CN114098545B

CN114098545B - A cleaning machine system

Info

Publication number: CN114098545B
Application number: CN202110173743.9A
Authority: CN
Inventors: 高新忠; 高令宇; 方恩光; 王超; 甘嵩; 邓杰
Original assignee: Qufu Sinodod Intelligent Technology Co ltd
Current assignee: Qufu Sinodod Intelligent Technology Co ltd
Priority date: 2021-02-06
Filing date: 2021-02-06
Publication date: 2025-06-10
Anticipated expiration: 2041-02-06
Also published as: CN114098545A

Abstract

A cleaning machine system comprises a machine body, wherein a cleaning component used for mopping the floor is arranged on the machine body, the cleaning component is of a movable structure, the cleaning component is driven to move on a working surface through friction force between the cleaning component and the working surface when moving, a butting part is arranged on the machine body, a handle rod is not arranged on the butting part or is arranged on the butting part and is of a retracted structure when the cleaning machine executes a self-moving cleaning mode, and the handle rod is arranged on the butting part or is arranged on the butting part and is of an extended structure when the cleaning machine executes a handheld cleaning mode. The multifunctional cleaning machine solves the problems that an existing cleaning machine cannot have a multifunctional use effect, the structure of the existing cleaning machine is complex, the cost is high, and the walking deviation easily occurs in the mopping process, and meanwhile, the problem that the existing handheld mopping machine needs to manually push to walk for mopping and cleaning is inconvenient to use.

Description

Cleaning machine system

Technical Field

The invention relates to the field of intelligent cleaners, in particular to a cleaner system, which is mainly used for cleaning floor by self-displacement walking on the ground.

Background

The existing cleaning machine is mainly used for walking on the ground to clean dust collection and mopping, the walking power of the cleaning machine mainly drives the cleaning machine to walk in a displacement mode through the arrangement of the driving wheels, the left driving wheel and the right driving wheel are generally arranged, the mop is arranged on the rear side or the front side of the driving wheel, the driving wheels work and rotate to drive the cleaning machine to walk and achieve the effect of driving the mop to wipe the ground in a displacement mode, the driving wheels mainly drive the cleaning machine to walk through the friction force between the tread of the outside of the tire and the ground, the problem that the driving wheels slip easily occurs due to small contact area of the tire and the ground is solved, particularly, the cleaning machine is enabled to have certain moisture in the ground in the mopping process, the driving wheels are easy to slip, the walking track of the cleaning machine is easy to deviate, stable mopping cleaning is not facilitated, and meanwhile the whole structure of the cleaning machine is complex and the cost is high.

Meanwhile, due to the fact that the driving wheels are arranged on the cleaning machine to walk, when a user needs to clean the part on the indoor floor, which cannot be cleaned by mopping, the user needs to independently process the part, which is required to be cleaned by the cleaning machine, of the cleaning machine, the cleaning machine and the handheld mopping machine are prepared, the cleaning machine and the handheld mopping machine are inconvenient to use, the operation difficulty of the user is increased, the workload is increased, the work load is increased, the mop is required to be cleaned for many times, and the like, and therefore the conventional cleaning machine cannot achieve the multifunctional use effect.

Disclosure of Invention

The present invention aims to solve at least one of the technical problems in the related art described above to some extent.

Therefore, the invention aims to provide a cleaning machine system which mainly solves the problems that the existing cleaning machine cannot have the multifunctional use effect, the structure of the existing cleaning machine is complex, the cost is high, and the walking deviation easily occurs in the mopping process, and meanwhile, the problem that the existing hand-held mopping machine needs to be manually pushed to walk for mopping and cleaning is inconvenient to use.

The embodiment of the invention provides a cleaning machine system, which comprises a machine body, wherein a cleaning component used for mopping the floor is arranged on the machine body, the cleaning component is in a movable structure, the cleaning component is driven to move on a working surface through friction force between the cleaning component and the working surface when moving, a butting part is arranged on the machine body, a handle rod is not arranged on the butting part or is arranged on the butting part and is in a retracted structure relative to the butting part when the cleaning machine executes a self-moving cleaning mode, and the handle rod is arranged on the butting part or is arranged on the butting part and is in an extended structure relative to the butting part when the cleaning machine executes a handheld cleaning mode.

In the aforementioned cleaning machine system, the handle lever is provided in a structure rotatable with respect to the docking portion and rotatable with respect to the docking portion when the handle lever is mounted on the docking portion, and/or the docking portion is provided in a structure rotatably mounted on the robot main body and rotatable with respect to the machine main body through the docking portion when the handle lever is mounted on the docking portion.

The cleaning machine system is characterized in that a detachable connection structure is arranged between the handle rod and the butt joint part, and the handle rod is in a telescopic expansion joint structure.

In the aforementioned cleaning machine system, the length of the machine body is greater than the width of the machine body, and the handle bar and the butt portion are located at a middle position in the length direction and a middle or rear position in the width direction of the machine body when the handle bar is mounted on the butt portion.

In the aforementioned cleaning machine system, when the handle bar is mounted on the docking portion, the handle bar is rotatable relative to the machine body and is rotated toward the width direction of the machine body such that the handle bar is placed on the machine body at a position from the middle or rear to the front of the machine body in the width direction of the machine body.

In the aforementioned cleaning machine system, a part of the handle lever is provided as a part of the external appearance of the machine body when the handle lever is mounted on the docking portion and is in the retracted configuration.

In the above-described cleaning machine system, the machine body is provided with a housing portion, and a part of the handle lever is positioned in the housing portion when the handle lever is mounted on the docking portion and is in the retracted configuration, and the part of the handle lever is provided as a part of the external appearance of the machine body.

The cleaning machine system is characterized in that a detachable connection structure is arranged between the handle rod and the butt joint part, one or more rod parts are arranged on the handle rod, and when the handle rod is provided with a plurality of rod parts, two adjacent rod parts are mutually sleeved and mounted.

In the foregoing cleaning machine system, a control module is disposed in the machine body, and a threshold value a for starting the self-moving cleaning mode and a threshold value B for starting the handheld cleaning mode are set in the control module, where the control module correspondingly starts the self-moving cleaning mode or the handheld cleaning mode according to the received starting signal.

In one embodiment, the machine body is provided with at least one cliff module, at least one collision module, at least one obstacle detection module, or at least one carpet detection module electrically connected to the control module.

The self-moving cleaning mode at least comprises a threshold C for controlling the cleaning assembly to move and drive the machine body to move backwards or turn when the control module controls the cliff module to detect the hanging position, a threshold D for controlling the cleaning assembly to move and drive the cleaning machine to move backwards or turn when the collision module controls the collision module to detect the machine body to contact an obstacle, a threshold E for controlling the cleaning assembly to move and drive the cleaning machine to move backwards or turn when the obstacle detection module detects the obstacle on the side of the machine body, and a threshold F for controlling the cleaning assembly to move and drive the cleaning machine to move backwards or turn when the carpet detection module detects the carpet on the lower side of the machine body.

In the foregoing cleaning machine system, the cleaning component is configured to be capable of being abutted against a movement structure of the working surface for horizontal rotation, and when the cleaning component horizontally rotates, an unbalanced friction force is provided on the bottom surface of the cleaning component relative to the working surface, so that the cleaning machine is driven to move on the working surface through the cleaning component.

In the cleaning machine system, the number of the cleaning components is two or more, when the number of the cleaning components is two, the two cleaning components are in a parallel adjacent arrangement structure, and the horizontal rotation directions of the two cleaning components at least comprise opposite directions.

In the aforementioned cleaning machine system, the horizontal rotational movement direction of the two cleaning members is a direction from the outside toward the inside of the machine body and from the upper side toward the lower side, and both the cleaning members are horizontally rotated toward a direction between the two cleaning members.

In the foregoing cleaning machine system, in the self-moving cleaning mode, the horizontal rotation movement direction of the two cleaning assemblies is switched to the opposite horizontal rotation movement so that the two cleaning assemblies moving in opposite directions horizontally rotate the cleaning machine to move backward.

In the foregoing cleaning machine system, one of the cleaning components is set to stop moving in the self-moving cleaning mode, and the other cleaning component is set to horizontally rotate towards the direction of the one cleaning component so as to drive the cleaning machine to perform turning displacement towards the direction of the one cleaning component.

In the foregoing cleaning machine system, in the self-moving cleaning mode, the horizontal rotation direction of one of the cleaning assemblies is switched to be the same as the horizontal rotation direction of the other one of the cleaning assemblies, and the cleaning machine is driven to perform turning displacement towards the other one of the cleaning assemblies by horizontally rotating in the direction towards the other one of the cleaning assemblies.

In the foregoing cleaning machine system, in the self-moving cleaning mode, a structure is provided in which a friction force between one of the cleaning assemblies and the working surface is greater than a friction force between the other cleaning assembly and the working surface to drive the cleaning machine to perform turning displacement toward the other cleaning assembly.

In the aforementioned cleaning machine system, the control module is configured to control the cleaning assembly to continue or stop moving at least along the current moving state when the cliff module detects a hanging space or the collision module detects a contact obstacle with the machine body or the obstacle detection module detects an obstacle in the side direction of the machine body, or to control the cleaning assembly to keep a constant distance along the obstacle for cleaning along the side when the obstacle detection module detects an obstacle in the side direction of the machine body.

The cleaning machine system is characterized in that a machine body is provided with a detection module for detecting whether the handle rod is arranged on the butt joint part or not, the detection module is electrically connected with the control module, and the detection module is arranged as one of an infrared sensor, a Hall switch, a micro switch, a pole piece contact switch and a reed switch.

In the foregoing cleaning machine system, the machine body is provided with the pressing assembly, and when the cleaning machine is located on the working surface and the cleaning assembly is horizontally rotated against the working surface, at least a part of the pressing assembly contacts with the cleaning assembly so that the bottom surface of the cleaning assembly has an unbalanced friction force relative to the working surface to enable the cleaning machine to be displaced.

In the foregoing cleaning machine system, the two cleaning assemblies are respectively provided with the pressing assemblies, and the two pressing assemblies respectively press-contact a part of the two cleaning assemblies, wherein the pressure of one pressing assembly to one of the cleaning assemblies is set to be F1, the pressure of the other pressing assembly to the other cleaning assembly is set to be F2, when the cleaning machine turns and shifts towards the direction of the one cleaning assembly, F1 is greater than F2, and when the cleaning machine turns and shifts towards the direction of the other cleaning assembly, F2 is greater than F1.

In the cleaning machine system, the bottom surface of the cleaning component is of a soft structure, the cleaning component is of an inclined structure when the cleaning component is attached to the working surface, or at least a first deformation part and a second deformation part are formed on the bottom surface of the cleaning component when the cleaning component is attached to the working surface, and the deformation amount of the first deformation part is larger than that of the second deformation part.

In the aforementioned cleaning machine system, the cleaning assembly is disposed in an inclined configuration from the inside toward the outside of the machine body and is inclined from the high toward the low when the cleaning assembly is in the inclined configuration.

The cleaning machine system further comprises a cleaning device, wherein the cleaning device is used for placing the cleaning machine to clean the cleaning assembly, the cleaning device is provided with a liquid containing cavity, the cleaning assembly is located in the liquid containing cavity when the cleaning machine is placed on the cleaning device, and/or the cleaning device is provided with a drying module, and the drying module is located on one side of the cleaning assembly to dry the cleaning assembly when the cleaning machine is placed on the cleaning device.

In the foregoing cleaning machine system, the cleaning device is provided with a liquid supply module, and when the liquid supply module works, the liquid supply module makes the cleaning liquid contact with the cleaning component for cleaning the cleaning component.

Compared with the prior art, the invention has the following beneficial effects:

the cleaning component of this scheme sets up can the motion structure, and specific structure that is to but horizontal rotary motion realizes that the motion structure of cleaning component can realize driving the cleaning machine and carry out the displacement walking, realizes that the large tracts of land is clean when, can replace the drive wheel on the current cleaning machine to drive the structure that the cleaning machine walked, and overall structure is simpler, and cleaning component can realize the bottom large tracts of land to the machine main part and cover, can effectually drag ground to wall limit, corner and handle.

The cleaning component of this scheme sets up to horizontal rotation structure, and the cleaning component can effectually cover the bottom of machine main part, realizes the horizontal rotation motion structure of big face for the area of contact between cleaning component and the ground is big, can effectually prevent the problem of skidding when driving the cleaning machine and carry out the displacement, is favorable to keeping the cleaning machine to carry out stable displacement walking, can not appear the problem of displacement walking off normal.

The cleaning machine is provided with the self-moving cleaning mode and the handheld cleaning mode, so that the multifunctional use effect of the cleaning machine is achieved, the cleaning machine can execute the self-moving cleaning mode when the handle rod is not installed in place, the cleaning machine can independently move on the ground to move for mopping the floor without manual operation of a user, the cleaning machine can execute the handheld cleaning mode when the handle rod is installed in place, the cleaning machine can be manually controlled by the user to drag the floor, and the two cleaning modes are convenient for the user to select.

According to the scheme, the butt joint of the handle rod and the machine body of the cleaning machine is realized through the butt joint part, the handle rod can rotate relative to the machine body to be in butt joint installation, so that the cleaning machine can be in a handheld cleaning mode, a detachable connection structure is arranged between the handle rod and the butt joint part, and a user can conveniently realize the mutual switching between the self-moving cleaning mode and the handheld cleaning mode through the installation and the detachment of the handle rod.

The handle bar of this scheme can also set up to telescopic structure, can also directly place on the cleaning machine then the cleaning machine when handle bar withdrawal structure can be by handheld clean mode switch to from the removal clean mode, realizes the dual-purpose multi-functional result of use of quick switch of cleaning machine, and the handle bar can also regard as the part of outward appearance simultaneously, and the user also can make the cleaning machine carry out from the removal clean mode under the condition that does not need to dismantle the handle bar, and convenience of customers uses.

The cleaning machine of this scheme is because of the handheld clean mode of realizing holding through the handle pole drives the clean of mopping the floor, although the user holds the handle pole for holding and drags the floor for holding, but because of the horizontal rotation of clean subassembly moves and can drive the cleaning machine and walk the displacement for the user need not to promote hard when holding the handle pole and can very laborsaving clean of realizing the cleaning machine of mopping the floor, the user only need manual control cleaning machine displacement walking direction can, convenience of customers uses.

To the unbalanced friction of clean subassembly and working face, this scheme can set up clean subassembly and be the slope structure, also can set up to clean subassembly and have first deformation portion and second deformation portion, and have different deflection to realize having unbalanced friction, and then realize the horizontal rotation of clean subassembly and drive the displacement walking of cleaning machine, overall structure is simple, and the reliability is high.

The friction force of the different sizes between the bottom surface of the cleaning component and the working surface can be realized through the crimping component, the cleaning component can move under the action of the friction force of different sizes when horizontally rotating on the joint working surface, and the cleaning component is not kept at the original position, so that the cleaning component is utilized to drive the whole displacement of the machine body to walk.

According to the scheme, the cleaning assembly is in contact pressure connection with the pressure connection assembly, so that unbalanced pressure is formed on the cleaning assembly, or unbalanced friction force is formed on the cleaning assembly, and further the cleaning assembly can automatically move and walk under the condition of unbalanced stress and can replace a driving wheel to walk.

According to the scheme, through the arrangement of the two cleaning assemblies, the straight-line forward walking, the straight-line backward walking and the turning walking of the cleaning machine are realized through the cooperation of the two cleaning assemblies, the automatic displacement walking of the cleaning machine is realized by combining the uneven friction force of the two cleaning assemblies on the same working surface, and the walking direction can be straight line or turning.

Drawings

FIG. 1 is a schematic side view of a cleaning machine;

FIG. 2 is a schematic view of a cleaning machine mounting handle bar;

FIG. 3 is a schematic side view of a cleaning machine mounting handle bar;

FIG. 4 is a schematic top view of the cleaning machine mounting handle bar;

FIG. 5 is a schematic side view of the cleaning machine in a retracted configuration and within the receptacle;

FIG. 6 is a schematic top view of the cleaning machine in a retracted configuration and within the receptacle;

FIG. 7 is a schematic view of the remote control cleaning machine after the handle bar retraction configuration performing a cleaning task;

FIG. 8 is a schematic view of a horizontal rotation of the cleaning assembly in a bottom view of the cleaning machine;

FIG. 9 is a schematic view of a cleaning assembly in a tilted configuration relative to the floor;

FIG. 10 is a schematic view of the cleaning assembly engaged with the floor and in an inclined configuration;

FIG. 11 is a schematic view of the cleaning assembly conforming to a floor surface in a first deformed portion and a second deformed portion;

FIG. 12 is a schematic bottom view of a crimping assembly on a cleaning machine simultaneously crimping two cleaning assemblies;

FIG. 13 is a schematic side cross-sectional view of a crimping assembly on a cleaning machine simultaneously crimping two cleaning assemblies;

FIG. 14 is a schematic bottom view of two crimping assemblies on a cleaning machine respectively crimping two cleaning assemblies;

FIG. 15 is a schematic side cross-sectional view of two crimping assemblies on a cleaning machine respectively crimping two cleaning assemblies;

FIG. 16 is a schematic view of a cleaning machine traveling straight for forward travel;

FIG. 17 is a schematic view of the cleaning machine making a turn to the right under pressure from the crimping assembly;

FIG. 18 is a schematic view of the cleaning machine making a turn toward the left under pressure of the crimping assembly;

FIG. 19 is a schematic view of two cleaning assemblies making a turn to the right with the horizontal rotation direction being consistent;

FIG. 20 is a schematic view of two cleaning assemblies making a turn toward the left with the horizontal rotation direction being consistent;

FIG. 21 is a schematic illustration of one cleaning assembly stopped and another cleaning assembly moved to make a turn to the right;

FIG. 22 is a schematic illustration of one cleaning assembly stopped and another cleaning assembly moved to make a turn to the left;

FIG. 23 is a schematic view of a cleaning machine positioned on a cleaning device to clean a cleaning assembly.

Reference numeral 1-cleaning machine, 100-machine body, 1001-docking part, 1002-receiving part, 101-handle bar, 1011-bar part, 102-detection module, 103-cliff module, 104-collision module, 105-obstacle detection module, 106-carpet detection module, 107-remote control module, 108-sensing module, 109-cleaning component, 110-crimping component, 111-first deformation part, 112-second deformation part, 113-crimping zone, 114-cleaning zone, 115-cleaning device.

Detailed Description

The invention is further described in connection with the following embodiments in order to make the technical means, the creation features, the achievement of the purpose and the effect of the invention easy to understand.

In the embodiment, as shown in the structures of fig. 1 to 23, the cleaning machine 1 is mainly used for carrying out displacement walking on the ground to carry out floor mopping cleaning, and meanwhile, the cleaning machine 1 can be provided with the handle rod 101 to realize the handheld cleaning machine 1, so that the cleaning machine 1 has the multifunctional use effect and is convenient for users to use.

Meanwhile, the cleaning assembly 109 on the cleaning machine 1 of the scheme is arranged into a structure of horizontal rotation movement, so that the floor cleaning effect of large area and large friction force is realized by horizontal rotation, the cleaning machine 1 is driven to move on the ground by the horizontal rotation movement of the cleaning assembly 109, the mode that the cleaning machine is driven to move by arranging driving wheels on the existing floor cleaning machine is replaced, the overall structure of the cleaning machine 1 is simple, the cost is lower, and the cleaning assembly 109 is distributed and arranged to achieve the better floor cleaning effect.

The cleaning machine system comprises a machine body 100, wherein the machine body 100 can be of a cylindrical structure or an elliptical cylindrical structure, a cleaning assembly 109 is arranged on the machine body 100, the cleaning assembly 109 is of a movable structure, the cleaning assembly 109 is mainly used for contacting and attaching to the ground to clean the ground, the cleaning assembly 109 can be used for realizing the cleaning effect of large-area and large friction on the ground through the movable structure of the cleaning assembly 109, the cleaning machine system comprises a self-moving cleaning mode and a handheld cleaning mode, the cleaning machine 1 can independently perform displacement walking on the ground to realize the cleaning of the ground in the self-moving cleaning mode, after the cleaning machine 1 is started, the displacement walking on the ground is mainly realized by utilizing the self-moving force of the cleaning assembly 109, the cleaning assembly 109 can be moved on the ground by a user in the handheld cleaning mode, the cleaning machine 1 can be simultaneously controlled to perform the displacement walking on the ground by the user, the self-moving cleaning mode and the handheld cleaning mode of the cleaning machine 1 are realized, the cleaning machine system is convenient for the user to use, the cleaning machine system has a multifunctional use effect, the cleaning machine 1 is a self-moving robot in the self-moving cleaning mode, and the cleaning machine 1 is more applicable to the cleaning machine 1 in the handheld cleaning mode.

In this embodiment, a control module is disposed in a machine body 100, a threshold a for starting a self-moving cleaning mode and a threshold B for starting a handheld cleaning mode are set in the control module, the control module correspondingly starts the self-moving cleaning mode or the handheld cleaning mode according to a received starting signal, the starting signal can be manually triggered according to a user, the threshold a corresponds to the self-moving cleaning mode, the threshold B corresponds to the handheld cleaning mode, the starting signal includes a first signal for starting the self-moving cleaning mode and a second signal for starting the handheld cleaning mode, and the user can autonomously select to determine whether to start the first signal or the second signal.

The starting signal may be started by a key, or started by touching, or started by voice call, or started by manual touching on the APP, or started by a remote controller, and the starting signal may be triggered by the above method.

The handle bar 101 is mainly arranged on the cleaning machine 1, the handle bar 101 is arranged as an independent accessory, a detachable installation structure is arranged between the handle bar 101 and the machine main body 100, when the handle bar 101 is installed on the machine main body 100, a user can start a self-moving cleaning mode aiming at the cleaning machine 1, when the handle bar 101 is detached from the machine main body 100, namely, the handle bar 101 is not installed in place, the user can start a handheld cleaning mode aiming at the cleaning machine 1, and the cleaning machine is convenient for the user to use the cleaning machine 1 to achieve a mopping cleaning effect.

For the docking installation portion of the handle bar 101, a docking portion 1001 is provided on the machine body 100, the docking portion 1001 is mainly used for docking connection with the handle bar 101, may be provided as docking snap connection, or docking connection by a bolt thread, the handle bar 101 is not installed on the docking portion 1001 or the handle bar 101 is installed on the docking portion 1001 and is in a retracted structure with respect to the docking portion 1001 when the cleaning machine 1 performs the self-moving cleaning mode; the handle bar 101 is mounted on the docking portion 1001 or the handle bar 101 is mounted on the docking portion 1001 and is in an extended structure with respect to the docking portion 1001 when the cleaning machine 1 performs the hand-held cleaning mode, that is, in the self-moving cleaning mode, the handle bar 101 may be set to be detached without being mounted on the docking portion 1001, or the handle bar 101 may be mounted on the docking portion 1001 but the handle bar 101 is in a retracted structure due to being set in a telescopic structure, at which time the cleaning machine 1 may normally perform the self-moving cleaning mode, the handle bar 101 may not cause a blocking of the cleaning machine 1 in the self-moving cleaning mode, the user may directly start the self-moving cleaning mode to perform floor cleaning, in the hand-held cleaning mode, the handle bar 101 may be set to be in a rod-like structure having a certain length, the user may start the hand-held cleaning mode to drag the floor cleaning after directly holding the handle bar 101 to be mounted on the docking portion 1001, or the handle bar 101 may be set in a telescopic structure, while the handle bar 101 is mounted on the docking portion 1001, the user may directly start the self-moving cleaning mode to perform floor cleaning by pulling the handle bar 101, at this time, the user can directly hold the handle bar 101 to start the hand-held cleaning mode for floor cleaning, and the above scheme can correspond to the cleaning mode of starting the cleaner 1 according to whether the handle bar 101 is mounted on the docking portion 1001.

The handle 101 is arranged to be rotatable relative to the docking portion 1001 and can be rotatably mounted on the docking portion 1001 when the handle 101 is mounted on the docking portion 1001, the handle 101 can be movably sleeved on the docking portion 1001, the handle 101 can be rotatably mounted on the machine body 100 in any direction relative to the docking portion 1001, or the handle 101 can be directly mounted on the machine body 100 in a universal rotating manner, the ball-portion-sleeved mounting structure is similar, the user can control the traveling direction of the cleaning machine 1 by randomly rotating the handle 101 when holding the handle 101 in a hand-held cleaning mode, the user can operate the cleaning machine 1 by rotating the handle 101, and/or the user can rotate the handle 101 in any direction relative to the machine body 100 by rotating the handle 101 when the handle 101 is mounted on the docking portion 1001, namely the docking portion 1001 can be rotatably mounted on the machine body 100, the handle 101 can be rotatably mounted on the machine body 100 in any direction, and the user can rotate the hand-held cleaning machine body 101 by rotating the handle 101 in any direction relative to the docking portion 1001, and the user can conveniently rotate the handle 101 when the handle 101 is mounted on the docking portion 1001.

For convenience of use, the handle 101 and the docking portion 1001 are configured to be detachably connected, so that the handle 101 can be mounted on the docking portion 1001 according to a user's need, or the handle 101 is detached from the docking portion 1001, and the handle 101 is configured to be a telescopic structure similar to an telescopic structure of an antenna, so that convenience of use of the handle 101 is facilitated for the user.

In this solution, the length of the machine body 100 of the cleaning machine 1 is greater than the width of the machine body 100, when the handle bar 101 is mounted on the docking portion 1001, the handle bar 101 and the docking portion 1001 are located at a middle position in the length direction and a middle or rear position in the width direction of the machine body 100, that is, the position of the handle bar 101 and the docking portion 1001 on the machine body 100 after the handle bar 101 is mounted in a docking manner with the docking portion 1001 is the middle position in the length direction, which is favorable for driving the cleaning machine 1 to move back and forth and left and right to mop the floor through the handle bar 101, and meanwhile, the handle bar 101 and the docking portion 1001 are located at the middle or rear position in the width direction of the machine body 100, so that the cleaning machine 1 is conveniently driven to move forward through the handle bar 101, and a user conveniently drags the floor cleaning machine 1 through the handle bar 101.

Optionally, when two cleaning assemblies 109 are provided, the direction in which the two cleaning assemblies 109 are arranged side by side is the length direction, that is, the direction in which the overall dimensions of the two cleaning assemblies 109 are added is the length direction, and the direction in which the two cleaning assemblies 109 are not added is the width direction, so as to realize the overall shape and the dimensional structure of the cleaner 1.

With respect to the mounting turn placement of the handle bar 101, when the handle bar 101 is mounted on the docking portion 1001, the handle bar 101 is rotatable relative to the machine body 100 and rotated toward the width direction of the machine body 100 so that the placement of the handle bar 101 in the width direction middle or rear to front of the machine body 100 is located on the machine body 100, at which time the handle bar 101 can start the self-moving cleaning mode when in the retracted configuration and placed directly on the machine body 100, it can be understood that the handle bar 101 lies on the machine body 100 and is set to perform the horizontal placement from the width direction middle or rear to front of the machine body 100, so that the handle bar 101 can start the self-moving cleaning mode of the cleaning machine 1 even if mounted on the docking portion 1001, and when the hand cleaning mode needs to be started, the handle bar 101 can be rotated up and the handle bar 101 can be made to change from the retracted configuration to the extended configuration to perform the manual holding of the handle bar 101 to operate the cleaning machine 1.

In this embodiment, when the handle bar 101 is mounted on the docking portion 1001 and is in the retracted configuration, a part of the handle bar 101 is provided as a part of the external appearance of the machine body 100, that is, the handle bar 101 is mounted on the upper portion of the machine body 100, and when the handle bar 101 is placed and mounted on the machine body 100 in the retracted configuration, the handle bar 101 is a part of the external appearance of the machine body 100.

Specifically, the machine body 100 is provided with the accommodating portion 1002, the accommodating portion 1002 may be provided with a recessed structure, or a recessed groove structure, when the handle bar 101 is mounted on the docking portion 1001 and is in a retracted structure, a part of the handle bar 101 is located in the accommodating portion 1002 and is configured such that a part of the handle bar 101 is provided as a part of the appearance of the machine body 100, the handle bar 101 may be directly placed in the accommodating portion 1002 under the retracted structure, so that the cleaning machine 1 can conveniently perform the self-moving cleaning mode in time when the handle bar 101 is mounted on the docking portion 1001, and the handle bar 101 does not form a walking barrier for the cleaning machine 1 in the self-moving cleaning mode.

For the handle bar 101 and the butt joint part 1001, a detachable connection structure is arranged between the handle bar 101 and the butt joint part 1001, one or more rod parts 1011 are arranged on the handle bar 101, when the handle bar 101 is provided with one rod part 1011, the handle bar 101 is of an inextensible structure, a user can execute a hand-held cleaning mode by directly installing the handle bar 101 or execute a self-moving cleaning mode by directly detaching the handle bar 101, when the handle bar 101 is provided with a plurality of rod parts 1011, two adjacent rod parts 1011 are arranged in a mutually sleeved mode, the sleeved installation effect between the plurality of rod parts 1011 is realized, the handle bar 101 is conveniently arranged into a plurality of rod parts 1011 with smaller lengths, and after the plurality of rod parts 1011 are sleeved together, the handle bar 101 with longer length can be formed, so that the user can operate the cleaner 1 through the handle bar 101 conveniently, and meanwhile, the storage of the handle bar 101 is conveniently realized.

For the perception switching effect between the self-moving cleaning mode and the handheld cleaning mode, the cleaning machine system mainly comprises a detection module 102, wherein the detection module 102 is used for detecting the handle bar 101, the handle bar 101 is mainly arranged to be detachably installed on the machine body 100, whether the handle bar 101 is installed in place or not is detected through the detection module 102, mainly, the cleaning machine 1 can execute the self-moving cleaning mode when the detection module 102 detects that the handle bar 101 is not installed in place, the cleaning machine 1 can execute the handheld cleaning mode when the detection module 102 detects that the handle bar 101 is installed in place, whether the handle bar 101 corresponds in place or not is detected through the detection module 102, the mode that the cleaning machine 1 can execute is determined, namely, the self-moving cleaning mode or the handheld cleaning mode can be executed, the cleaning machine system is convenient to switch and use, a user can start the self-moving cleaning mode of the cleaning machine 1 in most of time, at the moment, the cleaning machine 1 can complete a mopping cleaning task on the indoor ground in a self-moving mode, the cleaning machine 1 can be installed on the machine body 100 when the user needs mopping a specific area, the cleaning machine 1 can clean the mopping area in place, and the user can start the mode conveniently.

The cleaning machine 1 of the scheme is provided with the self-moving cleaning mode and the handheld cleaning mode, so that the multifunctional use effect of the cleaning machine 1 is realized, the cleaning machine 1 can execute the self-moving cleaning mode when the handle rod 101 is not installed in place, the cleaning machine 1 can independently move and walk on the ground to drag the ground without manual operation of a user, the cleaning machine 1 can execute the handheld cleaning mode when the handle rod 101 is installed in place, the cleaning machine 1 can be manually controlled by the user to drag the ground on the ground, and the two cleaning modes are convenient for the user to select.

The cleaning machine 1 of this scheme is because of can realizing the handheld clean mode under handheld drive clean through the handle pole 101, and although the user holds handle pole 101 for handheld and drags the ground, but because of the horizontal rotation of clean subassembly 109 can drive cleaning machine 1 and walk the displacement for the user need not to push hard when holding handle pole 101 and can very laborsaving clean of realizing cleaning machine 1 draging the ground, the user only need manual control cleaning machine 1 displacement walking direction can, the convenience of customers uses.

For the handle bar 101, the handle bar 101 can be set to be a multi-section telescopic structure, when a user needs to install the handle bar 101, the multi-section telescopic structure can be expanded at the moment to control the cleaning machine 1 through the handle bar 101, and when the handle bar 101 is disassembled, the multi-section telescopic structure can be compressed and shortened, and at the moment, the handle bar 101 can also be used for remotely controlling the cleaning machine 1 to start to work.

In order to facilitate the switching use of a self-moving cleaning mode and a handheld cleaning mode by a user, a first starting key is arranged on a handle bar 101, the cleaning machine 1 executes the handheld cleaning mode when the user starts the first starting key, a second starting key is arranged on a machine main body 100, and the cleaning machine 1 executes the self-moving cleaning mode when the user starts the second starting key, namely, the user autonomously judges whether the handle bar 101 is installed in place or not, simultaneously, the user can start different modes correspondingly by starting the first starting key or the second starting key, when the handle bar 101 is installed in place, the user can conveniently contact the handle bar 101 to start the first starting key at the moment, the handheld cleaning mode can be started to correspondingly carry out mopping cleaning, when the user needs to start the self-moving cleaning mode, the second starting key on the machine main body 100 is needed to be started, the handle bar 101 is not installed in place at the moment, the user can start the self-moving cleaning mode only through the second starting key, the mode from the main starting cleaning machine 1 is realized, the user can use is facilitated, and whether the handle bar 101 can not be detected in place or not.

In this scheme, from removal cleaning mode or handheld cleaning mode include when the cleaning subassembly 109 moves through the frictional force of cleaning subassembly 109 itself during motion with the working face drive cleaner 1 carry out the displacement on the working face, for drive cleaner 1 through the frictional force of cleaning subassembly 109 with ground when horizontal rotatory motion and carry out the displacement walking, replace current drive wheel realization to drive cleaner 1 displacement walking's mode, when cleaning subassembly 109 realizes that the large tracted of land is clean, can replace the drive wheel on the current cleaner 1 to drive cleaner 1 structure of walking, overall structure is simpler, cleaning subassembly 109 can realize covering the bottom large tracted of land of machine main part 100, can effectually drag ground to the wall limit, the corner and handle.

The cleaning component 109 of this scheme sets up to horizontal rotation structure, and the cleaning component 109 can effectually cover the bottom of machine main part 100, realizes the horizontal rotation motion structure of big face for the area of contact between cleaning component 109 and the ground is big, can effectually prevent the problem of skidding when driving cleaner 1 and carry out the displacement, is favorable to keeping cleaner 1 to carry out stable displacement walking, can not appear the problem of displacement walking off normal.

The motor is used for driving the horizontal rotation structure of the cleaning assembly 109, the driving mechanism is arranged and mainly comprises a motor, the motor is used for driving the cleaning assembly 109 to horizontally rotate, a support can be used for connecting a motor shaft with the cleaning assembly 109 to horizontally rotate the cleaning assembly 109, a motor shaft connecting gear is arranged, the horizontal rotation structure of the cleaning assembly 109 is driven through the gear, the rotation speed of the cleaning assembly 109 can be correspondingly configured according to the rotation speed of the motor, and the horizontal rotation direction of the cleaning assembly 109 can be adjusted through the forward rotation and the reverse rotation of the motor.

The control module of the cleaning machine 1 is electrically connected with the cleaning assembly 109, and is mainly implemented by controlling the cleaning assembly 109 to horizontally rotate on or off and to horizontally rotate in a forward or reverse direction through the control module, and setting a control program in the control module; when two cleaning assemblies 109 are provided, the control module can respectively control the functions of independently starting, stopping, horizontally rotating directions and the like between the two cleaning assemblies 109, and of course, a motor can be also arranged to synchronously drive the two cleaning assemblies 109 to synchronously work, and the control module can control the motor to synchronously control the two cleaning assemblies 109.

In order to realize that the cleaning machine 1 can perform self-moving walking on the ground to clean the floor and detect obstacles and dangles in the self-moving process, the scheme is that a cliff module 103, a collision module 104, an obstacle detection module 105 or a carpet detection module 106 which are electrically connected with a control module are at least arranged on a machine main body 100, and the control module is used for controlling to detect dangles and obstacles so as to realize that the cleaning machine 1 performs obstacle avoidance treatment in the self-moving walking process.

The self-moving cleaning mode at least comprises a threshold C for controlling the cleaning assembly 109 to move and drive the machine body 100 to move backwards or turn when the control module controls the cliff module 103 to detect the hanging position, a threshold D for controlling the cleaning assembly 109 to move and drive the cleaning machine 1 to move backwards or turn when the collision module 104 controls the collision module 100 to contact an obstacle, a threshold E for controlling the cleaning assembly 109 to move and drive the cleaning machine 1 to move backwards or turn when the obstacle detection module 105 detects the obstacle in the side direction of the machine body 100, or a threshold F for controlling the cleaning assembly 109 to move and drive the cleaning machine 1 to move backwards or turn when the carpet detection module 106 detects the carpet in the lower side direction of the machine body 100.

In the self-moving cleaning mode of the scheme, the threshold C includes that when the cliff module 103 on the machine body 100 detects a hanging position, the cleaning assembly 109 moves and drives the machine body 100 to perform backward displacement or turning displacement, at this time, the control module controls the cliff module 103 to normally judge whether the cleaning machine 1 is in a hanging position or not, so as to prevent the cleaning machine 1 from falling, and the cliff module 103 is set to an infrared emitter and an infrared receiver so as to achieve the detection effect of the hanging position.

In this scheme from moving cleaning mode, threshold D includes when collision module 104 detects that machine main part 100 contacts the obstacle then cleaning subassembly 109 moves and drives cleaner 1 and carry out the back displacement or turn displacement, this moment control module control collision module 104 normal detection judges whether machine main part 100 of cleaner 1 contacts the obstacle, if contact the obstacle then trigger collision module 104 and realize keeping away the barrier processing, namely for control cleaner 1 back displacement or turn displacement, collision module 104 is micro-gap switch, collision module 104 also can set up to have swing structure's trigger piece, infrared receiver and infrared transmitter are installed to the one end of trigger piece, then lead to infrared receiver unable to receive infrared transmitter transmission's infrared signal when machine main part 100 contacts the obstacle, can judge to contact the obstacle this moment, and then realize keeping away the barrier effect.

In this scheme from moving cleaning mode, threshold value E includes then cleaning assembly 109 motion and drive cleaner 1 and carry out the backward displacement or turn displacement when barrier detection module 105 detects the barrier on the machine main part 100 lateral direction, this moment control module control barrier detection module 105 comes normal detection machine main part 100 lateral direction's barrier, be the barrier on the circumference direction promptly, barrier detection module 105 is including infrared transmitter and infrared receiver, when there is the barrier on the lateral direction of machine main part 100 and shelter from and make infrared receiver unable to receive the infrared signal that infrared transmitter sent, can judge this moment and have the barrier, control module control cleaner 1 avoids the barrier, and then realize keeping away the barrier effect.

The collision detection module 102 and the obstacle detection module 105 are located on the side of the machine body 100 to detect whether an obstacle exists in the side direction of the machine body 100, the collision detection module 102 detects the obstacle by a contact collision method, and the obstacle detection module 105 detects the obstacle by a distance detection method.

The collision shell is arranged on the outer side of the machine body 100, and is movably arranged on the machine body 100, when the collision shell contacts an obstacle, the collision shell triggers the collision module 104 to detect the obstacle, which is not described in detail in the prior art, the obstacle detection module 105 is arranged on the side of the machine body 100, and when the distance between the obstacle and the machine body 100 is relatively short, the obstacle triggers the obstacle detection module 105 to detect the obstacle, which is not described in detail in the prior art.

Alternatively, the collision detection module 102 may be configured as an acceleration sensor, and when the acceleration sensor detects that the displacement traveling speed of the cleaning machine 1 suddenly decreases or the displacement traveling speed suddenly stops, it is determined that the cleaning machine 1 contacts an obstacle, and the cleaning assembly 109 may be controlled to move and drive the cleaning machine 1 to perform a backward displacement or a turning displacement.

In this scheme is from moving in the cleaning mode, threshold value F includes when carpet detection module 106 detects the carpet in the downside direction of machine body 100 then cleaning subassembly 109 motion and drive cleaner 1 and carry out the backward displacement or turn displacement, this moment control module control carpet detection module 106 comes normal below detecting machine body 100 whether be the carpet, carpet detection module 106 can be infrared sensor or ultrasonic sensor, carpet detection is prior art and will not be described in detail again, avoid cleaner 1 to enter into on the carpet and lead to polluting or wet the carpet, can carry out effectual avoiding carpet under from moving the cleaning mode.

In the above-mentioned scheme, in the self-moving cleaning mode, the control module controls the cliff module 103, the collision module 104, the obstacle detection module 105 and the carpet detection module 106 to normally execute the detection function, so as to realize the obstacle avoidance process in the self-moving cleaning mode to ensure the normal walking displacement of the cleaner 1 for mopping and cleaning.

The specific motion mode of the cleaning assembly 109 is that the cleaning assembly 109 is arranged to be of a motion structure capable of horizontally rotating by the joint working face, and when the cleaning assembly 109 horizontally rotates, the bottom surface of the cleaning assembly 109 has unbalanced friction force relative to the working face, so that the cleaning machine 1 is driven to move on the working face through the cleaning assembly 109, namely, the bottom surface of the cleaning assembly 109 is formed with areas with different friction forces when being jointed to the working face, the bottom of the cleaning assembly 109 can move under the action of the areas with different friction forces when the cleaning assembly 109 horizontally rotates, when the cleaning assembly 109 is arranged to be two, the bottom surfaces of the two cleaning assemblies 109 are respectively provided with different friction forces, and the cleaning assembly 109 can drive the cleaning machine 1 to move.

In the scheme, the number of the cleaning assemblies 109 is two or more, when the number of the cleaning assemblies 109 is two, the two cleaning assemblies 109 are in a parallel adjacent arrangement structure, the horizontal rotation directions of the two cleaning assemblies 109 at least comprise opposite directions, mopping cleaning can be carried out according to the number of the cleaning assemblies 109, preferably, when the number of the cleaning assemblies 109 is two, the two cleaning assemblies 109 are in a parallel adjacent arrangement structure, the horizontal rotation directions of the two cleaning assemblies 109 at least comprise opposite directions, the horizontal rotation directions of the two cleaning assemblies 109 are opposite, linear displacement walking and steering displacement walking of the cleaning machine 1 under the combined action of the two cleaning assemblies 109 are facilitated, stability is maintained in the walking process of the cleaning machine 1, partial horizontal rotation force offset of the cleaning assemblies 109 is realized, and the driving of the cleaning machine 1 can be realized through unbalanced friction force between the two cleaning assemblies 109 and a working surface respectively.

The cleaning machine 1 is provided with two cleaning assemblies 109, the horizontal rotation movement directions of the two cleaning assemblies 109 are the directions of the two cleaning assemblies 109 from the outer side to the inner side of the machine body 100 and from the upper side to the lower side, the two cleaning assemblies 109 are horizontally rotated in the directions between the two cleaning assemblies 109, the left cleaning assembly 109 is the clockwise horizontal rotation direction from the bottom view of the cleaning machine 1, the right cleaning assembly 109 is the anticlockwise horizontal rotation direction from the bottom view of the cleaning machine 1, and the rotation directions of the left cleaning assembly 109 and the right cleaning assembly 109 are both the directions of the middle positions between the two cleaning assemblies 109 to horizontally rotate, so that the cleaning machine 1 is facilitated to carry out linear displacement walking and steering displacement walking.

In the self-moving cleaning mode, for the backward displacement walking of the cleaning machine 1, mainly the structure that the cleaning assemblies 109 controlling the horizontal rotation movement directions of the two cleaning assemblies 109 to be switched into the opposite horizontal rotation movement to enable the two cleaning assemblies 109 moving horizontally in opposite directions to drive the cleaning machine 1 to carry out backward displacement is that in the forward state of the linear displacement walking of the cleaning machine 1, the horizontal rotation direction of the cleaning assemblies 109 is switched into the opposite horizontal rotation, at this time, the horizontal rotation of the cleaning assemblies 109 can be realized to drive the cleaning machine 1 to carry out the linear displacement backward walking, and the backward movement of the cleaning machine 1 is realized, when the cleaning machine 1 is provided with the two cleaning assemblies 109, the horizontal rotation directions of the two cleaning assemblies 109 are switched into the opposite horizontal rotation, and at this time, the stable linear backward displacement walking of the cleaning machine 1 is realized.

In the self-moving cleaning mode, namely, when turning to the cleaning machine 1, turning can be left turning or right turning, and can be realized by controlling the horizontal rotation direction of one cleaning assembly 109 to be the same as the horizontal rotation direction of the other cleaning assembly 109 and to be set to the direction of the other cleaning assembly 109 so as to drive the cleaning machine 1 to turn to the direction of the other cleaning assembly 109, at the moment, the horizontal rotation directions of the two cleaning assemblies 109 are set to be the same direction so as to rotate, the force of the horizontal rotation of the two cleaning assemblies 109 is concentrated to one direction so as to realize the turning of the cleaning machine 1, wherein the rotation direction of the two cleaning assemblies 109 is the direction which needs to turn to the cleaning machine 1, in particular, can be understood that one cleaning assembly 109 is the left cleaning assembly 109, the other cleaning assembly 109 is the right cleaning assembly 109, when the cleaning machine 1 needs to turn to the left side, the horizontal rotation direction of the right cleaning assembly 109 is set to be the same as the left cleaning assembly 109, when the left cleaning assembly 109 is required to turn, the left cleaning assembly is set to be the left cleaning assembly 109, the left cleaning assembly is set to be the same as the left cleaning assembly 1, the cleaning assembly is rotated, the left cleaning assembly is rotated, the cleaning machine is rotated to be the cleaning machine 1, and the cleaning machine is rotated to be the left cleaning assembly is required to be rotated, and the cleaning machine is rotated to be the left cleaning assembly is rotated, and the cleaning machine is 1 is rotated from the left machine 1, and the left cleaning assembly is required to the left cleaning assembly is rotated, and the machine is required to be the machine is rotated to the left and the machine 1, the horizontal rotation direction of the left side cleaning assembly 109 is set to be switched to be identical to the horizontal rotation direction of the right side cleaning assembly 109, and the horizontal rotation directions of the left side cleaning assembly 109 and the right side cleaning assembly 109 are rotated toward the right side cleaning assembly 109, that is, toward the right side of the cleaning machine 1, and are set to be horizontally rotated from the front side toward the rear side of the cleaning machine 1, so that the turning of the cleaning machine 1 can be preferably realized.

In the self-moving cleaning mode, when the cleaning machine 1 turns, that is, when the cleaning machine 1 turns, the turning can be left turning or right turning, or a structure which mainly controls one of the cleaning assemblies 109 to stop moving and the other cleaning assembly 109 to horizontally rotate towards the one of the cleaning assemblies 109 so as to drive the cleaning machine 1 to turn towards the one of the cleaning assemblies 109 is arranged, and at the moment, the horizontal rotation of the one of the cleaning assemblies 109 is stopped so that the other cleaning assembly 109 generates a rotating force when horizontally rotating to realize the whole turning of the cleaning machine 1; specifically, it can be understood that one of the cleaning assemblies 109 is a left-side cleaning assembly 109, in which the other cleaning assembly 109 is a right-side cleaning assembly 109, when the cleaner 1 needs to turn to the left side, the left-side cleaning assembly 109 stops rotating horizontally, the right-side cleaning assembly 109 is in a horizontally rotated state, and the horizontally rotating direction of the right-side cleaning assembly 109 is rotated toward the left side of the cleaner 1 and is horizontally rotated from the front side toward the rear side of the cleaner 1, so that the cleaner 1 is turned at least by the rotating force of the cleaning assembly 109, that is, left-side turning, and also, when the cleaner 1 needs to turn to the right side, the right-side cleaning assembly 109 stops rotating horizontally, the left-side cleaning assembly 109 is in a horizontally rotated state, and the horizontally rotating direction of the left-side cleaning assembly 109 is rotated toward the right side of the cleaner 1 and is rotated horizontally from the front side toward the rear side of the cleaner 1, at least the cleaning assembly 109 is driven to turn to the left by the rotating force, so that the cleaning machine 1 can be turned better.

In the scheme, in the self-moving cleaning mode, the friction force between one cleaning assembly 109 and the working surface is controlled to be larger than the friction force between the other cleaning assembly 109 and the working surface to drive the cleaning machine 1 to turn and displace towards the other cleaning assembly 109, specifically, when the friction forces between the two cleaning assemblies 109 and the ground are equal, the cleaning machine 1 can linearly move on the ground to advance or retreat, if the friction force between one cleaning assembly 109 and the working surface is increased, the stability of the linear movement of the cleaning machine 1 is broken at the moment, so that the cleaning machine 1 can turn and walk, and the purpose of turning the cleaning machine 1 is achieved.

In this solution, in the handheld cleaning mode, the control module controls the cleaning assembly 109 to move continuously or stop moving at least along the current moving state when the cliff module 103 detects a hanging space or the collision module 104 detects or the obstacle detection module 105 detects an obstacle in the side direction of the machine body 100, in the handheld cleaning mode, a user can set a key such as start and pause on the handle bar 101, and the user can control the cleaning machine 1 through the key, wherein the control module in the cleaning machine 1 controls the cleaning assembly 109 to move continuously according to the cliff module 103 or the collision module 104 detects or the obstacle detection module 105 detects an obstacle in the side direction of the machine body 100, or can stop moving according to the use habit of the user, or can set to move continuously by default, and gives the user the manual autonomous operation in the handheld cleaning mode, so that the user can use convenience.

The control module may control the cleaning assembly 109 to continue the horizontal rotation or stop moving when the user manually lifts the cleaner 1 in the air, preferably, the cleaning assembly 109 stops moving, so as to prevent the cleaning assembly 109 from water throwing and polluting the indoor floor caused by the horizontal rotation in the air, for example, when the obstacle detection module 105 or the collision detection module 102 detects an obstacle, the control module controls the cleaning assembly 109 to continue the horizontal rotation, so that the cleaning machine is in a handheld cleaning mode, and the user can change the displacement direction of the cleaner 1 by the handle bar 101 to avoid the obstacle.

In this scheme, in handheld cleaning mode, control module is then control cleaning module 109 and keep invariable distance along the obstacle and carry out displacement along clear structure when detecting the obstacle on the machine main part 100 lateral part direction based on obstacle detection module 105, can be better in handheld cleaning mode through the horizontal rotary motion of cleaning module 109 drive cleaner 1 along the border of obstacle and carry out along the border and clean, be that to keep invariable distance to carry out displacement walking along the border of obstacle and drag the ground and clean, be favorable to promoting the cleaning performance to the obstacle border.

The detection module 102 in this scheme is electrically connected with the control module, and detection module 102 feeds back the detected detection signal to the control module, and the control module judges that the cleaning machine 1 can start the self-moving cleaning mode or the handheld cleaning mode according to the detection signal, and detection module 102 is set to one of an infrared sensor or a hall switch or a micro switch or a pole piece contact switch or a reed switch. Specifically, the detection module 102 may be mounted on the machine body 100, when the handle 101 is mounted on or dismounted from the machine body 100, the detection signal on the detection module 102 is triggered, at this time, the detection signal is fed back into the control module, the control module determines that the user mounts the handle 101 in place or dismounts the handle from the machine body 100 according to the detection signal, and at this time, the cleaning machine 1 may play a role in starting a handheld cleaning mode or a self-moving cleaning mode according to the detection signal, so that the user can conveniently use the cleaning machine 1 to clean the floor as required. When a user needs to manually treat the floor, the user can start the handheld cleaning mode to clean the floor by using the cleaning assembly 109 only by installing the handle bar 101 in place, so that the cleaning machine 1 has wider application range.

In order to facilitate the use of the user, the remote control module 107 is arranged on the handle bar 101, when the handle bar 101 is not installed on the machine body 100, the cleaning machine 1 is remotely controlled by the handle bar 101 to start the self-moving cleaning mode, the remote control module 107 is mainly an infrared emitter, when the handle bar 101 is not installed on the machine body 100, the cleaning machine 1 can be located on the ground to carry out displacement walking to execute the self-moving cleaning mode, and the user can realize the remote control of the cleaning machine 1 to start the self-moving cleaning mode through the remote control module 107 on the handle bar 101, so that the use of the user is facilitated.

Meanwhile, the machine body 100 is provided with the sensing module 108, the sensing module 108 is mainly an infrared receiver, when the detecting module 102 detects that the handle rod 101 is not installed in place, the sensing module 108 can detect a remote control signal sent by the handle rod 101 and can control the cleaner 1 to start a self-moving cleaning mode, when the detecting module 102 detects that the handle rod 101 is not installed in place, the cleaner 1 can execute the self-moving cleaning mode, a user can send out a remote control signal through the remote control module 107 on the handle rod 101, and after the sensing module 108 receives the remote control signal, the self-moving cleaning mode of the cleaner 1 can be started, so that the user can conveniently and remotely control the cleaner 1 to start and control the cleaner 1 to work.

The following modes are adopted for the structure with unbalanced friction force between the cleaning assembly 109 and the working surface to drive the cleaner 1 to travel on the ground:

The first mode is that the bottom surface of the cleaning assembly 109 is of a soft structure, when the cleaning assembly 109 is attached to the working surface, the cleaning assembly 109 is of an inclined structure, when the cleaning assembly 109 is attached to the working surface, the bottom surface of the cleaning assembly 109 is of an inclined structure, different pressures exist between different positions of the bottom surface of the cleaning assembly 109 and the working surface, the pressure on the working surface on the high side of the inclined structure is small, the pressure on the working surface on the low side of the inclined structure is large, further different friction forces on the working surface on the bottom surface of the cleaning assembly 109 under different pressures are achieved, the friction forces are unbalanced, and meanwhile the cleaning assembly 109 is driven to move in a displacement mode based on the unbalanced friction forces in the horizontal rotation process.

The specific inclination structure may be an inclination structure in which the cleaning unit 109 is disposed in a direction from the inside toward the outside of the machine body 100 and is inclined from the high to the low when the cleaning unit 109 is in the inclination structure. That is, the outer edge area of the bottom surface of the cleaning assembly 109 is tightly attached to the working surface, the pressure on the working surface is high, the middle part of the bottom surface of the cleaning assembly 109 and the inner edge area are loosely attached to the working surface, the pressure on the working surface is low, and the unbalanced friction effect between the bottom surface of the cleaning assembly 109 and the working surface is further realized.

In the second mode, the bottom surface of the cleaning assembly 109 is provided with a soft structure, when the cleaning assembly 109 is attached to the working surface, the bottom surface of the cleaning assembly 109 at least forms a first deformation part 111 and a second deformation part 112, and the deformation of the first deformation part 111 is larger than that of the second deformation part 112, namely, the compression joint between the first deformation part 111 and the working surface on the bottom surface of the cleaning assembly 109 is tighter, the compression joint between the second deformation part 112 and the working surface is looser, the deformation of the first deformation part 111 is larger, the deformation of the second deformation part 112 is smaller than that of the first deformation part 111, and unbalanced friction force between the first deformation part 111 and the second deformation part 112 and the working surface is realized, so that the displacement walking effect of the cleaning machine 1 is driven by the unbalanced friction force in the horizontal rotation process of the cleaning assembly 109.

Alternatively, the first deformation 111 is located at a region outside the middle of the cleaning assembly 109, and the second deformation 112 is located at a region inside the middle, or the first deformation 111 is located at an outer edge of the cleaning assembly 109, and the second deformation 112 is located at an inner edge of the cleaning assembly 109.

In the third mode, a crimping component 110 is arranged on a machine main body 100, when a cleaning machine 1 is positioned on a working surface, and the cleaning component 109 is attached to the working surface and horizontally rotates, at least one part of the crimping component 110 contacts with the cleaning component 109, so that the cleaning machine 1 is displaced due to the fact that the bottom surface of the cleaning component 109 is in unbalanced friction with respect to the working surface, the crimping component 110 is arranged to apply pressure to the cleaning component 109, so that the cleaning component 109 is in unbalanced friction with respect to the working surface, the cleaning component 109 drives the cleaning machine 1 to move in a displacement mode, mainly, when the crimping component 110 is crimped with the cleaning component 109, a crimping zone 113 and a cleaning zone 114 are formed on the cleaning component 109, the bottom surface of the cleaning component 109 is in unbalanced pressure with respect to the working surface, the cleaning component 1 is automatically moved through the cleaning zone 114 and the crimping zone 113, the cleaning zone 114 and the crimping zone 113 are mainly formed on the bottom surface of the cleaning component 109, the bottom surface of the cleaning component 109 is enabled to form two areas, the pressure is unbalanced between the bottom surface of the cleaning component 109 and the working surface, the cleaning component 109 is enabled to automatically move under the condition of being not stressed, the automatic pulling force can be removed, the existing walking can be easily, the existing walking can be realized, the walking can be simply and the walking can be realized easily, and the walking machine has high cost can be easily, and the walking can be easily set, and the walking machine can be easily walking can be realized.

Wherein the maximum pressure of the crimp zone 113 against the working surface is greater than the minimum pressure of the crimp zone 114 against the working surface; when the pressure welding assembly 110 contacts the cleaning assembly 109, the maximum pressure of the relative working surface in the pressure welding area 113 is larger than the minimum pressure of the relative working surface in the cleaning area 114, the pressure is the ratio of the pressure to the stressed area, and under the condition that the pressure welding assembly is provided with the cleaning area 114 and the pressure welding area 113, the unbalanced pressure of the bottom surface of the cleaning assembly 109 relative to the working surface can be ensured only by ensuring that the maximum pressure existing in the pressure welding area 113 can be larger than the minimum pressure in the cleaning area 114, and on the cleaning assembly 109 of the scheme, the area of the cleaning area 114 is larger than the area of the pressure welding area 113, and the pressure welding area 113 is also provided with the larger pressure relative to the cleaning area 114 when the main user of the cleaning area 114 contacts the working surface for cleaning, so that the pressure welding area 113 is further provided with the effect of realizing autonomous displacement and walking of the cleaning machine 1.

Preferably, two cleaning assemblies 109 are provided, and two cleaning assemblies 109 are provided on the machine body 100, so that the cleaning machine 1 can travel along a planned path in a displacement manner.

The machine body 100 is provided with a crimping assembly 110, the crimping assembly 110 is used for crimping at least one part of two cleaning assemblies 109, namely, the crimping assembly 110 is positioned between the two cleaning assemblies 109, namely, the crimping assembly 110 can be positioned at the position with the minimum distance between the two cleaning assemblies 109, only the condition that at least one part of the crimping assembly 110 can be respectively contacted with the two cleaning assemblies 109 to carry out crimping is met, and a crimping area 113 is respectively formed on the two cleaning assemblies 109, at the moment, the crimping assembly 110 can not only apply pressure and then have unbalanced friction force to form the crimping area 113 so as to meet the requirement that the two cleaning assemblies 109 can realize displacement walking of the cleaning machine 1, but also can realize the problem that a gap which is not leaked between the two cleaning assemblies 109 exists at the position with the minimum distance between the two cleaning assemblies 109, is beneficial to solving the problem that the cleaning machine 1 can keep a complete single cleaning effect in the cleaning process of the cleaning working face, and if the crimping assembly 110 is not positioned at the position with the minimum distance between the two cleaning assemblies 109, the working face which is the minimum distance between the two cleaning assemblies 109 can exist, the problem that the working face with the minimum distance between the two cleaning assemblies 109 can not be effectively matched can be realized through the pressure, namely, the problem that the pressure can be applied to the two cleaning assemblies 109 can be more synchronously and the whole can not realize the synchronous effect through the pressure can be realized through setting.

Specifically, the structure may also be that the two cleaning assemblies 109 are respectively provided with the pressing assemblies 110, and the two pressing assemblies 110 respectively press-contact a part of the two cleaning assemblies 109, that is, the two independent pressing assemblies 110 are respectively provided on the two independent cleaning assemblies 109, that is, one of the pressing assemblies 110 independently presses and applies pressure to one of the cleaning assemblies 109, the other pressing assembly 110 independently presses and applies pressure to the other one of the cleaning assemblies 109, and separate pressing areas 113 are respectively formed on the two cleaning assemblies 109, respectively uniform and unbalanced pressure on the two cleaning assemblies 109 is realized through the two separate pressing areas 113, and further unbalanced friction force is formed, so that displacement walking of the cleaner 1 is realized under the condition that the two cleaning assemblies 109 have unbalanced friction force.

The above-mentioned pressing assembly 110 may be configured to include a pressing member, at least a portion of which extends downward to press-contact the cleaning assembly 109, and the pressing member extends downward to contact a portion of the cleaning assembly 109 to exert a pressure on the cleaning assembly 109, so as to achieve different pressures in a region where the bottom surface of the cleaning assembly 109 contacts the working surface, and further different friction forces during horizontal rotation, so as to achieve an automatic displacement and traveling effect of the cleaning machine 1 through the cleaning assembly 109.

The above-mentioned specific structure part of the pressing assembly 110 may be a structure in which the pressing member extends downward at least partially to press and contact with the cleaning assembly 109, and the pressing member is configured to be movable, and is connected with an elastic member, and the pressing member is configured to be movable, so that the position height of the pressing member can be adjusted along with the fluctuation of the cleaning assembly 109 under the condition that the pressure is applied to the cleaning assembly 109, i.e. the pressure is applied to the pressing area 113, for example, when the cleaning assembly 109 rotates horizontally on an uneven working surface, the cleaning assembly 109 can be influenced by the working surface to generate uneven phenomenon, and the elastic member can play a role of buffering and stressing at this time.

In order to realize that the pressure that crimping subassembly 110 applyed to clean subassembly 109 can be adjusted, mainly be the pressure that applys to crimping district 113 can be adjusted, crimping subassembly 110 still includes the regulating part, the regulating part is used for adjusting crimping piece downwardly extending's distance, the regulating part can set up the motor, and drive the certain distance of reciprocates of regulating part through the motor, can be with the rotatory power transmission of motor for the power of regulating part reciprocates, when needs increase crimping subassembly 110 to clean subassembly 109 namely the pressure of crimping district 113 on the clean subassembly 109, can adjust crimping piece downwardly contact clean subassembly 109's distance that extends this moment through the regulating part, make crimping piece to clean subassembly 109 crimping distance big, be the crimping inseparabler that is the crimping is bigger that corresponds the pressure of crimping district 113 on clean subassembly 109 this moment, at this moment, can control the frictional force of clean subassembly 109 laminating working face through the size of adjusting pressure, and then adjust the direction of cleaner 1 walking through clean subassembly 109, if cleaner 1 turns to left or turns to right, two crimping subassemblies 110 on two clean subassembly 109 respectively have different pressures on two clean subassembly 109 respectively, can realize the rotation speed that the whole is different and change the current rotation speed is realized simply.

In the self-moving cleaning mode, when two cleaning assemblies 109 are respectively provided with a pressing assembly 110, the friction force between one cleaning assembly 109 and the working surface can be adjusted and controlled to be larger than that between the other cleaning assembly 109 and the working surface to drive the cleaner 1 to perform turning displacement towards the other cleaning assembly 109, specifically, the two cleaning assemblies 109 are respectively provided with the pressing assembly 110, the two pressing assemblies 110 are respectively pressed against a part of the two cleaning assemblies 109, the pressure of one pressing assembly 110 to one cleaning assembly 109 is set to be F1, the pressure of the other pressing assembly 110 to the other cleaning assembly 109 is set to be F2, F1 is larger than F2 when the cleaner 1 turns to move towards the other cleaning assembly 109, and F2 is larger than F1 when the cleaner 1 turns to move towards the other cleaning assembly 109, so that turning displacement of the cleaner 1 is realized.

Wherein, for the structure provided with two cleaning assemblies 109, one pressure welding assembly 110 sets the pressure of one cleaning assembly 109 as F1, wherein the other pressure welding assembly 110 sets the pressure of the other cleaning assembly 109 as F2, one mode can be understood that the left cleaning assembly 109 and the right cleaning assembly 109 are arranged in parallel on the left and right sides of the two cleaning assemblies 109, the left pressure welding assembly 110 and the right pressure welding assembly 110 are correspondingly arranged, the pressure of the right pressure welding assembly 110 on the right cleaning assembly 109 is F1, the left pressure welding assembly 110 is used for setting the pressure of the left cleaning assembly 109 as F2, F1 is larger than F2 when the cleaning machine 1 moves towards the one cleaning assembly 109, F2 is larger than F1 when the cleaning machine 1 moves towards the other cleaning assembly 109, the other cleaning assembly 109 can be understood as the left cleaning assembly 109, the cleaning machine is correspondingly arranged on the left side, the left side of the left cleaning assembly 109, the left cleaning assembly and the right cleaning assembly 109 can be correspondingly arranged, the cleaning machine can be driven by turning the left side of the left cleaning assembly 109, F1 can be driven by turning the left side cleaning assembly 1, F1 can be driven by the right cleaning assembly 109, the left cleaning assembly 109 can be driven by the left side cleaning assembly 109, and the left cleaning assembly 109 can be driven by the left side cleaning assembly 1, and the left cleaning assembly 109, and the machine can be driven by the left cleaning assembly 1, and the left cleaning assembly 109, and the machine can be driven by the left cleaning assembly, and the machine 1 by the machine when the machine 1, and the machine can be driven by the left cleaning assembly, and the machine can be driven by the machine, and the machine by the machine. When the cleaning assembly 109 slips or is abnormally bent to cause displacement and walking, or is deviated to be oblique, the cleaning assembly can be corrected to return to the straight walking direction, and a direction sensor or an angle sensor can be installed in the machine body 100 to realize the perception of the walking direction of the cleaning machine 1, wherein the crimping assembly 110 can be movably arranged to crimp the structure of the cleaning assembly 109, so that the crimping height distance or the depth distance of the crimping assembly 110 can be conveniently adjusted, and the pressure can be adjusted.

For the structure provided with two cleaning assemblies 109, when the cleaning machine 1 is in linear displacement walking along the direction a, the size at least comprising the value of F1 is equal to the value of F2, so that the cleaning machine 1 can be kept in linear displacement, the crimping areas 113 on the two cleaning assemblies 109 can be correspondingly arranged to be in a symmetrical structure in the horizontal direction or the vertical direction, the stability and consistency of the cleaning machine 1 in the displacement walking process can be better kept, the cleaning machine 1 can be in linear walking, and the displacement walking can be performed for linear forward or linear backward.

In this scheme, when the cleaner 1 moves in a linear displacement manner along the direction a, the resultant forces of the opposite working surfaces on the two cleaning assemblies 109 are not offset, that is, the resultant forces of the cleaning areas 114 and the crimping areas 113 on the cleaning assemblies 109 on the opposite working surfaces on the bottom surface of the entire cleaning assembly 109 are not offset, that is, the resultant forces of the opposite working surfaces on the two cleaning assemblies 109 are not equal or opposite, at this time, the cleaner 1 can move in a displacement manner under the action of the resultant forces of the opposite working surfaces on the two cleaning assemblies 109, and can move in a linear displacement manner, at this time, the resultant forces of the opposite working surfaces on the two cleaning assemblies 109 can be symmetrical along the direction a to push the cleaner 1 together, and the linear displacement travel is facilitated.

When the cleaning machine 1 is in displacement walking in the rotation direction, such as left-turning walking or right-turning walking, that is, when the cleaning machine 1 is in displacement walking in the rotation direction, the resultant moments of the opposite working surfaces on the two cleaning assemblies 109 are not mutually offset, so that the respective moments on the two cleaning assemblies 109 under the action of the resultant forces of the opposite working surfaces are rotational forces or angular forces, and the respective resultant moments are not mutually offset, at this time, the cleaning machine 1 can perform turning displacement walking under the combined action of the respective resultant moments of the two cleaning assemblies 109, that is, the left-turning or right-turning walking of the cleaning machine 1 is realized.

Alternatively, the turning walking of the cleaning machine 1 can be realized by setting the magnitude of the pressure of the corresponding crimping assemblies 110 on the two cleaning assemblies 109 and correspondingly forming the magnitude of the combined moment of the two cleaning assemblies 109 relative to the working surface, when the cleaning machine 1 is in the direction of the one cleaning assembly 109, the combined moment of the one cleaning assembly 109 is larger than the combined moment of the other cleaning assembly 109, when the cleaning machine 1 is in the direction of the other mopping assembly, the combined moment of the other cleaning assembly 109 is larger than the combined moment of the one cleaning assembly 109, thereby realizing the turning displacement walking of the cleaning machine 1, particularly, the turning displacement walking of the cleaning machine 1 can be realized by regulating the magnitude of the pressure of the crimping assemblies 110 to the crimping zone 113, and the cleaning machine can be understood as one cleaning assembly 109 being the left cleaning assembly 109 and the other cleaning assembly 109 being the right cleaning assembly 109.

In this solution, when the cleaning machine 1 moves in a linear displacement manner along the direction a, the resultant force of the pressing areas 113 on one of the cleaning assemblies 109 is equal to the resultant force of the pressing areas 113 on the other cleaning assembly 109 and is symmetrical along the direction a, that is, the resultant force of the pressing areas 113 on one of the cleaning assemblies 109 against the working surface is equal to the resultant force of the pressing areas 113 on the other cleaning assembly 109 against the working surface and is symmetrical along the direction a, so that the cleaning machine 1 can move in the direction a under the combined action of the resultant forces of the respective pressing areas 113 on the two cleaning assemblies 109, and the cleaning machine 1 can move in the direction a, which is beneficial to keep the cleaning machine 1 moving in the linear displacement manner, and the direction a can be the forward direction of the linear displacement travel of the cleaning machine 1 or the backward direction of the linear displacement travel of the cleaning machine 1, and stable linear forward or linear backward of the cleaning machine 1 can be realized under the resultant force of the two.

To this scheme, the structure of clean subassembly 109 is, is provided with the pressure disk on the clean subassembly 109, and the mop is swabbed to the case under the pressure disk, and the mop can paste on the pressure disk through the magic subsides, or the mop is made up the structure as an organic whole with the pressure disk, and clean subassembly 109 can be dismantled installs on the bottom of machine body 100 to set up to the structure that can horizontal rotation.

In this solution, for convenience in use, a state prompt for reminding a user of the handle bar 101 may be set, specifically, when the handle bar 101 is installed in place or removed, the user may manually install the handle bar 101 in place or manually remove the handle bar 101, by setting a voice unit on the machine main body 100, the voice unit may be a buzzer or a loudspeaker, and the voice unit is electrically connected with the control module or electrically connected with the detection module 102, when the detection module 102 detects the current state of the handle bar 101, the voice unit on the machine main body 100 sends a state switching prompt for the handle bar 101, such as that the handle bar 101 is installed in place or the handle bar 101 is not installed in place, and reminds the user of the current state of the handle bar 101 through the voice unit, so that the user can know in time that the user starts the self-moving cleaning mode or the handheld cleaning mode; or the display unit displays a state switching prompt of the handle bar 101, namely, a state switching prompt for setting a display lamp bead or a display screen to display the state of the handle bar 101 and reminding a user of the current state of the handle bar 101 or the switching prompt of the switching state of the handle bar 101, or the cleaning component 109 continuously and intermittently moves to send out the state switching prompt of the handle bar 101, namely, the cleaning component 109 intermittently moves when the handle bar 101 is installed or removed through the moving state of the cleaning component 109, namely, intermittently changes to start the horizontal rotation movement and stop the horizontal rotation movement, and continuously and intermittently move for a plurality of times to remind the user of the current installation or the removal of the handle bar 101, when the handle bar 101 is installed or the handle bar 101 is not installed, at this point the cleaning assembly 109 may continue a horizontal rotational motion to mop the floor for cleaning.

The cleaning device 115 is used for placing the cleaning machine 1 to clean the cleaning assembly 109, the cleaning device 115 is provided with a liquid containing cavity, the cleaning assembly 109 is located in the liquid containing cavity when the cleaning machine 1 is placed on the cleaning device 115, the cleaning device 115 is an independent structural part relative to the cleaning machine 1 to facilitate a user to place the cleaning machine 1 on the cleaning device 115 to clean the cleaning assembly 109, the cleaning assembly 109 can be cleaned by utilizing the movement of the cleaning assembly 109, the cleaning assembly 109 can be directly placed in the liquid containing cavity to clean water, and the cleaning assembly 109 can be directly contacted with the cleaning liquid to clean the cleaning assembly 109 when the cleaning assembly 109 contacts the cleaning liquid.

For cleaning the cleaning assembly 109 in the liquid containing cavity, a liquid supply module can be further arranged to supply cleaning liquid to the cleaning assembly 109, and after the cleaning liquid is supplied to contact the cleaning assembly 109, the cleaning effect of the cleaning assembly 109 is achieved by utilizing the motion power of the cleaning assembly 109, and the liquid supply module can be an electromagnetic valve, a water pump and the like and can only be required to be started to realize the cleaning assembly 109 to contact the cleaning liquid for cleaning.

In order to solve the problem that the cleaning component 109 is easy to mold and smell in a wet state, the cleaning device 115 of the scheme can be further provided with a drying module, when the cleaning machine 1 is placed on the cleaning device 115, the drying module is positioned on one side of the cleaning component 109 to dry the cleaning component 109, and the drying device mainly heats and dries the cleaning piece, so that the problem that the cleaning component 109 can smell and smell in the wet state is effectively solved.

The cleaning machine 1 of this scheme can be through having unbalanced frictional force between the self motion of cleaning subassembly 109 and the ground and make the displacement walking of driving cleaning machine 1 through the motion of cleaning subassembly 109, can drive cleaning machine 1 and advance, retreat, turn the displacement, the machine main part 100 of cleaning machine 1 need not set up the drive wheel and can realize the displacement walking of cleaning machine 1, overall structure is simple and the cost is lower, set up detachable handle 101 simultaneously, come cleaning machine 1 can regard as handheld cleaning machine 1 to use, make cleaning machine 1 possess multi-functional result of use, specifically set up from the removal cleaning mode and handheld cleaning mode for cleaning machine 1, and carry out the detection of whether to handle 101 is in place through detection module 102, be used for can carrying out the manual cleaning mode of self-moving cleaning mode or user's manual operation under the cleaning machine 1 of mopping ground according to the detection result, the convenient user switches the use to cleaning machine 1, can carry out the cleaning to the region that can't walk independently under the manual cleaning mode, or according to user's demand and carry out manual operation and carry out the convenient mode of cleaning machine 1 of mopping ground has been used for the user.

It will be understood by those of ordinary skill in the art that the foregoing embodiments are specific examples of carrying out the invention and that various changes in form and details may be made therein without departing from the spirit and scope of the invention.

Claims

1. A cleaning machine system, the cleaning machine comprising a machine body, a cleaning assembly for mopping the floor provided on the machine body, characterized in that: the cleaning assembly is provided as a movable structure and when the cleaning assembly moves, the friction between the cleaning assembly and the working surface drives the cleaning machine to move on the working surface;

A docking portion is provided on the machine body. When the cleaning machine performs a self-moving cleaning mode, the handle bar is not installed on the docking portion or the handle bar is installed on the docking portion and is in a retracted structure relative to the docking portion; when the cleaning machine performs a handheld cleaning mode, the handle bar is installed on the docking portion or the handle bar is installed on the docking portion and is in an extended structure relative to the docking portion.

A crimping assembly is provided on the machine body. When the cleaning machine is located on the working surface and the cleaning assembly is horizontally rotated in contact with the working surface, at least a portion of the crimping assembly contacts the cleaning assembly so that the bottom surface of the cleaning assembly has an unbalanced friction force relative to the working surface, causing the cleaning machine to move.

When the crimping assembly applies pressure to the cleaning assembly, the bottom surface of the cleaning assembly contacts the working surface and different pressures are present in the contacting area;

When the crimping assembly is crimped to the cleaning assembly, a crimping area and a cleaning area are formed on the cleaning assembly, wherein the crimping area and the cleaning area are formed on the bottom surface of the cleaning assembly;

The cleaning area is configured as a structure in contact with the working surface for cleaning the working surface;

The crimping area is configured as a structure in contact with the working surface to clean the working surface;

The area of the cleaning zone is larger than that of the crimping zone, and the crimping zone also has a greater pressure on the working surface relative to the cleaning zone, so that when the bottom surface of the cleaning component formed by the cleaning zone and the crimping zone contacts the working surface, there is an unbalanced pressure relative to the working surface, thereby realizing automatic displacement and walking of the cleaning machine.

2. A cleaning machine system according to claim 1, characterized in that: the handle rod is configured to be rotatable relative to the docking part and when the handle rod is installed on the docking part, the handle rod can rotate relative to the docking part; and/or the docking part is configured to be rotatably mounted on the robot body and when the handle rod is installed on the docking part, the handle rod can rotate relative to the machine body through the docking part.

3. A cleaning machine system according to claim 2, characterized in that: a detachable connecting structure is provided between the handle bar and the docking portion, and the handle bar is provided as a telescopic joint structure.

4. A cleaning machine system according to claim 3, characterized in that the length of the machine body is greater than the width of the machine body, and when the handle rod is installed on the docking part, the handle rod and the docking part are located in the middle position in the length direction of the machine body and in the middle or rear position in the width direction.

5. A cleaning machine system according to claim 4, characterized in that: when the handle rod is installed on the docking portion, the handle rod can be rotated relative to the machine body and rotated in the width direction of the machine body so that the handle rod is placed on the machine body in the middle or from the rear to the front along the width direction of the machine body.

6. A cleaning machine system according to claim 5, characterized in that when the handle bar is mounted on the docking portion and is in a retracted structure, a portion of the handle bar is configured to be a portion of the appearance of the machine body.

7. A cleaning machine system according to claim 6, characterized in that a housing portion is provided on the machine body, and when the handle rod is installed on the docking portion and is in a retracted structure, a portion of the handle rod is located in the housing portion and a portion of the handle rod is set as a part of the appearance of the machine body.

8. A cleaning machine system according to claim 2, characterized in that: a detachable connecting structure is arranged between the handle rod and the docking portion, and one or more rod portions are arranged on the handle rod. When the handle rod is provided with multiple rod portions, two adjacent rod portions are arranged to be mutually socketed and installed.

9. A cleaning machine system according to any one of claims 1-8, characterized in that: a control module is arranged in the machine body, and a threshold A for starting the self-moving cleaning mode and a threshold B for starting the handheld cleaning mode are set in the control module, and the control module starts the self-moving cleaning mode or the handheld cleaning mode accordingly according to the received start signal.

10. A cleaning machine system according to claim 9, characterized in that: the machine body is provided with at least a cliff module, a collision module, an obstacle detection module or a carpet detection module electrically connected to the control module.

11. A cleaning machine system according to claim 10, characterized in that: in the self-moving cleaning mode, at least a threshold C is included in the control module to control the cliff module to control the movement of the cleaning component and drive the machine body to move backward or turn when the cliff module detects a suspended position; or a threshold D is included in the control module to control the movement of the cleaning component and drive the cleaning machine to move backward or turn when the collision module detects that the machine body contacts an obstacle; or a threshold E is included in the control module to control the movement of the cleaning component and drive the cleaning machine to move backward or turn when the obstacle detection module detects an obstacle in the side direction of the machine body; or a threshold F is included in the control module to control the movement of the cleaning component and drive the cleaning machine to move backward or turn when the carpet detection module detects a carpet in the lower side direction of the machine body.

12. A cleaning machine system according to claim 11, characterized in that: the cleaning component is configured as a motion structure that can rotate horizontally in accordance with the working surface, and when the cleaning component rotates horizontally, the bottom surface of the cleaning component has an unbalanced friction force relative to the working surface, so that the cleaning machine is driven to move on the working surface through the cleaning component.

13. A cleaning machine system according to claim 12, characterized in that: the number of cleaning components is set to two or more; when the number of cleaning components is set to two, the two cleaning components are arranged in parallel and adjacent to each other, and the horizontal rotation directions of the two cleaning components are at least opposite.

14. A cleaning machine system according to claim 13, characterized in that the horizontal rotation direction of the two cleaning components is from the outside to the inside of the machine body and from the upper side to the lower side, and the two cleaning components rotate horizontally toward the direction between the two cleaning components.

15. A cleaning machine system according to claim 14, characterized in that: in the self-moving cleaning mode, the horizontal rotational movement directions of the two cleaning components are switched to opposite horizontal rotational movement so that the two cleaning components with opposite horizontal rotational movement drive the cleaning machine to move backward.

16. A cleaning machine system according to claim 14, characterized in that: in the self-moving cleaning mode, one of the cleaning components is set to stop moving and another cleaning component is set to rotate horizontally towards the direction of the one of the cleaning components to drive the cleaning machine to turn and move towards the direction of the one of the cleaning components.

17. A cleaning machine system according to claim 14, characterized in that: in the self-moving cleaning mode, a horizontal rotation direction of one of the cleaning components is switched to be the same as the horizontal rotation direction of another of the cleaning components and is configured to rotate horizontally toward the direction of the other of the cleaning components to drive the cleaning machine to turn and move toward the direction of the other of the cleaning components.

18. A cleaning machine system according to claim 14, characterized in that: in the self-moving cleaning mode, a structure is set so that the friction between one cleaning component and the working surface is greater than the friction between the other cleaning component and the working surface to drive the cleaning machine to turn and move toward the other cleaning component.

19. A cleaning machine system according to claim 14, characterized in that: in the handheld cleaning mode, the control module is set to control the cleaning component to at least continue to move or stop moving along the current motion state when the cliff module detects a suspended position, or when the collision module detects that the machine body contacts an obstacle, or when the obstacle detection module detects an obstacle in the side direction of the machine body, or the control module is set to control the cleaning component to maintain a constant distance along the obstacle for displacement and edge cleaning when the obstacle detection module detects an obstacle in the side direction of the machine body.

20. A cleaning machine system according to claim 14, characterized in that: a detection module for detecting whether the handle rod is installed on the docking part is arranged on the machine body, the detection module is electrically connected to the control module, and the detection module is set to be one of an infrared sensor, a Hall switch, a micro switch, a pole contact switch or a reed switch.

21. A cleaning machine system according to any one of claims 15-20, characterized in that: the crimping assembly at least crimps a portion of two cleaning assemblies, and the crimping assembly is arranged to be located between the two cleaning assemblies, and is arranged to be located at a position where the distance between the two cleaning assemblies is minimum, so as to form crimping areas on the two cleaning assemblies respectively and form an area between the two cleaning assemblies where there is no missing mopping.

22. A cleaning machine system according to any one of claims 15-20, characterized in that: crimping assemblies are respectively arranged on the two cleaning components, and the two crimping assemblies respectively crimp a part of the two cleaning components, the pressure of one crimping assembly on one of the cleaning components is set to F1, and the pressure of the other crimping assembly on the other cleaning component is set to F2, when the cleaning machine turns and displaces toward the direction of one of the cleaning components, F1 is greater than F2, and when the cleaning machine turns and displaces toward the direction of the other cleaning component, F2 is greater than F1.

23. A cleaning machine system according to claim 1, characterized in that: it also includes a cleaning device, the cleaning device is used to place the cleaning machine to clean the cleaning component; the cleaning device is provided with a liquid containing chamber, when the cleaning machine is placed on the cleaning device, the cleaning component is located in the liquid containing chamber, and/or the cleaning device is provided with a drying module, when the cleaning machine is placed on the cleaning device, the drying module is located on one side of the cleaning component to dry the cleaning component.

24. A cleaning machine system according to claim 1, characterized in that: a liquid supply module is provided on the cleaning device, and when the liquid supply module is in operation, the liquid supply module allows the cleaning liquid to contact the cleaning component for cleaning the cleaning component.

25. A cleaning machine system according to claim 1, characterized in that: when the crimping assembly contacts the cleaning assembly, the maximum pressure relative to the working surface in the crimping area is set to be greater than the minimum pressure relative to the working surface in the cleaning area, and the area of the cleaning area is set to be larger than the area of the crimping area.

26. A cleaning machine system according to claim 1, characterized in that: when the cleaning machine moves in a straight line along direction A, the resultant forces on the two cleaning components relative to the working surfaces do not cancel each other out, and the resultant force is the resultant force of the cleaning area and the crimping area on the cleaning component on the bottom surface of the entire cleaning component relative to the working surface, so that the cleaning machine can move in a straight line under the action of the resultant forces of the two cleaning components relative to the working surfaces.

27. A cleaning machine system according to claim 1, characterized in that: when the cleaning machine moves in a straight line along direction A, the resultant force of the crimping area on one cleaning component is equal to the resultant force of the crimping area on another cleaning component and their directions are symmetrical along direction A; so that the cleaning machine can move in a straight line along direction A under the joint action of the resultant forces of the respective crimping areas on the two cleaning components.

28. A cleaning machine system according to claim 1, characterized in that: when the cleaning machine moves in a rotational direction, the resultant torques on the two cleaning components relative to the working surfaces are arranged not to cancel each other out, so that the two cleaning components have their own torques under the action of the resultant forces relative to the working surfaces, so that the cleaning machine can turn and move under the joint action of the respective resultant torques of the two cleaning components.

29. A cleaning machine system according to claim 22, characterized in that: when crimping assemblies are respectively provided on two cleaning components, two independent crimping assemblies are respectively provided on the two independent cleaning components, so that one of the crimping assemblies independently crimps and applies pressure to one of the cleaning components, and the other crimping assemblies independently crimp and apply pressure to the other of the cleaning components, and separate crimping areas are respectively formed on the two cleaning components, so that unbalanced pressures on the two cleaning components are independently achieved through the two separate crimping areas.

30. A cleaning machine system according to claim 29, characterized in that: when crimping components are respectively provided on two cleaning components, the cleaning machine can be driven to turn and move toward the other cleaning component by adjusting and controlling the friction force between one of the cleaning components and the working surface to be greater than the friction force between the other cleaning component and the working surface.

31. A cleaning machine system according to claim 29, characterized in that: when crimping components are respectively provided on two cleaning components, the cleaning machine can be adjusted to move in a straight line by adjusting and controlling the friction force between one of the cleaning components and the working surface to be greater than the friction force between the other cleaning component and the working surface, so that when the cleaning component slips or an abnormality occurs, causing the straight line of the displacement walking to bend or deviate to an oblique line, it can be corrected back to the straight line moving direction.

32. A cleaning machine system according to claim 1, characterized in that the crimping assembly includes a crimping piece, which is configured to at least partially extend downward to crimp and contact the cleaning assembly, so that a structure that applies pressure to the cleaning assembly is formed by the crimping piece extending downward to contact a portion of the cleaning assembly.

33. A cleaning machine system according to claim 32, characterized in that the crimping member is configured as a movable structure, and an elastic member is connected to the crimping member, so that the crimping member can adjust its position height with the fluctuation of the cleaning component when applying pressure to the crimping area.

34. A cleaning machine system according to claim 33, characterized in that the crimping assembly also includes an adjusting member, which is used to adjust the distance that the crimping member extends downward, so that the adjusting member can move up and down a certain distance. When it is necessary to increase the pressure of the crimping assembly on the crimping area on the cleaning assembly, the adjusting member can be used to adjust the extension distance of the crimping member downward to contact the cleaning assembly, so that the crimping distance of the crimping member on the cleaning assembly is large.