WO2023221139A1 - Dispositif de nettoyage, son procédé de commande, dispositif de commande et support d'enregistrement lisible par ordinateur - Google Patents

Dispositif de nettoyage, son procédé de commande, dispositif de commande et support d'enregistrement lisible par ordinateur Download PDF

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Publication number
WO2023221139A1
WO2023221139A1 PCT/CN2022/094271 CN2022094271W WO2023221139A1 WO 2023221139 A1 WO2023221139 A1 WO 2023221139A1 CN 2022094271 W CN2022094271 W CN 2022094271W WO 2023221139 A1 WO2023221139 A1 WO 2023221139A1
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WO
WIPO (PCT)
Prior art keywords
cleaning device
cleaning
introduction
roller
main
Prior art date
Application number
PCT/CN2022/094271
Other languages
English (en)
Chinese (zh)
Inventor
樊泽宇
李瑶
樊泽洲
Original Assignee
深圳市好奇心探索科技有限公司
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
Application filed by 深圳市好奇心探索科技有限公司 filed Critical 深圳市好奇心探索科技有限公司
Priority to PCT/CN2022/094271 priority Critical patent/WO2023221139A1/fr
Priority to CN202280012954.7A priority patent/CN116916804A/zh
Priority to PCT/CN2022/126941 priority patent/WO2023221396A1/fr
Priority to PCT/CN2022/126932 priority patent/WO2023221394A1/fr
Priority to PCT/CN2022/126937 priority patent/WO2023221395A1/fr
Priority to PCT/CN2022/126943 priority patent/WO2023221397A1/fr
Priority to PCT/CN2022/126925 priority patent/WO2023221393A1/fr
Priority to CN202321244080.6U priority patent/CN220369931U/zh
Priority to CN202321244142.3U priority patent/CN220546223U/zh
Priority to PCT/CN2023/095407 priority patent/WO2023222131A1/fr
Priority to CN202321232348.4U priority patent/CN220546222U/zh
Publication of WO2023221139A1 publication Critical patent/WO2023221139A1/fr

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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
    • A47L11/40—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

  • the present application relates to the field of cleaning equipment, and in particular, to a cleaning device, a control method, a controller, and a computer-readable storage medium of the cleaning device.
  • a cleaning device provided by the related art generally uses a brush and an exhaust fan to clean the garbage on the surface to be cleaned.
  • the garbage is mainly sucked into the recycling container through the wind drive of the exhaust fan.
  • the cleaning device provided by the related technology has the following shortcomings in specific applications: (1) The brush easily entangles hair, affecting the cleaning effect. (2) The brush is relatively soft and it is difficult to sweep hard garbage into the working area of the exhaust fan, resulting in poor cleaning effect.
  • the first purpose of the present application is to provide a cleaning device, which is intended to solve the technical problem of poor cleaning effect of the cleaning device in the related art.
  • a cleaning device including:
  • a main cleaning member for delivering waste to the recycling container
  • An introduction member which is provided in front of the main cleaning member along the moving direction of the cleaning device, for guiding the garbage on the surface to be cleaned to the main cleaning member or the main cleaning member. Work area.
  • the second object of the present application is to provide a control method for the above-mentioned cleaning device, which includes: driving the cleaning device to move and controlling the operation of the main cleaning member so that the garbage on the surface to be cleaned is guided by the introduction member to the main cleaning member or the working area of the main cleaning member, and allows the main cleaning member to transfer garbage to the recycling container.
  • a third object of the present application is to provide a controller, which includes a computer-readable storage medium and a processor; the computer-readable storage medium is used to store a computer program; the processor is used to run the computer-readable storage medium
  • the program stored in the storage medium implements the above-mentioned control method of the cleaning device.
  • the fourth object of the present application is to provide a cleaning device including the above-mentioned controller.
  • the fifth object of the present application is to provide a computer-readable storage medium that stores a computer program.
  • the computer program is executed by the processor of the cleaning device, the above-mentioned control method of the cleaning device is executed. .
  • the cleaning device, the control method of the cleaning device, the controller and the computer-readable storage medium provided by this application are used to guide the garbage on the surface to be cleaned to the main cleaning component or the main cleaning component through the introduction component in front of the main cleaning component. This will help the main cleaning component to better remove the garbage on the surface to be cleaned, thereby helping to improve the cleaning effect of the cleaning device on the surface to be cleaned.
  • Figure 1 is a schematic structural diagram of a cleaning device provided in Embodiment 1 of the present application.
  • Figure 2 is a right view of the cleaning device provided by Embodiment 1 of the present application supported on the surface to be cleaned when it is in working condition;
  • Figure 3 is a schematic structural diagram of the cleaning device provided in Embodiment 1 of the present application after removing part of the main chassis plate;
  • Figure 4 is a schematic structural diagram of the cleaning device provided in Embodiment 1 of the present application after removing the recovery container;
  • Figure 5 is a schematic diagram of the assembly structure of the introduction member, main cleaning member and linkage mechanism provided in Embodiment 1 of the present application;
  • Figure 6 is a schematic diagram of the assembly structure of the introduction component and the main cleaning component provided in Embodiment 1 of the present application;
  • Figure 7 is an exploded view of the introduction component and the main cleaning component provided in Embodiment 1 of the present application;
  • Figure 8 is a schematic structural diagram of the first roller provided in Embodiment 1 of the present application.
  • Figure 9 is a schematic diagram of the assembly structure of the introduction member, the main cleaning member, the first motor and the sixth motor provided in Embodiment 1 of the present application;
  • Figure 10 is a schematic structural diagram of the fourth roller provided in Embodiment 1 of the present application.
  • Figure 11 is a schematic diagram of the assembly structure of the linkage mechanism, introduction member, main cleaning member and recovery container provided in Embodiment 2 of the present application;
  • Figure 12 is a schematic diagram of the assembly structure of the linkage mechanism, introduction member, main cleaning member and recovery container provided in Embodiment 3 of the present application;
  • Figure 13 is a schematic diagram of the assembly structure of the linkage mechanism, introduction member, main cleaning member and recovery container provided in Embodiment 4 of the present application;
  • Figure 14 is a right view of the introduction component provided in Embodiment 5 of the present application.
  • Figure 15 is a right view of the introduction component provided in Embodiment 6 of the present application.
  • Figure 16 is a schematic diagram of the assembly structure of the linkage mechanism, introduction member, main cleaning member and recovery container provided in Embodiment 7 of the present application;
  • Figure 17 is a schematic diagram of the assembly structure of the linkage mechanism, introduction member, main cleaning member and recovery container provided in Embodiment 8 of the present application;
  • Figure 18 is a schematic structural diagram of an annular component provided in Embodiment 8 of the present application.
  • Figure 19 is a right view of the introduction component provided in Embodiment 9 of the present application.
  • Figure 20 is a schematic diagram of the assembly structure of the introduction component, the main cleaning component and the recovery container provided in Embodiment 10 of the present application;
  • Figure 21 is a right view of the introduction component provided in Embodiment 11 of the present application.
  • Figure 22 is a right view of the introduction component provided in Embodiment 12 of the present application.
  • Figure 23 is a right view of the introduction component provided in Embodiment 13 of the present application.
  • Figure 24 is a right view of the introduction component provided in Embodiment 14 of the present application.
  • Figure 25 is a right view of the assembly structure of the introduction member and the main cleaning member provided in Embodiment 15 of the present application;
  • Figure 26 is a right view of the assembly structure of the introduction member, main cleaning member and recovery container provided in Embodiment 16 of the present application;
  • Figure 27 is a right view of the assembly structure of the introduction member, main cleaning member and recovery container provided in Embodiment 17 of the present application;
  • Figure 28 is a right view of the assembly structure of the introduction member, main cleaning member and recovery container provided in Embodiment 18 of the present application.
  • the second arc surface; 214. The first connecting frame ; 221. First plate; 2211. Second inclined surface; 2212. Arc-shaped transition surface; 231. Second plate; 232. Ring-shaped component; 2321. Second annular belt; 2322. Second guide component; 23221. The second roller; 241. The first roller brush; 251. The fifth annular belt; 252. The fifth roller; 253. The sixth guide part; 255. The second elastic member; 261. The second roller brush; 262. The first elastic member; 271. The third endless belt; 272. The third roller; 273. The third guide member; 274. The third elastic member; 275. The fourth elastic member; 276.
  • the cleaning device 100 provided in Embodiment 1 of the present application includes a main cleaning member 10 and an introduction member 20.
  • the main cleaning member 10 is used to clean the surface 200 to be cleaned and transport garbage; the introduction member 20 cleans along the
  • the moving direction of the device 100 is set in front of the main cleaning member 10 for guiding the garbage on the surface 200 to be cleaned to the main cleaning member 10 or the working area of the main cleaning member 10 .
  • the main cleaning member 10 transports garbage. Specifically, it means that the main cleaning member 10 carries the garbage and moves to a preset position.
  • the introduction member 20 is mainly used to perform actions such as sweeping in garbage or acquiring garbage, thereby helping the main cleaning member 10 to better remove garbage on the surface 200 to be cleaned.
  • the cleaning device 100 When the cleaning device 100 is cleaning the surface 200 to be cleaned, the cleaning device 100 moves forward along the surface 200 to be cleaned, and the introduction member 20 located in the front contacts the garbage on the surface 200 to be cleaned, and guides the garbage to the main cleaning member 10 Or the working area of the main cleaning member 10.
  • the main cleaning member 10 cleans the surface 200 to be cleaned and transfers the garbage guided by the introduction member 20 to a preset position, thereby completing the cleaning of the garbage on the surface 200 to be cleaned.
  • the cleaning device 100 further includes a recycling container 30 , and the recycling container 30 is used for collecting garbage.
  • the main cleaning member 10 is used to convey waste to the recycling container 30 .
  • the main cleaning component 10 may directly transfer the garbage to the recycling container 30 , or may transfer the garbage to a guide component that guides the garbage to the recycling container 30 .
  • the cleaning device 100 may not be provided with the recycling container 30 .
  • a disposable garbage bag may be fixed on the cleaning device 100 to collect it when the cleaning device 100 is working. Rubbish.
  • the surface 200 to be cleaned is the floor, that is, the cleaning device 100 is used to clean the floor.
  • the surface 200 to be cleaned can also be a wall, a window, a ceiling, a glass surface, or other surfaces to be cleaned.
  • the introduction member 20 can automatically adjust the gap between the introduction member 20 and the surface 200 to be cleaned, that is, the gap from the bottom of the introduction member 20 to the surface 200 to be cleaned can be Automatic adjustment.
  • the introduction member 20 can automatically adjust the gap between the introduction member 20 and the surface 200 to be cleaned according to the size of the garbage, that is, from the bottom of the introduction member 20 to the surface to be cleaned.
  • the 200mm gap can be automatically adjusted according to the size of the garbage.
  • the cleaning device 100 when the cleaning device 100 is moving on the surface 200 to be cleaned for cleaning work, if it encounters larger-volume garbage, the bottom of the introduction member 20 can be lifted up, so that the larger-volume garbage can be removed through the introduction member 20 It is guided to the main cleaning member 10 or the working area of the main cleaning member 10, thereby achieving the effect that the introduction member 20 can automatically adjust the gap between the introduction member 20 and the surface to be cleaned 200 according to the size of the garbage, so that the cleaning device 100 can remove garbage of different sizes. .
  • the introduction member 20 can automatically adjust the gap between the introduction member 20 and the main cleaning member 10 , that is, the rear side of the introduction member 20 and the front side of the main cleaning member 10 The gap at the bottom is adjustable.
  • the introduction member 20 can automatically adjust the gap between the introduction member 20 and the main cleaning member 10 according to the size of the garbage. Adopting this arrangement scheme, garbage of different sizes can be transported between the introduction member 20 and the main cleaning member 10, effectively preventing the undesirable phenomenon of garbage getting stuck between the introduction member 20 and the main cleaning member 10 during the transmission process. .
  • the introduction member 20 has an introduction part 204 close to the surface 200 to be cleaned and with an adjustable gap between the surface 200 and the surface 200 to be cleaned.
  • the introduction part 204 is used to remove the garbage on the surface 200 to be cleaned. Guided to the main cleaning member 10 or the working area of the main cleaning member 10 .
  • the introduction part 204 is the bottom of the introduction member 20 , that is, the part of the introduction member 20 closest to the surface 200 to be cleaned in the height direction of the cleaning device 100 .
  • the gap between the introduction part 204 and the surface to be cleaned 200 is set to be adjustable, that is to say, the gap can be increased or decreased, so that the gap can be adapted to garbage of different sizes.
  • the introduction member 20 can be made to guide small-volume garbage to the main cleaning member 10 or the working area of the main cleaning member 10 , and can also guide large-volume garbage to the main cleaning member 10 or the working area of the main cleaning member 10 , effectively ensuring the cleaning effect of the cleaning device 100 in cleaning the garbage on the surface 200 to be cleaned.
  • the introduction member 20 is rotatably connected to the main cleaning member 10 .
  • the gap size between it and the surface to be cleaned 200 can be adjusted, and the gap size between it and the main cleaning member 10 can be adjusted, so that the introduction member 20 can be adjusted according to the The effect of the automatic adjustment of the size of the garbage and the gap between the surface to be cleaned 200 and the automatic adjustment of the gap between the size of the garbage and the main cleaning member 10 allows the cleaning device 100 to remove garbage of different sizes.
  • the rotatable connection solution of the introduction member 20 is not limited to this.
  • the introduction member 20 when the main cleaning member 10 is a fan, the introduction member 20 can be rotatably connected to the recycling container 30 .
  • the introduction member 20 is rotatably connected to the main cleaning member 10 through a linkage mechanism 50 .
  • the linkage mechanism 50 has a simple structure and is easy to implement.
  • the introduction member 20 can also be rotatably connected to the main cleaning member 10 in other ways, such as through hinges, mechanical arms, elastic traction ropes, etc.; or, as another
  • the main cleaning member 10 is a fan
  • the introduction member 20 may also be rotatably connected to the recovery container 30 through the linkage mechanism 50 .
  • the opposite sides of the introduction member 20 are rotatably connected to the main cleaning member 10 through a set of link mechanisms 50 , that is, the left side of the introduction member 20 is rotatably connected to the main cleaning member 10 through a set of link mechanisms 50 .
  • the right side of the introduction member 20 is rotatably connected to the main cleaning member 10 through another set of link mechanisms 50 .
  • the shapes of the link mechanisms 50 on both sides may be different or the same.
  • the opposite sides of the introduction member 20 are rotatably connected to the main cleaning member 10 , which improves the stability of the introduction member 20 being rotatably connected to the main cleaning member 10 .
  • only one side of the introduction member 20 may be rotatably connected to the main cleaning member 10 through the link mechanism 50; or, as another alternative embodiment, the introduction member 20 may In the case where 10 is a fan, the opposite sides of the introduction member 20 are rotatably connected to the recovery container 30 through a set of link mechanisms 50 .
  • At least one set of link mechanisms 50 is composed of a fourth link 51 , the fourth link 51 is L-shaped, and the two ends of the fourth link 51 are respectively.
  • the introduction member 20 is fixedly connected through fastener connection and/or welding, and the bent corner of the fourth connecting rod 51 is rotatably connected to the main cleaning member 10 or the recovery container 30 through a rotating shaft.
  • the fourth link 51 is an L-shaped swing arm.
  • the fourth link 51 includes a first arm 511 and a second arm 512. One end of the first arm 511 and one end of the second arm 512 are arranged at an angle. It is rotatably connected to the main cleaning member 10 through a rotating shaft.
  • the other end of the first arm 511 is connected to the introduction member 20
  • the other end of the second arm 512 is connected to the introduction member 20 .
  • the angle between the first arm 511 and the second arm 512 may be a right angle, an acute angle, or an obtuse angle.
  • Fasteners include at least one of screws or bolts.
  • first arm 511 and the second arm 512 are integrally formed.
  • first arm 511 and the second arm 512 can also be manufactured separately.
  • the first arm 511 and the second arm 512 are connected by fasteners and/or welding.
  • the introduction member 20 presses the garbage against the main cleaning member 10 under its own gravity and/or external force.
  • an introduction slope 201 is formed on the bottom of the introduction member 20 .
  • the introduction slope 201 approaches the surface to be cleaned from the introduction member 20 in a direction gradually away from the main cleaning member 10 and the surface to be cleaned 200 .
  • the part of the surface 200 extends obliquely toward the front and upper side of the cleaning device 100 , that is, the introduction slope 201 extends obliquely from the bottom of the introduction member 20 toward the front and upper direction of the cleaning device 100 in a flaring shape.
  • the introduction slope 201 is used to guide the garbage on the surface to be cleaned 200 to the main cleaning member 10 or the working area of the main cleaning member 10 .
  • the end of the introduction slope 201 away from the main cleaning member 10 is the part where the distance between the introduction slope 201 and the surface to be cleaned 200 is the largest.
  • the introduction bevel 201 is arranged toward the surface 200 to be cleaned, and the introduction bevel 201 and the surface 200 to be cleaned form an acute angle.
  • the end of the introduction slope 201 away from the main cleaning member 10 is the part where the distance between the introduction slope 201 and the surface to be cleaned is the largest, the end of the introduction slope 201 away from the main cleaning member 10 is the longest.
  • the garbage is contacted first, so that the larger garbage can enter between the introduction slope 201 and the surface to be cleaned 200, and the slope of the introduction slope 201 extends downward, which is conducive to better guiding the garbage to the main cleaning component 10 or The working area of the main cleaning member 10.
  • the introduction member 20 includes at least part of the introduction slope 201 formed by at least one of a plate, a cleaning belt, a roller, a roller brush, a hair brush, and a roller. That is, at least part of the introduction slope 201 can be formed by a plate surface. It is composed of at least one of the surface of the cleaning belt, the outer surface of the roller, the outer surface of the brush, and the outer surface of the roller.
  • a first inclined surface 202 is formed on the rear side of the introduction member 20 .
  • the first inclined surface 202 extends from the portion of the introduction member 20 close to the surface to be cleaned 200 toward the cleaning device 100
  • the upper back or upper front extends obliquely.
  • the angle between the first inclined surface 202 and the surface to be cleaned 200 is not 90°.
  • the first inclined surface 202 is mainly used to cooperate with the main cleaning member 10 to transport garbage, so that the garbage will not fall down easily during the upward transportation process.
  • the first inclined surface 202 may not be formed on the rear side of the introduction member 20 , but may extend perpendicularly to the surface to be cleaned 200 , that is, the rear side of the introduction member 20 may also extend in the vertical direction.
  • the introduction member 20 includes a first endless belt 211 , a first roller 212 , and at least one first guide member 213 .
  • the first endless belt 211 is rotatable. Surrounding the first roller 212 and the first guide member 213 .
  • the first roller 212 and the first guide member 213 can be used to support and tighten the first endless belt 211 on the one hand so that the first endless belt 211 forms a preset ring structure, and on the other hand can be used to guide the first endless belt 211 .
  • the endless belt 211 rotates.
  • the first endless belt 211 belongs to one type of the above-mentioned cleaning belt. During the movement of the cleaning device 100 , the first endless belt 211 can sweep the garbage to the main cleaning member 10 or the working area of the main cleaning member 10 .
  • the first annular belt 211 forms the above-mentioned introduction slope 201.
  • the first annular belt 211 is used to sweep garbage, which can avoid hair entanglement causing The problem of secondary pollution occurs, thereby improving the cleaning effect of the cleaning device 100 .
  • the introduction slope 201 may also be formed by a plurality of rollers arranged side by side at an angle or a plurality of roller brushes arranged side by side at an angle.
  • the surface of the first annular belt 211 is a smooth surface, and both the introduction inclined surface 201 and the first inclined surface 202 are inclined planes.
  • the surface of the first annular belt 211 may also be formed with a stripe or pit structure, and the introduction inclined surface 201 and the first inclined surface 202 may be corresponding inclined surfaces forming a stripe or pit structure.
  • the concave-convex structure is arranged in a wavy concave-convex manner; or, the concave-convex structure includes a plurality of pits and/or protrusions distributed at intervals.
  • the first roller 212 can freely rotate around its central axis under the action of external force.
  • the first roller 212 rotates driven by external force, thereby driving the first endless belt 211 to rotate.
  • the first roller 212 includes a first rotating shaft 2121, a first bearing 2122 and a first roller body 2123.
  • the first roller body 2123 can be rotated through the first bearing 2122. It is rotatably mounted on the first rotating shaft 2121, and part of the first annular belt 211 is wound around the outside of the first roller body 2123.
  • the cleaning device 100 further includes a first motor 61 for driving the first roller 212 to rotate.
  • the first motor 61 is drivingly connected to the first roller 212 It is used to drive the first roller 212 to rotate to drive the first endless belt 211 to rotate.
  • the first motor 61 provides a driving force for the rotation of the first endless belt 211, which can help improve the ability of the introduction member 20 to collect garbage, thereby improving the cleaning effect of the cleaning device 100 in cleaning garbage.
  • the first motor 61 it is also possible not to provide the first motor 61, so that the first endless belt 211 passively rotates under the squeeze of the garbage and/or the action of the main cleaning member 10; or , the first motor 61 can also be replaced by other power components.
  • the cleaning device 100 further includes a first transmission member 62, which is transmission connected between the first motor 61 and the first roller 212.
  • the first motor 61 drives the first roller 212 to rotate through the first transmission member 62 .
  • the first transmission member 62 may include at least one of a belt transmission mechanism, a gear transmission mechanism, or a chain transmission mechanism.
  • the introduction member 20 can be maintained or replaced as a separate module, which can be installed and detached from the cleaning device 100 , thus making the introduction member 20 easy to maintain.
  • the arrangement of the introduction member 20 is not limited to this.
  • the introduction member 20 can also be maintained as a separate module with at least one of the first motor 61 and the main cleaning member 10
  • the introduction member 20 may not be designed as a separate module.
  • the first motor 61 and the first transmission member 62 are both located outside the space formed by the first annular belt 211 .
  • at least part of the first motor 61 and the first transmission member 62 can also be provided in the space enclosed by the first annular belt 211 , for example, the first motor 61 can be provided in a space enclosed by the first annular belt 211 . within the space formed by the combination.
  • the first guide component 213 is at least one of a roller, a rod with at least a partial outer surface that is cylindrical, or a non-circular component that has a partial outer surface that is arc-shaped.
  • At least one first guide component 213 is a roller, and the roller can freely rotate around its own central axis under the action of external force.
  • the first guide member 213 adopts a roller, so that the first guide member 213 not only supports, tightens, and guides the first annular belt 211, but also facilitates the rotation process of the first annular belt 211. In this way, reducing the resistance generated by the first guide member 213 on the first endless belt 211 is beneficial to improving the smoothness of the rotation of the first endless belt 211 .
  • the arrangement of the first guide component 213 is not limited to this.
  • the first guide component 213 is a rod with at least a partial outer surface being cylindrical, and the first annular belt 211 is connected to the first guide component 213 .
  • the cylindrical outer surfaces of the component 213 are in contact with each other; or, as another alternative embodiment, the first guide component 213 is a non-circular component with a partially arc-shaped external surface, such as a plate or a semi-cylinder with a partially arc-shaped external surface. body or other irregularly shaped body, wherein the first annular belt 211 is in contact with the arc-shaped outer surface of the first guide member 213.
  • the central axis of the first roller 212 and the central axis of each first guide member 213 are perpendicular to the height direction of the cleaning device 100 , and the central axis of the first roller 212 and each first guide member 213 The central axes are perpendicular to the moving direction of the cleaning device 100 when moving on the surface 200 to be cleaned.
  • the first roller 212 and at least one first guide member 213 are spaced apart along the height direction of the cleaning device 100 , that is, the first roller 212 is provided on at least one first guide member 213 . Directly above or obliquely above or directly below or obliquely below the guide member 213 .
  • the at least one first guide component 213 and the first roller 212 are disposed in an offset manner along the height direction of the cleaning device 100 , that is, the height of the at least one first guide component 213 to the surface 200 to be cleaned is smaller or larger than the first roller 212 to the height of the surface to be cleaned 200, using this arrangement scheme, on the one hand, it can facilitate the formation of the introduction inclined surface 201 and/or the first inclined surface 202, and on the other hand, it can make the first annular belt 211 have a sufficiently large height direction. surface, so that the first endless belt 211 can cooperate with the main cleaning member 10 to transport garbage.
  • At least one first guide member 213 is used to form the introduction slope 201 of the first annular belt 211 .
  • the introduction member 20 includes at least two first guide members 213, and each first guide member 213 is a roller.
  • each first guide member 213 used to form the introduction slope 201 at a local part of the first endless belt 211 may be a roller, and the remaining first guide members 213 may be It is a rod body with at least a partial outer surface that is cylindrical, a non-circular component that has a partial outer surface that is arc-shaped, or other components that do not have an arc-shaped outer surface.
  • At least two first guide members 213 form an introduction slope 201 at the portion of the first annular belt 211 close to the surface 200 to be cleaned, that is, there are at least two first guide members 213 .
  • a guide member 213 is used to form a lead-in slope 201 at a local portion of the first annular belt 211 .
  • the introduction slope 201 extends obliquely toward the front and upper side of the cleaning device 100 from the portion of the introduction member 20 close to the surface 200 to be cleaned.
  • the first annular belt 211 can have an introduction slope 201 of a certain length, thereby facilitating the introduction member 20 to better capture garbage of different sizes.
  • the outer diameter of at least one first guide member 213 is smaller than the outer diameter of the first roller 212 because the first roller 212 is used to drive the first endless belt 211 to rotate. Therefore, the load performance of the first roller 212 has certain requirements. Therefore, the outer diameter of the first roller 212 cannot be designed to be too small.
  • the outer diameter of at least one first guide member 213 is set smaller than the outer diameter of the first roller 212, so that a smaller volume can be used.
  • the first guide component 213 achieves the effects of tensioning, guiding, and supporting the first annular belt 211 and is conducive to reducing the cost of the introduction member 20 .
  • at least the outer diameter of the first guide member 213 can also be set to be equal to or larger than the outer diameter of the first roller 212 .
  • the outer diameter of each first guide member 213 used to form the first inclined surface 202 at a local part of the first annular belt 211 is smaller than the outer diameter of the first roller 212 .
  • the outer diameters of each first guide member 213 that forms the first inclined surface 202 at a local part of the first annular belt 211 are By setting the outer diameter smaller than the first roller 212 , the first guide member 213 with a smaller volume can be used to form a larger area introduction slope 201 in the first endless belt 211 .
  • each first guide member 213 is smaller than the outer diameter of the first roller 212 .
  • At least two first guide members 213 and the first rollers 212 are distributed in a triangular shape.
  • the first roller 212 is disposed directly above or obliquely above at least one first guide member 213 , that is, the distance between the first roller 212 and the surface to be cleaned 200 is greater than The distance from at least one first guide component 213 to the surface 200 to be cleaned.
  • the first roller 212 is provided directly above or obliquely above each first guide member 213 along the height direction of the cleaning device 100 .
  • the top of the first endless belt 211 is completely pressed by the first roller 212 .
  • the number of first guide members 213 is one less than the number of corners formed by the first endless belt 211 , and each first guide member 213 and the first roller 212 correspond to each other one by one. is provided at each corner formed by the first annular belt 211; of course, in specific applications, as an alternative embodiment, the number of the first guide members 213 can also be greater than or equal to the number of corners formed by the first annular belt 211, and At least one first guide component 213 is provided at a non-corner portion of the first endless belt 211 , for example, pressing against the bottom, front side, rear side, or middle position of the top of the first endless belt 211 .
  • the number of first guide members 213 is two.
  • the first roller 212 and the two first guide members 213 respectively form three corners of the first endless belt 211 .
  • the first roller 212 is provided directly above or obliquely above each first guide member 213 along the height direction of the cleaning device 100 .
  • the first roller 212 and each first guide member 213 can make the first endless belt 211 form a triangular annular structure.
  • the first endless belt 211 forms an annular structure with three corners, where two corners are respectively located at the inlet.
  • the front bottom and the rear bottom of the member 20 are respectively formed by two first guide members 213 pressing against the first annular belt 211.
  • the other corner is located at the top of the introduction member 20 and is pressed against the first annular belt by a first roller 212.
  • Band 211 is formed.
  • the outer contour of the first annular belt 211 is similar to a triangle with each corner being rounded.
  • the number of the first guide components 213 is not limited to this.
  • the first roller 212 and each first guide component 213 can also be an annular first roller.
  • the belt 211 forms a ring structure with more than four corners.
  • the introduction member 20 further includes a first connecting frame 214 .
  • the first connecting frame 214 is rotatably connected to the main cleaning member 10 or the recovery container 30 .
  • the first roller 212 and the first guide component 213 are both installed on the first connecting frame 214.
  • the first roller 212 is mounted on the first connecting frame 214 through the first rotating shaft 2121.
  • the connection method between the first guide member 213 and the first connecting frame 214 is similar to that of the first roller 212; when the first guide member 213 is a rod with at least part of its outer surface being cylindrical.
  • the end of the rod body is rotatably or non-rotatably connected to the first connecting frame 214; when the first guide part 213 is a non-circular part, the end of the first guide part 213 is fixedly connected to the first connecting frame 214, that is, the third After a guide component 213 is installed on the first connecting frame 214, the first guide component 213 cannot rotate.
  • the cleaning device 100 further includes a main frame 40 , the main cleaning member 10 is installed on the main frame 40 , and the recovery container 30 is connected to the main cleaning member 10 or the main frame 40 .
  • the main cleaning member 10 and the introduction member 20 are used to transport the garbage to the recycling container 30 without wind power. That is, the cleaning device 100 does not need a high-speed fan to suck the garbage, which is beneficial to reducing the cost of the cleaning device 100. noise and power consumption.
  • the main cleaning member 10 includes a fourth endless belt 11 , a fourth roller 12 and at least one fifth guide member 13 .
  • the fourth endless belt 11 surrounds the first The four rollers 12 and the fifth guide member 13 are outside.
  • the arrangement of the fourth roller 12 and the fifth guide member 13 can be used to support and tighten the fourth endless belt 11 so that the fourth endless belt 11 forms a preset ring structure, and can be used to guide the fourth roller 12 and the fifth guide member 13. Lead the fourth annular belt 11 to rotate.
  • the fourth annular belt 11 presses against the surface to be cleaned 200 and rotates, the surface to be cleaned 200 can be cleaned and the garbage on the surface to be cleaned 200 can be transported to a preset position.
  • the surface to be cleaned 200 is cleaned by the fourth annular belt 11, which can avoid the problem of secondary pollution caused by hair entanglement, thereby improving the cleaning effect of the cleaning device 100.
  • the fourth roller 12 is used to rotate driven by external force to drive the fourth endless belt 11 to rotate.
  • the fourth annular belt 11 presses against the surface 200 to be cleaned and rotates, thereby achieving the effects of cleaning the surface 200 to be cleaned and transporting garbage.
  • the fourth roller 12 can freely rotate around its central axis under the action of external force.
  • the fourth roller 12 includes a second rotating shaft 121 , a second bearing 122 and a second roller body 123 .
  • the second roller body 123 can be rotated through the second bearing 122 .
  • Rotatingly mounted on the second rotating shaft 121 part of the fourth annular belt 11 is wound around the outside of the second roller body 123 .
  • the cleaning device 100 further includes a sixth motor 63 for driving the fourth roller 12 to rotate.
  • the sixth motor 63 is drivingly connected to the fourth roller 12 It is used to drive the fourth roller 12 to rotate to drive the fourth endless belt 11 to rotate.
  • the sixth motor 63 is used to drive the fourth roller 12 to rotate, and its structure is simple and easy to implement.
  • the fourth roller 12 can also be driven to rotate by other power mechanisms or manpower; or, the first motor 61 and the sixth motor 63 can also be the same motor.
  • the cleaning device 100 further includes a second transmission member 64.
  • the second transmission member 64 is transmission connected between the sixth motor 63 and the fourth roller 12.
  • the sixth motor 63 drives the fourth roller 12 to rotate through the second transmission member 64 .
  • the setting function of the second transmission member 64 may include at least one of the following functions: adjusting the rotational speed output by the sixth motor 63 to the rotational speed required by the design of the fourth roller 12; realizing power transmission within a certain distance range.
  • the second transmission member 64 may include at least one of a belt transmission mechanism, a gear transmission mechanism, or a chain transmission mechanism.
  • the main cleaning member 10 includes a sixth connecting frame 14, the fourth roller 12 and each fifth guide member 13 are installed on the sixth connecting frame 14,
  • the sixth connecting frame 14 is connected to the main frame 40 .
  • the manner and structure of the connection between the fourth roller 12 and the fifth guide member 13 and the sixth connecting frame 14 can be referred to the manner and structure of the connection between the first roller 212 and the first guide member 213 and the first connecting frame 214, which will not be mentioned here. Elaborate further.
  • the introduction member 20 is rotatably connected to the sixth connecting frame 14 .
  • the first connecting frame 214 is rotatably connected to the sixth connecting frame 14 through the above-mentioned link mechanism 50.
  • the fourth roller 12 and at least one fifth guide member 13 are spaced apart along the height direction of the cleaning device 100 , that is, the fourth roller 12 is provided on at least one fifth guide member 13 . Directly above or obliquely above or directly below or obliquely below the guide member 13 .
  • the at least one fifth guide member 13 and the fourth roller 12 are disposed in a staggered manner along the height direction of the cleaning device 100 , that is, the height of the at least one fifth guide member 13 to the surface to be cleaned 200 is smaller or larger than the fourth roller 12 to the height of 200 meters from the surface to be cleaned.
  • This embodiment allows the fourth annular belt 11 to have a sufficiently large surface in the height direction, which on the one hand can help improve the ability of the fourth annular belt 11 to transport garbage, thereby facilitating the removal of waste without wind driving. Cleaning the garbage on the surface 200 will further help reduce the noise, power consumption and cost of the cleaning device 100; on the other hand, it will help to set other functional components (such as components for scraping garbage or output cleaning) in the height direction of the fourth annular belt 11. Liquid components, etc.) are used to process the fourth annular belt 11 to ensure that the fourth annular belt 11 still has a good cleaning effect after continuous operation.
  • the fifth guide component 13 is a roller or a rod with at least a partial outer surface that is cylindrical or a non-circular component that has a partial outer surface that is arc-shaped.
  • the structure of the fifth guide component 13 may refer to the first guide component 213 and will not be described in detail here.
  • the arrangement of the fifth guide component 13 may refer to the first guide component 213 and will not be described in detail here.
  • the bottom of the fourth endless belt 11 is formed with a first plane 111 for contacting the surface 200 to be cleaned.
  • the contact between the fourth annular belt 11 and the surface to be cleaned 200 can be made to be a surface contact, thereby increasing the contact area between the fourth annular belt 11 and the surface to be cleaned 200 , thereby conducive to improving the fourth annular belt 11 and the surface to be cleaned 200 .
  • the cleaning effect and efficiency of the belt 11 in cleaning the surface 200 to be cleaned; especially for stubborn stains (such as coffee stains) on the surface 200 to be cleaned, this embodiment can quickly wipe them clean, thereby significantly improving the cleaning device 100
  • the surface to be cleaned is cleaned 200 for the purpose of cleaning effect and efficiency.
  • the main cleaning member 10 has a first portion 15 , a second portion 16 and a first side portion 17 .
  • the first side portion 17 is located toward the main cleaning member 10 .
  • the first location 15 is located at the end of the first side 17 close to the surface to be cleaned 200
  • the second location 16 is located at the end of the first side 17 away from the surface to be cleaned 200.
  • the first location 15 is 200 for cleaning the surface to be cleaned.
  • the first portion 15 is the bottom of the main cleaning member 10
  • the second portion 16 is the top of the main cleaning member 10
  • the first side 17 is the front side of the main cleaning member 10 .
  • the first side part 17 is used to transport the garbage to the second part 16 with the cooperation of the introduction member 20, thereby facilitating the realization of the effect of the main cleaning member 10 and the introduction member 20 conveying garbage without wind driving.
  • the first side portion 17 extends obliquely from the first location 15 to the second location 16 , that is, the first side portion 17 is not perpendicular to the surface 200 to be cleaned.
  • the undesirable phenomenon of garbage falling downward when the main cleaning member 10 is conveying garbage can be better prevented, thereby facilitating the implementation of The garbage on the surface 200 to be cleaned is stably and reliably transported to the preset position without wind power.
  • the rear side of the first endless belt 211 is used to cooperate with the front side of the fourth endless belt 11 to clamp and transport garbage, thereby facilitating the movement of the first endless belt 211 and the fourth endless belt 11 Garbage can be transported to designated areas without wind.
  • the rear side of the first endless belt 211 is not used to cooperate with the front side of the fourth endless belt 11 to clamp and transport garbage.
  • the hardness of the first endless belt 211 is greater than the hardness of the fourth endless belt 11 .
  • the fourth annular belt 11 is mainly used to press against the surface to be cleaned 200 to clean the surface to be cleaned. Therefore, the material of the fourth annular belt 11 is designed to be relatively soft, which can help ensure that the fourth annular belt 11 presses against the surface to be cleaned.
  • the tightness of the surface 200 is beneficial to ensuring the cleaning effect of the fourth annular belt 11 on the surface 200 to be cleaned.
  • the first annular belt 211 is mainly used to guide garbage to the fourth annular belt 11 and cooperate with the fourth annular belt 11 to transport garbage, so the use of harder materials for the first annular belt 211 does not affect Its performance is beneficial to reducing the cost of the first endless belt 211.
  • the hardness of the first endless belt 211 is less than or equal to the hardness of the fourth endless belt 11 .
  • the fourth endless belt 11 is made of soft material, such as cleaning velvet.
  • This arrangement can, on the one hand, make the fourth endless belt 11 move under the action of the main cleaning member 10's own gravity or external force. Closely press against the surface to be cleaned 200 to clean the surface to be cleaned 200, which is beneficial to improving the cleaning effect of the cleaning device 100 in removing garbage, stains, and liquids on the surface to be cleaned 200; on the other hand, it is beneficial to reduce the fourth annular belt
  • the noise generated when 11 is pressed and moved on the surface 200 to be cleaned can make the fourth annular belt 11 have a certain water absorption.
  • the first endless belt 211 is made of hard material, such as plastic or rubber, which helps to reduce the cost of the first endless belt 211 .
  • the first endless belt 211 may be made of soft material, such as cleaning velvet.
  • the cleaning device 100 further includes a controller 71 , which is used to control at least one of the main cleaning member 10 and the introduction member 20 to work.
  • the controller 71 71 is electrically connected to at least one of the first motor 61 and the sixth motor 63 .
  • the controller 71 is electrically connected to the first motor 61 and the sixth motor 63 respectively.
  • the controller 71 is configured to: when the cleaning device 100 performs cleaning work on the surface 200 to be cleaned, control the first endless belt 211 and the fourth endless belt 11 to rotate in two opposite directions respectively. Specifically, when the cleaning device 100 performs cleaning work on the surface 200 to be cleaned, the controller 71 controls the first motor 61 and the sixth motor 63 to rotate in reverse direction, so that the first endless belt 211 and the fourth endless belt 11 face each other respectively. Two opposite directions of rotation. In this embodiment, when the cleaning device 100 is cleaning the surface 200 to be cleaned, the first annular belt 211 rotates counterclockwise, and the fourth annular belt 11 rotates clockwise.
  • the first annular belt 211 can rotate to the surface 200 to be cleaned.
  • the garbage on the cleaning surface 200 is guided to the fourth endless belt 11, and the garbage sandwiched between the introduction member 20 and the main cleaning member 10 is clamped and transported by the first endless belt 211 and the fourth endless belt 11,
  • the first endless belt 211 and the fourth endless belt 11 form a dual drive for garbage conveyance, which is beneficial to improving the garbage conveyance capability.
  • the cleaning device 100 further includes a liquid outlet component 72 , which is configured to move towards the first annular belt 211 , the fourth annular belt 11 and the liquid to be treated. At least one of the cleaning surfaces 200 outputs liquid.
  • the liquid is first output to at least one of the first annular belt 211, the fourth annular belt 11 and the surface to be cleaned 200 through the liquid outlet component 72, and then The surface 200 to be cleaned is mopped by the main cleaning member 10 , thereby realizing the cleaning, disinfection or surface care of the surface 200 to be cleaned by the cleaning device 100 .
  • the cleaning device 100 may not be provided with the liquid outlet component 72. In this alternative, the cleaning device 100 may be used as a sweeper or dust pusher.
  • the liquid output by the liquid outlet component 72 includes at least one of the following liquids: clean water, detergent, disinfectant, wax liquid, and care liquid.
  • the main cleaning member 10 wipes the surface 200 to be cleaned, and the surface 200 to be cleaned can be cleaned to at least remove stains and dust on the surface 200 to be cleaned;
  • the main cleaning component 10 drags and wipes the surface 200 to be cleaned, and the main cleaning component 10 can clean and disinfect the surface 200 to be cleaned; when the liquid output by the liquid outlet component 72 is wax liquid or When using the care solution, the main cleaning member 10 mops the surface 200 to be cleaned.
  • the main cleaning member 10 can wax the surface 200 to care for the surface 200 to be cleaned or perform other surface care on the surface 200 to be cleaned.
  • the cleaning device 100 further includes a liquid storage container 73 .
  • the liquid storage container 73 is used to store the liquid required by the liquid outlet component 72 and supply it to the liquid outlet component 72 . liquid.
  • the cleaning device 100 may not be provided with the liquid storage container 73 .
  • the liquid outlet component 72 may be supplied with liquid through an external pipe.
  • the cleaning device 100 further includes a baffle assembly 80 , and the baffle assembly 80 is used to guide garbage to the recycling container 30 .
  • the baffle assembly 80 can be used as a guide component for garbage conveyance, and the baffle assembly 80 can be used to clean at least one of the introduction member 20 and the main cleaning member 10 .
  • the baffle assembly 80 includes a first baffle 81 , the first baffle 81 is disposed behind the main cleaning member 10 and from The rear side of the main cleaning member 10 extends to the recovery container 30 .
  • the above-mentioned preset position to which the main cleaning member 10 or the fourth endless belt 11 transports the garbage is the position where the first baffle 81 is located.
  • the first baffle 81 abuts the main cleaning member 10 , and the first baffle 81 extends from the fourth endless belt 11 to the recovery container 30 , thereby facilitating the first baffle 81 to clear the fourth ring.
  • the first baffle 81 may also have a gap with the fourth annular belt 11 instead of contacting the fourth annular belt 11; as another alternative implementation Alternatively, the first baffle 81 is not provided, and the garbage on the main cleaning member 10 can be guided to the recycling container 30 through other means, such as negative pressure power drive.
  • At least part of the recycling container 30 is disposed behind the main cleaning member 10 along the moving direction of the cleaning device 100. This arrangement can facilitate the first baffle 81 to guide the garbage to the recycling container 30.
  • the first baffle 81 is integrally formed with the first connecting frame 214 or the main frame 40 or the recovery container 30; or, as an alternative embodiment, the first baffle 81 is integrally formed with the recovery container 30, that is, the first baffle 81 is integrally formed with the recovery container 30. Plate 81 will recycle a portion of container 30.
  • the baffle assembly 80 further includes a second baffle 82 , the second baffle 82 is used to scrape the garbage from the introduction member 20 and guide the garbage to At least one of the main cleaning member 10 , the first baffle 81 and the recovery container 30 .
  • the second baffle 82 is also possible not to provide the second baffle 82 .
  • the second baffle 82 is provided above the introduction member 20 or the main cleaning member 10 or close to the top of the cleaning device 100 along the height direction of the cleaning device 100 .
  • the cleaning device 100 further includes a moving wheel assembly 90 .
  • the moving wheel assembly 90 is provided at the bottom of the cleaning device 100 for driving the cleaning device 100 to move.
  • the arrangement of the moving wheel assembly 90 can make the cleaning device 100 move more smoothly on the surface 200 to be cleaned.
  • the cleaning device 100 may not be provided with the moving wheel assembly 90 .
  • the movement of the cleaning device 100 on the surface 200 to be cleaned is controlled by the first annular belt 211 or the first annular belt 211 . It is also possible to drive 211 and the fourth annular belt 11.
  • the moving wheel assembly 90 includes four moving wheels 91 , the four moving wheels 91 are arranged in two rows, and each row is provided with two moving wheels 91 .
  • the number of moving wheels 91 is also possible to be two, three, or five, and the number and layout of the moving wheels 91 are not limited here.
  • At least one moving wheel 91 is driven to rotate by a motor, thereby driving the cleaning device 100 to move, that is, the cleaning device 100 moves by electric driving.
  • the moving driving mode of the cleaning device 100 is not limited to this.
  • the cleaning device 100 can be moved by human power through a hand-held rod or handrail; or, as another alternative embodiment, the cleaning device 100 can be driven by a motor or moved by a hand-held rod.
  • the armrest can be moved by human power, that is, the cleaning device 100 can have two driving modes of electric and human power at the same time.
  • the moving wheel assembly 90 is an automatic guided vehicle (AGV), so that the cleaning device 100 can navigate and move by itself during the cleaning and moving process without human intervention in adjusting the moving direction.
  • AGV automatic guided vehicle
  • the cleaning device 100 further includes a power supply (not shown), which is used to provide power for cleaning work and/or movement of the cleaning device 100 .
  • the controller 71 is electrically connected to at least the main cleaning member 10 and the power source.
  • the power source can be a rechargeable battery, a replaceable battery, or a disposable battery.
  • the cleaning device 100 may not be provided with a battery, but may directly obtain power by connecting to an external power grid socket through a cable.
  • the cleaning device 100 may be powered by both a battery and an external power grid.
  • the cleaning device 100 further includes a human-computer interaction device 74 , and the human-computer interaction device 74 is electrically connected to the controller 71 .
  • the human-computer interaction device 74 is at least used for the operator to control the opening and closing of the cleaning device 100.
  • the human-computer interaction device 74 can also be used to perform at least one of the following functions: display the working parameters of the cleaning device 100 for operation. The operator adjusts or selects or edits the working parameters of the cleaning device 100, allowing the operator to select the working mode of the cleaning device 100, and for the operator to edit the working program of the cleaning device 100.
  • the human-computer interaction device 74 includes at least one of a display screen, a control panel, keys, buttons, knobs, and levers.
  • the display screen can be a screen that simply has a display function, or it can also have a display function at the same time. Functional and touch-enabled screen.
  • the cleaning device 100 is a commercial cleaning equipment.
  • Commercial cleaning equipment is used for cleaning in large-area application situations (especially public places). In order to ensure that the cleaning device 100 can complete the cleaning of large-area application situations at one time. To work, the cleaning device 100 needs to be able to work continuously for a long time.
  • Commercial cleaning equipment can be used for cleaning station floors, hospital floors, shopping mall floors, playground floors, square floors, exterior walls of high-rise buildings, glass windows of high-rise buildings, etc.
  • the cleaning device 100 can also be a household cleaning equipment.
  • Household cleaning equipment is mainly used for cleaning in smaller application situations, such as cleaning the floors of residential buildings.
  • the sustainable working time of the cleaning device 100 It can be designed to be shorter, and the volume can be designed to be smaller accordingly.
  • This embodiment also provides a control method for the above-mentioned cleaning device 100, which includes: driving the cleaning device 100 to move, and controlling the operation of the main cleaning component 10, so that the garbage on the surface to be cleaned 200 is guided to the main cleaning component 20.
  • the working area of the cleaning member 10 or the main cleaning member 10 is caused to transfer the waste to the recycling container 30 .
  • causing the garbage on the surface to be cleaned 200 to be guided by the introduction member 20 to the main cleaning member 10 or the working area of the main cleaning member 10 includes: during the movement of the cleaning device 100, the introduction member 20 moves along the introduction slope. 201 guides the garbage on the surface 200 to be cleaned, so that the garbage on the surface 200 to be cleaned is guided to the main cleaning member 10 or the working area of the main cleaning member 10 .
  • control method further includes: controlling the operation of the introduction member 20 so that the garbage on the surface to be cleaned 200 is guided to the main cleaning member 10 driven by power.
  • controlling the operation of the introduction member 20 includes: controlling the rotation of the first motor 61 of the cleaning device 100 so that the first motor 61 drives the first roller 212 of the introduction member 20 to rotate, so that the first roller 212 surrounding the first roller is rotated. 212 and the first annular belt 211 outside the first guide member 213 rotates.
  • controlling the operation of the main cleaning member 10 so that the main cleaning member 10 transfers garbage to the recycling container 30 includes: controlling the rotation of the sixth motor 63 of the cleaning device 100 so that the sixth motor 63 drives the main cleaning member 10
  • the fourth roller 12 rotates, thereby rotating the fourth endless belt 11 surrounding the fourth roller 12 and the fifth guide member 13, so that the fourth endless belt 11 carries the garbage for transportation.
  • driving the cleaning device 100 to move includes: driving the moving wheel assembly 90 at the bottom of the cleaning device 100 to rotate, so that the moving wheel assembly 90 drives the cleaning device 100 to move.
  • control method of the cleaning device 100 The specific principles and implementation methods of the control method of the cleaning device 100 provided in this embodiment are similar to the principles and implementation methods described in the above-mentioned cleaning device 100. Other parts of the control method of the cleaning device 100 will not be described in detail here.
  • This embodiment also provides a controller 71, which includes a computer-readable storage medium and a processor; the computer-readable storage medium is used to store computer programs; the processor is used to implement the program by running the program stored in the computer-readable storage medium.
  • the above-mentioned control method of the cleaning device 100 includes a controller 71, which includes a computer-readable storage medium and a processor; the computer-readable storage medium is used to store computer programs; the processor is used to implement the program by running the program stored in the computer-readable storage medium.
  • the computer-readable storage medium may be the internal storage unit of the above-mentioned cleaning device 100, such as the hard disk or memory of the cleaning device 100; or the computer-readable storage medium may also be an external storage device of the cleaning device 100, such as the cleaning device 100.
  • the 100 is equipped with plug-in hard drives, Smart Media Card (SMC), Secure Digital (SD) cards, Flash Cards, etc.
  • This embodiment also provides a cleaning device 100, which includes the above-mentioned controller 71.
  • the cleaning device 100 also includes an actuator.
  • the actuator includes at least one of the main cleaning member 10, the introduction member 20, the liquid outlet assembly, and the moving wheel assembly 90.
  • the actuator is used to store computer-readable data under the control of the controller 71.
  • the computer program stored in the medium performs actions.
  • This embodiment also provides a computer-readable storage medium.
  • the computer-readable storage medium stores a computer program.
  • the computer program is executed by the processor of the cleaning device 100, the above-mentioned control method of the cleaning device 100 is executed.
  • the working principle of the cleaning device 100 includes:
  • the cleaning device 100 is driven by electricity and/or manpower to move on the surface 200 to be cleaned, and the first motor 61 and the sixth motor 63 are driven to rotate in opposite directions at the same time, so that the fourth roller 12 is driven by the sixth motor 63
  • the third annular belt 271 is driven to rotate clockwise, and the first roller 212 is driven by the first motor 61 to drive the first annular belt 211 to rotate counterclockwise, so that the cleaning device 100 moves on the surface 200 to be cleaned.
  • the functions of cleaning garbage and mopping the surface 200 to be cleaned can be realized.
  • the counterclockwise rotation of the first annular belt 211 can cause the first annular belt 211 to guide the garbage on the surface 200 to be cleaned backward, similar to the action of sweeping in or acquiring garbage.
  • the clockwise rotation of the fourth annular belt 11 can push the garbage acquired by the first annular belt 211 to the gap between the first annular belt 211 and the fourth annular belt 11 , and the front of the fourth annular belt 11
  • the side portion cooperates with the rear side portion of the first endless belt 211 to clamp the garbage and transport it upward.
  • the garbage is transported upward under the dual driving force of the first annular belt 211 and the fourth annular belt 11 without the need for fan suction, which can help reduce the noise and energy consumption of the cleaning device 100 .
  • the liquid output from the liquid outlet component 72 can enable the cleaning device 100 to wet mop the surface 200 to be cleaned, so that the cleaning device 100 can not only clean garbage and push dust, but also mop the surface 200 to be cleaned. To remove stains on the surface 200 to be cleaned, or to disinfect or perform surface care on the surface 200 to be cleaned.
  • the first baffle 81 can automatically scrape off the solid garbage and waste liquid carried by the fourth annular belt 11 and guide it to the recycling container 30 without adding power to remove the garbage carried by the fourth annular belt 11, and can The fourth endless belt 11 is cleaned.
  • the cleaning device 100 and the control method, the controller 71, and the computer-readable storage medium of the cleaning device 100 provided in this embodiment are mainly different from those in the first embodiment mainly in that the connecting rod
  • the mechanism 50 is arranged in different ways, which is specifically reflected in: in the first embodiment, at least one set of link mechanisms 50 is composed of a fourth link 51, and the fourth link 51 is L-shaped; while in this embodiment, the link mechanism 50 is The mechanism 50, the introduction member 20 and the main cleaning member 10 form a four-bar linkage mechanism 50.
  • each set of link mechanisms 50 includes two first links 52 , and the two ends of each first link 52 are rotatably connected to the introduction member 20 and the introduction member 20 respectively.
  • Main cleaning member 10 or introduction member 20 and recovery container 30 Main cleaning member 10 or introduction member 20 and recovery container 30 .
  • the introduction member 20, the main cleaning member 10, and the two first connecting rods 52 form a four-bar linkage mechanism.
  • each first connecting rod 52 is in the shape of a straight rod, that is, the first connecting rod 52 extends along a straight trajectory.
  • the first connecting rod 52 may not be a straight rod.
  • Embodiment 1 In addition to the above differences, other parts of the cleaning device 100, the control method of the cleaning device 100, the controller 71, and the computer-readable storage medium provided in this embodiment can be referred to Embodiment 1, and will not be described in detail here.
  • the cleaning device 100 and the control method, the controller 71 and the computer-readable storage medium of the cleaning device 100 provided in this embodiment are mainly different from those in the first and second embodiments.
  • the linkage mechanism 50 is arranged differently.
  • At least one set of link mechanisms 50 is composed of a second link 53
  • the second link 53 includes a first connecting part 531 and a second connecting part 532
  • the first connection part 531 is rotatably connected to the main cleaning member 10 or the recovery container 30 through a rotating shaft
  • the second connection part 532 is fixedly connected to the introduction member 20 through fastener connection and/or welding.
  • the difference between the second connecting rod 53 of this embodiment and the fourth connecting rod 51 of the first embodiment is mainly in their shapes.
  • Embodiment 1 In addition to the above differences, other parts of the cleaning device 100, the control method of the cleaning device 100, the controller 71, and the computer-readable storage medium provided in this embodiment can be referred to Embodiment 1, and will not be described in detail here.
  • Embodiment 4 is a diagrammatic representation of Embodiment 4:
  • the cleaning device 100 and the control method, the controller 71 and the computer-readable storage medium of the cleaning device 100 provided in this embodiment are mainly different from those in the first to third embodiments.
  • the lever mechanism 50 is arranged differently.
  • At least one set of link mechanisms 50 is composed of a third link 54
  • the third link 54 includes a third connecting part 541 and a fourth connecting part 542
  • the third connecting part 541 is rotatably connected to the main cleaning member 10 or the recovery container 30 through a rotating shaft
  • the fourth connecting part 542 is integrally formed with at least part of the structure of the introduction member 20 .
  • the third connecting rod 54 is part of the introduction member 20.
  • the difference between the third connecting rod 54 of this embodiment and the second connecting rod 53 in the third embodiment lies in whether the introduction member 20 is assembled separately or formed in one piece.
  • Embodiment 1 In addition to the above differences, other parts of the cleaning device 100, the control method of the cleaning device 100, the controller 71, and the computer-readable storage medium provided in this embodiment can be referred to Embodiment 1, and will not be described in detail here.
  • the introduction slope 201 is formed by more than two first guide members 213 pressing against the first annular belt 211; and in this embodiment, the introduction slope 201 is formed by a first roller 212 and at least one first guide member 213 pressing against the first endless belt 211.
  • An annular belt 211 is formed.
  • the first roller 212 and at least one first guide member 213 form an end of the first annular belt 211 close to the surface 200 to be cleaned.
  • Import Bevel 201 The introduction slope 201 extends obliquely from the end of the introduction member 20 close to the surface to be cleaned 200 in a direction gradually away from the main cleaning member 10 and the surface to be cleaned 200 .
  • the number of first guide members 213 is more than two, wherein the two first guide members 213 and the first rollers 212 are respectively provided at three corner positions of the first endless belt 211, one of which The first guide member 213 is provided at the top corner of the first endless belt 211 , and the other first guide member 213 or the first roller 212 is provided at the bottom corner of the first endless belt 211 .
  • Embodiments 1 to 4 other parts of the cleaning device 100 and the control method of the cleaning device 100, the controller 71, and the computer-readable storage medium provided in this embodiment can be referred to Embodiments 1 to 4, and will not be described in detail here.
  • Embodiment 6 is a diagrammatic representation of Embodiment 6
  • the introduction slope 201 is formed by two or more first guide members 213 pressing against the first annular belt 211; and in this embodiment, the introduction slope 201 is formed by one first guide member 213 pressing against the first annular belt 211.
  • a first guide member 213 includes a third inclined surface 2131 , a first arc surface 2132 and a second arc surface 2133 .
  • the third inclined surface 2131 is pressed against the first arc surface 2131 .
  • An annular belt 211 is used to form a part of the first annular belt 211 into an introduction inclined surface 201, and a first arc surface 2132 is provided on the top of the third inclined surface 2131 to form a part of the first annular belt 211 into the first inclined surface 2131.
  • Arc-shaped corner, the second arc-shaped surface 2133 is provided at the bottom of the third inclined surface 2131 to form a second arc-shaped corner in part of the first annular belt 211 .
  • the center of the first arc surface 2132 is located above and in front of the first arc surface 2132 along the height direction of the cleaning device 100 , that is, the first arc surface 2132 is a convex arc surface protruding downward.
  • the center of the second arc surface 2133 is located behind and below the second arc surface 2133 along the height direction of the cleaning device 100 , that is, the second arc surface 2133 is a convex arc surface protruding upward.
  • the outer diameter of the first arc surface 2132 is the same as the outer diameter of the second arc surface 2133.
  • the shapes of the first guide component 213 and the first annular belt 211 can be maintained symmetrical.
  • the outer diameter of the first arc surface 2132 may be larger or smaller than the outer diameter of the second arc surface 2133.
  • the first guide member 213 used to form a partial portion of the first annular belt 211 into the introduction inclined surface 201 has a first arc surface 2132, a third inclined surface 2131 and a second arc surface 2133.
  • the plate-shaped component can be injection molded, cast or stamped by a mold.
  • the structure of the first guide component 213 is not limited to this.
  • the first guide component 213 used to form the introduction slope 201 in part of the first annular belt 211 also includes The connecting surface extends from the end of the first arc surface 2132 away from the third inclined surface 2131 to the end of the second arc surface 2133 away from the third inclined surface 2131 for connecting the first annular belt 211
  • the first guide component 213 that partially forms the first inclined surface 202 is: an annular hollow component or a solid component having a third inclined surface 2131, a first arc surface 2132, a connecting surface and a second arc surface 2133.
  • the connecting surface It includes at least one of the following surfaces: at least partially an inclined plane parallel to the third inclined surface 2131; at least partially an inclined plane inclined relative to the third inclined surface 2131; at least partially a curved surface.
  • the number of the first guide component 213 is one, which is the above-mentioned plate-shaped component or annular hollow component or solid component having the first arc surface 2132, the third inclined surface 2131 and the second arc surface 2133.
  • the shape of the first annular belt 211 is a triangular annular structure
  • the first arc surface 2132, the second arc surface 2133 and the first roller 212 are respectively provided at three corners of the first annular belt 211 .
  • first guide members 213 are provided for pressing against at least one of the bottom, rear side, and top of the first endless belt 211 .
  • Embodiment 7 is a diagrammatic representation of Embodiment 7:
  • the cleaning device 100 and the control method, the controller 71 and the computer-readable storage medium of the cleaning device 100 provided in this embodiment are mainly different from the embodiments in that the structure of the introduction member 20 is different, which is specifically reflected in:
  • the introduction member 20 is an annular belt member; and in this embodiment, the introduction member 20 is a plate member.
  • the introduction member 20 includes a first plate 221 with an introduction slope 201 , and the introduction slope 201 gradually moves away from the main cleaning member 10 and the surface to be cleaned 200 .
  • the direction extends obliquely from the part of the introduction member 20 close to the surface to be cleaned 200 toward the front and upper side of the cleaning device 100 .
  • the first plate 221 is rotatably connected to the main cleaning member 10 or the recovery container 30 .
  • the first plate 221 is injection molded or stamped by a mold.
  • the first plate 221 also has a second inclined surface 2211 and an arc-shaped transition surface 2212.
  • the introduction inclined surface 201 gradually moves away from the main cleaning member 10 and the surface to be cleaned 200 from one end of the arc-shaped transition surface 2212.
  • the second inclined surface 2211 extends obliquely from the other end of the arc-shaped transition surface 2212 in a direction gradually away from the introduction inclined surface 201 and gradually away from the surface to be cleaned 200 .
  • the introduction inclined surface 201 is used to obtain garbage
  • the second inclined surface 2211 is used to cooperate with the fourth annular belt 11 to clamp and transport garbage.
  • the second inclined surface 2211 extends obliquely from the arc-shaped transition surface 2212 toward the rear and upper side of the cleaning device 100 .
  • the first plate 221 is connected to the main cleaning member 10 or the recovery container 30 or the main frame 40 .
  • the first plate 221 is movably connected with the main cleaning member 10 or the recovery container 30 or the main frame 40 .
  • the first plate 221 is rotatably connected to the main cleaning member 10 .
  • the rear side of the first plate 221 is used to cooperate with the front side of the fourth endless belt 11 to clamp and transport garbage.
  • Embodiments 1 to 6 In addition to the above differences, other parts of the cleaning device 100, the control method of the cleaning device 100, the controller 71, and the computer-readable storage medium provided in this embodiment can be referred to Embodiments 1 to 6, and will not be described in detail here.
  • Embodiment 8 is a diagrammatic representation of Embodiment 8
  • the difference between the cleaning device 100 and the control method, the controller 71 and the computer-readable storage medium of the cleaning device 100 provided in this embodiment and the first embodiment mainly lies in the different structure of the introduction member 20, which is specifically reflected in:
  • the introduction The member 20 is an annular belt member; and in this embodiment, the introduction member 20 is formed of a plate and a component rotatably mounted on the plate.
  • the introduction member 20 includes a second plate 231 and an annular member 232 .
  • the second plate 231 is rotatably connected to the main cleaning member 10 or In the recovery container 30, the annular component 232 is rotatably mounted on the end of the second plate 231 close to the surface 200 to be cleaned.
  • the second plate 231 is connected with the main cleaning member 10 or the recovery container 30 or the main frame 40 .
  • the annular component 232 is used to perform the action of scanning in garbage or acquiring garbage.
  • the annular member 232 forms an introduction slope 201 for introducing garbage.
  • the annular component 232 can also be replaced by other rotatable components.
  • the annular component 232 can be composed of at least one of a roller, a roller brush, a roller, a roller, and a brush.
  • the rotatable components replacing the annular component 232 are arranged side by side and tilted to form the introduction slope 201 .
  • the annular member 232 includes a second annular belt 2321 and a second guide member 2322.
  • the second annular belt 2321 rotatably surrounds the second guide member 2322.
  • the second guide member 2322 is used to tension and support the second endless belt 2321, and to guide the second endless belt 2321 to rotate.
  • the second guide member 2322 includes at least two second rollers 23221 that are inclined and spaced apart along the height direction of the cleaning device 100 so that the second annular The strip 2321 forms the lead-in bevel 201.
  • the arrangement manner of the second guide component 2322 is not limited to this.
  • the arrangement manner may refer to the first guide component 213, which will not be described in detail here.
  • the second plate 231 is movably connected with the main cleaning member 10 or the recycling container 30 or the main frame 40 .
  • the second plate 231 is rotatably connected to the main cleaning member 10 .
  • the rear side of the second plate 231 is used to cooperate with the front side of the fourth endless belt 11 to clamp and transport garbage.
  • Embodiment 9 is a diagrammatic representation of Embodiment 9:
  • the main difference between the cleaning device 100 and the control method, the controller 71 and the computer-readable storage medium of the cleaning device 100 provided in this embodiment and the first embodiment is that the front cleaning member of this embodiment does not form an introduction slope 201 .
  • an introduction curved surface 203 is formed at the bottom of the introduction member 20 , and the introduction curved surface 203 extends from the portion of the introduction member 20 close to the surface to be cleaned 200 toward the front and top of the cleaning device 100 .
  • the trend gradually away from the main cleaning member 10 and the surface to be cleaned 200 is curved and extended for guiding the garbage on the surface to be cleaned 200 to the main cleaning member 10 or the working area of the main cleaning member 10 .
  • the introduction curved surface 203 is formed by a larger first guide member 213 or by a first roller 212 pressing against the first annular belt 211 .
  • the introduction curved surface 203 can also be formed by one of a roller, a roller brush, and a roller.
  • Embodiments 1 to 8 other parts of the cleaning device 100 and the control method of the cleaning device 100, the controller 71, and the computer-readable storage medium provided in this embodiment can be referred to Embodiments 1 to 8, and will not be described in detail here.
  • the difference between the cleaning device 100 and the control method of the cleaning device 100 , the controller 71 , and the computer-readable storage medium provided in this embodiment and the first embodiment mainly lies in the different setting methods of the introduction member 20 , which is specifically reflected in: the introduction member 20 is a ring In this embodiment, the introduction member 20 is a roller brush structure.
  • the introduction member 20 includes a second connecting frame (not shown), a second motor (not shown) and a first roller brush 241.
  • the first The roller brush 241 is rotatably installed on the second connecting frame, and the second motor is installed on the second connecting frame and used to drive the first roller brush 241 to rotate.
  • the second connecting frame can be rotatably connected to the main cleaning member 10 or the recycling container 30.
  • the introduction member 20 can also guide garbage of different sizes and volumes; of course, in specific applications, as an alternative
  • the second connecting frame can also be configured to be movably connected to the main frame 40 , for example, the second connecting frame is rotatably connected to the main frame 40 or can be lifted and lowered to be elastically connected.
  • controlling the operation of the introduction member 20 includes: controlling the rotation of the second motor of the cleaning device 100 so that the second motor drives the first roller brush of the introduction member 20 241 turns.
  • Embodiments 1 to 9 other parts of the cleaning device 100, the control method of the cleaning device 100, the controller 71, and the computer-readable storage medium provided in this embodiment can be referred to Embodiments 1 to 9, and will not be described in detail here.
  • Embodiment 11 is a diagrammatic representation of Embodiment 11:
  • the movable arrangement is that the introduction member 20 is rotatably connected to the main cleaning member 10 or the recovery container 30; and in this embodiment, the introduction member 20 is movable, and at least part of the introduction member 20 can be raised and lowered relative to the main frame 40.
  • the introduction member 20 has an introduction part 204 close to the surface 200 to be cleaned and with an adjustable gap between the surface 200 and the surface 200 to be cleaned.
  • the introduction part 204 is used to insert the surface 200 into the surface 200 to be cleaned.
  • the garbage on the main cleaning member 10 is guided to the main cleaning member 10 or the working area of the main cleaning member 10 .
  • the introduction part 204 is the bottom of the introduction member 20 , that is, the part of the introduction member 20 closest to the surface 200 to be cleaned in the height direction of the cleaning device 100 .
  • the introduction member 20 is connected to the main chassis 40 in a manner that at least part of it can be raised and lowered relative to the main chassis 40 .
  • the main frame 40 is fixed relative to the surface to be cleaned 200 along the height direction of the cleaning device 100.
  • the introduction member 20 is connected to the main frame 40 in a manner that can at least partially move up and down relative to the main frame 40, so that the introduction member 20 is at least partially relative to the main frame 40.
  • the frame 40 moves up and down, so that the size of the gap between the introduction part 204 of the introduction member 20 and the surface 200 to be cleaned can be adjusted.
  • the introduction member 20 is movably connected to the main frame 40 in a manner that the whole body can be raised and lowered relative to the main frame 40 .
  • the introduction member 20 includes a fourth connecting frame (not shown), a fifth endless belt 251, a fifth roller 252, a fourth The motor (not shown) and at least one sixth guide part 253, the fifth roller 252, the fourth motor and each sixth guide part 253 are all installed on the fourth connecting frame, and the fourth motor and the fifth roller 252
  • the transmission connection is used to drive the fifth roller 252 to rotate.
  • the fifth annular belt 251 rotatably surrounds the fifth roller 252 and the sixth guide part 253.
  • the fifth roller 252 or the sixth guide part 253 is used for The fifth annular belt 251 is pressed against the fifth annular belt 251 so that the fifth annular belt 251 forms the introduction part 204; the cleaning device 100 also includes a second elastic member 255, and the fourth connecting frame is elastically connected to the main frame through the second elastic member 255 to be able to lift and lower. 40.
  • the structure of the fourth connecting frame may refer to the first connecting frame 214 in Embodiment 1, and will not be described in detail here.
  • the fifth roller 252 and at least one sixth guide portion 253 are spaced apart along the height direction of the cleaning device 100 .
  • the number of sixth guide parts 253 is more than two, and at least one sixth guide part 253 allows the fifth annular belt 251 to form an introduction slope 201 , and the introduction slope 201 extends obliquely from the introduction part 204 to the introduction part. The front and top of 204.
  • the sixth guide portion 253 includes at least one of a roller, a rod with at least a partial outer surface that is cylindrical, or a non-circular component that has a partial outer surface that is arc-shaped.
  • controlling the operation of the introduction member 20 includes: controlling the rotation of the fourth motor of the cleaning device 100 so that the fourth motor drives the fifth roller of the introduction member 20 252 rotates, thereby causing the fifth annular belt 251 surrounding the fifth roller 252 and the sixth guide portion 253 to rotate.
  • Embodiments 1 to 10 In addition to the above differences, other parts of the cleaning device 100 and the control method of the cleaning device 100, the controller 71, and the computer-readable storage medium provided in this embodiment can be referred to Embodiments 1 to 10, and will not be described in detail here.
  • Embodiment 12 is a diagrammatic representation of Embodiment 12
  • the difference between the cleaning device 100 and the control method of the cleaning device 100 , the controller 71 , and the computer-readable storage medium provided in this embodiment and the first embodiment mainly lie in the number of first guide members 213 and the shape of the first annular belt 211
  • the difference is specifically reflected in:
  • the number of first guide parts 213 is more than two; while in this embodiment, the number of first guide parts 213 is one.
  • the number of the first guide member 213 is one, and the first roller 212 is provided above or below the first guide member 213 .
  • the shape formed by the first annular belt 211 is a diagonal annular structure. Among the two corners formed by the first annular belt 211, one corner is located at the bottom of the introduction member 20, and the other corner is located respectively at the introduction member 20. top of member 20.
  • the outer contour of the first annular belt 211 is similar to a waist-shaped hole, that is, a structure formed by two spaced and opposed straight edges and two spaced and opposed arcuate edges.
  • the first annular belt 211 can also form an annular structure of other shapes.
  • the first guide member 213 is set to include an inclined surface and two The arc surfaces located at both ends of the inclined surface can also cause the first annular belt 211 to form a triangular annular structure similar to that in the first embodiment.
  • Embodiments 1 to 11 other parts of the cleaning device 100, the control method of the cleaning device 100, the controller 71, and the computer-readable storage medium provided in this embodiment can be referred to Embodiments 1 to 11, and will not be described in detail here.
  • Embodiment 13 is a diagrammatic representation of Embodiment 13:
  • the difference between the cleaning device 100 and the control method, the controller 71 and the computer-readable storage medium of the cleaning device 100 provided in this embodiment and the eleventh embodiment mainly lies in the different structure of the introduction member 20, which is specifically reflected in: , the introduction member 20 is an annular belt structure; and in this embodiment, the introduction member 20 is a roller brush structure.
  • the introduction member 20 includes a third connecting frame (not shown), a third motor (not shown) and a second Rolling brush 261, the second rolling brush 261 is rotatably installed on the third connecting frame, and the third motor is installed on the third connecting frame and is used to drive the second rolling brush 261 to rotate;
  • the cleaning device 100 also includes a first elastic member 262.
  • the third connecting frame is elastically connected to the main frame 40 through the first elastic member 262 in a liftable and lowerable manner.
  • the introduction part 204 is formed on the side of the first roller brush 241 facing the surface 200 to be cleaned, that is, the bottom of the first roller brush 241 .
  • the third motor drives the second roller brush 261 to rotate, and during the rotation of the second roller brush 261, the garbage is guided; the second connecting frame is elastically connected to the main frame 40 through the first elastic member 262 to lift and lower, thereby driving The second roller brush 261 connected to the third connecting frame is elastically connected to the main frame 40 in an elevating and lowerable manner.
  • the garbage exerts an upward force on the second roller brush 261, and the first elastic member 262 compression, the gap between the introduction component and the surface to be cleaned 200 increases, thereby allowing larger volume of garbage to pass.
  • the structure of the third connecting frame may refer to the first connecting frame 214 in Embodiment 1, and will not be described in detail here.
  • controlling the operation of the introduction member 20 includes: controlling the rotation of the third motor of the cleaning device 100 so that the third motor drives the second roller brush of the introduction member 20 261 turns.
  • Embodiments 1 to 12 In addition to the above differences, other components of the cleaning device 100, the control method of the cleaning device 100, the controller 71, and the computer-readable storage medium provided in this embodiment can be referred to Embodiments 1 to 12, and will not be described in detail here.
  • the difference between the cleaning device 100 and the control method, the controller 71, and the computer-readable storage medium of the cleaning device 100 provided in this embodiment and the first embodiment mainly lies in the different lifting methods of the introduction member 20 relative to the main frame 40, which is specifically reflected in:
  • the introduction member 20 is movably connected to the main frame 40 in such a manner that the whole thereof can be raised and lowered relative to the main frame 40; while in this embodiment, the introduction member 20 is movably connected to the main frame 40 in such a manner that part of it can be raised and lowered relative to the main frame 40.
  • the introduction member 20 is connected to the main frame 40 in such a manner that at least one part thereof can be raised and lowered relative to the main frame 40 and at least another part cannot be raised and lowered relative to the main frame 40 .
  • the introduction member 20 includes a fifth connecting frame 277, a third endless belt 271, a third roller 272, and a fifth motor (not shown in the figure).
  • the fifth connecting frame 277 is connected to the main frame 40;
  • the third roller 272 is rotatably installed on the fifth connecting frame 277 or the main frame 40;
  • the fifth motor is installed on the fifth connecting frame 277 or the main frame 40 and is used to drive the fifth connecting frame 277 or the main frame 40.
  • the three rollers 272 rotate; the third guide member 273 is elastically connected to the fifth connecting frame 277 through the third elastic member 274 and the third guide member 273 is used to press the third annular belt 271 to form the third annular belt 271
  • the first end; the tensioning component 276 is elastically connected to the fifth connecting frame 277 or the main frame 40 through the fourth elastic member 275 and the tensioning component 276 is used to press against the third annular belt 271 for tensioning the third ring.
  • the gap size between the introduction part 204 and the surface to be cleaned 200 can be adjusted through the third elastic member 274, so as to satisfy the passage of garbage of different sizes; the third annular belt 271 can be adjusted through the fourth elastic member 275. It is always in a tensioned state to prevent the third annular belt 271 from slackening and affecting the transmission of garbage.
  • the tensioning member 276 and the fourth elastic member 275 are disposed in the space enclosed by the third annular belt 271; of course, in specific applications, as an alternative implementation, the tensioning member 276 and the fourth elastic member 275 are arranged in the space enclosed by the third annular belt 271.
  • the elastic member 275 may also be provided outside the space enclosed by the third annular belt 271 .
  • the tensioning member 276 presses forward from the inside of the third annular belt 271 against the front side of the third annular belt 271 .
  • the tensioning member 276 can also press the third annular belt 271 from other directions.
  • the third guide component 273 includes at least one of a roller, a rod with at least a partial outer surface that is cylindrical, or a non-circular component that has a partial outer surface that is arc-shaped.
  • the tensioning component 276 includes at least one of a roller, a rod with at least a partial outer surface that is cylindrical, or a non-circular component that has a partial outer surface that is arc-shaped.
  • the structure of the third guide component 273 and the tensioning component 276 may refer to the structure of the first guide component 213 in Embodiment 1, and will not be described in detail here.
  • controlling the operation of the introduction member 20 includes: controlling the rotation of the fifth motor of the cleaning device 100 so that the fifth motor drives the third roller of the introduction member 20 272 rotates, thereby causing the third annular belt 271 surrounding the third roller 272 and the third guide member 273 to rotate.
  • Embodiments 1 to 13 In addition to the above differences, other parts of the cleaning device 100, the control method of the cleaning device 100, the controller 71, and the computer-readable storage medium provided in this embodiment can be referred to Embodiments 1 to 13, and will not be described in detail here.
  • Embodiment 15 is a diagrammatic representation of Embodiment 15:
  • the difference between the cleaning device 100 and the control method of the cleaning device 100 , the controller 71 , and the computer-readable storage medium provided in this embodiment and the fourteenth embodiment mainly lies in the structure of the introduction member 20 and the shape formed by the third annular belt 271 . .
  • the introduction member 20 further includes at least one fourth guide member 281 , and the third annular belt 271 rotatably surrounds the third roller 272 and the third guide member 281 .
  • the fourth guide component 281 includes at least one of a roller, a rod with at least a partial outer surface that is cylindrical, or a non-circular component that has a partial outer surface that is arc-shaped.
  • the tensioning member 276 and the fourth elastic member 275 are provided outside the space enclosed by the third annular belt 271 .
  • the tensioning member 276 and the fourth elastic member 275 may also be disposed in the space enclosed by the third annular belt 271 .
  • the tensioning member 276 presses downwardly against the third annular belt 271 from above.
  • the tensioning member 276 may also press the third annular belt 271 from the front to the rear.
  • the number of the fourth guide members 281 is two. Of course, in specific applications, the number of the fourth guide members 281 may also be one or more than three.
  • Embodiments 1 to 14 In addition to the above differences, other parts of the cleaning device 100, the control method of the cleaning device 100, the controller 71, and the computer-readable storage medium provided in this embodiment can be referred to Embodiments 1 to 14, and will not be described in detail here.
  • Embodiment 16 is a diagrammatic representation of Embodiment 16:
  • the difference between the cleaning device 100 and the control method, the controller 71 and the computer-readable storage medium of the cleaning device 100 provided in this embodiment and the first embodiment mainly lies in the different arrangement of the main cleaning member 10, which is specifically reflected in:
  • the main cleaning member 10 is a cleaning belt; and in this embodiment, the main cleaning member 10 is a fan.
  • the main cleaning member 10 is used to transport garbage to the recycling container 30 driven by wind.
  • the main cleaning component 10 includes a first fan 18.
  • the first fan 18 is used to suck the garbage on the surface 200 to be cleaned to the recycling container 30.
  • the introduction component 20 is used to To guide the garbage on the surface 200 to be cleaned to the suction area of the first fan 18 and/or the recovery container 30.
  • the first fan 18 is provided behind the introduction member 20 along the moving direction of the cleaning device 100 .
  • the recovery container 30 is provided behind the introduction member 20 along the moving direction of the cleaning device 100 .
  • the first fan 18 is installed inside the recycling container 30 , or the first fan 18 is installed outside the recycling container 30 and communicates with the recycling container 30 through a partition.
  • the introduction member 20 is rotatably connected to the recycling container 30 , or the introduction member 20 is connected to the main frame 40 in a manner that can at least partially lift relative to the main frame 40 .
  • controlling the operation of the main cleaning member 10 so that the main cleaning member 10 transfers garbage to the recycling container 30 includes: controlling the first fan of the main cleaning member 10 18 rotates so that the first fan 18 sucks the garbage on the surface 200 to be cleaned to the recycling container 30 .
  • Embodiments 1 to 15 In addition to the above differences, other parts of the cleaning device 100, the control method of the cleaning device 100, the controller 71, and the computer-readable storage medium provided in this embodiment can be referred to Embodiments 1 to 15, and will not be described in detail here.
  • the difference between the cleaning device 100 and the control method, the controller 71 and the computer-readable storage medium of the cleaning device 100 provided in this embodiment and the sixteenth embodiment mainly lies in the different placement position of the first fan 18 .
  • At least part of the first fan 18 is disposed above the introduction member 20 along the height direction of the cleaning device 100 .
  • the recovery container 30 is provided above the introduction member 20 along the moving direction of the cleaning device 100 .
  • the first fan 18 is installed inside the recycling container 30 , or the first fan 18 is installed outside the recycling container 30 and communicates with the recycling container 30 through a partition.
  • Embodiments 1 to 16 In addition to the above differences, other parts of the cleaning device 100, the control method of the cleaning device 100, the controller 71, and the computer-readable storage medium provided in this embodiment can be referred to Embodiments 1 to 16, and will not be described in detail here.
  • the main cleaning member 10 is a cleaning belt; and in this embodiment, the main cleaning member 10 is a combination of a fan and a mopping component.
  • the main cleaning member 10 includes a rear cleaning component 19 and a first fan 18 .
  • the rear cleaning component 19 is provided on the introduction member 20 along the moving direction of the cleaning device 100 .
  • the first fan 18 is used to suck the garbage from the gap between the introduction member 20 and the rear cleaning component 19 to the recycling container 30 .
  • the rear cleaning component 19 includes at least one of an annular cleaning belt, a roller brush, a bristle brush, a disk brush, and a mop.
  • the mopping member includes an annular cleaning belt, a similar arrangement to the main cleaning member 10 in Embodiment 1 can be adopted.
  • the introduction member 20 and the rear cleaning component 19 are similar to the annular cleaning belt structure in Embodiment 1.
  • the introduction member 20 and the rear cleaning component 19 At least one of may also be a roller brush structure.
  • the recycling container 30 includes a first container 31 and a second container 32.
  • the first baffle 81 is used to guide the garbage to the first container 31, and the first fan 18 is used to suck the garbage to the second container.
  • Container 32 is used to guide the garbage to the first container 31 and the first fan 18 to suck the garbage to the second container.
  • controlling the operation of the main cleaning member 10 so that the main cleaning member 10 transfers garbage to the recycling container 30 includes: controlling the rear cleaning components of the main cleaning member 10 19 is running, and the second fan of the main cleaning member 10 is controlled to rotate, so that the second fan sucks the garbage from the gap between the introduction member 20 and the rear cleaning member 19 to the recovery container 30 .
  • Embodiments 1 to 16 In addition to the above differences, other parts of the cleaning device 100 and the control method of the cleaning device 100, the controller 71, and the computer-readable storage medium provided in this embodiment can be referred to Embodiments 1 to 16, and will not be described in detail here.

Landscapes

  • Cleaning In General (AREA)

Abstract

L'invention concerne un dispositif de nettoyage, son procédé de commande, un dispositif de commande et un support d'enregistrement lisible par ordinateur. Le dispositif de nettoyage comprend un récipient de collecte, un composant de nettoyage principal et un composant de guidage, le récipient de collecte étant utilisé pour collecter des déchets, le composant de nettoyage principal étant utilisé pour transférer les déchets vers le récipient de collecte, et le composant de guidage étant disposé devant le composant de nettoyage principal dans le sens du déplacement du dispositif de nettoyage, de façon à guider les déchets sur une surface à nettoyer vers le composant de nettoyage principal ou vers une zone de travail du composant de nettoyage principal. Selon la présente demande, grâce à l'élément de guidage placé devant l'élément de nettoyage principal, les déchets se trouvant sur une surface à nettoyer sont guidés vers l'élément de nettoyage principal ou vers la zone de travail de l'élément de nettoyage principal, ce qui permet à l'élément de nettoyage principal de mieux éliminer les déchets se trouvant sur la surface à nettoyer et d'améliorer l'effet de nettoyage de l'appareil de nettoyage sur la surface à nettoyer.
PCT/CN2022/094271 2022-05-20 2022-05-20 Dispositif de nettoyage, son procédé de commande, dispositif de commande et support d'enregistrement lisible par ordinateur WO2023221139A1 (fr)

Priority Applications (11)

Application Number Priority Date Filing Date Title
PCT/CN2022/094271 WO2023221139A1 (fr) 2022-05-20 2022-05-20 Dispositif de nettoyage, son procédé de commande, dispositif de commande et support d'enregistrement lisible par ordinateur
CN202280012954.7A CN116916804A (zh) 2022-05-20 2022-05-20 清洁装置及其控制方法、控制器、计算机可读存储介质
PCT/CN2022/126941 WO2023221396A1 (fr) 2022-05-20 2022-10-24 Dispositif de nettoyage
PCT/CN2022/126932 WO2023221394A1 (fr) 2022-05-20 2022-10-24 Mécanismes de support pour dispositif de nettoyage
PCT/CN2022/126937 WO2023221395A1 (fr) 2022-05-20 2022-10-24 Dispositif de nettoyage avec composant de séchage amélioré
PCT/CN2022/126943 WO2023221397A1 (fr) 2022-05-20 2022-10-24 Dispositif de nettoyage
PCT/CN2022/126925 WO2023221393A1 (fr) 2022-05-20 2022-10-24 Dispositif de nettoyage
CN202321244080.6U CN220369931U (zh) 2022-05-20 2023-05-20 清洁装置
CN202321244142.3U CN220546223U (zh) 2022-05-20 2023-05-20 清洁装置
PCT/CN2023/095407 WO2023222131A1 (fr) 2022-05-20 2023-05-20 Dispositif de nettoyage
CN202321232348.4U CN220546222U (zh) 2022-05-20 2023-05-20 清洁装置

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2022/094271 WO2023221139A1 (fr) 2022-05-20 2022-05-20 Dispositif de nettoyage, son procédé de commande, dispositif de commande et support d'enregistrement lisible par ordinateur

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Publication Number Publication Date
WO2023221139A1 true WO2023221139A1 (fr) 2023-11-23

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PCT/CN2022/094271 WO2023221139A1 (fr) 2022-05-20 2022-05-20 Dispositif de nettoyage, son procédé de commande, dispositif de commande et support d'enregistrement lisible par ordinateur

Country Status (2)

Country Link
CN (1) CN116916804A (fr)
WO (1) WO2023221139A1 (fr)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5848521A (en) * 1996-01-17 1998-12-15 Kioritz Corporation Scattered objects collector
CN201236328Y (zh) * 2008-05-08 2009-05-13 张斌达 落叶收集处理机
CN202881882U (zh) * 2012-11-15 2013-04-17 晁选军 一种新型节能环保道路清扫车
CN204780730U (zh) * 2015-06-26 2015-11-18 关任 一种扫地车用扫地机构
CN205994472U (zh) * 2015-05-02 2017-03-08 程浩鹏 一种卷动式擦地机和卷动抹布器及清洗机

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5848521A (en) * 1996-01-17 1998-12-15 Kioritz Corporation Scattered objects collector
CN201236328Y (zh) * 2008-05-08 2009-05-13 张斌达 落叶收集处理机
CN202881882U (zh) * 2012-11-15 2013-04-17 晁选军 一种新型节能环保道路清扫车
CN205994472U (zh) * 2015-05-02 2017-03-08 程浩鹏 一种卷动式擦地机和卷动抹布器及清洗机
CN204780730U (zh) * 2015-06-26 2015-11-18 关任 一种扫地车用扫地机构

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