WO2023134721A1 - 一种清洁装置 - Google Patents

一种清洁装置 Download PDF

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Publication number
WO2023134721A1
WO2023134721A1 PCT/CN2023/071879 CN2023071879W WO2023134721A1 WO 2023134721 A1 WO2023134721 A1 WO 2023134721A1 CN 2023071879 W CN2023071879 W CN 2023071879W WO 2023134721 A1 WO2023134721 A1 WO 2023134721A1
Authority
WO
WIPO (PCT)
Prior art keywords
cleaning
cleaning device
heating element
heating
rotating mechanism
Prior art date
Application number
PCT/CN2023/071879
Other languages
English (en)
French (fr)
Inventor
陈鹏昆
Original Assignee
安克创新科技股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN202220077557.5U external-priority patent/CN217039993U/zh
Priority claimed from CN202220840785.3U external-priority patent/CN217659615U/zh
Application filed by 安克创新科技股份有限公司 filed Critical 安克创新科技股份有限公司
Publication of WO2023134721A1 publication Critical patent/WO2023134721A1/zh

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Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/28—Floor-scrubbing machines, motor-driven
    • A47L11/282—Floor-scrubbing machines, motor-driven having rotary tools

Definitions

  • the invention belongs to the technical field of cleaning devices, and in particular relates to a cleaning device.
  • the cleaning parts of the common cleaning devices with mopping function are similar to towels.
  • the cleaning effect is limited, especially when the indoor temperature is relatively low. Environmental effects are even worse.
  • the embodiment of the present application provides a cleaning device, which can heat the cleaning element, thereby enhancing the ability of the cleaning device to clean up stains.
  • a cleaning mechanism the cleaning mechanism is connected to the host, wherein the cleaning mechanism includes:
  • a cleaning piece is arranged on the carrier assembly, and the cleaning piece is used to clean the area to be cleaned;
  • the heating element is arranged on the bearing assembly and is used for heating the cleaning element.
  • FIG. 1 shows a schematic diagram of a partial structure of a cleaning device according to an embodiment of the present invention
  • Fig. 2 shows a partial structural schematic view of a cleaning device according to another embodiment of the present invention
  • Fig. 3 shows a schematic partial cross-sectional view of a cleaning device according to an embodiment of the present invention
  • Fig. 4 shows a schematic partial cross-sectional view of a cleaning device according to an embodiment of the present invention
  • Fig. 5 shows a schematic diagram of a partial three-dimensional structure of a cleaning device according to an embodiment of the present invention
  • Fig. 6 is a schematic diagram of an exploded structure of the cleaning device shown in Fig. 5;
  • Fig. 7 is a schematic plan view of the planar sectional structure of the cleaning device shown in Fig. 5;
  • Fig. 8 is a partial three-dimensional cross-sectional structural schematic diagram of the cleaning device shown in Fig. 5;
  • Fig. 9 is a schematic diagram of a partially exploded three-dimensional cross-sectional structure of the cleaning device shown in Fig. 5;
  • FIG. 10 is a schematic diagram of a partial exploded structure of the cleaning device shown in FIG. 5 .
  • Cleaning devices such as sweeping and mopping integrated sweepers have three different working modes, single sweeping, single mopping, and sweeping and mopping at the same time, so they can adapt to different floor materials and are the most popular household cleaning devices in recent years.
  • the cleaning parts of traditional sweepers, such as mops, are similar to towels.
  • the cleaning effect is limited, especially in environments with relatively low indoor temperatures. How to improve the actual mopping effect is the direction of continuous research on cleaning devices in recent years.
  • the mopping effect of the cleaning device is mainly improved by the following methods.
  • One is to directly apply a certain pressure to the ground during the rotation or linear movement of the cleaning parts to improve the cleaning effect; the other is to add a certain amount of chemical cleaning to the water tank that sprays the cleaning parts.
  • the cleaning parts disperse the cleaning liquid into the stains in the process of contacting the stains, so as to improve the cleaning effect;
  • the third is to apply a certain vibration on the cleaning parts to simulate the rubbing of people when cleaning the ground.
  • the fourth is to heat the water in the robot's own water tank to enhance the cleaning effect through heating.
  • the force applied to the ground generally cannot exceed a certain ratio of the weight of the whole machine, such as 1/5, otherwise the weight of the machine
  • the position of the cleaning parts will be elevated, affecting the walking of the robot.
  • the chemical cleaning fluid in method 2 is a continuous consumable, which increases the cost of users. Chemicals affect the environment and human health. In addition, the ground after the chemical cleaning fluid is applied is often slippery, and the walking wheels of the robot are easy to slip, which affects the machine. walking track. In mode three, the vibration amplitude of the cleaning part is very small, which has limited effect on improving cleaning.
  • the water heating method of the robot with its own water tank has low thermal efficiency.
  • the power waste is serious.
  • the cleaning parts cannot be allowed to dry themselves to keep them dry.
  • the present invention provides a cleaning device, including: a host; a floor mopping assembly connected to the host, wherein the mopping assembly includes: a carrying assembly; a cleaning piece, arranged on the carrying assembly, The cleaning part is used to clean the area to be cleaned; the heating part is arranged on the bearing assembly and is used to heat the cleaning part.
  • This application can realize the cleaning method of heating the cleaning parts while the cleaning device is walking.
  • the cleaning part can absorb the heat on the heating part, so that the cleaning part has a certain temperature.
  • the ability of the cleaning device to clean up stains is enhanced, and the effect of cleaning stains is improved, thereby improving the cleaning effect of the cleaning device, and also
  • the drying of the cleaning piece with moisture can be realized by heating the cleaning piece, so as to prevent the cleaning piece from becoming moldy and improve its cleaning performance.
  • FIGS. Fig. 3 shows a schematic partial sectional view of a cleaning device according to an embodiment of the present invention
  • Fig. 4 shows a schematic partial sectional view of a cleaning device according to an embodiment of the present invention
  • Fig. 5 shows a schematic partial sectional view of a cleaning device according to an embodiment of the present invention
  • FIG. 6 is a schematic diagram of an exploded structure of the cleaning device shown in FIG. 5
  • FIG. 9 is a partial exploded three-dimensional cross-sectional structural schematic diagram of the cleaning device shown in FIG. 5
  • FIG. 10 is a partial exploded structural schematic diagram of the cleaning device shown in FIG. 5 .
  • the cleaning device in this application may refer to a robot having a cleaning mechanism 200 such as a mop, such as a mopping robot or a sweeping and mopping robot.
  • the cleaning device 10 of the present application includes a main unit 10 a, and the main unit 10 a has an accommodating space inside, and the accommodating space is used for accommodating various components of the cleaning device 10 .
  • the shape of the host 10a can be any shape, for example, the shape of the host 10a is generally cylindrical, elliptical cylindrical, D-shaped and other shapes with a height less than a preset thickness.
  • the main unit 10 a includes a bottom case 101 and a top case.
  • the top case is located on the bottom case 101 and connected to the bottom case 101 .
  • the bottom case 101 and the top case are connected to form an accommodating space, and the bottom case 101 and the top case can be combined together by means of a fastening connection with fasteners (such as screws, bolts) or snap-fitting, wherein the bottom case 101 and the top case There is an accommodation space between the top shells, and the accommodation space is used to accommodate various components of the cleaning device 10 .
  • the bottom case 101 can be integrally molded from materials such as plastic, which includes a plurality of pre-formed grooves, depressions or structural parts for installing or integrating various components of the accommodation space on the bottom case 101 .
  • the top case can also be integrally formed of materials such as plastic, and configured in a shape and size complementary to the bottom case 101 , and provide protection for various components installed in the bottom case 101 .
  • the bottom case 101 and the top case can be detachably combined by various suitable fasteners (such as screws, bolts), and after being combined, the bottom case 101 and the top case are formed at a height lower than the predetermined height.
  • suitable fasteners such as screws, bolts
  • the cleaning device 10 further includes a steering wheel 104 disposed under the main machine 10a, wherein the steering wheel 104 includes a rotation shaft arranged in a vertical direction.
  • the steering wheel 104 can rotate around the axis of rotation within a horizontal 360° range to rotate.
  • a groove (not shown) for accommodating the steering wheel 104 is provided at the bottom of the bottom case 101.
  • the bottom protrudes outward.
  • the steering wheel 104 may be, for example, a universal wheel, or other suitable structures of the steering wheel 104 .
  • the steering wheel 104 includes a wheel body and a base.
  • the steering wheel 104 is located at one end of the front and rear diameters of the cleaning device 10, such as a cleaning robot.
  • the bottom of the bottom shell 101 of the cleaning device 10 is provided with a groove, the base is installed in the groove and can rotate on a horizontal plane parallel to the bottom surface of the base, and the wheel body is installed on the base and can rotate with the base. Rotate in the vertical plane where the horizontal plane is perpendicular.
  • the base generally has a circular configuration, and the wheel body is mounted eccentrically on the circular base.
  • the base includes an inclined surface that is inclined relative to the bottom surface of the base and is adjacent to the wheel so that during cleaning, the inclined surface is in front of the wheel to reduce the resistance of the wheel to the movement of the cleaning device 10 .
  • the cleaning device 10 such as the cleaning robot has only one steering wheel 104
  • the cleaning device 10 may also have two or more steering wheels 104 .
  • the cleaning device 10 may have a first steering wheel and a second steering wheel, the first steering wheel and the second steering wheel are located at one end of the front and rear diameters of the cleaning robot and are spaced apart from each other.
  • the cleaning device 10 further includes a driving assembly, which is detachably connected to the main machine 10a, and at least part of the driving assembly is arranged in the main machine 10a, and is used to drive the cleaning device 10 to travel on the surface to be cleaned.
  • the driving assembly It includes a driving wheel assembly and a driving device, the driving wheel assembly is arranged at the bottom of the main machine 10a, the driving device is arranged in the main machine 10a, and the driving device is configured to drive the driving wheel assembly to rotate.
  • the driving wheel assembly includes a first driving wheel assembly 1051 and a second driving wheel assembly 1052, each of which has its own driving device (such as a motor) that operates independently.
  • the first driving wheel assembly 1051 and the second driving wheel assembly 1052 are independently installed in the grooves at the opposite ends of the transverse diameter of the bottom surface of the bottom shell 101, the transverse diameter is perpendicular to the front and rear diameters, and usually the steering wheel 104 is arranged on the front and rear diameters . Since the two drive wheel assemblies are driven by independent motors, a wider range of steering maneuvers can be provided for the cleaning device 10, such as sharp turns, gradual turns, and in-situ turns. Mounting the two drive wheel assemblies at opposite ends of the transverse diameter provides cleaning device 10 with greater steering capability.
  • the cleaning device 10 also includes a user interface (not shown), such as various buttons and a status display unit, etc., which can be arranged on the top case or side wall of the cleaning device 10 to receive one or more user commands and /or display the current status of the cleaning device 10 .
  • the user interface can communicate with the control device, so that one or more user commands received by the user interface can cause the cleaning device 10 , such as a cleaning robot, to perform procedures such as sweeping, mopping, and the like.
  • the cleaning device 10 of the present application also includes a communication interface (not shown), and the communication interface may be an interface of any currently known communication protocol, such as a wired interface or a wireless interface, wherein the communication interface may include a Or multiple serial ports, USB ports, Ethernet ports, WiFi, wired network, DVI ports, device integration connection module or other suitable various ports, interfaces, or connections.
  • the communication interface can also access wireless networks based on communication standards, such as WiFi, 2G, 3G, 4G, 6G or combinations thereof.
  • the communication interface receives a broadcast signal or broadcast related information from an external broadcast management system via a broadcast channel.
  • the communication interface further includes a near field communication (NFC) module to facilitate short-range communication.
  • the NFC module may be implemented based on Radio Frequency Identification (RFID) technology, Infrared Data Association (IrDA) technology, Ultra Wideband (UWB) technology, Bluetooth (BT) technology and other technologies.
  • RFID Radio Frequency Identification
  • IrDA Infrared Data Association
  • the cleaning device 10 of the present application further includes a control component
  • the control component includes a processor (not shown) and a memory (not shown), and the processor is used to receive various The signal transmitted by the sensor sends a corresponding control command
  • the control program, parameters and algorithms of the cleaning device 10 are preset in the memory for the processor to call for judgment and decision-making.
  • the processor controls the driver to drive the driving wheel assembly (such as the first driving wheel assembly 1051 or the second driving wheel assembly 1052) to move, turn, etc. according to the program preset in the memory.
  • the program controls the driving device to drive the mopping component or the cleaning component to rotate.
  • a user terminal such as a smart phone is installed with an application program (APP), and the user terminal communicates with the cleaning device 10 through a communication interface, so that the cleaning device 10 can receive user instructions input by the user through the user terminal.
  • APP application program
  • the processor obtains the user instruction, it can control the corresponding components to perform corresponding actions according to the user instruction, such as performing a cleaning action according to the user instruction, or controlling the heating element 202 to be turned on or off according to the user instruction, or controlling the advancement of the driving wheel assembly , back or turn, etc.
  • the cleaning device 10 further includes a cleaning mechanism 200 for cleaning or treating an area to be cleaned such as a floor surface.
  • Cleaning mechanism 200 may include a sweeping assembly and/or a mopping assembly.
  • the cleaning assembly may include an assembly composed of a rolling brush assembly 103 , a dust box structure, a fan structure, an air outlet, and connecting parts among the four.
  • the roller brush assembly 103 that has a certain interference with the area to be cleaned sweeps up the garbage on the area to be cleaned and rolls it to the front of the dust suction port between the roller brush assembly 103 and the dust box structure, and then is generated by the fan structure and passes through the dust box The suction gas of the structure is sucked into the dust box structure, and finally garbage, dust, etc. are temporarily stored in the dust box structure.
  • the cleaning assembly can also include a side brush 107 with a rotating shaft, the rotating shaft is at a certain angle relative to the ground, so as to move debris to the rolling brush area of the cleaning mechanism 200, and the number of side brushes 107 can be reasonably set according to actual needs.
  • a side brush 107 may be provided at both ends of the roller brush assembly 103 respectively.
  • the cleaning device 10 also includes a side brush motor (not shown) for controlling the rotation of the side brush 107 .
  • the mopping assembly when the cleaning mechanism 200 includes a mopping assembly, includes cleaning parts, which can be arranged at the bottom of the main unit 10a of the cleaning device.
  • the main unit 10a A water tank can also be set inside, and water for mopping the floor can be stored in the water tank.
  • the cleaning mechanism 200 can also include a water supply device for providing the clean water in the water tank to the cleaning parts.
  • there is also a Multiple output tiles can be set A water hole, the cleaning piece covers the water outlet hole, and the water supplied by the water supply device can flow into the cleaning piece through the water outlet hole, thereby humidifying the cleaning piece.
  • the cleaning mechanism 200 includes a floor mopping component is mainly taken as an example.
  • the floor mopping assembly can be rotatably connected to the bottom case 101, so that the cleaning ability of the area to be cleaned can be improved by rotating during the mopping process, and the number of mopping assemblies can be one or two or more.
  • the floor mopping assembly may further include a flat structure arranged outside the bottom case and connected to the bottom case.
  • the mopping assembly may include a carrying assembly 201 and a cleaning member 203 disposed on the carrying assembly 201, wherein the carrying assembly 201 may include a connecting portion and a carrying portion, and the connecting portion may be
  • the carrying assembly 201 may include a connecting portion and a carrying portion, and the connecting portion may be
  • the bottom shell 101 is rotatably connected, and the cleaning part 203 can be detachably arranged on the carrier by, for example, pasting or other suitable methods, and faces the outside of the bottom shell, so that it can be used for cleaning the area to be cleaned, optionally , the cleaning element 203 may include a mop.
  • Velcro is provided on the carrying assembly 201, and the cleaning piece 203 is pasted on the carrying piece through the Velcro, or the cleaning piece 203 itself has elasticity, so that it can be sleeved on the carrying assembly 201, or the cleaning piece 203 is provided with an elastic connection (not shown), sleeved on the carrier assembly 201 through elastic connectors, for example, sleeved on the carrier.
  • the shape of the carrier can be circular, fan-shaped, square or any other suitable shape.
  • the bearing part when the mopping assembly of the cleaning mechanism 200 is rotatably connected to the bottom case 101 of the cleaning device, the bearing part may be circular, and the cleaning part may be correspondingly circular.
  • the material of the carrying component 201 may be any suitable material such as plastic material.
  • the connecting portion includes a shaft plug, and the bearing assembly is rotatably connected to the host 10a through the shaft plug.
  • the connection part such as the shaft plug can also be pluggably connected to the host 10a.
  • a driving device for driving the mopping assembly of the cleaning mechanism 200 to rotate such as a motor, may also be provided in the main unit 10a of the cleaning device. , so that the mopping assembly of the cleaning mechanism 200 can rotate.
  • the cleaning device 10 may further include a rotating mechanism 100 , and the rotating mechanism 100 is in transmission connection with the main machine 10a, optionally
  • the above-mentioned connection part may constitute part or all of the rotating mechanism 100.
  • the rotating mechanism 100 includes a rotating shaft 110, a gear 120, and an elastic body 130.
  • the rotating shaft 110 may be a hollow structure, so that the rotating shaft 110 has an accommodating cavity 111.
  • the elastic body 130 is fixedly connected with the rotating shaft 110 and accommodated in the accommodating cavity 111.
  • the gear 120 is sleeved on the rotating shaft 110.
  • the gear 120 and the rotating shaft 110 can rotate synchronously. When the gear 120 is driven by an external force, the gear 120 will Both of the rotating shafts 110 are driven to rotate around the central axis of the rotating shaft 110 at the same time.
  • the cleaning mechanism 200 of the mopping assembly includes a carrying assembly 201, a heating element 202 and a cleaning element 203, the carrying assembly 201 is connected to the rotating shaft 110, and the heating element 202 is set on the carrying assembly 201, The cleaning element 203 is disposed on the heating element 202 .
  • the bearing assembly 201 includes an adapter 210 , a bearing 220 and an elastic member 230 .
  • the adapter 210 is connected with the rotating mechanism 100 .
  • the carrier 220 is movably connected to the adapter 210 , and the elastic member 230 is pressed between the carrier 220 and the adapter 210 . Referring to FIG. 6 , FIG. 7 , FIG. 8 and FIG.
  • the adapter 210 includes an abutment unit 211 , an insertion unit 212 , and a boss 213 .
  • the abutting unit 211 includes a bottom plate 2110, a boss 211a, a stopper 211b and a sleeve 211c.
  • the bottom plate 2110 and the boss 213 extend along the horizontal direction, and the insertion unit 212, the boss 211a and the sleeve 211c extend along the vertical direction.
  • the bottom plate 2110 has an abutment surface 2112 and a limiting surface 2111 facing the cleaning piece 203.
  • the abutting surface 2112 and the limiting surface 2111 are two surfaces in the thickness direction of the bottom plate 2110.
  • the abutting surface 2112 and the limiting surface 2111 are both The directions of the two are opposite, the abutting surface 2112 is set upward, and the limiting surface 2111 is set downward.
  • the insertion unit 212 is connected to the abutment surface 2112 and protrudes upward by a certain length relative to the abutment surface 2112.
  • the insertion unit 212 is accommodated in the accommodating cavity 111.
  • the insertion unit 212 includes a side peripheral surface 212a, and the side peripheral surface 212a is The annular surface, the side peripheral surface 212a cooperates with the accommodating cavity 111 .
  • a limiting groove 212b is defined on the side peripheral surface 212a, and the limiting groove 212b can be formed in a recessed setting depth perpendicular to the axial direction of the insertion unit 212 .
  • the elastic body 130 cooperates with the annular groove 221 , so that the elastic body 130 and the insertion unit 212 form a snap connection relationship. When a downward force is applied to the adapter piece 210 , the elastic body 130 can be disengaged from the engagement with the limiting groove 212 b, thereby unloading the adapter piece 210 from the rotating shaft 110 .
  • the insertion unit 212 When the upward action is set on the adapter 210, the insertion unit 212 can be inserted into the accommodating cavity 111, and the elastic body 130 is set to cooperate with the limiting groove 212b, and the elastic body 130 can support the entire adapter 210. Play the role of clamping and pulling, prevent the insertion unit 212 from detaching from the accommodating cavity 111 under the action of gravity, and ensure that the adapter 210 is stably and reliably fixed on the rotating shaft 110 . Since the elastic body 130 forms a snap-fit connection with the insertion unit 212 , the carrying assembly 201 and the entire cleaning mechanism 200 such as the mopping assembly can realize a detachable connection.
  • the boss 213 is arranged on the side peripheral surface 212a, and the boss 213 protrudes a certain length from the side peripheral surface 212a along the axial direction perpendicular to the insertion unit 212.
  • the rotating shaft 110 is provided with a card slot 112, and the card slot 112 communicates with the receiving unit. Set cavity 111.
  • the boss 213 fits into the engaging groove 112 , and the lower end of the rotating shaft 110 abuts against the abutting surface 2112 . Therefore, the abutting surface 2112 can play a good role in limiting the installation of the adapter 210 .
  • the rotating shaft 110 can apply torque to the entire adapter 210 through the boss 213 , ensuring that the rotating shaft 110 and the adapter 210 rotate synchronously.
  • the boss 211a is connected to the limiting surface 2111, and the boss 211a extends from the limiting surface 2111 to the cleaning member 203.
  • the boss 211a protrudes downward by a certain length relative to the limiting surface 2111, and the sleeve 211c is arranged around the boss 211a.
  • a sliding cavity 211e is formed between the sleeve 211c and the boss 211a.
  • the bearing member 220 includes a sliding portion 222.
  • the sliding portion 222 defines a sliding hole 222a and a matching groove 222b.
  • the matching groove 222b surrounds the sliding hole 222a.
  • the sliding part 222 is slidably matched with the sliding cavity 211e, and the boss 211a is movably matched with the sliding hole 222a;
  • the cross section of the boss 211a can be polygonal, and the sliding hole 222a can be a polygonal hole, so that the boss 211a can only slide in the sliding hole 222a, prevent the boss 211a from rotating in the sliding hole 222a, and ensure that the boss 211a drives the sliding Part 222 rotates synchronously, that is, the entire carrier 220 follows the adapter 210 synchronous rotation.
  • the elastic member 230 is located between the sleeve 211c and the boss 211a.
  • a part of the elastic member 230 can be accommodated in the fitting groove 222b, and the fitting groove 222b can limit the elastic member 230, so that the elastic member 230 Press between the sliding portion 222 and the limiting surface 2111 of the bottom plate 2110 .
  • a sealing ring can be sleeved on the sliding part 222, and the sealing ring is pressed between the sliding part 222 and the sleeve 211c. The sealing ring can seal the sliding cavity 211e and prevent external dust and liquid droplets from intruding into the sliding cavity 211e.
  • a mounting hole 211d may be defined on the protruding post 211a, and the stopper 211b may be a bolt, which is passed through the sliding portion 222 and fits into the mounting hole 211d. Under the action of the elastic member 230, the sliding part 222 will press against the nut of the bolt.
  • the limiting surface 2111 defines the limit position where the sliding part 222 slides upward;
  • the nuts of the bolts define the limit position where the sliding part 222 slides downwards, so the stopper 211 b and the bottom plate 2110 play a limiting role in the up and down sliding of the sliding part 222 .
  • the connection between the carrier 220 and the adapter 210 can be achieved. sliding connection relationship.
  • the mopping assembly of the present application further includes a heating element 202 disposed on the carrying assembly 201 for heating the cleaning element 203 .
  • the heating element 202 can be used to heat the cleaning element to realize the cleaning method in which the robot walks while heating the cleaning element.
  • the drying of the cleaning piece with moisture is realized by heating the cleaning piece, so as to prevent the cleaning piece from becoming moldy and improve its cleaning performance.
  • the cleaning element 203 is disposed on a side of the carrier of the carrier assembly 201 facing the area to be cleaned, and the heating element 202 is embedded in a receiving groove on the carrier.
  • the opening of the receiving groove can face the cleaning element or also face away from the cleaning element.
  • the shape and size of the containing groove match the shape and size of the heating element 202 , so that the containing groove can accommodate the heating element 202 .
  • the area of the heating element 202 is smaller than or equal to the area of the bearing element of the bearing assembly 201 , so that the heating element 202 can be entirely located on the bearing assembly 201 .
  • the area of the heating element 202 is smaller than or equal to that of the cleaning element, so as to prevent the heating element from extending outside the cleaning element, and at the same time ensure the realization of the heating function of the cleaning element.
  • the carrier of the carrier component 201 is provided with a cleaning part fixing area on the side facing the area to be cleaned, which is used to detachably connect the cleaning part and the carrier component.
  • the cleaning part fixing area is arranged on the heating part
  • the outer side of 202 may also be arranged on other suitable positions, such as a heat conducting plate.
  • Velcro may be provided in the fixing area of the cleaning piece, and the cleaning piece may be glued to the Velcro so as to be fixed on the carrying assembly 201 .
  • the heating element 202 can be bent into multiple circles and set on the carrier assembly 201 to increase the heating area, or can be formed of a ring structure, and the ring can be circular, square or any other suitable shape.
  • the heating element 202 includes a heating sheet or a heating wire. Wherein, the heating element 202 can be a sheet-shaped heating sheet, or a ring-shaped heating element. Hot wire.
  • the heating sheet can be in the shape of a thin ring, or the heating wire can be fixed on a groove-shaped support and coiled in a ring shape.
  • the shape of the heating element may be substantially the same as that of the cleaning element, and/or the shape of the heating element may be substantially the same as that of the bearing assembly, for example, the same shape as the carrier of the bearing assembly.
  • the bearing assembly 201 further includes a heat conducting plate 202b, and the surface of the bearing member 220 facing away from the adapter 210 is recessed to form a groove 221, and the heating member 202 is a ring structure, and the heating element 202 can be a resistance wire.
  • the heating element 202 When the heating element 202 is energized, the heating element 202 can convert electrical energy into heat energy.
  • the heating element 202 is arranged in the groove 221, so that the groove 221 is opposite to the heating element 202 The installation plays a limiting role.
  • the heat conducting plate 202b is disposed on the surface of the carrier 220 facing away from the adapter 210 , and the heat conducting plate 202b may be bolted to the carrier 220 .
  • the heat conduction plate 202b covers the groove 221 , and at the same time the heat conduction plate 202b presses against the heating element 202 , so that the heating element 202 is pressed between the heat conduction plate 202b and the carrier 220 .
  • the heat generated by the heating element 202 will be transferred to the heat conducting plate 202b.
  • the heating element 202 may be a film-shaped heating film or the like.
  • the cleaning device of the present application further includes a battery (not shown), which is arranged in the host 10a, and the battery is used to supply power to the heating element 202, and can also be used to provide the cleaning device
  • the electrical energy required for cleaning work such as providing power to each motor during cleaning work.
  • the battery may be optionally provided, or there may be no battery, and the main unit 10a is provided with a plug for connecting to the mains, so that the cleaning robot can be directly powered by the mains.
  • the battery can be a rechargeable battery such as a lithium battery or a nickel-metal hydride battery or other rechargeable batteries.
  • the contacts 106 are connected to mains power via a power cord or via a connector on a base station used with the cleaning device to charge the battery.
  • the heating element 202 is electrically connected to the battery in a wired or wireless manner.
  • the battery is connected to the heating element 202 through a control circuit (not shown), and the control circuit may include a switch circuit or other various capacitors or resistors. and other devices, the switch circuit can include a switch tube, etc., and the processor can control the on and off of the switch circuit, so as to realize the control of the opening and closing of the heating element 202, so as to avoid the continuous heating of the heating element 202 and the continuous heating of the cleaning element, causing danger , and the heating element 202 can be controlled to be turned off when heating is not needed, so as to save battery power.
  • the control circuit may be a circuit provided on a control host in the host 10a.
  • the two positive poles and negative poles of the heating element 202 are electrically connected to the elastic contact 1091 through the connection wire 109 , and the elastic contact 1091 can be connected to the control circuit, and the control circuit is connected to the battery.
  • the shrapnel contact 1091 may be partially located in the connection portion (such as the shaft plug) of the bearing assembly 201, wherein the connection portion may have a cavity in the axial direction, and the two electrodes of the heating element 202 may be respectively arranged on the connection portion In the cavity, the connecting wire 109 can also be arranged in the cavity.
  • the first conductive component 300 can also be electrically connected to the battery, for example, the first conductive component 300 is electrically connected to the control circuit, and the battery is electrically connected through the control circuit.
  • the first conductive component 300 and the second conductive component Two conductive components 400 is electrically connected, and the heating element 202 is electrically connected to the second conductive component 400 , so that the electric connection between the battery and the heating element 202 is realized by wires, so as to supply power to the heating element 202 .
  • the wireless mode is that the battery is inductively connected to the heating element 202.
  • the heating element 202 includes a wireless telex transmission module 1081 and an Wireless transmission receiving module 1082, optionally, wireless transmission module 1081 may include a transmitting coil, wireless transmission receiving module 1082 may include a receiving coil, wireless transmission module 1081 may be electrically connected to a battery such as through The control circuit is electrically connected to the battery, the wireless transmission module 1081 is used to convert electrical energy into electromagnetic waves, and the wireless transmission module 1082 is used to convert electromagnetic waves into electrical energy, so that the heating element 202 is energized and generates heat, thereby realizing wireless heating function, and simplify the structural complexity between the heating element 202 and the host 10a.
  • the receiving coil and the heating component of the heating element 202 may be the same component, or the receiving coil and the heating component of the heating element 202 are two independent but electrically connected components.
  • the cleaning device 10 also includes a plurality of sensors for sensing the surrounding environment, such as a sensor module located above the main unit 10a, a buffer located at the forward portion of the main unit 10a, a cliff sensor and an ultrasonic sensor (not shown in the figure), Infrared sensor (not shown), drop sensor (not shown), magnetometer (not shown), accelerometer (not shown), gyroscope (not shown), fan speed sensor (not shown), odometer (not shown), distance sensor, visual sensor such as camera, dust sensor, collision sensor and other sensing devices, the sensor of the cleaning device of the present application is at least used to perceive the environment around the cleaning device, To provide various position information and motion status information of the cleaning device to the control system.
  • sensors for sensing the surrounding environment, such as a sensor module located above the main unit 10a, a buffer located at the forward portion of the main unit 10a, a cliff sensor and an ultrasonic sensor (not shown in the figure), Infrared sensor (not shown), drop sensor (not shown), magnetometer (
  • the senor can be used to test the distance between the cleaning device and obstacles, whether it is under pressure, whether there is a collision, identify objects, room or ground features, etc.
  • the visual sensor can assist in judging whether the room is a kitchen or a living room, and automatically mark key points In the cleaning area, even with the development of the sensor, the degree of dirt on the chassis can be judged, and the dust sensor can directly judge the dust situation on the ground, so as to focus on cleaning.
  • the processor can also be used to obtain the sensory information output by the sensor, and establish a map of the cleaning area in the environmental map according to the sensory information.
  • the processor can also be used to: obtain the marking instruction for the first predetermined cleaning area output by the user through the APP of the user terminal, and mark it on the map according to the marking instruction, or the processor can also be used to Obtain the sensory information output by the sensor, and automatically mark the first predetermined cleaning area on the map of the cleaning area according to the sensory information (such as the characteristics of the room or the ground obtained by the sensor).
  • the first predetermined cleaning area can be any key cleaning area that requires the heating element 202 to be turned on to clean in heating mode.
  • sensors especially visual sensors, can assist in judging whether a room is a kitchen or a living room, automatically mark key cleaning areas, and even with the development of sensors, can judge The degree of dirt on the chassis, the dust sensor directly judges the dust situation on the ground, so as to focus on cleaning.
  • the method for the processor to construct the map can use any suitable method such as topological map, geometric information or grid representation.
  • Topological map is a compact representation method, when the environment is large and simple, this method can represent the environment as a topological in the figure.
  • the resolution of the topology map depends on the complexity of the environment. When there are two very similar places in the environment, it is difficult to determine whether they are the same node in the topology map.
  • Geometric information representation is to abstract the sensor information extracted by the robot into geometric representations, such as straight lines and curves. This representation method is vivid, compact, and convenient for position estimation and target recognition, but it increases the requirements for information collected by sensors, requires additional algorithm processing, and requires a certain amount of sensing data to obtain results.
  • the grid processing is to divide the whole environment into several grids of the same size, and point out whether there are obstacles in each grid.
  • Grid maps are easy to create and maintain.
  • the information of each grid that the cleaning device understands directly corresponds to an area in the environment. Using cheap sensors such as ultrasonic or infrared rays, the information to create the map can be obtained and added to the map. With this The map can be used for self-positioning and path planning conveniently.
  • the cleaning area in the map is determined.
  • the cleaning area does not include the area where obstacles in the map are located.
  • the cleaning area may be a complete cleanable area, or a part of the cleanable area, which is not limited here.
  • the user can mark the key cleaning area on the APP configured by the cleaning device, or automatically determine the key cleaning area according to the room or ground characteristics obtained by the sensor.
  • the visual sensor can assist in judging that the room is a kitchen Still in the living room, the key cleaning areas are automatically marked, and even with the development of the sensor, the degree of dirt on the chassis can be judged.
  • the dust sensor can directly judge the dust situation on the ground, so as to focus on cleaning.
  • the processor is configured to: receive the sensory information output by the sensor, so as to control the heating element 202 to start when it is determined according to the sensory information that the cleaning device enters the first predetermined cleaning area , so as to automatically turn on the heating sheet of the mopping component, and improve the cleaning effect of oil stains and other stains by heating the cleaning parts.
  • the processor is used to: receive the sensing information output by the sensor, to control the heating element 202 to turn off when it is determined according to the sensing information that the cleaning device leaves the first predetermined cleaning area, so as to save the power of the battery, so that the battery can support the cleaning device to work longer time.
  • the processor can identify the features of the perceived information such as images or videos provided by the visual sensor, and match the features with the features of the first predetermined cleaning area, and determine whether the current position of the cleaning device is The first predetermined cleaning area, when it matches, enters, if it does not match, it does not enter, or it can also match the position information in the sensory information with the position information of the marked first predetermined cleaning area, and enter when it matches, If it does not match, it is not entered. Alternatively, it may also be obtained through other means such as geomagnetic induction, etc., whether the cleaning device enters the first predetermined cleaning area.
  • the processor can also be used to control the heating element 202 to turn off or start when it is determined that the cleaning device enters or leaves the second predetermined cleaning area
  • the second predetermined cleaning area can be any area that does not need to turn on the heating element 202
  • the processor automatically controls to turn off the heating element 202, thereby saving electric energy.
  • the processor can determine that the cleaning device enters or leaves the second predetermined cleaning according to the sensing information of the sensor. Cleaning area, the processor can also control the lifting structure of the cleaning mechanism 200 mopping assembly to raise the cleaning mechanism 200 mopping assembly so that it does not contact the carpet when it is determined that the cleaning device enters the second predetermined cleaning area. When the mopping component of the cleaning mechanism 200 rises, the heating element 202 is automatically turned off.
  • the cleaning device includes a communication interface and a processor
  • the communication interface is used to connect the cleaning device to the user terminal in communication
  • the processor is used to: receive the control instruction output by the user terminal to turn on or turn off the heating element 202, and according to the control instruction The heating element 202 is controlled to be turned on or off.
  • the host 10a is provided with a button for turning on or off the heating element 202, and the heating element 202 is turned on or off through the button, for example, the button is used to output a control signal to the control circuit connecting the heating element 202 and the battery, or
  • the button corresponds to a switch circuit, and the switch circuit is turned on or off by the button to turn on or turn off the heating element 202 .
  • the cleaning device 10 further includes a first conductive component 300 , a second conductive component 400 and a temperature control plate 500 .
  • mechanism 100 and is electrically connected with the second conductive component 400
  • the second conductive component 400 is fixed in the rotating mechanism 100
  • the temperature control board 500 is arranged on the bearing component 201 and is electrically connected with the second conductive component 400, for example, temperature
  • the control board 500 can be a circuit board, and the temperature control board 500 is arranged on the heat conduction plate 202b, and the temperature control board 500 can monitor the temperature on the heating element 202 and the heat conduction plate 202b in real time.
  • the first conductive component 300 is passed through the rotating shaft 110 and is used for electrical connection with the control host.
  • the second conductive component 400 includes an upper seat 410, a lower seat 420, a thimble 430 and a conductive column 440. Both the upper seat 410 and the lower seat 420 are It is fixedly connected with the rotating shaft 110 and located in the accommodating cavity 111 .
  • the upper seat 410 and the lower seat 420 are stacked, the upper seat 410 is located above the lower seat 420, the thimble 430 is penetrated in the upper seat 410, the lower seat 420 includes a base body 421 and a contact body 422, the base body 421 is fixedly connected with the rotating shaft 110, and the base body 421 faces the upper seat A contact body 422 is disposed on the surface of the contact body 410, and the contact body 422 may be a ring structure.
  • the end of the thimble 430 away from the lower seat 420 is the upper end, and the upper end of the thimble 430 is electrically connected to the first conductive component 300 ;
  • the conductive column 440 is installed on the substrate 421, and the end of the conductive column 440 close to the upper seat 410 is the upper end, and the upper end of the conductive column 440 is electrically connected with the contact body 422; It is electrically connected with the temperature control board 500 . Therefore, the electrical connection relationship between the temperature control board 500 and the first conductive component 300 is realized through the joint action of the conductive pillar 440, the contact body 422 and the thimble 430. In view of the connection between the first conductive component 300 and the control host, the temperature can be finally realized.
  • the electrical connection relationship between the control board 500 and the control host can make the temperature control board 500 feed back temperature information to the control host.
  • the first conductive assembly 300 includes an outer sleeve 310, an inner sleeve 320 and a wire 330, the outer sleeve 310 is fixed in the shaft 110, the inner sleeve 320 is rotatably set inside the outer sleeve 310, and the wire 330 is passed through the inner sleeve In the barrel 320 and maintain an elastic pressing relationship with the thimble 430 of the second conductive component 400, so as to realize the electrical connection relationship between the wire 330 and the thimble 430, and finally realize the connection between the first conductive component 300 and the second conductive component 400 electrical connections.
  • the second conductive component 400 rotates synchronously with the rotating shaft 110 , but the inner sleeve 320 and the wire 330 do not rotate with the rotating shaft 110 , which improves the stability and reliability of the electrical connection between the wire 330 and the thimble 430 .
  • the temperature control board 500 detects that the temperature of the heating wire and the heat conduction plate 202b is too high, the temperature control board 500 feeds back the high temperature information to the control host, so that the current loaded on the heating element 202 is reasonably reduced.
  • the temperature control board 500 detects that the temperature of the heating wire and the heat conduction plate 202b is too low, the temperature control board 500 feeds back the low temperature information to the control host, so that the current loaded on the heating element 202 increases reasonably. Therefore, by setting the temperature control board 500 , the temperature of the heating element 202 and the heat conducting plate 202 b can be reasonably adjusted, and then the temperature of the cleaning element 203 can be reasonably adjusted.
  • the cleaning part 203 can be made of cloth product material, and the cleaning part 203 is fixed on the heat conducting plate 202b.
  • the cleaning part 203 can be attached to the heat conducting plate 202b by Velcro, so that the heat generated by the heating part 202 is conducted to the cleaning part through the heat conducting plate 202b. Item 203 on.
  • the temperature control board 500 may include a temperature sensor for detecting the current temperature of the cleaning piece; the control host may include a processor, and the control host may also include various control circuits, etc., and the processor is also used for: receiving The current temperature, and when the current temperature reaches the preset temperature, control the heating power of the heating element 202 so that the temperature difference between the current temperature and the preset temperature is less than the preset threshold temperature, which can be any preset temperature set by the user.
  • the heating element 202 can be kept at a preset temperature, but usually the preset temperature fluctuates, so it can fluctuate within an allowable range, wherein the preset
  • the threshold temperature may be any suitable value, for example, it may be 0, 0.1°C, 0.2°C, 0.3°C, 0.5°C, 0.8°C, 1°C, 2°C and so on.
  • the processor can also be used to control the heating power of the heating element 202 according to the difference between the current temperature and the preset temperature, for example, the smaller the difference, the lower the power, or when the current temperature is higher than the preset temperature
  • the heating element 202 can be controlled to be turned off, that is, the heating power is 0, and when the current temperature is lower than the preset temperature and differs from the first preset threshold range, the heating element 202 is controlled to heat with the first heating power.
  • the heating element 202 When the current temperature When the temperature is lower than the preset temperature and differs from the second preset threshold range, the heating element 202 is controlled to heat with the second heating power, wherein, if the value in the first preset threshold range is greater than the second preset threshold range, the first heating power greater than the second heating power.
  • the rotating shaft 110 drives the adapter 210 to rotate through the boss 213, so that the entire cleaning mechanism 200 rotates following the rotating shaft 110.
  • the cleaning part 203 will be opposite to the ground The movement is generated, so that the cleaning member 203 removes the stains on the ground.
  • the cleaning part 203 can absorb the heat on the heat conducting plate 202b, the cleaning part 203 has a certain temperature. Under the action of the temperature, the cleaning part 203 is easier to remove the stains, thereby improving the cleaning effect of the cleaning device 10 .
  • the temperature of the heating element 202, the heat conducting plate 202b and the cleaning element 203 can be adjusted reasonably, so as to clean different stains and keep the cleaning device 10 having a good cleaning effect on different stains.
  • the carrier 220 is slidably connected to the adapter 210, so that the cleaning member 203 can follow the carrier 220 to generate relative to the adapter 210.
  • the cleaning piece 203 can float in a small range within the stroke defined between the limiting surface 2111 and the stopper 211b, and under the push of the elastic piece 230, the cleaning piece 203 can adapt to the shape of the ground And keep fit with it, so as to prevent the cleaning member 203 from being unable to contact the dirt, so that the cleaning effect of the cleaning device 10 can also be improved.
  • the carrying assembly 201 and the entire cleaning mechanism 200 can be detachably connected, so that the carrying part 220 can be unloaded from the rotating shaft 110, so that the cleaning part 203 can be replaced or maintain.
  • cleaning device described in the embodiments of the present invention is only exemplary rather than limiting, and the cleaning device may also have other components and structures as required.
  • the cleaning device provided by the present invention can be used alone or in combination with other cleaning methods to clean the ground through the rotation of the cleaning parts.
  • the heating element can be automatically or manually activated by the user to heat the cleaning element.
  • the cleaning parts are quickly heated and kept at a preset temperature.
  • the robot heats up while walking. By heating the cleaning parts, the ability of the robot to clean up stains is enhanced and the effect of cleaning stains is improved.
  • the heating element can be automatically or manually turned off by the user to stop heating the cleaning element, or when the cleaning device enters the carpet area, the heating element can be automatically turned off to stop cleaning. Parts are heated to save electricity.

Abstract

一种清洁装置(10)，包括主机(10a)和清洁机构(200)，清洁机构(200)连接主机(10a)，其中，清洁机构(200)包括承载组件(201)、清洁件(203)和加热件(202)，清洁件(203)设置于承载组件(201)上，用于对待清洁区域进行清洁；加热件(202)设置于承载组件(201)上，用于对清洁件(203)进行加热，通过给清洁件(203)加热，增强了清洁装置(10)清理污渍的能力，提高了清洁污渍的效果，并且还可以通过对清洁件(203)的加热实现对具有水分的清洁件(203)的烘干，防止清洁件发霉，提高其清洁性。

Description

一种清洁装置
说明书
技术领域
本发明属于清洁装置技术领域，具体涉及一种清洁装置。
背景技术
目前常见的具有拖地功能的清洁装置其清洁件例如拖布类似毛巾，在拖地过程中由于吸附一定水分，碰到顽固的油污，比如厨房等地面，清洁效果有限，特别是室内气温比较低的环境效果更差。
发明内容
本申请实施例提供了一种清洁装置，其能够给清洁件加热，增强了清洁装置清理污渍的能力。
本申请实施例的清洁装置包括：
主机；
清洁机构，所述清洁机构连接所述主机，其中，所述清洁机构包括：
承载组件；
清洁件，设置于所述承载组件上，所述清洁件用于对待清洁区域进行清洁；
加热件，设置于所述承载组件上，用于对所述清洁件进行加热。
附图说明
本发明的下列附图在此作为本发明的一部分用于理解本发明。附图中示出了本发明的实施例及其描述，用来解释本发明的装置及原理。
附图中：
图1示出根据本发明一实施方式的清洁装置的局部结构示意图；
图2示出根据本发明另一实施方式的清洁装置的局部结构示意图；
图3示出根据本发明一实施方式的清洁装置的局部截面示意图；
图4示出根据本发明一实施方式的清洁装置的局部截面示意图；
图5示出根据本发明一实施方式的的清洁装置的局部立体结构示意图；
图6为图5所示清洁装置的分解结构示意图；
图7为图5所示清洁装置的平面剖视结构示意图；
图8为图5所示清洁装置的局部立体剖视结构示意图；
图9为图5所示清洁装置的局部分解立体剖视结构示意图；
图10为图5所示清洁装置的局部分解结构示意图。
具体实施方式
在下文的描述中，给出了大量具体的细节以便提供对本发明更为彻底的理解。然而，对于本领域技术人员而言显而易见的是，本发明可以无需一个或多个这些细节而得以实施。在其他的例子中，为了避免与本发明发生混淆，对于本领域公知的一些技术特征未进行描述。
为了彻底理解本发明，将在下文进行详细描述，以便阐释本发明提出的提升清洁能力的清洁装置。显然，本发明的施行并不限定于本领域的技术人员所熟习的特殊细节。本发明的较佳实施例详细描述如下，然而除了这些详细描述外，本发明还可以具有其他实施方式。
清洁装置例如扫拖一体扫地机有三种不同的工作模式，单扫、单拖、扫拖同时进行，因此能适应不同的地面材质，是近年来最受欢迎的家庭清洁装置。传统扫地机的清洁件例如拖布，拖布类似毛巾，在拖地过程中由于吸附一定水分，碰到顽固的油污，比如厨房等地面，清洁效果有限，特别是室内气温比较低的环境效果更差。如何提高实际拖地效果是近年来清洁装置持续研究的方向。
目前主要通过以下方式提高清洁装置拖地效果，一是清洁件旋转或者直线运动过程中向地面直接施加一定的压力来提高清除效果；二是在给清洁件喷水的水箱中加一定的化学清洁液，清洁件在接触污渍过程中将清洁液分散到污渍中，从而改善清洁效果；三是在清洁件上施加一定的振动，模拟人清洁地面时的搓揉。四是给机器人自带水箱中的水加热，以通过加热强化清洁效果。
然而，上述方式都存在缺陷：方式一，由于例如扫地机器的清洁装置的重量大多不超过5KG，而向地面施加的力一般不能超过整机重量的某个比例，比如1/5，否则机器的清洁件位置会被顶高，影响机器人的行走。方式二中的化学清洁液是持续消耗品，增加了用户使用成本，化学制品影响环境和人体健康，此外，施加了化学清洁液以后的地面往往湿滑，机器人的行走轮容易打滑，从而影响机器行走轨迹。方式三中清洁件振动幅度非常小，对改善清洁效果有限。方式四中机器人自带水箱的水加热方式热效率低，对于使用电池的机器人来说，电能浪费严重。此外，上述方式拖地完成后也无法让清洁件自干以保持干燥。
为了解决前述问题中的至少一个，本发明提供一种清洁装置，包括：主机；拖地组件，拖地组件连接主机，其中，拖地组件包括：承载组件；清洁件，设置于承载组件上，所述清洁件用于对待清洁区域进行清洁；加热件，设置于承载组件上，用于对清洁件进行加热。
本申请可以实现清洁装置一边行走一边给清洁件加热的清洁方式，通过给清洁件加热， 清洁件能吸收加热件上的热量，使得清洁件具有一定的温度，在温度的作用下，增强了清洁装置清理污渍的能力，提高了清洁污渍的效果，从而提高清洁装置的清洁效果，并且还可以通过对清洁件的加热实现对具有水分的清洁件的烘干，防止清洁件发霉，提高其清洁性。
下面，参考图1至图10对本申请的清洁系统的结构进行解释和说明，其中，图1示出根据本发明一实施方式的清洁装置的局部结构示意图；图2示出根据本发明另一实施方式的清洁装置的局部结构示意图；图3示出根据本发明一实施方式的清洁装置的局部截面示意图；图4示出根据本发明一实施方式的清洁装置的局部截面示意图；图5示出根据本发明一实施方式的的清洁装置的局部立体结构示意图；图6为图5所示清洁装置的分解结构示意图；图7为图5所示清洁装置的平面剖视结构示意图；图8为图5所示清洁装置的局部立体剖视结构示意图；图9为图5所示清洁装置的局部分解立体剖视结构示意图；图10为图5所示清洁装置的局部分解结构示意图。
值得一提的是，本申请的清洁装置可以是指具有清洁机构200例如拖布的机器人，例如拖地机器人或扫拖一体机器人等。
在一个示例中，如图1和图2所示，本申请的清洁装置10包括主机10a，主机10a内部具有容纳空间，该容纳空间用于容纳清洁装置10的各种元部件。主机10a的形状可以是任意的形状，例如主机10a的形状大体为高度小于预设厚度的圆柱形、椭圆柱型、D字形等多种形状。
主机10a包括底壳101和顶壳，顶壳位于底壳101上并与底壳101连接，底壳101和顶壳组合为清洁装置10的主机10a的大体的外形结构。
底壳101和顶壳连接以形成容纳空间，底壳101和顶壳可以通过由紧固件(例如螺钉、螺栓)进行紧固连接的方式或者卡扣的方式组合在一起，其中底壳101和顶壳之间为容纳空间，该容纳空间用于容纳清洁装置10的各种元部件。
底壳101可以由例如塑料的材料一体成型，其包括多个预先形成的槽、凹陷或结构部件，用于将容纳空间的各种元部件安装或集成在底壳101上。
在一些实施例中，顶壳也可以由例如塑料的材料一体成型，并且被构造为与底壳101相互补的形状和尺寸，并且对安装到底壳101的各个部件提供保护。可选地，底壳101和顶壳可以通过各种合适的紧固件(例如螺钉、螺栓)可拆卸地组合在一起，并且在结合在一起之后，底壳101和顶壳形成高度低于预设高度的大体为圆柱形的主机10a，主机10a沿着其前后轴线大致对称，或者主机10a还可以为他适合形状的对称结构。
在一个实施例中，清洁装置10还包括转向轮104，其设置在主机10a的下方，其中，转向轮104包括沿竖直方向设置的转动轴。该转向轮104能够绕转动轴在水平360°范围内 进行旋转。
示例性地，在底壳101的底部设置有容纳转向轮104的凹槽(未示出)，在转向轮104附接至底壳101时，转向轮104的至少部分轮体从底壳101的底部向外凸出。
转向轮104例如可以为万向轮，或者其他适合的转向轮104结构。示例性地，转向轮104包括轮体和基座。转向轮104位于清洁装置10例如扫地机器人的前后直径的一端。在清洁装置10的底壳101的底部上设置有凹槽，基座安装在该凹槽内且可以在与基座的底面平行的水平面上旋转，轮体被安装在基座上并且可以在与水平面垂直的垂直面上旋转。基座大体具有圆形结构，轮体被偏心地安装在圆形基座上。例如，基座包括倾斜表面，倾斜表面相对于基座的底面倾斜并且与轮体相邻，从而在清扫期间，倾斜表面在轮体的前方以减少轮体对清洁装置10的运动所产生的阻力。
虽然在上述实施例中，清洁装置10例如扫地机器人只具有一个转向轮104，但在另外一些实施例中，清洁装置10也可以具有两个或者更多个转向轮104。例如，清洁装置10可以具有第一转向轮和第二转向轮，第一转向轮和第二转向轮位于扫地机器人的前后直径的一端并且相互间隔分开。
在一个示例中，清洁装置10还包括驱动组件，与主机10a可拆卸连接，且至少部分驱动组件设置于主机10a内，用于驱动清洁装置10在待清洁的表面行进，可选地，驱动组件包括驱动轮组件和驱动装置，驱动轮组件设置于主机10a的底部，驱动装置设置于主机10a内，驱动装置配置为：驱动驱动轮组件转动。可选地，驱动轮组件包括第一驱动轮组件1051和第二驱动轮组件1052，每个驱动轮组件都具有各自独立操作的驱动装置(例如电机)。
第一驱动轮组件1051和第二驱动轮组件1052被独立地安装在底壳101的底面横向直径的相对两端的凹槽中，横向直径与前后直径相垂直，通常转向轮104设置在前后直径上。由于两个驱动轮组件通过独立的电机驱动，能够为清洁装置10提供更宽范围的转向操纵，例如，急转弯、逐渐转弯和原地转弯等。将两个驱动轮组件安装在横向直径的两端为清洁装置10提供了更强的转向能力。
作为示例，清洁装置10还包括用户接口(未示出)，例如各种按键以及状态显示单元等，其可以安置在清洁装置10的顶壳或者侧壁上，以接收一个或多个用户命令和/或显示清洁装置10的当前状态。用户接口能够与控制装置通信，使得由用户接口接收的一个或多个用户命令可使例如扫地机器人的清洁装置10执行例如清扫的程序、拖地的程序等。
在一个示例中，本申请的清洁装置10还包括通信接口(未示出)，通信接口是可以是目前已知的任意通信协议的接口，例如有线接口或无线接口，其中，通信接口可以包括一个或者多个串口、USB接口、以太网端口、WiFi、有线网络、DVI接口，设备集成互 联模块或其他适合的各种端口、接口，或者连接。通信接口还可以接入基于通信标准的无线网络，如WiFi、2G、3G、4G、6G或它们的组合。在一个示例性实施例中，通信接口经由广播信道接收来自外部广播管理系统的广播信号或广播相关信息。在一个示例性实施例中，通信接口还包括近场通信(NFC)模块，以促进短程通信。例如，在NFC模块可基于射频识别(RFID)技术，红外数据协会(IrDA)技术，超宽带(UWB)技术，蓝牙(BT)技术和其他技术来实现。
在一个示例中，本申请的清洁装置10还包括控制组件，控制组件包括处理器(未示出)及存储器(未示出)，处理器用于接收其他部件例如用户终端及清洁装置10的各种传感器传递的信号并发出相应的控制指令，存储器内预设有清洁装置10的控制程序、参数及算法等，以供处理器调用以进行判断及作出决策等。例如，处理器根据预设于存储器内的程序控制驱动器驱动驱动轮组件(例如第一驱动轮组件1051或第二驱动轮组件1052)移动、转向等，处理器还用于根据预设于存储器内的程序控制驱动装置驱动拖地组件或清扫组件旋转。
可选地，用户终端例如智能手机安装有应用程序(APP)，用户终端通过通信接口和清洁装置10通信连接，从而使得清洁装置10能够接收到用户通过用户终端输入的用户指令，当清洁装置10的处理器获取到用户指令时，则可以控制相应的部件按照用户指令执行相应的动作，例如根据用户指令执行清洁动作，或者根据用户指令控制加热件202开启或关闭，或者控制驱动轮组件的前进、后退或转向等。
在一个示例中，清洁装置10还包括清洁机构200，用于清扫或处理待清洁区域例如地板表面。清洁机构200可以包括清扫组件和/或拖地组件。
作为示例，如图1所示，清扫组件可以包括滚刷组件103、尘盒结构、风机结构、出风口以及四者之间的连接部件所构成的组件。与待清洁区域具有一定干涉的滚刷组件103将待清洁区域上的垃圾扫起并卷带到滚刷组件103与尘盒结构之间的吸尘口前方，然后被风机结构产生并经过尘盒结构的有吸力的气体吸入尘盒结构，最终垃圾、灰尘等暂存在尘盒结构中。清扫组件还可包括具有旋转轴的边刷107，旋转轴相对于地面成一定角度，以用于将碎屑移动到清洁机构200的滚刷区域中，边刷107的数量可以根据实际需要合理设定，例如可以在滚刷组件103的两端分别设置一个边刷107。清洁装置10还包括用于控制边刷107旋转的边刷电机(未示出)。
在一些实施例中，如图1和图2所示，当清洁机构200包括拖地组件时，拖地组件包括清洁件，其可以设置在清洁装置的主机10a的底部，可选地，主机10a内还可以设置水箱，在水箱中可以储备有用于拖地使用的水，清洁机构200还可以包括供水装置，用于将水箱中的清水提供给清洁件，可选地，在主机10a的底部还可以设置有多个平铺排布的出 水孔，清洁件覆盖该出水孔，供水装置供给的水可以通过该出水孔流进清洁件，从而对清洁件进行加湿。本申请实施例中，主要以清洁机构200包括拖地组件的情况为例。
在一个示例中，如图2所示，拖地组件可以可旋转地连接底壳101，从而在拖地过程中通过旋转提高对待清洁区域的清洁能力，拖地组件的数量可以是一个、两个或者更多个。在其他示例中，如图1所示，拖地组件还可以包括设置在底壳外并与底壳连接的平板型结构。
可选地，如图3和图4所示，拖地组件可以包括承载组件201和设置于承载组件201上的清洁件203，其中，承载组件201可以包括连接部和承载件，连接部可以可旋转地连接底壳101，清洁件203可以通过例如粘贴或者其他适合的方式可拆卸地设置于承载件上，并朝向底壳的外侧，以使其能够用于待清洁区域的清洁，可选地，清洁件203可以包括拖布。
例如，承载组件201上设置有魔术贴，清洁件203通过魔术贴粘贴于承载件，或者，清洁件203自身具有弹性，从而可以套设在承载组件201上，或者清洁件203上设置有弹性连接件(未示出)，通过弹性连接件套设在承载组件201例如套设在承载件上。
承载件的形状可以是圆形、扇形、方形或者其他任意适合的形状。例如如图2所示，当清洁机构200拖地组件可旋转地连接清洁装置的底壳101时，承载件可以为圆形，则清洁件可以对应为圆形。可选地，承载组件201的材质可以是任意适合的材质例如塑胶材质等。在一个示例中，连接部包括轴插头，承载组件通过轴插头可旋转地连接主机10a。可选地，连接部例如轴插头还可以是可插拔地连接主机10a。在一个示例中，当清洁机构200拖地组件可旋转地连接清洁装置的底壳101时，清洁装置的主机10a内还可以设置有用于驱动清洁机构200拖地组件旋转地驱动装置，例如电机等，以使得清洁机构200拖地组件可以旋转。
在一些实施例中，参阅图4、图5、图6、图7和图8，在一些实施例中，清洁装置10还可以包括转动机构100，转动机构100与主机10a传动连接，可选地，前述的连接部可以构成该转动机构100的部分或者全部，具体地，转动机构100包括转轴110、齿轮120和弹性体130，转轴110可以为中空结构，使得转轴110具有容置腔111。弹性体130与转轴110固定连接并收容在容置腔111中，齿轮120套设在转轴110上，齿轮120和转轴110可以同步转动，当齿轮120在外力的作用下被驱动时，齿轮120将带动转轴110两者同时绕转轴110的中轴线产生转动。
参阅图8和图10，在一些实施例中，拖地组件的清洁机构200包括承载组件201、加热件202和清洁件203，承载组件201与转轴110连接，加热件202设置承载组件201上，清洁件203设置在加热件202上。承载组件201包括转接件210、承载件220和弹性件230。 转接件210与转动机构100连接。承载件220与转接件210活动连接，弹性件230抵压在承载件220和转接件210之间。参阅图6、图7、图8和图9，转接件210包括抵接单元211、插置单元212、凸台213。抵接单元211包括底板2110、凸柱211a、止挡件211b和套筒211c。底板2110和凸台213沿水平方向延伸，插置单元212、凸柱211a和套筒211c沿竖直方向延伸。底板2110具有抵接面2112和朝向清洁件203的限位面2111，抵接面2112和限位面2111为底板2110厚度方向上的两个表面，显然，抵接面2112和限位面2111两者的朝向相反，抵接面2112朝上设置，限位面2111朝下设置。插置单元212与抵接面2112连接并相对抵接面2112向上凸出一定的长度，插置单元212收容在容置腔111，插置单元212包括侧周面212a，该侧周面212a为环形面，侧周面212a与容置腔111配合。侧周面212a上开设有限位槽212b，该限位槽212b可以沿垂直于插置单元212的轴向凹陷设定深度形成。弹性体130与该环形凹槽221配合，使得弹性体130与插置单元212形成卡扣连接关系。当对转接件210施加向下的作用力时，可以使得弹性体130脱离与限位槽212b的配合，从而将转接件210从转轴110上卸载。当对转接件210设置向上的作用时，可以将插置单元212插置在容置腔111中，并设置弹性体130与该限位槽212b配合，弹性体130可以对整个转接件210起到夹持和提拉作用，防止在重力的作用下插置单元212脱离容置腔111，确保转接件210稳定可靠地固定在转轴110上。鉴于弹性体130与插置单元212形成卡扣连接关系，可以使得承载组件201和整个清洁机构200例如拖地组件实现可拆卸连接关系。
凸台213设置在侧周面212a上，凸台213相对侧周面212a沿垂直于插置单元212的轴向凸出一定长度，转轴110上开设有卡槽112，该卡槽112连通该容置腔111。当插置单元212收容在容置腔111时，凸台213与卡槽112配合，转轴110的下端与抵接面2112相抵接。故抵接面2112可以对转接件210的安装起到很好的限位作用。通过凸台213与卡槽112的配合，可以使得转轴110通过凸台213对整个转接件210施加扭矩，确保转轴110和转接件210两者同步转动。
凸柱211a与限位面2111连接，凸柱211a自限位面2111向清洁件203延伸，例如凸柱211a相对限位面2111向下凸出一定的长度，套筒211c环绕凸柱211a设置，使得套筒211c和凸柱211a之间形成滑动腔211e，承载件220包括滑动部222，滑动部222上开设有滑孔222a和配合槽222b，配合槽222b环绕滑孔222a设置。滑动部222与滑动腔211e滑动配合，凸柱211a与滑孔222a活动配合；也可以理解为滑动部222套设在凸柱211a上，而套筒211c则套设在滑动部222上。凸柱211a的横截面可以为多边形，而滑孔222a可以为多边形孔，使得凸柱211a只能在滑孔222a中滑动，防止凸柱211a在滑孔222a中产生转动，确保凸柱211a带动滑动部222同步转动，也即整个承载件220跟随转接件210 同步转动。弹性件230位于套筒211c与凸柱211a之间，具体地，弹性件230的一部分可以收容在该配合槽222b中，该配合槽222b可以对弹性件230起到限位作用，使得弹性件230抵压在该滑动部222和底板2110的限位面2111之间。滑动部222上可以套设密封圈，密封圈抵压在滑动部222和套筒211c之间，密封圈可以对滑动腔211e起到密封作用，防止外界粉尘和液滴侵入至滑动腔211e中。
凸柱211a上可以开设安装孔211d，止挡件211b可以为螺栓，螺栓穿设在滑动部222中并与该安装孔211d配合。在弹性件230的作用下，滑动部222将与螺栓的螺帽相抵压。因此，在滑动部222于滑动腔211e的滑动过程中，当滑动部222与限位面2111抵接时，限位面2111限定了滑动部222向上滑动的极限位置；当滑动部222与螺栓的螺帽抵接时，螺栓的螺帽限定了滑动部222向下滑动的极限位置，故止挡件211b和底板2110对滑动部222的上下滑动起到限位作用。鉴于滑动部222与滑动腔211e滑动配合，凸柱211a与滑孔222a滑动配合，止挡件211b穿过滑孔222a与凸柱211a连接，最终可以实现承载件220与及转接件210之间的滑动连接关系。
进一步，如图3和图4所示，本申请的拖地组件还包括加热件202，该加热件202设置于承载组件201上，用于对清洁件203进行加热。通过该加热件202可以对清洁件进行加热，实现机器人一边行走一边给清洁件加热的清洁方式，通过给清洁件加热，增强了清洁装置清理污渍的能力，提高了清洁污渍的效果，并且还可以通过对清洁件的加热实现对具有水分的清洁件的烘干，防止清洁件发霉，提高其清洁性。
可选地，清洁件203设置于承载组件201的承载件朝向待清洁区域的一侧，加热件202嵌入在承载件上的容纳槽内。例如该容纳槽的开口可以朝向清洁件或者也可以与清洁件背离。其中，容纳槽的形状和尺寸和加热件202的形状和尺寸相匹配，以使得容纳槽能够容纳加热件202。可选地，加热件202的面积小于或等于承载组件201的承载件的面积，从而可以使得加热件202能够整个的位于承载组件201上。在另一个示例中，加热件202的面积小于或等于清洁件，以避免加热件延伸到清洁件外，同时还可以保证对清洁件的加热功能的实现。
在一个示例中，承载组件201的承载件朝向待清洁区域的一侧设置有清洁件固定区，用于将清洁件和承载组件可拆卸地连接，可选地，清洁件固定区设置于加热件202的外侧或者还可以设置于其他适合的位置，例如导热板上。可选地，清洁件固定区可以设置有魔术贴，清洁件可以和魔术贴粘接，从而固定于承载组件201上。
加热件202可以经弯折成多圈形态设置在承载组件201上，以增大加热面积，或者可以由一个环形结构构成，环形可以是圆环形、方形或者其他任意适合的形状。加热件202包括加热片或者加热丝。其中，加热件202可以是片状的加热片，也可以是盘成环形的加 热丝。加热片可以呈薄片圆环状或者加热丝可以固定在槽型支架上盘成圆环状。可选地，加热件的形状还可以大体和清洁件的形状相同，和/或，加热件的形状还可以大体和承载组件的形状相同例如和承载组件的承载件的形状相同。
在一些具体实施例中，参阅图6、图7、图8和图9，承载组件201还包括导热板202b，承载件220背向转接件210的表面上凹陷形成有凹槽221，加热件202为环状结构，加热件202可以为电阻丝，当对加热件202通电时，加热件202可以将电能转化为热能，加热件202设置于凹槽221内，使得凹槽221对加热件202的安装起到限位作用。导热板202b设置在承载件220背向转接件210的表面上，导热板202b可以与承载件220螺栓连接。当导热板202b固定在承载件220上时，导热板202b封盖该凹槽221，同时导热板202b与加热件202抵压，使得加热件202抵压在导热板202b和承载件220之间。加热件202产生的热量将传递至导热板202b上。在其它实施例中，加热件202可以为膜片状的加热膜等。
在一个示例中，如图1至图4所示，本申请的清洁装置还包括电池(未示出)，设置于主机10a中，电池用于给加热件202供电，还可以用于提供清洁装置清洁工作时所需要的电能，例如清洁工作时为各个电机提供电力等。或者，电池可以是选择性设置的，还可以不具有电池，主机10a设置有连接市电的插头等，从而可以通过市电直接给清扫机器人供电。
可选地，电池可以是可充电电池例如锂电池或者镍氢电池或者其他科充电电池，如图1和图2所示，清洁装置的主机10a上还可以设置有充电触点106，当该充电触点106通过电源线或者通过与清洁装置配合使用的基站上的接插件来连接市电，以为电池充电。
可选地，加热件202通过有线方式或者无线方式电连接电池，例如，有线方式是电池通过控制电路(未示出)连接加热件202，控制电路可以包括开关电路或者其他的各种电容或电阻等器件，开关电路可以包括开关管等，通过处理器可以控制开关电路的导通和截止，从而实现对加热件202开启和关闭的控制，避免加热件202持续发热，清洁件持续升温，造成危险，并且可以在不需要加热时控制关闭加热件202，节省电池的电量。可选地，控制电路可以是设置在主机10a内的控制主机上的电路。
在一个示例中，如图3所示，加热件202的两个正极和负极分别通过连接线109电连接弹片触点1091，通过该弹片触点1091可以连接到控制电路，而控制电路连接电池。可选地，弹片触点1091可以部分位于承载组件201的连接部(例如轴插头)内，其中，连接部的轴向可以具有空腔，加热件202的两个电极可以分别设置于该连接部的空腔内，连接线109也可以设置于该空腔内。
在一些示例中，如图5至图8所示，第一导电组件300还可以电连接电池，例如第一导电组件300电连接控制电路，通过控制电路电连接电池，第一导电组件300和第二导电组件 400电性连接，加热件202与第二导电组件400电性连接，从而实现了通过有线的方式将电池和加热件202电连接，以为加热件202供电。
在另一个示例中，如图4所示，无线方式为电池通过感应方式与加热件202连接，例如，加热件202包括无线传电发射模组1081和与无线传电发射模组1081相对设置的无线传电接收模组1082，可选地，无线传电发射模组1081可以包括发射线圈，无线传电接收模组1082可以包括接收线圈，无线传电发射模组1081可以电连接到电池例如通过控制电路电连接到电池，无线传电发射模组1081用于将电能转换成电磁波，无线传电接收模组1082用于将电磁波转换成电能，以使加热件202通电并发热，从而实现无线发热的功能，且简化了加热件202和主机10a之间的结构复杂度。可选地，接收线圈和加热件202的发热部件可以是同一个部件，或者接收线圈和加热件202的发热部件是两个独立但电连接的部件。
清洁装置10还包括多个用于感知周围环境的传感器，例如位于主机10a上方的传感模组、位于主机10a的前向部分的缓冲器、悬崖传感器和超声传感器(图中未示出)、红外传感器(图中未示出)、跌落传感器(未示出)、磁力计(图中未示出)、加速度计(图中未示出)、陀螺仪(未示出)、风机转速传感器(未示出)、里程计(未示出)、距离传感器、视觉传感器例如摄像头等、灰尘传感器碰撞传感器等传感装置，本申请的清洁装置的传感器至少用于对清洁装置周围的环境进行感知，以向控制系统提供清洁装置的各种位置信息和运动状态信息等。例如该传感器可以用于测试清洁装置与障碍物的距离、是否受到压力、是否发生碰撞、识别物体、房间或地面特征等，其中特别地，视觉传感器可以辅助判断房间是厨房还是客厅，自动标记重点清洁区，甚至随着传感器发展，可以判断底盘污渍程度，灰尘传感器直接判断地面灰尘情况，从而重点清洁。
进一步，处理器还可以用于获取传感器输出的感知信息，并根据感知信息在环境地图中建立清洁区域的地图。处理器还可以用于：获取用户通过用户终端的APP输出的对第一预定清洁区域的标记指令，并根据该标记指令在地图上对其进行相应的标记，或者，处理器还可以用于根据获取传感器输出的感知信息，并根据感知信息(例如传感器获得的房间或者地面的特征)自动在清洁区域的地图上标记第一预定清洁区域。其中，第一预定清洁区域可以是任意的需要加热件202开启以加热模式清洁的重点清扫区域，例如通常厨房的油污等比较重适合开启加热件202，那么第一预定清洁区域可以是厨房、具有污渍的地面、非地毯区域或者还可以是其他的任意需要清洁的区域位置或房间，传感器特别是视觉传感器可以辅助判断房间是厨房还是客厅，自动标记重点清洁区，甚至随着传感器发展，可以判断底盘污渍程度，灰尘传感器直接判断地面灰尘情况，从而重点清洁。
处理器构建地图的方法可以用拓扑图、几何信息或者栅格表示等任意适合的方法。拓扑图是一种紧凑的表示方法，当环境大而简单时，这种方法可将环境表示为一张拓扑意义 中的图。但拓扑图的分辨率决定于环境的复杂度，当环境中存在两个很相似的地方时，拓扑图很难确定这是否为同一个节点。
几何信息表示是将机器人提取的传感器信息抽象成几何表示，如直线、曲线等。这种表示方法形象、紧凑且方便位置估计和目标识别，但是它提高了对传感器采集信息的要求，需要额外的算法处理，并且需要一定数量的感知数据才能够得到结果。
栅格化处理是将整个环境分为若干相同大小的栅格，对于每个栅格指出其中是否存在障碍物。栅格地图很容易创建和维护，清洁装置所了解的每个栅格的信息直接与环境中某区域对应，使用超声波或红外线这样的廉价传感器即可获得创建地图的信息并加入地图中，借助该地图，可以方便地进行自定位和路径规划。
以采用栅格化处理的地图为例，当建立好栅格化处理的地图之后，确定该地图中的清扫区域。其中，该清扫区域不包含该地图中障碍物所在的区域。该清扫区域可以为完整的可清扫区域，也可以为该可清扫的区域中的一个部分，此处不做限制。根据该清扫区域，用户可以在清洁装置配置的APP上对重点清扫区进行特殊标记，也可以根据传感器获得的房间或者地面特征自动确定重点清扫区域，其中特别地，视觉传感器可以辅助判断房间是厨房还是客厅，自动标记重点清洁区，甚至随着传感器发展，可以判断底盘污渍程度，灰尘传感器直接判断地面灰尘情况，从而重点清洁。
当清洁装置进入重点清扫区(也即第一预定清洁区域)时，处理器用于：接收传感器输出的感知信息，以当根据感知信息确定清洁装置进入第一预定清洁区域时，控制加热件202启动，从而自动打开拖地组件的加热片，通过给清洁件加热，提高油污等污渍的清洁效果。以及处理器用于：接收传感器输出的感知信息，以当根据感知信息确定清洁装置离开第一预定清洁区域时，控制加热件202关闭，从而节省电池的电量，以使电池能够支持清洁装置工作更长的时间。
处理器可以通过对感知信息例如视觉传感器提供的图像或者视频等进行特征识别，并将特征和第一预定清洁区域的特征进行匹配，根据两者是否匹配来确定清洁装置当前所处的位置是否为第一预定清洁区域，当匹配时则进入，不匹配则未进入，或者，还可以通过感知信息中的位置信息和以标记的第一预定清洁区域的位置信息进行匹配，当匹配时则进入，不匹配则未进入。或者还可以通过其他的方式例如地磁感应的方式等，获取到清洁装置是否进入第一预定清洁区域。
在一个示例中，处理器还可以用于：当确定清洁装置进入或离开第二预定清洁区域时，控制加热件202关闭或者启动，第二预定清洁区域可以为任意的不需要开启加热件202的区域，例如地毯区域，当清洁装置进入地毯区域时，处理器自动控制关闭加热件202，从而可以节省电能。处理器可以根据传感器的感知信息确定清洁装置进入或离开第二预定清 洁区域，处理器还可以在确定清洁装置进入第二预定清洁区域时，控制清洁机构200拖地组件的升降结构将清洁机构200拖地组件升高，以使其不和地毯接触，还可以在清洁机构200拖地组件升高时，自动关闭加热件202。
在一个示例中，清洁装置包括通信接口和处理器，通信接口用于使清洁装置和用户终端通信连接，处理器用于：接收用户终端输出的开启或关闭加热件202的控制指令，以根据控制指令控制开启或关闭加热件202。
在另一个示例中，主机10a上设置有用于开启或关闭加热件202的按键，通过按键开启或关闭加热件202，例如通过该按键给连接加热件202和电池的控制电路输出控制信号，或者又例如该按键对应一个开关电路，通过该按键使开关电路导通或截止，以开启或关闭加热件202。
在一些实施例中，参阅图6、图7、图8和图9，清洁装置10还包括第一导电组件300、第二导电组件400和温控板500，第一导电组件300穿设在转动机构100中并与第二导电组件400电性连接，第二导电组件400固定在转动机构100内，温控板500设置在承载组件201上并与第二导电组件400电性连接，例如，温控板500可以为电路板，温控板500设置在导热板202b，温控板500可以对加热件202和导热板202b上的温度进行实时监测。
具体地，第一导电组件300穿设在转轴110中并用于跟控制主机电性连接，第二导电组件400包括上座410、下座420、顶针430和导电柱440，上座410和下座420均跟转轴110固定连接并位于容置腔111中。上座410和下座420层叠设置，上座410位于下座420的上方，顶针430穿设在上座410中，下座420包括基体421和接触体422，基体421与转轴110固定连接，基体421朝向上座410的表面上设置有接触体422，接触体422可以为环状结构。顶针430远离下座420的一端为上端，顶针430的上端与第一导电组件300电性连接；顶针430靠近下座420的一端为下端，顶针430的下端与接触体422电性连接。导电柱440穿设在基体421上，导电柱440靠近上座410的一端为上端，导电柱440的上端与接触体422电性连接；导电柱440远离上座410的一端的下端，导电柱440的下端与温控板500电性连接。因此，通过导电柱440、接触体422和顶针430的共同作用，从而实现温控板500与第一导电组件300的电性连接关系，鉴于第一导电组件300跟控制主机连接，最终可以实现温控板500和控制主机的电性连接关系，可以使得温控板500将温度信息反馈至控制主机。
第一导电组件300包括外套筒310、内套筒320和导线330，外套筒310固定在转轴110内，内套筒320转动套设在外套筒310之内，导线330穿设在内套筒320中并与第二导电组件400的顶针430保持弹性抵压关系，从而实现导线330和顶针430的电性连接关系，最终实现第一导电组件300和第二导电组件400两者之间的电性连接关系。在工作时， 第二导电组件400跟随转轴110产生同步转动，而内套筒320和导线330不会跟随转轴110转动，提高导线330和顶针430之间电性连接的稳定可靠性。
因此，当温控板500监测到发热丝和导热板202b的温度过高时，温控板500将该过高的温度信息反馈至控制主机，从而使得加载在加热件202上的电流合理降低。当温控板500监测到发热丝和导热板202b的温度过低，温控板500将该过低的温度信息反馈至控制主机，从而使得加载在加热件202上的电流合理增大。故通过设置温控板500，可以对加热件202和导热板202b的温度进行合理调节，进而对清洁件203的温度进行合理调节。
清洁件203可以采用布制品材料制成，清洁件203固定在导热板202b上，例如清洁件203可以通过魔术贴附着在导热板202b上，使得加热件202产生的热量通过导热板202b传导至清洁件203上。
在一些具体实施例中，温控板500可以包括温度传感器，用于检测清洁件的当前温度；控制主机可以包括处理器，控制主机还可以包括各种控制电路等，处理器还用于：接收当前温度，并当当前温度到达预设温度时，控制加热件202的加热功率以使当前温度和预设温度之间的温度差小于预设阈值温度，该预设温度可以是用户设定的任意的温度，例如，当通过加热组件202快速加热后，可以使加热件202保持在预设温度，但通常该预设温度是有波动的，因此，其可以在允许范围内波动，其中，预设阈值温度可以是任意适合的值，例如可以是0、0.1℃、0.2℃、0.3℃、0.5℃、0.8℃、1℃、2℃等。
值得一提的是，处理器还可以用于根据当前温度和预设温度之间的差值控制加热件202的加热功率，例如，差值越小功率越小，或者当当前温度高于预设温度时则可以控制关闭加热件202也即加热功率为0，而当当前温度低于预设温度且相差第一预设阈值范围时，则控制加热件202以第一加热功率加热，当当前温度低于预设温度且相差第二预设阈值范围时，则控制加热件202以第二加热功率加热，其中，第一预设阈值范围的数值大于第二预设阈值范围，则第一加热功率大于第二加热功率。
参阅图6、图7、图8和图9，下面接介绍清洁装置10的工作原理：
当齿轮120带动转轴110产生转动时，转轴110通过凸台213带动转接件210转动，从而使得整个清洁机构200跟随转轴110产生转动，当清洁件203与地面接触时，清洁件203将相对地面产生运动，从而使得清洁件203对地面上的污渍进行清除。鉴于清洁件203能吸收导热板202b上的热量，使得清洁件203具有一定的温度，在温度的作用下，使得清洁件203更容易对污渍进行清除，从而提高清洁装置10的清洁效果。通过温控板500的设置，可以对加热件202、导热板202b和清洁件203的温度进行合理调节，从而针对不同的污渍进行清洁，保持清洁装置10对不同的污渍均具有良好的清洁效果。同时，承载件220与转接件210滑动连接，使得清洁件203能跟随承载件220相对转接件210产生 上下滑动，也即清洁件203能够在限位面2111和止挡件211b之间所限定的行程内进行小范围浮动，并且在弹性件230的推动作用下，使得清洁件203能适用地面的形状并与其保持贴合，避免清洁件203无法接触污渍，如此同样可以提高清洁装置10的清洁效果。鉴于弹性体130与插置单元212形成卡扣连接关系，可以使得承载组件201和整个清洁机构200实现可拆卸连接关系，使得承载件220能够从转轴110上卸载，以便对清洁件203进行更换或维护。
应当理解，本发明实施例所描述的清洁装置只是示例性的，而非限制性的，根据需要，清洁装置也可以具有其他组件和结构。
本发明提供的清洁装置通过清洁件的旋转清洁地面可以单独或与其他清洁方式结合使用。
综上，根据本申请的清洁装置，例如厨房，任何某些污渍比较多的位置或房间，或用户划定的某个重点拖地区域，加热件可以由用户自动或者手动启动给清洁件加热，清洁件被快速加热并被大体保持在预设温度，机器人一边行走一边加热，通过给清洁件加热，增强了机器人清理污渍的能力，提高了清洁污渍的效果。当清洁装置离开第一预定清洁区域(也即重点清扫区)后，可以自动或由用户手动关闭加热件停止对清洁件加热，或当清洁装置进入地毯区域时，可以自动关闭加热件停止对清洁件加热，以节省电能。
除非另有定义，本文中所使用的技术和科学术语与本发明的技术领域的技术人员通常理解的含义相同。本文中使用的术语只是为了描述具体的实施目的，不是旨在限制本发明。本文中出现的诸如“设置”等术语既可以表示一个部件直接附接至另一个部件，也可以表示一个部件通过中间件附接至另一个部件。本文中在一个实施例中描述的特征可以单独地或与其它特征结合地应用于另一个实施例，除非该特征在该另一个实施例中不适用或是另有说明。
本发明已经通过上述实施例进行了说明，但应当理解的是，上述实施例只是用于举例和说明的目的，而非意在将本发明限制于所描述的实施例范围内。此外本领域技术人员可以理解的是，本发明并不局限于上述实施例，根据本发明的教导还可以做出更多种的变型和修改，这些变型和修改均落在本发明所要求保护的范围以内。本发明的保护范围由附属的权利要求书及其等效范围所界定。

Claims (20)

  1. 一种清洁装置，其特征在于，包括：
    主机；
    清洁机构，所述清洁机构连接所述主机，其中，所述清洁机构包括：
    承载组件；
    清洁件，设置于所述承载组件上，所述清洁件用于对待清洁区域进行清洁；
    加热件，设置于所述承载组件上，用于对所述清洁件进行加热。
  2. 根据权利要求1所述的清洁装置，其特征在于，所述清洁装置还包括：
    传感器，至少用于：对所述清洁装置周围的环境进行感知；
    处理器，用于：接收所述传感器输出的感知信息，以当根据所述感知信息确定所述清洁装置进入或离开第一预定清洁区域时，控制所述加热件启动或关闭，以及当确定所述清洁装置进入或离开第二预定清洁区域时，控制所述加热件关闭或者启动。
  3. 根据权利要求1所述的清洁装置，其特征在于，所述清洁装置包括通信接口和处理器，所述通信接口用于使所述清洁装置和用户终端通信连接，所述处理器用于：接收所述用户终端输出的开启或关闭所述加热件的控制指令，以根据所述控制指令控制开启或关闭所述加热件；和/或
    所述主机上设置有用于开启或关闭所述加热件的按键，通过所述按键开启或关闭所述加热件。
  4. 根据权利要求2或3所述的清洁装置，其特征在于，还包括：
    温度传感器，用于检测所述清洁件的当前温度；
    所述处理器还用于：接收所述当前温度，并当所述当前温度到达预设温度时，控制所述加热件的加热功率以使所述当前温度和所述预设温度之间的温度差小于预设阈值温度。
  5. 根据权利要求1所述的清洁装置，其特征在于，所述承载组件朝向所述待清洁区域的一侧设置有清洁件固定区，所述清洁件固定区用于将所述清洁件和所述承载组件可拆卸地连接。
  6. 根据权利要求1所述的清洁装置，其特征在于，所述承载组件包括承载件和导热板，所述承载件上设置有凹槽，所述加热件设于所述凹槽内，所述导热板与所述承载件连接并抵压所述加热件，所述清洁件与所述导热板连接。
  7. 根据权利要求1所述的清洁装置，其特征在于，所述清洁装置还包括转动机构，所述转动机构与所述主机传动连接，所述承载组件与所述转动机构可拆卸连接，所述承载组件通过所述转动机构可旋转地连接所述主机，所述清洁机构跟随所述转动机构转动以使 所述清洁件进行清洁。
  8. 根据权利要求7所述的清洁装置，其特征在于，所述转动机构包括转轴，所述转轴开设有容置腔，所述承载组件包括转接件，所述转接件包括抵接单元、插置单元和凸台，所述抵接单元具有抵接面，所述插置单元设置在所述抵接面上并相对所述抵接面凸出，所述插置单元具有与所述容置腔配合的侧周面，所述凸台与所述侧周面连接并相对所述侧周面凸出，所述转轴的端部与所述抵接面相抵接并开设有跟所述凸台配合的卡槽。
  9. 根据权利要求8所述的清洁装置，其特征在于，所述转动机构还包括弹性体，所述弹性体固定在所述转轴上并收容在所述容置腔中，所述侧周面上开设有限位槽，所述弹性体与所述限位槽配合而与所述插置单元卡扣连接。
  10. 根据权利要求7所述的清洁装置，其特征在于，所述承载组件包括转接件、承载件和弹性件，所述清洁件设置在所述承载件上，所述转接件与所述转动机构连接，所述承载件与所述转接件活动连接，所述弹性件抵压在所述承载件和所述转接件之间。
  11. 根据权利要求10所述的清洁装置，其特征在于，所述转接件包括底板、凸柱和止挡件，所述底板具有朝向所述清洁件的限位面，所述凸柱自所述限位面向所述清洁件延伸，所述承载件上开设有滑孔，所述凸柱与所述滑孔活动配合，所述止挡件穿过所述滑孔与所述凸柱连接。
  12. 根据权利要求11所述的清洁装置，其特征在于，所述转接件还包括与所述限位面连接并环绕所述凸柱设置的套筒，所述承载件包括滑动部，所述滑孔开设在所述滑动部上，所述套筒和所述凸柱之间形成滑动腔，所述滑动部与所述滑动腔滑动配合，所述弹性件位于所述套筒与所述凸柱之间。
  13. 根据权利要求1所述的清洁装置，其特征在于，还包括电池，设置于所述主机中，所述电池用于给所述加热件供电。
  14. 根据权利要求13所述的清洁装置，其特征在于，所述加热件通过有线方式或者无线方式电连接所述电池。
  15. 根据权利要求13所述的清洁装置，其特征在于，还包括转动机构、第一导电组件、第二导电组件，所述转动机构与所述主机传动连接，所述承载组件与所述转动机构连接，所述第一导电组件电连接所述电池，第一导电组件穿设在所述转动机构中并与所述第二导电组件电性连接，所述第二导电组件固定在所述转动机构内，所述加热件与所述第二导电组件电性连接，以使所述加热件通过有线方式电连接所述电池。
  16. 根据权利要求15所述的清洁装置，其特征在于，所述清洁装置还包括温控板，所述温控板设置在所述承载组件上并与所述第二导电组件电性连接。
  17. 根据权利要求16所述的清洁装置，其特征在于，所述第二导电组件包括上座、 下座、顶针和导电柱，所述上座和下座层叠设置，所述顶针穿设在所述上座中，所述顶针与所述第一导电组件电性连接，所述下座包括基体和接触体，所述接触体设置在所述基体朝向所述上座的表面上并与所述顶针接触，所述导电柱穿设在所述基体中并同时跟所述接触体和所述温控板电性连接。
  18. 根据权利要求15所述的清洁装置，其特征在于，所述第一导电组件包括外套筒、内套筒和导线，所述外套筒固定在所述转动机构内，所述内套筒转动套设在所述外套筒之内，所述导线穿设在所述内套筒中并与所述第二导电组件电性连接。
  19. 根据权利要求14所述的清洁装置，其特征在于，其中，所述无线方式为所述电池通过感应方式与所述加热件连接。
  20. 根据权利要求1至19中任一项所述的清洁装置，其特征在于，
    所述加热件经弯折成多圈形态设置在所述承载组件上。
PCT/CN2023/071879 2022-01-12 2023-01-12 一种清洁装置 WO2023134721A1 (zh)

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