Cleaning device, cleaning robot and control method therefor, cleaning system, and storage medium

Abstract

A cleaning device (100), a cleaning robot (1000), a cleaning system (4000), a control method for the cleaning robot (1000), and a storage medium (2000). The cleaning device (100) comprises a roller brush housing (10), a driving assembly (20), a roller brush assembly (40), a blocking assembly (50), and a lifting assembly (60). The roller brush housing (10) is provided on a body (200) of the cleaning robot (1000) and has a suction inlet (11), and the suction inlet (11) is configured to allow debris on a surface to be cleaned to enter into the roller brush housing (10). The driving assembly (20) is provided on the roller brush housing (10) or the body (200). The roller brush assembly (40) is at least partially arranged within the roller brush housing (10), and the roller brush assembly (40) is connected to the driving assembly (20). The blocking assembly (50) is connected to the driving assembly (20). The lifting assembly (60) is connected to the driving assembly (20) and the roller brush housing (10). The driving assembly (20) is configured to drive the roller brush assembly (40) to rotate so as to clean the surface to be cleaned, to drive the blocking assembly (50) to move so as to change the opening size of the suction inlet (11), and to drive the lifting assembly (60) to move so as to drive the roller brush housing (10) to move, thereby driving the roller brush assembly (40) to move up and down relative to the body (200). The cleaning device (100) is capable of performing multiple functions, the cleaning robot (1000) has broader applicability, and the cleaning effect is better.

Description

Cleaning devices, cleaning robots and their control methods, cleaning systems and storage media

[0001] This application claims priority to Chinese Patent Application No. 2024116171827, filed on November 12, 2024, entitled "Cleaning Apparatus, Cleaning Robot and Control Method Thereof, Cleaning System and Storage Medium", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This disclosure relates to the field of cleaning technology, and in particular to a cleaning device, a cleaning robot, a cleaning system, a control method for the cleaning robot, and a storage medium. Background Technology

[0003] A cleaning robot is a device used to automatically clean carpets or floors awaiting cleaning, typically used in home cleaning, large venue cleaning, and other similar applications. Generally, a cleaning robot consists of a cleaning unit, which includes cleaning components (such as roller brushes) capable of cleaning the surface. However, the cleaning unit can only perform a simple cleaning, resulting in limited applicability and inability to meet user needs. Summary of the Invention

[0004] This disclosure provides a cleaning device, a cleaning robot, a cleaning system, a control method for the cleaning robot, and a storage medium, which at least address the aforementioned problem of poor applicability of the cleaning robot.

[0005] In a first aspect, this disclosure provides a cleaning device for a cleaning robot, which, when performing a cleaning task, cleans debris from a surface to be cleaned using the cleaning device. The cleaning device includes a roller brush housing, a drive assembly, a roller brush assembly, a shielding assembly, and a lifting assembly. The roller brush housing is disposed within the body of the cleaning robot and has a suction inlet for allowing debris from the surface to be cleaned to enter the roller brush housing. The drive assembly is disposed within the roller brush housing or the body. The roller brush assembly is at least partially disposed within the roller brush housing and is connected to the drive assembly. The shielding assembly is connected to the drive assembly. The lifting assembly is connected to the drive assembly and the roller brush housing. The drive assembly drives the roller brush assembly to rotate to clean the surface to be cleaned, drives the shielding assembly to move to change the opening size of the suction inlet, and drives the lifting assembly to move to move the roller brush housing, thereby causing the roller brush assembly to rise and fall relative to the body.

[0006] Secondly, this disclosure provides a cleaning robot, which includes a body and a cleaning device. The cleaning device is disposed on the body and is used to clean the surface to be cleaned. The cleaning device includes a roller brush housing, a drive assembly, a roller brush assembly, a shielding assembly, and a lifting assembly. The roller brush housing is disposed on the body of the cleaning robot and has a suction port for allowing debris on the surface to be cleaned to enter the roller brush housing. The drive assembly is disposed on the roller brush housing or the body. The roller brush assembly is at least partially disposed within the roller brush housing and is connected to the drive assembly. The shielding assembly is connected to the drive assembly. The lifting assembly is connected to the drive assembly and the roller brush housing. The drive assembly is used to drive the roller brush assembly to rotate to clean the surface to be cleaned, drive the shielding assembly to move to change the opening size of the suction port, and drive the lifting assembly to move to move the roller brush housing, thereby causing the cleaning device to rise and fall relative to the body.

[0007] Thirdly, this disclosure provides a cleaning system including a cleaning robot and a base station. The base station is used in conjunction with the cleaning robot and includes a docking position for accommodating the cleaning robot. The cleaning robot includes a body and a cleaning device. The cleaning device is disposed on the body and is used to clean the surface to be cleaned. The cleaning device includes a roller brush housing, a drive assembly, a roller brush assembly, a shielding assembly, and a lifting assembly. The roller brush housing is disposed on the body of the cleaning robot and has a suction port for allowing debris on the surface to be cleaned to enter the roller brush housing. The drive assembly is disposed on the roller brush housing or the body. The roller brush assembly is at least partially disposed within the roller brush housing and is connected to the drive assembly. The shielding assembly is connected to the drive assembly. The lifting assembly is connected to the drive assembly and the roller brush housing. The drive assembly is used to drive the roller brush assembly to rotate to clean the surface to be cleaned, drive the shielding assembly to move to change the opening size of the suction inlet, and drive the lifting assembly to move to drive the roller brush housing to move, thereby causing the cleaning device to rise and fall relative to the body.

[0008] Fourthly, this disclosure provides a control method for a cleaning robot. The cleaning robot includes a body and a cleaning device. The cleaning device is disposed on the body and is used to clean the surface to be cleaned. The cleaning device includes a roller brush housing, a drive assembly, a roller brush assembly, a shielding assembly, and a lifting assembly. The roller brush housing is disposed on the body of the cleaning robot and has a suction port for allowing debris on the surface to be cleaned to enter the roller brush housing. The drive assembly is disposed on the roller brush housing or the body. The roller brush assembly is at least partially disposed within the roller brush housing and is connected to the drive assembly. The shielding assembly is connected to the drive assembly. The lifting assembly is connected to the drive assembly and the roller brush housing. The drive assembly is used to drive the roller brush assembly to rotate to clean the surface to be cleaned, drive the shielding assembly to move to change the opening size of the suction port, and drive the lifting assembly to move to move the roller brush housing, thereby causing the cleaning device to rise and fall relative to the body. The control method includes: during at least a portion of the time period when the cleaning robot moves from a non-target area to a target area for cleaning, controlling the drive component to drive the roller brush component to move to clean the target area, and driving the shielding component to move to reduce the opening size of the suction inlet.

[0009] Fifthly, this disclosure provides a control method for a cleaning robot, the cleaning robot including a body and a cleaning device. The cleaning device is disposed on the body and used to clean the surface to be cleaned. The cleaning device includes a roller brush housing, a drive assembly, a roller brush assembly, a shielding assembly, and a lifting assembly. The roller brush housing is disposed on the body of the cleaning robot and has a suction port for allowing debris on the surface to be cleaned to enter the roller brush housing. The drive assembly is disposed on the roller brush housing or the body. The roller brush assembly is at least partially disposed within the roller brush housing and is connected to the drive assembly. The shielding assembly is connected to the drive assembly. The lifting assembly is connected to the drive assembly and the roller brush housing. The drive assembly is used to drive the roller brush assembly to rotate to clean the surface to be cleaned, drive the shielding assembly to move to change the opening size of the suction port, and drive the lifting assembly to move to move the roller brush housing, thereby causing the cleaning device to rise and fall relative to the body. The control method includes: during at least a portion of the time period of the previous cleaning of the target area by the cleaning robot, controlling the drive component to drive the roller brush assembly to move to clean the target area, and controlling the shielding component to be in a first position; during at least a portion of the time period of the subsequent cleaning of the target area by the cleaning robot, controlling the drive component to drive the roller brush assembly to move to clean the target area, and controlling the shielding component to move to reduce the opening size of the suction inlet so that the shielding component is in a second position; wherein the target area of ​​the previous cleaning by the cleaning robot and the target area of ​​the subsequent cleaning by the cleaning robot have at least a partial overlap.

[0010] In a sixth aspect, embodiments of this disclosure provide a cleaning robot, the cleaning robot including a processor and a memory, the memory storing computer program instructions, the processor being used to execute a control method of embodiments of this disclosure, the control method including: during at least a portion of the time period when the cleaning robot moves from a non-target area to a target area for cleaning, controlling the drive component to drive the roller brush component to move to clean the target area, and driving the shielding component to move to reduce the opening size of the suction inlet.

[0011] In a seventh aspect, embodiments of this disclosure provide a storage medium storing a computer program that, when executed by one or more processors, implements a control method according to embodiments of this disclosure. The control method includes: controlling the drive assembly to move the roller brush assembly to clean the target area during at least a portion of the time period in which the cleaning robot moves from a non-target area to a target area for cleaning, and controlling the shielding assembly to move to reduce the opening size of the suction inlet.

[0012] In the cleaning device, cleaning robot, cleaning system, control method for cleaning robot, and storage medium of the present disclosure, the cleaning device includes a roller brush assembly, a shielding assembly, and a lifting assembly. The driving assembly is used to drive the roller brush assembly to rotate to clean the surface to be cleaned, drive the shielding assembly to move to change the opening size of the suction inlet, and drive the lifting assembly to move to drive the roller brush housing to move, thereby causing the cleaning device to rise and fall relative to the machine body. Therefore, compared with related technologies, the cleaning device can not only clean the surface to be cleaned, but also use the roller brush assembly, shielding assembly, and lifting assembly to perform other functions, thereby improving the applicability of the cleaning robot, meeting the user's needs, and improving the cleaning effect.

[0013] Additional aspects and advantages of embodiments of this disclosure will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of embodiments of this disclosure. Attached Figure Description

[0014] The above and / or additional aspects and advantages of this disclosure will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0015] Figure 1 is a three-dimensional structural schematic diagram of a cleaning device according to an embodiment of the present disclosure;

[0016] Figure 2 is a three-dimensional exploded view of the cleaning device shown in Figure 1;

[0017] Figure 3 is a cross-sectional structural diagram of the cleaning device shown in Figure 1;

[0018] Figure 4 is a schematic cross-sectional view of another cleaning device shown in Figure 1;

[0019] Figure 5 is a three-dimensional exploded view of some structures in the cleaning device shown in Figure 1;

[0020] Figure 6 is a three-dimensional exploded view of some structures in the cleaning device shown in Figure 1;

[0021] Figure 7 is a three-dimensional structural diagram of the cleaning device shown in Figure 1 from another perspective.

[0022] Figure 8 is a three-dimensional structural schematic diagram of a cleaning device according to another embodiment of the present disclosure;

[0023] Figure 9 is a structural schematic diagram of the cleaning device shown in Figure 8 in one state;

[0024] Figure 10 is a structural schematic diagram of the cleaning device shown in Figure 8 in another state;

[0025] Figure 11 is a structural schematic diagram of the cleaning device shown in Figure 8 in another state;

[0026] Figure 12 is a perspective structural diagram of a cleaning device according to another embodiment of the present disclosure;

[0027] Figure 13 is a three-dimensional exploded view of the cleaning device shown in Figure 12;

[0028] Figure 14 is a cross-sectional structural diagram of a portion of the cleaning device shown in Figure 12;

[0029] Figure 15 is a three-dimensional structural schematic diagram of a cleaning device according to another embodiment of the present disclosure;

[0030] Figure 16 is a three-dimensional exploded view of some structures in the cleaning device shown in Figure 15;

[0031] Figure 17 is an enlarged view of point XV in Figure 16;

[0032] Figure 18 is a three-dimensional exploded view of a portion of the structure of a cleaning device according to another embodiment of the present disclosure;

[0033] Figure 19 is a cross-sectional structural diagram of a cleaning robot according to certain embodiments of the present disclosure;

[0034] Figure 20 is a structural schematic diagram of a cleaning robot according to certain embodiments of the present disclosure;

[0035] Figure 21 is a schematic diagram of the structure of a cleaning system according to certain embodiments of the present disclosure;

[0036] Figures 22-28 are flowcharts of control methods for cleaning robots according to certain embodiments of the present disclosure;

[0037] Figure 29 is a schematic diagram of the connection between the storage medium and the processor in some embodiments of this disclosure.

[0038] Key component symbols: Cleaning system 4000; Base station 3000, docking station 3100; Storage medium 2000, computer program 2100; Cleaning robot 1000; Cleaning robot's forward direction X; First direction (A1 / A2), second direction (B1 / B2), third direction C, fourth direction (Y1 / Y2); Cleaning device 100; Body 200, bracket 210, rotating shaft 220, mounting housing 230, mounting space 250, side brush 260, mopping component 270, drive wheel 280; Processor 300; Roller brush housing 10, guide part 101, first side 103, second side 105, suction port 11, cover 12, mounting groove 13, roller brush cavity housing 14. Guide component 15, first guide sidewall 151, second guide sidewall 153, rotating arm 16, guide groove 17, first guide sidewall 171, second guide sidewall 173, receiving cavity 18, dust suction port 19; drive assembly 20, drive component 21, transmission component 23, first transmission unit 231, first rotating shaft 2311, second transmission unit 233. The components include: third transmission unit 235, gear and connecting rod unit 2350, second rotating shaft 2351, moving component 2352, moving groove 2353, first sub-groove 23531, second sub-groove 23533, third sub-groove 23535, moving body 2354, linkage part 2355, linkage sub-part 23551, elastic element 23553, mating surface 23555, protrusion 2356, first surface 23561, second surface 23563, mating part 2357, main transmission part 23580, first transmission part 2358, protrusion 23581, first active part 23583, second transmission part 2359, connecting part 23591, second main body part 23593, functional component 2360, clutch unit 237, first transmission component 2371, second transmission component 2373, third transmission component 2375, and one-way clutch 2377. Roller brush assembly 40, roller brush 41; shielding assembly 50, shielding component 501, shielding piece 51, connecting arm 511, shielding part 513, supporting part 515, connecting piece 53, protrusion 5301, accommodating space 5303, groove 5305, first side 5307, second side 5309, first sub-piece 531, second sub-piece 532, connecting body 533, connecting protrusion 534, first connecting sidewall 535, second connecting sidewall 536, first protruding structure 537, first elastic member 55, matching member 56, limiting member 503, limiting body 5031, connecting end 5033, second elastic member 505; Lifting assembly 60, connecting shaft 61, lifting member 63, sleeve part 631, sleeve protrusion 6311, hook part 633, recovery member 64, sliding member 65, sliding part 651, sliding protrusion 653; detection assembly 80, first detection member 81, second detection member 83; protective cover 91; first sealing member 93; second sealing member 95. Detailed Implementation

[0039] The embodiments of this disclosure will be further described below with reference to the accompanying drawings. The same or similar reference numerals in the drawings denote the same or similar elements or elements having the same or similar functions throughout. Furthermore, the embodiments of this disclosure described below with reference to the accompanying drawings are exemplary and are only used to explain the embodiments of this disclosure, and should not be construed as limiting this disclosure.

[0040] A cleaning robot is a device used to automatically clean surfaces such as carpets, tabletops, walls, glass, doors, or floors. It is commonly used in home cleaning and large-scale venue cleaning. Generally, a cleaning robot includes a cleaning device, which in turn includes cleaning components (such as a roller brush assembly) capable of cleaning the surface to be cleaned. However, the cleaning device can only perform simple cleaning, resulting in poor applicability of the cleaning robot and failing to meet user needs. To address the problem of poor applicability of cleaning robots, this disclosure provides a cleaning device 100 (shown in Figures 1, 12, or 15), a cleaning robot 1000 (shown in Figure 20), a cleaning system 4000 (shown in Figure 21), a control method for the cleaning robot (shown in Figures 22-28), and a storage medium 2000 (shown in Figure 29).

[0041] Referring to Figures 1 to 3 and in conjunction with Figure 20, this disclosure provides a cleaning device 100 for a cleaning robot 1000. When performing a cleaning task, the cleaning robot 1000 uses the cleaning device 100 to clean debris from the surface to be cleaned. The cleaning device 100 includes a roller brush housing 10, a drive assembly 20, a roller brush assembly 40, a shielding assembly 50, and a lifting assembly 60. The roller brush housing 10 is disposed within the body 200 of the cleaning robot 1000 and has a suction port 11 for allowing debris from the surface to be cleaned to enter the roller brush housing 10. The drive assembly 20 is disposed within the roller brush housing 10 or the body 200. The roller brush assembly 40 is at least partially disposed within the roller brush housing 10 and is connected to the drive assembly 20. The shielding assembly 50 is connected to the drive assembly 20. The lifting assembly 60 is connected to the drive assembly 20 and the roller brush housing 10. The drive assembly 20 is used to drive the roller brush assembly 40 to rotate to clean the surface to be cleaned, drive the shielding assembly 50 to move to change the opening size of the suction port 11, and drive the lifting assembly 60 to move to drive the roller brush housing 10 to move, thereby causing the roller brush assembly 40 to rise and fall relative to the body 200.

[0042] It should be noted that, in some embodiments, the cleaning robot 1000 is an intelligent device capable of performing functions such as sweeping, vacuuming, and mopping. The cleaning robot 1000 includes, but is not limited to, sweeping robots, mopping robots, combined sweeping and mopping robots, intelligent robots, and mobile robots. The body 200 can be made of metallic and / or non-metallic materials. Metallic materials include, but are not limited to, aluminum, iron, steel, or aluminum alloys, while non-metallic materials include, but are not limited to, plastics. In one example, the body 200 can be made of both metallic and non-metallic materials, thereby increasing the structural strength of the body 200, preventing collision damage during operation, and improving the stability and reliability of the cleaning robot 1000. In another example, the body 200 can be made of non-metallic materials, such as plastic, thereby reducing its weight and making the cleaning robot 1000 more portable.

[0043] The cleaning device 100 is a device that enables the cleaning robot 1000 to perform mopping or sweeping functions. That is, the cleaning device 100 can mop or sweep the surface to be cleaned. Specifically, in one example, the surface to be cleaned can be the floor inside a building. In another example, the surface to be cleaned can also be the surface of other objects that need cleaning, such as walls, beds, windows, etc.

[0044] The material of the roller brush housing 10 can be a metallic material and / or a non-metallic material, wherein the metallic material includes, but is not limited to, aluminum, iron, steel or aluminum alloy, and the non-metallic material includes, but is not limited to, plastic. In some embodiments of this disclosure, when the cleaning robot 1000 sweeps the garbage on the surface to be cleaned by the cleaning device 100, the suction port 11 is opposite to the surface to be cleaned, and in the forward direction X of the cleaning robot 1000, the end of the roller brush housing 10 near the front end of the body 200 is spaced apart from (not in contact with) the surface to be cleaned, while the end of the roller brush housing 10 near the rear end of the body 200 is in contact with the surface to be cleaned. That is, in the forward direction X of the cleaning robot 1000, the end of the suction port 11 near the front end of the body 200 is not in contact with the surface to be cleaned, while the end of the suction port 11 near the rear end of the body 200 is in contact with the surface to be cleaned. This ensures that as much garbage as possible can be sucked into the roller brush housing 10 through the suction port 11. Compared to the case where the side of the suction port 11 near the rear end of the body 200 is in contact with the surface to be cleaned, the cleaning device 100 in this embodiment can clean up large garbage and is less likely to miss garbage, thereby improving the cleaning effect of the cleaning device 100.

[0045] Further, in some embodiments, referring to FIG7, the roller brush housing 10 includes a cover 12 covering the suction port 11. The cover 12 includes a first side 103 and a second side 105, with the first side 103 being closer to the front end of the cleaning robot 1000 than the second side 105. When the cleaning robot 1000 performs a cleaning task, the first side 103 does not contact the surface to be cleaned, while the second side 105 does. For example, at least a portion of the first side 103 may be tilted relative to the second side 105. This allows the end of the suction port 11 near the front end of the body 200 in the above embodiments to not contact the surface to be cleaned, while the end of the suction port 11 near the rear end of the body 200 contacts the surface to be cleaned.

[0046] It should be noted that the orientations described in the embodiments of this disclosure are defined with the cleaning robot 1000 mounted on the surface to be cleaned. "Front end" and "rear end" are relative to the forward direction X of the cleaning robot 1000. When the cleaning robot 1000 moves forward along the forward direction X, the front end of the body 200 closest to the forward direction X is the front end of the body 200, and the rear end of the body 200 closest to the forward direction X is the rear end of the body 200.

[0047] The drive assembly 20 is a structure in the cleaning device 100 that can provide power to some of its components. In some embodiments of this disclosure, when the drive assembly 20 is moving stably, the driving force generated by the drive assembly 20 can act on the roller brush assembly 40, the shielding assembly 50, and the lifting assembly 60 to drive the roller brush assembly 40 to rotate to clean the surface to be cleaned, drive the shielding assembly 50 to move to change the opening size of the suction port 11, and drive the lifting assembly 60 to move to drive the roller brush housing 10 to move, thereby causing the roller brush assembly 40 to rise and fall relative to the body 200.

[0048] In some embodiments, referring to FIG3, the brush housing 10 further includes a brush cavity housing 14 and a cover 12. The brush cavity housing 14 has a receiving cavity 18 and a suction port 11 communicating with the receiving cavity 18. The cover 12 is detachably connected to the brush cavity housing 14. The cover 12 may be connected to the brush cavity housing 14 by a detachable connection method such as snap-fit ​​connection or bolt connection.

[0049] The roller brush assembly 40 includes a roller brush 41, which is disposed within the receiving cavity 18 and contacts the surface to be cleaned through the suction port 11. When the driving force generated by the drive assembly 20 is transmitted to the roller brush 41, the roller brush 41 rotates relative to the roller brush cavity housing 14 under the drive of the drive assembly 20. In this way, the roller brush 41 can sweep away the debris on the surface to be cleaned, and the debris can be sucked into the receiving cavity 18 through the suction port 11 under the action of the suction airflow, thereby achieving the cleaning of the surface to be cleaned. It should be noted that the opening size of the suction port 11 can be the size of the opening on the roller brush housing 10 for allowing debris to enter the receiving cavity 18 during the cleaning process of the cleaning device 100 sweeping the surface to be cleaned.

[0050] Furthermore, in some embodiments, referring to Figures 1-2, the roller brush housing 10 is also provided with a suction port 19, which communicates with the receiving cavity 18. The suction port 19 is used to allow the waste in the receiving cavity to move out of the receiving cavity 18. Specifically, when waste enters the receiving cavity 18, the waste in the receiving cavity 18 can be moved out of the receiving cavity 18 through the suction port 19 under the action of the suction airflow and enter the waste collection container (e.g., dust box) of the cleaning robot 1000.

[0051] Since the size of the suction port 11 has a certain impact on the vacuum between the surface to be cleaned and the receiving cavity 18, specifically, the larger the opening of the suction port 11, the smaller the suction force of the receiving cavity 18, the lower the cleaning efficiency of the cleaning device 100, and the more difficult it is for the garbage to be sucked into the receiving cavity 18; the smaller the opening of the suction port 11, the greater the suction force of the receiving cavity 18, the higher the cleaning efficiency of the cleaning device 100, and the easier it is for the garbage to be sucked into the receiving cavity 18. In other words, when cleaning the garbage on the same surface to be cleaned, the larger the opening of the suction port 11, the greater the suction force required. Therefore, in some embodiments of this disclosure, the drive component 20 can drive the blocking component 50 to move to change the opening size of the suction port 11, thereby adjusting the cleaning efficiency of the cleaning device 100. Thus, the cleaning device 100 can adjust the opening size of the suction port 11 according to the different adaptability of the surface to be cleaned, ensuring that the garbage on different surfaces to be cleaned can be sucked into the receiving cavity 18, thereby improving the applicability of the cleaning device 100 and the cleaning robot 1000 and ensuring the cleaning effect of the cleaning device 100 and the cleaning robot 1000.

[0052] In some implementations, the surface to be cleaned includes target areas and non-target areas. Target areas can refer to areas requiring deep cleaning, such as carpeted areas, floor mat areas, foot mat areas, yoga mat areas, rubber mat areas, straw or bamboo mat areas, heavily soiled areas, user-defined areas, etc. Non-target areas can refer to areas that do not require deep cleaning, or can be other areas besides the target areas, such as areas without carpets or open ground. For example, the target area is a carpeted area, and the non-target area is a non-carpeted area. Since debris (such as dust or small impurities) in the target area is easily hidden in the carpet fibers, it can be understood that the carpet has a strong adsorption capacity for debris. Therefore, when cleaning the target area, a large suction force is required, and the opening of the suction inlet 11 needs to be in a smaller state to increase the vacuum between the surface to be cleaned and the receiving cavity 18, thus ensuring the cleaning effect. On the other hand, since non-target areas are usually smoother, when cleaning non-target areas, the opening of the suction inlet 11 can be in a larger state, so that the suction force of the receiving cavity 18 can meet the cleaning requirements. Furthermore, having a larger opening of the suction inlet 11 can also ensure that debris can enter the receiving cavity 18 through the suction inlet 11, preventing large debris from being blocked outside the suction inlet 11.

[0053] Therefore, in some embodiments of this disclosure, when the current position of the cleaning robot 1000 is a target area, and the cleaning process switches from cleaning a target area to cleaning a non-target area, the drive component 20 drives the blocking component 50 to move to increase the opening size of the suction inlet 11, and drives the roller brush assembly 40 to rotate to clean the non-target area. And / or, when the current position of the cleaning robot 1000 is a non-target area, and the cleaning process switches from cleaning a non-target area to cleaning a target area, the drive component 20 drives the blocking component 50 to move to decrease the opening size of the suction inlet 11, and drives the roller brush assembly 40 to rotate to clean the target area. And / or, during at least a portion of the time that the cleaning robot 1000 is crossing an obstacle or entering / exiting the base station 3000 or mopping, the drive component 20 drives the lifting component 60 to move so as to raise the roller brush assembly 40 relative to the body; and / or, after the cleaning robot 1000 has crossed an obstacle or entered / exited the base station 3000 or during at least a portion of the time that it is sweeping, the drive component 20 drives the lifting component 60 to move so as to lower the roller brush assembly 40 relative to the body.

[0054] For the cleaning robot 1000, since the brush assembly 40 needs to contact the surface to be cleaned when the cleaning device 100 is used to perform the sweeping function, it is desirable that the brush assembly 40 of the cleaning device 100 is raised or not in contact with the surface to be cleaned when the cleaning robot 1000 encounters obstacles, enters or exits the base station 3000, or is used to perform the mopping function. This is to facilitate overcoming obstacles, climbing slopes when entering or exiting the base station 3000, or preventing the brush assembly 40 from getting wet and affecting the cleaning effect during mopping. Therefore, in some embodiments of this disclosure, during at least a portion of the time when the cleaning robot 1000 is crossing obstacles, entering or exiting the base station 3000, or mopping, the drive assembly 20 drives the lifting assembly 60 to move so as to raise the brush assembly 40 relative to the body 200. For example, when there are obstacles on the surface to be cleaned, the drive component 20 drives the lifting component 60 to move, causing the roller brush component 40 to rise relative to the body 200. This facilitates the cleaning robot 1000 in overcoming obstacles, improving its passability; it also helps the cleaning robot 1000 adapt to different cleaning environments, improving its cleaning effect. It is understood that in some embodiments, after the cleaning robot 1000 has overcome an obstacle, entered or exited the base station 3000, or during at least a portion of the sweeping period, the drive component 20 drives the lifting component 60 to move, causing the roller brush component 40 to descend relative to the body 200. This ensures that the roller brush component 40 cleans the surface to be cleaned properly.

[0055] In the cleaning device 100 of this embodiment, the cleaning device 100 includes a roller brush assembly 40, a shielding assembly 50, and a lifting assembly 60. The driving assembly 20 is used to drive the roller brush assembly 40 to rotate to clean the surface to be cleaned, drive the shielding assembly 50 to move to change the opening size of the suction port 11, and drive the lifting assembly 60 to move to drive the roller brush housing 10 to move, thereby causing the roller brush assembly 40 to rise and fall relative to the body 200. Thus, compared with related technologies, the cleaning device 100 can not only clean the surface to be cleaned, but also use the roller brush assembly 40, the shielding assembly 50, and the lifting assembly 60 to perform other functions, thereby improving the applicability of the cleaning robot 1000, meeting the user's needs, and improving the cleaning effect.

[0056] The cleaning device 100 will be further explained below with reference to the accompanying drawings.

[0057] Please refer to Figures 1 and 2. In some embodiments, the drive assembly 20 includes a drive member 21. The drive assembly 20 drives the roller brush assembly 40 to rotate to clean the surface to be cleaned, drives the shielding assembly 50 to move to change the opening size of the suction port 11, and drives the lifting assembly 60 to move to drive the roller brush housing 10 to move, thereby causing the roller brush assembly 40 to rise and fall relative to the body 200.

[0058] Specifically, in some embodiments, when the driving component 21 is operating stably, the driving component 21 can output driving force, and the driving force can be transmitted to the roller brush assembly 40, the blocking assembly 50, and the lifting assembly 60 to drive the roller brush assembly 40, the blocking assembly 50, and the lifting assembly 60 to move. The driving component 21 can be disposed on the roller brush housing 10 or the body 200. The driving component 21 and the roller brush housing 10 or the body 200 can be connected together using a detachable or non-detachable connection method. Non-detachable connection methods include, but are not limited to, bonding or welding; detachable connection methods include, but are not limited to, snap-fit ​​connections or threaded connections. It should be noted that in some embodiments, the driving component 21 can be a motor or an electric actuator, wherein the motor includes, but is not limited to, a DC servo motor, an AC servo motor, and a stepper motor.

[0059] More specifically, in some embodiments, the drive assembly 20 includes at least two drive members 21. For example, the drive assembly 20 includes two drive members 21. In this case, both drive members 21 can drive the roller brush assembly 40 to rotate to clean the surface to be cleaned, drive the shielding assembly 50 to move to change the opening size of the suction inlet, and drive the lifting assembly 60 to move the roller brush housing 10, thereby causing the roller brush assembly 40 to rise and fall relative to the body 200. For instance, one of the two drive members 21 can drive the roller brush assembly 40 to rotate to clean the surface to be cleaned, drive the shielding assembly 50 to move to increase the opening size of the suction inlet 11, and drive the lifting assembly 60 to move to raise the roller brush assembly 40 relative to the body 200; the other of the two drive members 21 can drive the roller brush assembly 40 to rotate to clean the surface to be cleaned, drive the shielding assembly 50 to move to decrease the opening size of the suction inlet 11, and drive the lifting assembly 60 to move to lower the roller brush assembly 40 relative to the body 200. For example, one of the two drive components 21 can drive the movement of one of the roller brush assembly 40, the blocking assembly 50, and the lifting assembly 60, while the other can drive the remaining two movements of the roller brush assembly 40, the blocking assembly 50, and the lifting assembly 60.

[0060] In some embodiments, the drive assembly 20 includes only one drive member 21. That is, one drive member 21 can simultaneously drive the roller brush assembly 40, the blocking assembly 50, and the lifting assembly 60. Therefore, the movement of the roller brush assembly 40, the blocking assembly 50, and the lifting assembly 60 can be achieved with only one power source, such as a motor. This reduces the production cost of the cleaning device 100 and the cleaning robot 1000 (shown in FIG. 20), and helps improve the competitiveness of the cleaning robot 1000. Furthermore, since the number of power sources is smaller, the space occupied by the cleaning robot 1000 can be minimized, resulting in fewer parts and easier disassembly, assembly, and maintenance of the cleaning device 100 and the cleaning robot 1000, thereby facilitating the miniaturization of the cleaning device 100 and the cleaning robot 1000. For ease of explanation, the following embodiments only illustrate the example of the drive assembly 20 including only one drive member 21.

[0061] Please continue referring to Figures 1 and 2. Further, in some embodiments, the drive assembly 20 also includes a transmission component 23. The transmission component 23 is connected to the output end of the drive member 21 and is used to transmit the driving force of the drive member 21 to the roller brush assembly 40, the blocking assembly 50, and the lifting assembly 60. Specifically, in some embodiments, when the drive member 21 is operating stably, the drive member 21 can output driving force, and the driving force can be transmitted through the transmission component 23 to the roller brush assembly 40, the blocking assembly 50, and the lifting assembly 60 to drive the roller brush assembly 40, the blocking assembly 50, and the lifting assembly 60 to move.

[0062] In some embodiments, when the output end of the drive member 21 rotates in a first rotation direction, the transmission member 23 transmits the driving force of the drive member 21 to the roller brush assembly 40, which can drive the roller brush 41 to rotate to clean the surface to be cleaned. When the output end of the drive member 21 rotates in a second rotation direction, the transmission member 23 transmits the driving force of the drive member 21 to at least the shielding assembly 50 or the lifting assembly 60, and the first rotation direction and the second rotation direction are opposite. It should be noted that in some embodiments, when the drive member 21 is a motor, the output end of the drive member 21 is the output shaft of the drive member 21.

[0063] Specifically, in some embodiments, when the output shaft of the drive member 21 rotates in the first rotation direction, the transmission member 23 can transmit the driving force of the drive member 21 to the roller brush assembly 40 to drive the roller brush assembly 40 to move and clean the surface to be cleaned. In this case, the transmission member 23 will not transmit the driving force of the drive member 21 to the shielding assembly 50 and the lifting assembly 60, that is, the shielding assembly 50 and the lifting assembly 60 remain in a stopped state. When the output shaft of the drive member 21 rotates in the second rotation direction, the transmission member 23 can transmit the driving force of the drive member 21 to the shielding assembly 50 to drive the shielding assembly 50 to move and change the opening size of the suction port 11; or, transmit the driving force of the drive member 21 to the lifting assembly 60 to drive the lifting assembly 60 to move and drive the roller brush assembly 40 to rise and fall relative to the body 200; or, transmit the driving force of the drive member 21 to the roller brush assembly 40 to drive the roller brush assembly 40 to rotate. Therefore, the cleaning device 100 can achieve different functions by controlling the rotation direction of the output end of the drive unit 21, thereby improving the applicability of the cleaning robot 1000 (shown in FIG20).

[0064] In some embodiments, as the output end of the drive member 21 rotates in a first rotation direction, the roller brush assembly 40 rotates in a first direction. As the output end of the drive member 21 rotates in a second rotation direction, the roller brush assembly 40 rotates in a second direction, and the cleaning device 100 includes at least one of a first state, a second state, and a third state, where the first direction is opposite to the second direction. Specifically: in the first state, the drive member 21 drives the blocking assembly 50 to move to change the opening size of the suction inlet; in the second state, the drive member 21 does not drive the blocking assembly 50 to move, nor does it drive the lifting assembly 60 to move; in the third state, the drive member 21 drives the lifting assembly 60 to move to raise and lower the roller brush assembly 40 relative to the body 200.

[0065] Specifically, the cleaning device 100 includes the following states: In a first state, the drive member 21 drives the blocking assembly 50 to move, thereby reducing or increasing the opening size of the suction inlet 11; in a second state, the drive member 21 does not drive the blocking assembly 50 to move, nor does it drive the lifting assembly 60 to move; in a third state, the drive member 21 drives the lifting assembly 60 to move, thereby causing the roller brush assembly 40 to rise or fall relative to the body 200. For example, the cleaning robot 1000 includes a deep cleaning mode, a normal cleaning mode, and a lifting mode. Specifically, during the process of the cleaning robot 100 switching from deep cleaning mode to normal cleaning mode, the drive component 21 drives the shielding component 50 to move, thereby increasing the opening size of the suction inlet 11; during the process of the cleaning robot 1000 switching from normal cleaning mode to lifting mode, the drive component 21 drives the lifting component 60 to move, thereby causing the roller brush component 40 to rise relative to the body 200; during the process of the cleaning robot 1000 switching from lifting mode to normal cleaning mode, the drive component 21 drives the lifting component 60 to move, thereby causing the roller brush component 40 to fall relative to the body 200; during the process of the cleaning robot 1000 switching from normal cleaning mode to deep cleaning mode, the drive component 21 drives the shielding component 50 to move, thereby increasing the opening size of the suction inlet 1 ... 0. Movement to reduce the opening size of the suction inlet 11; During the process of the cleaning robot 1000 switching from deep cleaning mode to lifting mode, the drive component 21 drives the shielding component 50 to move to increase the opening size of the suction inlet 11, and drives the lifting component 60 to move to drive the roller brush component 40 to rise relative to the body 200, so as to drive the roller brush component 40 to rise relative to the body 200; During the process of the cleaning robot 1000 switching from lifting mode to deep cleaning mode, the drive component 21 drives the shielding component 50 to move to reduce the opening size of the suction inlet 11, and drives the lifting component 60 to move to drive the roller brush component 40 to fall relative to the body 200, so as to drive the roller brush component 40 to fall relative to the body 200.

[0066] Specifically, in some embodiments, as the output end of the drive unit 21 rotates along the first rotation direction, the roller brush assembly 40 rotates along the first direction. At this time, the roller brush assembly 40 can clean the surface to be cleaned, and the cleaning device 100 can realize the sweeping function of the cleaning robot 1000. More specifically, the opening size of the suction port 11 in the normal cleaning mode and the lifting mode is larger than the opening size of the suction port 11 in the deep cleaning mode; the height of the roller brush assembly 40 relative to the body 200 in the deep cleaning mode and the normal cleaning mode is smaller than the height of the roller brush assembly 40 relative to the body 200 in the lifting mode. Thus, in the deep cleaning mode, the roller brush assembly 40 can perform deep cleaning of the surface to be cleaned (e.g., the target area); in the normal cleaning mode, the roller brush assembly 40 can perform routine cleaning of the surface to be cleaned (e.g., the non-target area); in the lifting mode, the roller brush assembly 40 can be lifted relative to the body 200 to facilitate obstacle crossing, entering and exiting the base station, or performing mopping tasks, etc. During the rotation of the output end of the drive unit 21 along the second rotation direction, the cleaning device 100 can switch between deep cleaning mode, normal cleaning mode and lifting mode, so that the cleaning device 100 can be used in different working scenarios, improve the applicability of the cleaning device 100 and ensure the cleaning effect of the cleaning device 100.

[0067] Referring to Figures 1 to 3, in some embodiments, the transmission component 23 includes a first output end. The blocking assembly 50 includes a blocking component 501, which is connected to the first output end of the transmission component 23. The blocking component 501 is movable relative to the roller brush housing 10 to change the opening size of the suction port 11. It should be noted that in some embodiments, the first output end of the transmission component 23 may be a portion of the transmission component 23 that cooperates with the blocking component 501 and is capable of transmitting the driving force of the drive member 21 to the blocking component 50.

[0068] Specifically, in some embodiments, when the output end of the drive member 21 rotates in the second rotation direction, the driving force of the drive member 21 can be transmitted to the blocking member 501 through the first output end of the transmission member 23, and drive the blocking member 501 to move relative to the roller brush housing 10 to change the opening size of the suction port 11, thereby enabling the cleaning robot 1000 to be adapted to different working scenarios. That is, whether the current position of the cleaning robot 1000 is in the target area or a non-target area, the cleaning robot 1000 can effectively clean the surface to be cleaned, thereby improving the cleaning effect of the cleaning robot 1000.

[0069] Further, referring to Figures 3 and 4, in some embodiments, the blocking component 501 includes a blocking member 51 and a connecting member 53. The blocking member 51 is connected to the roller brush housing 10 and is used to block the opening of the suction port 11. One end of the connecting member 53 is connected to the first output end of the transmission component 23, and the other end of the connecting member 53 is connected to the blocking member 51. When the connecting member 53 moves along the first direction (A1 / A2), the blocking member 51 moves relative to the roller brush housing 10 to switch between a first blocking position (shown in Figure 3) and a second blocking position (shown in Figure 4). When the blocking member 51 is in the first blocking position, the opening size of the suction port 11 is larger than the opening size of the suction port 11 when the blocking member 51 is in the second blocking position.

[0070] Specifically, in some embodiments, when the output end of the drive member 21 rotates in the second rotation direction, the driving force of the drive member 21 can be transmitted to the connector 53 through the first output end of the transmission member 23, and drive the connector 53 to move relative to the roller brush housing 10 in the first direction (A1 / A2), so as to drive the blocking member 51 to move relative to the roller brush housing 10, thereby switching the blocking member 51 between the first blocking position and the second blocking position to change the opening size of the suction port 11, thereby changing the vacuum degree between the surface to be cleaned and the receiving cavity 18 during operation, so that the cleaning robot 1000 can be adapted to different working scenarios and improve the cleaning effect.

[0071] It should be noted that, in some embodiments, the cross section of the shielding member 51 cut by a plane perpendicular to the forward direction X of the cleaning robot 1000 is greater than or equal to the cross section of the suction port 11 cut by a plane perpendicular to the forward direction X of the cleaning robot 1000. Thus, during the process of the shielding member 51 switching from the first shielding position to the second shielding position, the shielding member 51 can effectively shield the suction port 11 to reduce the opening size of the suction port 11.

[0072] Optionally, the shielding member 51 can be made of an elastic material, including but not limited to rubber and silicone. Thus, during the cleaning process of the cleaning device 100 cleaning debris from the surface to be cleaned, the shielding member 51 can undergo a certain elastic deformation to allow the debris to smoothly pass through the suction port 11 into the receiving cavity 18, thereby preventing the shielding member 51 from obstructing the debris and improving the cleaning effect. Furthermore, using an elastic material also prevents the shielding member 51 from rigidly colliding with harder debris or the surface to be cleaned, thus extending its service life and ensuring the normal operation of the shielding assembly 50. Of course, in other embodiments, the shielding member 51 can also be made of a non-elastic material.

[0073] Referring to Figure 2, in some embodiments, the brush housing 10 is provided with a guide 15 for guiding the connector 53 to move along a first direction (A1 / A2). One of the guide 15 and the connector 53 has a guide groove, and the other has a guide post, at least a portion of which is received within the guide groove, and the two are slidably connected. Exemplarily, the guide 15 has a guide groove, the connector 53 has a guide post, the guide 15 receives at least a portion of the connector 53, and guides the connector 53 to move along the first direction (A1 / A2).

[0074] Specifically, in some embodiments, the guide member 15 is provided with a guide groove, and the connector 53 is provided with a guide post. The guide member 15 can be recessed from the outer side wall of the roller brush housing 10 toward the receiving cavity 18 of the roller brush housing 10. At least a portion of the connector 53 is disposed in the guide member 15. Thus, while guiding the connector 53 to move along the first direction (A1 / A2), the guide member 15 can also limit the moving direction and travel of the connector 53 relative to the roller brush housing 10. This prevents the moving direction and travel of the connector 53 in the first direction (A1 / A2) from being unrestricted when the program of the drive member 21 malfunctions, which could lead to the connector 53 colliding and being damaged with other structures of the cleaning device 100. This ensures the stability and reliability of the cleaning device 100.

[0075] Referring to Figure 5, in some embodiments, in a direction perpendicular to the first direction (A1 / A2), the guide member 15 includes opposing first guide sidewalls 151 and second guide sidewalls 153, and the connector 53 includes opposing first connecting sidewalls 535 and second connecting sidewalls 536. The first connecting sidewall 535 and the first guide sidewall 151 are slidably engaged, and the second connecting sidewall 536 and the second guide sidewall 153 are also slidably engaged. Further, in some embodiments, one of the first connecting sidewall 535 and the first guide sidewall 151 is provided with a guide groove, and the other with a guide post; one of the second connecting sidewall 536 and the second guide sidewall 153 is provided with a guide groove, and the other with a guide post. For example, the first connecting sidewall 535 is provided with a guide post, and the first guide sidewall 151 is provided with a guide groove; the second connecting sidewall 536 is provided with a guide post, and the second guide sidewall 153 is provided with a guide groove. This reduces the resistance of the connector 53 sliding in the guide 15, reduces the power consumption required for the drive assembly 20 to drive the shielding component 501, and increases the battery life of the cleaning robot 1000. On the other hand, it reduces the possibility of the connector 53 getting stuck in the guide 15, ensures the normal movement of the connector 53 along the first direction (A1 / A2), and improves the stability and reliability of the shielding component 501.

[0076] Furthermore, in some embodiments, a first protruding structure 537 is provided on the first connecting sidewall 535. The first protruding structure 537 extends from the first connecting sidewall 535 in a direction away from the second connecting sidewall 536 and abuts against the first guiding sidewall 151.

[0077] Specifically, the first protruding structure 537 may include multiple spaced protrusions. The protrusions extend from the first connecting sidewall 535 in a direction away from the second connecting sidewall 536. When the connector 53 is disposed in the guide member 15, the protrusions abut against the first guide sidewall 151. Thus, compared to the first connecting sidewall 535 directly abutting against the first guide sidewall 151, the arrangement of the first protruding structure 537 can reduce the contact area between the first connecting sidewall 535 and the first guide sidewall 151, thereby reducing the friction between the connector 53 and the guide member 15. This can reduce the power consumption required for the drive assembly 20 to drive the blocking member 501 to move, increasing the battery life of the cleaning robot 1000. On the other hand, it can reduce the possibility of the connector 53 getting stuck in the guide member 15, ensuring the normal movement of the connector 53 along the first direction (A1 / A2), and improving the stability and reliability of the blocking member 501.

[0078] It is understood that in other embodiments, a first protruding structure 537 may be provided on the first guide sidewall 151. The first protruding structure 537 protrudes from the first guide sidewall 151 toward the direction close to the second guide sidewall 153, and abuts against the first connecting sidewall 535. The structure of the first protruding structure 537 in this embodiment is basically the same as that in the above embodiments, and will not be described in detail here.

[0079] In some embodiments, a second protruding structure is provided on the second connecting sidewall 536. The second protruding structure extends from the second connecting sidewall 536 in a direction away from the first connecting sidewall 535 and abuts against the second guiding sidewall 153.

[0080] Specifically, the second protruding structure may include multiple spaced protrusions. The protrusions extend from the second connecting sidewall 536 in a direction away from the first connecting sidewall 535. When the connector 53 is disposed in the guide 15, the protrusions abut against the second guide sidewall 153. Thus, compared to the second connecting sidewall 536 directly abutting against the second guide sidewall 153, the second protruding structure can reduce the contact area between the second connecting sidewall 536 and the second guide sidewall 153, thereby reducing the friction between the connector 53 and the guide 15. This can reduce the power consumption required for the drive assembly 20 to drive the blocking component 501 to move, increasing the battery life of the cleaning robot 1000. On the other hand, it can reduce the possibility of the connector 53 getting stuck in the guide 15, ensuring the normal movement of the connector 53 along the first direction (A1 / A2), and improving the stability and reliability of the blocking component 501.

[0081] It is understood that in other embodiments, a second protruding structure is provided on the second guide sidewall 153. The second protruding structure extends from the second guide sidewall 153 toward the first guide sidewall 151 and abuts against the second connecting sidewall 536. The structure of the second protruding structure in this embodiment is basically the same as that in the above embodiments, and will not be described in detail here.

[0082] Please refer to Figures 1 to 4. In some embodiments, the shielding member 51 is rotatably connected to the cover 12. The shielding member 51 does not contact the surface to be cleaned in the first shielding position, and the shielding member 51 contacts the surface to be cleaned in the second shielding position.

[0083] Specifically, in some embodiments, when the driving force output by the drive member 21 is transmitted to the blocking member 51 at the first output end of the transmission member 23, the blocking member 51 can rotate relative to the cover 12 to move between a first blocking position and a second blocking position. In the first blocking position, the blocking member 51 is not in contact with the surface to be cleaned; at this time, the opening of the suction inlet 11 is relatively large, and the current position of the cleaning robot 1000 can be a non-target area. In the second blocking position, the blocking member 51 is in contact with the surface to be cleaned; at this time, the opening of the suction inlet 11 is relatively small, and the current position of the cleaning robot 1000 can be the target area.

[0084] Further, referring to Figure 5, in some embodiments, the shielding member 51 includes two connecting arms 511 and a shielding portion 513. One end of the two connecting arms 511 is rotatably connected to the cover 12, and the shielding portion 513 is connected to the other end of both connecting arms 511. For example, the shielding member 51 is U-shaped. The shielding portion 513 is disposed on the side where the first side 103 of the cover 12 is located. When the connecting arms 511 rotate relative to the cover 12, the size of the gap between the shielding portion 513 and the surface to be cleaned is changed by moving the shielding portion 513, thereby changing the opening size of the suction port 11. For example, the opening size of the suction port 11 can be the height of the shielding portion 513 and the surface to be cleaned in a direction perpendicular to the surface to be cleaned. That is, in the direction perpendicular to the surface to be cleaned, the greater the height of the shielding portion 513 from the surface to be cleaned, the larger the opening size of the corresponding suction port 13.

[0085] Specifically, in some embodiments, the shielding portion 513 may be flat or curved. In one example, when the shielding portion 513 is flat, the plane on which the shielding portion 513 is located is parallel to the height direction of the cleaning robot 1000, and in this case, the plane on which the shielding portion 513 is located is substantially perpendicular to the surface to be cleaned. In another example, when the shielding portion 513 is flat, the angle between the plane on which the shielding portion 513 is located and the height direction of the cleaning robot 1000 is an acute angle, and the distance between the shielding portion 513 and the surface to be cleaned gradually increases in the forward direction X of the cleaning robot 1000. This facilitates the shielding portion 513 in gathering debris (such as dust or particulate matter) to the suction port 11, thereby improving the cleaning effect of the cleaning device 100.

[0086] In some embodiments, the connecting arm 511 and the shielding part 513 may be an integral structure, that is, the connecting arm 511 and the shielding part 513 may be integrally molded to form a single structure, thereby improving the bonding strength between the connecting arm 511 and the shielding part 513 and preventing cracking between the connecting arm 511 and the shielding part 513 during the cleaning process of the cleaning device 100, thereby improving the stability and reliability of the cleaning device 100 and the cleaning robot 1000. In other embodiments, the connecting arm 511 and the shielding part 513 may be separate structures, that is, the connecting arm 511 and the shielding part 513 are two different structures. The connecting arm 511 and the shielding part 513 may be combined using a non-detachable connection method or a detachable connection method, wherein the non-detachable connection method includes, but is not limited to, bonding or welding; the detachable connection method includes, but is not limited to, snap-fit ​​connection or threaded connection.

[0087] Please refer to Figures 2 and 5. In some embodiments, the shielding member 51 further includes a supporting portion 515, which is disposed on the side opposite to the shielding member 513 and the connector 53, and the supporting portion 515 is connected to the connector 53.

[0088] Specifically, in some embodiments, the abutment portion 515 may protrude from the blocking portion 513 toward the connector 53, and when the cleaning device 100 is assembled, the abutment portion 515 can abut against the connector 53. Thus, when the connector 53 moves relative to the roller brush housing 10 in the opposite direction (A1 / A2) along the first direction (A1 / A2), the connector 53 can apply force to the blocking portion 51 through the abutment portion 515, thereby causing the blocking portion 51 to switch from a first blocking position to a second blocking position. Furthermore, the abutment portion 515 facilitates the installation and positioning of the blocking portion 51 and the connector 53, thereby improving the assembly efficiency of the cleaning device 100.

[0089] Referring to Figure 1, in some embodiments, the blocking assembly 50 further includes a second elastic member 505 disposed between the blocking member 51 and the roller brush housing 10. The second elastic member 505 is used to provide a force that causes the blocking member 51 to move toward the first blocking position.

[0090] Specifically, in some embodiments, when the connector 53 moves in the opposite direction (A2) of the first direction (A1 / A2), the connector 53 applies a force to the blocking member 51, causing the blocking member 51 to move relative to the brush housing 10 towards the second blocking position. In this case, the second elastic member 505 generates an elastic force. When the connector 53 moves in the forward direction (A1) of the first direction (A1 / A2), the connector 53 does not apply a force to the blocking member 51. In this case, the elastic force generated by the second elastic member 505 can cause the blocking member 51 to move towards the first blocking position. Thus, the provision of the second elastic member 505 facilitates the movement of the blocking member 51 relative to the brush housing 10 to switch between the first blocking position and the second blocking position, reducing the power consumption of the drive member 21 during the movement of the blocking member 51. That is, when the blocking member 51 moves relative to the brush housing 10 towards the first blocking position, the drive member 21 can be used without driving, thereby increasing the battery life of the cleaning robot 1000.

[0091] It should be noted that in some embodiments, the second elastic element 505 may be a tension spring or a torsion spring, etc. For example, when the second elastic element 505 is a torsion spring, the second elastic element 505 is disposed between the connecting arm 511 and the brush housing 10. Wherein, when the connecting member 53 moves in the opposite direction A2 along the first direction (A1 / A2), the torsion spring is compressed to generate an elastic force; when the connecting member 53 moves in the forward direction A1 along the first direction (A1 / A2), the elastic force generated by the torsion spring can cause the blocking member 51 to move toward the first blocking position.

[0092] In one example, one second elastic member 505 is included. In this case, the second elastic member 505 can be connected to the middle position of the blocking member 51 in a direction perpendicular to both the forward direction X and the height direction Z of the cleaning robot 1000 (e.g., direction C in Figure 2), thereby ensuring the stability of the movement of the blocking member 51 relative to the roller brush housing 10. In another example, two second elastic members 505 are included, and the two second elastic members 505 can be disposed at opposite ends of the blocking member 51 in a direction perpendicular to both the forward direction X and the height direction Z of the cleaning robot 1000.

[0093] Referring to Figures 1 and 2, in some embodiments, the transmission component 23 includes a second output end. The lifting assembly 60 includes a connecting shaft 61 and a lifting member 63. The connecting shaft 61 is fixedly mounted on the roller brush housing 10. The lifting member 63 is rotatably sleeved on the connecting shaft 61 and can engage or disengage with the second output end of the transmission component 23. When the second output end of the transmission component 23 engages with the lifting member 63, the lifting member 63 rotates about the connecting shaft 61 in the positive direction B2 of the second direction (B1 / B2) to switch from a first lifting position to a second lifting position. When the second output end of the transmission component 23 disengages from the lifting member 63, the lifting member 63 rotates about the connecting shaft 61 in the opposite direction B1 of the second direction (B1 / B2) to switch from the second lifting position to the first lifting position. When the lifting member 63 is in the first lifting position, the distance between the roller brush assembly 40 and the surface to be cleaned is less than the distance between the roller brush assembly 40 and the surface to be cleaned when the lifting member 63 is in the second lifting position.

[0094] In some embodiments, the lifting assembly 60 further includes a restoring member 64, which is connected to the connecting shaft 61 and the lifting member 63. When the second output end of the transmission component 23 is disengaged from the lifting member 63, the restoring member 64 provides a force to the lifting member 63, causing the lifting member 63 to rotate about the connecting shaft 61 in the opposite direction (B1 / B2) B1 to switch from the second lifting position to the first lifting position. That is, the force provided by the restoring member 64 can restore the lifting member 63 to its original position without requiring the driving assembly 20 to output power, thus saving power. For example, the restoring member 64 can be a torsion spring, which can be sleeved on the connecting shaft 61 and abut against the lifting member 63. When the lifting member 63 moves from the first lifting position to the second lifting position, the torsion spring deforms under force. When the second output end of the transmission component 23 is disengaged from the lifting member 63, the torsion spring returns to its original shape to provide a force to the lifting member 63, causing it to return from the second lifting position to the first lifting position.

[0095] It should be noted that, in some embodiments, the second output end of the transmission component 23 can be a portion of the transmission component 23 that can cooperate with the lifting assembly 60 and transmit the driving force of the driving component 21 to the lifting component 63. For example, when the second output end of the transmission component 23 cooperates with the lifting component 63, the lifting component 63 rotates about the connecting shaft 61 in the positive direction B2 of the second direction (B1 / B2) to switch from the first lifting position to the second lifting position. The lifting component 63 applies a force to the bracket 210 of the machine body 200 (e.g., pressing the bracket 210 downwards towards the surface to be cleaned), causing the roller brush housing 10 to rotate about the rotating shaft 220 (the rotating arm 16 of the roller brush housing 10 is connected to the machine body 200 via the rotating shaft 220), thereby lifting the roller brush housing 10 upwards and driving the roller brush assembly 40 upwards. It is understandable that when the second output end of the transmission component 23 is engaged with the lifting component 60, the roller brush housing 10 can be raised or lowered. Since the roller brush component 40 is connected to the roller brush housing 10, it will be raised or lowered along with it.

[0096] Specifically, in some embodiments, when the output end of the drive member 21 rotates in the second rotation direction, the driving force of the drive member 21 can be transmitted to the lifting member 63 through the second output end of the transmission member 23, and drive the lifting member 63 to rotate around the connecting shaft 61 to switch between the first lifting position and the second lifting position, and drive the roller brush assembly 40 to rise and fall relative to the body 200. This facilitates the cleaning robot 1000 to overcome obstacles and improves its passability. On the other hand, it helps the cleaning robot 1000 adapt to different cleaning environments and improves its cleaning effect.

[0097] Referring to Figures 1 to 3, in some embodiments, the transmission component 23 includes a third output end, which is connected to the roller brush 41. The roller brush 41 rotates relative to the roller brush cavity shell 14 under the drive of the drive member 21. It should be noted that, in some embodiments, the third output end of the transmission component 23 can be a portion of the transmission component 23 that can cooperate with the roller brush 41 and transmit the driving force of the drive member 21 to the roller brush 41.

[0098] Specifically, in some embodiments, when the output end of the drive member 21 rotates in the first rotation direction, the driving force of the drive member 21 can be transmitted to the roller brush 41 through the third output end of the transmission member 23, so as to drive the roller brush 41 to rotate relative to the roller brush cavity shell 14 in the first direction, thereby achieving cleaning of the surface to be cleaned. When the output end of the drive member 21 rotates in the second rotation direction, the driving force of the drive member 21 can be transmitted to the roller brush 41 through the third output end of the transmission member 23, so as to drive the roller brush 41 to rotate relative to the roller brush cavity shell 14 in the second direction. When the output end of the drive member 21 rotates in the second rotation direction, the driving force of the drive member 21 can be transmitted to the roller brush 41, the shielding member 51, or the lifting member 63 through the transmission member 23 to adjust the position of the shielding member 51 or the lifting member 63. The process is relatively short, and the rotation of the roller brush 41 is also short, resulting in limited cleaning of the surface to be cleaned. Therefore, after adjusting the position of the shielding member 51 or the lifting member 63, the output end of the drive member 21 can be controlled to rotate in the first rotation direction to drive only the roller brush 41 to rotate and perform the cleaning work. At this time, the shielding member 51 or the lifting member 63 will not change.

[0099] Referring to Figure 6, in some embodiments, the cleaning device 100 further includes a detection component 80 disposed on the roller brush housing 10 and the transmission component 23. The detection component 80 is used to detect the position of the moving part 2352 in the transmission component 23 relative to the roller brush housing 10.

[0100] The detection component 80 enables the cleaning device 100 to obtain the current position of the moving part 2352 and obtain the position of the shielding component 50 and the lifting component 60 relative to the roller brush housing 10 based on the current position of the moving part 2352. This facilitates the cleaning device 100 to adjust the position of the moving part 2352 in a timely and accurate manner, thereby adjusting the position of the shielding component 50 and the lifting component 60 and ensuring the stability and reliability of the cleaning device 100.

[0101] Furthermore, in some embodiments, the detection component 80 includes a first detection element 81 and a second detection element 83, one of which is disposed on the brush housing 10 and the other is disposed on the moving element 2352. The first detection element 81 and the second detection element 83 cooperate to detect the position of the moving element 2352 relative to the brush housing 10.

[0102] Specifically, in some embodiments, one of the first detection element 81 and the second detection element 83 may be an electromagnetic sensor (e.g., a Hall sensor), a photoelectric sensor (e.g., a laser sensor), or an ultrasonic sensor, and the other of the first detection element 81 and the second detection element 83 may be a component that can cooperate with an electromagnetic sensor (e.g., a Hall sensor), a photoelectric sensor (e.g., a laser sensor), or an ultrasonic sensor. Thus, the first detection element 81 and the second detection element 83 can cooperate to jointly detect the movement position of the moving element 2352 relative to the brush housing 10.

[0103] For example, one of the first detection element 81 and the second detection element 83 is a light emitter and the other is a light receiver. The light emitter is used to emit light (laser or infrared light, etc.) and the light receiver is used to receive light and indicate the position of the moving element 2352 relative to the brush housing 10 according to the received light.

[0104] In other embodiments, the cleaning device 100 further includes a detection component 80 disposed in the brush housing 10 and at least one of the blocking component and the lifting component, the detection component 80 being used to detect the position of the blocking member 51 of the blocking component 50 relative to the brush housing 10 and / or the position of the lifting member 63 of the lifting component 60 relative to the brush housing 10.

[0105] The detection component 80 enables the cleaning device 100 to directly obtain the position of the shielding component 51 and / or the lifting component 63 relative to the roller brush housing 10, which is beneficial for the cleaning device 100 to adjust the position of the shielding component 50 and the lifting component 60, and ensures the stability and reliability of the cleaning device 100 in operation.

[0106] Furthermore, in some embodiments, the detection component 80 includes a first detection element 81 and a second detection element 83. One of the first detection element 81 and the second detection element 83 is disposed in the brush housing 10, and the other is disposed in the blocking component 50 and / or the lifting component 60. The first detection element 81 and the second detection element 83 cooperate to detect the position of the connecting member 53 relative to the brush housing 10 and / or the position of the lifting member 63 relative to the brush housing 10. It is understood that the first detection element 81 and the second detection element 83 in this embodiment are substantially the same as those in the above embodiments, and will not be described again here.

[0107] Please refer to Figures 1, 12, or 15. In some embodiments, the cleaning device 100 may also include a protective cover 91. The protective cover 91 is disposed on the roller brush housing 10 and together with the roller brush housing 10 forms an installation space. At least a portion of the transmission component 23 is located within the installation space. Thus, the protective cover 91 can prevent external water, dust, sand, or other impurities from contacting the transmission component 23, thereby preventing impurities from damaging the transmission component 23 and preventing the risk of impurities causing jamming in the operation of the transmission component 23, ensuring the stability and reliability of the cleaning device 100.

[0108] It should be noted that, in some embodiments, the protective cover 91 and the roller brush housing 10 can be connected together by a detachable connection or a non-detachable connection. The detachable connection includes, but is not limited to, snap-fit ​​connection or threaded connection; the non-detachable connection includes, but is not limited to, bonding or welding.

[0109] Please refer to Figures 1, 2, 3, and 19. In some embodiments, the cleaning device 100 further includes a fan connected to the receiving cavity 18. When the fan draws air, a negative pressure state can be formed in the receiving cavity 18. At this time, there is a certain pressure difference between the receiving cavity 18 and the external atmospheric pressure, thereby giving the receiving cavity 18 a certain suction force to achieve the suction of garbage on the surface to be cleaned. It can be understood that when the shielding component 50 moves to reduce the opening size of the suction port 11, the receiving cavity 18 can more effectively achieve a high vacuum, thereby effectively improving the cleaning effect of the cleaning device 100.

[0110] However, if there is a large gap between the shielding component 50 and the cover 12, even when the shielding component 50 moves to reduce the opening size of the suction port 11, the receiving cavity 18 can still communicate with the outside through the gap between the shielding component 50 and the cover 12, which will make it difficult for the receiving cavity 18 to achieve a high vacuum and affect the cleaning effect of the cleaning device 100.

[0111] Referring to Figure 19, in some embodiments of this disclosure, the cleaning device 100 further includes a first seal 93 connected to the shielding assembly 50. During at least a portion of the time period when the shielding assembly 50 reduces the opening size of the suction inlet 11, the first seal 93 seals the gap between the shielding assembly 50 and the cover 12. Thus, the first seal 93 ensures the sealing effect of the receiving cavity 18 after the shielding assembly 50 reduces the opening size of the suction inlet 11, enabling the receiving cavity 18 to achieve a high vacuum, thereby improving the cleaning effect of the cleaning device 100. It should be noted that in some embodiments, the material of the first seal 93 includes, but is not limited to, rubber, silicone, and foam.

[0112] Specifically, in some embodiments, the first sealing member 93 may be disposed on the blocking portion 513 of the blocking member 51 and cooperate with the first side 103 of the cover 12. When the blocking assembly 50 reduces the opening size of the suction port 11 and the fan draws air, the first sealing member 93 can swing toward the cover 12 and abut against the cover 12 to seal the gap between the blocking assembly 50 and the cover 12.

[0113] Referring to Figures 1 and 19, in some embodiments, the body 200 is provided with a mounting housing 230 for accommodating at least a portion of the roller brush housing 10. Specifically, in some embodiments, the mounting housing 230 is provided with a mounting space 250, which is recessed from the side of the mounting housing 230 facing the surface to be cleaned toward a direction away from the surface to be cleaned. At least a portion of the roller brush housing 10 is disposed within the mounting space 250. The mounting space 250 reduces the space occupied by the cleaning device 100 and the body 200, thus facilitating the miniaturization of the cleaning robot. Furthermore, it facilitates the mounting and positioning of the cleaning device 100 on the body 200, thereby improving the assembly efficiency of the cleaning device 100.

[0114] Typically, referring to Figures 2 and 3, when the cleaning device 100 is installed on the mounting housing 230, a certain gap needs to be maintained between the cleaning device 100 and the mounting housing 230 to prevent interference between the shielding component 50 and the mounting housing 230 during movement. However, when the cleaning device 100 is cleaning the surface to be cleaned, dust or other dirt can easily enter the gap between the shielding component 50 and the mounting housing 230, thus easily affecting the cleaning effect. For example, in one possible scenario, dirt in the gap between the shielding component 50 and the mounting housing 230 can easily fall onto the cleaned surface to be cleaned, affecting the cleaning effect.

[0115] In some embodiments of this disclosure, the cleaning device 100 further includes a second seal 95, which is disposed between the shielding member 51 of the shielding assembly 50 and the mounting housing 230. The second seal 95 seals the gap between the shielding member 51 and the mounting housing 230. Therefore, the second seal 95 prevents external dust and other dirt from entering the gap between the shielding member 51 and the mounting housing 230, thereby ensuring the cleanliness of the cleaning robot and improving its cleaning effect. It should be noted that in some embodiments, the material of the second seal 95 includes, but is not limited to, rubber, silicone, and foam.

[0116] Specific Implementation Method 1 of this Application

[0117] Please refer to Figures 1, 2, and 5. In Embodiment 1, the connecting member 53 of the shielding assembly 50 includes a first sub-component 531 and a second sub-component 532. The first sub-component 531 is connected to the shielding member 51. The second sub-component 532 is provided with a matching member 56, which is connected to the first output end of the transmission member 23. The second sub-component 532 is connected to the first sub-component 531. When the connecting member 53 moves along the first direction (A1 / A2), the second sub-component 532 and the first sub-component 531 are either relatively stationary or relatively moving.

[0118] In cases where the shielding member 51 is subjected to an external force (e.g., the force generated when the shielding member 51 collides with an obstacle or a protrusion on the surface to be cleaned during the operation of the cleaning device 100), and the shielding member 51 cannot move relative to the surface to be cleaned to release the external force, the shielding member 51 will be damaged, affecting the service life of the shielding assembly 50 and the normal operation of the cleaning device 100. Therefore, in this embodiment, the second sub-component 532 and the first sub-component 531 can move relative to each other, allowing the shielding member 51 to move away from the surface to be cleaned when subjected to an external force to release the external force, thereby reducing the possibility of damage to the shielding assembly 50, extending the service life of the shielding assembly 50, and ensuring the normal operation of the cleaning device 100. In addition, when the external force on the shielding member 51 disappears, the second sub-component 532 and the first sub-component 531 can move relative to each other to allow the shielding member 51 to return to its previous position.

[0119] In this embodiment, one of the first sub-component 531 and the second sub-component 532 is provided with a protrusion 5301, and the other is provided with an accommodating space 5303. The bottom of the accommodating space 5303 is provided with a groove 5305 extending along a first direction (A1 / A2). The protrusion 5301 extends into the groove 5305 and can move within the groove 5305 along the first direction (A1 / A2). It should be noted that in some embodiments, the quantitative relationship between the protrusion 5301 and the groove 5305 can be one-to-one; or many-to-one, that is, one protrusion 5301 corresponds to one groove 5305; or, multiple protrusions 5301 correspond to one groove 5305.

[0120] The accommodating space 5303 serves two purposes: firstly, it guides the relative movement of the first sub-component 531 and the second sub-component 532, ensuring the stability of their relative movement; secondly, it reduces the space occupied by the first sub-component 531 and the second sub-component 532, which is beneficial for miniaturizing the cleaning device 100; and thirdly, it facilitates the installation and positioning of the first sub-component 531 and the second sub-component 532, thereby improving the assembly efficiency of the connector 53.

[0121] Specifically, in some embodiments, the first sub-component 531 is provided with a protrusion 5301, and the second sub-component 532 is provided with an accommodating space 5303. In this case, when the first sub-component 531 extends into the accommodating space 5303, the protrusion 5301 can extend into the groove 5305. Thus, the cooperation of the protrusion 5301 and the groove 5305 can restrict the direction of relative movement of the first sub-component 531 and the second sub-component 532, that is, restrict the first sub-component 531 and the second sub-component 532 to only be able to move relative to each other along a first direction (A1 / A2).

[0122] In one example, the groove 5305 can be a through groove, meaning that the groove 5305 extends through the bottom of the accommodating space 5303. This allows for quick troubleshooting when the relative movement of the first sub-component 531 and the second sub-component 532 is obstructed. For example, when the first sub-component 531 and the second sub-component 532 cannot move relative to each other, it facilitates observation of whether the protrusion 5301 is stuck in the groove 5305, thus ensuring the stability and reliability of the shielding assembly 50. In another example, the groove 5305 can be a blind groove, meaning that the groove 5305 is recessed from the bottom of the accommodating space 5303 towards the direction away from the center of the accommodating space 5303, but the groove 5305 does not extend through the bottom of the accommodating space 5303. This prevents external water or dust and other impurities from entering the accommodating space 5303 and contaminating the shielding assembly 50, thereby ensuring the cleanliness of the cleaning device 100.

[0123] In this embodiment, in the first direction (A1 / A2), the groove 5305 includes opposing first side surface 5307 and second side surface 5309, with the first side surface 5307 being closer to the mating member 56 than the second side surface 5309. The blocking member 501 also includes a first elastic member 55, which is disposed between the first sub-member 531 and the second sub-member 532. When the connecting member 53 moves in the positive direction A1 of the first direction (A1 / A2), the protrusion 5301 abuts against the first side surface 5307. When the connecting member 53 moves in the opposite direction A2 of the first direction (A1 / A2), the first elastic member 55 keeps the first sub-member 531 and the second sub-member 532 relatively stationary. When the force on the blocking member 51 exceeds a preset force threshold, the first elastic member 55 is compressed, the first sub-member 531 and the second sub-member 532 move relative to each other, and the protrusion 5301 moves between the first side surface 5307 and the second side surface 5309.

[0124] Specifically, in some embodiments, when the connector 53 moves in the forward direction A1 along the first direction (A1 / A2), the protrusion 5301 abuts against the first side surface 5307. In this case, the connector 53 can drive the shielding member 51 to move away from the surface to be cleaned, for example, driving the shielding member 51 to switch from the second shielding position to the first shielding position. When the connector 53 moves in the reverse direction A2 along the first direction (A1 / A2), the elastic force of the first elastic member 55 can keep the first sub-member 531 and the second sub-member 532 relatively stationary. In this case, the protrusion 5301 still abuts against the first side surface 5307, and the connector 53 can drive the shielding member 51 to move closer to the surface to be cleaned, for example, driving the shielding member 51 to switch from the first shielding position to the second shielding position. Furthermore, when the force exerted on the shielding member 51 exceeds the preset force threshold, that is, when the external force exerted on the shielding member 51 exceeds the preset force threshold, the first elastic member 55 is compressed. In this case, the first sub-member 531 and the second sub-member 532 move relative to each other, that is, the shielding member 51 moves relative to the connecting member 53. This can buffer the force exerted on the shielding member 51, prevent the shielding member 51 from rigidly colliding with obstacles or protrusions on the surface to be cleaned, and ensure the normal operation of the cleaning device 100.

[0125] For example, when the first elastic member 55 includes a compression spring, the opposite ends of the compression spring are connected to the first sub-member 531 and the second sub-member 532, respectively. When the protrusion 5301 abuts against the first side 5307, the compression spring can be in a compressed state with a certain compression margin, or it can be in an extended state. The second sub-member 532 can push the first sub-member 531 to move through the compression spring, thereby causing the blocking member 51 to move relative to the brush housing 10. When the force on the blocking member 51 exceeds a preset force threshold, the compression spring is compressed to cause the first sub-member 531 and the second sub-member 532 to move relative to each other, and can absorb the force on the blocking member 51. When the force on the blocking member 51 disappears, the elastic force generated by the compression of the spring can restore the blocking member 51 to its previous position.

[0126] It is understandable that when the protrusion 5301 abuts against the first side 5307, the blocking member 51 is not subjected to any force (the force refers to any force other than the force applied to the blocking member 51 by the first elastic member 55); or, the force on the blocking member 51 is less than a preset force threshold.

[0127] In some embodiments, a protruding structure may be provided on the sidewalls opposite to the first sub-component 531 and the second sub-component 532; or, a protruding structure may be provided on the sidewalls opposite to the first sub-component 531. Therefore, compared to the direct contact between the first sub-component 531 and the second sub-component 532, the protruding structure reduces the friction between the first sub-component 531 and the second sub-component 532, resulting in smoother relative movement between them. The protruding structure in this embodiment is essentially the same as the first protruding structure 537 in the aforementioned embodiments, and will not be described in detail here.

[0128] Referring to Figures 1 and 2, in this embodiment, the lifting assembly 60 further includes a sliding member 65, which is slidably mounted on the roller brush housing 10 and rotatably connected to the lifting member 63. The second output end of the transmission component 23 engages or disengages with the lifting member 63 via the sliding member 65. Specifically, when the second output end of the transmission component 23 engages with the lifting member 63 via the sliding member 65, the driving force of the drive member 21 can be transmitted to the lifting member 63, causing the lifting member 63 to move between a first lifting position and a second lifting position, thereby driving the cleaning device 100 to rise and fall relative to the body 200. When the second output end of the transmission component 23 disengages from the lifting member 63, the driving force of the drive member 21 is not transmitted to the lifting member 63, and at this time, the lifting member 63 can be located in the first lifting position.

[0129] Furthermore, in some embodiments, the slider 65 includes a sliding portion 651 and a sliding protrusion 653, the sliding protrusion 653 being able to engage with the second output end of the transmission component 23. The roller brush housing 10 is provided with a guide groove 17, which is used to accommodate at least a portion of the sliding portion 651 and to guide the sliding portion 651 to move relative to the roller brush housing 10.

[0130] Specifically, in some embodiments, the guide groove 17 is recessed from the outer wall of the roller brush housing 10 toward the center of the roller brush housing 10, and at least a portion of the sliding part 651 is disposed in the guide groove 17. Thus, the guide groove 17 restricts the movement direction of the sliding part 651 relative to the roller brush housing 10, preventing the sliding part 651 from shifting during movement and causing the lifting assembly 60 to fail to drive the cleaning device 100 to rise and fall relative to the body 200, thereby ensuring the stability and reliability of the cleaning device 100's operation.

[0131] Referring to Figure 2, in some embodiments, in the third direction C, the guide groove 17 includes opposing first guide sidewalls 171 and second guide sidewalls 173. The sliding part 651 is slidably engaged with both the first guide sidewalls 171 and the second guide sidewalls 173. The third direction C is perpendicular to the forward direction X of the cleaning robot 1000. This reduces the friction between the sliding part 651 and the guide groove 17, thereby preventing excessive friction between the sliding part 65 and the guide groove 17 from preventing the sliding part 65 from moving relative to the roller brush housing 10, thus ensuring the normal operation of the lifting assembly 60. On the other hand, it reduces the power consumption required by the drive assembly 20 to drive the sliding part 65, increasing the battery life of the cleaning robot 1000.

[0132] Furthermore, in some embodiments, a protrusion structure may be provided on the sliding portion 651 or the first guide sidewall 171, with the protrusion structure located between the sliding portion 651 and the first guide sidewall 171; and / or, a protrusion structure may be provided on the sliding portion 651 or the second guide sidewall 173, with the protrusion structure located between the sliding portion 651 and the second guide sidewall 173. Thus, compared to the direct contact between the sliding portion 651 and the sidewalls of the guide groove 17 (including the first guide sidewall 171 and the second guide sidewall 173), the protrusion structure reduces the friction between the sliding portion 651 and the sidewalls of the guide groove 17, making the movement of the sliding portion 651 in the guide groove 17 smoother. The structure of the protrusion structure in this embodiment is basically the same as the structure of the first protruding structure 537 in the above embodiments, and will not be described in detail here.

[0133] Referring to Figure 2, in some embodiments, the transmission component 23 includes a first transmission unit 231, a second transmission unit 233, a third transmission unit 235, and a clutch unit 237. The input end of the first transmission unit 231 is connected to the output end of the drive member 21. The input end of the second transmission unit 233 is connected to the first output end of the first transmission unit 231, and the output end of the second transmission unit 233 (i.e., the third output end of the transmission component 23) is connected to the brush assembly 40. The output end of the third transmission unit 235 (i.e., the first and second output ends of the transmission component 23) is connected to the shielding assembly 50 or the lifting assembly 60. One end of the clutch unit 237 is connected to the second output end of the first transmission unit 231, and the other end of the clutch unit 237 is connected to the input end of the third transmission unit 235. The clutch unit 237 is used to connect or disconnect the power transmission path between the second output end of the first transmission unit 231 and the input end of the third transmission unit 235.

[0134] Specifically, in some embodiments, when the output end of the drive member 21 rotates in the first rotation direction, the driving force of the drive member 21 can be transmitted to the first transmission unit 231, and then sequentially transmitted to the roller brush assembly 40 through the first output end of the first transmission unit 231 and the second transmission unit 233, so as to drive the roller brush assembly 40 to move; when the output end of the drive member 21 rotates in the second rotation direction, the driving force of the drive member 21 can be transmitted to the first transmission unit 231, and then sequentially transmitted to the roller brush assembly 40, the blocking assembly 50 or the lifting assembly 60 through the second output end of the first transmission unit 231, the clutch unit 237 and the third transmission unit 235, so as to drive the roller brush assembly 40, the blocking assembly 50 or the lifting assembly 60 to move. Understandably, when the output end of the drive unit 21 rotates in the first rotation direction, the power transmission path between the second output end of the first transmission unit 231 and the input end of the third transmission unit 235 is disconnected; when the output end of the drive unit 21 rotates in the second rotation direction, the power transmission path between the second output end of the first transmission unit 231 and the input end of the third transmission unit 235 is connected. This prevents the lifting component 60 and the blocking component 50 from moving during the movement of the roller brush assembly 40, thus affecting the cleaning of the surface to be cleaned by the roller brush assembly 40, thereby ensuring the normal operation of the cleaning device 100.

[0135] Further, in some embodiments, the first transmission unit 231 includes a first rotating shaft 2311 rotatably mounted on the brush housing 10, and the third transmission unit 235 includes a second rotating shaft 2351 rotatably mounted on the brush housing 10. The clutch unit 237 includes a first transmission member 2371, a second transmission member 2373, and a third transmission member 2375. The first transmission member 2371 is fixedly mounted on the first rotating shaft 2311. The second transmission member 2373 is slidably mounted on the second rotating shaft 2351, and engages with the first transmission member 2371. The third transmission member 2375 is fixedly mounted on the second rotating shaft 2351. When the first rotating shaft 2311 rotates, the first transmission member 2371 rotates and drives the second transmission member 2373 to rotate, thereby switching the second transmission member 2373 between a first sliding position and a second sliding position. When the second transmission member 2373 is in the first sliding position, the second transmission member 2373 and the third transmission member 2375 are disengaged, and the power transmission path between the second output end of the first transmission unit 231 and the input end of the third transmission unit 235 is disconnected; when the second transmission member 2373 is in the second sliding position, the second transmission member 2373 and the third transmission member 2375 are engaged, and the power transmission path between the second output end of the first transmission unit 231 and the input end of the third transmission unit 235 is connected.

[0136] It should be noted that, in some embodiments, the first transmission member 2371 and the second transmission member 2373 can both be helical gears, and the third transmission member 2375 can be a ratchet. Along the extending direction of the second rotation shaft 2351, the second transmission member 2373 has teeth on its end face facing the third transmission member 2375, and the third transmission member 2375 also has teeth on its end face facing the second transmission member 2373. Specifically, when the second transmission member 2373 is in the first sliding position, the teeth on the end face of the second transmission member 2373 are spaced apart from the third transmission member 2375, and the second transmission member 2373 cannot drive the third transmission member 2375 to rotate. Thus, the power transmission path between the second output end of the first transmission unit 231 and the input end of the third transmission unit 235 is disconnected. When the second transmission member 2373 is in the second sliding position, the teeth on the end face of the second transmission member 2373 can mesh with the teeth on the ratchet, and the second transmission member 2373 can drive the third transmission member 2375 to rotate. Thus, the power transmission path between the second output end of the first transmission unit 231 and the input end of the third transmission unit 235 is connected.

[0137] Furthermore, in some embodiments, the output end of the drive member 21 rotates in a first rotation direction to move the second transmission member 2373 to or in a first sliding position. The output end of the drive member 21 rotates in a second rotation direction to move the second transmission member 2373 to or in a second rotation position, wherein the first rotation direction is opposite to the second rotation direction.

[0138] Specifically, in some embodiments, when the output end of the drive member 21 rotates in the first rotation direction, the first rotating shaft 2311 rotates relative to the brush housing 10 in the first rotation direction and drives the first transmission member 2371 to rotate in the first rotation direction. The rotation of the first transmission member 2371 can drive the second transmission member 2373 to rotate relative to the second rotating shaft 2351, and drive the second transmission member 2373 to move relative to the second rotating shaft 2351 towards the first sliding position, for example, driving the second transmission member 2373 to move from the second sliding position to the first sliding position. In this case, the power transmission between the second output end of the first transmission unit 231 and the input end of the third transmission unit 235 is... The power transmission path is disconnected. When the output end of the drive unit 21 rotates in the second rotation direction, the first rotating shaft 2311 rotates relative to the brush housing 10 in the second rotation direction and drives the first transmission member 2371 to rotate in the second rotation direction. The rotation of the first transmission member 2371 can drive the second transmission member 2373 to rotate relative to the second rotating shaft 2351, and drive the second transmission member 2373 to move relative to the second rotating shaft 2351 towards the second sliding position. For example, it can drive the second transmission member 2373 to move from the first sliding position to the second sliding position. In this case, the power transmission path between the second output end of the first transmission unit 231 and the input end of the third transmission unit 235 is connected. It should be noted that in some embodiments, the first rotation direction and the second rotation direction are opposite.

[0139] Please refer to Figures 2 and 6. In some embodiments, the third transmission unit 235 includes a moving member 2352, which is connected to the clutch unit 237. When the driving force of the drive member 21 is transmitted to the moving member 2352, the moving member 2352 moves relative to the roller brush housing 10 to drive the shielding assembly 50 or the lifting assembly 60 to operate.

[0140] Furthermore, in some embodiments, when the driving force of the drive member 21 is transmitted to the moving member 2352, the moving member 2352 moves relative to the roller brush housing 10 along a fourth direction (Y1 / Y2) to drive the shielding assembly 50 or the lifting assembly 60 to operate. For example, the fourth direction (Y1 / Y2) is perpendicular to the forward direction X of the cleaning robot 1000.

[0141] Specifically, in some embodiments, the third transmission unit 235 may further include a gear linkage unit 2350, one end of which is connected to the clutch unit 237, and the other end is connected to the moving member 2352. When the second transmission member 2373 and the third transmission member 2375 are engaged, so that the power transmission path between the second output end of the first transmission unit 231 and the input end of the third transmission unit 235 is connected, the gear linkage unit 2350 can convert the rotational driving force of the third transmission member 2375 into a kinetic driving force, thereby driving the moving member 2352 to move relative to the brush housing 10 along the fourth direction (Y1 / Y2), thereby driving the blocking assembly 50 or the lifting assembly 60. It should be noted that in some embodiments, the fourth direction (Y1 / Y2) may be the same as the third direction C.

[0142] In some embodiments, the moving member 2352 includes a moving body 2354 and a protrusion 2356, the protrusion 2356 extending protruding from the moving body 2354. When the clutch unit 237 transmits the driving force of the drive member 21 to the moving member 2352, the moving member 2352 moves relative to the brush housing 10 in the fourth direction (Y1 / Y2) to drive the lifting assembly 60 to operate. It should be noted that in some embodiments, the protrusion 2356 is the second output end of the transmission member 23.

[0143] Specifically, referring to Figure 13, in some embodiments, the protrusion 2356 includes a bump, which has a first surface 23561 and a second surface 23563 facing away from each other in the fourth direction (Y1 / Y2). The first surface 23561 is the side of the bump that corresponds to and engages with the sliding protrusion 653. For example, the bump is trapezoidal, and the first surface 23561 and the second surface 23563 are the two sides of the trapezoid. The first surface 23561 is inclined, and the distance between the first surface 23561 and the moving body 2354 gradually increases in the direction from the first surface 23561 to the second surface 23563. Therefore, compared to when the first surface 23561 is not inclined, the power consumption required for the drive member 21 to drive the moving member 2352 to move so that the sliding protrusion 653 moves along the protrusion 2356 is smaller in this embodiment. In addition, the inclined setting of the first surface 23561 can prevent jamming when the sliding protrusion 653 abuts against the protrusion 2356, which could lead to failures such as burnout of the drive component 21, thereby improving the safety of the drive component 20 and extending its service life.

[0144] In some embodiments, the moving body 2354 and the protrusion 2356 may be an integral structure, that is, the moving body 2354 and the protrusion 2356 may be integrally molded to form a single structure, thereby improving the bonding strength between the moving body 2354 and the protrusion 2356 and preventing the protrusion 2356 from falling off the moving body 2354 when the moving component 2352 engages with the lifting assembly 60, thereby improving the stability and reliability of the cleaning device 100. In other embodiments, the moving body 2354 and the protrusion 2356 may be separate structures, that is, the moving body 2354 and the protrusion 2356 are two different structures. The moving body 2354 and the protrusion 2356 may be connected together using a non-removable connection method or a detachable connection method. The non-removable connection method includes, but is not limited to, bonding or welding; the detachable connection method includes, but is not limited to, snap-fit ​​connection or threaded connection.

[0145] In some embodiments, when the protrusion 2356 engages with the lifting assembly 60, the lifting assembly 60 is in a second lifted position and the roller brush assembly 40 is at a first height relative to the body 200. When the protrusion 2356 is disengaged from the lifting assembly 60, the lifting assembly 60 is in the first lifted position and the roller brush assembly 40 is at a second height relative to the body 200, with the first height being greater than the second height.

[0146] Specifically, in some embodiments, the engagement between the protrusion 2356 and the lifting component 60 can be such that the sliding protrusion 653 is supported on the protrusion 2356 and moves on the protrusion 2356; the disengagement between the protrusion 2356 and the lifting component 60 can be such that the sliding protrusion 653 is not supported on the protrusion 2356. When the moving part 2352 moves along the fourth direction (Y1 / Y2) to engage (abut) the protrusion 2356 with the sliding protrusion 653, the sliding protrusion 653 can move relative to the brush housing 10 along the first surface 23561 toward the top of the protrusion 2356 (the side of the protrusion 2356 away from the moving body 2354) until the sliding protrusion 653 moves to the top of the protrusion 2356. At this time, the lifting assembly 60 is in the second lifting position, and the brush assembly 40 is at the first height relative to the body 200. When the moving part 2352 moves along the fourth direction (Y1 / Y2) to disengage the protrusion 2356 from the sliding protrusion 653, the sliding protrusion 653 disengages from the first surface 23561. At this time, the lifting assembly 60 is in the first lifting position, and the brush assembly 40 is at the second height relative to the body 200. Therefore, the drive component 20 can drive the lifting component 60 to move, so that the roller brush component 40 can switch between a first height and a second height, thereby improving the obstacle-crossing ability of the cleaning device 100 and ensuring the normal operation of the cleaning device 100.

[0147] Understandably, when the roller brush assembly 40 is at a first height relative to the body 200, the blocking member 51 of the blocking assembly 50 is in the first blocking position. At this time, the cleaning device 100 can overcome obstacles to ensure the normal operation of the cleaning device 100. When the roller brush assembly 40 is at a second height relative to the body 200, the blocking member 51 of the blocking assembly 50 is in the second blocking position. At this time, the opening of the suction port 11 is smaller, the suction force of the receiving cavity 18 is larger, and the cleaning device 100 can clean the target area. When the roller brush assembly 40 is at a second height relative to the body 200, the blocking member 51 of the blocking assembly 50 is in the first blocking position. At this time, the opening of the suction port 11 is larger, the suction force of the receiving cavity 18 is smaller, and the cleaning device 100 can clean non-target areas.

[0148] In some embodiments, one of the moving part 2352 and the roller brush housing 10 is provided with a guide part 101, and the other of the moving part 2352 and the roller brush housing 10 is provided with a mating part 2357. The guide part 101 and the mating part 2357 cooperate to guide the moving part 2352 to move along the fourth direction (Y1 / Y2).

[0149] Specifically, referring to Figure 6, in some embodiments, one of the guide portion 101 and the mating portion 2357 may be a protrusion, and the other may be a groove. When the moving member 2352 is disposed on the roller brush housing 10, the protrusion can engage with the groove to guide the moving member 2352 to move relative to the roller brush housing 10 in the fourth direction (Y1 / Y2). Furthermore, the engagement of the protrusion with the groove can also limit the travel distance of the moving member 2352 relative to the roller brush housing 10, preventing the moving member 2352 from being unrestricted in the fourth direction (Y1 / Y2) when the drive assembly 20 program malfunctions, thus preventing the moving member 2352 from colliding and being damaged with the roller brush housing 10 or other structures on the roller brush housing 10, thereby ensuring the stability and reliability of the cleaning device 100 operation.

[0150] Referring to Figures 2 and 6, in some embodiments, the moving member 2352 is provided with a moving groove 2353, and the blocking assembly 50 includes a matching member 56 that mates with the moving groove 2353. The matching member 56 is housed in the moving groove 2353. The moving member 2352 moves relative to the brush housing 10 in a fourth direction (Y1 / Y2) so that the blocking assembly 50 moves relative to the brush housing 10 in a first direction (A1 / A2) via the matching member 56. It should be noted that in some embodiments, the moving groove 2353 is the first output end of the transmission member 23.

[0151] Specifically, in some embodiments, when the cleaning device 100 is assembled, the mating member 56 is located in the moving groove 2353 and can move within the moving groove 2353 to allow the shielding assembly 50 to move relative to the roller brush housing 10 along a first direction (A1 / A2). In one example, the moving member 2352 includes a first side and a second side facing away from each other, with the first side of the moving member 2352 opposite to the roller brush housing 10. The moving groove 2353 can be a through groove, that is, the moving groove 2353 passes through the first side and the second side of the moving member 2352. Thus, when the movement of the mating member 56 in the moving groove 2353 is obstructed, the cause of the fault can be quickly identified. For example, when the mating member 56 cannot move, it is easy to observe whether the mating member 56 is stuck in the moving groove 2353, thereby ensuring the stability and reliability of the cleaning device 100.

[0152] In another example, the moving groove 2353 can be a blind groove, that is, the moving groove 2353 is recessed from the first side of the moving member 2352 toward the second side of the moving member 2352, but the moving groove 2353 does not penetrate through the second side of the moving member 2352. This prevents external water or dust and other impurities from entering and accumulating in the moving groove 2353, thereby preventing the cleaning device 100 from being contaminated and preventing impurities from affecting the movement of the mating member 56, ensuring the normal operation of the shielding assembly 50. In yet another example, the moving groove 2353 can be a blind groove, that is, the moving groove 2353 is recessed from the second side of the moving member 2352 toward the first side of the moving member 2352, but the moving groove 2353 does not penetrate through the first side of the moving member 2352.

[0153] Referring to Figures 2 and 6, in some embodiments, the moving groove 2353 includes an elongated groove. The elongated groove allows the blocking assembly 50 to move relative to the roller brush housing 10 along a first direction (A1 / A2) to change the opening size of the suction port 11, thereby improving the applicability of the cleaning device 100 and enhancing its cleaning effect. It should be noted that in some embodiments, the cross-sectional shape of the elongated groove may include, but is not limited to, a racetrack shape or a rectangle.

[0154] In other embodiments, the movable slot 2353 includes a first sub-slot 23531, a second sub-slot 23533, and a third sub-slot 23535. The first sub-slot 23531 extends along a fourth direction (Y1 / Y2). The second sub-slot 23533 extends along the fourth direction (Y1 / Y2) and is offset from the first sub-slot 23531 in a first direction (A1 / A2). The third sub-slot 23535 is located between the first sub-slot 23531 and the second sub-slot 23533 and connects the first sub-slot 23531 and the second sub-slot 23533. The angle between the inner surfaces of the first sub-slot 23531 and the third sub-slot 23535 is an obtuse angle, and the angle between the inner surfaces of the second sub-slot 23533 and the third sub-slot 23535 is also an obtuse angle. For example, the movable slot 2353 is Z-shaped. It should be noted that, in the height direction of the cleaning device 100, the distance between the first sub-slot 23531 and the surface to be cleaned is greater than the distance between the second sub-slot 23533 and the surface to be cleaned.

[0155] In this embodiment, the matching component 56 reciprocates more smoothly between the first sub-slot 23531, the second sub-slot 23533, and the third sub-slot 23535, reducing the possibility of the matching component 56 getting stuck in the moving slot 2353, thereby ensuring the normal operation of the shielding component 50. It should be noted that the settings can be adjusted according to actual needs; for example, the angle between the inner surface of the first sub-slot 23531 and the inner surface of the third sub-slot 23535 can be less than or equal to 90°, and the angle between the inner surface of the second sub-slot 23533 and the inner surface of the third sub-slot 23535 can be less than or equal to 90°.

[0156] In one example, the mating part 56 can be a protrusion. In another example, the mating part 56 can be a pulley. When the mating part 56 is a pulley, the outer periphery of the mating part 56 is a convex arc surface. The convex arc surface contacts the moving groove 2353, and the contact area is small, which can reduce the friction of the mating part 56 in the moving groove 2353, making the movement of the mating part 56 smoother.

[0157] It is understood that in some embodiments, the inner surfaces of the first sub-slot 23531 and the third sub-slot 23535 are smoothly connected, and the inner surfaces of the second sub-slot 23533 and the third sub-slot 23535 are smoothly connected. This can further reduce the movement resistance of the matching member 56 in the moving slot 2353 and reduce the power consumption required for the drive member 21 to drive the blocking assembly 50 to move along the first direction (A1 / A2) through the moving member 2352.

[0158] In some embodiments, the included angle between the inner surface of the first sub-groove 23531 and the inner surface of the third sub-groove 23535 can be in the range of (90°, 180°), that is, the included angle between the inner surface of the first sub-groove 23531 and the inner surface of the third sub-groove 23535 can be any value between 90° and 180°, such as 95°, 100°, 110°, 120°, 130°, 140°, 150°, 160°, 170° and 180°. 75°; the angle between the inner surface of the second sub-slot 23533 and the inner surface of the third sub-slot 23535 can be (90°, 180°), that is, the angle between the inner surface of the second sub-slot 23533 and the inner surface of the third sub-slot 23535 can be any value between 90° and 180°, such as 95°, 100°, 110°, 120°, 130°, 140°, 150°, 160°, 170° and 175°.

[0159] In this embodiment, the moving slot 2353 includes a first sub-slot 23531, a second sub-slot 23533, and a third sub-slot 23535 as an example for explanation.

[0160] Referring to Figures 9 to 11, in some embodiments, when the matching member 56 is in the first matching position in the moving groove 2353, the moving member 2352 is in the first moving position, and the blocking member 51 of the blocking assembly 50 is in the first blocking position relative to the brush housing 10. When the matching member 56 is in the second matching position in the moving groove 2353, the moving member 2352 is in the second moving position, and the blocking member 51 of the blocking assembly 50 is in the first blocking position relative to the brush housing 10. When the matching member 56 is in the third matching position in the moving groove 2353, the moving member 2352 is in the third moving position, and the blocking member 51 of the blocking assembly 50 is in the second blocking position relative to the brush housing 10. The opening size of the suction inlet 11 when the blocking member 51 is in the first blocking position is larger than the opening size of the suction inlet 11 when the blocking member 51 is in the second blocking position.

[0161] Specifically, in some embodiments, when the matching member 56 is in the first matching position in the moving groove 2353, the matching member 56 is located at the end of the first sub-groove 23531 closer to the third sub-groove 23535. In this case, the blocking member 51 is in the first blocking position relative to the roller brush housing 10, and the cleaning device 100 can clean non-target areas (as shown in FIG. 9). When the matching member 56 is in the second matching position in the moving groove 2353, the matching member 56 is located at the end of the first sub-groove 23531 away from the third sub-groove 23535. In this case, the blocking member 51 is in the first blocking position relative to the roller brush housing 10, and the cleaning device 100 can clean non-target areas (as shown in FIG. 9). When the roller brush housing 10 is in the first blocking position, the sliding protrusion 653 matches the protrusion 2356, the lifting component 60 is in the second lifting position, and the roller brush component 40 is at a first height relative to the body 200. The roller brush component 40 can be lifted to perform obstacle crossing, mopping, or entering and exiting base stations, etc. (as shown in FIG10). When the matching component 56 is in the third matching position in the moving slot 2353, the matching component 56 is located in the second sub-slot 23533. In this case, the blocking component 51 is in the second blocking position relative to the roller brush housing 10, and the cleaning device 100 can clean the target area (as shown in FIG11). Thus, when the moving component 2352 reciprocates along the fourth direction (Y1 / Y2), the blocking component 51 can switch between the first blocking position and the second blocking position relative to the roller brush housing 10 to switch the opening size of the suction port 11, thereby making the cleaning device 100 suitable for different working scenarios and improving the applicability of the cleaning robot 1000 (as shown in FIG20).

[0162] In some embodiments, where one of the first detection element 81 and the second detection element 83 is a light emitter and the other is a light receiver, the light emitter may include a first emitter, a second emitter, and a third emitter, and the light receiver may include a first receiver, a second receiver, and a third receiver. Specifically, when the moving element 2352 is in a first moving position, the first emitter and the first receiver correspond; when the moving element 2352 is in a second moving position, the second emitter and the second receiver correspond; and when the moving element 2352 is in a third moving position, the third emitter and the third receiver correspond.

[0163] Compared to the embodiment shown in Figure 8, the clutch unit 237 in the embodiment shown in Figure 2 is positioned closer to the first transmission unit 231, making the transmission component 23 more compact, the transmission mechanism simpler, and the transmission distance shorter, which facilitates its disassembly and maintenance. At the same time, it is convenient to cover the entire transmission component 23 with a protective shell to prevent dust, moisture, etc. from entering and damaging its service life.

[0164] Specific Implementation Method Two of this Application

[0165] Please refer to Figure 12. The shielding component 50 in Embodiment 2 also includes a limiting member 503. The limiting member 503 is disposed between the connector 53 and the roller brush housing 10. The limiting member 503 provides resistance to the reverse movement A2 of the connector 53 relative to the roller brush housing 10 in the first direction (A1 / A2).

[0166] Specifically, in some embodiments, when the driving force of the driving member 21 is transmitted to the connecting member 53 through the transmission component, and the connecting member 53 moves in the opposite direction (A1 / A2) A2, the limiting member 503 can exert a force on the connecting member 53, the direction of which is approximately the same as the positive direction (A1) of the first direction (A1 / A2). When the driving force of the driving member 21 disappears, the force generated by the limiting member 503 can cause the connecting member 53 to move in the positive direction (A1 / A2) A1 of the first direction to return to its previous position. Thus, the limiting member 503 facilitates the movement of the connecting member 53 relative to the brush housing 10 in the first direction (A1 / A2), reducing the power consumption of the driving member 21 during the movement of the connecting member 53. That is, when the connecting member 53 moves in the positive direction (A1 / A2) A1 of the first direction (A1 / A2) relative to the brush housing 10, no driving force from the driving member 21 is required. Furthermore, the limiting member 503 can prevent the connecting member 53 from falling off the roller brush housing 10, thereby ensuring the stability and reliability of the shielding assembly 50 in operation.

[0167] In some embodiments, the roller brush housing 10 is provided with two mounting slots 13. The connector 53 includes a connecting body 533 and a connecting protrusion 534. The connecting body 533 is movably mounted on the roller brush housing 10, and the connecting protrusion 534 extends protruding from the connecting body 533. The limiting member 503 includes a limiting body 5031 and two opposing connecting ends 5033. The two connecting ends 5033 are respectively installed in the two mounting slots 13, and the limiting body 5031 is sleeved on the connecting protrusion 534.

[0168] Specifically, in some embodiments, the connecting body 533 includes a first side and a second side facing away from each other, with the first side of the connecting body 533 opposite to the brush housing 10. A connecting protrusion 534 extends from the second side of the connecting body 533 in a direction away from the first side of the connecting body 533. The limiting member 503 may be a torsion spring. When the connecting member 53 moves in the opposite direction (A1 / A2) along the first direction (A1 / A2) in the opposite direction (A2), the torsion spring generates an elastic restoring force, the direction of which is approximately the same as the positive direction (A1 / A2) of the first direction (A1 / A2). When the driving force of the driving member 21 disappears, the elastic restoring force generated by the limiting member 503 enables the connecting member 53 to move along the positive direction (A1 / A2) along the first direction (A1 / A2) in the positive direction (A1 / A2) to return to its previous position.

[0169] In some embodiments, the connecting end 5033 may be installed in the mounting groove 13 using a detachable or non-detachable connection method. The non-detachable connection method includes, but is not limited to, bonding or welding; the detachable connection method includes, but is not limited to, snap-fit ​​connection or threaded connection.

[0170] It is understood that the specific structure of the lifting component 60 in this embodiment is exactly the same as that of the lifting component 60 in Embodiment 1, and will not be described again here; the specific structure of the driving component 20 in this embodiment is roughly the same as that of the driving component 20 in Embodiment 1. The difference between the driving component 20 in this embodiment and the driving component 20 in Embodiment 1 is that:

[0171] Please refer to Figures 2 and 13. In this embodiment, the moving member 2352 includes a moving body 2354 and a linkage part 2355, which is connected to the moving body 2354. The blocking assembly 50 includes a matching part 56 that cooperates with the linkage part 2355. During the movement of the moving member 2352 along the fourth direction (Y1 / Y2), the linkage part 2355 causes the blocking assembly 50 to move relative to the brush housing 10 through the matching part 56.

[0172] Specifically, in some embodiments, during the movement of the moving member 2352 along the fourth direction (Y1 / Y2), the linkage 2355 and the moving body 2354 can move together along the fourth direction (Y1 / Y2), and the linkage 2355 can abut against the matching member 56, and drive the blocking assembly 50 to move relative to the brush housing 10 along the first direction (A1 / A2) through the matching member 56. For example, during the movement of the moving member 2352 along the fourth direction (Y1 / Y2) in the forward direction Y1, the linkage 2355 can drive the blocking assembly 50 to move relative to the brush housing 10 in the reverse direction A2 of the first direction (A1 / A2); during the movement of the moving member 2352 along the fourth direction (Y1 / Y2) in the reverse direction Y2, the blocking assembly 50 can move in the forward direction A1 of the first direction (A1 / A2) under the action of the second elastic member 505 (shown in FIG. 1).

[0173] Further, referring to FIG14, in some embodiments, the linkage 2355 includes a linkage sub-part 23551 and an elastic element 23553. The linkage sub-part 23551 is movably connected to the motion body 2354. The elastic element 23553 is disposed between the motion body 2354 and the linkage sub-part 23551. When the motion body 2354 moves along the fourth direction (Y1 / Y2), the linkage sub-part 23551 moves along the fourth direction (Y1 / Y2) with the motion body 2354. When the linkage sub-part 23551 engages with the mating member 56, the elastic element 23553 provides a restoring force. When the linkage sub-part 23551 disengages from the mating member 56, the restoring force is used to reset the linkage sub-part 23551.

[0174] Specifically, in some embodiments, when the moving member 2352 moves along the fourth direction (Y1 / Y2) and the linkage sub-part 23551 engages (abuts) with the matching member 56, the linkage sub-part 23551 can drive the matching member 56 to move along the first direction (A1 / A2) so that the blocking assembly 50 moves along the first direction (A1 / A2). In this case, the elastic element 23553 generates a restoring force, which can return the linkage sub-part 23551 to its previous position when the linkage sub-part 23551 and the matching member 56 are disengaged.

[0175] In cases where the shielding member 51 is subjected to an external force (e.g., the force generated when the shielding member 51 collides with an obstacle or a protrusion on the surface to be cleaned during the operation of the cleaning device 100), and the shielding member 51 cannot move relative to the surface to be cleaned to release the external force, the shielding member 51 will be damaged, affecting the service life of the shielding assembly 50 and the normal operation of the cleaning device 100. Therefore, in this embodiment, the linkage sub-part 23551 and the moving body 2354 can move relative to each other, thereby enabling the shielding member 51 to move away from the surface to be cleaned when subjected to an external force to release the external force, thus preventing damage to the shielding assembly 50 and ensuring the normal operation of the cleaning device 100. In addition, when the force on the shielding member 51 disappears, the shielding member 51 can return to its position before movement.

[0176] Specifically, when the shielding member 51 moves away from the surface to be cleaned, the elastic element 23553 deforms so that the linkage sub-part 23551 can move relative to the moving body 2354 in the opposite direction (Y1 / Y2) Y2, thereby allowing the shielding member 51 to move away from the surface to be cleaned to release the external force, prevent damage to the shielding assembly 50, and ensure the normal operation of the cleaning device 100; when the force on the shielding member 51 disappears, the shielding member 51 can return to its position before movement, and at the same time, the restoring force generated by the elastic element 23553 can cause the linkage sub-part 23551 to move relative to the moving body 2354 in the positive direction (Y1 / Y2) Y1, so that the linkage sub-part 23551 is reset.

[0177] In some embodiments, the linkage sub-part 23551 includes a first side and a second side facing away from each other, with the first side of the linkage sub-part 23551 correspondingly engaging with the mating member 56. The elastic element 23553 may be a compression spring, with its opposite ends connected to the second side of the linkage sub-part 23551 and the moving body 2354, respectively. When the linkage sub-part 23551 engages with the mating member 56, the compression spring is in a compressed state with a certain compression margin. The elastic force generated by the compression spring allows the linkage sub-part 23551 to drive the mating member 56 to move along a first direction (A1 / A2). When the force on the blocking member 51 exceeds a preset force threshold, the compression spring is compressed, causing the linkage sub-part 23551 to move relative to the moving body 2354 and absorbing the force on the blocking member 51. When the force on the blocking member 51 disappears, the elastic force generated by the compression spring allows the blocking member 51 to return to its previous position.

[0178] In some embodiments, when the blocking member 51 is in the second blocking position, the linkage sub-part 23551 engages with the matching member 56. The linkage sub-part 23551 includes a mating surface 23555 for engaging with the matching member 56, and the mating surface 23555 is inclined relative to the fourth direction (Y1 / Y2). It should be noted that in some embodiments, the mating surface 23555 may be the first side of the linkage sub-part 23551 in the above embodiments.

[0179] Specifically, in some embodiments, the distance between the mating surface 23555 and the surface to be cleaned gradually decreases in the direction from the first side to the second side of the linkage sub-part 23551. Therefore, the inclined arrangement of the mating surface 23555 prevents jamming when it mates with the matching part 56, which could lead to malfunctions such as burnout of the drive component 21. This improves the safety of the drive assembly 20 and extends its service life.

[0180] Specific Implementation Method 3 of this Disclosure

[0181] Please refer to Figure 15. The specific structure of the shielding component 50 and the cooperation relationship between the shielding component 50 and the roller brush housing 10 in Embodiment 3 are basically the same as those in Embodiment 1, and will not be described again here. The difference between this embodiment and Embodiment 1 is that:

[0182] Please refer to Figures 15 and 16. In this embodiment, the lifting member 63 includes a sleeve portion 631 and a hook portion 633. The sleeve portion 631 is rotatably sleeved on the connecting shaft 61. The hook portion 633 is connected to the sleeve portion 631 and extends from the sleeve portion 631 by bending. The hook portion 633 is used to apply a force to the bracket 210 (shown in Figure 2) in the body 200, so that the bracket 210 applies a reaction force to the cleaning device 100 relative to the lifting force of the bracket 210.

[0183] In some embodiments, the sleeve portion 631 and the hook portion 633 may be an integral structure, that is, the sleeve portion 631 and the hook portion 633 may be integrally molded to form a single structure, thereby improving the bonding strength between the sleeve portion 631 and the hook portion 633 and preventing breakage of the sleeve portion 631 and the hook portion 633 when the lifting member 63 is engaged with the bracket 210, thereby improving the stability and reliability of the cleaning device 100. In other embodiments, the sleeve portion 631 and the hook portion 633 may be separate structures, that is, the sleeve portion 631 and the hook portion 633 are two different structures. The sleeve portion 631 and the hook portion 633 may be combined by a non-removable connection method or a detachable connection method, wherein the non-removable connection method includes, but is not limited to, bonding or welding; the detachable connection method includes, but is not limited to, snap-fit ​​connection or threaded connection.

[0184] Furthermore, in some embodiments, the socket portion 631 is provided with a socket protrusion 6311, which can cooperate with the second output end of the transmission component 23.

[0185] Specifically, in some embodiments, when the driving force of the drive member 21 is transmitted to the sleeve protrusion 6311 through the second output end of the transmission member 23, the sleeve protrusion 6311 can drive the sleeve portion 631 to rotate relative to the connecting shaft 61, so that the hook portion 633 applies a force to the bracket 210 in the body 200, thereby causing the bracket 210 to apply a reaction force relative to the lifting of the bracket 210 to the cleaning device 100 through the lifting member 63.

[0186] Referring to Figure 17, in some embodiments, the transmission component 23 includes a first transmission unit 231, a second transmission unit 233, a third transmission unit 235, and a clutch unit 237. The input end of the first transmission unit 231 is connected to the output end of the drive member 21. The input end of the second transmission unit 233 is connected to the first output end of the first transmission unit 231, and the output end of the second transmission unit 233 (i.e., the third output end of the transmission component 23) is connected to the brush assembly 40. The output ends of the third transmission unit 235 (i.e., the first and second output ends of the transmission component 23) are connected to the shielding assembly 50 and the lifting assembly 60. One end of the clutch unit 237 is connected to the second output end of the first transmission unit 231, and the other end of the clutch unit 237 is connected to the input end of the third transmission unit 235. The clutch unit 237 is used to connect or disconnect the power transmission path between the second output end of the first transmission unit 231 and the input end of the third transmission unit 235.

[0187] Specifically, in some embodiments, when the output end of the drive member 21 rotates in the first rotation direction, the driving force of the drive member 21 can be transmitted to the first transmission unit 231, and then sequentially transmitted to the roller brush assembly 40 through the first output end of the first transmission unit 231 and the second transmission unit 233, so as to drive the roller brush assembly 40 to move; when the output end of the drive member 21 rotates in the second rotation direction, the driving force of the drive member 21 can be transmitted to the first transmission unit 231, and then sequentially transmitted to the roller brush assembly 40, the blocking assembly 50 or the lifting assembly 60 through the second output end of the first transmission unit 231, the clutch unit 237 and the third transmission unit 235, so as to drive the roller brush assembly 40, the blocking assembly 50 or the lifting assembly 60 to move. Understandably, when the output end of the drive unit 21 rotates in the first rotation direction, the power transmission path between the second output end of the first transmission unit 231 and the input end of the third transmission unit 235 is disconnected; when the output end of the drive unit 21 rotates in the second rotation direction, the power transmission path between the second output end of the first transmission unit 231 and the input end of the third transmission unit 235 is connected. This prevents the lifting component 60 and the blocking component 50 from moving during the movement of the roller brush assembly 40, thus affecting the cleaning of the surface to be cleaned by the roller brush assembly 40, thereby ensuring the normal operation of the cleaning device 100.

[0188] In some embodiments, the clutch unit 237 includes a one-way clutch 2377, which includes a first sub-part and a second sub-part that are rotatably connected. The first sub-part is connected to the second output end of the first transmission unit 231, and the second sub-part is connected to the input end of the third transmission unit 235. The first sub-part and the second sub-part cooperate to connect or disconnect the power transmission path between the second output end of the first transmission unit 231 and the input end of the third transmission unit 235.

[0189] Specifically, in some embodiments, the one-way clutch 2377 may include a one-way bearing, with one of the first sub-parts and the second sub-parts being the inner ring of the one-way bearing, and the other being the outer ring of the one-way bearing. The first sub-part can only rotate freely relative to the second sub-part in either a clockwise or counterclockwise direction. For example, the first sub-part can rotate freely relative to the second sub-part in a clockwise direction and lock in a counterclockwise direction; or, the first sub-part can rotate freely relative to the second sub-part in a counterclockwise direction and lock in a clockwise direction. Thus, when the first sub-part is connected to the second output end of the first transmission unit 231, and the second sub-part is connected to the input end of the third transmission unit 235, the first and second sub-parts can control the connection or disconnection of the power transmission path between the second output end of the first transmission unit 231 and the input end of the third transmission unit 235 according to the rotation direction of the second output end of the first transmission unit 231.

[0190] Furthermore, in some embodiments, the output end of the drive member 21 rotates in a first rotation direction to disconnect the transmission between the first sub-part and the second sub-part, thus disconnecting the power transmission path between the second output end of the first transmission unit 231 and the input end of the third transmission unit 235. The output end of the drive member 21 rotates in a second rotation direction to connect the transmission between the first sub-part and the second sub-part, thus connecting the power transmission path between the second output end of the first transmission unit 231 and the input end of the third transmission unit 235. The first rotation direction is opposite to the second rotation direction.

[0191] Please refer to Figures 15 to 17. In some embodiments, when the driving force of the drive member 21 is transmitted to the moving member 2352, the moving member 2352 rotates relative to the brush housing 10 to drive the shielding assembly 50 or the lifting assembly 60 to operate.

[0192] Furthermore, in some embodiments, the moving component 2352 includes a main transmission unit 23580, a first transmission unit 2358, and a second transmission unit 2359. The main transmission unit 23580 is connected to the clutch unit 237. When the driving force of the driving component 21 is transmitted to the main transmission unit 23580, the main transmission unit 23580 drives the first transmission unit 2358 and the second transmission unit 2359 to rotate together relative to the brush housing 10. The first transmission unit 2358 drives the lifting assembly 60 to operate; the second transmission unit 2359 drives the blocking assembly 50 to operate. Exemplarily, the main transmission unit 23580, the first transmission unit 2358, and the second transmission unit 2359 can be coaxially connected, that is, the main transmission unit 23580, the first transmission unit 2358, and the second transmission unit 2359 are connected on the same shaft.

[0193] Furthermore, in some embodiments, the first transmission section 2358 is provided with a protrusion 23581. When the driving force of the driving member 21 is transmitted to the first transmission section 2358, the first transmission section 2358 rotates relative to the brush housing 10, causing the protrusion 23581 to drive the lifting assembly 60 to move. The second transmission section 2359 is provided with a connecting portion 23591, which is eccentrically disposed relative to the second transmission section 2359. When the second transmission section 2359 rotates relative to the brush housing 10 together with the first transmission section 2358, the connecting portion 23591 drives the blocking assembly 50 to operate.

[0194] Specifically, in some embodiments, the first transmission part 2358 may include a first main body part 23583, which may be fixedly disposed on the second rotating shaft 2351. A protrusion 23581 extends from the outer peripheral wall of the first main body part 23583 in a direction away from the central axis of the first main body part 23583. For example, the cross-sectional shape of the first transmission part 2358 may be designed as a teardrop shape. The second transmission part 2359 includes a second main body part 23593, which may be fixedly disposed on the second rotating shaft 2351. A connecting part 23591 extends from the second main body part 23593 in a direction away from the first main body part 23583. The central axes of the first main body part 23583 and the second main body part 23593 may coincide. It should be noted that in some embodiments, the cross-sectional shape of the protrusion 23581 may be approximately triangular.

[0195] In some embodiments, when the protrusion 23581 engages with the lifting assembly 60, the lifting assembly 60 can be moved to or located in a second lifting position, and the roller brush assembly 40 is at a first height relative to the body 200. When the protrusion 23581 disengages from the lifting assembly 60, the lifting assembly 60 can be moved to or located in the first lifting position, and the roller brush assembly 40 is at a second height relative to the body 200, with the first height being greater than the second height.

[0196] Specifically, in some embodiments, the engagement of the protrusion 23581 with the lifting component 60 can be such that the sleeve protrusion 6311 abuts against the protrusion 23581; the disengagement of the protrusion 23581 from the lifting component 60 can be such that the sleeve protrusion 6311 does not abut against the protrusion 23581. Specifically, when the moving component 2352 rotates relative to the roller brush housing 10 to engage the protrusion 23581 with the sleeve protrusion 6311, the sleeve protrusion 6311 can drive the sleeve portion 631 and the hook portion 633 to rotate around the connecting shaft 61, so that the lifting component 60 is in the second lifted position and the roller brush assembly 40 is at the first height relative to the body 200. When the moving component 2352 rotates relative to the roller brush housing 10 to disengage the protrusion 23581 from the sleeve protrusion 6311, the sleeve portion 631 and the hook portion 633 can rotate in the opposite direction around the connecting shaft 61, so that the lifting component 60 is in the first lifted position and the roller brush assembly 40 is at the second height relative to the body 200. Thus, the drive component 20 can drive the lifting component 60 to move, so that the roller brush assembly 40 can switch between the first height and the second height, thereby improving the obstacle-crossing ability of the cleaning device 100 and ensuring the normal operation of the cleaning device 100.

[0197] In some embodiments, when the connecting portion 23591 rotates relative to the roller brush housing 10 to a first position, the blocking member 51 of the blocking assembly 50 is in a first blocking position relative to the roller brush housing 10. When the connecting portion 23591 rotates relative to the roller brush housing 10 to a second position, the blocking member 51 of the blocking assembly 50 is in a second blocking position relative to the roller brush housing 10. When the blocking member 51 is in the first blocking position, the opening size of the suction inlet 11 is larger than when the blocking member 51 is in the second blocking position. Thus, when the connecting portion 23591 rotates relative to the roller brush housing 10, the blocking member 51 can switch between the first blocking position and the second blocking position relative to the roller brush housing 10 to switch the opening size of the suction inlet 11, thereby making the cleaning device 100 suitable for different working scenarios and improving the applicability of the cleaning robot 1000 (shown in FIG. 20).

[0198] In some embodiments, when the roller brush assembly 40 is at a first height relative to the body 200, the blocking member 51 of the blocking assembly 50 is in a first blocking position. At this time, the cleaning device 100 can cross obstacles to ensure the normal operation of the cleaning device 100. When the roller brush assembly 40 is at a second height relative to the body 200, the blocking member 51 of the blocking assembly 50 is in a second blocking position. At this time, the opening of the suction port 11 is smaller, the suction force of the receiving cavity 18 is larger, and the cleaning device 100 can clean the target area. When the roller brush assembly 40 is at a second height relative to the body 200, the blocking member 51 of the blocking assembly 50 is in a first blocking position. At this time, the opening of the suction port 11 is larger, the suction force of the receiving cavity 18 is smaller, and the cleaning device 100 can clean non-target areas.

[0199] Referring to Figure 18, in some embodiments, the cleaning device 100 further includes a functional component 2360. When the driving force of the drive member 21 is transmitted to the main transmission unit 23580, the main transmission unit 23580 drives the first transmission unit 2358, the second transmission unit 2359, and the functional component 2360 to rotate together relative to the roller brush housing 10. Exemplarily, the main transmission unit 23580, the first transmission unit 2358, the second transmission unit 2359, and the functional component 2360 can be coaxially connected, that is, the main transmission unit 23580, the first transmission unit 2358, the second transmission unit 2359, and the functional component 2360 are connected on the same shaft. The functional component 2360 can perform functions different from those of the roller brush assembly 40, the shielding assembly 50, and the lifting assembly 60. Exemplarily, when the functional component 2360 moves, it can drive the roller brush assembly 40 to rise and fall relative to the surface to be cleaned. For example, the functional component 2360 lowers the roller brush assembly 40 by pressing down the roller brush housing 10. When the functional component 2360 releases the roller brush housing 10, the roller brush housing 10 drives the roller brush assembly 40 to return to its original state, that is, to rise back to its original position.

[0200] Please refer to Figures 1 and 3. This disclosure provides a cleaning robot 1000, which includes a body 200 and a cleaning device 100 as described in any of the above embodiments. The cleaning device 100 is disposed on the body 200 and is used to clean the surface to be cleaned.

[0201] In the cleaning robot 1000 of this embodiment, the cleaning device 100 includes a roller brush assembly 40, a shielding assembly 50, and a lifting assembly 60. The drive assembly 20 drives the roller brush assembly 40 to rotate to clean the surface to be cleaned, drives the shielding assembly 50 to move to change the opening size of the suction inlet 11, and drives the lifting assembly 60 to move the roller brush housing 10, thereby causing the roller brush assembly 40 to rise and fall relative to the robot body 200. Therefore, compared to related technologies, the cleaning device 100 can not only clean the surface to be cleaned, but also perform other functions using the roller brush assembly 40, shielding assembly 50, and lifting assembly 60, thereby improving the applicability of the cleaning robot 1000, meeting user needs, and improving cleaning effectiveness, such as deep cleaning of carpets, obstacle crossing, entering and exiting base stations, or roller brush lifting during mopping. Furthermore, by using a single drive assembly, the above-mentioned cleaning functions for different needs can be achieved, saving costs and reducing the installation space of components, making the overall structure of the cleaning robot compact and miniaturized.

[0202] It is understood that the specific structure of the cleaning robot 1000 in this embodiment is exactly the same as that of the cleaning robot 1000 in the above embodiments, and will not be described again here.

[0203] Please refer to Figures 1, 3, and 21. This disclosure provides a cleaning system 4000, which includes a cleaning robot 1000 and a base station 3000 as described above. The base station 3000 is used in conjunction with the cleaning robot 1000 and includes a docking position 3100 for accommodating the cleaning robot 1000. It is understood that in some embodiments, when the cleaning robot 1000 is located in the docking position 3100, the base station 3000 can perform maintenance on the cleaning robot 1000. This maintenance includes, but is not limited to, charging, dust collection, cleaning of components, replenishment of clean water, and pumping of wastewater. This can be understood as follows: the cleaning robot 1000 can perform at least one of the following within the base station 3000: 1. The base station 3000 charges the cleaning robot 1000; 2. The base station 3000 collects the debris (e.g., debris from the cleaning robot's dust box or wastewater tank) from the cleaning robot 1000 into its dust collection container; 3. The base station 3000 cleans the cleaning components of the cleaning robot 1000 within the base station 3000 (e.g., washes the mop, cleans the roller brush, washes the roller, etc.); 4. The base station 3000 replenishes the cleaning robot 1000's clean water tank with clean water; 5. The base station 3000 collects the dirt from the cleaning robot 1000's wastewater tank into its wastewater container and discharges it to the outside. The above maintenance types are merely illustrative descriptions and are not intended to limit this disclosure.

[0204] In the cleaning system 4000 of this disclosure, the cleaning device 100 includes a roller brush assembly 40, a shielding assembly 50, and a lifting assembly 60. The driving assembly 20 is used to drive the roller brush assembly 40 to rotate to clean the surface to be cleaned, drive the shielding assembly 50 to move to change the opening size of the suction port 11, and drive the lifting assembly 60 to move to drive the roller brush housing 10 to move, thereby causing the roller brush assembly 40 to rise and fall relative to the body 200. Thus, compared with related technologies, the cleaning device 100 can not only clean the surface to be cleaned, but also use the roller brush assembly 40, the shielding assembly 50, and the lifting assembly 60 to perform other functions, thereby improving the applicability of the cleaning robot 1000, meeting the user's needs, and improving the cleaning effect.

[0205] Please refer to Figure 22. This disclosure provides a control method for a cleaning robot, which is applied to the cleaning robot 1000 described above. The control method includes:

[0206] 01: During at least a portion of the time period when the cleaning robot 1000 is cleaning the target area, the control drive component 20 drives the roller brush component 40 to move to clean the target area, and drives the shielding component 50 to move to reduce the opening size of the suction port 11.

[0207] Referring to Figure 20, the above control method can be applied to a cleaning robot 1000, which includes a processor 300 and a memory. The memory stores computer program 2100 instructions. The processor 300 is a component in the cleaning robot 1000 used to analyze or process data and issue instructions to or control the drive assembly 20. There can be one or more processors 300. In this embodiment, the processor 300 is used to execute the control method described in 01. That is, the processor 300 is used to: control the drive assembly 20 to drive the roller brush assembly 40 to move to clean the target area during at least a portion of the time period during which the cleaning robot 1000 cleans the target area, and to drive the shielding assembly 50 to move to reduce the opening size of the suction inlet 11.

[0208] It is understood that the specific structure of the cleaning robot 1000 in this embodiment is exactly the same as that of the cleaning robot 1000 in the above embodiments. The target area and non-target area in this embodiment are exactly the same as those in the above embodiments, and will not be described again here.

[0209] The surfaces to be cleaned include target areas and non-target areas. Taking carpet as an example, because carpet is relatively soft compared to the ground and has a relatively strong adsorption capacity for debris (such as dust, hair, and crumbs), carpet is difficult to clean effectively. Therefore, under the same conditions, the adsorption capacity of non-target areas for debris is less than that of target areas. When the cleaning robot 1000 cleans the target area, considering that most of the debris on the target area is difficult to adsorb and clean, and requires concentrated adsorption force for cleaning, it is set to adjust the opening size of the suction port 11 to a smaller opening for a period of time. The roller brush 41 rolls up the debris on the target area, and the fan can then concentrate the adsorption force to effectively suck this part of the debris into the dust box, achieving a better cleaning effect.

[0210] When cleaning non-target areas and target areas, the opening size of the suction inlet 11 of the cleaning robot 1000 can be set differently. For example, when the cleaning robot 1000 moves from a non-target area to a target area, the opening size of the suction inlet 11 needs to be reduced; conversely, when the cleaning robot 1000 moves from a target area to a non-target area, the opening size of the suction inlet 11 needs to be increased. In some embodiments, the cleaning robot 1000 reduces the opening size of the suction inlet 11 when cleaning the target area, and increases the opening size of the suction inlet 11 or restores the opening size of the suction inlet 11 after cleaning or leaving the target area (for example, the suction inlet 11 is restored to the opening size before cleaning the target area).

[0211] In some embodiments, the timing for controlling the movement of the shielding component 50 to reduce the opening size of the suction inlet 11 during at least a portion of the time period during which the cleaning robot 1000 cleans the target area may be when part of the cleaning robot 1000 has reached the target area. For example, the side brush 260 located in front of the cleaning robot 1000 in its forward direction may clean the target area; the roller brush 41 located in the middle of the cleaning robot 1000 in its forward direction may clean the target area; or the sensor located on the left or right side of the cleaning robot 1000 in its forward direction may detect the target area. Alternatively, the cleaning robot 1000 may have fully reached the target area. For example, the mopping component 270 located behind the cleaning robot 1000 in its forward direction may clean the target area; or the sensor located at the tail of the cleaning robot 1000 in its forward direction may detect the target area.

[0212] Specifically, in some embodiments, during at least a portion of the time that the cleaning robot 1000 moves from a non-target area to a target area for cleaning—that is, during at least a portion of the time that the cleaning robot 1000 moves from an area that does not require deep cleaning to an area that requires deep cleaning—the processor 300 can control the drive assembly 20 to drive the roller brush assembly 40 to move to clean the target area, while simultaneously controlling the blocking assembly 50 to move to reduce the opening size of the suction inlet 11. This increases the suction force of the receiving cavity 18, ensuring effective cleaning of the target area by the cleaning device 100. In other words, the opening size of the suction inlet 11 is smaller when cleaning the target area compared to when the cleaning robot 1000 is cleaning a non-target area.

[0213] The timing of controlling the drive assembly 20 to drive the roller brush 41 to rotate to clean the target area can be before, simultaneously with, or after controlling the movement of the shielding assembly 50 to reduce the opening size of the suction inlet 11. For example, the shielding assembly 50 is first controlled to move to reduce the opening size of the suction inlet 11, and only after the opening size of the suction inlet 11 has decreased, while the shielding assembly 50 remains in that position, is the drive assembly 20 driving the roller brush 41 to rotate to remove these more strongly adsorbed debris.

[0214] When the cleaning robot 1000 is cleaning the target area, in addition to the rotating roller brush 41, the side brush 260 and the mopping component 270 can also operate according to the corresponding cleaning mode. For example, in the cleaning mode of sweeping and mopping simultaneously, the roller brush 41, the side brush 260, and the mopping component 270 all operate.

[0215] More specifically, in some embodiments, the cleaning robot 1000 may include a detection device. This detection device can output a detection signal based on the current position of the cleaning robot 1000 (including target and non-target areas), and the detection signal includes the current position of the cleaning robot 1000. The processor 300 can acquire the detection signal output by the detection device and control the operation of the cleaning device 100 based on the detection signal. This allows the cleaning device 100 to adaptively adjust its operating state according to different current positions, improving the applicability of the cleaning device 100, ensuring its normal operation, and enhancing the intelligent attributes of the cleaning robot 1000. It should be noted that in some embodiments, the detection device may include, but is not limited to, position detection sensors and image acquisition devices.

[0216] Referring to Figure 23, in some embodiments, 01: driving the shielding assembly 50 to move to reduce the opening size of the suction port 11 includes:

[0217] 011: Drive the occlusion component 50 to move so that the occlusion component 50 comes into contact with the target area.

[0218] Referring to Figure 20, one or more processors can execute the control method in 011, that is, one or more processors 300 are used to: drive the occlusion component 50 to move so that the occlusion component 50 contacts the target area.

[0219] In some embodiments, the shielding assembly 50 is driven to move to reduce the opening size of the suction port 11 so that the shielding assembly 50 contacts the target area. For example, the opening size of the suction port 11 can be minimized, that is, the shielding assembly 50 moves to the second shielding position. When the shielding assembly 50 contacts the target area, there is almost no gap (or a minimum gap) between the shielding member 51 of the shielding assembly 50 and the surface to be cleaned. At this time, the sealing performance in the receiving cavity 18 is good, that is, a good vacuum is formed between the cleaning device 100 and the surface to be cleaned. The fan can concentrate the suction force to adsorb the debris on the surface to be cleaned corresponding to the position of the suction port 11. That is, the debris on the part of the surface to be cleaned covered by the cleaning device 100 can be effectively sucked into the dust box of the cleaning robot 1000, and the cleaning device 100 has a good cleaning effect on the surface to be cleaned.

[0220] Specifically, in some embodiments, when the cleaning robot 1000 enters the target area from a non-target area to perform cleaning, the processor can control the movement of the shielding component 50 so that the shielding member 51 of the shielding component 50 contacts the target area, that is, the shielding member 51 contacts the surface to be cleaned. This can reduce the opening size of the suction port 11 and increase the suction force of the receiving cavity 18, thereby improving the cleaning effect of the cleaning robot 1000.

[0221] And / or, referring to Figures 22 and 23, in some embodiments, the control method further includes:

[0222] 02: Control the increase of the operating power of the fan of the cleaning robot 1000. The fan is connected to the roller brush housing 10. During the operation of the fan, the garbage on the target area is sucked into the roller brush housing 10 through the suction port 11.

[0223] One or more processors are capable of executing the control method in 02, that is, one or more processors 300 are used to: control the increase of the operating power of the fan of the cleaning robot 1000, the fan being connected to the roller brush housing 10, and during the operation of the fan, the garbage on the target area is sucked into the roller brush housing 10 through the suction port 11.

[0224] The timing for increasing the operating power of the fan can be after, simultaneously with, or before driving the shielding component 50 to move and reduce the opening size of the suction inlet 11. For example, after the shielding component 50 moves to reduce the opening size of the suction inlet 11, the sealing of the receiving cavity 18 is better, that is, a better vacuum is formed between the cleaning device 100 and the surface to be cleaned. The fan can concentrate the suction force to adsorb the garbage on the surface to be cleaned at the position corresponding to the suction inlet 11. If the operating power of the fan is increased at this time, the suction force generated will be greater, which can improve the fan's adsorption efficiency for garbage, thereby not only improving the cleaning effect but also improving the cleaning effect.

[0225] Specifically, in some embodiments, when the cleaning robot 1000 is cleaning the target area, the processor 300 can control the increase of the operating power of the fan, which can quickly create a negative pressure in the receiving cavity 18 and increase the suction force of the receiving cavity 18. This can improve the cleaning efficiency of the cleaning robot 1000 on the one hand, and improve the cleaning effect of the cleaning robot 1000 on the other hand. For example, when the target area is a carpet area, the cleaning robot 1000 can more easily suck up the dust on the carpet and the debris embedded in the carpet fibers.

[0226] Please refer to Figure 24. In some embodiments, the control method further includes:

[0227] 03: During at least a portion of the time period when the cleaning robot 1000 is cleaning a non-target area, the control drive assembly 20 drives the roller brush assembly 40 and / or the mopping component 270 of the cleaning robot 1000 to move to clean the non-target area, and / or drives the shielding assembly 50 to move to increase the opening size of the suction inlet 11.

[0228] One or more processors are capable of executing the control method in 03, that is, one or more processors 300 are used to: control the drive assembly 20 to drive the roller brush assembly 40 and / or the mopping component 270 of the cleaning robot 1000 to move to clean the target area during at least a portion of the time period during which the cleaning robot 1000 cleans the non-target area, and / or drive the shielding assembly 50 to move to increase the opening size of the suction inlet 11.

[0229] Before cleaning a non-target area, if the cleaning robot 1000 is not in the target area (i.e., the opening size of the suction inlet 11 has not been reduced—for example, moving from non-target area A to non-target area B, or from base station 3000 to non-target area C), then the cleaning robot 1000 does not need to adjust the opening size of the suction inlet 13 when cleaning the non-target area. However, if the cleaning robot 1000 moves from the target area to a non-target area for cleaning, then during at least a portion of the time the cleaning robot 1000 is cleaning the non-target area, the blocking component 50 is driven to move to increase the opening size of the suction inlet 11.

[0230] The cleaning robot 1000 can use various cleaning modes for non-target areas, including but not limited to sweeping alone, mopping alone, sweeping and mopping simultaneously, and sweeping followed by mopping. In these different cleaning modes, the operating states of the roller brush 41, the mopping component 270, and the side brush 260 differ. For example, when mopping only, the roller brush 41 and side brush 260 are not operating, only the mopping component 270 is running; or, when sweeping only, the roller brush 41 and side brush 260 are running, while the mopping component 270 is not; or, when sweeping and mopping simultaneously, all three components are operating. Therefore, during at least a portion of the time spent cleaning non-target areas, at least one of the roller brush 41 and the mopping component 270 is operating.

[0231] In some embodiments, the timing for controlling the movement of the shielding component 50 to increase the opening size of the suction inlet 11 during at least a portion of the time the cleaning robot 1000 is cleaning a non-target area can be when part of the cleaning robot 1000 has reached the non-target area. For example, the side brush 260 located in front of the cleaning robot 1000 in its forward direction can clean the non-target area; the roller brush 41 located in the middle of the cleaning robot 1000 in its forward direction can clean the non-target area; or the sensor located on the left or right side of the cleaning robot 1000 in its forward direction can detect the non-target area. Alternatively, the cleaning robot 1000 can reach the entire non-target area. For example, the mopping component 270 located behind the cleaning robot 1000 in its forward direction can clean the non-target area; or the sensor located at the tail of the cleaning robot 1000 in its forward direction can detect the non-target area.

[0232] The timing of controlling the drive assembly 20 to drive the roller brush 41 and / or the mopping component 270 of the cleaning robot 1000 to clean non-target areas can be before, simultaneously with, or after controlling the blocking assembly 50 to move to increase the opening size of the suction inlet 11. For example, after controlling the blocking assembly 50 to move to decrease the opening size of the suction inlet 11, the operating power of the fan of the cleaning robot 1000 is increased.

[0233] Specifically, in some embodiments, during at least a portion of the time when the cleaning robot 1000 moves from the target area to a non-target area for cleaning, that is, during at least a portion of the time when the cleaning robot 1000 moves from an area requiring deep cleaning to an area not requiring deep cleaning, the processor 300 can control the drive assembly 20 to drive the roller brush assembly 40 and / or the mopping component 270 of the cleaning robot 1000 to move to clean the target area, while controlling the blocking assembly 50 to move to increase the opening size of the suction port 11. This ensures that the suction force of the receiving cavity 18 meets the cleaning requirements, while also ensuring that the waste can enter the receiving cavity 18 through the suction port 11, preventing the problem of large amounts of waste being blocked outside the suction port 11.

[0234] Referring to Figure 25, in some embodiments, 03: driving the shielding assembly 50 to move to increase the opening size of the suction port 11 includes:

[0235] 031: Drive the occlusion component 50 to move so that the occlusion component 50 does not come into contact with the non-target area.

[0236] One or more processors are capable of executing the control method in 031, that is, one or more processors 300 are used to: drive the occlusion component 50 to move so that the occlusion component 50 does not contact the non-target area.

[0237] Specifically, in some embodiments, when the cleaning robot 1000 moves from the target area to a non-target area for cleaning, the processor 300 can control the movement of the shielding component 50 so that the shielding member 51 of the shielding component 50 does not contact the non-target area, that is, the shielding member 51 does not contact the surface to be cleaned. This ensures that the suction force of the receiving cavity 18 meets the cleaning requirements, while also ensuring that the waste can enter the receiving cavity 18 through the suction port 11, preventing the problem of large amounts of waste being blocked outside the suction port 11.

[0238] Referring to Figure 25, in some embodiments, after the drive shielding assembly 50 is moved to increase the opening size of the suction port 11, the control method further includes:

[0239] 04: Control the reduction of the operating power of the fan of the cleaning robot 1000. The fan is connected to the roller brush housing 10. During the operation of the fan, the garbage on the surface to be cleaned is sucked into the roller brush housing 10 through the suction port 11.

[0240] One or more processors are capable of executing the control method in 04, that is, one or more processors 300 are used to: control the reduction of the operating power of the fan of the cleaning robot 1000, the fan being connected to the roller brush housing 10, and during the operation of the fan, the garbage on the surface to be cleaned is sucked into the roller brush housing 10 through the suction port 11.

[0241] In some embodiments, controlling the movement of the blocking component 50 increases the opening size of the suction port 11 so that the blocking component 50 does not contact the non-target area. For example, the opening size of the suction port 11 can be the maximum opening, i.e., controlling the blocking component 50 to move to a first blocking position. Adjusting the opening size of the suction port 11 to a larger opening includes: moving the blocking component 50 so that the blocking component 50 does not contact the non-target area. The blocking component 50 not contacting the non-target area can mean that the suction port 11 has multiple openings, for example, the suction port 11 has a maximum opening. Of course, the opening size of the suction port 11 can be any opening between the maximum and minimum openings, that is, the blocking component 50 can also be at any position between the first blocking position and the second blocking position.

[0242] Specifically, in some embodiments, when the cleaning robot 1000 is cleaning a non-target area, the processor 300 can control the reduction of the fan's operating power. This allows the suction force of the receiving cavity 18 to meet the cleaning requirements while reducing the fan's power consumption, thereby increasing the cleaning robot 1000's battery life and improving the user experience.

[0243] And / or, in some embodiments, the control method further includes:

[0244] 05: During at least a portion of the time that the cleaning robot 1000 is crossing obstacles, entering or exiting the base station 3000, or mopping, the control drive component 20 drives the lifting component 60 to move, causing the cleaning device 100 to rise relative to the body 200; and / or, after the cleaning robot 1000 has crossed obstacles, entered or exited the base station 3000, or during at least a portion of the time that it is sweeping, the control drive component 20 drives the lifting component 60 to move, causing the cleaning device 100 to fall relative to the body 200; wherein the base station 3000 is used in conjunction with the cleaning robot 1000, and the cleaning robot 1000 moves to the base station 3000 for maintenance.

[0245] One or more processors are capable of executing the control method in 05, namely, one or more processors 300 are configured to: control the drive assembly 20 to drive the lifting assembly 60 to move and cause the cleaning device 100 to rise relative to the body 200 during at least a portion of the time that the cleaning robot 1000 is crossing an obstacle or entering or exiting the base station 3000 or sweeping; and / or, control the drive assembly 20 to drive the lifting assembly 60 to move and cause the cleaning device 100 to fall relative to the body 200 after the cleaning robot 1000 has crossed an obstacle or entered or exited the base station 3000 or sweeping; wherein the base station 3000 is used in conjunction with the cleaning robot 1000, and the cleaning robot 1000 moves to the base station 3000 for maintenance.

[0246] For the cleaning robot 1000, since the brush assembly 40 needs to contact the surface to be cleaned when the cleaning device 100 is used to perform the sweeping function, it is desirable that the brush assembly 40 of the cleaning device 100 does not contact the surface to be cleaned or is appropriately raised to reduce obstruction when the cleaning robot 1000 encounters obstacles, enters or exits the base station 3000, or is used to perform the mopping function. Therefore, in some embodiments of this disclosure, during at least a portion of the time when the cleaning robot 1000 is crossing obstacles, entering or exiting the base station 3000, or mopping, the drive assembly 20 drives the lifting assembly 60 to move, thereby causing the brush assembly 40 to rise relative to the body 200. For example, when the cleaning robot encounters an obstacle on the surface to be cleaned, the drive assembly 20 drives the lifting assembly 60 to move, thereby causing the brush assembly 40 to rise relative to the body 200. This facilitates the cleaning robot 1000 in overcoming obstacles and improves its passability; it also helps the cleaning robot 1000 adapt to different cleaning environments and improves its cleaning effect. It is understood that in some embodiments, after the cleaning robot 1000 crosses an obstacle or enters or exits the base station 3000, or during at least a portion of the sweeping time, the drive component 20 drives the lifting component 60 to move so as to lower the cleaning device 100 relative to the body 200, thereby ensuring that the roller brush component 40 cleans the surface to be cleaned normally.

[0247] Referring to Figure 20 and in conjunction with Figure 26, in some embodiments, the cleaning robot 1000 further includes a drive wheel 280 rotatably mounted on the body 200, which is used to drive the cleaning robot 1000 to move. The control method further includes:

[0248] 06: During at least a portion of the time period during which the drive assembly 20 drives the blocking assembly 50 and / or the lifting assembly 60 to move, the drive wheel 280 is controlled to reduce its rotational speed and / or stop rotating.

[0249] One or more processors are capable of executing the control method in 06, that is, one or more processors 300 are used to: control the drive wheel 280 to reduce its rotational speed and / or stop rotating during at least a portion of the time period during which the drive assembly 20 drives the shielding assembly 50 and / or the lifting assembly 60 to move.

[0250] Specifically, in some embodiments, during at least a portion of the time that the drive assembly 20 drives the blocking assembly 50 to move—that is, during at least a portion of the time that the drive assembly 20 drives the blocking member 51 to move between the first blocking position and the second blocking position—if the rotational speed of the drive wheel 280 remains constant, the cleaning device 100 may experience poor cleaning performance on the surface to be cleaned during the switching process of the blocking member 51. For example, when the cleaning robot 1000 switches from a non-target area to a target area, if the rotational speed of the drive wheel 280 remains constant, the cleaning device 100 may have difficulty cleaning debris (e.g., dust) on the target area during the switching process of the blocking member 51, thus affecting the cleaning effect. Therefore, controlling the rotational speed of the drive wheel 280 to decrease or / or controlling the drive wheel 280 to stop rotating during at least a portion of the time that the drive assembly 20 drives the blocking assembly 50 to move can ensure the cleaning effect of the cleaning robot 1000.

[0251] During at least a portion of the time that the drive assembly 20 drives the lifting assembly 60 to move, that is, during at least a portion of the time that the drive assembly 20 drives the lifting member 63 to move between the first lifting position and the second lifting position, if the rotational speed of the drive wheel 280 remains unchanged, it may cause the cleaning device 100 to collide with an obstacle and be damaged during the switching process of the lifting member 63, affecting the service life of the cleaning device 100 and hindering the normal operation of the cleaning robot 1000. Therefore, by controlling the rotational speed of the drive wheel 280 to decrease during at least a portion of the time that the drive assembly 20 drives the lifting assembly 60 to move; and / or by controlling the drive wheel 280 to stop rotating, it is possible to prevent the cleaning device 100 from colliding with an obstacle during the switching process of the lifting member 63, thereby extending the service life of the cleaning device 100 and ensuring the normal operation of the cleaning robot 1000.

[0252] And / or, referring to Figure 20 and in conjunction with Figure 26, in some embodiments, the control method further includes:

[0253] 07: During at least a portion of the time that the cleaning robot 1000 is crossing an obstacle, control the drive wheel 280 to increase its rotation speed.

[0254] One or more processors are capable of executing the control method in 07, that is, one or more processors 300 are used to: control the drive wheels to increase their rotation speed during at least a portion of the time period during which the cleaning robot 1000 crosses an obstacle.

[0255] Specifically, in some embodiments, when the cleaning robot 1000 encounters an obstacle, the processor 300 can control the lifting component 60 to move so that the roller brush component 40 rises relative to the body 200. At this time, the processor 300 can also control the drive wheel 280 to increase its rotation speed, so that the cleaning robot 1000 can quickly cross the obstacle and ensure the normal operation of the cleaning robot 1000.

[0256] In some embodiments, the blocking member 51 in the blocking assembly 50 has a first blocking position and a second blocking position. When the blocking member 51 is in the first blocking position, the opening size of the suction inlet 11 is larger than the opening size of the suction inlet 11 when the blocking member 51 is in the second blocking position. The lifting member 63 in the lifting assembly 60 has a first lifting position and a second lifting position. When the lifting member 63 is in the first lifting position, the height of the roller brush assembly 40 relative to the body 200 is smaller than the height of the roller brush assembly 40 relative to the body 200 when the lifting member 63 is in the second lifting position. The transmission member 23 in the drive assembly 20 is used to transmit the driving force of the drive assembly 20 to the roller brush assembly 40, the blocking assembly 50, and the lifting assembly 60. The cleaning device 100 also includes a detection assembly 80, which is used to detect the position of the transmission member 23 and / or the blocking member 51 and / or the lifting member 63 relative to the roller brush housing 10, and output a detection signal.

[0257] Referring to Figure 27, in some embodiments, the control method further includes:

[0258] 08: Acquire the detection signal output by the detection component 80; and

[0259] 091: When the detection signal is the first detection signal, it is determined that the blocking member 51 is located in the second blocking position and the lifting member 63 is located in the first lifting position; and / or,

[0260] 093: When the detection signal is the second detection signal, it is determined that the blocking member 51 is located in the first blocking position and the lifting member 63 is located in the first lifting position; and / or,

[0261] 095: When the detection signal is the third detection signal, it is determined that the blocking member 51 is located in the first blocking position and the lifting member 63 is located in the second lifting position.

[0262] One or more processors 300 are capable of executing the control methods in 08, 091, 093 and 095, that is, one or more processors 300 are configured to: acquire the detection signal output by the detection component 80; and, if the detection signal is a first detection signal, determine that the blocking member 51 is located in a second blocking position and the lifting member 63 is located in a first lifting position; if the detection signal is a second detection signal, determine that the blocking member 51 is located in the first blocking position and the lifting member 63 is located in the first lifting position; and if the detection signal is a third detection signal, determine that the blocking member 51 is located in the first blocking position and the lifting member 63 is located in the second lifting position.

[0263] Specifically, in some embodiments, as described above, the detection component 80 includes a first detection element 81 and a second detection element 83. One of the first detection element 81 and the second detection element 83 is disposed in the roller brush housing 10, and the other is disposed in the shielding component 50 and / or the lifting component 60. The first detection element 81 and the second detection element 83 cooperate to detect the position of the connecting member 53 relative to the roller brush housing 10 and / or the position of the lifting component 63 relative to the roller brush housing 10 and output a detection signal. The processor 300 obtains the position of the shielding component 50 and the lifting component 60 relative to the roller brush housing 10 based on the detection signal, which helps the cleaning device 100 to adjust the position of the moving part 2352 in a timely and accurate manner, so as to realize the adjustment of the position of the shielding component 50 and the lifting component 60, and ensure the stability and reliability of the operation of the cleaning device 100. It is understood that the first detection element 81 and the second detection element 83 in this embodiment are substantially the same as the first detection element 81 and the second detection element 83 in the above embodiments, and will not be described again here.

[0264] Referring to Figure 28, this disclosure provides a control method for a cleaning robot, which is applied to the cleaning robot 1000 described above. The control method includes:

[0265] 10: During at least a portion of the time period of the cleaning robot 1000 cleaning the target area, the control drive component 20 drives the roller brush component 40 to move to clean the target area, and controls the shielding component 50 to be in a first position.

[0266] 11: During at least a portion of the time period during which the cleaning robot 1000 cleans the target area, the control drive component 20 drives the roller brush component 40 to move to clean the target area, and controls the shielding component 50 to move to reduce the opening size of the suction inlet 11 so that the shielding component 50 is in a second position; wherein the target area cleaned by the cleaning robot 1000 in the previous cleaning and the target area cleaned by the cleaning robot 1000 in the subsequent cleaning have at least a partial overlap.

[0267] Referring to Figure 20, the above control method can be applied to a cleaning robot 1000, which includes a processor 300 and a memory. The memory stores computer program 2100 instructions. The processor 300 is a component in the cleaning robot 1000 used to analyze or process data and issue instructions to the drive component 20 or control the drive component 20. There can be one or more processors 300. In this embodiment, the processor 300 is used to execute the above control method. That is, the processor 300 is configured to: control the drive component 20 to drive the roller brush assembly 40 to move to clean the target area during at least a portion of the time period of the previous cleaning of the target area by the cleaning robot 1000, and control the shielding component 50 to be in a first position; and control the drive component 20 to drive the roller brush assembly 40 to move to clean the target area during at least a portion of the time period of the subsequent cleaning of the target area by the cleaning robot 1000, and control the shielding component 50 to move to reduce the opening size of the suction inlet 11 so that the shielding component 50 is in a second position; wherein the target area of ​​the previous cleaning by the cleaning robot 1000 and the target area of ​​the subsequent cleaning by the cleaning robot 1000 have at least a partial overlap.

[0268] It is understood that the specific structure of the cleaning robot 1000 in this embodiment is exactly the same as that of the cleaning robot 1000 in the above embodiments. The target area and non-target area in this embodiment are exactly the same as those in the above embodiments, and will not be described again here.

[0269] The target area cleaned by the cleaning robot 1000 in a previous cleaning session overlaps with the target area cleaned in a subsequent cleaning session. In some embodiments, the target area cleaned by the cleaning robot 1000 in a previous cleaning session is exactly the same as the target area cleaned in a subsequent cleaning session. For example, the target area is a carpet in the living room, and the cleaning robot 1000 cleans the entire carpet area in both the previous and subsequent cleaning sessions. In other embodiments, the target area cleaned by the cleaning robot 1000 in a previous cleaning session is only partially the same as the target area cleaned in a subsequent cleaning session. For example, the cleaning robot 1000 cleans the entire carpet area in a previous cleaning session, and cleans only a portion of the carpet area in a subsequent cleaning session (such as identifying a particularly dirty area of ​​the carpet). For yet another example, the cleaning robot 1000 cleans the left side of the carpet in a previous cleaning session, and cleans the right side of the carpet in a subsequent cleaning session, with some overlap between the left side area cleaned in the previous cleaning session and the right side area cleaned in the subsequent cleaning session.

[0270] The cleaning robot 1000 sets the opening size of the suction inlet 11 differently for each cleaning cycle of the target area. Specifically, the shielding component 50 is in a first position during the first cleaning cycle and in a second position during the second cleaning cycle. The opening size of the suction inlet 11 corresponding to the first position is larger than that corresponding to the second position. For example, when the cleaning robot 1000 moves to the target area, the shielding component 50 is in the first position, which is the highest position (meaning that the height of the shielding part 513 from the surface to be cleaned is the greatest in the direction perpendicular to the surface, and the opening size of the suction inlet 11 is the largest). It performs a normal cleaning cycle to remove large debris. Then, it controls the shielding component 50 to the second position, which is the lowest position (meaning that the height of the shielding part 513 from the surface to be cleaned is the smallest in the direction perpendicular to the surface, and the opening size of the suction inlet 11 is the smallest). Then, a second deep cleaning is performed to remove small debris. For example, when the cleaning robot 1000 moves to the target area, the shielding component 50 is in the first position, performing a first cleaning to remove large debris. Then, the shielding component 50 is moved to the second position, performing a second deep cleaning to remove small debris. This is possible as long as the opening size of the suction inlet 11 corresponding to the first position is larger than the opening size of the suction inlet 11 corresponding to the second position. The opening sizes of the suction inlets 11 corresponding to the first and second positions can be any opening between the maximum and minimum opening. Performing two or more cleaning actions when cleaning the target area can further improve the cleaning effect.

[0271] It should be noted that the cleaning robot 1000 cleans the target area one time before cleaning the target area the next time. That is, the larger suction port 11 is controlled first to perform the previous cleaning, and then the smaller suction port 11 is controlled to perform the next cleaning. In some embodiments, the cleaning robot 1000's previous and next cleaning of the target area are two adjacent cleaning actions. That is, the larger suction port 11 is controlled first to perform the first cleaning, and then the smaller suction port 11 is controlled to perform the second cleaning. For example, if the target area is a carpet in the living room, when the cleaning robot 1000 walks to the carpet, the shielding component 50 is in the first position, which is the highest position (that is, in the direction perpendicular to the surface to be cleaned, the height of the shielding part 513 from the surface to be cleaned is the greatest, and the opening size of the corresponding suction port 11 is the largest). The robot first performs a normal cleaning on the carpet (for example, it walks in a bow shape on the carpet once). Then, the robot controls the shielding component 50 to the second position, which is the lowest position (that is, in the direction perpendicular to the surface to be cleaned, the height of the shielding part 513 from the surface to be cleaned is the smallest, and the opening size of the corresponding suction port 11 is the smallest). Then, a deep cleaning is performed. For example, when the cleaning robot 1000 is performing normal cleaning of the whole house (such as the living room, master bedroom, secondary bedroom, balcony, etc.), when the cleaning robot 1000 walks to the carpet, the shielding component 50 is in the first position. After performing normal cleaning on the carpet, it continues to complete the cleaning tasks of other areas. After performing complete or partial cleaning on other areas (such as completing the cleaning of the living room or the cleaning of the whole house), it walks to the carpet again, controls the shielding component 50 to be in the second position, and performs deep cleaning on the carpet. The number of deep cleaning operations can be one, two, or more.

[0272] In other embodiments, the cleaning robot 1000 performs two non-adjacent cleaning actions on the target area in the previous cleaning and the target area in the next cleaning. That is, there is at least one additional cleaning action on the target area between the previous and the next cleaning action. It can be understood that before performing the next cleaning action, that is, before controlling the movement of the shielding component 50 to reduce the opening size of the suction inlet 11 so that the shielding component 50 is in the second position, the previous cleaning action may be performed twice or more. That is, the cleaning action corresponding to the shielding component 50 being in the first position may be performed twice or more. For example, the target area is a carpet in the living room. When the cleaning robot 1000 walks to the carpet, the shielding component 50 is in the first position, which is the highest position (that is, in the direction perpendicular to the surface to be cleaned, the height of the shielding part 513 from the surface to be cleaned is the greatest, and the opening size of the suction inlet 11 is the largest). The carpet is first cleaned twice normally (for example, walking back and forth in a bow pattern on the carpet once). (The robot performs cleaning once, twice, or more). For example, when the cleaning robot 1000 is cleaning the whole house (including the living room, master bedroom, secondary bedroom, balcony, etc.), when the cleaning robot 1000 walks to the carpet, the shielding component 50 is in the first position. After the normal cleaning of the carpet is completed, the robot continues to complete the cleaning tasks of other areas. After completing all or part of the cleaning tasks of other areas (such as completing the cleaning of the living room or the cleaning of the whole house), or when the living room is detected to be dirty, the robot performs a normal cleaning of the living room, including the normal cleaning of the carpet. After the normal cleaning of the living room is completed, the robot walks to the carpet again, controls the shielding component 50 to be in the second position, and performs deep cleaning of the carpet. The deep cleaning can be performed once, twice, or more.

[0273] Referring to Figure 29, this disclosure also provides a storage medium 2000 on which a computer program 2100 is stored. When the computer program 2100 is executed by one or more processors 300, it implements the control method as described in any of the preceding embodiments.

[0274] For example, referring to Figures 1, 2, 20, and 22, when computer program 2100 is executed by processor 300, the following cleaning control method is implemented:

[0275] 01: During at least a portion of the time period when the cleaning robot 1000 is cleaning the target area, the control drive component 20 drives the roller brush component 40 to move to clean the target area, and drives the shielding component 50 to move to reduce the opening size of the suction port 11.

[0276] For example, when computer program 2100 is executed by processor 300, it can also implement the control methods in 011, 02, 03, 031, 04, 05, 06, 07, 08, 091, 093 and 095.

[0277] In the storage medium 2000 of this disclosure, the cleaning device 100 includes a roller brush assembly 40, a shielding assembly 50, and a lifting assembly 60. The driving assembly 20 is used to drive the roller brush assembly 40 to rotate to clean the surface to be cleaned, drive the shielding assembly 50 to move to change the opening size of the suction port 11, and drive the lifting assembly 60 to move to drive the roller brush housing 10 to move, thereby causing the cleaning device 100 to rise and fall relative to the body 200. Thus, compared with related technologies, the cleaning device 100 can not only clean the surface to be cleaned, but also use the roller brush assembly 40, the shielding assembly 50, and the lifting assembly 60 to perform other functions, thereby improving the applicability of the cleaning robot 1000, meeting the user's needs, and improving the cleaning effect.

[0278] It should be noted that the "non-contact" described in this disclosure refers to the cleaning robot not contacting the surface to be cleaned when it is placed on a relatively flat surface. This excludes contact in other states, including but not limited to: contact between the cleaning robot and obstacles or the surface to be cleaned due to the robot's vertical movement when traversing obstacles; contact between the cleaning robot and the base station floor due to inclines or declines when entering or exiting base stations; contact caused by the robot's vertical movement when walking on uneven surfaces; contact between the cleaning robot and large or flying debris on the surface to be cleaned, or contact caused by unevenness in the surface itself, when performing cleaning tasks. For example, when the cleaning robot is placed at rest on a relatively flat surface to be cleaned, the first side does not contact the surface, while the second side does (e.g., the first side is tilted relative to the second side, the second side rests on the surface to be cleaned, and the first side is suspended above the surface); as another example, when the cleaning robot is placed at rest on a relatively flat non-target area, the shielding component does not contact the non-target area (e.g., the shielding component is suspended above the non-target area); as yet another example, when the cleaning robot is placed at rest on a relatively flat target area, the shielding component contacts the target area (e.g., at least a portion of the shielding component contacts the target area).

[0279] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this disclosure. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0280] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing a particular logical function or process, and the scope of preferred embodiments of this disclosure includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the function involved, as will be understood by those skilled in the art to which embodiments of this disclosure pertain.

[0281] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be specifically implemented in any computer storage medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, a computer storage medium can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer storage media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and programmable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer storage medium could be paper or other suitable media on which the program can be printed, since the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in the computer memory.

[0282] It should be understood that various parts of this disclosure can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0283] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer storage medium, and when executed, it includes one or a combination of the steps of the method embodiments. Furthermore, the functional units in the various embodiments of this disclosure can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer storage medium. The storage medium mentioned above can be a read-only memory, a disk, or an optical disk, etc.

[0284] Although embodiments of the present disclosure have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present disclosure. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present disclosure, the scope of which is defined by the claims and their equivalents.

Claims

A cleaning device for cleaning a robot that sweeps up litter on a surface to be cleaned by the cleaning device when performing a cleaning task, characterized in that The application relates to a cleaning robot, comprising: a rolling brush housing arranged on a body of the cleaning robot and having a suction inlet for garbage on a surface to be cleaned to enter the rolling brush housing; a driving assembly arranged on the rolling brush housing or the body; a rolling brush assembly arranged at least partially in the rolling brush housing and connected with the driving assembly; a shielding assembly connected with the driving assembly; a lifting assembly connected with the driving assembly and the rolling brush housing; the driving assembly is used to drive the rolling brush assembly to rotate to clean the surface to be cleaned, drive the shielding assembly to move to change the opening size of the suction inlet, and drive the lifting assembly to move to drive the rolling brush housing to move, so that the rolling brush assembly is lifted relative to the body. The cleaning device according to claim 1, characterized in that The driving assembly comprises a driving member, and the driving assembly drives the rolling brush assembly to rotate to clean the surface to be cleaned, drives the shielding assembly to move to change the opening size of the suction inlet, and drives the lifting assembly to move to drive the rolling brush housing to move, so that the cleaning device is lifted relative to the body through the same driving member. The cleaning device according to claim 2, characterized in that The number of the driving members of the driving assembly is one. The cleaning device according to claim 1, characterized in that The surface to be cleaned comprises a target area and a non-target area. When the current position of the cleaning robot is the target area and the cleaning robot switches from cleaning the target area to cleaning the non-target area, the driving assembly drives the shielding assembly to move to increase the opening size of the suction inlet and / or the pressing assembly to move to drive the rolling brush assembly to descend relative to the body, and drives the rolling brush assembly to rotate to clean the non-carpet area. When the current position of the cleaning robot is the non-target area and the cleaning robot switches from cleaning the non-target area to cleaning the target area, the driving assembly drives the shielding assembly to move to decrease the opening size of the suction inlet and drives the rolling brush assembly to rotate to clean the target area. When the cleaning robot crosses an obstacle or enters or exits a base station or sweeps the floor for at least part of a period of time, the driving assembly drives the lifting assembly to move to drive the rolling brush assembly to ascend relative to the body. When the cleaning robot crosses an obstacle or enters or exits a base station or sweeps the floor, the driving assembly drives the lifting assembly to move to drive the rolling brush assembly to descend relative to the body. The rolling brush housing comprises a cover arranged on the suction inlet, the cover comprises a first edge and a second edge, and the first edge is closer to the front end of the cleaning robot than the second edge. When the cleaning robot performs a cleaning task, the first edge is not in contact with the surface to be cleaned, and the second edge is in contact with the surface to be cleaned. The cleaning device according to claim 1, characterized in that The driving assembly comprises: a driving member arranged on the rolling brush housing or the body; and The cleaning device according to claim 5, characterized in that ​ ​ A transmission component connected with the output end of the driving member, the transmission component being configured to transmit the driving force of the driving member to the rolling brush assembly, the shielding assembly or the lifting assembly. The cleaning device according to claim 6, characterized in that When the output end of the driving member rotates in a first rotation direction, the transmission component transmits the driving force of the driving member to the rolling brush assembly; When the output end of the driving member rotates in a second rotation direction, the transmission component transmits the driving force of the driving member to at least the shielding assembly or the lifting assembly, the first rotation direction and the second rotation direction being opposite. The cleaning device according to claim 7, characterized in that During the rotation of the output end of the driving member in the first rotation direction, the rolling brush assembly rotates in a first direction; During the rotation of the output end of the driving member in the second rotation direction, the rolling brush assembly rotates in a second direction, and the cleaning device comprises at least one of a first state, a second state and a third state, the first direction being opposite to the second direction, wherein: In the first state, the driving member drives the shielding assembly to move to change the opening size of the suction inlet; In the second state, the driving member does not drive the shielding assembly to move, and does not drive the lifting assembly to move; In the third state, the driving member drives the lifting assembly to move to drive the rolling brush assembly to ascend or descend relative to the body. The cleaning device according to claim 6, characterized in that The transmission component comprises a first output end; the shielding assembly comprises: a shielding component connected with the first output end of the transmission component, the shielding component moving relative to the rolling brush housing to change the opening size of the suction inlet. The cleaning device according to claim 9, characterized in that The shielding component comprises: a shielding member connected with the rolling brush housing, the shielding member being configured to shield the opening of the suction inlet; and a connecting member, one end of the connecting member being connected with the first output end of the transmission component, the other end of the connecting member being connected with the shielding member, the connecting member moving in a first direction to drive the shielding member to move relative to the rolling brush housing to move between a first shielding position and a second shielding position, the opening size of the suction inlet being larger when the shielding member is in the first shielding position than when the shielding member is in the second shielding position. The cleaning device according to claim 10, characterized in that The connecting member comprises: a first sub-member connected with the shielding member; and a second sub-member provided with a matching member, the matching member being connected with the first output end of the transmission component, the second sub-member being connected with the second sub-member, the second sub-member being relatively stationary or moving relative to the second sub-member when the connecting member moves in the first direction. The cleaning device according to claim 11, characterized in that One of the first sub-member and the second sub-member is provided with a protrusion, and the other is provided with a receiving space, a bottom of the receiving space being provided with a groove extending in the first direction, the protrusion extending into the groove and being capable of moving in the groove in the first direction. The cleaning device according to claim 12, characterized in that In the first direction, the groove comprises opposite first and second sides, the first side being closer to the matching member than the second side; The shielding component further comprises: A first elastic member is arranged between the first sub-member and the second sub-member; In the case that the connecting member moves in the positive direction of the first direction, the protrusion is in abutment with the first side surface; In the case that the connecting member moves in the reverse direction of the first direction, the first elastic member is configured to keep the first sub-member and the second sub-member relatively static; In the case that the force acting on the connecting member exceeds a preset force threshold, the first elastic member is compressed, the first sub-member and the second sub-member move relatively, and the protrusion moves between the first side surface and the second side surface. The cleaning device according to claim 10, characterized in that The shielding assembly further comprises: A limiting member is arranged between the connecting member and the roller brush housing, and the limiting member provides resistance to the reverse movement of the shielding member relative to the roller brush housing in the first direction. The cleaning device according to claim 14, characterized in that The roller brush housing is provided with two mounting grooves, the connecting member comprises a connecting body and a connecting protrusion, the connecting body is movably mounted on the roller brush housing, and the connecting protrusion extends outwardly from the connecting body; the limiting member comprises a limiting body and two opposite connecting ends, the two connecting ends are respectively mounted in the two mounting grooves, and the limiting body is sleeved on the connecting protrusion. The cleaning device according to any one of claims 10-15, characterized in that The roller brush housing is provided with a guide member for guiding the movement of the connecting member in the first direction. The cleaning device according to claim 16, characterized in that In a direction perpendicular to the first direction, the guide member comprises opposite first and second guide side walls, the connecting member comprises opposite first and second connecting side walls, the first connecting side wall and the first guide side wall are in sliding fit, and the second connecting side wall and the second guide side wall are in sliding fit. The cleaning device according to claim 17, characterized in that The first connecting side wall is provided with a first protruding structure which extends outwardly from the first connecting side wall away from the second connecting side wall and is in abutment with the first guide side wall; or the first guide side wall is provided with a first protruding structure which extends outwardly from the first guide side wall towards the second guide side wall and is in abutment with the first connecting side wall. The second connecting side wall is provided with a second protruding structure which extends outwardly from the second connecting side wall away from the first connecting side wall and is in abutment with the second guide side wall; or the second guide side wall is provided with a second protruding structure which extends outwardly from the second guide side wall towards the first guide side wall and is in abutment with the second connecting side wall. The cleaning device according to claim 10, characterized in that The shielding member is rotatably connected with the cover body, the shielding member is not in contact with the surface to be cleaned in the first shielding position, and the shielding member is in contact with the surface to be cleaned in the second shielding position. The cleaning device according to claim 19, characterized in that The shielding member comprises: Two connecting arms, one end of each of the two connecting arms is rotatably connected with the cover body; and The shielding part is connected with the other end of the two connecting arms, and is arranged on the side of the first edge of the cover body. When the connecting arms rotate relative to the cover body, the gap between the shielding part and the surface to be cleaned is changed by moving the shielding part, so that the opening size of the suction port is changed. The cleaning device according to claim 20, characterized in that The shielding part further comprises a supporting part arranged on the side opposite to the connecting part relative to the shielding part, and connected with the connecting part; and / or, The shielding assembly further comprises a second elastic part arranged between the shielding part and the roller brush housing, and used to provide a force for moving the shielding part towards the first shielding position. The cleaning device according to claim 6, characterized in that The transmission part comprises a second output end; the lifting assembly comprises: a connecting shaft fixedly installed on the roller brush housing; and a lifting part rotatably sleeved on the connecting shaft and capable of cooperating with or being released from the cooperation with the second output end of the transmission part; when the second output end of the transmission part cooperates with the lifting part, the lifting part rotates in a positive direction along a second direction about the connecting shaft to switch from a first lifting position to a second lifting position; when the second output end of the transmission part is released from the cooperation with the lifting part, the lifting part rotates in a reverse direction along the second direction about the connecting shaft to switch from the second lifting position to the first lifting position; the distance between the roller brush assembly and the surface to be cleaned when the lifting part is in the first lifting position is smaller than the distance between the roller brush assembly and the surface to be cleaned when the lifting part is in second lifting position. The cleaning device according to claim 22, characterized in that The lifting part comprises: a sleeving part rotatably sleeved on the connecting shaft; and a clamping hook part connected with the sleeving part and bent and extended from the sleeving part, and used to apply a force to a support in the machine body to make the support apply a reaction force to the roller brush housing relative to the lifting of the support. The cleaning device according to claim 23, characterized in that The sleeving part is provided with a sleeving protrusion capable of cooperating with the second output end of the transmission part. The cleaning device according to claim 22, characterized in that The lifting assembly further comprises: a sliding part slidably installed on the roller brush housing and rotatably connected with the lifting part, and through which the second output end of the transmission part cooperates with or is released from the cooperation with the lifting part. The cleaning device according to claim 25, characterized in that The sliding part comprises a sliding part and a sliding protrusion connected with each other, and the sliding protrusion is capable of cooperating with the second output end of the transmission part; the roller brush housing is provided with a guide groove for accommodating at least part of the sliding part and guiding the movement of the sliding part relative to the roller brush housing. The cleaning device according to claim 26, characterized in that In a third direction perpendicular to the advancing direction of the cleaning robot, the guide groove comprises opposite first and second guide side walls, and the sliding part is slidably connected with the first and second guide side walls. The cleaning device according to claim 6, characterized in that The transmission component comprises a third output end; the rolling brush shell further comprises a rolling brush cavity shell having a containing cavity and the suction inlet communicating with the containing cavity, and the cover is detachably connected to the rolling brush cavity shell; The rolling brush cavity shell is further provided with a dust suction port communicating with the containing cavity, and the dust suction port is used for moving the garbage in the containing cavity out of the containing cavity; The rolling brush assembly comprises a rolling brush arranged in the containing cavity and in contact with the surface to be cleaned through the suction inlet, the rolling brush is connected with the third output end of the transmission component, and the rolling brush rotates relative to the rolling brush cavity shell under the driving of the driving member. The cleaning device according to claim 6, characterized in that The transmission component comprises: A first transmission unit, an input end of the first transmission unit being connected with an output end of the driving member; A second transmission unit, an input end of the second transmission unit being connected with a first output end of the first transmission unit, and an output end of the second transmission unit being connected with the rolling brush assembly; A third transmission unit, an output end of the third transmission unit being connected with the shielding assembly or the lifting assembly; and A clutch unit, one end of the clutch unit being connected with a second output end of the first transmission unit, and the other end of the clutch unit being connected with an input end of the third transmission unit, the clutch unit being used for making the power transmission path between the second output end of the first transmission unit and the input end of the third transmission unit communicate or disconnect. The cleaning device according to claim 29, characterized in that The first transmission unit comprises a first rotating shaft rotatably mounted on the rolling brush shell, and the third transmission unit comprises a second rotating shaft rotatably mounted on the rolling brush shell; The clutch unit comprises: A first transmission member fixedly mounted on the first rotating shaft; A second transmission member slidingly mounted on the second rotating shaft, the second transmission member being engaged with the first transmission member; and A third transmission member fixedly mounted on the second rotating shaft, under the rotation of the first rotating shaft, the first transmission member rotates and drives the second transmission member to rotate, so as to switch the second transmission member between a first sliding position and a second sliding position; When the second transmission member is located at the first sliding position, the second transmission member is disengaged from the third transmission member, and the power transmission path between the second output end of the first transmission unit and the input end of third transmission unit is disconnected; when the second transmission member is located at the second sliding position, the second transmission member is engaged with the third transmission member, and the power transmission path between the second output end of the first transmission member and the input end of the third transmission unit is communicated. The cleaning device according to claim 30, characterized in that The output end of the driving member rotates in a first rotating direction to make the second transmission member located at the first sliding position; The output end of the driving member rotates in a second rotating direction to make the second transmission member located at the second rotating position, the first rotating direction being opposite to the second rotating direction. The cleaning device according to claim 31, characterized in that The clutch unit comprises: The one-way clutch comprises a first sub-portion and a second sub-portion in rotational engagement, the first sub-portion is connected with the second output end of the first transmission unit, the second sub-portion is connected with the input end of the third transmission unit, the first sub-portion and the second sub-portion cooperate to make the power transmission path between the second output end of the first transmission unit and the input end of the third transmission unit communicate or disconnect. The cleaning device according to claim 32, characterized in that The output end of the driving member rotates in a first rotation direction to disconnect the transmission between the first sub-portion and the second sub-portion, and the power transmission path between the second output end of the first transmission unit and the input end of the third transmission unit is disconnected. The output end of the driving member rotates in a second rotation direction to connect the transmission between the first sub-portion and the second sub-portion, and the power transmission path between the second output end of the first transmission unit and the input end of the third transmission unit is connected, the first rotation direction is opposite to the second rotation direction. The cleaning device according to claim 29, characterized in that The third transmission unit comprises: A moving member connected with the clutch unit, under the condition that the driving force of the driving member is transmitted to the moving member, the moving member moves relative to the roller brush shell to drive the shielding assembly or the lifting assembly to operate. The cleaning device according to claim 34, characterized in that Under the condition that the driving force of the driving member is transmitted to the moving member, the moving member moves relative to the roller brush shell in a fourth direction to drive the shielding assembly or the lifting assembly to operate, the fourth direction is perpendicular to the advancing direction of the cleaning robot. The cleaning device according to claim 35, characterized in that The moving member is provided with a moving groove, the shielding assembly comprises a matching member matched with the moving groove, the matching member is accommodated in the moving groove, and the moving member moves relative to the roller brush shell in the fourth direction to move the shielding assembly relative to the roller brush shell in a first direction through the matching member. The cleaning device according to claim 36, wherein When the matching member is in a first matching position in the moving groove, the moving member is in a first moving position, and a shielding member of the shielding assembly is in a first shielding position relative to the roller brush shell; When the matching member is in a second matching position in the moving groove, the moving member is in a second moving position, and the shielding member of the shielding assembly is in a first shielding position relative to the roller brush shell; When the matching member is in a third matching position in the moving groove, the moving member is in a third moving position, and the shielding member of the shielding assembly is in a second shielding position relative to the roller brush shell; The opening size of the suction port when the shielding member is in the first shielding position is greater than the opening size of the suction port when the shielding member is in the second shielding position. The cleaning device according to claim 36, characterized in that The moving groove comprises: A first sub-groove extending in the fourth direction; A second sub-groove extending in the fourth direction, and the second sub-groove is staggered with the first sub-groove in a first direction; and A third sub-groove is located between the first sub-groove and the second sub-groove and communicates the first sub-groove and the second sub-groove, an included angle between an inner surface of the first sub-groove and an inner surface of the third sub-groove is obtuse, and an included angle between an inner surface of the second sub-groove and an inner surface of the third sub-groove is obtuse. The cleaning device according to claim 35, characterized in that The moving member comprises a moving body and a linkage part connected with the moving body; The shielding assembly comprises a matching part matched with the linkage part, and during the movement of the moving member in the fourth direction, the linkage part moves the shielding assembly relative to the roller brush shell through the matching part. The cleaning device of claim 39, wherein The linkage part comprises: a linkage sub-part movably connected with the moving body; and a resilient element arranged between the moving body and the linkage sub-part, wherein in the case that the moving body moves in the fourth direction, the linkage sub-part moves in the fourth direction along with the moving body, in the case that the linkage sub-part is matched with the matching part, the resilient element provides a restoring force, and in the case that the linkage sub-part is not matched with the matching part, the restoring force is used to reset the linkage sub-part. The cleaning device according to claim 40, characterized in that In the case that the shielding part is in the second shielding position, the linkage sub-part is matched with the matching part. The linkage sub-part comprises a matching surface for matching with the matching part, and the matching surface is inclined relative to the fourth direction. The moving member comprises a moving body and a protruding part protruding from the moving body; in the case that the driving force of the driving member is transmitted to the moving member through the clutching unit, the moving member moves relative to the roller brush shell in the fourth direction to drive the protruding part to operate the lifting assembly. The cleaning device according to any one of claims 35-41, characterized in that In the case that the protruding part is matched with the lifting assembly, the lifting assembly is in the second lifting position, and the roller brush assembly is in the first height relative to the machine body; in the case that the protruding part is not matched with the lifting assembly, the lifting assembly is in the first lifting position, and the roller brush assembly is in the second height relative to the machine body, wherein the first height is greater than the second height. The cleaning device of claim 42, wherein In the case that the roller brush assembly is in the first height relative to the machine body, the shielding part of the shielding assembly is at least in the first shielding position. In the case that the roller brush assembly is in the second height relative to the machine body, the shielding part of the shielding assembly is in the second shielding position or the first shielding position. One of the moving member and the roller brush shell is provided with a guide part, and the other is provided with a matching part, the guide part and the matching part are matched to guide the movement of the moving member in the fourth direction. The cleaning device according to any one of claims 35-41, characterized in that In the case that the driving force of the driving member is transmitted to the moving member, the moving member rotates relative to the roller brush shell to drive the shielding assembly or the lifting assembly to operate. The cleaning device according to claim 34, characterized in that ​ The cleaning device of claim 45, wherein The moving part comprises a total transmission part, a first transmission part and a second transmission part. The total transmission part is connected with the clutch unit. When the driving force of the driving part is transmitted to the total transmission part, the total transmission part drives the first transmission part and the second transmission part to rotate relative to the rolling brush shell, so that the first transmission part drives the lifting assembly to operate or the second transmission part drives the shielding assembly to operate. The cleaning device according to claim 46, characterized in that The first transmission part is provided with a protruding part. When the driving force of the driving part is transmitted to the total transmission part, the first transmission part rotates relative to the rolling brush shell to drive the protruding part to drive the lifting assembly to move. The second transmission part is provided with a connecting part. The connecting part is eccentrically arranged relative to the second transmission part. When the driving force of the driving part is transmitted to the total transmission part, the second transmission part rotates relative to the rolling brush shell to drive the connecting part to drive the shielding assembly to operate. The cleaning device of claim 47, wherein The protruding part cooperates with the lifting assembly to make the lifting assembly be located at a second lifting position, and the rolling brush assembly is at a first height relative to the machine body. The protruding part is disengaged from the lifting assembly to make the lifting assembly be located at a first lifting position, and the rolling brush assembly is at a second height relative to the machine body. The first height is greater than the second height. When the connecting part rotates to a first position relative to the rolling brush shell, a shielding part of the shielding assembly is at a first shielding position relative to the rolling brush shell. When the connecting part rotates to a second position relative to the rolling brush shell, the shielding part of the shielding assembly is at a second shielding position relative to the rolling brush shell. The opening size of the suction inlet when the shielding part is at the first shielding position is greater than the opening size of the suction inlet when the shielding part is at the second shielding position. When the rolling brush assembly is at the first height relative to the machine body, the shielding part is at least at the first shielding position. When the rolling brush assembly is at the second height relative to the machine body, the shielding part is at the second shielding position or the first shielding position. The cleaning device of claim 46, wherein The cleaning device further comprises a functional assembly. When the driving force of the driving part is transmitted to the total transmission part, the total driving part drives the functional assembly to rotate relative to the rolling brush shell. The functional assembly performs different functions from the rolling brush assembly, the shielding assembly and the lifting assembly. The cleaning device according to claim 6, characterized in that The cleaning device further comprises: A detection assembly is arranged on the rolling brush shell and the transmission part. The detection assembly is used to detect the position of the moving part in the transmission part relative to the rolling brush shell. The cleaning device of claim 50, wherein The detection assembly comprises a first detection part and a second detection part. One of the first detection part and the second detection part is arranged on the rolling brush shell, and the other is arranged on the moving part. The first detection part and the second detection part cooperate to detect the position of the moving part relative to the rolling brush shell. The cleaning device according to claim 6, characterized in that The cleaning device further comprises: A detection assembly is arranged on the roller brush housing and at least one of the shielding assembly and the lifting assembly, and is configured to detect a position of a shielding member of the shielding assembly relative to the roller brush housing and / or a position of a lifting member of the lifting assembly relative to the roller brush housing. The cleaning device of claim 52, wherein The detection assembly includes a first detection member and a second detection member, one of which is arranged on the roller brush housing and the other of which is arranged on the shielding assembly and / or the lifting assembly, and the first detection member and the second detection member cooperate to detect the position of the connecting member relative to the roller brush housing and / or the position of the lifting member relative to the roller brush housing. The cleaning device according to claim 5, characterized in that The cleaning device further includes: A first sealing member is connected with the shielding assembly, and seals a gap between the shielding assembly and the cover body during at least part of a time period in which the shielding assembly reduces the opening size of the suction port; and / or The machine body is provided with a mounting housing for accommodating at least part of the roller brush housing; the cleaning device further includes a second sealing member arranged between a shielding member of the shielding assembly and the mounting housing, and configured to seal a gap between the shielding member and the mounting housing. A cleaning robot characterized by, It includes: A machine body; And The cleaning device of any one of claims 1-54 is arranged on the machine body and is configured to clean the surface to be cleaned. A cleaning system includes: The cleaning robot of claim 55; And A base station for cooperating with the cleaning robot, the base station including a parking position for accommodating the cleaning robot. A control method of a cleaning robot, characterized by, The control method is applied to the cleaning robot of claim 55, and includes: During at least part of a time period in which the cleaning robot cleans a target area, controlling the drive assembly to drive the roller brush assembly to move to clean the target area and drive the shielding assembly to move to reduce the opening size of the suction port. The control method according to claim 57, characterized in that The driving of the shielding assembly to move to reduce the opening size of the suction port includes driving the shielding assembly to move so that the shielding assembly is in contact with the target area; and / or After the driving of the shielding assembly to move to reduce the opening size of the suction port, the control method further includes controlling the operating power of a fan of the cleaning robot to be increased, the fan being in communication with the roller brush housing, and during operation of the fan, garbage on the target area is sucked into the roller brush housing through the suction port. The control method according to claim 57, characterized in that The control method further includes: During at least part of a time period in which the cleaning robot cleans a non-target area, controlling the drive assembly to drive the roller brush assembly and / or a wiping member of the cleaning robot to move to clean the non-target area and / or drive the shielding assembly to move to increase the opening size of the suction port. The control method according to claim 59, characterized in that The driving of the shielding assembly to move to increase the opening size of the suction port includes driving the shielding assembly to move so that the shielding assembly does not contact the non-target area; and / or After driving the shielding assembly to move to increase the opening size of the suction port, the control method further comprises: controlling to reduce the operating power of a fan of the cleaning robot, the fan being in communication with the roller brush housing, and during operation of the fan, garbage on the non-target area is sucked into the roller brush housing through the suction port. The control method according to claim 57, characterized in that The control method further comprises: controlling the drive assembly to drive the lifting assembly to move to lift the roller brush assembly relative to the robot body during at least part of the time period when the cleaning robot crosses an obstacle or enters or exits a base station or mops; controlling the drive assembly to drive the lifting assembly to move to lower the roller brush assembly relative to the robot body during at least part of the time period when the robot crosses an obstacle or enters or exits a base station or mops; The base station is used in cooperation with the cleaning robot, and the cleaning robot moves into the base station for maintenance. The control method according to claim 57, characterized in that The cleaning robot further comprises a drive wheel rotatably arranged on the robot body, and the drive wheel is used to drive the cleaning robot to move. The control method further comprises: controlling the drive wheel to reduce the rotation speed and / or stop rotating during at least part of the time period when the drive assembly drives the shielding assembly and / or the lifting assembly to move; and / or controlling the drive wheel to increase the rotation speed during at least part of the time period when the cleaning robot crosses an obstacle. The control method according to claim 57, characterized in that The shielding member in the shielding assembly has a first shielding position and a second shielding position, and the opening size of the suction port when the shielding member is in the first shielding position is greater than the opening size of the suction port when the shielding member is in the second shielding position. The lifting member in the lifting assembly has a first lifting position and a second lifting position, and the height of the roller brush assembly relative to the robot body when the lifting member is in the first lifting position is less than the height of the roller brush assembly relative to the robot body when the lifting member is in the second lifting position. The transmission component in the drive assembly is used to transmit the driving force of the drive assembly to the roller brush assembly, the shielding assembly and the lifting assembly. The cleaning device further comprises a detection assembly for detecting the position of the transmission component and / or the shielding member and / or the lifting member relative to the roller brush housing and outputting a detection signal. The control method further comprises: obtaining the detection signal output by the detection assembly; and in the case of the first detection signal, determining that the shielding member is in the second shielding position and the lifting member is in the first lifting position; and / or in the case of the second detection signal, determining that the shielding member is in the first shielding position and the lifting member is in the first lifting position; and / or in the case that the detection signal is a third detection signal, it is determined that the shielding member is in the first shielding position and the lifting member is in the second lifting position. A control method of a cleaning robot, characterized by, The control method is applied to the cleaning robot of claim 55, and the control method comprises: controlling the drive assembly to drive the motion of the roller brush assembly to clean the target area and controlling the barrier assembly to be in a first position during at least a portion of a time period when the cleaning robot previously cleaned the target area; controlling the drive assembly to drive the motion of the roller brush assembly to clean the target area and controlling the barrier assembly to be in a second position during at least a portion of a time period when the cleaning robot subsequently cleaned the target area, wherein the second position is different from the first position; wherein the target area cleaned by the cleaning robot previously and the target area cleaned by the cleaning robot subsequently have at least partially overlapped area. A cleaning robot comprising a processor and a memory, the memory having computer program instructions stored therein, the processor configured to perform the control method of any one of claims 57-64. A storage medium storing a computer program, characterized by A computer program product comprising computer program instructions configured to cause one or more processors to perform the control method of any one of claims 57-64 when the program is executed by the one or more processors.

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