CN113749576A

CN113749576A - Cleaning device and control method thereof

Info

Publication number: CN113749576A
Application number: CN202111110302.0A
Authority: CN
Inventors: 高新忠; 高令宇; 方恩光; 唐美平; 邓杰
Original assignee: Hangzhou Yinglete Intelligent Technology Co ltd
Current assignee: Hangzhou Yinglete Intelligent Technology Co ltd
Priority date: 2021-09-18
Filing date: 2021-09-18
Publication date: 2021-12-07

Abstract

The cleaning device comprises a cleaning device body, a rotating roller assembly and a control method thereof, wherein the rotating roller assembly is arranged on the cleaning device body and used for cleaning the ground and driving the cleaning device to move on the ground; the rotary rolling component comprises a first rotary roller, a second rotary roller and a third rotary roller which can be used for fixing the cleaner respectively and can be contacted with the ground to rotate and roll; the device body is also internally provided with a controller, and when the controller controls the first rotary roller to rotate and roll and controls at least one of the second rotary roller and the third rotary roller to rotate and roll, each cleaner which rotates and rolls can drive the cleaning device to move on the ground. The control method of the cleaning device is to drive the cleaning device to move by controlling the rotary roller component. The problem of current cleaning device set up the structure complicacy that the drive wheel exists, unable better distribution mop area has been solved to this scheme to and solved current cleaning device and removed the poor stability of the removal walking that exists, the off normal appears easily and can't carry out effective clear problem to the border position through the mop.

Description

Cleaning device and control method thereof

Technical Field

The invention relates to the field of cleaning treatment of the ground, in particular to a cleaning device and a control method thereof.

Background

Present cleaning device generally possesses the function of mopping the ground, it comes to carry out cleaning to ground to mainly set up the mop, it realizes the wet clean effect to ground to set up water supply structure simultaneously, move subaerial in order to realize cleaning device, it drives cleaning device and removes subaerial to set up the drive wheel generally, cleaning device realizes the clean treatment effect to ground at the process of removing, but the drive wheel structure is whole complicated, be unfavorable for the distribution of mop on the cleaning device, the area that leads to the mop receives the restriction, cleaning device can't be better come to the wall limit, wall corner equilateral edge position carries out better clean processing.

Present partial cleaning device is in order to realize getting better cleaning process effect to ground, through setting up the mop that can the horizontal rotation, realize that the horizontal rotation's mop drives cleaning device and removes subaerial, but the horizontal rotation's mop need contact ground through having great area and produce frictional force and realize driving cleaning device and remove, it is unbalanced to appear because of the large frictional force that leads to producing of area of mop contact ground easily, and then lead to the cleaning device to appear moving walking unstable problem easily, it is great to the stability influence that cleaning device removed after the mop is worn and torn, make cleaning device can't be better come to remove according to the route of regulation, the problem of moving off normal appears easily, the realization that the horizontal rotation's mop also can't be better carries out effectual cleaning process to the wall limit simultaneously, corner equilateral edge position.

Disclosure of Invention

The present invention is directed to solving, at least to some extent, one of the technical problems in the related art described above.

Therefore, the invention aims to provide a cleaning device and a control method thereof, mainly solving the problems that the existing cleaning device is complex in structure and cannot distribute mop area well due to the fact that the existing cleaning device needs to be provided with driving wheels for moving, and solving the problems that the existing cleaning device is poor in moving and walking stability, prone to deviation and incapable of effectively cleaning edge positions under the structure that the existing cleaning device moves through mops.

The embodiment of the invention provides a cleaning device, which comprises a device main body, wherein a rotary rolling component for cleaning the ground is arranged on the device main body, and the rotary rolling component is also used for driving the cleaning device to move on the ground;

the rotary rolling component is arranged at the bottom of the device main body;

the rotary rolling component comprises a first rotary roller, a second rotary roller and a third rotary roller which can respectively fix the cleaner, and the first rotary roller, the second rotary roller and the third rotary roller are all arranged to be structures which can rotate and roll relative to the ground;

the device body is also internally provided with a controller, and when the controller controls the first rotary roller to rotate and roll and controls at least one of the second rotary roller and the third rotary roller to rotate and roll, each cleaner which rotates and rolls can drive the cleaning device to move on the ground.

In the cleaning device, the device body is further provided with a driver, the controller is electrically connected with the driver, and the driver at least comprises a second driving assembly connected with the second rotating roller and a third driving assembly connected with the third rotating roller so that the second rotating roller and the third rotating roller can rotate and roll independently.

In the cleaning device, a threshold Q is set in the controller, and the threshold Q at least includes that when the first rolling wheel is controlled to roll rotationally along the M direction, the second rolling wheel or the third rolling wheel is controlled to roll rotationally along the M direction.

In the cleaning device, the first rotating roller is arranged at one side of the second rotating roller and the third rotating roller, and a first gap portion is arranged between the first rotating roller and the second rotating roller and between the first rotating roller and the third rotating roller;

the second rotating roller and the third rotating roller are arranged in a parallel distribution structure, and a second gap part is arranged between the second rotating roller and the third rotating roller;

at least a part of the first spin-roll is disposed to be located in a region position where a corresponding region position of the second gap portion on the apparatus main body extends toward the first spin-roll direction.

In the cleaning device, the distance of the first gap part in the vertical direction is H1, the distance of the second gap part in the horizontal direction is H2, and H1 is greater than H2;

or, the distance L1 of the first rotary roller in the horizontal direction is set to be larger than or equal to the distance H2 of the second gap part in the horizontal direction;

or, the two side end face positions of the second gap part are positioned in the region position between the two side end faces of the first rotating roller, and the corresponding region position on the device main body extends towards the direction of the second gap part.

In the cleaning device, the position of the side end surface of the first rotating roller close to the second rotating roller is located in the area position between the two side end surfaces of the second rotating roller, and the corresponding area position on the device body extends towards the first rotating roller direction;

and/or;

the side end face position of the first rotary roller close to the third rotary roller is arranged in the area position between the two side end faces of the third rotary roller, corresponding area positions on the device main body extend towards the first rotary roller direction.

In the cleaning device, the axis of the rotary roll of the second rotary roll and the axis of the rotary roll of the third rotary roll are the same axis in the horizontal direction;

or the outer diameter of the second rotary roller and/or the outer diameter of the third rotary roller are set to be smaller than or equal to the outer diameter of the first rotary roller.

In the cleaning device, a position of a side end surface of the second roller, which is far away from the second gap portion, is located within a side end surface of the device body, which is close to the second roller, and/or a position of a side end surface of the third roller, which is far away from the second gap portion, is located within a side end surface of the device body, which is close to the third roller.

In the cleaning device, the distance from the end surface of the second roller far away from the second gap part to the end surface of the device body close to the side part of the second roller is K1, and K1 is set to be smaller than or equal to the outer diameter of the second roller or K1 is set to be smaller than or equal to 30 mm;

and/or the presence of a gas in the gas,

the distance from the end face far away from the second gap part on the third rotary roller to the end face of the side part close to the third rotary roller on the device main body is set to be K2, and the outer diameter of the third rotary roller is set to be K2 or less or K2 is set to be 30 mm or less.

In the cleaning device, a distance from a maximum outer diameter position of the outer side portion of the first rotating roller close to the second rotating roller to a maximum outer diameter position of the outer side portion of the second rotating roller close to the first rotating roller is greater than or equal to half of a maximum outer diameter value of the first rotating roller;

and/or the distance from the maximum outer diameter position of the outer side part of the first rotary roller close to the third rotary roller to the maximum outer diameter position of the outer side part of the third rotary roller close to the first rotary roller is larger than or equal to half of the maximum outer diameter value of the first rotary roller;

and/or, the distance H1 of the first gap part in the vertical direction is more than or equal to half of the maximum outer diameter value of the first rotating roller.

In the cleaning device, the device body is further provided with a water storage part for supplying clean water to the rotating and rolling assembly, at least one part of the water storage part is positioned in the projection area position of the first rotating and rolling assembly on the device body along the vertical direction, and at least one part of the water storage part is positioned in the projection area position of the second rotating and rolling assembly on the device body along the vertical direction and/or in the projection area position of the third rotating and rolling assembly on the device body along the vertical direction.

In the cleaning device, the device main body is further provided with a water-sewage part, at least one part of the water-sewage part is positioned between the first rotating roller and the second rotating roller or the third rotating roller, and at least one part of the water-sewage part is positioned in the projection area position of the first gap part and/or the second gap part in the vertical direction on the device main body.

Aforementioned cleaning device is provided with the dirty subassembly of collection in the device main part, and the dirty subassembly of collection communicates with sewage portion and is used for collecting sewage, and at least a portion of the dirty subassembly of collection rolls with first soon and sets up to contact the structure that extrudes sewage and rolls soon with the second and/or the third rolls the structure that contacts and extrude sewage soon.

In the cleaning device, the rotating and rolling assembly further includes a fourth rotating and rolling element, the fourth rotating and rolling element is located on a side of the second rotating and rolling element, which is far away from the first rotating and rolling element, and a third gap portion is arranged between the fourth rotating and rolling element and the second rotating and rolling element.

The control method of the cleaning device comprises the cleaning device and further comprises the following control methods:

the controller is arranged to control the first rotary roller, the second rotary roller or the third rotary roller to perform rotary rolling movement;

and controlling the first rotary roller to rotate and roll and controlling the second rotary roller or the third rotary roller to rotate and roll according to the moving mode of the cleaning device to move, so that the cleaners of the rotary rollers contact the ground to drive the cleaning device to move on the ground.

In the control method of the cleaning device, the cleaning device controls at least one of the first spin roller, the second spin roller or the third spin roller to change the rotational rolling speed or change the rotational rolling direction so as to make the cleaning device move away from the obstacle or move along the edge position of the obstacle during the moving process based on the detection information of the obstacle.

In the control method of the cleaning device, when the motion state of the first rotating roller is abnormal, the controller controls the rotating and rolling speed of the second rotating roller to increase and/or controls the rotating and rolling speed of the third rotating roller to increase;

or the like, or, alternatively,

when the motion state of the first rotating roller is abnormal, the controller controls the rotating and rolling speed of the second rotating roller to increase and controls the rotating and rolling direction of the second rotating roller to switch to the opposite direction and/or controls the rotating and rolling speed of the third rotating roller to increase and controls the rotating and rolling direction of the third rotating roller to switch to the opposite direction.

In the control method of the cleaning device, a detection module is arranged to detect the motion state of the first rotating roller;

the controller determines that the motion state of the first rotary roller is abnormal when the first rotary roller is detected to be located at the current position and continuously rotates and rolls and the cleaning device is not moved;

and/or when the first rotary roller is detected to be located at the current position and continuously rotates and rolls, and the first rotary roller moves in the vertical direction, the controller judges that the motion state of the first rotary roller is abnormal;

and/or when the current threshold value B of the first driving assembly for driving the first rotary roller to rotate and roll is detected to be larger than the rated current threshold value A, the controller judges that the motion state of the first rotary roller is abnormal.

When the controller controls the cleaning device to move in a turning direction, the method at least comprises the steps of controlling the rotating and rolling speed of the second rotating roller to increase or controlling the rotating and rolling speed of the third rotating roller to increase;

or the like, or, alternatively,

when the controller controls the cleaning device to move in a steering mode, at least the rotating and rolling speed of the second rotating roller is controlled to increase and the rotating and rolling speed of the third rotating roller is controlled to decrease or the rotating and rolling speed of the third rotating roller is controlled to increase and the rotating and rolling speed of the second rotating roller is controlled to decrease.

In the control method of the cleaning device, when the controller controls the cleaning device to move in a turning direction, the control at least includes controlling the rotating and rolling direction of the second rotating and rolling to be switched to an opposite direction or controlling the rotating and rolling direction of the third rotating and rolling to be switched to an opposite direction;

or the like, or, alternatively,

when the controller controls the cleaning device to move in a steering manner, the controller at least controls the rotating and rolling direction of the second rotating roller to be switched to the opposite direction and controls the rotating and rolling direction of the first rotating roller to be switched to the opposite direction or controls the rotating and rolling direction of the third rotating roller to be switched to the opposite direction and controls the rotating and rolling direction of the first rotating roller to be switched to the opposite direction.

In the control method of the cleaning device, when the controller controls the cleaning device to move in a turning direction, the controller further controls the rotating and rolling speed of the first rotating roller to decrease;

or the like, or, alternatively,

the controller, when controlling the cleaning apparatus to turn to move, further comprises controlling the spin-roll speed of the first spin to decrease and to make the spin-roll speed of the first spin lower than the spin-roll speed of the second spin or lower than the spin-roll speed of the third spin.

Compared with the prior art, the invention has the following beneficial effects:

the cleaning device of this scheme rolls the subassembly through setting up soon and realizes the clean effect of substep to large tracts of land, big frictional force, realizes the clean treatment effect of substep to ground, promotes the clean ability to ground.

This scheme rolls the subassembly through the setting soon and realizes rolling the in-process at the rotation and can drive cleaning device at subaerial autonomous movement walking for cleaning device need not to set up the drive wheel and can realize removing the walking effect, overall structure is simpler, and be favorable to rolling the effective distribution of subassembly soon, and then be favorable to realizing dragging the clean processing effect to the large tracts of land on ground, it needs to set up the drive wheel to remove the structure that leads to solve current cleaning device, the problem of unable better distribution mop area.

This scheme is through setting up first rolling soon and carrying out cleaning in advance to ground, then rolls soon through the second and the third rolls soon and realize the deep cleaning treatment effect to ground, promotes the cleaning treatment effect to ground on the whole.

According to the scheme, a first gap part is formed between the first rotary roller and the second rotary roller and between the second rotary roller and the third rotary roller, a second gap part is formed between the second rotary roller and the third rotary roller, the stepped deep cleaning effect of the rotary roller assembly on the ground is achieved through the first gap part, the structure that the second rotary roller and the second rotary roller are distributed in parallel is achieved through the second gap part, and the stepped deep cleaning effect of the rotary roller assembly on the ground is integrally improved.

The second of this scheme is rolled soon and the third is rolled the structure soon and can be realized carrying out effectual cleaning to the border position of indoor wall limit, corner or barrier, realizes that cleaning device possesses better clean effect along the limit.

According to the scheme, the first rotary roller and the second rotary roller or the third rotary roller are combined to drive the cleaning device to move on the ground in a rotary rolling motion state, and the cleaning device can perform linear displacement on the ground to achieve an autonomous moving walking effect.

The rotary rolling motion of rolling and the third soon through the second in this scheme can realize that cleaning device turns to the removal on subaerial, if left turn, turn right and remove and realize that cleaning device independently moves and turn to, promote cleaning device's intellectuality and stability on subaerial removal.

This scheme still sets up the dirty subassembly of sewage portion, collection and realizes carrying out effectual concentrated collection to rolling the sewage that the subassembly produced in wasing soon, realizes rolling the real-time washing of subassembly and collecting sewage in real time soon, prevents sewage to ground secondary pollution.

According to the control method of the cleaning device, the control of the autonomous moving walking of the cleaning device on the ground is realized by controlling the motion states of the first rotary roller, the second rotary roller and the third rotary roller, namely the rotary rolling speed and the rotary rolling direction, so that the cleaning device can clean the ground in real time in the moving process.

The control method of the cleaning device can effectively control the moving direction and speed of the cleaning device based on the abnormal detection or obstacle detection information, timely adjust the motion state of the rotary rolling assembly, improve the moving stability and safety of the cleaning device and improve the moving intelligence of the cleaning device.

The moving and walking method of the cleaning device can effectively achieve steering moving and walking or linear moving and walking by controlling the movement of the rotary rolling assembly, the cleaning device can move stably according to a planned path, and can effectively conduct steering moving away from an obstacle or along the edge position of the obstacle based on the detection information of the obstacle, the moving stability and reliability of the intelligent cleaning device are improved, and the moving and walking of the cleaning device can be achieved by better avoiding the obstacle in moving and walking.

Drawings

FIG. 1 is a schematic view of the bottom structure of the cleaning device;

FIG. 2 is a side partial cross-sectional schematic view of the cleaning apparatus;

FIG. 3 is a schematic view of the distribution of a partial cross section of the interior of the cleaning apparatus to the sewage portion;

FIG. 4 is a schematic view of the cleaning apparatus moving forward in a straight line driven by the rotating roller assembly;

FIG. 5 is a schematic view of the cleaning apparatus moving linearly backward under the drive of the rotating roller assembly;

FIG. 6 is a schematic illustration of the second and third spin rolls increasing in speed to disengage the cleaning device from an anomaly;

fig. 7 is a schematic view of the second and third rollers switching the direction of the rotational rolling to the opposite direction to cause the cleaning apparatus to be out of an abnormal state;

FIG. 8 is a schematic view of the cleaning apparatus undergoing a turning movement with an increased rotational roll speed of the third spin roll;

FIG. 9 is a schematic view of the cleaning apparatus undergoing a turning movement with an increased rotational roll speed of the second spin roll;

FIG. 10 is a schematic view of the cleaning apparatus undergoing a turning motion with the rotational scrolling speed of the third spin being increased and the rotational scrolling speed of the second spin being decreased;

FIG. 11 is a schematic view of the cleaning apparatus undergoing a turning movement with the rotational scrolling speed of the second spin being increased and the rotational scrolling speed of the third spin being decreased;

FIG. 12 is a schematic view of the cleaning apparatus being moved in a direction opposite to the direction of the second spin roller;

fig. 13 is a schematic view showing a turning movement of the cleaning device by switching the direction of the rotation and rolling of the third spin roller to the opposite direction;

FIG. 14 is a schematic view of the cleaning apparatus being moved in a reverse direction by both the first and second rollers switching the direction of rotational roll to the opposite direction;

FIG. 15 is a schematic view of the cleaning apparatus being moved in a reverse direction by the first and third rollers switching the direction of rotational roll to the opposite direction;

FIG. 16 is a schematic view of the bottom structure of the cleaning device when the spin roller assembly includes a fourth spin roller;

FIG. 17 is a side cross-sectional view of the cleaning apparatus with the spin roller assembly including a fourth spin roller;

figure 18 is a schematic view of the internal structure of the cleaning apparatus partially cut away from the dirty water portion with the spin roller assembly including a fourth spin roller;

reference numerals: 1-device body, 100-rolling component, 1001-first rolling, 1002-second rolling, 1003-third rolling, 1004-fourth rolling, 101-first gap part, 102-second gap part, 103-water storage part, 104-sewage part, 105-sewage collection component, 106-third gap part.

Detailed Description

In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.

Example (b): according to the cleaning device and the control method thereof disclosed by the invention, as shown in the structures of fig. 1 to 18, the cleaning device is mainly used for cleaning the ground by moving on the ground, and mainly can realize the moving on the ground without arranging a driving wheel, so that the overall structure is simpler, and the cost is lower.

The cleaning device comprises a device main body 1, wherein the device main body 1 is provided with a rotary rolling assembly 100 for cleaning the ground, the rotary rolling assembly 100 is also used for driving the cleaning device to move on the ground, the rotary rolling assembly 100 not only realizes cleaning on the ground in the motion process, but also drives the cleaning device to move on the ground, so that the cleaning device does not need to be provided with a driving wheel to realize the moving walking effect of the cleaning device, and the whole structure is simple and low in cost.

Regarding the structural part of the rotating and rolling assembly 100, the rotating and rolling assembly 100 is mainly installed at the bottom position of the device main body 1, so as to clean the ground when the rotating and rolling assembly 100 moves, and the rotating and rolling assembly 100 can be fixedly installed at the bottom position of the device main body 1 or detachably installed at the bottom of the device main body 1, so that a user can maintain the rotating and rolling assembly 100.

In the scheme, the rotating and rolling assembly 100 comprises a first rotating roller 1001, a second rotating roller 1002 and a third rotating roller 1003 which can respectively fix a cleaner, the first rotating roller 1001, the second rotating roller 1002 and the third rotating roller 1003 are all arranged to be capable of rotating and rolling relative to the ground, the cleaners are mainly arranged on the first rotating roller 1001, the second rotating roller 1002 and the third rotating roller 1003, each cleaner correspondingly rotates and rolls synchronously, the cleaners contact the ground to perform cleaning treatment and simultaneously contact the ground to generate friction force to drive the cleaning device to move on the ground, the first rotating roller 1001, the second rotating roller 1002 and the third rotating roller 1003 are arranged to be cylindrical structures, the rotating and rolling relative to the ground can be realized, the cleaners are arranged to be of a structure made of cloth material or a structure made of sponge material, the cleaners have certain water absorption effect and are arranged to be of soft structures, the cleaner is convenient to clean and wet and clean the ground through the cleaner, and meanwhile, the cleaner can contact the ground to generate friction force when rotating and rolling on the ground, so that the resultant force of the friction force generated by the cleaners is realized to drive the cleaning device to linearly move or turn on the ground.

The device main body 1 of the scheme is also internally provided with a controller, when the controller controls the first rotary roller 1001 to rotate and control at least one of the second rotary roller 1002 and the third rotary roller 1003 to rotate and roll, each cleaner which rotates and rolls can drive the cleaning device to move on the ground, the controller controls the first rotary roller 1001, the second rotary roller 1002 and the third rotary roller 1003 to rotate and roll, and each cleaner can correspondingly and synchronously rotate and roll, wherein when the cleaning device needs to move on the ground, the controller controls the first rotary roller 1001 to rotate and roll and at least one of the second rotary roller 1002 and the third rotary roller to rotate and roll, so that the friction force generated when the cleaner which rotates and rolls contacts the ground can drive the cleaning device to move on the ground, and the problem that the cleaning device 1003 cannot be driven to move on the ground due to the small friction force generated by the cleaner is prevented from occurring, the friction force generated by each cleaner when the controller controls the first rotating roller 1001, the second rotating roller 1002 and the third rotating roller 1003 to rotate and roll can be sufficient to make the cleaning device move on the ground.

When the controller controls each cleaner to move the cleaning device on the floor, the controller preferably controls the first roller 1001 to rotate and controls at least one of the second roller 1002 and the third roller 1003 to rotate and set the direction of the rotation and the rolling to be the same direction, so that the resultant force of the friction force generated by each cleaner to rotate and roll faces the same direction, and the cleaning device is driven to move on the floor.

Optionally, the cleaner is mainly provided with a cylindrical structure which is consistent with the shape of the first rotating roller 1001, the second rotating roller 1002 and the third rotating roller 1003, for example, the cleaner can be sleeved on the first rotating roller 1001, the second rotating roller 1002 and the third rotating roller 1003, so that the cleaner is installed on the outer side of the first rotating roller 1001, the cleaner is installed on the outer side of the second rotating roller 1002 and the cleaner is installed on the outer side of the third rotating roller 1003, and further, each cleaner contacts the ground in the rotating and rolling process to generate friction force, so that the cleaning device is driven to move and walk on the ground through the resultant force of the friction force.

Alternatively, the cleaner is provided in a hollow cylindrical structure to cover the outsides mounted to the first, second, and

third rollers

1001, 1002, and 1003.

The cleaning device of the scheme is characterized in that a driver is further arranged in the device main body 1, the controller is electrically connected with the driver to control the work of the driver, the driver at least comprises a second driving component connected with the second rotary roller 1002 and a third driving component connected with the third rotary roller 1003 to enable the second rotary roller 1002 and the third rotary roller 1003 to form a structure capable of mutually independent rotary rolling movement, the controller can respectively control the second driving component to independently drive the second rotary roller 1002 to independently rotate and roll, and controls the third driving assembly to independently drive the third rotating roller 1003 for independent rotating rolling, so that the control may be implemented to control the rotational scroll speed and the rotational scroll direction of the second scroll 1002 separately, and controlling the rotational rolling speed and the rotational rolling direction of the third roller 1003 so as to control the cleaning apparatus to perform a linear movement or a turning movement on the floor.

According to the scheme, the controller controls the second rotary roller 1002 and the third rotary roller 1003 to perform mutually independent rotary rolling motions, the rotary rolling direction and the rotary rolling speed of the second rotary roller 1002 can be controlled randomly according to the moving requirement of the cleaning device, and the rotary rolling direction and the rotary rolling speed of the third rotary roller 1003 can be controlled randomly according to the moving requirement of the cleaning device, so that the cleaning device can perform steering motion on the ground through the rotary rolling motions of the second rotary roller 1002 and the third rotary roller 1003, for example, left-turning and right-turning motions are used for realizing autonomous moving steering of the cleaning device, and the intellectualization and the stability of the movement of the cleaning device on the ground are improved.

Optionally, the second driving assembly may be provided with a motor, the motor drives the second rolling element 1002 to perform independent rolling, and the motor may drive the second rolling element 1002 to perform setting of the rotation speed and setting of the rolling direction.

Optionally, the third driving assembly may be provided with a motor, the motor drives the third rolling wheel 1003 to perform independent rotation rolling, and the motor may drive the third rolling wheel 1003 to perform setting of the rotation speed and setting of the rotation rolling direction.

In the scheme, a threshold value Q is arranged in the controller, the threshold value Q at least comprises that when the first rotary roller 1001 is controlled to rotate and roll along the M direction, the second rotary roller 1002 or the third rotary roller 1003 is controlled to rotate and roll along the M direction, in the scheme, the controller controls the first rotary roller 1001 to rotate and roll along the M direction and controls the second rotary roller 1002 or the third rotary roller 1003 to rotate and roll along the M direction, which is favorable for driving the cleaning device to move on the ground, and ensures that at least one of the second rotary roller 1002 and the third rotary roller 1003 rotates and rolls along the M direction when the first rotary roller 1001 rotates and rolls, if only one of the first roller 1001, the second roller 1002 or the third roller 1003 is in a rolling state, it is difficult to effectively drive the cleaning device to move on the ground, and thus the cleaning device is ensured to be driven to move on the ground.

Alternatively, when the controller controls the first rolling wheel 1001 to roll rotationally along the M direction, the second rolling wheel 1002 to roll rotationally along the M direction, and at this time, the cleaning device may be driven to move on the floor, but the cleaning device is not necessarily required to move linearly.

Alternatively, when the controller controls the first rolling wheel 1001 to roll rotationally in the M direction, the third rolling wheel 1003 to roll rotationally in the M direction, and at this time, the cleaning device may be driven to move on the floor, but the cleaning device is not necessarily required to move linearly.

Preferably, when the cleaning device is controlled to linearly move on the ground, the controller controls the first rotating roller 1001, the second rotating roller 1002 and the third rotating roller 1003 to rotationally roll along the direction M, so that the cleaning device can be preferably controlled to linearly move on the ground, for example, the cleaning device can linearly move forward in the direction of the first rotating roller 1001, or linearly move backward in the direction of the second rotating roller 1002 or the third rotating roller 1003, and the rotational rolling directions of the first rotating roller 1001, the second rotating roller 1002 and the third rotating roller 1003 are consistent, so that the cleaning device can be ensured to linearly move stably on the ground, the problem of slippage or deviation can be prevented, and the stability of movement of the cleaning device can be improved.

In the distribution structure part of the rotating and rolling assembly 100, the first rotating and rolling assembly 1001 is arranged at one side of the second rotating and rolling assembly 1002 and the third rotating and rolling assembly 1003, and a first gap part 101 is arranged between the first rotating and rolling assembly 1001 and the second rotating and rolling assembly 1002 and the third rotating and rolling assembly 1003, the first gap part 101 enables the first rotating and rolling assembly 1001, the second rotating and rolling assembly 1002 and the third rotating and rolling assembly 1003 to be separated at intervals, so that different positions in the front-back direction are formed for installation, the first rotating and rolling assembly 1001 can pre-clean the ground, the second rotating and rolling assembly 1002 and the third rotating and rolling assembly 1003 can deeply clean the ground, and the cleaning device can perform step-by-step cleaning treatment on the ground through the rotating and rolling assembly 100; the second rotating roller 1002 and the third rotating roller 1003 are arranged in a parallel distribution structure, a second gap portion 102 is arranged between the second rotating roller 1002 and the third rotating roller 1003, and the second gap portion 102 enables the second rotating roller 1002 and the third rotating roller 1003 to be in a spaced separation structure, namely, a structure spaced in the left-right horizontal direction; at least a part of the first roller 1001 is arranged to be located in a region position where a corresponding region position of the second gap portion 102 on the device body 1 extends towards the direction of the first roller 1001, so that the cleaning device can enable the first roller 1001 to perform a compensation cleaning process on a floor region position corresponding to the second gap portion 102 during moving, for example, the first roller 1001, the second roller 1002 and the third roller 1003 can form a compensation cleaning effect and can form a step deep cleaning effect during advancing or retreating of the cleaning device.

In this embodiment, it can be defined that the forward direction of the cleaning device in the movement is the front side, for example, the first rotating roller 1001 is located at the front position on the bottom of the device body 1, and the second rotating roller 1002 and the third rotating roller 1003 are located at the rear position on the bottom of the device body 1, that is, the first rotating roller 1001 is located at the front position of the second rotating roller 1002 and the third rotating roller 1003.

Alternatively, the first rolling wheel 1001 is configured to move independently, a first driving assembly may be configured to independently drive the first rolling wheel 1001 to roll rotationally, and the first driving assembly may include a motor, and the motor drives the first rolling wheel 1001 to roll rotationally to clean the floor.

Alternatively, a second driving assembly may be mounted on the second gap portion 102 to realize independent driving rotary rolling of the second rotary roller 1002 through the second driving assembly, and a third driving assembly may be mounted on the second gap portion 102 to realize independent driving rotary rolling of the third rotary roller 1003 through the third driving assembly.

The first rotating roller 1001 of the scheme is positioned on one side of the second rotating roller 1002 and the third rotating roller 1003, and simultaneously forms a first gap part 101 and a second gap part 102, so that the step-by-step cleaning effect of the rotating roller assembly 100 on the ground is realized through the first gap part 101, and the structure that the second rotating roller 1002 and the second rotating roller 1002 are distributed in parallel is realized through the second gap part 102, so that the step-by-step cleaning effect of the rotating rollers on the ground is integrally improved.

The first rotary roller 1001, the second rotary roller 1002 and the third rotary roller 1003 can achieve a good step-by-step cleaning effect of the cleaning device on the ground, the position structure and the step-by-step structure can achieve effective step-by-step cleaning on the ground, the combined cleaning effect of pre-cleaning treatment and deep cleaning treatment is achieved, and the cleaning treatment capacity of the ground is improved.

Meanwhile, the first rotating roller 1001 of the scheme can compensate and clean the area which cannot be cleaned by the second rotating roller 1002 and the third rotating roller 1003, that is, the first rotating roller 1001 can compensate and clean the ground area position corresponding to the second gap portion 102, when the cleaning device moves backwards on the ground, the area position which cannot be cleaned exists in the area where the second rotating roller 1002 and the third rotating roller 1003 move on the ground is the ground area position corresponding to the second gap portion 102, and at this time, the first rotating roller 1001 can realize cleaning treatment on the ground area position corresponding to the second gap portion 102, so that the problem that the cleaning device is missed to be dragged in the process of cleaning the ground is prevented, and a complete cleaning area is formed in the moving process of the cleaning device is ensured.

In order to achieve better stepped deep cleaning effect of the cleaning device, the present solution may be that the distance of the first gap portion 101 in the vertical direction is set to be H1, the distance of the second gap portion 102 in the horizontal direction is set to be H2, and H1 is set to be greater than H2, and the vertical direction is defined as a direction from the first rotating roller 1001 to the second rotating roller 1002, so that the distance between the first rotating roller 1001 and the second rotating roller 1002 and the third rotating roller 1003 in the first gap is greater than the distance between the second rotating roller 1002 and the third rotating roller 1003 in the second gap, and the first rotating roller 1001, the second rotating roller 1002 and the third rotating roller 1003 are implemented to achieve better stepped deep cleaning effect on the ground.

In order to achieve better stepped deep cleaning effect of the cleaning device, the present solution may further include that the distance between the first gap portion 101 in the vertical direction is H1, the distance between the second gap portion 102 in the horizontal direction is H2, and the distance between the second gap portion 102 in the horizontal direction is H1 is more than twice of H2, and the vertical direction is defined from the first roller 1001 to the second roller 1002, so that the distance between the first roller 1001 and the second roller 1002 and the third roller 1003 in the first gap is greater than the distance between the second roller 1002 and the third roller 1003 in the second gap, and the first roller 1001, the second roller 1002 and the third roller 1003 are implemented to achieve better stepped deep cleaning effect on the floor.

The distance of the second gap portion 102 in the horizontal direction is mainly the distance between two sides of the second gap portion 102 in the horizontal direction, which is the length of the second gap portion 102.

The distance of the first gap portion 101 in the vertical direction is mainly the distance between two sides of the first gap portion 101 in the vertical direction, which is the width of the first gap portion 101.

According to the scheme, the distance L1 of the first rotary roller 1001 in the horizontal direction is greater than or equal to the distance H2 of the second gap part 102 in the horizontal direction, so that the first rotary roller 1001 can effectively compensate and clean the ground area corresponding to the second gap part 102 in the moving process of the cleaning device, and the ground area is prevented from being missed.

According to the scheme, the two side end face positions of the second gap portion 102 are located in the region position where the corresponding region position on the device main body 1 between the two side end faces of the first rotating roller 1001 extends towards the direction of the second gap portion 102, that is, the extending region of the two side end faces of the second gap portion 102 in the vertical direction can be located at the corresponding region position on the device main body 1 between the two side end faces of the first rotating roller 1001, so that the first rotating roller 1001 can effectively compensate and clean the ground region corresponding to the second gap portion 102 in the moving process of the cleaning device, and the ground region which is missed to drag is prevented.

In this embodiment, the side end surface position of the first roller 1001 close to the second roller 1002 is located in the area position between the two side end surfaces of the second roller 1002 extending toward the direction of the first roller 1001 at the corresponding area position on the device body 1, so that the first roller 1001 and the second roller 1002 can form the cleaning compensation effect when the cleaning device moves on the ground, the area position between the first roller 1001 and the outer side portion of the device body 1 cannot be cleaned by the first roller 1002 but can be cleaned by the second roller 1001, and the first roller 1001 can effectively perform the cleaning compensation process on the ground area corresponding to the second gap portion 102, the area corresponding to the second gap portion 102 cannot be cleaned by the second roller 1002 but can be cleaned by the first roller 1001, thereby realizing the cleaning effect that the cleaning device can form a complete area on the ground during moving, the problem of dragging missing is prevented; and/or, the side end surface position of the first rotating roller 1001 close to the third rotating roller 1003 is arranged in the area position between the two side end surfaces of the third rotating roller 1003 extending towards the direction of the first rotating roller 1001 at the corresponding area position on the device body 1, so that the first rotating roller 1001 and the third rotating roller 1003 can form the cleaning compensation effect when the cleaning device moves on the ground, the area position between the first rotating roller 1001 and the outer side part of the device body 1 cannot be cleaned by the first rotating roller 1003 but can be cleaned by the third rotating roller 1001, and the first rotating roller 1001 can effectively perform the cleaning compensation treatment on the ground area corresponding to the second gap part 102, the area corresponding to the second gap part 102 cannot be cleaned by the third rotating roller 1003 but can be cleaned by the first rotating roller 1001, thereby realizing the cleaning effect that the cleaning device can form a complete area on the ground in the moving process, the problem of the drag leakage is prevented.

Alternatively, a side end surface position of the first rotating roller 1001 close to the second rotating roller 1002 and a side end surface position of the second rotating roller 1002 far from the second gap portion 102 may be arranged to be aligned in a vertical direction, and the vertical direction is a direction from the first rotating roller 1001 toward the second gap portion 102 to form a vertical direction, so that both the first rotating roller 1001 and the second rotating roller 1002 can achieve a better edgewise cleaning effect.

Alternatively, a side end surface position of the first rotating roller 1001 close to the third rotating roller 1003 and a side end surface position of the third rotating roller 1003 far from the second gap portion 102 may be arranged to be aligned in a vertical direction, and the vertical direction is a direction from the first rotating roller 1001 to the second gap portion 102 to form a vertical direction, so that the first rotating roller 1001 and the third rotating roller 1003 can both achieve a good edge cleaning effect.

In order to better realize that the rolling assemblies 100 drive the cleaning device to move on the ground, the present scheme sets the axis of the rotary rolling of the second rolling 1002 and the axis of the rotary rolling of the third rolling 1003 to be the same axis in the horizontal direction, which is beneficial to the second rolling 1002 and the third rolling 1003 to drive along the same axis, mainly drives the cleaning device to move together by independent rotary rolling along the same axis, each cleaner rotates and rolls to realize the movement of the cleaning device together, which is beneficial to improving the stability of the movement of the cleaning device, and simultaneously is beneficial to controlling the cleaning device to perform steering movement, so that the friction force generated by the cleaner on the second rolling 1002 and the cleaner on the third rolling 1003 contacting the ground is positioned in the ground area position corresponding to the same axis, so as to realize that the cleaning device on the ground is driven together to perform moving walking, and is guided by the rotary rolling of the first rolling 1001, the ground cleaning device boosted by the second rotary roller 1002 and the third rotary roller 1003 can stably move on the ground, the cleaning device is lifted to better cross an obstacle in the process of moving on the ground, and the obstacle crossing capability is better.

In order to better realize that the rotating roller assembly 100 drives the cleaning device to move on the ground, the outer diameter of the second rotating roller 1002 and/or the outer diameter of the third rotating roller 1003 are set to be smaller than or equal to the outer diameter of the first rotating roller 1001, the outer diameter of the first rotating roller 1001 is set to be the diameter of the first rotating roller 1001 which is larger than the diameter of the second rotating roller 1002 and/or the third rotating roller 1003, the first rotating roller 1001 can better cross an obstacle, the obstacle crossing capability of the cleaning device is improved, the larger the diameter of the first rotating roller 1001 is, the better the cleaning device can be guided to move on the ground, and the moving stability of the cleaning device is improved.

Preferably, the outer diameter of the first rolling wheel 1001 is set to be 1.1-1.5 times of the outer diameter of the first rolling wheel 1001 and/or the third rolling wheel 1003, so that the first rolling wheel 1001 can better span obstacles on the ground and can effectively guide the cleaning device to stably move and walk on the ground.

In order to prevent the second rolling roller 1002 or the third rolling roller 1003 from colliding with indoor obstacles in the process of moving the cleaning device on the ground, the side end face position of the second rolling roller 1002, which is far away from the second gap part 102, is arranged in the side end face of the device body 1, which is close to the second rolling roller 1002, and/or the side end face position of the third rolling roller 1003, which is far away from the second gap part 102, is arranged in the side end face of the device body 1, which is close to the third rolling roller 1003, so that the second rolling roller 1002 and the third rolling roller 1003 are both covered in the side end face of the device body 1, the second rolling roller 1002 and the third rolling roller 1003 are protected, the second rolling roller 1002 and the third rolling roller 1003 are prevented from directly contacting with obstacles to be damaged by collision and fail, meanwhile, the cleaning device is favorably lifted to move on the ground to avoid obstacles, the second rolling roller 1002 and the third rolling roller 1003 are lifted, and the second rolling roller 1002 and the third rolling roller 1003 are lifted, Stability and security of the third scroll 1003 for the scroll.

In order to realize better cleaning treatment of the cleaning device on the wall edge, the wall corner or the edge position of the obstacle, the distance from the side end surface of the second rotary roller 1002 far away from the second gap part 102 to the side end surface of the device body 1 close to the second rotary roller 1002 is K1, the outer diameter of the second rotary roller 1002 is set to be K1 or K1 or K3526 is set to be 30 mm or less, so that the cleaning device can realize that the second rotary roller 1002 can carry out close-distance edge cleaning treatment effect on the wall edge, the wall corner or the edge position of the obstacle within the distance range of K1 in the moving process, and the cleaning treatment effect on the edge position is improved; and/or the distance from the side end surface of the third rotating roller 1003 far away from the second gap part 102 to the side end surface of the device body 1 close to the third rotating roller 1003 is set to be K2, and the outer diameter of the third rotating roller 1003 is set to be K2 or K2 or K3578 is set to be 30 mm or less, so that the effect that the third rotating roller 1003 can perform close-distance edge cleaning treatment on the wall edge, the wall corner or the obstacle edge position within the distance range of K2 in the moving process of the cleaning device is achieved, and the cleaning treatment effect of the second rotating roller 1002 and the third rotating roller 1003 on the edge position is improved.

Preferably, K1 is 5-10 mm or less, to achieve a close proximity of the second roller 1002 to the edge for effective edge cleaning.

Preferably, K2 is 5-10 mm or less, to achieve a close proximity of the second roller 1002 to the edge for effective edge cleaning.

It can be seen that the position limitation of the second rotary roller 1002 and the third rotary roller 1003 can be used for effectively cleaning the edge position of an indoor wall edge, a wall corner or an obstacle, and the cleaning device has a good edge cleaning effect.

Regarding the distribution of the distance between the first roller 1001 and the positions of the second roller 1002 and the third roller 1003, the distance from the maximum outer diameter position on the first roller 1001 near the outer side of the second roller 1002 to the maximum outer diameter position on the second roller 1002 near the outer side of the first roller 1001 is equal to or greater than half of the maximum outer diameter value of the first roller 1001, it can be understood that the first roller 1001 has a cylindrical structure, the maximum outer diameter position on the first roller 1001 near the outer side of the second roller 1002 is the maximum outer diameter position on the first roller 1001 near the outer side of the first gap 101, the maximum outer diameter position is the maximum diameter position, the second roller 1002 has a cylindrical structure, the maximum outer diameter position on the second roller 1002 near the outer side of the first roller 1002 is the maximum outer diameter position on the second roller 1002 near the outer side of the first gap 101, and the maximum outer diameter position is the maximum diameter position, the distance from the maximum outer diameter position of the outer side part of the first rotary roller 1001 close to the second rotary roller 1002 to the maximum outer diameter position of the outer side part of the second rotary roller 1002 close to the first rotary roller 1001 is set to be more than or equal to half of the maximum outer diameter value of the first rotary roller 1001, namely the maximum radius value of the first rotary roller 1001, so that a certain distance is effectively formed between the first rotary roller 1001 and the second rotary roller 1002 to form a spaced distribution structure, the spaced distribution structure at least forms a part of the first gap part 101, and the step-by-step cleaning treatment effect of the rotary roller assembly 100 for performing pre-cleaning treatment and deep cleaning treatment on the ground is formed; and/or the distance from the maximum outer diameter position of the outer side part of the first roller 1001 close to the third roller 1003 to the maximum outer diameter position of the outer side part of the third roller 1003 close to the first roller 1001 is greater than or equal to half of the maximum outer diameter value of the first roller 1001, it can be understood that the first roller 1001 is of a cylindrical structure, the maximum outer diameter position of the outer side part of the first roller 1001 close to the third roller 1003 is the maximum outer diameter position of the outer side part of the first roller 1003 close to the first gap part 101, the maximum outer diameter position is the maximum diameter position, the third roller is of a cylindrical structure, the maximum outer diameter position of the outer side part of the third roller 1003 close to the first roller 1001 is the maximum outer diameter position of the outer side part of the third roller 1003 close to the first gap part 101, the maximum outer diameter position is the maximum diameter position, and the maximum outer diameter position is obtained by setting the maximum outer diameter position of the outer side part of the first roller 1003 close to the third roller 1003 on the first roller 1001 to the third roller 1003 on the third roller 1003 to the outer side part of the third roller 1003 close to the third roller 1001 The distance between the maximum outer diameter positions of the parts is greater than or equal to the maximum outer diameter value of the first rotating roller 1001, namely the maximum radius value of the first rotating roller 1001, so that a certain distance is effectively ensured to be formed between the first rotating roller 1001 and the third rotating roller 1003 to form an interval distribution structure, the interval distribution structure at least forms one part of the first gap part 101, and the step-by-step cleaning treatment effect of the rotating roller assembly 100 for carrying out pre-cleaning treatment and deep cleaning treatment on the ground is formed; and/or, the distance H1 of the first gap part 101 in the vertical direction is set to be greater than or equal to half of the maximum outer diameter value of the first rotating roller 1001, the vertical direction is positioned from the first rotating roller 1001 to the second gap part 102 to form the vertical direction, so that the distance H1 of the first gap part 101 in the vertical direction is greater than or equal to the maximum radius of the first rotating roller 1001, a certain distance can be effectively ensured between the first rotating roller 1001 and the second rotating roller 1002 and the third rotating roller 1003 to form a spacing distribution structure, the spacing distribution structure at least forms a part of the first gap part 101, and the step cleaning effect of the rotating roller assembly 100 for performing the pre-cleaning treatment and the deep cleaning treatment on the ground is formed.

The scheme aims at the structural part for supplying clean water to the cleaner, the device main body 1 is further provided with a water storage part 103 for supplying clean water to the rotating and rolling assembly 100, at least one part of the water storage part 103 is positioned in the projection area position of the first rotating and rolling 1001 on the device main body 1 along the vertical direction, at least one part of the water storage part 103 is positioned in the projection area position of the second rotating and rolling 1002 on the device main body 1 along the vertical direction and/or in the projection area position of the third rotating and rolling 1003 on the device main body 1 along the vertical direction, the structure of the water storage part 103 is favorable for positioning the gravity center of the device main body 1 between the first rotating and rolling 1001 and the second rotating and rolling 1002 or the third rotating and rolling 1003, and the gravity center of the device main body 1 can be kept between the first rotating and rolling 1001 and the second rotating and rolling 1002 or the third rotating and rolling 1003 in the process that the water storage part 103 gradually reduces the amount of the clean water until the water is empty when the device main body is fully filled with the clean water, the first rotary roller 1001, the second rotary roller 1002 and the third rotary roller 1003 are enabled to bear stable and balanced pressure, so that friction force generated when each cleaner contacts the ground in rotary rolling can be guaranteed to be stable, the problem that the friction force generated by each cleaner is unstable due to the fact that the gravity center position changes greatly is avoided, and the stability of the cleaning device moving on the ground is improved.

Optionally, the water storage part 103 may be configured as a water tank structure and configured as a detachable structure, so that a user can add clean water into the clean water tank for maintenance.

Optionally, a power module may be disposed between the clean water tank and the spin roller assembly 100, and the power module may be disposed in a pump structure or a valve structure to implement supplying the clean water in the water storage 103 to the first spin roller 1001, the second spin roller 1002 and the third spin roller 1003 for cleaning, so that the first spin roller 1001, the second spin roller 1002 and the third spin roller 1003 form sewage for collection during cleaning, the clean water can wash the first spin roller 1001, the second spin roller 1002 and the third spin roller 1003, and the cleaned first spin roller 1001, second spin roller 1002 and third spin roller 1003 can continue to clean the floor.

In order to collect the sewage on the first rotary roller 1001, the second rotary roller 1002 and the third rotary roller 1003, the sewage part 104 is further arranged on the device main body 1, the sewage part 104 is used for collecting the sewage, the sewage part 104 can be arranged into a box structure, and can be arranged into a detachable structure to facilitate users to maintain the sewage part 104 to dump the sewage and clean and maintain the sewage part 104, at least one part of the sewage part 104 is positioned between the first rotary roller 1001 and the second rotary roller 1002 or the third rotary roller 1003, at least one part of the sewage part 104 is positioned in a projection area position of the first gap part 101 and/or the second gap part 102 on the device main body 1 along the vertical direction, the distribution structure of the sewage part 104 is beneficial to realizing that the sewage on the first rotary roller 1001, the second rotary roller 1002 and the third rotary roller 1003 is collected simultaneously, and the distribution of the sewage part 104 is beneficial to positioning the gravity center of the device main body 1 between the first rotary roller 1001 and the second rotary roller 1002 and the third rotary roller 1003 The utility model discloses a device for cleaning sewage, including a main body 1, a first roller 1001, a second roller 1002 and a third roller 1003, wherein the first roller 1001, the second roller 1002 and the third roller 1003 are connected with each other, the second roller is connected with the third roller.

According to the scheme, at least one part of the sewage part 104 is positioned in the projection area position of the first gap part 101 on the device body 1 along the vertical direction and/or in the projection area position of the second gap part 102 on the device body 1 along the vertical direction, so that the sewage part 104 is favorably and effectively distributed, and the volume of the sewage part 104 is further improved, aiming at the definition of the vertical direction, the vertical direction is mainly formed from the bottom of the device body 1 to the top direction of the device body 1 for projection, the first gap part 101 and the second gap part 102 can form corresponding projection areas on the device body 1, and simultaneously, the gravity center of the device body 1 can be distributed close to the first gap part 101, namely, the gravity center can be stabilized in the area position between the first rotary roller 1001 and the second rotary roller 1002 and the third rotary roller 1003, and the first rotary roller 1001, the gravity center can be ensured, The second rotating roller 1002 and the third rotating roller 1003 bear stable and balanced pressure, so that the cleaners fixed on the first rotating roller 1001, the second rotating roller 1002 and the third rotating roller 1003 can be favorably contacted with the ground stably to generate friction force, stable cleaning treatment on the ground is realized, meanwhile, the cleaning device can be effectively ensured to move stably, and the moving stability of the cleaning device is improved.

In order to realize effective collection of sewage on the first rotary roller 1001, the second rotary roller 1002 and the third rotary roller 1003, a sewage collecting assembly 105 is arranged in the device main body 1, the sewage collecting assembly 105 is communicated with the sewage portion 104 and used for collecting sewage, at least one part of the sewage collecting assembly 105 is in contact with the first rotary roller 1001 to extrude the sewage and is in contact with the second rotary roller 1002 and/or the third rotary roller 1003 to extrude the sewage, the sewage collecting assembly 105 realizes extrusion of the first rotary roller 1001, the second rotary roller 1002 or the third rotary roller 1003 to extrude the sewage, and the sewage flows under the guidance of the sewage collecting assembly 105 and enters the sewage portion 104 to realize collection.

Wherein, dirty subassembly 105 of collection mainly is located first clearance portion 101 and in the regional position that device main part 1 corresponds, realize that dirty subassembly 105 of collection can come to first revolve to roll 1001, the second revolves to roll 1002 or the third revolves the 1003 formation and extrude the effect of sewage, and then realize the collection to sewage, it mainly rolls 1001 to revolve to roll 1001, the second revolves to roll 1002 and the third revolves to roll 1003 for water storage portion 103 and supplies clear water to carry out real-time the washing, mainly wash each cleaner, form sewage in the washing, and further carry out real-time collection to sewage through dirty subassembly 105 of collection.

Optionally, the dirt collecting assembly 105 is disposed at the top or the lower side of the central position of the first rotary roller 1001, the second rotary roller 1002 and the third rotary roller 1003 to guide and collect the sewage under gravity, so as to improve the sewage collecting effect.

Wherein, can set up dirty subassembly 105 of collection including the dirty passageway of collection, the dirty passageway of collection realizes the guide collection effect to sewage, and the dirty passageway of collection realizes being linked together with sewage portion 104, and the dirty passageway of collection realizes that first rolling 1001, second soon roll 1002 or the third soon rolls 1003 and the dirty passageway of collection is linked together and is used for guiding sewage to enter into the dirty passageway of collection, and then realizes the collection effect to sewage.

Specifically, the dirt collecting assembly 105 can be arranged to include a first dirt scraping member, the first dirt scraping member is located on one side of the first rotary roller 1001, the first dirt scraping member is mainly located on one side, close to the first gap portion 101, of the first rotary roller 1001, one end of the first dirt scraping member is arranged to be in contact with the first rotary roller 1001, and the other end of the first dirt scraping member is arranged to be communicated with the dirt collecting channel, so that one end of the first dirt scraping member forms a structural effect of extruding the sewage from the outer surface of the first rotary roller 1001 to perform extrusion scraping cleaning on the first rotary roller 1001, and after the sewage is extruded by the first dirt scraping member, the sewage enters the dirt collecting channel along the first dirt scraping member and enters the sewage portion 104 through the dirt collecting channel to achieve a concentrated collecting effect of the sewage on the first rotary roller 1001; the dirt collecting assembly 105 can further comprise a second dirt scraping piece, the second dirt scraping piece is located on one side of the second rotary roller 1002 and the third rotary roller 1003, the second dirt scraping piece is mainly located on one side, close to the first gap portion 101, of the second rotary roller 1002 and the third rotary roller 1003, one end of the second dirt scraping piece is arranged to be in contact with the second rotary roller 1002 and/or the third rotary roller 1003, and the other end of the second dirt scraping piece is arranged to be communicated with the dirt collecting channel, so that one end of the second dirt scraping piece forms a sewage extruding structural effect on the outer surface of the second rotary roller 1002 and/or the third rotary roller 1003 to extrude and scrape and clean the second rotary roller 1002 and/or the third rotary roller 1003, and after sewage on the second rotary roller 1002 and/or the third rotary roller 1003 is extruded by the second dirt scraping piece, the sewage enters the dirt collecting channel along the second dirt scraping piece and enters the sewage collecting channel 104 through the dirt collecting channel to achieve that the sewage on the second rotary roller 1002 and/or the third rotary roller 1003 or the sewage on the second dirt The effect of centralized collection.

Optionally, set up first scraping dirty piece and realize concentrating the guide to sewage and collect towards the structure that first clearance portion 101 direction is from high to low slope gradually, be favorable to sewage to concentrate under the action of gravity and enter into in sewage portion 104 and collect.

Optionally, set up the dirty piece of second scraping to realize concentrating the guide to sewage and collect towards the structure that first clearance portion 101 direction is from high to low slope gradually, be favorable to sewage to concentrate under the action of gravity and enter into in sewage portion 104 and collect.

Optionally, at least a part of the sewage portion 104 is arranged at the top or the lower side of the central position of the first rolling element 1001, the second rolling element 1002 and the third rolling element 1003 to guide the sewage into the sewage collecting channel under the gravity, so as to improve the sewage collecting effect.

In order to further improve the convenience and stability of the cleaning device moving on the ground, the rolling assembly 100 of the present embodiment further includes a fourth rolling element 1004, the fourth rolling element 1004 is configured to horizontally roll with respect to the ground, a cleaner is mounted on the fourth rolling element 1004, the fourth rolling element 1004 drives the cleaner to synchronously roll in a rotating manner, the cleaner on the fourth rolling element 1004 contacts the ground to perform a cleaning process on the ground and simultaneously perform a traveling manner of the cleaning device, the fourth rolling element 1004 is located at a side position of the second rolling element 1002 and the third rolling element 1003 away from the first rolling element 1001, and a third gap 106 is provided between the fourth rolling element 1004 and the second rolling element 1002 and the third rolling element 1003, it can be understood that the fourth rolling element 1004 is located at a rear side position of the second rolling element 1002 and the third rolling element 1003 and is mounted on the bottom of the device body 1, and the third gap 106 is provided between the fourth rolling element 1004 and the second rolling element 1002 and the third rolling element 1003 to present a third gap 106 through the third gap The structure separated at intervals not only realizes better effect of carrying out distributed deep cleaning treatment on the ground, but also is beneficial to the cleaning device to move towards the rear side on the ground, and is beneficial to the cleaning device to rapidly move towards the rear side on the ground, such as backward moving walking; meanwhile, when the cleaning device moves in a forward direction, it is easier to cross an obstacle on the floor with the aid of the fourth spin roller 1004, and the obstacle crossing ability of the cleaning device is improved.

Optionally, a fourth driving component may be provided to implement an independent structure for driving the fourth rolling element 1004 to perform an independent rotating and rolling motion, and the fourth driving component may include a motor, and the motor is implemented to drive the first rolling element 1001 to perform rotating and rolling.

Alternatively, the fourth roller 1004 is provided in a cylindrical structure, and a cleaner is installed on the fourth roller 1004 to contact the ground to rotate and roll, thereby generating a frictional force.

Optionally, the length distance of the fourth rotating roller 1004 in the horizontal direction may be set to be greater than the length distance of the second gap in the horizontal direction, so as to implement the effect of performing the compensation cleaning treatment on the position of the ground area corresponding to the second gap by the fourth rotating roller 1004, and prevent the problem of dragging missing on the ground.

Optionally, the position distribution of the fourth rolling wheel 1004 may be a structure that is symmetrically distributed with respect to the second rolling wheel 1002 and the third rolling wheel 1003, and may be a structure that is symmetrically distributed with respect to the rolling axis of the second rolling wheel 1002 and/or the third rolling wheel 1003 with respect to the first rolling wheel 1001, so that the cleaning device is facilitated to move and walk on the ground in the direction of the first rolling wheel 1001.

The cleaning device of the scheme moves on the ground to clean the ground, linear moving walking or steering moving walking of the cleaning device can be controlled by controlling the motion state of the rotary rolling assembly 100, the specific control of the rotary rolling speed and the rotary rolling direction of the first rotary roller 1001, the second rotary roller 1002 and the third rotary roller 1003 can be realized, and the cleaning device can stably perform autonomous moving walking on the ground.

the controller is arranged to control the first rotating roller 1001, the second rotating roller 1002 or the third rotating roller 1003 to rotate and roll, and is mainly electrically connected with the first driving assembly, the second driving assembly and the third driving assembly, so that the controller controls the first driving assembly to independently drive the first rotating roller 1001 to independently rotate and roll, the second driving assembly to independently drive the second rotating roller 1002 to independently rotate and roll, and the third driving assembly to independently drive the third rotating roller 1003 to independently rotate and roll;

the first rolling wheel 1001 is controlled to rotate and roll according to the moving mode of the cleaning device to move, and the second rolling wheel 1002 or the third rolling wheel 1003 is controlled to rotate and roll, so that the cleaner in each rotating and rolling way contacts with the ground to drive the cleaning device to move on the ground.

Specifically, in the method for driving the cleaning device to move on the ground by controlling the rolling assembly 100 by the controller, the cleaning device can be driven to move on the ground by at least controlling the first rolling member 1001 to roll and controlling one of the second rolling member 1002 and the third rolling member 1003 to roll; if the first rotating roller 1001 and the second rotating roller 1002 are both in a rotating rolling state, the cleaning device can be driven to move on the ground, and at this time, the rotating rolling directions of the first rotating roller 1001 and the second rotating roller 1002 can be rotating rolling along the same direction; if the first rotating roller 1001 and the third rotating roller 1003 are both in a rotating rolling state, the cleaning device can be driven to move on the ground, and at this time, the rotating rolling directions of the first rotating roller 1001 and the third rotating roller 1003 can be rotating rolling along the same direction; at the moment, the cleaning device can be controlled to perform linear displacement movement on the ground; for example, the first rotating roller 1001, the second rotating roller 1002, and the third rotating roller 1003 may all be in a rotating rolling state to drive the cleaning device to move on the ground, and at this time, the rotating rolling directions of the first rotating roller 1001, the second rotating roller 1002, and the third rotating roller 1003 may be rotating rolling in the same direction; for example, the cleaning device can be driven to move on the ground by the rolling assembly 100, such as forward movement, or such as backward movement, or such as left-hand or right-hand movement.

The cleaning device of the scheme is based on the first rotary roller 1001, the second rotary roller 1002 and the third rotary roller 1003 to drive the cleaning device to move on the ground, and the cleaning device is in a linear moving structure and at least comprises a structure that the first rotary roller 1001, the second rotary roller 1002 and the third rotary roller 1003 are controlled to have the same rotary rolling direction, so that the effect of linear movement of the cleaning device is realized, namely the cleaning device moves towards the front side direction when moving towards the first rotary roller 1001 direction, and the cleaning device moves towards the second rotary roller 1002 direction, namely the cleaning device moves towards the rear side direction when moving towards the second rotary roller 1002 direction.

In the control method, the cleaning device at least controls one of the first rotating roller 1001, the second rotating roller 1002 or the third rotating roller 1003 to change the rotating and rolling speed or change the rotating and rolling direction during the moving process based on the detection information of the obstacle, so that the cleaning device moves away from the obstacle or turns along the edge position of the obstacle, an infrared detection module may be provided to detect obstacles or a laser detection module may be provided to detect obstacles, or a visual detection module is arranged to detect the obstacle, and whether the motion state of the rotating and rolling assembly 100 needs to be adjusted in time is judged based on the detection information of the obstacle, specifically, the controller controls at least one of the first rotating and rolling 1001, the second rotating and rolling 1002 and the third rotating and rolling 1003 to change the rotating and rolling speed or the rotating and rolling direction so that the cleaning device can walk away from the obstacle or turn to move and walk along the edge position of the obstacle in the moving and walking process.

Specifically, the walking away from the obstacle may be backward movement relative to the obstacle, and the steering movement along the edge of the obstacle may be left steering movement along the edge of the obstacle or right steering movement along the edge of the obstacle.

When the cleaning device moves on the ground and is abnormal due to the ground environment, the abnormality can be detected and judged according to the motion state of the first rotating roller 1001, and the cleaning device is timely controlled based on the abnormal state so as to get rid of the abnormality and enter the normal moving and walking state, specifically, the following modes are provided:

the first mode is that when the motion state of the first rotating roller 1001 is abnormal, the controller controls the rotating rolling speed of the second rotating roller 1002 to increase and/or controls the rotating rolling speed of the third rotating roller 1003 to increase, the power for driving the cleaning device to move by the second rotating roller 1002 and/or the third rotating roller 1003 is realized by increasing the rotating rolling speed of the second rotating roller 1002 and/or the third rotating roller 1003, if the cleaning device moves towards the first rotating roller direction, the thrust for moving walking is increased, if the cleaning device moves towards the second rotating roller 1002 direction, the driving power for moving walking is increased, the cleaning device is driven to move by larger power, and the cleaning device is lifted to avoid the abnormality; at this time, the rotation rolling directions of the first roller 1001, the second roller 1002 and/or the third roller 1003 may be set to perform rotation rolling in the same direction, the corresponding cleaning device may perform linear movement in the front direction, that is, in the direction of the first roller 1001, and the corresponding cleaning device may perform linear movement in the rear direction, that is, in the direction of the second roller 1002.

The second way is that when the motion state of the first roller 1001 is abnormal, the controller controls the rotation rolling speed of the second roller 1002 to increase and controls the rotation rolling direction of the second roller 1002 to switch to the opposite direction and/or controls the rotation rolling speed of the third roller 1003 to increase and controls the rotation rolling direction of the third roller 1003 to switch to the opposite direction, the power for driving the cleaning device to move by the second roller 1002 and/or the third roller 1003 is realized by increasing the rotation rolling speed of the second roller 1002 and/or the third roller 1003, and the opposite direction for driving the cleaning device to leave the abnormal state is realized by switching the rotation rolling direction of the second roller 1002 and/or the third roller 1003 to the opposite direction; if the cleaning device moves towards the first roller 1001, the rotating rolling speed and the rotating rolling direction of the second roller 1002 and/or the third roller 1003 are controlled to be increased and switched to the opposite directions, so that the power of the second roller 1002 and/or the third roller 1003 is increased towards the direction of the second roller 1002 to drive the first roller 1001 to be disengaged from the abnormality, and further the cleaning device is driven to be disengaged from the abnormality, at this time, the rotating rolling directions of the first roller 1001, the second roller 1002 and/or the third roller 1003 can be set to be rotating rolling along the opposite directions to drive the first roller 1001 to be disengaged from the abnormal state towards the direction of the second roller 1002; if the cleaning device moves towards the direction of the second roller 1002, the rotating and rolling speed and the rotating and rolling direction of the second roller 1002 and/or the third roller 1003 are controlled to be increased and switched to the opposite direction, so that the power of the second roller 1002 and/or the third roller 1003 is increased towards the direction of the first roller 1001 to drive the first roller 1001 to be disengaged from the abnormality, and further the cleaning device is disengaged from the abnormality, at this time, the rotating and rolling directions of the first roller 1001, the second roller 1002 and/or the third roller 1003 can be set to be rotating and rolling along the opposite direction to drive the first roller 1001 to be disengaged from the abnormal state.

Whether the motion state of the first rotating roller 1001 is abnormal or not is detected and judged, a detection module is mainly arranged to detect the motion state of the first rotating roller 1001, the detection can be set to be an infrared sensor or a hall sensor, or a displacement sensor, so that the motion state of the first rotating roller 1001 is detected, and the following modes are mainly adopted:

the first way is that when it is detected that the first rolling wheel 1001 is located at the current position and continuously rotates and rolls and the cleaning device is not moving, the controller determines that the motion state of the first rolling wheel 1001 is abnormal, at this time, the first rolling wheel 1001 is in the rotation and rolling state and does not drive the cleaning device to move on the ground, at this time, it may be determined that the first rolling wheel 1001 is in the abnormal state, for example, the first rolling wheel 1001 falls into a pit or a cliff on the ground, or the first rolling wheel 1001 is trapped at the current position and is not stuck, and the motion state of the first rolling wheel 1001, the second rolling wheel 1002 or the third rolling wheel 1003 is controlled by determining that the first rolling wheel 1001 is in the abnormal state, so that the first rolling wheel 1001 is out of the abnormality.

And/or, in the second way, when it is detected that the first roller 1001 is located at the current position and continuously rotates and rolls, and the first roller 1001 moves in a displacement manner in the vertical direction, the controller determines that the motion state of the first roller 1001 is abnormal, and at this time, the first roller 1001 is in a rotation and roll state and moves in a displacement manner in the vertical direction, and at this time, it may be determined that the first roller 1001 is in an abnormal state, if the first roller 1001 falls into a pit or cliff on the ground so that the position of the first roller 1001 is lowered, or the first spin roller 1001 is caught at the position of the currently protruded obstacle but is not caught so that the first spin roller 1001 is jacked up to be displaced in the vertical direction, the movement state of the first scroll 1001, the second scroll 1002, or the third scroll 1003 is controlled by determining that the first scroll 1001 is in the abnormal state to cause the first scroll 1001 to escape from the abnormality.

And/or, in a third mode, when it is detected that a current threshold B of a first driving assembly that drives the first roller 1001 to rotate and roll is greater than a rated current threshold a, the controller determines that the motion state of the first roller 1001 is abnormal, where the first roller 1001 is in the rotation and roll state but the load driving the first roller 1001 is increased, that is, the used current threshold B of the first driving assembly is greater than the rated current threshold a, and if the first roller 1001 may be caught by a foreign object such as a wire but not completely stuck so that the current driving the first roller 1001 to rotate and roll increases, it may be determined that the first roller 1001 is in the abnormal state to control the motion state of the first roller 1001, the second roller 1002, or the third roller 1003 so that the first roller 1001 is out of the abnormality.

When the first rotating roller 1001 is detected to be in the abnormal state, the control method can be timely controlled and executed based on the abnormal state so that the cleaning device gets rid of the abnormality and enters the normal moving and traveling state, and the rotating and rolling speed or the rotating and rolling direction of the first rotating roller 1001, the second rotating roller 1002 or the third rotating roller 1003 is mainly controlled so as to enable the first rotating roller 1001 to get rid of the abnormality.

As for the control method for controlling the cleaning apparatus to perform the turning movement on the floor, the following control method is mainly used to control the cleaning apparatus to perform the moving and traveling movement of turning left or right on the floor by controlling the motion state of the rotating and rolling assembly 100.

The method for controlling the cleaning device to perform turning movement on the ground may be that when the controller controls the cleaning device to perform turning movement, the method at least includes controlling the rotation rolling speed of the second rotating roller 1002 to increase or controlling the rotation rolling speed of the third rotating roller 1003 to increase, when the cleaning device moves linearly on the ground, the rotation rolling directions of the first rotating roller 1001, the second rotating roller 1002 and the third rotating roller 1003 are the same, so that the resultant force directions of the friction forces generated by the cleaners are the same, the cleaning device is driven to perform linear movement on the ground, when the cleaning device needs to be controlled to turn, the rotation rolling speed of the second rotating roller 1002 can be controlled to increase, and at this time, the friction force generated by the cleaner on the second rotating roller 1002 is increased, so that the cleaning device is pushed to perform turning movement towards the direction of the area position between the first rotating roller 1001 and the third rotating roller 1003; when the cleaning device needs to be controlled to turn, the rotating rolling speed of the third rotating roller 1003 can be controlled to be increased, and at the moment, the friction force generated by a cleaner on the third rotating roller 1003 is increased, so that the cleaning device is pushed to turn and move towards the direction of the area position between the first rotating roller 1001 and the second rotating roller 1002; the cleaning device can be driven to move in a steering way.

The method for controlling the cleaning device to perform turning movement on the ground may be that when the controller controls the cleaning device to perform turning movement, the method at least includes controlling the rotation rolling speed of the second roller 1002 to increase and controlling the rotation rolling speed of the third roller 1003 to decrease or controlling the rotation rolling speed of the third roller 1003 to increase and controlling the rotation rolling speed of the second roller 1002 to decrease, when the cleaning device moves linearly on the ground, the rotation rolling directions of the first roller 1001, the second roller 1002 and the third roller 1003 are the same, so that the resultant force directions of the friction forces generated by the cleaners are the same, thereby driving the cleaning device to perform linear movement on the ground, when the cleaning device needs to be controlled to turn, the rotation rolling speed of the second roller 1002 may be controlled to increase and the rotation rolling speed of the third roller 1003 may be controlled to decrease, at this time, the friction force generated by the cleaner on the second roller 1002 may be increased and the friction force generated by the cleaner on the third roller 1003 may be decreased, thereby pushing the cleaning device A steering movement is performed in a direction toward a region position between the first roller 1001 and the third roller 1003; when the cleaning device needs to be controlled to turn, the rotating rolling speed of the third rotating roller 1003 can be controlled to be increased, and the rotating rolling speed of the second rotating roller 1002 can be controlled to be decreased, so that the friction force generated by the cleaner on the third rotating roller 1003 is increased, and the friction force generated by the cleaner on the second rotating roller 1002 is decreased, so that the cleaning device is pushed to move in a turning mode towards the direction of the area position between the first rotating roller 1001 and the second rotating roller 1002; the cleaning device can be driven to move in a steering way.

The method for controlling the cleaning device to perform turning movement on the ground can also be that when the controller controls the cleaning device to perform turning movement, the method at least comprises the steps of controlling the rotating and rolling direction of the second rotating roller 1002 to be switched to the opposite direction or controlling the rotating and rolling direction of the third rotating roller 1003 to be switched to the opposite direction; when the cleaning device moves linearly on the ground, the rotating and rolling directions of the first rotating roller 1001, the second rotating roller 1002 and the third rotating roller 1003 are the same, so that the resultant force directions of the friction forces generated by the cleaners are the same, the cleaning device is driven to move linearly on the ground, when the cleaning device needs to be controlled to rotate, the rotating and rolling direction of the second rotating roller 1002 can be controlled to be switched to the opposite direction, so that the direction of the friction force generated by the cleaner on the second rotating roller 1002 contacting the ground is changed to the opposite direction, the opposite direction is towards the current moving direction of the cleaning device, resistance is formed, and the cleaning device is prevented from moving along the current direction, and at the moment, the cleaning device can rotate and move towards the area position direction between the first rotating roller 1001 and the second rotating roller 1002 under the condition that the rotating and rolling directions of the first rotating roller 1001 and the third rotating roller 1003 are not switched; when the cleaning device needs to be controlled to turn, the rotating and rolling direction of the third rotating roller 1003 can be controlled to be switched to the opposite direction, so that the direction of the friction force generated when the cleaner on the third rotating roller 1003 contacts the ground is changed to the opposite direction, and the opposite direction is towards the current moving direction of the cleaning device, so that resistance is formed to block the cleaning device to move along the current direction, and at the moment, the cleaning device can turn and move towards the direction of the area position between the first rotating roller 1001 and the third rotating roller 1003 under the condition that the rotating and rolling directions of the first rotating roller 1001 and the second rotating roller 1002 are not switched; the cleaning device can be driven to move in a steering way.

The method for controlling the cleaning device to perform turning movement on the ground may further include, when the controller controls the cleaning device to perform turning movement, at least controlling the rotation rolling direction of the second roller 1002 to be switched to an opposite direction and the rotation rolling direction of the first roller 1001 to be switched to an opposite direction or the rotation rolling direction of the third roller 1003 to be switched to an opposite direction and the rotation rolling direction of the first roller 1001 to be switched to an opposite direction, when the cleaning device linearly moves on the ground, the rotation rolling directions of the first roller 1001, the second roller 1002 and the third roller 1003 are the same, so that resultant directions of frictional forces generated by the cleaners are the same, and the cleaning device is driven to linearly move on the ground, and when the cleaning device needs to be controlled to perform turning, the rotation rolling direction of the second roller 1002 may be controlled to be switched to an opposite direction and the rotation rolling direction of the first roller 1001 may be controlled to be switched to an opposite direction and the cleaner on the second roller 1002 contacts the ground The direction of the friction force is changed to the opposite direction, and the direction of the friction force generated when the cleaner on the first rotating roller 1001 contacts the ground is changed to the opposite direction, at this time, when the first rotating roller 1001 and the second rotating roller 1002 are switched to rotate in the opposite direction, the cleaning device is enabled to perform steering movement towards the direction of the area position in front of the first rotating roller 1001 and the second rotating roller 1002; when the cleaning device needs to be controlled to turn, the rotating and rolling direction of the third rotating roller 1003 can be controlled to be switched to the opposite direction, and the rotating and rolling direction of the first rotating roller 1001 is controlled to be switched to the opposite direction, so that the direction of the friction force generated when the cleaner on the third rotating roller 1003 contacts the ground is changed to the opposite direction, and the direction of the friction force generated when the cleaner on the first rotating roller 1001 contacts the ground is changed to the opposite direction, at this time, the cleaning device can turn and move towards the direction of the area position before the first rotating roller 1001 and the third rotating roller 1003 when the first rotating roller 1001 and the third rotating roller 1003 are switched to rotate in the opposite direction; the cleaning device can be driven to move in a steering way.

The method for controlling the cleaning device to perform turning movement on the ground may further include, when the controller controls the cleaning device to perform turning movement, controlling the rotating and rolling speed of the first rotating roller 1001 to be reduced, reducing the moving speed of the cleaning device by controlling the rotating and rolling speed of the first rotating roller 1001 to be reduced, and simultaneously reducing friction generated when the cleaner on the first rotating roller 1001 contacts the ground, so as to further reduce resistance of the cleaning device to perform turning movement, thereby facilitating further adjustment of the rotating and rolling speed or rotating and rolling direction of the second rotating roller 1002 or the third rotating roller 1003 to enable the cleaning device to perform effective turning movement, preventing the cleaning device from colliding with an obstacle or preventing the cleaning device from performing effective turning movement with a larger power, so as to control the cleaning device to perform fast turning movement in time.

The method for controlling the cleaning apparatus to perform the turning movement on the floor may further include controlling the rotational rolling speed of the first roller 1001 to be reduced and the rotational rolling speed of the first roller 1001 to be lower than the rotational rolling speed of the second roller 1002 or lower than the rotational rolling speed of the third roller 1003 when the controller controls the cleaning apparatus to perform the turning movement, reducing the speed of the cleaning apparatus to move by controlling the rotational rolling speed of the first roller 1001 to be reduced while reducing the friction generated when the cleaner on the first roller 1001 contacts the floor, and making it easier to perform the effective turning movement of the cleaning apparatus based on adjusting the rotational rolling speed or the rotational rolling direction of the second roller 1002 or the third roller 1003 by controlling the rotational rolling speed of the first roller 1001 to be lower than the rotational rolling speed of the second roller 1002 or lower than the rotational rolling speed of the third roller 1003, make the first cleaner that revolves on rolling 1001 contact the frictional force that ground produced reduce, and then reduce the speed that cleaning device removed, further reduce cleaning device and turn to the resistance that removes, prevent that cleaning device from colliding the barrier or prevent that cleaning device from needing bigger power just can carry out effectual turning to the removal to in time control cleaning device is quick turn to the removal.

Above-mentioned scheme all can realize that cleaning device carries out effectual turning to the removal, turns to the removal or turn to the removal to turning to if left side turns to the removal to vacant cleaning device is timely turns to, prevents that cleaning device from colliding the barrier, is favorable to adjusting cleaning device to carry out along the border position of barrier simultaneously and carries out effectual border cleanness.

The working principle is as follows: the cleaning device of the scheme mainly realizes cleaning treatment on the ground by self-moving walking on the ground, the cleaning device is provided with the rotary rolling assembly 100, and the rotary rolling assembly 100 not only can drive the cleaning device to independently move and walk on the ground, but also can clean dirt on the ground; specifically, the rotating roller assembly 100 mainly comprises a first rotating roller 1001, a second rotating roller 1002 and a third rotating roller 1003 to drive the cleaning device to move on the ground, and mainly a fixed cleaner contacts the ground to form friction force in rotating and rolling to drive the cleaning device to move and walk, so that the cleaning device does not need to be provided with a driving wheel structure, the whole structure is simple, and meanwhile, the cleaner contacts the ground to achieve the cleaning effect on the ground; meanwhile, the structure of the rotary rolling component 100 can realize the stepped deep cleaning treatment effect on the ground, and the structures of the second rotary rolling 1002 and the third rotary rolling 1003 can realize effective edgewise cleaning treatment on the wall edge, the wall corner or the edge of an obstacle, and the scheme can realize effective centralized collection of sewage formed by the rotary rolling component 100 in the process of cleaning the ground, and can effectively prevent secondary pollution of the sewage on the ground; the moving and walking method of the cleaning device can effectively achieve steering moving and walking or linear moving and walking by controlling the movement of the rotary rolling assembly 100, the cleaning device can move stably according to a planned path, and can effectively conduct steering movement away from an obstacle or along the edge position of the obstacle based on the detection information of the obstacle, so that the moving stability and reliability of the intelligent cleaning device are improved, and the obstacle is better avoided in moving and walking to move and walk.

It will be understood by those skilled in the art that the foregoing embodiments are specific examples of the invention, and that various changes in form and details may be made therein without departing from the spirit and scope of the invention in its practical application.

Claims

1. Cleaning device, including the device main part, its characterized in that: the device main body is provided with a rotary rolling component for cleaning the ground, and the rotary rolling component is also used for driving the cleaning device to move on the ground;

the rotary rolling component is arranged at the bottom of the device main body;

2. The cleaning device of claim 1, wherein: the device body is also internally provided with a driver, the controller is electrically connected with the driver, and the driver at least comprises a second driving component connected with the second rotary roller and a third driving component connected with the third rotary roller so as to enable the second rotary roller and the third rotary roller to form a structure capable of mutually independent rotary rolling motion.

3. The cleaning device of claim 2, wherein: a threshold Q is arranged in the controller, and the threshold Q at least comprises that when the first rotary roller is controlled to rotate and roll along the direction M, the second rotary roller or the third rotary roller is controlled to rotate and roll along the direction M.

4. A cleaning device as claimed in claim 1, 2 or 3, characterized in that: the first rotating roller is arranged at one side of the second rotating roller and the third rotating roller, and a first gap part is arranged between the first rotating roller and the second rotating roller as well as between the first rotating roller and the third rotating roller;

5. The cleaning device of claim 4, wherein: setting the first gap portion to have a distance H1 in the vertical direction and setting the second gap portion to have a distance H2 in the horizontal direction and setting H1 to be greater than H2;

6. The cleaning device of claim 4, wherein: the side end face position of the first rotary roller close to the second rotary roller is arranged in an area position between two side end faces of the second rotary roller, and the area position corresponding to the area position on the device main body extends towards the first rotary roller direction;

and/or;

7. The cleaning apparatus of claim 1, 5 or 6, wherein: setting the axis of the rotary rolling of the second rotary roller and the axis of the rotary rolling of the third rotary roller to be the same axis in the horizontal direction;

8. The cleaning device of claim 4, wherein: the position of the side end face of the second rotating roller far away from the second gap part is positioned within the end face of the side part of the device body close to the second rotating roller, and/or the position of the side end face of the third rotating roller far away from the second gap part is positioned within the end face of the side part of the device body close to the third rotating roller.

9. The cleaning apparatus of claim 8, wherein: setting the distance from the end surface far away from the second gap part on the second rotary roller to the end surface of the side part close to the second rotary roller on the device main body to be K1, and setting the outer diameter of the second rotary roller to be less than or equal to K1 or the outer diameter of the second rotary roller to be less than or equal to K1 to be less than or equal to 30 mm;

and/or the presence of a gas in the gas,

10. The cleaning device of claim 4, wherein: the distance from the maximum outer diameter position of the outer side part of the first rotary roller close to the second rotary roller to the maximum outer diameter position of the outer side part of the second rotary roller close to the first rotary roller is larger than or equal to half of the maximum outer diameter value of the first rotary roller;

11. The cleaning device of claim 4, wherein: the device main body is further provided with a water storage part for supplying clean water to the rotary rolling assembly, at least one part of the water storage part is positioned in a projection area position of the first rotary rolling on the device main body along the vertical direction, and at least one part of the water storage part is positioned in a projection area position of the second rotary rolling on the device main body along the vertical direction and/or in a projection area position of the third rotary rolling on the device main body along the vertical direction.

12. The cleaning device of claim 4, wherein: the device main body is further provided with a sewage part, at least one part of the sewage part is positioned between the first rolling roller and the second rolling roller or the third rolling roller, and at least one part of the sewage part is positioned in the projection area position of the first gap part and/or the second gap part along the vertical direction on the device main body.

13. The cleaning apparatus of claim 12, wherein: be provided with the dirty subassembly of collection in the device main part, the dirty subassembly of collection communicates with sewage portion and is used for collecting sewage, and at least a portion of the dirty subassembly of collection rolls with first revolving to set up to contact and extrudes the structure of sewage and rolls soon with the second and/or the third rolls the structure that contacts and extrude sewage soon.

14. The cleaning device of claim 4, wherein: the rotating and rolling assembly further comprises a fourth rotating and rolling device, the fourth rotating and rolling device is located on one side, away from the first rotating and rolling device, of the second rotating and rolling device and the third rotating and rolling device, and a third gap portion is arranged between the fourth rotating and rolling device and the second rotating and rolling device as well as between the fourth rotating and rolling device and the third rotating and rolling device.

15. A control method of a cleaning device, characterized in that: a cleaning apparatus comprising any one of claims 1-14, further comprising a control method of:

16. The control method of a cleaning device according to claim 15, characterized in that: and the cleaning device at least controls one of the first spin roller, the second spin roller or the third spin roller to change the rotational rolling speed or the rotational rolling direction during the movement process based on the detection information of the obstacle, so that the cleaning device moves away from the obstacle or performs steering movement along the edge position of the obstacle.

17. The control method of the cleaning device according to claim 15 or 16, characterized in that: when the motion state of the first rotary roller is abnormal, the controller controls the rotary rolling speed of the second rotary roller to increase and/or controls the rotary rolling speed of the third rotary roller to increase;

or the like, or, alternatively,

18. The control method of a cleaning device according to claim 17, characterized in that: setting a detection module to detect the motion state of the first rotary roller;

19. The control method of the cleaning device according to claim 15, 16 or 18, characterized in that: when the controller controls the cleaning device to move in a steering mode, at least the rotating rolling speed of the second rotating roller is controlled to increase or the rotating rolling speed of the third rotating roller is controlled to increase;

or the like, or, alternatively,

20. The control method of the cleaning device according to claim 15, 16 or 18, characterized in that: when the controller controls the cleaning device to rotate and move, the rotating and rolling directions of the second rotating roller are controlled to be switched to the opposite direction or the rotating and rolling directions of the third rotating roller are controlled to be switched to the opposite direction;

or the like, or, alternatively,

21. The control method of the cleaning device according to claim 15, 16 or 18, characterized in that: when the controller controls the cleaning device to move in a steering mode, the controller controls the rotating rolling speed of the first rotating roller to be reduced;

or the like, or, alternatively,