CN116671808A - Surface cleaning device and control method thereof - Google Patents

Abstract

The embodiment of the application discloses a surface cleaning device and a control method thereof, wherein the surface cleaning device comprises a shell, and a concave cavity is arranged at the bottom of the shell; a vacuum unit for extracting air in the sealed space; the at least two driving wheels are arranged at the bottom of the shell and used for driving the surface cleaning device to walk on the surface to be cleaned, the at least two driving wheels at least comprise a first driving wheel and a second driving wheel, and an included angle between a first rotating shaft of the first driving wheel and a second rotating shaft of the second driving wheel is larger than 0 degrees and smaller than 180 degrees. According to the embodiment of the application, through the at least two driving wheels with different driving directions, the translation of the surface cleaning device on the surface to be cleaned can be controlled, the rotation of the surface cleaning device on the surface to be cleaned can be more conveniently controlled, and the cleaning effect of the surface to be cleaned is improved through the rotation of the surface cleaning device on the surface to be cleaned.

Description

Surface cleaning device and control method thereof

technical field

The present application relates to the field of cleaning technology, in particular to a surface cleaning device and a control method thereof.

Background technique

A surface cleaning device is a household appliance that can provide cleaning functions, such as self-moving surface cleaning devices such as window cleaning robots and floor sweeping robots.

Taking the window-cleaning robot as an example, the bottom of the window-cleaning robot is usually provided with a concave cavity, which is used to define a sealed space with the surface to be cleaned (eg, glass surface or ground, etc.). The vacuum unit on the window-cleaning robot can extract the air in the sealed space, so that a negative pressure is generated in the sealed space, and then the window-cleaning robot is adsorbed on the surface to be cleaned.

In addition, the bottom of the window cleaning robot is usually provided with a cleaning unit and a walking unit. For example, in the prior art, the cleaning unit of a window-cleaning robot is a rag arranged at the bottom of the window-cleaning robot, and the walking unit is a crawler wheel. When the crawler wheel rotates, it can drive the window cleaning robot to move on the surface to be cleaned, and then drive the rag to wipe the surface to be cleaned. However, this wiping method has poor cleaning effect on the surface to be cleaned.

Contents of the invention

The embodiment of the present application provides a surface cleaning device and a control method thereof, so as to solve the problem in the prior art that the cleaning effect of the window cleaning robot on the surface to be cleaned is poor.

In the first aspect, the embodiment of the present application provides a surface cleaning device, including:

A housing, the bottom of the housing is provided with a concave cavity, and the concave cavity is used to define a sealed space with the surface to be cleaned;

a vacuum unit, configured to extract air in the sealed space, so that a negative pressure is generated in the sealed space, and adsorb the surface cleaning device on the surface to be cleaned;

At least two driving wheels, the at least two driving wheels are arranged at the bottom of the housing, the at least two driving wheels are used to drive the surface cleaning device to walk on the surface to be cleaned, the at least two driving wheels The wheels include at least a first driving wheel and a second driving wheel, and the angle between the first rotating shaft of the first driving wheel and the second rotating shaft of the second driving wheel is greater than 0° and less than 180°.

In a possible implementation manner, the at least two driving wheels are arranged around the concave cavity.

In a possible implementation manner, the at least two driving wheels further include a third driving wheel, and the third rotating shaft of the third driving wheel is sandwiched between the first rotating shaft and the second rotating shaft. The angles are respectively greater than 0° and less than 180°.

In a possible implementation manner, the at least two driving wheels are evenly spaced on the bottom of the casing.

In a possible implementation manner, the surface cleaning device further includes:

The first cleaning unit is covered on the outer surface of the driving wheel.

In a possible implementation manner, an outer surface of any one of the driving wheels covers one of the first cleaning units.

In a possible implementation manner, the surface cleaning device further includes:

A second cleaning unit, the second cleaning unit is arranged on a side of the housing close to the surface to be cleaned.

In a possible implementation manner, the surface cleaning device further includes:

At least one collision sensor, the at least one collision sensor is arranged on the side of the housing, and the at least one collision sensor is used to detect whether there is a raised obstacle on the surface to be cleaned in the direction of travel of the surface cleaning device thing.

In a possible implementation manner, the surface cleaning device includes at least two collision sensors, and the at least two collision sensors are evenly spaced on the side of the housing.

In a possible implementation manner, the surface cleaning device further includes:

At least one step-down sensor, the at least one step-down sensor is arranged at the bottom of the housing and close to the side of the case, the at least one step-down sensor is used to detect the step-down of the surface to be cleaned edges, crevices or holes in the surface to be cleaned.

In a possible implementation manner, the surface cleaning device includes at least two step-down sensors, and the at least two step-down sensors are evenly spaced at the bottom of the casing, and Location.

In a possible implementation manner, the rotation axes of the at least two driving wheels are parallel to the bottom plane of the casing.

In the second aspect, the embodiment of the present application provides a method for controlling a surface cleaning device, which is applied to the surface cleaning device described in any one of the first aspect, and the method includes:

Use at least one of the following methods to drive the surface cleaning device to walk on the surface to be cleaned:

Sending a first driving signal to the at least two driving wheels, controlling the at least two driving wheels to move according to the first driving signal, so as to drive the surface cleaning device to move in translation on the surface to be cleaned;

sending a second driving signal to the at least two driving wheels, controlling the at least two driving wheels to move according to the second driving signal, so as to drive the surface cleaning device to rotate on the surface to be cleaned;

Sending a third driving signal to the at least two driving wheels, controlling the movement of the at least two driving wheels according to the third driving signal, so as to drive the surface cleaning device to translate and rotate on the surface to be cleaned simultaneously.

In a possible implementation manner, when the surface cleaning device is provided with at least one collision sensor, the method further includes:

According to the signal of the raised obstacle detected by the at least one collision sensor, a first turning signal is sent to the at least two driving wheels, and the movement of the at least two driving wheels is controlled according to the first turning signal to drive the surface The cleaning device adjusts the walking direction on the surface to be cleaned.

In a possible implementation manner, when the surface cleaning device is provided with at least one step-off sensor, the method further includes:

According to the at least one stepping sensor detecting the stepping edge of the surface to be cleaned, the gap or hole on the surface to be cleaned, a second steering signal is sent to the at least two driving wheels to control the at least two driving wheels. A driving wheel moves according to the second steering signal, driving the surface cleaning device to adjust the walking direction on the surface to be cleaned.

In a possible implementation manner, the at least two driving wheels include a first driving wheel and a second driving wheel, and the controlling the movement of the at least two driving wheels according to the second driving signal drives the The surface cleaning device rotates on the surface to be cleaned, including performing the following sub-steps cyclically:

controlling the first driving wheel and the second driving wheel to rotate around the first driving wheel according to the second driving signal, so as to drive the surface cleaning device to rotate by a first angle on the surface to be cleaned;

Controlling the first driving wheel and the second driving wheel to rotate around the second driving wheel according to the second driving signal, so as to drive the surface cleaning device to rotate at a second angle on the surface to be cleaned.

In a possible implementation manner, the at least two driving wheels further include a third driving wheel, and the sub-steps further include:

controlling the first driving wheel, the second driving wheel and the third driving wheel to rotate around the third driving wheel according to the second driving signal, so as to drive the surface cleaning device to The cleaning surface turns a third angle.

In the embodiment of the present application, at least two driving wheels with non-parallel driving shafts are arranged at the bottom of the surface cleaning device, that is, at least two driving wheels with different driving directions are arranged. Through the at least two driving wheels with different driving directions, not only can the translation of the surface cleaning device on the surface to be cleaned be controlled, but also the rotation of the surface cleaning device on the surface to be cleaned can be controlled more conveniently. Improves the cleaning effect of the surface to be cleaned.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, In other words, other drawings can also be obtained from these drawings on the premise of not paying creative work.

FIG. 1 is a schematic diagram of a three-dimensional structure of a surface cleaning device provided in an embodiment of the present application;

Fig. 2 is a schematic diagram of the three-dimensional structure of another surface cleaning device provided by the embodiment of the present application;

Fig. 3 is a bottom view of a surface cleaning device provided in an embodiment of the present application;

FIG. 4 is a schematic diagram of a driving principle of a driving wheel provided in an embodiment of the present application;

FIG. 5 is a schematic diagram of an application scenario provided by an embodiment of the present application;

Fig. 6 is a schematic diagram of the working principle of a step-down sensor provided in the embodiment of the present application;

Fig. 7 is a schematic flow chart of a method for controlling a surface cleaning device provided in an embodiment of the present application

8A-8D are schematic diagrams of another application scenario provided by the embodiment of the present application.

The symbols in the figure are represented as: 100-housing, 110-cavity, 120-first driving wheel accommodation chamber, 130-second driving wheel accommodation chamber, 140-third driving wheel accommodation chamber, 200-vacuum unit , 310-the first driving wheel, 320-the second driving wheel, 330-the third driving wheel, 410-the first cleaning unit, 420-the second cleaning unit, 510-collision sensor, 520-travel sensor, 521-launch Signal, 522-reflection signal, 600-surface to be cleaned, 610-frame.

Detailed ways

In order to enable those skilled in the art to better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described The embodiments are only some of the embodiments of the present application, but not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without creative efforts shall fall within the scope of protection of this application.

Figure 1 is a schematic diagram of a three-dimensional structure of a surface cleaning device provided in an embodiment of the present application, Figure 2 is a schematic diagram of a stereoscopic structure of another surface cleaning device provided in an embodiment of the present application, and Figure 3 is a schematic diagram of a surface cleaning device provided in an embodiment of the present application Bottom view of the surface cleaning device. For ease of illustration, an up-down direction is defined on a surface cleaning device. Wherein, the up-down direction is perpendicular to the bottom plane of the surface cleaning device, that is, perpendicular to the surface to be cleaned 600 (as shown in Figures 5 and 6), "upper" is the side of the surface cleaning device away from the surface to be cleaned 600, "below" ” is the side of the surface cleaning device close to the surface to be cleaned 600. In some possible implementations, "above" may also be referred to as "top"; "below" may also be referred to as "bottom".

As shown in FIGS. 1-3 , the surface cleaning device includes a housing 100 , and a cavity 110 is provided at the bottom of the housing 100 . When the surface cleaning device is placed on the surface to be cleaned 600 (for example, glass or the ground, etc.), the cavity 110 is used to define a sealed space with the surface to be cleaned 600 . It should be pointed out that the concave cavity 110 may directly define a sealed space with the surface to be cleaned 600; or, the concave cavity 110 defines a sealed space with the surface to be cleaned 600 through other functional units/modules in the surface cleaning device, both of which It should belong to the definition of the sealed space in the embodiments of the present application. For example, in practical applications, a cleaning unit (for example, a rag or a sponge) may be provided at the bottom of the surface cleaning device, and the concave cavity 110 defines a sealed space with the surface to be cleaned 600 by the cleaning unit. Further, the cleaning unit may be connected to the bottom of the surface cleaning device through the cleaning unit bracket, at this time, the cavity 110 defines a sealed space through the cleaning unit bracket, the cleaning unit and the surface to be cleaned 600 .

The surface cleaning device is also provided on the vacuum unit 200 , and the air inlet of the vacuum unit 200 communicates with the cavity 110 . When the vacuum unit 200 is working, the air in the sealed space can be extracted, so that a negative pressure is generated in the sealed space, and then the surface cleaning device can be adsorbed on the surface 600 to be cleaned. In a specific implementation, the vacuum unit 200 may be a fan, a vacuum pump, etc., which are not specifically limited in this embodiment of the present application.

In the prior art, in order to drive the surface cleaning device to move on the surface to be cleaned 600 , usually two driving wheels with parallel rotation axes are arranged at the bottom of the surface cleaning device, that is, two driving wheels with the same driving direction are provided. Although this driving method can realize the rapid movement of the surface cleaning device on the surface to be cleaned 600 , the cleaning effect of the cleaning unit on the surface to be cleaned 600 is poor.

To solve the above problems, at least two driving wheels with non-parallel driving shafts are provided at the bottom of the surface cleaning device in the embodiment of the present application, that is, at least two driving wheels with different driving directions are provided. By means of the at least two driving wheels with different driving directions, not only can the surface cleaning device be controlled to translate on the surface to be cleaned 600, but also the rotation of the surface cleaning device on the surface to be cleaned 600 can be controlled more conveniently. The rotation of 600 improves the cleaning effect of the surface to be cleaned 600 .

For ease of understanding, in the following embodiments, three driving wheels with different driving directions are provided at the bottom of the housing 100 as an example for illustration. Of course, those skilled in the art can arrange other numbers of driving wheels with different driving directions on the bottom of the casing 100 according to actual needs, for example, 2, 4 or 5, etc., which is not specifically limited in the embodiment of the present application.

Referring to FIG. 4 , it is a schematic diagram of a driving principle of a driving wheel provided in an embodiment of the present application. As shown in FIG. 4 , three driving wheels are provided at the bottom of the housing 100 , namely a first driving wheel 310 , a second driving wheel 320 and a third driving wheel 330 . The first driving wheel 310, the second driving wheel 320 and the third driving wheel 330 are evenly arranged around the center point O of the casing 100, that is, the first driving wheel 310, the second driving wheel 320 and the third driving wheel 330 are evenly spaced on the casing. 100 bottom. For ease of description, the rotation shafts of the first driving wheel 310 , the second driving wheel 320 and the third driving wheel 330 are referred to as the first rotating shaft, the second rotating shaft and the third rotating shaft, respectively. In the embodiment of the present application, the angle between any two rotation axes is 60°. It should be pointed out that the embodiment of the present application is described by taking the included angle between the rotating shafts as 60° as an example. Those skilled in the art can set the included angles between the first rotating shaft, the second rotating shaft and the third rotating shaft according to actual needs. It is other angles greater than 0° and less than 180°, which is not specifically limited in this embodiment of the present application.

In the orientation shown in FIG. 4 , the first rotation direction of the first driving wheel 310 , the second driving wheel 320 and the third driving wheel 330 is defined as d1 , and the second rotation direction is d2 . When the first driving wheel 310 rotates along the d1 direction, the torque T1=F1×r1 generated on the surface cleaning device, wherein, F1 is due to the rotation of the first driving wheel 310, the frictional force of the surface to be cleaned 600 on the surface cleaning device , r1 is the moment arm of F1; when the second driving wheel 320 rotates along the d1 direction, the torque T2=F2*r2 produced on the surface cleaning device, wherein, F2 is due to the rotation of the second driving wheel 320, the surface to be cleaned The friction force of 600 on the surface cleaning device, r2 is the force arm of F2; when the third driving wheel 330 rotates in the direction of d1, the torque T3=F3×r3 generated on the surface cleaning device, wherein, F3 is due to the third drive The rotation of the wheel 330, the friction force of the surface to be cleaned 600 on the surface cleaning device, r3 is the force arm of F3.

Ideally, when the rotational speeds of the first driving wheel 310 , the second driving wheel 320 and the third driving wheel 330 are the same, the magnitudes of F1 , F2 and F3 are the same. In addition, since the first driving wheel 310, the second driving wheel 320, and the third driving wheel 330 are evenly arranged around the center point O of the housing 100, under the action of the above-mentioned moments T1, T2, and T3, the surface cleaning device moves at point O. Center, turn counterclockwise. Based on the same principle, when the first driving wheel 310, the second driving wheel 320, and the third driving wheel 330 all rotate along the second rotation direction d2 at the same speed, the surface cleaning device rotates clockwise with point O as the center. Rotate, no more details here.

It can be understood that when the rotation speed or rotation direction of the driving wheel is adjusted, the magnitude or direction of the frictional force of the surface to be cleaned 600 on the surface cleaning device will change. Based on this, the center point of rotation of the surface cleaning device can be adjusted by controlling the rotation direction and/or rotation speed of the first driving wheel 310 , the second driving wheel 320 and the third driving wheel 330 . For example, by controlling the rotation direction and/or rotation speed of the first driving wheel 310 , the second driving wheel 320 and the third driving wheel 330 , the surface cleaning device can rotate around a certain driving wheel on the surface to be cleaned 600 . Alternatively, the surface cleaning device can be translated in a certain direction on the surface to be cleaned 600 by controlling the rotation direction and/or rotational speed of the first driving wheel 310 , the second driving wheel 320 and the third driving wheel 330 . It will be described in detail in the embodiment of the control method below.

In addition, in order to facilitate the fixing of the driving wheel, a corresponding driving wheel accommodating chamber may also be provided at the bottom of the casing 100 . As shown in FIGS. 1-3 , a first driving wheel accommodating cavity 120 , a second driving wheel accommodating cavity 130 and a third driving wheel accommodating cavity 140 are provided at the bottom of the housing 100 . The first driving wheel 310 , the second driving wheel 320 and the third driving wheel 330 are respectively connected to the first driving wheel accommodation chamber 120 , the second driving wheel accommodation chamber 130 and the third driving wheel accommodation chamber 140 .

Please continue to refer to FIGS. 1-3 , in some possible implementations, the surface cleaning device further includes a first cleaning unit 410 (for example, a rag or a sponge, etc.), and the first cleaning unit 410 is coated on the outer surface of the driving wheel. . When the driving wheel rotates, it drives the first cleaning unit 410 to rotate relative to the surface to be cleaned 600 , and then wipes the surface to be cleaned 600 . In the embodiment of the present application, a first cleaning unit 410 is coated on the outer surface of each driving wheel, that is, a first cleaning unit 410 is coated on the outer surfaces of the first driving wheel 310 , the second driving wheel 320 and the third driving wheel 330 . A cleaning unit 410 . Of course, those skilled in the art can only cover the first cleaning unit 410 on the outer surface of part of the driving wheel according to actual needs; or, the first cleaning unit 410 is detachably connected to the driving wheel, and the user can choose The first cleaning unit 410 is covered on the outer surface of part of the driving wheel. For example, a first cleaning unit 410 is coated on the outer surfaces of the first driving wheel 310 and the second driving wheel 320, and the outer surface of the third driving wheel 330 is not coated with the first cleaning unit 410. This is not specifically limited.

In a specific implementation, the first cleaning unit 410 may be made of elastic material, and the first cleaning unit 410 is in the shape of a barrel with at least one end open. In use, the first cleaning unit 410 can be sleeved on the driving wheel through the opening end of the first cleaning unit 410, and the first cleaning unit 410 is fixed on the driving wheel by its own elastic force. Adopting this setting method facilitates the disassembly of the first cleaning unit 410 , and further facilitates cleaning or replacement of the first cleaning unit 410 by the user. Of course, those skilled in the art can also adopt other fixing methods. For example, the first cleaning unit 410 may be pasted on the outer surface of the driving wheel by Velcro, which is not specifically limited in this embodiment of the present application.

In some possible implementations, the surface cleaning device further includes a second cleaning unit 420 (for example, a rag or a sponge, etc.), and the second cleaning unit 420 is arranged on the side of the casing 100 close to the surface to be cleaned 600, that is, it is arranged on the casing 100. 100 bottom. When the surface cleaning device is placed on the surface to be cleaned 600 , the surface cleaning device presses the second cleaning unit 420 against the surface to be cleaned 600 . It can be understood that when the surface cleaning device moves relative to the surface to be cleaned 600 , the surface cleaning device can drive the second cleaning unit 420 to move relative to the surface to be cleaned 600 , and then wipe the surface to be cleaned 600 . In a specific implementation, the second cleaning unit 420 can be arranged around the concave cavity 110 at the bottom of the casing 100. At this time, the second cleaning unit 420 can also play a role of sealing between the concave cavity 110 and the surface to be cleaned 600, avoiding the cavity 110 The sealed space between the surface to be cleaned and the surface 600 leaks air.

In a specific implementation, the second cleaning unit 420 is detachably connected to the bottom of the casing 100 . The detachable connection method is adopted to facilitate the disassembly of the second cleaning unit 420 , thereby facilitating the cleaning or replacement of the second cleaning unit 420 by the user. For example, the second cleaning unit 420 may be pasted on the bottom of the housing 100 by Velcro; or the second cleaning unit 420 may be fixed on the bottom of the housing 100 by connecting parts such as buckles. Further, the second cleaning unit 420 may also be connected to the bottom of the casing 100 through a cleaning unit bracket, which is not specifically limited in this embodiment of the present application.

In some possible application scenarios, there may be raised obstacles on the surface to be cleaned 600 . For example, when the surface to be cleaned is the ground, there may be tables, sofas, etc. on the ground; when the surface to be cleaned is glass, there may be frames around the glass. For example, in FIG. 5 , a frame 610 is provided on one side of the surface to be cleaned 600 . In order to detect the frame 610 of the surface to be cleaned 600, in some possible implementations, the surface cleaning device is further provided with at least one collision sensor 510, and the collision sensor 510 is arranged on the side of the housing 100 for use in the surface cleaning device. Detect whether there is a raised obstacle on the surface to be cleaned 600 in the direction of travel.

In a specific implementation, the collision sensor 510 may include a travel switch. When the collision sensor 510 collides with the frame 610, the travel switch may detect a signal of a raised obstacle, and then control the surface cleaning device to turn.

In some possible implementation manners, the surface cleaning device includes at least two collision sensors 510 , and the at least two collision sensors 510 are evenly spaced on the side of the casing 100 . For example, in the implementations shown in FIGS. 1-3 , the surface cleaning device includes three collision sensors 510 , and the three collision sensors 510 are evenly spaced on the side of the housing 100 . Specifically, a collision sensor 510 is arranged between any two driving wheels. It can be understood that the surface cleaning device may touch the frame 610 in any direction during the movement of the surface to be cleaned 600 . By arranging the collision sensors 510 evenly at intervals, the reliability of detecting the frame 610 can be improved.

In some application scenarios, there may be stepped edges around the surface to be cleaned 600 . For example, when the surface to be cleaned 600 is frameless glass, the surroundings of the frameless glass are empty edges. When the surface cleaning device is moved to the edge of the edge of the edge of the edge of the edge of the edge of the edge of the edge of the edge of the edge of the edge of the edge of the edge of the edge can not be dropped, or the edge of the edge of the edge of the edge of the edge of the edge can not be depressurized. In order to detect the stepped-down edge of the surface to be cleaned 600 , in some possible implementation manners, at least one stepped-down sensor 520 is further provided on the surface cleaning device, and the stepped-down sensor 520 is arranged at the bottom of the housing 100 . Since the side of the surface cleaning device will reach the step-down edge first, the step-down sensor 520 is disposed near the side of the housing 100 . The stepped-down sensor 520 can detect the stepped-down edge of the surface to be cleaned 600 , and then determine whether the surface cleaning device is partially detached from the surface to be cleaned 600 , or there is a risk of pressure loss in the surface cleaning device.

Referring to FIG. 6 , it is a schematic diagram of the working principle of a step-down sensor provided in the embodiment of the present application. As shown in FIG. 6 , the empty sensor 520 can generate a transmission signal 521 and receive a reflection signal 522 reflected by the surface 600 to be cleaned. It can be understood that when the stepping sensor 520 exceeds the stepping edge of the surface to be cleaned 600 and breaks away from the surface to be cleaned 600, since there is no reflection of the surface to be cleaned 600 on the emission signal 521, the stepping down sensor 520 cannot receive the reflection. The signal 522 , or only a weak reflection signal 522 can be received, triggers the stepping sensor 520 to perform information feedback, that is, it is determined that the stepping edge of the surface to be cleaned 600 is detected, and then the surface cleaning device can be controlled to turn. In a specific implementation, the transmitted signal 521 and the reflected signal 522 may be infrared signals or ultrasonic signals, etc., which are not specifically limited in this embodiment of the present application.

In practical applications, there may be gaps or holes on the surface to be cleaned 600 . Based on the same principle, when the treadle sensor 520 is located at a gap position on the surface to be cleaned 600, or at a hole position on the surface to be cleaned 600, it is also possible to trigger the treadle sensor 520 for information feedback, which is not discussed in the embodiment of the present application. Let me repeat.

In some possible implementations, the surface cleaning device includes at least two step-down sensors 520 , and the at least two step-down sensors 520 are evenly spaced at the bottom of the housing 100 and near the side of the housing 100 . For example, in the implementations shown in FIGS. 1-3 , the surface cleaning device includes 6 step-down sensors 520 , and the 6 step-down sensors 520 are evenly spaced at the bottom of the housing 100 , and near the sides of the housing 100 Location. Specifically, a step-down sensor 520 is provided at the angle between the side wall of each driving wheel accommodating chamber and the side of the casing 100 . For example, the angle between the two side walls of the first drive wheel accommodation cavity 120 and the side of the housing 100 is respectively provided with a step-down sensor 520; A step-down sensor 520 is provided at the angular position; a step-down sensor 520 is provided at the angular position between the two side walls of the third driving wheel accommodating chamber 140 and the side of the housing 100 . It can be understood that, when the surface cleaning device is moving on the surface to be cleaned 600 , it may reach the stepped edge of the surface to be cleaned 600 , gaps or holes on the surface to be cleaned 600 in any direction. The method of arranging the step-down sensors 520 evenly at intervals can improve the reliability of detection.

In addition, when the surface cleaning device rotates around one driving wheel, the angle between the side of the housing 100 between the other two driving wheels and the side wall of the driving wheel accommodating chamber is easier to preferentially reach the stepping hole of the surface to be cleaned 600 Edges, crevices or holes on the surface 600 to be cleaned, therefore, setting the step-off sensor 520 at the angle between the side wall of the drive wheel accommodating chamber and the side of the housing 100 can improve the detection sensitivity. For example, in the orientation shown in FIG. 4 , when the control surface cleaning device rotates clockwise around the first driving wheel 310 , the side of the casing 100 between the second driving wheel 320 and the third driving wheel 330 is in contact with the second driving wheel 330 . The angle position (point A) of the sidewall of the driving wheel accommodating chamber 130 is easier to preferentially reach the edge of the surface to be cleaned 600, the gap or hole on the surface to be cleaned 600; When rotating clockwise as the center, the angle position (point B) between the side of the housing 100 between the second driving wheel 320 and the third driving wheel 330 and the side wall of the third driving wheel accommodating cavity 140 is easier to reach the position to be cleaned first. A stepped edge of the surface 600, a crevice or a hole in the surface 600 to be cleaned.

In some possible implementation manners, the surface cleaning device may also be provided with a gyroscope, through which the rotation angle of the surface cleaning device can be detected. In addition, those skilled in the art may also arrange other types of sensors on the surface cleaning device according to actual needs, so as to realize other detection functions, which is not specifically limited in this embodiment of the present application.

Corresponding to the above-mentioned surface cleaning device, an embodiment of the present application further provides a method for controlling a surface cleaning device.

Referring to FIG. 7 , it is a schematic flowchart of a method for controlling a surface cleaning device provided in an embodiment of the present application. This method can be applied to the surface cleaning device described in the above embodiments, as shown in FIG. 7 , which mainly includes the following steps.

Step S710: sending a first driving signal to at least two driving wheels, controlling the at least two driving wheels to move according to the first driving signal, so as to drive the surface cleaning device to move in translation on the surface to be cleaned;

Step S720: sending a second driving signal to at least two driving wheels, controlling the at least two driving wheels to move according to the second driving signal, so as to drive the surface cleaning device to rotate on the surface to be cleaned;

Step S730: Send a third driving signal to at least two driving wheels, and control the at least two driving wheels to move according to the third driving signal, so as to drive the surface cleaning device to translate and rotate on the surface to be cleaned simultaneously.

It should be noted that those skilled in the art may use any one or more of the above steps to control the surface cleaning device to move on the surface to be cleaned 600 according to actual needs. For example, only step S730 may be used to control the translation and rotation of the surface cleaning device on the surface to be cleaned 600; Surface 600 rotates.

In addition, the serial numbers in the above steps do not limit the order of execution of the steps, for example, step S720 may be executed first and then step S710; or, step S730 may be executed first and then step S720 and so on.

Wherein, the working principle of controlling the translation or rotation of the surface cleaning device on the surface to be cleaned 600 can refer to the description of the above-mentioned embodiments, and for the sake of brevity, details are not repeated here.

In some possible implementation manners, at least one collision sensor 510 is provided on the surface cleaning device, and the control method of the above surface cleaning device further includes: according to the signal of a raised obstacle detected by at least one collision sensor 510, driving to the at least two The wheel sends a first steering signal, controls at least two driving wheels to move according to the first steering signal, and drives the surface cleaning device to adjust the walking direction on the surface to be cleaned 600 to avoid raised obstacles on the surface to be cleaned 600 . For example, when at least one collision sensor 510 detects a raised obstacle signal, the surface cleaning device turns 60°, 90° or 120° on the surface to be cleaned 600 , and the embodiment of the present application does not limit the specific turning angle. In addition, during the steering process of the surface cleaning device, the gyroscope can monitor the steering angle of the surface cleaning device in real time, so as to realize the control of the steering angle.

In some possible implementations, the surface cleaning device is provided with at least one step-off sensor 520, and the above method for controlling the surface cleaning device further includes: detecting the step-down edge of the surface to be cleaned 600 according to the at least one step-down sensor 520, The gap or hole on the surface 600 sends a second turning signal to at least two driving wheels, controls at least two driving wheels to move according to the second turning signal, and drives the surface cleaning device to adjust the walking direction on the surface 600 to be cleaned, so as to avoid Clean the stepped edge of the surface 600 , the crevice or hole on the surface to be cleaned 600 . For example, when at least one treading sensor 520 detects the treading edge of the surface to be cleaned 600, a gap or a hole on the surface to be cleaned 600, the surface cleaning device turns to 60°, 90° or 120° on the surface to be cleaned 600, etc., The embodiment of the present application does not limit the specific steering angle. In addition, during the steering process of the surface cleaning device, the gyroscope can monitor the steering angle of the surface cleaning device in real time, so as to realize the control of the steering angle.

As described in the above embodiments, the center point of rotation of the surface cleaning device can be adjusted by controlling the rotation direction and/or rotation speed of at least two driving wheels. If the surface cleaning device is rotated around different central points at different times, the twisting and walking on the surface to be cleaned 600 can be realized while the surface cleaning device is rotating, which will be described in detail below.

In a possible implementation manner, the surface cleaning device includes a first driving wheel 310 , a second driving wheel 320 and a third driving wheel 330 , and the above step S720 specifically includes the following steps.

Step S721: Control the first driving wheel 310, the second driving wheel 320 and the third driving wheel 330 to rotate around the first driving wheel 310 according to the second driving signal, so as to drive the surface cleaning device to rotate the first angle on the surface to be cleaned 600 .

As shown in FIG. 8A, at time t1, the center of the surface cleaning device is located at position P1. At this time, control the first driving wheel 310, the second driving wheel 320 and the third driving wheel 330 to rotate around the first driving wheel 310 according to the second driving signal, so as to drive the surface cleaning device on the surface to be cleaned 600 in a clockwise direction Turning the first angle, the center of the surface cleaning device reaches the position P2, as shown in FIG. 8B , realizing the line change of the surface cleaning device on the surface to be cleaned.

Step S722: Control the first driving wheel 310, the second driving wheel 320 and the third driving wheel 330 to rotate around the second driving wheel 320 according to the second driving signal, so as to drive the surface cleaning device to rotate a second angle on the surface to be cleaned 600 .

As shown in FIG. 8B, at time t2, the center of the surface cleaning device is located at position P2. At this time, the first driving wheel 310, the second driving wheel 320 and the third driving wheel 330 are controlled to rotate around the second driving wheel 320 according to the second driving signal, so as to drive the surface cleaning device along the counterclockwise direction on the surface to be cleaned 600 Turning the second angle, the center of the surface cleaning device reaches position P3, as shown in Fig. 8C.

Step S723: Control the first driving wheel 310, the second driving wheel 320 and the third driving wheel 330 to rotate around the third driving wheel 330 according to the second driving signal, so as to drive the surface cleaning device to rotate a third angle on the surface to be cleaned 600 .

As shown in FIG. 8C, at time t3, the center of the surface cleaning device is located at position P3. At this time, the first driving wheel 310, the second driving wheel 320 and the third driving wheel 330 are controlled to rotate around the third driving wheel 330 according to the second driving signal, so as to drive the surface cleaning device along the counterclockwise direction on the surface to be cleaned 600 Turning the third angle, the center of the surface cleaning device reaches position P4, as shown in Figure 8D.

By performing the above steps cyclically, the twisting walking on the surface to be cleaned 600 can be realized while the surface cleaning device is rotating.

It should be noted that FIGS. 8A-8D are only one possible implementation manner provided by the embodiment of the present application, and should not be taken as a limitation of the protection scope of the present application. For example, those skilled in the art can adjust the rotation angle (that is, adjust the size of the first angle, the second angle or the third angle) and the rotation direction (counterclockwise rotation or clockwise rotation) according to actual needs. In addition, it is also possible to alternately rotate and walk around the two driving wheels. For example, the above step S721 and step S722 are cyclically executed to realize alternate walking around the first driving wheel 310 and the second driving wheel 320. This is not specifically limited.

It should be noted that in this article, relative terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply these No such actual relationship or order exists between entities or operations. Furthermore, the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article, or apparatus comprising a set of elements includes not only those elements, but also includes elements not expressly listed. other elements of or also include elements inherent in such a process, method, article, or device. Without further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article or apparatus comprising said element.

The above descriptions are only specific embodiments of the present invention, so that those skilled in the art can understand or implement the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention will not be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

For the same and similar parts among the various embodiments in this specification, refer to each other. In particular, for the terminal embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and for relevant details, refer to the description in the method embodiment.

The embodiments of the present application described above are not intended to limit the scope of protection of the present application.

Claims (17)

1. A surface cleaning device, characterized in that, comprising: A housing, the bottom of the housing is provided with a concave cavity, and the concave cavity is used to define a sealed space with the surface to be cleaned; a vacuum unit, configured to extract air in the sealed space, so that a negative pressure is generated in the sealed space, and adsorb the surface cleaning device on the surface to be cleaned; At least two driving wheels, the at least two driving wheels are arranged at the bottom of the housing, the at least two driving wheels are used to drive the surface cleaning device to walk on the surface to be cleaned, the at least two driving wheels The wheels include at least a first driving wheel and a second driving wheel, and the angle between the first rotating shaft of the first driving wheel and the second rotating shaft of the second driving wheel is greater than 0° and less than 180°. 2. The surface cleaning device according to claim 1, wherein the at least two driving wheels are arranged around the cavity. 3. The surface cleaning device according to claim 2, wherein the at least two driving wheels further include a third driving wheel, and the third rotating shaft of the third driving wheel is connected to the first rotating shaft and the first rotating shaft. The included angles between the second rotation axes are respectively greater than 0° and less than 180°. 4. The surface cleaning device according to claim 1 or 3, characterized in that, the at least two driving wheels are evenly spaced on the bottom of the casing. 5. The surface cleaning device according to claim 1, wherein the surface cleaning device further comprises: The first cleaning unit is covered on the outer surface of the driving wheel. 6 . The surface cleaning device according to claim 5 , wherein an outer surface of any one of the driving wheels covers one of the first cleaning units. 7. The surface cleaning device according to claim 1, further comprising: A second cleaning unit, the second cleaning unit is arranged on a side of the housing close to the surface to be cleaned. 8. The surface cleaning device according to claim 1, wherein the surface cleaning device further comprises: At least one collision sensor, the at least one collision sensor is arranged on the side of the housing, and the at least one collision sensor is used to detect whether there is a raised obstacle on the surface to be cleaned in the direction of travel of the surface cleaning device things. 9 . The surface cleaning device according to claim 8 , wherein the surface cleaning device comprises at least two collision sensors, and the at least two collision sensors are evenly spaced on the side of the housing. 10. The surface cleaning device of claim 1, further comprising: At least one step-down sensor, the at least one step-down sensor is arranged at the bottom of the housing and close to the side of the case, the at least one step-down sensor is used to detect the step-down of the surface to be cleaned edges, crevices or holes in the surface to be cleaned. 11. The surface cleaning device according to claim 10, characterized in that, the surface cleaning device comprises at least two step-down sensors, and the at least two step-down sensors are evenly spaced at the bottom of the housing, and located near the side of the housing. 12. The surface cleaning device of claim 1, wherein the rotation axes of the at least two driving wheels are parallel to the bottom plane of the housing. 13. A surface cleaning device control method, characterized in that it is applied to the surface cleaning device according to any one of claims 1-12, the method comprising: Use at least one of the following methods to drive the surface cleaning device to walk on the surface to be cleaned: Sending a first driving signal to the at least two driving wheels, controlling the at least two driving wheels to move according to the first driving signal, so as to drive the surface cleaning device to move in translation on the surface to be cleaned; sending a second driving signal to the at least two driving wheels, controlling the at least two driving wheels to move according to the second driving signal, so as to drive the surface cleaning device to rotate on the surface to be cleaned; Sending a third driving signal to the at least two driving wheels, controlling the movement of the at least two driving wheels according to the third driving signal, so as to drive the surface cleaning device to translate and rotate on the surface to be cleaned simultaneously. 14. The method according to claim 13, wherein when at least one collision sensor is provided on the surface cleaning device, the method further comprises: According to the signal of the raised obstacle detected by the at least one collision sensor, a first turning signal is sent to the at least two driving wheels, and the movement of the at least two driving wheels is controlled according to the first turning signal to drive the surface The cleaning device adjusts the walking direction on the surface to be cleaned. 15. The method according to claim 13, wherein when at least one step-down sensor is provided on the surface cleaning device, the method further comprises: According to the at least one stepping sensor detecting the stepping edge of the surface to be cleaned, the gap or hole on the surface to be cleaned, a second steering signal is sent to the at least two driving wheels to control the at least two driving wheels. A driving wheel moves according to the second steering signal, driving the surface cleaning device to adjust the walking direction on the surface to be cleaned. 16. The method according to claim 13, wherein the at least two driving wheels comprise a first driving wheel and a second driving wheel, and the controlling the at least two driving wheels according to the second driving signal Movement to drive the surface cleaning device to rotate on the surface to be cleaned, including cyclically performing the following sub-steps: controlling the first driving wheel and the second driving wheel to rotate around the first driving wheel according to the second driving signal, so as to drive the surface cleaning device to rotate by a first angle on the surface to be cleaned; Controlling the first driving wheel and the second driving wheel to rotate around the second driving wheel according to the second driving signal, so as to drive the surface cleaning device to rotate at a second angle on the surface to be cleaned. 17. The method according to claim 16, wherein the at least two driving wheels further comprise a third driving wheel, and the sub-steps further comprise: controlling the first driving wheel, the second driving wheel and the third driving wheel to rotate around the third driving wheel according to the second driving signal, so as to drive the surface cleaning device to The cleaning surface turns a third angle.