Cleaning apparatus

Abstract

A cleaning apparatus, comprising: a mobile platform (100), which is configured to autonomously move on an operating surface; and a wet cleaning module (200), which is arranged at the bottom of the mobile platform (100) and is configured to clean at least part of the operating surface in a wet cleaning manner, wherein the wet cleaning module (200) comprises: a driving assembly (230), which is used for outputting a driving force in a first working mode; and a cleaning assembly (2000), which comprises a first cleaning assembly (210) and a second cleaning assembly (220), the first cleaning assembly (210) being configured to move in a reciprocating manner in the first working mode of the driving assembly (230) so as to clean at least part of the operating surface, the second cleaning assembly (220) being configured to continuously rotate in the first working mode of the driving assembly (230) so as to clean at least part of the operating surface, the second cleaning assembly (220) being arranged at an edge position of a projection surface of the mobile platform (100), and cleaning surfaces, which come into contact with the operating surface, of the second cleaning assembly (220) and the first cleaning assembly (210) being approximately located in the same horizontal plane.

Description

cleaning equipment

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to Chinese patent application No. 202410024103.5 filed on January 5, 2024. The contents of the above-mentioned Chinese patent application disclosure are hereby incorporated by reference in their entirety as a part of this application. Technical Field

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

[0004] 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.

[0005] With the development of sweeping and mopping robots, the functions of sweeping and mopping robots are increasing, and the structure is becoming more and more complex. A sweeping and mopping robot can often meet the application requirements of many different occasions. Due to the increasingly complex structure and the increasing number of integrated hardware structures, the size of the sweeping and mopping robots is becoming larger and larger, which is inconvenient to transport and use, and the cost is also increasing accordingly. Summary of the Invention

[0006] The purpose of this disclosure is to provide a cleaning device that can solve the technical problem of compact design under the multifunctional all-in-one cleaning device. The specific solution is as follows:

[0007] According to a specific embodiment of the present disclosure, the present disclosure provides a cleaning device, comprising:

[0008] a mobile platform configured to move autonomously on an operating surface;

[0009] A cleaning module 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 cleaning module includes:

[0010] A driving component, configured to output a driving force in a first working mode;

[0011] a cleaning assembly, comprising a first cleaning assembly and a second cleaning assembly, wherein the first cleaning assembly and the second cleaning assembly are connected to the driving assembly via a first power transmission device and a second power transmission device, wherein the first cleaning assembly is configured to reciprocate in the first operating mode of the driving assembly to clean at least a portion of the operating surface, and the second cleaning assembly is configured to continuously rotate in the first operating mode of the driving assembly to clean at least a portion of the operating surface;

[0012] The second cleaning component is arranged at an edge of the projection surface of the movable platform, and the cleaning surfaces of the second cleaning component and the first cleaning component in contact with the operating surface are substantially in the same horizontal plane.

[0013] In some embodiments, the second cleaning component at least partially exceeds the area occupied by the movable platform on the operating surface, and the cleaning surface where the first cleaning component contacts the operating surface and the cleaning surface where the second cleaning component contacts the operating surface are approximately at the same level.

[0014] In some embodiments, the drive assembly includes:

[0015] The motor is configured to rotate forward in a first working mode to output a forward driving force;

[0016] A worm gear rotates forward under the positive driving force of the motor;

[0017] The driving wheel assembly is engaged with the worm, and driven by the forward rotation of the worm, drives the first cleaning assembly and the second cleaning assembly to work synchronously in the first working mode.

[0018] In some embodiments, the drive assembly further comprises:

[0019] The power transmission device is engaged with the driving wheel assembly and is configured to transmit power to the second cleaning assembly.

[0020] In some embodiments, the drive wheel assembly further comprises:

[0021] a first drive shaft;

[0022] a first driving wheel, sleeved on one end of the first driving shaft and configured to engage with the worm;

[0023] a second driving wheel, sleeved on the other end of the first driving shaft and configured to rotate synchronously with the first driving wheel;

[0024] Wherein, the outer diameter of the first driving wheel is greater than the outer diameter of the second driving wheel.

[0025] In some embodiments, the power transmission device includes a conversion gear set configured to engage with the drive wheel assembly to change the rotation direction of the drive wheel assembly.

[0026] In some embodiments, the power transmission device further comprises:

[0027] A synchronous belt, one end of which is connected to the conversion gear set, and the other end of which is connected to the second cleaning component.

[0028] In some embodiments, the conversion gear set includes:

[0029] a second drive shaft;

[0030] a third drive wheel, sleeved on one end of the second drive shaft and configured to engage with the drive wheel assembly;

[0031] The fourth driving wheel is sleeved on the other end of the second driving shaft and is configured to rotate synchronously with the third driving wheel.

[0032] In some embodiments, the power transmission device further comprises:

[0033] The transmission gear set includes a plurality of gears, one end of which is engaged with the conversion gear set, and the other end of which is engaged with the second cleaning component.

[0034] In some embodiments, the second cleaning component comprises:

[0035] a third drive shaft, the extension direction of which is perpendicular to the direction in which the power transmission device transmits force;

[0036] The rotating plate is provided at the end of the third driving shaft and is configured to rotate under the driving of the third driving shaft.

[0037] In some embodiments, the second cleaning assembly further includes a water supply line configured to supply water to the rotor.

[0038] Compared with the prior art, the embodiments of the present disclosure have the following technical effects:

[0039] The sweeping and mopping all-in-one cleaning device provided by the present disclosure includes a first cleaning component and a second cleaning component. The first cleaning component reciprocates to clean at least a portion of the operating surface, and the second cleaning component rotates continuously to clean at least a portion of the operating surface. The second cleaning component is arranged at an edge position of the projection surface of the mobile platform, and the cleaning surfaces of the second cleaning component and the first cleaning component in contact with the operating surface are approximately in the same horizontal plane. By setting the second cleaning component, the cleaning effect of the cleaning module on the corners of the area to be cleaned is enhanced. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] 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:

[0041] FIG1 is a schematic diagram of the three-dimensional structure of a cleaning device according to some embodiments of the present disclosure.

[0042] FIG2 is a schematic diagram of the bottom structure of a cleaning device according to some embodiments of the present disclosure.

[0043] FIG3 is a schematic diagram of the wet cleaning module structure of the cleaning equipment according to some embodiments of the present disclosure.

[0044] FIG4-1 is a schematic diagram of the structure of a driving assembly of a cleaning device according to some embodiments of the present disclosure at one angle.

[0045] FIG4-2 is a schematic structural diagram of the driving assembly of the cleaning device according to some embodiments of the present disclosure from another angle.

[0046] FIG4-3 is a schematic diagram of a driving structure of a second cleaning component of a cleaning device according to some embodiments of the present disclosure.

[0047] FIG5 is a schematic diagram of the structure of a water pump assembly of a cleaning device according to some embodiments of the present disclosure.

[0048] FIG6 is a schematic diagram of the internal structure of a water pump assembly of a cleaning device according to some embodiments of the present disclosure.

[0049] Explanation of the reference numerals: Mobile platform 100, rearward portion 110, forward portion 111, sensing system 120, position determination device 121, buffer 122, driving system 140, driving wheel assembly 141, steering assembly 142, human-computer interaction system 170, dry cleaning module 300, roller brush 310, side brush 320, wet cleaning module 200, driving assembly 230, motor 231, worm 232, turbine assembly 233, first driving wheel assembly 2331, first power transmission device 23311, second driving wheel assembly 2332, second power transmission device 23321, third driving wheel assembly 2333, third power transmission device 23331, clutch assembly 2334, cable gear 2 41. Cable 242. Cleaning assembly 2000. First cleaning assembly 210. Second cleaning assembly 220. Lifting assembly 240. Support platform 290. Water pumping assembly 250. First water pumping structure 251. First rotating part 2511. First water pumping pipe 2512. Second water pumping structure 252. Second rotating part 2521. Second water pumping pipe 2522. Third water pumping structure 253. Third rotating part 3531. Third water pumping pipe 2532. Housing 254. First slot 2541. Second slot 2542. Water assembly 255. Water inlet pipe 2551. Water distribution part 2552. Water inlet plate 2553. Water outlet assembly 256. Water outlet pipe 2561. Water outlet plate 2562. Connecting part 257. DETAILED DESCRIPTION

[0050] 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, rather than all of them. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present disclosure without creative effort are intended to fall within the scope of protection of the present disclosure.

[0051] 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.

[0052] It should be understood that the term "and / or" as used herein is merely a description of the relationship between associated objects, indicating that three possible relationships exist. For example, "A and / or B" can represent: A exists alone, A and B exist simultaneously, or B exists alone. Furthermore, the character " / " in this document generally indicates that the associated objects are in an "or" relationship.

[0053] It should be understood that although the terms first, second, third, etc. may be used to describe in the embodiments of the present disclosure, these should not be limited to these terms. These terms are only used to distinguish. 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.

[0054] 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.

[0055] Optional embodiments of the present disclosure are described in detail below with reference to the accompanying drawings.

[0056] Figures 1 and 2 are schematic diagrams of the structure of an automatic cleaning device according to an exemplary embodiment. As shown in Figures 1 and 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 perception system 120, a control system, a drive system 140, a cleaning module, an energy system, and a human-computer interaction system 170. Among them:

[0057] 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.

[0058] 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.

[0059] 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.

[0060] 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 front and rear axis x, the lateral axis y and the central vertical axis z. The forward drive direction along the front and rear axis x is marked as "forward", and the rear drive direction along the front and rear axis x is marked as "backward". The lateral axis y 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 y-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 is tilted to the right of the x-axis, it is "turning right", and when the automatic cleaning device is tilted to the left of the x-axis, it is "turning left".

[0061] 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.

[0062] The location determination device 121 includes but is not limited to a camera and a laser ranging device (LDS).

[0063] 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.

[0064] 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.

[0065] The control system is set on the circuit board within the mobile platform 100 and includes a computing processor, such as a central processing unit or an application processor, that communicates with a non-transitory memory, such as a hard disk, flash memory, or random access memory. The application processor is configured to receive environmental information sensed by the multiple sensors transmitted by the perception system 120, and use a positioning algorithm, such as SLAM, based on obstacle information fed back by the laser rangefinder to draw a real-time map of the environment in which the automatic cleaning device is located. The control system then autonomously determines a driving path based on the environmental information and the environmental map, and then controls the drive system 140 to perform forward, backward, and / or steering operations based on the autonomously determined driving path. Furthermore, the control system can also determine whether to start the cleaning module to perform a cleaning operation based on the environmental information and the environmental map.

[0066] 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.

[0067] 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. 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 include 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.

[0068] 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.

[0069] 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.

[0070] The cleaning module may include a dry cleaning module 300 and / or a wet cleaning module 200. As shown in Figure 2, the dry cleaning module 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 generated by the fan and passing through the dust box. The dry cleaning module may also include a side brush 320 with a rotating shaft at an angle relative to the ground to move debris into the roller brush area of ​​the cleaning module.

[0071] According to one of the specific embodiments of the present disclosure, as shown in FIG3 , the wet cleaning module 200 provided by the present disclosure is configured to clean at least a portion of the operating surface using a wet cleaning method. The wet cleaning method refers to a cleaning method in which liquid is applied to the surface to be cleaned to remove stains under mechanical or physical action. Specifically, the wet cleaning module 200 includes a driving component 230, which is used to output a driving force having a first working mode and a second working mode; the wet cleaning module 200 also includes a cleaning component 2000, which includes a first cleaning component 210 and a second cleaning component 220, wherein the first cleaning component 210 is configured to reciprocate in the first working mode of the driving component 230 to clean at least a portion of the operating surface, and the second cleaning component 220 is configured to continuously rotate in the first working mode of the driving component 230 to clean at least a portion of the operating surface, wherein continuous rotation refers to the second cleaning component 220 rotating in the driving component 230. Under the action of the driving component 230, the uninterrupted circular motion around the center point is used to generate high-frequency friction with the surface to be cleaned to remove stains; the wet cleaning module 200 also includes a lifting component 240, which is configured to lift the cleaning component to separate from the operating surface in the second working mode of the driving component 230, and drop the cleaning component to contact the operating surface under the action of gravity; the wet cleaning module 200 also includes a water pumping component 250, which has multiple water outlets. The water pumping component 250 is configured to supply water to the first cleaning component 210 and the second cleaning component 220 respectively in the first working mode of the driving component 230. The cleaning module of the present disclosure realizes a structural design that drives multiple driven components (first cleaning component 210, second cleaning component 220, lifting component 240, and water pumping component 250) to work by switching the working mode through a single driving component 230, thereby simplifying the overall structure of the cleaning module and making the overall design of the cleaning equipment more compact.

[0072] In some embodiments, as shown in FIG3 , the wet cleaning module 200 provided by the present disclosure is configured to clean at least a portion of the operating surface using a wet cleaning method; wherein the wet cleaning module 200 includes a support platform 290, a first cleaning component 210 and a second cleaning component 220 are arranged on the side of the support platform 290 facing the operating surface, and a drive component 230, a lifting component 240, and a water pump component 250 are arranged on the side of the support platform 290 facing the moving platform: the first cleaning component 210 is driven by the drive component 230 to reciprocate along the surface to be cleaned, and the contact surface of the first cleaning component 210 and the surface to be cleaned is provided with a cleaning cloth or a cleaning plate, and the reciprocating motion generates high-frequency friction with the surface to be cleaned, thereby removing stains on the surface to be cleaned. The second cleaning component 220 is driven by the drive component 230 to continuously rotate along the surface to be cleaned, and the contact surface of the second cleaning component 220 and the surface to be cleaned is also provided with a cleaning cloth or a cleaning plate, and the continuous rotation generates high-frequency friction with the surface to be cleaned, thereby removing stains on the surface to be cleaned.

[0073] In some embodiments, the second cleaning component 220 is arranged at the edge of the projection surface of the mobile platform 100. For example, the second cleaning component 220 at least partially extends out of the projection surface of the mobile platform 100, and the cleaning surfaces of the second cleaning component 220 and the first cleaning component 210 in contact with the operating surface are roughly at the same horizontal plane. In some embodiments, the second cleaning component 220 at least partially exceeds the area occupied by the mobile platform 100 on the operating surface, and the cleaning surfaces of the first cleaning component 210 in contact with the operating surface and the cleaning surfaces of the second cleaning component 220 in contact with the operating surface are roughly at the same horizontal height. When the cleaning equipment is moving, most of the operating surface is cleaned by the first cleaning component 210, but for corner areas, such as wall corners, table legs, etc., the first cleaning component 210 cannot accurately extend into the area. At this time, the second cleaning component 220 can enter the area and perform rotational friction cleaning on the corner area, so that the cleaning of the operating surface is more comprehensive.

[0074] 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, if the frequency of high-frequency vibration is set to the sound wave frequency, the tufts on the surface of the first cleaning component 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 simply 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 nearly 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.

[0075] The reciprocating motion can be a repeated motion along any one or more directions within the operating surface, or a vibration perpendicular to the operating surface, and there is no strict restriction on this. Optionally, the reciprocating motion direction of the cleaning module is roughly perpendicular to the machine's travel direction, because the reciprocating motion direction parallel to the machine's travel direction will cause instability to the machine itself in motion, because the thrust and resistance in the travel direction will make the drive wheel easy to slip. The impact of slipping is more obvious in the case of a wet cleaning module, because the wetness of the operating surface increases the possibility of slipping. In addition to affecting the smooth travel and cleaning of the machine, slipping will also 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 simultaneous positioning and mapping (SLAM) will not be ignored, so it is necessary to avoid slipping machine behavior as much as possible. In addition to slipping, the cleaning head movement component in the machine's travel direction causes the machine to be constantly pushed forward and backward while traveling, so the machine's walking will be unstable and smooth.

[0076] 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 achieve dynamic adjustment 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 speed of the motor 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 cleaning component.

[0077] 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 a flat surface is easier to clean than an uneven surface, so cleaning an uneven surface requires the first cleaning component to reciprocate faster (i.e., at a higher frequency) and use a larger amount of water.

[0078] 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 cleaning component needs to perform fewer reciprocating motions, and the water pump needs to provide a relatively small amount of water to clean the tabletop.

[0079] As an optional embodiment of the present disclosure, a lifting assembly 240 is provided between the support platform 290 and the mobile platform 100, which is used to enable the cleaning assembly to better contact the surface to be cleaned, or to adopt different cleaning strategies for surfaces to be cleaned of different materials. In some embodiments, the dry cleaning module 300 can be connected to the mobile platform 100 through a passive lifting assembly. When the cleaning equipment encounters an obstacle, the dry cleaning module 300 can more conveniently overcome the obstacle through the lifting assembly. In some embodiments, the wet cleaning module 200 can be connected to the mobile platform 100 through an active lifting assembly. When the wet cleaning module 200 is temporarily not involved in the work, or encounters a surface to be cleaned that cannot be cleaned by the wet cleaning module 200, the wet cleaning module 200 is lifted by the active lifting assembly and separated from the surface to be cleaned, thereby achieving a change in the cleaning means.

[0080] In some embodiments, as shown in FIG4-1 , the drive assembly 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 cleaning assembly 210 , the second cleaning assembly 220 , the lifting assembly 240 , the water pump assembly 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.

[0081] In some embodiments, the drive assembly 230 includes a worm 232, which is connected to the output shaft of the motor 231 and realizes forward or reverse rotation under the drive of the motor 231; the drive assembly 230 also includes multiple drive wheel assemblies 233, and the multiple drive wheel assemblies 233 are respectively engaged with the worm 232, and under the drive of the worm 232 to rotate forward or reverse, respectively drive the first cleaning assembly 210, the second cleaning assembly 220, the water pumping assembly 250 and the lifting assembly 240 to work in the first working mode or the second working mode. It can be understood by ordinary technicians in this field that the drive wheel assembly can be a gear or a gear set composed of multiple gears. In which, in response to the forward driving force, the first cleaning component 210 performs reciprocating motion, the second cleaning component 220 performs continuous rotation, and the water pumping component 250 supplies water to the first cleaning component 210 and the second cleaning component 220; in response to the reverse driving force, the first cleaning component 210 stops reciprocating motion, the second cleaning component 220 stops rotating, the water pumping component 250 stops supplying water to the first cleaning component 210 and the second cleaning component 220, and the lifting component 240 lifts the first cleaning component 210 and the second cleaning component 220 to separate them from the operating surface.

[0082] In some embodiments, as shown in FIG4-1, the drive wheel assembly 233 includes a first drive wheel assembly 2331, and the drive assembly 230 also includes a first power transmission device (not shown) that cooperates with the first drive wheel assembly 2331. The first drive wheel assembly 2331 transmits power to the first cleaning assembly 210 through the first power transmission device. The first cleaning assembly 210 reciprocates under the drive of the first power transmission device to clean a portion of the operating surface. Since the first cleaning assembly 210 can reciprocate in a local area for cleaning, it can focus on cleaning local heavily stained areas. In some embodiments, the first drive wheel assembly 2331 is an asymmetric structure, and the first power transmission device can be a vibration connecting rod. The vibration connecting rod drives the first cleaning assembly 210 to vibrate back and forth under the rotation drive of the asymmetric structure.

[0083] In some embodiments, the drive wheel assembly 233 includes a second drive wheel assembly 2332, and the drive assembly 230 also includes a second power transmission device 23321 that cooperates with the second drive wheel assembly 2332. The second drive wheel assembly 2332 is engaged with the second power transmission device 23321 to transmit power to the second cleaning assembly 220. The second cleaning assembly 220 is driven by the second power transmission device 23321 to continuously rotate to clean a portion of the operating surface. Since the second cleaning assembly 220 can continuously rotate in a local area for cleaning, it can focus on cleaning local heavily stained areas. In some embodiments, 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.

[0084] In some embodiments, as shown in Figure 4-3, the second drive wheel assembly 2332 also includes a first drive shaft 23322, extending in a direction approximately perpendicular to the worm 232; a first drive wheel 23323, sleeved on one end of the first drive shaft 23322, configured to engage with the worm 232; a second drive wheel 23324, sleeved on the other end of the first drive shaft 23322, configured to rotate synchronously with the first drive wheel 23323; wherein the outer diameter of the first drive wheel 23323 is larger than the outer diameter of the second drive wheel 23324. In the second driving wheel assembly 2332, the second driving wheel 23324 is driven to rotate by the first driving wheel 23323. On the one hand, the rotation speed of the two can be adjusted by adjusting the number of teeth of the first driving wheel 23323 and the second driving wheel 23324 as needed to control the transmission size of the driving force and the rotation speed of the second cleaning assembly 220. On the other hand, it is also convenient to transmit the driving force to the appropriate position through the cooperation of the first driving wheel 23323, the first driving shaft 23322 and the second driving wheel 23324. Because the space around the worm 232 is limited, under the premise of realizing the synchronous operation of multiple driven components through one worm 232, it is necessary to transmit the driving force to the appropriate position through the cooperation of the first driving wheel 23323, the first driving shaft 23322 and the second driving wheel 23324 to facilitate the normal operation of the second cleaning assembly.

[0085] In some embodiments, as shown in Figures 4-1 and 4-3, the second power transmission device 23321 includes a conversion gear set configured to engage with the drive wheel assembly to change the rotation direction of the drive wheel assembly, for example, the conversion gear set engages with the second drive wheel 23324 to change the rotation direction of the drive wheel assembly.

[0086] In some embodiments, as shown in Figures 4-1 and 4-3, the conversion gear set includes a second drive shaft 23325 extending generally parallel to the worm 232; a third drive wheel 23326 sleeved on one end of the second drive shaft 23325 and configured to mesh with the second drive wheel 23324; and a fourth drive wheel 23327 sleeved on the other end of the second drive shaft 23325 and configured to rotate synchronously with the third drive wheel 23326. The conversion gear set is used to convert the direction of the driving force of the drive wheel assembly, converting vertical drive to horizontal drive, so as to facilitate driving the second cleaning assembly through the power transmission device. In some embodiments, the third drive wheel 23326 and the fourth drive wheel 23327 have the same outer diameter and / or the same number of teeth to allow the drive direction to be changed without changing the driving force and speed. Of course, different outer diameters and / or numbers of teeth can also be configured as needed. In addition, it is also convenient to transmit the driving force to the appropriate position through the cooperation of the third driving wheel 23326, the second driving shaft 23325, and the fourth driving wheel 23327. Because the space around the worm 232 is limited and the second power transmission device 23321 is large in size, on the premise of achieving synchronous operation of multiple driven components through one worm 232, it is necessary to transmit the driving force to the appropriate position through the cooperation of the third driving wheel 23326, the second driving shaft 23325, and the fourth driving wheel 23327 to facilitate the normal operation of the second cleaning component.

[0087] In some embodiments, the second power transmission device 23321 further includes a synchronous belt, one end of which is connected to the conversion gear set and the other end of which is connected to the second cleaning assembly. The use of a synchronous belt can reduce transmission noise and hardware costs. In some embodiments, when the second power transmission device 23321 is a synchronous belt drive, the outer surface of the fourth drive wheel 23327 is non-toothed to facilitate the rotation of the synchronous belt.

[0088] In some embodiments, as shown in Figures 4-1 and 4-3, the power transmission device 23321 further includes a transmission gear set comprising multiple gears, one end of which meshes with the conversion gear set and the other end meshes with the second cleaning assembly. This transmission gear set can improve transmission efficiency, prevent slippage, and eliminate the need for belt replacement. The gear sizes can be adjusted as needed to change the speed of the second cleaning assembly.

[0089] In some embodiments, as shown in Figure 4-3, the second cleaning component 220 includes a third drive shaft 2201, and the extension direction of the third drive shaft 2201 is perpendicular to the direction of force transmission of the power transmission device 23321; a rotating plate 2202 is provided at the end of the third drive shaft 2201, and is configured to rotate under the drive of the third drive shaft 2201. A replaceable mop is usually provided on the rotating plate 2202, and the mop is driven to rotate and mop the floor through the rotation of the rotating plate 2202.

[0090] In some embodiments, as shown in FIG. 4-3 , the second cleaning assembly 220 further includes a water supply line 2204 , which supplies water to the rotating plate 2202 through the water supply assembly to moisten the operating surface.

[0091] In some embodiments, as shown in Figure 4-2, the drive wheel assembly 233 includes a third drive wheel assembly 2333, and the drive assembly 230 also includes a third power transmission device 23331 that cooperates with the third drive wheel assembly 2333. A person skilled in the art can understand that the third power transmission device 23331 can be a gear or a gear set composed of multiple gears. The third drive wheel assembly 2333 is engaged with the third power transmission device 23331 to transmit power to the water pump assembly 250. Under the drive of the third power transmission device 23331, the water pump assembly 250 transports water to the first cleaning assembly 210 and the second cleaning assembly 220.

[0092] In some embodiments, the driving wheel assembly 233 includes a fourth driving wheel assembly, and the fourth driving wheel assembly includes, for example, a clutch assembly 2334. The clutch assembly 2334 is used to directly drive the lifting assembly 240. The lifting assembly 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 The third power transmission device 23331 is meshed and connected with the third power transmission device 23331, and the third power transmission device 23331 provides a reverse driving force. Since the clutch assembly 2334 is meshed with the third power transmission device 23331 in the reverse direction, it can provide driving force. The third power transmission device 23331 drives the cable gear 241 to rotate through the clutch assembly 2334. The cable gear 241 rotates while pulling the support platform 290 through the cable 242. The support platform 290 raises the first cleaning assembly 210 and the second cleaning assembly 220 under the pull of the cable 242. When the motor 231 rotates in the forward direction, the third power transmission device 23331 provides a forward driving force. The clutch assembly 2334 is not meshed with the forward rotation of the third power transmission device 23331, and no driving force is provided. The cable gear 241 cannot pull the support platform 290 through the cable 242.

[0093] As described above, when the motor 231 rotates forward, the drive assembly 230 drives the first cleaning assembly 210 to vibrate and clean through the first drive wheel assembly 2331 and the first power transmission device, drives the second cleaning assembly 220 to rotate and clean through the second drive wheel assembly 2332 and the second power transmission device 23321, and drives the water pump assembly 250 to supply water through the third drive wheel assembly 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 cleaning assembly 210 and the second cleaning assembly 220. This application realizes the control of four motion modules by one motor. The motor rotates forward, drives the vibration of the vibrating part and the rotation of the rotating part, and at the same time realizes water supply for cleaning. The motor reverses to drive the lifting assembly to rise and fall. This application makes the drive structure reusable, the entire drive structure is more compact, simplifies the number of motors, reduces energy consumption and noise, and improves user experience.

[0094] In some embodiments, as shown in Figures 5-6, the water pump assembly 250 includes a connection portion 257 connected to the third power transmission device 23331, so that the water pump assembly 250 rotates under the power of the third power transmission device 23331, such as peristalsis, to achieve the water pumping effect. Specifically, the water pump assembly 250 includes a housing 254, and the top of the housing 254 has a first slot 2541 and a second slot 2542. The first slot 2541 is used to dispose the water inlet assembly 255, and the second slot 2542 is used to dispose the water outlet assembly 256. The water inlet assembly 255 is connected to the clean water tank via an inlet pipe 2551, and the water outlet assembly 256 is connected to the first cleaning assembly 210 and the second cleaning assembly 220 via multiple outlet pipes 2561. The water pump assembly can be a gear pump, a vane pump, a plunger pump, a peristaltic pump, etc.

[0095] In some embodiments, the water inlet assembly 255 further includes a water diverter 2552, which extends from the first slot 2541 out of the housing 254 to facilitate connection with the water inlet pipe 2551. The water diverter 2552 includes a water diverter inlet and first, second, and third water diverter outlets arranged sequentially along the water flow direction. The first, second, and third water diverter outlets are respectively connected to the first, second, and third water diverter outlets of the first pump pipe 2512, the second, and third water diverter outlets of the second pump pipe 2522, 2532. The water inlet assembly 255 further includes a water inlet plate 2553, which has through holes for connecting the first, second, and third water diverter outlets to the first, second, and third water diverter outlets of the first pump pipe 2512, the second, and third water diverter outlets of the second pump pipe 2522, 2532. The water inlet plate 2553 is shielded from the inside of the first slot 2541 to prevent dust from entering the water pump assembly 250. In addition, since the water inlet assembly and the first rotating part 2511, the second rotating part 2521 and the third rotating part 2531 are relatively independently arranged, replacement or maintenance is convenient.

[0096] In some embodiments, the water outlet assembly 256 further includes a water outlet plate 2562. The water outlet plate 2562 is provided with through holes for connecting the first water pump pipe 2512, the second water pump pipe 2522, the third water pump pipe 2532, and the plurality of water outlet pipes 2561. The water outlet plate 2562 is shielded inside the second slot 2542 to prevent dust from entering the water pump assembly 250. In addition, because the water outlet assembly 256 and the first rotating portion 2511, the second rotating portion 2521, and the third rotating portion 2531 are relatively independent, replacement or maintenance is facilitated.

[0097] In some embodiments, as shown in FIG6 , the water pumping assembly 250 includes a first water pumping structure 251, a second water pumping structure 252, and a third water pumping structure 253, which are sequentially arranged in a direction away from the driving assembly 230. The first water pumping structure 251, the second water pumping structure 252, and the third water pumping structure 253 are connected in series via a rotating shaft and rotate synchronously. The first water pumping structure 251, the second water pumping structure 252, and the third water pumping structure 253 respectively pump water out of the multiple water outlets and distribute it to the first cleaning assembly 210 and the second cleaning assembly 220. For example, water can be distributed through a water outlet device provided on the first cleaning assembly 210 and the second cleaning assembly 220. The water outlet device can be a nozzle, a drip hole, an immersion cloth, etc., to evenly distribute water on the cleaning head, thereby wetting the cleaning head and the surface to be cleaned. After wetting, stains on the surface to be cleaned can be more easily cleaned.

[0098] In some embodiments, as shown in FIG6 , the first water pumping structure 251 includes a first rotating portion 2511 and a first water pumping pipe 2512. The first rotating portion 2511 squeezes the first water pumping pipe 2512 to pump water. In some embodiments, the first rotating portion 2511 includes a first turntable and an extrusion portion extending perpendicular to the turntable surface provided on the first turntable. For example, the extrusion portion is 3-5 extrusion columns evenly distributed at intervals. As the first turntable rotates, the multiple extrusion columns successively squeeze the water pipe to achieve peristaltic water discharge. When the water pipe is squeezed, the water path is cut off and stops. When water comes out and the water pipe is not squeezed, the water channel is unblocked and water starts to flow out; the second water pumping structure 252 includes a second rotating part 2521 and a second water pumping pipe 2522, and the second rotating part 2521 squeezes the second water pumping pipe 2522 to pump water. The squeezing structure and principle are the same as the first water pumping structure and will not be repeated; the third water pumping structure 253 includes a third rotating part 3531 and a third water pumping pipe 2532, and the third rotating part 2531 squeezes the first water pumping pipe 2532 to pump water. The squeezing structure and principle are the same as the first water pumping structure and will not be repeated.

[0099] In some embodiments, the first rotating part 2511, the second rotating part 2521 and the third rotating part 2531 rotate synchronously on the same axis, and the extrusion parts on the first rotating part 2511, the second rotating part 2521 and the third rotating part 2531 are correspondingly arranged. When the first rotating part 2511, the second rotating part 2521 and the third rotating part 2531 are rotated to the extrusion position, the first pump water pipe 2512, the second pump water pipe 2522 and the third pump water pipe 2532 can be extruded synchronously, thereby achieving simultaneous water discharge and simultaneous stopping of water discharge, so that a cleaning component 210 and the second cleaning component 220 can be supplied with water at the same time during cleaning, ensuring the uniformity of water supply. In some embodiments, the extrusion parts can be staggered to control the first rotating part 2511, the second rotating part 2521 and the third rotating part 2531 to rotate synchronously, but to asynchronously squeeze the first pump pipe 2512, the second pump pipe 2522 and the third pump pipe 2532, thereby controlling the asynchronous water discharge from different water outlets. Compared with the above-mentioned synchronous water discharge method, it is not necessary to distribute the water volume to three outlets each time water is discharged, so as to increase the water volume supplied by a single water outlet, that is, the water output can be increased without increasing the power of the driving component.

[0100] In some embodiments, the third water pumping structure is configured to pump water to the second cleaning assembly, and the first and second water pumping structures are configured to pump water to the first cleaning assembly 210. In some embodiments, the rotation radius of the third rotating portion 2531 is smaller than the rotation radius of the first rotating portion 2511 and the second rotating portion 2521. In some embodiments, the diameter of the third water pumping pipe 2532 is smaller than the diameters of the first water pumping pipe 2512 and the second water pumping pipe 2522 to control the amount of water output. For example, if the area of ​​the first cleaning assembly 210 is large, the diameters of the first water pumping pipe 2512 and the second water pumping pipe 2522 can be increased to increase the water output. If the area of ​​the second cleaning assembly 220 is small, the diameter of the third water pumping pipe 2532 can be reduced to reduce the water output. The diameter of the third water pumping pipe 2532 is positively correlated with the area of ​​the second cleaning assembly 220.

[0101] The sweeping and mopping all-in-one cleaning device provided by the present disclosure includes a first cleaning component and a second cleaning component. The first cleaning component reciprocates to clean at least a portion of the operating surface, and the second cleaning component rotates continuously to clean at least a portion of the operating surface. The second cleaning component is arranged at an edge position of the projection surface of the mobile platform, and the cleaning surfaces of the second cleaning component and the first cleaning component in contact with the operating surface are approximately in the same horizontal plane. By setting the second cleaning component, the cleaning effect of the cleaning module on the corners of the area to be cleaned is enhanced.

[0102] 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.

[0103] 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, comprising: A mobile platform configured to move autonomously on an operation surface; And A cleaning module disposed at the bottom of the mobile platform and configured to clean at least part of the operation surface by a wet cleaning method. The cleaning module includes: A driving component for outputting a driving force in a first working mode; and A cleaning component including a first cleaning component and a second cleaning component. The first cleaning component and the second cleaning component are connected to the driving component through a first power transmission device and a second power transmission device. The first cleaning component is configured to reciprocate to clean at least part of the operation surface in the first working mode of the driving component, and the second cleaning component is configured to rotate continuously to clean at least part of the operation surface in the first working mode of the driving component; Wherein, at least part of the second cleaning component extends beyond the area occupied by the mobile platform on the operation surface, and the cleaning surface of the first cleaning component in contact with the operation surface and the cleaning surface of the second cleaning component in contact with the operation surface are substantially at the same horizontal height.

2. The cleaning device according to claim 1, wherein The driving component includes: A motor configured to rotate forward in a first working mode to output a forward driving force; A worm that rotates forward under the forward driving force of the motor; A driving wheel assembly meshing with the worm and driving the first cleaning component and the second cleaning component to work synchronously in the first working mode under the drive of the forward rotation of the worm.

3. The cleaning device according to claim 2, wherein, The driving component further includes: A power transmission device meshing with the driving wheel assembly and configured to transmit power to the second cleaning component.

4. The cleaning device according to claim 2, wherein, The driving wheel assembly further includes: A first driving shaft; A first driving wheel sleeved on one end of the first driving shaft and configured to mesh with the worm; A second driving wheel sleeved on the other end of the first driving shaft and configured to rotate synchronously with the first driving wheel; Wherein, the outer diameter of the first driving wheel is larger than the outer diameter of the second driving wheel.

5. The cleaning device according to claim 2, wherein, The power transmission device includes a conversion gear set configured to mesh with the driving wheel assembly to change the rotation direction of the driving wheel assembly.

6. The cleaning device according to claim 5, wherein, The power transmission device further includes: A synchronous belt, with its first end connected to the conversion gear set and its second end connected to the second cleaning component.

7. The cleaning device according to claim 5, wherein, The conversion gear set includes: A second driving shaft; A third driving wheel sleeved on one end of the second driving shaft and configured to mesh with the driving wheel assembly; A fourth driving wheel sleeved on the other end of the second driving shaft and configured to rotate synchronously with the third driving wheel.

8. The cleaning device according to claim 5, wherein The power transmission device further includes: A transmission gear set including a plurality of gears, with its first end meshing with the conversion gear set and its second end meshing with the second cleaning component.

9. The cleaning device according to claim 3, wherein, The second cleaning component includes: A third driving shaft whose extending direction is perpendicular to the direction of the force transmitted by the power transmission device; A rotating piece disposed at the end of the third driving shaft and configured to rotate under the drive of the third driving shaft.

10. The cleaning device according to claim 9, wherein, The second cleaning component further includes: A water supply pipeline configured to supply water to the rotating piece.

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