CN114098545A

CN114098545A - Cleaning machine system

Info

Publication number: CN114098545A
Application number: CN202110173743.9A
Authority: CN
Inventors: 高新忠; 高令宇; 方恩光; 王超; 甘嵩; 邓杰
Original assignee: Qufu Sinodod Intelligent Technology Co ltd
Current assignee: Qufu Sinodod Intelligent Technology Co ltd
Priority date: 2021-02-06
Filing date: 2021-02-06
Publication date: 2022-03-01

Abstract

A cleaning machine system comprises a machine main body, wherein a cleaning component for mopping the floor is arranged on the machine main body, the cleaning component is arranged into a movable structure, and when the cleaning component moves, the cleaning component drives the cleaning machine to displace on a working surface through the friction force between the cleaning component and the working surface; the cleaner body is provided with a butt joint part, when the cleaner executes a self-moving cleaning mode, the handle rod is not arranged on the butt joint part or the handle rod is arranged on the butt joint part, and the relative butt joint part is a retraction structure; when the cleaner executes a handheld cleaning mode, the handle rod is arranged on the butt joint part or the handle rod is arranged on the butt joint part and the opposite butt joint part is of a protruding structure. The scheme solves the problems that the existing cleaning machine cannot have a multifunctional using effect, is complex in structure, high in cost and easy to cause walking deviation in the floor mopping process, and solves the problem that the existing handheld floor mopping machine is inconvenient to use because people need to push the floor to mop.

Description

Cleaning machine system

Technical Field

The invention relates to the field of intelligent cleaning machines, in particular to a cleaning machine system, which is mainly used for mopping and cleaning by self-displacement walking on the ground.

Background

The existing cleaner is mainly used for cleaning dust by walking on the ground and mopping the ground, the walking power of the cleaner mainly realizes the displacement walking of the cleaner by arranging a driving wheel, a left driving wheel and a right driving wheel are generally arranged, a mop cloth is arranged at the rear side or the front side of the driving wheel, the driving wheel works and rotates to drive the cleaner to walk and realize the effect of mopping the ground by driving the mop cloth to displace on the ground, the driving wheel mainly drives the cleaner to walk by the friction force between the tread outside the tire and the ground, the problem of easy slipping of the driving wheel is caused due to small contact area between the tire and the ground, particularly, the ground has certain moisture in the mopping process of the cleaner, the walking track of the cleaner is easy to deviate, the cleaner is not beneficial to stably mopping the ground, and meanwhile, the overall structure of the cleaner is complex, the cleaning machine is simple in structure, and the cleaning efficiency is high The cost is high.

Meanwhile, the existing cleaning machine is provided with the driving wheel, and the structure of the driving wheel limits the position and the area of the mop cloth on the cleaning machine, so that the mop cloth is difficult to clean the positions of the wall edge and the wall corner of the indoor ground, and the dust accumulation of the wall edge and the wall corner is easy to cause under long-time trial, thereby influencing the use experience of a user; simultaneously comes from the walking because of the cleaning machine sets up the drive wheel, when the user needs to carry out cleaning to the indoor subaerial cleaning machine can't clean part of mopping, need solitary hand-held type mopping machine to carry out independent processing this moment, lead to the user must prepare cleaning machine and handheld mopping machine, inconvenient user uses, because of all being provided with mop and water tank on cleaning machine and the hand-held type mopping machine, lead to the user to operate the degree of difficulty to increase, and work load increase, need wash the mop many times and add work such as water, it can't realize possessing multi-functional result of use to see current cleaning machine.

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 machine system, which mainly solves the problems that the existing cleaning machine cannot have multifunctional use effect, the existing cleaning machine is complex in structure and high in cost, walking deviation is easy to occur in the floor mopping process, and the existing handheld floor mopping machine is inconvenient to use because the existing handheld floor mopping machine needs to be manually pushed to walk to clean the floor.

The embodiment of the invention provides a cleaning machine system, which comprises a machine main body, wherein a cleaning component for mopping the floor is arranged on the machine main body, the cleaning component is arranged into a movable structure, and the cleaning component drives the cleaning machine to displace on a working surface through the friction force between the cleaning component and the working surface when moving; the cleaner body is provided with a butt joint part, when the cleaner executes a self-moving cleaning mode, the handle rod is not arranged on the butt joint part or the handle rod is arranged on the butt joint part, and the relative butt joint part is a retraction structure; when the cleaner executes a handheld cleaning mode, the handle rod is arranged on the butt joint part or the handle rod is arranged on the butt joint part and the opposite butt joint part is of a protruding structure.

In the cleaning machine system, the handle rod is arranged in a structure capable of rotating relative to the butt joint part, and when the handle rod is arranged on the butt joint part, the handle rod can rotate relative to the butt joint part; and/or the docking portion is provided as a structure rotatably mounted on the robot body and the handle lever is rotatable with respect to the robot body through the docking portion when the handle lever is mounted on the docking portion.

In the cleaning machine system, the handle rod and the butt joint part are arranged in a detachably-mounted connecting structure, and the handle rod is arranged in a telescopic joint structure.

In the above cleaner system, the length of the machine body is longer than the width of the machine body, and the handle lever and the docking portion are located at a middle position in the length direction and a middle or rear position in the width direction of the machine body when the handle lever is mounted on the docking portion.

In the above cleaner system, when the handle lever is mounted on the docking portion, the handle lever is rotatable with respect to the machine body and rotated toward the width direction of the machine body so that the handle lever is placed on the machine body at a position in the middle or rear to front of the width direction of the machine body.

In the above-described cleaner system, a portion of the handle lever is provided as a structure of a portion of the external appearance of the machine main body when the handle lever is mounted on the docking portion and is in the retracted structure.

In the above cleaner system, the main body of the cleaner is provided with a receiving portion, and a portion of the handle lever is located in the receiving portion when the handle lever is mounted on the docking portion and in the retracted configuration, and the portion of the handle lever is configured to be a portion of the external appearance of the main body of the cleaner.

According to the cleaning machine system, the connecting structure which is detachably mounted is arranged between the handle rod and the butt joint part, one or more rod parts are arranged on the handle rod, and when the handle rod is provided with a plurality of rod parts, the two adjacent rod parts are sleeved with each other.

In the cleaning machine system, the control module is arranged in the machine main body, the threshold a for starting the self-moving cleaning mode and the threshold B for starting the handheld cleaning mode are set in the control module, and the control module correspondingly starts the self-moving cleaning mode or the handheld cleaning mode according to the received starting signal.

In the cleaning machine system, at least one of the cliff module, the collision module, the obstacle detection module and the carpet detection module is electrically connected with the control module.

In the self-moving cleaning mode, the cleaning machine system at least comprises a threshold C which is set for controlling the cleaning assembly to move and driving the machine main body to perform backward displacement or turning displacement when the control module controls the cliff module to detect the suspension space; or a threshold D for controlling the cleaning assembly to move and driving the cleaning machine to perform backward displacement or turning displacement when the control module is arranged to control the collision module to detect that the machine body contacts with the obstacle is arranged; or a threshold value E for controlling the cleaning assembly to move and driving the cleaning machine to perform backward displacement or turning displacement when the control module is arranged to control the obstacle detection module to detect the obstacle in the lateral direction of the machine main body; or a threshold value F for controlling the cleaning component to move and driving the cleaning machine to retreat and move or turn when the control module controls the carpet detection module to detect the carpet on the lower side direction of the machine main body is arranged.

In the cleaning machine system, the cleaning assembly is arranged to be capable of fitting with the moving structure of the horizontal rotation of the working surface, and when the cleaning assembly rotates horizontally, the bottom surface of the cleaning assembly has unbalanced friction force relative to the working surface, so that the cleaning machine is driven by the cleaning assembly to displace on the working surface.

In the above cleaning machine system, the number of the cleaning assemblies is two or more; when the number of the cleaning assemblies is two, the two cleaning assemblies are arranged adjacently in parallel, and the horizontal rotating directions of the two cleaning assemblies at least comprise opposite directions.

In the cleaning machine system, the horizontal rotation direction of the two cleaning assemblies is from the outer side of the machine body to the inner side and from the upper side to the lower side, and the two cleaning assemblies are horizontally rotated towards the direction between the two cleaning assemblies.

In the self-moving cleaning mode, the direction of the horizontal rotation motion of the two cleaning assemblies is switched to the opposite direction horizontal rotation motion, so that the two cleaning assemblies in the opposite direction horizontal rotation motion drive the cleaning machine to move backward.

In the self-moving cleaning mode, the structure is provided in which one of the cleaning assemblies stops moving and the other cleaning assembly horizontally rotates towards the direction of the one cleaning assembly to drive the cleaning machine to make a turning displacement towards the direction of the one cleaning assembly.

In the self-moving cleaning mode, the horizontal rotation direction of one of the cleaning assemblies is switched to be the same as the horizontal rotation direction of the other one of the cleaning assemblies and is set to horizontally rotate towards the other one of the cleaning assemblies to drive the cleaning machine to make turning displacement towards the other one of the cleaning assemblies.

In the self-moving cleaning mode, a structure is provided in which the friction force between one of the cleaning assemblies and the working surface is greater than the friction force between the other cleaning assembly and the working surface to drive the cleaning machine to turn and displace toward the other cleaning assembly.

In the cleaning machine system, the control module is configured to control the cleaning assembly to move continuously or stop moving at least in a current movement state when the cliff module detects a hanging space or the collision module detects that the machine body contacts an obstacle or the obstacle detection module detects an obstacle in a lateral direction of the machine body in the handheld cleaning mode, or the control module is configured to control the cleaning assembly to move along the obstacle at a constant distance to clean along the edge when the obstacle detection module detects an obstacle in the lateral direction of the machine body.

According to the cleaning machine system, the machine body is provided with the detection module used for detecting whether the handle rod is installed on the butt joint part or not, the detection module is electrically connected with the control module, and the detection module is one of an infrared sensor, a Hall switch, a micro switch, a pole piece contact switch and a reed switch.

When the cleaning machine is positioned on the working surface and the cleaning component is attached to the working surface and rotates horizontally, at least one part of the crimping component contacts the cleaning component, so that the bottom surface of the cleaning component has unbalanced friction force relative to the working surface, and the cleaning machine is displaced.

In the cleaning machine system, the two cleaning assemblies are respectively provided with the crimping assemblies, and the two crimping assemblies are respectively crimped on a part of the two cleaning assemblies, wherein the pressure of one crimping assembly on one cleaning assembly is set to be F1, the pressure of the other crimping assembly on the other cleaning assembly is set to be F2, F1 is greater than F2 when the cleaning machine is in turning displacement towards the one cleaning assembly, and F2 is greater than F1 when the cleaning machine is in turning displacement towards the other cleaning assembly.

In the cleaning machine system, the bottom surface of the cleaning assembly is provided with a soft structure; when the cleaning component is attached to the working surface, the cleaning component is in an inclined structure; or when the cleaning component is attached to the working surface, at least a first deformation part and a second deformation part are formed on the bottom surface of the cleaning component, and the deformation amount of the first deformation part is larger than that of the second deformation part.

In the cleaning machine system, when the cleaning assembly is in an inclined structure, the cleaning assembly is arranged in an inclined structure from the inner side to the outer side of the machine body and from high to low.

The cleaning machine system further comprises a cleaning device, wherein the cleaning device is used for placing the cleaning machine to clean the cleaning assembly; the cleaning device is provided with a liquid containing cavity, the cleaning assembly is located in the liquid containing cavity when the cleaning machine is placed on the cleaning device, and/or the cleaning device is provided with a drying module, the drying module is located on one side of the cleaning assembly to dry the cleaning assembly when the cleaning machine is placed on the cleaning device.

In the cleaning machine system, the cleaning device is provided with the liquid supply module, and when the liquid supply module works, the liquid supply module enables the cleaning liquid to be in contact with the cleaning assembly for cleaning the cleaning assembly.

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

the cleaning assembly of the cleaning machine of this scheme sets up can the motion structure, concrete structure of establishing to horizontal rotation motion, the motion structure that realizes cleaning assembly can realize driving the cleaning machine and carry out the displacement walking, when realizing that the large tracts of land is dragged cleanly, can replace the structure that the drive wheel on the current cleaning machine drove the cleaning machine walking, overall structure is simpler, cleaning assembly can realize covering the bottom large tracts of land of machine main part, can effectually drag ground to the wall limit, corner and handle.

The cleaning assembly of this scheme sets up to horizontal rotation structure, and the bottom that cleaning assembly can effectual cover machine main part realizes the horizontal rotation motion structure of big face for the area of contact is big between cleaning assembly and the ground, can effectually prevent the problem of skidding when driving the cleaning machine and carrying out the displacement, is favorable to keeping the cleaning machine to carry out stable displacement walking, can not appear the problem of displacement walking off normal.

The cleaning machine is provided with the self-moving cleaning mode and the handheld cleaning mode, so that the multifunctional using effect of the cleaning machine is realized, when the handle rod is not installed in place, the cleaning machine can execute the self-moving cleaning mode, the cleaning machine can autonomously move and walk on the ground to mop the ground, and the manual operation of a user is not needed; when the handle rod is installed in place, the cleaning machine can execute a handheld cleaning mode, and a user can manually control the cleaning machine to mop the floor; the implementation of two cleaning modes facilitates user selection.

The butt joint of the handle rod and the machine main body of the cleaning machine is achieved through the butt joint portion, the handle rod can rotate relative to the machine main body to be in butt joint installation, the cleaning machine can be in a handheld cleaning mode, the connecting structure capable of being detachably installed is arranged between the handle rod and the butt joint portion, and convenience is brought to users for achieving mutual switching between a self-moving cleaning mode and the handheld cleaning mode through installation and detachment of the handle rod.

The handle pole of this scheme can also set up to flexible structure, can also directly place on the cleaning machine during handle pole withdrawal structure then the cleaning machine can be switched into from removing clean mode by handheld clean mode, realizes the dual-purpose multi-functional result of use of fast switch-over of cleaning machine, and the handle pole can also regard as a part of outward appearance simultaneously, and the user need not dismantle also can make the cleaning machine carry out from removing clean mode under the condition of handle pole, and convenience of customers uses.

The cleaning machine of this scheme is because of can realizing through the handle pole that handheld drive under the handheld clean mode drags the ground clean, though the user drags the ground for handheld handle pole of holding, but can drive the cleaning machine because of the horizontal rotation motion of cleaning assembly and carry out the walking displacement for the user need not to promote hard when holding the handle pole and can realize that the cleaning machine drags the ground clean very laborsavingly, the user only need the direction of manual control cleaning machine displacement walking can, convenience of customers uses.

To the unbalanced frictional force of clean subassembly and working face, this scheme can set up clean subassembly and be the slope structure, also can set up to have first deformation portion and second deformation portion for clean subassembly, and has different deflection and realize having unbalanced frictional force, and then realizes that the horizontal rotation of clean subassembly drives the displacement walking of cleaner, and overall structure is simple, and the reliability is high.

This scheme can realize the frictional force of equidimension not between the bottom surface of clean subassembly and the working face through the crimping subassembly, can carry out the removal walking of displacement under the effect of the frictional force of equidimension not through clean subassembly when laminating working face carries out the horizontal rotation, rather than keeping in original place position motionless, realizes utilizing clean subassembly to drive the whole displacement walking of machine main part.

The clean subassembly of this scheme has had uneven pressure on the clean subassembly under the contact crimping of crimping subassembly, perhaps has uneven frictional force, and then realizes that clean subassembly can the automatic displacement walking under the uneven circumstances of atress, can replace the drive wheel to walk.

This scheme is through setting up two clean subassemblies, and the straight line that realizes the cleaning machine through the cooperation of two clean subassemblies advances walking, straight line retreat walking and the walking of turning, combines two clean subassemblies on the homogeneous phase have uneven frictional force to the working face to realize that the cleaning machine carries out automatic displacement walking, and the walking direction can be for the straight line or turn to.

Drawings

FIG. 1 is a side schematic view of a cleaning machine;

FIG. 2 is a schematic view of a cleaner mounting handle bar;

FIG. 3 is a side schematic view of a cleaner mounting handle bar;

FIG. 4 is a top schematic view of the cleaning machine mounting handle bar;

FIG. 5 is a side view of the cleaning machine in a retracted configuration and within the receptacle;

FIG. 6 is a top view of the cleaning machine in a retracted configuration and within the receptacle;

FIG. 7 is a schematic view of the remotely controlled cleaning machine performing a cleaning task after the handle bar is retracted configuration;

FIG. 8 is a schematic view of the horizontal rotation of the cleaning assembly in a bottom view of the cleaning machine;

FIG. 9 is a schematic view of the cleaning assembly in an inclined configuration relative to the floor;

FIG. 10 is a schematic view of the cleaning assembly engaging the ground relative to the floor and in an angled configuration;

FIG. 11 is a schematic view of the cleaning assembly engaging a floor surface in a first deformation and a second deformation;

FIG. 12 is a bottom schematic view of a crimping assembly on a cleaning machine simultaneously crimping two cleaning assemblies;

FIG. 13 is a side cross-sectional view of a crimping assembly on a cleaning machine simultaneously crimping two cleaning assemblies;

FIG. 14 is a bottom schematic view of two crimping assemblies respectively crimping two cleaning assemblies on a cleaning machine;

FIG. 15 is a side cross-sectional view of two crimping assemblies respectively crimping two cleaning assemblies on a cleaning machine;

FIG. 16 is a schematic view of the linear travel of the cleaning machine;

FIG. 17 is a schematic view of the cleaning machine making a turn to the right under pressure from the crimping assembly;

FIG. 18 is a schematic view of the cleaning machine making a left-hand turn under pressure from the crimping assembly;

FIG. 19 is a schematic view of two cleaning assemblies turning to the right with the horizontal rotation directions being the same;

FIG. 20 is a schematic view of two cleaning assemblies turning to the left with the horizontal rotation directions coincident;

FIG. 21 is a schematic view of one cleaning assembly stopping its motion and the other cleaning assembly moving to make a turn toward the right;

FIG. 22 is a schematic view of one cleaning assembly stopping movement and the other cleaning assembly moving to make a turn toward the left;

figure 23 is a schematic view of a cleaning machine positioned on a cleaning device to clean a cleaning assembly.

Reference numerals: 1-cleaning machine, 100-machine body, 1001-docking, 1002-receiving, 101-handle bar, 1011-bar, 102-detection module, 103-cliff module, 104-collision module, 105-obstacle detection module, 106-carpet detection module, 107-remote control module, 108-sensing module, 109-cleaning assembly, 110-crimping assembly, 111-first deformation, 112-second deformation, 113-crimping zone, 114-cleaning zone, 115-cleaning device.

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): as shown in fig. 1 to 23, the cleaning machine 1 of the present invention is mainly used for cleaning the floor by moving and walking on the floor, and the cleaning machine 1 can be a handheld cleaning machine 1 by installing a handle rod 101, so that the cleaning machine 1 of the present invention has a multifunctional use effect and is convenient for the user to use.

Simultaneously, the cleaning assembly 109 on the cleaning machine 1 of this scheme sets up to horizontal rotation motion's structure, realize that horizontal rotation carries out the large tracts of land, the clean effect of mopping of big frictional force, and self horizontal rotation motion through cleaning assembly 109 drives cleaning machine 1 and carries out the displacement walking subaerial, replace and set up the mode that the drive wheel drove the walking on the current mopping machine, the overall structure who realizes cleaning machine 1 is simple and the cost is lower, and the distribution that is favorable to cleaning assembly 109 arranges and realizes obtaining better clean effect of mopping.

The cleaning machine 1 comprises a machine main body 100, the machine main body 100 can be set to be a cylindrical structure or an elliptic cylindrical structure, a cleaning assembly 109 is arranged on the machine main body 100, the cleaning assembly 109 is set to be a movable structure, the cleaning assembly 109 is mainly used for being in contact with and attached to the ground to clean the floor, the movable structure of the cleaning assembly 109 is used for realizing the floor cleaning effect of large area and large friction on the ground, and the cleaning machine system comprises a self-moving cleaning mode and a handheld cleaning mode; the cleaner 1 autonomously moves on the ground to realize floor mopping cleaning in the self-moving cleaning mode, and after the cleaner 1 is started, the self-moving force of the cleaning assembly 109 is mainly utilized to realize the movement on the ground; in the hand-held cleaning mode, the cleaning assembly 109 of the cleaning machine 1 moves, and a user manually controls the cleaning machine 1 to perform displacement walking on the ground to finish mopping cleaning; realize this scheme cleaning machine 1's self-propelled cleaning mode and handheld cleaning mode, convenience of customers uses, possesses multi-functional result of use, and cleaning machine 1 is the robot of self-propelled under the self-propelled cleaning mode, and cleaning machine 1 is handheld mopping machine under handheld cleaning mode for the applicable scope of cleaning machine 1 of this scheme is wider.

In the scheme, a control module is arranged in a machine main body 100, a threshold value A for starting the self-moving cleaning mode and a threshold value B for starting the handheld cleaning mode are set in the control module, and the control module correspondingly starts the self-moving cleaning mode or the handheld cleaning mode according to a received starting signal; the starting signal can be triggered manually according to a user, the threshold value A corresponds to a self-moving cleaning mode, the threshold value B corresponds to a handheld cleaning mode, the starting signal comprises a first signal for starting the self-moving cleaning mode and a second signal for starting the handheld cleaning mode, and the user can select to decide whether to start the first signal or the second signal.

The starting signal may be started by a key, or by touching, or by voice calling, or by touching the APP, or by a remote controller, and the starting signal may be triggered by the above manner.

The cleaning machine comprises a machine body 100, a handle rod 101, a self-moving cleaning mode and a hand-held cleaning mode, wherein the handle rod 101 is mainly arranged aiming at the cleaning machine 1, the handle rod 101 is arranged as an independent accessory, a detachable installation structure is arranged between the handle rod 101 and the machine body 100, when the handle rod 101 is installed on the machine body 100, a user can start the self-moving cleaning mode aiming at the cleaning machine 1, when the handle rod 101 is detached from the machine body 100, namely the handle rod 101 is not installed in place, the user can start the hand-held cleaning mode aiming at the cleaning machine 1, and the floor mopping cleaning effect can be realized by the use of the cleaning machine 1 conveniently.

For the butt joint installation part of the handle rod 101, a butt joint part 1001 is arranged on the machine body 100, the butt joint part 1001 is mainly used for butt joint connection with the handle rod 101, can be arranged to be in butt joint clamping connection, or is in butt joint through bolt threads, when the cleaning machine 1 executes a self-moving cleaning mode, the handle rod 101 is not installed on the butt joint part 1001 or the handle rod 101 is installed on the butt joint part 1001, and is in a retraction structure relative to the butt joint part 1001; the handle lever 101 is mounted on the docking portion 1001 or the handle lever 101 is mounted on the docking portion 1001 while the cleaner 1 performs the hand-held cleaning mode and is in a protruding structure with respect to the docking portion 1001; that is, in the self-moving cleaning mode, the handle rod 101 may be detached without being installed on the docking portion 1001, or the handle rod 101 may be installed on the docking portion 1001 but the handle rod 101 is in the retracted structure due to the telescopic structure, at this time, the cleaning machine 1 may normally perform the self-moving cleaning mode, the handle rod 101 may not cause a blockage to the cleaning machine 1 in the self-moving cleaning mode, and the user may directly start the self-moving cleaning mode to perform mopping cleaning; in the handheld cleaning mode, the handle rod 101 may be installed on the docking portion 1001, at this time, the handle rod 101 may be set to have a rod-shaped structure with a certain length, and the user may directly hold the handle rod 101 to install the handle rod 101 on the docking portion 1001 to start the handheld cleaning mode to mop the floor for cleaning, or may set the handle rod 101 to be a telescopic structure, and at the same time, the handle rod 101 is installed on the docking portion 1001, and the user may manually make the handle rod 101 in an extended structure state, at this time, the user may directly hold the handle rod 101 to start the handheld cleaning mode to mop the floor for cleaning; the above-described scheme may correspond to a cleaning mode for starting the cleaning machine 1 according to whether the handle lever 101 is mounted to the docking portion 1001.

For the structural parts of the handle rod 101 and the butt joint part 1001, the handle rod 101 is set to be a structure capable of rotating relative to the butt joint part 1001, when the handle rod 101 is installed on the butt joint part 1001, the handle rod 101 can rotate relative to the butt joint part 1001, the handle rod 101 can be movably sleeved and installed on the butt joint part 1001, the handle rod 101 can rotate in any direction from front to back and from left to right relative to the butt joint part 1001, or directly is a universal rotating installation butt joint structure similar to a ball socket installation structure, so that when a user holds the handle rod 101 to perform a handheld cleaning mode, the walking direction of the cleaning machine 1 can be controlled by freely rotating the handle rod 101, and the user can conveniently operate the cleaning machine 1 through the handle rod 101; and/or may be a structure in which the docking part 1001 is provided to be rotatably mounted on the robot main body and the handle lever 101 can be rotated with respect to the robot main body 100 through the docking part 1001 when the handle lever 101 is mounted on the docking part 1001, that is, the docking portion 1001 itself is provided to be rotatably mounted on the machine body 100, the docking portion 1001 can be steered in any one of the front, rear, left and right directions on the machine body 100, or the universal rotating mounting structure is directly arranged on the machine body 100, and is similar to the mounting structure of the ball socket, when the handle rod 101 is butted and mounted on the butting part 1001, the handle rod 101 can rotate relative to the machine body 100 through the butting part 1001, so that the user can drive the handle rod 101 to rotate freely through the butting part 1001 to control the walking direction of the cleaning machine 1 when holding the handle rod 101 to perform a handheld cleaning mode, and the user can conveniently operate the cleaning machine 1 through the handle rod 101.

For the convenience of the user, the handle rod 101 and the docking portion 1001 are configured as a detachably connected structure, the handle rod 101 can be mounted on the docking portion 1001 according to the needs of the user, or the handle rod 101 is detached from the docking portion 1001, and the handle rod 101 is configured as a telescopic structure, similar to an antenna telescopic structure, so as to facilitate the user to use the handle rod 101.

In this embodiment, the length of the machine body 100 of the cleaning machine 1 is greater than the width of the machine body 100, and the handle lever 101 and the docking portion 1001 are located at the middle position in the length direction and the middle or rear position in the width direction of the machine body 100 when the handle lever 101 is mounted on the docking portion 1001; that is, after the handle rod 101 and the butt joint part 1001 are installed in a butt joint manner, the handle rod 101 and the butt joint part 1001 are located at the middle position in the length direction on the machine body 100, which is beneficial for driving the cleaning machine 1 to move back and forth and left and right through the handle rod 101 to mop the floor, and meanwhile, the handle rod 101 and the butt joint part 1001 are located at the middle or rear position in the width direction of the machine body 100, so that the cleaning machine 1 is driven to move forwards through the handle rod 101, and a user can conveniently mop the floor by operating the cleaning machine 1 through the handle rod 101.

Alternatively, when two cleaning assemblies 109 are provided, the direction in which the two cleaning assemblies 109 are arranged in parallel is the length direction, that is, the direction in which the overall size and dimension of the two cleaning assemblies 109 are added together is the length direction, and the direction in which the two cleaning assemblies 109 are not added together is the width direction, so that the overall shape and dimension configuration of the cleaning machine 1 is realized.

With respect to the installation and turning placement of the handle lever 101, when the handle lever 101 is installed on the docking portion 1001, the handle lever 101 may be rotated with respect to the machine body 100 and rotated in the width direction of the machine body 100 such that the handle lever 101 is placed on the machine body 100 at a position from the middle or rear to the front in the width direction of the machine body 100, and at this time, the cleaning machine 1 may start the self-moving cleaning mode by placing the handle lever 101 directly on the machine body 100 in the retracted configuration, and it may be understood that the handle lever 101 lies on the machine body 100 and is disposed horizontally from the middle or rear to the front in the width direction of the machine body 100, so that the handle lever 101 may start the self-moving cleaning mode of the cleaning machine 1 even if installed on the docking portion 1001, and when the hand-held cleaning mode needs to be started, the handle lever 101 may be rotated and raised such that the handle lever 101 is changed from the retracted configuration to the extended configuration, and the handle lever 101 may be manually grasped and put into the docking portion 1001 The cleaning machine 1 is operated.

In this embodiment, a structure in which a part of the handle lever 101 is provided as a part of the external appearance of the machine body 100 when the handle lever 101 is mounted on the docking portion 1001 and is in the retracted configuration, that is, the handle lever 101 is mounted on the upper portion of the machine body 100, and the handle lever 101 is a part of the external appearance of the machine body 100 when the handle lever 101 is mounted on the machine body 100 in the retracted configuration.

Specifically, the accommodating portion 1002 is provided on the machine body 100, the accommodating portion 1002 may be provided in a recessed structure, or a recessed groove-type structure, when the handle lever 101 is mounted on the docking portion 1001 and is in a retracted structure, a part of the handle lever 101 is located in the accommodating portion 1002 and makes a part of the handle lever 101 be provided as a part of the external appearance of the machine body 100, the handle lever 101 may be directly placed in the accommodating portion 1002 under the retracted structure, so that the self-moving cleaning mode may be conveniently performed by the cleaning machine 1 in the self-moving cleaning mode even when the handle lever 101 is mounted on the docking portion 1001 in time, and the handle lever 101 may not form a walking block to the cleaning machine 1 in the self-moving cleaning mode.

Regarding the handle bar 101 and the docking portion 1001, a detachably mounted connection structure is provided between the handle bar 101 and the docking portion 1001, one or more rod portions 1011 are provided on the handle bar 101, when the handle bar 101 is provided with one rod portion 1011, the handle bar 101 is in a non-telescopic structure, and a user can perform a hand-held cleaning mode by directly mounting the handle bar 101 or perform a self-moving cleaning mode by directly dismounting the handle bar 101; when handle pole 101 was provided with a plurality of pole portions 1011 then set up to cup joint the installation each other between two adjacent pole portions 1011, realize the installation effect that cup joints between a plurality of pole portions 1011, conveniently set up handle pole 101 into the less pole portion 1011 of a plurality of length, can form the longer handle pole 101 of length after a plurality of pole portions 1011 cup joint together, convenience of customers is like this operated cleaner 1 through handle pole 101, convenient accomodating to handle pole 101 simultaneously.

Aiming at the perception switching effect between the self-moving cleaning mode and the handheld cleaning mode, the cleaning machine system mainly adopting the scheme can also be provided with a detection module 102, the detection module 102 is used for detecting the handle rod 101, the handle rod 101 is mainly detachably arranged on the machine main body 100, whether the handle rod 101 is installed in place or not is detected through the detection module 102, the cleaning machine 1 can execute the self-moving cleaning mode when the detection module 102 detects that the handle rod 101 is not installed in place, and the cleaning machine 1 can execute the handheld cleaning mode when the detection module 102 detects that the handle rod 101 is installed in place; whether the handle rod 101 corresponds in place or not is detected by the detection module 102 to determine a mode which can be executed by the cleaning machine 1, namely, the self-moving cleaning mode or the handheld cleaning mode can be executed, the mode is convenient to switch and use, the self-moving cleaning mode of the cleaning machine 1 can be started by a user in most of time, the cleaning machine 1 performs self-moving displacement walking on indoor floor to complete floor mopping cleaning tasks, when the user needs to mop a specific area with the cleaning machine 1, the handle rod 101 can be installed on the machine body 100 of the cleaning machine 1 at the moment and then the handheld cleaning mode is started, and the user can conveniently perform floor mopping cleaning manually at the moment.

The cleaning machine 1 of the scheme is provided with the self-moving cleaning mode and the handheld cleaning mode, so that the multifunctional using effect of the cleaning machine 1 is realized, when the handle rod 101 is not installed in place, the cleaning machine 1 can execute the self-moving cleaning mode, the cleaning machine 1 can autonomously move and walk on the ground to mop the ground, and the manual operation of a user is not needed; when the handle rod 101 is installed in place, the cleaning machine 1 can execute a handheld cleaning mode, so that a user can manually control the cleaning machine 1 to mop the floor; the implementation of two cleaning modes facilitates user selection.

Cleaning machine 1 of this scheme is because of can realize through handle pole 101 that handheld drive under the handheld cleaning mode drags the ground clean, though the user drags the ground for handheld handle pole 101 of holding, but can drive cleaning machine 1 because of the horizontal rotation motion of cleaning component 109 and carry out the walking displacement, it can be very laborsaving to realize cleaning machine 1's the ground clean of dragging to make the user need not to promote hard when holding handle pole 101, the user only need manual control cleaning machine 1 displacement walking direction can, convenience of customers uses.

For the handle rod 101, the handle rod 101 may be configured as a multi-section telescopic structure, when a user needs to install the handle rod 101, the multi-section telescopic structure may be extended to operate the cleaning machine 1 through the handle rod 101, when the handle rod 101 is detached, the multi-section telescopic structure may be compressed and shortened, and at this time, the handle rod 101 may also remotely control the cleaning machine 1 to start.

In order to facilitate the switching use of the self-moving cleaning mode and the handheld cleaning mode by a user, the scheme is that a first starting key is arranged on the handle rod 101, and the cleaning machine 1 executes the handheld cleaning mode when the user starts the first starting key; the machine body 100 is provided with a second start key, when a user starts the second start key, the cleaning machine 1 executes a self-moving cleaning mode, namely, the user autonomously judges whether the handle bar 101 is installed in place, and simultaneously, the user correspondingly starts different modes by starting the first start key or the second start key, when the handle bar 101 is installed in place, the user can conveniently contact the handle bar 101 to start the first start key, and at the moment, the handheld cleaning mode can be started to correspondingly clean the floor; when the user needs to start the self-moving cleaning mode, the user needs to start the second start key on the machine main body 100, the handle rod 101 is not installed in place under normal conditions, the user can start the self-moving cleaning mode only through the second start key, and then the mode that the user mainly starts the cleaning machine 1 is achieved, the user can use the cleaning machine conveniently, and the cleaning machine 1 can not detect whether the handle rod 101 is in place or not.

In this scheme, drive cleaner 1 and carry out the displacement on the working face through the frictional force of cleaning subassembly 109 self-motion when moving when cleaning subassembly 109 moves from removing cleaning mode or handheld cleaning mode, drive cleaner 1 and carry out the displacement walking promptly through cleaning subassembly 109 and the frictional force on ground when horizontal rotation moves, replace current drive wheel to realize driving the mode of cleaner 1 displacement walking, when cleaning subassembly 109 realizes that the large tracts of land is dragged cleanly, can replace the structure that the drive wheel on current cleaner 1 drove cleaner 1 and walk, overall structure is simpler, cleaning subassembly 109 can realize covering the bottom large tracts of land of machine main part 100, can be effectual to the wall limit, the corner is dragged ground and is handled.

The cleaning assembly 109 of this scheme sets up to horizontal rotation structure, and cleaning assembly 109 can effectual cover machine main part 100's bottom, realizes the horizontal rotation motion structure of big face for the area of contact between cleaning assembly 109 and the ground is big, can effectually prevent the problem of skidding when driving cleaner 1 to carry out the displacement, is favorable to keeping cleaner 1 to carry out stable displacement walking, can not appear the problem of displacement walking off normal.

Aiming at the power of the horizontal rotating structure of the cleaning component 109, a driving mechanism is arranged, the driving mechanism mainly comprises a motor, the motor drives the cleaning component 109 to horizontally rotate, a motor shaft can be connected with the cleaning component 109 through a support to clean the horizontal rotating structure of the cleaning component 109, and the motor shaft can also be connected with a gear through the motor shaft, so that the horizontal rotating structure driving the cleaning component 109 is realized through the gear; the rotation speed of the cleaning assembly 109 may be correspondingly configured according to the rotation speed of the motor, and the adjustment of the horizontal rotation direction of the cleaning assembly 109 may be achieved by the forward rotation and the reverse rotation of the motor.

In the scheme, the control module of the cleaning machine 1 is electrically connected with the cleaning assembly 109, and the opening and the stopping of the horizontal rotation of the cleaning assembly 109 and the horizontal rotation direction such as positive rotation or negative rotation are mainly controlled by the control module, and the cleaning assembly can be realized by setting a control program in the control module; when two cleaning assemblies 109 are arranged, the control module can respectively control the independent starting, stopping, horizontal rotation direction and other functions between the two cleaning assemblies 109; of course, a motor may be provided to synchronously drive the two cleaning assemblies 109 to synchronously work, and the control module may control the motor to synchronously control the two cleaning assemblies 109.

In order to realize that the cleaning machine 1 can carry out self-moving walking to mop the ground for cleaning and detect the obstacles and the suspended positions in the self-moving process, the machine body 100 is at least provided with a cliff module 103, a collision module 104, an obstacle detection module 105 or a carpet detection module 106 which are electrically connected with a control module, and the control module is used for controlling the detection of the suspended positions and the obstacles so as to realize that the cleaning machine 1 carries out obstacle avoidance processing in the self-moving walking process.

The self-moving cleaning mode at least comprises a threshold value C which is set for controlling the cleaning assembly 109 to move and driving the machine main body 100 to perform backward displacement or turning displacement when the control module controls the cliff module 103 to detect a suspension vacancy; or a threshold value D is set for controlling the cleaning assembly 109 to move and driving the cleaning machine 1 to move backwards or turn when the control module controls the collision module 104 to detect that the machine body 100 contacts an obstacle; or a threshold value E is set for controlling the cleaning assembly 109 to move and driving the cleaning machine 1 to perform backward displacement or turning displacement when the control module controls the obstacle detection module 105 to detect an obstacle in the lateral direction of the machine body 100; or a threshold value F is set for controlling the cleaning assembly 109 to move and drive the cleaning machine 1 to perform backward displacement or turning displacement when the control module controls the carpet detection module 106 to detect a carpet in the lower direction of the machine main body 100.

In the self-moving cleaning mode, the threshold C includes that when the cliff module 103 on the machine body 100 detects a suspension vacancy, the cleaning assembly 109 moves and drives the machine body 100 to retreat or turn, at this time, the control module controls the cliff module 103 to normally judge whether the cleaning machine 1 is in the suspension vacancy, so as to prevent the cleaning machine 1 from falling, and the cliff module 103 is provided with an infrared emitter and an infrared receiver, so that the detection effect on the suspension vacancy can be realized.

In the self-moving cleaning mode, the threshold D includes that when the collision module 104 detects that the machine main body 100 contacts an obstacle, the cleaning assembly 109 moves and drives the cleaning machine 1 to perform backward displacement or turning displacement, at this time, the control module controls the collision module 104 to normally detect and judge whether the machine main body 100 of the cleaning machine 1 contacts the obstacle, if so, the collision module 104 is triggered to implement obstacle avoidance processing, in order to control the backward displacement or the turning displacement of the cleaning machine 1, the collision module 104 is a micro switch, the collision module 104 can also be a trigger with a swing structure, one end of the trigger is provided with an infrared receiver and an infrared emitter, when the machine body 100 contacts an obstacle, the infrared receiver cannot receive the infrared signal emitted by the infrared emitter, and at the moment, the obstacle can be determined to be contacted, so that the obstacle avoidance effect is realized.

In this scheme is from removing clean mode, threshold value E includes when obstacle detection module 105 detects the ascending barrier of machine main part 100 lateral part side then clean subassembly 109 motion and drive cleaner 1 and retreat the displacement or turn the displacement, control module control obstacle detection module 105 comes the ascending barrier of normal detection machine main part 100 lateral part side this moment, be the ascending barrier of circumference promptly, obstacle detection module 105 is for including infrared emitter and infrared receiver, when there is the barrier and shelters from and make infrared receiver can't receive the infrared signal that infrared emitter sent when the lateral part direction of machine main part 100, can judge this moment and have the barrier, control module control cleaner 1 avoids the barrier, and then realize keeping away the barrier effect.

Wherein, the collision detection module 102 and the obstacle detection module 105 are located at the side of the machine body 100 to detect whether an obstacle exists in the side direction of the machine body 100, the collision detection module 102 detects the obstacle by contacting the collision, and the obstacle detection module 105 detects the obstacle by detecting the distance.

A collision shell is arranged on the outer side of the machine main body 100 and movably mounted on the machine main body 100, and when the collision shell contacts an obstacle, the collision shell triggers the collision module 104 to detect the obstacle, which is not described in detail in the prior art; the obstacle detection module 105 is installed on the side of the machine body 100, and when the obstacle is close to the machine body 100, the obstacle triggers the obstacle detection module 105 to detect the obstacle, which is not described in detail in the prior art.

Alternatively, the collision detection module 102 may be configured as an acceleration sensor, and when the acceleration sensor detects that the displacement traveling speed of the cleaning machine 1 is suddenly reduced or the displacement traveling speed is suddenly stopped, and it is determined that the cleaning machine 1 contacts an obstacle, the cleaning assembly 109 may be controlled to move and drive the cleaning machine 1 to perform backward displacement or turning displacement.

In the self-moving cleaning mode of the present embodiment, the threshold F includes that when the carpet detection module 106 detects a carpet on the lower side direction of the machine main body 100, the cleaning assembly 109 moves and drives the cleaning machine 1 to retreat or turn and displace, at this time, the control module controls the carpet detection module 106 to normally detect whether the lower side of the machine main body 100 is the carpet, the carpet detection module 106 may be an infrared sensor or an ultrasonic sensor, the carpet detection is not described in detail in the prior art, it is avoided that the cleaning machine 1 enters the carpet to cause pollution or wet the carpet, and the carpet can be effectively avoided in the self-moving cleaning mode.

In the above scheme, in the self-moving cleaning mode, the control module controls the cliff module 103, the collision module 104, the obstacle detection module 105 and the carpet detection module 106 to normally execute the detection function, and the obstacle avoidance processing in the self-moving cleaning mode is realized to ensure that the cleaner 1 normally travels and moves to clean the floor.

The specific movement mode for cleaning assembly 109 is, cleaning assembly 109 sets up to the motion structure that can laminate working face horizontal rotation, and the relative working face in bottom surface of cleaning assembly 109 has uneven frictional force when cleaning assembly 109 horizontal rotation makes and drives cleaner 1 to carry out the displacement on the working face through cleaning assembly 109, be the region that is formed with different frictional force when the bottom surface of cleaning assembly 109 is laminating on the working face for cleaning assembly 109 can appear in horizontal rotation movement in the bottom of cleaning assembly 109 and carry out the displacement walking under the regional effect of different frictional force, when cleaning assembly 109 sets up two, all have different frictional force on the bottom surface of two cleaning assemblies 109 respectively, cleaning assembly 109 can drive cleaner 1 to carry out the displacement walking.

In the scheme, the number of the cleaning assemblies 109 is two or more; when the number of the cleaning assemblies 109 is two, the two cleaning assemblies 109 are arranged adjacently in parallel, and the horizontal rotating directions of the two cleaning assemblies 109 at least comprise opposite directions; the number of cleaning assemblies 109 may be set as desired for mopping; preferably, when the number of the cleaning assemblies 109 is two, the two cleaning assemblies 109 are arranged adjacently in parallel, and the horizontal rotation directions of the two cleaning assemblies 109 at least comprise opposite directions; the horizontal rotating directions of the two cleaning assemblies 109 are opposite, so that the two cleaning assemblies 109 can drive the cleaner 1 to linearly move and turn to move under the combined action, the stability of the cleaner 1 in the moving process is kept, and the horizontal rotating force of part of the cleaning assemblies 109 can be offset, but the two cleaning assemblies 109 can drive the cleaner 1 to move through the unbalanced friction force between the two cleaning assemblies 109 and the working surface.

The cleaning machine 1 is provided with the two cleaning assemblies 109, the horizontal rotation movement direction of the two cleaning assemblies 109 correspondingly is from the outer side of the machine body 100 to the inner side and from the upper side to the lower side, and the two cleaning assemblies 109 horizontally rotate towards the direction between the two cleaning assemblies 109, when viewed from the bottom view of the cleaning machine 1, the cleaning assembly 109 on the left side is in the clockwise horizontal rotation direction, the cleaning assembly 109 on the right side is in the counterclockwise horizontal rotation direction, and the rotation directions of the cleaning assembly 109 on the left side and the cleaning assembly 109 on the right side are both in the horizontal rotation towards the middle position direction between the two cleaning assemblies 109, so that the linear displacement walking and the turning displacement walking of the cleaning machine 1 are facilitated.

In the self-moving cleaning mode, aiming at the backward displacement walking of the cleaning machine 1, the structure mainly controls the horizontal rotation direction of the two cleaning assemblies 109 to be switched to the reverse direction horizontal rotation motion to enable the two cleaning assemblies 109 with the reverse direction horizontal rotation motion to drive the cleaning machine 1 to perform backward displacement, namely, under the forward moving state of the cleaning machine 1 in the linear displacement walking state, the horizontal rotation direction of the cleaning assemblies 109 is switched to the reverse direction horizontal rotation, at the moment, the horizontal rotation of the cleaning assemblies 109 can drive the cleaning machine 1 to perform the linear displacement backward walking, and the backward movement of the cleaning machine 1 is realized; when the cleaning machine 1 is provided with the two cleaning assemblies 109, the horizontal rotation directions of the two cleaning assemblies 109 are switched to reverse horizontal rotation, and the stable linear backward displacement walking of the cleaning machine 1 is realized at the moment.

In the self-moving cleaning mode, i.e. when steering for the cleaning machine 1, i.e. when the cleaning machine 1 is turning, the turn may be a left turn or a right turn, and may also be achieved, when the horizontal rotation direction of one of the cleaning assemblies 109 is controlled to be switched to the structure which is the same as the horizontal rotation direction of the other cleaning assembly 109 and is set to horizontally rotate towards the other cleaning assembly 109 to drive the cleaning machine 1 to make turning displacement towards the other cleaning assembly 109, at this time, the horizontal rotation directions of the two cleaning assemblies 109 are set to rotate in the same direction, the force of the horizontal rotation of the two cleaning assemblies 109 is concentrated toward one direction and thus the turning of the cleaning machine 1 can be achieved, wherein, the rotation direction of the two cleaning assemblies 109 is the direction of the cleaning machine 1 needing to turn to perform horizontal rotation; specifically, it can be understood that one of the cleaning assemblies 109 is the left cleaning assembly 109, and the other cleaning assembly 109 is the right cleaning assembly 109, when the cleaning machine 1 needs to turn to the left, the horizontal rotation direction of the right cleaning assembly 109 is set to be consistent with the horizontal rotation direction of the left cleaning assembly 109, and the horizontal rotation directions of the left cleaning assembly 109 and the right cleaning assembly 109 are set to rotate towards the left cleaning assembly 109, that is, towards the left direction of the cleaning machine 1, and the horizontal rotation is set to rotate from the front side of the cleaning machine 1 towards the rear side, so that the turning of the cleaning machine 1 can be better realized; similarly, the right-turning effect of the cleaning machine 1 can be realized, when the cleaning machine 1 needs to turn to the right side, the horizontal rotation direction of the left cleaning assembly 109 is set to be switched to be consistent with the horizontal rotation direction of the right cleaning assembly 109, and the horizontal rotation directions of the left cleaning assembly 109 and the right cleaning assembly 109 are set to rotate towards the right cleaning assembly 109, namely towards the right direction of the cleaning machine 1, and the horizontal rotation is set to be performed from the front side of the cleaning machine 1 towards the rear side, so that the turning of the cleaning machine 1 can be better realized at this moment.

In the self-moving cleaning mode, when the cleaning machine 1 is steered, that is, when the cleaning machine 1 is turned, the turning may be left turning or right turning, or the following manner may be adopted, mainly by setting a structure that controls one of the cleaning assemblies 109 to stop moving and sets the other cleaning assembly 109 to horizontally rotate towards the one cleaning assembly 109 to drive the cleaning machine 1 to make turning displacement towards the one cleaning assembly 109, at this time, by setting to stop the horizontal rotation of the one cleaning assembly 109, the other cleaning assembly 109 horizontally rotates to generate a rotating force to realize that the cleaning machine 1 is integrally steered; specifically, it can be understood that one of the cleaning assemblies 109 is a left cleaning assembly 109, and the other cleaning assembly 109 is a right cleaning assembly 109, when the cleaning machine 1 needs to turn to the left, the left cleaning assembly 109 stops rotating horizontally, the right cleaning assembly 109 is in a horizontal rotating state, and the horizontal rotating direction of the right cleaning assembly 109 is toward the left direction of the cleaning machine 1 and toward the rear direction from the front side of the cleaning machine 1, so that at least the rotating force of the cleaning assembly 109 drives the cleaning machine 1 to turn, i.e., turn to the left; similarly, when the cleaning machine 1 needs to turn to the right side, the right cleaning assembly 109 stops horizontal rotation, the left cleaning assembly 109 is in a horizontal rotation state, and the horizontal rotation direction of the left cleaning assembly 109 is the direction towards the right side of the cleaning machine 1 and the direction from the front side of the cleaning machine 1 to the rear side, so that at least the cleaning machine 1 is driven to turn under the rotation force of the cleaning assembly 109, that is, the cleaning machine 1 turns to the left side; the cleaning machine 1 can now be turned better.

In the scheme, in the self-moving cleaning mode, the friction force between one cleaning assembly 109 and the working surface is controlled to be larger than the friction force between the other cleaning assembly 109 and the working surface so as to drive the cleaning machine 1 to turn and displace towards the other cleaning assembly 109; specifically, when the friction force between the two cleaning assemblies 109 and the ground is equal, the cleaning machine 1 can move forward or backward by walking on the ground in a straight line, and if the friction force between one cleaning assembly 109 and the working surface is increased, the stability of the cleaning machine 1 in the straight line walking is broken, so that the cleaning machine 1 can move in a turning way, namely, the cleaning machine 1 can be turned.

In this embodiment, in the hand-held cleaning mode, the control module controls the cleaning assembly 109 to move continuously or stop moving at least in the current movement state when the hanging space is detected based on the cliff module 103 or an obstacle in the side direction of the machine body 100 is detected based on the collision module 104 or detected based on the obstacle detection module 105; in the handheld cleaning mode, the user has greater autonomy on the operation of the cleaning machine 1, the handle lever 101 can be provided with keys for starting, pausing and the like, and the user can realize the control of the cleaning machine 1 through the keys; wherein the control module in the cleaning machine 1 controls the cleaning assembly 109 to be in continuous motion or to be in stop motion according to the detection of the hanging empty space by the cliff module 103 or the detection of the obstacle in the lateral direction of the machine body 100 by the collision module 104 or the detection of the obstacle in the lateral direction by the obstacle detection module 105, and the control module can be set according to the use habit of the user or set as continuous motion by default, and gives the user manual autonomous operation in the handheld cleaning mode for the convenience of the user.

If the user lifts the cleaning machine 1 to hang empty manually, the control module can control the cleaning assembly 109 to continuously rotate horizontally or stop moving, preferably the cleaning assembly 109 stops moving, so that the problem that the cleaning assembly 109 shakes water to pollute the indoor floor due to horizontal rotation when being hung in the air is avoided; if the control module controls the cleaning assembly 109 to continuously rotate horizontally when the obstacle detection module 105 or the collision detection module 102 detects an obstacle, and thus, in the hand-held cleaning mode, the user can change the displacement direction of the cleaning machine 1 by using the handle lever 101 to avoid the obstacle.

In this scheme, in handheld cleaning mode, control module then controls cleaning assembly 109 and keeps the invariable distance along the barrier and carry out the clear structure of displacement edgewise when detecting the ascending barrier of machine main part 100 lateral part direction based on barrier detection module 105, can drive cleaner 1 and carry out edgewise along the border of barrier and clean through the horizontal rotation motion of cleaning assembly 109 better in handheld cleaning mode, for keep invariable distance along the border of barrier and carry out the displacement walking and clean mopping, be favorable to promoting the cleaning effect to the barrier border.

The detection module 102 in the scheme is electrically connected with the control module, the detection module 102 feeds detected detection signals back to the control module, the control module judges whether the cleaning machine 1 can be started in a self-moving cleaning mode or a handheld cleaning mode according to the detection signals, and the detection module 102 is set to be one of an infrared sensor, a Hall switch, a microswitch, a pole piece contact switch and a reed switch. Specifically, the detection module 102 may be installed on the machine body 100, and when the handle lever 101 is installed on or removed from the machine body 100, a detection signal on the detection module 102 may be triggered, and at this time, the detection signal is fed back to the control module, and the control module determines that the user installs the handle lever 101 in place or removes the handle from the machine body 100, and at this time, the cleaning machine 1 may determine, according to the detection signal, that a handheld cleaning mode or a self-moving cleaning mode may be started, so that the user may use the cleaning machine 1 to clean the floor as needed. When a user needs to manually process the floor, the hand-held cleaning mode can be started to mop the floor by the cleaning assembly 109 only by installing the handle rod 101 in place, so that the cleaning machine 1 is wider in application range.

For the convenience of users, the remote control module 107 is arranged on the handle rod 101, when the handle rod 101 is not mounted on the machine body 100, the cleaning machine 1 can be remotely controlled to start the self-moving cleaning mode through the handle rod 101, the remote control module 107 is mainly an infrared transmitter, when the handle rod 101 is not mounted on the machine body 100, the cleaning machine 1 can be located on the ground to perform displacement walking to execute the self-moving cleaning mode, and the users can remotely control the cleaning machine 1 to start the self-moving cleaning mode through the remote control module 107 on the handle rod 101, so that the use of the users is facilitated.

Meanwhile, the sensing module 108 is arranged on the machine body 100, the sensing module 108 is mainly an infrared receiver, when the detection module 102 detects that the handle rod 101 is not installed in place, the sensing module 108 can detect a remote control signal sent by the handle rod 101 and can control the cleaning machine 1 to start the self-moving cleaning mode, when the detection module 102 detects that the handle rod 101 is not installed in place, the cleaning machine 1 can execute the self-moving cleaning mode at the moment, a user can transmit the remote control signal through the remote control module 107 on the handle rod 101, the sensing module 108 can start the self-moving cleaning mode of the cleaning machine 1 after receiving the remote control signal, and the user can conveniently and remotely control the cleaning machine 1 to start and control to work.

The following ways are available for the structure with unbalanced friction between the cleaning assembly 109 and the working surface to generate the structure for driving the cleaning machine 1 to move and walk on the ground:

the first way is that the bottom surface of the cleaning assembly 109 is configured as a soft structure; when the cleaning assembly 109 is attached to the working surface, the cleaning assembly 109 is in an inclined structure; the bottom surface of cleaning component 109 is the slope structure when laminating the working face and makes and has different pressures between different positions and the working face of cleaning component 109's bottom surface, the structural high one side of slope is little to the pressure of working face, the structural low one side of slope is big to the pressure of working face, and then the bottom surface that realizes cleaning component 109 under the different pressure has different frictional force to the working face, and frictional force is unbalance, cleaning component 109 realizes driving the displacement walking of cleaning machine 1 based on unbalanced frictional force at the in-process of horizontal rotation simultaneously.

The specific inclined structure may be such that the cleaning assembly 109 is disposed in an inclined structure from the inside to the outside of the machine body 100 and from high to low when the cleaning assembly 109 is in the inclined structure. That is, the region of the outer edge portion of the bottom surface of the cleaning assembly 109 is more tightly attached to the working surface, the pressure on the working surface is large, the region of the middle portion and the inner edge portion of the bottom surface of the cleaning assembly 109 is loosely attached to the working surface, the pressure on the working surface is small, and further the unbalanced friction effect between the bottom surface of the cleaning assembly 109 and the working surface is realized.

In the second way, the bottom surface of the cleaning assembly 109 is configured as a soft structure; when the cleaning assembly 109 is attached to the working surface, at least a first deformation portion 111 and a second deformation portion 112 are formed on the bottom surface of the cleaning assembly 109, and the deformation amount of the first deformation portion 111 is larger than that of the second deformation portion 112, that is, the compression joint between the first deformation portion 111 and the working surface on the bottom surface of the cleaning assembly 109 is tighter, the compression joint between the second deformation portion 112 and the working surface is looser, so that the deformation amount of the first deformation portion 111 is larger, the deformation amount of the second deformation portion 112 is smaller than that of the first deformation portion 111, unbalanced friction force is realized between the first deformation portion 111 and the working surface and between the second deformation portion 112 and the working surface, and the displacement walking effect of the cleaning machine 1 is driven by the unbalanced friction force in the horizontal rotation process of the cleaning assembly 109.

Alternatively, the first deformation portion 111 is located at a region position outside the middle portion of the cleaning assembly 109, and the second deformation portion 112 is located at a region position inside the middle portion; or the first deforming part 111 is located at the outer edge of the cleaning assembly 109 and the second deforming part 112 is located at the inner edge of the cleaning assembly 109.

In a third mode, the machine body 100 is provided with the crimping component 110, when the cleaning machine 1 is positioned on a working surface and the cleaning component 109 horizontally rotates along with the working surface, at least one part of the crimping component 110 contacts the cleaning component 109, so that the bottom surface of the cleaning component 109 has unbalanced friction force relative to the working surface, and the cleaning machine 1 is displaced, and the crimping component 110 is arranged to apply pressure to the cleaning component 109, so that the cleaning component 109 has unbalanced friction force relative to the working surface, and the cleaning component 109 drives the cleaning machine 1 to move; the cleaning assembly 109 is provided with the crimping area 113 and the cleaning area 114 when the crimping assembly 110 is crimped on the cleaning assembly 109, the bottom surface of the cleaning assembly 109 is formed to have unbalanced pressure relative to the working surface through the cleaning area 114 and the crimping area 113, and therefore automatic displacement walking of the cleaning machine 1 is achieved, the cleaning area 114 and the crimping area 113 are mainly formed on the bottom surface of the cleaning assembly 109, so that the bottom surface of the cleaning assembly 109 forms the two areas, the crimping assembly 110 enables the bottom surface of the cleaning assembly 109 and the working surface to form unbalanced pressure, and therefore the cleaning assembly 109 can automatically walk under the condition of unbalanced stress, and can automatically perform displacement walking along the stress direction, and the problem that an existing mopping robot needs to be provided with driving wheels for walking is solved.

Wherein the maximum pressure of the pressure welding area 113 relative to the working surface is greater than the minimum pressure of the cleaning area 114 relative to the working surface; when the crimping component 110 contacts the cleaning component 109, the maximum pressure of the relative working surface in the crimping region 113 is greater than the minimum pressure of the relative working surface in the cleaning region 114, and the pressure is the ratio of the pressure to the stressed area, in the case that the cleaning region 114 and the crimping region 113 are provided, it can be ensured that the bottom surface of the cleaning component 109 has unbalanced pressure relative to the working surface only by ensuring that the maximum pressure existing in the crimping region 113 is greater than the minimum pressure in the cleaning region 114, in the cleaning component 109 of the present embodiment, the area of the cleaning region 114 is greater than the area of the crimping region 113, because the cleaning region 114 is mainly used for cleaning a large-area contact working surface, the crimping region 113 has greater pressure relative to the cleaning region 114 while cleaning the contact working surface, so that the crimping region 113 also has the effect of realizing the autonomous displacement walking of the cleaning machine 1.

Preferably, two cleaning assemblies 109 are provided, and two cleaning assemblies 109 are provided on the machine body 100, so as to facilitate the displacement walking of the cleaning machine 1 along the planned path.

The structure may be specifically that the machine body 100 is provided with a crimping assembly 110, and the crimping assembly 110 crimps at least a part of two cleaning assemblies 109; that is, the crimping component 110 is located between the two cleaning components 109, and may be located at a position where the distance between the two cleaning components 109 is the minimum, only a part of the crimping component 110 needs to be capable of contacting the two cleaning components 109 respectively to perform crimping and form the crimping region 113 on the two cleaning components 109, at this time, the crimping component 110 not only can form the crimping region 113 by applying pressure and further having unbalanced friction force to satisfy that the two cleaning components 109 can realize displacement walking of the cleaning machine 1, but also can realize that there is no dragging-missing region between the two cleaning components 109 through the crimping component 110, which is beneficial to solving the problem that there is dragging-missing gap at the position where the distance between the two cleaning components 109 is the minimum, so that the cleaning machine 1 can maintain a complete single cleaning effect in the process of cleaning the working surface; if the crimping assembly 110 is not located at the position with the minimum distance between the two cleaning assemblies 109, the problem that the position with the minimum distance between the two cleaning assemblies 109 cannot be effectively attached to the working surface, so that a dragging-missing gap exists; meanwhile, the effect of applying pressure to the crimping of the two cleaning assemblies 109 can be achieved by arranging one crimping assembly 110, the overall structure is relatively simple, and the consistency and synchronism of the pressure applied by the crimping are better.

The structure may also be specifically that the two cleaning assemblies 109 are respectively provided with a crimping assembly 110, and the two crimping assemblies 110 respectively crimp a part of the two cleaning assemblies 109; namely, two independent crimping assemblies 110 are respectively arranged on the two independent cleaning assemblies 109, namely, one crimping assembly 110 independently crimps one cleaning assembly 109 to apply pressure, the other crimping assembly 110 independently crimps the other cleaning assembly 109 to apply pressure, and separate crimping areas 113 are respectively and independently formed on the two cleaning assemblies 109, so that the two separate crimping areas 113 independently realize uniform and unbalanced pressure on the two cleaning assemblies 109, and further form unbalanced friction force, and realize displacement walking of the cleaning machine 1 under the condition that the two cleaning assemblies 109 have unbalanced friction force.

The crimp assembly 110 may be configured to include a crimp member that extends at least partially downward to crimp contact cleaning assembly 109; the pressing force applied to the cleaning assembly 109 by the portion of the pressing member protruding downward to contact the cleaning assembly 109 achieves different pressing forces in the area where the bottom surface of the cleaning assembly 109 contacts the work surface, and thus different frictional forces when horizontally rotated, so that the self-displacing walking effect of the cleaning machine 1 by the cleaning assembly 109 is achieved.

The specific structural part of the crimping assembly 110 may also be a structure in which the crimping piece extends at least partially downward to crimp the contact cleaning assembly 109 and is movable, and an elastic piece is connected to the crimping piece; the crimping piece is arranged to be in a movable structure, the position and the height of the crimping piece can be adjusted along with the fluctuation of the cleaning assembly 109 under the condition that the pressure is applied to the cleaning assembly 109, namely the pressure is applied to the crimping area 113, for example, when the cleaning assembly 109 horizontally rotates on an uneven working surface, the phenomenon of unevenness can occur under the influence of the working surface, and at the moment, the elastic piece can play a role in buffering stress; of course, the cleaning machine 1 of the present embodiment is used for mopping and cleaning on a relatively flat working surface, such as a tile floor of a user, most of the time.

In order to realize that the pressure applied by the crimping component 110 to the cleaning component 109 can be adjusted, mainly the pressure applied to the crimping area 113 can be adjusted, the crimping component 110 further comprises an adjusting piece, the adjusting piece is used for adjusting the downward extending distance of the crimping piece, the adjusting piece can be provided with a motor, the motor drives the adjusting piece to move up and down for a certain distance, the force generated by the rotation of the motor can be transmitted to the force generated by the up and down movement of the adjusting piece, when the pressure of the crimping component 110 to the cleaning component 109, namely the crimping area 113 on the cleaning component 109, needs to be increased, the extending distance of the crimping piece contacting the cleaning component 109 downwards can be adjusted through the adjusting piece, the crimping distance of the crimping piece to the cleaning component 109 is large, namely the crimping is tighter, the pressure corresponding to the crimping area 113 on the cleaning component 109 is larger, and the friction force of the cleaning component 109 to be attached to the working surface can be controlled by adjusting the pressure, furthermore, the walking direction of the cleaning machine 1 is adjusted through the cleaning assemblies 109, for example, the cleaning machine 1 turns left or turns right, and the two crimping assemblies 110 on the two cleaning assemblies 109 are correspondingly adjusted to respectively have different pressures on the crimping areas 113 of the two cleaning assemblies 109, so that the whole structure is simple, and the problem of steering is adjusted through different rotating speeds instead of the existing driving wheels.

In the self-moving cleaning mode, when two cleaning assemblies 109 are provided and respectively provided with the pressing assembly 110, the cleaning machine 1 can be driven to turn and displace towards the other cleaning assembly 109 by adjusting and controlling the friction force between one cleaning assembly 109 and the working surface to be larger than the friction force between the other cleaning assembly 109 and the working surface; specifically, the two cleaning assemblies 109 are respectively provided with the crimping assemblies 110, and the two crimping assemblies 110 are respectively crimped on a part of the two cleaning assemblies 109, wherein the pressure of one crimping assembly 110 on one cleaning assembly 109 is set to be F1, the pressure of the other crimping assembly 110 on the other cleaning assembly 109 is set to be F2, F1 is greater than F2 when the cleaning machine 1 is in turning displacement towards the one cleaning assembly 109, and F2 is greater than F1 when the cleaning machine 1 is in turning displacement towards the other cleaning assembly 109, namely, turning displacement walking of the cleaning machine 1 is realized.

In the structure provided with two cleaning assemblies 109, the pressure of one crimping assembly 110 on one cleaning assembly 109 is set to be F1, and the pressure of the other crimping assembly 110 on the other cleaning assembly 109 is set to be F2, it can be understood that in the arrangement where the two cleaning assemblies 109 are arranged side by side, a left cleaning assembly 109 and a right cleaning assembly 109 are provided, and a left crimping assembly 110 and a right crimping assembly 110 are correspondingly provided, the pressure of the right crimping assembly 110 on the right cleaning assembly 109 is F1, and the pressure of the left crimping assembly 110 on the left cleaning assembly 109 is F2; f1 is greater than F2 when the cleaning machine 1 is displaced towards the one cleaning assembly 109, the one cleaning assembly 109 can be understood as a right side cleaning assembly 109, F2 is greater than F1 when the cleaning machine 1 is displaced towards the other cleaning assembly 109, the other cleaning assembly 109 can be understood as a left side cleaning assembly 109, steering displacement walking of the cleaning machine 1 is correspondingly realized by adjusting the magnitude values of F1 and F2, such as left-turning walking or right-turning walking, namely F1 is greater than F2 when the cleaning machine is turned right, F2 is greater than F1 when the cleaning machine is turned left, and rotating steering walking of the cleaning assembly 109 which is less stressed towards the cleaning assembly 109 which is more stressed due to the fact that the pressure of one of the two cleaning assemblies 109 is increased correspondingly by the adjustment of the pressure of the crimping assemblies 110, can realize the walking that turns to cleaner 1 through above-mentioned regulation, certainly also can utilize this mode to adjust cleaner 1 and carry out the straight line displacement walking, when cleaning assembly 109 skids or appears the unusual straight line that leads to the displacement walking when crooked or the skew is the slash can correct this moment and get back to straight line walking direction, can install direction sensor or angle sensor in machine main part 100 and realize the perception to cleaner 1 walking direction, wherein, crimping assembly 110 can set up to the structure that can move about to come crimping cleaning assembly 109 this moment, conveniently adjust crimping height distance or depth distance to crimping assembly 110, and then realize the regulation to pressure.

Under the structure to be provided with two cleaning assembly 109, then set up the size that includes F1 value at least when cleaner 1 walks along A direction straight line displacement and be equal to the size of F2 value, be favorable to cleaner 1 to keep straight line displacement this moment, can set up to be symmetrical structure in the horizontal direction or vertical direction to pressing zone 113 on two cleaning assembly 109, be favorable to cleaner 1 to keep stability and uniformity in the in-process of carrying out the displacement walking like this more, be favorable to cleaner 1 to carry out the straight line walking, can advance for the straight line or the straight line is backed off carries out the displacement walking.

In the scheme, when the cleaning machine 1 moves linearly along the direction A, the resultant forces of the two cleaning assemblies 109 which are respectively opposite to the working surface are not mutually offset; that is, the resultant forces of the cleaning region 114 and the pressing region 113 on the cleaning assemblies 109 to the working surfaces of the bottom surfaces of the entire cleaning assemblies 109 are not mutually offset, that is, unequal and not opposite, at this time, the cleaning machine 1 can move under the action of the resultant forces of the respective working surfaces of the two cleaning assemblies 109, and can perform linear displacement walking, and at this time, the resultant forces of the respective working surfaces of the two cleaning assemblies 109 can be respectively symmetrical along the direction a to jointly push the cleaning machine 1 to walk along the direction a, and is beneficial to maintaining the linear displacement walking.

When the cleaning machine 1 travels in a displacement manner in the rotating direction, such as left-turning travel or right-turning travel, that is, when the cleaning machine 1 travels in a displacement manner in the rotating direction, the resultant moments of the two cleaning assemblies 109 relative to the working surfaces respectively do not cancel each other out, so that the two cleaning assemblies 109 have respective moments, that is, rotational forces or angular forces, under the resultant force action of the respective relative working surfaces, and the respective resultant moments do not cancel each other out, and at this time, the cleaning machine 1 can perform turning displacement travel under the common action of the respective resultant moments of the two cleaning assemblies 109, that is, the cleaning machine 1 can perform left-turning or right-turning travel.

Optionally, when the cleaning machine 1 travels in a curve, the curve displacement travel of the cleaning machine 1 can be realized by setting the magnitude of the pressure of the corresponding crimping assemblies 110 on the two cleaning assemblies 109 and correspondingly forming the magnitude of the resultant moment of the two cleaning assemblies 109 relative to the working surface; when the cleaning machine 1 moves towards the direction of one of the cleaning assemblies 109 and walks, the resultant moment of the one of the cleaning assemblies 109 is greater than that of the other cleaning assembly 109, and when the cleaning machine 1 moves towards the direction of the other mopping assembly and walks, the resultant moment of the other cleaning assembly 109 is greater than that of the one of the cleaning assemblies 109, so that the cleaning machine 1 can move around, specifically, the adjustment can be realized by the pressure of the pressure connection assembly 110 on the pressure connection area 113, it can be understood that one of the cleaning assemblies 109 is the left cleaning assembly 109, and the other cleaning assembly 109 is the right cleaning assembly 109.

In the scheme, when the cleaning machine 1 travels in a linear displacement along the direction A, the resultant force of the crimping areas 113 on one cleaning assembly 109 is equal to the resultant force of the crimping areas 113 on the other cleaning assembly 109, and the directions are symmetrical along the direction A; that is, the resultant force of the pressing region 113 on one of the cleaning assemblies 109 with respect to the working surface is equal to the resultant force of the pressing region 113 on the other cleaning assembly 109 with respect to the working surface in magnitude and is symmetrical in direction a, so that the cleaner 1 performs displacement walking in direction a under the combined action of the resultant forces of the respective pressing regions 113 on the two cleaning assemblies 109, and the cleaner 1 is favorable for maintaining the linear displacement walking in direction a, the direction a may be the forward direction of the linear displacement walking of the cleaner 1 or the backward direction of the linear displacement walking of the cleaner 1, and the cleaner 1 can perform stable linear forward or linear backward movement under the combined action of the two directions.

To this scheme in, the structure of clean subassembly 109 does, is provided with the pressure disk on the clean subassembly 109, and the counter mop under the pressure disk, the mop can paste through the magic and paste on the pressure disk, perhaps the mop is made up the structure with the pressure disk as an organic whole and is formed, what clean subassembly 109 can be dismantled installs on the bottom of machine main part 100 to set up to the structure that can the horizontal rotation.

In this embodiment, in order to facilitate the user to use, a prompt may be set to remind the user of the status of the handle lever 101, specifically, when the handle bar 101 is mounted in place or detached, the user can manually mount the handle bar 101 in place or manually detach the handle bar 101, by providing the voice unit, which may be a buzzer or a speaker, on the machine body 100, the voice unit is electrically connected to the control module or the detection module 102, when the detection module 102 detects the current state of the handle lever 101, the voice unit on the machine body 100 issues a state switching notice of the handle lever 101, if the handle lever 101 is mounted in place, or the handle rod 101 is not installed in place, the voice unit reminds the user of the current state of the handle rod 101 and the switching prompt when the state of the handle rod 101 is switched is provided, so that the user can know in time to start the self-moving cleaning mode or the handheld cleaning mode; or the display unit displays the state switching prompt of the handle bar 101, namely, the display lamp beads or the display screen are arranged to display the state of the handle bar 101, so as to remind a user of the current switching prompt of the state of the handle bar 101 or the switching state of the handle bar 101; or the cleaning assembly 109 continuously and intermittently moves to send a state switching prompt of the handle bar 101, namely, the user is reminded by the movement state of the cleaning assembly 109, for example, the cleaning assembly 109 intermittently moves when the handle bar 101 is installed in place or detached, namely, the user is reminded that the user is currently installed or detached for the handle bar 101 by intermittently switching to start the horizontal rotation movement and stop the horizontal rotation movement for a plurality of times of interval movement, and when the handle bar 101 is installed in place or the handle bar 101 is not installed in place, the cleaning assembly 109 can be mopped and cleaned by continuously moving the horizontal rotation movement.

Aiming at cleaning the cleaning component 109 on the cleaning machine 1, the cleaning device 115 is further included, and the cleaning device 115 is used for placing the cleaning machine 1 to clean the cleaning component 109; the cleaning device 115 is provided with a liquid containing cavity, and the cleaning assembly 109 is positioned in the liquid containing cavity when the cleaning machine 1 is placed on the cleaning device 115; cleaning device 115 is independent structure part relatively cleaner 1 and comes convenience of customers to place cleaner 1 to cleaning device 115 and come to wash clean subassembly 109, can utilize the motion of clean subassembly 109 self to come the washing to clean subassembly 109, to holding the liquid chamber, it sets up to sunken structure to hold the liquid chamber, can directly place the washing liquid in holding the liquid chamber and be the clear water, clean subassembly 109 direct contact washing liquid realizes the washing of clean subassembly 109, clean subassembly 109 is when the contact washing liquid and start the motion structure of self and realize the abluent power of clean subassembly 109.

For cleaning the cleaning assembly 109 in the liquid containing cavity, a liquid supply module can be further arranged to supply cleaning liquid to the cleaning assembly 109, the cleaning liquid is supplied to contact the cleaning assembly 109 and then the cleaning effect of the cleaning assembly 109 is achieved by utilizing the motion power of the cleaning assembly 109, the liquid supply module can be an electromagnetic valve, a water pump and the like, and the cleaning assembly 109 can be contacted to be cleaned only by starting the liquid supply module.

In order to solve the problem that the cleaning assembly 109 is easy to go moldy and smelly in the wet state, the cleaning device 115 of the scheme can be further provided with a drying module, when the cleaning machine 1 is placed on the cleaning device 115, the drying module is positioned on one side of the cleaning assembly 109 to dry the cleaning assembly 109, the drying device mainly dries the cleaning piece through heating, and the problem that the cleaning assembly 109 can go moldy and smelly in the wet state is effectively solved.

The working principle is as follows: the cleaning machine 1 of the scheme can drive the cleaning machine 1 to move and walk by the movement of the cleaning component 109 through the unbalanced friction force between the self-movement of the cleaning component 109 and the ground, can drive the cleaning machine 1 to move forwards, backwards and turn, the machine main body 100 of the cleaning machine 1 can realize the moving and walking of the cleaning machine 1 without arranging a driving wheel, has simple integral structure and lower cost, is simultaneously provided with the detachable handle rod 101, and the cleaning machine 1 can be used as a handheld cleaning machine 1, so that the cleaning machine 1 has multifunctional use effect, particularly, the cleaning machine 1 is provided with a self-moving cleaning mode and a handheld cleaning mode, detects whether the handle rod 101 is in place or not through the detection module 102, and is used for realizing the self-moving cleaning mode of the cleaning machine 1 on the indoor ground or the handheld cleaning mode of mopping under the manual operation of a user according to the detection result, convenience of customers switches the use to cleaning machine 1, can clean to the region that cleaning machine 1 can't independently walk to under the handheld clean mode, perhaps comes manual operation to carry out handheld clean mode according to user's demand, has promoted the application scope that can drag the ground of cleaning machine 1, and convenience of customers uses.

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. A cleaning machine system, the cleaning machine includes the body of the machine, there is cleaning assembly used for dragging the ground on the body of the machine, characterized by that: the cleaning component is arranged into a movable structure and drives the cleaning machine to displace on the working surface through the friction force between the cleaning component and the working surface when the cleaning component moves;

the cleaner body is provided with a butt joint part, when the cleaner executes a self-moving cleaning mode, the handle rod is not arranged on the butt joint part or the handle rod is arranged on the butt joint part, and the relative butt joint part is a retraction structure; when the cleaner executes a handheld cleaning mode, the handle rod is arranged on the butt joint part or the handle rod is arranged on the butt joint part and the opposite butt joint part is of a protruding structure.

2. A cleaning machine system as defined in claim 1 wherein: the handle rod is arranged to be capable of rotating relative to the butt joint part and can rotate relative to the butt joint part when the handle rod is arranged on the butt joint part; and/or the docking portion is provided as a structure rotatably mounted on the robot body and the handle lever is rotatable with respect to the robot body through the docking portion when the handle lever is mounted on the docking portion.

3. A cleaning machine system as defined in claim 2 wherein: the handle rod and the butt joint part are arranged into a detachably-mounted connecting structure, and the handle rod is arranged into a telescopic joint structure.

4. A cleaning machine system as defined in claim 3 wherein: the length of the machine body is greater than the width of the machine body, and the handle lever and the butt portion are located at a middle position in the length direction and a middle or rear position in the width direction of the machine body when the handle lever is mounted on the butt portion.

5. A cleaning machine system as defined in claim 4 wherein: when the handle lever is mounted on the butting portion, the handle lever is rotatable relative to the machine body and rotated toward the width direction of the machine body so that the handle lever is placed on the machine body at a position from the middle or rear to the front in the width direction of the machine body.

6. A cleaning machine system as defined in claim 5 wherein: a part of the handle lever is provided as a part of the external appearance of the machine body when the handle lever is mounted on the docking portion and is in the retracted configuration.

7. A cleaning machine system as defined in claim 6 wherein: the machine body is provided with a receiving portion, and a part of the handle lever is located in the receiving portion when the handle lever is mounted on the docking portion and in the retracted configuration and is configured such that the part of the handle lever is provided as a part of the external appearance of the machine body.

8. A cleaning machine system as defined in claim 2 wherein: set up to demountable installation's connection structure between handle pole and the butt joint portion, be provided with quantity on the handle pole and be one and more pole portions, then set up to cup joint the installation each other between two adjacent pole portions when the handle pole is provided with a plurality of pole portions.

9. A cleaning machine system as defined in any one of claims 1-8 wherein: the machine body is internally provided with a control module, a threshold value A for starting the self-moving cleaning mode and a threshold value B for starting the handheld cleaning mode are set in the control module, and the control module correspondingly starts the self-moving cleaning mode or the handheld cleaning mode according to a received starting signal.

10. A cleaning machine system as defined in claim 9 wherein: the machine body is at least provided with a cliff module, a collision module, an obstacle detection module or a carpet detection module which are electrically connected with the control module.

11. A cleaning machine system as defined in claim 10 wherein: the self-moving cleaning mode at least comprises a threshold value C which is set for controlling the cleaning assembly to move and driving the machine main body to move backwards or turn when the control module controls the cliff module to detect the suspension vacancy; or a threshold D for controlling the cleaning assembly to move and driving the cleaning machine to perform backward displacement or turning displacement when the control module is arranged to control the collision module to detect that the machine body contacts with the obstacle is arranged; or a threshold value E for controlling the cleaning assembly to move and driving the cleaning machine to perform backward displacement or turning displacement when the control module is arranged to control the obstacle detection module to detect the obstacle in the lateral direction of the machine main body; or a threshold value F for controlling the cleaning component to move and driving the cleaning machine to retreat and move or turn when the control module controls the carpet detection module to detect the carpet on the lower side direction of the machine main body is arranged.

12. A cleaning machine system as defined in claim 11 wherein: the cleaning assembly is arranged to be a motion structure which can be attached to the horizontal rotation of the working face, and when the cleaning assembly rotates horizontally, the bottom surface of the cleaning assembly has unbalanced friction force relative to the working face, so that the cleaning machine is driven to displace on the working face through the cleaning assembly.

13. A cleaning machine system as defined in claim 12 wherein: the number of the cleaning components is two or more; when the number of the cleaning assemblies is two, the two cleaning assemblies are arranged adjacently in parallel, and the horizontal rotating directions of the two cleaning assemblies at least comprise opposite directions.

14. A cleaning machine system as defined in claim 13 wherein: the horizontal rotation movement direction of the two cleaning assemblies is the direction of horizontal rotation from the outer side of the machine body to the inner side and from the upper side to the lower side, and the two cleaning assemblies both face the direction between the two cleaning assemblies.

15. A cleaning machine system as defined in claim 14 wherein: and in the self-moving cleaning mode, the horizontal rotating directions of the two cleaning components are switched to the opposite horizontal rotating directions, so that the two cleaning components which horizontally rotate in the opposite directions drive the cleaning machine to move backwards.

16. A cleaning machine system as defined in claim 14 wherein: and in the self-moving cleaning mode, a structure is arranged, wherein one cleaning assembly stops moving, and the other cleaning assembly horizontally rotates towards the direction of the one cleaning assembly to drive the cleaning machine to turn and displace towards the direction of the one cleaning assembly.

17. A cleaning machine system as defined in claim 14 wherein: and in the self-moving cleaning mode, a structure is arranged, wherein the horizontal rotation direction of one cleaning assembly is switched to be the same as that of the other cleaning assembly, and the structure is arranged to horizontally rotate towards the other cleaning assembly so as to drive the cleaning machine to make turning displacement towards the other cleaning assembly.

18. A cleaning machine system as defined in claim 14 wherein: in the self-moving cleaning mode, a structure is arranged, wherein the friction force between one cleaning assembly and the working surface is larger than the friction force between the other cleaning assembly and the working surface so as to drive the cleaning machine to turn and displace towards the direction of the other cleaning assembly.

19. A cleaning machine system as defined in claim 14 wherein: the control module is arranged in the handheld cleaning mode to control the cleaning assembly to move continuously or stop moving at least along the current movement state when the cliff module detects a hanging space or the collision module detects that the machine body contacts an obstacle or the obstacle detection module detects an obstacle in the side direction of the machine body, or the control module is arranged to control the cleaning assembly to move along the obstacle at a constant distance for cleaning when the obstacle detection module detects an obstacle in the side direction of the machine body.

20. A cleaning machine system as defined in claim 14 wherein: the machine main body is provided with a detection module used for detecting whether the handle rod is installed on the butt joint part or not, the detection module is electrically connected with the control module, and the detection module is set to be one of an infrared sensor, a Hall switch, a microswitch, a pole piece contact switch and a reed switch.

21. A cleaning machine system as defined in any one of claims 15-20 wherein: the machine main part is provided with the crimping subassembly, and when the cleaner was located the working face and clean subassembly laminating working face horizontal rotation at least partly contact cleaning assembly of crimping subassembly makes the bottom surface of cleaning assembly have uneven frictional force to the working face and makes the cleaner carry out the displacement.

22. A cleaning machine system as defined in claim 21 wherein: the two cleaning assemblies are respectively provided with a crimping assembly, the two crimping assemblies are respectively crimped on a part of the two cleaning assemblies, the pressure of one crimping assembly on one cleaning assembly is set to be F1, the pressure of the other crimping assembly on the other cleaning assembly is set to be F2, F1 is larger than F2 when the cleaning machine is in turning displacement towards the direction of the one cleaning assembly, and F2 is larger than F1 when the cleaning machine is in turning displacement towards the direction of the other cleaning assembly.

23. A cleaning machine system as defined in any one of claims 21 wherein: the bottom surface of the cleaning component is provided with a soft structure; when the cleaning component is attached to the working surface, the cleaning component is in an inclined structure;

or when the cleaning component is attached to the working surface, at least a first deformation part and a second deformation part are formed on the bottom surface of the cleaning component, and the deformation amount of the first deformation part is larger than that of the second deformation part.

24. A cleaning machine system as defined in claim 21 wherein: when the cleaning component is in an inclined structure, the cleaning component is arranged in an inclined structure from the inner side to the outer side of the machine main body.

25. A cleaning machine system as defined in claim 1 wherein: the cleaning device is used for placing a cleaning machine to clean the cleaning assembly; the cleaning device is provided with a liquid containing cavity, the cleaning assembly is located in the liquid containing cavity when the cleaning machine is placed on the cleaning device, and/or the cleaning device is provided with a drying module, the drying module is located on one side of the cleaning assembly to dry the cleaning assembly when the cleaning machine is placed on the cleaning device.

26. A cleaning machine system as defined in claim 1 wherein: the cleaning device is provided with a liquid supply module, and when the liquid supply module works, the liquid supply module enables cleaning liquid to be in contact with the cleaning assembly for cleaning the cleaning assembly.