CN117357004A

CN117357004A - Operation method, storage device, computer equipment and cleaning device

Info

Publication number: CN117357004A
Application number: CN202210780871.4A
Authority: CN
Inventors: 张瑞博; 王忠林; 杨帆
Original assignee: Shenzhen Nibao Technology Co ltd
Current assignee: Shenzhen Nibao Technology Co ltd
Priority date: 2022-07-01
Filing date: 2022-07-01
Publication date: 2024-01-09
Also published as: WO2024002290A1

Abstract

The application discloses an operation method, a storage device, computer equipment and a cleaning device. The operation method comprises the following steps: detecting the current running state of the cleaning device when the cleaning device is retreated; in response to the current operating state meeting the trigger condition, the rotational direction of the roller brush of the cleaning device is adjusted to coincide with the rotational direction of the drive wheel of the cleaning device. Through the mode, the running method of the cleaning device can effectively reduce the probability of the situation that the cleaning device slips and the like.

Description

Operation method, storage device, computer equipment and cleaning device

Technical Field

The present disclosure relates to cleaning technology, and in particular, to an operation method, a storage device, a computer device, and a cleaning device.

Background

In recent years, with the development of intelligent technology, robots are increasingly used. More and more indoor ground cleaning is finished by adopting an intelligent cleaning device, the robot realizes autonomous map establishment, path planning and obstacle avoidance by means of various sensors such as laser, ultrasonic waves and infrared rays, and further realizes autonomous navigation, and the cleaning device has good cleaning effect on dust, particles and stains on the ground and is widely applied to places such as houses, office buildings, waiting halls, ball halls and supermarkets.

The cleaning device often slips due to poor road conditions, etc., causing it to stall, and once such conditions occur, the operating efficiency thereof is significantly reduced.

Disclosure of Invention

The application mainly provides an operation method, a storage device, computer equipment and a cleaning device, so as to solve the problem that the cleaning device reduces the operation efficiency due to slipping.

In order to solve the technical problems, one technical scheme adopted by the application is as follows: a method of operating a cleaning device is provided. The operation method comprises the following steps: detecting a current operating state of the cleaning device when the cleaning device is retreated; and in response to the current running state meeting a trigger condition, adjusting the rotation direction of the rolling brush of the cleaning device to be consistent with the rotation direction of the driving wheel of the cleaning device.

In order to solve the technical problems, another technical scheme adopted by the application is as follows: a storage device is provided. The storage means have stored thereon program data which, when executed by the processor, carry out the steps of the method of operating the cleaning device as described above.

In order to solve the technical problems, another technical scheme adopted by the application is as follows: a computer device is provided. The computer device comprises a processor and a memory connected to each other, said memory storing a computer program, which, when executed by said processor, implements the steps of the method of operating a cleaning apparatus as described above.

In order to solve the technical problems, another technical scheme adopted by the application is as follows: a cleaning device is provided. The cleaning device comprises a base, a driving wheel, a rolling brush and the computer equipment, wherein the driving wheel, the rolling brush and the computer equipment are all arranged on the base, and the computer equipment is in communication connection with the driving wheel and the rolling brush.

The beneficial effects of this application are: unlike the state of the art, the present application discloses an operating method, a storage device, a computer device and a cleaning device. When the cleaning device backs up, the current running state of the cleaning device is detected, so that when the current running state meets the triggering condition, the rotation direction of the rolling brush of the cleaning device is adjusted to be consistent with the rotation direction of the driving wheel of the cleaning device, the back-up power of the cleaning device is assisted and strengthened, the running speed, the acceleration or the position of the cleaning device meets the expected or near-expected state, and the probability of slipping and other conditions is effectively reduced.

Drawings

For a clearer description of embodiments of the present application or of the solutions of the prior art, the drawings that are required to be used in the description of the embodiments or of the prior art will be briefly described, it being apparent that the drawings in the description below are only some embodiments of the present application, and that other drawings may be obtained, without inventive effort, by a person skilled in the art from these drawings, in which:

FIG. 1 is a schematic view of an embodiment of a cleaning apparatus provided herein;

FIG. 2 is a schematic view of the bottom structure of the cleaning device shown in FIG. 1;

FIG. 3 is a schematic view of an exploded construction of the cleaning apparatus shown in FIG. 1;

FIG. 4 is a schematic view of the structure of the base of the cleaning device shown in FIG. 3;

FIG. 5 is a schematic view of an exploded construction of a water tank in the cleaning device shown in FIG. 3;

FIG. 6 is a schematic top view of the fresh water compartment of the tank of FIG. 5;

FIG. 7 is a schematic view of the axial side structure of the fresh water tank shown in FIG. 5;

FIG. 8 is a schematic view of an exploded view of the filtrate assembly in the tank of FIG. 5;

FIG. 9 is a schematic view of the cleaning assembly of the cleaning apparatus of FIG. 3;

FIG. 10 is a schematic view of an exploded view of the cleaning assembly of FIG. 9;

FIG. 11 is a schematic view of the mounting block of the cleaning assembly of FIG. 10;

FIG. 12 is a schematic view of the configuration of the cleaning assembly and infusion set of the cleaning device of FIG. 3;

FIG. 13 is a schematic view of an exploded view of the cleaning assembly and infusion set of FIG. 12;

FIG. 14 is a schematic view of a first wiper strip of the cleaning apparatus of FIG. 2;

FIG. 15 is a schematic cross-sectional view of the first wiper strip of FIG. 14 taken along the AA;

FIG. 16 is a schematic view of another exploded construction of the cleaning apparatus shown in FIG. 1;

FIG. 17 is a schematic view of an exploded construction of the head assembly of the cleaning device of FIG. 16;

FIG. 18 is a schematic view of the drive assembly of the cleaning apparatus of FIG. 3;

FIG. 19 is a schematic view of an exploded view of the drive assembly shown in FIG. 18;

FIG. 20 is a flow chart of one embodiment of a method of operating a cleaning device provided herein;

FIG. 21 is a schematic diagram of an embodiment of a computer device provided herein;

fig. 22 is a schematic structural diagram of an embodiment of a memory device provided in the present application.

Detailed Description

The following description of the technical solutions in the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.

The terms "first," "second," "third," and the like in the embodiments of the present application are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first", "a second", and "a third" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise. Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those listed steps or elements but may include other steps or elements not listed or inherent to such process, method, article, or apparatus.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the present application. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.

Referring to fig. 1 to 3, fig. 1 is a schematic structural diagram of an embodiment of a cleaning device provided in the present application, fig. 2 is a schematic bottom structural diagram of the cleaning device shown in fig. 1, and fig. 3 is a schematic exploded structural diagram of the cleaning device shown in fig. 1.

The cleaning apparatus 100 includes a base 10, a water tank 20, a cleaning assembly 30, a driving assembly 40, a blower 50, a battery 60, and a control device (not shown) mounted on the base 10, wherein the cleaning assembly 20, the cleaning assembly 30, the driving assembly 40, the blower 50, the battery 60, and the control device are electrically connected to the cleaning assembly 30, the driving assembly 40, the blower 50, and the battery 60 is used for supplying power to the cleaning assembly 30, the driving assembly 40, the blower 50, and the control device.

Wherein the water tank 20 is used for storing clean water and/or sewage, and the like, and is oppositely arranged in the middle of the base 10; the cleaning assembly 30 is disposed at the front end of the base 10 for cleaning the floor, etc.; the number of the driving components 40 is at least two, and the driving components are arranged on the base 10 and positioned at two sides of the water tank 20 and are used for driving the base 10 to walk; the blower 50 and the battery 60 are oppositely arranged at the rear end of the base 10, the water tank 20 is oppositely arranged between the cleaning assembly 30 and the blower 40, the blower 40 is used for generating air flow flowing through the cleaning assembly 30 and the water tank 20 so as to carry dirt on the cleaning assembly 30 into the water tank 20 by the air flow, and the water tank 20 can collect dirt; further, the water tank 20 is also used for supplying cleaning liquid to the cleaning assembly 30, and the cleaning liquid can be clear water or a solution added with cleaning agent, so that the cleaning assembly 30 can sweep and support integrally, and further cleaning is completed.

Referring to fig. 3 and 4, fig. 4 is a schematic view of a base of the cleaning apparatus shown in fig. 3. In this embodiment, the base 10 is provided with a receiving space 12 penetrating up and down; the water tank 20 is assembled with the accommodating space 12, and the bottom of the water tank 20 is exposed from the bottom surface of the base 10.

The accommodation space 12 runs through the base 10, and at least part of the water tank 20 is accommodated in the accommodation space 12 so as to fully utilize the thickness of the base 10 to accommodate the water tank 20, so that the reduction effect on the cleaning device 100 can be achieved, the miniaturization is facilitated, the weight reduction of the cleaning device 100 is facilitated, the cleaning device 100 is enabled to operate more flexibly relatively, the energy consumption is lower during operation, the base 10 can be enabled to carry the water tank 20 with larger volume, the cleaning endurance of the cleaning device 100 is improved, and the cleaning device 100 can clean a larger area for one time.

The bottom surface of the water tank 20 is approximately parallel to the bottom surface of the base 10, and the bottom surface of the water tank 20 may be slightly convex or concave with respect to the bottom surface of the base 10, so that the space on the base 10 may be fully utilized to accommodate the water tank 20, and the space utilization rate on the base 10 may be improved.

As shown in fig. 2, the bottom of the water tank 20 is exposed on the bottom surface of the base 10, which is convenient for sterilizing the water tank 20 by adopting ultraviolet sterilization and other sterilization techniques, that is, the water tank 20 can be sterilized without being detached from the base 10, thereby improving the sanitary safety of the cleaning device 100 and reducing the risk of bacteria breeding in the water tank 20.

For example, the bottom of the water tank 20 is made of transparent material, such as transparent glass or transparent plastic, which is transparent to light for sterilization.

In other embodiments, the accommodating space 12 may not extend through the base 10, i.e., the accommodating space 12 has a solid bottom, and at least a portion of the water tank 20 is accommodated in the accommodating space 12.

Referring to fig. 3 and 5 to 8 in combination, fig. 5 is a schematic view of an exploded structure of a water tank in the cleaning device shown in fig. 3, fig. 6 is a schematic view of a top view of a clean water tank in the water tank shown in fig. 5, fig. 7 is a schematic view of an axial side structure of the clean water tank in the water tank shown in fig. 5, and fig. 8 is a schematic view of an exploded structure of a filtrate assembly in the water tank shown in fig. 5.

The water tank 20 comprises a clear water bin 22 and a sewage bin 24 which are arranged in an up-down lamination way, the clear water bin 22 and the sewage bin 24 are detachably connected, and the bottom of the sewage bin 24 is exposed on the bottom surface of the base 10.

The clean water bin 22 is used for storing clean water or a solution added with a cleaning agent, the sewage bin 24 is used for collecting and storing sewage, and at least the sewage bin 24 is made of transparent materials, such as transparent plastics or transparent glass, so that the sewage collected in the sewage bin 24 can be sterilized by a light sterilization technology.

By limiting the upper and lower stacked arrangement of the fresh water bin 22 and the sewage bin 24, when the water levels in the fresh water bin 22 and the sewage bin 24 are changed, the gravity center of the water tank 20 arranged on the base 10 is only changed in the vertical direction and cannot deviate on the horizontal plane, so that the gravity center of the cleaning device 100 is stable, the risk of rollover of the cleaning device 100 caused by gravity center deviation due to liquid level change of each bin of the water tank 20 and the occurrence of overlarge relative abrasion of travelling wheels on one side are avoided, and the cleaning device 100 can be enabled to operate more stably.

The cleaning device 100 further includes an infusion assembly 70, the infusion assembly 70 being in communication with the fresh water reservoir 22 for providing cleaning fluid to the cleaning assembly 30.

The cleaning assembly 30 includes a roller brush 32 rotatably mounted on the base 10 for rolling a cleaning floor or the like, and the infusion assembly 70 is used for supplying clean water or cleaning liquid or the like with a cleaning agent to the roller brush 32 so that the roller brush 32 can more efficiently perform a cleaning operation.

As shown in fig. 5 to 7, the water tank 20 is provided with a first airflow port 201 and a second airflow port 202, the first airflow port 201 is disposed towards the cleaning assembly 30, the fan 50 is communicated with the second airflow port 202, and the fan 50 is used for generating airflow to carry dirt on the cleaning assembly 30 into the dirt bin 24.

The first airflow port 201 and the second airflow port 202 are both communicated with the space in the sewage bin 24, the first airflow port 201 and the second airflow port 202 may be disposed in the clean water bin 22 and/or the sewage bin 24, and when the air flow generated by the fan 50 is sucked through the sewage bin 24, the air-liquid separation is performed in the sewage bin 24, wherein the liquid containing dirt can be collected in the sewage bin 24, and the air flow is discharged through the air outlet of the fan 50 after passing through the sewage bin 24.

In this embodiment, the first airflow port 201 and the second airflow port 202 are disposed in the clean water bin 22, so that the airflow channels from the first airflow port 201 to the second airflow port 202 can be relatively located at the upper layer of the sewage bin 24 to avoid the effusion region located at the lower layer of the sewage bin 24 (the effusion region is formed by the sewage bin 24 due to the collected sewage), thereby effectively reducing the probability of the airflow directly impacting the effusion region to splash the sewage in the effusion region, enabling the sewage bin 24 to have a relatively larger volume and collect more sewage containing dirty sewage, and enabling the depth of the sewage bin 24 to be relatively deeper, so that the cleaning device 100 can effectively reduce the risk of the outflow of the dirty water in the sewage bin 24 due to the relatively larger depth of the sewage bin 24 and the arrangement of the airflow port 201 and the second airflow port 202 in the clean water bin 22 even if the oscillation occurs during the cruising cleaning operation.

Further, the water tank 20 further includes a filtrate assembly 26, wherein the filtrate assembly 26 is connected to the clean water tank 24, and the air flow channels passing through the first air flow port 201 and the second air flow port 202 pass through the sewage tank 24 and the filtrate assembly 26, and perform the air-liquid separation in the sewage tank 24, and the filtrate assembly 26 is used for separating the water vapor in the air flow, so as to prevent the air flow from carrying the water vapor into the fan 50.

Specifically, the clean water bin 22 and the sewage bin 24 are stacked up and down, the clean water bin 22 is covered on a bin opening of the sewage bin 24, the clean water bin 22 includes a water storage area 220 and a flow area 222, which are separated from each other, the water storage area 220 is used for storing cleaning liquid such as clean water, the flow area 222 is used for passing through air flow, and the second air flow port 202 is communicated with the flow area 222.

Wherein the flow area 222 is provided with a filter port 204, the filtrate assembly 26 is connected to the clean water tank 24 and covers the filter port 204, and the air flows from the sewage tank 24 to the second air flow port 202 through the filtrate assembly 26, the filter port 204 and the flow area 222.

Specifically, the sewage bin 24 is in a cavity structure, the clean water bin 22 includes a splitter plate 221, the splitter plate 221 is disposed between the first airflow port 201 and the filtrate component 26, and is used for scattering airflow flowing to the filtrate component 26 through the first airflow port 201, so that the airflow is changed from a more convergent state when entering through the first airflow port 201 to a scattered state after being scattered through the splitter plate 221, so as to reduce the impact force of the airflow, that is, the impact strength of the scattered airflow is reduced, and therefore, the probability of splashing of sewage caused by the impact of the airflow on the effusion area can be effectively reduced.

The flow dividing plate 221 can also reduce the flow velocity of the air flow to further facilitate the air-liquid separation of the air flow in the sewage bin 24, and the flow dividing plate 221 is also beneficial to collect and adsorb sewage contained in the air flow, so that the sewage is condensed thereon and collected in the liquid accumulation area of the sewage bin 24.

In this embodiment, the splitter plate 221 is disposed in an arc shape, and the filtrate assembly 26 is semi-looped, so that the air flowing into the splitter plate 221 can also bypass along the splitter plate 221, so as to flow to the filtrate assembly 26 in a plurality of different directions, and the air flows form a vortex in the upper layer of the sewage bin 24, so as to facilitate gas-liquid separation.

The splitter plates 221 are symmetrically arranged, and the space between the lower edge of the splitter plates 221 and the bottom wall of the sewage bin 24 is gradually reduced from the symmetrical center to the edge, so that the air flow can flow to the filtrate assembly 26 along the lower edge of each part after being dispersed by the splitter plates 221.

Wherein the first airflow port 201 is disposed corresponding to the symmetry center of the splitter plate 221, and the lower edge of the splitter plate 221 at the symmetry center is at the largest distance from the bottom wall of the sewage bin 24, so that the airflow flowing to the filtrate assembly 26 through the lower edge can flow into the filtrate assembly 26 more quickly, avoiding impacting the effusion region; the airflow bypassing the flow dividing plate 221 can flow directly towards the filtrate assembly 26 after being drawn by the suction force of the fan 50 to bypass the flow dividing plate 221 due to the reduction of the flow velocity, so that the probability of impacting the effusion area is smaller, the flow velocity is more gentle, and the gas-liquid separation is facilitated.

Optionally, the splitter plate 221 may also have a special shape such as a wave, which can split the airflow, and the specific structure of the splitter plate 221 is not limited in this application.

Further, the clean water bin 22 further comprises guide plates 223 disposed at two sides of the first airflow port 201, the guide plates 221 are connected between the two guide plates 223, the guide plates 223 are used for guiding airflow to flow to the filtrate assembly 26, the airflow flows into the guide plates 223 to be convenient for gas-liquid separation, so that the sewage bin 24 is convenient for collecting sewage, and the guide plates 221 and the guide plates 223 are of a plate structure, so that the probability of sewage retention is small, and the sewage can be almost completely collected in the sewage bin 24.

In this embodiment, the flow guide plates 223 are inclined, that is, the flow guide plates 223 are inclined plates with respect to the horizontal plane, and the two flow guide plates 223 are inclined in a splayed shape, and the flow dividing plate 221 and the filtrate assembly 26 are disposed between the two flow guide plates 223, so that the filtrate assembly 26 can be more efficiently drained.

The axial direction of the first airflow port 201 is inclined relative to the bottom wall of the sewage bin 24, and the initial flowing direction of the airflow entering the sewage cavity 24 through the first airflow port 201 faces the bin cover 28 covering the clean water bin 22, i.e. the initial direction of the airflow is guided by the first airflow port 201 to not impact the effusion area of the sewage bin 24, so that the probability of splashing of sewage caused by the impact of the airflow on the effusion area can be further reduced.

Further, a water level detector 203 is further disposed on a side of the clean water bin 22 facing the sewage bin 24, and the water level detector 203 is configured to detect a liquid level in the sewage bin 24, so as to send an alarm when the liquid level in the sewage bin 24 reaches a preset water level, so as to remind a user to clean the sewage bin 24 in time.

In this embodiment, referring to fig. 8, the filtrate assembly 26 includes a support 260 and a sea bag 262 coupled to the support 260, the support 260 being coupled to the fresh water compartment 22, the sea bag 262 sealing the filter port 204. Wherein, the hepatism 262 and the bracket 260 float in the direction towards the filtering port 204, so when the negative pressure suction airflow flows through the hepatism 262 and the filtering port 204, the hepatism 262 and the filtering port 204 form self-sealing to improve the tightness of the hepatism 262 and the filtering port 204, and the hepatism 262 floats upwards under the negative pressure, which is beneficial to being far away from the water surface of the sewage bin 24, and can reduce the hepatism 262 from being splashed and wetted by sewage.

Specifically, the support 260 includes a frame 261 and a grille 263 disposed at a window of the frame 261, the frame 261 is connected with the fresh water tank 22, the grille 263 is correspondingly disposed at the filtering port 204, the grille 263 is used for supporting the hepatism 262, and the hepatism 262 and the frame 261 are floatingly disposed; under the action of the air flow, the HEPA 262 and the frame 261 form self-sealing to indirectly seal the filtering opening 204.

The frame 261 may be a rectangular frame, a circular frame, an oval frame, or the like, and the grill 263 has a plurality of grill holes to facilitate the passage of air flow and also serves to stop the hepa 262.

In this embodiment, the filtering openings 204 are square openings, and the frame 261 and the hepa 262 are also square, so that the manufacturing process thereof is relatively simple and convenient for installation, and the installation efficiency is high.

The clean water bin 22 includes a surrounding wall 224 disposed around the clean water bin 22 to divide the clean water bin 22 into a water storage area 220 and a flow passage area 222, wherein the water storage area 220 is disposed around the flow passage area 222, and the filtering openings 204 are located in the flow passage area 222 defined by the surrounding wall 224.

The bin cover 28 covers the clean water bin 22, and the bin cover 28 also covers the surrounding wall 224 and is in sealing fit with the surrounding wall 224 so as to separate the water storage area 220 from the flow passage area 222 and prevent liquid in the water storage area 220 from entering the flow passage area 222.

The clean water bin 22 and the sewage bin 24 are removably connected, such as by a snap fit, or by a fastener.

In this embodiment, the two sides of the sewage bin 24 are respectively provided with a first connecting piece 21, at least a portion of the clean water bin 22 is accommodated in the bin opening of the sewage bin 24 and forms a positioning fit with the bin opening of the sewage bin 24, and the two sides of the clean water bin 22 are respectively provided with a second connecting piece 23 corresponding to the first connecting piece 21 and detachably connected.

In other words, the clean water bin 22 covers the bin opening of the sewage bin 24 and forms a positioning fit with the bin opening of the sewage bin 24, and then the first connecting piece 21 and the second connecting piece 23 are detachably connected to complete the connection between the clean water bin 22 and the sewage bin 24, so that the assembly efficiency between the clean water bin 22 and the sewage bin 24 is high.

Referring to fig. 5 and 7, the clean water bin 22 includes a first bin body 225 and a second bin body 226 that are connected, at least a portion of the first bin body 225 is accommodated in a bin opening of the sewage bin 24 and forms a positioning fit with the bin opening of the sewage bin 24, two sides of the first bin body 225 are respectively provided with a second connecting piece 23, the second bin body 226 extends outwards relative to the sewage bin 24 to form a receiving portion 227, and the receiving portion 227 is used for supporting on the base 10 of the cleaning device 100.

The sewage bin 24 and at least part of the first bin body 225 are accommodated in the accommodating space 12 of the base 10, and the receiving portion 227 is supported on the base 10, so that the assembly efficiency between the water tank 20 and the base 10 is high, and the water tank 20 is easy to detach relative to the base 10.

In this embodiment, a part of the first bin body 225 is accommodated in the bin opening of the sewage bin 24, and plays a role in positioning with the sewage bin 24, so that the position between the clean water bin 22 and the sewage bin 24 is determined, the connection between the first connecting piece 21 and the second connecting piece 23 is facilitated, and the first bin body 225 and the sewage bin 24 are in sealing fit.

Further, a gap is formed between the second connecting member 23 and the side wall of the first tank body 225, and the side wall of the sewage tank 24 is also partially accommodated in the gap, that is, the second connecting member 23 is relatively exposed and can extend toward the first connecting member 21, so that the second connecting member 23 can be conveniently formed, and the convenience of connection between the second connecting member 23 and the first connecting member 21 can be improved.

In this embodiment, the first connecting piece 21 includes a first elastic piece, a pressing plate and a rotating part disposed at one side of the pressing plate, the rotating part is rotationally connected with the side wall of the sewage bin 24, one end of the pressing plate is provided with a latch connected with the second connecting piece 23, and the first elastic piece is elastically compressed and disposed between the other end of the pressing plate and the side wall of the sewage bin 24; wherein the latch and the second connector 23 are unlocked by pressing the other end of the pressing plate.

Specifically, the second connecting piece 23 is provided with a clamping groove, and the clamping teeth are clamped with the clamping groove.

When the clean water bin 22 and the sewage bin 24 are positioned and assembled, the clamping groove of the second connecting piece 23 can form a clamping relationship with the clamping tooth, the clamping tooth can be kept in a clamping state with the clamping groove by the first elastic piece, when a user needs to separate the clean water bin 22 and the sewage bin 24, the other end of the pressing plate is pressed by the clamping groove, the first elastic piece is compressed, the pressing plate rotates relative to the rotating part, the clamping tooth 214 is separated from the clamping groove, so that the clamping relationship is relieved, and then the clean water bin 22 and the sewage bin 24 can be separated, namely, the clean water bin 22 and the sewage bin 24 are quite convenient and efficient to assemble and disassemble.

As shown in fig. 5, the clean water bin 22 further comprises a bin cover 28, and the bin cover 28 covers a bin opening of the second bin body 226; wherein, the bin cover 28 is provided with at least two sets of third connecting pieces 25, and the at least two sets of third connecting pieces 25 are used for cooperatively locking the water tank 20 on the cleaning device 100.

Wherein the third coupling member 25 can be locked to the base 10 or the top cover assembly 80 of the cleaning apparatus 100, wherein the top cover assembly 80 is detachably coupled to the base 10 to cover the water tank 20, the driving assembly 40, the blower 50, the battery 60, the control device, etc.

In the present embodiment, the third connector 25 is used to connect the top cover assembly 80 to further fix the water tank 20.

Specifically, the bin cover 28 is provided with a sliding groove, the third connecting piece 25 includes a second elastic piece and a pulling piece, the pulling piece is slidably disposed in the sliding groove, and the second elastic piece is connected between the bin cover 28 and the pulling piece and is used for providing an elastic force along a sliding direction defined by the sliding groove, so that one end of the pulling piece extends out of the bin cover 28 to be plugged with the top cover assembly 80.

The user can release the fitting relation with the top cover assembly 80 by manually driving the pulling member, and then detach the water tank 20 from the base 10, so that the water tank 20 can be more stably installed in the cleaning device 100.

The bin cover 28 is also provided with a water filling port (not shown) and a water filling cover 284 covered on the water filling port, and the water filling cover 284 is also rotationally connected to the bin cover 28 so as to realize the sealing of the water filling port and the unsealing of the water filling port 282 in a rotating manner; the water injection cap 284 may also be snapped onto the bin cap 28 or snapped onto the water injection port to close the water injection port.

The water filling port is used for filling the clean water bin 22 with liquid so as to promote the water adding convenience of the water tank 20.

As shown in fig. 6 and 7, the bottom wall of the receiving portion 227 is provided with an infusion hole 205, an infusion piece 228 is further provided in the clean water bin 22, one end of the infusion piece 228 is connected with the infusion hole 205, the other end of the infusion piece 228 is provided on the bottom wall of the first bin body 225, the second bin body 226 is further provided with a vent hole 206, and the vent hole 206 is used for ventilating the clean water bin 22 and timely supplementing air pressure reduction caused by liquid suction therein.

The cleaning liquid at the bottom of the clean water bin 22 can be pumped out by arranging the infusion part 228 so as to fully utilize the storage liquid in the clean water bin 22 and reduce the liquid retention in the clean water bin.

The bottom wall of the first bin body 225 is provided with a liquid collecting tank 207, and the infusion part 228 comprises a filter screen 208 covered with the liquid collecting tank 207 and an infusion tube 209 with one end connected with the filter screen 208, and the other end of the infusion tube 209 is connected with an infusion hole 205. By arranging the liquid collecting tank 207 on the bottom wall of the first bin body 225, the liquid collecting tank 207 is at the lowest liquid level of the clean water bin 22, so that the stored cleaning liquid can be more fully utilized, and the residual quantity of the cleaning liquid in the liquid collecting tank can be further reduced; the filter screen 208 is used to filter the cleaning solution entering the liquid collecting tank 207, so as to prevent impurities from being conveyed into the infusion tube 209, and further cause the blockage of the subsequent infusion tube.

In this embodiment, one end of the infusion assembly 70 is connected to the infusion hole 205, so as to provide the cleaning solution stored in the clean water bin 22 to the rolling brush 32 through the infusion hole 205.

Specifically, as shown in fig. 2 to 4, the base 10 is provided with a first mounting groove 11, and the roller brush 32 is rotatably provided in the first mounting groove 11; an air inlet 101 is formed between the side wall of the first installation groove 11 and the rolling brush 32, a first airflow port 201 is communicated with the air inlet 101, and airflow generated by the fan 50 passes through the air inlet 101 to the first airflow port 201, so that dirt on the rolling brush 32 can be carried into the sewage bin 24.

The length of the air inlet 101 is greater than or equal to the length of the rolling brush 32, so that the cleaning device 100 has a larger suction area, thereby assisting in cleaning dirt on the floor, such as paper dust peel, etc., can be sucked from the air inlet 101 to the sewage bin 24, and further enhancing the cleaning capability of the cleaning device 100.

The first installation groove 11 is disposed near the sidewall of the accommodating space 12 as a confluence plate 13 for guiding the air flow into the first airflow port 201. The converging plate 16 is used for converging the air flow entering through the air inlet 101 at one place and guiding the air flow to the first air flow port 201.

Referring to fig. 9 and 10, fig. 9 is a schematic view of a structure of a cleaning assembly in the cleaning apparatus shown in fig. 3, and fig. 10 is a schematic view of an exploded structure of the cleaning assembly shown in fig. 9. The roller brush 32 is provided with a guide groove 320 in a winding arrangement, and the guide groove 320 is used for uniformly guiding the air flow from one side of the roller brush 32 to the other side when the roller brush 32 rolls, so that the air flow flows through the roller brush 32 to blow off dirt on one side of the roller brush 32.

When the cleaning device 100 is used for cleaning, the rolling brush 32 continuously rolls and is in rolling contact with the ground, the diversion trench 320 which is arranged in a spiral manner is arranged on the rolling brush 32, so that the rolling brush 32 and the ground form a ventilation gap through the diversion trench 320, and then air flow enters the air inlet 101 through the ventilation gap when the fan 50 is in operation, dirt on the rolling brush 32 can be pumped away more efficiently in the process that the air flow flows through the diversion trench 320 and flows through the rolling brush 32, the dirt can enter the sewage bin 24 along with the air flow through the air inlet 101 and the first air flow hole 201, the cleaning capacity of the rolling brush 32 can be effectively improved, the dirt on the rolling brush 32 can be blown away in time, the cleaning capacity of the rolling brush 32 to the bottom surface can be improved, namely the rolling brush 32 can clean the ground in a relatively cleaner state, the cleaning capacity of the rolling brush to the ground is stronger, and the cleaning effect is better.

It will be appreciated that the floor referred to in this application may be a wooden floor, a tile floor, and an attachment thereon, such as a carpet or foot pad.

The cleaning assembly 30 further comprises a driving member 31, wherein the driving member 31 is in transmission connection with the rolling brush 32 and is used for driving the rolling brush 32 to roll. Wherein the driving member 31 is mounted at the front end of the base 10, the driving member 31 may be a stepping motor or a servo motor, etc.

The roller brush 32 comprises a roller 322 and a cleaning layer 324 wrapped on the roller 322, the cleaning layer 324 is provided with a drainage groove 320, and the driving piece 31 is in transmission connection with the roller 322.

The roller 322 is cylindrical, the cleaning layer 324 is wrapped on the roller 322, and the cleaning layer 324 has a strong cleaning effect on the ground, and can be made of plush materials or cotton materials so as to clean the ground through rolling contact with the ground.

Optionally, the rolling brush 32 may further include a roller 322 and brushes surrounding the roller 322, the brushes forming a cleaning layer 324, and the drainage grooves 320 are formed between the brushes.

In this embodiment, the drainage groove 320 is wound around the axis of the roller 322 from one end to the other end of the cleaning layer 324, so that when the rolling brush 32 rolls, the airflow can uniformly flow from the various positions of the rolling brush 32 to the air inlet 101, and the uniformity of cleaning the various positions of the rolling brush 32 is improved.

Alternatively, the roller brush 32 may be provided with a plurality of guide grooves 320 along the axis of the roller 322, or the roller brush 32 may be provided with one, two or three guide grooves 320.

In this embodiment, the rotation directions of the drainage grooves 320 are the same; in other embodiments, the directions of rotation of the plurality of drainage grooves 320 may be different, which is not limited in this application.

The driven end of the roller 322 is rotatably connected with the mounting seat 325 so as to be connected with the base 10 through the mounting seat 325, thereby improving the mounting efficiency of the driven end of the roller 322 and the base 10; the driving end of the roller 322 is provided with a clamping part 326, and the output end of the driving piece 31 is in transmission connection with the clamping part 326 so as to drive the rolling brush 32 to roll through the driving end.

Referring to fig. 11, fig. 11 is a schematic view of a mounting base of the cleaning assembly shown in fig. 10. The mounting seat 325 comprises a positioning structure 327 and a clamping arm 328 connected to one side of the positioning structure 327, the clamping arm 328 comprises a connecting part 321 and an extending part 323, the connecting part 321 is connected with the positioning structure 327 and the extending part 323, and a gap is formed between the extending part 323 and the positioning structure 327; the extending portion 323 is configured to form a locking relationship with the external mounting position, and release the locking relationship between the extending portion 323 and the external mounting position when the extending portion 323 is pressed against the positioning structure 327.

As shown in fig. 4, the side wall of the first mounting groove 11 is provided with a positioning groove 110, and the positioning structure 327 is at least partially accommodated in the positioning groove 110, so that the mounting seat 325 and the side wall of the first mounting groove 11 are initially positioned; the wall surface of the positioning groove 110 is provided with a clamping groove, one side of the extending part 323 facing the wall surface is provided with a clamping block, and when the positioning structure 327 is slidably embedded into the positioning groove 110, the clamping block is in clamping connection with the clamping groove so as to fasten the mounting seat 325 and the positioning groove 110, and achieve a high-efficiency connection relationship between the mounting seat 325 and the positioning groove 110.

The extending portion 323 and the positioning structure 327 form a gap, so that the extending portion 323 has certain elasticity relatively, connection convenience of the clamping block and the clamping groove is improved, connection relationship between the clamping block and the clamping groove is relieved by deforming the extending portion 323 to the positioning structure 327, and efficient and convenient detachment action between the mounting seat 325 and the positioning groove 110 can be achieved.

In other words, the mounting seat 325 is rotatably connected to the driven end of the roller 322, so that the efficiency of mounting and dismounting the roller 32 from and to the side wall of the first mounting groove 11 can be effectively improved.

Alternatively, the driven end of the roller 322 may also be directly rotatably coupled to the side wall of the first mounting groove 11.

As shown in fig. 10, the driving member 31 includes a motor 310, a transmission member 311 and a adapting member 312, the motor 310 is mounted on the base 10, the motor 310 and the rolling brush 32 are arranged in parallel at intervals, the motor 310 is also in a cylindrical structure, and the motor 310 and the rolling brush 32 are compacter due to the parallel arrangement of the intervals between the motor 310 and the rolling brush 32, and the occupied space on the base 10 is relatively regular, so that the structural compactness of the cleaning device 100 is improved; the adapter 312 is clamped with the clamping part 326, so that the connection efficiency between the adapter 312 and the driving end of the roller 322 is high, and the transmission piece 311 is connected between the output end of the motor 310 and the adapter 312.

Wherein the transmission member 311 can be a belt or a chain, etc.; the clamping portion 326 is a clamping groove structure, one end of the adapter member 312 is clamped with the clamping groove structure, or the clamping portion 326 is a protruding structure, and the adapter member 312 is provided with the clamping groove structure clamped with the protruding structure.

Referring to fig. 3, 4, 12 and 13 in combination, fig. 12 is a schematic view of the structure of the cleaning assembly and the infusion assembly in the cleaning device shown in fig. 3, and fig. 13 is a schematic view of the exploded structure of the cleaning assembly and the infusion assembly shown in fig. 12.

The cleaning assembly 30 further includes a scraper 34, the scraper 34 being disposed on one side of the roller brush 32 to scrape the roller brush 32 and collect the sewage on the roller brush 32 to further clean the roller brush 32.

The cleaning layer 324 has a certain elasticity, and the scraping plate 34 scrapes the cleaning layer 324, so that the sewage, dirt and the like carried by the cleaning layer 324 can be cleaned, and the cleaning effect on the rolling brush 32 is realized.

The scraper 34 is provided with an air vent 340, and the air vent 340 is used for passing air flow so that the air flow also sucks sewage on the scraper 34.

Specifically, the scraping plate 34 is oppositely arranged between the confluence plate 13 and the first airflow port 201 and is positioned at one side of the rolling brush 32 close to the water tank 20, and the scraping plate 34 is used for scraping the rolling brush 32 and collecting sewage on the rolling brush 32; the air passing hole 340 is arranged corresponding to the collecting area of the collecting plate 13, and the air flow generated by the fan 50 also passes through the air passing hole 340 to carry the sewage on the scraper 34 into the sewage bin 24, so that the efficient cleaning of the rolling brush 32 is realized.

The cleaning assembly 30 includes a sprinkling member 36, wherein the sprinkling member 36 is covered on the roller brush 32 for sprinkling the cleaning liquid to the roller brush 32.

The sprinkling member 36 comprises a sprinkling cover 361 and a sprinkling cover 362, wherein the sprinkling cover 361 is a semi-cylindrical shell and covers the rolling brush 32, a liquid collecting tank 363 is arranged on the sprinkling cover 361, a plurality of sprinkling holes are arranged at the bottom of the liquid collecting tank 363 and are used for sprinkling water to the rolling brush 32, the sprinkling cover 362 is detachably connected with the sprinkling cover 361 and covers the liquid collecting tank 363, and liquid is supplied to the liquid collecting tank 363 through the sprinkling cover 362.

The infusion assembly 70 comprises a pipeline 71, a liquid pump 72 and a water flow detector 73, wherein the liquid pump 72 and the water flow detector 73 are arranged on the pipeline 71, one end of the pipeline 71 is communicated with the infusion hole 205, the other end of the pipeline is communicated with the water spraying cover 362, the liquid pump 72 is used for providing power to convey cleaning liquid stored in the clean water bin 22 to the liquid collecting tank 363, and the water flow detector 73 is used for determining whether the liquid stored in the clean water bin 22 is exhausted by detecting whether water flow exists in the pipeline 71 or not so as to promote a user to timely supplement the cleaning liquid or send a signal to enable the cleaning device 100 to automatically feed liquid.

In this embodiment, the scraper 34 is connected to the sprinkler cover 361, and the cleaning assembly 30 further includes an air passage tube 364 connected to the sprinkler cover 361, wherein one port of the air passage tube 364 is disposed corresponding to the air port 340, and the other port thereof is communicated with the first air flow hole 201.

Referring to fig. 2 and 14 in combination, fig. 14 is a schematic view of a first wiper strip in the cleaning apparatus shown in fig. 2. The cleaning assembly 30 further includes a first scraping strip 37, where the first scraping strip 37 is connected to the bottom surface of the base 10, and is used to scrape the cleaning surface (floor) where the cleaning device 100 passes when the cleaning device 100 performs a cleaning operation, so as to reduce water stains on the cleaning surface, and further improve the cleaning effect.

The first scraping strip 37 is spaced from the rolling brush 32 and is located between the water tank 20 and the rolling brush 32, so as to scrape the cleaned surface of the rolling brush 32.

The first scraper bar 37 is arranged in particular at the air inlet 101 of the base 10, so that dirt collected by scraping can be sucked through the air inlet 101 into the dirt bin 24.

In this embodiment, the first scraping strip 37 is an integral body, and two ends of the first scraping strip 37 protrude from two ends of the rolling brush 32 respectively, so as to fully cover the cleaning surface through which the rolling brush 32 passes, and effectively remove the residual dirt on the ground.

The length direction of the first scraping strip 37 is parallel to the axial direction of the roller brush 32, and the length of the first scraping strip 37 is greater than the length of the roller brush 32 in the axial direction, so that the first scraping strip 37 can cover the cleaning surface through which the roller brush 32 passes with a relatively small length dimension.

Alternatively, the first wiper strip 37 may also be arranged obliquely with respect to the roller brush 32.

At least two groups of driving assemblies 40 are arranged on the base 10 at intervals, and the distance between the driving assemblies 40 along the axial direction of the rolling brush 32 is smaller than the length of the first scraping strip 37, so that the first scraping strip 37 can clean the ground on which the two groups of driving assemblies 40 walk, sanitary dead angles are eliminated, and the cleaning of marks left by the driving assemblies 40 when the ground walks is facilitated.

Referring to fig. 14 and 15, fig. 15 is a schematic cross-sectional view of the first wiper strip of fig. 14 along the AA direction. In this embodiment, the first scraping strip 37 includes a scraping strip seat 370 and a flexible scraping arm 372 connected with the scraping strip seat 370 in a bending manner, the flexible scraping arm 372 is inclined or vertically disposed relative to the scraping strip seat 379 to form an L shape, the scraping strip seat 370 is connected to the bottom surface of the base 10, and the flexible scraping arm 372 is used for scraping the cleaning surface passed by the cleaning device 100 when the base 10 moves.

The scraper bar seat 370 may be made of a flexible material or a non-flexible material, and the flexible scraper arms 372 are made of a flexible material, so that they have a buffering effect with the ground, so that they can be prevented from being in hard contact with the ground, and the roller brush 32 or the driving assembly 40 can be prevented from being separated from the ground due to the hard contact with the ground.

The flexible wiper arm 372 may be inclined or vertically disposed relative to the wiper strip holder 379 to facilitate its abutting relationship with the floor surface for cleaning the floor surface.

In this embodiment, the flexible scraping arm 372 is disposed obliquely with respect to the scraping strip seat 379 to form an oblique L-shaped structure.

Under the natural state, the included angle formed between the flexible scraping arm 372 and the scraping strip seat 370 is more than or equal to 60 degrees and less than or equal to 120 degrees, and in the angle range, the flexible scraping arm 372 is less in material quality and is easy to be abutted against the ground, and has stronger scraping force on the ground, so that the cleaning effect is better.

For example, the angle formed between the flexible wiper arm 372 and the wiper strip holder 370 may be 60 degrees, 70 degrees, 80 degrees, 90 degrees, 100 degrees, 110 degrees, 120 degrees, or the like.

The flexible scraping arm 372 is in a block shape, one end of the flexible scraping arm 372 far away from the scraping strip seat 370 is provided with two parallel scraping edges 373, and the scraping edges 373 are used for scraping a cleaning surface where the cleaning device 100 passes so as to form a close-to-line contact relationship between the scraping edges 373 and the ground and improve the cleaning effect on the ground.

The scraping strip seat 370 comprises a seat 374 and a flexible cantilever 375 suspended on one side of the seat 374, and the flexible scraping arm 372 is connected to one end of the flexible cantilever 375 far away from the seat 374; the base 374 is connected to the bottom surface of the base 10, and the flexible cantilever 375 is spaced from the base 374, so as to facilitate deformation of the flexible cantilever 375, so that the flexible scraping arm 372 has a higher flexibility, and further, a larger interference force formed by the flexible scraping arm 372 can be effectively avoided.

The cleaning assembly 30 further includes a fastener, the base 374 includes a flexible portion 376 and a rigid portion 377, the flexible portion 376 being connected between the flexible cantilever 375 and the rigid portion 377, the rigid portion 377 being connected to the base 10 by the fastener. The fastener may be a screw or pin, etc.

As shown in fig. 2, the cleaning assembly 30 further includes a second scraping strip 38, where the second scraping strip 38 is connected to the base 10 for scraping the rolling brush 32, and is disposed on two sides of the rolling brush 32 separately from the first scraping strip 37.

In other words, the second scraping strip 38 and the scraping plate 34 scrape the rolling brush 32 twice, so that dirt on the rolling brush 32 can be effectively removed, and the cleaning effect of the rolling brush 32 is improved.

In this embodiment, the amount of compression of the roller brush 32 against the cleaning surface is smaller than the amount of compression of the roller brush 32 against the second wiper strip 38. For example, the brush length of the roller brush 32 is 7 mm, the compression amount of the roller brush 32 relative to the ground is 3 mm, and the compression amount of the roller brush 32 relative to the second scraping strip 38 is 5 mm, so that the second scraping strip 38 can clean the roller brush 32 more deeply to ensure that dirt on the roller brush 32 is cleaned.

Further, as shown in fig. 3, the cleaning device 100 further includes an anti-collision cover 101, and the anti-collision cover 101 is elastically installed at the front end of the base 10 for protecting the cleaning device 100 to reduce collision damage of the cleaning device 100.

The anti-collision cover 101 is provided with a charging station 102, and the charging station 102 is used for docking an external power supply to charge the battery 60.

The cleaning apparatus 100 further includes a radar 104 disposed at a front end of the base 10, the radar 104 being configured to guide the cleaning apparatus 100 to advance, and a control device electrically connected to the motor 310, the radar 104, and the two driving assemblies 40, and configured to control the two driving assemblies 40 and the motor 310 to operate based on signals detected by the radar 104.

The components arranged at the front end of the base 10 can enable the rolling brush 32 to have stronger pressure with the ground, thereby being beneficial to cleaning the ground by the rolling brush 32.

As shown in fig. 3 and 4, the base 10 is further provided with a mounting table 14, the mounting table 14 is connected with a side wall of the accommodating space 12 and is located in the accommodating space 12, the fan 50 is mounted on the mounting table 14 and is clamped with the water tank 20, and an air port of the fan 50 is abutted against the second air flow port 202 so as to place the fan 50 in the accommodating space 12, on one hand, the water tank 20 can be further positioned and supported, and on the other hand, by placing the fan 50 in the accommodating space 12, the structure of the cleaning device 100 can be more compact, and miniaturization and light weight are facilitated.

Referring to fig. 3 and 16, fig. 16 is a schematic view of another exploded structure of the cleaning device shown in fig. 1. The cleaning device 100 further includes a silencing component 90, where the silencing component 90 is connected to the fan 50, and is used for silencing wind noise generated by the fan 50. Wherein the noise abatement assembly 90 includes a noise abatement layer 91 and a filter screen 92 arranged in a stacked arrangement, the filter screen 92 being arranged on a side of the noise abatement layer 91 facing away from the fan 50. The filter screen 92 is used for filtering impurities, avoiding the impurities from entering the fan 50, and the noise reduction layer 91 plays a role in noise reduction so as to reduce the operation noise of the fan 50. The sound deadening layer 91 may be sound absorbing cotton or the like.

Referring to fig. 16 and 17, fig. 17 is a schematic view of an exploded structure of a head cover assembly in the cleaning device shown in fig. 16. The top cover assembly 80 is detachably connected with the base 10, the filter screen 92 is connected with the top cover assembly 10, and the silencing layer 91 is connected with the fan; the top cover assembly 80 includes a top cover 81 and a cover plate 82, the top cover 81 is provided with a receiving opening 810, the water tank 20 can be assembled in the receiving space 12 through the receiving opening 810, and the cover plate 82 covers the receiving opening 810 and is magnetically connected with the top cover 81.

When the cleaning solution of the water tank 20 is exhausted or the sewage bin 24 is fully stored, the cover plate 82 can be opened to replace the water tank 20, so that the convenience of replacing the water tank 20 is improved.

One of the top cover 81 and the cover plate 82 is provided with a magnet, and the other is provided with a ferromagnetic body, wherein the magnet and the ferromagnetic body are magnetically attracted.

With continued reference to fig. 3 and 4, the base 10 is further provided with a second mounting groove 15, and the second mounting groove 15 is disposed at two sides of the accommodating space 12 and located between the cleaning assembly 30 and the fan 50; the driving assembly 40 is mounted in the corresponding second mounting groove 15, and the driving assembly 40 is used for driving the base 10 to walk.

The second mounting groove 15 is located in the middle of the base 10, and the two sets of driving assemblies 40 are disposed on two sides of the water tank 20, so that the driving assemblies 40 can bear the weight of the water tank 20, so as to avoid the water tank 20 from causing increased pressure on the rolling brush 32 located at the front end of the base 10.

The base 10 is also provided with a third mounting groove 16, and the third mounting groove 16 is arranged between the second mounting groove 15 and the fan 50; the battery 60 is mounted in the third mounting groove 126 and electrically connects the driving assembly 40, the cleaning assembly 30, the infusion assembly 70 and the blower 50 to promote the compactness of the cleaning device 100 by fully utilizing the space on the base 10, which is advantageous for its miniaturization.

Referring to fig. 18 and 19, fig. 18 is a schematic view of a structure of a driving assembly in the cleaning apparatus shown in fig. 3, and fig. 19 is a schematic view of an exploded structure of the driving assembly shown in fig. 18.

In the present embodiment, the driving assembly 40 includes a mounting member 41, a cantilever 42, an in-wheel motor 43, and a suspension member 44, the mounting member 41 including a first support wall 411 and a second support wall 412 disposed at intervals; the first end of the cantilever 42 is rotatably connected to the first support wall 411; the hub motor 43 is rotatably coupled to the second end of the cantilever 42; the hanger member 44 connects the first end of the cantilever 42 with the second support wall 412, and the hanger member 44 is in an elastically stretched state, and the stretched length of the hanger member 44 is changed with the rotation of the cantilever 42 relative to the first support wall 411.

Specifically, the mounting member 41 is of a shell structure and is mounted in the third mounting groove 16, the cantilever 42 is automatically adjusted by the pressure borne by the in-wheel motor 43 to rotate at an angle relative to the first supporting wall 411, the hanging member 44 may be a tension spring or an elastic belt, etc., and the hanging member 44 is used for providing an elastic force to buffer the rotation of the cantilever 42, so that the driving assembly 40 has a shock absorbing effect, which is beneficial to the smooth running of the cleaning device 100.

By providing the in-wheel motor 43 as the traveling wheel of the cleaning apparatus 100 to utilize the high integration of the in-wheel motor 43, the volume occupied by the traveling driving mechanism in the cleaning apparatus 100 can be effectively reduced, the size of the cleaning apparatus 100 can be further reduced, and the cleaning apparatus is also convenient to be mounted on the base 10.

The mounting member 41 has an opening 410, and the in-wheel motor 43 contacts a support surface, which is the ground, through the opening 410; the cantilever 42 has a rotation hole and a fixing post 422 at a first end, the rotation hole is disposed adjacent to the opening 410 with respect to the fixing post 422, the rotation hole is rotatably connected to the first supporting wall 411 through a rotation shaft, one end of the hanging member 44 is connected to the fixing post 422, and the other end is connected to the second supporting wall 412.

Specifically, the first end of the cantilever 42 has two corners, the rotation hole and the fixing post 422 are respectively disposed at one of the corners, and the rotation hole is disposed adjacent to the opening 410 with respect to the fixing post 422, so that the fixing post 422 has a larger rotation range when the cantilever 42 rotates, i.e. the suspension member 44 has a larger elastic deformation range, so that the suspension member 44 can provide a buffering effect in a larger range, and the driving assembly 40 has a good anti-vibration effect.

In this embodiment, the suspension member 44 is a tension spring, one end of the tension spring is connected to the fixing post 422, and the other end of the tension spring is connected to the second supporting wall 412.

Further, the driving assembly 40 further includes an inductor 45, and the inductor 45 is used for detecting the ground separation of the hub motor 43.

The sensing member 45 may be a distance sensor for detecting a ground distance to determine whether the in-wheel motor 43 is off the ground by whether the ground distance reaches a preset threshold. The sensing member 45 may also be a trigger sensor that the in-wheel motor 43 may trigger when it is off the ground.

In this embodiment, the sensing member 45 is a trigger sensor, the first end of the cantilever 42 is further provided with an abutment portion 423, and the cantilever 42 rotates to a preset position relative to the first supporting wall 411 to make the abutment portion 423 abut against the sensing member 45, so that the sensing member 45 detects that the in-wheel motor 43 is off the ground.

When the sensing member 45 detects that the in-wheel motor 43 is out of the ground, the signal state thereof is changed, for example, the signal sent by the sensing member is changed from a high level signal to a low level signal or from the low level signal to the high level signal; either it is changed from a continuously output signal to a signal interrupt, or it is changed from no signal to an output signal, so that the sensing member 45 can be triggered to sense that the hub motor 43 is grounded.

Specifically, the mounting member 41 further includes a top wall 414 connected to the first supporting wall 411 and the second supporting wall 412, the top wall 414 is provided with a limiting opening 415, the sensing member 45 is connected to the top wall 414 and located at a side of the limiting opening 415 away from the first supporting wall 411, and the abutting portion 423 penetrates the limiting opening 415 and moves in the limiting opening 415 along with rotation of the cantilever 42.

When the in-wheel motor 43 gradually moves away from the ground, the abutting portion 423 is made to approach the sensing piece 45 in the limiting port 415 and finally abuts against the sensing piece 45.

The top wall 414 is provided with two fasteners 416 and a positioning column 417 arranged between the two fasteners 416 at intervals, and the sensing piece 45 is assembled with the positioning column 417 in a positioning way and is clamped with the two fasteners 416, so that the sensing piece 45 can be conveniently connected to the top wall 414.

Alternatively, the sensing element 45 may be secured to the top wall 414 by adhesive or by means of a fastener connection.

Further, the top wall 414 is further provided with at least one ventilation opening 418 to communicate with the space in the mounting member 41 and the opening 410, which facilitates air circulation, thereby improving heat dissipation efficiency of the hub motor 43.

The cantilever 42 has a first line port at a first end thereof, and the first support arm 411 has a second line port corresponding to the first line port for the passage of a wire connected to the in-wheel motor 43.

In other words, the wires for supplying power to the in-wheel motor 43 and transmitting signals are transmitted outwards through the cantilever 42 and the first supporting arm 411, so as to avoid the abrasion caused by the exposed wires or the winding and knotting with other wires.

As shown in fig. 2 and 3, in the present embodiment, two driving assemblies 40 are disposed on the base 10 at intervals, so as to drive the base 10 to walk; the cleaning component 30 is connected with the base 10 and is positioned at one side of the two driving components 40 for cleaning the cleaning surface; wherein the center of gravity of the cleaning device 100 is located within a triangle formed by the center points of the wheels of the two drive assemblies 40 and the center three points of the axis of the cleaning assembly 30.

In other words, the cleaning device 100 is supported mainly by the two driving assemblies 40 and the cleaning assembly 30.

Further, the cleaning device 100 further includes a universal wheel 103, where the universal wheel 103 is connected to the base 10 and located at a rear end of the base 10 away from the cleaning component 30, and is separated from the cleaning component 30 on two sides of the two driving components 40; the universal wheels 103 are used to assist in supporting the base 10 when the cleaning device 100 is over an obstacle.

In the normal walking state of the cleaning device 100, the universal wheels 103 hardly support the ground, the gravity center of the cleaning device 100 is located in a triangular area formed by the center points of the wheels of the two driving assemblies 40 and the center three points of the axis of the cleaning assembly 30, the gravity of the cleaning device 100 is shared by the two driving assemblies 40 and the cleaning assembly 30, the universal wheels 103 only assist in supporting the base 10 when the cleaning device 100 is over the obstacle, so that the dead weight of the cleaning device 100 forms pressure between the cleaning assembly 30 and the ground, the rolling brush 32 has larger contact pressure on the ground, and the cleaning effect of the rolling brush 32 on the ground can be improved.

Alternatively, the center of gravity of the cleaning apparatus 100 is relatively close to the two drive assemblies 40, such that a majority of the weight of the cleaning apparatus 100 is borne by the two drive assemblies 40, and less pressure is borne on the cleaning assembly 30, which is beneficial in reducing the rate of wear of the cleaning assembly 30.

Optionally, the center of gravity of the cleaning device 100 is relatively close to the cleaning assembly 30, so that the cleaning assembly 30 bears more gravity of the cleaning device 100, and the cleaning device 100 can be more tightly contacted with the floor, so that the cleaning effect is better.

In this embodiment, the pressing force borne by the rolling brush 32 is less than or equal to 50% of the weight of the cleaning device 100, so that the rolling brush 32 can have better contact with the ground, relatively reduce abrasion, and prolong the service life of the rolling brush 32.

For example. The roll brush 32 carries a downforce of 20%, 30% or 40% by weight of the cleaning device 100.

The axis of the rolling brush 32 is parallel to the center lines of the driving wheels of the two driving assemblies 40, and the interval between the axis of the rolling brush 32 and the center line of the driving wheels is 5cm or more and 40cm or less.

For example, the spacing between the axis of the roller brush 32 and the centerline of the drive wheel may be 5cm, 10cm, 15cm, 20cm, 25cm, 30cm, 35cm, or 40cm.

The number of the roller brushes 32 may be one; or the number of the rolling brushes 32 is at least two, at least two rolling brushes 32 are arranged at intervals, and the axes of the rolling brushes 32 are parallel, that is, a plurality of rolling brushes 32 can be arranged on the base 10 for cleaning, which is not particularly limited in the application.

The base 10 is further provided with a floor recognition sensor (not shown) and/or an acceleration sensor (not shown), wherein the floor recognition sensor is used for detecting a floor material of the floor on which the cleaning device 100 is currently located, and the acceleration sensor is used for sensing an acceleration of the cleaning device 100, so that the cleaning device 100 can conveniently adjust an operation strategy.

Referring to fig. 20, fig. 20 is a schematic flow chart of an embodiment of a method for operating a cleaning device 100, where the method includes:

s10: when the cleaning device 100 is retreated, the current operation state of the cleaning device 100 is detected.

The cleaning device 100 has two operation states of forward and backward, and when the cleaning device 100 is forward, the rotation direction of the rolling brush 32 coincides with the rotation direction of the driving wheel of the cleaning device 100, which is the in-wheel motor 43.

Forward running state, the front end of the base 10 is forward; and in a backward running state, the rear end of the base 10 is in front.

When the cleaning device 100 needs to be retreated, the rotation direction of the driving wheel is changed to execute the retreating action, and in the normal running state, the cleaning device 100 keeps normal running without slipping and other conditions; in the event of an abnormal situation in which the drive wheel slips during backward travel, an adjustment of the operating strategy of the cleaning device 100 is required.

Specifically, when the driving wheel is traveling backward, the traveling speed, acceleration or position thereof may be lower than expected due to slip or excessive friction, etc., and the current operation strategy of the cleaning device 100 needs to be adjusted.

Optionally, the current operating state includes a floor material of the current floor upon which the cleaning device 100 walks. For example, the floor recognition sensor on the base 10 detects that the floor material of the current floor is a blanket, and the traveling speed, acceleration or position of the cleaning device 100 is lower than expected due to the blanket having a large friction coefficient and the friction force generated when the driving wheel travels thereon is large.

Specifically, the cleaning device 100 may have a preset material library, in which materials with a larger friction coefficient, including carpets, sweaters, or sand papers, are stored, and when the floor recognition sensor detects that the floor material of the front floor belongs to the preset material library, the current operation strategy of the cleaning device 100 is adjusted, so that the traveling speed, acceleration, or position of the cleaning device 100 can meet the expectations.

Optionally, the current operating state includes a current acceleration of the cleaning device 100 while walking. For example, if the current set acceleration of the cleaning apparatus 100 is 5 cm per square second and the current acceleration detected by the acceleration sensor is 2 cm per square second, and the current acceleration is lower than the current set acceleration, it is necessary to adjust the current operation strategy of the cleaning apparatus 100 so that the acceleration of the cleaning apparatus 100 can meet the expectation.

Optionally, the current operating state includes a current speed of the cleaning device 100 while walking. For example, if the current set speed of the cleaning device 100 is 5 cm per second and the current speed detected by the speed sensor is 2 cm per second, and the current speed is lower than the current set speed, it is necessary to adjust the current operation strategy of the cleaning device 100 so that the acceleration of the cleaning device 100 can meet the expectation.

Optionally, the current operating state includes a current position of the cleaning device 100 on a built-in map. For example, the current preset position of the cleaning device 100 on the built-in map should be at the a position, and the current position of the cleaning device 100 on the built-in map is actually at the B position, which is the position before proceeding to the a position, then the current operation strategy of the cleaning device 100 needs to be adjusted so that the current position of the cleaning device 100 can meet the expectations.

S20: in response to the current operation state meeting the trigger condition, the rotational direction of the rolling brush 32 of the cleaning device 100 is adjusted to coincide with the rotational direction of the driving wheel of the cleaning device 100.

When the cleaning device 100 is retreated, the retreating power of the cleaning device 100 is assisted to be intensified by adjusting the rotation direction of the rolling brush 32 to coincide with the rotation direction of the driving wheel so that the traveling speed, acceleration or position thereof satisfies the expectation or approaches the expectation.

Optionally, the current running state includes a ground material of the current ground when the cleaning device 100 walks, and the triggering condition is that the ground material belongs to a material in a preset material library. Wherein the material in the preset material library is a material with a larger friction coefficient, and the traveling speed, acceleration or position of the driving wheel is lower than expected when the driving wheel walks on the material, so that the "the rotation direction of the rolling brush 32 of the cleaning device 100 is adjusted to be consistent with the rotation direction of the driving wheel of the cleaning device 100" can be triggered when the ground material at the identification position belongs to the material in the preset material library.

Optionally, the current operating state includes a current acceleration of the cleaning device 100 while walking, and the triggering condition is that the current acceleration is less than a preset acceleration provided by the cleaning device 100.

Optionally, the current operating state includes a current speed of the cleaning device 100 while walking, and the triggering condition is that the current speed is less than a preset speed provided by the cleaning device 100.

Optionally, the current operation state includes a current position of the cleaning device 100 on the built-in map, and the triggering condition is that the current position does not change relative to the position of the cleaning device 100 at the previous time.

Further, the operation method further comprises the following steps:

S30: in response to the cleaning apparatus 100 being switched from backward to forward, the rotational direction of the roller brush 32 of the cleaning apparatus 100 is adjusted to coincide with the rotational direction of the driving wheel of the cleaning apparatus 100.

By restricting the rotational direction of the rolling brush 32 of the cleaning device 100 to coincide with the rotational direction of the driving wheel of the cleaning device 100 in the advanced state of the cleaning device, it is ensured that the cleaning device 100 can clean the floor more efficiently.

Based on this, the present application further provides a computer device 600, please refer to fig. 21, fig. 21 is a schematic structural diagram of an embodiment of the computer device of the present application, in this embodiment, the computer device 600 includes a processor 610 and a memory 620, the processor 610 is coupled to the memory 620, the memory 620 is used for storing a program, and the processor 610 is used for executing the program to implement the operation method of the cleaning device 100 of any of the above embodiments.

The computer device 600 may be a control device in the cleaning apparatus 100, which is communicatively connected to the cleaning assembly 30 and the driving assembly 40 to implement the operation method.

Specifically, the computer device 600 communicatively connects the drive wheel, which is the in-wheel motor 43, with the roller brush 32 to implement the above-described method of operation.

The computer device 600 may be a codec. The processor 610 may also be referred to as a CPU (Central Processing Unit ). The processor 610 may be an integrated circuit chip with signal processing capabilities. Processor 610 may also be a general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components. The general purpose processor 610 may be a microprocessor or the processor may be any conventional processor or the like.

Based on this, the present application further provides a storage device 700, please refer to fig. 22, fig. 22 is a schematic structural diagram of an embodiment of the storage device provided in the present application, in this embodiment, the storage device 700 stores program data 710, and the program data 710 can be executed by a processor to implement the operation method of the cleaning device 100 of any one of the embodiments.

Wherein the program data 710 may be stored in the form of a software product in the storage means 700 described above, comprising instructions for causing an apparatus or processor to perform all or part of the steps of the methods of the various embodiments of the present application.

Storage 700 is the medium in computer memory used to store some discrete physical quantity. And the aforementioned storage device 700 includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk or an optical disk, or other various media capable of storing the program data 710 code.

The foregoing description is only exemplary embodiments of the present application and is not intended to limit the scope of the present application, and all equivalent structures or equivalent processes using the descriptions and the drawings of the present application, or direct or indirect application in other related technical fields are included in the scope of the present application.

Claims

1. A method of operating a cleaning device, the method comprising:

detecting a current operating state of the cleaning device when the cleaning device is retreated;

and in response to the current running state meeting a trigger condition, adjusting the rotation direction of the rolling brush of the cleaning device to be consistent with the rotation direction of the driving wheel of the cleaning device.

2. The method according to claim 1, wherein the current running state includes a floor material of a current floor when the cleaning device walks, and the trigger condition is that the floor material belongs to a material in a preset material library.

3. The method of claim 1, wherein the current operating state comprises a current acceleration of the cleaning device while walking, and the triggering condition is that the current acceleration is less than a preset acceleration provided by the cleaning device.

4. The method of claim 1, wherein the current operating state comprises a current speed of the cleaning device while walking, and the trigger condition is that the current speed is less than a preset speed provided by the cleaning device.

5. The method of claim 1, wherein the current operating state comprises a current position of the cleaning device on a built-in map, and the trigger condition is that the current position does not change relative to a position of the cleaning device at a previous time.

6. The method of operation of claim 1, further comprising:

in response to the cleaning device being switched from backward to forward, the rotational direction of the roller brush of the cleaning device is adjusted to coincide with the rotational direction of the drive wheel of the cleaning device.

7. A storage device having stored thereon program data, wherein the program data, when executed by a processor, implements the steps of the method of operating a cleaning device as claimed in any one of claims 1 to 6.

8. A computer device comprising a processor and a memory connected to each other, the memory storing a computer program, which processor, when executing the computer program, carries out the steps of the method of operating a cleaning apparatus according to any one of claims 1-6.

9. A cleaning device comprising a base, a drive wheel, a roller brush, and the computer device of claim 8, wherein the drive wheel, the roller brush, and the computer device are all mounted on the base, and wherein the computer device is communicatively coupled to the drive wheel and the roller brush.

10. The cleaning device of claim 8, further comprising a floor identification sensor mounted to the base for detecting a floor material of a floor on which the cleaning device is currently located; and/or

The cleaning device further comprises an acceleration sensor arranged on the base.