WO2023197854A1 - 清洁装置、主机及控制方法 - Google Patents

清洁装置、主机及控制方法 Download PDF

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Publication number
WO2023197854A1
WO2023197854A1 PCT/CN2023/084123 CN2023084123W WO2023197854A1 WO 2023197854 A1 WO2023197854 A1 WO 2023197854A1 CN 2023084123 W CN2023084123 W CN 2023084123W WO 2023197854 A1 WO2023197854 A1 WO 2023197854A1
Authority
WO
WIPO (PCT)
Prior art keywords
cleaning
cleaning device
equipment body
driving device
spiral
Prior art date
Application number
PCT/CN2023/084123
Other languages
English (en)
French (fr)
Inventor
王辉
施金雷
Original Assignee
科沃斯机器人股份有限公司
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 CN202210374139.7A external-priority patent/CN116919242A/zh
Priority claimed from CN202210388123.1A external-priority patent/CN116942016A/zh
Application filed by 科沃斯机器人股份有限公司 filed Critical 科沃斯机器人股份有限公司
Publication of WO2023197854A1 publication Critical patent/WO2023197854A1/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
    • A47L11/24—Floor-sweeping machines, motor-driven
    • 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
    • A47L11/283—Floor-scrubbing machines, motor-driven having rotary tools the tools being disc brushes
    • 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
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers

Definitions

  • This application relates to the technical field of smart home appliances, specifically a cleaning device, a host and a control method.
  • the cleaning device can clean the area to be cleaned, reducing labor burden and improving environmental cleanliness.
  • the cleaning device cannot install or remove the rag attachment by itself, and requires manual operation by the user, resulting in increased user burden and decreased convenience of use.
  • Embodiments of the present application provide a cleaning device, a host and a control method, which can attach and remove the rag attachment by itself, thereby improving the degree of automation and convenience of use.
  • a cleaning device including a cleaning host and a rag attachment.
  • the cleaning host includes: a body having a cleaning side and a back side arranged oppositely along its thickness direction; a connecting mechanism disposed on the The fuselage has a movable connecting part, the connecting part moves in a first direction to connect with the rag attachment, and the connecting part moves in the opposite direction of the first direction to separate from the rag attachment, the The first direction is a direction approaching the cleaning side from the back side.
  • the connecting mechanism is further configured to drive the rotation of the rag attachment connected to the connecting portion.
  • connection mechanism includes a rotating component and a driving device that drives the rotating component to rotate, one of the fuselage and the rotating component has a spiral rail portion, and the other has a rotating guide portion, so
  • the connecting portion is formed at an end of the rotating component away from the back side along the first direction, and the spiral rail portion is connected to the rotating guide portion so that the rotating component moves along the spiral rail portion.
  • the center line of the spiral rail portion extends along the first direction.
  • the spiral rail part and the rotating guide part are separated.
  • the body is provided with a receiving cavity opening on the clean side, the rotating component is passed through the receiving portion, and a surface of the receiving cavity connected to the rotating component is at least partially One of the spiral rail part and the rotation guide part is provided.
  • the rotating assembly includes a rotating shaft member and a connecting member that are connected in sequence along the first direction.
  • the rotating shaft member extends along the first direction and is connected to the driving device.
  • the rotating shaft member is provided with There is one of the spiral rail portion and the rotation guide portion, and the connecting portion is formed at an end of the connecting piece away from the rotating shaft member.
  • the rotating assembly further includes an elastic member, the connecting member and the rotating shaft member are relatively movable along the axial direction of the rotating shaft member, and the elastic member connects all the connecting members along the axial direction of the rotating shaft member.
  • the connecting piece and the rotating shaft piece are relatively movable along the axial direction of the rotating shaft member, and the elastic member connects all the connecting members along the axial direction of the rotating shaft member.
  • one of the spiral rail portion and the rotation guide portion has an outer spiral groove portion configuration, and the other has an inner spiral groove portion configuration, and the outer spiral groove portion and the inner spiral groove portion The groove part is spirally engaged.
  • the spiral rail portion has a spiral groove portion
  • the rotation guide portion has a convex portion structure, and the convex portion is movable along the spiral groove portion.
  • connection mechanism further includes a magnetic adsorption component, and the magnetic adsorption component is suitable for magnetic connection with the rag attachment.
  • a limiting portion is provided on the surface of the fuselage.
  • the connecting portion moves in the direction in which the cleaning side approaches the back side, the limiting portion contacts the rag attachment so that The rag attachment is separated from the connecting part.
  • the rag attachment has a connecting end adapted to be connected to the connecting portion, and an end surface of one of the connecting portion and the connecting end is provided with a plurality of spiral convex ridges arranged sequentially along the circumferential direction.
  • the protruding portion and the end surface of the other are provided with a plurality of spiral end groove portions arranged sequentially in the circumferential direction, and the plurality of spiral protruding portions and the plurality of spiral end groove portions are spirally engaged in a one-to-one correspondence.
  • embodiments of the present application provide a control method for controlling the cleaning device provided in any of the above embodiments, including: determining whether the cleaning host has a rag attachment attached; responding to determining that the cleaning host has not attached a rag attachment; When attaching a rag attachment, the connecting mechanism is controlled so that the connecting portion is connected to the rag attachment to be attached by moving in a first direction, and the first direction is a direction approaching the cleaning side from the back side; In response to determining that the cleaning host has attached the rag attachment, the connecting mechanism is controlled to separate the connecting portion from the rag attachment to be removed by moving in the opposite direction of the first direction.
  • embodiments of the present application provide a control method for controlling the cleaning device provided in any of the above embodiments, including: determining whether the target environmental area includes a first-class area and a second-class area, and the first-type area includes suitable areas.
  • the second type of area includes at least one of the area that is not suitable for mopping and the area that is not suitable for the rag attachment; in response to determining that the target environment area includes a type of area and In the second category area, it is determined whether the cleaning host has attached the rag attachment; in response to determining that the cleaning host has attached the rag attachment, the cleaning host is controlled to perform cleaning operations on the second category area and the first category area in sequence. Cleaning, and controlling the cleaning host to move the rag attachment after completing the cleaning of the second type area and before starting to clean the first type area.
  • the cleaning host in response to determining that the cleaning host is not equipped with a rag attachment, the cleaning host is controlled to clean the first-category area and the second-category area in sequence, and the cleaning host is controlled to complete the cleaning of the first-category area. Finally, attach the rag attachment located in the designated area before starting to clean the Class II area.
  • a telescopic connection mechanism is provided on the fuselage, and the connection mechanism is used to extend the fuselage and connect with the rag attachment to be attached, thereby realizing the automatic attachment of the rag attachment on the cleaning host.
  • the connection mechanism is used to retract the rag attachment. into the fuselage and separated from the rag attachment attached to the cleaning host, so as to realize the automatic removal of the rag attachment on the cleaning host; in this way, the cleaning device can attach or remove the rag attachment on its own as needed, without the need for the user to manually Operation can improve the automation of the cleaning device, release the user's labor burden, and increase the convenience of use of the cleaning device.
  • a cleaning device which includes:
  • a driving device is provided on the equipment body
  • a cleaning device detachably connected to the driving device
  • the driving device outputs rotational power in a first direction to drive the cleaning device to perform a cleaning action, and outputs rotational power in a second direction to cause the cleaning device to disconnect from the driving device; the first direction A direction different from the second direction;
  • another cleaning device is also provided, the cleaning device including:
  • the equipment body is equipped with a disassembly and assembly guide structure
  • Cleaning device used to clean the object to be cleaned
  • the cleaning device when the equipment body moves toward the cleaning device and moves to a docking position with the cleaning device under the action of the disassembly and assembly guide structure, the cleaning device is connected to the equipment body.
  • a cleaning device including:
  • the equipment body is located on a plane
  • a cleaning device is detachably provided on the equipment body
  • the equipment body has the function of automatically disassembling the cleaning device, and the equipment body disassembles the cleaning device.
  • the cleaning device is located on the plane, and the equipment body faces a direction away from the cleaning device. action.
  • a method for automatically disassembling and assembling a cleaning device of a cleaning device includes:
  • the driving device In response to the disassembly instruction, the driving device is controlled to output rotational power in the second direction, so that the cleaning device Disconnect the connection with the driving device, and the driving device and the cleaning device move in opposite directions in the rotational power axis;
  • the driving device when the driving device outputs rotational power in the first direction, the driving device is connected to the cleaning device and can drive the cleaning device to perform a cleaning action; the first direction and the second direction are different direction.
  • a method for automatically disassembling and assembling a cleaning device of a cleaning device includes:
  • the automatic control is The disassembly and assembly mechanism works to connect the cleaning device to the equipment body;
  • the automatic disassembly and assembly mechanism is provided on at least one of the equipment body and the cleaning device.
  • the cleaning device can move in different directions relative to the driving device to realize the connection or disconnection between the cleaning device and the driving device.
  • the driving device outputs When the rotational power is in the first direction, the driving device and the cleaning device are connected to each other, and the driving device drives the cleaning device to perform the cleaning action.
  • the driving device outputs the rotational power in the second direction, the driving device disconnects from the cleaning device, thereby The automatic disassembly and assembly of the cleaning device is realized, and the structure is simple and easy to implement.
  • Figure 1 is an exploded structural view of a cleaning device provided by some embodiments of the present application.
  • Figure 2 is a partial cross-sectional structural view of the cleaning device provided by some embodiments of the present application when a rag attachment is attached;
  • Figure 3 is a partial structural view of the cleaning device at M in Figure 2;
  • Figure 4 is a partial cross-sectional structural view of the cleaning device provided by some embodiments of the present application after removing the rag attachment;
  • Figure 5 is a partial structural view of the connection part of the cleaning host of the cleaning device provided by some embodiments of the present application.
  • Figure 6 is a partial structural view of the rag attachment of the cleaning device provided by some embodiments of the present application.
  • Figure 7 is a flow chart of a control method provided by some embodiments of the present application.
  • Figure 8 is a flow chart of another control method provided by some embodiments of the present application.
  • Figure 9 is a schematic diagram of a usage environment of the cleaning device provided by some embodiments of the present application.
  • Figure 10 is a schematic diagram of another usage environment of the cleaning device provided by some embodiments of the present application.
  • Figure 11 is a schematic diagram of the first cross-sectional structure of a cleaning device provided by an embodiment of the present application.
  • Figure 12 is a second cross-sectional structural schematic diagram of a cleaning device provided by an embodiment of the present application.
  • Figure 13 is a schematic structural diagram of a third section of a cleaning device provided by an embodiment of the present application.
  • Figure 14 is a partial view of part A in Figure 1;
  • Figure 15 is a partial view of part B in Figure 2;
  • Figure 16 is a schematic three-dimensional structural diagram of a cleaning device provided by an embodiment of the present application.
  • Figure 17 is a schematic front structural view of a cleaning device provided by an embodiment of the present application.
  • Figure 18a is a schematic three-dimensional structural diagram of a second structure provided by an embodiment of the present application.
  • Figure 18b is a three-dimensional schematic diagram of the second structure provided by the embodiment of the present application.
  • Figure 19 is a cross-sectional view of a second structure provided by the embodiment of the present application.
  • FIG. 20 is a schematic structural diagram of a chassis provided by an embodiment of the present application.
  • Figure 21 is a schematic three-dimensional structural diagram of a chassis provided by an embodiment of the present application.
  • Figure 22 is a schematic flow chart of a method for automatically disassembling and assembling a cleaning device of a cleaning equipment according to an embodiment of the present application
  • FIG. 23 is a schematic flowchart of a method for automatically disassembling and assembling a cleaning device of a cleaning equipment according to another embodiment of the present application.
  • first and second are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of indicated technical features.
  • features defined as “first” and “second” may explicitly or implicitly include one or more of the described features.
  • “plurality” means two or more than two, unless otherwise explicitly and specifically limited.
  • a and/or B includes the following three combinations: A only, B only, and a combination of A and B.
  • the cleaning device cannot install or remove the rag attachment by itself, which causes great inconvenience during use.
  • an environment that includes areas suitable for mopping and areas not suitable for mopping, it is necessary to install the rag attachment before cleaning the area suitable for mopping, and remove the rag attachment before cleaning the area unsuitable for mopping;
  • these cleaning devices require users to manually assemble and disassemble the rag attachments, resulting in the inability to continuously connect cleaning operations between different areas, low cleaning efficiency and automation, and high dependence on human operation; here, suitable
  • the mopping area may include surface areas such as floors and floor tiles that are easy to dry and difficult to absorb dirt.
  • the areas not suitable for mopping may include surface areas such as carpet surfaces that are difficult to dry or easy to absorb dirt.
  • the rag attachment needs to be removed before entering the area where rag attachments cannot pass; accordingly, these cleaning devices also need to be manually installed by the user. dismantling, resulting in the cleaning device's passing ability and continuous operation ability between different areas being greatly restricted, reducing the cleaning efficiency and lowering the degree of automation; here, the area where the rag attachment can pass refers to the area where the cleaning device can pass after the rag attachment is attached.
  • the area where obstacles are passed usually has a low obstacle height and can be entered or passed by the cleaning device equipped with a rag attachment; and the area where the rag attachment cannot pass refers to an area where the cleaning device cannot overcome obstacles after being attached with a rag attachment.
  • the area as a whole has a high obstacle height or is blocked by obstacles such as thresholds, fences, etc. that cannot be crossed by the cleaning device equipped with a rag attachment, making it impossible for the cleaning device equipped with a rag attachment to enter and pass without the rag attachment attached.
  • the cleaning device can enter and pass through.
  • the above-mentioned manual assembly and disassembly process may also easily cause the user to be contaminated by the odor and dirt on the dirty rag, which has a negative impact on the user's health.
  • an embodiment of the present application provides a cleaning device 01.
  • the cleaning device 01 includes a cleaning host 101 and a rag attachment 102.
  • the cleaning host 101 includes a body 10 and a connection mechanism 20, and can attach and remove the rag attachment 102 by itself, thereby improving the degree of automation and convenience of use.
  • the type of cleaning device 01 can be determined according to actual needs, such as a mopping robot, a sweeping and mopping machine, etc.
  • the embodiments of the present application do not limit the corresponding structures and shapes of different types of cleaning equipment such as body robots, vacuum cleaners, cleaning machines, and glass cleaning robots.
  • the cleaning host 101 can adopt host structures of different types of cleaning equipment such as sweeping robots, mopping robots, sweeping and mopping integrated robots, vacuum cleaners, cleaning machines, glass cleaning robots, etc., according to actual application needs, to achieve corresponding cleaning effects.
  • the embodiments of the present application do not limit this.
  • the rag attachment 102 can adopt a structure type that matches the corresponding cleaning equipment according to actual application needs to achieve a corresponding cleaning effect, which is not limited in the embodiments of the present application.
  • the rag attachment 102 may include a rag and a rag holder suitable for installing the rag; here, the rag and the rag holder may have a non-detachable integrated structure, or may have a detachable assembly structure.
  • the body 10 has a clean side 12 and a back side 13 oppositely arranged along the thickness direction thereof.
  • the rag attachment 102 is located on the cleaning side 12 of the fuselage 10; accordingly, during mopping and cleaning of the target environment area, the cleaning side 12 and the target environment area are The surface remains facing and the backside 13 remains opposite to the surface of the target environment area, and the rag attachment 102 is located on the cleaning side 12 to mop the surface of the target environment area.
  • the connecting mechanism 20 is provided on the fuselage 10 and has a movable connecting part 20a.
  • the connecting part 20a is suitable for connecting/detaching the rag attachment 102; the connecting part 20a can be moved along the first direction or the first direction by using the connecting mechanism 20. Move in the opposite direction, so that the connecting part 20a and the rag attachment 102 are adapted to be connected/separated.
  • the first direction refers to the direction approaching the cleaning side 12 from the back side 13 .
  • the connecting mechanism 20 can move the connecting portion 20a along the first direction and gradually move away from the back side 13 of the fuselage 10 until it reaches a predetermined position such as a specific position located outside the fuselage 10; At this predetermined position, the connecting portion 20a is suitable for connecting with the rag attachment 102 to be attached, so that the rag attachment 102 can be automatically installed on the cleaning host 101 through the connecting mechanism 20 .
  • the connecting mechanism 20 can move the connecting portion 20a in the opposite direction to the first direction and gradually approach the back side 13 of the fuselage 10, so that the connecting portion 20a and the rag attachment 102 move together. separation to realize the automatic removal of the rag attachment 102 on the cleaning host 101.
  • the connecting portion 20a when moving in the first direction, can extend from the inside of the fuselage 10 to the outside of the fuselage 10; and when moving in the opposite direction of the first direction, the connecting portion 20a can extend from the inside of the fuselage 10 to the outside of the fuselage 10. The outside of the fuselage 10 is retracted into the inside of the fuselage 10 . In other examples, the connecting portion 20a may always be located outside the fuselage 10 when moving in the first direction or its opposite direction.
  • the cleaning host 101 provided by the embodiment of the present application can attach or remove the rag attachment 102 by itself as needed, without requiring the user to manually install or remove the rag attachment 102, which can release the user's labor burden and avoid getting dirty and wet.
  • the rag attachment 102 causes contamination damage to the user, thereby improving the automation level and convenience of use of the cleaning host 101.
  • the cleaning host 101 provided by the embodiment of the present application can automatically attach a rag attachment before cleaning the suitable mopping area 201. 102.
  • the rag attachment 102 is automatically removed before cleaning the area 202 that is not suitable for mopping, without the need for manual intervention by the user.
  • the cleaning host 101 provided by the embodiment of the present application can remove the rag attachment 102 before entering the area 302 through which the rag attachment cannot pass, and does not require user manual labor. Intervention operation, with high obstacle passing ability and continuous operation ability between different areas.
  • the connecting part 20a can be connected to the rag attachment 102 in a tendency to be close to the target environment area, ensuring that the surface of the rag attachment 102 and the target environment area has a relatively smooth surface.
  • the optimal relative contact position and contact force increase the cleaning ability and efficiency of the rag attachment 102 on the surface of the target environmental area.
  • the rag attachment 102 can remain static relative to the cleaning host 101 and perform follow-up mopping on the cleaning host 101, or it can move relative to the cleaning host 101 to perform active mopping.
  • the motion form of the rag attachment 102 can be designed according to actual needs, such as linear reciprocating motion, swinging, rotating motion, etc., which is not limited in the embodiment of the present application.
  • the motion form of the wiper attachment 102 may be a rotational motion; accordingly, the connection mechanism 20 may be configured to drive the wiper attachment 102 connected to the connection part 20a to rotate.
  • the connecting mechanism 20 can output linear motion so that the connecting portion 20a can connect or separate from the rag attachment 102 during the movement stroke; on the other hand, it can output circular motion so that the connecting portion 20a can drive the rag attachment 102 to rotate.
  • Efficient cleaning; compared with related technologies, the automatic assembly and disassembly of the rag attachment 102 and the rotational driving of the rag attachment 102 during the cleaning process can be realized through the same mechanism, simplifying the mechanical structure of the cleaning host 101.
  • the rag attachment 102 can actively rotate to efficiently mop and clean the area to be cleaned, thereby increasing mopping cleaning efficiency and cleaning cleanliness.
  • the connecting mechanism 20 can be determined according to actual needs, and different linear motion mechanism structures such as telescopic cylinders, electric push rods, and rack and pinion mechanisms can be used, which are not limited in the embodiments of the present application.
  • the connecting mechanism 20 may include a rotating component 21 and a driving device 22 that drives the rotating component 21 to rotate.
  • the rotating component 21 may be provided with a connecting portion 20a that is suitable for connecting/disconnecting with the rag attachment 102, and the connecting portion 20a is formed on an end of the rotating component 21 away from the back side 13 along the first direction.
  • the rotating component 21 There may be a screw fit between the rotating component 21 and the fuselage 10, so that the rotating component 21 can be helically rotated and held on the fuselage 10, so that the connecting part 20a can be connected to the rag attachment 102 movably in the first direction or its opposite direction, or separation.
  • the driving device 22 drives the rotating assembly 21 to rotate on the fuselage 10 to rotate on the fuselage 10
  • the circumferential rotation of the rotating assembly 21 is converted into a linear feed motion along the first direction, so that The rotating component 21 is presented as a whole by circumferential rotation and linear
  • the combined spiral rotation movement is fed to realize the linear position movement of the connecting portion 20 a relative to the fuselage 10 .
  • the type of the driving device 22 can be determined according to actual needs, and can be of a type such as a rotating motor, a hydraulic motor, etc., as long as it can output rotational motion to the rotating component 21 , which is not limited in the embodiment of the present application.
  • one of the fuselage 10 and the rotating assembly 21 may have a spiral rail portion 21a, and the other may have a rotating guide portion 10a.
  • the fuselage 10 may have a spiral rail part 21a, and the rotating assembly 21 may have a rotating guide part 10a; as another example, the rotating assembly 21 may have a spiral rail part 21a, and the fuselage 10 may have a rotating guide part 10a.
  • the spiral rail portion 21a and the rotating guide portion 10a are connected so that the rotating assembly 21 moves along the spiral rail portion 21a, and the center line of the spiral rail portion 21a extends along the first direction.
  • the rotating assembly 21 can spirally rotate along the spiral rail portion 21a on the fuselage 10, thereby realizing the linear feed of the rotating assembly 21 on the fuselage 10 and the attachment of the rag. 102 for connection or separation; when the spiral rail portion 21a and the rotation guide portion 10a are separated, the rotation assembly 21 can rotate on the fuselage 10 along its own circumferential direction, but does not perform linear feed in the first direction.
  • the structural types of the spiral rail portion 21a and the rotating guide portion 10a can be determined according to actual needs, and are not limited in the embodiment of the present application.
  • one of the spiral rail portion 21a and the rotation guide portion 10a may have an outer spiral groove structure, and the other may have an inner spiral groove structure, and the outer spiral groove portion and the inner spiral groove portion are helically engaged; here , the outer spiral groove part and the inner spiral groove part can adopt spiral types such as trapezoidal threads and ball threads.
  • the spiral rail portion 21a may have a spiral groove structure, and the rotating guide portion 10a may have a raised portion structure, and the raised portion can be slidably held in the guide raised portion along the spiral line of the spiral groove, correspondingly along the spiral. The groove part moves to achieve the purpose of spiral guidance.
  • the spiral fit between the spiral rail portion 21a and the rotating guide portion 10a can be configured such as the matching length, so that when the rotating assembly 21 and the rag attachment 102 are connected, the spiral rail portion 21a and the rotating guide portion 10a are separated. In this way, when the driving device 22 drives the rotating assembly 21 to rotate in the first rotation direction, the rotating assembly 21 spirally rotates out of the fuselage 10 and gradually approaches the rag attachment 102.
  • the engagement length between the spiral rail portion 21a and the rotating guide portion 10a It continues to decrease and gradually approaches separation; as the rotating assembly 21 and the rag attachment 102 reach the connected state, the spiral rail portion 21a and the rotating guide portion 10a separate and disengage from the engagement state, so that the rotating assembly 21 is no longer subject to the spiral guidance effect and rotates
  • the assembly 21 only rotates on the body 10 along the first rotation direction, thereby achieving the purpose of rotationally driving the rag attachment 102 .
  • the driving device 22 drives the rotating assembly 21 to rotate in the opposite direction of the first rotating direction (hereinafter referred to as the "second rotating direction")
  • the spiral rail portion 21a and the rotating guide portion 10a gradually engage to form a spiral fit, so that the rotating assembly
  • the length of the spiral engagement between 21 and the fuselage 10 gradually increases, so that the rotating component 21 is spirally retracted into the fuselage 10 due to the spiral guiding effect of the fuselage 10, thereby realizing the separation between the rotating component 21 and the rag attachment 102.
  • the spiral fit between the rotating assembly 21 and the fuselage 10 can be utilized to realize the rotating
  • the switching of the rotating assembly 21 between the spiral rotation state and the circumferential rotation state correspondingly realizes the function switching between the rotating assembly 21 for linear feeding to install and disassemble the rag accessory 102 and circumferential rotation to drive the rag accessory 102 for rotation and cleaning, without the need for
  • the mechanical mechanism is simplified by introducing additional motion mechanisms to meet the dual requirements of functionality and cost.
  • the spiral rail portion 21a or the rotation guide portion 10a can be directly provided on the fuselage 10.
  • the fuselage 10 may include a rotating shaft sleeve 11.
  • the spiral rail portion 21a or the rotating guide portion 10a is provided on the inner peripheral surface of the rotating shaft sleeve 11.
  • the rotating assembly 21 is helically rotatably sleeved on the rotating shaft sleeve 11. the inner peripheral side. In this way, when the rotating shaft sleeve 11 is damaged, the rotating shaft sleeve 11 can be replaced in time without the need to replace or repair the fuselage 10, thereby reducing the manufacturing and maintenance costs of the entire machine.
  • the rotating assembly 21 may include a rotating shaft member 211 and a connecting member 212 connected in sequence along the first direction.
  • the rotating shaft member 211 extends along the first direction.
  • the central axis of the rotating shaft member 211 is parallel to the first direction;
  • the rotating shaft member 211 is provided with one of the spiral rail portion 21a and the rotation guide portion 10a, and the rotating shaft member 211 211 is connected to the driving device 22 so that the rotating shaft member 211 is driven by the driving device 22 and is held on the fuselage 10 in a spirally rotatable manner.
  • the connecting member 212 is disposed on the side of the rotating shaft member 211 away from the back side 13 along the first direction, and the connecting portion 21a is formed on the end of the connecting member 212 away from the rotating shaft member 211 .
  • one end of the rotating shaft member 211 can be connected to the driving device 22
  • the connecting member 212 can be disposed on an end of the rotating shaft member 211 away from the driving device 22 .
  • the connecting member 212 and the connecting portion 21a thereon can be connected or separated from the rag attachment 102.
  • the rotation assembly 21 may also include an elastic member 213 .
  • the connecting member 212 and the rotating shaft member 211 can move relatively along the axial direction of the rotating shaft member 211, and the elastic member 213 connects the connecting member 212 and the rotating shaft member 211 along the axial direction of the rotating shaft member 211; accordingly, the elastic member 213 can move along the axial direction of the rotating shaft member 211.
  • An elastic force is applied between the connecting piece 212 and the rotating shaft piece 211 in the axial direction.
  • the type of the elastic member 213 can be determined according to actual needs, and can be types such as springs, metal springs, etc., which are not limited in the embodiments of the present application.
  • the elastic force can be used to maintain the position between the connecting member 212 and the rotating shaft member 211, ensuring a reliable connection between the connecting member 212 and the rotating shaft member 211 and avoiding dislocation, so that the connecting member 212 can follow the rotating shaft member 211.
  • the connecting member 212 and the rotating shaft member 211 can be adjusted to a certain position along the axial direction of the rotating shaft member 211. Accordingly, the elastic force of the elastic member 213 can be adjusted within a certain range to meet different applications. Environmental work needs.
  • the connecting piece 212 and the rag attachment 102 are connected, an interaction force is generated between the connecting piece 212 and the rag attachment 102 because the connecting piece 212 approaches to contact the rag attachment 102; this interaction force is applied to the elastic member 213 so that the elastic member 213 further elastically deforms and correspondingly increases the elastic force of the elastic member 213 on the connecting member 212.
  • the connecting member 212 can be pressed against the rag attachment 102 along the first direction for reliable connection; The pressure between the surfaces in the cleaning area increases synchronously, thereby ensuring the surface wiping force required for cleaning.
  • the driving device 22 drives the rotating assembly 21 to rotate in the second rotation direction so that the connecting member 212 needs to be separated from the rag attachment 102
  • the rotating shaft member 211 and the connecting member 212 rotate in the second rotation direction simultaneously.
  • the rag attachment 102 begins to loosen, giving the elastic member 213 space to reset; the elastic member 213 then resets and pushes the rotating shaft member 211 into the fuselage 10 in the opposite direction to the first direction, adding the spiral rail portion 21a and the rotation guide
  • the accuracy and efficiency of the alignment and engagement between the parts 10a enable the spiral rail part 21a and the rotating guide part 10a to engage quickly and accurately to form a spiral fit, so that the rotating assembly 21 can be spirally rotated by the spiral guide effect of the fuselage 10 It is retracted into the fuselage 10 to realize the separation between the rotating assembly 21 and the rag attachment 102.
  • the connecting member 212 when the connecting member 212 is connected to the rag attachment 102, for the rag attachments 102 with different external dimensions or different connection positions, the connecting member 212 can approach the inside of the fuselage 10 along the first direction and squeeze the elastic
  • the member 213 allows the connecting member 212 to be adjusted to a suitable position to be tightly connected with the rag attachment 102, and the adjustment space provided by the elastic member 213 is used to meet the attachment needs of different rag attachments 102.
  • the type of the rotating shaft member 211 can be determined according to actual needs, and types such as a solid shaft, a hollow shaft, etc. can be used, which are not limited in the embodiments of the present application.
  • the rotating shaft member 211 may be a hollow shaft, and an end of the hollow shaft away from the driving device 22 is provided with a first opening 211a1; one end of the connecting member 212 is disposed in the inner cavity of the hollow shaft, and the other end passes through the first opening 211a1.
  • the connecting piece 212 is movably held in the first opening 211a1; and the elastic member 213 can be disposed in the inner cavity of the hollow shaft and located on the side of the connecting piece 212 away from the first opening 211a1.
  • the hollow shaft can adopt an integrated structure or a split assembly structure according to actual needs, which is not limited in the embodiments of the present application.
  • the hollow shaft may have a split assembly structure, including a rotating shaft body 211a and a rotating shaft end cover 211b; the rotating shaft body 211a is provided with a first opening 211a1 and a second opening at both ends, and the rotating shaft end cover 211b closes the second opening. opening, and connect the driving device 22 and the elastic member 213.
  • the connecting piece 212 can be determined according to actual needs, and is not limited in the embodiments of the present application.
  • the connecting member 212 may include a first connecting member 212a and a second connecting member 212b.
  • One end of the first connecting member 212a is disposed in the inner cavity of the hollow shaft, and the other end passes through the first opening 211a1 and is connected to the second connecting member 212b.
  • the second connecting member 212b is disposed outside the hollow shaft.
  • the connecting portion 20a can be located on the second connecting piece 212b, and the second connecting piece 212b and the rag attachment 102 are connected/detached.
  • the connection mechanism 20 may also include a magnetic adsorption part 23 , and the magnetic adsorption part 23 is suitable for magnetic connection with the rag attachment 102 .
  • the rag attachment 102 may be provided with a metal piece 10', which may contain ferromagnetic metal components such as iron, cobalt, nickel, etc., and is suitable for magnetic connection with the magnetic adsorption piece 23; and for example, The rag attachment 102 may contain ferromagnetic metal components such as iron, cobalt, nickel, etc., and is suitable for magnetic connection with the magnetic adsorption member 23 .
  • the magnetic attraction force between the magnetic adsorption part 23 and the rag attachment 102 can be used to make the connecting machine
  • the structure 20 can be reliably fixed to the rag attachment 102; and when the connecting mechanism 20 needs to be separated from the rag attachment 102, the retracting movement of the connecting mechanism 20 can be used to gradually move the magnetic adsorption part 23 away from the rag attachment 102, so that the magnetic adsorption part 23 and the rag attachment 102 are out of the magnetic attraction range, so that the connection mechanism 20 and the rag attachment 102 can be easily separated.
  • the magnetic adsorption member 23 may be disposed on the connecting member 212 .
  • the surface of the fuselage 10 may be provided with a limiting portion 10b.
  • the connecting mechanism 20 When the connecting mechanism 20 is retracted into the fuselage 10 , the limiting portion 10 b contacts the rag attachment 102 so that the rag attachment 102 is separated from the connecting mechanism 20 .
  • the connecting mechanism 20 retracts into the fuselage 10
  • the rag attachment 102 can move into the fuselage 10 along with the connecting mechanism 20 and approaches the limiting portion 10b; when the rag attachment 102 touches the limiting portion 10b , limited by the limiting and stopping effect of the limiting portion 10b, the rag attachment 102 cannot continue to move into the fuselage 10, and the connecting mechanism 20 continues to shrink into the fuselage 10, so that the rag attachment 102 and the connecting mechanism 20 can realize separation.
  • the structure of the limiting portion 10b can be determined according to actual needs, and can adopt types such as limiting surfaces, limiting protrusions, etc., which are not limited in the embodiments of the present application.
  • the position of the limiting portion 10b can be determined according to actual needs, and the embodiments of the present application are not limited thereto; in some examples, the limiting portion 10b can be provided on the clean side 12 of the fuselage 10 .
  • the rag attachment 102 has a connecting end 20a' adapted to be connected to the connecting portion 20a.
  • the end surface of one of the connecting portion 20a and the connecting end 20a' is provided with a plurality of spiral protruding portions 20a1 arranged sequentially in the circumferential direction, while the end surface of the other is provided with a plurality of spiral ends arranged sequentially in the circumferential direction.
  • the groove portion 20a', the plurality of spiral protrusions 20a1 and the plurality of spiral end groove portions 20a' are spirally engaged in one-to-one correspondence, forming a spiral fit at the end surface.
  • the plurality of spiral convex portions 20a1 extend along different spiral lines to form a convex structure.
  • the plurality of spiral convex portions 20a1 are arranged adjacent to each other in sequence and remain disconnected from each other; similarly, the plurality of spiral end groove portions 20a' are respectively concave along different spiral lines to form a groove structure, and the plurality of spiral end groove portions 20a' are kept disconnected from each other.
  • the driving device 22 drives the rotating assembly 21 to rotate along the first rotation direction
  • the rotating assembly 21 spirally rotates out to connect the connecting portion 20a with the rag attachment 102.
  • the connecting portion 20a gradually rotates along with the spiral rotation of the rotating assembly 21.
  • the ground and the connecting end 20a' of the rag attachment 102 are screwed together at the ends, so that the connecting portion 20a gradually penetrates into the connecting end 20a' of the rag attachment 102 along the spiral line until the spiral end is locked and connected in place.
  • the connecting portion 20a and the rag attachment 102 thereby has the ability of synchronous rotation along the first rotation direction; and when the driving device 22 drives the rotation assembly 21 to rotate along the second rotation direction, the connecting portion 20a begins to exit the rag along the spiral line as the rotation assembly 21 rotates along the second rotation direction.
  • the connecting end 20a' of the accessory 102 causes the rotating assembly 21 and the rag accessory 102 to begin to loosen, causing the rotating assembly 21 to be pushed to the inside of the fuselage 10, and the spiral rail portion 21a and the rotating guide portion 10a engage in alignment.
  • the elastic member 213 can provide space for the elastic member 213 to reset and accelerate the engagement process between the spiral rail portion 21a and the rotating guide portion 10a.
  • the cleaning host 101 also includes a travel switch 24 that can detect the connection mechanism 20 and the body. 10 relative position. When the connecting mechanism 20 moves to a predetermined position, the travel switch 24 can control the motion state of the connecting mechanism 20 .
  • the type of the limit switch 24 can be determined according to actual needs, and this is not limited in the embodiment of the present application.
  • the embodiment of the present application provides a control method.
  • the control method includes S10 to S30 and can control the cleaning device 01 or the cleaning host 101 to attach and remove the rag attachment.
  • the connecting mechanism In response to determining that the cleaning host is not equipped with a rag attachment, the connecting mechanism is controlled to move the connecting portion along the first direction to connect with the rag attachment to be attached, thereby realizing automatic attachment of the rag attachment on the cleaning host.
  • control method includes S10' to S40', and can control the cleaning device 01 or the cleaning host 101.
  • the target environment area includes a first-class area and a second-class area.
  • the first-class area includes at least one of the area 201 suitable for mopping and the area through which the rag attachment 102 can pass.
  • the second-class area includes the area 202 unsuitable for mopping. and at least one of the areas 302 in which the rag attachment cannot pass.
  • the target environmental area is an environmental area that the cleaning device 01 needs to clean.
  • Sensors such as the obstacle 303 detection sensor determine whether the target environment area contains a first-class area and a second-class area based on the detection information of the sensor; in some examples, the target environment can be comprehensively determined based on the pre-built environmental map and the detection information of the sensor. Whether the area contains first-class areas and second-class areas has better real-time judgment accuracy and environmental adaptability.
  • the area 302 in which the wiper attachment cannot pass can have a higher obstacle height as a whole, so that the cleaning device 01 with the wiper attachment 102 is not allowed to enter and pass through, but the cleaning device 01 without the wiper attachment 102 can enter.
  • the area 302 in which the rag attachment cannot pass can be blocked by obstacles 303 such as thresholds, fences, etc. that the cleaning device 01 attached with the rag attachment 102 cannot cross, so that the cleaning device 01 attached with the rag attachment 102 cannot enter and pass.
  • the cleaning device 01 without the rag attachment 102 can enter and pass through.
  • S20' In response to determining that the target environment area includes a first-class area and a second-class area, determine whether the cleaning host 101 has attached the rag attachment 102. When it is determined that the target environmental area includes a first-class area and a second-class area, it indicates that the cleaning device 01 needs to be involved in cleaning two different types of areas, and further involves the attachment and removal of the rag attachment 102 . Correspondingly, it is necessary to determine the attachment/removal status of the cleaning host 101 and the rag attachment 102 for two different types of areas. Cleaning order.
  • the cleaning host 101 In response to determining that the cleaning host 101 has attached the rag attachment 102, the cleaning host 101 is controlled to clean the second-category area and the first-category area in sequence, and the cleaning host 101 is controlled to start cleaning the second-category area after completing the cleaning. Before cleaning a type of area, the rag attachment 102 is removed to the designated area. When it is determined that the cleaning host 101 has been equipped with the rag attachment 102, the cleaning host 101 can be controlled to mop the second-category area first; after completing the mopping of the second-category area, the cleaning host 101 can move to a designated area and automatically mop the second-category area. The rag attachment 102 is removed to the designated area; subsequently, the cleaning host 101 that has removed the rag attachment 102 can clean a type of area.
  • the cleaning host 101 In response to determining that the cleaning host 101 is not equipped with the rag attachment 102, the cleaning host 101 is controlled to clean the first-class area and the second-class area in sequence, and the cleaning host 101 is controlled to start cleaning the first-class area after completing the cleaning. Before cleaning the Class II area, attach the rag attachment 102 located in the designated area. When it is determined that the cleaning host 101 is not equipped with the rag attachment 102, the cleaning host 101 can be controlled to mop the first type of area; after completing the mopping of the first type of area, the cleaning host 101 can move to a designated area, and the cleaning host 101 can be controlled to mop the first type of area. The rag attachment 102 in the designated area is automatically picked up and attached; subsequently, the cleaning host 101 that has removed the rag attachment 102 can clean the second category area.
  • the control method provided by the embodiment of the present application can determine the cleaning sequence of different areas according to the characteristics of different areas, and control the cleaning host 101 to automatically attach/remove the rag attachment 102 in the cleaning connection sections of different areas, so that the cleaning device 01 can carry out continuous and closely connected cleaning operations between different areas, and has high obstacle-crossing ability and continuous operation ability between different areas, improving the cleaning efficiency and automation of the cleaning device 01.
  • the cleaning device 01 is a cleaning robot with the ability to move autonomously, including a cleaning host 101 and a rag attachment 102 .
  • the cleaning device 01 with the rag attachment 102 attached to the cleaning host 101 is working, for the usage environment including the suitable mopping area 201 and the unsuitable mopping area 202, the cleaning device 01 can be used according to the suitable mopping area 201 and the unsuitable mopping area 202.
  • the mopping areas 202 are cleaned sequentially.
  • the cleaning device 01 equipped with the rag attachment 102 can first mop the area 201 suitable for mopping; after completing the mopping of the area 201 suitable for mopping, the cleaning device 01 can move to a designated area. , automatically remove the rag attachment 102 to the designated area; subsequently, the cleaning device 01 that has removed the rag attachment 102 can clean the area 202 that is not suitable for mopping.
  • the cleaning device 01 is a cleaning robot with the ability to move autonomously, including a cleaning host 101 and a rag attachment 102 .
  • the cleaning device 01 When the cleaning device 01 is not equipped with the rag attachment 102, the area 201 suitable for mopping and the area 201 not suitable for mopping will be affected.
  • cleaning may be performed in sequence of the unsuitable mopping area 202 and the suitable mopping area 201 .
  • the cleaning device 01 without the rag attachment 102 can first clean the area 202 that is not suitable for mopping; after completing the cleaning of the area 202 that is not suitable for mopping, the cleaning device 01 can move to a designated area and will be located in the designated area.
  • the rag attachment 102 in the designated area is automatically attached to the cleaning host 101; subsequently, the cleaning device 01 with the rag attachment 102 attached can mop the area 202 that is not suitable for mopping.
  • the cleaning device 01 is a cleaning robot with the ability to move autonomously, including a cleaning host 101 and a rag attachment 102 .
  • the cleaning device 01 with the rag attachment 102 attached to the cleaning host 101 is working, for a usage environment including a passable area for the rag attachment 102 and a non-passable area 302 for the rag attachment, the rag attachment 102 can pass the area and the rag attachment Cleaning cannot be performed sequentially through areas 302.
  • the cleaning device 01 that has been equipped with the rag attachment 102 can first mop the area through which the rag attachment 102 can pass; after completing mopping the area through which the rag attachment 102 can pass, the cleaning device 01 can move to a designated area. , automatically remove the rag attachment 102 to the designated area; then, the cleaning device 01 that has removed the rag attachment 102 can enter and pass through the area 302 where the rag attachment cannot pass, and clean the area 302 where the rag attachment cannot pass.
  • the cleaning device 01 is a cleaning robot with the ability to move autonomously, including a cleaning host 101 and a rag attachment 102 .
  • a cleaning host 101 including a cleaning host 101 and a rag attachment 102 .
  • the cleaning device 01 without the rag attachment 102 is working, for the usage environment including the area where the rag accessory 102 can pass and the area 302 where the rag accessory cannot pass, the order of the area 302 where the rag accessory 102 cannot pass and the area where the rag accessory 102 can pass can be followed. Clean in sequence.
  • the cleaning device 01 without the rag attachment 102 can first mop the area 302 where the rag attachment cannot pass; after completing mopping the area 302 where the rag attachment cannot pass, the cleaning device 01 can move to the designated area, The rag attachment 102 located in the designated area is automatically attached to the cleaning host 101; subsequently, the cleaning device 01 with the rag attachment 102 attached can enter and pass through the area where the rag attachment 102 can pass, and mop the rag attachment 102 through the area. .
  • the cleaning device 01 is a cleaning robot with the ability to move autonomously, including a cleaning host 101 and a rag attachment 102 .
  • the cleaning device 01 with the rag attachment 102 attached to the cleaning host 101 is working, for the usage environment including the passable area of the rag attachment 102 and the unsuitable mopping area 202, the rag attachment 102 can pass through the area and the unsuitable area 202.
  • the mopping areas 202 are cleaned sequentially.
  • the cleaning device 01 that has been equipped with the rag attachment 102 can first mop the area through which the rag attachment 102 can pass; after completing mopping the area through which the rag attachment 102 can pass, the cleaning device 01 can move to a designated area. , automatically remove the rag attachment 102 to the designated area; subsequently, the cleaning device 01 that has removed the rag attachment 102 can enter the area that is not suitable for mopping. 202. Clean the area 202 that is not suitable for mopping.
  • the cleaning device 01 is a cleaning robot with the ability to move autonomously, including a cleaning host 101 and a rag attachment 102 .
  • a cleaning host 101 including a cleaning host 101 and a rag attachment 102 .
  • the cleaning device 01 without the rag attachment 102 is working, for the usage environment including the area 201 suitable for mopping and the area 302 inaccessible to the rag attachment, the order of the area 302 inaccessible to the rag attachment and the area 201 suitable for mopping can be followed. Clean in sequence.
  • the cleaning device 01 without the rag attachment 102 can first mop the area 302 where the rag attachment cannot pass; after completing mopping the area 302 where the rag attachment cannot pass, the cleaning device 01 can move to the designated area, The rag attachment 102 located in the designated area is automatically attached to the cleaning host 101; subsequently, the cleaning device 01 with the rag attachment 102 attached can enter and mop the area 201 suitable for mopping through the area 201 suitable for mopping. .
  • the cleaning device 01 is a cleaning robot with the ability to move autonomously, including a cleaning host 101 and a rag attachment 102 .
  • the cleaning device 01 includes a suitable mopping area 201, an unsuitable mopping area 202, a passable area for the wiper attachment 102, and a non-passable area 302 for the wiper attachment.
  • the usage environment can be cleaned sequentially in the order of the area 201 suitable for mopping, the area through which the rag attachment 102 can pass, the area 202 unsuitable for mopping, and the area 302 through which the rag attachment cannot pass.
  • the cleaning device 01 that has been equipped with the rag attachment 102 can first mop the area 201 suitable for mopping and the area through which the rag attachment 102 can pass; after completing the area 201 suitable for mopping and the area through which the rag attachment 102 can pass, After mopping, the cleaning device 01 can move to a designated area and automatically remove the rag attachment 102 to the designated area; subsequently, the cleaning device 01 that has removed the rag attachment 102 can clean the area 202 and the rag attachment that are not suitable for mopping. Cleaning is not possible through area 302.
  • Figure 11 is a first sectional structural schematic diagram of a cleaning equipment provided by an embodiment of the present application.
  • Figure 12 is a second sectional structural schematic diagram of a cleaning equipment provided by an embodiment of the present application.
  • Figure 13 is a schematic diagram of a cleaning equipment provided by an embodiment of the present application. Schematic diagram of the third cross-sectional structure of a cleaning equipment.
  • the cleaning device includes: an equipment body (The figure is not completely shown, only the bottom shell 1 or chassis of the equipment body is shown), the driving device (not shown in the figure) and the cleaning device 3.
  • the equipment body is the main body of the cleaning equipment.
  • the cleaning equipment may include but is not limited to a sweeping robot, an all-in-one sweeping and mopping machine, etc.
  • the functions of the equipment body are also different for different cleaning equipment.
  • the equipment body is the body of the robot, which includes chassis, driving wheels, control devices, cleaning systems and energy systems. Intelligent sweeping robots can complete cleaning tasks autonomously without human intervention.
  • Another example is semi-automatic cleaning equipment.
  • the equipment body includes a cleaning main body, auxiliary wheels, a control device, an energy system, a control handle, etc. The user controls the cleaning main body through the control handle to complete the cleaning work.
  • the cleaning equipment also includes a driving device 2, which is arranged on the equipment body.
  • the driving device 2 can detach the cleaning device 3 and install the cleaning device 3 .
  • the driving device 2 is provided with an output shaft, and the cleaning device 3 is detachably connected to the output shaft.
  • the driving device 2 can transmit the driving force to the cleaning device 3; when the cleaning device 3 is disconnected from the driving device 2, the cleaning device 3 and the driving device 2 may be in contact. It can also be in a non-contact state, but the driving force of the driving device 2 will not be transmitted to the cleaning device 3 .
  • the cleaning device 3 is used to clean the work surface.
  • the cleaning device 3 can be disposed under the bottom shell 1 of the equipment body and can be used to rub the surface to be cleaned and wipe the surface to achieve mopping operations.
  • the cleaning equipment may include at least two cleaning devices 3, and different cleaning devices 3 may fulfill different work requirements.
  • the first cleaning device may fulfill the mopping requirement
  • the second cleaning device may fulfill the mopping requirement. Sweeping needs.
  • the cleaning device 3 may be a disc-shaped rag, or a roller brush, etc.
  • the driving device 2 can output driving forces in two different directions. More specifically, the driving forces in two different directions in this embodiment include rotational power in the first direction and rotational power in the second direction.
  • the driving device 2 outputs the rotational power in the first direction to connect with the cleaning device 3 , and the driving device 2 outputs the rotational power in the second direction to disconnect the cleaning device 3 from the driving device 2 .
  • the disconnection mentioned here means that the driving device 2 is disconnected from outputting driving force to the cleaning device.
  • the driving device 2 and the cleaning device 3 may be in a contact state or a non-contact state.
  • the first direction and the second direction are two different directions.
  • the first direction is clockwise and the second direction is counterclockwise; or the first direction is counterclockwise and the second direction is clockwise. , this embodiment does not limit this.
  • the connection or disconnection process there is relative movement in the rotational power axial direction between the driving device and the cleaning device.
  • the driving device 2 moves toward the cleaning device 3 .
  • the driving device 2 and the cleaning device 3 move in opposite directions in the rotational power axis.
  • the driving device 2 moves in a direction away from the cleaning device 3 .
  • the specific form of the cleaning device 3 is different, and the orientation of the rotation axis of the rotational power output by the driving device is also different.
  • the rotation axis of the rotational power output by the driving device is perpendicular to the disk-shaped rag.
  • the rotating shaft of the rotational power output by the driving device is the roller brush shaft.
  • the driving device in this embodiment can only be used as a device for the cleaning equipment to automatically disassemble the cleaning device 3 .
  • the cleaning device 3, such as a rag can be in a fixed state, that is, there is no relative movement with the equipment body, and it can move with the equipment body to clean the surface to be cleaned.
  • the driving device in this embodiment can be used as a device for automatically disassembling the cleaning device 3 of the cleaning equipment. It can also be used to drive the cleaning device to perform cleaning actions, such as rotating relative to the equipment body or relative to the equipment. Body linear reciprocating motion, etc.
  • the cleaning device is a disc-shaped rag
  • the driving device after the driving device outputs the rotational power in the first direction and is connected to the disc-shaped rag, it can continue to drive the disc-shaped rag to rotate along the rotational power in the first direction to connect with the surface to be cleaned (such as the floor, table top, etc.) , walls, etc.) to clean them by rubbing.
  • the driving device has two driving components, one of which is used to output rotational power in the first direction and the second direction, and the other driving component is used to output linear reciprocating motion to drive the cleaning device (such as a rag). Straight line reciprocating motion.
  • the driving device 2 is provided on the equipment body, and the cleaning device 3 is connected to the equipment body through the driving device 2 .
  • the driving device 2 can not only drive the cleaning device 3 to perform the cleaning action, but also connect or separate the cleaning device 3 from the equipment body.
  • the cleaning device 3 is a rotatable disc-shaped rag, which can be connected to the output shaft of the driving device 2 .
  • the driving device 2 can be connected to the cleaning device 3 and drive the cleaning device 3 to rotate. Perform cleaning actions.
  • the driving device 2 and the cleaning device 3 are connected and the driving device 2 outputs rotational power in the second direction, the rotational power will disconnect the driving cleaning device 3 from the driving device 2 .
  • the driving device 2 in the embodiment of the present application may be a motor.
  • the cleaning device 3 and the driving device 2 are connected through a screw mechanism.
  • the screw mechanism has a screw locking direction.
  • the driving device 2 outputs the rotational power in the first direction and the screw locking direction is the same, the cleaning device 3 and the driving device 2 will be locked and connected, and during the connection process, due to the rotation of the screw mechanism action, at least part of the equipment body moves in a direction close to the cleaning device 3 .
  • the connection between the cleaning device 3 and the driving device 2 will be disconnected, and during the connection process, at least part of the equipment body will move away from the The direction of the cleaning device 3 moves, so that the cleaning device 3 is separated from the equipment body.
  • Connecting the cleaning device 3 and the driving device 2 through the screw mechanism not only enables the connection or separation of the cleaning device 3 and the driving device 2, but also simplifies the connection structure and makes the cleaning device 3 more convenient to disassemble and assemble.
  • the spiral mechanism includes a first structure 5 and a second structure 4.
  • the first structure 5 is provided with an inner spiral groove 51
  • the second structure 4 is provided with an outer spiral protrusion 41.
  • one of the first structure 5 and the second structure 4 is provided on the driving device 2
  • the other is provided on the cleaning device 3 .
  • the first structure 5 is provided on the driving device 2
  • the second structure 4 is provided on the cleaning device 3 .
  • the first structure 5 or the second structure 4 can be connected to the driving device 2 or the cleaning device 3 respectively through the connecting structure, or can be an integral structure with the driving device 2 or the cleaning device 3 .
  • the driving device 2 outputs rotational power in the first direction.
  • the spiral power in the first direction is the same as the spiral locking direction.
  • the outer spiral protrusion 41 screws into the inner spiral groove 51 so that the cleaning device 3 is connected to the driving device 2 .
  • the driving device 2 outputs rotational power in the second direction.
  • the spiral power in the second direction is opposite to the screw locking direction.
  • the outer spiral protrusion 41 rotates out of the inner spiral groove 51 , causing the cleaning device 3 to disconnect from the driving device 2 .
  • the first structure 5 is provided on the driving device 2
  • the second structure 4 is provided on the cleaning device 3 .
  • the driving device 2 outputs rotational power in the first direction, and the outer spiral protrusion 41 will screw into the inner spiral.
  • the cleaning device 3 will be connected to the driving device 2.
  • the equipment body will move closer to the cleaning device with the action of the spiral mechanism. 3 direction action.
  • the cleaning device 3 and the driving device 2 are in a connected state, and the driving device 2 outputs rotational power in the second direction, the outer spiral protrusion 41 will rotate out of the inner spiral groove 51.
  • the cleaning device 3 will disconnect from the driving device 2. During the disconnection process, the cleaning device 3 will move away from the equipment body with the action of the spiral mechanism, and smoothly move away from the equipment body. The device is physically separated.
  • the first structure 5 may be an internal thread structure with an internal spiral groove
  • the second structure 4 may be an external thread structure with an external spiral protrusion.
  • the first structure 5 has a plurality of docking ports 52 and a plurality of internal spiral grooves 51 , and the plurality of internal spiral grooves 51 respectively extend from the corresponding docking ports 52 along a spiral segment.
  • the first structure 5 is provided on the first automatic detachable part 100 as shown in Figures 18a and 19.
  • the first automatic detachable part 100 includes a connecting part 501 connected to the driving device and a first automatic detachable part 502.
  • the connecting portion 501 has a mounting hole through which a fastener can be connected to an output shaft of a driving device (such as a motor).
  • the first automatic disassembly and assembly part 502 is a cylindrical structure, and the first structure 5 is provided on its inner wall.
  • the second structure 4 may have multiple docking interfaces respectively. 52 adapted to a plurality of butt protrusions 42, and a plurality of outer helical protrusions 41; the plurality of outer helical protrusions 41 respectively extend from the corresponding butt protrusion 42 along the spiral line segment.
  • the plurality of outer spiral protrusions 41 can be matched and connected with the plurality of inner spiral grooves 51 .
  • the second structure 4 can be disposed on the second automatic detachable part 200 as shown in FIG. 16 and FIG. 17 .
  • the second automatic disassembly and assembly part 200 is a cylindrical structure, and the second structure 4 is arranged on the outer wall of the cylindrical structure.
  • the first structure 5 has three docking ports 52 and three inner spiral grooves 51; the second structure 4 corresponds to three matching docking protrusions 42 and three outer ones. Threaded projection 41.
  • Figure 18b shows a three-dimensional structural diagram of the first automatic disassembly and assembly component 100.
  • the first structure of the equipment body corresponds to the position of the second structure (for example, the cleaning equipment is parked at the parking position of the base station, and there is a cleaning device at the parking position.
  • the positions of the equipment body of the cleaning equipment and the cleaning device are corresponding to each other.
  • the position of the docking interface and the docking protrusion may not correspond.
  • the driving device only needs to rotate a small angle, and the docking interface and the docking protrusion can automatically complete the docking.
  • the first structure 5 may also have only one docking port 52 and an inner spiral groove 51.
  • the inner spiral groove 51 corresponds to the docking port 52 and extends along the spiral segment.
  • the second structure 4 may have only one docking port 52 and an inner spiral groove 51.
  • a docking protrusion 42 adapted to the docking port 52 and an outer helical protrusion 41.
  • the outer helical protrusion 41 corresponds to the butt protrusion 42 and extends along the spiral line segment.
  • the outer spiral protrusion 41 can cooperate with the inner spiral groove 51.
  • One outer spiral protrusion 41 and one inner spiral groove 51 are used to cooperate with each other.
  • the structure is simple; but compared with the multiple structures, the connection stability is required. Worse.
  • the inner spiral groove 51 may include a first groove surface 511 and a second groove surface 512.
  • the first groove surface 511 extends along the spiral line segment, and the second groove surface 512 includes sequentially arranged grooves along the spiral screwing direction.
  • the outer spiral protrusion 41 includes a first protruding side 411 and a second protruding side 412.
  • the first protruding side 411 is adapted to the first groove surface 511
  • the second protruding side 412 includes a first protruding side 411 and a second protruding side 412.
  • Two guide sections 4121 and a second action section 4122 Two guide sections 4121 and a second action section 4122.
  • the second guide section 4121 is adapted to the first guide section 5121, and the first action section 5122 interacts with the second action section 4122 so that the screw mechanism is in a locked state.
  • the outer spiral protrusion 41 is screwed into the inner spiral groove 51
  • first the first guide section 5121 and the second guide section 4121 interact and play a guiding role, and then the first protruding side surface 411 and the first groove surface 511 interact with each other.
  • the first active section 5122 interacts with the second active section 4122 , and the outer spiral protrusion 41 and the inner spiral groove 51 are connected to each other.
  • the spiral line segment of the first groove surface 511 forms a certain angle with the end surface of the cleaning device 3.
  • the range of the angle ⁇ is [10 degrees, 60 degrees. ], more specifically, ⁇ is [30 degrees, 45 degrees].
  • the first action section 5122 may be vertical On the plane of the axis of the cylindrical structure of the first automatic detachable part 100, the second action section 4122 may be a plane perpendicular to the axis of the cylindrical structure of the second automatic detachable part 200.
  • the docking guide bevel 56 can also be simply understood as: a chamfer formed by chamfering at the edge of the docking interface.
  • the first structure 5 is provided with a first butt portion 92
  • the second structure 4 is provided with a second butt portion 91.
  • the first butt portion 92 and the second butt portion 91 can interact with each other.
  • the first docking part 92 may be a cylindrical protrusion disposed inside the cylindrical structure of the first automatic disassembly part 100, and the axis of the cylindrical protrusion is in contact with the cylindrical structure.
  • the axes coincide.
  • the second docking portion 91 is a hole (such as a blind hole) on the cylindrical structure of the second automatic detachable part 200, and the axis of the hole coincides with the axis of the cylindrical structure.
  • the bottom of the equipment body is provided with a second structure.
  • the structure 4 fits the guide groove 7 .
  • the bottom of the equipment body is provided with a guide groove 7 adapted to the first structure 5 .
  • the guide groove 7 is mainly used to guide the installation or removal of the cleaning device 3. During installation, it is used to guide the cleaning device 3 to slide to a fixed position to facilitate the docking of the first structure 5 and the second structure 4. When disassembling, it is used to guide the cleaning device 3 to detach from the equipment body and move away from the cleaning equipment along the guide groove 7 .
  • the equipment body has a bottom shell 1.
  • the bottom shell 1 is recessed toward the top of the equipment body to form a guide groove 7.
  • the bottom of the guide groove 7 is an upward inclined plane.
  • the guide groove 7 has a groove bottom 71 and two opposite groove side walls 72 . The equipment body moves toward the cleaning device and can move to the first structure opposite to the second structure under the action of the guide groove 7 .
  • the bottom of the guide groove extends obliquely upward in the direction from the driving device to the edge of the equipment body;
  • the groove width of the guide groove near the driving device is smaller than the groove width at the edge of the equipment body
  • the guide groove has a straight section groove and a bell mouth groove.
  • the groove of the straight section groove is connected to the small end of the bell mouth groove.
  • the straight section In the direction from the driving device to the edge of the equipment body, the straight section The notch of the groove and the bell mouth groove are arranged in sequence.
  • the guide groove 7 extends from the edge of the bottom case 1 to the first structure 5 or the second structure 4 .
  • the bottom case 1 is provided with a through hole, and the power output shaft of the driving device 2 passes through the through hole to be connected to the cleaning device 3 .
  • the second structure 4 is provided at the end of the power output shaft of the driving device 2, and the second structure 4 is The structure 4 is interconnected with the first structure 5 through the through hole.
  • the guide groove 7 extends from the edge of the bottom case 1 to the second structure 4 .
  • the width of the guide groove 7 near the edge of the bottom case 1 is larger than the groove width near the second structure 4 .
  • the guide groove may also include a straight groove, the width of the straight groove being equal to or slightly larger than the diameter of the second structure 4 .
  • the guide groove 7 may also have a bell-shaped groove (or bucket-shaped groove), which can improve the guiding effect of the guide groove 7.
  • the bucket-shaped groove can expand the guiding range, and The position of the cleaning device 3 is adjusted during the guiding process, so that after the cleaning device 3 enters the guide groove 7 from the edge of the bottom case 1 , the cleaning device 3 will gradually be aligned at the alignment position on the bottom case 1 .
  • the rear end of the bottom shell of the equipment body is tilted up to form an inclined plane as shown in Figure 13 .
  • the equipment body of the cleaning equipment has a front end and a rear end. Most cleaning equipment rags are located at the bottom of the rear end of the equipment body.
  • the top surface of the second structure 4 is set as an inclined surface.
  • the low point of the inclined surface first contacts the bottom shell of the equipment body, and then the equipment body continues to rise along the inclined surface. to the docking position.
  • the driving wheel and the cleaning device on the cleaning equipment are located on the same ground, and the height of the cleaning device 3 is greater than the distance between the bottom case 1 and the ground.
  • the bottom of the guide groove 7 is an upward slope 43.
  • the side close to the through hole is roughly flush with the bottom surface of the bottom shell 1.
  • the slope 43 extends obliquely upward from the bottom surface of the bottom shell 1 and is close to the slope 43 of the edge of the bottom shell 1.
  • the height of the ground is greater than the height of the cleaning device 3 .
  • the first structure 5 is connected to the cleaning device 3
  • the second structure 4 is embedded into the bottom case 1 from one side of the bottom case 1, and is connected to the output shaft of the driving device 2, and the end surface of the second structure 4 is in contact with the bottom case 1.
  • the bottom shell 1 is flush.
  • the driving device 2 outputs the spiral power in the first direction, so that the first structure 5 and the second structure 4 abut each other.
  • the driving device 2 outputs the rotational power in the second direction, so that the second structure 4 rotates in the second direction, and the outer spiral protrusion 41 on the second structure 4 can be rotated from the first direction.
  • the inner spiral groove 51 on the structure 5 is screwed out.
  • the second structure 4 gradually moves away from the first structure 5 , and at the same time, the chassis is gradually lifted away from the cleaning device 3 .
  • the first structure 5 is disconnected from the second structure 4.
  • the cleaning device 3 will slide along the guide groove 7.
  • the end edge of the first structure 5 moves along
  • the lifted chassis will gradually lower, and finally the cleaning device 3 will break away from the cleaning equipment.
  • the cleaning equipment further includes a holding mechanism, and the holding mechanism is used to provide Use force to maintain the connection relationship between the cleaning device 3 and the cleaning device 3.
  • the holding mechanism can be an uneven structure respectively provided on the contact surface of the first action section 5122 and the second action section 4122. When the first structure 5 and the second structure 4 are connected, the first action section 5122 and the second action section 4122 are connected. The uneven structures on the active section 4122 will mesh with each other and make the connection more stable.
  • the holding mechanism is a magnetic mechanism, which maintains the connection relationship between the cleaning device 3 and the cleaning device 3 through magnetic force.
  • the magnetic mechanism is two magnets with opposite magnetic poles, or a magnet and a connecting piece that can be magnetically attracted, or an electromagnet and a connecting piece that can be magnetically attracted.
  • two magnetic bodies are close enough, they will attract each other.
  • the magnetic force will gradually disappear.
  • the first magnet 81 is arranged on the first structure 5 and the second magnet 82 is arranged on the second structure 4.
  • the distance between the magnets is close enough, and the magnetic force will cause The connection between the first structure 5 and the second structure 4 is more stable.
  • the driving device 2 outputs the rotational power in the second direction, the first structure 5 and the second structure 4 gradually separate from each other, so the magnetic force gradually fails.
  • the magnetic body is an electromagnet
  • the electromagnet can be magnetized or its magnetism disappears by disconnecting the energized circuit of the electromagnet.
  • the holding mechanism is an elastic mechanism, which includes an elastic member and a blocking structure.
  • One of the elastic member and the blocking structure is provided on the driving device 2, and the other is provided on the cleaning device 3 for use in the driving device. 2
  • the elastic member When connected to the cleaning device 3, the elastic member is stuck into the latching structure to maintain the connection relationship between the cleaning device 3 and the cleaning device 3 through the clamping force; after the driving device 2 outputs the rotational power in the second direction, the elastic member deforms from The clamping structure protrudes and the clamping force fails.
  • the above embodiment provides a method to realize automatic disassembly and assembly of the cleaning device by controlling different directions of the power output of the driving device.
  • the automatic disassembly and assembly of the cleaning device can also be realized by arranging an automatic disassembly and assembly mechanism on the equipment body.
  • one embodiment of the present application also provides a cleaning equipment, which includes an equipment body, a cleaning device 3 and an automatic disassembly and assembly mechanism.
  • the cleaning device 3 is detachably arranged on the equipment body; an automatic disassembly and assembly mechanism is arranged on at least one of the equipment body and the cleaning device, which is used to disconnect the cleaning device 3 from the equipment body, and is also used to connect the separated equipment body and the equipment body. When the cleaning device 3 is in the docking position, connect the cleaning device 3 equipment body.
  • the equipment body may be provided with a disassembly and assembly guide structure; the equipment body moves toward the cleaning device and moves to the docking position with the cleaning device under the action of the disassembly and assembly guide structure.
  • the disassembly and assembly guide structure is a guide groove provided at the bottom of the equipment body; the guide groove extends from the edge of the equipment body to the automatic disassembly and assembly mechanism.
  • the specific implementation of the guide groove can be referred to the above description, and will not be described again this time.
  • the disassembly and assembly guide structure is a raised track provided at the bottom of the equipment body, corresponding to , the cleaning device is provided with a chute block that cooperates with the raised track.
  • the raised track at the bottom of the equipment body can be inserted into the chute of the chute block to play a guiding role.
  • the automatic disassembly and assembly mechanism can have the following implementation solutions:
  • the automatic disassembly and assembly mechanism includes electromagnets and docking parts that can be magnetically attracted.
  • the electromagnet can be arranged on the equipment body, and the docking part can be arranged on the cleaning device.
  • the electromagnet is provided on the driving device 2 .
  • the driving device 2 can output rotational power or linear reciprocating motion to drive the cleaning device to perform cleaning actions.
  • the electromagnet is energized and magnetized. Under the action of the magnetic force, the power output shaft of the driving device 2 is connected to the power input end of the cleaning device 3.
  • the driving device 2 outputs rotational power in the first direction to drive the cleaning device 3 to perform the cleaning action.
  • the equipment body is provided with a control device, and the electromagnet is electrically connected to the control device through a control circuit and electrically connected to the power supply circuit of the equipment body.
  • the control device sends a cut-off command to the control circuit, and the control circuit operates to cut off the electrical connection between the electromagnet and the power supply circuit.
  • the electromagnet is energized and the magnetic force disappears.
  • the control device sends an opening instruction to the control circuit, and the control circuit operates to electrically connect the electromagnet and the power supply circuit, so that the electromagnet generates magnetism.
  • the automatic disassembly and assembly mechanism may include a driving device and a screw mechanism.
  • the screw mechanism includes a first structure 5 and a second structure 4.
  • the first structure 5 is provided with an inner spiral groove 51
  • the second structure 4 is provided with an outer spiral protrusion 41 .
  • one of the first structure 5 and the second structure 4 is provided on the driving device 2, and the other is provided on the cleaning device 3; the driving device 2 outputs rotational power in the first direction, and the outer spiral protrusion 41 is screwed into the inner spiral groove. 51, so that the cleaning device 3 is connected to the driving device 2.
  • the driving device 2 outputs rotational power in the second direction, and the outer spiral protrusion 41 rotates out of the inner spiral groove 51 , causing the cleaning device 3 to disconnect from the driving device 2 .
  • the second solution please refer to the above description, and will not be described again this time.
  • the automatic disassembly and assembly mechanism includes a telescopic component, the telescopic component is arranged on the equipment body, the telescopic component includes a telescopic rod, and the cleaning device is provided with a connection that matches the end of the telescopic rod. structure.
  • the telescopic rod of the telescopic assembly when the telescopic rod of the telescopic assembly is in a retracted state, the cleaning device is disconnected from the equipment body; when the telescopic rod is in an extended state, the telescopic rod is connected to the connection structure, so that the The cleaning device is connected with the equipment body.
  • the telescopic assembly may include a linear power output device.
  • the linear power output device can be implemented by a linear motor, or a rotating motor + a linear power conversion mechanism (screw nut mechanism), which is not limited in this embodiment.
  • the linear power output device outputs linear power in a third direction, the telescopic rod is in a retracted state, and the cleaning device is disconnected from the equipment body; the linear power output device outputs linear power in a fourth direction, so The telescopic rod is in an extended state, and the telescopic rod is connected to the connecting structure so that the cleaning device is connected to the equipment body.
  • the linear power in the third direction can be upward power (see the upper arrow in Figure 11 pointing to power), the linear power in the fourth direction may be downward power (see the power pointed by the lower arrow in Figure 11).
  • the telescopic rod and the cleaning device do not need to be fixed.
  • the cleaning device is placed on the surface to be cleaned, and the rod end of the telescopic rod is inserted into the socket of the connecting structure.
  • the cleaning device can move along with the equipment body to clean the surface to be cleaned (such as the ground).
  • at least one key may be provided in the cross-sectional direction of the telescopic rod; the connection structure may be a jack, and a keyway adapted to the key is provided on the hole wall of the jack.
  • the cleaning device described in this embodiment may also include a driving device.
  • the driving device can output rotational power.
  • the rotational power is output to the cleaning device through the key on the telescopic rod and the keyway on the cleaning device, so that the cleaning device can move relative to the equipment.
  • the automatic disassembly and assembly mechanism includes an elastic clip arranged at the bottom of the equipment body.
  • the cleaning device is provided with a clamping portion (such as a cylinder) that matches the elastic clip.
  • the top of the cylinder is provided with an output shaft for docking the driving device.
  • the connecting part may be a connecting post disposed on the top of the column and having a diameter larger than the diameter of the column.
  • the top of the connecting column is provided with a groove, and the groove has a gap to facilitate the insertion of the output shaft of the driving device.
  • the drive shaft is provided with a key, and the opposite side of the groove to the gap is provided with a keyway.
  • the cleaning device When the equipment body moves towards the cleaning device, the clamping part pushes away the elastic clip, the elastic clamp opens and enters the elastic clamp, and then the elastic clamp clamps the clamping part. At the same time, the driving shaft of the driving device enters the groove from the gap, and the The key is inserted into the keyway to complete the connection between the cleaning device and the driving device.
  • the cleaning device can be installed in the tray of the base station and needs to be placed in the required direction.
  • the cleaning equipment moves to the base station and docks at the docking position of the base station.
  • the elastic clip can be opened electronically, and the connection between the cleaning device and the driving device can also be disconnected.
  • the cleaning device is stuck on the pallet, and the cleaning device can be disconnected from the drive device solely by the traveling power of the cleaning device. That is, in the process of the cleaning equipment leaving the base station, because the cleaning equipment is stuck on the tray, the two directions are opposite to each other.
  • the elastic clip on the equipment body of the cleaning equipment is deformed, and the clamping part of the cleaning device is detached from the elastic clip, and the output of the driving device is When the shaft comes out of the gap, the disassembly of the cleaning device is completed.
  • the automatic disassembly and assembly mechanism includes an automatic snap-on component and an elastic snap-on component.
  • the automatic snap-on component is arranged on the equipment body, and the elastic snap-on component is arranged on the cleaning device. For example, the equipment body moves toward the cleaning device. After the elastic clamp on the cleaning device contacts the guide groove of the equipment body, the elastic deformation is pressed down. When the equipment body moves to the docking position with the cleaning device, the elastic clamp pops up and locks. into the automatic snap-on assembly to complete the connection between the equipment body and the cleaning device.
  • the automatic clamping component on the equipment body is controlled by the control device on the equipment body, and the automatic snapping component moves to push out the elastic clamping member, that is, disconnecting the cleaning device from the equipment body.
  • this embodiment does not limit the structure of the automatic clamping component and the elastic clamping member.
  • the cleaning equipment includes an equipment body and a cleaning device.
  • the equipment body is provided with a disassembly and assembly guide structure.
  • the equipment body moves toward the cleaning device and guides the disassembly and assembly When the cleaning device moves to a docking position with the cleaning device under the action of the structure, the cleaning device is connected to the equipment body.
  • the connection can be achieved by using the electromagnet provided on the equipment body to generate magnetic attraction and magnetically attract the docking parts on the cleaning device that can be magnetically attracted; the connection can also be controlled by the control device on the equipment body
  • the telescopic component moves so that the telescopic rod is in an extended state to connect with the connection structure on the cleaning device to realize the connection between the cleaning device and the equipment body; and so on, not to mention one by one (see the solutions above).
  • the cleaning equipment includes an equipment body and a cleaning device.
  • the equipment body is located on a flat surface (ie, the surface to be cleaned); the cleaning device is detachably connected to the equipment body.
  • the equipment body has the function of automatically disassembling the cleaning device.
  • the equipment body In the process of disassembling the cleaning device, the equipment body is located on the plane, and the equipment body moves in a direction away from the cleaning device.
  • This embodiment only limits the process of disassembling the cleaning device from the equipment body, and the status of the equipment body and the cleaning device, and does not limit the specific implementation of the structure that produces the above-mentioned disassembly process. Among them, some of the above solutions can produce the disassembly process defined in this embodiment.
  • the equipment body in this embodiment is provided with a liftable body and a top-resistance member.
  • the liftable body of the equipment body is connected to the cleaning device in a manner similar to a magic hook and loop.
  • the liftable body can be lowered so that the liftable body contacts the cleaning device, thereby completing the connection between the liftable body and the cleaning device.
  • the top-resisting piece extends or the top-resisting piece and the liftable body are lowered at the same time.
  • the top-resisting piece resists the cleaning device so that the cleaning device is stationary on a flat surface and the liftable body rises.
  • the liftable body Disconnect the unit for easy cleaning.
  • the top-resisting component rises again.
  • the top-resisting member rises again.
  • the set distance is not limited.
  • the lifting height of the liftable body is h, and the set distance can be greater than or equal to h/2.
  • Figure 22 shows a schematic flowchart of a method for automatically disassembling and assembling a cleaning device of a cleaning device according to an embodiment of the present application. As shown in the figure, the method includes:
  • control the driving device In response to the disassembly instruction, control the driving device to output rotational power in the second direction, so that the cleaning device disconnects from the driving device.
  • the driving device when the driving device outputs rotational power in the first direction, the driving device is connected to the cleaning device and can drive the cleaning device to perform a cleaning action; the first direction and the second direction are different direction.
  • the method provided by the embodiment of this application may also include the following steps:
  • Detect the cleaning plane of the cleaning equipment When it is detected that the cleaning plane is a set type plane, a trigger event for disassembling the cleaning device is generated.
  • the user operates or controls the voice on the interactive device (such as a control panel, touch screen, voice control module, etc.) on the cleaning equipment.
  • the cleaning equipment is connected to the smart terminal, and the user sends the first instruction to the cleaning equipment through the smart terminal.
  • the above-mentioned detection of the clean plane may be to detect the material type of the plane.
  • the setting type can be carpet type, etc.
  • the types of surfaces to be cleaned can be simply divided into two categories.
  • One type is the surface that is not suitable for mopping.
  • One type is a flat surface suitable for mopping. For example, if it is detected that the cleaning surface is not suitable for mopping (such as a carpet surface), the rag or roller brush (ie, the cleaning device) needs to be removed.
  • an event for installing the cleaning device can be triggered.
  • the method provided in this embodiment may also include the following steps:
  • the execution subject of the method provided in this embodiment may be a control device of the cleaning equipment.
  • the control device may be provided on the equipment body mentioned above.
  • the control device may be a main control board on the equipment body, etc.
  • this application also provides a method for automatically disassembling and assembling the cleaning device of the cleaning equipment. As shown in the schematic flow chart of Figure 23, the method provided by this embodiment focuses on the installation process of the cleaning device. Specifically, the method includes:
  • the automatic disassembly and assembly mechanism is provided on at least one of the equipment body and the cleaning device.
  • the triggering event in step 201 above can also be implemented using steps similar to steps 103 and 104 above.
  • the difference between this embodiment and the above step 104 is that the cleaning plane of the cleaning equipment is detected, and it is detected that the cleaning plane is a non-equipment.
  • a trigger event for disassembling the cleaning device is generated.
  • a trigger event for disassembling the cleaning device is generated.
  • the above-mentioned step 202 may specifically include: obtaining the current location and the base station location; and planning a travel path from the current location to the base station location based on the map.
  • the cleaning device If the cleaning device is disassembled to a certain position, before performing the above step 202, it should also include: recording the retention position of the cleaning device after being disassembled; and then obtaining the current position and the retention position of the cleaning device when executing the above step 202. ;Plan a traveling path from the current location to the retention location based on the map.
  • the cleaning equipment cleans to the edge of the carpet, and the cleaning device is disassembled at the edge of the carpet before entering the carpet area.
  • the cleaning equipment needs to locate the position where the cleaning device is disassembled, store this position as a retention position, and then enter the carpet area for cleaning. After cleaning the carpet area, you need to obtain the storage location of the cleaning device, and then plan a path from the current position to the retention location.
  • this embodiment does not specifically limit how to plan the path and travel according to the planned path. Please refer to relevant literature, which will not be described in detail here.
  • cleaning equipment will need to use different cleaning devices. For example, when cleaning floor tiles, floors and other floors, the cleaning equipment not only needs to sweep the ground but also mop the ground during the cleaning process. At this time, the cleaning equipment needs to be equipped with a cleaning device for mopping the floor. For example, cleaning devices used for mopping floors are housed in the tray of the cleaning base station.
  • the cleaning equipment is driven by the driving wheel to move toward the cleaning device, and then the slope of the guide groove contacts the end edge of the first structure, and as the cleaning device moves along the guide groove toward the second structure position When the first structure and the second structure are aligned, the first structure and the second structure abut each other under the gravity of the lifted chassis.
  • the driving device outputs the spiral power in the first direction, causing the second structure to rotate in the first direction, and the outer spiral protrusion on the second structure can be screwed into the inner spiral groove on the first structure, so that the first structure and the second structure
  • the structures are connected to each other, thus completing the automatic installation of the cleaning device.
  • the cleaning equipment When the cleaning equipment cleans two cleaning surfaces at the same time, if the cleaning equipment starts cleaning the carpet after cleaning the floor, the cleaning equipment needs to disassemble the cleaning device with mopping function to prevent the cleaning device from contaminating the carpet.
  • the driving device In the process of automatically disassembling the cleaning device of the cleaning equipment, first the driving device outputs rotational power in the second direction, causing the second structure to rotate in the second direction, and the outer spiral protrusion on the second structure can move from the inner part on the first structure.
  • the second structure is rotated out of the spiral groove. During the process of rotating out, the second structure gradually moves away from the first structure. At the same time, the chassis is gradually lifted away from the cleaning device.
  • the first structure is disconnected from the second structure, and then the cleaning device is driven by the driving wheel to move away from the cleaning device.
  • the cleaning device will slide along the guide groove and completely separate from the cleaning device, and then the automatic disassembly of the cleaning device is completed.
  • the driving device outputs driving forces in different directions, and the cleaning device can move in different directions relative to the driving device to realize the connection or disconnection of the cleaning device and the driving device.
  • the driving device When the driving device outputs rotational power in the first direction, the driving device and the cleaning device are connected to each other, and the driving device drives the cleaning device to perform a cleaning action.
  • the driving device When the driving device outputs rotational power in the second direction, the driving device disconnects from the cleaning device.
  • the connection allows the cleaning device to be automatically disassembled and assembled on the cleaning equipment, improving the user experience.

Landscapes

  • Cleaning Implements For Floors, Carpets, Furniture, Walls, And The Like (AREA)

Abstract

一种清洁装置(01)、清洁主机(101)及控制方法，可以自行装附和移除抹布附件(102)；清洁装置(01)包括清洁主机(101)和抹布附件(102)，清洁主机(101)包括：机身(10)，具有沿其厚度方向相对设置的清洁侧(12)和背侧(13)；连接机构(20)，设置于机身(10)上且具有可移动的连接部(20a)，连接部(20a)沿第一方向移动以和抹布附件(102)连接，连接部(20a)沿第一方向的相反方向移动以和抹布附件(102)分离，第一方向为自背侧(13)接近清洁侧(12)的方向；清洁装置(01)可以根据需要自行将抹布附件(102)进行装附或移除，无需用户进行手动操作，提高了清洁装置(01)的自动化程度，释放用户的劳动负担，增加清洁装置(01)的使用便利性。

Description

清洁装置、主机及控制方法
交叉引用
本申请引用下表中的中国专利申请，其通过引用被全部并入本申请。
技术领域
本申请涉及智能家电技术领域，具体涉及一种清洁装置、主机及控制方法。
背景技术
清洁装置可以对待清洁区域进行清洁，降低劳动负担和提高环境洁净度。在相关技术中，清洁装置无法自行将抹布附件进行安装或移除，需要用户进行手动操作，导致用户负担增加、使用便利性下降。
申请内容
本申请实施例提供一种清洁装置、主机及控制方法，可以自行装附和移除抹布附件，提高自动化程度和使用便利性。
一方面，本申请实施例提供一种清洁装置，包括清洁主机和抹布附件，所述清洁主机包括：机身，具有沿其厚度方向相对设置的清洁侧和背侧；连接机构，设置于所述机身上且具有可移动的连接部，所述连接部沿第一方向移动以和抹布附件连接，所述连接部沿所述第一方向的相反方向移动以和所述抹布附件分离，所述第一方向为自所述背侧接近所述清洁侧的方向。
在一些实施例中，所述连接机构还被配置为驱动和所述连接部连接的抹布附件旋转。
在一些实施例中，所述连接机构包括转动组件和驱动所述转动组件转动的驱动器件，所述机身和转动组件中的一者具有螺旋轨部、而另一者具有旋转导向部，所述连接部形成于所述转动组件沿所述第一方向远离所述背侧的一端，所述螺旋轨部和所述旋转导向部连接以使所述转动组件沿所述螺旋轨部运动，所述螺旋轨部的中心线沿所述第一方向延伸。
在一些实施例中，在所述转动组件和所述抹布附件进行连接时，所述螺旋轨部和所述旋转导向部分离。
在一些实施例中，所述机身上设有开口于所述清洁侧的容纳腔，所述转动组件穿设于所述容纳部内，所述容纳腔上连接所述转动组件的表面至少部分地设有所述螺旋轨部和所述旋转导向部中的一者。
在一些实施例中，所述转动组件包括沿所述第一方向依次连接的转轴件和连接件，所述转轴件沿所述第一方向延伸且连接所述驱动器件，所述转轴件上设有所述螺旋轨部和所述旋转导向部中的一者，所述连接部形成于所述连接件远离所述转轴件的一端。
在一些实施例中，所述转动组件还包括弹性件，所述连接件和所述转轴件可沿所述转轴件的轴向相对活动，所述弹性件沿所述转轴件的轴向连接所述连接件和所述转轴件。
在一些实施例中，所述螺旋轨部和所述旋转导向部中的一者具有外螺旋槽部构造，而另一者具有内螺旋槽部构造，所述外螺旋槽部和所述内螺旋槽部螺旋咬合。
在一些实施例中，所述螺旋轨部具有螺旋槽部构造，所述旋转导向部具有凸起部构造，所述凸起部可沿所述螺旋槽部运动。
在一些实施例中，所述连接机构还包括磁性吸附件，所述磁性吸附件适于和所述抹布附件进行磁吸连接。
在一些实施例中，所述机身的表面设有限位部，在所述连接部沿所述清洁侧接近所述背侧的方向移动时，所述限位部和所述抹布附件接触而使所述抹布附件和所述连接部分离。
在一些实施例中，所述抹布附件具有适于和所述连接部连接的连接端，所述连接部和所述连接端中一者的端面设有沿周向依次设置的多个螺旋状凸起部，另一者的端面设有沿周向依次设置的多个螺旋端槽部，所述多个螺旋状凸起部和所述多个螺旋端槽部一一对应地螺旋咬合。
第二方面，本申请实施例提供一种控制方法，用于控制以上任一实施例提供的清洁装置，包括：确定所述清洁主机是否已装附抹布附件；响应于确定所述清洁主机未装附抹布附件，则控制所述连接机构、使所述连接部沿第一方向移动地和待装附的抹布附件连接，所述第一方向为自所述背侧接近所述清洁侧的方向；响应于确定所述清洁主机已装附抹布附件，则控制所述连接机构、使所述连接部沿第一方向的相反方向移动地和待移除的抹布附件分离。
第三方面，本申请实施例提供一种控制方法，用于控制以上任一实施例提供的清洁装置，包括：确定目标环境区域是否包含一类区域和二类区域，所述一类区域包括适于拖抹区域和抹布附件可通过区域中的至少一者，所述二类区域包括不适于拖抹区域和抹布附件不可通过区域中的至少一者；响应于确定目标环境区域包含一类区域和二类区域，则确定所述清洁主机是否已装附抹布附件；响应于确定所述清洁主机已装附抹布附件，则控制所述清洁主机依次对所述二类区域和所述一类区域进行清洁，以及控制所述清洁主机在完成对所述二类区域的清洁后、开始对所述一类区域的清洁前将所述抹布附件移 除至指定区域；响应于确定所述清洁主机未装附抹布附件，则控制所述清洁主机依次对一类区域和二类区域进行清洁，以及控制所述清洁主机在完成对一类区域的清洁后、开始对二类区域的清洁前对位于指定区域的抹布附件进行装附。
本申请实施例通过在机身上设置可伸缩的连接机构，利用连接机构伸出机身而和待装附的抹布附件进行连接、实现抹布附件在清洁主机上的自动装附，利用连接机构缩入机身而和装附在清洁主机上的抹布附件进行分离、实现抹布附件在清洁主机上的自动移除；这样，清洁装置可以根据需要自行将抹布附件进行装附或移除，无需用户进行手动操作，可以提高清洁装置的自动化程度，释放用户的劳动负担，增加清洁装置的使用便利性。
在本申请的一个实施例中，提供了一种清洁设备，该清洁设备包括：
设备体；
驱动装置，设置在所述设备体上；
清洁装置，与所述驱动装置可拆卸连接；
其中，所述驱动装置输出第一方向的旋转动力以驱动所述清洁装置执行清洁动作，输出第二方向的旋转动力使得所述清洁装置断开与所述驱动装置的连接；所述第一方向与所述第二方向为不同的方向；
连接或断开过程中，所述驱动装置与所述清洁装置存在旋转动力轴向的相对运动。
在本申请的另一个实施例中，还提供了另一种清洁设备，该清洁设备包括：
设备体，设有拆装引导结构；
清洁装置，用于对待清洁对象进行清洁；
其中，所述设备体朝所述清洁装置移动并在所述拆装引导结构的作用下移动至与所述清洁装置处于对接位置时，所述清洁装置与所述设备体连接。
在本申请的又一个实施例中，还提供了一种清洁设备，该清洁设备包括：
设备体，位于一平面上；
清洁装置，可拆卸的设置在所述设备体上；
其中，所述设备体具有自动拆卸所述清洁装置的功能，所述设备体拆卸所述清洁装置的过程，所述清洁装置位于所述平面上，所述设备体朝远离所述清洁装置的方向动作。
在本申请的又一个实施例中，还提供了一种清洁设备自动拆装清洁装置的方法。所述方法包括：
监测到拆卸所述清洁装置的触发事件时，生成拆卸指令；
响应于所述拆卸指令，控制驱动装置输出第二方向的旋转动力，使得所述清洁装置 断开与所述驱动装置的连接，且所述驱动装置与所述清洁装置存在旋转动力轴向的相背运动；
其中，所述驱动装置输出第一方向的旋转动力时所述驱动装置与所述清洁装置连接，并能驱动所述清洁装置执行清洁动作；所述第一方向与所述第二方向为不同的方向。
在本申请的又一个实施例中，还提供了一种清洁设备自动拆装清洁装置的方法。所述方法包括：
监测到安装所述清洁装置的触发事件时，生成安装指令；
响应于所述安装指令，确定行进至所述清洁装置处的行进路径；
待所述清洁设备的设备体按所述行进路径行进至与所述清洁装置处并在所述设备体上的拆装引导结构的作用下移动至与所述清洁装置处于对接位置时，控制自动拆装机构工作以将所述清洁装置连接于所述设备体上；
其中，所述自动拆装机构设置在所述设备体和所述清洁装置的至少一个上。
本申请实施例提供的方案中，通过驱动装置输出不同方向的驱动力，清洁装置能够相对于驱动装置以不同的方向动作，以实现清洁装置与驱动装置的连接或者断开连接，当驱动装置输出第一方向的旋转动力时，驱动装置与清洁装置相互连接，驱动装置驱动清洁装置执行清洁动作，当驱动装置输出第二方向的旋转动力时，驱动装置断开与清洁装置之间的连接，从而实现清洁装置的自动拆装，结构简单，易实现。
附图说明
为了更清楚地说明本申请实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是本申请一些实施例提供的清洁装置的爆炸结构图；
图2是本申请一些实施例提供的清洁装置在装附抹布附件时的局部剖视结构图；
图3是图2中清洁装置的M处局部结构图；
图4是本申请一些实施例提供的清洁装置在移除抹布附件后的局部剖视结构图；
图5是本申请一些实施例提供的清洁装置的清洁主机的连接部的局部结构图；
图6是本申请一些实施例提供的清洁装置的抹布附件的局部结构图；
图7是本申请一些实施例提供的一种控制方法的流程图；
图8是本申请一些实施例提供的另一种控制方法的流程图；
图9是本申请一些实施例提供的清洁装置的一种使用环境示意图；
图10是本申请一些实施例提供的清洁装置的另一种使用环境示意图；
图11为本申请实施例提供的一种清洁设备第一剖面结构示意图；
图12为本申请实施例提供的一种清洁设备第二剖面结构示意图；
图13为本申请实施例提供的一种清洁设备第三剖面结构示意图；
图14为图1中A部分的局部视图；
图15为图2中B部分的局部视图；
图16为本申请实施例提供的一种清洁装置立体结构示意图；
图17为本申请实施例提供的一种清洁装置正视结构示意图；
图18a为本申请实施例提供的一种第二结构立体结构示意图；
图18b为本申请实施例提供的第二结构的三维示意图；
图19为本申请实施例提供的一种第二结构的剖视图；
图20为本申请实施例提供的一种底盘结构示意图；
图21为本申请实施例提供的一种底盘立体结构示意图；
图22为本申请一实施例提供的清洁设备自动拆装清洁装置的方法的流程示意图；
图23为本申请另一实施例提供的清洁设备自动拆装清洁装置的方法的流程示意图。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
在本申请的描述中，需要理解的是，术语“中心”、“纵向”、“横向”、“长度”、“宽度”、“厚度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个所述特征。在本申请的描述中，“多个”的含义是两个或两个以上，除非另有明确具体的限定。
“A和/或B”，包括以下三种组合：仅A，仅B，及A和B的组合。
本申请中“适用于”或“被配置为”的使用意味着开放和包容性的语言，其不排除适用 于或被配置为执行额外任务或步骤的设备。另外，“基于”的使用意味着开放和包容性，因为“基于”一个或多个所述条件或值的过程、步骤、计算或其他动作在实践中可以基于额外条件或超出所述的值。
在本申请中，“示例性”一词用来表示“用作例子、例证或说明”。本申请中被描述为“示例性”的任何实施例不一定被解释为比其它实施例更优选或更具优势。为了使本领域任何技术人员能够实现和使用本申请，给出了以下描述。在以下描述中，为了解释的目的而列出了细节。应当明白的是，本领域普通技术人员可以认识到，在不使用这些特定细节的情况下也可以实现本申请。在其它实例中，不会对公知的结构和过程进行详细阐述，以避免不必要的细节使本申请的描述变得晦涩。因此，本申请并非旨在限于所示的实施例，而是与符合本申请所公开的原理和特征的最广范围相一致。
在相关技术中，清洁装置无法自行将抹布附件进行安装或移除，在使用时存在较大不便。例如，对于包含适于拖抹区域和不适于拖抹区域的使用环境，需要在对适于拖抹区域进行清洁前安装抹布附件、而在对不适于拖抹区域进行清洁前移除抹布附件；相应地，这些清洁装置需要由用户对抹布附件进行手动装拆，导致不同区域之间的清洁作业不能连续衔接，清洁效率和自动化程度较低，具有较高的人为操作依赖性；这里，适于拖抹区域可以包括地板面、地砖面等易于干燥且不易吸附脏污的表面区域，不适于拖抹区域可以包括地毯表面等不易干燥或易于吸附脏污的表面区域。又如，对于包含抹布附件可通过区域和抹布附件不可通过区域的使用环境，需要在进入抹布附件不可通过区域前移除抹布附件；相应地，这些清洁装置也需要由用户对抹布附件进行手动装拆，导致清洁装置在不同区域之间的通过能力和连续作业能力受到较大制约，降低了清洁效率和自动化程度较低；这里，抹布附件可通过区域是指清洁装置装附抹布附件后能够越障通过的区域，通常具有较低的障碍高度而可以被装附抹布附件的清洁装置所进入或通过；而抹布附件不可通过区域是指清洁装置装附抹布附件后无法越障通过的区域，该区域整体具有较高的障碍高度或者被装附抹布附件的清洁装置所无法越过的障碍物如门槛、围栏等所阻隔，使装附抹布附件的清洁装置不能进入和通过，而未装附抹布附件的清洁装置则能够进入和通过。上述手动装拆过程，还容易导致用户受到脏污抹布上的臭味和脏污污染，对用户的身体健康存在不利影响。
如图1～4所示，第一方面，本申请实施例提供一种清洁装置01，该清洁装置01包括清洁主机101和抹布附件102。该清洁主机101包括机身10和连接机构20，可以自行装附和移除抹布附件102，提高自动化程度和使用便利性。
这里，清洁装置01的类型可以根据实际需要决定，采用诸如拖地机器人、扫拖一 体机器人、吸尘器、清洗机、擦玻璃机器人等不同类型清洁设备的相应构造及形状，本申请实施例对此不作限定。相应地，清洁主机101可以根据实际应用需要，采用诸如扫地机器人、拖地机器人、扫拖一体机器人、吸尘器、清洗机、擦玻璃机器人等不同类型清洁设备的主机结构，以实现相应的清洁效果，本申请实施例对此不作限定。类似地，抹布附件102可以根据实际应用需要，采用匹配相应清洁设备的构造类型，以实现相应的清洁效果，本申请实施例对此不作限定。在一些实施例中，抹布附件102可以包括抹布和适于安装抹布的抹布支架；这里，抹布和抹布支架之间可以具有不可拆卸的一体结构，也可以具有能够进行拆卸的装配结构。
机身10具有沿其厚度方向相对设置的清洁侧12和背侧13。在抹布附件102被装附到机身10上时，抹布附件102位于机身10的清洁侧12；相应地，在对目标环境区域进行拖抹清洁的过程中，清洁侧12和目标环境区域的表面保持正对、而背侧13和目标环境区域的表面保持相背，抹布附件102位于清洁侧12而可以对目标环境区域的表面进行拖抹。
连接机构20设置于机身10上，且具有可移动的连接部20a，连接部20a适于和抹布附件102进行连接/分离；利用连接机构20可以使连接部20a沿第一方向或第一方向的相反方向进行移动，以使连接部20a和抹布附件102进行适配连接/分离。这里，第一方向是指自背侧13接近清洁侧12的方向。在沿第一方向的移动行程，连接机构20可以使连接部20a沿第一方向移动而逐渐远离机身10的背侧13、直至到达例如是位于机身10外部的特定位置等预定位置；在该预定位置，连接部20a适于和待装附的抹布附件102进行连接，使得抹布附件102可以通过连接机构20而自动安装到清洁主机101上。而在沿第一方向的相反方向的移动行程，连接机构20可以使连接部20a沿第一方向的相反方向移动而逐渐接近机身10的背侧13、以使连接部20a和抹布附件102进行分离，实现抹布附件102在清洁主机101上的自动移除。在一些示例中，在沿第一方向移动时，连接部20a可以自机身10的内部伸出至机身10的外部；而在沿第一方向的相反方向移动时，连接部20a可以自机身10的外部缩入至机身10的内部。在另一些示例中，在沿第一方向或其相反方向移动时，连接部20a可以始终位于机身10的外部。
和相关技术相比，本申请实施例提供的清洁主机101可以根据需要自行将抹布附件102进行装附或移除，无需用户手动安装或摘除抹布附件102，可以释放用户的劳动负担并避免脏湿的抹布附件102对用户造成污染损害，提高清洁主机101的自动化程度和使用便利性。对于前述包含适于拖抹区域201和不适于拖抹区域202的使用环境，本申请实施例提供的清洁主机101可以在对适于拖抹区域201进行清洁前自动装附抹布附件 102、而在对不适于拖抹区域202进行清洁前自动移除抹布附件102，无需用户人工介入操作，可以在不同区域之间进行连续而衔接紧密的清洁作业，清洁效率和自动化程度较高；而对于前述包含抹布附件102可通过区域和抹布附件不可通过区域302的使用环境，本申请实施例提供的清洁主机101可以在进入抹布附件不可通过区域302前移除抹布附件102，亦无需用户人工介入操作，在不同区域之间具有较高的越障通过能力和连续作业能力。此外，通过连接部20a沿第一方向移动地和抹布附件102进行连接，可以使得连接部20a以接近目标环境区域的趋势和抹布附件102进行连接，保证抹布附件102和目标环境区域的表面具有较佳的相对接触位置和接触作用力，增加抹布附件102对目标环境区域表面的清洁能力和效率。
这里，抹布附件102在被装附到清洁主机101上后，可以相对清洁主机101保持静态而在清洁主机101上进行随动拖抹，也可以相对清洁主机101进行运动而进行主动拖抹。在抹布附件102可以相对清洁主机101进行运动时，抹布附件102的运动形式可以根据实际需要进行设计，例如直线往复运动、摆动、旋转运动等，本申请实施例对此不作限定。
在一些实施例中，抹布附件102的运动形式可以是旋转运动；相应地，连接机构20可以被配置为驱动和连接部20a连接的抹布附件102旋转。这里，连接机构20一方面可以输出直线运动、使得连接部20a可以在移动行程中和抹布附件102进行连接或分离，另一方面可以输出圆周运动、使得连接部20a可以带动抹布附件102旋转而进行高效清洁；和相关技术相比，可以通过同一机构实现对抹布附件102的自动装拆和对抹布附件102在清洁过程的旋转驱动，简化清洁主机101的机械结构。当清洁主机101沿清洁路径进行移动时，抹布附件102可以主动旋转而对待清洁区域进行高效拖抹清洁，增加拖抹清洁效率和清洁洁净度。
连接机构20的类型可以根据实际需要决定，可以采用诸如伸缩气缸、电动推杆、齿轮齿条机构等不同的直线运动机构构造形式，本申请实施例对此不作限定。在一些实施例中，连接机构20可以包括转动组件21和驱动转动组件21转动的驱动器件22，转动组件21上可以设有如前适于和抹布附件102连接/分离的连接部20a，且连接部20a形成于转动组件21沿第一方向远离背侧13的一端。转动组件21和机身10之间可以具有螺旋配合，使转动组件21可螺旋旋转地保持于机身10上、以使连接部20a沿第一方向或其相反方向移动地和抹布附件102连接或分离。当驱动器件22驱动转动组件21在机身10上转动时，由于机身10对转动组件21的螺旋导向作用，转动组件21的周向旋转被转换为沿第一方向的直线进给运动，使得转动组件21整体呈现由周向旋转和直线 进给复合而成的螺旋旋转运动、从而实现连接部20a相对机身10的直线位置移动目的。驱动器件22的类型可以根据实际需要决定，可以采用诸如旋转电机、液压马达等类型，以能向转动组件21输出旋转运动为准，本申请实施例对此不作限定。
在一些示例中，机身10和转动组件21中的一者可以具有螺旋轨部21a，而另一者可以具有旋转导向部10a。示例性的，机身10可以具有螺旋轨部21a，而转动组件21可以具有旋转导向部10a；又示例性的，转动组件21可以具有螺旋轨部21a，而机身10可以具有旋转导向部10a。螺旋轨部21a和旋转导向部10a连接以使转动组件21沿螺旋轨部21a运动，而螺旋轨部21a的中心线沿第一方向延伸。在螺旋轨部21a和旋转导向部10a连接时，转动组件21可以在机身10上沿螺旋轨部21a而进行螺旋旋转，实现转动组件21在机身10上的直线进给、以和抹布附件102进行连接或分离；而在螺旋轨部21a和旋转导向部10a分离时，转动组件21可以沿自身周向在机身10上进行旋转、但不沿第一方向进行直线进给。
螺旋轨部21a和旋转导向部10a的构造类型可以根据实际需要决定，本申请实施例对此不作限定。示例性的，螺旋轨部21a和旋转导向部10a中的一者可以具有外螺旋槽部构造、而另一者可以具有内螺旋槽部构造，外螺旋槽部和内螺旋槽部螺旋咬合；这里，外螺旋槽部和内螺旋槽部可以采用诸如梯形螺纹、滚珠螺纹等螺旋类型。又示例性的，螺旋轨部21a可以具有螺旋槽部构造，而旋转导向部10a可以具有凸起部构造，凸起部可沿螺旋槽的螺旋线滑动地保持于导向凸起部内、相应沿螺旋槽部进行运动，从而实现螺旋导向目的。
示例性的，可以对螺旋轨部21a和旋转导向部10a的螺旋配合如其配合长度等进行配置，使在转动组件21和抹布附件102进行连接时，螺旋轨部21a和旋转导向部10a分离。这样，在驱动器件22驱动转动组件21沿第一旋转方向转动时，转动组件21螺旋旋转地伸出机身10而逐渐接近抹布附件102，螺旋轨部21a和旋转导向部10a之间的咬合长度不断减小而逐渐趋近分离；随着转动组件21和抹布附件102达至连接状态，螺旋轨部21a和旋转导向部10a分离而脱离咬合状态、使转动组件21不再受到螺旋导向作用，转动组件21仅沿第一旋转方向在机身10上进行旋转，可以实现对抹布附件102的旋转驱动目的。反之，在驱动器件22驱动转动组件21沿第一旋转方向的相反方向(以下简称“第二旋转方向”)转动时，螺旋轨部21a和旋转导向部10a逐渐咬合而形成螺旋配合，使转动组件21和机身10之间的螺旋咬合长度逐渐增加，使得转动组件21受到机身10的螺旋导向作用而螺旋旋转地缩入机身10内，实现转动组件21和抹布附件102之间的分离。这样，可以利用转动组件21和机身10之间的螺旋配合，实现转 动组件21在螺旋旋转状态和周向旋转状态之间的切换，相应实现转动组件21在直线进给而装拆抹布附件102和周向旋转而驱动抹布附件102旋转清洁之间的功能切换，无需引入额外的运动机构而使机械机构得以简化，满足功能性和成本的双重要求。
示例性的，螺旋轨部21a或旋转导向部10a可以直接设置于机身10上。又示例性的，机身10可以包括转轴套筒11，螺旋轨部21a或旋转导向部10a设置于转轴套筒11的内周面上，转动组件21可螺旋旋转地套设于转轴套筒11的内周侧。这样，在转轴套筒11发生损坏时，可以及时对转轴套筒11进行更换，无需对机身10进行更换或维修，降低整机制造和维护成本。
转动组件21的构造可以根据实际需要决定，本申请实施例对此不作限定。在一些示例中，转动组件21可以包括沿第一方向依次连接的转轴件211和连接件212。转轴件211沿第一方向延伸转轴件211上相应地，转轴件211的中心轴和第一方向平行；转轴件211上设有螺旋轨部21a和旋转导向部10a中的一者，且转轴件211和驱动器件22进行连接，使转轴件211被驱动器件22驱动而可螺旋旋转地保持于机身10上。连接件212设置于转轴件211沿第一方向远离背侧13的一侧，而连接部21a则形成于连接件212远离转轴件211的一端。示例性的，转轴件211一端可以和驱动器件22进行连接，而连接件212可以设置于转轴件211远离驱动器件22的一端。随着转轴件211的直线进给，连接件212及其上的连接部21a可以实现和抹布附件102的连接或分离。
在一些示例中，转动组件21还可以包括弹性件213。连接件212和转轴件211可以沿转轴件211的轴向相对活动，而弹性件213沿转轴件211的轴向连接连接件212和转轴件211；相应地，弹性件213可以沿转轴件211的轴向在连接件212和转轴件211之间施加弹性作用力。弹性件213的类型可以根据实际需要决定，可以采用诸如弹簧、金属弹片等类型，本申请实施例对此不作限定。这样，一方面可以利用弹性作用力实现连接件212和转轴件211之间的位置保持，保证连接件212和转轴件211之间的可靠连接而避免失位，使连接件212可以随转轴件211同步转动；另一方面使连接件212和转轴件211之间可以沿转轴件211的轴向进行一定的位置调整，相应使得弹性件213的弹性作用力可以在一定范围内进行调节，满足不同应用环境的工作需要。
示例性的，在连接件212和抹布附件102进行连接时，由于连接件212趋近接触抹布附件102而在二者之间产生相互作用力；该相互作用力施加于弹性件213而使弹性件213进一步弹性形变、相应增加弹性件213对连接件212的弹性作用力，一方面可以使连接件212沿第一方向抵紧抹布附件102而进行可靠连接，另一方面可以使抹布附件102和待清洁区域的表面之间的压力同步增大、从而保证清洁所需的表面擦除力。
又示例性的，在驱动器件22驱动转动组件21沿前述第二旋转方向转动、以使连接件212需要和抹布附件102进行分离时，转轴件211和连接件212同步沿第二旋转方向旋转而开始和抹布附件102发生松动，给予弹性件213进行复位的空间；弹性件213随即进行复位而沿第一方向的相反方向将转轴件211推向机身10内部，增加螺旋轨部21a和旋转导向部10a之间的对位咬合准确度和效率，使螺旋轨部21a和旋转导向部10a能够快速准确地进行咬合而形成螺旋配合，使得转动组件21可以受到机身10的螺旋导向作用而螺旋旋转地缩入机身10内，实现转动组件21和抹布附件102之间的分离。
又示例性的，在连接件212和抹布附件102进行连接时，对于外部尺寸不同或连接位置不等的抹布附件102，连接件212可以沿第一方向向机身10内部趋近并挤压弹性件213，使连接件212可以调节到合适的位置而与抹布附件102进行紧密连接，利用弹性件213提供的调节空间满足不同抹布附件102的装附需要。
转轴件211的类型可以根据实际需要决定，可以采用诸如实心轴、空心轴等类型，本申请实施例对此不作限定。示例性的，转轴件211可以为空心轴，空心轴远离驱动器件22的一端设有第一开口部211a1；连接件212一端设置于空心轴的内腔中、另一端穿过第一开口部211a1后突出于空心轴外部，连接件212可活动地保持于第一开口部211a1；而弹性件213可以设置于空心轴的内腔中，且位于连接件212远离第一开口部211a1的一侧。
空心轴可以根据实际需要采用一体式构造或分体装配式构造，本申请实施例对此不作限定。示例性的，空心轴可以具有分体装配式构造，包括转轴本体211a和转轴端盖211b；转轴本体211a两端分别设有第一开口部211a1和第二开口部，转轴端盖211b封闭第二开口部、并连接驱动器件22和弹性件213。
连接件212的构造可以根据实际需要决定，本申请实施例对此不作限定。示例性的，连接件212可以包括第一连接件212a和第二连接件212b。第一连接件212a一端设置于空心轴的内腔中、另一端穿过第一开口部211a1后和第二连接件212b连接，第二连接件212b则设置于空心轴的外部。相应地，连接部20a可以位于第二连接件212b上，由第二连接件212b和抹布附件102进行连接/分离。
在一些实施例中，连接机构20还可以包括磁性吸附件23，磁性吸附件23适于和抹布附件102进行磁吸连接。示例性的，抹布附件102上可以设有金属件10'，该金属件10'可以包含诸如铁钴镍等铁磁金属成分，适于和磁性吸附件23进行磁吸连接；又示例性的，抹布附件102可以包含诸如铁钴镍等铁磁金属成分，适于和磁性吸附件23进行磁吸连接。这样，利用磁性吸附件23和抹布附件102之间的磁吸力，可以使得连接机 构20可以和抹布附件102保持可靠固定；而在连接机构20需要和抹布附件102进行分离时，可以利用连接机构20的缩入运动使磁性吸附件23逐渐远离抹布附件102、使得磁性吸附件23和抹布附件102之间脱离磁吸作用范围，从而轻易地实现连接机构20和抹布附件102的分离。在一些示例中，磁性吸附件23可以设置于连接件212上。
在一些实施例中，机身10的表面可以设有限位部10b。在连接机构20缩入机身10时，限位部10b和抹布附件102接触而使抹布附件102从连接机构20上分离。在连接机构20向机身10内进行收缩时，抹布附件102可以随连接机构20一并向机身10内进行移动而趋近于限位部10b；在抹布附件102碰触限位部10b时，受限于限位部10b的限位止动作用、抹布附件102无法继续向机身10内进行移动，而连接机构20继续向机身10内进行收缩、使抹布附件102和连接机构20实现分离。限位部10b的构造可以根据实际需要决定，可以采用诸如限位面、限位凸起部等类型，本申请实施例对此不作限定。限位部10b的设置位置可以根据实际需要决定，本申请实施例对此不作限定；在一些示例中，限位部10b可以设置于机身10的清洁侧12。
如图1～6所示，在一些实施例中，抹布附件102具有适于和连接部20a进行连接的连接端20a'。这里，连接部20a和连接端20a'中一者的端面设有沿周向依次设置的多个螺旋状凸起部20a1，而另一者的端面设有沿周向依次设置的多个螺旋端槽部20a'，多个螺旋状凸起部20a1和多个螺旋端槽部20a'一一对应地螺旋咬合，在端面处形成螺旋配合。这里，多个螺旋状凸起部20a1分别沿不同的螺旋线外延而形成凸起构造，多个螺旋状凸起部20a1依次相邻设置且彼此保持断开；类似地，多个螺旋端槽部20a'分别沿不同的螺旋线内凹而形成凹槽构造，多个螺旋端槽部20a'且彼此保持断开。这样，在驱动器件22驱动转动组件21沿第一旋转方向转动时，转动组件21螺旋旋转地伸出以使连接部20a和抹布附件102进行连接，连接部20a随转动组件21的螺旋旋转而逐渐地和抹布附件102的连接端20a'进行端部螺旋配合，使得连接部20a沿螺旋线逐渐深入抹布附件102的连接端20a'、直至进行螺旋末端锁止而连接到位，连接部20a和抹布附件102从而具有沿第一旋转方向的同步转动能力；而在驱动器件22驱动转动组件21沿第二旋转方向转动时，连接部20a随转动组件21沿第二旋转方向转动而沿螺旋线开始退出抹布附件102的连接端20a'、使转动组件21和抹布附件102开始发生松动，使得转动组件21被推向机身10内部、螺旋轨部21a和旋转导向部10a进行对位咬合，而在设有弹性件213时可以给予弹性件213进行复位的空间、加速螺旋轨部21a和旋转导向部10a的咬合过程。
在一些实施例中，清洁主机101还包括行程开关24，可以检测连接机构20和机身 10的相对位置。在连接机构20移动到预定位置时，行程开关24可以控制连接机构20的运动状态。这里，行程开关24的类型可以根据实际需要决定，本申请实施例对此不作限定。
如图7所示，第二方面，本申请实施例提供一种控制方法，该控制方法包括S10～S30，可以对清洁装置01或清洁主机101进行控制以进行抹布附件的装附和移除。
S10：确定清洁主机是否已装附抹布附件。
S20：响应于确定清洁主机未装附抹布附件，则控制连接机构、使连接部沿第一方向移动地和待装附的抹布附件连接，实现抹布附件在清洁主机上的自动装附。
S30：响应于确定清洁主机已装附抹布附件，则控制连接机构、使连接部沿第一方向的相反方向移动地和待移除的抹布附件分离，实现抹布附件在清洁主机上的自动移除。
如图8～10所示，第三方面，本申请实施例提供一种控制方法，该控制方法包括S10'～S40'，可以对清洁装置01或清洁主机101进行控制。
S10'：确定目标环境区域是否包含一类区域和二类区域，一类区域包括适于拖抹区域201和抹布附件102可通过区域中的至少一者，二类区域包括不适于拖抹区域202和抹布附件不可通过区域302中的至少一者。这里，目标环境区域是清洁装置01需要进行清洁的环境区域。在一些示例中，可以根据针对目标环境区域预先构建的环境地图，确定目标环境区域是否包含一类区域和二类区域；在另一些示例中，可以利用清洁主机101上设置的诸如地毯识别传感器、障碍物303检测传感器等传感器，根据传感器的检测信息确定目标环境区域是否包含一类区域和二类区域；在又一些示例中，可以根据预先构建的环境地图和传感器的检测信息，综合确定目标环境区域是否包含一类区域和二类区域，具有较佳的实时判断准确性和环境适应性。如前所述，抹布附件不可通过区域302可以整体具有较高的障碍高度，而不容装附抹布附件102的清洁装置01能够进入和通过，但未装附抹布附件102的清洁装置01则能够进入和通过；或者，抹布附件不可通过区域302可以被装附抹布附件102的清洁装置01所无法越过的障碍物303如门槛、围栏等所阻隔，使装附抹布附件102的清洁装置01不能进入和通过，但未装附抹布附件102的清洁装置01则能够进入和通过。
S20'：响应于确定目标环境区域包含一类区域和二类区域，则确定清洁主机101是否已装附抹布附件102。在确定目标环境区域包含一类区域和二类区域时，表明清洁装置01需要涉及对两类不同区域的清洁，进而涉及对抹布附件102的装附和移除。相应地，需要根据清洁主机101和抹布附件102的装附/移除状态，确定对两类不同区域的 清洁顺序。
S30'：响应于确定清洁主机101已装附抹布附件102，则控制清洁主机101依次对二类区域和一类区域进行清洁，以及控制清洁主机101在完成对二类区域的清洁后、开始对一类区域的清洁前将抹布附件102移除至指定区域。在确定清洁主机101已装附抹布附件102时，可以控制清洁主机101先对二类区域进行拖抹；在完成对二类区域的拖抹后，该清洁主机101可以移动至指定区域，自动将抹布附件102移除到该指定区域；随后，已移除抹布附件102的清洁主机101可以对一类区域进行清扫。
S40'：响应于确定清洁主机101未装附抹布附件102，则控制清洁主机101依次对一类区域和二类区域进行清洁，以及控制清洁主机101在完成对一类区域的清洁后、开始对二类区域的清洁前对位于指定区域的抹布附件102进行装附。在确定清洁主机101未装附抹布附件102时，可以控制清洁主机101先对一类区域进行拖抹；在完成对一类区域的拖抹后，该清洁主机101可以移动至指定区域，对位于指定区域的抹布附件102进行自动拾取装附；随后，已移除抹布附件102的清洁主机101可以对二类区域进行清扫。
本申请实施例提供的控制方法，可以根据不同区域的特征确定对不同区域的清洁顺序，并控制清洁主机101在不同区域的清洁衔接段对抹布附件102进行自动装附/移除，使清洁装置01可以在不同区域之间进行连续而衔接紧密的清洁作业、在不同区域之间具有较高的越障通过能力和连续作业能力，提高清洁装置01的清洁效率和自动化程度。
这里，简要介绍几种典型的应用示例。
应用示例一
清洁装置01为具有自主移动能力的清洁机器人，包括清洁主机101和抹布附件102。在抹布附件102已被装附到清洁主机101上的清洁装置01工作时，对于包含适于拖抹区域201和不适于拖抹区域202的使用环境，可以按照适于拖抹区域201和不适于拖抹区域202的先后顺序依次进行清洁。相应地，已装附有抹布附件102的清洁装置01可以先对适于拖抹区域201进行拖抹；在完成对适于拖抹区域201的拖抹后，该清洁装置01可以移动至指定区域，自动将抹布附件102移除到该指定区域；随后，已移除抹布附件102的清洁装置01可以对不适于拖抹区域202进行清扫。
应用示例二
清洁装置01为具有自主移动能力的清洁机器人，包括清洁主机101和抹布附件102。在未装附抹布附件102的清洁装置01工作时，对于包含适于拖抹区域201和不适 于拖抹区域202的使用环境，可以按照不适于拖抹区域202和适于拖抹区域201的先后顺序依次进行清洁。相应地，未装附抹布附件102的清洁装置01可以先对不适于拖抹区域202进行清扫；在完成对不适于拖抹区域202的清扫后，该清洁装置01可以移动至指定区域，将位于指定区域的抹布附件102自动装附到清洁主机101上；随后，已装附抹布附件102的清洁装置01可以对不适于拖抹区域202进行拖抹。
应用示例三
清洁装置01为具有自主移动能力的清洁机器人，包括清洁主机101和抹布附件102。在抹布附件102已被装附到清洁主机101上的清洁装置01工作时，对于包含抹布附件102可通过区域和抹布附件不可通过区域302的使用环境，可以按照抹布附件102可通过区域和抹布附件不可通过区域302的先后顺序依次进行清洁。相应地，已装附有抹布附件102的清洁装置01可以先对抹布附件102可通过区域进行拖抹；在完成对抹布附件102可通过区域的拖抹后，该清洁装置01可以移动至指定区域，自动将抹布附件102移除到该指定区域；随后，已移除抹布附件102的清洁装置01可以进入并通过抹布附件不可通过区域302，对抹布附件不可通过区域302进行清扫。
应用示例四
清洁装置01为具有自主移动能力的清洁机器人，包括清洁主机101和抹布附件102。在未装附抹布附件102的清洁装置01工作时，对于包含抹布附件102可通过区域和抹布附件不可通过区域302的使用环境，可以按照抹布附件不可通过区域302和抹布附件102可通过区域的先后顺序依次进行清洁。相应地，未装附抹布附件102的清洁装置01可以先对抹布附件不可通过区域302进行拖抹；在完成对抹布附件不可通过区域302的拖抹后，该清洁装置01可以移动至指定区域，将位于指定区域的抹布附件102自动装附到清洁主机101上；随后，已装附抹布附件102的清洁装置01可以进入并通过抹布附件102可通过区域，对抹布附件102可通过区域进行拖抹。
应用示例五
清洁装置01为具有自主移动能力的清洁机器人，包括清洁主机101和抹布附件102。在抹布附件102已被装附到清洁主机101上的清洁装置01工作时，对于包含抹布附件102可通过区域和不适于拖抹区域202的使用环境，可以按照抹布附件102可通过区域和不适于拖抹区域202的先后顺序依次进行清洁。相应地，已装附有抹布附件102的清洁装置01可以先对抹布附件102可通过区域进行拖抹；在完成对抹布附件102可通过区域的拖抹后，该清洁装置01可以移动至指定区域，自动将抹布附件102移除到该指定区域；随后，已移除抹布附件102的清洁装置01可以进入不适于拖抹区域 202，对不适于拖抹区域202进行清扫。
应用示例六
清洁装置01为具有自主移动能力的清洁机器人，包括清洁主机101和抹布附件102。在未装附抹布附件102的清洁装置01工作时，对于包含适于拖抹区域201和抹布附件不可通过区域302的使用环境，可以按照抹布附件不可通过区域302和适于拖抹区域201的先后顺序依次进行清洁。相应地，未装附抹布附件102的清洁装置01可以先对抹布附件不可通过区域302进行拖抹；在完成对抹布附件不可通过区域302的拖抹后，该清洁装置01可以移动至指定区域，将位于指定区域的抹布附件102自动装附到清洁主机101上；随后，已装附抹布附件102的清洁装置01可以进入并通过适于拖抹区域201，对适于拖抹区域201进行拖抹。
应用示例七
清洁装置01为具有自主移动能力的清洁机器人，包括清洁主机101和抹布附件102。在抹布附件102已被装附到清洁主机101上的清洁装置01工作时，对于包含适于拖抹区域201、不适于拖抹区域202、抹布附件102可通过区域和抹布附件不可通过区域302的使用环境，可以按照适于拖抹区域201、抹布附件102可通过区域、不适于拖抹区域202和抹布附件不可通过区域302的先后顺序依次进行清洁。这里，适于拖抹区域201和抹布附件102可通过区域之间的先后顺序不做限制，不适于拖抹区域202和抹布附件不可通过区域302的先后顺序也不做限制。相应地，已装附有抹布附件102的清洁装置01可以先对适于拖抹区域201和抹布附件102可通过区域进行拖抹；在完成对适于拖抹区域201和抹布附件102可通过区域的拖抹后，该清洁装置01可以移动至指定区域，自动将抹布附件102移除到该指定区域；随后，已移除抹布附件102的清洁装置01可以对不适于拖抹区域202和抹布附件不可通过区域302进行清扫。
以上对本申请实施例所提供的清洁装置、主机及控制方法进行了详细介绍，本文中应用了具体个例对本申请的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本申请的方法及其核心思想；同时，对于本领域的技术人员，依据本申请的思想，在具体实施方式及应用范围上均会有改变之处，综上所述，本说明书内容不应理解为对本申请的限制。
图11为本申请实施例提供的一种清洁设备第一剖面结构示意图，图12为本申请一实施例提供的一种清洁设备第二剖面结构示意图，图13为本申请一实施例提供的一种清洁设备第三剖面结构示意图。
参见图11至图13，本申请实施例提供了一种清洁设备，该清洁设备包括：设备体 (图中未完整示出，仅示出了设备体的底壳1或底盘)、驱动装置(图中未示出)及清洁装置3。其中，设备体为清洁设备的主体，清洁设备可以包括但不限于扫地机器人、扫拖一体机等，对于不同的清洁设备其设备体所具备的功能也不同，例如，对于智能扫地机器人来说，其设备体为机器人的本体，其包括底盘、驱动轮、控制装置、清洁系统及能源系统等。智能扫地机器人能在无人干预的情况下，自主完成清洁工作。再例如半自动的清洁设备，其设备体包括，清洁主体、辅助轮、控制装置、能源系统及控制把手等，用户通过控制手柄控制清洁主体完成清洁的工作。
清洁设备还包括驱动装置2，驱动装置2设置在设备体上。驱动装置2可拆卸清洁装置3和安装清洁装置3。具体地，驱动装置2上设有输出轴，清洁装置3可拆卸地与输出轴连接。当清洁装置3与驱动装置2连接时，驱动装置2能将驱动力传输至清洁装置3上；当清洁装置3与驱动装置2断开连接时，清洁装置3与驱动装置2可以是接触的状态也可以是非接触的状态，但是驱动装置2的驱动力将无法传输至清洁装置3上。清洁装置3用于清洁工作表面，例如，清洁装置3可以设于设备体的底壳1的下方，可以用于与待清洁表面摩擦接触而擦拭待清洁表面，实现拖地操作。或者，在其他一些实施例中，清洁设备可以包括至少两种清洁装置3，不同的清洁装置3可以实现不同的作业需求，例如：第一清洁装置可以实现拖地需求，第二清洁装置可以实现扫地需求。清洁装置3可以是盘形抹布，也可以是滚刷等。
在本申请所提供的技术方案中，驱动装置2能输出两个不同方向的驱动力。更具体的，本实施例中的两个不同方向的驱动力包括第一方向的旋转动力和第二方向的旋转动力。驱动装置2输出第一方向的旋转动力以与清洁装置3连接，驱动装置2输出第二方向的旋转动力使得清洁装置3断开与驱动装置2的连接。这里所说的断开连接是指驱动装置2断开向清洁装置输出驱动力，在结构上驱动装置2与清洁装置3可以是接触的状态也可以是非接触的状态。上述第一方向和第二方向为两个不同的方向，例如，第一方向为顺时针方向，第二方向为逆时针方向；又或者第一方向为逆时针方向，第二方向为顺时针方向，本实施例对此不作限定。连接或断开过程中，所述驱动装置与所述清洁装置存在旋转动力轴向的相对运动。具体的，在驱动装置2与清洁装置3连接过程中，所述驱动装置2与所述清洁装置3存在旋转动力轴向的相向运动。比如，驱动装置2朝靠近清洁装置3的方向运动。在驱动装置2与清洁装置3断开过程中，所述驱动装置2与所述清洁装置3存在旋转动力轴向的相背运动。比如，驱动装置2朝远离清洁装置3的方向运动。
另外，清洁装置3的具体形态不同，驱动装置输出的旋转动力的旋转轴的方位也就 不同。比如，清洁装置为盘形抹布时，驱动装置输出的旋转动力的旋转轴垂直于所述盘形抹布。当清洁装置为滚刷时，驱动装置输出的旋转动力的旋转轴即滚刷轴。
本实施例中的驱动装置可仅作为清洁设备自动拆卸清洁装置3的装置。清洁装置3如抹布，可为固定状态，即与设备体无相对运动，随设备体移动以对待清洁平面进行清洁。在另一些可实现的实施例中，本实施例中的驱动装置除可作为清洁设备自动拆卸清洁装置3的装置外，还可用于驱动清洁装置执行清洁动作，如相对设备体旋转、或相对设备体直线往复运动等。如清洁装置为盘形抹布，驱动装置输出第一方向的旋转动力与盘形抹布连接后，还能继续驱动盘形抹布沿第一方向的旋转动力旋转，以与待清洁面(如地面、桌面、墙面等)摩擦对其进行清洁。又或者，所述驱动装置具有两个驱动组件，其中一个驱动组件用于输出第一方向和第二方向的旋转动力，另一个驱动组件用于输出直线往复运动，以驱动清洁装置(如抹布)直线往复运动。
在本申请所提供的一个实施例中，参见图11至图13，驱动装置2设置在设备体上，而清洁装置3通过驱动装置2连接在设备体上。驱动装置2不但能驱动清洁装置3进行清洁动作，还能使清洁装置3与设备体连接或者分离。具体地，清洁装置3为可转动的盘形抹布，其可以连接在驱动装置2的输出轴上。当清洁装置3与驱动装置2处于非连接的状态下且连接处对齐后，驱动装置2输出第一方向的旋转动力时，驱动装置2能与清洁装置3连接上，并驱动清洁装置3转动以执行清洁动作。当驱动装置2与清洁装置3处于连接的状态下，驱动装置2输出第二方向的旋转动力时，旋转动力将驱动清洁装置3与驱动装置2断开连接。
本申请实施例中的驱动装置2可以是电机。
下面对本申请实施例提供的技术方案做进一步地详细介绍。
本申请实施例提供的一种清洁设备，参见图11至图12，清洁装置3断开与驱动装置2连接的过程，设备体的至少部分朝远离清洁装置3的方向动作。清洁装置3与驱动装置2连接的过程，设备体的至少部分朝靠近清洁装置3的方向动作。如图12所示，清洁装置3断开与驱动装置2连接的过程，设备体的机身朝远离清洁装置3的方向抬起，设备体的驱动轮始终与地面接触。又或者，清洁装置3断开与驱动装置2连接的过程，设备体的机身的后侧朝远离清洁装置3的方向抬起，设备体机身呈倾斜姿态。
进一步地，参见图11至图15，在本申请所提供的一个实施例中，清洁装置3与驱动装置2通过螺旋机构连接。螺旋机构具有螺旋锁紧方向，当驱动装置2输出第一方向的旋转动力与螺旋锁紧方向相同时，清洁装置3与驱动装置2将会锁紧连接，且在连接的过程中由于螺旋机构的作用，设备体的至少部分朝靠近清洁装置3的方向动作。另外 当驱动装置2输出的第二方向的旋转动力与螺旋锁紧方向相反时，清洁装置3与驱动装置2之间的连接将会断开，且在连接的过程中，设备体的至少部分朝远离清洁装置3的方向动作，从而使清洁装置3脱离设备体。通过螺旋机构使清洁装置3与驱动装置2连接，不但能实现清洁装置3与驱动装置2的连接或者分离，同时还能够简化连接结构，并使清洁装置3能够更方便进行拆装。
进一步地，参见图13至图19，螺旋机构包括第一结构5及第二结构4，第一结构5设有内螺旋槽51，第二结构4设有外螺旋凸起41。其中，第一结构5和第二结构4中的一个设置在驱动装置2上，另一个设置在清洁装置3上。图13所示的实例，第一结构5设置在驱动装置2上，第二结构4设置在清洁装置3上。第一结构5或第二结构4可通过连接结构分别连接在驱动装置2上或者清洁装置3上，也可以与驱动装置2或者清洁装置3为一体结构。驱动装置2输出第一方向的旋转动力，第一方向的螺旋动力与螺旋锁紧方向相同，外螺旋凸起41旋入内螺旋槽51，使得清洁装置3与驱动装置2连接。驱动装置2输出第二方向的旋转动力，第二方向的螺旋动力与螺旋锁紧方向相反，外螺旋凸起41旋出内螺旋槽51，使得清洁装置3断开与驱动装置2的连接。
例如，在本申请所提供的一个实施例中，第一结构5设置在驱动装置2上，第二结构4设置在清洁装置3上。当驱动装置2与清洁装置3处于非连接的状态下且第一结构5与第二结构4相互对齐，此时驱动装置2输出第一方向的旋转动力，外螺旋凸起41将会旋入内螺旋槽51内，当外螺旋凸起与内螺旋槽51完全配合后，清洁装置3将连接在驱动装置2上，同时在连接的过程中，设备体将随着螺旋机构的作用朝着靠近清洁装置3的方向动作。另外，当清洁装置3与驱动装置2处于连接的状态下，此时驱动装置2输出第二方向的旋转动力，外螺旋凸起41将会旋出内螺旋槽51内，当外螺旋凸起完全旋出内螺旋槽51后，清洁装置3将断开与驱动装置2的连接，在断开连接的过程中清洁装置3将随着螺旋机构的作用朝着远离设备体的方向动作，并顺利从设备体上分离。
第一结构5可以是具有内螺旋槽的内螺纹结构，第二结构4可以是具有外螺旋凸起的外螺纹结构。或者，如图16～19所示的，第一结构5具有多个对接口52及多个内螺旋槽51，多个内螺旋槽51分别自对应的对接口52沿螺旋线段延伸。第一结构5设置在如图18a和图19所示的第一自动拆装件100上。具体的，第一自动拆装件100包括与驱动装置连接的连接部501及第一自动拆装部502。连接部501具有安装孔，紧固件可通过该安装孔与驱动装置(如电机)的输出轴连接。第一自动拆装部502为筒状结构，其内壁设有第一结构5。如图16和17所示，第二结构4可具有分别与多个对接口 52适配的多个对接凸起42，以及多个外螺旋凸起41；多个外螺旋凸起41分别自对应的对接凸起42沿螺旋线段延伸。其中，多个外螺旋凸起41能够与多个内螺旋槽51相互配合连接。第二结构4可设置如图16和图17所示的第二自动拆装件200上。参见图16和图17所示，第二自动拆装件200为圆柱结构，第二结构4设置在所述圆柱结构的外壁上。当第一结构5与第二结构4相互连接时，首先多个对接凸起42分别与多个对接口52相互对接，然后多个外螺旋凸起41旋入多个内螺旋槽51内。例如，图16～图19所示的实例，第一结构5具有三个对接口52及三个内螺旋槽51；第二结构4对应的具有三个适配的对接凸起42及三个外螺纹凸起41。另外，需要说明的是：图18a中为了显露出内螺旋槽51的结构，将图中部分结构做了处理，即去除掉构成第三个对接口50的结构。图18b示出了第一自动拆装件100的三维结构示意图。
在具体实现时，设备体的第一结构与第二结构位置相对应(比如清洁设备停靠到基站的停靠位，停靠位处有清洁装置，此时清洁设备的设备体与清洁装置的位置是对应的)时，可能对接口与对接凸起位置并不是对应的，此时驱动装置只需旋转一个很小的角度，对接口及对接凸起便能自动的完成对接。在本申请所提供的另一个实施例中，第一结构5也可只有一个对接口52及一个内螺旋槽51，内螺旋槽51对应于对接口52并沿螺旋线段延伸，第二结构4只有一个与对接口52适配的对接凸起42及一个外螺旋凸起41，外螺旋凸起41对应于对接凸起42并沿螺旋线段延伸。其中外螺旋凸起41能与内螺旋槽51相互配合连接，使用一个外螺旋凸起41一个内螺旋槽51相互配合连接，其结构简单；但相较于多个的结构，其连接稳定性要差一些。
参见图18b和图19，内螺旋槽51可包括第一槽面511及第二槽面512，第一槽面511沿螺旋线段延伸，第二槽面512包括沿螺旋旋入方向顺序排布的第一导向段5121及第一作用段5122。参见图16和图17，外螺旋凸起41包括第一凸起侧面411及第二凸起侧面412，第一凸起侧面411与第一槽面511适配，第二凸起侧面412包括第二导向段4121及第二作用段4122。其中，第二导向段4121与第一导向段5121适配，第一作用段5122与第二作用段4122相互作用使得螺旋机构处于锁紧状态。当外螺旋凸起41旋入内螺旋槽51内中时，首先第一导向段5121与第二导向段4121相互作用并起到引导的作用，之后第一凸起侧面411与第一槽面511相互接触并滑动，最后当外螺旋凸起41完全旋入内螺旋槽51内时，第一作用段5122与第二作用段4122相互作用，并使外螺旋凸起41与内螺旋槽51相互连接。进一步地，为方便外螺旋凸起41顺利旋入或旋出内螺旋槽51，第一槽面511的螺旋线段与清洁装置3端面成一定角度，该角度α的范围为[10度,60度]，更具体的，α为[30度,45度]。另外，第一作用段5122可为垂直 于第一自动拆装件100的筒状结构轴线的平面，第二作用段4122可为垂直于第二自动拆装件200的圆柱结构轴线的平面。
具体的，如图18b所示，所述多个对接口52中的至少部分对接口上设有对接引导斜面56。该对接引导斜面56也可简单理解为：对接口口边缘处做的倒角处理形成的倒角。
进一步地，参见图14至图19，第一结构5上设有第一对接部92，在第二结构4上设有第二对接部91，第一对接部92与第二对接部91能够相互配合对接。具体地，在本申请所提供的一个实施例中，第一对接部92可为设置在第一自动拆装件100的筒状结构内部的圆柱凸起，该圆柱凸起的轴线与筒状结构轴线重合。第二对接部91为第二自动拆装件200的圆柱结构上的孔(如盲孔)，该孔的轴线与圆柱结构轴线重合。
在本申请所提供的一个实施例中，参见图16至图21，第一结构5设置在驱动装置2上、第二结构4设置在清洁装置3上时，设备体的底部设有与第二结构4适配的引导槽7。或者，第一结构5设置在清洁装置3上、第二结构4设置在驱动装置2上时，设备体的底部设有与第一结构5适配的引导槽7。引导槽7主要用于引导清洁装置3安装或者拆卸，在安装时用于引导清洁装置3滑动至固定的位置，以方便第一结构5与第二结构4进行对接。在拆卸时用于引导清洁装置3从设备体脱离，并沿着引导槽7背离清洁设备。
进一步地，设备体具有底壳1，底壳1朝设备体上方内陷形成引导槽7，引导槽7的槽底为斜向上的斜面。参见图21所示，所述引导槽7具有槽底71和两相对的槽侧壁72。所述设备体朝所述清洁装置移动并在所述引导槽7的作用下可移动至所述第一结构与所述第二结构相对。
本实施例中的引导槽可具有但不限于如下中的一种结构特征：
自所述驱动装置至所述设备体边缘的方向，所述引导槽的槽底斜向上延伸；
所述引导槽的近所述驱动装置处的槽宽小于所述设备体边缘处的槽宽；
所述引导槽具有直段槽及喇叭口槽，所述直段槽的槽口与所述喇叭口槽的小口端连接，自所述驱动装置至所述设备体边缘的方向，所述直段槽的槽口与所述喇叭口槽顺次设置。
需要说明的是，上方为图11中箭头所指示的方向，与上方相对的为图11中所指的下方。引导槽7由底壳1的边缘延伸至第一结构5或者第二结构4。例如，在本申请所提供的一个实施例中，底壳1上设有通孔，驱动装置2的动力输出轴穿过通孔与清洁装置3连接。具体的，第二结构4设置在所述驱动装置2的动力输出轴的端部，该第二结 构4穿过通孔与第一结构5相互连接。引导槽7由底壳1的边缘延伸至第二结构4处。进一步的，引导槽7靠近于底壳1边缘位置处的槽宽大于靠近第二结构4处的槽宽。在近所述第二结构4的一段，所述引导槽还可包含有直段槽，直段槽的槽宽等于或略大于第二结构4的直径。引导槽7还可以具有喇叭口槽(或斗状槽)能够提高引导槽7的引导效果，例如当清洁装置3偏离于底壳1上的对齐位置时，由于斗状槽能够扩大引导范围，并在引导的过程中调整清洁装置3的位置，所以在当清洁装置3由底壳1的边缘进入引导槽7中后，清洁装置3将逐步对齐于底壳1上的对齐位置。
又或者，所述设备体的底壳的后端上翘，形成如图13所示的斜面。这里需要补充的是：沿清洁设备行进方向，清洁设备的设备体具有前端和后端。大多数清洁设备的抹布设置在设备体的后端底部。
再或者，第二结构4的顶面设置为斜面，设备体在朝向清洁装置3行进过程中，斜面的低点先接触到设备体的底壳，然后设备体顺着斜面机身不断上抬，直至对接位置。
在本申请所提供的一个实施例中，参见图11至图19，清洁设备上的驱动轮及清洗装置位于同一地面上，清洁装置3的高度大于底壳1与地面之间的距离。引导槽7的槽底为斜向上的斜面43，靠近通孔的一侧与底壳1底面大致齐平，斜面43由底壳1的底面斜向上延伸，且靠近底壳1边缘的斜面43距离地面的高度大于清洁装置3的高度。另外，第一结构5连接在清洁装置3上，第二结构4由底壳1的一侧内嵌至底壳1内，并连接在驱动装置2的输出轴上，第二结构4的端面与底壳1齐平。当底盘由驱动轮驱动向清洁装置3移动时，首先引导槽7的斜面43与第一结构5的端面边缘抵接，随着清洁装置3沿着引导槽7向第二结构4位置处移动，由于引导槽7斜面43的作用，底盘被逐渐的抬起。然后当第一结构5与第二结构4对齐时，在被抬起的底盘重力作用下，第一结构5与第二结构4相互抵接，驱动装置2输出第一方向的螺旋动力，使得第二结构4沿第一方向转动，第二结构4上的外螺旋凸起41就能旋入第一结构5上的内螺旋槽51中。另外，当清洁设备需要拆卸清洁装置3时，驱动装置2输出第二方向的旋转动力，使得第二结构4沿第二方向转动，第二结构4上的外螺旋凸起41就能从第一结构5上的内螺旋槽51中旋出，在旋出的过程中第二结构4逐渐远离第一结构5，同时底盘也逐渐被抬起并背离清洁装置3。此时第一结构5与第二结构4断开连接，随着驱动轮驱动底盘朝背离清洁装置3的方向移动，清洁装置3将沿着引导槽7滑动，当第一结构5的端面边缘沿着引导槽7的斜面43滑动时，被抬起的底盘将逐渐降低，最终清洁装置3脱离清洁设备。
在本申请所提供的一个实施例中，清洁设备还包括保持机构，保持机构用于提供作 用力以保持清洁装置3与清洁装置3的连接关系，在驱动装置2输出所述第二方向的旋转动力后，作用力失效。例如，保持机构可以为分别设置在第一作用段5122与第二作用段4122接触面上的凹凸不平的结构，当第一结构5与第二结构4连接时，第一作用段5122与第二作用段4122上凹凸不平的结构将相互啮合并使连接更加稳定。
或者，参见图11至图19，在本申请所提供的一个实施例中，保持机构为磁性机构，通过磁性作用力保持清洁装置3与清洁装置3的连接关系，在驱动装置2输出第二方向的旋转动力后，磁性作用力逐渐失效。磁性机构为两块磁极相反的磁体、或磁铁和能被磁吸引的连接件、或者电磁铁和能被磁吸引的连接件。当两块磁性体距离足够近时两者就会相互吸引，当距离超出放一定范围后磁性作用力将逐渐消失。例如，第一磁体81设置在第一结构5上，第二磁体82设置在第二结构4上，第一结构5与第二结构4连接后，磁体间距离足够近，磁性作用力将会使第一结构5与第二结构4连接更加稳定。驱动装置2输出第二方向的旋转动力后，第一结构5与第二结构4逐渐相互分离，所以磁性作用力逐渐失效。当磁性体为电磁铁时，可通过断开电磁铁的通电电路使电磁铁带磁或磁性消失。
又或者，保持机构为弹性机构，该弹性机构包括弹性件及卡位结构，弹性件及卡位结构中的一个设置在驱动装置2上，另一个设置在清洁装置3上，用于在驱动装置2与清洁装置3连接时，弹性件卡入卡位结构内以通过卡合作用力保持清洁装置3与清洁装置3的连接关系；在驱动装置2输出第二方向的旋转动力后，弹性件形变从卡位结构内脱出，卡合作用力失效。
上述实施例提供一种通过控制驱动装置动力输出不同方向，实现对清洁装置的自动拆装。除此之外，还可通过在设备体上设置自动拆装机构的方式来实现对清洁装置的自动拆装。例如，本申请的一个实施例中还提供了一种清洁设备，该清洁设备，包括设备体、清洁装置3及自动拆装机构。清洁装置3可拆卸的设置在设备体上；自动拆装机构设置在设备体和清洁装置的至少一个上，用于断开清洁装置3与设备体的连接，还用于在分离的设备体与清洁装置3处于对接位置时，连接清洁装置3设备体。
本实施例中所述设备体上可设有拆装引导结构；所述设备体朝所述清洁装置移动并在所述拆装引导结构的作用下移动至与所述清洁装置处于所述对接位置。
如上文中描述的实施例，拆装引导结构为设置在所述设备体底部的引导槽；所述引导槽自所述设备体的边缘延伸至所述自动拆装机构处。所述引导槽具体实现可参见上文中的描述，此次不作赘述。
另一种可实现的方案时，拆装引导结构为设置在所述设备体底部的凸起轨道，对应 的，清洁装置上设有与所述凸起轨道配合的滑槽块。设备体底部的凸起轨道能插入该滑槽块的滑槽内，以起到引导作用。
其中，自动拆装机构可具有如下几种实现方案：
方案一、自动拆装机构包括电磁铁及能被磁吸引的对接件。其中，所述电磁铁可设置在设备体上，对接件可设置在清洁装置上。在一具体的方案中，比如，电磁铁设置在驱动装置2上。驱动装置2可输出旋转动力或直线往复运动，以驱动清洁装置执行清洁动作。电磁铁通电带磁，在磁力作用下驱动装置2的动力输出轴与清洁装置3的动力接入端连接，驱动装置2输出第一方向的旋转动力，以驱动清洁装置3执行清洁动作。当需要将清洁装置3从驱动装置2上拆卸时，只需断开电磁铁的通电电路，磁性消失，清洁装置3与驱动装置2断开连接。具体的，所述设备体上设有控制装置，上述电磁铁通过一控制电路与控制装置电连接，并与设备体的供电电路电连接。控制装置向控制电路发送切断指令，所述控制电路动作以切断所述电磁铁与供电电路的电连接，所述电磁铁端电，磁力消失。控制装置向控制电路发送开通指令，所述控制电路动作以电连通所述电磁体与供电电路，使得电磁体生磁。
方案二、参见图16至图19，自动拆装机构可包括驱动装置及螺旋机构，螺旋机构包括第一结构5及第二结构4。第一结构5设有内螺旋槽51，第二结构4设有外螺旋凸起41。其中，第一结构5和第二结构4中的一个设置在驱动装置2上，另一个设置在清洁装置3上；驱动装置2输出第一方向的旋转动力，外螺旋凸起41旋入内螺旋槽51，使得清洁装置3与驱动装置2连接。驱动装置2输出第二方向的旋转动力，外螺旋凸起41旋出内螺旋槽51，使得清洁装置3断开与驱动装置2的连接。有关第二方案的具体实现可参见上文中的描述，此次不作赘述。
方案三、所述自动拆装机构包括伸缩组件，所述伸缩组件设置在所述设备体上，所述伸缩组件包括伸缩杆，所述清洁装置上设有与所述伸缩杆端部配合的连接结构。其中，所述伸缩组件的伸缩杆处于回缩状态时，所述清洁装置与所述设备体断开连接，所述伸缩杆处于伸出状态时所述伸缩杆与所述连接结构连接，使得所述清洁装置与所述设备体连接。具体的，所述伸缩组件可包括直线动力输出装置。该直线动力输出装置可由直线电机实现，或旋转电机+直线动力转换机构(丝杠螺母机构)实现，本实施例对此不作限定。该直线动力输出装置输出第三方向的直线动力，所述伸缩杆处于回缩状态，所述清洁装置与所述设备体断开连接；所述直线动力输出装置输出第四方向的直线动力，所述伸缩杆处于伸出状态，所述伸缩杆与所述连接结构连接，使得所述清洁装置与所述设备体连接。第三方向的直线动力可以是向上动力(参见图11中上方箭头指向的 动力)，第四方向的直线动力可以是向下动力(参见图11中下方箭头指向的动力)。
其中，上述方案三中，在如图11中所示上方和下方的方向上，伸缩杆及清洁装置可无需进行固定。清洁装置置于待清洁面上，伸缩杆的杆端部插入连接结构的插孔内，清洁装置便可随着设备体移动，以对待清洁面(如地面)进行清洁。进一步的，所述伸缩杆的杆横截面方向还可设有至少一个键；所述连接结构可以是插孔，插孔的孔壁上设有与键适配的键槽。这样，本实施例所述的清洁装置还可包括驱动装置，驱动装置可输出旋转动力，该旋转动力通过伸缩杆上的键和清洁装置上的键槽，输出给清洁装置，使得清洁装置能相对设备体旋转。
方案四、自动拆装机构包括设置在设备体底部的弹性夹，清洁装置上设有与弹性夹适配的夹持部(如柱体)，该柱体的顶部设有用于对接驱动装置输出轴的连接部。该连接部可为设置在柱体顶部的，直径大于柱体直径的连接柱。所述连接柱的顶部设有凹槽，凹槽具有便于驱动装置的输出轴插入的豁口。驱动轴上设有键，凹槽的与所述豁口的相对侧设有键槽。设备体在朝向清洁装置移动过程中，夹持部顶开弹性夹，弹性夹张开进入弹性夹后弹性夹夹住夹持部，同时，驱动装置的驱动轴从豁口进入凹槽，其上的键插入键槽内，便完成了清洁装置与驱动装置的连接。具体实施时，清洁装置可设置在基站的托盘内，且需按照要求方向进行放置。
拆卸时，清洁设备移动至基站并停靠在基站的停靠位上，可采用电控的方式控制弹性夹打开，也断开清洁装置与驱动装置的连接。或者，清洁装置卡在托盘上，可仅靠清洁设备的行进动力来断开清洁装置与驱动装置的连接。即在清洁设备离开基站的过程，因清洁设备卡在托盘不动，两向相反的对抗，清洁设备的设备体上的弹性夹形变，清洁装置上夹持部从弹性夹脱出，驱动装置的输出轴从豁口脱出，即完成了清洁装置的拆卸。
方案五、自动拆装机构包括自动卡接组件及弹性卡件，其中，自动卡接组件设置在设备体上，弹性卡件设置在清洁装置上。例如，设备体朝清洁装置移动，清洁装置上的弹性卡件接触到设备体的引导槽后，弹性形变被压下，带设备体移动到与清洁装置处于对接位置时，弹性卡件弹起卡入所述自动卡接组件上，完成设备体与清洁装置的连接。拆卸时，设备体上的自动卡接组件在设备体上控制装置的控制下，自动卡接组件动作以将弹性卡件推出，即断开清洁装置与设备体的连接。其中，本实施例对自动卡接组件及弹性卡件的结构不作限定。
本申请还可提供一种结构简单，易实现的清洁设备。该清洁设备包括设备体及清洁装置。设备体上设有拆装引导结构。所述设备体朝所述清洁装置移动并在所述拆装引导 结构的作用下移动至与所述清洁装置处于对接位置时，所述清洁装置与所述设备体连接。
其中，拆卸引导结构的具体实现结构可参见上文中的描述，此次不作赘述。在设备体与清洁装置处于对接位置时，可通过设备体上设置的电磁铁产生磁吸力磁吸清洁装置上的能被磁吸引的对接件的方式实现连接；还可通过设备体上控制装置控制伸缩组件动作，以使伸缩杆处于伸出状态以与清洁装置上的连接结构连接实现清洁装置与设备体的连接；等等，不一一例举(可参见上文中各方案)。
本申请还提供一种清洁设备。该清洁设备包括设备体及清洁装置。该设备体位于一平面上(即待清洁面上)；清洁装置可拆卸的连接在设备体上。其中，设备体具有自动拆卸所述清洁装置的功能，所述设备体拆卸所述清洁装置的过程，所述清洁装置位于所述平面上，所述设备体朝远离所述清洁装置的方向动作。本实施例仅限定了设备体拆卸清洁装置过程，设备体和清洁装置的状态，并不限定产生上述拆卸过程的结构的具体实现。其中，上文中的一些方案可产生本实施例中限定的拆卸过程。
进一步的，本实施例中的设备体上设有可升降体及抵顶件，比如，设备体的可升降体与清洁装置通过类似魔术粘扣的方式连接。设备体可在与清洁装置处于对接位置时，降低可升降体，使得可升降体与清洁装置接触，便完成可升降体与清洁装置的连接。在拆卸时，所述抵顶件伸出或所述抵顶件与可升降体同时下降，抵顶件抵住清洁装置使得清洁装置位于平面上不动，可升降体上升，此时可升降体便于清洁装置断开连接。抵顶件在可升降体与清洁装置断开后，再上升。或者，在可升降体上升设定距离后，抵顶件再上升。本实施例中对该设定距离不作限定，比如可升降体的升降高度为h，该设定距离可以大于或等于h/2。
这里还需补充的是：上述各方案(如方案一、方案三～方案五)未提供相应的结构附图。其原因在于：本申请对上述各方案的具体实现结构不作限定，只要能实现上文描述功能的结构、部件、组件均可。
上文从结构角度介绍了本申请各实施例提供的清洁设备。下文将从方法角度对本申请提供的方案进行说明。
图22示出了本申请一实施例提供的清洁设备自动拆装清洁装置的方法的流程示意图。如图所示，所述方法包括：
101、监测到拆卸所述清洁装置的触发事件时，生成拆卸指令。
102、响应于所述拆卸指令，控制驱动装置输出第二方向的旋转动力，使得所述清洁装置断开与所述驱动装置的连接。
其中，所述驱动装置输出第一方向的旋转动力时所述驱动装置与所述清洁装置连接，并能驱动所述清洁装置执行清洁动作；所述第一方向与所述第二方向为不同的方向。
进一步的，本申请实施例提供的方法还可包括如下步骤：
103、响应于用户通过交互装置输入的第一指令，产生拆卸所述清洁装置的触发事件；或者
104、对所述清洁设备的清洁平面进行检测，检测出所述清洁平面为设定类型平面时，产生拆卸所述清洁装置的触发事件。
比如，用户在清洁设备上的交互装置(如控制面板、触摸屏、语音控制模块等)上的操作或控制语音。或是，清洁设备与智能终端连接，用户通过智能终端向清洁设备发送第一指令。
上述对清洁平面的检测可以是检测平面的材质类型。该设定类型可以是地毯类型等。或者可将待清洁平面的类型就简单的划分为两类，一类是不适于拖擦类型的平面。一类是适于拖擦类型的平面。比如，检测出清洁平面为不适于拖擦类型的平面(如地毯平面)，则需拆卸抹布或滚刷(即清洁装置)。在清洁设备从地毯平面上下来回到木地板或瓷砖地面，检测出清洁平面为适于拖擦类型的平面，则可触发安装清洁装置的事件。
进一步的，本实施例提供的所述方法还可包括如下步骤：
105、所述清洁装置断开与所述驱动装置的连接后，控制所述设备体的行进装置朝远离所述清洁装置的方向行进。
本实施例提供的所述方法的执行主体可以是清洁设备的控制装置。该控制装置可设置在上文中提及的设备体上。该控制装置可以是设备体上的主控板等。
再有，本申请还提供一清洁设备自动拆装清洁装置的方法。如图23所示的流程示意图，本实施例提供的方法侧重于清洁装置的安装过程。具体的，所述方法包括：
201、监测到安装所述清洁装置的触发事件时，生成安装指令；
202、响应于所述安装指令，确定行进至清洁装置处的行进路径；
203、待所述清洁设备的设备体按所述行进路径行进至与所述清洁装置处于对接位置时，控制自动拆装机构工作，以将所述清洁装置连接于所述设备体上；
其中，所述自动拆装机构设置在所述设备体和所述清洁装置的至少一个上。
上述201中的触发事件也可采用类似上述103和104的步骤实现。本实施例与上述步骤104不同的是：对所述清洁设备的清洁平面进行检测，检测出所述清洁平面为非设 定类型平面时，产生拆卸所述清洁装置的触发事件。进一步的，检测出清洁平面为不适于拖擦类型的平面时，产生拆卸所述清洁装置的触发事件。
若清洁装置位于基站，上述202步骤可具体为：获取当前位置及基站位置；根据地图规划从所述当前位置到所述基站位置的行进路径。
若清洁装置被拆卸到某一位置，在执行上述202步骤之前还应包括：记录所述清洁装置拆卸后的留置位置；然后在执行上述202步骤时，获取当前位置及所述清洁装置的留置位置；根据地图规划从所述当前位置到所述留置位置的行进路径。
举一个例子，清洁设备清洁至地毯边缘，在进入地毯区域之前，将清洁装置拆卸在地毯边缘。此时，清洁设备需定位出拆卸清洁装置的位置，将该位置作为留置位置存储起来，然后进入地毯区域进行清洁。将地毯区域清洁完后，就需获取被存储的清洁装置的留置位置，然后规划出当前位置至留置位置的行进路径。
另外，本实施例对如何规划路径、按照规划路径行进等不作具体限定，可参见相关文献，本文不作赘述。
下面结合具体的应用场景对本申请各实施例提供的技术方案进行说明：
应用场景1
对于不同的清洁面，清洁设备将需使用不同的清洁装置，例如在清洁地砖、地板等地面时，清洁设备在清洁的过程中不但需要清扫地面还需要拖洗地面。此时清洁设备就需要安装上拖洗地面的清洁装置。比如，用于拖洗地面的清洁装置都被容置在清洗基站的托盘内。在清洁设备自动安装清洁装置的过程中，清洁设备由驱动轮驱动向清洁装置移动，然后引导槽的斜面与第一结构的端面边缘抵接，随着清洁装置沿着引导槽向第二结构位置处移动，由于引导槽斜面的作用，底盘被逐渐的抬起，接着当第一结构与第二结构对齐时，在被抬起的底盘重力作用下，第一结构与第二结构相互抵接，驱动装置输出第一方向的螺旋动力，使得第二结构沿第一方向转动，第二结构上的外螺旋凸起就能旋入第一结构上的内螺旋槽中，则第一结构与第二结构相互连接，从而完成清洁装置的自动安装。
应用场景2
清洁设备同时清理两种清洁面时，如清洁设备在清理完地板地面后开始清理地毯地面，此时清洁设备就需要将具有拖洗功能的清洁装置拆卸，防止清洁装置污染地毯。在清洁设备自动拆卸清洁装置的过程中，首先驱动装置输出第二方向的旋转动力，使得第二结构沿第二方向转动，第二结构上的外螺旋凸起就能从第一结构上的内螺旋槽中旋出，在旋出的过程中第二结构逐渐远离第一结构，同时底盘也逐渐被抬起并背离清洁装 置。之后第一结构与第二结构断开连接，然后清洁设备由驱动轮驱动向远离清洁装置的方向移动，清洁装置将沿着引导槽滑动并完全脱离清洁设备，则完成清洁装置的自动拆卸。
综上，本申请实施例提供的方案中，通过驱动装置输出不同方向的驱动力，清洁装置能够相对于驱动装置以不同的方向动作，以实现清洁装置与驱动装置的连接或者断开连接，当驱动装置输出第一方向的旋转动力时，驱动装置与清洁装置相互连接，并且驱动装置驱动清洁装置执行清洁动作，当驱动装置输出第二方向的旋转动力时，驱动装置断开与清洁装置之间的连接，从而使得清洁装置在清洁设备上能够自动进行拆装，提高了用户的使用体验。
最后应说明的是：以上实施例仅用以说明本申请的技术方案，而非对其限制；尽管参照前述实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的精神和范围。

Claims (33)

  1. 一种清洁装置，其特征在于，包括清洁主机和抹布附件，所述清洁主机包括：
    机身，具有沿其厚度方向相对设置的清洁侧和背侧；
    连接机构，设置于所述机身上且具有可移动的连接部，所述连接部沿第一方向移动以和所述抹布附件连接，所述连接部沿所述第一方向的相反方向移动以和所述抹布附件分离，所述第一方向为自所述背侧接近所述清洁侧的方向。
  2. 根据权利要求1所述的清洁装置，其特征在于，所述连接机构还被配置为驱动和所述连接部连接的抹布附件旋转。
  3. 根据权利要求1或2所述的清洁装置，其特征在于，所述连接机构包括转动组件和驱动所述转动组件转动的驱动器件，所述机身和转动组件中的一者具有螺旋轨部、而另一者具有旋转导向部，所述连接部形成于所述转动组件沿所述第一方向远离所述背侧的一端，所述螺旋轨部和所述旋转导向部连接以使所述转动组件沿所述螺旋轨部运动，所述螺旋轨部的中心线沿所述第一方向延伸。
  4. 根据权利要求3所述的清洁装置，其特征在于，在所述连接部和所述抹布附件连接时，所述螺旋轨部和所述旋转导向部分离。
  5. 根据权利要求3所述的清洁装置，其特征在于，所述机身上设有开口于所述清洁侧的容纳腔，所述转动组件穿设于所述容纳部内，所述容纳腔上连接所述转动组件的表面至少部分地设有所述螺旋轨部和所述旋转导向部中的一者。
  6. 根据权利要求3所述的清洁装置，其特征在于，所述转动组件包括沿所述第一方向依次连接的转轴件和连接件，所述转轴件沿所述第一方向延伸且连接所述驱动器件，所述转轴件上设有所述螺旋轨部和所述旋转导向部中的一者，所述连接部形成于所述连接件远离所述转轴件的一端。
  7. 根据权利要求6所述的清洁装置，其特征在于，所述转动组件还包括弹性件，所述连接件和所述转轴件可沿所述转轴件的轴向相对活动，所述弹性件沿所述转轴件的轴向连接所述连接件和所述转轴件。
  8. 根据权利要求1所述的清洁装置，其特征在于，所述连接机构还包括磁性吸附件，所述磁性吸附件适于和所述抹布附件进行磁吸连接。
  9. 根据权利要求1所述的清洁装置，其特征在于，所述机身的表面设有限位部，在所述连接部沿所述清洁侧接近所述背侧的方向移动时，所述限位部和所述抹布附件接触而使所述抹布附件和所述连接部分离。
  10. 根据权利要求1所述的清洁装置，其特征在于，所述抹布附件具有适于和所述 连接部连接的连接端，所述连接部和所述连接端中一者的端面设有沿周向依次设置的多个螺旋状凸起部，另一者的端面设有沿周向依次设置的多个螺旋端槽部，所述多个螺旋状凸起部和所述多个螺旋端槽部一一对应地螺旋咬合。
  11. 一种控制方法，其特征在于，用于控制清洁装置，所述清洁装置包括清洁主机和抹布附件，所述清洁主机包括机身和设置于所述机身上的连接机构，所述机身具有沿其厚度方向相对设置的清洁侧和背侧，所述连接机构具有可移动的连接部；所述控制方法包括：
    确定所述清洁主机是否已装附抹布附件；
    响应于确定所述清洁主机未装附抹布附件，则控制所述连接机构、使所述连接部沿第一方向移动地和待装附的抹布附件连接，所述第一方向为自所述背侧接近所述清洁侧的方向；
    响应于确定所述清洁主机已装附抹布附件，则控制所述连接机构、使所述连接部沿第一方向的相反方向移动地和待移除的抹布附件分离。
  12. 一种控制方法，其特征在于，用于控制清洁装置，所述清洁装置包括清洁主机和抹布附件；所述控制方法包括：
    确定目标环境区域是否包含一类区域和二类区域，所述一类区域包括适于拖抹区域和抹布附件可通过区域中的至少一者，所述二类区域包括不适于拖抹区域和抹布附件不可通过区域中的至少一者；
    响应于确定目标环境区域包含一类区域和二类区域，则确定所述清洁主机是否已装附抹布附件；
    响应于确定所述清洁主机已装附抹布附件，则控制所述清洁主机依次对所述二类区域和所述一类区域进行清洁，以及控制所述清洁主机在完成对所述二类区域的清洁后、开始对所述一类区域的清洁前将所述抹布附件移除至指定区域；
    响应于确定所述清洁主机未装附抹布附件，则控制所述清洁主机依次对一类区域和二类区域进行清洁，以及控制所述清洁主机在完成对一类区域的清洁后、开始对二类区域的清洁前对位于指定区域的抹布附件进行装附。
  13. 一种清洁设备，其特征在于，包括：
    设备体；
    驱动装置，设置在所述设备体上；
    清洁装置，与所述驱动装置可拆卸连接；
    其中，所述驱动装置输出第一方向的旋转动力以与所述清洁装置连接，驱动装置输出第二方向的旋转动力使得所述清洁装置断开与所述驱动装置的连接；所述第一方向与所述第二方向为不同的方向；
    连接或断开过程中，所述驱动装置与所述清洁装置存在旋转动力轴向的相对运动。
  14. 根据权利要求13所述的清洁设备，其特征在于，所述清洁装置断开与所述驱动装置连接的过程，所述设备体的至少部分朝远离所述清洁装置的方向动作。
  15. 根据权利要求13或14所述的清洁设备，其特征在于，所述清洁装置与所述驱动装置通过螺旋机构连接。
  16. 根据权利要求15所述的清洁设备，其特征在于，所述螺旋机构包括第一结构及第二结构；
    所述第一结构设有内螺旋槽，第二结构设有外螺旋凸起；
    其中，所述第一结构和所述第二结构中的一个设置在所述驱动装置上，另一个设置在所述清洁装置上；
    所述驱动装置输出所述第一方向的旋转动力，所述外螺旋凸起旋入所述内螺旋槽，使得所述清洁装置与所述驱动装置连接；
    所述驱动装置输出所述第二方向的旋转动力，所述外螺旋凸起旋出所述内螺旋槽，使得所述清洁装置断开与所述驱动装置的连接。
  17. 根据权利要求16所述的清洁设备，其特征在于，所述第一结构具有多个对接口及多个所述内螺旋槽；多个所述内螺旋槽分别自对应的对接口沿螺旋线段延伸；
    所述第二结构具有分别与所述多个对接口适配的多个对接凸起，以及多个所述外螺旋凸起；多个所述外螺旋凸起分别自对应的对接凸起沿所述螺旋线段延伸。
  18. 根据权利要求17所述的清洁设备，其特征在于，
    所述内螺旋槽包括第一槽面及第二槽面，所述第一槽面沿所述螺旋线段延伸，第二槽面包括沿螺旋旋入方向顺序排布的第一导向段及第一作用段；
    所述外螺旋凸起包括第一凸起侧面及第二凸起侧面，所述第一凸起侧面与所述第一槽面适配，所述第二凸起侧面包括第二导向段及第二作用段；
    其中，所述第二导向段与所述第一导向段适配；所述第一作用段与所述第二作用段相互作用使得所述螺旋机构处于锁紧状态。
  19. 根据权利要求17所述的清洁设备，其特征在于，所述多个对接口中的至少部分对接口上设有对接引导斜面。
  20. 根据权利要求16所述的清洁设备，其特征在于，所述第一结构设置在所述驱动装置上、所述第二结构设置在所述清洁装置上时，所述设备体的底部设有与所述第二结构适配的引导槽；或者
    所述第一结构设置在所述清洁装置上、所述第二结构设置在所述驱动装置上时，所述设备体的底部设有与所述第一结构适配的引导槽；
    其中，所述设备体朝所述清洁装置移动并在所述引导槽的作用下移动至所述第一结构与所述第二结构相对。
  21. 根据权利要求20所述的清洁设备，其特征在于，所述设备体具有底壳，所述底壳朝设备体上方内陷形成所述引导槽；
    其中，所述引导槽具有如下中的至少一种结构特征：
    自所述驱动装置至所述设备体边缘的方向，所述引导槽的槽底斜向上延伸；
    所述引导槽的近所述驱动装置处的槽宽小于所述设备体边缘处的槽宽；
    所述引导槽具有直段槽及喇叭口槽，所述直段槽的槽口与所述喇叭口槽的小口端连接，自所述驱动装置至所述设备体边缘的方向，所述直段槽的槽口与所述喇叭口槽顺次设置。
  22. 根据权利要求13或14所述的清洁设备，其特征在于，还包括：
    保持机构，用于提供作用力以保持所述清洁装置与所述清洁装置的连接关系，在所述驱动装置输出所述第二方向的旋转动力后，所述作用力失效。
  23. 根据权利要求22所述的清洁设备，其特征在于，所述保持机构为：
    磁性机构，通过磁性作用力保持所述清洁装置与所述清洁装置的连接关系，在所述驱动装置输出所述第二方向的旋转动力后，所述磁性作用力逐渐失效；或者
    弹性机构，包括弹性件及卡位结构，所述弹性件及所述卡位结构中的一个设置在所述驱动装置上，另一个设置在所述清洁装置上，用于在所述驱动装置与所述清洁装置连接时，所述弹性件卡入所述卡位结构内以通过卡合作用力保持清洁装置与所述清洁装置的连接关系；在所述驱动装置输出所述第二方向的旋转动力后，所述弹性件形变从所述卡位结构内脱出，所述卡合作用力失效。
  24. 一种清洁设备，其特征在于，包括：
    设备体，设有拆装引导结构；
    清洁装置，用于对待清洁对象进行清洁；
    其中，所述设备体朝所述清洁装置移动并在所述拆装引导结构的作用下移动至与所 述清洁装置处于对接位置时，所述清洁装置与所述设备体连接。
  25. 根据权利要求24所述的清洁设备，其特征在于，还包括：
    自动拆装机构，设置在所述设备体和所述清洁装置的至少一个上，用于断开所述清洁装置与所述设备体的连接；还用于在所述设备体与所述清洁装置处于所述对接位置时，连接所述清洁装置与所述设备体。
  26. 根据权利要求25所述的清洁设备，其特征在于，
    所述自动拆装机构包括电磁铁及能被磁吸引的对接件；其中，所述电磁铁设置在所述设备体上，所述对接件设置在所述清洁装置上；或者
    所述自动拆装机构包括驱动装置及螺旋机构，所述螺旋机构包括第一结构及第二结构；所述第一结构设有内螺旋槽，第二结构设有外螺旋凸起；其中，所述第一结构和所述第二结构中的一个设置在所述驱动装置上，另一个设置在所述清洁装置上；所述驱动装置输出第一方向的旋转动力，所述外螺旋凸起旋入所述内螺旋槽，使得所述清洁装置与所述驱动装置连接；所述驱动装置输出第二方向的旋转动力，所述外螺旋凸起旋出所述内螺旋槽，使得所述清洁装置断开与所述驱动装置的连接；或者
    所述自动拆装机构包括伸缩组件，所述伸缩组件设置在所述设备体上，所述伸缩组件包括伸缩杆，所述清洁装置上设有与所述伸缩杆端部配合的连接结构；其中，所述伸缩组件的伸缩杆处于回缩状态时，所述清洁装置与所述设备体断开连接，所述伸缩杆处于伸出状态时所述伸缩杆与所述连接结构连接，使得所述清洁装置与所述设备体连接。
  27. 一种清洁设备，其特征在于，包括：
    设备体，位于一平面上；
    清洁装置，可拆卸的连接在所述设备体上；
    其中，所述设备体具有自动拆卸所述清洁装置的功能，所述设备体拆卸所述清洁装置的过程，所述清洁装置位于所述平面上，所述设备体的至少部分朝远离所述清洁装置的方向动作。
  28. 根据权利要求27所述的清洁设备，其特征在于，还包括引导槽；
    所述引导槽设置在所述设备体上；
    所述设备体朝所述清洁装置移动并在所述引导槽的作用下移动至与所述清洁装置处于对接位置后，所述设备体与所述清洁装置连接。
  29. 根据权利要求28所述的清洁设备，其特征在于，还包括：
    自动拆装机构，设置在所述设备体和所述清洁装置的至少一个上，用于断开所述清 洁装置与所述设备体的连接；还用于在所述设备体与所述清洁装置处于所述对接位置时，连接所述清洁装置与所述设备体，且连接过程中所述设备体的至少部分朝靠近所述清洁装置的方向动作。
  30. 一种清洁设备自动拆装清洁装置的方法，其特征在于，包括：
    监测到拆卸所述清洁装置的触发事件时，生成拆卸指令；
    响应于所述拆卸指令，控制驱动装置输出第二方向的旋转动力，使得所述清洁装置断开与所述驱动装置的连接，且所述驱动装置与所述清洁装置存在旋转动力轴向的相背运动；
    其中，所述驱动装置输出第一方向的旋转动力时所述驱动装置与所述清洁装置连接，并能驱动所述清洁装置执行清洁动作；所述第一方向与所述第二方向为不同的方向。
  31. 根据权利要求30所述的方法，其特征在于，还包括：
    响应于用户通过交互装置输入的第一指令，产生拆卸所述清洁装置的触发事件；或者
    对所述清洁设备的清洁平面进行检测，检测出所述清洁平面为设定类型平面时，产生拆卸所述清洁装置的触发事件。
  32. 根据权利要求30所述的方法，其特征在于，还包括：
    所述清洁装置断开与所述驱动装置的连接后，控制所述设备体的行进装置朝远离所述清洁装置的方向行进；
    所述设备体朝所述清洁装置移动并在所述设备体底部引导槽的作用下移动至与所述清洁装置处于对接位置后，控制所述驱动装置输出第一方向的旋转动力，使得所述清洁装置与所述驱动装置连接，且所述驱动装置与所述清洁装置存在旋转动力轴向的相向运动。
  33. 一种清洁设备自动拆装清洁装置的方法，其特征在于，包括：
    监测到安装所述清洁装置的触发事件时，生成安装指令；
    响应于所述安装指令，确定行进至所述清洁装置处的行进路径；
    待所述清洁设备的设备体按所述行进路径行进至所述清洁装置处并在所述设备体上的拆装引导结构的作用下移动至与所述清洁装置处于对接位置时，控制自动拆装机构工作以将所述清洁装置连接于所述设备体上；
    其中，所述自动拆装机构设置在所述设备体和所述清洁装置的至少一个上。
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