Cleaning device

Abstract

The present disclosure provides a cleaning device, comprising: a moving platform (110) configured to automatically move on an operation surface; and a cleaner (1000) arranged at the bottom of the moving platform (110) and configured to clean at least part of the operation surface in a wet cleaning manner. The cleaner (1000) comprises: a driver (230) for outputting driving forces for a first working mode and a second working mode; a sub-cleaner group (2000) comprising a first sub-cleaner (210) and a second sub-cleaner (220), wherein the first sub-cleaner (210) and the second sub-cleaner (220) are configured to clean at least part of the operation surface in the first working mode of the driver (230), and to be separated from the operation surface in the second working mode of the driver (230); and a water supply port (250) configured to supply water to the first sub-cleaner (210) and the second sub-cleaner (220) in the first working mode of the driver (230), wherein the water supply port (250) is provided with a plurality of water outlets (25261) to supply water to the first sub-cleaner (210) and the second sub-cleaner (220), respectively.

Description

cleaning equipment

[0001] This application claims the benefit of Chinese Patent Application No. 2024100223535, which is hereby incorporated by reference in its entirety. Technical Field

[0002] The present disclosure relates to the technical field of cleaning robots, and in particular to a cleaning device. Background Art

[0003] Cleaning robots currently include sweeping robots, mopping robots, sweeping and mopping robots, floor scrubbers, etc. Sweeping and mopping robots can both sweep and clean the floor, and are becoming more and more common in family life.

[0004] With the development of integrated sweeping and mopping robots, their functions have become more and more diverse, and their structures have become increasingly complex. A single sweeping and mopping robot can often meet the needs of a variety of different applications. However, this increasing complexity and the integration of more hardware components have led to larger and more complex sweeping and mopping robots, making them difficult to transport and use, and increasing their cost. Summary of the Invention

[0005] The purpose of this disclosure is to provide an automatic cleaning device that can solve the technical problem of compact design of multifunctional cleaning devices. The specific solution is as follows:

[0006] According to a specific embodiment of the present disclosure, the present disclosure provides a cleaning device, comprising:

[0007] a mobile platform configured to automatically move on the operating surface;

[0008] A cleaner is provided at the bottom of the mobile platform and is configured to clean at least a portion of the operating surface using a wet cleaning method. The cleaner comprises:

[0009] A driver, configured to output a driving force having a first operating mode and a second operating mode;

[0010] a sub-cleaner group, comprising a first sub-cleaner and a second sub-cleaner, wherein the first sub-cleaner and the second sub-cleaner are configured to clean at least a portion of the operating surface in a first operating mode of the driver and to be separated from the operating surface in a second operating mode of the driver;

[0011] a water supply port configured to supply water to the first sub-cleaner and the second sub-cleaner in a first operating mode of the driver;

[0012] The water supply port has a plurality of water outlets, which respectively supply water to the first sub-cleaner and the second sub-cleaner.

[0013] In some embodiments, the water supply port comprises:

[0014] a water pump configured to pump water toward the sub-cleaner group in the first working mode of the driver;

[0015] The water distributor is connected to the water pump and is configured to distribute water flow to the first sub-cleaner and / or the second sub-cleaner under the drive of the water pump.

[0016] In some embodiments, the water separator comprises:

[0017] a rotor having at least one rotor water inlet hole and configured to rotate continuously in a first operating mode of the driver;

[0018] A static plate is provided on the water outlet direction side of the dynamic plate, and has a plurality of static plate water outlet holes, which are respectively connected to the plurality of water outlets of the water supply port;

[0019] Wherein, the moving plate rotates continuously relative to the static plate, and in response to the overlap of the projection of at least one moving plate water inlet hole and the static plate water outlet hole, the water distributor supplies water to the first sub-cleaner and / or the second sub-cleaner through the static plate water outlet hole of the overlapping projection.

[0020] In some embodiments, the water separator further comprises:

[0021] The moving plate bracket is engaged with the moving plate and is configured to rotate continuously under the drive of the water pump and drive the moving plate to rotate continuously.

[0022] In some embodiments, the rotor bracket includes:

[0023] At least one bracket water inlet hole, the at least one bracket water inlet hole overlaps with the at least one moving plate water inlet hole, and is configured to allow water to flow through the at least one bracket water inlet hole and the at least one moving plate water inlet hole and then flow out from the static plate water outlet hole.

[0024] In some embodiments, the movable plate bracket and the movable plate are engaged with each other to form a cavity;

[0025] The movable plate bracket includes at least one bracket water inlet hole, configured to allow water to flow through the at least one bracket water inlet hole into the cavity and then flow out through the at least one movable plate water inlet hole and the static plate water outlet hole.

[0026] In some embodiments, the rotor bracket includes:

[0027] The key component is arranged on a side of the movable plate bracket away from the movable plate and is configured to be engaged with the water pump.

[0028] In some embodiments, the water separator further comprises:

[0029] a housing configured to accommodate the moving piece, the static piece, and the moving piece bracket;

[0030] Wherein, the multiple water outlets are arranged on the shell, and the shell has a water inlet, water flows into the shell from the water inlet, and flows out from the at least one water outlet after passing through the water inlet hole of the bracket, the water inlet hole of the moving plate and the water outlet hole of the static plate.

[0031] In some embodiments, the water separator further comprises:

[0032] The soft rubber pad is arranged on a side of the static piece away from the dynamic piece.

[0033] In some embodiments, the water separator further comprises:

[0034] At least one sealing ring is provided between the rotor bracket and the housing.

[0035] In some embodiments, the water pump includes a keying groove for engaging with the keying member;

[0036] Wherein, the water pump rotates under the drive of the driver and drives the movable plate bracket to rotate through the keying groove, while supplying water to the water distributor.

[0037] In some embodiments, the second sub-cleaner is disposed at an edge of the first sub-cleaner, and the second sub-cleaner is configured to rotate continuously under the driving of the driver to clean at least a portion of the operation surface.

[0038] In some embodiments, the first sub-cleaner has a plurality of water distribution holes, and the first sub-cleaner is configured to reciprocate under the driving of the driver to clean at least a portion of the operating surface.

[0039] In some embodiments, the driver comprises:

[0040] The motor is configured to rotate forward in a first operating mode to output a forward driving force, and to reverse in a second operating mode to output a reverse driving force;

[0041] In which, in response to the forward driving force, the first sub-cleaner realizes reciprocating motion, the second sub-cleaner realizes continuous rotation, and the water supply port supplies water to the first sub-cleaner and the second sub-cleaner; in response to the reverse driving force, the first sub-cleaner stops reciprocating motion, the second sub-cleaner stops continuous rotation, the water supply port stops supplying water to the first sub-cleaner and the second sub-cleaner, and the first sub-cleaner and the second sub-cleaner are separated from the operating surface.

[0042] In some embodiments, the driver further comprises:

[0043] A worm gear, driven by the motor to realize forward or reverse rotation;

[0044] A plurality of driving gears are respectively engaged with the worm, and driven by the worm to rotate forward or reverse, respectively drive the first sub-cleaner, the second sub-cleaner and the water supply port to work in the first working mode or the second working mode.

[0045] In some embodiments, the cleaner further comprises:

[0046] The lifting mechanism is configured to lift the sub-cleaner group to separate from the operating surface in the second working mode of the driver, and drop the sub-cleaner group to contact the operating surface under the action of gravity.

[0047] Compared with the prior art, the embodiments of the present disclosure have the following technical effects:

[0048] The sweeping and mopping all-in-one cleaning device provided by the embodiment of the present disclosure drives the first sub-cleaner to move back and forth to clean at least a portion of the operating surface at the same time in the first working mode of the driver, drives the second sub-cleaner to rotate continuously to clean at least a portion of the operating surface, drives the water supply port to supply water to the first sub-cleaner and the second sub-cleaner through the water divider, and in the second working mode of the driver, drives the lifting mechanism to lift the sub-cleaner group to separate from the operating surface, thereby realizing that multiple driven devices are driven to work by one driver, simplifying the driving structure and making the cleaner more compact. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] 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. In the drawings:

[0050] FIG1 is a schematic diagram of the three-dimensional structure of a cleaning device according to some embodiments of the present disclosure.

[0051] FIG2 is a schematic diagram of the bottom structure of a cleaning device according to some embodiments of the present disclosure.

[0052] FIG3 is a schematic structural diagram of a wet cleaner of a cleaning device according to some embodiments of the present disclosure.

[0053] FIG4-1 is a schematic diagram of the structure of a driver of a cleaning device according to some embodiments of the present disclosure at one angle.

[0054] FIG4-2 is a schematic structural diagram of a driver of a cleaning device according to some embodiments of the present disclosure from another angle.

[0055] FIG5 is a schematic diagram of the water supply port structure of a cleaning device according to some embodiments of the present disclosure.

[0056] FIG6 is a schematic diagram of the internal structure of a water pump of a cleaning device according to some embodiments of the present disclosure.

[0057] FIG7 is a schematic cross-sectional view of a water supply port of a cleaning device according to some embodiments of the present disclosure.

[0058] FIG8 is a schematic diagram of the explosion structure of a water separator of a cleaning device according to some embodiments of the present disclosure.

[0059] FIG9 is a schematic diagram of the combined structure of the moving piece and the moving piece bracket of the cleaning equipment of some embodiments of the present disclosure.

[0060] FIG10 is a schematic diagram of the internal structure of the rotor bracket of the cleaning device according to some embodiments of the present disclosure.

[0061] FIG11 is a schematic diagram of the water channel structure of a water distributor of a cleaning device according to some embodiments of the present disclosure.

[0062] FIG12 is a schematic diagram of the structure of the soft rubber pad of the water separator of the cleaning equipment of some embodiments of the present disclosure.

[0063] Description of the accompanying drawings: Mobile platform 100, rear part 110, forward part 111, perception system 120, position determination device 121, buffer 122, drive system 140, drive wheel assembly 141, steering assembly 142, human-computer interaction system 170, cleaner 1000, dry cleaner 300, roller brush 310, side brush 320, wet cleaner 200, driver 230, motor 231, worm 232, drive gear 233, first drive gear 2331, first power transmission device 23311, second drive gear 2332, second power transmission device 23321, third drive gear 2333, third power transmission device 23331, Clutch assembly 2334, cable gear 241, cable 242, sub-cleaner group 2000, first sub-cleaner 210, second sub-cleaner 220, lifting mechanism 240, support platform 290, water supply port 250, water pump 251, keying groove 2511, water divider 252, movable plate 2521, movable plate water inlet hole 25211, static plate 2522, static plate water outlet hole 25221, movable plate bracket 2523, keying part 25231, bracket water inlet hole 25232, latch 25233, first sealing ring 2525, second sealing ring 2527, soft rubber pad 2524, outer shell 2526, water outlet 25261, water inlet 25262. DETAILED DESCRIPTION

[0064] To make the objectives, technical solutions, and advantages of the present disclosure more clear, the present disclosure will be further described in detail below with reference to the accompanying drawings. It is apparent that the embodiments described are only a portion of the embodiments of the present disclosure, and not all of them. Based on the embodiments of the present disclosure, all other embodiments obtained by persons of ordinary skill in the art without creative effort are within the scope of protection of the present disclosure.

[0065] The terms used in the embodiments of the present disclosure are for the purpose of describing specific embodiments only and are not intended to limit the present disclosure. The singular forms "a," "an," "the," and "the" used in the embodiments of the present disclosure and the appended claims are also intended to include plural forms, and unless the context clearly indicates otherwise, "a plurality" generally includes at least two.

[0066] It should be understood that the term "and / or" as used herein simply describes a relationship between associated objects, indicating that three possible relationships exist. For example, "A and / or B" could represent: A alone, A and B together, or B alone. Furthermore, the character " / " in this document generally indicates an "or" relationship between the associated objects.

[0067] It should be understood that although the terms first, second, third, etc. may be used to describe the embodiments of the present disclosure, these should not be limited to these terms. These terms are only used to distinguish related features. For example, the first can also be referred to as the second, and similarly, the second can also be referred to as the first without departing from the scope of the embodiments of the present disclosure.

[0068] It should also be noted that the terms "include," "comprises," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a product or device comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such product or device. In the absence of further limitations, an element defined by the phrase "comprising a" does not exclude the presence of other identical elements in the product or device comprising the element.

[0069] Optional embodiments of the present disclosure are described in detail below with reference to the accompanying drawings.

[0070] FIG1-2 is a schematic diagram of the structure of an automatic cleaning device according to an exemplary embodiment. As shown in FIG1-2, the automatic cleaning device can be a vacuum robot, a mopping / brushing robot, a window climbing robot, etc. The automatic cleaning device can include a mobile platform 100, a sensing system 120, a control system, a drive system 140, a cleaner 1000, an energy system, and a human-computer interaction system 170. Among them:

[0071] The mobile platform 100 can be configured to automatically move along a target direction on an operating surface. The operating surface can be the surface to be cleaned by the automatic cleaning device. In some embodiments, the automatic cleaning device can be a mopping robot, in which case the automatic cleaning device operates on the ground, with the ground being the operating surface. The automatic cleaning device can also be a window cleaning robot, in which case the automatic cleaning device operates on the exterior glass surface of a building, with the glass being the operating surface. The automatic cleaning device can also be a pipe cleaning robot, in which case the automatic cleaning device operates on the interior surface of a pipe, with the interior surface of the pipe being the operating surface. For purposes of illustration only, the following description in this application uses a mopping robot as an example.

[0072] In some embodiments, the mobile platform 100 can be an autonomous mobile platform or a non-autonomous mobile platform. The autonomous mobile platform means that the mobile platform 100 itself can automatically and adaptively make operational decisions based on unexpected environmental inputs; the non-autonomous mobile platform itself cannot adaptively make operational decisions based on unexpected environmental inputs, but can execute established programs or operate according to certain logic. Accordingly, when the mobile platform 100 is an autonomous mobile platform, the target direction can be determined autonomously by the automatic cleaning device; when the mobile platform 100 is a non-autonomous mobile platform, the target direction can be set by the system or manually. When the mobile platform 100 is an autonomous mobile platform, the mobile platform 100 includes a forward part 111 and a backward part 110.

[0073] The perception system 120 includes a position determination device 121 located above the mobile platform 100, a buffer 122 located on the forward portion 111 of the mobile platform 100, a cliff sensor and ultrasonic sensors, infrared sensors, magnetometers, accelerometers, gyroscopes, odometers and other sensing devices located at the bottom of the mobile platform, which provide the control system with various position information and motion status information of the machine.

[0074] In order to more clearly describe the behavior of the automatic cleaning device, the following directions are defined: the automatic cleaning device can move on the ground by various combinations of movements relative to the following three mutually perpendicular axes defined by the mobile platform 100: the lateral axis x, the front-to-back axis y, and the central vertical axis z. The forward drive direction along the front-to-back axis y is marked as "forward", and the rearward drive direction along the front-to-back axis y is marked as "rearward". The lateral axis x essentially extends between the right wheel and the left wheel of the automatic cleaning device along the axis defined by the center point of the drive wheel assembly. Among them, the automatic cleaning device can rotate around the x-axis. When the forward part of the automatic cleaning device is tilted upward and the rear part is tilted downward, it is "tilting up", and when the forward part of the automatic cleaning device is tilted downward and the rear part is tilted upward, it is "tilting down". In addition, the automatic cleaning device can rotate around the z-axis. In the forward direction of the automatic cleaning device, when the automatic cleaning device tilts to the right of the Y-axis, it is "turning right", and when the automatic cleaning device tilts to the left of the y-axis, it is "turning left".

[0075] As shown in FIG2 , cliff sensors are provided on the bottom of the mobile platform 100, in front of and behind the drive wheel assembly. These cliff sensors are used to prevent the automatic cleaning device from falling when it moves backward, thereby preventing the automatic cleaning device from being damaged. The aforementioned "front" refers to the side in the same direction as the automatic cleaning device's travel, and the aforementioned "rear" refers to the side opposite to the direction of travel of the automatic cleaning device.

[0076] The location determination device 121 includes but is not limited to a camera and a laser ranging device (LDS).

[0077] The various components of the perception system 120 can operate independently or in conjunction to more accurately achieve their intended functions. Cliff sensors and ultrasonic sensors are used to identify the surface to be cleaned to determine its physical characteristics, including surface material and cleanliness level. Cameras and laser rangefinders can also be used to provide even more accurate judgments.

[0078] The forward portion 111 of the mobile platform 100 is provided with a buffer 122. During the cleaning process, when the driving wheel assembly propels the automatic cleaning device to walk on the ground, the buffer 122 detects one or more events (or objects) in the driving path of the automatic cleaning device through a sensor system, such as an infrared sensor. The automatic cleaning device can control the driving wheel assembly through the events (or objects) detected by the buffer 122, such as obstacles and walls, so that the automatic cleaning device responds to the events (or objects), such as staying away from obstacles.

[0079] The control system is arranged on a circuit board within the mobile platform 100, and includes a computing processor, such as a central processing unit, an application processor, that communicates with a non-temporary memory (such as a hard disk, a flash memory, a random access memory). The application processor is configured to receive the environmental information sensed by the multiple sensors transmitted by the perception system 120, and to draw a real-time map of the environment in which the automatic cleaning device is located using a positioning algorithm (such as SLAM) based on the obstacle information fed back by the laser rangefinder, and to autonomously determine the driving path based on the environmental information and the environmental map, and then control the drive system 140 to perform operations such as forward, backward, and / or steering based on the autonomously determined driving path. Furthermore, the control system can also decide whether to start the cleaner 1000 for cleaning operations based on the environmental information and the environmental map.

[0080] Specifically, the control system can combine distance and speed information fed back by sensors such as buffers, cliff sensors, ultrasonic sensors, infrared sensors, magnetometers, accelerometers, gyroscopes, and odometers to comprehensively determine the robot's current operating state, such as crossing a threshold, getting on a carpet, being on a cliff, being stuck above or below, having a full dust box, being picked up, etc. It also provides specific next-step action strategies for different situations, making the automatic cleaning device more in line with the owner's requirements and providing a better user experience. Furthermore, the control system can plan the most efficient and reasonable cleaning path and method based on the real-time map information drawn by SLAM, greatly improving the cleaning efficiency of the automatic cleaning device.

[0081] The drive system 140 can execute drive commands based on specific distance and angle information, such as x, y and θ components, to manipulate the automatic cleaning device to travel across the ground. The drive system 140 includes a drive wheel assembly 141, and the drive system 140 can control the left and right wheels at the same time. In order to more accurately control the movement of the machine, it is preferred that the drive system 140 includes a left drive wheel assembly and a right drive wheel assembly respectively. The left and right drive wheel assemblies are symmetrically arranged along the horizontal axis defined by the mobile platform 100. In order for the automatic cleaning device to be able to move more stably on the ground or have stronger movement capabilities, the automatic cleaning device may include one or more steering assemblies 142. The steering assembly 142 may be a driven wheel or a driving wheel. Its structural form includes but is not limited to a universal wheel. The steering assembly 142 may be located in front of the driving wheel assembly 141.

[0082] The energy system includes rechargeable batteries, such as nickel-metal hydride batteries and lithium batteries. The rechargeable batteries 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, battery pack charging temperature detection circuit, and battery undervoltage monitoring circuit are then connected to the microcontroller control circuit. The host is charged by connecting to a charging station via charging electrodes located on the side or bottom of the device. If dust adheres to the exposed charging electrodes, the accumulated charge during charging can cause the plastic surrounding the electrodes to melt and deform, or even deform the electrodes themselves, preventing normal charging.

[0083] The human-machine interaction system 170 includes buttons on the main unit panel for users to select functions; a display screen and / or indicator lights and / or a speaker to display the current machine status or function options to the user; and a mobile client application. For route-guided cleaning equipment, the mobile client can display a map of the equipment's environment and the machine's location, providing users with a richer and more user-friendly set of functions.

[0084] The cleaner 1000 may include a dry cleaner 300 and / or a wet cleaner 200. As shown in FIG2 , the dry cleaner 300 includes, among other things, a roller brush 310. The roller brush, which has some contact with the ground, sweeps up debris from the ground and carries it to the front of the dust collection port between the roller brush and the dust box. The dust box is then drawn into the dust box by the suction force of the air generated by the fan and passing through the dust box. The dry cleaner may also include a side brush 320 having a rotating shaft at an angle relative to the ground to move debris into the roller brush area of ​​the cleaner.

[0085] According to one of the specific embodiments of the present disclosure, as shown in FIG3 , the wet cleaner 200 provided by the present disclosure is configured to clean at least a portion of the operating surface in a wet cleaning manner. Specifically, the wet cleaner 200 includes a driver 230, which is used to output a driving force having a first working mode and a second working mode; the wet cleaner 200 also includes a sub-cleaner group 2000, and the sub-cleaner group 2000 includes a first sub-cleaner 210 and a second sub-cleaner 220. The first sub-cleaner 210 is configured to reciprocate in the first working mode of the driver 230 to clean at least a portion of the operating surface, and the second sub-cleaner 220 is configured to reciprocate in the first working mode of the driver 230 to clean at least a portion of the operating surface. The group 220 is configured to rotate continuously in the first working mode of the driver 230 to clean at least a portion of the operating surface; the wet cleaner 200 also includes a lifting mechanism 240, which is configured to lift the sub-cleaner group to separate from the operating surface in the second working mode of the driver 230, and to drop the sub-cleaner group to contact the operating surface under the action of gravity; the wet cleaner 200 also includes a water supply port 250, which has multiple water outlets and is configured to supply water to the first sub-cleaner 210 and the second sub-cleaner 220 respectively in the first working mode of the driver 230. The cleaner disclosed in the present invention realizes a structural design in which a plurality of driven devices (the first sub-cleaner 210, the second sub-cleaner 220, the lifting mechanism 240, and the water supply port 250) are driven by a single driver 230 by switching the working modes, thereby simplifying the overall structure of the cleaner and making the overall design of the cleaning device more compact.

[0086] In some embodiments, as shown in FIG3 , the present disclosure provides a wet cleaner 200 configured to clean at least a portion of an operating surface using a wet cleaning method. The wet cleaner 200 includes a support platform 290, a first sub-cleaner 210, and a second sub-cleaner 220 disposed on a side of the support platform 290 facing the operating surface. A driver 230, a lifting mechanism 240, and a water supply port 250 are disposed on a side of the support platform 290 facing the movable platform. The first sub-cleaner 210, driven by the driver 230, reciprocates along the surface to be cleaned. A cleaning cloth or a cleaning plate is provided on the contact surface of the first sub-cleaner 210 and the surface to be cleaned. The reciprocating motion generates high-frequency friction with the surface to be cleaned, thereby removing stains from the surface to be cleaned. The second sub-cleaner 220, driven by the driver 230, also rotates continuously along the surface to be cleaned. A cleaning cloth or a cleaning plate is also provided on the contact surface of the second sub-cleaner 220 and the surface to be cleaned. The continuous rotation generates high-frequency friction with the surface to be cleaned, thereby removing stains from the surface to be cleaned.

[0087] In some embodiments, the second sub-cleaner is disposed at an edge of the first sub-cleaner, and the second sub-cleaner is configured to continuously rotate under the drive of the driver to clean at least a portion of the work surface. The first sub-cleaner has a plurality of water distribution holes, and the first sub-cleaner is configured to reciprocate under the drive of the driver to clean at least a portion of the work surface.

[0088] It can be understood that the higher the friction frequency, the more friction times per unit time. High-frequency reciprocating motion, also called reciprocating vibration, has a much greater cleaning ability than ordinary reciprocating motion. For example, the frequency of high-frequency vibration is set to the sound wave frequency, and the tufts on the surface of the first sub-cleaner 210 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 tufts extend in the same direction. The effect is that the water marks on the operating surface after high-frequency vibration cleaning are more uniform, and no messy water stains will be left.

[0089] The reciprocating motion can be repeated motion along any one or more directions within the operating surface, or it can be vibration perpendicular to the operating surface, and there is no strict restriction on this. Optionally, the reciprocating motion direction of the cleaner is roughly perpendicular to the direction of travel of the machine, because the reciprocating motion direction parallel to the direction of travel of the machine will cause instability to the moving machine itself, because the thrust and resistance in the direction of travel will make the drive wheel easy to slip. The impact of slipping is more obvious in the case of a wet cleaner, because the wetness of the operating surface increases the possibility of slipping. In addition to affecting the smooth movement and cleaning of the machine, slipping will cause inaccurate ranging of sensors such as odometers and gyroscopes, resulting in the inability of navigation-type automatic cleaning equipment to accurately locate and draw maps. In the case of frequent slipping, the impact on SLAM will not be negligible, so it is necessary to avoid slipping machine behavior as much as possible. In addition to slipping, the movement component of the cleaning head in the direction of travel of the machine causes the machine to be constantly pushed forward and backward while moving, so the movement of the machine will be unstable and smooth.

[0090] The cleaning intensity and efficiency of the cleaning equipment can also be automatically and dynamically adjusted based on the operating environment of the cleaning equipment. For example, the cleaning equipment can dynamically adjust based on the physical information of the surface to be cleaned detected by the sensing system 120. For example, the sensing system 120 can detect information such as the flatness of the surface to be cleaned, the material of the surface to be cleaned, and the presence of oil and dust, and transmit this information to the control system of the cleaning equipment. Accordingly, the control system can instruct the cleaning equipment to automatically and dynamically adjust the motor speed and the transmission ratio of the power transmission device based on the operating environment of the cleaning equipment, thereby adjusting the preset reciprocating cycle of the reciprocating motion of the first sub-cleaner.

[0091] For example, when the cleaning device is operating on a flat surface, the preset reciprocating cycle can be automatically and dynamically adjusted to be longer and the water volume of the water pump can be automatically and dynamically adjusted to be smaller; when the automatic cleaning device is operating on an uneven surface, the preset reciprocating cycle can be automatically and dynamically adjusted to be shorter and the water volume of the water pump can be automatically and dynamically adjusted to be larger. This is because flat surfaces are easier to clean than uneven surfaces, so cleaning uneven surfaces requires the first sub-cleaner to reciprocate faster (i.e., at a higher frequency) and use a larger amount of water.

[0092] For example, when the cleaning device is operating on a tabletop, the preset reciprocating cycle can be automatically and dynamically adjusted to be longer, and the water volume of the water pump can be automatically and dynamically adjusted to be smaller; when the cleaning device is operating on the ground, the preset reciprocating cycle can be automatically and dynamically adjusted to be shorter, and the water volume of the water pump can be automatically and dynamically adjusted to be larger. This is because, compared to the ground, the tabletop has less dust and oil, and the material constituting the tabletop is also easier to clean. Therefore, the first sub-cleaner needs to perform fewer reciprocating motions, and the water pump needs to provide a relatively small amount of water to clean the tabletop.

[0093] As an optional embodiment of the present disclosure, a lifting mechanism 240 is provided between the support platform 290 and the mobile platform 100, which is used to enable the sub-cleaner group to better contact the surface to be cleaned, or to adopt different cleaning strategies for surfaces to be cleaned of different materials. Optionally, the dry cleaner 300 can be connected to the mobile platform 100 through a passive lifting mechanism. When the cleaning equipment encounters an obstacle, the dry cleaner 300 can more conveniently overcome the obstacle through the lifting mechanism. Optionally, the wet cleaner 200 can be connected to the mobile platform 100 through an active lifting mechanism. When the wet cleaner 200 is temporarily not involved in the work, or when encountering a surface to be cleaned that cannot be cleaned by the wet cleaner 200, the wet cleaner 200 is lifted by the active lifting mechanism and separated from the surface to be cleaned, thereby achieving a change in the cleaning method.

[0094] In some embodiments, as shown in FIG4-1 , the driver 230 includes a motor 231 . The motor 231 is configured to rotate forward in a first operating mode to output a forward driving force, and reverse in a second operating mode to output a reverse driving force. The motor 231 transmits power to the first and second sub-cleaners 210 and 220 , the lifting mechanism 240 , the water supply port 250 , and the like via a power transmission device. The energy system provides power and energy to the motor 231 and is controlled as a whole by a control system. The power transmission device may be a gear or gear train drive, a chain drive, a belt drive, or a worm gear.

[0095] In some embodiments, the driver 230 includes a worm 232, which is connected to the output shaft of the motor 231 and rotates forward or reverse under the drive of the motor 231; the driver 230 also includes multiple driving gears 233, which are respectively engaged with the worm 232 and, under the drive of the worm 232 to rotate forward or reverse, respectively drive the first sub-cleaner 210, the second sub-cleaner 220, the water supply port 250, and the lifting mechanism 240 to operate in the first operating mode or the second operating mode. It will be understood by those skilled in the art that the driving gear can be a single gear or a gear set consisting of multiple gears. In which, in response to the forward driving force, the first sub-cleaner 210 realizes reciprocating motion, the second sub-cleaner 220 realizes continuous rotation, and the water supply port 250 supplies water to the first sub-cleaner 210 and the second sub-cleaner 220; in response to the reverse driving force, the first sub-cleaner 210 stops reciprocating motion, the second sub-cleaner 220 stops rotating, the water supply port 250 stops supplying water to the first sub-cleaner 210 and the second sub-cleaner 220, and the lifting mechanism 240 lifts the first sub-cleaner 210 and the second sub-cleaner 220 to separate from the operating surface.

[0096] In some embodiments, as shown in FIG4-1, the drive gear 233 includes a first drive gear 2331, and the driver 230 also includes a first power transmission device (not shown) that cooperates with the first drive gear 2331. The first drive gear 2331 transmits power to the first sub-cleaner 210 through the first power transmission device. The first sub-cleaner 210 reciprocates under the drive of the first power transmission device to clean a portion of the operating surface. Since the first sub-cleaner 210 can reciprocate in a local area for cleaning, it can focus on cleaning a local area with heavy stains. Optionally, the first drive gear 2331 is an asymmetric structure, and the first power transmission device can be a vibration connecting rod. The vibration connecting rod drives the first sub-cleaner 210 to vibrate back and forth under the rotation drive of the asymmetric structure.

[0097] In some embodiments, the driving gear 233 includes a second driving gear 2332, and the driver 230 also includes a second power transmission device 23321 that cooperates with the second driving gear 2332. The second driving gear 2332 is engaged with the second power transmission device 23321 to transmit power to the second sub-cleaner 220. The second sub-cleaner 220 is driven by the second power transmission device 23321 to continuously rotate to clean a part of the operating surface. Since the second sub-cleaner 220 can continuously rotate in a local area for cleaning, it can focus on cleaning local heavily stained areas. Optionally, the second power transmission device 23321 can be a gear set with multiple gears meshing and driving, or it can be a synchronous belt drive.

[0098] In some embodiments, as shown in FIG4-2 , the drive gear 233 includes a third drive gear 2333, and the driver 230 further includes a third power transmission device 23331 that cooperates with the third drive gear 2333. Those skilled in the art will appreciate that the third power transmission device 23331 can be a single gear or a gear set consisting of multiple gears. The third drive gear 2333 meshes with the third power transmission device 23331 to transmit power to the water supply port 250. Driven by the third power transmission device 23331, the water supply port 250 delivers water to the first sub-cleaner 210 and the second sub-cleaner 220.

[0099] In some embodiments, the driving gear 233 includes a fourth driving gear, and the fourth driving gear includes, for example, a clutch assembly 2334. The clutch assembly 2334 is used to directly drive the lifting mechanism 240. The lifting mechanism 240 includes a cable gear 241 and a cable 242. The clutch assembly 2334 is arranged between the third power transmission device 23331 and the cable gear 241. The cable gear 241 is wound with a cable 242. The distal end of the cable 242 is wound around the support platform 290. When the motor 231 rotates in the reverse direction, the clutch assembly 2334 and The third power transmission device 23331 is engaged and connected, providing reverse driving force. Since the clutch assembly 2334 is now reversely engaged with the third power transmission device 23331, it is able to provide driving force. The third power transmission device 23331 drives the cable gear 241 to rotate via the clutch assembly 2334. The cable gear 241 rotates while pulling the support platform 290 via the cable 242. The support platform 290, pulled by the cable 242, raises the first sub-cleaner 210 and the second sub-cleaner 220. When the motor 231 rotates in the forward direction, the third power transmission device 23331 provides forward driving force. The clutch assembly 2334 is not engaged with the forward rotation of the third power transmission device 23331, providing no driving force. The cable gear 241 cannot pull the support platform 290 via the cable 242.

[0100] As described above, when the motor 231 rotates forward, the driver 230 drives the first sub-cleaner 210 to vibrate and clean through the first drive gear 2331 and the first power transmission device, drives the second sub-cleaner 220 to rotate and clean through the second drive gear 2332 and the second power transmission device 23321, and drives the water supply port 250 to supply water through the third drive gear 2333 and the third power transmission device 23331; when the motor 231 is reversed, the cable gear 241 is driven by the clutch assembly 2334, and the support platform 290 is pulled by the cable 242 to lift the first sub-cleaner 210 and the second sub-cleaner 220. The present application realizes the control of four motion modules by one motor. The motor rotates forward to drive the vibration of the vibrating part and the rotation of the rotating part, while realizing water supply for cleaning. The motor reverses to drive the lifting mechanism to rise and fall. The present application makes the drive structure reusable, the entire drive structure more compact, simplifies the number of motors, reduces energy consumption and noise, and improves the user experience.

[0101] In some embodiments, as shown in Figures 5 and 6, the water supply port 250 includes a water pump 251. The water pump 251 includes a connection portion connected to the third power transmission device 23331, so that the water pump 251 rotates, for example, peristaltically, under the drive of the third power transmission device 23331 to achieve a water pumping effect. The water pump 251 can be a gear pump, a vane pump, a plunger pump, a peristaltic pump, etc.

[0102] In some embodiments, as shown in Figures 5-7, the water supply port 250 further includes a water divider 252, which is connected to the water pump 251 and configured to distribute water from the water pump to the first sub-cleaner and / or the second sub-cleaner. In some embodiments, the water pump 251 includes a keying slot 2511, and the water divider 252 includes a keying member 25232, and the keying slot 2511 is engaged with the keying member 25232; wherein, the water pump 251 rotates under the drive of the driver 230 and drives the rotor bracket 2523 to rotate through the keying slot 2511, while supplying water to the water divider 252.

[0103] In some embodiments, as shown in Figures 7-12, the water divider 252 includes: a moving plate 2521, the moving plate 2521 has at least one moving plate water inlet hole 25211, and the moving plate 2521 is configured to rotate continuously in the first working mode of the driver 230; a static plate 2522, the static plate 2522 is arranged on the side of the water outlet direction of the moving plate 2521, the static plate 2522 has a plurality of static plate water outlet holes 25221, and the static plate water outlet holes 25221 are respectively connected to the plurality of water outlets of the water supply port; wherein, the moving plate 2521 rotates continuously relative to the static plate 2522, and in response to the overlap of the projection of the at least one moving plate water inlet hole 25211 and the static plate water outlet hole 25221, the water divider 252 supplies water to the first sub-cleaner 210 and / or the second sub-cleaner 220 through the static plate water outlet hole 25221 with the overlapping projection. Optionally, the moving piece 2521 and the static piece 2522 are selected from at least one of the following materials: ceramic, metal, hard plastic, etc., so as to ensure that the moving piece 2521 and the static piece 2522 are in smooth rotational contact.

[0104] Optionally, the moving piece 2521 has a moving piece water inlet hole 25211, and the surface of the static piece 2522 is evenly spaced along the circumference to set 3-8 static piece water outlet holes 25221, for example, 6 static piece water outlet holes 25221 are set, each static piece water outlet hole 25221 is connected to the water outlet pipe, and the water flow is supplied to the first sub-cleaner 210 or the second sub-cleaner 220 through the water outlet pipe. The moving piece 2521 is fitted with the static piece 2522 and the moving piece 2521 rotates continuously relative to the static piece 2522. The movable plate 2521 rotates continuously relative to the static plate 2522, and the movable plate water inlet hole 25211 sequentially passes through the six static plate water outlet holes 25221. When the movable plate water inlet hole 25211 overlaps with the projection of one of the static plate water outlet holes 25221, water flows from the movable plate water inlet hole 25211 with the overlapping projection to the static plate water outlet hole 25221. The water then flows through the static plate water outlet hole 25221 to the first sub-cleaner 210 or the second sub-cleaner 220 connected thereto. It can be understood that the water distributor 252 supplies water to the static plate water outlet holes 25221 in turn through rotation, that is, it supplies water to the water distribution holes of the first sub-cleaner 210 or the second sub-cleaner 220 in turn. When the rotating speed of the movable plate 2521 is fast enough, it can be considered that water is continuously supplied to the water distribution holes of the first sub-cleaner 210 or the second sub-cleaner 220.

[0105] In some embodiments, as shown in Figures 9 and 10, the water divider 252 further includes a rotor bracket 2523, which is engaged with the rotor 2521. The rotor bracket 2523 is configured to rotate continuously under the drive of the water pump 251 and drive the rotor 2521 to rotate continuously. The rotor bracket 2523 has at least one latch 25233 disposed on its inner edge. The latch 25233 secures the rotor bracket 2523 to the rotor 2521, thereby enabling the rotor bracket 2523 to rotate with the rotor 2521. Optionally, the rotor bracket 2523 includes a key 25231 disposed on a side of the rotor bracket 2523 away from the rotor 2521. The key 25231 engages with a key slot 2511 of the water pump, enabling the rotor bracket 2523 to rotate synchronously with the water pump under the drive of the water pump.

[0106] In some embodiments, the rotor bracket 2523 further includes at least one bracket water inlet hole 25232, which overlaps with the at least one rotor water inlet hole 25211, allowing water to flow through the at least one bracket water inlet hole 25232 and the at least one rotor water inlet hole 25211 before flowing out of the static blade water outlet hole 25221. Optionally, the rotor bracket 2523 is tightly fitted with the rotor 2521, the rotor bracket 2523 includes one bracket water inlet hole 25232, the rotor 2521 includes one rotor water inlet hole 25211, and the bracket water inlet hole 25232 overlaps with the rotor water inlet hole 25211, allowing water to flow through the bracket water inlet hole 25232 and the rotor water inlet hole 25211 before flowing out of the static blade water outlet hole 25221.

[0107] In some embodiments, the movable plate bracket 2523 is engaged with the movable plate 2521 to form a cavity. The movable plate bracket 2523 includes one to three bracket water inlet holes 25232, for example, three bracket water inlet holes 25232. Water flows through the three bracket water inlet holes 25232 into the cavity and is then buffered therein. As the movable plate bracket 2523 and the movable plate 2521 rotate, water flows out when the movable plate water inlet hole 25211 overlaps with the static plate water outlet hole 25221. This cavity structure ensures continuous water supply to multiple water distribution holes, reducing the rotational speed requirement of the movable plate bracket 2523.

[0108] In some embodiments, as shown in Figure 11, the water divider 252 also includes a shell 2526, and the shell 2526 is configured to accommodate the moving piece 2521, the static piece 2522 and the moving piece bracket 2523; wherein, the multiple water outlets 25261 are arranged on the shell 2526, and the shell has a water inlet 25262, and the water flows into the shell 2526 from the water inlet 25262, and then flows into the bracket water inlet hole 25232 from the gap between the shell 2526 and the bracket water inlet hole 25232, and flows out from the at least one water outlet 25261 after passing through the bracket water inlet hole 25232, the moving piece water inlet hole 25211 and the static piece water outlet hole 25221.

[0109] In some embodiments, as shown in FIG12 , the water divider 252 further includes a soft rubber pad 2524, which is disposed on a side of the static piece 2522 away from the dynamic piece 2521. The soft rubber pad 2524 includes at least one soft rubber pad hole 25241, which is disposed in a one-to-one correspondence with the water outlet hole 25221 of the static piece. The soft rubber pad 2524 seals between the static piece 2522 and the housing 2526, preventing water entering the housing 2526 through the water inlet 25262 from flowing directly toward the side of the static piece 2522.

[0110] In some embodiments, as shown in FIG7 , the water separator 252 further includes at least one sealing ring, for example, a first sealing ring 2525 and a second sealing ring 2527. The first sealing ring 2525 is disposed between the rotor bracket 2521 and the housing 2526. The housing 2526 includes a front housing and a rear housing. The second sealing ring 2527 is disposed between the front housing and the rear housing to seal the front housing and the rear housing.

[0111] The sweeping and mopping all-in-one cleaning device provided by the embodiment of the present disclosure drives the first sub-cleaner to move back and forth to clean at least a portion of the operating surface at the same time in the first working mode of the driver, drives the second sub-cleaner to rotate continuously to clean at least a portion of the operating surface, drives the water supply port to supply water to the first sub-cleaner and the second sub-cleaner through the water divider, and in the second working mode of the driver, drives the lifting mechanism to lift the sub-cleaner group to separate from the operating surface, thereby realizing that multiple driven devices are driven to work by one driver, simplifying the driving structure and making the cleaner more compact.

[0112] Finally, it should be noted that the various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. References to the common and similar parts between the various embodiments will be sufficient. For the systems or devices disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, their descriptions are relatively simple; for relevant details, refer to the descriptions of the methods.

[0113] The above embodiments are only used to illustrate the technical solutions of the present disclosure, rather than to limit them. Although the present disclosure has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present disclosure.

Claims

1. A cleaning device, characterized in that, Comprising: A mobile platform configured to automatically move on an operation surface; A cleaner disposed at the bottom of the mobile platform and configured to clean at least a part of the operation surface by a wet cleaning method. The cleaner includes: A driver for outputting a driving force having a first working mode and a second working mode; A sub-cleaner group including a first sub-cleaner and a second sub-cleaner. The first sub-cleaner and the second sub-cleaner are configured to clean at least a part of the operation surface in the first working mode of the driver and to disengage from the operation surface in the second working mode of the driver; A water supply port configured to supply water to the first sub-cleaner and the second sub-cleaner in the first working mode of the driver; Wherein, the water supply port has a plurality of water outlet ports for respectively supplying water to the first sub-cleaner and the second sub-cleaner.

2. The cleaning device according to claim 1, wherein The water supply port includes: A water pump configured to pump water towards the sub-cleaner group in the first working mode of the driver; A water distributor connected to the water pump and configured to distribute the water flow to the first sub-cleaner and / or the second sub-cleaner under the drive of the water pump.

3. The cleaning device according to claim 2, characterized in that, The water distributor includes: A moving piece having at least one moving-piece water inlet hole and configured to continuously rotate in the first working mode of the driver; A stationary piece disposed on the water outlet direction side of the moving piece and having a plurality of stationary-piece water outlet holes respectively communicating with the plurality of water outlet ports of the water supply port; Wherein, the moving piece continuously rotates relative to the stationary piece. In response to the projection overlap of the at least one moving-piece water inlet hole and the stationary-piece water outlet hole, the water distributor supplies water to the first sub-cleaner and / or the second sub-cleaner through the stationary-piece water outlet hole with the projection overlap.

4. The cleaning device according to claim 3, characterized in that, The water distributor further includes: A moving-piece bracket clamped to the moving piece and configured to continuously rotate under the drive of the water pump and drive the moving piece to continuously rotate.

5. The cleaning device according to claim 4, characterized in that, The moving-piece bracket includes: At least one bracket water inlet hole which overlaps with the at least one moving-piece water inlet hole and is configured to allow the water flow to flow through the at least one bracket water inlet hole, the at least one moving-piece water inlet hole and then flow out from the stationary-piece water outlet hole.

6. The cleaning device according to claim 4, wherein A cavity is formed after the moving-piece bracket is clamped to the moving piece; The moving-piece bracket includes at least one bracket water inlet hole configured to allow the water flow to enter the cavity through the at least one bracket water inlet hole and then flow out through the at least one moving-piece water inlet hole and the stationary-piece water outlet hole.

7. The cleaning device according to any one of claims 4-6, characterized in that, The moving-piece bracket includes: A bonding member disposed on the side of the moving-piece bracket away from the moving piece and configured to be clamped to the water pump.

8. The cleaning device according to claim 4, characterized in that, The water distributor further includes: A housing configured to accommodate the moving piece, the stationary piece and the moving-piece bracket; Wherein, the plurality of water outlet ports are disposed on the housing, and the housing has a water inlet. The water flow enters the housing from the water inlet and flows out from the at least one water outlet port after passing through the bracket water inlet hole, the moving-piece water inlet hole and the stationary-piece water outlet hole.

9. The cleaning device according to claim 3, wherein, The water distributor further includes: A soft rubber pad disposed on the side of the stationary piece away from the moving piece.

10. The cleaning device according to claim 4, characterized in that, The water distributor further includes: At least one sealing ring is disposed between the moving blade bracket and the housing.

11. The cleaning device according to claim 7, wherein the water pump includes a bonding groove that is snap-fitted with the bonding member; wherein, the water pump rotates under the drive of the driver and drives the moving blade bracket to rotate through the bonding groove, and at the same time supplies water to the water distributor.

12. The cleaning device according to claim 1, characterized in that, The second sub-cleaner is disposed at the edge of the first sub-cleaner, and the second sub-cleaner is configured to continuously rotate under the drive of the driver to clean at least a part of the operation surface.

13. The cleaning device according to claim 1, characterized in that, The first sub-cleaner has a plurality of water distribution holes, and the first sub-cleaner is configured to reciprocate under the drive of the driver to clean at least a part of the operation surface.

14. The cleaning device according to claim 1, characterized in that, The driver includes: a motor configured to rotate forward in a first working mode, output a forward driving force, and rotate backward in a second working mode, output a reverse driving force; wherein, in response to the forward driving force, the first sub-cleaner reciprocates, the second sub-cleaner continuously rotates, and the water supply port supplies water to the first sub-cleaner and the second sub-cleaner; in response to the reverse driving force, the first sub-cleaner stops reciprocating, the second sub-cleaner stops continuously rotating, the water supply port stops supplying water to the first sub-cleaner and the second sub-cleaner, and the first sub-cleaner and the second sub-cleaner disengage from the operation surface.

15. The cleaning device according to claim 14, characterized in that, The driver further includes: a worm that rotates forward or backward under the drive of the motor; a plurality of drive gears that are respectively engaged with the worm and drive the first sub-cleaner, the second sub-cleaner, and the water supply port to work in a first working mode or a second working mode under the drive of the forward or reverse rotation of the worm.

16. The cleaning device according to claim 1, wherein, The cleaner further includes: a lifting mechanism configured to lift the sub-cleaner group to disengage from the operation surface in the second working mode of the driver, and to lower the sub-cleaner group to contact the operation surface under the action of gravity.

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