CLEANING DEVICES

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation-in-part of the International Application No. PCT/CN2023/111154, filed on Aug. 4, 2023, which claims priority to the Chinese Application No. 202210943954.0, filed on Aug. 5, 2022, and the Chinese Application No. 202211016723.1, filed on Aug. 24, 2022. This application is also a continuation-in-part of the International Application No. PCT/CN2023/111155, filed on Aug. 4, 2023, which claims priority to the Chinese Application No. 202210943954.0, filed on Aug. 5, 2022. The entire contents of each of all above applications are incorporated herein by reference.

TECHNICAL FIELD

The present disclosure relates to the technical field of intelligent cleaning devices, and in particular to a cleaning device.

BACKGROUND

With the continuous improvement of human life, the application of intelligent cleaning devices is becoming more and more extensive. At present, there are more and more categories of intelligent cleaning devices, such as sweeping devices, floor washing devices, mopping devices, etc., which are constantly entering homes and commercial places.

Cleaning devices on the market are usually provided with a travel wheel driving mechanism, and travel wheels of the travel wheel driving mechanism are usually driven to rotate by a driving motor to achieve autonomous traveling. When the travel wheel driving mechanism fails, the driving motor cannot drive the travel wheels to rotate, and the cleaning device needs to be manually pushed to a specific position for maintenance. Since the resistance from the driving motor is large when pushing the cleaning device, an operator needs to use a large thrust. However, excessive thrust makes the driving motor likely to be reversely powered on, which may cause damage to the motor and affect the service life of the entire cleaning device.

Therefore, it is desirable to provide a cleaning device which has a relatively long service life.

SUMMARY

One or more embodiments of the present disclosure provide a cleaning device. The cleaning device may comprise a body and travel wheels. The cleaning device may further comprise a clutch mechanism and a pull rod mechanism. The clutch mechanism may be engaged with or disengaged from the travel wheels. The pull rod mechanism may be disposed on the body and capable of telescoping along a length direction. The cleaning device may have at least an automatic traveling mode and a push-pull traveling mode. In response to determining that the cleaning device is in the automatic traveling mode, the pull rod mechanism may retract along a length direction of the pull rod mechanism. In response to determining that the cleaning device is in the push-pull traveling mode, the pull rod mechanism may extend along the length direction of the pull rod mechanism.

BRIEF DESCRIPTION OF THE DRAWINGS

The present disclosure will be further illustrated by way of exemplary embodiments, which will be described in detail by means of the accompanying drawings. These embodiments are not limiting, and in these embodiments, the same numbering indicates the same structure, wherein:

FIG. 1 is a schematic structural diagram illustrating an exemplary cleaning device in an automatic traveling mode according to some embodiments of the present disclosure;

FIG. 2 is a schematic structural diagram illustrating an exemplary cleaning device in an interactive traveling mode according to some embodiments of the present disclosure;

FIG. 3 is a schematic structural diagram illustrating an exemplary cleaning device in a push-pull traveling mode according to some embodiments of the present disclosure;

FIG. 5 is a schematic diagram illustrating an enlargement of a portion A in FIG. 4;

FIG. 6 is a schematic diagram illustrating an exemplary internal structure of the travel wheel driving mechanism of the cleaning device in FIG. 4 in response to determining that the switching device is in a second operation state;

FIG. 7 is a schematic diagram illustrating an enlargement of a portion B in FIG. 6;

FIG. 8 is a schematic diagram illustrating a partial structure of the travel wheel driving mechanism in FIG. 4;

FIG. 9 is a first schematic diagram illustrating a three-dimensional structure of a switching member of the travel wheel driving mechanism in FIG. 4;

FIG. 10 is a second schematic diagram illustrating a three-dimensional structure of a switching member of the travel wheel driving mechanism in FIG. 4;

FIG. 11 is a schematic diagram illustrating a three-dimensional structure of a driven wheel of the travel wheel driving mechanism in FIG. 4;

FIG. 12 is a schematic structural diagram illustrating the travel wheel driving mechanism in FIG. 4 after cooperating with a rotation base and a connection member;

FIG. 13 is a schematic diagram illustrating an enlargement of a portion C in FIG. 12;

FIG. 14 is a schematic diagram illustrating a structure in FIG. 12 from another perspective;

FIG. 15 is a schematic diagram illustrating an enlargement of a portion D in FIG. 14;

FIG. 16 is a schematic structural diagram illustrating a connection member of the travel wheel driving mechanism in FIG. 4;

FIG. 17 is a schematic diagram illustrating a mounting structure of the travel wheel driving mechanism in FIG. 4 at a bottom of a body;

FIG. 19 is a schematic diagram illustrating an internal structure of the cleaning device in FIG. 18;

FIG. 20 is a schematic diagram illustrating an overall structure of the cleaning device in FIG. 18 after the push-pull component is switched to an open state;

FIG. 21 is a schematic diagram illustrating a cooperation relationship between the push-pull component and a slide rail of the cleaning device in FIG. 18;

FIG. 22 is an exploded schematic diagram illustrating a partial structural in FIG. 21;

FIG. 24 is a schematic diagram illustrating a cooperation relationship between the push-pull component and a slide rail of the cleaning device in FIG. 23;

FIG. 25 is a schematic diagram illustrating an overall structure of a cleaning device in response to determining that a push-pull component is in a retracted state according to some embodiments of the present disclosure;

FIG. 26 is a schematic diagram illustrating an overall structure of the cleaning device in FIG. 25 after the push-pull component is switched to an open state;

FIG. 28 is a schematic diagram illustrating an overall structure of the cleaning device in FIG. 27 after the push-pull component is switched to an open state.

DETAILED DESCRIPTION

In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the accompanying drawings required to be used in the description of the embodiments are briefly described below. Obviously, the accompanying drawings in the following description are only some examples or embodiments of the present disclosure, and it is possible for a person of ordinary skill in the art to apply the present disclosure to other similar scenarios in accordance with these drawings without creative labor. Unless obviously obtained from the context or the context illustrates otherwise, the same numeral in the drawings refers to the same structure or operation.

It should be understood that the terms “system,” “device,” “unit” and/or “module” used herein are a way to distinguish between different components, elements, parts, sections, or assemblies at different levels. However, the terms may be replaced by other expressions if other words accomplish the same purpose.

As shown in the present disclosure and in the claims, unless the context clearly suggests an exception, the words “one,” “a,” “an,” “one kind,” and/or “the” do not refer specifically to the singular, but may also include the plural. Generally, the terms “including” and “comprising” suggest only the inclusion of clearly identified steps and elements, however, the steps and elements that do not constitute an exclusive list, and the method or device may also include other steps or elements.

FIG. 1 is a schematic structural diagram illustrating an exemplary cleaning device in an automatic traveling mode according to some embodiments of the present disclosure. FIG. 2 is a schematic structural diagram illustrating an exemplary cleaning device in an interactive traveling mode according to some embodiments of the present disclosure. FIG. 3 is a schematic structural diagram illustrating an exemplary cleaning device in a push-pull traveling mode according to some embodiments of the present disclosure.

Some embodiments of the present disclosure provide a cleaning device. The cleaning device may be configured to clean a surface to be cleaned, and particularly include a plurality of cleaning devices that are relatively large in size, relatively small in height, and lower than an average handheld height. The surface to be cleaned mainly refers to the ground.

As shown in FIGS. 1-3, the cleaning device may include a body 10 and travel wheels 1. The cleaning device may further include a clutch mechanism 100 and a pull rod mechanism 200. The clutch mechanism 100 may be engaged with or disengaged from the travel wheels 1. The pull rod mechanism 200 may be disposed on the body 10 and capable of telescoping along a length direction. The cleaning device may have at least an automatic traveling mode and a push-pull traveling mode. In response to determining that the cleaning device is in the automatic traveling mode, the pull rod mechanism 200 may retract along a length direction of the pull rod mechanism 200. In response to determining that the cleaning device is in the push-pull traveling mode, the pull rod mechanism 200 may extend along the length direction of the pull rod mechanism 200.

The body 10 refers to a main structure or a support frame of the cleaning device.

The travel wheels 1 refer to components that make the cleaning device move. For example, the travel wheels 1 may include a transmission belt, a roller, etc. In some embodiments, the travel wheels 1 may be disposed at a bottom of the machine body 10.

The clutch mechanism 100 is a core mechanism of the cleaning device and may be configured to drive the cleaning device to move or switch the operation mode of the cleaning device.

The pull rod mechanism 200 is an auxiliary mechanism of the cleaning device. The pull rod mechanism 200 may be configured to assist the movement of the cleaning device. For example, when the cleaning device is in the push-pull traveling mode, the pull rod mechanism 200 may extend along the length direction of the pull rod mechanism 200 for the user to hold and push and pull the cleaning device.

More descriptions regarding the cleaning device and the operation mode thereof may be found in the related descriptions below.

As shown in FIGS. 1-3, the clutch mechanism 100 may include a driving device 2 and a switching device 3. The switching device 3 may be disposed between the driving device 2 and the travel wheels 1. The switching device 3 may have a first operation state and a second operation state which are switchable. In response to determining that the switching device 3 is in the first operation state, the switching device 3 may cooperate with the driving device 2, such that the driving device 2 and the travel wheels 1 may be in transmission connection, and the travel wheels 1 may automatically move under the driving action of the driving device 2. In response to determining that the switching device 3 is in the second operation state, the switching device 3 may be disengaged from the driving device 2, and the driving device 2 and the travel wheels 1 may be disengaged from the transmission connection. In this way, an operator may push and pull the cleaning device to travel by using a push-pull component 20.

The push-pull component 20 refers to a component for the operator to hold and pull. For example, the push-pull component 20 may include a push-pull rod, etc. In some embodiments, the push-pull component 20 may be disposed at a position such as a top or a side of the body 10 that is convenient for the operator to pull.

In some embodiments, the push-pull component 20 may be telescopically arranged along a length direction. By adjusting the push-pull component 20 and adjusting the operation state (e.g., the first operation state and the second operation state) of the switching device 3, the cleaning device may switch between different operation modes.

In some embodiments, operation modes of the cleaning device may include an automatic traveling mode, a push-pull traveling mode, and an interactive traveling mode.

The automatic traveling mode refers to a mode in which the cleaning device automatically moves under the action of the driving device 2. In some embodiments, when the cleaning device is in the automatic traveling mode, the push-pull component 20 may be shortened along a length direction of the push-pull component 20, and the switching device 3 may be in the first operation state, as shown in FIG. 1. In this case, the cleaning device may automatically move under the driving action of the driving device 2.

The push-pull traveling mode refers to a mode in which the cleaning device moves under the traction of the operator. In some embodiments, when the cleaning device is in the push-pull traveling mode, the push-pull component 20 may extend along a length direction of the push-pull component 20, and the switching device 3 may be in the second operation state, as shown in FIG. 3. In this case, the travel wheels 1 may travel under the traction of the push-pull component 20. In the push-pull traveling mode, the wheel shafts 12 of the travel wheels 1 may no longer be driven to rotate by the driving device 2, and the operator may push and pull the cleaning device by holding the push-pull component 20.

The interactive traveling mode refers to a mode in which the cleaning device moves under the joint action of the drive device 2 and the operator. In some embodiments, in the interactive traveling mode, the push-pull component 20 may extend along the length direction of the push-pull component 20, and the switching device 3 may be in the first operation state, as shown in FIG. 2. In this case, the travel wheels 1 may move under the driving action of the driving device 2, but a traveling direction of the cleaning device may be controlled by the operator by manipulating the push-pull component 20. The interactive traveling mode is mainly used to move the cleaning device to a required position, such as a local dirty position, or in a drawing operation before operation of the cleaning device. The drawing operation refers to establishment of a route map for the operation of the cleaning device.

The driving device 2 refers to a device for driving the cleaning device to move. An exemplary driving device 2 may include, but is not limited to, a motor, etc. In some embodiments, the driving device 2 may be in transmission connection with the travel wheels 1 to drive the travel wheels 1, so as to cause the cleaning device to move.

The switching device 3 refers to a device for switching the operation mode of the cleaning device. The switching device 3 may have the first operation state and the second operation state. The first operation state refers to a state in which the switching device 3 and the driving device 2 cooperate with each other. For example, when the switching device 3 is in the first operation state, the switching device 3 and the driving device 2 may cooperate with each other, so that the driving device 2 may be in transmission connection with the travel wheels 1, and the travel wheels 1 may automatically move under the driving action of the driving device 2. In this case, the cleaning device may be in the automatic traveling mode. The second operation state refers to a state in which the switching device 3 is disengaged from the driving device 2. For example, when the switching device 3 is in the second operation state, the switching device 3 may be disengaged from the driving device 2, and the driving device 2 and the travel wheels 1 may be disengaged from the transmission connection. The operator may push and pull the cleaning device to travel by the push-pull component 20. In this case, the cleaning device may be in the push-pull traveling mode.

More descriptions regarding the cleaning device may be found in FIGS. 4-28 and the related descriptions thereof.

In some embodiments of the present disclosure, by adjusting the coordination state between the switching device and the driving device, the operator does not need to overcome the resistance from the driving device when pushing and pulling the cleaning device, thereby reducing the possibility of the motor of the driving device being reversely powered on, and increasing the service life of the motor.

FIG. 4 is a schematic diagram illustrating an exemplary internal structure of a travel wheel driving mechanism of a cleaning device in response to determining that a switching device is in a first operation state according to some embodiments of the present disclosure. FIG. 5 is a schematic diagram illustrating an enlargement of a portion A in FIG. 4. FIG. 6 is a schematic diagram illustrating an exemplary internal structure of the travel wheel driving mechanism of the cleaning device in FIG. 4 in response to determining that a switching device is in a second operation state. FIG. 7 is a schematic diagram illustrating an enlargement of a portion B in FIG. 6.

In some embodiments, as shown in FIGS. 4-7, each of the travel wheels 1 may include a wheel body 11 and a wheel shaft 12. The wheel body 11 may be coaxially fixed on the wheel shaft 12. The driving device 2 may include at least a driving member. The driving member may sleeve the wheel shaft 12 in a relative rotation manner. The switching device 3 may include a switching member 31. The switching member 31 may sleeve the wheel shaft 12 and may rotate synchronously with the wheel shaft 12. One of the switching member 31 and the driving member may be provided with protrusions, and the other of the switching member 31 and the driving member may be provided with accommodation portions. When the switching device 3 is in a first operation state, the protrusions may be embedded in the accommodation portions, such that the switching member 31 and the driving member may rotate synchronously, and the travel wheels 1 may be driven by the driving device 2. When the switching device 3 is in a second operation state, the protrusions may be disengaged from the accommodation portions. In this case, the wheel shaft 12 may rotate relative to the driving member, and the driving device 2 may no longer drive the travel wheels 1 to travel.

In some embodiments, the driving device 2 may include a motor 21, a driving wheel 22, a driven wheel 23, and a synchronous belt tensioned between the driving wheel 22 and the driven wheel 23. The driven wheel 23 may coaxially and rotatably sleeve the wheel shaft 12. The motor 21 may be configured to drive the driving wheel 22 to rotate. The driven wheel 23 may form the driving member. An exemplary motor 21 may include a servo motor, a stepping motor, a DC motor, etc.

The wheel body 11 refers to a portion of each of the travel wheels that directly contacts a surface to be cleaned to roll and move. In some embodiments, the wheel body 11 may be coaxially fixed on the wheel shaft 12, and the wheel body 11 and the wheel shaft 12 may rotate or move synchronously.

The wheel shaft 12 refers to a shaft body that supports and fixes the wheel body 11 and transmits a torque. For example, the wheel shaft 12 may be a central axis around which the wheel body rotates. A shape and a size of the wheel shaft 12 may be set according to actual needs.

In some embodiments, the wheel shaft 12 may be a cylindrical shaft. The wheel body 11 may include a tire 111 and a hub 112. The tire 111 may be circumferentially disposed on a side wall of the hub 112. The hub 112 may be coaxially connected with the wheel shaft 12.

In some embodiments, the wheel body 11 and the wheel shaft 12 may be connected in various ways, such as welding, bonding, mechanical connection, etc.

The driving member refers to a part that drives the cleaning device to move. The switching member 31 refers to a part that switches the operation mode of the cleaning device. In some embodiments, the driving member and the switching member 31 may achieve mutual cooperation or disengagement through cooperation or disengagement of the protrusions and the accommodation portions.

The protrusions refer to structures that protrude outward compared to the body. In some embodiments, a shape and a size of each of the protrusions may be arbitrary, such as a cylindrical shape, a conical shape, or the like, or other irregular shapes. In some embodiments, the shape and the size of each of the protrusions may be set according to actual needs.

The accommodation portions refer to structures that accommodate the protrusions. For example, the accommodation portions may be a cavity, a groove, a track, etc. In some embodiments, a shape and a size of each of the accommodation portions depends on a shape and a size of an accommodated component. For example, when one of the protrusions is a cylindrical shape, one of the accommodation portions may be a cylindrical groove that can accommodate the protrusion.

In some embodiments, geometric positions of the protrusions and the accommodation portions in the cleaning device may be the same. For example, when the protrusions are arranged on any one of the driving member or the switching member 31, the accommodation portions may be arranged on positions of the other of the driving member or the switching member 31 corresponding to the protrusions to cooperate with each other.

In some embodiments, the protrusions and the accommodation portions may be arranged on axial end surfaces of the driving member and the switching member facing each other. The switching member and the driving member may move relative to each other along an axial direction of the wheel shaft 12, such that the switching device 3 may switch between the first operation state and the second operation state.

In some embodiments of the present disclosure, by engagement and disengagement of the protrusions and the accommodation portions, the travel wheels 1 may be driven to automatically travel by the driving device 2 or may be pushed and pulled to travel after being disengaged from the driving device 2. The structure is reasonable and easy to assemble. Moreover, when the switching device 3 is in the second operation state, the wheel shaft 12 and the wheel body 11 may rotate relative to the driven wheel 23. In the process of manually pushing the cleaning device, the resistance from the motor 21 is reduced, and the thrust required to push the travel wheels 1 is reduced, which is convenient for manual pushing and driving the travel wheels 1 to travel. Meanwhile, reverse power-on of the motor 21 is avoided, the motor 21 is protected, and the service life of the motor 21 is guaranteed, thereby ensuring the durability of the cleaning device as a whole and reducing the maintenance cost. In addition, the motor 21 drives the wheel body 11 to rotate through the connection of the driving wheel 22, the driven wheel 23 and the synchronous belt 24, and the size along the axial direction of the wheel shaft 12 can also be reduced, which is conducive to reducing the occupied space, increasing the compactness of the structure of the driving device 2, and improving the practicality of the driving device 2.

FIG. 8 is a schematic diagram illustrating a partial structure of the travel wheel driving mechanism in FIG. 4. FIG. 9 is a first schematic diagram illustrating a three-dimensional structure of a switching member of the travel wheel driving mechanism in FIG. 4. FIG. 10 is a second schematic diagram illustrating a three-dimensional structure of a switching member of the travel wheel driving mechanism in FIG. 4.

In some embodiments, as shown in FIG. 8 and FIG. 10, the switching member 31 may slidably sleeve the wheel shaft 12 along an axial direction of the wheel shaft 12. The wheel shaft 12 may include a first shaft section 121 and a second shaft section 122 which are connected coaxially. The driving member may be disposed on the second shaft section 122 in a relative rotation manner. The switching member 31 may slidably sleeve the first shaft section 121 along the axial direction of the wheel shaft 12. The first shaft section 121 may include a synchronous connection shaft section 1211 and a rotation connection shaft section 1212. The synchronous connection shaft section 1211 may be disposed between the rotation connection shaft section 1212 and the second shaft section 122. The switching member 31 and the wheel body 11 may be disposed on two different sides of the driving member. When the switching device 3 is in a first operation state, the switching member 31 may sleeve the synchronous connection shaft section 1211 to rotate synchronously with the wheel shaft 12. When the switching device 3 is in a second operation state, the switching member 31 may sleeve the rotation connection shaft section 1212 to rotate relative to the wheel shaft 12.

In some embodiments, as shown in FIGS. 8-10, the switching member 31 may be annular. The wheel shaft 12 may include a first shaft section 121 and a second shaft section 122 which are coaxially connected. A cross section of the second shaft section 122 may be circular, and a cross section of an inner side wall of the driven wheel 23 may be circular, such that the driven wheel 23 may rotate relative to the second shaft section 122. The first shaft section 121 may include a synchronous connection shaft section 1211. The synchronous connection shaft section 1211 may be coaxially connected with the second shaft section 122. When the switching member 31 sleeves the synchronous connection shaft section 1211, the switching device 3 may be in the first operation state, and the switching member 31 may rotate synchronously with the wheel shaft 12.

In some embodiments, as shown in FIGS. 8-10, a side wall of the synchronous connection shaft section 1211 includes two first plane portions. The two first plane portions may be parallel and spaced apart. Two first arcuate portions may be connected between the two first plane portions. The two first plane portions and the two first arcuate portions may be alternately arranged. Center angles of the two first plane portions may be the same. Meanwhile, an inner side wall of the switching member 31 may include two second plane portions 3151. The two second plane portions 3151 may be parallel and spaced apart. Two second arcuate portions 3152 may be connected between the two second plane portions 3151. The second plane portions 3151 and the second arcuate portions 3152 may be alternately arranged. Center angles of the two second plane portions 3151 may be the same. Axes of the two first arcuate portions may be colinear with axes of the two second arcuate portions 3152. When the switching member 31 is located on the synchronous connection shaft section 1211, the two first plane portions may fit the two second plane portions 3151, respectively, and the two first arcuate portions may fit the two second arcuate portions 3152, respectively.

In some embodiments, a cross section of the synchronous connection shaft section 1211 may be D-shaped, i.e., the side wall of the synchronous connection shaft section 1211 may include a first plane portion and a first arcuate portion. In this case, a cross section of the inner side wall of the switching member 31 may be D-shaped, i.e., the inner side wall of the switching member 31 may include a second plane portion 3151 and a second arcuate portion 3152. When the switching device 3 is in the first operation state, the switching member 31 may be located on the synchronous connection shaft section 1211, and the first plane portion and the second plane portion 3151 may fit each other, such that the driven wheel 23 may drive the switching member 31 and the wheel shaft 12 to rotate synchronously. It should be noted that the cross section of the switching member 31 and the cross section of the synchronous connection shaft section 1211 may also be any other feasible shape, as long as the switching member 31 and the wheel shaft 12 can rotate synchronously.

In some embodiments, protrusions and the accommodation portions may be disposed on end surfaces of the driven wheel 23 and the switching member 31 facing each other, and the switching member 31 and the driven wheel 23 may move toward each other along an axial direction of the wheel shaft 12, such that the switching device 3 may switch between the first operation state and the second operation state. With the above structural arrangement, the relative movement between the switching member 31 and the driven wheel 23 along the axial direction of the wheel shaft 12 can be achieved, and the switching device 3 can switch between the first operation state and the second operation state, which simplifies the switching process and facilitates operation. In addition, in the present embodiment, the switching member 31 can slidably sleeve the wheel shaft 12 along the axial direction of the wheel shaft 12, and the axial position of the driven wheel 23 on the wheel shaft 12 remains constant, and thus the structure is simpler. The driven wheel 23 may fixedly sleeve the second shaft section 122, and the switching member 31 may slidably sleeve the first shaft section 121, i.e., the switching member 31 may move along the axial direction of the wheel shaft 12.

As shown in FIG. 8, two retaining rings 14 may fixedly sleeve the second shaft section 122. The driven wheel 23 may sleeve the second shaft section 122 and may be clamped between the two retaining rings 14 to prevent the driven wheel 23 from moving, such that the switching device 3 may reliably switch from the first operation state to the second operation state, thereby further avoiding the resistance generated by the motor 21 when the travel wheels 1 are manually driven, and avoiding reverse power-on of the motor 21.

In some embodiments, the switching member 31 may fixedly sleeve the first shaft section 121, and the driven wheel 23 may slidably sleeve the second shaft section 122. The specific arrangement position or manner of the switching member 31 and the driven wheel 23 is not limited in the present disclosure.

In some embodiments, an adjustment ring 15 may be provided between the driven wheel 23 and each of the retaining rings 14. The adjustment ring 15 may sleeve the wheel shaft 12. If there is a gap between the driven wheel 23 and each of the retaining rings 14, the adjustment ring 15 may fill the gap to further prevent the driven wheel 23 from moving axially.

In some embodiments, the first shaft section 121 may further include a rotation connection shaft section 1212. The rotation connection shaft section 1212 may be coaxially connected with the synchronous connection shaft section 1211. The synchronous connection shaft section 1211 may be connected between the rotation connection shaft section 1212 and the second shaft section 122. The switching member 31 may slidably sleeve the first shaft section 121, i.e., the switching member 31 may move axially between the rotation connection shaft section 1212 and the synchronous connection shaft section 1211. A cross section of the rotation connection shaft section 1212 may be circular. A diameter of the rotation connection shaft section 1212 may not be greater than a vertical distance between the two second plane portions 3151, such that when the switching member 31 is located on the rotation connection shaft section 1212, the switching member 31 may rotate relative to the rotation connection shaft section 1212.

In some embodiments, the switching member 31 and the wheel body 11 may be disposed on two opposite sides of the driven wheel 23. The switching device 3 may include a gripping member 32. The gripping member 32 may be connected to an end of the switching member 31 opposite to the driven wheel 23. By providing the gripping member 32, the switching member 31 can be easily moved, thereby improving the convenience of use.

In some embodiments, as shown in FIG. 8, the wheel shaft 12 may further include a third shaft section 123. The wheel body 11 may be coaxially fixed on the third shaft section 123. The third shaft section 123 may be coaxially connected to an end of the second shaft section 122 away from the first shaft section 121.

In some embodiments, as shown in FIGS. 4-8, a stop member 13 may be fixedly disposed at one end of the wheel shaft 12 away from the wheel body 11. When the switching device 3 is in the second operation state, the switching member 31 may sleeve the rotating connecting shaft section 1212 to rotate relative to the wheel shaft 12, and the stop member 13 may cooperate with the switching member 31 to limit an axial position of the switching member 31 on the wheel shaft 12.

The stop member 13 refers to a component that limits the axial movement of the switching member 31 when the switching member 31 is in the second operation state. As shown in FIGS. 4-8, the stop member 13 may include a connection portion 131 and a stop portion 132 that is disposed protruding. The connection portion 131 may be connected to the wheel shaft 12. The stop portion 132 may protrude on a side wall of the connection portion 131 and extend outwardly along a radial direction the wheel shaft 12. An end surface of the switching member 31 opposite to the driven wheel 23 may be provided with an accommodation hole 313. The accommodation hole 313 may be coaxial with the wheel shaft 12. An avoidance groove 3131 may be axially disposed on a hole wall of the accommodation hole 313. The avoidance groove 3131 may penetrate through an opening surface of the accommodation hole 313. A switching hole 3132 may be circumferentially disposed on the hole wall of the accommodation hole 313. The switching hole 3132 may be in communication with the avoidance groove 3131. When the switching member 31 sleeves the rotation connection shaft section 1212, the stop member 13 may be arranged in the accommodation hole 313 and the avoidance groove 3131, and the switching member 31 may rotate relative to the wheel shaft 12, such that the stop portion 132 may rotate into the switching hole 3132.

It can be understood that in the process of the switching member 31 moving from the synchronous connection shaft section 1211 to the rotation connecting shaft section 1212, the switching member 31 may gradually move away from the driven wheel 23, and the connection portion 131 and the stop portion 132 of the stop member 13 may respectively enter the accommodation hole 313 and the avoidance groove 3131, and the connection portion 131 and the stop portion 132 of the stop member 13 may move along the avoidance groove 3131 and the accommodation hole 313. When the switching member 31 moves to connect with the rotation connection shaft section 1212, the switching device 3 may be in the second operation state, the stop member 13 may be arranged in the accommodation hole 313 and the avoidance groove 3131, and the stop portion 132 may be arranged opposite to the switching hole 3132. In this way, the switching member 31 may rotate relative to the wheel shaft 12, such that the stop portion 132 may rotate into the switching hole 3132, and hole walls on two sides of the switching hole 3132 along the axial direction of the wheel shaft 12 may stop the stop portion 132 to limit the position of the switching member 31 along the axial direction of the wheel shaft 12. With the above structural arrangement, the switching device 3 can be stably in the second operation state, which prevents the switching member 31 from moving and thus switching to the first operation state due to the vibration generated by manually pushing and pulling the cleaning device. In this way, the reliability of the switching device 3 is guaranteed, the resistance from the motor 21 is reduced, and reverse power-on of the motor 21 is avoided, thereby guaranteeing the service life of the motor 21.

In some embodiments, as shown in FIG. 10, the switching member 31 may include a ring body 315 and a connection body 316. The ring body 315 may be disposed at an end of the connection body 316 facing the driven wheel 23. An end of the connection body 316 opposite to the ring body 315 may be provided with an accommodation hole 313. The accommodation hole 313 may be connected with a central through hole of the ring body 315 such that the wheel shaft 12 may be inserted. A hole wall of the accommodation hole 313 and an inner side wall of the ring body 315 may constitute an inner side wall of the switching member 31. The inner side wall of the ring body 315 may include a second plane portion 3151 and a second arcuate portion 3152 which are connected end to end. The switching hole 3132 may penetrate through an outer side wall of the connection body 316 and the hole wall of the accommodation hole 313, which reduces the limitation on the size of the stop member 13, expands the application range of the switching member 31, and is also convenient for assembly, and reduces the possibility of collision and extrusion of the stop portion 132, thereby improving the durability of the switching device 3.

In some embodiments, two stop portions 132 may be provided, and two avoidance grooves 3131 and two switching holes 3132 may be provided accordingly. A ridge 133 may be disposed on a side of each of the stop portions 132 away from the switching member 31. A strip groove 3133 may be disposed on a hole wall of a side of each of the switching holes 3132 away from the driven wheel 23. When the two stop portions 132 directly face the two switching holes 3132, the switching member 31 may rotate until the ridge 133 is inserted into the strip groove 3133, which means that the switching member 31 rotates into place. The ridge 133 and the strip groove 3133 prevents the stop portions 132 from being disengaged from the switching holes 3132, and also prevents the stop portions 132 from being disengaged from the switching holes 3132 due to a small rotation angle of the switching member 31, thereby further ensuring that the switching device 3 can be stably in the second operation state.

In some embodiments, as shown in FIG. 4 and FIG. 6, the switching device 3 may further include a connection cover 33. The connection cover 33 may be connected to an end of the switching member 31 away from the driven wheel 23. A gripping member 32 may be connected to the connection cover 33, such that the operator can manually operate the switching member 31 through the gripping member 32, thereby improving the convenience of use. A first through hole 331 may be disposed on the connection cover 33. A shape of the first through hole 331 may be the same as a shape formed by the accommodation hole 313 and the avoidance groove 3131, so as to ensure that the stop member 13 can penetrate through the first through hole 331, and the connection cover 33 can protect the switching member 31, thereby further improving the durability and ensuring the aesthetics.

In some embodiments, the connection portion 131 of the stop member 13 may be connected with an end portion of the wheel shaft 12 by various means, such as screws.

In some embodiments, an elastic member 4 may be provided in the accommodation hole 313. One end of the elastic member 4 may abut against the stop member 13, and the other end of the elastic member 4 may abut against a bottom surface of the accommodation hole 313. When the cleaning device performs a cleaning operation, the switching device 3 may be in the first operation state, and the elastic member 4 may be in a natural state or a compressed state. When it needs to switch to the second operation state, during the process of the switching member 31 moving in a direction away from the driven wheel 23, the switching member 31 may move from the synchronous connection shaft section 1211 to the rotation connection shaft section 1212, and the stop member 13 may enter the accommodation hole 313 and the avoidance groove 3131, the elastic member 4 may be compressed, and the switching member 31 may rotate to the stop portion 132 to rotate into the switching hole 3132, so as to limit the extension of the elastic member 4. When it needs to switch back to the first operation state, the switching member 31 may rotate at a certain angle until the stop portion 132 is disengaged from the switching hole 3132, and an elastic force of the elastic member 4 may push the switching member 31 and the stop member 13 to be away from each other, such that the switching member 31 may move to the synchronous connection shaft section 1211, and automatically switches to the first operation state, thereby improving the convenience of use. The elastic member 4 may be a spring and may sleeve the wheel shaft 12. In some other embodiments, the elastic member 4 may be a rubber ring or other elastic structures, and may not sleeve the wheel shaft 12.

It should be noted that, in this embodiment, the accommodation portion may be disposed on the ring body 315 of the switching member 31, and the protrusions 231 may be disposed on the driven wheel 23. In some embodiments, the accommodation portion may be disposed on the driven wheel 23, and the protrusions 231 may be disposed on the switching member 31; or, the accommodation portion may be disposed on the side wall of the switching member 31, and the protrusions 231 may be disposed on the driven wheel 23. In other words, as long as the protrusions 231 can be radially embedded in or away from the accommodation portion, the driven wheel 23 can drive the switching member 31 to rotate synchronously.

In some embodiments, the switching device may further include an electric control component (not shown in the figure). The electric control component may include a processor and a state switching member. The processor may be in communication with the state switching member. The state switching member may be configured to receive a switching instruction sent by the processor, and control the switching member to move based on the switching instruction such that the cleaning device switches between a first state and a second state. When the switching device 3 is in the first operation state, the cleaning device may be in the first state; when the switching device 3 is in the second operation state, the cleaning device may be in the second state.

The electric control component refers to a component used to change the operation state of the switching device 3.

The processor may generate various instructions related to the cleaning device (e.g., the switching instruction) by processing data and/or information related to the cleaning device. In some embodiments, the processor may include one or more sub-processing devices (e.g., a single-core processing device, a multi-core processing device, etc.). Merely by way of example, the processor may include a central processing unit (CPU), an application-specific integrated circuit (ASIC), or the like, or any combination thereof. It should be noted that the processor may be integrated on the state switching member, or it may be independently set at another position.

The state switching member refers to a component used to move the switching member 31. In some embodiments, the state switching member may include an electromagnetic member. The electromagnetic member may include an electromagnet and an armature. The armature may be disposed on the switching member 31. When the electromagnetic member is energized, the electromagnet may attract/repel the armature, thereby controlling the switching member 31 to move (e.g., controlling the switching member 31 to move along the axial direction of the wheel shaft 12). By changing a direction of current flowing through the electromagnet, a movement direction of the switching member 31 can be controlled, thereby realizing switching of the cleaning device between the first state and the second state.

In some embodiments, the state switching member may further include a controller. The controller may be in communication with both the processor and the electromagnetic element to receive the switching instruction sent by the processor and control the direction of current flowing through the electromagnetic element (e.g., the electromagnet). It should be noted that the state switching member may also be any other feasible component or device that can control the movement of the switching member 31.

The first state and the second state may correspond to different operation modes of the cleaning device. The first state refers to an operation state of the cleaning device in an automatic traveling mode or an interactive traveling mode. In this case, the switching device 3 may be in the first operation state. The second state refers to an operation state of the cleaning device in a push-pull traveling mode. In this case, the switching device may be in the second operation state. More descriptions may be found in the related descriptions of FIGS. 1-4.

The switching instruction refers to a relevant instruction for controlling the movement of the switching member 31. In some embodiments, the switching instruction may include a current direction of the state switching member.

In some embodiments, the processor may generate the switching instruction in various ways. For example, the processor may automatically generate the switching instruction and send the switching instruction to the state switching member according to a relevant operation of the operator (e.g., the operator presses a switch and a first touch control component on the gripping member 32).

More descriptions regarding the first touch control component and generating the switching instruction may be found in the related descriptions below.

In some embodiments, the state switching member may adjust a current direction of the state switching member based on the switching instruction in response to receiving the switching instruction to control the switching member 31 to move, such that the cleaning device switches between the first state and the second state. Merely by way of example, the state switching member may include an electromagnetic member and a controller. When the controller receives the switching instruction sent by the processor, a direction of a magnetic force (attraction or repulsion) between the electromagnet and the armature may be changed by changing the direction of the current flowing through the electromagnet, thereby controlling the direction of the axial movement of the switching member 31 along the wheel shaft 12, and causing the cleaning device to switch between the first state and the second state.

In some embodiments, as shown in FIG. 1, the cleaning device may further include a first touch control component 107. The first touch control component 107 may be disposed on a sidewall of the body 10 and in communication with the processor. The first touch control component 107 may be configured to receive a switching operation of the user and send the switching operation to the processor. The processor may be configured to send the switching instruction to the state switching member in response to receiving the switching operation to control the cleaning device to switch between the first state and the second state.

The first touch control component 107 refers to a component configured to interact with the user (i.e., the operator) to switch the operation state of the cleaning device. For example, the first touch control component 107 may include a touch screen, buttons, etc. The first touch control component 107 may be arranged on the side wall of the body 10 through a combination of one or more of bonding, clamping, threaded connection, or the like. In some embodiments, the first touch control component may sense and receive the switching operation of the user by detecting a change in a surface pressure, and send the switching operation to the processor.

The switching operation refers to a user operation for switching the operation mode of the cleaning device. For example, the user may cause a change in the surface pressure of the first touch control component 107 by kicking the first touch control component 107 to complete the switching operation.

In some embodiments, when the processor receives the switching operation, the switching instruction may be automatically generated and sent to the state switching member (e.g., the controller) to control the cleaning device to switch between the first state and the second state. More descriptions regarding how the state switching member controls the cleaning device to switch between the first state and the second state may be found in the related descriptions above.

By provided the first touch control component 107 on the side wall of the body 10, the user can more conveniently interact with the first touch control component 107 without pulling the gripping member 32, which is more in line with actual ergonomic design.

In some embodiments, a torque sensor (not shown in the figure) may be disposed on the driving device 2. The torque sensor may be in communication with the processor. The torque sensor may be configured to collect torque data of the driving device and send the torque data to the processor. The processor may be further configured to generate, in response to the torque data satisfying a switching condition, the switching instruction and send the switching instruction to the state switching member to control the cleaning device to switch between the first state and the second state.

The torque sensor refers to a sensing element configured to collect the torque applied to the driving device 2. In some embodiments, the torque sensor may be disposed at any feasible position of the driving device 2 by means of threaded connection, or the like. For example, the torque sensor may be disposed on the driving member.

In some embodiments, the torque sensor may be configured to collect the torque data of the drive device 2 in real time or at a regular interval and send the torque data to the processor. The torque data may include a magnitude of the torque applied to the driving device 2, etc.

In some embodiments, the processor may determine, based on the torque data, whether the torque data satisfies the switching condition. The switching condition refers to a preset condition for switching the operation mode or the state of the cleaning device. For example, the switching condition may include that the torque applied to the driving device 2 is abnormal, and the current operation state of the cleaning device is the first state.

In some embodiments, the processor may determine, based on the torque data, whether the torque is abnormal by comparing the torque data with a normal torque interval of the cleaning device in the first state, and then determine whether the torque data satisfies the switching condition. For example, if the torque data exceeds the normal torque interval, the processor may determine that the torque is abnormal, i.e., the torque data satisfies the switching condition; if the torque data does not exceed the normal torque interval, the torque data does not satisfy the switching condition. The normal torque interval may be obtained by statistics. For example, the normal torque interval may be obtained by performing, based on historical data, statistics on the torque applied to the driving device 2 when the cleaning device works normally in the first state. It should be noted that the normal torque interval may be stored in a memory of the cleaning device, and may be continuously updated based on the torque data collected in real time or at the regular interval by the torque sensor as the cleaning device is used.

It is understood that when the motor 21 operates abnormally, the torque applied to the driving device 2 is abnormal, and the operation state needs to be switched to avoid damaging the motor 21. For example, when the cleaning device is in the first state, if the user still pushes the cleaning device, the driving device 2 may be subjected to a large reverse torque. In order to avoid damaging the motor 21, the cleaning device may be automatically triggered to switch to the second state. As another example, if the cleaning device encounters an obstacle and cannot adjust the position (e.g., the travel wheels 1 cannot move), the cleaning device may also be automatically triggered to switch to the second operation state to avoid overheating and burning of the motor 21.

In some embodiments, when the torque data does not satisfy the switching condition, the processor may determine whether the cleaning device is abnormal through an anomaly assessment model so as to determine whether to generate the switching instruction.

In some embodiments, the processor may be further configured to determine, when the torque data is within a preset interval, whether an anomaly is about to occur in the cleaning device based on the torque data within the preset interval through the anomaly assessment model; and generate, in response to the anomaly being about to occur in the cleaning device, the switching instruction and send the switching instruction to the state switching member.

The preset interval refers to an interval segment in the normal torque interval that is a preset interval length away from a maximum value of the normal torque interval. The preset interval length may be preset by those skilled in the art based on experience. Merely by way of example, the preset interval length may be 10% of the torque interval.

The anomaly assessment model refers to a model used to determine whether the anomaly is about to occur in the cleaning device. In some embodiments, the anomaly assessment model may be a machine learning model. For example, the anomaly assessment model may include a deep neural network (DNN) model, etc.

In some embodiments, an input of the anomaly assessment model may include a plurality of pieces of torque data within the preset interval and a time point corresponding to each piece of torque data, and an output of the anomaly assessment model may include an abnormal result of the cleaning device. The abnormal result of the cleaning device may include that the cleaning device has an anomaly and the cleaning device has no anomaly. In some embodiments, the cleaning device having an anomaly may include a torque anomaly received by the driving device 2.

In some embodiments, the anomaly assessment model may be obtained by training based on a plurality of first training samples with first training labels. The first training samples may include historical actual torque data of a sample cleaning device in a first historical period and a corresponding historical time point in the historical data. The first training labels may include a historical actual abnormal result of the sample cleaning device in a second historical period. The first training labels may be obtained by manual labeling. The first historical period may be earlier than the second historical period.

In some embodiments, a training process of the anomaly assessment model may include the following operations S11-S13.

In S11, a training dataset may be obtained, the training dataset including a plurality of first training samples and first training labels corresponding to the first training samples.

In S12, a plurality of iterations may be performed, at least one of the iterations including the following operations S121-S123.

In S121, one or more first training samples may be selected from the training dataset and input into an initial anomaly assessment model to obtain prediction outputs of the initial anomaly assessment model corresponding to the one or more first training samples.

In S122, the prediction outputs of the initial anomaly assessment model corresponding to the one or more first training samples and the first training labels of the one or more first training samples may be substituted into a formula of a preset loss function to determine a value of the loss function.

In S123, model parameters of the initial anomaly assessment model may be reversely updated based on the value of the loss function using various ways; an exemplary way may include gradient descent, etc.

In S13, in response to determining that an iteration end condition is satisfied, the iteration may be ended to obtain a trained anomaly assessment model, the iteration end condition being convergence of the loss function, a count of iterations reaching a threshold, etc.

It should be noted that the training process of the anomaly assessment model may be pre-performed in other equipment or devices other than the cleaning device, and the anomaly assessment model may be downloaded to the processor/memory of the cleaning device after the training is completed.

In some embodiments, the processor may determine whether to generate the switching instruction based on the abnormal result of the cleaning device output by the anomaly assessment model. For example, in response to the cleaning device having an anomaly, the processor may automatically generate the switching instruction and send the switching instruction to the state switching member to control the cleaning device to switch between the first state and the second state. As another example, in response to the cleaning device having no anomaly, the processor may not generate the switching instruction, and the cleaning device may remain in the first state.

It is understood that if the operation state of the cleaning device is switched after the torque applied the driving device 2 is abnormal, the cleaning device inevitably suffers certain losses, which in turn reduces the service life of the cleaning device. Accordingly, the anomaly may be predicted in advance based on the torque data through the trained anomaly assessment model, and whether to switch the operation state of the cleaning device may be automatically determined based on whether the cleaning device has an anomaly, such that the intelligent degree and accuracy are high, and damage to the cleaning device can be effectively avoided, thereby effectively increasing the service life of the cleaning device.

FIG. 9 is a first schematic diagram illustrating a three-dimensional structure of a switching member of a travel wheel driving mechanism in FIG. 4. FIG. 10 is a second schematic diagram illustrating a three-dimensional structure of a switching member of a travel wheel driving mechanism in FIG. 4. FIG. 11 is a schematic diagram illustrating a three-dimensional structure of a driven wheel of the travel wheel driving mechanism in FIG. 4.

In some embodiments, at least two protrusions 231 may be provided on an end surface of the switching member 31. As shown in FIGS. 9-10, a ring groove 311 may be circumferentially provided on an end surface of the switching member 31 facing the driving member. At least two limiting portions 312 may protrude and may be spaced apart on a side wall of the ring groove 311. The at least two limiting portions 312 may extend along an axis of the wheel shaft 12. An accommodation portion may be formed between two adjacent limiting portions 312 of the at least two limiting portions 312. The at least protrusions 231 may be arranged in at least two of the accommodation portions in a one-to-one correspondence manner.

In some embodiments, the ring groove 311 may be configured to accommodate the driven wheel 23. An axis of the ring groove 311 may coincide with an axis of the driven wheel 23.

The limiting portions 312 may be protruding structures. In some embodiments, the limiting portions 312 may limit relative displacement of the driven wheel 23 and the switching member 31. A spacing between two adjacent limiting portions 312 may be the same as a width of each of the protrusions 231. When the protrusions 231 are located in the accommodation portions, two side walls of the protrusions 231 may fit the limiting portions 312 on both sides, respectively.

In some embodiments, the protrusions 231 may be provided on the driving member. As shown in FIGS. 9-11, at least two protrusions 231 may be provided on an end surface of the driven wheel 23, i.e., at least two accommodation portions may be provided. The protrusions 231 may extend along an axial direction of the wheel shaft 12. In some embodiments, the ring groove 311 may be circumferentially provided on an end surface of the ring body 315 facing the driven wheel 23, and at least two limiting portions 312 may protrude and may be spaced apart on the side wall of the ring groove 311. The at least two limiting portions 312 may extend along the axis of the wheel shaft 12, and an accommodation portion may be formed between two adjacent limiting portions 312 of the at least two limiting portions 312. The at least two protrusions 231 may be located in the at least two accommodation portions in a one-to-one correspondence manner.

In some embodiments, when the switching device 3 is in the first operation state, a side wall of each of the limiting portions 312 may abut against each of the protrusions 231, such that no relative rotation occurs between the switching member 31 and the driven wheel 23, and the motor 21 drives the wheel shaft 12 to rotate, which ensures that the switching device 3 can be reliably and stably in the first operation state. In addition, both the protrusions 231 and the limiting portions 312 may extend along the axial direction of the wheel shaft 12, and may guide the switching member 31 to prevent the switching member 31 from rotating during the axial movement along the wheel shaft 12, thereby reducing the possibility of the stop member 13 being squeezed to deform by the switching member 31, and ensuring the durability of the switching device 3.

In some embodiments, the spacing between the two adjacent limiting portions 312 may be the same as the width of each of the protrusions 231. When the protrusions 231 are located in the accommodation portions, the two side walls of the protrusions 231 may fit the limiting portions 312 on both sides, respectively.

FIG. 11 is a schematic diagram illustrating a three-dimensional structure of a driven wheel of a travel wheel driving mechanism in FIG. 4.

In some embodiments, as shown in FIG. 11, a convex ring 232 may be coaxially provided on an end surface of the driven wheel 23 facing the switching member 31, and the protrusions 231 may be arranged on an outer wall of the convex ring 232 at intervals along a circumferential direction of the convex ring 232. It can be understood that when the switching device 3 is in a first operation state, the convex ring 232 may be located in the ring groove 311. In order to avoid affecting the convex ring 232, the limiting portions 312 may be only provided on an outer ring wall of the ring groove 311. By providing the convex ring 232, the structural strength of the driven wheel 23 is improved, the possibility of deformation of the protrusion 231 is reduced, and the durability of the switching device 3 is ensured.

In some embodiments, as shown in FIG. 9 and FIG. 11, the limiting portions 312 and the protrusions 231 may be in a strip shape, respectively. An end surface of each of the protrusions 231 facing the stop member 13 may be a first V-shaped surface. The first V-shaped surface may include two first guide surfaces 2311 connected at an angle. An opening of the first V-shaped surface may be arranged toward the wheel body 11. An end surface of each of the limiting portions 312 facing the wheel body 11 may be a second V-shaped surface. The second V-shaped surface may include two second guide surfaces 3121 connected at an angle. An opening of the second V- shaped surface may be arranged toward the stop member 13. With the above arrangement, the effect of guidance can be realized, which ensures that the protrusions 231 accurately enter the accommodation portions, and reduces the possibility of deformation of the protrusions 231 and the limiting portions 312.

In other embodiments, the accommodation portions may be provided as grooves. At least two grooves may be circumferentially spaced apart on the end surface of the switching member 31 facing the driven wheel 23. At least two protrusions 231 of the protrusions 231 may be located in the at least two accommodation portions in a one-to-one correspondence manner, which is not limited in the present disclosure.

In some embodiments, the protrusions 231 may be arranged at intervals on an inner wall of the convex ring 232 along the circumferential direction of the convex ring 232. In this case, the limiting portions 312 may only be provided on an inner ring wall of the ring groove 311, which is not limited in the present disclosure.

FIG. 12 is a schematic structural diagram illustrating the travel wheel driving mechanism in FIG. 4 after cooperating with a rotation base and a connection member. FIG. 13 is a schematic diagram illustrating an enlargement of a portion C in FIG. 12. FIG. 14 is a schematic diagram illustrating a structure in FIG. 12 from another perspective.

As shown in FIGS. 12-14, the cleaning device may include a housing 5. The wheel shaft 12 may be rotatably connected to the housing 5. The motor 21 may be fixedly connected to the housing 5. An output shaft of the motor 21 may be coaxially connected to the driving wheel 22. The housing 5 may be connected with the switching device 3, the driving device 2, and the travel wheels 1 to form an integral travel wheel driving mechanism 30 to be disposed at a bottom of the body 10, thereby improving the integrity of this structure, and facilitating transportation.

In some embodiments, as shown in FIG. 7, a first limiting step 522 may protrude from the housing 5, and a second limiting step 314 may protrude from a side wall of the switching member 31. The first limiting step 522 may be located on a side of the second limiting step 314 away from the driven wheel 23. When the switching device 3 is in the second operation state, the first limiting step 522 may abut against the second limiting step 314. The above arrangement can limit the axial movement distance of the switching member 31 along the wheel shaft 12, avoid deformation of the stop member 13 caused by squeezing of the switching member 31, and ensure the durability of the switching device 3.

In this embodiment, the second limiting step 314 may protrude from an end of an outer side wall of the ring body 315 facing the driven wheel 23. The second limiting step 314 may be annular to ensure the structural strength.

In some embodiments, the housing 5 may include a shell 51 and a cover 52. One end of the shell 51 may be open. The cover 52 may block the opening of the shell 51, such that the shell 51 and the cover 52 enclose an inner cavity of the housing 5. A second through hole 521 may be provided on the cover 52. One end of the wheel shaft 12 may penetrate through the second through hole 521, and the other end of the wheel shaft 12 may be rotatably connected with the shell 51. The driving wheel 22, the driven wheel 23, the synchronous belt 24, the second limiting step 314, and a portion of the switching member 31 may be located in the inner cavity of the housing 5, such that the housing 5 has a protective function. One end of the wheel shaft 12 away from the second through hole 521 may penetrate through the housing 5 and may be connected with the wheel body 11. One end of the switching member 31 away from the driven wheel 23 may extend out of the housing 5 through the second through hole 521, and the switching member 31 may movably penetrate through the second through hole 521, so as to realize the axial movement of the switching member 31 along the wheel shaft 12. The first limiting step 522 may be convexly provided on an end of a hole wall of the second through hole 521 away from the wheel body 11. The first limiting step 522 may be annular to ensure structural strength.

It is understood that the first limiting step 522 and the second limiting step 314 can prevent the switching member 31 from being separated from the housing 5, thereby guaranteeing the protective function of the housing 5 and guaranteeing that the switching member 31 can be retracted into the housing 5, which in turn reduces the maintenance cost.

In some embodiments, as shown in FIG. 8, the wheel shaft 12 may further include a fourth shaft section 124. A bearing 53 may sleeve the fourth shaft section 124. The fourth shaft section 124 may be coaxially connected between the third shaft section 123 and the second shaft section 122. The bearing 53 can reduce the friction between the wheel shaft 12 and the shell 51.

In some embodiments, an inner ring of the bearing 53 may be fixed on the wheel shaft 12. An end surface of the inner ring of the bearing 53 may fit each of the two retaining rings 14. A mounting hole may be provided on a shell wall of an end of the shell 51 away from the cover 52. The bearing 53 may be placed in the mounting hole, and an outer ring of the bearing 53 may fit and connect with a hole wall of the mounting hole. A limiting stop ring 55 may be convexly provided on an end of hole wall of the mounting hole facing the cover 52. A bearing limiting member 54 may be provided at an end of the mounting hole facing the wheel body 11. Two ends of an outer ring of the bearing 53 may respectively fit the bearing limiting member 54 and the limiting stop ring 55. In this way, the axial limiting of the bearing 53 is achieved.

In some embodiments, an end surface of the wheel body 11 facing the bearing 53 may be in contact with the bearing 53. An end cover 16 may be provided at an end of the wheel body 11 opposite to the bearing 53. The end cover 16 may be fixedly connected to an end portion of the wheel shaft 12. The end cover 16 may press the wheel body 11 and the bearing 53 to achieve axial positioning of the wheel body 11.

FIG. 15 is a schematic diagram illustrating an enlargement of a portion D in FIG. 14. FIG. 16 is a schematic structural diagram illustrating a connection member of the travel wheel driving mechanism in FIG. 4.

In some embodiments, as shown in FIGS. 12-16, a rotation base 6 may be disposed at a bottom of the body 10. An adjustment rotation shaft 61 may be connected to the rotation base 6. The adjustment rotation shaft 61 may be parallel to a bottom surface of the body 10. The housing 5 may be rotatably connected to the adjustment rotation shaft 61. When the cleaning device moves, the bottom surface of the body 10 may be parallel to the ground of an operation region.

The rotation base 6 refers to a component capable of rotating. In some embodiments, the rotation base 6 may rotate around the adjustment rotation shaft 61.

The adjustment rotation shaft 61 refers to a rotation shaft for adjusting a height of the cleaning device. In some embodiments, the travel wheels 1, the driving device 2, and the switching device 3 may rotate relative to the body 10 around the adjustment rotation shaft 61 as a whole to achieve overall lifting or lowering of the travel wheel driving mechanism 30. A rotation direction of lifting the travel wheel driving mechanism 30 may be opposite to a rotation direction of lowering the travel wheel driving mechanism 30. The specific rotation direction may be set according to demand.

The above arrangement enables the travel wheels 1, the driving device 2, and the switching device 3 to rotate relative to the body 10 around the adjustment rotation shaft 61 as a whole, so as to realize the overall lifting or lowering of the travel wheel driving mechanism 30. When there is a protruding obstacle on the ground of the operation region, the travel wheels 1 may float up and down when encountering the obstacle, so as to realize an obstacle crossing function of the cleaning device. In addition, the travel wheels 1 may float up and down after crossing the obstacle, and continue to descend until contacting the ground, so as to realize a movement function, and improve the practicality of the cleaning device. Meanwhile, the rotation base 6 and the adjustment rotation shaft 61 also protect the travel wheel 1 and the cleaning device, ensures the durability of the cleaning device, and reduces the maintenance cost.

FIG. 17 is a schematic diagram illustrating a mounting structure of the travel wheel driving mechanism in FIG. 4 at a bottom of a body.

In some embodiments, as shown in FIG. 17, a mounting opening 101 may be provided at the bottom of the body 10. The travel wheel driving mechanism 30 may be arranged in the mounting opening 101 as a whole. A top surface of the rotation base 6 may be fixed on a top surface of the mounting opening 101. The adjustment rotation shaft 61 may be rotatably connected below the rotation base 6. As shown in FIG. 14, a rotation connection arm 513 may be convexly provided on an outer side wall of the housing 5, and the rotation connection arm 513 may be rotatably connected with the adjustment rotation shaft 61. When the cleaning device moves normally, the travel wheels 1 may be at least partially exposed out of the mounting opening 101, and the travel wheel driving mechanism 30 may rotate around the adjustment rotation shaft 61 and retract upward into the mounting opening 101 when encountering an obstacle, so as to realize an obstacle crossing function of the cleaning device. The travel wheel driving mechanism 30 may rotate around the adjustment rotation shaft 61 and extend downward from the mounting opening 101 after crossing the obstacle, and continue to contact the ground.

In some embodiments, the body 10 may be provided with two mounting openings 101 spaced apart in a left-right direction. The two mounting openings 101 may penetrate through side walls of the body 10, respectively. The connection cover 33 and the gripping member 32 may be exposed through the mounting openings 101, such that the switching member 31 may be pulled by the gripping member 32 to switch the switching device 3 between the first operation state and the second operation state, thereby improving the convenience of operation. More descriptions regarding the connection cover may be found in the related descriptions above (e.g., FIGS. 4 and 6).

In some embodiments, as shown in FIG. 15, the cleaning device may further include a tension spring 7. One end of the tension spring 7 may be connected to the body 10, and the other end of the tension spring 7 may be connected to the housing 5. When the travel wheel driving mechanism 30 encounters an obstacle, the travel wheel driving mechanism 30 may float up and down, and the tension spring 7 may be stretched. When the travel wheel driving mechanism 30 crosses the obstacle, the travel wheel driving mechanism 30 may float up and down, and the tension spring 7 may contract. The tension spring 7 may pull the travel wheel driving mechanism 30 to reset, which ensures that the travel wheel driving mechanism 30 can reliably contact the ground after crossing the obstacle, thereby realizing the movement function while improving the practicality of the cleaning device, ensuring the durability of the cleaning device, and reducing the maintenance cost.

In some embodiments, as shown in FIG. 16, the cleaning device may further include a connection member 8. The connection member may be connected to the body 10. A slideway 81 may be provided on the connection member 8. The slideway 81 may extend along a direction perpendicular to an axial direction of the adjustment rotation shaft 61. The housing 5 may be at least partially located in the slideway 81 and may slide along the slideway 81.

The connection member 8 refers to a component connected to the tension spring 7. In some embodiments, as shown in FIGS. 15-16, the connection member 8 may be located in the mounting opening 101 and fixedly connected to the body 10. The connection member 8 may be in a shell shape, and the tension spring 7 may be arranged in the connection member 8. A tension spring shaft 71 may be fixedly provided on the connection member 8. A tension spring shaft 71 may also be fixed on an outer side wall of the housing 5. Two ends of the tension spring 7 may be respectively connected with the two tension spring shafts 71, and the tension spring shaft 71 fixed on the connection member 8 needs to be lower than the tension spring shaft 71 fixed on the housing 5. The tension spring shaft 71 fixed on the housing 5 and the rotation connection arm 513 may be respectively located on two opposite sides of the housing 5.

It should be noted that the present disclosure does not limit the specific position of the tension spring shaft 71, and only needs to realize that when the travel wheel driving mechanism 30 encounters an obstacle, the two tension spring shafts 71 may move away from each other; when the travel wheel driving mechanism 30 crosses the obstacle, the two tension spring shafts 71 may move close to each other. In addition, the connection member 8 may be designed as any other feasible structural shape.

The slideway 81 is a track of the connection member 8 for at least a portion of the housing 5 to slide. By providing the slideway 81, the rotation of the travel wheel driving mechanism 30 can be guided, the reliability of the obstacle crossing function of the travel wheel driving mechanism 30 can be ensured, and the travel wheel driving mechanism 30 can be reset along the slideway 81 after floating and crossing the obstacle to reliably contact the ground, thereby achieving the movement function, improving the practicality of the cleaning device, ensuring the durability of the cleaning device, and reducing the maintenance cost.

In some embodiments, as shown in FIG. 15, a sliding portion 512 may be convexly provided on the housing 5. The sliding portion 512 may be located in the slideway 81 and may slide along the slideway 81. The housing 5, the sliding portion 512, and the rotation connection arm 513 may be an integrated structure for easy production and processing.

In some embodiments, the push rod mechanism 200 may include the push-pull component 20. The push-pull component 20 may be telescopically arranged along a length direction of the push-pull component 20. By adjusting an operation state of the push-pull component 20 and an operation state of the switching device 3, the cleaning device may have at least an automatic traveling mode and a push-pull traveling mode. When the cleaning device is in the automatic traveling mode, the push-pull component 20 may be shortened along the length direction of the push-pull component 20, and the switching device 3 may be in a first operation state, as shown in FIG. 1. In this case, the cleaning device may automatically move under the driving action of the driving device 2. When the cleaning device is in the push-pull traveling mode, the push-pull component 20 may extend along the length direction of the push-pull component 20, and the switching device 3 may be in a second operation state, as shown in FIG. 3. In this case, the travel wheels 1 may move under the traction of the push-pull component 20. In the traveling mode, the wheel shafts 12 of the travel wheels 1 may no longer be driven to rotate by the driving device 2. When a user holds the push-pull component 20 to push and pull the cleaning device, the resistance from the driving device 2 may be reduced, and a force required to push the cleaning device may be reduced, such that it is convenient to manually push and pull the cleaning device to a target position, and reverse power-on of the motor 21 is avoided, thereby ensuring the service life of the motor 21, ensuring the durability of the cleaning device, and reducing the maintenance costs. More descriptions regarding the push-pull component may be found in FIGS. 1-3 and the related descriptions thereof.

In some embodiments, the cleaning device may further include an interactive traveling mode, as shown in FIG. 2. In the interactive traveling mode, the push-pull component 20 may extend along the length direction of the push-pull component 20, and the switching device 3 may be in the first operation state. In this case, the travel wheels 1 may move under the driving action of the driving device 2, but a movement direction of the cleaning device may be controlled by an operator through the manipulation of the push-pull component 20. The interactive traveling mode may be mainly used to move the cleaning device to a required position during a cleaning operation of the cleaning device, such as removing a local dirt, or in a drawing operation before the operation of the cleaning device, which facilitates daily use for the user.

FIGS. 18-28 show some specific embodiments of specific arrangements of the push-pull component 20 on the body 10 of the cleaning device. The push-pull component 20 may be movably connected to the body 10. The push-pull component 20 may be provided with at least a handle 201 for holding. The push-pull component 20 may have an open state extending relative to the body 10, and a retracted state retracting relative to the body 10. When the push-pull component 20 is in the open state, the handle 201 may be higher than the body 10 in a vertical direction, such that the operator may conveniently hold the handle 201 to drive the cleaning device to move forward by pushing and pulling. The open state refers to a state in which the push-pull component 20 extends from the body 10. The retracted state refers to a state in which the push-pull component 20 retracts into the body 10.

FIG. 18 is a schematic diagram illustrating an overall structure of a cleaning device in response to determining that a push-pull component is in a retracted state according to some embodiments of the present disclosure. FIG. 19 is a schematic diagram illustrating an internal structure of the cleaning device in FIG. 18. FIG. 20 is a schematic diagram illustrating an overall structure of the cleaning device in FIG. 18 after the push-pull component is switched to an open state.

FIGS. 18-20 show one of the embodiments of the cleaning device. The push-pull component 20 may be slidably connected to the body 10, and one end of the push-pull component 20 may be rotatably connected to the body 10 around a rotation center line. In this embodiment, a guide component may be provided on the body 10 for providing sliding guidance for the push-pull component 20. The push-pull component 20 may be slidably connected with the guide component. The push-pull component 20 may be provided with a first end portion and a second end portion which are respectively arranged at two different ends of the length direction of the push-pull component 20. The handle 201 may be arranged on the first end portion, and the second end portion may be rotatably connected with the guide component around the rotation center line. That is, an end portion of the push-pull component 20 provided with the handle 201 may be the first end portion, and an end portion of the push-pull component 20 connected with the guide component may be the second end portion. The rotation center line refers to an axis around which the second end portion of the push-pull component 20 rotates. For example, the rotation center line may be an axis of the rotation shaft 205.

FIG. 21 is a schematic diagram illustrating a cooperation relationship between the push-pull component and a slide rail of the cleaning device in FIG. 18. FIG. 22 is an exploded schematic diagram illustrating a partial structural in FIG. 21.

The guide component refers to a component used to provide guidance for the push-pull component 20. As shown in FIGS. 21-22, the guide component may be provided with a slide groove 1061 extending along a length direction of the guide component. A rotation shaft 205 may be provided on the second end portion. The rotation shaft 205 may be fixedly provided on the second end portion, or may be rotatably provided on the second end portion around an axis of rotation shaft 205. The rotation shaft 205 may slidably penetrate through the slide groove 1061, and the axis of the rotation shaft 205 may form the rotation center line. The guide component may include two slide rails 106 arranged parallel to each other and at intervals. Each of the slide rails 106 is provided with the slide groove 1061, and the push-pull component 20 may be arranged between the two slide rails 106. In some embodiments, one slide rail 106 may be provided, or a plurality of slide rails 106 arranged parallel to each other may be provided.

In some embodiments, a guide direction of the guide component may extend along a horizontal direction or a vertical direction, or may be set at an angle to the horizontal direction. For example, as shown in FIGS. 18-22, the guide direction of the guide component may extend along the horizontal direction, i.e., a length extension direction of the slide rail 106 may extend along the horizontal direction, such that the push-pull component 20 may slide relative to the guide component along the horizontal direction and may be retracted to the body 10. Accordingly, the retracted push-pull component 20 may extend along the horizontal direction. As another example, as shown in FIGS. 25-26, the guide direction of the guide component may extend along the vertical direction, such that the push-pull component 20 may slide relative to the guide component along the vertical direction and may be retracted to the body 10. Accordingly, the retracted push-pull component 20 may extend along the vertical direction. As another example, the guide direction of the guide component may be set at a certain angle to the horizontal direction or the vertical direction, such that the push-pull component 20 may be retracted relative to the body 10 in an inclined posture.

In some embodiments, as shown in FIGS. 18-22, an accommodation cavity and an opening 102 communicated with the accommodation cavity may be provided on the body 10. The guide component may be provided in the accommodation cavity. The push-pull component 20 may extend from the opening 102 to the outside of the body 10 and rotate at any angle for the operator to hold to perform the push-pull operation, or retract from the opening 102 to be accommodated in the accommodation cavity.

The push-pull component 20 may extend and retract along the length direction of the push-pull component 20 in the open state to adjust a length of the push-pull component 20. When movement is required, the operator needs to pull the push-pull component 20 to make the push-pull component 20 slide outside the body 10 first, and then rotate around a rotation axis 205 to a suitable angle and then stretch the push-pull component 20 to keep the push-pull component 20 at a suitable length. The suitable length just satisfies the length required by the operator during operation, and the design is reasonable. The operator may push and pull the cleaning device to any position that needs to be cleaned through the push-pull component 20 and then start the operation to meet the use requirements of different places, or transfer the cleaning device to another required target position. When pushing and pulling the body 10 are not needed, the operator may shorten the push-pull component 20 to make the push-pull component 20 rotates around the rotation axis 205 to a state that it is directly opposite to the opening 102, and then push the push-pull component 20 to make the push-pull component 20 slide into the accommodation cavity, such that the push-pull component 20 is completely accommodated in the body 10 without occupying extra space. The cleaning device is easy to move and applicable to different places, and saves manpower, has strong versatility, and can flexibly adjust the length and the angle of the push-pull component 20 for easy storage. After storage, the push-pull component 20 is integrated with the shape of the body 10, thereby saving space and ensuring the appearance integrity and aesthetics of the body 10.

As shown in FIG. 18, the cleaning device may further include a cover plate 103. The cover plate 103 may be rotatably connected to the body 10 for blocking the opening 102. In some embodiments, the cover plate 103 may also be slidably connected to the body 10, or detachably connected to the body 10. By rotatably connecting the cover plate 103 to the body 10 or slidably connecting the cover plate 103 to the body 10, a complete cover plate structure is formed by the cover plate 103 and an upper cover of the body 10, thereby protecting the internal structure of the body 10, and ensuring the beauty and integrity of the appearance of the cleaning device. Merely by way of example, as shown in FIG. 20, when the push-pull component 20 needs to be used, it only needs to rotate the cover plate 103 in advance or remove the cover plate 103 from the body 10 to make the opening 102 exposed, such that the push-pull component 20 extends from the opening 102. A size of the opening 102 only needs to adapt to a cross-sectional area of the push-pull component 20, and a size of the cover plate 103 adapts to the size of the opening 102. As shown in FIG. 1, after use, the push-pull component 20 may be stored in the accommodation cavity, and the cover plate 103 may be closed, which is convenient for closing or opening.

FIG. 23 is a schematic diagram illustrating an overall structure of a cleaning device in response to determining that a push-pull component is in an open state according to some embodiments of the present disclosure. FIG. 24 is a schematic diagram illustrating a cooperation relationship between the push-pull component and a slide rail of the cleaning device in FIG. 23. FIG. 25 is a schematic diagram illustrating an overall structure of a cleaning device in response to determining that a push-pull component is in a retracted state according to some embodiments of the present disclosure. FIG. 26 is a schematic diagram illustrating an overall structure of a cleaning device in FIG. 25 after the push-pull component is switched to an open state.

In some embodiments, as shown in FIGS. 23-26, the push-pull component 20 may include a plurality of pull rod units that may be slidably and telescopically connected along a length direction of the push-pull component 20. A length of the push-pull component 20 may be adjusted by sliding between the plurality of pull rod units. The push-pull component 20 may include at least a first pull rod unit 202 connected to the body 10, and a second pull rod unit 203 of which one end is provided with the handle 201.

As shown in FIGS. 23-24, the push-pull component 20 may include two pull rod units, namely, the first pull rod unit 202 and the second pull rod unit 203. The first pull rod unit 202 and the second pull rod unit 203 may be slidably nested and connected. A telescopic adjustment component (not shown in the figure) may be provided between the first pull rod unit 202 and the second pull rod unit 203. A control button 2011 may be provided on the handle 201, and connected with the telescopic adjustment component. The telescopic adjustment component may be controlled to lock or unlock the first pull rod unit 202 and the second pull rod unit 203 by pressing the control button 2011. During use, an operator may press the control button 2011 to unlock the first pull rod unit 202 and the second pull rod unit 203 to make the push-pull component 20 stretch to a suitable length, and then disengage the control button 2011 to lock the pull rod units for normal use. The coordinated use of the telescopic adjustment component and the control button 2011 is a prior art, and the specific structure is not the focus of the present disclosure, which is not repeated here.

In some embodiments, the push-pull component 20 may be provided with more than two pull rod units, i.e., one or more third pull rod units 207 may be nested between the first pull rod unit 202 and the second pull rod unit 203, and a count of the third pull rod units 207 may be preferably 0-5. For example, as shown in FIGS. 23-24, one third pull rod unit 207 is nested between the first pull rod unit 202 and the second pull rod unit 203.

As shown in FIGS. 20-24, the push-pull component 20 may further include a buckle 204 fixed on the first pull rod unit 202. The buckle 204 may be provided with a buckle portion 2041. The body 10 may be provided with a matching portion 104 that is buckled and fixed with the buckle portion 2041. When the push-pull component 20 is in the retracted state, the buckle portion 2041 may be mutually buckled and fixed with the matching portion 104, such that the push-pull component 20 may be fixed relative to the body 10 when the push-pull component 20 is retracted to prevent the push-pull component 20 from escaping from the accommodation cavity. The buckle portion 2041 may be a slot, and the matching portion 104 may be a bulge. In other embodiments, as shown in FIGS. 23-24, the matching portion 104 may be provided as a slot, and the buckle portion 2041 may be provided as a bulge.

As shown in FIGS. 21-22, two first pull rod units 202 and two second pull rod units 203 that are parallel to each other and spaced apart may be provided. The handle 201 may be fixed on an end portion of each of the two second pull rod units 203. The buckle 204 may be fixed on the two first pull rod units 202, and the buckle 2041 may be located between the two first pull rod units 202. An end portion of each of the two first pull rod units 202 away from the handle 201 may be provided with a rotation shaft 205, and the rotation shaft 205 may be slidably arranged in a slide groove 1061 of a slide rail 106 of a corresponding side of the end portion. In this way, the overall structure of the push-pull component 20 is more stable, and the cleaning device operates more smoothly during pushing and pulling.

As shown in FIGS. 21-24, two rotation shafts 205 may be provided on each of the first pull rod units 202 and respectively located on two opposite sides of the first pull rod unit 202. The two sides of each of the first pull rod units 202 may be provided with the slide rail 106, and each of the rotation shafts 205 may cooperate with the slide groove 1061 disposed on the corresponding slide rail 106. With this arrangement, the sliding of the two first pull rod units 202 can be more stable and smoother. Referring to FIG. 21, it should be noted that each of the first pull rod units 202 may be provided with two slide rails 106, and bottom ends of the two slide rails 106 may be connected to form a “U”-shaped integrated structure to be mounted in the accommodation cavity of the body 10 by fasteners. With this arrangement, the mounting is more convenient and quicker, and the use of connection members is reduced, thereby reducing the overall weight of the cleaning device. In addition, the two slide rails 106 may be connected to form the groove, and the first pull rod unit 202 may be accommodated in the groove to form a guide effect on the first pull rod unit 202.

In some embodiments, as shown in FIG. 22, an end of the slide groove 1061 may be set as an arc shape. It can be understood that the rotation shaft 205 is a cylindrical structure, and the end of the slide groove 1061 is set as the arc shape to match the shape of the rotation shaft 205 so as to reduce friction, thereby making the rotation process smoother.

In some embodiments, the operator may use the cleaning device according to a push-pull process shown in the following operations S21-S23. The push-pull process may include:

- S21, pulling the push-pull component 20 out of the body 10 to adjust the push-pull component 20 to an open state, including:
- S211, pulling the push-pull component 20 to make the push-pull component 20 slide along the slide rail 106 to the outside of the body 10;
- S212, rotating the push-pull component 20 around the rotation axis 205 relative to the end of the slide rail 106 to a suitable angle;
- S213, stretching the push-pull component 20 to adjust the push-pull component 20 to a suitable length.
- S22, pushing and pulling the cleaning device to a preset position through the push-pull component 20;
- S23, accommodating the push-pull component 20 in the accommodation cavity, including:
- S231, retracting the push-pull component 20 to adjust the push-pull component 20 to the shortest length;
- S232, rotate the push-pull component 20 around the rotation axis 205 relative to the end of the slide rail 106 to a state easy to be pushed along the slide rail 106;
- S233, pushing the push-pull component 20 to slide along the slide rail 106 into the accommodation cavity.

After the push-pull component 20 is opened relative to the body 10, the push-pull component 20 may not interfere with the body 10 during the process of driving the cleaning device by pushing and pulling the push-pull component 20. The operator may flexibly adjust the length and the angle of the push-pull component 20 for easy storage. After storage, the push-pull component 20 may be integrated with the appearance of the body 10, thereby saving space and ensuring the appearance integrity and aesthetics of the of the body 10.

FIG. 27 is a schematic diagram illustrating an overall structure of a cleaning device in response to determining that a push-pull component is in a retracted state according to some embodiment of the present disclosure. FIG. 28 is a schematic diagram illustrating an overall structure of the cleaning device in FIG. 27 after the push-pull component is switched to an open state.

FIGS. 27-28 show another embodiment of the cleaning device. The push-pull component 20 may be rotatably connected to the body 10. In some embodiments, the cleaning device may further include a pull cover 105. The pull cover 105 may be rotatably connected to the body 10 around a rotation center line. The push-pull component 20 may be disposed on the pull cover 105 and may rotate relative to the body 10 around the rotation center line along with the pull cover 105, such that the pull cover 105 and the push-pull component 20 may be opened or closed relative to the body 10. When the pull cover 105 is closed relative to the body 10, the push-pull component 20 may be accommodated in an accommodation space formed between the pull cover 105 and the body 10.

Specifically, when the push-pull component 20 is in the open state, the pull cover 105 may be open relative to the body 10. When the push-pull component 20 is in the retracted state, a closed accommodation space may be formed between the pull cover 105 and the body 10, and the push-pull component 20 may be accommodated in the accommodation space to protect the internal structure of the cleaning device and ensure the overall aesthetics and safety of the cleaning device. The accommodation space refers to a space for accommodating the push-pull component 20.

As shown in FIG. 28, after the pull cover 105 is opened, the push-pull component 20 may be used. That is, the operator may hold the handle 201 to rotate around the rotation center line to adjust to a suitable angle, and then stretch the push-pull component 20 to keep the push-pull component 20 at a suitable length, and then push and pull the push-pull component 20 to a target position, which is convenient to operate and saves manpower.

In some embodiments, a buckle structure may be provided on an end of the pull cover 105 away from the rotation center line. When the buckle structure is buckled, the pull cover 105 may be buckled on the body 10, which is convenient to operate. A notch may be provided on the end of the pull cover 105 away from the rotation center line, which is convenient for the operator to insert a finger to open the pull cover 105.

In some embodiments, as shown in FIG. 28, the push-pull component 20 may be locked on the pull cover 105 through a fixing member 206. For example, the fixing member 206 may sleeve outside the two first pull rod units 202, and the fixing member 206 may be fixed to an inner side of the pull cover 105 through screws and other components, which can maintain a stable connection between the push-pull component 20 and the pull cover 105. In some embodiments, a plurality of fixing members 206 may be provided to further improve the stability of the connection between the push-pull component 20 and the pull cover 105. In this embodiment, two fixing members 206 may be provided. The two fixing members 206 may respectively sleeve a bottom and a top of a lowest first pull rod unit 202, and may be respectively locked with the pull cover 105.

In some embodiments, one end of the push-pull component 20 may be directly rotatably connected to the body 10 to realize opening or closing of the push-pull component 20 relative to the body 10. For example, the pull cover 105 may be movably provided such that after the push-pull component 20 is closed relative to the body 10, the push-pull component 20 may be accommodated in the accommodation space between the body 10 and the pull cover 105 through the connection between the pull cover 105 and the body 10.

In some embodiments, the cleaning device may further include an operation surface detection component (not shown in the figure) and an electric control damping component (not shown in the figure). The operation surface detection component and the electric control damping component may be in communication with the processor. The operation surface detection component may be configured to detect operation surface data of a ground region being cleaned by the cleaning device and send the operation to the processor. The electric control damping component may be configured to adjust a damping coefficient of the travel wheel driving mechanism 30.

In some embodiments, the processor may be further configured to determine, based on the operation surface data and a current cleaning parameter of the cleaning device, a slip risk value of the cleaning device in a current cleaning state; determine, based on the slip risk value, a damping adjustment parameter; and send the damping adjustment parameter to the electronic control damping component to control the electronic control damping component to adjust the damping coefficient.

The operation surface detection component refers to a component configured to detect the operation surface data of the ground region being cleaned by the cleaning device. The operation surface data refers to data related to a ground region to be cleaned by the cleaning device. For example, the operation surface data may include a roughness, water accumulation, a foam condition, or the like, of the surface to be cleaned. In some embodiments, the operation surface detection component may include one or more of a roughness sensor, a water accumulation sensor, a foam sensor, or the like, or any combination thereof.

The roughness sensor may be configured to detect the roughness of the surface to be cleaned. In some embodiments, the roughness sensor may be a millimeter wave radar sensor. The millimeter wave radar sensor may determine the roughness of the surface to be cleaned by emitting millimeter waves, receiving millimeter waves reflected by the ground, and analyzing echo information. The echo information refers to information of the millimeter waves reflected by the ground. The echo information may include a count of peaks, an echo concentration, an echo intensity, etc. The roughness of the surface to be cleaned may be positively correlated with the count of echoes and the echo intensity. The roughness of the surface to be cleaned may be negatively correlated with the echo concentration.

The water accumulation sensor may be configured to detect an amount of water accumulated on the surface to be cleaned. In some embodiments, the water accumulation sensor may include an infrared photoelectric sensor. The infrared photoelectric sensor may determine a turbidity of a solution on the surface to be cleaned by an intensity of a light source projected by an infrared light emitting diode of a preset wavelength, thereby determining the amount of water accumulated on the surface to be cleaned.

The foam sensor may be configured to detect a foam condition of the surface to be cleaned. In some embodiments, the foam sensor may include a sound sensor. The sound sensor may detect whether there is a sound of foam bursting in an environment where the surface to be cleaned is located, thereby determining whether there is foam on the ground.

It should be noted that the roughness sensor, the water accumulation sensor, and the foam sensor may also be any other sensors that are configured to detect the roughness, the water accumulation, and the foam condition of the surface to be cleaned.

The electronic control damping component refers to a component configured to adjust the damping coefficient of the travel wheel driving mechanism 30. An exemplary electronic control damping component may include, but is not limited to, a solenoid valve, etc. The damping coefficient affects rotation smoothness of the travel wheels 1 of the cleaning device. The larger the damping coefficient, the greater the rotation damping of the travel wheels, and the less likely it is to slip and other problems.

The current cleaning parameter refers to an operation parameter used by the cleaning device when cleaning a current surface to be cleaned. In some embodiments, the cleaning parameter may include a cleaning mode of the cleaning device, etc. The cleaning mode may be a factory setting of the cleaning device or preset by the user. Different cleaning parameters enable the cleaning device to have different cleaning speeds and cleaning strengths, resulting in the possibility of slipping of the cleaning device being different.

The slip risk value refers to a probability of the cleaning device slipping during the cleaning process. In some embodiments, the processor may obtain the slip risk value of the cleaning device in various ways. For example, the processor may determine the slip risk value of the cleaning device in the current cleaning state based on the operation surface data and the current cleaning parameter of the cleaning device through a preset table. The preset table may be configured to characterize a corresponding relationship between the slip risk value of the cleaning device in the current cleaning state and the operation surface data and the current cleaning parameter of the cleaning device. In some embodiments, the preset table may be constructed based on historical data.

In some embodiments, the processor may also determine the slip risk value of the cleaning device in the current cleaning state based on the operation surface data and the current cleaning parameter of the cleaning device through an assessment model.

The assessment model refers to a model used to determine the slip risk value of the cleaning device in the current cleaning state. In some embodiments, the assessment model may be a machine learning model. For example, the assessment model may include a convolutional neural network (CNN) model, etc.

In some embodiments, an input of the assessment model may include the operation surface data and the current cleaning parameter of the cleaning device, and an output of the assessment model may include the slip risk value of the cleaning device in the current cleaning state.

In some embodiments, the assessment model may be obtained by training based on a plurality of second training samples with second training labels. The second training samples may include historical actual operation surface data and a historical actual cleaning parameter of a sample cleaning device in the historical data. The second training labels may be determined based on whether the sample cleaning device slips under the historical actual operation surface data and the historical actual cleaning parameter. If the cleaning device slips, the second training label may be denoted as 1, and if there is no slipping, the second training label may be denoted as 0. The second training labels may be obtained by manual labeling.

In some embodiments, the training process of the assessment model may be similar to the training process of the anomaly assessment model, which may be found in the related descriptions above. Similarly, the training process of the assessment model may also be pre-performed in other equipment or devices other than the cleaning device. The training of the assessment model may be completed and then the assessment model may be downloaded to the processor/memory of the cleaning device.

The damping adjustment parameter refers to a parameter related to the damping coefficient of the travel wheel driving mechanism 30. In some embodiments, the processor may determine the damping adjustment parameter based on the slip risk value through a preset rule. For example, the preset rule may include that if the slip risk value exceeds a preset risk threshold, the damping adjustment parameter may be increased by a preset increase (e.g., 20%). The preset risk threshold may be preset by those skilled in the art based on experience.

In some embodiments, after the damping adjustment parameter is determined, the processor may synchronously send the damping adjustment parameter to the electronic control damping component to control the electronic control damping component to adjust the damping coefficient of the travel wheel driving mechanism 30. Merely by way of example, the electronic control damping component may include a solenoid valve, and the solenoid valve may be disposed on the hub 112 of each of the travel wheels 1 to adjust the damping coefficient of the travel wheel driving mechanism 30. For example, in response to receiving the damping adjustment parameter, the solenoid valve may clamp or loosen the hub 112 using an opening degree of the solenoid valve to adjust the damping coefficient of the travel wheel driving mechanism 30. The opening degree of the solenoid valve may be negatively correlated with the damping adjustment parameter. The larger the value of the damping adjustment parameter, the smaller the opening degree of the solenoid valve.

In some embodiments of the present disclosure, the operation surface data is obtained by arranging the operation surface detection component, and the slip risk value of the cleaning device in the current cleaning state is determined based on the operation surface data and the current cleaning parameter of the cleaning device through the trained assessment model, such that the risk can be estimated in advance and the damping adjustment parameter can be determined simultaneously. In addition, the electronic control damping component is arranged and the damping coefficient of the travel wheel driving mechanism is adjusted based on the determined damping adjustment parameter, such that the risk of slipping of the cleaning device can be avoided in time, and the damage to the cleaning device can be avoided, thereby further improving the service life of the cleaning device, ensuring the durability of the cleaning device, and reducing the maintenance cost.

It should be noted that the above embodiments of the present disclosure are merely examples for clearly illustrating the present disclosure, and are not intended to limit the embodiments of the present disclosure. For those having ordinary skills in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all embodiments here. Any modifications, equivalent substitutions, improvements, etc. made according to the substantive contents of the present disclosure shall be included in the scope of protection of the claims of the present disclosure.

	Number	Date	Country
Parent	PCT/CN2023/111154	Aug 2023	WO
Child	19038682		US
Parent	PCT/CN2023/111155	Aug 2023	WO
Child	19038682		US

CLEANING DEVICES

Information

Publication Number

Date Filed

Date Published

Inventors

Original Assignees

CPC

International Classifications

Abstract

Description

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Priority Claims (2)

Continuation in Parts (2)

Number	Date	Country	Kind
202210943954.0	Aug 2022	CN	national
202211016723.1	Aug 2022	CN	national