover plate being arranged on a side of the main body facing the surface to be cleaned, the lower cover plate being formed with a first opening, a receiving cavity being formed between the main body and the lower cover plate, the receiving cavity and the opening being projected on the surface to be cleaned at least partially overlapping;

[0011] A cleaning module, comprising:

[0012] A module body, the module body is located in the accommodating cavity and one end of the module body is connected to the main body,

[0013] A brush head is connected to the other end of the module body and can rotate relative to the module body. At least a portion of the brush head protrudes from the first opening and is arranged toward the surface to be cleaned, so as to clean the surface by interfering with the surface to be cleaned.

[0014] In an exemplary embodiment of the present disclosure, the first opening is located at the edge of the lower cover and is in the form of a notch; the module body can move within the accommodating cavity to drive the brush head to be located at a recovery position and an extended position relative to the main body; when the brush head is located at the recovery position, the projections of the brush head and the first opening on the surface to be cleaned at least partially overlap the first opening; when the brush head is located at the extended position, the projections of the brush head and the first opening on the surface to be cleaned are separated from each other or partially overlap.

[0015] In an exemplary embodiment of the present disclosure, when the brush head is located in the recovery position, the overlapping area of ​​the projection of the lower cover on the surface to be cleaned and the module body on the surface to be cleaned is a, and the orthographic projection of the module body on the surface to be cleaned is b, and a / b=0.6~0.8.

[0016] In an exemplary embodiment of the present disclosure, the module body includes:

[0017] a fixed arm, the fixed arm being fixedly disposed in the accommodating cavity;

[0018] A swing arm, one end of which is connected to the fixed arm, and the other end of which is provided with the brush head. The swing arm moves in the accommodating cavity to drive the brush head to be located in a retracted position and an extended position relative to the main body; wherein, when the brush head is in the retracted position, the portion of the swing arm located in the accommodating cavity is larger than the portion of the swing arm located in the accommodating cavity when the brush head is in the extended position.

[0019] In an exemplary embodiment of the present disclosure, the accommodating cavity is exposed in the direction of the circumferential side of the main body through a second opening, and one end of the swing arm connected to the brush head enters the accommodating cavity or moves out of the accommodating cavity through the second opening.

[0020] In an exemplary embodiment of the present disclosure, the cleaning device further comprises:

[0021] The buffer is arranged on the peripheral side of the main body.

[0022] In an exemplary embodiment of the present disclosure, anti-collision strips are provided on the peripheral sides of the swing arm to mitigate the impact force received during the swinging process.

[0023] In an exemplary embodiment of the present disclosure, the brush head comprises:

[0024] a mounting portion connected to the module body, wherein the shape and size of the mounting portion match the shape and size of the first opening;

[0025] The brush head is used to interfere with the surface to be cleaned to perform cleaning.

[0026] In an exemplary embodiment of the present disclosure, when the brush head is located at the recovery position, the curvature of the edge of the module body in the direction toward the circumference of the main body matches the curvature of the circumference of the main body.

[0027] In an exemplary embodiment of the present disclosure, a protrusion facing one side of the main body is formed on an edge area of ​​the first opening of the lower cover.

[0028] In an exemplary embodiment of the present disclosure, the buffer provides an escape space for the second opening.

[0029] The cleaning device provided by the present disclosure has a module body of the cleaning module located between the main body and the lower cover, and a brush head of the cleaning module extends from the lower cover, that is, the brush head is located on the outside of the lower cover, and the lower cover forms a shield for the module body; when the surface to be cleaned is cleaned by the cleaning module, the brush head is located on the outside of the lower cover for cleaning, and the lower cover forms a barrier to debris, thereby preventing debris from adhering to the module body or the surface of the module body from being worn by debris, and preventing dust, sewage, etc. from entering the module body through the assembly gap and causing damage to the components in the module body; at the same time, through the lower cover, when the cleaning equipment performs a cleaning operation, a sewage discharge channel is formed in the gap between the lower cover and the surface to be cleaned, so that debris can enter the subsequent processing area along the sewage discharge channel formed between the lower cover and the surface to be cleaned, thereby improving the cleaning effect and cleaning efficiency of the debris.

[0030] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The accompanying drawings are incorporated into and constitute a part of the specification, illustrate embodiments consistent with the present disclosure, and together with the specification, are used to explain the principles of the present disclosure. Obviously, the drawings described below are only some embodiments of the present disclosure, and those skilled in the art can derive other drawings based on these drawings without inventive effort.

[0032] FIG1 is a schematic diagram of a cleaning device provided by an embodiment of the present disclosure.

[0033] FIG2 is a side view of a cleaning device provided by an embodiment of the present disclosure.

[0034] FIG3 is a side cross-sectional view of a cleaning device provided by an embodiment of the present disclosure.

[0035] FIG4 is a bottom schematic diagram of a cleaning device provided by an embodiment of the present disclosure when the cleaning module is located at a recovery position.

[0036] FIG5 is a bottom schematic diagram of a cleaning device provided by an embodiment of the present disclosure when the cleaning module is in an extended position.

[0037] FIG6 is a bottom schematic diagram of the cleaning device after the lower cover is removed according to an embodiment of the present disclosure.

[0038] FIG7 is a schematic diagram of a lower cover plate provided in an embodiment of the present disclosure.

[0039] FIG8 is a schematic diagram of a cleaning module provided in an embodiment of the present disclosure.

[0040] Explanation of the accompanying drawings: 10. Cleaning device; 100. Main body; 110. Outer shell; 120. Bottom shell; 130. Lower cover; 131. First opening; 132. Raised portion; 140. Second opening; 200. Cleaning module; 210. Module body; 211. Fixed arm; 212. Swing arm; 220. Brush head; 221. Mounting portion; 222. Brush head; 300. Battery. DETAILED DESCRIPTION

[0041] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete and will fully convey the concepts of the example embodiments to those skilled in the art. Like reference numerals in the figures represent like or similar structures, and thus their detailed description will be omitted.

[0042] Although relative terms such as "upper" and "lower" are used in this specification to describe the relationship of one illustrated component to another, these terms are used herein for convenience only, such as in accordance with the orientation of the illustrations in the accompanying drawings. It will be understood that if the illustrated device were flipped upside down, the component described as "upper" would become the component "lower." When a structure is referred to as "on" another structure, this may mean that the structure is integrally formed with the other structure, that the structure is "directly" disposed on the other structure, or that the structure is "indirectly" disposed on the other structure via the other structure.

[0043] The terms "a," "an," "the," "said," and "at least one" are used to indicate the presence of one or more elements / components / etc.; the terms "comprising" and "having" are used to express an open-ended inclusive meaning and mean that additional elements / components / etc. may be present in addition to the listed elements / components / etc.

[0044] The present disclosure provides a cleaning device, as shown in Figures 1 to 8. The cleaning device 10 includes: a main body 100, a lower cover 130, and a cleaning module 200. The lower cover 130 is provided on the side of the main body 100 facing the surface to be cleaned. The lower cover 130 is formed with a first opening 131. A receiving cavity is formed between the main body 100 and the lower cover 130. The projections of the receiving cavity and the opening on the surface to be cleaned at least partially overlap. The cleaning module 200 includes a module body 210 and a brush head 220 connected to the module body 210. The module body 210 is located in the receiving cavity and one end is connected to the main body 100. The brush head 220 is connected to the other end of the module body 210 and can rotate relative to the module body 210. At least a portion of the brush head 220 protrudes from the first opening 131 and is disposed toward the surface to be cleaned, so as to clean the first opening 131 by interfering with the surface to be cleaned.

[0045] The cleaning device 10 provided by the present disclosure has a module body 210 of the cleaning module 200 located between the main body 100 and the lower cover 130, and a brush head 220 of the cleaning module 200 extends from the lower cover 130, that is, the brush head 220 is located outside the lower cover 130, and the lower cover 130 forms a shield for the module body 210; when the cleaning module 200 is used to clean the surface to be cleaned, the brush head 220 is located outside the lower cover 130 for cleaning, and the lower cover 130 forms a barrier to debris, thereby preventing the module body 200 from being blocked. 10 or the surface of the module body 210 is worn by debris, and dust, sewage, etc. are prevented from entering the module body 210 through the assembly gap to damage the components in the module body 210; at the same time, through the lower cover plate 130, when the cleaning equipment 10 performs a cleaning operation, a drainage channel is formed in the gap between the lower cover plate 130 and the surface to be cleaned, so that the debris can enter the subsequent processing area along the drainage channel formed between the lower cover plate 130 and the surface to be cleaned, thereby improving the cleaning effect and cleaning efficiency of the debris.

[0046] 3 , the main body 100 includes an outer shell 110 and a bottom shell 120. The outer shell 110 is formed with a receiving cavity having an open end, the bottom shell 120 is located in the receiving cavity, and the lower cover 130 is located on the side of the bottom shell 120 facing away from the outer shell 110, that is, the lower cover 130 is located on the open end of the receiving cavity.

[0047] In one embodiment, as shown in Figures 4 and 5, the module body 210 is movable within the accommodating cavity. Driven by the module body 210, the brush head 220 can be positioned between a retracted position and an extended position relative to the main body 100. The first opening 131 on the lower cover 130 is formed by a notch located on the edge of the lower cover 130. When the brush head 220 is in the retracted position, the projections of the brush head 220 and the first opening 131 on the surface to be cleaned at least partially overlap, that is, the brush head 220 can be positioned within the first opening 131. When the brush head 220 is in the extended position, the projections of the brush head 220 and the first opening 131 on the surface to be cleaned are separated from each other, that is, the brush head 220 can be positioned outside the first opening 131.

[0048] When the brush head 220 is in the recovery position, the brush head 220 can perform normal cleaning operations and clean the debris in the cleaning area of ​​the brush head 220 to the sewage suction port; when the brush head 220 is in the extended position, the cleaning area corresponding to the brush head 220 is also extended to the outside of the cleaning device 10, and more areas can be cleaned, avoiding cleaning dead corners and improving the cleaning effect of the cleaning device 10. For example, when the cleaning device 10 is circular as a whole, when it is necessary to clean corners such as wall corners, if the brush head 220 is in the recovery position, the cleaning area of ​​the brush head 220 cannot cover the wall corners, resulting in an inability to clean the wall corners, forming a sanitary dead corner; at this time, by making the brush head 220 in the extended position, the brush head 220 is located outside the cleaning device 10, and the cleaning area formed by the brush head 220 is also moved toward the outside of the cleaning device 10, thereby increasing the area of ​​the cleaning area corresponding to the brush head 220, thereby achieving the purpose of cleaning sanitary dead corners such as wall corners, and improving the cleaning effect of the cleaning device 10.

[0049] Of course, the cleaning device 10 provided in the present disclosure may also have a fixed brush head 220, that is, the module body 210 is fixedly disposed in the cleaning device 10, so that the brush head 220 can only perform cleaning operations in one position, and the present disclosure does not impose any restrictions on this.

[0050] As shown in FIG8 , the module body 210 includes a fixed arm 211 and a swing arm 212. The fixed arm 211 is fixedly mounted in the accommodating cavity. One end of the swing arm 212 is connected to the fixed arm, and the other end is provided with a brush head 220. The other end is provided with a brush head 220. The swing arm 212 swings back and forth within a preset angle range, which can be 20° to 120°, for example, 20°, 30°, 40°, 50°, 60°, 70°, 80°, 90°, 100°, 110°, 120°, etc., which are not listed here in the present disclosure.

[0051] Specifically, a gear set can be provided in the swing arm 212 to achieve the purpose of driving the brush head 220 at high speed by the output shaft of the drive assembly. The speed of the brush head 220 can be 500 rpm to 3000 rpm to improve cleaning efficiency and cleaning effect. The speeds are, for example, 500 rpm, 800 rpm, 1000 rpm, 2000 rpm, 3000 rpm, etc., which are not listed here. Of course, the speed of the brush head 220 can also be less than 500 rpm or greater than 3000 rpm, which is not limited by the present disclosure.

[0052] An accommodation space may be formed in the swing arm 212 to mount the gear set in the swing arm 212. The swing arm 212 may be shaped like a rectangular parallelepiped. The swing arm 212 may extend in its length direction X. The swing arm 212 may swing in its width direction Y. The accommodation space formed in the thickness direction Z of the swing arm 212 may only need to be able to accommodate the gear set, thereby preventing the swing arm 212 from being too large.

[0053] The swing arm 212 can be swung back and forth within a preset angle range through a driving component. The driving component that drives the swing arm 212 and the driving component that drives the brush head 220 can be two independent driving components; or, the swing arm 212 is rotatably connected to the driving component, and the swing arm 212 is not driven by the driving component. The swing arm 212 can be swung relative to the driving component by external force to change the position of the brush head 220 relative to the main body 100.

[0054] In one embodiment, as shown in FIG. 2 , the accommodating cavity is exposed in the circumferential direction of the main body 100 through the second opening 140 , and one end of the swing arm 212 connected to the brush head 220 enters or moves out of the accommodating cavity through the second opening 140 .

[0055] The second opening 140 can be formed by a notch on the edge of the shell 110 of the main body 100, and the size of the notch matches the size of the module body 210, so that the end of the swing arm 212 connected to the brush head 220 can enter the accommodating cavity or move out of the accommodating cavity through the second opening 140.

[0056] In one embodiment, the cleaning device further includes a buffer, which is disposed on a peripheral side of the main body 100 and provides an escape space for the second opening 140 .

[0057] By providing the buffer, on the one hand, an escape space is provided for the second opening 140 , and on the other hand, a buffering and anti-collision effect is provided for the main body 100 .

[0058] In one embodiment, anti-collision strips are provided around the circumference of the swing arm 212 to mitigate the impact force received during the swinging process.

[0059] The anti-collision strips on the sides of the swing arm 212 can be rubber strips to provide better anti-collision effects while preventing the anti-collision strips from taking up too much space. Of course, those skilled in the art can also provide other elastic members, and this disclosure does not limit this.

[0060] In one embodiment, the lower cover 130 forms a shielding for the module body 210. When the brush head 220 is in the retracted position, the overlapping area of ​​the orthographic projection of the lower cover 130 on the surface to be cleaned and the orthographic projection of the module body 210 on the surface to be cleaned is a, and the orthographic projection of the module body 210 on the surface to be cleaned is b. A / b=0.6-0.8, for example, 0.6, 0.65, 0.7, 0.75, 0.8, etc., which are not listed here in this disclosure. By making the ratio of the overlapping area of ​​the orthographic projection of the lower cover 130 on the surface to be cleaned and the orthographic projection of the module body 210 on the surface to be cleaned to the overlapping area of ​​the orthographic projection of the module body 210 on the surface to be cleaned be 0.6-0.8, the lower cover 130 can shield most of the module body 210, thereby improving the shielding effect of the module body 210.

[0061] In one embodiment, the shell 110 may be the entire shell of the cleaning device 10. When the cleaning device 10 is in a circular, elliptical, quasi-circular or other shape as a whole, the shell 110 includes a top cover portion and an annular side wall portion. The top cover portion and the annular side wall portion are enclosed to form a accommodating cavity, which is used to assemble various modules, such as a liquid supply module, a battery module, a control module, a dirt suction module, a mopping module, a sensing module, etc.

[0062] When the brush head 220 is in the retracted position, the orthographic projection of the module body 210 on the housing 110 is completely located on the top cover. The edge of the lower cover 130 is usually located inside the edge of the entire housing to prevent the lower cover 130 from obstructing the movement of the entire device. Therefore, the edge of the lower cover 130 is located inside the edge of the housing 110, that is, the orthographic projection of the lower cover 130 on the housing 110 is completely located on the top cover of the housing 110; when the brush head 220 is in the retracted position, the orthographic projection of the module body 210 on the housing 110 is completely located on the top cover of the housing 110, that is, the lower cover 130 can better form a shield for the module body 210.

[0063] In one embodiment, as shown in Figure 6, the battery module includes a rechargeable battery 300, such as a nickel-metal hydride battery or a lithium battery. The rechargeable battery can be connected to a charging control circuit, a battery pack charging temperature detection circuit, and a battery undervoltage monitoring circuit. The charging control circuit, the battery pack charging temperature detection circuit, and the battery undervoltage monitoring circuit are further connected to the single-chip microcomputer control circuit. The cleaning device 10 can be charged by connecting a charging station to a charging electrode provided on the body, such as on the side, bottom, or top of the body.

[0064] Specifically, the battery module is assembled on the main body 100, and the orthographic projection of the lower cover 130 on the shell 110 covers the orthographic projection of the battery module on the shell 110. The lower cover 130 forms protection for the battery module, that is, the lower cover 130 can be a battery lower cover.

[0065] The main body 100 may be provided with a mounting space for the battery module. After the battery module is installed in the mounting space, the lower cover 130 may be used to shield the battery module. Alternatively, the battery module may be partially located in the receiving cavity between the housing 110 and the lower cover 130, with a portion exposed through the first mounting opening 131 on the main body 100. The lower cover 130 then shields the portion of the battery module exposed from the main body 100.

[0066] The lower cover 130 can be detachably connected to the main body 100. For example, the main body 100 is provided with a plurality of threaded holes, and the lower cover 130 is provided with a plurality of through holes. After aligning the lower cover 130 with the main body 100, the plurality of threaded holes are provided in a one-to-one correspondence with the plurality of through holes. Then, screws are screwed through the through holes into the threaded holes to detachably secure the lower cover 130 to the main body 100. The detachable connection of the lower cover 130 to the main body 100 facilitates maintenance and replacement of other modules such as the battery module. For example, when the cleaning device 10 needs to operate continuously, the battery module typically has a long power-on time. The batteries in the battery module can be configured as quick-release batteries. By replacing the spare batteries, the cleaning device 10 can continue to operate, thereby improving cleaning efficiency.

[0067] Of course, the lower cover 130 and the main body 100 may also be detachably connected by expansion nails, snap connection, bonding, etc., and the present disclosure does not impose any restrictions on this.

[0068] In one embodiment, when the brush head 220 is in the retracted position, the edge of the module body 210 near the periphery of the cleaning device 10 is exposed, that is, the lower cover 130 does not completely cover the module body 210. The edge of the lower cover 130 matches the shape of the edge of the housing 110 and can be an arc shape as shown in Figures 5 and 7. Because the width of the module body 210 at different positions in the longitudinal direction X is not exactly the same, the lower cover 130 cannot completely cover the module body 210, so that the edge of the module body 210 is partially exposed. In the width direction Y of the module body 210, the distance c between the outer edge of the first opening 131 of the orthographic projection of the lower cover 130 on the outer shell 110 and the edge of the orthographic projection of the module body 210 on the outer shell 110, the width of the module body 210 is d, c / d = 0.05~0.2, for example 0.05, 0.08, 0.1, 0.12, 0.15, 0.18, 0.2, etc., which are not listed separately in the present disclosure.

[0069] Of course, when the brush head 220 is in the recovery position, the shape and size of the lower cover 130 can be set so that the edge other than the first opening 131 of the orthographic projection of the lower cover 130 on the shell 110 is located outside the edge of the orthographic projection of the module body 210 on the shell 110. The portion of the lower cover 130 other than the first opening 131 can completely cover the module body 210 in the width direction Y of the module body 210, thereby improving the shielding effect of the module body 210.

[0070] In one embodiment, when the brush head 220 is in the retracted position, the curvature of the edge of the module body 210 facing the circumferential side of the main body 100 matches the curvature of the edge of the lower cover plate 130 facing the circumferential side of the main body 100. By matching the curvature of the edge of the module body 210 facing the circumferential side of the main body 100 with the curvature of the edge of the lower cover plate 130 facing the circumferential side of the main body 100, the shielding area of ​​the module body 210 can be increased, thereby improving the shielding effect.

[0071] Of course, for example, when the edge of the module body 210 toward the circumferential side of the main body 100 is irregular, the edge of the lower cover 130 toward the circumferential side of the main body 100 and the edge of the module body 210 toward the circumferential side of the main body 100 may not be matched, and the edge of the lower cover 130 toward the circumferential side of the main body 100 may also be arc-shaped to ensure that the lower cover 130 can cover the module body 210 as much as possible. The present disclosure does not impose any restrictions on this.

[0072] In one embodiment, as shown in Figures 4 and 8, the brush head 220 includes a mounting portion 221 and a brush head portion 222. The mounting portion 221 is connected to the module body 210. When the brush head 220 is in the retracted position, the mounting portion 221 is located in the first opening 131, and the shape and size of the first opening 131 match those of the mounting portion 221. By matching the shape and size of the first opening 131 with the shape and size of the mounting portion 221, the size of the first opening 131 can be relatively reduced, avoiding an excessive gap between the mounting portion 221 and the edge of the first opening 131, thereby increasing the area of ​​the module body 210 that is blocked by the lower cover 130. For example, if the mounting portion 221 is circular, the edge of the first opening 131 is generally U-shaped, and the inner edge of the U-shaped opening is arc-shaped to match the mounting portion 221. The arc-shaped edge can be concentric with the edge of the mounting portion 221 to further reduce the size of the first opening 131.

[0073] When the brush head 220 is in the retracted position, the mounting portion 221 is completely located within the first opening 131. By completely locating the mounting portion 221 within the first opening 131, the mounting portion 221 can be completely accommodated by the first opening 131, thereby increasing the area of ​​the module body 210 shielded by the lower cover 130. Of course, the mounting portion 221 may also be partially located within the first opening 131, and this is not a limitation of the present disclosure.

[0074] The mounting portion 221 is detachably connected to the module body 210, for example, the mounting portion 221 can be fixed to the module body 210 by screws. The detachable connection between the mounting portion 221 and the module body 210 facilitates maintenance and replacement of the brush head 220.

[0075] In one embodiment, as shown in Figures 2 to 4, the lower cover plate 130 has a protrusion 132 formed on the edge area of ​​the first opening 131, which protrudes toward the side of the main body 100, that is, a recessed area recessed toward the inside of the accommodating cavity is formed on the edge area of ​​the first opening 131 of the lower cover plate 130.

[0076] One end of the brush head 222 is connected to the mounting portion 221, and the other end extends from the raised portion 132, extending beyond the raised portion 132 to contact the surface to be cleaned and remove debris. The provision of the raised portion 132 facilitates the installation of the brush head 220 and allows the lower cover 130 to cover as much of the area of ​​the module body 210 near the mounting portion 221 as possible, thereby improving the shielding effect of the module body 210.

[0077] Because one end of the brush head 222 is connected to the mounting portion 221, the brush head 222 gradually bends and extends toward the side away from the lower cover 130 toward the other end, allowing the brush head 222 to contact the surface to be cleaned. The height of the raised portion 132 toward the accommodating cavity can match the curvature of the brush head 222, so that the distance between the brush head 222 and the lower cover 130 in the extension direction is the same or substantially the same.

[0078] In one embodiment, the cleaning device 10 is provided with a sewage suction module, which includes a negative pressure fan, a sewage suction box and a sewage suction channel. The outlet of the sewage suction channel is connected to the sewage suction box, and the inlet of the sewage suction channel is exposed from the lower cover 130. The negative pressure fan is connected to the sewage suction box so that the sewage suction box maintains a negative pressure state when the cleaning device 10 performs a cleaning operation, thereby making the inlet of the sewage suction channel in a negative pressure state.

[0079] The brush head 220 is arranged adjacent to the sewage suction port. By rotating the brush head 220 at high speed, the debris can be cleaned to the vicinity of the sewage suction port. Then, the debris is sucked into the sewage suction channel through the sewage suction port due to the negative pressure, and then enters the sewage suction box, thereby completing the debris cleaning operation on the surface to be cleaned.

[0080] The sewage suction port is located in the middle of the bottom of the cleaning device 10, and the brush head 220 is located in the front side of the sewage suction port, so that the debris swept by the brush head 220 can basically be located in the middle of the sewage suction port, so that the swept debris can better enter the sewage suction port.

[0081] The negative pressure provided by the negative pressure fan can be 3000Pa~7000Pa to enhance the negative pressure absorption effect of debris. The negative pressures can be, for example, 3000Pa, 4000Pa, 5000Pa, 6000Pa, 7000Pa, etc., which are not listed here in this disclosure. Of course, the negative pressure provided by the negative pressure fan can also be less than 3000Pa or greater than 7000Pa, which is not limited in this disclosure.

[0082] A roller brush rotating around an axis parallel to the ground can also be set at the sewage suction port. The roller brush with a certain interference with the ground sweeps up the debris on the ground and rolls it into the sewage suction channel, and then it is sucked into the sewage suction box by the suction gas generated by the negative pressure fan and passing through the sewage suction box.

[0083] In one embodiment, the sensing module includes a position determination device located on the main body 100, a collision sensor located on the bumper of the forward portion of the main body 100, a proximity sensor located on the housing 110, a cliff sensor located at the bottom of the main body 100, and sensing devices such as a magnetometer, accelerometer, gyroscope, and odometer located within the main body 100. These sensing devices are used to provide the control module with various position and motion status information of the cleaning device 10. The position determination device may be a camera or a laser rangefinder.

[0084] In one embodiment, the control module is provided on a circuit board within the main body 100 and includes a non-transitory memory, such as a hard disk, a flash memory, a random access memory, and a communication processor, such as a central processing unit and an application processor. The application processor utilizes a positioning algorithm, such as real-time positioning and map construction, based on the obstacle information fed back by the laser ranging device to draw a real-time map of the environment in which the cleaning device 10 is located. In addition, the control module is combined with the distance information and speed information fed back by the sensors, cliff sensors, magnetometers, accelerometers, gyroscopes, odometers, and other sensor devices provided on the buffer to comprehensively determine the current working state and position of the cleaning device 10, as well as the current posture of the cleaning device 10, such as crossing a threshold, being on a carpet, being on a cliff, being stuck above or below, having a full suction tank, being picked up, etc. Specific next-step action strategies are also given for different situations, so that the cleaning device has better cleaning performance and user experience.

[0085] In one embodiment, the drive module can steer the cleaning device 10 across the ground based on a drive command with distance and angle information (e.g., x, y, and θ components). The drive module can include a first drive wheel module and a second drive wheel module. The first drive wheel module and the second drive wheel module are arranged along a transverse axis defined by the cleaning device 10. To enable more stable movement or enhanced mobility of the cleaning device 10 on the ground, the cleaning device 10 can include one or more driven wheels, including but not limited to universal wheels. The drive wheel module includes a running wheel and a drive motor, as well as control circuitry for controlling the drive motor. The drive wheel module can also be connected to a circuit for measuring the drive current and an odometer. The drive wheel module can be detachably connected to the main body 100 for easy assembly and maintenance. The drive wheel can have a biased drop-down suspension system that is movably fastened, for example, rotatably attached, to the main body 100 and receives a spring bias that biases downward and away from the main body 100. The spring bias allows the drive wheel to maintain contact and traction with the ground with a certain ground force, while the cleaning head of the cleaning device 10 also contacts the ground with a certain pressure.

[0086] In one embodiment, the cleaning device 10 further includes a mopping module and a liquid supply module. The mopping module includes a wet cleaning head, and the liquid supply module includes a liquid supply assembly that delivers cleaning liquid to the wet cleaning head. The cleaning head can be positioned below the liquid supply assembly, with the cleaning liquid within the liquid supply assembly being transferred to the cleaning head via a water supply mechanism, allowing the cleaning head to wet clean the surface to be cleaned. Alternatively, the cleaning liquid within the liquid supply assembly can be sprayed directly onto the surface to be cleaned, with the cleaning head evenly applying the cleaning liquid to the surface.

[0087] As shown in Figure 1, the cleaning head can be arranged at the bottom of the cleaning device 10. The cleaning head can be, for example, a cleaning pad arranged parallel to the surface to be cleaned. The cleaning head is used to clean the surface to be cleaned, and the driving assembly is used to drive the cleaning head to basically reciprocate along the target surface, and the target surface is a part of the surface to be cleaned. The cleaning head reciprocates along the surface to be cleaned, and a cleaning cloth or a cleaning plate is provided on the contact surface between the cleaning head and the surface to be cleaned. The reciprocating motion generates high-frequency friction with the surface to be cleaned, thereby removing stains on the surface to be cleaned. The higher the friction frequency, the more friction times per unit time. The high-frequency reciprocating motion has a much greater cleaning ability than ordinary reciprocating motion, such as rotation and friction cleaning. Optionally, the friction frequency is close to that of sound waves, and the cleaning effect will be much higher than that of rotational friction cleaning of dozens of revolutions per minute. On the other hand, the hair tufts on the surface of the cleaning head will extend in the same direction more uniformly under the vibration of high-frequency vibration, so the overall cleaning effect is more uniform, instead of just applying downward pressure to increase friction and improve the cleaning effect under low-frequency rotation. The downward pressure alone will not make the hair tufts extend in nearly the same direction. The effect is that the water marks on the surface to be cleaned after high-frequency vibration cleaning are more uniform, and no messy water stains will be left.

[0088] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing what is disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary techniques in the art not disclosed herein. The description and examples are to be considered as exemplary only, and the true scope and spirit of the present disclosure are indicated by the appended claims.

Claims

1. A cleaning device for cleaning a surface to be cleaned, and comprising: A main body; A lower cover plate, which is covered on one side of the main body facing the surface to be cleaned. A first opening is formed on the lower cover plate. An accommodation cavity is formed between the main body and the lower cover plate, and at least a part of the projection of the accommodation cavity and the opening on the surface to be cleaned overlaps; A cleaning module, the cleaning module comprising: A module body, which is located in the accommodation cavity and one end is connected to the main body, A brush head, which is connected to the other end of the module body and can rotate relative to the module body. At least a part of the brush head protrudes from the first opening towards the surface to be cleaned to perform cleaning by interfering with the surface to be cleaned.

2. The cleaning device according to claim 1, wherein, The first opening is located at the edge of the lower cover plate and is in the shape of a notch; The module body can move in the accommodation cavity to drive the brush head to be located at a retracted position and an extended position relative to the main body; When the brush head is located at the retracted position, at least a part of the projection of the brush head and the first opening on the surface to be cleaned overlaps; When the brush head is located at the extended position, the projections of the brush head and the first opening on the surface to be cleaned are separated from each other or partially overlap.

3. The cleaning device according to claim 2, wherein, When the brush head is located at the retracted position, the overlapping area of the projection of the lower cover plate and the module body on the surface to be cleaned is a, and the orthographic projection of the module body on the surface to be cleaned is b, and a / b = 0.6 - 0.

8.

4. The cleaning device according to claim 2, wherein, The module body comprises: A fixed arm, which is fixedly arranged in the accommodation cavity; A swing arm, one end of the swing arm is connected to the fixed arm, and the other end is provided with the brush head. The swing arm moves in the accommodation cavity to drive the brush head to be located at a retracted position and an extended position relative to the main body, wherein, When the brush head is located at the retracted position, the part of the swing arm located in the accommodation cavity is larger than the part of the swing arm located in the accommodation cavity when the brush head is located at the extended position.

5. The cleaning device according to claim 4, wherein, The accommodation cavity is exposed in the direction of the periphery of the main body through a second opening, and one end of the swing arm connecting the brush head enters or exits the accommodation cavity through the second opening.

6. The cleaning device according to claim 5, wherein, The cleaning device further comprises: A buffer, which is arranged on the periphery of the main body.

7. The cleaning device according to claim 4, wherein, An anti-collision strip is arranged on the periphery of the swing arm to reduce the impact force received during the swinging process.

8. The cleaning device according to claim 2, wherein, The brush head comprises: A mounting part, which is connected to the module body and the shape and size of the mounting part match the shape and size of the first opening; A brush head part, which is used to interfere with the surface to be cleaned to perform cleaning.

9. The cleaning device according to claim 2, wherein, When the brush head is located at the retracted position, the radian of the edge of the module body facing the periphery of the main body matches the radian of the periphery of the main body.

10. The cleaning device according to claim 1, wherein, A convex part facing the main body side is formed on the edge area of the first opening of the lower cover plate.

11. The cleaning device according to claim 6, wherein, The buffer provides an avoidance space for the second opening.

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