Cleaning device and control method therefor

Abstract

A cleaning device and a control method therefor. A control module (20) in the cleaning device controls a first suction member (210) to regulate a first suction force, and controls a second suction member (220) to regulate a second suction force, such that when a first frictional force that causes relative displacement between a first cleaning disc (110) and a surface to be cleaned is generated therebetween, and the first cleaning disc rotates around a second cleaning disc (120), the first suction force is greater than the second suction force; and when a second frictional force that causes relative displacement between the second cleaning disc (120) and the surface to be cleaned is generated therebetween, and the second cleaning disc rotates around the first cleaning disc (110), the second suction force is greater than the first suction force. When the first frictional force is generated between the first cleaning disc (110) and the surface to be cleaned, the first suction force is greater than the second suction force, such that the first cleaning disc (110) can be more stably suctioned onto the surface to be cleaned. When the second frictional force is generated between the second cleaning disc (120) and the surface to be cleaned, the second suction force is greater than the first suction force, such that the second cleaning disc (120) can be more stably suctioned onto the surface to be cleaned.

Description

Cleaning device and control method thereof

[0001] Cross-reference to Related Applications

[0002] This application claims priority to Chinese Patent Application No. 202411345759.3, filed September 25, 2024, the disclosure of which is incorporated herein in its entirety as part of the present application. TECHNICAL FIELD

[0003] At least one embodiment of the present disclosure relates to a cleaning device and a control method thereof. BACKGROUND

[0004] Intelligent cleaning appliances such as window cleaning machines have brought convenience to people's life. In order to improve the use safety of the window cleaning machine, the adsorption stability of the window cleaning machine needs to be improved. SUMMARY

[0005] At least one embodiment of the present disclosure provides a cleaning device and a control method thereof.

[0006] At least one embodiment of the present disclosure provides a cleaning device, comprising: a main body and a control module; a first cleaning disc and a second cleaning disc, which are respectively connected to the same side of the main body along a first direction, the first cleaning disc is configured to form a first adsorption cavity with a to-be-cleaned surface, and the second cleaning disc is configured to form a second adsorption cavity with the to-be-cleaned surface; a first adsorption member and a second adsorption member, which are respectively electrically connected to the control module and provide a first adsorption force and a second adsorption force for the first adsorption cavity and the second adsorption cavity respectively; the control module is configured to control the first adsorption member to adjust the first adsorption force, and is configured to control the second adsorption member to adjust the second adsorption force, so that when the first cleaning disc rotates around the second cleaning disc due to a friction force between the first cleaning disc and the to-be-cleaned surface causing relative displacement of the two, the first adsorption force is greater than the second adsorption force; when the second cleaning disc rotates around the first cleaning disc due to a friction force between the second cleaning disc and the to-be-cleaned surface causing relative displacement of the two, the second adsorption force is greater than the first adsorption force.

[0007] For example, according to at least one embodiment of the present disclosure, the unit time flow of the gas flowing into the first adsorption cavity is the same as the unit time flow of the gas flowing into the second adsorption cavity; the gas flow rate of the gas flowing out of the first adsorption cavity is a first gas flow rate, and the gas flow rate of the gas flowing out of the second adsorption cavity is a second gas flow rate; when the first cleaning disc rotates around the second cleaning disc, the first gas flow rate is greater than the second gas flow rate; when the second cleaning disc rotates around the first cleaning disc, the second gas flow rate is greater than the first gas flow rate.

[0008] For example, according to at least one embodiment of the present disclosure, the first suction member comprises a first fan, and the second suction member comprises a second fan.

[0009] For example, according to at least one embodiment of the present disclosure, when the first cleaning disc rotates around the second cleaning disc, the rotation speed of the first fan is greater than that of the second fan; and when the second cleaning disc rotates around the first cleaning disc, the rotation speed of the second fan is greater than that of the first fan.

[0010] For example, according to at least one embodiment of the present disclosure, the cleaning device further comprises a first wiping member and a second wiping member; the first wiping member is sleeved outside the first cleaning disc, and the second wiping member is sleeved outside the second cleaning disc; the contact area between the first wiping member and the surface to be cleaned is equal to the contact area between the second wiping member and the surface to be cleaned.

[0011] For example, according to at least one embodiment of the present disclosure, the first wiping member and the second wiping member are made of at least partially the same material.

[0012] For example, according to at least one embodiment of the present disclosure, the main body comprises a first shell and a second shell; the first shell comprises a first containing cavity in communication with the first suction cavity, and the second shell comprises a second containing cavity in communication with the second suction cavity; the first suction member is in communication with the first containing cavity, the second suction member is in communication with the second containing cavity, and the first containing cavity and the second containing cavity are not in communication with each other.

[0013] For example, according to at least one embodiment of the present disclosure, the first suction member is located in the first containing cavity, and the second suction member is located in the second containing cavity.

[0014] For example, according to at least one embodiment of the present disclosure, when the cleaning device moves in a second direction intersecting the first direction, the control module is configured to adjust the first suction force and the second suction force to make the first friction force and the second friction force equal, and the control module is further configured to control the first cleaning disc and the second cleaning disc to make the rotation speed of the first cleaning disc equal to that of the second cleaning disc, and the rotation direction of the first cleaning disc opposite to that of the second cleaning disc.

[0015] For example, according to at least one embodiment of the present disclosure, the first cleaning disc is configured to rotate around a first rotation axis, and the second cleaning disc is configured to rotate around a second rotation axis; the first cleaning disc and the second cleaning disc are respectively located on two sides of a reference plane perpendicular to the line connecting the centers of the two cleaning discs, and the first rotation axis and the second rotation axis respectively have a non-zero angle with the reference plane.

[0016] The control method of the cleaning device according to at least one embodiment of the present disclosure includes: controlling the first suction member to provide a first suction force to the first suction cavity, and controlling the second suction member to provide a second suction force to the second suction cavity; wherein when the first cleaning disc rotates around the second cleaning disc due to a first friction force generated between the first cleaning disc and the surface to be cleaned, the first suction force is controlled to be greater than the second suction force; and when the second cleaning disc rotates around the first cleaning disc due to a second friction force generated between the second cleaning disc and the surface to be cleaned, the second suction force is controlled to be greater than the first suction force.

[0017] For example, according to at least one embodiment of the present disclosure, the unit time flow of the gas flowing into the first suction cavity is the same as the unit time flow of the gas flowing into the second suction cavity; the gas flow rate of the gas flowing out of the first suction cavity is a first gas flow rate, and the gas flow rate of the gas flowing out of the second suction cavity is a second gas flow rate; the method further includes: when the first cleaning disc rotates around the second cleaning disc, the first gas flow rate is controlled to be greater than the second gas flow rate; and when the second cleaning disc rotates around the first cleaning disc, the second gas flow rate is controlled to be greater than the first gas flow rate.

[0018] For example, according to at least one embodiment of the present disclosure, the first suction member includes a first fan, and the second suction member includes a second fan; the method further includes: when the first cleaning disc rotates around the second cleaning disc, the rotation speed of the first fan is controlled to be greater than the rotation speed of the second fan; and when the second cleaning disc rotates around the first cleaning disc, the rotation speed of the second fan is controlled to be greater than the rotation speed of the first fan.

[0019] For example, according to at least one embodiment of the present disclosure, the method further includes: when the cleaning device moves in a second direction intersecting the first direction, adjusting the first suction force and the second suction force to equalize the first friction force and the second friction force, controlling the rotation speed of the first cleaning disc to be equal to the rotation speed of the second cleaning disc, and controlling the rotation direction of the first cleaning disc to be opposite to the rotation direction of the second cleaning disc. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings of the embodiments will be briefly introduced as follows. Obviously, the drawings below only relate to some of the embodiments of the present disclosure and not limit the present disclosure.

[0021] FIG. 1 is an exploded schematic view of a cleaning device according to at least one embodiment of the present disclosure.

[0022] FIG. 2 is a schematic block diagram of a control module, a first suction attachment, and a second suction attachment of the cleaning device according to at least one embodiment of the present disclosure.

[0023] FIG. 3 is a schematic diagram of a partial structure of the cleaning device according to at least one embodiment of the present disclosure.

[0024] FIG. 4 is a schematic diagram of a first rotation axis of a first cleaning disc, a second rotation axis of a second cleaning disc, and a reference plane of the cleaning device according to at least one embodiment of the present disclosure. DETAILED DESCRIPTION

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings of the embodiments will be briefly introduced as follows. Obviously, the drawings below only relate to some of the embodiments of the present disclosure and not limit the present disclosure.

[0026] Unless otherwise defined, technical terms or scientific terms used in the present disclosure shall have the ordinary meaning understood by a person of ordinary skill in the art to which the present disclosure pertains. The terms “first”, “second”, and similar terms used in the present disclosure do not denote any order, quantity, or importance, but are used to distinguish different components. The terms “include”, “contain”, and similar terms mean that the elements or objects before the terms encompass the elements or objects listed after the terms and their equivalents, and do not exclude other elements or objects.

[0027] The terms "parallel", "perpendicular", and "same" and the like used in the present disclosure include not only the strict "parallel", "perpendicular", "same" and the like, but also "approximately parallel", "approximately perpendicular", "approximately same" and the like with a certain error, which, considering the measurement and the error related to the measurement of a specific quantity (that is, the limitation of the measurement system), represents the acceptable deviation range for the specific value determined by the person skilled in the art. The "center" in the embodiments of the present disclosure can include not only the position strictly located at the geometric center, but also the position approximately at the center within a small area around the geometric center. For example, "approximately" can mean within one or more standard deviations, or within 10% or 5% of the value.

[0028] The intelligent cleaning electric appliance can efficiently complete the cleaning task. For example, the floor cleaning robot can complete the cleaning work of the floor, and the window cleaning robot can complete the surface cleaning work of the window glass. Taking the window cleaning robot as an example, the window cleaning robot can be adsorbed on the surface of the window glass, and in the process of walking along the predetermined route, the surface of the window glass is cleaned. Considering that the surface of the window glass is perpendicular to the ground or has an included angle, the window cleaning robot needs to have better adsorption force to prevent the window cleaning robot from falling during the cleaning process.

[0029] The cleaning device provided by at least one embodiment of the present disclosure comprises a main body and a control module, a first cleaning disc and a second cleaning disc connected to the same side of the main body along a first direction, the first cleaning disc being configured to form a first adsorption cavity with a surface to be cleaned, and the second cleaning disc being configured to form a second adsorption cavity with the surface to be cleaned, a first adsorption member and a second adsorption member electrically connected to the control module and providing a first adsorption force and a second adsorption force for the first adsorption cavity and the second adsorption cavity respectively, the control module being configured to control the first adsorption member to adjust the first adsorption force and configured to control the second adsorption member to adjust the second adsorption force, so that when the first cleaning disc rotates around the second cleaning disc due to a first friction force between the first cleaning disc and the surface to be cleaned causing relative displacement between the first cleaning disc and the surface to be cleaned, the first adsorption force is greater than the second adsorption force; and when the second cleaning disc rotates around the first cleaning disc due to a second friction force between the second cleaning disc and the surface to be cleaned causing relative displacement between the second cleaning disc and the surface to be cleaned, the second adsorption force is greater than the first adsorption force.

[0030] The control method of the cleaning device provided by at least one embodiment of the present disclosure includes: controlling the first suction member to provide a first suction force to the first suction cavity, and controlling the second suction member to provide a second suction force to the second suction cavity; when the first cleaning disc rotates around the second cleaning disc due to a first friction force generated between the first cleaning disc and the surface to be cleaned, the first suction force is controlled to be greater than the second suction force; when the second cleaning disc rotates around the first cleaning disc due to a second friction force generated between the second cleaning disc and the surface to be cleaned, the second suction force is controlled to be greater than the first suction force.

[0031] The control method of the cleaning device provided by at least one embodiment of the present disclosure includes: controlling the first suction member to provide a first suction force to the first suction cavity, and controlling the second suction member to provide a second suction force to the second suction cavity; when the first cleaning disc rotates around the second cleaning disc due to a first friction force generated between the first cleaning disc and the surface to be cleaned, the first suction force is controlled to be greater than the second suction force; when the second cleaning disc rotates around the first cleaning disc due to a second friction force generated between the second cleaning disc and the surface to be cleaned, the second suction force is controlled to be greater than the first suction force.

[0032] The cleaning device will be described below in combination with the accompanying drawings and through some embodiments.

[0033] FIG. 1 is an exploded schematic view of a cleaning device provided by at least one embodiment of the present disclosure. FIG. 2 is a schematic block diagram of a control module 20, a first suction member 210 and a second suction member 220 of the cleaning device provided by at least one embodiment of the present disclosure. FIG. 3 is a schematic diagram of part of the structure of the cleaning device provided by at least one embodiment of the present disclosure.

[0034] Referring to FIGS. 1 and 2, at least one embodiment of the present disclosure provides a cleaning device including a main body 10 and a control module 20. For example, the control module can be installed inside the main body. For example, the control module can be located outside the main body.

[0035] Referring to FIGS. 1 and 3, the cleaning device further comprises a first cleaning disc 110 and a second cleaning disc 120. The first cleaning disc 110 and the second cleaning disc 120 are respectively connected to the same side of the main body 10 along a first direction X. For example, the first direction X is a thickness direction of the cleaning device. The first cleaning disc 110 is configured to form a first suction cavity Z1 with the surface 01 to be cleaned. The second cleaning disc 120 is configured to form a second suction cavity Z2 with the surface 01 to be cleaned. For example, the first cleaning disc 110 can form the first suction cavity Z1 by contacting the surface 01 to be cleaned through other components (for example, a first wiping member 310). For example, the second cleaning disc 120 can form the second suction cavity Z2 by contacting the surface 01 to be cleaned through other components (for example, a second wiping member 320). For example, the first cleaning disc 110 is annular as a whole, and the inner side wall of the first cleaning disc 110 can form at least part of the circumferential side wall of the first suction cavity Z1. For example, the second cleaning disc 120 is annular as a whole, and the inner side wall of the second cleaning disc 120 can form at least part of the circumferential side wall of the second suction cavity Z2.

[0036] For example, the first cleaning disc can be in direct contact with the surface to be cleaned to form the first suction cavity, and the second cleaning disc can be in direct contact with the surface to be cleaned to form the second suction cavity, which is not limited in the present disclosure. For example, the first cleaning disc can form the first suction cavity between the outer disc and the surface to be cleaned, or other structural members such as suction discs can be arranged in the outer disc to be adsorbed on the surface to be cleaned, which is not limited in the present disclosure. For example, the second cleaning disc can form the second suction cavity between the outer disc and the surface to be cleaned, or other structural members such as suction discs can be arranged in the outer disc to be adsorbed on the surface to be cleaned, which is not limited in the present disclosure.

[0037] For example, the surface to be cleaned can be the surface of a window, a wall, a floor, etc. For example, the surface to be cleaned can include a plane, a curved surface. For example, the surface to be cleaned can include an inclined plane having an included angle with the horizontal plane.

[0038] Referring to FIGS. 1 and 2, the cleaning device further comprises a first suction member 210 and a second suction member 220. The first suction member 210 and the second suction member 220 are respectively electrically connected to the control module 20. For example, the control module can include one controller, and the one controller can control the first suction member and the second suction member respectively. For example, the control module can include a plurality of controllers, and two controllers of the plurality of controllers can control the first suction member and the second suction member respectively.

[0039] Referring to FIG. 1, for example, the cleaning device further comprises a detection member 30 electrically connected to the control module 20, the detection member 30 being configured to detect the suction force of the first suction member 320 and the second suction member 330 to obtain the value of the first suction force and the value of the second suction force. For example, the detection member 30 can be provided in two, and the two detection members can be connected to the main body 10 respectively, such as one detection member connected to the first lower shell 1103 and one detection member connected to the second lower shell 1203. However, the present disclosure is not limited thereto, as long as the suction force of the suction member is obtained by using the detection member, and the present disclosure does not limit the installation position and number of the detection member.

[0040] Referring to FIGS. 1 and 2, the first suction member 210 and the second suction member 220 respectively provide the first suction force and the second suction force to the first suction cavity Z1 and the second suction cavity Z2. For example, the first suction force can be the negative pressure provided by the first suction member 210 to the first suction cavity Z1. For example, the second suction force can be the negative pressure provided by the second suction member 220 to the second suction cavity Z2. For example, the first suction member 210 and the second suction member 220 are respectively controlled by the control module 20, so that the first suction force in the first suction cavity Z1 can be different from the suction force in the second suction cavity Z2.

[0041] Referring to FIGS. 1 and 2, the control module 20 is configured to control the first suction member 210 to adjust the first suction force, and is configured to control the second suction member 220 to adjust the second suction force, so that when the first cleaning disc 110 generates a friction force with the to-be-cleaned surface 01 to cause relative displacement between the two and rotates around the second cleaning disc 120, the first suction force is greater than the second suction force. When the first cleaning disc 110 generates a first friction force relative to the to-be-cleaned surface 01, setting the first suction force to be greater than the second suction force can make the first cleaning disc 110 more stably adsorbed on the to-be-cleaned surface 01 during rotation around the second cleaning disc 120.

[0042] Referring to FIGS. 1 and 3, for example, when the first cleaning disc 110 rotates around the second cleaning disc 120, the second cleaning disc 120 can be adsorbed on the to-be-cleaned surface 01 and does not generate relative displacement with the to-be-cleaned surface 01. The first cleaning disc 110 can rotate around its own rotation axis (for example, the first rotation axis R1), and the friction force generated by the rotation drives the first cleaning disc 110 to rotate (revolve) around the second cleaning disc 120. By setting the first suction force to be greater than the second suction force, the first cleaning disc 110 can be more reliably adsorbed on the to-be-cleaned surface 01. The first suction force being greater than the second suction force can make the friction force between the first cleaning disc 110 and the to-be-cleaned surface 01 greater, which is conducive to the first cleaning disc 110 stably walking through the first friction force.

[0043] Referring to FIGS. 1 and 3, when the second cleaning pad 120 rotates around the first cleaning pad 110 due to a frictional force generated between the second cleaning pad 120 and the surface 01 to be cleaned, the second adsorption force is greater than the first adsorption force. When the second cleaning pad 120 generates the second frictional force with respect to the surface 01 to be cleaned, the second adsorption force is set to be greater than the first adsorption force, so that the second cleaning pad 120 can be more stably adsorbed on the surface 01 to be cleaned during rotation of the second cleaning pad 120 around the first cleaning pad 110.

[0044] Referring to FIGS. 1 and 3, for example, when the second cleaning pad 120 rotates around the first cleaning pad 110, the first cleaning pad 110 can be adsorbed on the surface 01 to be cleaned without generating relative displacement between the first cleaning pad 110 and the surface 01 to be cleaned. The second cleaning pad 120 can rotate around its own rotation axis (for example, the second rotation axis R2), and the second cleaning pad 120 can be rotated (revolved) around the first cleaning pad 110 by the frictional force generated by the rotation. By setting the second adsorption force to be greater than the first adsorption force, the second cleaning pad 120 can be more reliably adsorbed on the surface 01 to be cleaned. The second adsorption force being greater than the first adsorption force can make the frictional force between the second cleaning pad 120 and the surface 01 to be cleaned greater, which is advantageous for the second cleaning pad 120 to stably travel by the second frictional force.

[0045] However, the present disclosure is not limited thereto. For example, the first adsorption force can also be the same as the second adsorption force. For example, the first adsorption force can also be smaller than the second adsorption force when the first cleaning pad rotates around the second cleaning pad. For example, the second adsorption force can also be smaller than the first adsorption force when the second cleaning pad rotates around the first cleaning pad.

[0046] Referring to FIGS. 1 and 3, in some examples, the unit time flow rate of the gas flowing into the first adsorption cavity Z1 is the same as the unit time flow rate of the gas flowing into the second adsorption cavity Z2. For example, the sealing effect of the first cleaning pad 110 on the first adsorption cavity Z1 is substantially the same as the sealing effect of the second cleaning pad 120 on the second adsorption cavity Z2. For example, when the adsorption force is generated in the adsorption cavity (for example, the first adsorption cavity Z1 or the second adsorption cavity Z2), the pressure in the adsorption cavity is lower than the pressure (for example, atmospheric pressure) of the external space, and the gas around the periphery of the cleaning pad (for example, the first cleaning pad 110 or the second cleaning pad 120) can flow from the external space into the adsorption cavity. For example, the unit time flow rate refers to the flow rate of the gas flowing from the external space into the adsorption cavity per unit time.

[0047] Referring to FIGS. 1 and 3, the gas flow rate of the gas flowing out of the first adsorption cavity Z1 is the first gas flow rate, and the gas flow rate of the gas flowing out of the second adsorption cavity Z2 is the second gas flow rate.

[0048] Referring to FIGS. 1 and 3, in a case where the unit time flow rate of the gas flowing into the first adsorption cavity Z1 is the same as the unit time flow rate of the gas flowing into the second adsorption cavity Z2, when the first cleaning disc 110 rotates around the second cleaning disc 120, the first gas flow rate is greater than the second gas flow rate. For example, in a case where the sealing effect of the first cleaning disc 110 and the second cleaning disc 120 is substantially the same, the first gas flow rate being greater than the second gas flow rate can cause the first adsorption force to be greater than the second adsorption force.

[0049] Referring to FIGS. 1 and 3, in a case where the unit time flow rate of the gas flowing into the first adsorption cavity Z1 is the same as the unit time flow rate of the gas flowing into the second adsorption cavity Z2, when the second cleaning disc 120 rotates around the first cleaning disc 110, the second gas flow rate is greater than the first gas flow rate. For example, in a case where the sealing effect of the first cleaning disc 110 and the second cleaning disc 120 is substantially the same, the second gas flow rate being greater than the first gas flow rate can cause the second adsorption force to be greater than the first adsorption force.

[0050] Referring to FIG. 1, in some examples, the first suction member 210 includes a first air blower, and the second suction member 220 includes a second air blower. For example, when an impeller in the air blower rotates, the air pressure distribution inside the air blower can be changed. The rotation of the impeller can push the air at the air inlet side (e.g., the first adsorption cavity Z1 or the second adsorption cavity Z2) of the air blower to the air outlet side, so that the air pressure at the air inlet side is reduced to form a negative pressure. However, the present disclosure is not limited thereto, and the first suction member and the second suction member can also be negative pressure devices such as vacuum pumps that can provide adsorption force.

[0051] Referring to FIG. 1, in some examples, when the first cleaning disc 110 rotates around the second cleaning disc 120, the rotation speed of the first air blower is greater than the rotation speed of the second air blower. When the second cleaning disc 120 rotates around the first cleaning disc 110, the rotation speed of the second air blower is greater than the rotation speed of the first air blower. For example, the rotation speed of the air blower refers to the rotation speed of the impeller in the air blower. When the rotation speed of the first air blower is greater than the rotation speed of the second air blower, the rotation speed of the impeller in the first air blower is faster, which is conducive to making the air pressure in the first adsorption cavity Z1 lower and the adsorption force greater. When the rotation speed of the second air blower is greater than the rotation speed of the first air blower, the rotation speed of the impeller in the second air blower is faster, which is conducive to making the air pressure in the second adsorption cavity Z2 lower and the adsorption force greater.

[0052] Referring to FIGS. 1 and 3, in some examples, the cleaning device further includes a first wiping member 310 and a second wiping member 320. For example, the first wiping member 310 and the second wiping member 320 can be a wiping cloth. For example, the first wiping member and the second wiping member can be dry wiping members, or can be wet wiping members.

[0053] Referring to FIGS. 1 and 3, the first wiping member 310 is sleeved outside the first cleaning disc 110, and the second wiping member 320 is sleeved outside the second cleaning disc 120. For example, the first wiping member 310 can be fixed on a side of the first cleaning disc 110 away from the main body 10. For example, the second wiping member 320 can be fixed on a side of the second cleaning disc 120 away from the main body 10. When cleaning is performed by using the cleaning device, the first wiping member 310 and the second wiping member 320 can be in direct contact with the surface 01 to be cleaned, so as to achieve wiping.

[0054] Referring to FIGS. 1 and 3, the contact area between the first wiping member 310 and the surface 01 to be cleaned is equal to the contact area between the second wiping member 320 and the surface 01 to be cleaned, so that the sealing effect between the first wiping member 310 and the surface 01 to be cleaned and the sealing effect between the second wiping member 320 and the surface 01 to be cleaned are basically the same. For example, the roughness between the two surfaces of the first wiping member 310 in contact with the surface 01 to be cleaned and the roughness between the two surfaces of the second wiping member 320 in contact with the surface 01 to be cleaned can be basically the same. Thus, the sealing performance between the first wiping member 310 and the surface 01 to be cleaned and the sealing performance between the second wiping member 320 and the surface 01 to be cleaned can be basically the same, which is conducive to making the sealing performance of the first suction cavity Z1 and the second suction cavity Z2 basically the same.

[0055] Referring to FIGS. 1 and 3, in some examples, the material of the first wiping member 310 and the second wiping member 320 is at least partially the same. For example, the first wiping member 310 and the second wiping member 320 can be made of the same cloth. For example, a part of the material of the first wiping member and a part of the material of the second wiping member are the same, such as the materials of the parts in contact with the surface to be cleaned. For example, the materials of the parts of the first wiping member and the second wiping member not in contact with the surface to be cleaned can be different. However, the present disclosure is not limited thereto, as long as it is conducive to keeping the sealing performance of the first suction cavity and the second suction cavity basically the same.

[0056] Referring to FIGS. 1 and 3, in some examples, the main body 10 includes a first shell 11 and a second shell 12. The first shell 11 includes a first containing cavity 11A in communication with the first suction cavity Z1, and the second shell 12 includes a second containing cavity 12A in communication with the second suction cavity Z2. The first suction member 210 is in communication with the first containing cavity 11A, the second suction member 220 is in communication with the second containing cavity 12A, and the first containing cavity 11A and the second containing cavity 12A are not in communication with each other. The first shell 11 and the second shell 12 being arranged independently of each other can make the first containing cavity 11A and the second containing cavity 12A independent of each other. The first suction member 210 can provide the first suction force to the first suction cavity Z1 through the first containing cavity 11A. The second suction member 220 can provide the second suction force to the second suction cavity Z2 through the second containing cavity 12A.

[0057] Referring to FIGS. 1 and 3, in some examples, the first suction accessory 210 is located in the first accommodating cavity 11A, and the second suction accessory 220 is located in the second accommodating cavity 12A. In this way, the first shell 11 can protect the first suction accessory 210, the second shell 12 can protect the second suction accessory 220, and the internal space of the cleaning device can be saved.

[0058] Referring to FIG. 1, the first shell 11 can include a first upper shell 1101, a first middle shell 1102, and a first lower shell 1103. For example, the first accommodating cavity 11A can be formed between the first upper shell 1101 and the first middle shell 1102 to accommodate the first suction accessory 210, and the first suction accessory 210 such as a fan can draw air from the middle region. For example, the first middle shell 1102 and the first lower shell 1103 can be in communication with each other, and the first lower shell 1103 and the first suction cavity can be in communication with each other.

[0059] Referring to FIG. 1, the second shell 12 can include a second upper shell 1201, a second middle shell 1202, and a second lower shell 1203. For example, the second accommodating cavity 12A can be formed between the second upper shell 1201 and the second middle shell 1202 to accommodate the second suction accessory 210, and the second suction accessory 220 such as a fan can draw air from the middle region. For example, the second middle shell 1202 and the second lower shell 1203 can be in communication with each other, and the second lower shell 1203 and the second suction cavity can be in communication with each other.

[0060] Referring to FIGS. 1 and 3, in some examples, when the cleaning device moves along a second direction Y intersecting the first direction X, the control module 20 is configured to adjust the first suction force and the second suction force to equalize the first friction force and the second friction force, and the control module 20 is further configured to control the first cleaning disc 110 and the second cleaning disc 120 to equalize the rotation speed of the first cleaning disc 110 and the rotation speed of the second cleaning disc 120, and to reverse the rotation direction of the first cleaning disc 110 and the rotation direction of the second cleaning disc 120. In this way, the first cleaning disc 110 and the second cleaning disc 120 can jointly drive the cleaning device to move in a straight line to advance the cleaning device. For example, the second direction can be parallel to the surface 01 to be cleaned. For example, the first direction X can be perpendicular to the second direction Y.

[0061] FIG. 4 is a schematic diagram of a first rotation axis R1 of the first cleaning disc 110, a second rotation axis R2 of the second cleaning disc 120, and a reference surface S of the cleaning device according to at least one embodiment of the present disclosure.

[0062] Referring to FIGS. 1 and 4, in some examples, the first cleaning disc 110 is configured to rotate around a first rotation axis R1, and the second cleaning disc 120 is configured to rotate around a second rotation axis R2. The first cleaning disc 110 and the second cleaning disc 120 are located on two sides of a reference surface S perpendicular to a line connecting the centers of the two cleaning discs, and the first rotation axis R1 and the second rotation axis R2 have non-zero angles a and b with the reference surface S, respectively. For example, the angles a and b can be equal. For example, the angle between the first rotation axis R1 and the second rotation axis R2 can be greater than 0° and not greater than 90°.

[0063] Referring to FIGS. 1 and 4, the first cleaning disc 110 rotates around the inclined first rotation axis R1, and the second cleaning disc 120 rotates around the inclined second rotation axis R2, which can increase the friction between the two cleaning discs and the surface to be cleaned 01, and improve the walking efficiency and cleaning effect.

[0064] Referring to FIG. 1, for example, the cleaning device can include a first driving member 410 and a second driving member 420, the first driving member 410 is configured to be in driving connection with the first cleaning disc 110, and the second driving member 420 is configured to be in driving connection with the second cleaning disc 120. For example, the first driving member 410 and the second driving member 420 can include driving motors. For example, the first driving member 410 and the second driving member 420 can be electrically connected with the control module 20, respectively. The control module 20 can control the first driving member 410 and the second driving member 420, respectively, to drive the first cleaning disc 110 and the second cleaning disc 120 to rotate, respectively.

[0065] For example, the control module can include one controller, which controls the first suction accessory, the second suction accessory, the first driving member, and the second driving member, respectively. For example, the control module can include multiple controllers, two controllers of the multiple controllers can control the first driving member and the second driving member, respectively. For example, the control module can include multiple controllers, one controller of the multiple controllers can control the first suction accessory and the second suction accessory, respectively, and another controller can control the first driving member and the second driving member, respectively.

[0066] Referring to FIG. 1, for example, the first driving member 410 can be in driving connection with the first cleaning disc 110 through a first transmission member 411. For example, the first cleaning disc 110 can be sleeved outside an output shaft of the first transmission member 411. For example, the second driving member 420 can be in driving connection with the second cleaning disc 120 through a second transmission member 412. For example, the second cleaning disc 210 can be sleeved outside an output shaft of the second transmission member 412. For example, the first transmission member 411 and the second transmission member 412 can include gear transmission structures.

[0067] Referring to FIG. 1, for example, the axis of the output shaft of the first driving member 410 can be perpendicular to the central axis of the first transmission member 411. For example, the axis of the output shaft of the second driving member 420 can be perpendicular to the central axis of the second transmission member 412. In this way, the axis of the output shaft of the first driving member 410 can be perpendicular to the rotation axis R1 of the first cleaning disc 110, and the axis of the output shaft of the second driving member 420 can be perpendicular to the rotation axis R2 of the second cleaning disc 120, which is conducive to reducing the size of the cleaning device in the thickness direction.

[0068] Referring to FIG. 1, for example, the main body 10 can include a mounting frame 500. For example, the first driving member 410 and the second driving member 420 can be mounted on the mounting frame 500. For example, the first lower shell 1103 and the second lower shell 1203 can be fixedly connected with the mounting frame 500, respectively. For example, the first cleaning disc 110 can be located on the side of the mounting frame 500 away from the first lower shell 1103, and the second cleaning disc 120 can be located on the side of the mounting frame 500 away from the second lower shell 1203.

[0069] Referring to FIGS. 1 and 3, the present disclosure provides a control method of a cleaning device, which includes: controlling the first suction member 210 to provide a first suction force to the first suction cavity Z1, and controlling the second suction member 220 to provide a second suction force to the second suction cavity Z2. When the first cleaning disc 110 rotates around the second cleaning disc 120 due to a first friction force generated between the first cleaning disc 110 and the surface to be cleaned 01 to cause relative displacement between the first cleaning disc 110 and the surface to be cleaned 01, the first suction force is controlled to be greater than the second suction force. When the second cleaning disc 120 rotates around the first cleaning disc 110 due to a second friction force generated between the second cleaning disc 120 and the surface to be cleaned 01 to cause relative displacement between the second cleaning disc 120 and the surface to be cleaned 01, the second suction force is controlled to be greater than the first suction force.

[0070] Referring to FIGS. 1 and 3, when the first cleaning disc 110 rotates around the second cleaning disc 120, the first suction force is set to be greater than the second suction force, which can make the first cleaning disc 110 more reliably adsorbed on the surface to be cleaned 01. The first suction force being greater than the second suction force can make the friction force between the first cleaning disc 110 and the surface to be cleaned 01 greater, which is conducive to the first cleaning disc 110 stably walking through the first friction force.

[0071] Referring to FIGS. 1 and 3, when the second cleaning disc 120 rotates around the first cleaning disc 110, the second suction force is set to be greater than the first suction force, which can make the second cleaning disc 120 more reliably adsorbed on the surface to be cleaned 01. The second suction force being greater than the first suction force can make the friction force between the second cleaning disc 120 and the surface to be cleaned 01 greater, which is conducive to the second cleaning disc 120 stably walking through the second friction force.

[0072] Referring to FIG. 1 and FIG. 3, in some examples, the unit time flow flux of the gas flowing into the first adsorption cavity Z1 is the same as the unit time flow flux of the gas flowing into the second adsorption cavity Z2; the gas flow rate of the gas flowing out of the first adsorption cavity Z1 is a first gas flow rate, and the gas flow rate of the gas flowing out of the second adsorption cavity Z2 is a second gas flow rate; the method further comprises: when the first cleaning disc 110 rotates around the second cleaning disc 120, controlling the first gas flow rate to be greater than the second gas flow rate; when the second cleaning disc 120 rotates around the first cleaning disc 110, controlling the second gas flow rate to be greater than the first gas flow rate. Thus, in the case that the sealing effects of the first adsorption cavity Z1 and the second adsorption cavity Z2 are substantially the same, the first adsorption force and the second adsorption force can be adjusted by adjusting the first gas flow rate and the second gas flow rate, so as to facilitate the movement of the cleaning device.

[0073] In some examples, the first adsorption member 210 comprises a first fan, and the second adsorption member 220 comprises a second fan. The method further comprises: when the first cleaning disc 110 rotates around the second cleaning disc 120, controlling the rotating speed of the first fan to be greater than the rotating speed of the second fan; when the second cleaning disc 120 rotates around the first cleaning disc 110, controlling the rotating speed of the second fan to be greater than the rotating speed of the first fan. Thus, the rotating speeds of the first fan and the second fan can be adjusted by controlling the first fan and the second fan, so as to adjust the first adsorption force and the second adsorption force.

[0074] In some examples, the method further comprises: when the cleaning device moves along a second direction Y intersecting the first direction X, adjusting the first adsorption force and the second adsorption force to make the first friction force and the second friction force equal, controlling the rotating speed of the first cleaning disc 110 to be equal to the rotating speed of the second cleaning disc 120, and controlling the rotation direction of the first cleaning disc 110 to be opposite to the rotation direction of the second cleaning disc 120. Thus, the first cleaning disc 110 and the second cleaning disc 120 can jointly drive the cleaning device to move along a straight line, so as to make the cleaning device advance. For example, the second direction can be parallel to the surface 01 to be cleaned. For example, the first direction X can be perpendicular to the second direction Y.

[0075] The following points need to be explained:

[0076] (1) In the drawings of the embodiments of the present disclosure, only the structures related to the embodiments of the present disclosure are involved, and other structures can be referred to the general design.

[0077] (2) In the case of no conflict, the features in the same embodiment and different embodiments of the present disclosure can be combined with each other.

[0078] The above description is only exemplary embodiments of the present disclosure, and is not intended to limit the protection scope of the present disclosure, and the protection scope of the present disclosure is determined by the appended claims.

Claims

1. A cleaning device, comprising: a main body and a control module; a first cleaning disc and a second cleaning disc, each connected to a same side of the main body along a first direction, the first cleaning disc configured to form a first suction cavity with a surface to be cleaned, and the second cleaning disc configured to form a second suction cavity with the surface to be cleaned; a first suction member and a second suction member, each electrically connected to the control module, and each configured to provide a first suction force and a second suction force for the first suction cavity and the second suction cavity, respectively; the control module configured to control the first suction member to adjust the first suction force, and configured to control the second suction member to adjust the second suction force, such that when the first cleaning disc rotates around the second cleaning disc due to a first friction force between the first cleaning disc and the surface to be cleaned, the first suction force is greater than the second suction force, and when the second cleaning disc rotates around the first cleaning disc due to a second friction force between the second cleaning disc and the surface to be cleaned, the second suction force is greater than the first suction force.

2. The cleaning device of claim 1, wherein, a same unit time flow rate of gas flowing into the first suction cavity and a same unit time flow rate of gas flowing into the second suction cavity; a first gas flow rate of gas flowing out of the first suction cavity and a second gas flow rate of gas flowing out of the second suction cavity; when the first cleaning disc rotates around the second cleaning disc, the first gas flow rate is greater than the second gas flow rate; when the second cleaning disc rotates around the first cleaning disc, the second gas flow rate is greater than the first gas flow rate.

3. The cleaning device of claim 2, wherein, the first suction member comprises a first fan, and the second suction member comprises a second fan.

4. The cleaning device of claim 3, wherein, when the first cleaning disc rotates around the second cleaning disc, a rotation speed of the first fan is greater than a rotation speed of the second fan; when the second cleaning disc rotates around the first cleaning disc, the rotation speed of the second fan is greater than the rotation speed of the first fan. 5.The cleaning device according to any one of claims 2-4, further comprising a first wiping member and a second wiping member, the first wiping member being sleeved outside the first cleaning disc, and the second wiping member being sleeved outside the second cleaning disc. a contact area between the first wiping member and the surface to be cleaned is equal to a contact area between the second wiping member and the surface to be cleaned.

6. The cleaning device of claim 5, wherein, the first wiping member and the second wiping member are made of at least partially same material.

7. The cleaning device of any one of claims 1-6, wherein, the main body comprises a first housing and a second housing; the first housing comprises a first accommodating cavity in communication with the first suction cavity, and the second housing comprises a second accommodating cavity in communication with the second suction cavity; the first suction member is in communication with the first accommodating cavity, the second suction member is in communication with the second accommodating cavity, and the first accommodating cavity and the second accommodating cavity are not in communication with each other.

8. The cleaning device of claim 7, wherein, the first suction member is located in the first accommodating cavity, and the second suction member is located in the second accommodating cavity.

9. The cleaning device of any one of claims 1-8, wherein, When the cleaning device moves in a second direction intersecting the first direction, the control module is configured to adjust the first suction force and the second suction force to equalize the first friction force and the second friction force, and the control module is further configured to control the first cleaning disc and the second cleaning disc to equalize the rotational speed of the first cleaning disc and the rotational speed of the second cleaning disc, and to reverse the rotational direction of the first cleaning disc and the rotational direction of the second cleaning disc.

10. The cleaning device of any one of claims 1-9, wherein, The first cleaning disc is configured to rotate around a first rotation axis, and the second cleaning disc is configured to rotate around a second rotation axis; The first cleaning disc and the second cleaning disc are respectively located on two sides of a reference plane perpendicular to the line connecting the centers of the first cleaning disc and the second cleaning disc, and the first rotation axis and the second rotation axis respectively have a non-zero angle with the reference plane.

11. A control method of a cleaning device, wherein, The cleaning device comprises: a main body; a first cleaning disc and a second cleaning disc, which are respectively connected to the same side of the main body in a first direction, the first cleaning disc is configured to form a first suction cavity with a surface to be cleaned, and the second cleaning disc is configured to form a second suction cavity with the surface to be cleaned; The cleaning device further comprises a first suction member and a second suction member; The method comprises: controlling the first suction member to provide a first suction force to the first suction cavity, and controlling the second suction member to provide a second suction force to the second suction cavity; When the first cleaning disc rotates around the second cleaning disc due to the first friction force generated between the first cleaning disc and the surface to be cleaned, the first suction force is controlled to be greater than the second suction force; When the second cleaning disc rotates around the first cleaning disc due to the second friction force generated between the second cleaning disc and the surface to be cleaned, the second suction force is controlled to be greater than the first suction force.

12. The method of claim 11, wherein, The unit time flow of gas flowing into the first suction cavity is the same as the unit time flow of gas flowing into the second suction cavity; the gas flow rate of gas flowing out of the first suction cavity is a first gas flow rate, and the gas flow rate of gas flowing out of the second suction cavity is a second gas flow rate; The method further comprises: When the first cleaning disc rotates around the second cleaning disc, the first gas flow rate is controlled to be greater than the second gas flow rate; When the second cleaning disc rotates around the first cleaning disc, the second gas flow rate is controlled to be greater than the first gas flow rate.

13. The method of claim 12, wherein, The first suction member comprises a first fan, and the second suction member comprises a second fan; The method further comprises: When the first cleaning disc rotates around the second cleaning disc, the rotational speed of the first fan is controlled to be greater than the rotational speed of the second fan; When the second cleaning disc rotates around the first cleaning disc, the rotational speed of the second fan is controlled to be greater than the rotational speed of the first fan.

14. The method of any one of claims 11-13, further comprising: When the cleaning device moves in a second direction intersecting the first direction, the first and second adsorption forces are adjusted to make the first and second friction forces equal, the rotation speed of the first cleaning disc is controlled to be equal to the rotation speed of the second cleaning disc, and the rotation direction of the first cleaning disc is controlled to be opposite to the rotation direction of the second cleaning disc.

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