Cleaning device, control method for cleaning robot, and storage medium and control apparatus

Abstract

A cleaning device, a control method for a cleaning robot, and a storage medium and a control apparatus. The cleaning device comprises a body assembly (10) and a cleaning assembly (20). The cleaning assembly (20) comprises a cleaning member (21) and a frame (22), wherein the cleaning member (21) is rotationally arranged on the frame (22); and the frame (22) is arranged on the body assembly (10) and can move relative to the body assembly (10) between a first position and a second position, the second position and the first position having at least a displacement difference in a first direction (R), and the first direction (R) being parallel to the axis of rotation of the cleaning member (21). When the cleaning device operates on a support surface, the cleaning member (21) rotates around its own axis, and driven by the frame (22), the cleaning member (21) switches between the first position and the second position, such that a cleaning area on the support surface can be changed; and the position of the cleaning member (21) is adjusted on the basis of a current scenario where the cleaning device is located, thereby reducing cleaning blind spots.

Description

A cleaning device and a control method, storage medium, and control device for a cleaning robot

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application is based on Chinese patent application No. 202410372495.4, filed on March 29, 2024, Chinese patent application No. 202410378045.6, filed on March 29, 2024, Chinese patent application No. 202420638228.2, filed on March 29, 2024, Chinese patent application No. 202420643238.5, filed on March 29, 2024, and Chinese patent application No. 202420644587.9, filed on March 29, 2024, and claims the priority of the above five Chinese patent applications. The entire contents of the above five Chinese patent applications are hereby incorporated into this application by reference. Technical Field

[0003] The present application relates to the field of cleaning, and in particular to a cleaning device and a control method, storage medium, and control device for a cleaning robot. Background Art

[0004] Cleaning equipment is mainly used to clean supporting surfaces such as the ground, which helps reduce labor intensity. However, during the operation of the cleaning equipment, the roller has difficulty cleaning the area near the side wall, resulting in a blind spot. Summary of the Invention

[0005] In view of this, the embodiments of the present application hope to provide a control method, storage medium, and control device for a cleaning device and a cleaning robot, which are helpful in reducing areas that are difficult to clean during the working process.

[0006] The present invention provides a cleaning device, comprising:

[0007] fuselage components; and

[0008] A cleaning assembly comprising a cleaning member and a frame, wherein the cleaning member is rotatably connected to the frame, and the frame is disposed on the body assembly and is movable relative to the body assembly between a first position and a second position;

[0009] The second position and the first position have at least a displacement difference along a first direction, and the first direction is parallel to the rotation axis of the cleaning member.

[0010] In some embodiments, the frame linearly reciprocates along the first direction between the first position and the second position, and the axis of the cleaning member in the first position and the axis in the second position are arranged along the same straight line.

[0011] In some embodiments, in a plane projection perpendicular to the height direction of the cleaning device, the projection outline of the cleaning member when in the first position does not exceed the projection outline of the fuselage assembly; a portion of the projection outline of the cleaning member when in the second position extends beyond the projection outline of the first side of the fuselage assembly along the first direction.

[0012] In some embodiments, in a plane projection perpendicular to the height direction of the cleaning device, a portion of the projection outline of the cleaning member in the second position exceeds a reference line or is flush with the reference line;

[0013] The reference line is a moving trajectory of the edge of the first side of the body component along the first direction when the cleaning device moves.

[0014] In some embodiments, the first direction is perpendicular to the moving direction of the fuselage component; or,

[0015] The first direction forms an angle with a direction perpendicular to the moving direction of the fuselage assembly.

[0016] In some embodiments, the cleaning device further includes a driving assembly, disposed on the body assembly, for driving the frame to move linearly along the first direction.

[0017] In some embodiments, the driving assembly includes a power source and a moving portion, wherein the power source is used to drive the moving portion to move along the first direction;

[0018] The driving assembly further includes an elastic member that applies an elastic force to the frame, wherein the elastic force has at least a component toward a first side of the first direction, so that the frame can be detachably pressed against the moving part, and the frame can be moved along a second side of the first direction and separated from the moving part under the action of an external force.

[0019] In some embodiments, the power source has a rotating shaft, and the driving assembly further includes a reversing portion, which connects the power source and the moving portion and is used to convert the rotation of the rotating shaft into linear movement of the moving portion along the first direction.

[0020] In some embodiments, the reversing portion includes a lead screw connected to the rotating shaft, and the moving portion includes a nut that cooperates with the lead screw, and the nut is sleeved on the outer circumference of the lead screw.

[0021] In some embodiments, the body assembly includes a bracket and a main body, the frame is arranged on the bottom side of the bracket, the driving assembly is arranged on the top side of the frame, the bracket has an avoidance groove, the moving part includes a first stop part connected to the nut, and the frame has a second stop part. The first stop part and / or the second stop part are passed through the avoidance groove, and under the action of the elastic member, the second stop part and the first stop part are detachably abutted along the first direction.

[0022] In some embodiments, the elastic member includes a tension spring, one end of which is connected to the body assembly, and the other end of which is connected to the frame.

[0023] In some embodiments, the body assembly includes a bracket and a main body, the bracket is detachably connected to the main body, and the cleaning assembly and the driving assembly are respectively connected to the bracket to form a pre-assembled whole.

[0024] In some embodiments, the frame can move along a first direction, and the cleaning device further includes a driving assembly, the driving assembly including a motor, a gear transmission mechanism and a rack, the rack extends along the first direction and is arranged on the frame, and the power output shaft of the motor drives the rack to move along the first direction through the gear transmission mechanism.

[0025] In some embodiments, the gear transmission mechanism includes at least one transmission gear, the axis of the power output shaft of the motor is perpendicular to the first direction, and the axis of the transmission gear is parallel to the axis of the power output shaft.

[0026] In some embodiments, the rack is fixed to one side of the frame along a second direction, and the motor and the rack are located on the same side of the frame along the second direction, wherein the second direction is perpendicular to the first direction.

[0027] In some embodiments, the body assembly includes a bracket and a main body, the bracket is arranged on the main body, the cleaning assembly is arranged below the bracket, and the motor is installed on the main body.

[0028] In some embodiments, the rack faces upward, and the gear transmission mechanism is located above the rack.

[0029] In some embodiments, the cleaning device is a cleaning robot, which further includes a control device and a driving wheel. The driving wheel is rotatably disposed on the body assembly, and the control device is used to control the rotation of the driving wheel to move the cleaning robot.

[0030] In some embodiments, the cleaning member includes a supporting device and a cleaning belt, and the cleaning belt surrounds the supporting device.

[0031] In some embodiments, the cleaning member includes a roller, and the roller is rotatably disposed on the frame;

[0032] The cleaning component also includes a drum motor and a transmission member, which are both arranged in the drum. The drum motor is connected to the frame, and the transmission member is connected to the drum. The power output shaft of the drum motor is connected to the transmission member to drive the cleaning member to roll.

[0033] In some embodiments, the fuselage assembly includes a bracket and a main body, the frame is disposed on a bottom side of the bracket, and the bracket has a first stop structure;

[0034] The frame is hung on the bracket and can move relative to the bracket along a first direction; the frame has a second stop structure, and the first stop structure is located above the second stop structure for stop cooperation with the second stop structure.

[0035] In some embodiments, the bracket includes a plate body, a portion of the plate body protrudes upward and defines a first protrusion, the first protrusion extends along the first direction, and a groove is formed on the bottom side of the first protrusion, the top of the first protrusion defines the first stop structure, the frame partially protrudes upward and defines a second protrusion, the top of the second protrusion defines the second stop structure, and the second protrusion extends into the groove.

[0036] In some embodiments, the cleaning device includes at least one intermediate member, which is arranged on the first stop structure and / or the second stop structure, and is at least partially located between the first stop structure and the second stop structure along the height direction to separate the first stop structure and the second stop structure; the intermediate member is used to reduce the resistance to relative movement between the frame and the bracket.

[0037] In some embodiments, the intermediate member is disposed on the first stopping structure.

[0038] In some embodiments, there are multiple intermediate components, and at least some of the intermediate components are arranged at intervals along the first direction.

[0039] In some embodiments, the intermediate member is a rolling member, so that the first stop structure and the second stop structure are rollingly engaged through the intermediate member.

[0040] In some embodiments, the rolling element includes a roller or a bearing, and the axis of the rolling element is perpendicular to the first direction.

[0041] In some embodiments, the first stop structure has a mounting groove, and the rolling element is rotatably accommodated in the mounting groove.

[0042] In some embodiments, the bracket includes a slide groove extending along the first direction, and the frame includes a hanging portion, which is passed through the slide groove and connected to the frame, and the hanging portion is hung on the surrounding structure of the bracket located on the top side of the slide groove.

[0043] In some embodiments, there are at least two slide grooves, which are spaced apart along the second direction. The first stop structure is located between two adjacent slide grooves. The second direction is perpendicular to the first direction and to the height direction.

[0044] In some embodiments, the body assembly includes a main body and a bracket floating along the height direction of the body assembly, and the cleaning assembly is disposed on the bracket.

[0045] In some embodiments, the fuselage assembly is provided with a swing frame that can rotate relative to the fuselage assembly, and the bracket is connected to the swing frame and can float through the swing of the swing frame.

[0046] In some embodiments, the swing frame includes a plurality of swing rods rotatably connected to the fuselage assembly and parallel to each other, the extension direction of the rotation axis between the swing rod and the fuselage assembly is perpendicular to the movement direction and height direction of the fuselage assembly, and the bracket is connected to one end of all the swing rods away from the fuselage assembly.

[0047] In some embodiments, there are at least two groups of swing arms distributed side by side, and each group of swing arms has at least two swing arms arranged along the height direction of the device body. All the swing arms are rotatably connected to the bracket, and the extension direction of the rotation axis between the swing arm and the bracket is perpendicular to the movement direction and height direction of the fuselage assembly.

[0048] In some embodiments, the cleaning device further includes a lifting mechanism disposed on the body assembly, wherein the lifting mechanism is connected to the bracket to control the lifting of the bracket.

[0049] In some embodiments, the lifting mechanism includes:

[0050] a traction member, one end of which is connected to the bracket;

[0051] a second driving member, provided on the body assembly and connected to the other end of the traction member, the second driving member controlling the lifting and lowering of the bracket via the traction member;

[0052] Wherein, one end of the traction member close to the bracket can float along with the bracket.

[0053] In some embodiments, the traction member is configured as a pull rope, the second driving member includes a cable drum and a traction motor, the traction motor is connected to the cable drum to control the rotation of the cable drum, and the end of the pull rope away from the bracket is connected to and wrapped around the cable drum.

[0054] The present application also provides a control method for a cleaning robot, the cleaning robot comprising a body assembly, a drive assembly, and a cleaning assembly, the cleaning assembly comprising a frame and a cleaning member rotatably disposed on the frame, the drive assembly being configured to drive the cleaning assembly to move along the axial direction of the cleaning member; the control method comprising:

[0055] If it is determined that the cleaning robot receives an edge-following instruction or executes an edge-following mode, controlling the driving component to execute a first working state, so as to drive the cleaning component to move axially to a first position through the driving component;

[0056] Wherein, in the first position, one axial end of the cleaning component extends axially out of the circumferential side of the body component.

[0057] In some embodiments, the control method includes:

[0058] If it is determined that the cleaning robot meets the reset condition, controlling the driving component to execute the second working state, so as to drive the cleaning component to switch from the first position to the second position through the driving component;

[0059] Wherein, in the second position, any end of the cleaning component along the axial direction does not exceed the outer periphery of the fuselage component.

[0060] In some embodiments, determining that the cleaning robot meets the reset condition includes:

[0061] If it is determined that the cleaning robot receives a reset instruction or exits the edge mode, it is determined that the cleaning robot meets the reset condition.

[0062] In some embodiments, determining that the cleaning robot meets the reset condition includes:

[0063] If collision information indicating that the cleaning component has been collided with an external object is obtained, it is determined that the cleaning robot meets a reset condition.

[0064] In some embodiments, determining that the cleaning robot meets the reset condition includes:

[0065] The distance between an end of the cleaning component extending from the peripheral side of the body component and an object in the environment is obtained. If the distance is less than a preset value, it is determined that the cleaning robot meets a reset condition.

[0066] An embodiment of the present application provides a storage medium, in which a computer program is stored. When the computer program is executed by a processor, the steps of the control method described in any embodiment of the present application are implemented.

[0067] An embodiment of the present application provides a control device, characterized in that it includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor is configured to execute the steps of the control method described in any embodiment of the present application when running the computer program.

[0068] The cleaning device provided in the embodiment of the present application can switch the cleaning element between a first position and a second position under the drive of the frame, thereby changing the cleaning area of ​​the support surface and adjusting the position of the cleaning element according to the current scene of the cleaning device, thereby reducing cleaning blind spots.

[0069] Illustratively, when the rack is in the first position, the distance between the axial first end of the cleaning element and the side wall is greater than the distance between the axial first end of the cleaning element and the side wall when the rack is in the second position. Therefore, when it is necessary to clean the floor near the side wall, the rack can be placed in the second position so that the cleaning element is as close to the side wall as possible to reduce the cleaning blind spot of the floor near the side wall. BRIEF DESCRIPTION OF THE DRAWINGS

[0070] FIG1 is a schematic top view of a cleaning device according to an embodiment of the present application, wherein the frame is in a first position and the dot-dashed line represents a reference line;

[0071] FIG2 is a schematic top view of the frame of the cleaning device in FIG1 when it is in a second position, and the dot-dashed line represents a reference line;

[0072] FIG3 is a partial schematic diagram of a cleaning device according to an embodiment of the present application, with the frame in a first position;

[0073] FIG4 is a partial schematic diagram of the frame of the cleaning device in FIG3 in a second position;

[0074] FIG5 is a cross-sectional view of a certain section of the structure in FIG3;

[0075] FIG6 is a cross-sectional view of another cross section of the structure in FIG3 ;

[0076] FIG7 is an enlarged schematic diagram of the structure at point A in FIG6 ;

[0077] FIG8 is an exploded schematic diagram of the structure in FIG7 ;

[0078] FIG9 is a cross-sectional view of the structure in FIG6 at position PP;

[0079] FIG10 is a schematic cross-sectional view of the structure at point PP in FIG5 , with the frame in the first position;

[0080] FIG11 is an enlarged schematic diagram of point B in FIG10 ;

[0081] FIG12 is a schematic cross-sectional view of the structure in FIG5 at a position PP when the frame is in a second position;

[0082] FIG13 is a schematic structural diagram of a cleaning member according to an embodiment of the present application;

[0083] FIG14 is a schematic diagram of the distance between a cleaning component and an obstacle according to an embodiment of the present application;

[0084] FIG15 is an enlarged schematic diagram of the structure M in FIG3 at another viewing angle;

[0085] FIG16 is a schematic diagram of a partial structure of a cleaning device according to another embodiment of the present application, wherein the frame is in a first position;

[0086] FIG17 is a schematic structural diagram of the frame of the structure in FIG16 when it is in the second position;

[0087] FIG18 is a cross-sectional view of a certain section of the structure in FIG16;

[0088] FIG19 is a schematic structural diagram of a rack and pinion transmission mechanism in one embodiment of the present application;

[0089] FIG20 is a perspective view of a cleaning device according to an embodiment of the present application;

[0090] FIG21 is a schematic diagram of the cleaning assembly in FIG20 in another position;

[0091] FIG22 is a schematic diagram of the connection between the mounting base and the bracket;

[0092] FIG23 is a schematic diagram of the mounting base in FIG22 in another position;

[0093] Figure 24 is a schematic diagram of the installation of the drive mechanism;

[0094] FIG25 is a partial cross-sectional view of an embodiment of the present application;

[0095] FIG26 is a block diagram of a control method for a cleaning robot according to the first embodiment of the present application;

[0096] FIG27 is a block diagram of a control method for a cleaning robot according to a second embodiment of the present application;

[0097] FIG28 is a block diagram of a control method for a cleaning robot according to a third embodiment of the present application. DETAILED DESCRIPTION

[0098] The following embodiments of the present invention are described in further detail with reference to the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0099] In the description of the embodiments of the present application, it should be noted that the terms "upper," "lower," "front," "back," "top," "bottom," "inner," "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended only to facilitate the description of the embodiments of the present application and to simplify the description. They do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be construed as limiting the embodiments of the present application. In addition, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0100] In the description of the embodiments of this application, it should be noted that, unless otherwise specified or limited, the terms "connected" and "connection" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium. Those skilled in the art will understand the specific meanings of the above terms in the embodiments of this application based on the specific circumstances.

[0101] In the embodiments of the present application, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, a first feature being "above," "above," and "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0102] In the description of this specification, reference to the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example.

[0103] With the advancement of technology, smart home appliances have also developed rapidly. For example, cleaning devices such as sweeping robots can help people clean the floor, greatly reducing the labor intensity and time of cleaning. In related technologies, cleaning devices are equipped with a cleaning component such as a roller at the bottom of the device body. When the cleaning device moves, it drives the cleaning component to move, thereby cleaning the floor.

[0104] In the related art, a cleaning device moves on a supporting surface, such as a floor, and has a corresponding driving mechanism that drives a roller to rotate around a fixed axis so that the roller cleans the supporting surface. That is, relative to the body assembly, the roller can only rotate and cannot move horizontally. When the cleaning device moves against the side wall to clean the floor, the body assembly is close to the wall. Due to the small size of the cleaning assembly, the outer wall of the device body is generally located outside the cleaning assembly in the height direction of the device body. Therefore, when cleaning the corner area of ​​the floor, even if the cleaning device moves the outer wall of the device body to abut the wall of the corner area, there is still a certain distance between the cleaning assembly and the wall of the corner area. Since the roller cannot move horizontally relative to the body assembly, the body assembly close to the wall will make it difficult for the roller to clean the floor near the side wall to a certain extent, resulting in a cleaning blind spot.

[0105] In view of this, an embodiment of the present application provides a cleaning device, please refer to Figures 3, 4 and 5, the cleaning device includes a body component 10 and a cleaning component 20, the cleaning component 20 includes a cleaning member 21 and a frame 22, and the cleaning member 21 is rotatably arranged on the frame 22.

[0106] In other words, the frame 22 provides mounting support and mounting space for the cleaning member 21, and the cleaning member 21 can rotate about its own axis. The cleaning member 21 is used to contact the support surface on which the cleaning device is located, such as the floor, and can perform a cleaning effect during the rotation process. The support surface is also the surface to be cleaned.

[0107] The form of the cleaning member 21 is not limited. For example, in some embodiments, the cleaning member 21 includes a roller and a plurality of clusters of bristles. The bristles are arranged on the circumferential outer surface of the roller to clean the supporting surface.

[0108] In some embodiments where the cleaning member 21 is cylindrical, see Figures 5 and 6 . The cleaning assembly 20 includes a roller 25, which is rotatably mounted on the frame 22. The cleaning assembly 20 also includes a roller motor 23 and a transmission member 24. Both the roller motor 23 and the transmission member 24 are disposed within the roller 25. The roller motor 23 is connected to the frame 22, and the transmission member 24 is connected to the roller 25. The power output shaft of the roller motor 23 is connected to the transmission member 24 to drive the cleaning member 21 to rotate.

[0109] The drum motor 23 can be fixed to the frame 22 through its base and other components, and output power to the transmission member 24. The drum 25 rolls under the drive of the transmission member 24. In this way, the axial length of the drum 25 can be increased, so that the cleaning member 21 has a larger single cleaning area, and the internal space of the cleaning member 21 is effectively utilized, making the structure of the cleaning component 20 more compact.

[0110] In some embodiments, referring to FIG5 , the cleaning member 21 includes a support device 211 and a cleaning belt 212, which surrounds the support device 211. The cleaning belt 212 can function as a mop. For example, the cleaning belt 212 has fluff or is made of soft fabric.

[0111] The support device 211 can be configured in any manner. For example, in one embodiment, as shown in FIG13 , the support device 211 is provided with a first roller 2111 and a second roller 2112. The cleaning belt 212 is tensioned around the support device 211 and contacts the first roller 2111 and the second roller 2112, resulting in the cleaning member 21 having a "crawler-type structure." The cleaning belt 212 is rotated by the first roller 2111, and the axis of the first roller 2111 is the axis of the cleaning member 21 (shown as a dotted line).

[0112] In another embodiment, referring to FIG. 5 , the support device 211 is cylindrical, and the cleaning belt 212 is disposed around the support device 211 . The cleaning belt 212 rotates under the rotation of the support device 211 , and the axis of the support device 211 is the axis of the cleaning member 21 .

[0113] In some embodiments where the support device 211 is cylindrical, as shown in FIG5 , the frame 22 has a receiving chamber 22a, and the cleaning member 21 is rotatably disposed in the receiving chamber 22a. Specifically, the receiving chamber 22a has a generally arc-shaped cross-section, and the bottom of the receiving chamber 22a is open, with a portion of the cleaning member 21 extending from the open bottom of the receiving chamber 22a.

[0114] 1 and 2 , the frame 22 is connected to the body assembly 10 and is movable relative to the body assembly 10 between a first position and a second position.

[0115] It should be noted that when the frame 22 moves relative to the body assembly 10 , the frame 22 drives the cleaning member 21 to move relative to the body assembly 10 .

[0116] 1 and 2 , the first direction R is parallel to the rotational axis of the cleaning member 21, and the second position and the first position have at least a displacement difference along the first direction R. For example, in an embodiment in which the cleaning member 21 is cylindrical, the rotational axis of the cleaning member 21 is the rotational axis of the roller 25; in an embodiment in which the cleaning member 21 is a "crawler-type" structure, the rotational axis of the cleaning member 21 can be the rotational axis of either the first roller 2111 or the second roller 2112.

[0117] The above “at least having a displacement difference” means that the projection of the line connecting the first position and the second position on a straight line along the first direction R is not zero.

[0118] Driven by the frame 22, the cleaning member 21 switches between the first position and the second position, which can change the cleaning area of ​​the support surface. The position of the cleaning member 21 is adjusted according to the current scene of the cleaning equipment, thereby reducing the cleaning blind area.

[0119] For example, the frame 22 shown in FIG1 is in the first position, and the frame 22 shown in FIG2 is in the second position. The distance between the axial first end of the cleaning member 21 and the side wall 70 in FIG1 is greater than the distance between the axial first end of the cleaning member 21 and the side wall 70 in FIG2. Therefore, when it is necessary to clean the floor near the side wall 70, the frame 22 can be placed in the second position so that the cleaning member 21 is as close to the side wall 70 as possible, thereby reducing the blind spot on the floor near the side wall 70.

[0120] It should be noted that the cleaning device is not limited to any form. For example, in one embodiment, the cleaning device includes a handle disposed on a body assembly. A user grasps the handle and pushes the body assembly to move. During the movement of the body assembly, the cleaning assembly cleans the supporting surface. In this embodiment, the cleaning device can be a mop or vacuum cleaner, etc.

[0121] In another embodiment, please refer to Figure 1, the cleaning device is a cleaning robot, which also includes a control module (not shown) and a driving wheel 40. The driving wheel 40 is rotatably arranged on the body component 10, and the control module is used to control the rotation of the driving wheel 40 to move the cleaning robot.

[0122] In this embodiment, the cleaning device can be a household robot such as a sweeping robot, a sweeping and mopping robot, etc., which obtains ground information through the sensors configured therein. The control device judges and implements actions such as obstacle avoidance, turning or emergency stop based on the information obtained, thereby realizing automatic movement and cleaning on the ground, reducing the labor burden of the user.

[0123] For example, in some embodiments where the cleaning device is a cleaning robot, as shown in FIG1 , the body assembly 10 further includes a roller brush 50 disposed between the two drive wheels 40 for sweeping and collecting debris and the like from the floor. A cleaning element 21 is disposed behind the roller brush 50 in its direction of movement and is used to remove traces of dirt and stains from the floor, as well as to clean the surface of the floor after the roller brush 50 has swept.

[0124] When the frame 22 moves relative to the body assembly 10 between the first position and the second position, its movement path is not limited and can be an arc, a straight line or an irregular curve.

[0125] In some embodiments, the frame 22 linearly reciprocates along the first direction R between the first position and the second position, and the axis of the cleaning member 21 in the first position and the axis in the second position are arranged along the same straight line.

[0126] That is, the frame 22 can move linearly relative to the body assembly 10 along a shorter route in the first direction R. This facilitates rapid switching between the first position and the second position of the frame 22. In addition, the transmission mechanism for linear motion is also simpler to implement.

[0127] In some embodiments, referring to FIG. 1 , in a projection perpendicular to a height direction T of the cleaning device, a projection outline of the cleaning member 21 in the first position does not exceed a projection outline of the body assembly 10 .

[0128] The projection perpendicular to the height direction T is the projection relationship applied to the cleaning device based on the normal of the support surface on which the cleaning device is located. This projection may also be referred to as a top-down projection or a bottom-up projection. The above-mentioned "not exceeding" includes the projected outline of the cleaning element 21 being contained within the projected outline of the fuselage assembly 10, or the projected outline of the cleaning element 21 at least partially overlapping with the projected outline of the fuselage assembly 10.

[0129] When the cleaning element 21 is in the first position, the structure of the body assembly 10 obscures the cleaning element 21 from a top-down perspective. As the cleaning device moves across a support surface, any obstacles it may encounter, such as table legs or walls, will first come into contact with the body assembly 10. In other words, along the direction of movement of the cleaning device, part of the structure of the body assembly 10 obstructs the cleaning element 21, maintaining a distance between the cleaning element 21 and obstacles. In other words, the body assembly 10 provides collision protection for the cleaning element 21.

[0130] Please refer to FIG. 2 . When the cleaning member 21 is in the second position, a portion of its projection outline extends beyond the projection outline of the first side Ra of the body assembly 10 along the first direction R.

[0131] The first side Ra is a side pointing along the first direction R, and the second side Rb is opposite to the first side Ra. The relative positions of the first side Ra and the second side Rb are not limited, and the figures are only for reference to facilitate understanding of this solution.

[0132] When the cleaning member 21 is in the second position, from the perspective of the top projection, the cleaning member 21 partially extends out of the fuselage assembly 10, that is, the fuselage assembly 10 releases the obstruction for the extended portion of the cleaning member 21. Accordingly, when the fuselage assembly 10 approaches an obstacle, the cleaning member 21 can also approach the obstacle and clean the supporting surface area around the obstacle, thereby reducing the cleaning blind spot.

[0133] In some embodiments, in a top projection of the cleaning device, a portion of the projection outline of the cleaning member 21 in the second position exceeds the reference line or is flush with the reference line.

[0134] The reference line is a moving trajectory of the edge of the first side Ra of the body assembly 10 along the first direction R when the cleaning device moves.

[0135] When the cleaning device is in operation, the body assembly 10 moves on the support surface. A reference line is formed along the path corresponding to the maximum dimension of the first side Ra of the body assembly 10. The cleaning element 21 moves accordingly, cleaning the contacted area. When the cleaning element 21 is in the second position, the cleaning area extends along the path of the reference line, thereby cleaning the area surrounding the reference line. The shape of the reference line is determined by the movement path of the cleaning device, which is affected by obstacles on the support surface.

[0136] Referring to Figures 1 and 2, in some embodiments, the first direction R is perpendicular to the moving direction of the body assembly 10. In this way, the cleaning assembly 20 can be moved to be roughly flush with the outer contour of one side of the moving direction of the body assembly 10, or extend outside one side of the moving direction of the body assembly 10. When cleaning the corner areas of the floor, the cleaning assembly 20 can be located in the corner areas of the floor, and then the body assembly 10 can be moved along the wall to clean the corner areas of the floor, which makes cleaning more convenient.

[0137] It is understood that the first direction R can be a horizontal direction. In this case, when the body assembly 10 moves in its front-to-back direction, the first direction R can be a left-to-right direction of the body assembly 10, and the cleaning assembly 20 can then be moved and adjusted in the left-to-right direction of the body assembly 10. Of course, the first direction R can also be slightly inclined relative to the horizontal direction.

[0138] It should be noted that, in some other embodiments, the first direction R may also form a certain angle with the direction perpendicular to the moving direction of the fuselage assembly 10, and the angle may be 5°, 10°, 15°, 20° or other suitable degrees.

[0139] Exemplarily, referring to FIG. 1 , when the cleaning device moves against the side wall 70 , one side of the body assembly 10 remains against the side wall 70 , and in a top view projection, the reference line substantially coincides with the projection of the side wall 70 .

[0140] When the cleaning member 21 is in the first position, the first axial end of the cleaning member 21 is relatively far from the side wall 70, and the floor between the first end of the cleaning member 21 and the side wall 70 cannot be cleaned. Referring to FIG. 2 , when the cleaning member 21 is in the second position, the first axial end of the cleaning member 21 is almost at zero distance from the side wall 70, and the floor between the first end of the cleaning member 21 and the side wall 70 can be cleaned by the cleaning member 21, with virtually no blind spots.

[0141] The switching of the cleaning member 21 between the first position and the second position can be achieved in a variety of ways. For example, the frame 22 can be manually pushed out along the first direction R to be in the second position, and then the cleaning device is started to move and clean on the support surface.

[0142] In some embodiments, referring to FIG. 3 and FIG. 4 , the cleaning device further includes a driving assembly 30 disposed on the body assembly 10 for driving the frame 22 to move linearly along the first direction R.

[0143] In this way, the cleaning device can be operated automatically, and the driving assembly 30 automatically drives the cleaning member 21 to switch between the first position and the second position, thereby improving the user experience.

[0144] For example, in some embodiments where the cleaning device is a cleaning robot, the body component 10 has a PLC (Programmable Logic Controller), which determines whether to switch the position of the cleaning component 21 based on the data collected by the configured sensors. When the condition is met, a signal is sent to the drive component 30. The drive component 30 receives the signal and moves the frame 22 to switch to the first position or to the second position.

[0145] Exemplarily, the body component 10 has an embedded system that can communicate with the client, or a control panel for user operation. The body component 10 sends a control signal to the drive component 30 according to the user's instructions. The drive component 30 receives the signal to move the frame 22, switching to the first position or to the second position.

[0146] The form of the driving assembly 30 is not limited.

[0147] For example, in some embodiments, the drive assembly 30 may be a cylinder and an air pump connected thereto. For example, the air pump maintains a constant pressure on the gas in the cylinder. The cylinder includes a piston and a push rod connected thereto, which is connected to the frame 22. Upon receiving a signal, the drive assembly 30 moves the piston in the cylinder, which in turn drives the frame 22 via the push rod.

[0148] For example, in some other embodiments, the drive assembly 30 may also be an electromagnetic drive device. For example, the electromagnetic drive device includes an active member and a passive member, the passive member being connected to the frame 22. The active member generates a magnetic field using electrical energy, such as an electromagnet. The passive member also exhibits magnetism, generating a repulsive or attractive force between the active member and the active member to drive the frame 22 to move. More specifically, the drive assembly 30 also includes a damper that generates damping along the direction of movement of the frame 22 to mitigate impact or vibration generated when the frame 22 switches between the first position and the second position.

[0149] In some embodiments, referring to FIG. 3 and FIG. 4 , the driving assembly 30 includes a power source and a moving portion, and the power source is used to drive the moving portion to move along the first direction R.

[0150] In other words, the power source provides power, and the movable portion can move using the power provided by the power source. It should be noted that, under the power provided by the power source alone, the movable portion can reciprocate bidirectionally along the first direction R, or can move unidirectionally along the first direction R while moving in the opposite direction due to the force of other structures.

[0151] Please refer to Figure 3 , where the cleaning element is in the first position; please refer to Figure 4 , where the cleaning element is in the second position. The second position is located on the first side Ra of the first position along the first direction R. In other words, movement in the direction toward the first side Ra of the first direction R allows the cleaning element to reach the second position from the first position. Conversely, movement in the direction toward the second side Rb of the first direction R allows the cleaning element to reach the first position from the second position.

[0152] 3 and 4 , the drive assembly 30 further includes an elastic member 33 , which applies an elastic force to the frame 22 . The elastic force has at least a component toward the first side Ra of the first direction R, so that the frame 22 can be detachably abutted against the movable portion. Furthermore, the frame 22 can be moved along the second side Rb of the first direction R and separated from the movable portion under the action of an external force.

[0153] It should be noted that the above-mentioned elastic force has at least a component force toward the first side Ra of the first direction R, which means that the elastic force generated by the elastic member 33 along the direction of the first side Ra toward the first direction R is not zero. In other words, the deformation direction of the elastic member 33 is not limited, and it can be set parallel to the first direction R or arranged obliquely to the first direction R.

[0154] The elastic member 33 allows the frame 22 to move toward the first position. Since the frame 22 and the movable portion are separable from the first side Ra to the second side Rb in the first direction R, the frame 22 can absorb the load or impact of external forces.

[0155] Specifically, when the power source drives the movable portion to move along the first direction toward the first side Ra, the elastic force of the elastic member 33 causes the frame 22 to abut against the movable portion. Driven by the elastic force, the frame 22 moves along with the movable portion. During the movement of the frame 22, or when in the second position, when the frame 22 or the cleaning member 21 encounters an obstacle, the obstacle blocks the frame 22, and the frame 22 is subjected to an external force in the opposite direction of the elastic force. When the external force is greater than the elastic force, the frame 22 moves in the opposite direction and separates from the movable portion, thereby utilizing the characteristics of the elastic member 34 to reduce the impact of the frame 22 when it encounters the obstacle and reduce the risk of damage by collision. When the obstacle moves away, the frame 22 moves again under the action of the elastic force until it abuts against the movable portion.

[0156] When the power source drives the movable portion to move in the first direction toward the second side Rb, the frame 202 abuts against the movable portion under the action of the elastic force. The power source drives the movable portion to move in the direction toward the second side Rb. Driven by the movable portion, the frame 22 overcomes the elastic force and moves toward the second side Rb. When the movable portion reaches the second predetermined position, the frame 202 has completed its switch to the first position.

[0157] In some embodiments, referring to FIG. 3 and FIG. 4 , the power source has a rotating shaft 341 , and the driving assembly 30 further includes a reversing portion connecting the power source and the moving portion for converting the rotation of the rotating shaft 341 into linear movement of the moving portion along a first direction R.

[0158] It should be noted that the rotating shaft 341 can rotate around its own axis. For example, the power source is the first motor 34 . The first motor 34 has a rotating shaft 341 . The rotating shaft 341 rotates driven by the rotor of the first motor 34 .

[0159] The setting of the reversing part converts the rotation of the rotating shaft 341 into the linear displacement of the moving part. On the one hand, it can make the moving part have a larger linear displacement stroke. On the other hand, it also reduces the displacement stroke requirement of the power source, which is conducive to a compact structure.

[0160] The specific structure of the reversing part is not limited, and can be a belt drive, a gear rack drive, etc.

[0161] In some embodiments, referring to Figures 3 and 4 , the reversing portion includes a lead screw 31, which is directly or indirectly connected to a rotating shaft 341, and the rotating shaft 341 drives the lead screw 31 to rotate. The moving portion includes a nut 321 that cooperates with the lead screw 31 and is sleeved on the outer circumference of the lead screw 31.

[0162] That is, the lead screw 31 rotates driven by the rotating shaft 341 , and the threads thereon cause the nut 321 to move along the length direction of the lead screw 31 , thereby converting the rotation of the rotating shaft 341 into linear movement of the nut 321 .

[0163] The threaded transmission structure formed by the lead screw 31 and the nut 321 is compact and has precise transmission. The stroke of the nut 321 can be controlled according to the start and stop of the rotating shaft 31, which facilitates the motion control of the cleaning equipment.

[0164] For example, referring to Figure 10 , the power source is a first motor 34. Upon receiving a first control signal, the shaft 341 rotates forward, and the nut 321 moves toward the first side Ra. Upon receiving a stop signal, the shaft 341 and the nut 321 stop rotating, and the frame 22 switches to the second position. Referring to Figure 12 , upon receiving a second control signal, the shaft 341 rotates backward, and the nut 321 moves toward the second side Rb. Upon receiving a stop signal, the shaft 31 and the nut 321 stop rotating, and the frame 22 switches to the first position. In this way, precise control of the travel and motion of the moving portion is achieved.

[0165] The specific type of the screw 31 is not limited, for example, it can be a ball screw, a trapezoidal screw, etc., which is not limited here.

[0166] In some embodiments, the rotating shaft 341 can be directly connected to one end of the lead screw 31, for example, by screws, welding, etc. In such embodiments, the rotating shaft 341 and the lead screw 31 are coaxially arranged and rotate synchronously and at the same speed. In other embodiments, the rotating shaft 341 and the lead screw 31 can be connected by a gear set, for example, a pair of bevel gears or a worm gear. In such embodiments, the rotating shaft 341 and the lead screw 31 can be arranged perpendicularly.

[0167] 1 and 3 , in some embodiments, the body assembly 10 includes a bracket 11 and a main body 12 . The frame 22 is disposed on the bottom side of the bracket 11 , and the drive assembly 30 is disposed on the top side of the frame 22 .

[0168] It should be noted that the bracket 11 is mounted on the main body 12. In the embodiment where the cleaning device is a cleaning robot, the main body 12 is the main body of the cleaning device, used to sense the surrounding environment and move along a planned route. For example, the aforementioned PLC is mounted in the main body 12. Of course, it can also be said that the main body 12 and the bracket 11 are both part of the main body of the cleaning device.

[0169] Please refer to Figures 10, 11 and 12. The bracket 11 has an avoidance groove 11a, the moving part includes a first stop part 322 connected to the nut 321, and the frame 22 has a second stop part 221. The first stop part 322 and the second stop part 221 are inserted into the avoidance groove 11a. Under the action of the elastic member 33, the second stop part 221 and the first stop part 322 are detachably abutted along the first direction R.

[0170] That is, when the frame 22 moves following the moving part, the second stop part 221 abuts against the first stop part 322. When encountering an obstacle and the external force applied by the collision is greater than the elastic force of the elastic member 33, the first stop part 322 separates from the second stop part 221.

[0171] When the cam 321 is in the closed position, the second stop 321 is released and the second stop 321 is released, so that the cam 321 is released and the second stop 321 is released.

[0172] When the frame 22 needs to be switched to the first position, the rotating shaft 341 drives the screw 31 to rotate in the opposite direction, so that the nut 321 moves in the opposite direction along the axial direction of the screw 31, and the second stop portion 221 abuts against the first stop portion 322. Under the push of the nut 321, the frame 22 overcomes the elastic force of the elastic member 33 and moves until it returns to the first position.

[0173] The provision of the avoidance groove 11 a reduces the space occupied by the first stop portion 322 and the second stop portion 221 , which helps to make the structure of the driving assembly 30 compact.

[0174] It is understandable that, in one embodiment, only the first stopping portion 322 is disposed through the avoiding groove 11 a.

[0175] It is understandable that, in one embodiment, only the second stopping portion 221 is disposed through the avoiding groove 11 a.

[0176] In some embodiments, referring to FIG. 3 and FIG. 5 , the bracket 11 is detachably connected to the main body 12 , and the cleaning assembly 20 and the driving assembly 30 are respectively connected to the bracket 11 to form a preassembled whole.

[0177] This preassembled unit, assembled as an independent functional module with the main body 12, facilitates modularization of the cleaning device, facilitating manufacturing and maintenance. In other words, the bracket 11 and cleaning assembly 20 can be assembled first to form the preassembled unit, and then assembled together with the main body. In one embodiment, the bracket 11 has mounting posts 113 for connecting the bracket 11 to the main body 12.

[0178] Exemplarily, in the preassembled whole, the elastic member 33 is connected to the bracket 11 and the frame 22 and generates elastic force.

[0179] The form of the elastic member 33 is not limited, and it can be a bow-shaped spring, a compression spring, etc.

[0180] In some embodiments, the elastic member 33 includes a tension spring, one end of which is connected to the body assembly, for example, the bracket 11 described above; and the other end is connected to the frame 22 .

[0181] A tension spring is a stretch spring that deforms when subjected to tension. The elastic member 33 uses a tension spring, which has the advantages of low cost and easy installation or replacement.

[0182] 3 and 5 , the bracket 11 has a first hook 111, the frame 22 has a second hook 222, the first hook 111 and the second hook 222 are located on the same side, and the elastic member 33 connects the first hook 111 and the second hook 222. This simplifies the installation of the elastic member 33.

[0183] Embodiments of the present application also provide cleaning devices that utilize another drive assembly to drive the movement of a cleaning member, or to switch a cleaning member 21 between a first position and a second position. Referring to Figures 16 and 19 , in some embodiments, a frame 22 is movable in a first direction R. The frame 22 provides mounting support and space for the cleaning member 21, which is capable of rolling about its axis. The cleaning member 21 may be referred to as a rolling cleaning member. It will be appreciated that when the frame 22 moves in the first direction R, the cleaning member 21 also moves therewith.

[0184] Next, the cleaning device with this driving mode will be described.

[0185] The drive assembly 30 includes a second motor 37, a gear transmission mechanism 36, and a rack 35. The rack 35 extends along a first direction R and is disposed on the frame 22. The power output shaft of the second motor 37 drives the rack 35 to move along the first direction R through the gear transmission mechanism 36. The first direction R is parallel to the axis of the cleaning element 21.

[0186] This means that the power output shaft of the second motor 37 is rotatable, and its power is transmitted to the rack 35 through the gear transmission mechanism 36, which is converted into a linear movement of the rack 35. When the rack 35 moves, the frame 22 also moves, and the cleaning member 21 moves with the frame 22, thereby changing the cleaning area of ​​the cleaning member 21 on the support surface.

[0187] In the cleaning device of this embodiment, the frame 22 can move along the axis of the cleaning member 21 under the drive of the rack 35 to change the cleaning area of ​​the cleaning member 21, thereby facilitating the reduction of cleaning blind spots.

[0188] In some embodiments, the frame 22 has a first position and a second position. In a projection perpendicular to the height direction of the cleaning device, as shown in FIG1 , the projection of the cleaning member 21 in the first position does not exceed the projection of the body assembly 10 .

[0189] It can be understood that when the frame 22 is in the first position, the cleaning member 21 is also in the first position; when the frame 22 is in the second position, the cleaning member 21 is also in the second position.

[0190] The projection perpendicular to the height direction is a projection of the cleaning device based on the normal of the support surface on which the cleaning device is located. This projection may also be referred to as a top-down projection or an upward-looking projection. The projection outline of the cleaning element 21 is contained within the projection outline of the fuselage assembly 10, or the projection outline of the cleaning element 21 at least partially overlaps with the projection outline of the fuselage assembly 10.

[0191] Referring to Figure 1 , when cleaning member 21 is in the first position, the structure of body assembly 10 obscures cleaning member 201 from a top-down perspective. As the cleaning device moves across a support surface, obstacles it may encounter, such as table legs or walls, will initially come into contact with body assembly 10. In other words, along the direction of movement, portions of body assembly 10 obstruct cleaning member 21, maintaining a distance between cleaning member 201 and obstacles. In other words, body assembly 10 provides collision protection for cleaning member 21.

[0192] 2 , a portion of the projection outline of the cleaning member 21 in the second position extends beyond the projection outline of the first side Ra of the body assembly 10 along the first direction R.

[0193] The first side Ra is a side pointing along the first direction R, and the second side Rb is opposite to the first side Ra. The relative positions of the first side Ra and the second side Rb are not limited, and the drawings are only for reference to facilitate understanding of this solution.

[0194] When the cleaning member 201 is in the second position, from the perspective of a top-down projection, the cleaning member 21 partially extends out of the fuselage assembly 10, that is, the fuselage assembly 10 releases the obstruction for the extended portion of the cleaning member 21. Accordingly, when the fuselage assembly 10 approaches an obstacle, the cleaning member 21 approaches the obstacle and cleans the supporting surface area around the obstacle, thereby reducing cleaning blind spots.

[0195] In some embodiments, referring to FIG. 2 , in a plane projection perpendicular to the height direction of the cleaning device, a portion of the projection profile of the cleaning member 21 in the second position extends beyond or is flush with a reference line. The reference line is the movement trajectory of the edge of the first side Ra of the body assembly 10 along the first direction R when the cleaning device moves.

[0196] That is, the portion of the body assembly 10 corresponding to the maximum dimension of the first side Ra along the first direction R, and the path swept by the cleaning device during movement, form a reference line, as shown by the dotted line in Figures 1 and 2. When the cleaning element 21 is in the second position, the area it cleans extends along the path of the reference line, thereby cleaning the area surrounding the reference line. The shape of the reference line is determined by the movement path of the cleaning device, which is affected by obstacles on the support surface.

[0197] For example, referring to Figure 1 , when the cleaning device moves along the side wall 70, one side of the body assembly 10 remains close to the side wall 70. In a plane projection perpendicular to the height of the cleaning device, the reference line and the projection of the side wall 70 substantially coincide. If the cleaning member 21 is in the first position, its end facing the first side Ra in the first direction R is far from the side wall 70. The floor between the cleaning member 21 and the side wall 70 cannot be cleaned, resulting in a blind spot.

[0198] Please refer to FIG. 2 . When the cleaning member 21 is in the second position, the distance between the end of the cleaning member 21 facing the first side Ra in the first direction R and the side wall 70 becomes smaller, and the above-mentioned cleaning blind area is cleaned and reduced.

[0199] The gear transmission mechanism 36 can be of any form. Referring to FIG. 19 , the gear transmission mechanism 36 is a worm gear that can be connected to the power output shaft of the second motor 37 . The worm gear's axis is parallel to the axis of the power output shaft and also parallel to the length of the rack 35 . Driven by the second motor 37 , the worm gear causes the rack 35 to move in its first direction R.

[0200] In some embodiments, referring to FIG. 16 , the gear transmission mechanism 36 includes at least one transmission gear 361 , the axis of the power output shaft of the second motor 37 is perpendicular to the first direction R, and the axis of the transmission gear 361 is parallel to the axis of the power output shaft.

[0201] That is, the power of the second motor 37 is transmitted to the rack 35 through the transmission gear 361 . In this way, the driving assembly 30 has a simple structure and high mechanical efficiency, and the transmission gear 361 has less wear and tear and a long service life.

[0202] In one embodiment, the gear transmission mechanism 36 may further include a plurality of transmission gears 361 , which mesh with each other to form a gear set to transmit the power of the second motor 37 to the rack 35 . The setting of the gear set makes the design of the power transmission route more flexible.

[0203] In some embodiments, referring to Figures 16 and 17, the rack 35 is fixed to one side of the frame 22 along the second direction S, and the second motor 37 and the rack 35 are located on the same side of the frame 22 along the second direction S, wherein the second direction S is perpendicular to the first direction R.

[0204] This shows that the setting of the rack 35 reduces the occupancy of the frame 22 structure, freeing up space for installing other components. The second motor 37 and the rack 35 are set on the same side, which is beneficial to the arrangement of the second motor 37 and reduces the height dimension of the second motor 37 connected to the rack 35, thereby reducing space occupancy.

[0205] In some embodiments, referring to FIG. 16 , the rack 35 faces upward, and the gear transmission mechanism 36 is located above the rack 35 .

[0206] It is understood that during movement, the cleaning device may encounter varying support surface topography, such as wooden floors or carpets. Such varying heights can exert forces on the cleaning element 21 in contact with the surface, causing it to move upward along the height of the cleaning device. This also applies to the frame 22 connected to the cleaning element 21. The upward-facing rack 35 meshes with the gear transmission mechanism 36, both inhibiting the upward movement of the frame 22 and utilizing the upward movement of the frame 22 to maintain a consistent meshing state with the gear transmission mechanism 36.

[0207] In some embodiments, referring to FIG. 1 and FIG. 16 , the cleaning assembly 20 is disposed below the bracket 11 , and the second motor 37 is mounted on the main body 12 .

[0208] In the embodiments of the present application, the cleaning device includes a cleaning device, which includes the cleaning assembly and bracket of any of the above embodiments. It is understood that the cleaning device includes a main body and a cleaning device, and the cleaning device is connected to the main body via the bracket. In some embodiments, the cleaning device is preassembled as a whole and is connected to the main body 12 via the bracket 11. The cleaning device is assembled together with the main body 12 as an independent functional module, which facilitates the modularization of the cleaning robot and facilitates manufacturing and maintenance.

[0209] The cleaning device in the embodiment of the present application is described below.

[0210] In some embodiments, referring to FIG3 , the rack 22 is mounted on the bracket 11. That is, along the height direction T of the bracket 11, the rack 22 is subjected to the pulling force of the bracket 11 to prevent the rack 22 from being separated from the bracket 11 due to its own weight.

[0211] Referring to Figures 6 and 7 , the bracket 11 has a first stop structure 1121. The frame 22 has a second stop structure 2241. The first stop structure 1121 is located above the second stop structure 2241 and is configured to engage with the second stop structure 2241. In other words, along the height direction T of the cleaning device, the first stop structure 1121 acts as a stopper for the second stop structure 2241, preventing it from moving upward.

[0212] The frame 22 can move relative to the support 11 along a first direction R. The first direction R is parallel to the axis of the cleaning member 21 , as indicated by a double-headed arrow R in the drawings.

[0213] Referring to FIG3 , the frame 22 is in a first position relative to the bracket 11. Referring to FIG2 , the frame 22 is in a second position relative to the bracket 11. The position of the frame 22 relative to the bracket 11 changes along a first direction R. When the frame 22 moves relative to the bracket 11, the frame 22 drives the cleaning member 21 to move relative to the bracket 11.

[0214] When the cleaning member 21 contacts the supporting surface, the supporting surface generates an upward force on the cleaning member 21. When the cleaning robot cleans carpets or crosses steps, the cleaning member 21 tends to be pushed upward, which in turn causes the frame 22 to also tend to be pushed upward. The first stop structure 1121 acts to stop and limit the second stop structure 2241, thereby preventing the frame 22 from moving upward relative to the bracket 11, which is beneficial to ensuring the position stability of the frame 22 relative to the bracket 11 along the height direction T.

[0215] It should be noted that when the cleaning device is located on a flat supporting surface, the first stopping structure 1121 and the second stopping structure 2241 may have a gap along the height direction, or may contact each other, which is not limited here.

[0216] In the cleaning device of this embodiment, the cleaning member 21 is rotatably arranged on the frame 22, and the position of the frame 22 along the height direction T is stable relative to the bracket 11. The position of the cleaning component 20 relative to the bracket 11 can be adjusted along the first direction R under the action of the driving component 30 according to the current scene in which the cleaning device is located to reduce the cleaning blind spot.

[0217] In some embodiments, referring to FIG. 6 and FIG. 7 , the bracket 11 includes a plate body 112 . It should be noted that the plate body 112 is generally a plate-shaped structure, but is not limited to a flat plate structure.

[0218] A portion of the plate body 112 protrudes upward and defines a first protrusion 112a, the first protrusion 112a extends along the first direction R, and a groove 112b is formed on the bottom side of the first protrusion 112a, the top of the first protrusion 112a defines a first stop structure 1121, a portion of the frame 22 protrudes upward and defines a second protrusion 224, the top of the second protrusion 224 defines a second stop structure 2241, and the second protrusion 224 extends into the groove 112b.

[0219] That is, the first protrusion 112a is disposed above the second protrusion 224, and the second protrusion 224 extends into the groove 112b, so that the first stopping structure 1121 and the second stopping structure 2241 stop and cooperate to prevent the frame 22 from moving upward.

[0220] The provision of the first protrusion 112a is beneficial to improving the structural strength of the plate body 112, and provides avoidance space for the second protrusion 224 by forming the groove 112b, which is beneficial to a compact structure; in addition, in the horizontal direction perpendicular to the first direction R, it can also play a certain limiting role, reducing the deflection amplitude of the frame 22 when moving along the first direction, which is beneficial to reducing the shear force on the hanging part of the frame 22.

[0221] In some embodiments, please refer to Figures 3, 6 and 7, the cleaning device includes at least one intermediate member 60, which is rollably disposed on the first stop structure 1121 and / or the second stop structure 2241, and is at least partially located in the gap between the first stop structure 1121 and the second stop structure 2241 along the height direction.

[0222] It should be noted that the above gap may be formed by the frame 22 being separated from the bracket 11 in the gravity direction under its own weight, or by the frame 22 and the bracket 11 being separated in the height direction due to interference from the intermediate member 60 .

[0223] The middle piece 60 can abut against the first stop structure 1121 and / or the second stop structure 2241 in the height direction to separate the first stop structure 1121 and the second stop structure 2241 . The middle piece 60 reduces the resistance to relative movement between the bracket 11 and the frame 22 .

[0224] It can be understood that the setting of the middle piece 60 maintains a certain gap between the first stop structure 1121 and the second stop structure 2241, which not only reduces the shape accuracy requirements for the stop fit between the first stop structure 1121 and the second stop structure 2241, but also allows the frame 22 to have a certain degree of mobility when moving relative to the bracket 11, and will not get stuck easily. Therefore, the middle piece 60 reduces the resistance to relative movement between the bracket 11 and the frame 22.

[0225] It should be noted that there are three situations in which the intermediate member 60 is disposed on the first stop structure 1121 and / or the second stop structure 2241: First, the intermediate member 60 is disposed on the first stop structure 1121. Second, the intermediate member 60 is disposed on the second stop structure 2241. Third, the intermediate member 60 is sandwiched between the first stop structure 1121 and the second stop structure 2241. In each of the above embodiments, the number of intermediate members 60 can be one or more.

[0226] Specifically, when the middle piece 60 is disposed on the first stop structure 1121 , the installation of the middle piece 60 is facilitated.

[0227] In some embodiments, referring to Figures 6 and 8 , there are multiple intermediate members 60, with at least some of the intermediate members 60 spaced apart along the first direction R. That is, the cleaning device may include two, three, four, or more intermediate members 60. For example, in an embodiment where there are two intermediate members 60, the two intermediate members 60 are spaced apart along the first direction R. For example, in an embodiment where there are three intermediate members 60, the two intermediate members 60 may be spaced apart along the first direction R, or all three intermediate members 60 may be spaced apart along the first direction R, etc.

[0228] The intermediate members 60 are arranged at intervals to disperse the transmission of the load borne by the frame 22 , making the movement of the frame 22 more stable.

[0229] The form of the intermediate piece 60 is not limited. For example, in one embodiment, please refer to Figure 7. The intermediate piece 60 includes a rib 603 formed on the lower surface of the first stop structure 1121, and the rib 603 extends along the first direction R. The surface of the rib 603 can abut the upper surface of the second stop structure 2241; and / or, in one embodiment, the intermediate piece 60 includes a rib 603 formed on the upper surface of the second stop structure 2241, and the rib 603 extends along the first direction R. The surface of the rib 603 can abut the lower surface of the first stop structure 1121.

[0230] In one embodiment, the intermediate member 60 may be a self-lubricating gasket mounted on the lower surface of the first stop structure 1121, and the gasket contacts the upper surface of the second stop structure 2241. In this embodiment, the gasket may be made of a solid self-lubricating material.

[0231] In other embodiments, the intermediate member 60 includes a rolling member, so that the first stop structure 1121 and the second stop structure 2241 are rollingly engaged with each other through the intermediate member 60 .

[0232] That is, the first stop structure 1121 and the second stop structure 2241 maintain a distance along the height direction T, and the middle member 60 (i.e., the rolling member) achieves a stop engagement. When the frame 22 moves relative to the bracket 11 in the first direction R, the second stop structure 2241 also moves relative to the first stop structure 1121, and the middle member 60 (i.e., the rolling member) rolls.

[0233] The middle member 60 is a rolling member, which can effectively reduce the friction resistance when it abuts against the first stop structure 1121 and / or the second stop structure 2241 .

[0234] The specific structure of the rolling element is not limited. For example, it can be a ball structure.

[0235] In some embodiments, referring to FIG4 , the rolling element includes a roller or a bearing, and the axis of the rolling element is perpendicular to the first direction R. In other words, the rolling element rolls in the first direction R.

[0236] The bearing is not limited to a specific form and can be a ball bearing or a sliding bearing. For example, the inner ring of the bearing is fixed relative to the outer ring, and the outer ring contacts the first stop structure 1121 and / or the second stop structure 2241. When the frame 22 moves, the outer ring rolls relative to the inner ring to reduce friction.

[0237] The rollers or bearings have the advantages of being easily available and convenient to install, and are therefore beneficial to the manufacture and assembly of the cleaning device.

[0238] For example, referring to Figure 15 , the rolling element includes a roller, and the first stop structure 1121 has a mounting groove 1121a. The rolling element is rotatably received in the mounting groove 1121a. In other words, the mounting groove 1121a provides mounting space for the rolling element, which is rotatable relative to the first stop structure 1121. This reduces the space occupied by the rolling element, making the cleaning device more compact.

[0239] For example, referring to Figures 3 and 15 , the mounting groove 1121a includes a first region 1121a-1 that extends through the first stop structure 1121 along the height direction T, and a second region 1121a-2 that does not extend through the first stop structure 1121. The second regions 1121a-2 are located on either side of the first region 1121a-1. The rolling element includes a roller 601 and a shaft 602. The ends of the shaft 602 are disposed in the second region 1121a-2, and the roller is disposed in the first region 1121a-1. It can be seen that the roller 601 contacts the second stop structure 2241 from below, and the shaft 602 contacts the first stop structure 1121 from above, thereby confining the roller 601 in the gap between the first stop structure 1121 and the second stop structure 2241. Above the roller 601 lies the first region 1121a-1 of the mounting groove 1121a, providing sufficient space for the roller 601 to roll.

[0240] In some cleaning devices of the embodiments of the present application, please refer to Figures 3, 7 and 8. The bracket 11 includes a slide groove 11b extending along the first direction R, and the frame 22 includes a hanging portion 223. The hanging portion 223 is passed through the slide groove 11b and connected to the frame 22. The hanging portion 223 is hung on the surrounding structure of the bracket 11 located on the top side of the slide groove 11b.

[0241] That is, the hanging portion 223 abuts against the surrounding structure of the bracket 11 located on the top side of the sliding groove 11 b downward along the height direction T, so that the rack 22 is hung on the bracket 11 through the hanging portion 223 .

[0242] When the rack 22 moves along the first direction R, the slide groove 11 b has a guiding function, and the hooking portion 223 moves along the slide groove 11 b to maintain the connection with the bracket 11 so that the rack 22 does not separate from the bracket 11.

[0243] The cross-sectional shape of the chute 11b is not limited. The structure of the hook portion 223 is not limited.

[0244] For example, please refer to Figures 7 and 8, the bottom side of the slide groove 11b has a first step 11b-1, the top side of the hanging portion 223 has a second step 223a, the top side of the hanging portion 223 is arranged in the slide groove 11b, the second step 223a can be abutted against the first step 11b-1 along the height direction T, and the second step 223a is located above the first step 11b-1.

[0245] In some embodiments, referring to FIG. 3 and FIG. 6 , there are at least two slide grooves 11b , which are spaced apart along the second direction S. The first stop structure 1121 is located between two adjacent slide grooves 11b . The second direction is perpendicular to the first direction R and perpendicular to the height direction T.

[0246] In this way, the moment on the bracket 11 or the frame 22 is balanced, so that the force on the hanging portion 223 is more uniform.

[0247] In some embodiments, the hanging portion 223 includes a boss 2232 and an end cap 2231. The boss 2232 is inserted into the slide groove 11b from bottom to top. A portion of the end cap 2231 is inserted into the slide groove 11b from top to bottom from above the bracket 11. The size of another portion of the end cap 2231 is larger than the width of the slide groove 11b to define a second step 223a, so that it can rest against the first step 11b-1 of the slide groove 11b. The screw passes through the end cap 2231 from top to bottom and is screwed into the boss 2232. In this way, the rack 22 and the bracket 11 can be hung.

[0248] The cleaning device provided in the embodiment of the present application is described below with reference to Figures 20 to 25.

[0249] As shown in Figures 20 and 21 , the cleaning device according to an embodiment of the present application includes a body assembly 10 and a cleaning assembly 20. It should be noted that the body assembly 10 may also be referred to as a device body in some embodiments.

[0250] For example, the body assembly 10 may be in a disc shape, a square disc shape, or other suitable shapes. A driving wheel may be mounted on the bottom end of the body assembly 10 to drive the cleaning device to move.

[0251] The cleaning assembly 20 can be a roller, a roller brush, a crawler-type rag, a cleaning nozzle, or other suitable cleaning component. Taking the cleaning assembly 20 as an example, the cleaning assembly 20 can be horizontally mounted at the bottom end of the fuselage assembly 10, that is, the axial direction of the cleaning assembly 20 extends in the horizontal direction, and the cleaning member 21 can rotate about its own axis. The cleaning assembly 20 can be movable and adjustable along a first direction R, which can be horizontal or slightly inclined relative to the horizontal direction. The movement direction of the cleaning assembly 20 can be the axial direction of the cleaning assembly 20, or it can be at a certain angle to the axial direction of the cleaning assembly 20. During the movement of the cleaning assembly 20, it can move to be flush with the projection of the outer contour of the fuselage assembly 10 along the height direction of the fuselage assembly 10, or move to at least partially extend beyond the projection of the outer contour of the fuselage assembly 10 along the height direction.

[0252] According to the cleaning device of the embodiment of the present application, the cleaning assembly 20 is installed on the body assembly 10 of the cleaning device. The cleaning device drives the cleaning assembly 20 to move, and the cleaning assembly 20 can clean different positions on the ground. When it is necessary to clean the corners of the ground, the cleaning assembly 20 can be moved and adjusted along the first direction R so that the cleaning assembly 20 is flush with the projection of the outer contour of the body assembly 10 along the height direction T, or the cleaning assembly 20 is at least partially extended beyond the projection of the outer contour of the body assembly 10 along the height direction. Then, the cleaning assembly 20 can be located in the corners of the ground, thereby facilitating the cleaning of the corners of the ground by the cleaning assembly 20. In addition, when the cleaning assembly 20 can be moved to at least partially extend beyond the projection of the outer contour of the body assembly 10 along the height direction, it is also convenient to clean areas with limited space. Even if the cleaning device as a whole is difficult to move into a small area, the cleaning assembly 20 extending outside the body assembly 10 can be moved alone into the small area for cleaning, thereby achieving a better cleaning effect.

[0253] It should be noted that the cleaning assembly 20 can be moved to be flush with the projection of the outer contour of the fuselage assembly 10 along the height direction, which means that the cleaning assembly 20 is located directly below the fuselage assembly 10 as a whole, and one position of the cleaning assembly 20 (such as the second position described above) is flush with the projection of the outer contour of the fuselage assembly 10 along the height direction. For example, when the cleaning member 21 is a roller, the end surface of one axial end of the cleaning assembly 20 can be flush with the projection of the outer contour of the fuselage assembly 10 along the height direction. Of course, the outer wall of the cleaning assembly 20 can also be flush with the projection of the outer contour of the fuselage assembly 10 along the height direction, or other positions can be flush with the projection of the outer contour of the fuselage assembly 10 along the height direction. The cleaning assembly 20 can be moved to at least partially extend beyond the projection of the outer contour of the fuselage assembly 10 along the height direction. The cleaning member 21 can be moved to partially extend beyond the projection of the outer contour of the fuselage assembly 10 along the height direction, or the cleaning assembly 20 can be moved to fully extend beyond the projection of the outer contour of the fuselage assembly 10 along the height direction, which is set according to actual needs.

[0254] Referring to Figures 20 to 25, in some embodiments of the present application, the body assembly 10 is provided with a mounting seat 22 that slides along the first direction R. In the embodiments described above, the mounting seat 22 is also referred to as a frame 22, and the cleaning assembly 20 is provided on the mounting seat 22. Specifically, the cleaning member 21 in the cleaning assembly 20 is provided on the mounting seat 22, and a driving mechanism 300 is provided between the mounting seat 22 and the body assembly 10. The driving mechanism 300 is used to control the sliding of the mounting seat 22.

[0255] For example, the body assembly 10 can be provided with a bracket 11, and the bracket 11 can be provided with multiple slide grooves 11b. The slide groove 11b extends along the sliding direction of the mounting seat 22, that is, the first direction R. The mounting seat 22 can be provided with a corresponding sliding portion 202, and the sliding portion 202 is slidably installed in the slide groove 11b, thereby realizing the sliding of the mounting seat 22, thereby realizing the movement and adjustment of the cleaning component 21. The slide groove 11b can pass through up and down, and the sliding portion 202 can be inserted into the slide groove 11b. A limit head can be provided at the end of the sliding portion 202 away from the mounting seat 22. The size of the limit head is larger than the width of the slide groove 11b to prevent the sliding portion 202 from moving out of the slide groove 11b at will. When the cleaning member 21 is configured as a roller, the mounting seat 22 may be provided with a accommodating cavity 22a with an opening facing downward, and the inner side wall of the accommodating cavity 22a may be roughly an arc surface. The cleaning member 21 may be rotatably mounted in the accommodating cavity 22a. Specifically, bearings may be provided at both ends of the accommodating cavity 203, and connecting shafts may be provided at both axial ends of the cleaning member 21, and the connecting shafts are rotatably mounted in the bearings. Of course, connecting shafts may also be provided at both ends of the accommodating cavity 203, and mounting holes may be provided at both axial ends of the cleaning member 21, and the connecting shafts are mounted in the mounting holes.

[0256] In this embodiment, the driving mechanism 300 is started to control the mounting seat 22 to slide, thereby achieving the movement and adjustment of the cleaning member 21 , which has a simple structure, is easy to operate, and saves time and effort.

[0257] It should be noted that in other embodiments of the present application, the bracket 11 may be provided with a guide rail, and the mounting seat 22 may be slidably mounted on the guide rail. Alternatively, the mounting seat 22 may be provided with a slide groove 11b, and the bracket 11 may be provided with a connecting portion capable of slidably connecting to the slide groove 11b. Furthermore, the drive mechanism 300 may not be provided, and the mounting seat 22 may be manually slidably adjusted. When the mounting seat 22 slides to a set position, the mounting seat 22 may be locked with a bolt or a limit pin.

[0258] 22 to 24 , in a further embodiment of the present application, a drive mechanism 300 includes a lead screw 31 and a first drive member 34. The lead screw 31 may also be referred to as the lead screw 31. In some of the embodiments described above, the first drive member 34 is also a first motor 34. The lead screw 31 rotates between one of the body assembly 10 and the mounting base 22. The lead screw 31 is threadedly connected to the other of the body assembly 10 and the mounting base 22. The lead screw 31 extends in a first direction. The first drive member 34 is connected to the lead screw 31 to control the rotation of the lead screw 31.

[0259] For example, the bracket 11 of the fuselage assembly 10 may be provided with two supports 114 arranged along the sliding direction of the mounting seat 22. The ends of the lead screw 31 are rotatably mounted on the two supports 114, respectively. The outer wall of the lead screw 31 is provided with an external thread. The first driving member 34 is mounted on the bracket 11 and is transmission-connected to the lead screw 31. The mounting seat 22 may be provided with a threaded seat 321. In some embodiments described above, the threaded seat 321 is also referred to as a nut 321. The threaded seat 321 is provided with a threaded hole. The internal thread of the inner wall of the threaded hole is adapted to mate with the external thread of the outer wall of the lead screw 31. The threaded seat 321 is threadedly connected to the lead screw 31 through the mating of the internal and external threads.

[0260] In this embodiment, by starting the first driving member 34, the screw 31 can be driven to rotate, and the mounting seat 22 is threadedly connected to the screw 31 through the threaded seat 204. The mounting seat 22 itself is slidably mounted on the bracket 11 and cannot rotate with the screw 31. The rotation of the screw 31 can then be converted into the sliding of the mounting seat 22. The structure is simple, the operation is convenient, and it saves time and effort.

[0261] It should be noted that the lead screw 31 may be rotatably mounted on the mounting base 22, and the lead screw 31 may be threadedly connected to the bracket 11 on the fuselage assembly 10. The first driving member 34 may be a drive motor, the output shaft of which is coaxially connected to the lead screw 31. Furthermore, the first driving member 34 may include a drive motor and a transmission structure, wherein the transmission structure may be a gear reducer, and the drive motor indirectly controls the rotation of the lead screw 31 through the transmission structure. It is understood that the drive mechanism 300 may also have other structures, for example, it may be an electric push rod disposed between the fuselage assembly 10 and the mounting base 22, and the electric push rod controls the sliding of the mounting base 22 by its own extension and contraction.

[0262] 22 to 25 , in some embodiments of the present application, a body assembly 10 is provided with a bracket 11 that floats along the height direction of the body assembly 10, and a cleaning member 21 is provided on the bracket 11. The cleaning member 21 is mounted on the bracket 11 that floats along the height direction of the body assembly 10. When the cleaning member 21 passes over an uneven ground surface or an obstacle, the cleaning member 21 is subjected to the force exerted by the uneven ground surface or the obstacle, and can passively float along the height direction of the body assembly 10. This allows the cleaning member 21 to smoothly pass over the uneven ground surface or the obstacle, thereby improving the cleaning effect and efficiency.

[0263] It should be noted that the bracket 11 mentioned in this application floats along the height direction of the fuselage assembly 10, which means that when the cleaning member 21 passes through an uneven ground or an obstacle, the cleaning member 21 can passively rise and fall, thereby driving the bracket 11 to rise and fall, thereby realizing the bracket 11 floating along the height direction of the fuselage assembly 10.

[0264] As shown in Figures 22 to 25, in a further embodiment of the present application, the body assembly 10 is provided with a swing frame 13 that is rotatable relative to the body assembly 10. The bracket 11 is connected to the swing frame 13 and can float through the swinging of the swing frame 13. For example, the rotation axis of the swing frame 13 can extend horizontally, and the bracket 11 can be connected to the end of the swing frame 13 that is away from the body assembly 10. When the cleaning member 21 passes over uneven ground or obstacles, the uneven ground or obstacles exert a force on the swing frame 13, causing the swing frame 13 to swing up and down about its rotation axis, thereby causing the bracket 11 to float along the height of the body assembly 10, thereby allowing the cleaning member 21 to float along the height of the body assembly 10. This allows the cleaning member 21 to smoothly pass over uneven ground or obstacles, thereby improving cleaning effectiveness and efficiency.

[0265] It is understood that the direction in which the rotation axis of the swing frame 13 extends may also be slightly inclined relative to the horizontal direction. The bracket 11 may also be made to float along the height direction of the body assembly 10 by other means. For example, a plurality of springs may be vertically arranged on the body assembly 10, with the bracket 11 connected to the bottom ends of the springs. When the cleaning member 21 passes over an uneven surface or an obstacle, the springs may be passively contracted by the force exerted by the uneven surface or obstacle. The contraction of the springs can also achieve the floating of the bracket 11 along the height direction of the body assembly 10.

[0266] Referring to Figures 22 to 25, in some embodiments of the present application, the swing frame 13 includes a plurality of swing rods 131 rotatably connected to the fuselage assembly 10 and parallel to each other, the extension direction of the rotation axis between the swing rod 131 and the fuselage assembly 10 is perpendicular to the movement direction and height direction of the fuselage assembly 10, and the rotation axes between all the swing rods 131 and the fuselage assembly 10 can be coplanar, and the bracket 11 is connected to the end of all the swing rods 131 away from the fuselage assembly 10.

[0267] For example, all swing rods 131 can be of equal length, and the number of swing rods 131 can be two, four, six, eight, or any other suitable number. A first mounting block 101 can be provided on the fuselage assembly 10 corresponding to the swing rod 131, and a second mounting block 113 can be provided on the bracket 11 corresponding to the swing rod 131. One end of the swing rod 131 is mounted on the first mounting block 101, and the other end is mounted on the second mounting block 113. In some of the embodiments described above, the second mounting block 113 is also referred to as a mounting post 113, that is, the mounting post 113 connects the bracket 11 to the main body 12 via the swing rod 131.

[0268] In this embodiment, the rotational axes between all swing arms 131 and the body assembly 10 are perpendicular to the movement direction and height direction of the body assembly 10. For example, when the body assembly 10 moves forward and backward, the rotational axes between all swing arms 131 and the body assembly 10 extend along the left and right directions of the body assembly 10. Consequently, all swing arms 131 can swing synchronously, thereby driving the bracket 11 to float along the height direction of the body assembly 10. This results in a simple structure. Furthermore, the swing frame 13 has a high structural strength, making the installation of the bracket 11 relatively stable. Furthermore, this prevents the movement of the body assembly 10 from interfering with the vertical movement of the cleaning member 21, making it easier for the cleaning member 21 to navigate uneven surfaces or obstacles.

[0269] It should be noted that in some other embodiments of the present application, the swing frame 13 may also have other structures, for example, it may be an integral structure, the swing frame 13 being rotatably connected to the fuselage assembly 10 via a mounting shaft, and the extension direction of the mounting shaft may also be perpendicular to the movement direction and height direction of the fuselage assembly 10. In addition, the plane common to the rotation axes of all the swing arms 131 and the fuselage assembly 10 may be a vertical plane or slightly inclined relative to the vertical plane.

[0270] Referring to Figures 22 to 25, in a further embodiment of the present application, there are at least two groups of swing rods 131 distributed side by side, and each group of swing rods 131 has at least two swing rods 131 arranged along the height direction of the fuselage assembly 10. All swing rods 131 are rotatably connected to the bracket 11, and the rotation axis between the swing rod 131 and the bracket 11 is perpendicular to the moving direction and height direction of the fuselage assembly 10. The rotation axis between the swing rod 131 and the bracket 11 can be coplanar.

[0271] For example, there may be two groups of swing rods 131 distributed side by side, and the two groups of swing rods 131 may be arranged along the extension direction of the rotation axis between the swing rod 131 and the fuselage assembly 10. The two groups of swing rods 131 are respectively located on both sides of the bracket 11. Each group of swing rods 131 may include two swing rods 131 arranged along the height direction of the fuselage assembly 10. A parallel four-bar linkage mechanism is formed between the two swing rods 131 in the same group, the corresponding first mounting block 101 and the corresponding second mounting block 403. The rotation axis between the swing rod 131 and the bracket 11 is parallel to the rotation axis between the swing rod 131 and the fuselage assembly 10.

[0272] In this embodiment, the same group of swing arms 131 are arranged along the height direction of the fuselage assembly 10, and the rotation axes between all the swing arms 131 and the bracket 11 are perpendicular to the movement direction and height direction of the fuselage assembly 10, and the rotation axes between the swing arms 131 and the bracket 11 can be coplanar, so that in the process of the swing frame 13 swinging up and down, the angle between the bracket 11 and the ground can be kept roughly unchanged without deflecting relative to the ground, so that the accommodating cavity 203 of the mounting seat 22 can always face downward, so that when cleaning the cleaning member 21, it is convenient to discharge dirty water and garbage on the cleaning member 21. In addition, it can also prevent the bracket 11 from deflecting relative to the ground and interfering with the ground or obstacles, thereby avoiding affecting the movement of the cleaning equipment and avoiding damage to the bracket 11, the ground or obstacles.

[0273] It should be noted that the swinging rods 131 may be arranged side by side in three, four, five, or other suitable groups, and each group of swinging rods 131 may have three, four, five, or other suitable numbers arranged vertically. Of course, in other embodiments of the present application, each group of swinging rods 131 may have only one swinging rod 131. In this case, the swinging rod 131 may be fixedly connected to the bracket 11, and the bracket 11 may swing along with the swinging frame 13. In addition, the plane shared by the rotation axes of all the swinging rods 131 and the bracket 11 may be a vertical plane or slightly inclined relative to the vertical plane.

[0274] 25 , in some embodiments of the present application, the cleaning device further includes a lifting mechanism 600, which is disposed on the body assembly 10 and connected to the bracket 11 to control the raising and lowering of the bracket 11. In the prior art, since the cleaning member 21, such as a roller, is always in contact with the floor, when the cleaning device passes over a carpet or a cleaned floor, the cleaning member 21, which is adhered to dirty water, can easily stain the carpet or the cleaned floor.

[0275] In this embodiment, in addition to floating due to the swinging of the swing frame 13, the bracket 11 is also actively raised and lowered by the lifting mechanism 600. When passing over a carpet or a cleaned floor, the lifting mechanism 600 can control the bracket 11 to rise, separating the cleaning element 21 from the carpet or the cleaned floor, thereby preventing the cleaning element 21, which is adhered to dirty water, from soiling the carpet or the cleaned floor.

[0276] As shown in Figure 25, in a further embodiment of the present application, the lifting mechanism 600 includes a traction member 601 and a second driving member 602, one end of the traction member 601 is connected to the bracket 11, and the second driving member 602 is arranged on the fuselage assembly 10 and connected to the other end of the traction member 601. The second driving member 602 controls the lifting and lowering of the bracket 11 through the traction member 601, wherein the end of the traction member 601 close to the bracket 11 can float following the bracket 11.

[0277] In this embodiment, by activating the second driving member 602, the second driving member 602 can control the raising and lowering of the bracket 11 via the pulling member 601, which is convenient to operate and saves time and effort. In addition, the end of the pulling member 601 closest to the bracket 11 can float with the bracket 11, thereby preventing the pulling member 601 from interfering with the floating of the bracket 11.

[0278] Referring to Figure 25, in a further embodiment of the present application, the traction member 601 is configured as a pull rope, the second driving member 602 includes a cable drum and a third motor, the third motor is connected to the cable drum to control the rotation of the cable drum, and the end of the pull rope away from the bracket 11 is connected to the cable drum and is arranged around the outer wall of the cable drum.

[0279] In this embodiment, by starting the third motor, the third motor can drive the cable drum to rotate, and then the traction member 601 can be wound on the cable drum or unwound from the cable drum, thereby driving the bracket 11 and the cleaning member 21 on the bracket 11 to rise and fall. The structure is simple and the operation is convenient.

[0280] It is understandable that the traction member 601 may also be a chain. When the traction member 601 is a pull rope or a chain, the traction member 601 is a flexible member, and thus the end of the traction member 601 close to the bracket 11 can float along with the bracket 11 .

[0281] It should be noted that the second driving member 602 may also be other structures. For example, it may include a third motor and a pull rod provided on the output shaft of the third motor. The length direction of the pull rod may be perpendicular to the length direction of the output shaft of the third motor. The length direction of the output shaft of the third motor may extend in the horizontal direction. The traction member 601 is connected to the end of the pull rod. When the third motor is started, the third motor drives the output shaft to rotate. The output shaft can then drive the pull rod to swing, so that the end of the pull rod can be raised and lowered, thereby driving the bracket 11 and the cleaning member 21 to be raised and lowered through the traction member 601. In addition, the traction member 601 may also be other structures. For example, it may be a telescopic rod. Since the telescopic rod can be extended and retracted, the bottom end of the telescopic rod can float with the bracket 11. When the traction member 601 is a telescopic rod, the second driving member 602 may be an electric push rod or a motor screw mechanism.

[0282] In some other embodiments of the present application, the lifting mechanism 600 may also have other structures. For example, the lifting mechanism 600 may include a cam and a third driving member. The cam is rotatably mounted on the body assembly 10, the rotation axis of the cam extends horizontally, the bracket 11 abuts the top of the cam, and the third driving member is provided on the body assembly 10 and connected to the cam to control the rotation of the cam. The third driving member may be a motor, the output shaft of the motor is directly connected to the cam, and when the motor is started, the motor can control the rotation of the cam. During the rotation of the cam, the height of its top will change, and the bracket 11 abuts the top of the cam, thereby being able to control the lifting and lowering of the bracket 11 and the cleaning member 21 on the bracket 11. The structure is simple and easy to operate. It should be noted that the third driving member may also have other structures. For example, it may include a motor and a gear reducer, and the gear reducer is provided between the motor and the cam.

[0283] As shown in FIG25 , in some embodiments of the present application, the cleaning member 21 is configured as a roller. In this way, when the body assembly 10 drives the cleaning member 21 to move, the cleaning member 21 itself can also rotate, thereby improving the cleaning effect and reducing the possibility of the cleaning member 21 getting stuck, thereby improving practicality.

[0284] It should be noted that the cleaning member 21 may also be other cleaning structures, for example, a roller brush, a crawler-type rag, or a cleaning nozzle.

[0285] With reference to Figures 20 to 24 , in a further embodiment of the present application, when the cleaning member 21 is configured as a roller, the cleaning member 21 is movably and adjustably disposed on the body assembly 10 along the axial direction of the cleaning member 21, that is, the first direction is the axial direction of the cleaning member 21. This configuration makes it easier for the cleaning member 21 to move until its end face at one axial end is flush with the projection of the outer contour of the body assembly 10 along the height direction, thereby making it easier to clean corners of the floor and achieving a better cleaning effect. In addition, when the cleaning member 21 extends beyond the projection of the outer contour of the body assembly 10 along the height direction, it gradually extends along its own axial direction, and the space occupied by the moving path of the cleaning member 21 is smaller, thereby reducing the possibility of interference between the cleaning member 21 and external objects, thereby making it easier for the cleaning member 21 to enter corners or narrow areas, thereby improving practicality.

[0286] Referring to Figures 22 to 25 , in a further embodiment of the present application, when the cleaning member 21 is configured as a roller, the rotation axis between the swing frame 13 and the body assembly 10 is parallel to the axial direction of the cleaning member 21. In this embodiment, with such a configuration, when the swing frame 13 swings up and down about its own rotation axis, the axial direction of the cleaning member 21 always extends substantially in a horizontal direction, thereby preventing the cleaning member 21 from interfering with the ground or obstacles due to one end being higher than the other. This not only prevents the ground or obstacles from hindering the operation of the cleaning member 21, allowing the cleaning member 21 to pass more smoothly over uneven ground or obstacles, thereby further improving the cleaning effect and efficiency, but also prevents damage to the cleaning member 21, the ground, or obstacles.

[0287] The second aspect of an embodiment of the present application provides a control method for a cleaning robot, please refer to Figures 2 and 3. The cleaning robot includes a body component 10, a driving component 30 and a cleaning component 20. The cleaning component 20 includes a frame 22 and a cleaning member 21 that is rollably arranged on the frame 22. The driving component 30 is used to drive the cleaning component 20 to move axially along the cleaning member 21.

[0288] The cleaning robot may also be a cleaning device provided in the form of a cleaning robot in any embodiment of the present application.

[0289] The cleaning robot can move on a support surface, such as a floor, and clean the area to be cleaned on the support surface. Referring to Figure 6 , the frame 22 provides mounting support and space for the cleaning member 21. In one embodiment, the frame 22 has a receiving chamber 22a, within which the cleaning member 21 is rollably disposed. The bottom of the receiving chamber 22a is open, and a portion of the cleaning member 21 extends from the bottom opening of the receiving chamber 22a.

[0290] It should be noted that the accommodating cavity 22a can also be referred to as the receiving cavity 22a.

[0291] It will be understood that the cleaning member 21 is configured to contact and clean the support surface by rolling. The cleaning assembly 20 can change the cleaning area of ​​the support surface by moving along the axial direction of the cleaning member 21. Arrow R in the accompanying drawings indicates the axial direction of the cleaning member 21, Ra indicates its first side, and Rb indicates its second side. The axial direction of the cleaning assembly 20 also corresponds to the axial direction of the cleaning member 21.

[0292] This rolling cleaning method, through the circulating friction between the cleaning materials such as bristles or flannel on the cleaning member 21 and the floor, has higher cleaning efficiency and better cleaning effect, and has a compact structure, which can reduce the space occupied by the cleaning member 21, which is conducive to reducing the size of the cleaning robot and improving its passability.

[0293] Referring to FIG. 26 , the control method includes the following steps:

[0294] S110, if it is determined that the cleaning robot receives an edge-following instruction or executes an edge-following mode;

[0295] S120, controlling the driving assembly 30 to execute the first working state, so as to drive the cleaning assembly 20 to move axially to the first position via the driving assembly 30. In the first position, one axial end of the cleaning assembly 20 extends axially out of the peripheral side of the body assembly 10.

[0296] It should be noted that, referring to FIG. 1 and FIG. 2 , the above-mentioned edge-adjacent refers to a working condition in which the cleaning robot approaches an obstacle such as a wall 70 and moves along the circumference of the obstacle.

[0297] The above-mentioned peripheral side extending axially out of the body component 10 refers to that in the plane projection perpendicular to the height direction of the cleaning robot, please refer to Figure 2, at least part of the projection outline of the cleaning component 20 along the axial extension direction exceeds the projection outline of the body component 10; or at least part of the projection outline is flush with the projection outline of the body component 10.

[0298] When the cleaning assembly 20 is not extended beyond the perimeter of the body assembly 10, areas on the support surface corresponding to the perimeter of the body assembly 10, such as corners and areas near baseboards, are difficult to clean, creating blind spots. When the cleaning robot receives an edge-following command or enters edge-following mode, it controls the drive assembly 30 to operate in the first operating state, changing the area that the cleaning assembly 20 can clean, thereby reducing blind spots.

[0299] In step S110, the user can send an edge-following instruction to the cleaning robot through a controller, such as a mobile terminal or remote control, to enable the cleaning robot to execute edge-following mode. Alternatively, the cleaning robot uses its own sensors to obtain environmental information, including the location and distance of obstacles, to determine whether to execute edge-following mode.

[0300] For example, in some embodiments, the cleaning robot is equipped with sensors such as a ranging radar and a visual camera. These sensors can be used to determine the current distribution of obstacles in the room and their distance from the body assembly 10, thereby controlling its movement path and turning timing. When the cleaning robot moves to the edge of wall 70, the ranging radar detects that the distance from the body assembly 10 to the edge of wall 70 is less than a preset value (the preset value is greater than zero), and the robot is determined to enter edge mode.

[0301] Therefore, the control method provided in the embodiment of the present application can enable the cleaning robot to switch the position of the cleaning member 21 under appropriate conditions and adjust its cleaning area to reduce the generation of cleaning blind spots.

[0302] In some embodiments, referring to FIG. 27 , the control method includes:

[0303] S210: If it is determined that the cleaning robot meets the reset condition;

[0304] S220, control the driving assembly to execute the second working state, so as to drive the cleaning assembly to switch from the first position to the second position through the driving assembly 30; wherein, in the second position, either end of the cleaning assembly 20 along the axial direction does not exceed the outer periphery of the fuselage assembly 10.

[0305] That is to say, when the cleaning component 20 is in the second position, please refer to Figure 1. In the plane projection of the cleaning robot perpendicular to the height direction, the projection outline of the cleaning component 20 is completely contained in the outline of the body component 10, and the body component 10 can shield and protect the cleaning component 20.

[0306] For example, in one embodiment, when the cleaning assembly 20 is in the second position, it is approximately in the middle of the body assembly 10 along the axial direction to balance the center of gravity of the cleaning robot.

[0307] For example, in one embodiment, the cleaning robot has a roller brush 50 for sweeping and collecting debris and the like along its path. When the cleaning assembly 20 is in the second position, it is located directly behind the roller brush 50 along the path of the cleaning robot, thereby cleaning the area being swept. This cleaning robot is a sweeping and mopping robot.

[0308] In some embodiments, referring to FIG. 28 , step S210, if it is determined that the cleaning robot meets the reset condition, includes:

[0309] S211: If it is determined that the cleaning robot has received a reset instruction or has exited the edge mode;

[0310] S212: Determine whether the cleaning robot meets the reset condition.

[0311] The user can send a reset command to the cleaning robot through the controller to exit the edge-following mode. Alternatively, the cleaning robot can use its own sensors to obtain environmental information and determine whether to exit the edge-following mode. In this way, the cleaning robot can reset the cleaning assembly 20 in a controlled or proactive manner.

[0312] For example, in one embodiment, the cleaning robot moves along a predetermined route, and the distance from surrounding obstacles changes accordingly. After completing cleaning in edge mode, if the sensor onboard detects that the distance from the wall is greater than or equal to a preset value, it will determine to exit edge mode.

[0313] In some embodiments, step S210, if it is determined that the cleaning robot meets the reset condition, includes:

[0314] S213: If collision information is obtained that the cleaning component 20 is hit by an external object,

[0315] S214: Determine whether the cleaning robot meets the reset condition.

[0316] There are at least two situations in which the cleaning component 20 is collided with an external object: First, the cleaning component 20 is in the first position and moves along with the movement of the cleaning robot. During the movement, it collides with an obstacle or is collided with a moving obstacle. At this time, step S220 is executed to retract the cleaning component 20. Second, the driving component 30 executes the first working state. When the cleaning component 20 approaches the first position, it collides with an obstacle on the supporting surface. This indicates that there are no conditions suitable for executing the edge mode in this area, so the driving component 30 is controlled to interrupt the first working state, and step S220 is executed, so that the cleaning component 20 no longer extends but retracts.

[0317] The above method enables the cleaning component 20 to return to the second position in time when encountering the risk of collision damage, and utilizes the shielding and protection function of the fuselage component 10 to improve the working stability of the cleaning robot.

[0318] There are no limitations on the method for obtaining collision information. For example, a mechanical collision sensor can be installed on the side of the extended cleaning assembly 20. When a collision occurs, a mechanical switch within the sensor is triggered, generating a corresponding electrical signal. Another example is an acceleration collision sensor installed on the cleaning assembly 20. The acceleration change during a collision can be used to detect the occurrence of a collision.

[0319] In some embodiments, step S210, if it is determined that the cleaning robot meets the reset condition, includes:

[0320] S215, obtaining the distance between the end of the cleaning component 20 extending from the peripheral side of the body component 10 and an object in the environment;

[0321] S216: If the distance is less than the preset value, it is determined that the cleaning robot meets the reset condition.

[0322] It should be noted, referring to FIG. 14 , that the distance between the end of the cleaning assembly 20 extending from the peripheral side of the body assembly 10 and an object in the environment is not limited to the distance m2 along the axial direction R, but may also include distances at other angular positions, such as m1 and m3. The cleaning robot can combine data obtained by sensors with the established dimensional data of the cleaning assembly 20 to calculate the distance between the extended side of the cleaning assembly 20 and the object in the environment.

[0323] In this way, when the distance is less than the preset value (the preset value is greater than zero), it means that the cleaning component 20 is about to collide with the obstacle. At this time, it is determined that the reset condition is met, and the driving component 30 is controlled to execute the second working state, retracting the cleaning component 20 to avoid collision of the cleaning component 20.

[0324] The third aspect of the embodiment of the present application also provides a control device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor is configured to execute the computer program, it executes the steps of the above-mentioned control method.

[0325] The processor can be an integrated circuit chip with signal processing capabilities. During the implementation process, the various steps of the control method of the cleaning robot can be completed by the integrated logic circuit of the hardware in the processor or the instructions in the form of software. The above-mentioned processor can be a general-purpose processor, a digital signal processor DSP, or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The processor can implement or execute the various methods, steps and logic block diagrams disclosed in the embodiments of the present application. The general-purpose processor can be a microprocessor or any conventional processor, etc. In combination with the steps of the method disclosed in the embodiments of the present application, it can be directly embodied as a hardware decoding processor for execution, or it can be completed by a combination of hardware and software modules in the decoding processor. The software module can be located in a computer-readable storage medium, which is located in a memory. The processor reads the information in the memory and completes the steps of the control method of the cleaning robot provided in the embodiments of the present application in combination with its hardware.

[0326] A fourth aspect of an embodiment of the present application provides a storage medium storing a computer program, which implements the steps of the above-mentioned control method when executed by a processor.

[0327] In the embodiment of the present application, if the above-mentioned control method is implemented in the form of a software function module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the methods described in each embodiment of the present application. The aforementioned storage medium includes various media that can store program codes, such as a U disk, a mobile hard disk, a memory, a magnetic disk, or an optical disk. In this way, the embodiment of the present application is not limited to any specific combination of hardware and software.

[0328] It is understood that the memory can be volatile memory or non-volatile memory, or can include both volatile and non-volatile memory. Among them, non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), ferromagnetic random access memory (FRAM), flash memory, magnetic surface memory, optical disk, or compact disc read-only memory (CD-ROM); magnetic surface memory can be magnetic disk memory or tape memory. Volatile memory can be random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static random access memory (SRAM), synchronous static random access memory (SSRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct rambus random access memory (DRRAM).The memories described in the embodiments of this application are intended to include, but are not limited to, these and any other suitable types of memories.

[0329] The cleaning device provided in the form of a cleaning robot in the embodiments of the present application can apply the above-described control method. The cleaning robot also includes a control device (not shown), which can be the control device in any embodiment of the present application. Referring to Figures 3, 4, and 6, the cleaning assembly 20 is disposed on the bottom side of the body assembly 10, and the drive assembly 30 is disposed on the body assembly 10.

[0330] The control device is configured to determine whether the cleaning robot has received an edge-following instruction or has executed edge-following mode, and control the drive assembly 30 to execute a first working state, so as to drive the cleaning assembly 20 to move axially along the cleaning member 21 to a first position via the drive assembly 30. In the first position, one axial end of the cleaning assembly 20 extends axially beyond the circumference of the body assembly 10.

[0331] The control device is also used to: determine whether the cleaning robot meets the reset condition, control the drive component 30 to execute the second working state, so as to drive the cleaning component 20 from the first position to the second position through the drive component 30; wherein, in the second position, either end of the cleaning component 20 along the axial direction does not exceed the outer periphery of the fuselage component 10.

[0332] The cleaning robot can control the axial movement of the cleaning component 20 through a control device, thereby adjusting the cleaning area of ​​the cleaning component 20 and reducing cleaning blind areas.

[0333] For example, referring to FIG. 4 and FIG. 6 , there is a mounting post 113 on the bracket 11 for connecting the bracket 11 to the main body 12 . The main body 12 is the main body of the cleaning robot and can be used to install the above-mentioned control device.

[0334] In some embodiments, referring to Figures 3 and 4 , the drive assembly 30 includes a first motor 34, a moving portion, and a reversing portion. The moving portion is connected to the frame 22, and the reversing portion is used to convert the rotation of the power output shaft of the motor 34 into linear motion of the moving portion along the axial direction of the cleaning assembly 20. The control device is used to control the power output of the motor 34 to control the drive assembly 30 to execute the first working state.

[0335] In this way, the control device controls the drive assembly 30 through circuit transformation, which has the advantages of precision and high efficiency.

[0336] It should be noted that the start-stop control method for controlling the switching of the cleaning assembly 20 between the first position and the second position is not limited. For example, the start-stop control can be implemented using a limit switch. When the cleaning assembly 20 reaches the first position or the second position, the limit switch is triggered, and accordingly, the power output shaft of the motor 34 stops rotating, and the position of the cleaning assembly 20 is determined. In other words, the first position or the second position is preset.

[0337] For another example, a distance sensor can be used for start-stop control. When the drive assembly 30 is in the first operating state, the distance sensor detects the distance between the cleaning assembly 20 and the obstacle. When the distance is less than a preset value, the power output shaft stops rotating, and the position of the cleaning assembly 20 is determined. In other words, the first position of the cleaning assembly 20 is related to the distribution of obstacles.

[0338] The specific structure of the reversing part is not limited, and can be a belt drive, a gear rack drive, etc.

[0339] In some embodiments, referring to Figures 3 and 4 , the first motor 34 has a rotating shaft 341. The reversing portion includes a lead screw 31, which is directly or indirectly connected to the rotating shaft 341. The rotating shaft 341 drives the lead screw 31 to rotate. The moving portion includes a nut 321 that cooperates with the lead screw 31 and is sleeved around the outer circumference of the lead screw 31.

[0340] That is, the lead screw 31 rotates driven by the rotating shaft 341 , and the threads thereon cause the nut 321 to move along the length direction of the lead screw 31 , thereby converting the rotation of the rotating shaft 341 into linear movement of the nut 321 .

[0341] The threaded transmission structure formed by the lead screw 31 and the nut 321 is compact and has precise transmission. The stroke of the nut 321 can be controlled according to the start and stop of the rotating shaft 341, which facilitates the motion control of the cleaning robot.

[0342] For example, referring to Figure 3 , the control device controls the shaft 341 to rotate forward, causing the nut 321 to move toward the first side Ra. The shaft 341 is then stopped from rotating, the nut 321 stops from moving, and the frame 22 moves to the first position, indicating that the drive assembly 30 is in the first operating state. Referring to Figure 4 , the control device controls the shaft 341 to rotate backward, causing the nut 321 to move toward the second side Rb. The shaft 341 is then stopped from rotating, the nut 321 stops from moving, and the frame 22 switches to the second position, indicating that the drive assembly 30 is in the second operating state. This allows precise control of the travel and motion of the moving portion.

[0343] The specific type of the screw 31 is not limited, for example, it can be a ball screw, a trapezoidal screw, etc., which is not limited here.

[0344] In some embodiments, the rotating shaft 341 can be directly connected to one end of the lead screw 31, for example, by screws, welding, etc. In such embodiments, the rotating shaft 341 and the lead screw 31 are coaxially arranged and rotate synchronously and at the same speed. In other embodiments, the rotating shaft 341 and the lead screw 31 can be connected by a gear set, for example, a pair of bevel gears or a worm gear. In such embodiments, the rotating shaft 341 and the lead screw 31 can be arranged perpendicularly.

[0345] The various embodiments / implementations provided in this application can be combined with each other without causing any contradiction.

[0346] The foregoing description is merely a preferred embodiment of the present application and is not intended to limit the present application. Persons skilled in the art will readily appreciate that various modifications and variations are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present application shall be included within the scope of protection of the present application.

Claims

1. A cleaning device, wherein: include: fuselage components; as well as A cleaning assembly comprising a cleaning member and a frame, wherein the cleaning member is rotatably connected to the frame, and the frame is disposed on the body assembly and is movable relative to the body assembly between a first position and a second position; The second position and the first position have at least a displacement difference along a first direction, and the first direction is parallel to the rotation axis of the cleaning member.

2. The cleaning device according to claim 1, wherein The frame reciprocates linearly along the first direction between the first position and the second position, and the axis of the cleaning member at the first position and the axis of the cleaning member at the second position are arranged along the same straight line.

3. The cleaning device according to claim 1, wherein In a plane projection perpendicular to the height direction of the cleaning device, the projection outline of the cleaning member in the first position does not exceed the projection outline of the fuselage assembly; a portion of the projection outline of the cleaning member in the second position extends beyond the projection outline of the first side of the fuselage assembly along the first direction.

4. The cleaning device according to claim 3, wherein: In a plane projection perpendicular to the height direction of the cleaning device, a portion of the projection contour of the cleaning member in the second position exceeds the reference line or is flush with the reference line; The reference line is a moving trajectory of the edge of the first side of the body component along the first direction when the cleaning device moves.

5. The cleaning device according to claim 1, wherein The first direction is perpendicular to the moving direction of the fuselage component; or, The first direction forms an angle with a direction perpendicular to the moving direction of the fuselage assembly.

6. The cleaning device according to claim 1, wherein The cleaning device further includes a driving assembly, which is disposed on the body assembly and is used to drive the frame to move linearly along the first direction.

7. The cleaning device according to claim 6, wherein The driving assembly includes a power source and a moving part, wherein the power source is used to drive the moving part to move along the first direction; The driving assembly further includes an elastic member that applies an elastic force to the frame, wherein the elastic force has at least a component toward a first side of the first direction, so that the frame can be detachably pressed against the moving part, and the frame can be moved along a second side of the first direction and separated from the moving part under the action of an external force.

8. The cleaning device according to claim 7, wherein The power source has a rotating shaft, and the driving assembly further includes a reversing portion, which connects the power source and the moving portion and is used to convert the rotation of the rotating shaft into a linear movement of the moving portion along the first direction.

9. The cleaning device according to claim 8, wherein The reversing portion includes a lead screw connected to the rotating shaft, and the moving portion includes a nut matched with the lead screw, and the nut is sleeved on the outer circumference of the lead screw.

10. The cleaning device according to claim 9, wherein The body assembly includes a bracket and a main body, the frame is arranged on the bottom side of the bracket, the driving assembly is arranged on the top side of the frame, the bracket has an avoidance groove, the moving part includes a first stop part connected to the nut, and the frame has a second stop part. The first stop part and / or the second stop part are passed through the avoidance groove. Under the action of the elastic member, the second stop part and the first stop part are detachably abutted along the first direction.

11. The cleaning device according to claim 7, wherein The elastic member includes a tension spring, one end of which is connected to the body assembly, and the other end of which is connected to the frame.

12. The cleaning device according to claim 6, wherein The body assembly includes a bracket and a main body, the bracket is detachably connected to the main body, and the cleaning assembly and the driving assembly are respectively connected to the bracket to form a pre-assembled whole.

13. The cleaning device according to claim 1, wherein The frame can move along a first direction. The cleaning device also includes a driving assembly, which includes a motor, a gear transmission mechanism and a rack. The rack extends along the first direction and is arranged on the frame. The power output shaft of the motor drives the rack to move along the first direction through the gear transmission mechanism.

14. The cleaning device according to claim 13, wherein The gear transmission mechanism includes at least one transmission gear, the axis of the power output shaft of the motor is perpendicular to the first direction, and the axis of the transmission gear is parallel to the axis of the power output shaft.

15. The cleaning device according to claim 13, wherein The rack is fixed to one side of the frame along a second direction, and the motor and the rack are located on the same side of the frame along the second direction, wherein the second direction is perpendicular to the first direction.

16. The cleaning device according to claim 13, wherein The body assembly comprises a bracket and a main body, the bracket is arranged on the main body, the cleaning assembly is arranged below the bracket, and the motor is installed on the main body.

17. The cleaning device according to claim 13, wherein The rack faces upward, and the gear transmission mechanism is located above the rack.

18. The cleaning device according to any one of claims 1 to 17, wherein: The cleaning device is a cleaning robot, which further includes a control device and a driving wheel. The driving wheel is rotatably arranged on the body component, and the control device is used to control the rotation of the driving wheel to move the cleaning robot.

19. The cleaning device according to any one of claims 1 to 17, wherein: The cleaning member includes a supporting device and a cleaning belt, and the cleaning belt surrounds the supporting device.

20. The cleaning device according to any one of claims 1 to 17, wherein: The cleaning member includes a roller, and the roller is rotatably arranged on the frame; The cleaning component also includes a drum motor and a transmission member, which are both arranged in the drum. The drum motor is connected to the frame, and the transmission member is connected to the drum. The power output shaft of the drum motor is connected to the transmission member to drive the cleaning member to roll.

21. The cleaning device according to any one of claims 1 to 17, wherein: The fuselage assembly includes a bracket and a main body, the frame is arranged on the bottom side of the bracket, and the bracket has a first stop structure; The frame is hung on the bracket and can move relative to the bracket along the first direction; the frame has a second stop structure, and the first stop structure is located above the second stop structure for stop cooperation with the second stop structure.

22. The cleaning device according to claim 21, wherein The bracket includes a plate body, a portion of the plate body protrudes upward and defines a first protrusion, the first protrusion extends along the first direction, and a groove is formed on the bottom side of the first protrusion, the top of the first protrusion defines the first stop structure, the frame partially protrudes upward and defines a second protrusion, the top of the second protrusion defines the second stop structure, and the second protrusion extends into the groove.

23. The cleaning device according to claim 21, wherein The cleaning device includes at least one intermediate member, which is arranged on the first stop structure and / or the second stop structure, and is at least partially located between the first stop structure and the second stop structure in the height direction to separate the first stop structure and the second stop structure; the intermediate member is used to reduce the resistance to relative movement between the frame and the bracket.

24. The cleaning device according to claim 23, wherein The intermediate piece is arranged on the first stopping structure.

25. The cleaning device of claim 23, wherein There are multiple intermediate components, and at least some of the intermediate components are arranged at intervals along the first direction.

26. The cleaning device of claim 23, wherein The intermediate member is a rolling member, so that the first stop structure and the second stop structure are rolling-fitted through the intermediate member.

27. The cleaning device according to claim 26, wherein The rolling element includes a roller or a bearing, and the axis of the rolling element is perpendicular to the first direction.

28. The cleaning device of claim 26, wherein The first stop structure has a mounting groove, and the rolling element is rotatably accommodated in the mounting groove.

29. The cleaning device of claim 21, wherein The bracket includes a slide groove extending along the first direction, and the frame includes a hanging portion, which is passed through the slide groove and connected to the frame. The hanging portion is hung on the surrounding structure of the bracket located on the top side of the slide groove.

30. The cleaning device of claim 29, wherein There are at least two slide grooves, which are spaced apart along the second direction. The first stop structure is located between two adjacent slide grooves. The second direction is perpendicular to the first direction and the height direction.

31. The cleaning device according to any one of claims 1 to 30, wherein The body assembly comprises a main body and a bracket floating along the height direction of the body assembly, and the cleaning assembly is arranged on the bracket.

32. The cleaning device of claim 31, wherein The fuselage assembly is provided with a swing frame which can rotate relative to the fuselage assembly. The bracket is connected to the swing frame and can float through the swing of the swing frame.

33. The cleaning device of claim 32, wherein: The swing frame includes a plurality of swing rods rotatably connected to the fuselage assembly and parallel to each other, the extension direction of the rotation axis between the swing rod and the fuselage assembly is perpendicular to the movement direction and height direction of the fuselage assembly, and the bracket is connected to one end of all the swing rods away from the fuselage assembly.

34. The cleaning device of claim 33, wherein: There are at least two groups of swing rods distributed side by side, and each group of swing rods has at least two swing rods arranged along the height direction of the device body. All the swing rods are rotatably connected to the bracket, and the extension direction of the rotation axis between the swing rod and the bracket is perpendicular to the movement direction and height direction of the fuselage assembly.

35. The cleaning apparatus of claim 32, wherein: The cleaning device further comprises a lifting mechanism provided on the body assembly, wherein the lifting mechanism is connected to the bracket to control the lifting of the bracket.

36. The cleaning device of claim 35, wherein The lifting mechanism comprises: a traction member, one end of which is connected to the bracket; a second driving member, provided on the body assembly and connected to the other end of the traction member, the second driving member controlling the lifting and lowering of the bracket via the traction member; Wherein, one end of the traction member close to the bracket can float along with the bracket.

37. The cleaning device of claim 36, wherein: The traction member is configured as a pull rope, the second driving member includes a cable drum and a traction motor, the traction motor is connected to the cable drum to control the rotation of the cable drum, and the end of the pull rope away from the bracket is connected to and wrapped around the cable drum.

38. A method for controlling a cleaning robot, wherein: The cleaning robot includes a body assembly, a driving assembly, and a cleaning assembly, wherein the cleaning assembly includes a frame and a cleaning member rotatably disposed on the frame, and the driving assembly is used to drive the cleaning assembly to move along the axial direction of the cleaning member; The control method includes: If it is determined that the cleaning robot receives an edge-following instruction or executes an edge-following mode, controlling the driving component to execute a first working state, so as to drive the cleaning component to move axially to a first position through the driving component; Wherein, in the first position, one axial end of the cleaning component extends axially out of the circumferential side of the body component.

39. The control method according to claim 38, wherein: The control method includes: If it is determined that the cleaning robot meets the reset condition, controlling the driving component to execute the second working state, so as to drive the cleaning component to switch from the first position to the second position through the driving component; Wherein, in the second position, any end of the cleaning component along the axial direction does not exceed the outer periphery of the fuselage component.

40. The control method according to claim 39, wherein: If it is determined that the cleaning robot meets the reset condition, it includes: If it is determined that the cleaning robot receives a reset instruction or exits the edge mode, it is determined that the cleaning robot meets the reset condition.

41. The control method according to claim 39, wherein: If it is determined that the cleaning robot meets the reset condition, it includes: If collision information indicating that the cleaning component has been collided with an external object is obtained, it is determined that the cleaning robot meets a reset condition.

42. The control method according to claim 39, wherein: If it is determined that the cleaning robot meets the reset condition, it includes: The distance between an end of the cleaning component extending from the peripheral side of the body component and an object in the environment is obtained. If the distance is less than a preset value, it is determined that the cleaning robot meets a reset condition.

43. A storage medium, wherein A computer program is stored, and when the computer program is executed by a processor, the steps of the control method according to any one of claims 38 to 42 are implemented.

44. A control device, wherein: The method comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor is configured to execute the steps of the control method according to any one of claims 38 to 42 when executing the computer program.

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