Cleaning assembly, cleaning device, cleaning base station, and cleaning system

Abstract

The present disclosure provides a cleaning assembly, a cleaning device, a cleaning base station, and a cleaning system. The cleaning assembly comprises a side brush, a first negative pressure apparatus, and a controller. At least one brush strip among a plurality of brush strips of the side brush is a movable brush strip which is movable between a first position and a second position relative to adjacent brush strips of the movable brush strip. When the movable brush strip is in the first position, the movable brush strip and at least one of said adjacent brush strips move away from each other in the circumferential direction; and when the movable brush strip is in the second position, the movable brush strip and at least one of said adjacent brush strips move close to each other in the circumferential direction. The controller controls the cleaning assembly to work in different modes, and in a first cleaning mode, the movable brush strip is in the first position; and in an untangling mode, the first negative pressure apparatus is communicated with a suction port, the movable brush strip is in the second position or is switched back and forth between the first position and the second position, and at least part of entanglement on the side brush is stripped off by means of the suction airflow generated by the first negative pressure apparatus.

Description

Cleaning assembly, cleaning device, cleaning base station and cleaning system TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of household cleaning appliances, in particular, to a cleaning assembly, a cleaning device, a cleaning base station and a cleaning system. BACKGROUND

[0002] A self-moving cleaning robot generally comprises a suction port, a fan and a dust box. The suction negative pressure generated by the fan sucks dust and garbage into the dust box through the suction port, thereby realizing the collection of garbage on the surface to be cleaned. Generally, the suction port is located at the bottom of the cleaning robot, and a side brush is further arranged at the front side of the suction port. The side brush rotates when the cleaning robot performs a cleaning task to collect dust and garbage on the surface to be cleaned towards the suction port, so as to improve the cleaning efficiency. During the process of cleaning the surface, the self-moving cleaning robot may have the problem that long filamentary garbage (such as hair) is entangled on the side brush.

[0003] SUMMARY

[0004] In order to at least partially solve the problems existing in the prior art, according to one aspect of the present disclosure, a cleaning assembly applied to a cleaning device is provided. The cleaning device comprises a body, and the bottom of the body is provided with a suction port. The cleaning assembly comprises a side brush, a first negative pressure device and a controller. The side brush comprises a plurality of brush strips, and the side brush is integrally rotatably arranged beside the suction port about a first axis to sweep garbage towards the suction port during the cleaning device performing a cleaning task. At least one of the plurality of brush strips is an active brush strip movable between a first position and a second position relative to its adjacent brush strip, wherein: when the active brush strip is in the first position, at least one of the active brush strip and its adjacent brush strip is in a separated state away from each other along a circumferential direction around the first axis; and when the active brush strip is in the second position, at least one of the active brush strip and its adjacent brush strip is in a converged state close to each other along the circumferential direction. The controller is configured to control the cleaning assembly to work in different modes, including a cleaning mode and an unwinding mode. The cleaning mode comprises a first cleaning mode, wherein: in the first cleaning mode, the active brush strip is in the first position; in the unwinding mode, a suction port of the first negative pressure device is in communication with the suction port, and the active brush strip is in the second position or reciprocally switches between the first position and the second position, and at least part of the entanglement on the side brush is stripped by the suction airflow generated by the first negative pressure device.

[0005] The cleaning assembly provided by the embodiment of the present disclosure comprises a side brush, a first negative pressure device and a controller. The side brush can be switched between a converged state and a separated state. When the side brush is in the converged state, or during the reciprocating switching process between the converged state and the separated state, at least part of the entanglement on the side brush can be stripped by the suction airflow generated by the first negative pressure device, thereby reducing the risk of the side brush being entangled with hair.

[0006] According to another aspect of the present disclosure, there is provided a cleaning assembly for a cleaning device. The cleaning device comprises a main body, the main body being provided with a suction inlet. The cleaning assembly comprises a side brush, a roller brush and a controller. The side brush comprises a plurality of brush strips, the side brush being rotatably disposed around a first axis beside the suction inlet to sweep garbage towards the suction inlet during a cleaning task performed by the cleaning device, at least one of the plurality of brush strips being an active brush strip movable between a first position and a second position relative to its adjacent brush strip, wherein: in the first position, the active brush strip and at least one of its adjacent brush strips are in a separated state away from each other along a circumferential direction around the first axis; and in the second position, the active brush strip and at least one of its adjacent brush strips are in a converged state towards each other along the circumferential direction. The controller is configured to control the cleaning assembly to operate in different modes, the different modes comprising a sweeping mode and an unwinding mode, the sweeping mode comprising a first sweeping mode, wherein: in the first sweeping mode, the active brush strip is in the first position; in the unwinding mode, the active brush strip is in the second position or reciprocally switches between the first position and the second position, the side brush is in contact with the roller brush at least for a part of time, and at least part of the winding objects on the side brush are stripped by the rotation of the roller brush and / or the side brush.

[0007] The cleaning assembly provided by the embodiments of the present disclosure comprises a side brush, a roller brush and a controller, the side brush can be switched between a converged state and a separated state, when the side brush is in the converged state, or during the reciprocating switching between the converged state and the separated state, the side brush is in contact with the roller brush at least for a part of time, and at least part of the winding objects on the side brush are stripped by the rotation of the roller brush and / or the side brush, thereby reducing the risk of hair winding on the side brush.

[0008] According to another aspect of the present disclosure, there is provided a cleaning device comprising a main body, a side brush, a first negative pressure device and a controller. The main body is provided with a suction inlet. The side brush is rotatably disposed around a first axis beside the suction inlet, the side brush comprising a plurality of brush strips, at least one of the brush strips being an active brush strip movable between a first position and a second position, wherein: in the first position, a free end of the active brush strip is at a first radial distance from the first axis; and in the second position, the free end of the active brush strip is at a second radial distance from the first axis, the second radial distance being greater than the first radial distance. The first negative pressure device is in communication with the suction inlet. The controller is configured to control the cleaning device to operate in different modes, the different modes comprising a first sweeping mode for sweeping a central area and an edge area and a second sweeping mode for sweeping a corner, wherein: in the first sweeping mode, the active brush strip is in the first position and the first negative pressure device is operated; and in the second sweeping mode, the active brush strip is in the second position and the first negative pressure device is operated.

[0009] The cleaning assembly provided by the embodiments of the present disclosure includes a side brush, a first negative pressure device, and a controller. The side brush can be switched between a folded state and an unfolded state. In the folded state, at least part of the bristles of the side brush is elongated. When the side brush is in the folded state, the first negative pressure device is controlled to work, so that the side brush works in a second cleaning mode. Since the side brush is in the folded state, at least part of the bristles is elongated, compared with the unfolded state of the side brush. Therefore, the cleaning range of the side brush can be expanded, for example, the dead zone that cannot be cleaned by the side brush in the unfolded state can be cleaned.

[0010] According to yet another aspect of the present disclosure, a cleaning device is provided, which includes a body and any of the cleaning assemblies as above. The bottom of the body is provided with a suction inlet.

[0011] According to another aspect of the present disclosure, a cleaning base station is provided, which has a docking position for docking any of the cleaning devices as above.

[0012] According to still another aspect of the present disclosure, a cleaning system is provided, which includes any of the cleaning base stations as above and any of the cleaning devices as above. The cleaning device is selectively docked with the cleaning base station.

[0013] According to yet another aspect of the present disclosure, a cleaning system is provided, which includes a cleaning device and a cleaning base station. The cleaning device includes a body and a dust collection container provided on the body. The body has a suction inlet and a dust outlet in fluid communication with the dust collection container. The suction inlet is provided on the bottom of the body. The cleaning base station includes a main body and a dust collection port provided on the main body. When the cleaning device is docked with the cleaning base station, the dust collection port of the cleaning base station is docked with the dust outlet of the cleaning device. The cleaning system further includes a side brush, a second negative pressure device, and a controller. The side brush is provided on the body of the cleaning device. The side brush includes a plurality of bristles. The side brush is integrally rotatably arranged beside the suction inlet about a first axis to sweep garbage toward the suction inlet during execution of a cleaning task by the cleaning device. At least one of the plurality of bristles is an active bristle movable between a first position and a second position relative to an adjacent bristle. When the active bristle is in the first position, the active bristle and at least one of the adjacent bristles are in a separated state away from each other along a circumferential direction around the first axis. When the active bristle is in the second position, the active bristle and at least one of the adjacent bristles are in a folded state close to each other along the circumferential direction. The second negative pressure device is provided on the cleaning base station. When the cleaning device is docked with the cleaning base station, the dust collection port is in communication with the dust outlet, so that a suction airflow generated by the second negative pressure device passes through the suction inlet, the dust collection container, the dust outlet, the dust collection port, and a suction port of the second negative pressure device in sequence. The controller is configured to control the cleaning system to be in an unwinding mode. In the unwinding mode, at least part of the winding on the side brush is stripped by the suction airflow generated by the second negative pressure device.

[0014] The cleaning system provided by the embodiments of the present disclosure includes a cleaning device and a cleaning base station, the cleaning device is provided with a side brush, the cleaning base station is provided with a second negative pressure device, the side brush can be switched between a folded state and a separated state, in the case that the cleaning device is docked with the cleaning base station, the side brush can be controlled to be in the folded state, or, in the process of reciprocating switching between the folded state and the separated state, at least part of the winding objects on the side brush can be stripped by the suction airflow generated by the second negative pressure device, so as to reduce the risk of hair winding on the side brush. A series of simplified concepts are introduced in the disclosure, which will be described in detail in the specific embodiment part. The part of the disclosure does not mean to try to limit the key features and necessary technical features of the claimed technical solutions, and does not mean to try to determine the protection scope of the claimed technical solutions.

[0015] The advantages and features of the present disclosure will be described in detail below in combination with the drawings. BRIEF DESCRIPTION OF DRAWINGS

[0016] The following drawings of the present disclosure are hereby incorporated as part of the present disclosure for the purpose of understanding the present disclosure. The embodiments of the present disclosure and their description shown in the drawings are used to explain the principles of the present disclosure. In the drawings,

[0017] FIGS. 1A-1B show bottom views of a cleaning device according to one embodiment of the present disclosure, where the bristles of the side brush in FIG. 1A are in a separated state, and the bristles of the side brush in FIG. 1B are in a folded state;

[0018] FIG. 1C is a cross-sectional view of a cleaning device according to one embodiment of the present disclosure;

[0019] FIGS. 2A-2B show perspective views of a side brush according to one embodiment of the present disclosure, where the bristles in FIG. 2A are in a separated state, and the bristles in FIG. 2B are in a folded state;

[0020] FIGS. 3A-3B show exploded views of the side brush in FIGS. 2A-2B, where the bristles in FIG. 3A are in a separated state, and the bristles in FIG. 3B are in a folded state;

[0021] FIGS. 4A-4B show top views of the side brush in FIGS. 2A-2B, where the bristles in FIG. 4A are in a separated state, and the bristles in FIG. 4B are in a folded state;

[0022] FIGS. 5A-5B show perspective views of a side brush seat of the side brush in FIGS. 2A-2B, where FIG. 5A shows the side of the movable side brush connection, and FIG. 5B shows the side of the fixed side brush connection;

[0023] FIGS. 6A-6B illustrate the cleaning area formed by the edge brush of FIGS. 2A-2B, with the bristles in a spread out state in FIG. 6A and in a closed state in FIG. 6B;

[0024] FIGS. 7A-7B illustrate top views of an edge brush according to another embodiment of the present disclosure, with the bristles in a spread out state in FIG. 7A and in a closed state in FIG. 7B;

[0025] FIGS. 8A-8B illustrate top views of an edge brush according to yet another embodiment of the present disclosure, with the bristles in a spread out state in FIG. 8A and in a closed state in FIG. 8B;

[0026] FIG. 9 illustrates a side view of an edge brush according to yet another embodiment of the present disclosure;

[0027] FIGS. 10A-10B illustrate top and perspective views of an edge brush according to another embodiment of the present disclosure;

[0028] FIGS. 11A-11B illustrate top views of an edge brush according to yet another embodiment of the present disclosure, with the bristles in a spread out state in FIG. 11A and in a closed state in FIG. 11B; and

[0029] FIG. 12A illustrates a cleaning system according to one embodiment of the present disclosure, with the cleaning device in a state of docking to a cleaning base station;

[0030] FIG. 12B illustrates a cleaning system according to one embodiment of the present disclosure, with the cleaning device in a state of moving to a docking position of the cleaning base station;

[0031] FIG. 13 illustrates a schematic view of a roller brush mounted to a mounting bin according to one embodiment of the present disclosure;

[0032] FIG. 14 illustrates a schematic view of a roller brush mounted to a mounting bin according to another embodiment of the present disclosure.

[0033] The above drawings include the following reference signs: cleaning device 1; side brush 10; body 20; suction inlet 21; dust inlet 22; mounting bin 23; collection bin 24; recess 25; dust removal port 26; dust collection container 30; roller brush 40; side brush seat 110; upper shell 111; first protruding tooth 1111; first upper mounting hole 1112; second upper mounting hole 1113; stop protrusion 1114; lower shell 112; first lower mounting hole 1122; second lower mounting hole 1123; first limiting portion 113; second limiting portion 114; first opening 115; first lower surface 115a; sliding groove 116; second opening 117; second lower surface 117a; first end 116a of the sliding groove; second end 116b of the sliding groove; brush strip 120; connecting end 120a; end 120b; connecting arm 120c; middle arm 120d; bristles 120e; rotating shaft 120f; flange 120g; groove 120h; upper surface 120i of the flange; first sub-surface 1201i; second sub-surface 1202i; upper surface 120j of the connecting arm; fixed brush strip 121; movable brush strip 122; cleaning base station 2; second negative pressure device 50; dust storage container 60; dust collection channel 70; dust collection port 80; suction port 231. DETAILED DESCRIPTION

[0034] In the following description, numerous specific details are provided in order to provide a thorough understanding of the present disclosure. One of ordinary skill in the art will realize, however, that the present disclosure can be practiced without one or more of these specific details. In other instances, well-known features have not been described in detail in order to avoid unnecessarily complicating the present disclosure.

[0035] The inventor found that the side brush is usually located at the front of the cleaning device, such as a cleaning robot, and first contacts the surface to be cleaned, so that the filament-like garbage, such as hair, on the surface to be cleaned is very easy to wrap around the side brush. If the filament-like garbage is to be cleaned, manual intervention is required to remove the side brush and then clean it, which may result in a poor user experience. In general, the side brush includes two or three brush strips distributed in a radial manner, and the free ends of the brush strips contact the surface to be cleaned when the side brush rotates, collecting dust and garbage on the surface to be cleaned towards the suction inlet on the cleaning device. Since there is a gap between the brush strips, and the gap gradually increases in the radial outward direction of the side brush, the filament-like garbage wrapped around the brush strips is more difficult to detach.

[0036] Based on this, the inventors propose a new design of a cleaning assembly, which includes a new side brush. In this design, at least a portion of the plurality of bristles of the side brush is movable. When it is desired to disentangle filamentous garbage, the movable bristles can be brought closer to each other and / or the movable bristles can be brought closer to the fixed bristles, in general, a portion or all of the plurality of bristles are brought into a closed state. Then, using one or more of the centrifugal force of the rotating side brush, the suction force of the negative pressure device, the pulling force of the roller brush, and the scraping force from the surface to be cleaned and / or the cleaning base station, the filamentous garbage wrapped around the bristles is disengaged and finally sucked into the cleaning device. Optionally, the force to bring the bristles together can come from one or more of a drive source such as a motor, friction with the ground, inertia, etc. The above-mentioned side brush can be applied to any suitable cleaning device, such as a vacuum cleaner, a self-moving cleaning robot (such as a sweeping robot), a window cleaning robot, etc.

[0037] It should be noted that the filamentous garbage described in the present disclosure can also be referred to as entanglements. Filamentous garbage is prone to entanglement on cleaning tools such as side brushes and roller brushes due to its long shape, and therefore can also be referred to as entanglements. In the following examples, whether "filamentous garbage" or "entanglements" is described, it can be understood as a different name for the same type of garbage (garbage that is long and prone to entanglement on cleaning tools). In actual use of the cleaning device, filamentous garbage or entanglements mainly refer to hair, pet hair, etc.

[0038] FIG. 1A-1B show bottom views of a cleaning device 1 according to one embodiment of the present disclosure, where the bristles of the side brush 10 in FIG. 1A are in a spread state, and the bristles of the side brush 10 in FIG. 1B are in a contracted state. FIG. 1C is a sectional view of the cleaning device 1 according to one embodiment of the present disclosure. Referring to FIG. 1A-1C in combination, the cleaning device 1 can include a main body 20. The bottom of the main body 20 is provided with a suction port 21. In some embodiments, a mounting cavity 23 is formed in the main body 20 inwardly from the suction port 21. A roller brush 40 is mounted in the mounting cavity 23. The roller brush 40 can be rotatably mounted in the mounting cavity 23 about an axis of rotation parallel to the surface to be cleaned. Typically, the outer periphery of the roller brush 40 is provided with a brush. The tips of the brush can extend outside the suction port 21 for sweeping the dust on the surface to be cleaned. The main body 20 can also have a receiving cavity 24. The receiving cavity 24 has a dust inlet 22. The dust inlet 22 is in communication with the mounting cavity 23. A dust collection container 30 can be detachably mounted in the receiving cavity 24. When the dust collection container 30 is mounted in the receiving cavity 24, the dust inlet 22 of the dust collection container 30 is in communication with the dust inlet 22 of the receiving cavity 24. Thus, an air flow passage (the air flow path is shown by the thick dashed line in FIG. 1C) can be formed sequentially through the suction port 21, the mounting cavity 23, the dust inlet 22, and the dust collection container 30. A negative pressure device such as a fan can be connected to the end of the air flow passage. In order to distinguish from the negative pressure device in the cleaning base station to be mentioned later, the negative pressure device in the cleaning device is referred to as a first negative pressure device (such as a fan provided in the cleaning device), and the negative pressure device in the cleaning base station is referred to as a second negative pressure device 50 (see FIG. 12A and FIG. 12B, such as a fan provided in the cleaning base station). When the first negative pressure device is in operation, a negative pressure can be formed in the mounting cavity 23, so that the dust and dirt swept up by the roller brush 40 can flow along the air flow passage together with the air. When the dust and dirt pass through the dust collection container 30, they are filtered by the filtering structure of the dust collection container 30 and collected in the dust collection container 30, and the clean air can be discharged into the environment after passing through the first negative pressure device. In order to improve the cleaning efficiency, the side brush 10 is provided beside the suction port 21. Exemplarily, the side brush 10 can be provided at the bottom of the main body 20 and in front of the side of the suction port 21. The side brush 10 rotates continuously during the cleaning process of the cleaning device 1, and is used to sweep the dust and dirt to the suction port 21. Typically, the first projection of the area swept by the side brush 10 in a horizontal plane partially overlaps with the first projection of the suction port 21 in the horizontal plane, so as to improve the cleaning efficiency while reducing the size of the cleaning device 1. The roller brush 40 has a third projection in the aforementioned horizontal plane. Exemplarily, the first projection and the third projection at least partially overlap, so that the roller brush 40 and the side brush 10 can interact with each other to pull the dust and dirt wrapped or attached thereon, thereby achieving the purpose of cleaning the roller brush 40 and / or the side brush 10.Optionally, the sweeping range formed by the rotation of the side brush 10 along the left-right direction of the cleaning device 1 can extend beyond the outer contour of the body of the cleaning device 1, so that the dust and garbage on the path traveled by the cleaning device 1 can be within the sweeping range of the side brush 10. Of course, the sweeping range formed by the rotation of the side brush 10 along the left-right direction of the cleaning device 1 can also just reach the outer contour of the body of the cleaning device 1, or not reach the outer contour of the body of the cleaning device 1, and the desired cleaning effect can also be achieved by reasonably planning the travel path of the cleaning device 1. Typically, the side brush 10 can be provided on both sides of the suction inlet 21. The side brushes 10 on both sides rotate towards the suction inlet 21. Specifically, when viewed from above, in the normal sweeping state, the left side brush 10 can rotate clockwise and the right side brush 10 can rotate counterclockwise, so that the dust and garbage on both sides can be collected towards the suction inlet at the bottom of the body 20. It should be noted that in some other embodiments, the body 20 of the cleaning device 1 can also not be provided with the roller brush 40, but still provided with the suction inlet 21, and when the side brush 10 performs the sweeping task, the garbage swept by the side brush 10 is swept to the suction inlet 12 and sucked into the dust collection container 30 through the suction inlet 12.

[0039] Figs. 2A-2B, 3A-3B illustrate a side brush 10 according to one example embodiment of the present disclosure. With reference to Figs. 1A-1C, the side brush 10 is rotatably disposed as a whole around a first axis P1 next to the suction inlet 21 to sweep garbage towards the suction inlet 21 during a cleaning task performed by the cleaning device 1. For ease of description, two directions along the first axis P1 and opposite to each other are defined as a first axial direction Z1 and a second axial direction Z2, respectively. The side brush 10 can include a plurality of brush strips 120. When the side brush 10 rotates as a whole around the first axis P1, the plurality of brush strips 120 rotate together around the first axis P1. In addition, at least one of the plurality of brush strips 120 is a movable brush strip movable between a first position and a second position relative to its adjacent brush strip. That is, for the movable brush strip, it is not only rotatable around the first axis P1, but also movable between the first position and the second position. During the cleaning task performed by the cleaning device 1 on a surface to be cleaned, the first axis P1 can be perpendicular or inclined to the surface to be cleaned. When the first axis P1 is perpendicular to the surface to be cleaned, the contact force of each brush strip 120 with the surface to be cleaned is uniform during the rotation of the side brush 10 as a whole around the first axis P1. When the first axis P1 is inclined relative to the surface to be cleaned, the first axis P1 gradually moves away from the suction inlet 21 in a direction from top to bottom in the height direction of the cleaning device 1, so that the contact force of each brush strip 120 with the surface to be cleaned during the movement of the brush strip 120 towards the suction inlet 12 is greater than the contact force of the brush strip 120 with the surface to be cleaned during the movement of the brush strip 120 away from the suction inlet 12. When the first axis P1 is inclined, each brush strip 120 intermittently contacts the surface to be cleaned during the rotation of the side brush 120 as a whole around the first axis P1. When the side brush 120 rotates, the garbage swept by the brush strip 120 is thrown towards the suction inlet. In this way, garbage outside the width of the suction inlet 12 can be swept towards the suction inlet by the side brush, and garbage swept to the suction inlet 12 can be prevented from being carried away by the brush strip 120.

[0040] In some embodiments, at least one of the plurality of brush strips 120 is a movable brush strip 122 movable between a first position and a second position relative to its adjacent brush strip. When the movable brush strip 122 is in the first position, as shown in Fig. 2A, the movable brush strip 122 and the at least one of the adjacent brush strips 120 are in a separated state away from each other along a circumferential direction R1-R2 around the first axis P1. When the movable brush strip 122 is in the second position, as shown in Fig. 2B, the movable brush strip 122 and the at least one of the adjacent brush strips 120 are in a converged state close to each other along the circumferential direction R1-R2.

[0041] Exemplarily, the side brush 10 can further comprise a side brush holder 110 rotatable about the first axis P1. The side brush holder 110 can be detachably connected to the main body 20 to facilitate daily maintenance and replacement of the side brush 10. A plurality of brush strips 120 can be arranged on the side brush holder 110. The side brush holder 110 can serve as a carrier of the plurality of brush strips 120, thereby enabling the plurality of brush strips 120 to rotate as a whole. Alternatively, the side brush holder 110 can be omitted, and the plurality of brush strips 120 can be directly mounted on the main body 20.

[0042] One end of each brush strip 120 can be connected to the side brush holder 110. This end of the brush strip 120 can be referred to as a connected end 120a, and the other end of each brush strip 120 can be referred to as a free end. The free end is in contact with the surface to be cleaned when the side brush 120 cleans the surface to be cleaned.

[0043] Exemplarily, in the illustrated embodiment, there are two brush strips 120, one of which is a movable brush strip 122, and the other is a fixed brush strip 121. The fixed brush strip 121 is stationary relative to the side brush holder 110. This fixed brush strip 121 is the brush strip adjacent to the movable brush strip 122. The movement of the movable brush strip 122 between the first position and the second position causes the movable brush strip 122 to move closer to and away from the fixed brush strip 121. Alternatively, in other embodiments not shown, both of the brush strips 120 can be movable brush strips 122. For each movable brush strip 122, the other movable brush strip 122 is the brush strip adjacent thereto.

[0044] In other embodiments, the side brush 10 can comprise at least two movable brush strips arranged adjacent to each other. Exemplarily, the side brush 10 has two brush strips, and both of the brush strips are movable brush strips. Alternatively, the side brush 10 has more than two brush strips, one of the brush strips adjacent to a movable brush strip is a movable brush strip, and the remaining brush strips are fixed brush strips. Alternatively, the side brush 10 has more than two brush strips, both of the brush strips adjacent to a movable brush strip are movable brush strips.

[0045] In some embodiments, the at least two adjacently arranged movable brush strips move in the same direction relative to the brush holder 110 during the folding of the at least two adjacently arranged movable brush strips. For example, in the case where the side brush has been installed on the cleaning device 1, taking the right side brush on the cleaning device 1 as an example, and viewed from the top, the at least two adjacently arranged movable brush strips can be reversed (for example, moving in the counterclockwise direction) relative to the brush holder 110, so that the state between the at least two adjacently arranged movable brush strips is switched to the folded state. When it is desired to switch the at least two adjacently arranged movable brush strips from the folded state to the separated state, the at least two adjacently arranged movable brush strips can be made to rotate in the clockwise direction (for example, moving in the clockwise direction) relative to the brush holder 110, so that the state between the at least two adjacently arranged movable brush strips is switched to the separated state. In some embodiments, the change in the spacing between the movable brush strips by reversing can mainly rely on the friction between the brush strips and the surface to be cleaned. Alternatively, as will be described later, the force that makes the movable brush strips 122 move can also be derived from one or more of a motor, a hydraulic device, etc. driving source, inertia, etc.

[0046] In some embodiments, the at least two adjacently arranged movable brush strips can rotate through different angle values relative to the brush holder 110. Wherein, the "angle value that the movable brush strips can rotate through relative to the brush holder 110" refers to the limit rotation angle of the movable brush strips relative to the brush holder 110. For example, taking two adjacently arranged movable brush strips as an example, both of which are movably connected to the brush holder 110 and can rotate relative to the brush holder 110 in the circumferential direction of the brush holder 110.

[0047] Exemplarily, in the folding process of the at least two adjacently arranged movable brush strips, in the case that the at least two adjacently arranged movable brush strips move in the same direction relative to the brush holder 110, the angle through which the later movable brush strip moves relative to the brush holder 110 in the direction of the movement of the movable brush strips relative to the brush holder 110 (i.e. in the folding direction) is a first angle, and the angle through which the earlier movable brush strip moves relative to the brush holder 110 in the direction of the movement of the movable brush strips relative to the brush holder 110 is a second angle, wherein the first angle is greater than the second angle. Since in the folding process of the at least two adjacently arranged movable brush strips, the later movable brush strip moves towards the side where the earlier movable brush strip is located, and the earlier movable brush strip moves away from the side where the later movable brush strip is located, in the case that the at least two adjacently arranged movable brush strips move in the same direction relative to the brush holder 110, the first angle through which the later movable brush strip moves is greater than the second angle through which the earlier movable brush strip moves in the folding process of the at least two adjacently arranged movable brush strips, compared to the case that the angles through which the at least two adjacently arranged movable brush strips move are the same, so as to make the at least two adjacently arranged movable brush strips as close as possible in the state of being rotated to the second position, i.e. the folding degree is higher.

[0048] Optionally, taking two adjacently arranged movable brush strips as an example, in the folding process of the two adjacently arranged movable brush strips, one of the movable brush strips (referred to as the first brush strip for ease of description) can move towards the movable brush strip adjacent thereto (referred to as the second brush strip for ease of description) in a first direction, and the second brush strip can remain stationary relative to the brush holder 110; and when the first brush strip and the second brush strip are separated, the first brush strip moves relative to the brush holder 110 in a second direction away from the second brush strip, and the second brush strip moves relative to the brush holder 110 in the second direction towards the first brush strip. In order to separate the first brush strip and the second brush strip as much as possible, the angle through which the second brush strip moves relative to the brush holder 110 can be designed to be smaller than the angle through which the first brush strip moves relative to the brush holder 110.

[0049] Optionally, in other embodiments not shown, there can be more brush strips 120, for example, greater than or equal to three. In these brush strips 120, only a part of them can be movable brush strips 122, and of course all of them can be movable brush strips 122. For each movable brush strip 122:

[0050] If the two brush strips adjacent thereto are both fixed brush strips, the movable brush strip 122 can only be in a folded state with one of the adjacent brush strips when in the second position.

[0051] If at least one of the two adjacent brush bars to the active brush bar 122 is an active brush bar, all the active brush bars in the second position can cause: 1) the active brush bar 122 and the two adjacent brush bars to be in a folded state; for example, one of the adjacent brush bars to the active brush bar 122 is a fixed brush bar, and the other adjacent brush bar is an active brush bar, the active brush bar 122 moves to the side of the fixed brush bar to be close to the fixed brush bar, and the other active brush bar moves to the side of the active brush bar 122 to be close to the active brush bar, so that the two active brush bars and the fixed brush bar are finally in a folded state. Or, the two adjacent brush bars to the active brush bar 122 are both active brush bars, and the three active brush bars move to the adjacent brush bars in the same direction to be close to the adjacent brush bars, for example, the three active brush bars move in the counterclockwise direction, so that the three active brush bars are finally in a folded state. Or, 2) the active brush bar 122 and one of the adjacent brush bars are in a folded state; for example, one of the adjacent brush bars to the active brush bar 122 is a fixed brush bar, and the other adjacent brush bar is an active brush bar, the active brush bar 122 moves to the side of the adjacent active brush bar to be close to the adjacent active brush bar to be in a folded state, and the active brush bar 122 is away from the fixed brush bar. Therefore, the present disclosure can be designed to enable all the brush bars 120 to be close to each other by the movement of the active brush bar 122. Alternatively, part of the brush bars 120 are partially close to each other by the movement of the active brush bar 122, and in the case of three or more brush bars 120, the spacing between the brush bars 120 in the folded state can be equal or unequal. In addition, when there are four or more brush bars 120 and two or more of them are active brush bars, the active brush bars in the second position can cause part of the active brush bars to be in a folded state with adjacent brush bars, and another part of the active brush bars to be in an unfolded state with adjacent brush bars.

[0052] It should be noted that the aforementioned "close" is relative to "away". Generally, the cleaning device 1 is in a normal cleaning mode, and all the brush bars 120 are separated from each other (i.e., in a separated state), for example, all the brush bars 120 can be distributed around the edge brush holder 110 in a dispersed manner along the circumferential direction R1-R2, at this time, the position of the active brush bar 122 is the first position. When the active brush bar 122 moves to the second position, causing part or all of the brush bars 120 to be close to each other in a folded state, the spacing between the brush bars that are close to each other is smaller than the spacing when they are in a separated state. Therefore, "close" is relative to "away".

[0053] During cleaning, long, fibrous debris (or entanglement) may become entangled on multiple brush strips 120. This debris is difficult to detach from the brush strips 120 under the action of the first negative pressure device. Furthermore, the spacing between the brush strips 120 gradually increases in the radially outward direction perpendicular to the first axis P1, making it even more difficult for the debris to detach automatically once it is simultaneously entangled on multiple brush strips 120. However, at least a portion of the multiple brush strips 120 provided in some embodiments of this disclosure are movable brush strips 122. During the movement of the movable brush strip 122 from the first position to the second position—that is, during the movement of the movable brush strip 122 and at least one of its adjacent brush strips 120 from a separated state to a closed state—compared to the first position, the spacing between the connecting end 120a of the movable brush strip 122 and the connecting end 120a of its adjacent brush strip 120 (e.g., the fixed brush strip 121 in the figure) can remain constant or decrease, but the spacing between the free ends of the multiple brush strips 120 significantly decreases. Therefore, if long, filamentous debris is simultaneously entangled on both the movable brush strip 122 and the fixed brush strip 121, the debris can be easily detached as their free ends approach each other; or, the movable brush strip 122 can repeatedly switch between a first position and a second position, causing the movable brush strip 122 and the fixed brush strip 121 to continuously move closer and further away, thus causing the long, filamentous debris to continuously loosen and tighten on the side brush, which also allows it to be easily detached. This process can be referred to as untangling. Based on this, the cleaning component proposed in this application may further include a controller for controlling the cleaning component to operate in different modes. The different modes include a cleaning mode and an untangling mode, with the cleaning mode including a first cleaning mode. In the first cleaning mode, the movable brush strip 122 is in the first position. The multiple brush strips 120 of the side brush 10 are in a separated state to improve cleaning efficiency. In the first cleaning mode, the cleaning components can perform large-area cleaning, exemplarily cleaning non-edge areas of the area to be cleaned, such as cleaning along an "arch"-shaped path or a "U"-shaped path. In the cleaning mode, each brush strip 120 is in contact with the surface to be cleaned for at least a portion of the time, the duration of which depends on the direction of extension of the first axis P1 about which the side brush 10 rotates. Exemplarily, regardless of the direction of extension of the first axis P1, in the untangling mode, each brush strip 120 is in contact with the surface to be cleaned for at least a portion of the time during the rotation of the side brush 10. This allows the friction between the brush strip 120 and the surface to be cleaned to help remove tangles from the brush strip 120.

[0054] It should be noted that in untangling mode, during the rotation of the side brush 10, each of the multiple brush strips 10 is in contact with the surface to be cleaned for at least a portion of the time.

[0055] In some embodiments, when the cleaning assembly is in the unwinding mode, the suction port of the first negative pressure device is in communication with the suction port 21, and the movable brush strip 122 is in the second position or reciprocatingly switched between the first position and the second position, and the suction airflow generated by the first negative pressure device strips at least part of the winding on the side brush 10. In the state that the movable brush strip 122 and at least one of the brush strips 120 adjacent to the movable brush strip 122 are close to each other, the winding originally possibly tightened on these brush strips becomes loose, and thus is easily stripped by the suction airflow. Since the movable brush strip 122 and at least one of the brush strips 120 adjacent to the movable brush strip 122 are close to each other in order to unwind, if the first distance between the brush strips in the close state is less than the second distance between the brush strips in the separated state, the unwinding effect may be less. The person skilled in the art can select the value of the first distance in the close state as needed.

[0056] Exemplarily, in the first cleaning mode, the first negative pressure device is controlled to work at a first power, and in the unwinding mode, the first negative pressure device is controlled to work at a second power, and the second power is greater than the first power. In the unwinding mode, the first negative pressure device works at a larger power, which can quickly suck away the winding and improve the unwinding efficiency.

[0057] In some embodiments, when the cleaning assembly is in the unwinding mode, the side brush 10 is in contact with the roller brush 40 at least partially in a period of time. At least part of the winding on the side brush 10 is stripped by the rotation of the roller brush 40 and / or the side brush 10. Optionally, the controller can be used to control: the roller brush 40 rotates forward, reverses, or alternately rotates forward and reverses in the unwinding mode. The rotation direction of the roller brush 40 when rotating forward is the rotation direction of the roller brush 40 in the first cleaning mode. Through the contact between the roller brush 40 and the side brush 10, the winding on the side brush 10 can be stripped faster, and at least part of the winding stripped by the roller brush 40 can be sucked by the first negative pressure device through the suction port 21, thereby ensuring the cleanliness of the surface to be cleaned. In particular, in the above-mentioned unwinding mode, when the roller brush 40 rotates forward and reverses to contact the side brush 10, the winding on the side brush 10 can also be pulled multiple times, which facilitates the winding on the side brush 10 to be separated.

[0058] Optionally, the controller can be further configured to control the roller brush 40 to rotate in an unwinding mode at a rotational speed greater than or equal to the rotational speed in the first cleaning mode. The long filament-like garbage wound on the side brush 10 can be pulled down by the roller brush 40. During the period when the roller brush 40 provides the pulling force, the movable brush strip 122 can be kept in the second position or reciprocally switched between the first position and the second position. The inventor has found that the rotational speed of the roller brush 40 in the unwinding mode greater than the rotational speed in the first cleaning mode can improve the peeling efficiency of the winding; the rotational speed of the roller brush 40 in the unwinding mode equal to the rotational speed in the first cleaning mode can also peel the winding, but can simplify the control logic and reduce the software control cost.

[0059] In the embodiment where the movable brush strip 122 is kept in the second position during the period when the roller brush 40 provides the pulling force, the movable brush strip 122 and the brush strips close to the movable brush strip 122 to be in the closed state can generally extend towards the roller brush 40, as shown in FIG. 1B. In the unwinding mode, the side brush 10 can not rotate as a whole around the first axis, so that the brush strips can be in sufficient contact with the roller brush 40 to peel the winding on the roller brush 40. Optionally, the side brush 10 in the closed state can also rotate back and forth within a certain range, so that the winding can be switched between the loose, tight, loose, tight… states between the side brush 10 and the roller brush 40. At at least one position within the aforementioned “certain range”, the side brush 10 in the closed state can be in contact with the roller brush 40. Alternatively, the side brush 10 in the closed state can also rotate 360 degrees as a whole around the first axis.

[0060] In the embodiment where the movable brush strip 122 reciprocally switches between the first position and the second position during the period when the roller brush 40 provides the pulling force, during the reciprocally switching of the movable brush strip 122, the projection of the maximum sector between the movable brush strip 122 and the brush strips close to the movable brush strip 122 to be in the closed state (referred to as close brush strips) in the horizontal plane has an overlapping area with the projection of the roller brush 40 in the horizontal plane, so that at least one of the movable brush strip 122 and the close brush strips can be in contact with the roller brush 40 at least in part of the period during the reciprocally switching of the movable brush strip 122, so that the roller brush 40 can provide the pulling force for the winding on the brush strips. In the unwinding mode, the side brush 10 can not rotate as a whole around the first axis, so that the brush strips can be in sufficient contact with the roller brush 40 to peel the winding on the roller brush 40. Optionally, the side brush 10 can also rotate back and forth within a certain range, so that the winding can be switched between the loose, tight, loose, tight… states between the side brush 10 and the roller brush 40. At at least one position within the aforementioned “certain range”, at least one of the movable brush strip 122 and the close brush strips can be in contact with the roller brush 40. Alternatively, the side brush 10 can also rotate 360 degrees as a whole around the first axis, while the movable brush strip 122 reciprocally switches between the first position and the second position.

[0061] Exemplarily, in the unwinding mode, the first negative pressure device can be controlled to provide the suction air flow, and the roller brush 40 capable of contacting the brush strip 120 can be controlled to rotate, so that the winding is quickly stripped from the brush strip 120 under the joint action of the first negative pressure device and the roller brush 40.

[0062] In some embodiments, the roller brush 40 can be a roller brush 40 with an unwinding function. Thus, the winding (or filament-shaped garbage) on the edge brush 10 is stripped to the roller brush 40 by the roller brush 40. Since the roller brush 40 itself is a roller brush 40 with an unwinding function, the filament-shaped garbage on the roller brush 40 can be quickly stripped, thereby reducing the risk of winding garbage on the edge brush 10 and the roller brush 40. As is well known to those skilled in the art, for cleaning equipment with cleaning function, the edge brush 10 and the roller brush 40 are the main components of winding filament-shaped garbage. Through the unwinding function of the edge brush 10 and the roller brush 40, the anti-winding effect of the whole cleaning equipment can be realized.

[0063] For the roller brush 40 with the unwinding function, exemplarily, as shown in FIG. 13, the roller brush 40 can include a roller body 41 and a cleaning part 42 (including a brush and / or a rubber brush), the cleaning part 42 is spirally arranged on the outer peripheral wall of the roller body 41. Along the length direction of the roller body 41, the roller body 41 includes oppositely arranged first end 411 and second end 412, the first end 411 is connected with the installation bin 23, and the second end 412 is a free end. The installation bin 23 is provided with a suction port 231, the suction port 231 is oppositely arranged with the second end 412 of the roller body 41, and the suction air flow generated by the first negative pressure device makes the winding on the roller brush 40 move in the direction from the first end 411 to the second end 412 of the roller body 41 and be sucked away from the installation bin 23 through the suction port 231. When the movable brush strip 122 of the edge brush 10 is in the second position, or during the reciprocating switching process of the movable brush strip 122 of the edge brush 10 between the first position and the second position, the edge brush 10 contacts the roller brush 40 at least partially. The winding (such as hair) on the edge brush 10 is stripped and concentrated on the roller brush 40 by the roller brush 40. Since the roller brush 40 itself is a single cantilever roller brush, the hair on the roller brush 40 is guided to the second end 412 of the roller brush 40 through the spiral of the roller brush 40 and is sucked away through the suction port 231, so that the hair is basically not left on the roller brush 40, thereby greatly improving the anti-winding effect of the whole cleaning equipment.

[0064] Optionally, as shown in FIG. 14, the rolling brush 40 and / or the mounting bin 23 is provided with a cutting structure G for cutting the winding on the rolling brush 40. When the movable brush bar 122 of the side brush 10 is in the second position or during the reciprocating switching between the first position and the second position, the side brush 10 is in contact with the rolling brush 40 at least for a period of time, the rolling brush 40 strips the winding (such as hair) on the side brush 10 and concentrates it on the rolling brush 40. Since the rolling brush 40 and / or the mounting bin 23 is provided with the cutting structure G, the hair on the rolling brush 40 can be cut by the cutting structure G and not wound on the rolling brush 40. The cut hair can be more easily sucked away by the suction port of the mounting bin 23, so that there is basically no hair left on the rolling brush 40, thereby greatly improving the anti-winding effect of the cleaning device as a whole. It should be noted that in this embodiment, the position of the suction port of the mounting bin 23 is not limited, which can be located on the mounting bin 23 opposite to the end of the length direction of the rolling brush 40, or can be located on the mounting bin 23 opposite to the middle of the length direction of the rolling brush 40, as long as the hair cut by the cutting structure G can be removed from the mounting bin 23.

[0065] Exemplarily, the cleaning assembly can further include a dust collection container 30 arranged in the machine body 20. The suction port of the first negative pressure device is in fluid communication with the dust collection container 30 and the mounting bin 23 in which the rolling brush 40 is arranged in sequence. The dust collection container 30 can be located on the air flow path formed by the first negative pressure device via the suction port 21 for collecting the garbage in the suction air flow generated by the first negative pressure device. In this way, the first negative pressure device for stripping the winding on the brush 10 can also be used to suck the garbage at the suction port 21 into the dust collection container 30 in the cleaning mode. In the embodiment of stripping the winding on the brush 10 by using the rolling brush 40, the stripped winding can be sucked into the dust collection container 30 by the first negative pressure device.

[0066] Exemplarily, the dust collection container 30 can be detachably arranged in the receiving bin 24 of the machine body 20, and the receiving bin 24 has a dust inlet 22, and the dust collection container 30 has an opening that is in abutment with the dust inlet 22 of the receiving bin 24. Exemplarily, as shown in FIG. 1C, the suction port 231 of the mounting bin 23 is in communication with the dust inlet 22 of the receiving bin 24 through a dust inlet channel. In this way, the hair and other garbage stripped on the rolling brush 40 can be sucked into the dust collection container 30 through the suction port 231, the dust inlet channel and the dust inlet 22, realizing the garbage collection during the cleaning task of the cleaning device.

[0067] In addition, in the unwinding mode, one or more of the following methods can be used to make the long filament garbage separate from the side brush 10 to realize unwinding:

[0068] 1. The edge brush 10 continues to rotate at the same speed or at an increased speed to use the centrifugal force of the rotating edge brush 10 to disentangle the entanglements.

[0069] 2. The entanglements are disentangled using a second negative pressure device located on a cleaning base station to which the cleaning device is docked. In the case where a negative pressure device is provided on both the cleaning device and the cleaning base station, both can be operated simultaneously to disentangle the entanglements.

[0070] 3. In some cases, the surface to be cleaned can include areas of greater roughness, such as carpets. When the cleaning device moves onto such an area, the edge brush 10 can be used to disentangle by using the friction between the edge brush 10 and the area. If the area includes a soft carpet, the drive wheels of the cleaning device can sink into the carpet, increasing the contact area and the friction between the edge brush 10 and the carpet. In any of the above cases, the edge brush 10 can be rotated while the cleaning device is on the area, using the friction between the surface to be cleaned and the edge brush 10 to disentangle.

[0071] 4. A scraping element can be provided in the cleaning base station to provide the above-mentioned friction.

[0072] The above-mentioned disentangling methods can be used individually, simultaneously, or sequentially to improve the efficiency of disentanglement.

[0073] Typically, each brush strip 120 can generally include a connecting arm 120c and a flexible bristle 120e. The first end of the connecting arm 120c is connected to the side brush holder 110, and the bristle 120e is connected to the second end of the connecting arm 120c. The first end of the connecting arm 120c forms the aforementioned connecting end 120a, and the end 120b of the bristle 120e forms the aforementioned free end. Exemplarily, the connecting arm 120c can be made of a hard material, and more specifically, the connecting arm 120c can be made of hard rubber or hard plastic. The connecting arm 120c can be profiled for connection to the side brush holder 110. Therefore, the connecting arm 120c can be manufactured by injection molding. Optionally, an intermediate arm 120d can be connected between the connecting arm 120c and the bristle 120e. The intermediate arm 120d can have a certain flexibility, for example, can be made of soft glue of thermoplastic polyurethane elastomer (TPU). The intermediate arm 120d not only can fix the bristle 120e, but also can extend the distance of the brush strip 120 and increase the flexibility of the brush strip 120. Generally, the bristle 120e and the intermediate arm 120d are both elongated and generally have a consistent extension trend. Of course, the intermediate arm 120d can be omitted, and the bristle 120e can be directly connected to the connecting arm 120c. Each brush strip 120 generally has a plurality of bristles 120e, and the plurality of bristles 120e diverge along from the root connected to the connecting arm 120c or the intermediate arm 120d to the end 120b. For each bristle 120e, the bristle 120e can be straight; or the end 120b of the bristle 120e can be bent backward relative to the rotation direction during normal cleaning; or the end 120b of the bristle 120e can be bent toward the ground.

[0074] When the movable brush strip 122 is in the second position so that the plurality of brush strips 120 are in the folded state, the spacing between the bristles 120e of adjacent brush strips 120 in the plurality of brush strips 120 does not change or decreases in a radially outward direction perpendicular to the first axis P1. Exemplarily, taking the bristles 120e as straight as an example, the bristles 120e of the adjacent brush strips 120 after folding can be parallel to each other, or the closer to the end 120b of the bristle 120e, the smaller the spacing between the bristles 120e. In this way, the filiform garbage on the brush strip 120 can be more conveniently untangled.

[0075] It should be noted that in the present disclosure, the "spacing between the bristles of the movable brush strip 122 and at least one of the bristles of the adjacent brush strip is reduced" can be understood as that the spacing between the bristles of the movable brush strip 122 and at least one of the bristles of the adjacent brush strip is gradually reduced in a radially outward direction perpendicular to the first axis, but it is not excluded that the spacing between the bristles of the movable brush strip 122 and at least one of the bristles of the adjacent brush strip is first gradually reduced, and then slightly increases near the end of the brush strip or the end position.

[0076] Of course, when the plurality of brush strips 120 are in the folded state, the spacing between the bristles 120e of adjacent brush strips 120 can also be increased along the aforementioned radial outward direction, so as to still play a role in unwinding. Compared with the case where the spacing between the bristles 120e of adjacent brush strips 120 is unchanged or decreased, the spacing being increased can slightly increase the difficulty of unwinding, but by selecting a suitable unwinding mode (see the four modes described above), an ideal unwinding effect can be achieved. Alternatively, adjacent brush strips 120 can also be crossed, and at the crossing position, they can be arranged in an up-down manner. Along the aforementioned radial outward direction, the spacing between adjacent brush strips 120 can first decrease and then increase.

[0077] It should be noted that the spacing between the bristles 120e of any two adjacent brush strips 120, the angle between the bristles 120e of any two adjacent brush strips 120, and the angle between the bristles 120e of the movable brush strip 122 and the virtual ray to be mentioned later in the disclosure, etc., are all with respect to the longitudinal center line of the brush strip 120 as the reference line of the bristle position. The "longitudinal center line" refers to the center line of the brush strip 120 perpendicular to the width direction of the bristles 120e thereof. Then the spacing between the bristles 120e of the movable brush strip 122 and the bristles 120e of at least one of the brush strips 120 adjacent to the movable brush strip 122 refers to the spacing between the longitudinal center line of the movable brush strip 122 and the longitudinal center line of at least one of the brush strips 120 adjacent to the movable brush strip 122.

[0078] Exemplarily, when the movable brush strip 122 is in the first position, the angle between the bristles 120e of the movable brush strip 122 and the bristles 120e of at least one of the brush strips adjacent to the movable brush strip 122 is [120°, 165°]. In the illustrated embodiment, when the movable brush strip 122 is in the first position, the angle between the bristles 120e of the movable brush strip 122 and the bristles 120e of the fixed brush strip 121 is [120°, 165°]. In this way, the plurality of brush strips 120 can be more dispersed, achieving a better cleaning effect. Exemplarily, when the movable brush strip 122 is in the first position, the angle between the bristles 120e of the movable brush strip 122 and the bristles 120e of the fixed brush strip 121 is 150°. Exemplarily, when the movable brush strip 122 is in the second position, the angle between the bristles 120e of the movable brush strip 122 and the bristles 120e of at least one of the brush strips adjacent to the movable brush strip 122 is [0°, 20°]. In the illustrated embodiment, when the movable brush strip 122 is in the second position, the angle between the bristles 120e of the movable brush strip 122 and the bristles 120e of the fixed brush strip 121 is [0°, 20°], which is more conducive to unwinding. Exemplarily, when the movable brush strip 122 is in the second position, the angle between the bristles 120e of the movable brush strip 122 and the bristles 120e of the fixed brush strip 121 is 15°.

[0079] Exemplarily, the force to make the movable brush bar 122 movable can be derived from one or more of the following: a driving source such as an electric motor, a hydraulic device, friction between the brush bar 122 and the surface to be cleaned, inertia, etc. One skilled in the art can reasonably select one or more of the above-mentioned manners as needed.

[0080] In the scheme of making the brush bar 120 contract by using a driving source, an additional driving source can be needed, which can be arranged on the side brush 10 (e.g. the side brush holder 110) or on the machine body 20. Of course, a suitable transmission structure can also be arranged to make the driving force of the overall rotation of the side brush 10 act on the movable brush bar 122, so that the movable brush bar 122 can be movable.

[0081] In the scheme of making the brush bar 120 contract by using inertia, exemplarily, a damping member is arranged between the movable brush bar 122 and the side brush holder 110, so that when the movable brush bar 122 needs to switch to the second position, the damping member needs to be overcome. When the side brush 10 rotates at a first speed in the first cleaning mode, the movable brush bar 122 can rely on the resistance to remain in the first position; when the brush bar 120 needs to be contracted, the side brush 10 can be rotated at a second speed greater than the first speed and in the same direction, and the movable brush bar 122 has the ability to maintain the initial motion state under the action of inertia, so as to move to the second position to achieve the purpose of brush bar contraction. This way can not increase the driving source, but can use the original motor. However, it can be necessary to significantly increase the speed of the side brush 10, which can cause the noise during unwinding to increase more, and the advantage is that it is almost unnecessary to modify the structure of the side brush 10 or the cleaning equipment using the side brush 10. When the side brush needs to be separated, the movable brush bar 122 can be manually moved to the first position.

[0082] The scheme of folding the brush strips 120 by the friction force with the surface to be cleaned can be relatively simple, which will be described in more detail below. The brush holder 110 is rotatably connected to the body 20 about the first axis P1. The movable brush strips 122 are in the first position by the forward rotation of the brush holder 110 along the first circumferential direction R1, and are in the second position by the reverse rotation of the brush holder 110 along the second circumferential direction R2. The first circumferential direction R1 and the second circumferential direction R2 are opposite. Referring to FIGS. 3A-3B and 5A, the brush holder 110 can be provided with a first limiting portion 113 and a second limiting portion 114. The first limiting portion 113 and the second limiting portion 114 are spaced apart along the circumferential direction R1-R2, and the movable brush strips 122 are freely movable between the first limiting portion 113 and the second limiting portion 114. The movable brush strips 122 abut against the first limiting portion 113 when the brush holder 110 rotates along the first circumferential direction R1 to be in the first position, and abut against the second limiting portion 114 when the brush holder 110 rotates along the second circumferential direction R2 to be in the second position. The first circumferential direction R1 is the rotation direction of the brush holder 110 in the first cleaning mode.

[0083] The first limiting portion 113 and the second limiting portion 114 limit the movement space of the movable brush strips 122, which can freely move between the first limiting portion 113 and the second limiting portion 114, and the first limiting portion 113 and the second limiting portion 114 limit the two end positions of the free movement, i.e. the first position and the second position. "Free movement" means that the movable brush strips 122 receive little resistance during movement, which can be almost negligible. Therefore, when the brush 120 is in the first cleaning mode, the brush 120 rotates along the first circumferential direction R1 (referred to as forward rotation), and the resistance from the ground makes the movable brush strips 122 abut against the first limiting portion 113, so that the plurality of brush strips 120 are in the separated state; when the brush 120 is in the unwinding mode, the brush 120 rotates along the second circumferential direction R2 (referred to as reverse rotation), and the resistance from the ground makes the movable brush strips 122 move towards the second limiting portion 114 and finally abut against the second limiting portion 114, so that the brush strips 120 are in the folded state. In this way, the position of the movable brush strips 122 can be adjusted by the forward and reverse rotation of the brush 120 and with the help of the friction force from the surface to be cleaned, so as to realize the folding and separation of the plurality of brush strips 120. This way of driving the movable brush strips 122 to move between the first position and the second position is relatively simple, and will not significantly increase the manufacturing cost, structural complexity and weight of the brush 120, so it is more economical and practical. Of course, the present disclosure does not exclude other ways of moving the movable brush strips 122 between the first position and the second position.

[0084] Exemplarily, the first limiting portion 113 and the second limiting portion 114 can be formed by one or more of the following: protrusions, baffles, grooves, etc., provided on the side brush holder 110. In the embodiments shown in Figures 3A to 3B and Figure 5A, the side brush holder 110 can be provided with a first opening 115, and at least a portion of the connecting arm 120c of the movable brush bar 122 can extend into the side brush holder 110 through the first opening 115 and be movably connected to the side brush holder 110. The first opening 115 can have a certain length generally along the circumferential direction R1-R2, and the first limiting portion 113 and the second limiting portion 114 are respectively formed at both ends of the first opening 115 along the circumferential direction R1-R2.

[0085] In some embodiments, for ease of installation, the side brush holder 110 typically includes an upper housing 111 and a lower housing 112. A first opening 115 may be formed on the lower housing 112, and the first opening 115 is closed when the upper housing 111 and the lower housing 112 are engaged. This facilitates the installation of the movable brush strip 122.

[0086] In some other embodiments, the side brush holder 110 may include a left housing and a right housing, and the first opening may be formed on the left housing or the right housing, or a portion of the first opening may be formed on the left housing and another portion of the first opening may be formed on the right housing, with the left housing and the right housing fastened together to form the first opening.

[0087] In unwinding mode, the controller can control the side brush holder 110 to have one or more of the following rotation modes:

[0088] The first method involves a controller that allows the side brush holder 110 to continuously reverse in unwinding mode, ensuring that the movable brush bar 122 remains in the second position. Furthermore, the side brush 10 can continuously reverse as a whole around the first axis P1 during unwinding. This allows the brush bar 120 to remain in a closed state, facilitating the removal of the tangled material from the brush bar 120.

[0089] The second method involves a controller that allows the side brush holder 110 to rotate alternately forward and backward in unwinding mode, switching the movable brush bar 122 between a first and a second position. This allows the brush bar 120 to switch between a closed and open state. The wound material can move loosely and tightly on the brush bar 120, causing it to be repeatedly pulled, thus facilitating its detachment from the brush bar 120.

[0090] Thirdly, the controller can be used to control the side brush holder 110 to reverse, stop and rotate alternately in the unwinding mode, so that the movable brush strip 122 switches between the first position and the second position, and the movable brush strip 122 can also stay in the second position after moving to the second position. In this way, after the movable brush strip 122 is folded to the second position so that the winding is loosened relative to the brush strip 120, the stay in the second position can give the unwinding power element (including the rolling brush 40 and / or the negative pressure device) enough time to strip the winding on the brush strip 120. If part of the winding is not stripped when the movable brush strip 122 is folded for the first time and stays in the second position, the movable brush strip 122 can be moved to the first position to enter the separation state as the side brush holder 110 rotates forward, and the winding can switch between the loose and tight states, which is conducive to the winding being separated from the brush strip 120, and has a greater chance of being separated from the brush strip 120 when the brush strip 120 is folded again. Thus, the efficiency of unwinding is improved.

[0091] Fourthly, the controller can be used to control the side brush holder 110 to reverse and stop alternately in the unwinding mode. It can be understood that when the driving source such as a motor frequently reverses and rotates, the inertia of the motor rotation changes rapidly, which causes the motor to be subjected to greater impact and vibration, resulting in accelerated wear of the motor and shortened service life of the motor. Therefore, in the present embodiment, by controlling the side brush holder 110 to reverse and stop alternately in the unwinding mode, since the reverse rotation of the side brush holder 110 can make the movable brush strip 122 in the second position, i.e. in the folded state of the movable brush strip 122, and by intermittently controlling the side brush holder 110 to stop while continuously controlling the side brush holder 110 to reverse, compared with the scheme of continuously controlling the side brush holder 110 to rotate forward and reverse alternately, the driving control logic of the driving source (such as a motor) of the side brush holder 110 can be simplified, and the speed of wear of the driving source can be reduced to some extent, thereby improving the service life of the driving source.

[0092] Fifthly, the controller can be used to control the side brush holder 110 to reverse and stop in the unwinding mode. In the fourth and fifth rotation modes, the movable brush strip 122 can be continuously in the second position, so that the side brush 10 is folded. The purpose of reversing the side brush holder 110 is to fold the side brush 10. After folding, the side brush holder 110 can stop; or stop for a period of time and then reverse, stop again… After testing, when the amount of winding is small or the winding is loose, the winding can be stripped from the side brush 10 by controlling the side brush holder 110 to stop after the movable brush strip 122 is in the second position. In this case, the driving control frequency of the driving source connected to the side brush holder 110 is lower, which can improve the service life of the driving source.

[0093] In the above various rotation modes, in addition to the first rotation mode, the bristle brush 10 changes between different states, including changing between the folded and unfolded states, and / or changing between rotating and stopping. Optionally, in the unwinding mode, at one or more moments or for one or more time periods during which the brush strips 120 are in the folded state, during switching from the folded state to the unfolded state, and / or during switching from the unfolded state to the folded state, the first projection of the sector formed by the active brush strip 122 and the brush strip capable of approaching the active brush strip 122 to be in the folded state (including the brush strips forming the sector) in the horizontal plane can satisfy at least one of the following conditions: 1) the first projection has an overlapping area with the second projection of the suction port in the horizontal plane; 2) the first projection has an overlapping area with the third projection of the roller brush 40 in the horizontal plane. For example, in the case of unwinding the winding on the bristle brush 10 by the negative pressure device communicating with the suction port, condition 1) can be satisfied. For example, in the case of unwinding the winding on the bristle brush 10 by the roller brush 40, condition 2) can be satisfied. In the case of unwinding the winding on the bristle brush 10 by the negative pressure device and the roller brush 40 together, conditions 1) and 2) can be satisfied simultaneously. Thus, the efficiency of unwinding can be improved.

[0094] Further, for the above-mentioned unwinding mode, the bristle brush 10 changes between different states, optionally, when the bristle brush 10 is in the state of stopping, the first projection of the sector formed by the active brush strip 122 and the brush strip capable of approaching the active brush strip 122 to be in the folded state (including the brush strips forming the sector) can satisfy one or more of the above-mentioned conditions 1) and 2) with the power member used for unwinding (including the roller brush 40 and the negative pressure device). In the above-mentioned second to fifth rotation modes, the bristle holder 110 stops after reversing, and the reversing causes the active brush strip 122 to be folded with at least one of the adjacent brush strips (see FIG. 1B). For example, the folded brush strips can extend towards the suction port 21 to further improve the unwinding efficiency.

[0095] Further, in the embodiment in which the cleaning assembly further comprises the roller brush 40, and the bristle brush 10 contacts the roller brush 40 at least partially during the unwinding mode, in the unwinding mode, the bristle brush 10 stops at a preset unwinding position at least partially. The preset unwinding position is the position at which the bristle brush 10 contacts the roller brush 40. Regardless of the rotation mode of the bristle holder 110, the bristle brush 10 can be stopped at the preset unwinding position at least partially to help peel off the winding thereon. Especially in the rotation mode in which the bristle holder 110 stops, the bristle holder 110 can be at the preset unwinding position when it stops.

[0096] In the case of using the rolling brush 40 to strip the winding on the brush strip 120, the rolling brush 40 can rotate continuously in the unwinding mode; or, the rolling brush 40 rotates when the side brush 10 is in the preset unwinding position, and stops rotating when the side brush 10 is not in the preset unwinding position. The former control logic is simple, and the latter can reduce the power consumption of the cleaning assembly.

[0097] Further, in the aforementioned rotation mode of alternation of the reverse rotation, the stop rotation and the forward rotation, in at least one cycle of the reverse rotation, the stop rotation and the forward rotation of the brush holder 110, the duration of the stop rotation of the brush holder 110 is greater than the duration of the reverse rotation of the brush holder 110; and / or, the duration of the stop rotation of the brush holder 110 is greater than the duration of the forward rotation of the brush holder 110. In this way, at least the power consumption of the driving source of the side brush 110 can be reduced. And when the side brush 10 is in the preset unwinding position by stopping the rotation, the stripping efficiency of the winding can also be improved. Illustratively, in the unwinding mode, in at least one cycle of the reverse rotation, the stop rotation and the forward rotation of the brush holder 110, the duration of the reverse rotation of the brush holder 110 is equal to the duration of the forward rotation of the brush holder 110. Illustratively, in the aforementioned at least one cycle, the duration of the reverse rotation and the forward rotation of the brush holder 110 can each be less than 2s, and the duration of the stop rotation can be between 4s-6s. By setting the duration of the reverse rotation of the brush holder 110 equal to the duration of the forward rotation of the brush holder 110, the control logic can be simplified, making the rotation control of the brush holder 110 simpler.

[0098] Illustratively, the rotation speed of the brush holder 110 when reversing can be greater than the rotation speed of the brush holder 110 when rotating forward. The rotation speed of the brush holder 110 when reversing is greater, which can ensure that the movable brush strip 122 is more smoothly folded to the second position. The rotation of the brush holder 110 is driven by a driving source, which generally includes a motor, and the output power of the motor is transmitted to the brush holder 110 through a transmission gear set. Since the resistance of the transmission gear set is greater when the motor is reversed than when it is rotated forward, in order to make the brush holder 110 reverse smoothly, the driving power of the motor when reversed can be controlled to be greater than the driving power of the motor when rotated forward, so that the rotation speed of the brush holder 110 when reversed is greater than the rotation speed of the brush holder 110 when rotated forward. Illustratively, the rotation speed of the brush holder 110 when reversed can be 30-40% of the maximum rotation speed, and the rotation speed of the brush holder 110 when rotated forward can be 15-30% of the maximum rotation speed.

[0099] The rotation speed of the side brush 10 when the movable brush strip 122 is in the second position can be greater than the rotation speed of the side brush 10 when the movable brush strip 122 is in the first position. That is, the rotation speed of the side brush 10 when the movable brush strip 122 and at least one brush strip adjacent thereto are in the folded state is greater than when they are in the separated state. Since the winding on the side brush 10 is more easily removed in the folded state, increasing the rotation speed of the side brush 10 in the folded state can cause the winding on the side brush 10 to be removed under a greater centrifugal force, thereby further improving the unwinding efficiency of the side brush 10.

[0100] It should be noted that in the embodiment where the side brush 10 has the side brush holder 110, the rotation speed of the side brush holder 110 is the rotation speed of the side brush 10.

[0101] Exemplarily, the cleaning device 1 can stop moving completely in the unwinding mode; or the cleaning device 1 stops moving when the movable brush strip 122 is in the second position or in the process of rotating the movable brush strip 122 from the first position to the second position. In the case that the cleaning device 1 is in the unwinding mode, or the movable brush strip 122 is in the second position, or in the process of rotating the movable brush strip 122 from the first position to the second position, the winding on the side brush 10 can be in a relaxed state, or even at least partially fall on the support surface (such as the surface to be cleaned) supporting the cleaning device 1. If the cleaning device 1 moves, the driving wheel driving the cleaning device 1 to move can wind the relaxed or fallen winding into the driving wheel, resulting in the driving wheel winding the filamentous garbage. Therefore, in the case that the cleaning device 1 is in the above-mentioned situation, controlling the cleaning device 1 to stop moving can effectively reduce the risk of the driving wheel of the cleaning device 1 winding the filamentous garbage (such as hair), and further reduce the risk of the whole cleaning device 1 winding the filamentous garbage.

[0102] In addition, the movable brush strip 122 can also assist the cleaning device 1 to dock with the cleaning base station 2 in the case of folding and separating the brush strip 120, as shown in FIGS. 12A and 12B. In the case of the cleaning device 1 shown in FIGS. 1A and 1B, the direction in which the cleaning device 1 moves on the surface to be cleaned is defined as the front, and the process of the cleaning device 1 docking with the cleaning base station 2 is that the cleaning device 1 retreats into the cleaning base station 2.

[0103] For example, during the docking of the cleaning device 1 to the cleaning base station 2, the active brush 122 can be controlled to be in the second position, and the brush 10 can be controlled to rotate to the first target position. When the brush 10 is in the first target position, the angle between the extending direction of each brush strip 120 from the connecting end to the free end and the docking direction of the cleaning device 1 to the cleaning base station is greater than 90 degrees. As shown in FIG. 12A, the cleaning base station has a docking position for docking with the cleaning device 1. In order to enable the cleaning device 1 to smoothly enter the docking position, the upper surface of the cleaning base station 2 for the cleaning device 1 to enter is generally inclined downward along the direction towards the outside of the cleaning base station 2, which can be referred to as a guide surface. In order to avoid the brush strip 120 from hindering the cleaning device 1 from entering the docking position, or in other words, to prevent the guide surface of the cleaning base station 2 from damaging the brush strip 120, for example, during the docking of the cleaning device 1 to the cleaning base station 2, the brush 10 can be controlled to rotate to an angle greater than 90 degrees between the docking direction of the cleaning device 1 (for example, the direction from front to back in FIG. 12A) and the extending direction of the brush strip 120. For example, the angle between the docking direction and the extending direction of the brush strip 120 from the connecting end to the free end can be substantially close to 180 degrees. Generally, the cleaning device 1 retreats into the docking position, in which case the free end of the brush strip 120 can be rotated to substantially face the front of the cleaning device 1. As described above, each brush strip 120 generally includes a bundle of flexible bristles 120e. The angle between the docking direction and the extending direction of the brush strip 120 from the connecting end to the free end is an obtuse angle, which can avoid the bristles 120e from “fraying”.

[0104] In some embodiments, the cleaning device 1 returns to the cleaning base station 2 to enter the unwinding mode. Based on this, for example, when the docking of the cleaning device 1 to the cleaning base station 2 is completed (as shown in FIG. 12B), the brush 10 can be controlled to rotate to the second target position. When the brush 10 is in the second target position, the angle between the extending direction of each brush strip 120 from the connecting end to the free end and the docking direction of the cleaning device 1 to the cleaning base station 2 is less than 90 degrees. In this way, it can be convenient to contact the roll brush 40 after entering the cleaning base station to unwind, or to unwind under the action of the negative pressure device in communication with the suction port 21. For example, the brush strip 120 can be rotated to substantially face the rear of the cleaning device 1, or to face the suction port 21 (see FIG. 1B).

[0105] In addition to entering the unwinding mode after returning to the cleaning base station 2, the cleaning device 1 can have the following unwinding occasions:

[0106] Exemplarily, the cleaning assembly is controlled to work in the unwinding mode when the cleaning device 1 returns to the cleaning base station 2 and the distance between the cleaning device 1 and the cleaning base station 2 is less than the preset distance threshold. During the cleaning device 1 performs the cleaning task, the first negative pressure device 30 works to generate a certain noise. After the cleaning device 1 returns to the cleaning base station 2 after completing the cleaning task, the second negative pressure device 50 in the cleaning base station 2 works to transfer the garbage in the dust collection container 30 of the cleaning device 1 to the dust storage container 60 of the cleaning base station 2, which also generates noise. However, during the cleaning device 1 returns to the cleaning base station 2, the two negative pressure devices are generally not working. The above noise has been accepted by the user of the cleaning system. The execution time of the unwinding mode is set to be during the cleaning device 1 returns to the cleaning base station 2 and the distance between the cleaning device 1 and the cleaning base station 2 is less than the preset distance threshold. The noise generated in the unwinding mode can be short in time interval or even continuous with the noise generated when the second negative pressure device 50 of the cleaning base station 2 works, so the acceptance of the user is higher. In addition, the cleaning device 1 is close to the cleaning base station 2, which can facilitate the setting of a scraping member on the cleaning base station 2 to increase the friction force on the side brush 10 during unwinding, which is beneficial to more smoothly peel off the winding on the side brush 10.

[0107] Exemplarily, the cleaning assembly is controlled to work in the unwinding mode when the cleaning device 1 stops at a preset position in front of the cleaning base station 2. The preset position is a position where the distance between the cleaning device 1 and the cleaning base station 2 is equal to the preset distance threshold. In addition to parking around the cleaning base station 2 to unwind during the return to the cleaning base station 2, the cleaning device 1 can also park around the cleaning base station 2 at any other suitable time to unwind.

[0108] It should be noted that, in order to facilitate the positioning of the cleaning device 1 to enter and exit the cleaning base station 2, for example, the laser radar of the cleaning device 1 needs to scan and self-position at a certain position in front of the cleaning base station 2. Therefore, in the art, a certain position in front of the cleaning base station 2 is generally set as a set position, i.e., a position where the distance between the cleaning device 1 and the cleaning base station 2 is equal to the preset distance threshold when the cleaning device 1 returns to the cleaning base station. The set position is close to the entrance of the cleaning base station 2, for example, it can be about 50 cm away from the entrance of the cleaning base station 2. Exemplarily, when the cleaning device 1 needs to return to the cleaning base station 2 during the cleaning task, the cleaning device 1 can first advance to the front of the cleaning base station 2, then stop at the set position and turn, so that the rear end of the cleaning device 1 faces the entrance of the cleaning base station 2.

[0109] As described above, when the cleaning assembly is controlled to work in the unwinding mode in the case that the cleaning device 1 stops moving at the preset position in front of the cleaning base station 2, that is, the unwinding of the side brush 10 has been completed before the cleaning device 1 enters the cleaning base station 2, the angle between the extending direction of each brush strip 120 from the connecting end to the free end and the docking direction of the cleaning device 1 and the cleaning base station 2 can be greater than 90 degrees during the process that the cleaning device 1 starts moving from the preset position to dock with the cleaning base station 2, without the need to control the side brush 10 to rotate to the angle between the extending direction of each brush strip 120 from the connecting end to the free end and the docking direction of the cleaning device 1 and the cleaning base station 2 being less than 90 degrees after the cleaning device 1 is docked with the cleaning base station 2. In this way, the software logic control of the side brush 10 can be relatively simple.

[0110] For example, during the process that the cleaning device 1 cleans the surface to be cleaned, or during the process that the cleaning device 1 navigates on the surface to be cleaned, the cleaning assembly is controlled to work in the unwinding mode in the case that the unwinding trigger condition is met. The unwinding trigger condition can include at least one of the following: the time length of the cleaning task performed by the cleaning device 1 reaches a preset time length, the path length of the cleaning task performed by the cleaning device 1 is greater than a preset length, the cleaning area of the cleaning task performed by the cleaning device 1 is greater than a preset area, a user-triggered unwinding instruction is received, and the side brush 10 is wound by garbage.

[0111] In theory, the longer the cleaning time of the cleaning device 1 on the surface to be cleaned, the longer the path during the cleaning, and the larger the cleaning area, the more long filament garbage that the side brush 10 should be wound by. Therefore, the above-mentioned cleaning time, path, cleaning area, etc. can be used as a condition for triggering the unwinding mode of the side brush 10. The above-mentioned manner can automatically trigger the unwinding mode of the cleaning device 1 according to the actual cleaning situation, without user intervention, and has high intelligence.

[0112] Of course, the cleaning device 1 can also start the side brush unwinding mode based on a user-triggered unwinding instruction. In this way, the side brush unwinding can be started based on user habits, which has good flexibility.

[0113] Alternatively, when the side brush 10 is wound by garbage, the side brush unwinding mode is automatically triggered. For example, various sensors can be provided on the cleaning device 1, such as a visual sensor, an ultrasonic sensor, a line structured light sensor, etc. To identify whether the side brush 10 is wound by garbage, at least the current state of the side brush 10 detected by the above-mentioned sensors can be used to determine whether the side brush 10 is wound by garbage.

[0114] Further, the controller is further configured to: in a case where it is determined that the unwinding trigger condition is currently met, determine whether the cleaning device 1 is currently in an obstacle-crossing scenario or the side brush 10 is in a lifted state, and if it is determined that the cleaning device 1 is in the obstacle-crossing scenario or the side brush 10 is in the lifted state, not control the cleaning assembly to work in the unwinding mode. Since the situations in different user's homes are different, the obstacle-crossing scenario of the cleaning device 1 is relatively complex. During the obstacle-crossing scenario, if the side brush 10 rotates, the obstacle may easily cause the side brush 10 to fall off. Therefore, the controller controls the cleaning device 1 not to perform unwinding in the obstacle-crossing scenario. In addition, in the obstacle-crossing scenario, the cleaning device 1 is lifted by the obstacle, and the suction inlet 21 may not be able to maintain the original negative pressure with the surface to be cleaned, thereby affecting the suction capacity of the suction inlet 21. At this time, unwinding may cause the long filament-shaped garbage that falls off the side brush 10 to be unable to be sucked away by the suction inlet 21, and the long filament-shaped garbage that falls off may even be stuck on the obstacle or fall on the surface to be cleaned, thereby causing the surface to be cleaned to be contaminated.

[0115] Exemplarily, the cleaning device 1 is controlled to work in the unwinding mode when the cleaning assembly moves onto a carpet. The carpet has a relatively large roughness relative to the floor or tile, thereby increasing the friction between the brush strips 120 and facilitating the peeling of the winding on the brush strips 120.

[0116] Exemplarily, in combination with FIGS. 4A and 6A, the end of the brush strip of the movable brush strip 122 (i.e., the end 120b of the hair strip 120e) has a first value J1 of the radial distance J to the first axis P1 in the first position; as shown in FIGS. 4B and 6B, the end of the brush strip of the movable brush strip 122 (i.e., the end 120b of the hair strip 120e) has a second value J2 of the radial distance J to the first axis P1 in the second position. The first value J1 is less than the second value J2. That is, after the movable brush strip 122 moves to the second position, the radial distance J of the end 120b of the hair strip 120e to the first axis P1 can be increased. The increase of the radial distance J can expand the cleaning range of the side brush 10. The cleaning range of the side brush 10 is determined by the brush strip with the largest radial distance J among all the brush strips 120 included in the side brush 10. In the illustrated embodiment, the value of the radial distance J of the movable brush strip 122 in the second position (the second value J2) is the largest, and at this time, the cleaning range covers the range with P1 as the center and J2 as the radius.

[0117] For example, for a narrow area such as a corner, the cleaning device cannot completely cover the narrow area even if the cleaning device is completely against the wall. As shown in FIG. 6A, when the movable brush strip 122 is in the first position, the cleaning range of the edge brush 10 is S1, and thus a dead zone S2 is formed at the corner. As shown in FIG. 6B, when the movable brush strip 122 is in the second position, the cleaning range of the edge brush 10 is increased to S3, and thus the dead zone S4 is reduced. Thus, when the cleaning device moves to the narrow area, the movable brush strip 122 can be moved to the second position to increase the radial distance J of the end 120b of the bristles 120e of the movable brush strip 122 to the first axis P1, so that the cleaning range of the edge brush 10 is increased, and thus the cleaning degree of the surface to be cleaned is improved to a certain extent. Thus, the cleaning mode of the cleaning assembly can further include a second cleaning mode for cleaning the corner. In the second cleaning mode, the movable brush strip 122 is in the second position. In the second cleaning mode, the rotating direction of the edge brush 10 is opposite to the rotating direction of the edge brush 10 in the first cleaning mode.

[0118] It should be noted that when there are multiple movable brush strips 122, a part or all of the movable brush strips 122 can have an increased radial distance J after being moved to the second position, so as to increase the cleaning range. Hereinafter, the principle of the present disclosure will be described by taking an embodiment with only one movable brush strip 122 as an example.

[0119] Exemplarily, the first cleaning mode can include a central area cleaning mode and an edge cleaning mode. Generally, the area to be cleaned has a boundary, which is defined by walls, fences, etc. Moreover, there can be obstacles in the area to be cleaned, which can include fixed furniture, temporarily placed articles, etc. In the central area cleaning mode, the cleaning device 1 can mainly clean the area which is spaced apart from the boundary and the obstacles, for example, the cleaning device 1 can walk along an “arch” shape or a “loop” shape. In the edge cleaning mode, the cleaning device 1 can clean along the edges of the boundary and the obstacles. In this mode, the walking path of the cleaning device 1 is generally consistent with the shape of the edges of the boundary and the obstacles.

[0120] Exemplarily, the rotation speed of the edge brush 10 in the second cleaning mode is less than or equal to the rotation speed in the edge cleaning mode. The rotation speed of the edge brush 10 when cleaning the corner is less than the rotation speed when edge cleaning, which can moderate the rotation speed of the edge brush 10 when cleaning the corner. In the embodiment in which the edge brush 10 relies on forward rotation and reverse rotation to move the movable brush strip 122 between the first position and the second position, in order to clean the corner to lengthen the movable brush strip 122, the edge brush 10 needs to be reversed. And in the second cleaning mode, the rotation direction of the edge brush 10 is opposite to the rotation direction of the edge brush 10 in the first cleaning mode. Due to the reverse rotation of the edge brush 10, dust and garbage can be cleaned away from the suction port 21. The garbage far away from the suction port 21 can not be sucked into the cleaning device 1. Therefore, the cleaning device 1 can need to back up to the garbage far away to suck the garbage far away into the dust collection container of the cleaning device 1 through the suction port 21. If the rotation speed of the edge brush 10 when cleaning the corner is too fast, the garbage in the corner can be hit by the reversed edge brush 10 too far away from the suction port 21, which can cause the cleaning device 1 to need to back up too far to clean. Further, the controller can be configured to control the cleaning device 1 to work in the first cleaning mode after the cleaning device 1 works in the second cleaning mode at the corner and control the main body 20 to back up by a preset distance threshold and then advance. In this way, the dust and garbage in the corner that are pulled out by the edge brush 10 can be further cleaned.

[0121] Exemplarily, the rotation speed of the edge brush 10 in the second cleaning mode is greater than the rotation speed in the central area cleaning mode. For example, the rotation speed when cleaning the corner is greater than the rotation speed when normally arc cleaning. In this way, the dust and garbage in the corner can be quickly pulled out, and then the cleaning device 1 can suck the pulled-out garbage into the dust collection container.

[0122] Exemplarily, the rotation speed of the edge brush 10 in the second cleaning mode is greater than or equal to the rotation speed in the central area cleaning mode. In this way, the dust and garbage in the corner that are pulled out by the edge brush 10 can be quickly raised and / or rolled into the suction port 21 to improve the cleaning efficiency.

[0123] Exemplarily, the rotation direction of the edge brush 10 in the second cleaning mode is the same as the rotation direction in the first cleaning mode. The edge brush 10 in the first cleaning mode and the second cleaning mode both aims to raise and / or roll the dust and garbage at the suction port 21 into the suction port 21 (i.e. into the installation bin 21), so the edge brush 10 can have the same rotation direction. Exemplarily, the power of the first negative pressure device in the second cleaning mode is greater than or equal to the power in the first cleaning mode. In this way, the dust and garbage in the corner that are pulled out by the edge brush 10 can be quickly sucked into the dust collection container to improve the cleaning efficiency.

[0124] Of course, in some other embodiments, the rotational speed of the edge brush 10 in the second cleaning mode can be greater than the rotational speed in the central area cleaning mode, and greater than the rotational speed in the edge cleaning mode. The rotational speed in the central area cleaning mode can be equal to the rotational speed in the edge cleaning mode.

[0125] Exemplarily, as shown in FIG. 4A and FIG. 6A, the movable brush strips 122 are in the first position, and the radial distance J of the end of each brush strip 120 (e.g. the end 120b of the bristle strip 120e) to the first axis P1 has the same first value J1. As shown, the radial distance J of the end 120b of the bristle strip 120e of the fixed brush strip 121 and the movable brush strip 122 both have the first value J1. In the first cleaning mode, the movable brush strips 122 can be moved to the first position, and the radial distance J of each brush strip 120 is equal. In this way, the design of the existing cleaning device 1 can not be changed. Moreover, when the cleaning device 1 performs the cleaning task in the first cleaning mode, the edge brush 10 rotates while the cleaning device walks forward. In the case where the radial distance J of all brush strips 120 is the same, the contact area of different brush strips 120 of the edge brush 10 with the surface to be cleaned can overlap as much as possible, and thus can have a better cleaning effect. Of course, the radial distance J of all brush strips 120 can also be different when the movable brush strips 122 are in the first position, in which case the walking speed of the cleaning device can be appropriately reduced so that the contact area of different brush strips 120 with the surface to be cleaned can overlap as much as possible, and the present disclosure does not exclude this embodiment.

[0126] In the first cleaning mode where the active bristle strip 122 is in the first position, the cleaning apparatus 1 performs a regular cleaning task, such as the aforementioned central area cleaning and / or the border cleaning. Thus, for example, during the cleaning task performed by the cleaning apparatus 1 and with the active bristle strip 122 in the first position, the border brush 10 rotates and the active bristle strip 122 contacts the surface to be cleaned. As mentioned above, the border brush 10 can also perform the cleaning task when the active bristle strip 122 is in the second position, i.e. in the second cleaning mode. Thus, for example, during the cleaning task performed by the cleaning apparatus 1 and with the active bristle strip 122 in the second position, the border brush 10 rotates and the active bristle strip 122 can also contact the surface to be cleaned. In the above embodiment, in order to reduce the area of the dead zone S2 when cleaning a narrow area such as a corner, the active bristle strip 122 in the second position increases the cleaning range of the border brush 10 to S3, as shown in Fig. 6B, but in other embodiments, the active bristle strip 122 in the second position does not necessarily result in the radial distance J of the ends 120b of the bristles 120e of the active bristle strip 122 to the first axis PI being increased, e.g. the radial distance J can remain unchanged or be decreased. In any case, the active bristle strip 122 in the second position can also perform the cleaning task. In this way, not only can the tangling be better resolved by the friction between the active bristle strip 122 and the surface to be cleaned, but the surface to be cleaned can also be cleaned in the process.

[0127] For example, for an active bristle strip, such as the active bristle strip 122, whose active bristle strip 122 has an increased active bristle strip radial distance J, the length of the portion of the active bristle strip 122 that is exposed outside the border brush holder 110 can be different when the active bristle strip 122 is in the first position and the second position, so as to adjust the value of the radial distance J of the ends 120b of the bristles 120e of the active bristle strip 122 to the first axis PI. Generally, the border brush holder 110 is substantially circular, as shown in Figs. 4A-4B, and the radial distance J of the active bristle strip 122 can be changed by adjusting the length of the active bristle strip 122 that is received into the border brush holder 110.

[0128] Alternatively, the change in the radial distance J of the active bristle strip 122 can be achieved by a driving source, such as an electric motor, a hydraulic device, etc., e.g. the driving source can be used to move the active bristle strip 122 in the radial direction or the driving source can be used to extend and retract the active bristle strip 122. The driving source used to move the active bristle strip 122 between the first position and the second position, if any, can be the same as or different from the driving source used to move the active bristle strip 122 in the radial direction. Alternatively, the active bristle strip 122 can be manually moved in the radial direction or extended and retracted. When it is necessary to clean a corner, the length of the active bristle strip 122 that is exposed outside the border brush holder 110 can be manually increased.

[0129] The present disclosure provides a mechanical design scheme which can automatically increase the length of the movable brush bar 122 exposed outside the side brush holder 110 during the movement of the movable brush bar 122 from the first position to the second position, without the need for an additional driving source and without the need for designing the movable brush bar 122 in a telescopic style, thus the structure is simpler and the cost is lower. The mechanical design scheme will be described in detail below.

[0130] Exemplarily, the connecting arm 120c of the movable brush bar 122 is rotatably connected to the side brush holder 110 around the second axis P2 to be movable between the first position and the second position.

[0131] In order to achieve the lengthening of the radial distance J of the movable brush bar 122 while rotating the movable brush bar 122 from the first position to the second position, as shown in FIGS. 6A-6B, a transverse plane perpendicular to the first axis P1 and passing through the geometric center of the side brush holder 110 is determined. On the transverse plane, the intersection of the first axis P1 and the transverse plane is defined as the first intersection point (see P1), and the intersection of the second axis P2 and the transverse plane is defined as the second intersection point (see P2). A virtual ray X1 is determined with the second intersection point as the end point, and the reverse extension line of the virtual ray X1 passes through the first intersection point.

[0132] As shown in FIG. 6A, when the movable brush strip 122 is in the first position, the first included angle θ1 exists between the line X2 connecting the end 120b of the bristles of the movable brush strip 122 and the second intersection point and the virtual ray X1. As shown in FIG. 6B, when the movable brush strip 122 is in the second position, the second included angle θ2 exists between the line X2 connecting the end 120b of the bristles of the movable brush strip 122 and the second intersection point and the virtual ray X1. The first included angle θ1 is greater than the second included angle θ2. Since the second axis P2 of rotation of the movable brush strip 122 is eccentrically arranged relative to the first axis P1 of rotation of the brush holder 110, when the included angle between the line X2 connecting the end 120b of the bristles of the movable brush strip 122 and the second intersection point and the virtual ray X1 is zero, the portion of the movable brush strip 122 exposed outside the brush holder 110 is the longest; conversely, when the included angle between the line X2 and the virtual ray X1 is 180 degrees, the portion of the movable brush strip 122 exposed outside the brush holder 110 is the shortest. When the included angle between the line X2 and the virtual ray X1 is between 0-180 degrees, the smaller the included angle, the longer the portion of the movable brush strip 122 exposed outside the brush holder 110; conversely, the greater the included angle, the smaller the portion of the movable brush strip 122 exposed outside the brush holder 110. Thus, in a transverse plane perpendicular to the first axis P1 and passing through the geometric center of the brush holder 110, by arranging the first axis P1 and the second axis P2 not to coincide and reasonably selecting the angles of the first included angle θ1 and the second included angle θ2, the radial distance J of the movable brush strip 122 can be lengthened while the movable brush strip 122 rotates from the first position to the second position. In addition, according to the radial distance J that needs to be lengthened, the angles of the first included angle θ1 and the second included angle θ2 can be inversely deduced.

[0133] The movable brush strip 122 can have symmetrical positions on both sides of the virtual ray X1, such that the included angle between the line X2 and the virtual ray X1 is equal. Exemplarily, the movable brush strip 122 can be located on both sides of the virtual ray X1 when the movable brush strip 122 is in the first position and the second position, respectively. Thus, the movable brush strip 122 can rotate a larger angle when the movable brush strip 122 rotates from the first position to the second position, such that the movable brush strip 122 can be closer to the fixed brush strip 121 when the movable brush strip 122 is in the second position, and the movable brush strip 122 can be more dispersed from the fixed brush strip 121 when the movable brush strip 122 is in the first position. It should be noted that the present disclosure does not exclude embodiments in which the movable brush strip 122 can be located on the same side of the virtual ray X1 when the movable brush strip 122 is in the first position and the second position.

[0134] In the case that the first included angle θ1 is greater than the second included angle θ2, when the movable brush strip 122 is in the first position, the first included angle θ1 can be 180 degrees or any other angle. When the movable brush strip 122 is in the second position, the movable brush strip 122 can be located on the same side of the virtual ray X1 as the fixed brush strip 121, so that the movable brush strip 122 can be closer to the fixed brush strip 121, thereby improving the unwinding effect.

[0135] In the case that the first included angle θ1 is greater than the second included angle θ2, when the movable brush strip 122 is in the first position, the first included angle θ1 can be 180 degrees or any other angle. When the movable brush strip 122 is in the second position, the movable brush strip 122 can be located on the same side of the virtual ray X1 as the fixed brush strip 121, so that the movable brush strip 122 can be closer to the fixed brush strip 121, thereby improving the unwinding effect.

[0136] In the above embodiment, the second axis P2 of the movable brush strip 122 is eccentrically arranged relative to the first axis P1 of the rotation of the side brush seat 110, that is, in the transverse plane perpendicular to the first axis P1 and passing through the geometric center of the side brush seat 110, the second axis P2 is spaced apart from the first axis P1. In other embodiments not shown, the second axis P2 can be collinear with the first axis P1; or, although the second axis P2 is not collinear with the first axis P1, in the transverse plane perpendicular to the first axis P1 and passing through the geometric center of the side brush seat 110, the second axis P2 intersects the first axis P1. In this way, when the movable brush strip 122 rotates between the first position and the second position, it basically does not cause the radial distance J of the movable brush strip 122 to change.

[0137] For example, referring to FIGS. 4A and 6A, when the movable brush strip 122 is in the first position, the extension direction of the bristles 120e of each brush strip 120 does not pass through the first axis P1. That is, the bristles 120e of each brush strip 120 do not extend in a radial direction relative to the first axis P1. If the movable brush strip 122 extends in a radial direction when it is in the first position, it generally extends along the virtual ray X1, which can cause the length of the movable brush strip 122 exposed outside the side brush seat 110 to be the longest when the movable brush strip 122 is in the first position, thereby making it impossible for the movable brush strip 122 to further lengthen after being moved to the second position, and making it impossible to expand the cleaning area.

[0138] In the first position, the bristles 120e of each brush bar 120 extend along a tangent to the edge of the brush holder 110. In the first position, the second axis of rotation P2 of the movable brush bar 122 forms an acute angle with the line connecting the second intersection of the transverse plane and the tip 120b of the bristles 120e of the movable brush bar 122 and the reverse extension of the virtual ray X1. In order to allow the movable brush bar 122 to pass through the central region of the brush holder 110, a sufficient space needs to be left in the central region of the brush holder 110, which affects the structure of the brush holder 110. In the example, the trapezoidal hole in the central region of the brush holder 110 is connected to the body 20 through a shaft on the body 20. The inventor found that, in the first position, the projection of the bristles 120e of each brush bar 120 on the transverse plane extends along a tangent to the edge of the brush holder 110, which reasonably utilizes the space in the brush holder 110 and does not affect the existing structure of the brush holder 110. In this case, the length of the movable brush bar 122 hidden in the brush holder 110 is appropriate, and the length of the movable brush bar 122 exposed outside the brush holder 110 in the second position is appropriate.

[0139] As shown in FIGS. 3A-3B, the connecting arm 120c of the movable brush bar 122 can be provided with a pair of rotating shafts 120f. The upper shell 111 can be provided with a first upper mounting hole 1112, and the lower shell 112 can be provided with a first lower mounting hole 1122. The pair of rotating shafts 120f are respectively inserted into the first upper mounting hole 1112 and the first lower mounting hole 1122, so that the movable brush bar 122 is rotatably connected to the brush holder 110 about the second axis P2. In other embodiments not shown, the movable brush bar 122 can be rotatably connected to the brush holder 110 in any other suitable manner.

[0140] Optionally, the plurality of brush strips 120 can have the same structure to reduce the variety of parts, and to reduce the processing, inventory and management costs. When all of the plurality of brush strips 120 are movable brush strips, they can be installed on the side brush holder 110 in the same way. When some of the plurality of brush strips 120 are fixed brush strips 121, as shown in FIGS. 3A and 3B, a pair of rotating shafts 120f can also be arranged on the connecting arm 120c of the fixed brush strip 121. A second upper mounting hole 1113 can be arranged on the upper shell 111, and a second lower mounting hole 1123 can be arranged on the lower shell 112. The pair of rotating shafts 120f are respectively inserted into the second upper mounting hole 1113 and the second lower mounting hole 1123. In this case, the fixed brush strip 121 is rotatable about the third axis P3. In order to prevent the fixed brush strip 121 from rotating relative to the side brush holder 110, a stop structure can be arranged on the side brush holder 110, so that the position of the fixed brush strip 121 relative to the side brush holder 110 is fixed. Referring to FIG. 5B, for example, a first protrusion 1111 and a stop protrusion 1114 can be arranged on the upper shell 111. Along the circumferential direction R1-R2, the first protrusion 1111 and the stop protrusion 1114 can be respectively arranged on both sides of the fixed brush strip 121, so as to fix the fixed brush strip 121 at the desired position.

[0141] It should be noted that when the plurality of brush strips 120 have the same structure, the structures of the first upper mounting hole 1112 and the second upper mounting hole 1113 are the same, the structures of the first lower mounting hole 1122 and the second lower mounting hole 1123 are the same, and the structures of the two rotating shafts 120f are the same.

[0142] When the plurality of brush strips 120 have the same structure, as shown in FIGS. 11A and 11B, in a transverse plane perpendicular to the first axis P1 and passing through the geometric center of the side brush holder 110, if the second axis P2 intersects the first axis P1, it can cause the connecting arm 120c of the movable brush strip 122 to interfere with the connecting arm 120c of the fixed brush strip 121 when the movable brush strip 122 is in the second position (see FIG. 11B). In this way, the movable brush strip 122 and the fixed brush strip 121 can not be able to be too close, which can affect the effect of detangling. In this case, it can be designed that along the first axis P1 (i.e., the direction perpendicular to the paper), the connecting arm 120c of the movable brush strip 122 and the connecting arm 120c of the fixed brush strip 121 can be at least partially overlapped. Specifically, when the side brush 10 is installed on the cleaning device, the connecting arm 120c of the movable brush strip 122 and the connecting arm 120c of the fixed brush strip 121 are arranged above and below each other, so that the two can be relatively close.

[0143] Optionally, the second axis P2 of the movable brush bar 122 is movable along a direction of approaching and distancing from other brush bars (e.g. the fixed brush bar 121) so that at least one of the movable brush bars 122 is movable between the first position and the second position. The principles of the present disclosure will be described below with reference to the illustrated embodiment in which only one movable brush bar 122 and one fixed brush bar 121 are provided. Based on the following description, those skilled in the art will understand that the principles of the present disclosure can be applied to the case where multiple movable brush bars 122 and / or multiple fixed brush bars 121 are provided. When multiple movable brush bars 122 are provided, some or all of them can be movable between the first position and the second position, and their second axes P2 are movable.

[0144] As shown in FIG. 7A, when the movable brush bar 122 is in the first position, the second axis P2 of the movable brush bar 122 is at a first distance D1 from the connecting arm 120c of the fixed brush bar 121. As shown in FIG. 7B, when the movable brush bar 122 is in the second position, the second axis P2 of the movable brush bar 122 is at a second distance D2 from the connecting arm 120c of the fixed brush bar 121. The first distance D1 is greater than the second distance D2. In this way, the second axis P2 (i.e. the connecting end 120a) of the movable brush bar 122 can be closer to the connecting arm 120c of the fixed brush bar 121 when the movable brush bar 122 is rotated from the first position to the second position, thereby achieving a better detangling effect.

[0145] Exemplarily, a position adjustment structure can be provided between the connecting arm 120c of at least one of the movable brush bar 122 and the side brush holder 110. The connecting arm 120c of the at least one of the movable brush bar 122 and the side brush holder 110 can be movably connected by the position adjustment structure. The position adjustment structure is used to adjust the relative position of the at least one of the movable brush bar 122 and the side brush holder 110, and to move the second axis P2 along the direction of approaching and distancing from other brush bars. When multiple movable brush bars 122 are provided, the position adjustment structure can be provided between the side brush holder 110 and the movable brush bar(s) 122 whose rotational axis P2 is desired to be changed in distance from other brush bars 120. The principles of the present disclosure will be described below with reference to the illustrated embodiment in which only one movable brush bar 122 and one fixed brush bar 121 are provided.

[0146] Exemplarily, the position adjusting structure can be a mechanical structure including a driver, or a non-powered mechanical structure. Exemplarily, in the embodiment where the position adjusting structure includes a driver, the driver (e.g. a motor) can be relied on to drive the second axis P2 to move along the direction of approaching and moving away from the fixed brush strip 121. However, in order to achieve the unwinding, the movement of the movable brush strip 122 between the first position and the second position also includes the ability to make the movable brush strip 122 and the fixed brush strip 121 fold along the circumferential direction. The folding along the circumferential direction is mainly determined by the change of the angle of the movable brush strip 122 relative to the edge brush holder 110. After folding, the included angle between the movable brush strip 122 and the fixed brush strip 121 becomes smaller. This "folding" can be achieved by the force described above to make the movable brush strip 122 active, i.e. the force can be derived from one or more of the driving source such as a motor, a hydraulic device, friction with the surface to be cleaned, inertia, etc. Of course, the "folding" can also be achieved by the driver. Hereinafter, an embodiment of a non-powered mechanical structure will be described in detail. In this embodiment, not only the position of the second axis P2 can be changed, but also the folding and separation of the movable brush strip 122 and the fixed brush strip 121 can be achieved by using the non-powered mechanical structure.

[0147] In addition, by the above-mentioned position adjusting structure, it can also be achieved that the radial distance of the movable brush strip 122 becomes larger after the movable brush strip 122 moves from the first position to the second position. Specifically, in the embodiment shown in FIGS. 7A-7B, when the movable brush strip 122 is in the first position, the longer part of the movable brush strip 122 can be hidden in the edge brush holder 110; while when the movable brush strip 122 is in the second position, the less part of the movable brush strip 122 can be hidden in the edge brush holder 110, so that the radial distance of the movable brush strip 122 can be increased from J1 to J2 during the rotation of the movable brush strip 122 from the first position to the second position, thereby expanding the cleaning area of the edge brush 10.

[0148] The method of changing the hiding of the movable brush strip 122 in different positions is similar to the embodiment shown in FIGS. 6A-6B. Specifically, a transverse plane perpendicular to the first axis P1 and passing through the geometric center of the edge brush holder 110 is determined. On the transverse plane, the intersection of the first axis P1 and the transverse plane is defined as the first intersection point (see P1), and the intersection of the second axis P2 and the transverse plane is defined as the second intersection point (see P2). A virtual ray X1 is determined with the second intersection point as the end point, and the reverse extension line of the virtual ray X1 passes through the first intersection point. As shown in FIG. 7A, when the movable brush strip 122 is in the first position, the first included angle θ1 between the connecting line X2 between the end 120b of the bristle of the movable brush strip 122 and the second intersection point and the virtual ray X1 is formed. As shown in FIG. 7B, when the movable brush strip 122 is in the second position, the second included angle θ2 between the connecting line X2 between the end 120b of the bristle of the movable brush strip 122 and the second intersection point and the virtual ray X1 is formed. The first included angle θ1 is greater than the second included angle θ2.

[0149] In the case where the position adjustment structure adopts a non-powered mechanical structure, in one embodiment, the position adjustment structure may include a groove 116 provided on the side brush holder 110 and a rotating shaft 120f on the connecting end 120a of the aforementioned movable brush bar 122. The rotating shaft 120f can be rotatably and slidably connected to the groove 116. As shown in FIG7A, when the movable brush bar 122 is in the first position, the rotating shaft 120f is located at the first end 116a of the groove 116. When the side brush holder 110 rotates along the first circumferential direction R1, the movable brush bar 122 can abut against the first end 116a of the groove 116 and the movable brush bar 122 can be in the first position. As shown in FIG7B, when the movable brush bar 122 is in the second position, the rotating shaft 120f is located at the second end 116b of the groove 116. When the side brush holder 110 rotates along the second circumferential direction R2, the movable brush bar 122 can abut against the second end 116b of the slide groove 116 and the movable brush bar 122 can be in the second position. The movable brush bar 122 can slide within the slide groove 116 by relying on the friction between the movable brush bar 122 and the surface to be cleaned.

[0150] In another embodiment, the groove 116 and the rotating shaft 120f can also be interchanged on the side brush holder 110 and the movable brush bar 122. Specifically, the position adjustment structure may include a rotating shaft disposed on the side brush holder 110 and about a second axis, and a groove disposed on the connecting arm of the movable brush bar 122. The rotating shaft can be rotatably and slidably connected to the groove. When the movable brush bar 122 is in a first position, the rotating shaft can slide to the first end of the groove; and when the movable brush bar 122 is in a second position, the rotating shaft can slide to the second end of the groove.

[0151] With the groove 116 present, as shown in Figures 8A and 8B, the distance from the first end 116a of the groove 116 to the first axis P1 can be less than the distance from the second end 116b of the groove 116 to the first axis P1. In this case, the different distances from the two ends of the groove 116 to the first axis P1 can cause the length of the movable brush strip 122 hidden in the side brush holder 110 to be different at different positions. This results in the movable brush strip 122 being hidden in the side brush holder 110 at the first position being longer than it is at the second position. Consequently, after the movable brush strip 122 moves to the second position, its radial distance J increases, thereby expanding the cleaning area.

[0152] Normally, the side brush holder 110 is spaced apart from the surface to be cleaned, while the ends 120b of the bristles 120e of the brush bar 120 need to contact the surface to be cleaned. Therefore, as shown in Figure 9, the angle between the bristles 120e of the brush bar 120 and the first axial direction Z1 is acute, along the radially outward direction. The first axial direction Z1 is parallel to the first axis P1 and points towards the surface to be cleaned; in the figure, it is a downward direction. The descriptions of orientation in this case are based on the normal operating state of the cleaning device 1, such as when the cleaning device 1 is placed on the surface to be cleaned, allowing the side brush 10 to contact the surface. The second axis P2 has an angle with the first axis P1, such that when the movable brush bar 122 is in the first position, the angle between its bristles 120e and the first axial direction Z1 is greater than the angle between its bristles 120e and the first axial direction Z1 when the movable brush bar 122 is in the second position. When the movable brush bar 122 is in the first position, the angle between its bristles 120e and the first axial direction Z1 is approximately the same as the angle between the fixed brush bar 121 and the first axial direction Z1. When the movable brush bar 122 is in the second position, the angle between its bristles 120e and the first axial direction becomes smaller, resulting in more contact between the ends of the bristles 120e and the surface to be cleaned. Specifically, the degree of inclination of the movable brush bar 122 relative to the surface to be cleaned is less when it is in the first position than when it is in the second position. In the aforementioned embodiments, when the movable brush bar 122 is in the second position, the length of its connecting arm 120c extending beyond the side brush holder 110 increases, thereby increasing the radial distance J from the end 120b of the bristles 120e to the first axis P1, thus expanding the cleaning area. As shown in Figure 1C, the side brush holder 110 is installed in the recess 25 at the bottom of the body 20. When the movable brush bar 122 is in the second position, the length of its connecting arm 120c extending beyond the side brush holder 110 increases, which may cause the connecting arm 120c to rub against the bottom of the body 20. Therefore, the second axis P2 can be set to be inclined, so that when the movable brush bar 122 is in the second position, the degree of downward inclination of the movable brush bar 122 increases, thus minimizing rubbing against the bottom of the body 20.

[0153] The side brush holder 110 may include a housing, as shown in Figures 5A and 5B, which has a mounting cavity for mounting a connecting arm 120c of a brush bar 120. Exemplarily, the connecting arms 120c of both the fixed brush bar 121 and the movable brush bar 122 can extend into the mounting cavity and connect to the side brush holder 110. Figure 5A shows the housing with a first opening 115, and Figure 5B shows the housing with a second opening 117. The connecting arm 120c of the movable brush bar 122 can extend into the mounting cavity via the first opening 115 and connect to the side brush holder 110. The connecting arm 120c of the fixed brush bar 121 can extend into the mounting cavity via the second opening 117 and connect to the side brush holder 110.

[0154] The connecting arm 120c of the fixed brush bar 121 and the movable brush bar 122 has an upper surface 120j (see Figures 3A and 3B). This upper surface 120j faces a second axial direction Z2, which is opposite to the first axial direction Z1. The housing has a lower surface facing the upper surface 120j. For the movable brush bar 122, the housing has a first lower surface 115a facing the upper surface 120j (see Figure 5A). After the movable brush bar 122 is installed to the side brush holder 110, a first gap is formed between the first lower surface 115a and the upper surface 120j. When the connecting arm 120c of the movable brush bar 122 passes through the first opening 115, the first lower surface 115a is the upper edge of the first opening 115.

[0155] It should be noted that the first gap described in this disclosure refers to a gap that at least allows filamentous debris (such as hair) to enter the casing.

[0156] To prevent long, filamentous debris from getting stuck in the first gap, as exemplarily shown in Figures 2B and 3A to 3B, a flange 120g can be provided on the movable brush bar 122, protruding towards the end of the bristle 120e. The root of the flange 120g is connected to the movable brush bar 122, and the head formed by the protrusion of the flange 120g is closer to the end of the bristle 120e than its root. A groove 120h is formed between the flange 120g and the upper surface 120j of the movable brush bar 122. The groove 120h is located on the underside of the flange 120g, and the first gap between the first lower surface 115a and the upper surface 120j is located on the upper side of the flange 120g. The inventors have found that, in actual use, long, filamentous debris above the movable brush bar 122 easily gets stuck in the first gap. Therefore, a flange 120g is provided above the movable brush bar 122. The groove 120h formed on the lower side of the 120g flange can confine or partially confine long filamentous waste within it, preventing the long filamentous waste from getting completely stuck in the first gap.

[0157] Similarly, and optionally, the connecting arm 120c of the fixed brush bar 121 has an upper surface 120j (see Figures 3A and 3B). This upper surface 120j faces the second axial direction Z2. The housing has a second lower surface 117a facing the upper surface 120j (see Figure 5B). After the fixed brush bar 121 is installed to the side brush holder 110, a first gap is formed between the second lower surface 117a and the upper surface 120j. When the connecting arm 120c of the fixed brush bar 121 passes through the second opening 117, the second lower surface 117a is the upper edge of the second opening 117. To prevent long filamentous debris from being trapped in the first gap, as shown in Figures 2B and 3A to 3B, a flange 120g can be provided on the fixed brush bar 121, the flange 120g protruding toward the end of the bristle 120e. The root of the flange 120g is connected to the fixed brush strip 121, and the protruding head of the flange 120g is closer to the end of the bristle strip 120e than its root. A groove 120h is formed between the flange 120g and the upper surface 120j of the fixed brush strip 121. The groove 120h is located on the lower side of the flange 120g, and the first gap between the second lower surface 117a and the upper surface 120j is located on the upper side of the flange 120g. This prevents long, fibrous debris above the fixed brush strip 121 from easily getting stuck in the first gap. The groove 120h formed on the lower side of the flange 120g can confine long, fibrous debris within it, or partially confine it within it, preventing long, fibrous debris from being completely stuck in the first gap.

[0158] As mentioned above, for ease of assembly, the housing may include an upper housing 111 and a lower housing 112 that interlock with each other. The aforementioned mounting cavity, first opening 115, and second opening 117 can be formed by the upper housing 111 and the lower housing 112. Although the split structure of the side brush holder 110 simplifies the assembly process, there may be gaps at the interface between the upper housing 111 and the lower housing 112. If long, filamentous debris gets stuck in these gaps, it may increase the difficulty of untangling.

[0159] Optionally, the edge of the upper housing 111 may have a first protruding tooth 1111 that protrudes downward and abuts against the outer side of the lower housing 112. Due to the presence of the first protruding tooth 1111, the interface between the upper housing 111 and the lower housing 112 is curved and uneven. That is, along the circumferential direction of the side brush holder 110, the gap between the upper housing 111 and the lower housing 112 is interrupted by the first protruding tooth 1111, making the gap discontinuous. This can, to some extent, prevent long filamentous debris from being trapped in the gap at the interface. Even if long filamentous debris is trapped in the gap at the interface, it may only be a portion of the debris that is trapped. By performing a timely unwinding operation, the long filamentous debris can be prevented from being unable to detach from the side brush 10.

[0160] Optionally, the lower housing 112 may also have a second protruding tooth (not shown) that protrudes upward and abuts against the outer side of the upper housing 111. The first protruding tooth 1111 and the second protruding tooth may be provided simultaneously or one of them may be provided, and those skilled in the art may choose according to their needs.

[0161] Furthermore, in the case of multiple brush strips including a fixed brush strip 121, one or more of the first protrusions 1111 can be used to limit the fixed brush strip 121. Specifically, the one or more first protrusions 1111 can abut against the outer surface of the fixed brush strip 121.

[0162] In the embodiments shown in Figures 3A and 3B, the flange 120g is located on the connecting arm 120c. Optionally, in the embodiments shown in Figures 10A and 10B, the flange 120g is located on the intermediate arm 120d. Typically, the intermediate arm 120d has a lower hardness than the connecting arm 120c. Regardless of whether the flange 120g is located on the connecting arm 120c or the intermediate arm 120d, the flange 120g may be integrally molded with the component, thereby reducing costs. As previously mentioned, the connecting arm 120c may be made of hard rubber or hard plastic, while the intermediate arm 120d may be made of soft rubber. Both the flange 120g and the connecting arm 120c are made of hard materials. To avoid the flange 120g rubbing against the bottom of the body 20, sufficient clearance is typically left between the flange 120g and the bottom of the body 20 to accommodate manufacturing and assembly tolerances, allowing the side brush 10 to rotate smoothly. Understandably, the smaller the gap between the flange 120g and the bottom of the body 20, the less likely long, fibrous debris will get stuck. Based on this, it's possible to design the flange 120g on a slightly elastic intermediate arm 120d. This would give the flange 120g some elasticity, thus appropriately reducing the gap between it and the bottom of the body 20, effectively preventing long, fibrous debris from crossing the flange 120g and entering the gap between it and the bottom of the body 20. Furthermore, the intermediate arm 120d is further away from the side brush holder 110 than the connecting arm 120c, further preventing long, fibrous debris from getting tangled.

[0163] Optionally, when the flange 120g is set on the intermediate arm 120d with a certain degree of elasticity, the flange 120g itself can be made of a rigid material, or both the flange 120g and the intermediate arm 120d can be made of elastic materials. When the flange 120g is made of a rigid material and the intermediate arm 120d is made of an elastic material, compared to the case where both the flange 120g and the connecting arm 120c it is connected to are made of rigid materials, the elasticity of the intermediate arm 120d allows the rigid flange 120g to scrape against the bottom of the body 20, and the elastic cushioning of the intermediate arm 120d reduces the interaction force between the flange 120g and the bottom of the body 20, resulting in less wear caused by the scraping. When both the flange 120g and the intermediate arm 120d are made of elastic material, the flange 120g can have greater elasticity. Thus, even if the flange 120g comes into contact with and rubs against the bottom of the body 20, the wear on the flange 120g and the body 20 can be reduced or even eliminated.

[0164] Optionally, the flange 120g can also be located on the connecting arm 120c. In this case, the flange 120g can be made of an elastic material. The flange 120g and the connecting arm 120c are made of different materials. Optionally, the connecting arm 120c can also be made of an elastic material. In this case, the flange 120g and the connecting arm 120c can be integrally formed. When the flange 120g is made of an elastic material, the upper surface 120i of the flange 120g can be close to the bottom shell of the cleaning device 1. It is understood that the closer the upper surface 120i of the flange 120g is to the bottom shell of the cleaning device 1, the smaller the distance between them. Thus, the bottom shell can cooperate with the flange 120g to effectively prevent long filamentous debris from crossing the flange 120g. In some embodiments, when performing a normal cleaning task, i.e., when the brush bar 10 is in the separated state, the distance between the upper surface 120i of the flange 120g and the bottom shell of the cleaning device 1 is less than 1 mm. For example, the spacing can be less than 0.6 mm. For example, the spacing can be less than 0.4 mm. Alternatively, the spacing can be 0. In this case, there may be no interaction force between the upper surface 120i of the flange 120g and the bottom shell of the cleaning device 1.

[0165] For example, as shown in Figures 10A and 10B, for each brush bar 120, the flange 120g has an upper surface 120i, which includes a first sub-surface 1201i and a second sub-surface 1202i. The first sub-surface 1201i and the second sub-surface 1202i are arranged sequentially in a radially outward direction. The first sub-surface 1201i connects the side surface of the brush bar 120 with the second sub-surface 1202i. The second sub-surface 1202i extends horizontally or is inclined downward or bent in a radially outward direction. That is, the upper surface 120i is not completely inclined upward or bent in a radially outward direction. Along the radial outward direction, the upper surface 120i can extend horizontally, tilt downward or bend, or tilt upward and then downward or bend. In short, it should not tilt or bend completely upward as much as possible. In this way, even if long filamentous debris crosses the flange 120g and enters the gap between the flange 120g and the bottom of the body 20, the long filamentous debris can be guided to smoothly detach from the side brush 10 when the side brush rotates to untangle.

[0166] This disclosure also provides another cleaning component for use in a cleaning device 1. The cleaning device 1 includes a body 20 with a suction port 21 at the bottom. It includes a side brush 10, which comprises multiple brush strips. The side brush 10 is rotatably disposed beside the suction port 21 around a first axis to sweep debris toward the suction port 21 during cleaning operations. At least one of the multiple brush strips is a movable brush strip 122 that is movable relative to its adjacent brush strips between a first position and a second position. In the first position, the movable brush strip 122 and at least one of its adjacent brush strips are separated and moving away from each other along the circumferential direction around the first axis. In the second position, the movable brush strip 122 and at least one of its adjacent brush strips are closed and moving closer together along the circumferential direction.

[0167] 40 roller brush; and

[0168] The controller is used to control the cleaning components to operate in different modes, including a cleaning mode and an untangling mode. The cleaning mode includes a first cleaning mode, wherein: in the first cleaning mode, the movable brush 122 is in a first position; in the untangling mode, the movable brush 122 is in a second position or switches back and forth between the first and second positions, and the side brush 10 is in contact with the roller brush 40 for at least a portion of the time, and the roller brush 40 and / or the side brush 10 rotate to remove at least a portion of the tangled material on the side brush 10.

[0169] In some embodiments, the controller is also used to control:

[0170] The rotational speed of the roller brush 40 in the unwinding mode is greater than or equal to the rotational speed in the first cleaning mode; and / or, the roller brush 40 rotates forward, reverse, or alternately in the unwinding mode, and the rotational direction of the roller brush 40 when it rotates forward is the rotational direction of the roller brush 40 in the first cleaning mode.

[0171] In some embodiments, when the cleaning assembly is in untangling mode, the side brush 10 contacts the roller brush 40 for at least a portion of the time, and the roller brush 40 and / or the side brush 10 rotate to peel off at least a portion of the tangled material on the side brush 10. The cleaning assembly also includes a mounting chamber 23 recessed from the suction port 21 toward the body 20, and the roller brush 40 is disposed in the mounting chamber 23.

[0172] In some embodiments, during the cleaning process of the cleaning device 1 performing a cleaning task on the surface to be cleaned, the first axis of the side brush 10 is perpendicular to or inclined to the surface to be cleaned, and the rotation axis of the roller brush 40 is parallel to the surface to be cleaned.

[0173] In some embodiments, the roller brush 40 includes a roller body and a cleaning part. The cleaning part is spirally arranged on the outer peripheral wall of the roller body. Along the length direction of the roller body, the roller body includes a first end and a second end that are disposed opposite to each other. The first end is connected to the mounting chamber 23, and the second end is a free end. The mounting chamber 23 is provided with a suction port that is disposed opposite to the second end of the roller body. The suction airflow generated by the first negative pressure device causes the wrapped material on the roller brush 40 to move along the direction from the first end to the second end of the roller body and be drawn out of the mounting chamber 23 through the suction port.

[0174] In some embodiments, the roller brush 40 and / or mounting chamber 23 are provided with a cutting structure for cutting the wrapping material on the roller brush 40.

[0175] In some embodiments, the cleaning component is provided with an installation chamber 23. The cleaning component also includes a first negative pressure device and a dust collection container 30 disposed in the body 20. The air intake of the first negative pressure device is in fluid communication with the dust collection container 30 and the installation chamber 23 in sequence. The dust collection container 30 is located on the airflow path formed by the first negative pressure device through the intake port 21, so as to collect the garbage in the suction airflow generated by the first negative pressure device.

[0176] In some embodiments, the side brush 10 further includes a side brush holder 110, the connecting ends of a plurality of brush strips are connected to the side brush holder 110, and the side brush holder 110 is rotatably connected to the body 20 about a first axis; the movable brush strip 122 is in a first position by rotating forward in a first circumferential direction through the side brush holder 110; and the movable brush strip 122 is in a second position by rotating backward in a second circumferential direction through the side brush holder 110.

[0177] In some embodiments, the side brush holder 110 is provided with a first limiting part 113 and a second limiting part 114, which are spaced apart along the circumferential direction. The movable brush bar 122 can move freely between the first limiting part 113 and the second limiting part 114. The circumferential direction includes a first circumferential direction and a second circumferential direction. The first circumferential direction is the rotation direction of the side brush holder 110 in the first cleaning mode. The movable brush bar 122 abuts against the first limiting part 113 when the side brush holder 110 rotates forward along the first circumferential direction, so as to be in a first position. The movable brush bar 122 abuts against the second limiting part 114 when the side brush holder 110 rotates backward along the second circumferential direction, so as to be in a second position.

[0178] In some embodiments, the controller is further configured to control the side brush holder 110 to continuously reverse in the unwinding mode, or to control the side brush holder 110 to alternate between forward and reverse rotation, or to control the side brush holder 110 to alternate between reverse rotation, stop rotation, and forward rotation, or to control the side brush holder 110 to alternate between reverse rotation and stop rotation, or to control the side brush holder 110 to stop rotation after reversing.

[0179] In some embodiments, when the cleaning component is in unwinding mode, the side brush 10 contacts the roller brush 40 for at least a portion of the time, and the roller brush 40 and / or the side brush 10 rotate to peel off at least a portion of the tangled material on the side brush 10. In unwinding mode, the side brush 10 stops rotating at a preset unwinding position for at least a portion of the time, wherein the preset unwinding position is the position where the side brush 10 contacts the roller brush 40.

[0180] In some embodiments, the roller brush 40 rotates when the side brush 10 is in a preset unwinding position and stops rotating when the side brush 10 is not in the preset unwinding position; or, the roller brush 40 rotates continuously when the cleaning assembly is in unwinding mode.

[0181] In some embodiments, the controller is used to control the side brush holder 110 to alternate between reversing, stopping and rotating in the unwinding mode, wherein, in at least one cycle of reversing, stopping and rotating in the side brush holder 110, the duration of the side brush holder 110 stopping is longer than the duration of the side brush holder 110 reversing, and / or, the duration of the side brush holder 110 stopping is longer than the duration of the side brush holder 110 rotating in the forward direction.

[0182] In some embodiments, in the unwinding mode, during at least one cycle of the side brush holder 110 reversing, stopping, and rotating forward, the duration of the side brush holder 110 reversing is equal to the duration of the side brush holder 110 rotating forward.

[0183] In some embodiments, the rotational speed of the side brush 10 when the brush bar is in the first position; and / or, the side brush 10 further includes a side brush holder 110, the connecting ends of a plurality of brush bars are connected to the side brush holder 110, the side brush holder 110 is rotatably connected to the body 20 about a first axis, the connecting ends of a plurality of brush bars are connected to the side brush holder 110, and the rotational speed of the side brush holder 110 when it rotates in reverse is greater than the rotational speed of the side brush holder 110 when it rotates forward.

[0184] In some embodiments, the body 20 stops moving in unwinding mode; and / or, the body 20 stops moving when the active side brush 10 is in the second position, or during the process of the active side brush 10 rotating from the first position to the second position.

[0185] In some embodiments, during the process of the cleaning device 1 moving to dock with the cleaning base station 2, the active side brush 10 is controlled to be in a second position and the side brush 10 is controlled to rotate to a first target position, wherein, when the side brush 10 is in the first target position, the angle between the extension direction of each brush bar from its connecting end to its free end and the docking direction of the cleaning device 1 docking with the cleaning base station 2 is greater than 90 degrees.

[0186] In some embodiments, when the cleaning device 1 moves to the point where it is docked with the cleaning base station 2, the side brush 10 is controlled to rotate to a second target position, wherein, when the side brush 10 is in the second target position, the angle between the extension direction of each brush bar from its connecting end to its free end and the docking direction of the cleaning device 1 and the cleaning base station 2 is less than 90 degrees.

[0187] In some embodiments, the controller is configured to control the cleaning component to operate in an untangling mode when the cleaning device 1 returns to the cleaning base station 2 and the distance from the cleaning base station 2 is less than a preset distance threshold.

[0188] In some embodiments, the controller is used to control the cleaning component to operate in an untangling mode when the cleaning device 1 stops moving at a preset position in front of the cleaning base station 2, wherein the preset position is a position where the distance between the cleaning device 1 and the cleaning base station 2 is equal to a preset distance threshold.

[0189] In some embodiments, the controller is used to control the cleaning component to operate in an untangling mode when the cleaning device 1 is cleaning the surface to be cleaned, or when the cleaning device 1 is navigating on the surface to be cleaned, provided that an untangling trigger condition is met. The untangling trigger condition includes at least one of the following: the duration of the cleaning task performed by the cleaning device 1 reaches a preset duration, the length of the travel path of the cleaning device 1 performing the cleaning task is greater than a preset length, the cleaning area of ​​the cleaning device 1 performing the cleaning task is greater than a preset area, or an untangling command triggered by the user is received.

[0190] In some embodiments, the controller is further configured to determine whether the cleaning device 1 is currently in an obstacle crossing scenario if the untangling trigger condition is met, and if the cleaning device 1 is determined to be in an obstacle crossing scenario, then the cleaning component is not controlled to operate in the untangling mode.

[0191] In some embodiments, the controller is also configured to control the cleaning device 1 to operate in an untangling mode when the cleaning components move onto the carpet.

[0192] In some embodiments, the cleaning assembly further includes a first negative pressure device and a dust collection container 30 disposed within the body 20. The air inlet of the first negative pressure device is in fluid communication with the suction inlet 21. The dust collection container 30 is located on the airflow path formed by the first negative pressure device through the suction inlet 21 to collect debris in the suction airflow generated by the first negative pressure device. In the first cleaning mode, the first negative pressure device is controlled to operate at a first power. In the untangling mode, the first negative pressure device is controlled to operate at a second power, where the second power is greater than the first power.

[0193] In some embodiments, at least one of the active brush bars 122 is in a first position where the radial distance from the end of the brush bar to the first axis has a first value, and in a second position where the radial distance has a second value, wherein the first value is less than the second value.

[0194] In some embodiments, the cleaning mode further includes a second cleaning mode for cleaning corners, in which at least one of the active brush strips 122 is in a second position.

[0195] In some embodiments, when the active brush bar 122 is in a first position, the radial distance from the end of each of the plurality of brush bars to the first axis has the same value; and / or, the rotation direction of the side brush 10 in the second cleaning mode is opposite to the rotation direction in the first cleaning mode.

[0196] In some embodiments, the cleaning assembly further includes a first negative pressure device disposed on the body 20. The body 20 also includes a mounting chamber 23 recessed from the suction port 21 toward the interior of the body 20. A roller brush 40 is disposed in the mounting chamber 23, and the mounting chamber 23 communicates with the air intake of the first negative pressure device, wherein:

[0197] The rotational speed of the roller brush 40 in the second cleaning mode is greater than or equal to the rotational speed in the first cleaning mode; and / or

[0198] The rotation direction of the roller brush 40 in the second cleaning mode is the same as that in the first cleaning mode; and / or

[0199] The first negative pressure device is installed on the machine body 20, and the power of the first negative pressure device in the second cleaning mode is greater than or equal to the power in the first cleaning mode.

[0200] In some embodiments, the controller is used to control:

[0201] After cleaning device 1 operates in the second cleaning mode at the corner, control cleaning device 1 to operate in the first cleaning mode and control the machine body 20 to move backward a preset distance threshold before moving forward.

[0202] In some embodiments, in unwinding mode, each of the plurality of brush strips contacts the surface to be cleaned for at least a portion of the time during the rotation of the side brush 10.

[0203] In some embodiments,

[0204] The side brush 10 also includes a side brush holder 110, the connecting ends of multiple brush strips are connected to the side brush holder 110, and the side brush holder 110 is rotatably connected to the body 20 about a first axis.

[0205] When at least one of the active brush bars 122 is in the first position and the second position, the length of the portion of the portion of the brush bar that is exposed outside the side brush holder 110 is different, so as to adjust the value of the radial distance.

[0206] In some embodiments, the connecting end of at least one of the movable brush bars 122 is rotatably connected to the side brush holder 110 about a second axis so as to be movable between a first position and a second position;

[0207] A transverse plane is defined that is perpendicular to the first axis and passes through the geometric center of the side brush holder 110. On the transverse plane, the intersection of the first axis and the transverse plane is defined as the first intersection point, and the intersection of the second axis and the transverse plane is defined as the second intersection point. A virtual ray is defined with the second intersection point as its endpoint, and the reverse extension of the virtual ray passes through the first intersection point. When at least one of the movable brush bars 122 is in the first position, the line connecting its free end and the second intersection point has a first angle with the virtual ray. When at least one of the movable brush bars 122 is in the second position, the line connecting its free end and the second intersection point has a second angle with the virtual ray. The first angle is greater than the second angle.

[0208] In some embodiments, at least one of the movable brush strips 122 is located on both sides of the virtual ray in a first position and a second position, respectively; and / or, at least one of the plurality of brush strips is a fixed brush strip 121 fixed relative to the side brush holder 110, wherein: at least one of the movable brush strips 122 is located on both sides of the virtual ray in the first position and the fixed brush strip 121, respectively; and / or, at least one of the movable brush strips 122 is located on the same side of the virtual ray as the fixed brush strip 121 in the second position.

[0209] In some embodiments, each of the plurality of brush bars includes a connecting arm and bristles, the connecting arm being rotatably connected to the body 20 about a first axis, the bristles being connected to the connecting arm, and the movable brush bar 122 being in a second position, in a radially outward direction perpendicular to the first axis, the spacing between the bristles of the movable brush bar 122 and the bristles of at least one of its adjacent brush bars remains unchanged or decreases.

[0210] In some embodiments, the side brush 10 further includes a side brush holder 110, the connecting ends of a plurality of brush strips are connected to the side brush holder 110, the side brush holder 110 is rotatably connected to the body 20 about a first axis, and the connecting end of at least one of the movable brush strips 122 is rotatably connected to the side brush holder 110 about a second axis, and the second axis is movable in a direction toward and away from the other brush strips among the plurality of brush strips, such that: at least one of the movable brush strips 122 is in a first position with a first distance between its second axis and the connecting ends of the other brush strips, and at least one of the movable brush strips 122 is in a second position with a second distance between its second axis and the connecting ends of the other brush strips, the first distance being greater than the second distance.

[0211] In some embodiments, a position adjustment structure is provided between the connecting ends of at least one of the side brush holder 110 and the movable brush strips 122. The connecting ends of at least one of the movable brush strips 122 are movably connected to the side brush holder 110 through the position adjustment structure. The position adjustment structure is used to adjust the relative position of at least one of the movable brush strips 122 with respect to the side brush holder 110 and to move the second axis along the direction of approaching and moving away from the other brush strips among the plurality of brush strips.

[0212] In some embodiments, the position adjustment structure includes a groove 116 disposed on the side brush holder 110 and a rotating shaft disposed on the connecting end of at least one of the movable brush bars 122 and about a second axis. The rotating shaft is rotatably and slidably connected to the groove 116, wherein: when at least one of the movable brush bars 122 is in a first position, the rotating shaft is located at the first end of the groove 116; and when at least one of the movable brush bars 122 is in a second position, the rotating shaft is located at the second end of the groove 116; or, the position adjustment structure includes a rotating shaft disposed on the side brush holder 110 and about a second axis, and a groove 116 disposed on the connecting end of at least one of the movable brush bars 122. The rotating shaft is rotatably and slidably connected to the groove 116, wherein: when at least one of the movable brush bars 122 is in a first position, the rotating shaft slides to the first end of the groove 116; and when at least one of the movable brush bars 122 is in a second position, the rotating shaft slides to the second end of the groove 116.

[0213] In some embodiments, the distance from the first end of the slide 116 to the first axis is less than the distance from the second end of the slide 116 to the first axis.

[0214] In some embodiments, the angle between the brush bar and the first axial direction is an acute angle along a radially outward direction perpendicular to the first axis, wherein the first axial direction is a direction parallel to the first axis and pointing towards the surface to be cleaned; the second axis has an angle with the first axis such that the angle between the movable brush bar 122 and the first axial direction when the movable brush bar 122 is in the first position is greater than the angle between the movable brush bar 122 and the first axial direction when the movable brush bar 122 is in the second position.

[0215] In some embodiments, the side brush 10 further includes a side brush holder 110, the connecting ends of a plurality of brush strips are connected to the side brush holder 110, the side brush holder 110 is rotatably connected to the body 20 about a first axis, the side brush holder 110 includes an upper housing 111 and a lower housing 112 that are interlocked, the connecting ends are connected to the mounting cavity enclosed by the upper housing 111 and the lower housing 112, wherein: the edge of the upper housing 111 has a first convex tooth 1111 that protrudes downward and abuts against the outer side of the lower housing 112; and / or, the edge of the lower housing 112 has a second convex tooth that protrudes upward and abuts against the outer side of the upper housing 111.

[0216] In some embodiments, the side brush 10 further includes a side brush holder 110, the connecting ends of a plurality of brush strips are connected to the side brush holder 110, the side brush holder 110 is rotatably connected to the body 20 about a first axis, the side brush holder 110 includes a housing, the housing is formed with a mounting cavity for mounting the connecting ends, the housing includes a lower surface facing the upper surface of the connecting ends, a first gap is formed between the upper surface of the connecting ends and the lower surface of the housing, at least one of the plurality of brush strips is provided with a flange protruding toward its free end on its side, the flange is used to prevent long filamentous debris from entering the first gap, for at least one of the plurality of brush strips: a groove is formed between the flange and the upper surface of the brush strip, the groove is located on the lower side of the flange, and the first gap is located on the upper side of the flange.

[0217] In some embodiments, the flange is made of an elastic material; and / or, the flange is located on the connecting end; and / or, each of the plurality of brush strips includes a connecting arm forming the connecting end, a bristle, and an intermediate arm connected between the connecting arm and the bristle, the flange being disposed on the intermediate arm, the intermediate arm having a less rigidity than the connecting end, and the intermediate arm being made of an elastic material; and / or, for each of the plurality of brush strips: the flange has an upper surface including a first sub-surface 1201i and a second sub-surface 1202i, the first sub-surface 1201i and the second sub-surface 1202i being sequentially disposed in a radially outward direction, the first sub-surface 1201i being connected between the side of the brush strip and the second sub-surface 1202i, wherein the second sub-surface 1202i extends in a horizontal direction or is inclined downward or bent in a radially outward direction.

[0218] In some embodiments, the flange is made of an elastic material, and the upper surface of the flange is close to the bottom of the body 20.

[0219] In some embodiments, the side brush 10 further includes a fixed brush bar 121, and the number of both the movable brush bar 122 and the fixed brush bar 121 is one; and / or, multiple brush bars have the same structure; and / or, when the movable brush bar 122 is in a first position, the angle between the bristles of the movable brush bar 122 and the bristles of at least one of its adjacent brush bars is [120°, 165°]; and / or, when the movable brush bar 122 is in a second position, the angle between the bristles of the movable brush bar 122 and the bristles of at least one of its adjacent brush bars is [0°, 20°]; and / or, the side brush 10 further includes a drive source for driving the movable brush bar 122 to move between the first position and the second position.

[0220] In some embodiments, the side brush 10 includes at least two adjacent active brush strips 122.

[0221] In some embodiments, at least two adjacent active brush bars 122 can rotate through different angles in the circumferential direction during the first and second position activities.

[0222] In some embodiments, during the closing process of at least two adjacent movable brush bars 122, at least two adjacent movable brush bars 122 move in the same circumferential direction.

[0223] In some embodiments, during the closing process of at least two adjacent movable brush bars 122, along the movement direction of the movable brush bars 122, the angle rotated by the rearmost movable brush bar 122 among the at least two adjacent movable brush bars 122 is the first angle, and the angle rotated by the frontmost movable brush bar 122 among the at least two adjacent movable brush bars 122 is the second angle, wherein the first angle is greater than the second angle.

[0224] In some embodiments, when the active brush bar 122 is in a first position, the reverse extension line of the extension direction of the bristles of each of the plurality of brush bars does not pass through the first axis.

[0225] In some embodiments, the side brush 10 further includes a side brush holder 110, the connecting ends of a plurality of brush strips are connected to the side brush holder 110, the side brush holder 110 is rotatably connected to the body 20 about a first axis, each of the plurality of brush strips includes a connecting arm and a bristle strip, the connecting arm is connected between the bristle strip and the side brush holder 110, the movable brush strip 122 is in a first position, and the projection of the bristle strip of each of the plurality of brush strips onto a transverse plane perpendicular to the first axis and passing through the geometric center of the side brush holder 110 extends along the tangential direction of the edge of the side brush holder 110.

[0226] According to another aspect of this disclosure, a cleaning device is also provided, which may include any of the cleaning components described above. The cleaning device may include a body, with a suction port provided at the bottom of the body.

[0227] In other embodiments of this disclosure, a cleaning device 1 is provided, comprising a body 20, a side brush 10, a first negative pressure device 30, and a controller (not shown). The bottom of the body 20 has an intake port 21. The side brush 10 is rotatably disposed beside the intake port 21 about a first axis P1. The side brush 10 may include brush strips 120, at least one of which is a movable brush strip 122 movable between a first position and a second position. In the first position, the movable brush strip 122 has a first radial distance from its free end to the first axis P1. In the second position, the movable brush strip 122 has a second radial distance, which is greater than the first value. The suction port of the first negative pressure device 30 communicates with the intake port 21. The controller controls the cleaning device 1 to operate in different modes. The different modes include a first cleaning mode for cleaning the central and edge areas and a second cleaning mode for cleaning corners. In the first cleaning mode, the movable brush strip is in the first position and the first negative pressure device is activated; in the second cleaning mode, the movable brush strip is in the second position and the first negative pressure device is activated. The side brush provided in this embodiment allows at least one brush strip of the side brush to be extended in length, thereby increasing the cleaning range of the side brush.

[0228] In some embodiments, there may be multiple brush strips 120. When the movable brush strip 122 is in a first position, the movable brush strip 122 and at least one of its adjacent brush strips 120 are in a separated state, moving away from each other along the circumferential direction around the first axis P1. When the movable brush strip 122 is in a second position, the movable brush strip 122 and at least one of its adjacent brush strips 120 are in a closed state, moving closer together along the circumferential direction. Thus, by allowing the movable brush strip 122 to move between the first and second positions, the closing and separation of the brush strips 120 can be achieved, thereby achieving the purpose of peeling off the long filamentous windings on the brush strips 120.

[0229] It should be noted that the other structures and functions of the side brush provided in this embodiment are the same as those in the embodiments mentioned above, and can be referred to the description of the embodiments above. This embodiment will not repeat them.

[0230] According to another aspect of this disclosure, a cleaning base station is also provided. The cleaning base station may have a docking point for docking with the aforementioned cleaning equipment.

[0231] For example, a scraper may be provided on the cleaning base station. The scraper is used to scrape off the tangled material on the brush strip when the cleaning equipment is docked to the docking position or when the distance between the cleaning equipment and the cleaning base station is less than a preset distance threshold, and when the cleaning equipment is operating in untangling mode.

[0232] Furthermore, according to another aspect of this disclosure, a cleaning system is also provided. As shown in FIG12, the cleaning system may further include any of the aforementioned cleaning devices 1 and any of the cleaning base stations 2.

[0233] For example, the cleaning device 1 may include a body 20 and a dust collection container 30 disposed on the body 20. Referring to Figures 1A-1C, the body 20 has an intake port 21 and a dust removal port 26 in fluid communication with the dust collection container 30. The intake port 21 is located at the bottom of the body 20. The cleaning base station 2 includes a main body and a dust collection port 80 disposed on the main body. When the cleaning device 1 and the cleaning base station 2 are connected, the dust collection port 80 of the cleaning base station 2 is connected to the dust removal port 26 of the cleaning device 1.

[0234] A second negative pressure device 50 may be provided on the cleaning base station 2. When the cleaning equipment 1 is connected to the cleaning base station 2, the dust collection port 80 is connected to the dust removal port 26, so that the suction airflow generated by the operation of the second negative pressure device 50 passes sequentially through the suction port 21, the dust collection container 30, the dust removal port 26, the dust collection port 80, and the suction port of the second negative pressure device 50. Exemplarily, the cleaning base station 2 may include a dust storage container 60 and a dust collection channel 70. The second negative pressure device 50 is sequentially connected to the dust storage container 60 and the dust collection channel 70. The airflow generated by the second negative pressure device 50 can enter the dust storage container 60 through the dust collection channel 70. Exemplarily, the air inlet of the second negative pressure device 50 is connected to the dust collection channel 70, and the dust storage container 60 is disposed on the airflow channel between the second negative pressure device 50 and the dust collection channel 70. The second negative pressure device 50 is in fluid communication with the dust collection container 30 of the cleaning equipment 1 through the dust collection channel 70. In the unwinding mode, at least a portion of the tangled material on the side brush 10 is peeled off by the suction airflow generated by the first negative pressure device and the second negative pressure device 50. Utilizing the negative pressure devices of the cleaning device 1 and the cleaning base station 2 together for unwinding can improve the efficiency of material removal.

[0235] According to another aspect of this disclosure, a cleaning system is also provided. As shown in FIG12, the cleaning system may further include any of the aforementioned cleaning devices 1 and any of the cleaning base stations 2. A second negative pressure device 50 may be provided on the cleaning base station 2. When the cleaning device 1 is connected to the cleaning base station 2, the dust collection port 80 is connected to the dust removal port 26, so that the suction airflow generated by the operation of the second negative pressure device 50 passes sequentially through the suction port 21, the dust collection container 30, the dust removal port 26, the dust collection port 80, and the suction port of the second negative pressure device 50. A controller can be used to control the cleaning system to be in an unwinding mode, in which at least a portion of the tangled material on the side brush 10 is peeled off by the suction airflow generated by the second negative pressure device 50. That is, unwinding can be performed solely using the second negative pressure device 50 on the cleaning base station 2.

[0236] For example, the cleaning system may also include a mobile terminal. A mobile terminal, also known as a mobile communication terminal, refers to a computer device that can be used while in motion, broadly including mobile phones, laptops, tablets, POS machines, in-vehicle computers, etc. The cleaning device 1 and / or the cleaning base station may include a controller. The mobile terminal is communicatively connected to the controller. The mobile terminal is used to send control signals to cause the controller to control the cleaning device 1 to dock with the cleaning base station, and / or to cause the controller to control the first negative pressure device to start, and / or to control the roller brush 40 to start.

[0237] In the description of this disclosure, it should be understood that the orientation or positional relationship indicated by directional terms such as "front", "rear", "up", "down", "left", "right", "horizontal", "vertical", "horizontal", "top", and "bottom" is usually based on the orientation or positional relationship shown in the accompanying drawings and is only for the convenience of describing this disclosure and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this disclosure; the directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0238] For ease of description, relative terms such as "above," "over," "on the upper surface of," and "above" are used here to describe the regional positional relationship of one or more components or features shown in the figures to other components or features. It should be understood that relative terms include not only the orientation of the component as depicted in the figure but also different orientations during use or operation. For example, if the components in the figures are inverted as a whole, "above" or "above other components or features" will include cases where the component is "below" or "under" other components or features. Thus, the exemplary term "above" can include both "above" and "below." Furthermore, these components or features may also be positioned at other different angles (e.g., rotated 90 degrees or other angles), and this document intends to include all such cases.

[0239] It should be noted that the terminology used herein is for the purpose of describing particular implementations only and is not intended to limit the exemplary implementations according to this disclosure. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms “comprising” and / or “including” are used in this specification, they indicate the presence of features, steps, operations, parts, components, and / or combinations thereof.

[0240] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this disclosure are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this disclosure described herein can be implemented in sequences other than those illustrated or described herein.

[0241] This disclosure has been described through the above embodiments; however, it should be understood that the above embodiments are for illustrative purposes only and are not intended to limit this disclosure to the described embodiments. Furthermore, those skilled in the art will understand that this disclosure is not limited to the above embodiments, and many more variations and modifications can be made based on the teachings of this disclosure, all of which fall within the scope of protection claimed by this disclosure. The scope of protection of this disclosure is defined by the appended claims and their equivalents.

Claims

1. A cleaning component for use in a cleaning device, the cleaning device comprising a body, wherein a suction port is provided at the bottom of the body, characterized in that, The cleaning assembly comprises: The side brush comprises a plurality of brush strips, the side brush is integrally rotatably arranged beside the suction port around a first axis to sweep garbage towards the suction port during the cleaning task performed by the cleaning device, at least one of the plurality of brush strips is a movable brush strip movable between a first position and a second position relative to its adjacent brush strips, wherein: when the movable brush strip is in the first position, the movable brush strip and at least one of the brush strips adjacent to the movable brush strip are in a separated state away from each other along a circumferential direction around the first axis; and when the movable brush strip is in the second position, the movable brush strip and the at least one of the brush strips adjacent to the movable brush strip are in a converged state close to each other along the circumferential direction; a first negative pressure device; and a controller configured to control the cleaning assembly to work in different modes, the different modes comprising a sweeping mode and an unwinding mode, the sweeping mode comprising a first sweeping mode, wherein: in the first sweeping mode, the movable brush strip is in the first position; in the unwinding mode, a suction port of the first negative pressure device is in communication with the suction port, the movable brush strip is in the second position or reciprocally switches between the first position and the second position, and at least part of the winding objects on the side brush are stripped by a suction airflow generated by the first negative pressure device.

2. The cleaning assembly of claim 1, wherein, The cleaning assembly further comprises a rolling brush, the side brush is in contact with the rolling brush at least partially during the unwinding mode, and at least part of the winding objects on the side brush are stripped by rotation of the rolling brush and / or the side brush, the controller is further configured to control: the rolling brush rotates in the unwinding mode, and a rotation speed of the rolling brush is greater than or equal to a rotation speed of the rolling brush in the first sweeping mode; and / or the rolling brush rotates forward, reverses or alternately rotates forward and reverses in the unwinding mode, a rotation direction of the rolling brush when rotating forward is a rotation direction of the rolling brush in the first sweeping mode.

3. The cleaning assembly of claim 1, wherein, The cleaning assembly further comprises a rolling brush, the side brush is in contact with the rolling brush at least partially during the unwinding mode, and at least part of the winding objects on the side brush are stripped by rotation of the rolling brush and / or the side brush, the cleaning assembly further comprises a mounting cavity recessed from the suction port towards the machine body, and the rolling brush is arranged in the mounting cavity; and / or, during the cleaning task performed by the cleaning device on the surface to be cleaned, the first axis of the side brush is perpendicular to or inclined to the surface to be cleaned, and a rotation axis of the rolling brush is parallel to the surface to be cleaned; and / or, the at least part of the winding objects after being stripped are sucked by the first negative pressure device through the suction port. And / or, the rolling brush comprises a roller body and a cleaning part, the cleaning part is spirally arranged on the outer peripheral wall of the roller body along the length direction of the roller body, the roller body comprises a first end and a second end arranged oppositely, the first end is connected with the mounting bin, the second end is a free end, the mounting bin is provided with a suction port, the suction port is arranged opposite to the second end of the roller body, the suction airflow generated by the first negative pressure device makes the winding object on the rolling brush move along the direction from the first end to the second end of the roller body and be sucked out of the mounting bin through the suction port; And / or, the rolling brush and / or the mounting bin is provided with a cutting structure for cutting the winding object on the rolling brush.

4. The cleaning assembly of claim 3, wherein, The cleaning assembly is provided with the mounting bin, and the cleaning assembly further comprises a dust collecting container arranged in the machine body, the suction port of the first negative pressure device is in fluid communication with the dust collecting container and the mounting bin in sequence, and the dust collecting container is located on the airflow path formed by the first negative pressure device via the suction port, so as to collect the garbage in the suction airflow generated by the first negative pressure device.

5. The cleaning assembly of claim 1, wherein, The edge brush further comprises an edge brush seat, the connecting end of the plurality of brush strips is connected to the edge brush seat, and the edge brush seat is rotatably connected to the machine body around the first axis; The movable brush strip is in the first position by the forward rotation of the edge brush seat along a first circumferential direction; and The movable brush strip is in the second position by the reverse rotation of the edge brush seat along a second circumferential direction.

6. The cleaning assembly of claim 5, wherein, The edge brush seat is provided with a first limiting part and a second limiting part, the first limiting part and the second limiting part are spaced apart along the circumferential direction, the movable brush strip is freely movable between the first limiting part and the second limiting part, the circumferential direction includes the first circumferential direction and the second circumferential direction, and the first circumferential direction is the rotation direction of the edge brush seat in the first cleaning mode, wherein: The movable brush strip abuts against the first limiting part when the edge brush seat rotates forward along the first circumferential direction, so as to be in the first position; and The movable brush strip abuts against the second limiting part when the edge brush seat rotates reversely along the second circumferential direction, so as to be in the second position.

7. The cleaning assembly of claim 5, wherein, The controller is further used for controlling the continuous reverse rotation of the edge brush seat in the unwinding mode, or controlling the forward rotation and reverse rotation of the edge brush seat to be alternated, or controlling the reverse rotation, idling and forward rotation of the edge brush seat to be alternated, or controlling the reverse rotation and idling of the edge brush seat to be alternated, or controlling the reverse rotation and idling of the edge brush seat to be alternated.

8. The cleaning assembly of claim 7, wherein, The cleaning assembly further comprises a rolling brush, in the unwinding mode, the edge brush is in contact with the rolling brush at least partially in a time period, and the rolling brush and / or the edge brush rotates to strip at least part of the winding object on the edge brush; In the unwinding mode, the edge brush idles at least partially in a time period in a preset unwinding position, wherein the preset unwinding position is the position where the edge brush is in contact with the rolling brush.

9. The cleaning assembly of claim 8, wherein, The rolling brush rotates when the edge brush is in the preset unwinding position, and stops rotating when the edge brush is not in the preset unwinding position; Alternatively, the rolling brush keeps rotating in the unwinding mode.

10. The cleaning assembly of claim 7, wherein, The controller is configured to control the bristle holder to alternate between reverse rotation, stop and forward rotation in the unwinding mode, and in at least one cycle of the reverse rotation, stop and forward rotation, the bristle holder is stopped for a time period longer than the time period of the reverse rotation, and / or the bristle holder is stopped for a time period longer than the time period of the forward rotation.

11. The cleaning assembly of claim 10, wherein, In the unwinding mode, in at least one cycle of the reverse rotation, stop and forward rotation, the bristle holder is reversed for a time period equal to the time period of the forward rotation.

12. The cleaning assembly of claim 1, wherein, the rotational speed of the bristle holder when the movable brush strip is in the second position is greater than the rotational speed of the bristle holder when the movable brush strip is in the first position; and / or the bristle holder further comprises a bristle holder body, the connecting ends of the plurality of brush strips are connected to the bristle holder body, the bristle holder body is rotatably connected to the main body about the first axis, and the rotational speed of the bristle holder body when reversed is greater than the rotational speed of the bristle holder body when forward rotated.

13. The cleaning assembly of claim 1, wherein, the cleaning device stops moving in the unwinding mode; and / or, the cleaning device stops moving when the movable bristle is in the second position or during the process of rotating the movable bristle from the first position to the second position.

14. The cleaning assembly of claim 1, wherein, during the docking of the cleaning device with the cleaning base station, the movable bristle is controlled to be in the second position, and the bristle is controlled to rotate to a first target position, wherein, in the first target position, the angle between the extension direction of each brush strip from the connecting end to the free end and the docking direction of the cleaning device with the cleaning base station is greater than 90 degrees; and / or, when the docking of the cleaning device with the cleaning base station is completed, the bristle is controlled to rotate to a second target position, wherein, in the second target position, the angle between the extension direction of each brush strip from the connecting end to the free end and the docking direction of the cleaning device with the cleaning base station is less than 90 degrees.

15. The cleaning assembly of claim 1, wherein, the controller is configured to control the cleaning assembly to work in the unwinding mode during the return of the cleaning device to the cleaning base station and when the distance between the cleaning device and the cleaning base station is less than a preset distance threshold; and / or, the controller is configured to control the cleaning assembly to work in the unwinding mode when the cleaning device stops moving at a preset position in front of the cleaning base station, wherein the preset position is a position where the distance between the cleaning device and the cleaning base station is equal to the preset distance threshold.

16. The cleaning assembly of claim 1, wherein, The controller is configured to control the cleaning assembly to work in an unwinding mode when a predetermined unwinding trigger condition is met during the process of cleaning the surface to be cleaned or during the process of navigating the cleaning device on the surface to be cleaned, wherein the unwinding trigger condition comprises at least one of the following: a time length of performing a cleaning task by the cleaning device reaches a preset time length, a path length of performing a cleaning task by the cleaning device is greater than a preset length, a cleaning area of performing a cleaning task by the cleaning device is greater than a preset area, a user triggered unwinding instruction is received, and the brush is wound by garbage.

17. The cleaning assembly of claim 16, wherein, The controller is further configured to determine whether the cleaning device is in an obstacle crossing scene or the brush is in a lifted state when it is determined that the unwinding trigger condition is met at present, and not control the cleaning assembly to work in the unwinding mode if it is determined that the cleaning device is in the obstacle crossing scene or the brush is in the lifted state.

18. The cleaning assembly of claim 1, wherein, The controller is further configured to control the cleaning device to work in the unwinding mode when the cleaning assembly moves to a carpet.

19. The cleaning assembly of claim 1, wherein, In the first cleaning mode, the first negative pressure device is controlled to work at a first power, and in the unwinding mode, the first negative pressure device is controlled to work at a second power, and the second power is greater than the first power.

20. The cleaning assembly of claim 1, wherein, The radial distance from the end of the brush strip to the first axis has a first value when the at least one of the movable brush strips is in the first position, and has a second value when it is in the second position, and the first value is less than the second value.

21. The cleaning assembly of claim 20, wherein, The cleaning mode further comprises a second cleaning mode for cleaning a corner, and in the second cleaning mode, the at least one of the movable brush strips is in the second position.

22. The cleaning assembly of claim 21, wherein The first cleaning mode comprises a central area cleaning mode and an edge cleaning mode, The rotation speed of the brush in the second cleaning mode is less than or equal to the rotation speed in the edge cleaning mode; and / or The rotation speed of the brush in the second cleaning mode is greater than the rotation speed in the central area cleaning mode.

23. The cleaning assembly of claim 21, wherein, The radial distance from the end of each of the plurality of brush strips to the first axis has the same value when the movable brush strips are in the first position; and / or the rotation direction of the brush in the second cleaning mode is opposite to the rotation direction in the first cleaning mode.

24. The cleaning assembly of claim 21, wherein, The first negative pressure device is arranged on the machine body, and the machine body further comprises a mounting cavity recessed from the suction inlet towards the machine body, and a roller brush is arranged in the mounting cavity, and the mounting cavity is in communication with the suction port of the first negative pressure device, wherein: the rotation speed of the roller brush in the second cleaning mode is greater than or equal to the rotation speed in the first cleaning mode; and / or The rotation direction of the roller brush in the second cleaning mode is the same as the rotation direction in the first cleaning mode; and / or The first negative pressure device is arranged on the machine body, and the power of the first negative pressure device in the second cleaning mode is greater than or equal to the power in the first cleaning mode.

25. The cleaning assembly of claim 21, wherein, The controller is configured to control: After the cleaning device works in the second cleaning mode at the corner, the controller controls the cleaning device to work in the first cleaning mode and controls the machine body to back up a preset distance threshold and then advance.

26. The cleaning assembly of claim 1, wherein, In the unwinding mode, during the rotation of the side brush, each of the plurality of brush strips is in contact with the surface to be cleaned at least in part of the period.

27. The cleaning assembly of claim 20, wherein: The side brush further comprises a side brush seat, to which the connecting ends of the plurality of brush strips are connected, and the side brush seat is rotatably connected to the machine body about the first axis, The length of the part of the at least one of the movable brush strips exposed outside the side brush seat is different when the at least one of the movable brush strips is in the first position and the second position, so as to adjust the value of the radial distance.

28. The cleaning assembly of claim 27, wherein, The connecting end of the at least one of the movable brush strips is rotatably connected to the side brush seat about a second axis, so as to be movable between the first position and the second position; A transverse plane perpendicular to the first axis and passing through the geometric center of the side brush seat is determined, and on the transverse plane, the intersection of the first axis and the transverse plane is defined as a first intersection point, and the intersection of the second axis and the transverse plane is defined as a second intersection point, and a virtual ray is determined with the second intersection point as an end point The virtual ray has a reverse extension line passing through the first intersection point; When the at least one of the movable brush strips is in the first position, the line between the free end of the at least one of the movable brush strips and the second intersection point has a first included angle with the virtual ray; When the at least one of the movable brush strips is in the second position, the line between the free end of the at least one of the movable brush strips and the second intersection point has a second included angle with the virtual ray; The first included angle is greater than the second included angle.

29. The cleaning assembly of claim 28, wherein: The at least one of the movable brush strips is located on two sides of the virtual ray in the first position and the second position, respectively; and / or At least one of the plurality of brush strips is a fixed brush strip relative to the side brush seat, wherein: the at least one of the movable brush strips is located on two sides of the virtual ray with the fixed brush strip in the first position, respectively; and / or The at least one of the movable brush strips is located on the same side of the virtual ray with the fixed brush strip in the second position.

30. The cleaning assembly of claim 1, wherein: Each of the plurality of brush strips comprises a connecting arm rotatably connected to the machine body about the first axis and a bristle connected to the connecting arm, When the movable brush strip is in the second position, the spacing between the bristle of the movable brush strip and the bristle of the at least one of the brush strips adjacent to the movable brush strip in a radial outward direction perpendicular to the first axis is unchanged or reduced.

31. The cleaning assembly of claim 1, wherein: The side brush further comprises a side brush seat, to which the connecting ends of the plurality of brush strips are connected, and the side brush seat is rotatably connected to the machine body about the first axis, The connecting end of at least one of the movable brush strips is rotatably connected to the bristle holder around a second axis, and the second axis is movable along a direction of approaching and moving away from the other brush strips, so that the at least one of the movable brush strips has a first distance between the second axis and the connecting end of the other brush strips when the at least one of the movable brush strips is in the first position, and the at least one of the movable brush strips has a second distance between the second axis and the connecting end of the other brush strips when the at least one of the movable brush strips is in the second position, the first distance being greater than the second distance.

32. The cleaning assembly of claim 31, wherein, A position adjusting structure is arranged between the bristle holder and the connecting end of the at least one of the movable brush strips, and the connecting end of the at least one of the movable brush strips is movably connected to the bristle holder through the position adjusting structure, the position adjusting structure being used to adjust the relative position of the at least one of the movable brush strips and the bristle holder and to move the second axis along the direction of approaching and moving away from the other brush strips.

33. The cleaning assembly of claim 32, wherein, The position adjusting structure comprises a sliding groove arranged on the bristle holder and a rotating shaft arranged on the connecting end of the at least one of the movable brush strips and having the second axis as an axis, the rotating shaft being rotatably and slidably connected to the sliding groove, wherein: when the at least one of the movable brush strips is in the first position, the rotating shaft is located at a first end of the sliding groove; and when the at least one of the movable brush strips is in the second position, the rotating shaft is located at a second end of the sliding groove; or The position adjusting structure comprises a rotating shaft arranged on the bristle holder and having the second axis as an axis, and a sliding groove arranged on the connecting end of the at least one of the movable brush strips, the rotating shaft being rotatably and slidably connected to the sliding groove, wherein: when the at least one of the movable brush strips is in the first position, the rotating shaft is slid to a first end of the sliding groove; and when the at least one of the movable brush strips is in the second position, the rotating shaft is slid to a second end of the sliding groove.

34. The cleaning assembly of claim 33, wherein, The distance from the first end of the sliding groove to the first axis is less than the distance from the second end of the sliding groove to the first axis.

35. The cleaning assembly of any one of claims 31-34, wherein, An included angle between the brush strip and a first axial direction is an acute angle in a direction of radially outwardly along a direction perpendicular to the first axis, wherein the first axial direction is parallel to the first axis and points to a direction of a surface to be cleaned; The second axis has an included angle with the first axis, so that an included angle between the movable brush strip and the first axial direction when the movable brush strip is in the first position is greater than an included angle between the movable brush strip and the first axial direction when the movable brush strip is in the second position.

36. The cleaning assembly of claim 1, wherein, The bristle holder is rotatably connected to the body around the first axis, The brush holder comprises an upper shell and a lower shell that are buckled to each other, and the connecting end is connected to a mounting cavity enclosed by the upper shell and the lower shell, wherein: An edge of the upper shell has a first protruding tooth that protrudes downward and abuts against an outer side surface of the lower shell; and / or An edge of the lower shell has a second protruding tooth that protrudes upward and abuts against an outer side surface of the upper shell.

37. The cleaning assembly of claim 1, wherein, The brush further comprises a brush holder, the connecting end of the plurality of brush strips is connected to the brush holder, and the brush holder is rotatably connected to the body around the first axis, The brush holder comprises a shell, the shell is formed with a mounting cavity for mounting the connecting end, the shell comprises a lower surface facing the upper surface of the connecting end, a first gap is formed between the upper surface of the connecting end and the lower surface of the shell, and a side surface of at least one of the plurality of brush strips is provided with a flange protruding toward the free end thereof, the flange is used to block long filament garbage from entering the first gap, For at least one of the plurality of brush strips: A groove is formed between the flange and the upper surface of the brush strip, the groove is located on the lower side of the flange, and the first gap is located on the upper side of the flange.

38. The cleaning assembly according to claim 37, wherein: The flange is made of elastic material; and / or The flange is located on the connecting end; and / or Each of the plurality of brush strips comprises a connecting arm forming the connecting end, a bristle, and an intermediate arm connected between the connecting arm and the bristle, the flange is arranged on the intermediate arm, the hardness of the intermediate arm is less than the hardness of the connecting end, and the intermediate arm is made of elastic material; and / or For each of the plurality of brush strips: the flange has an upper surface, the upper surface comprises a first sub-surface and a second sub-surface, the first sub-surface and the second sub-surface are arranged in sequence along the radially outward direction, the first sub-surface is connected between the side surface of the brush strip and the second sub-surface, and the second sub-surface extends along the horizontal direction or is inclined or curved downward along the radially outward direction. The flange is made of elastic material, and the upper surface of the flange is close to the bottom of the body.

39. The cleaning assembly of claim 37, wherein, 40. The cleaning assembly according to claim 1, wherein: The brush further comprises a fixed brush strip, and the number of the movable brush strip and the fixed brush strip is one; and / or The plurality of brush strips have the same structure; and / or When the movable brush strip is in the first position, the included angle between the bristle of the movable brush strip and the bristle of the at least one of the adjacent brush strips is [120°, 165°]; and / or When the movable brush strip is in the second position, the included angle between the bristle of the movable brush strip and the bristle of the at least one of the adjacent brush strips is [0°, 20°]; and / or The brush further comprises a driving source for driving the movable brush strip to move between the first position and the second position. The brush comprises at least two adjacent movable brush strips.

41. The cleaning assembly of claim 1, wherein, ​ 42. The cleaning assembly of claim 41, wherein, The at least two adjacently arranged movable brush strips can rotate through different angle values along the circumferential direction during movement between the first position and the second position.

43. The cleaning assembly of claim 41, wherein, During folding of the at least two adjacently arranged movable brush strips, the at least two adjacently arranged movable brush strips move along the same circumferential direction.

44. The cleaning assembly of claim 43, wherein, During folding of the at least two adjacently arranged movable brush strips, the at least two adjacently arranged movable brush strips rotate through a first angle along the movement direction of the movable brush strips, and the at least two adjacently arranged movable brush strips rotate through a second angle along the movement direction of the movable brush strips, wherein the first angle is greater than the second angle.

45. The cleaning assembly of claim 1, wherein, When the movable brush strip is in the first position, the extension direction of the bristles of each of the plurality of brush strips does not pass through the first axis.

46. The cleaning assembly of claim 45, wherein, The side brush further comprises a side brush base, the connection end of the plurality of brush strips is connected to the side brush base, the side brush base is rotatably connected to the machine body around the first axis, each of the plurality of brush strips comprises a connecting arm and bristles, the connecting arm is connected between the bristles and the side brush base, When the movable brush strip is in the first position, the projection of the bristles of each of the plurality of brush strips on a transverse plane perpendicular to the first axis and passing through the geometric center of the side brush base extends along the tangent direction of the edge of the side brush base.

47. A cleaning assembly for use in a cleaning apparatus, the cleaning apparatus comprising a body, the body having a suction inlet at a bottom thereof, characterised in that, Comprise: A side brush comprising a plurality of brush strips, the side brush is integrally rotatably arranged beside the suction inlet around a first axis to sweep garbage to the suction inlet during execution of a cleaning task by the cleaning device, at least one of the plurality of brush strips is a movable brush strip movable between a first position and a second position relative to its adjacent brush strip, wherein: when the movable brush strip is in the first position, the movable brush strip and at least one of the brush strips adjacent thereto are in a separated state away from each other along a circumferential direction around the first axis; and when the movable brush strip is in the second position, the movable brush strip and the at least one of the brush strips adjacent thereto are in a folded state close to each other along the circumferential direction; A roller brush; and A controller for controlling the cleaning assembly to work in different modes, the different modes comprising a sweeping mode and an unwinding mode, the sweeping mode comprising a first sweeping mode, wherein: in the first sweeping mode, the movable brush strip is in the first position; in the unwinding mode, the movable brush strip is in the second position or reciprocally switches between the first position and the second position, and the side brush at least partially contacts the roller brush, and at least part of the winding on the side brush is stripped by rotation of the roller brush and / or the side brush.

48. The cleaning assembly of claim 47, wherein, The controller is further configured to control: The rotation speed of the roller brush in the unwinding mode is greater than or equal to the rotation speed in the first sweeping mode; and / or The roller brush rotates forward, reverses or alternately rotates forward and reverses in the unwinding mode, and the rotation direction of the roller brush when rotating forward is the rotation direction of the roller brush in the first sweeping mode.

49. The cleaning assembly of claim 47, wherein, In the unwinding mode, the side brush is at least partially in contact with the roller brush, and the rotation of the roller brush and / or the side brush can strip at least part of the winding on the side brush; the cleaning assembly further comprises a mounting bin recessed from the suction inlet towards the body, and the roller brush is arranged in the mounting bin; In the cleaning process, the first axis of the side brush is perpendicular or inclined to the surface to be cleaned, and the rotation axis of the roller brush is parallel to the surface to be cleaned; The roller brush comprises a roller body and a cleaning part, the cleaning part is arranged on the outer peripheral wall of the roller body in a spiral manner, and the roller body comprises a first end and a second end arranged oppositely along the length direction of the roller body, the first end is connected with the mounting bin, and the second end is a free end; the mounting bin is provided with a suction port, the suction port is arranged opposite to the second end of the roller body, and the suction airflow generated by the first negative pressure device can move the winding on the roller brush from the first end to the second end of the roller body and separate the winding from the mounting bin through the suction port; The roller brush and / or the mounting bin are provided with a cutting structure for cutting the winding on the roller brush.

50. The cleaning assembly of claim 49, wherein, The cleaning assembly is provided with the mounting bin, and further comprises a first negative pressure device and a dust collection container arranged in the body, a suction port of the first negative pressure device is in fluid communication with the dust collection container and the mounting bin in sequence, and the dust collection container is located on the airflow path formed by the first negative pressure device via the suction inlet, so as to collect the garbage in the suction airflow generated by the first negative pressure device.

51. The cleaning assembly of claim 47, wherein, The side brush further comprises a side brush seat, and the connecting end of the plurality of brush strips is connected to the side brush seat; the side brush seat is rotatably connected to the body about the first axis; The movable brush strip is in the first position by the forward rotation of the side brush seat along the first circumferential direction; and The movable brush strip is in the second position by the reverse rotation of the side brush seat along the second circumferential direction.

52. The cleaning assembly of claim 51, wherein, The side brush seat is provided with a first limiting part and a second limiting part, the first limiting part and the second limiting part are spaced apart along the circumferential direction, the movable brush strip is freely movable between the first limiting part and the second limiting part, and the circumferential direction comprises a first circumferential direction and a second circumferential direction, the first circumferential direction is the rotation direction of the side brush seat in the first cleaning mode, and the second circumferential direction is the rotation direction of the side brush seat in the second cleaning mode. The movable brush strip abuts against the first limiting part when the side brush seat rotates forward along the first circumferential direction, so as to be in the first position; and The movable brush strip abuts against the second limiting part when the side brush seat rotates reversely along the second circumferential direction, so as to be in the second position.

53. The cleaning assembly of claim 51, wherein, The controller is further configured to control the side brush seat to continuously rotate reversely in the unwinding mode, or control the side brush seat to rotate forward and reversely alternately, or control the side brush seat to rotate reversely, stop and rotate forward alternately, or control the side brush seat to rotate reversely and stop alternately, or control the side brush seat to rotate reversely and then stop.

54. The cleaning assembly of claim 53, wherein, In the unwinding mode, the side brush is in contact with the roller brush at least for a part of the time, and the roller brush and / or the side brush rotates to strip at least part of the winding on the side brush, in the unwinding mode, the side brush is at least for a part of the time in a preset unwinding position, wherein the preset unwinding position is the position where the side brush is in contact with the roller brush.

55. The cleaning assembly of claim 54, wherein, The roller brush rotates when the side brush is in the preset unwinding position, and stops rotating when the side brush is not in the preset unwinding position. Alternatively, the roller brush rotates continuously when the cleaning assembly is in the unwinding mode.

56. The cleaning assembly of claim 53, wherein, The controller is configured to control the side brush holder to alternate between reverse rotation, stop rotation and forward rotation in the unwinding mode, and in at least one cycle of reverse rotation, stop rotation and forward rotation of the side brush holder, the duration of stop rotation of the side brush holder is greater than the duration of reverse rotation of the side brush holder, and / or the duration of stop rotation of the side brush holder is greater than the duration of forward rotation of the side brush holder.

57. The cleaning assembly of claim 56, wherein, In the unwinding mode, in at least one cycle of reverse rotation, stop rotation and forward rotation of the side brush holder, the duration of reverse rotation of the side brush holder is equal to the duration of forward rotation of the side brush holder.

58. The cleaning assembly of claim 47, wherein, the rotational speed of the side brush when the movable brush strip is in the second position is greater than the rotational speed of the side brush when the movable brush strip is in the first position; and / or the side brush further comprises a side brush holder, the connection ends of the plurality of brush strips are connected to the side brush holder, the side brush holder is rotatably connected to the body about the first axis, the connection ends of the plurality of brush strips are connected to the side brush holder, and the rotational speed of the side brush holder when it reverses is greater than the rotational speed of the side brush holder when it rotates forward.

59. The cleaning assembly of claim 47, wherein, The body stops moving in the unwinding mode; and / or, when the movable side brush is in the second position or during the process of rotating the movable side brush from the first position to the second position, the body stops moving.

60. The cleaning assembly of claim 47, wherein, During the process of moving the cleaning device to dock with the cleaning base station, the movable side brush is controlled to be in the second position, and the side brush is controlled to rotate to a first target position, wherein, when the side brush is in the first target position, the angle between the extension direction of each brush strip from its connection end to its free end and the docking direction of the cleaning device docking with the cleaning base station is greater than 90 degrees; and / or, When the cleaning device has completed moving to dock with the cleaning base station, the side brush is controlled to rotate to a second target position, wherein, when the side brush is in the second target position, the angle between the extension direction of each brush strip from its connection end to its free end and the docking direction of the cleaning device docking with the cleaning base station is less than 90 degrees.

61. The cleaning assembly of claim 47, wherein, The controller is configured to control the cleaning assembly to operate in the unwinding mode when the cleaning device returns to the cleaning base station and the distance between the cleaning device and the cleaning base station is less than a preset distance threshold. And / or, the controller is configured to control the cleaning assembly to work in the unwinding mode in a case that the cleaning device stops moving at a preset position in front of the cleaning base station, wherein the preset position is a position at which the cleaning device is at a distance from the cleaning base station equal to a preset distance threshold.

62. The cleaning assembly of claim 47, wherein, The controller is configured to control the cleaning assembly to work in the unwinding mode in a case that an unwinding trigger condition is met during the cleaning of the surface to be cleaned or during the navigation of the cleaning device on the surface to be cleaned, wherein the unwinding trigger condition comprises at least one of: a time length of the cleaning device performing the cleaning task reaching a preset time length, a path length of the cleaning device performing the cleaning task being greater than a preset length, a cleaning area of the cleaning device performing the cleaning task being greater than a preset area, and receiving a user-triggered unwinding instruction.

63. The cleaning assembly of claim 62, wherein, The controller is further configured to, in a case that it is determined that the unwinding trigger condition is currently met, determine whether the cleaning device is currently in an obstacle-crossing scenario, and refrain from controlling the cleaning assembly to work in the unwinding mode in a case that it is determined that the cleaning device is in the obstacle-crossing scenario.

64. The cleaning assembly of claim 47, wherein, The controller is further configured to control the cleaning device to work in the unwinding mode in a case that the cleaning assembly moves onto a carpet.

65. The cleaning assembly of claim 47, wherein, The cleaning assembly further comprises a first negative pressure device and a dust collection container arranged in the machine body, an air suction port of the first negative pressure device being in fluid communication with the suction inlet, the dust collection container being located on a gas flow path formed by the first negative pressure device via the suction inlet, for collecting garbage in a suction gas flow generated by the first negative pressure device, In the first cleaning mode, the first negative pressure device is controlled to work at a first power, and in the unwinding mode, the first negative pressure device is controlled to work at a second power, the second power being greater than the first power.

66. The cleaning assembly of claim 47, wherein, At least one of the movable brush strips has a radial distance from the first axis with a first value when it is in the first position and a second value when it is in the second position, the first value being less than the second value.

67. The cleaning assembly of claim 66, wherein, The cleaning mode further comprises a second cleaning mode for cleaning corners, in which the at least one of the movable brush strips is in the second position.

68. The cleaning assembly of claim 67, wherein, The movable brush strips have the same radial distance from the first axis when they are in the first position, and / or the side brush rotates in the opposite direction in the second cleaning mode than in the first cleaning mode.

69. The cleaning assembly of claim 67, wherein, The cleaning assembly further comprises a first negative pressure device arranged on the machine body, the machine body further comprising a mounting cavity recessed from the suction inlet towards the machine body, the roller brush being arranged in the mounting cavity, the mounting cavity being in communication with the air suction port of the first negative pressure device, wherein: The rotation speed of the roller brush in the second cleaning mode is greater than or equal to the rotation speed in the first cleaning mode; and / or The rotating direction of the rolling brush in the second cleaning mode is the same as that in the first cleaning mode; and / or The first negative pressure device is arranged on the machine body, and the power of the first negative pressure device in the second cleaning mode is greater than or equal to that in the first cleaning mode.

70. The cleaning assembly of claim 67, wherein, The controller is configured to control: After the cleaning device works in the second cleaning mode at the corner, the controller controls the cleaning device to work in the first cleaning mode and controls the machine body to move backward by a preset distance threshold and then move forward.

71. The cleaning assembly of claim 47, wherein, In the unwinding mode, each of the plurality of brush strips is in contact with the surface to be cleaned at least in part during the rotation of the side brush.

72. The cleaning assembly of claim 66, wherein: The side brush further comprises a side brush base, to which the connecting ends of the plurality of brush strips are connected, and the side brush base is rotatably connected to the machine body about the first axis, The length of the part of the at least one movable brush strip exposed outside the side brush base is different when the at least one movable brush strip is in the first position and the second position, so as to adjust the value of the radial distance.

73. The cleaning assembly of claim 72, wherein, The connecting end of the at least one movable brush strip is rotatably connected to the side brush base about a second axis, so as to be movable between the first position and the second position; A transverse plane perpendicular to the first axis and passing through the geometric center of the side brush base is determined, and on the transverse plane, the intersection of the first axis and the transverse plane is defined as a first intersection point, and the intersection of the second axis and the transverse plane is defined as a second intersection point, and a virtual ray is determined with the second intersection point as an end point, and the reverse extension line of the virtual ray passes through the first intersection point; The first angle between the line connecting the free end of the at least one movable brush strip and the second intersection point and the virtual ray is the first angle; The second angle between the line connecting the free end of the at least one movable brush strip and the second intersection point and the virtual ray is the second angle; The first angle is greater than the second angle.

74. The cleaning assembly of claim 73, wherein: The at least one movable brush strip is located on two sides of the virtual ray in the first position and the second position, respectively; and / or At least one of the plurality of brush strips is a fixed brush strip relative to the side brush base, wherein: the at least one movable brush strip is located on two sides of the virtual ray with the fixed brush strip in the first position, respectively; and / or The at least one movable brush strip is located on the same side of the virtual ray with the fixed brush strip in the second position.

75. The cleaning assembly of claim 47, wherein: Each of the plurality of brush strips comprises a connecting arm and a bristle, the connecting arm is rotatably connected to the machine body about the first axis, and the bristle is connected to the connecting arm, ​ The active brush strip is in the second position, along a radial outward direction perpendicular to the first axis, the distance between the bristles of the active brush strip and the bristles of the at least one of the brush strips adjacent to the active brush strip is unchanged or reduced.

76. The cleaning assembly of claim 48, wherein, The edge brush further comprises an edge brush base, the connecting ends of the plurality of brush strips are connected to the edge brush base, the edge brush base is rotatably connected to the body around the first axis, The connecting end of the at least one of the active brush strips is rotatably connected to the edge brush base around a second axis, and the second axis is movable along a direction close to and away from the other brush strips of the plurality of brush strips, so that: the at least one of the active brush strips is in the first position, the second axis has a first distance from the connecting ends of the other brush strips, and the at least one of the active brush strips is in the second position, the second axis has a second distance from the connecting ends of the other brush strips, the first distance is greater than the second distance.

77. The cleaning assembly of claim 76, wherein, The connecting end of the at least one of the active brush strips is rotatably connected to the edge brush base around a second axis, and the second axis is movable along a direction close to and away from the other brush strips of the plurality of brush strips, so that: the at least one of the active brush strips is in the first position, the second axis has a first distance from the connecting ends of the other brush strips, and the at least one of the active brush strips is in the second position, the second axis has a second distance from the connecting ends of the other brush strips, the first distance is greater than the second distance. The connecting end of the at least one of the active brush strips is rotatably connected to the edge brush base around a second axis, and the second axis is movable along a direction close to and away from the other brush strips of the plurality of brush strips, so that: the at least one of the active brush strips is in the first position, the second axis has a first distance from the connecting ends of the other brush strips, and the at least one of the active brush strips is in the second position, the second axis has a second distance from the connecting ends of the other brush strips, the first distance is greater than the second distance.

78. The cleaning assembly of claim 77, wherein, The position adjusting structure comprises a sliding groove provided on the edge brush base and a rotating shaft provided on the connecting end of the at least one of the active brush strips and taking the second axis as the axis, the rotating shaft is rotatably and slidably connected to the sliding groove, wherein: when the at least one of the active brush strips is in the first position, the rotating shaft is located at a first end of the sliding groove; and when the at least one of the active brush strips is in the second position, the rotating shaft is located at a second end of the sliding groove; or 79. The cleaning assembly of claim 78, wherein, The position adjusting structure comprises a rotating shaft provided on the edge brush base and taking the second axis as the axis and a sliding groove provided on the connecting end of the at least one of the active brush strips, the rotating shaft is rotatably and slidably connected to the sliding groove, wherein: when the at least one of the active brush strips is in the first position, the rotating shaft slides to a first end of the sliding groove; and when the at least one of the active brush strips is in the second position, the rotating shaft slides to a second end of the sliding groove. The distance from the first end of the sliding groove to the first axis is less than the distance from the second end of the sliding groove to the first axis.

80. The cleaning assembly of any one of claims 76-79, wherein, Along a radial outward direction perpendicular to the first axis, the included angle between the brush strip and a first axial direction is an acute angle, wherein the first axial direction is parallel to the first axis and points to the direction of the surface to be cleaned; The second axis has an included angle with the first axis, so that the included angle between the movable brush strip and the first axial direction when the movable brush strip is in the first position is greater than the included angle between the movable brush strip and the first axial direction when the movable brush strip is in the second position.

81. The cleaning assembly of claim 47, wherein, The side brush further comprises a side brush seat, the connecting end of the plurality of brush strips is connected to the side brush seat, and the side brush seat is rotatably connected to the machine body around the first axis, The side brush seat comprises an upper shell and a lower shell that are mutually buckled, the connecting end is connected to a mounting cavity enclosed by the upper shell and the lower shell, and the side brush seat is rotatably connected to the machine body around the first axis, The edge of the upper shell has a first protruding tooth that protrudes downward and abuts against the outer side surface of the lower shell; and / or The edge of the lower shell has a second protruding tooth that protrudes upward and abuts against the outer side surface of the upper shell.

82. The cleaning assembly of claim 47, wherein, The side brush further comprises a side brush seat, the connecting end of the plurality of brush strips is connected to the side brush seat, and the side brush seat is rotatably connected to the machine body around the first axis, The side brush seat comprises a shell, the shell is formed with a mounting cavity for mounting the connecting end, the shell comprises a lower surface facing the upper surface of the connecting end, a first gap is formed between the upper surface of the connecting end and the lower surface of the shell, a side surface of at least one of the plurality of brush strips is provided with a turned-up edge protruding toward the free end thereof, and the turned-up edge is used to block long filamentary garbage from entering the first gap, For at least one of the plurality of brush strips: A groove is formed between the turned-up edge and the upper surface of the brush strip, the groove is located on the lower side of the turned-up edge, and the first gap is located on the upper side of the turned-up edge.

83. The cleaning assembly of claim 82, wherein: The turned-up edge is made of elastic material; and / or The turned-up edge is located on the connecting end; and / or Each of the plurality of brush strips comprises a connecting arm forming the connecting end, a bristle, and an intermediate arm connected between the connecting arm and the bristle, the turned-up edge is arranged on the intermediate arm, the hardness of the intermediate arm is less than the hardness of the connecting end, and the intermediate arm is made of elastic material; and / or For each of the plurality of brush strips: the turned-up edge has an upper surface, the upper surface comprises a first sub-surface and a second sub-surface, the first sub-surface and the second sub-surface are sequentially arranged along the radially outward direction, the first sub-surface is connected between the side surface of the brush strip and the second sub-surface, and the second sub-surface extends along the horizontal direction or is downwardly inclined or curved along the radially outward direction.

84. The cleaning assembly of claim 82, wherein, The turned-up edge is made of elastic material, and the upper surface of the turned-up edge is close to the bottom of the machine body.

85. The cleaning assembly of claim 47, wherein: The side brush further comprises a fixed brush strip, and the number of the movable brush strip and the fixed brush strip is one; and / or The plurality of brush strips have the same structure; and / or When the movable brush strip is in the first position, the included angle between the bristle of the movable brush strip and the bristle of the at least one of the brush strips adjacent to the movable brush strip is [120°, 165°]; and / or An included angle between the bristles of the movable brush strip and the bristles of the at least one brush strip adjacent to the movable brush strip is [0°, 20°] when the movable brush strip is in the second position; and / or The edge brush further comprises a driving source for driving the movable brush strip to move between the first position and the second position.

86. The cleaning assembly of claim 47, wherein, The edge brush comprises at least two adjacently arranged movable brush strips.

87. The cleaning assembly of claim 86, wherein, The angle values through which the at least two adjacently arranged movable brush strips can rotate in the circumferential direction are different during movement of the at least two adjacently arranged movable brush strips between the first position and the second position.

88. The cleaning assembly of claim 86, wherein, The at least two adjacently arranged movable brush strips move in the same circumferential direction during folding of the at least two adjacently arranged movable brush strips.

89. The cleaning assembly of claim 88, wherein, During folding of the at least two adjacently arranged movable brush strips, the angle through which the later movable brush strip of the at least two adjacently arranged movable brush strips rotates in the direction of movement of the movable brush strip is a first angle, and the angle through which the earlier movable brush strip of the at least two adjacently arranged movable brush strips rotates in the direction of movement of the movable brush strip is a second angle, wherein the first angle is greater than the second angle.

90. The cleaning assembly of claim 47, wherein, When the movable brush strip is in the first position, the extension direction of the bristles of each of the plurality of brush strips does not pass through the first axis.

91. The cleaning assembly of claim 90, wherein, The edge brush further comprises an edge brush seat, the connection ends of the plurality of brush strips are connected to the edge brush seat, the edge brush seat is rotatably connected to the body around the first axis, each of the plurality of brush strips comprises a connection arm and bristles, the connection arm is connected between the bristles and the edge brush seat, When the movable brush strip is in the first position, the projection of the bristles of each of the plurality of brush strips on a transverse plane perpendicular to the first axis and passing through the geometric center of the edge brush seat extends along the tangent direction of the edge brush seat edge.

92. A cleaning apparatus characterized by, Comprise: A body, the body is provided with a suction inlet; An edge brush, the edge brush is integrally rotatably arranged beside the suction inlet around a first axis, the edge brush comprises brush strips, at least one of the brush strips is a movable brush strip movable between a first position and a second position, wherein: when the movable brush strip is in the first position, the radial distance from the free end of the movable brush strip to the first axis has a first value; and when the movable brush strip is in the second position, the radial distance has a second value, the second value is greater than the first value; A first negative pressure device, the suction port of the first negative pressure device communicates with the suction inlet; and A controller for controlling the cleaning equipment to work in different modes, the different modes comprising a first cleaning mode for cleaning a central area and an edge area and a second cleaning mode for cleaning a corner, wherein in the first cleaning mode, the movable brush strip is in the first position and the first negative pressure device works; in the second cleaning mode, the movable brush strip is in the second position and the first negative pressure device works.

93. The cleaning apparatus of claim 92, wherein, The plurality of brush strips, when the movable brush strip is in the first position, at least one of the movable brush strip and the brush strip adjacent to the movable brush strip is in a separated state away from each other along a circumferential direction around the first axis; and when the movable brush strip is in the second position, the at least one of the movable brush strip and the brush strip adjacent to the movable brush strip is in a converged state close to each other along the circumferential direction.

94. A cleaning apparatus characterized by, The cleaning system further comprises a mobile terminal, the mobile terminal being in communication connection with the controller.

95. A cleaning base station, characterized by, The cleaning base station has a docking position for docking the cleaning device.

96. The cleaning station of claim 95, wherein, The cleaning base station is provided with a scraping member, the scraping member being used to scrape off the winding on the brush strip when the cleaning device is docked to the docking position or when the distance between the cleaning device and the cleaning base station is less than a preset distance threshold, and when the cleaning device is working in the unwinding mode.

97. A cleaning system characterized by, The cleaning system further comprises a mobile terminal, the mobile terminal being in communication connection with the controller.

98. The cleaning system of claim 97, wherein, The cleaning device comprises a machine body, a dust collection container and a first negative pressure device provided on the machine body, an air inlet of the first negative pressure device sequentially communicating with the dust collection container and a suction inlet of the cleaning device, the machine body having a suction inlet and a dust outlet in fluid communication with the dust collection container, the suction inlet being provided at a bottom of the machine body, the cleaning base station comprising a main body and a dust outlet provided on the main body, the dust outlet of the cleaning base station being docked with the dust outlet of the cleaning device when the cleaning device is docked with the cleaning base station; A second negative pressure device is provided on the cleaning base station, the dust outlet and the dust outlet being in communication when the cleaning device is docked with the cleaning base station, so that a suction airflow generated by the operation of the second negative pressure device sequentially passes through the suction inlet, the dust collection container, the dust outlet, the dust outlet and the air inlet of the second negative pressure device; In the unwinding mode, at least part of the winding on the side brush is stripped by the suction airflow generated by the first negative pressure device and the second negative pressure device.

99. The cleaning system of claim 97, wherein, The cleaning system further comprises a mobile terminal, the mobile terminal being in communication connection with the controller. The mobile terminal is used to send a control signal to make the controller control the cleaning device to be docked with the cleaning base station, and / or to make the controller control the first negative pressure device to be started, and / or to make the controller control the roller brush of the cleaning device to be started. 100.A cleaning system comprising a cleaning device and a cleaning base station, the cleaning device comprising a main body and a dust collection container provided to the main body, the main body having a suction port and a dust discharge port in fluid communication with the dust collection container, the suction port being provided to a bottom of the main body, the cleaning base station comprising a main body and a dust discharge port provided to the main body, the dust discharge port of the cleaning base station being docked with the dust discharge port of the cleaning device when the cleaning device is docked with the cleaning base station, characterized in that, The cleaning system further comprises: A side brush is provided on the machine body of the cleaning device, the side brush comprising a plurality of brush strips, the side brush The plurality of brush strips are arranged around the first axis and are rotatable as a whole relative to the first axis, and at least one of the plurality of brush strips is an active brush strip movable between a first position and a second position relative to its adjacent brush strip, wherein: when the active brush strip is in the first position, the active brush strip and at least one of the brush strips adjacent to the active brush strip are in a separated state away from each other along a circumferential direction around the first axis; and when the active brush strip is in the second position, the active brush strip and the at least one of the brush strips adjacent to the active brush strip are in a converged state close to each other along the circumferential direction; The second negative pressure device is arranged in the cleaning base station, and when the cleaning device is docked with the cleaning base station, the dust collection port and the dust removal port are communicated, so that the suction airflow generated by the operation of the second negative pressure device passes through the suction port, the dust collection container, the dust removal port, the dust collection port and the suction port of the second negative pressure device in sequence; The controller is configured to control the cleaning system to be in an unwinding mode, and in the unwinding mode, at least part of the winding on the brush is stripped by the suction airflow generated by the second negative pressure device.

101. The cleaning system of claim 100, wherein, The cleaning device is provided with a first negative pressure device, and a suction port of the first negative pressure device is communicated with a suction port of the cleaning device, and in the unwinding mode, at least part of the winding on the brush is stripped by the suction airflow generated by the operation of the first negative pressure device and the second negative pressure device together.

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