CLEANING MODULE AND CLEANING APPARTUS

Abstract

A cleaning module includes: a first rolling brush including first brushes; and a second rolling brush arranged substantially side by side with the first rolling brush and including second brushes, wherein when the first rolling brush and the second rolling brush rotate, a first outer contour formed by a trajectory of outer ends of the first brushes and a second outer contour formed by a trajectory of outer ends of the second brushes at least partially interfere with each other, and the first brushes are not in contact with the second brushes.

Claims

1. A cleaning module, comprising: a first rolling brush comprising first brushes; and a second rolling brush arranged substantially side by side with the first rolling brush and comprising second brushes, wherein when the first rolling brush and the second rolling brush rotate, a first outer contour formed by a trajectory of outer ends of the first brushes and a second outer contour formed by a trajectory of outer ends of the second brushes at least partially interfere with each other, and the first brushes are not in contact with the second brushes.

2. The cleaning module according to claim 1, wherein projections of the first outer contour and the second outer contour onto a horizontal plane at least partially overlap with each other.

3. The cleaning module according to claim 1, wherein when projections of one of the first brushes and one of the second brushes onto a horizontal plane at least partially overlap with each other, a distance between the one of the first brushes and the one of the second brushes is less than half of a distance between adjacent ones of the first brushes or of a distance between adjacent ones of the second brushes.

4. The cleaning module according to claim 1, wherein the first brushes and the second brushes are able to be in mirror symmetrical distribution in radial sections of the first rolling brush and the second rolling brush in an unassembled state of the first rolling brush and the second rolling brush.

5. The cleaning module according to claim 1, further comprising: an air channel opening located at the top of the first rolling brush or the second rolling brush, wherein an unobstructed airflow channel exists between the air channel opening and an operating surface when the first rolling brush and the second rolling brush rotate.

6. The cleaning module according to claim 1, wherein the first brushes are first long brushes, the first rolling brush further comprises at least one first short brush, and the first short brush is not in contact with the second rolling brush; or the second brushes are second long brushes, the second rolling brush further comprises at least one second short brush, and the second short brush is not in contact with the first rolling brush.

7. The cleaning module according to claim 6, wherein the first short brush is arranged between two adjacent ones of the first long brushes, or, the second short brush is arranged between two adjacent ones of the second long brushes.

8. The cleaning module according to claim 1, wherein the first brushes are first long brushes, the first rolling brush further comprises at least one first short brush, and an outer contour formed by a trajectory of an outer end of the first short brush when the first rolling brush rotates does not interfere with the second outer contour; and/or the second brushes are second long brushes, the second rolling brush further comprises at least one second short brush, and an outer contour formed by a trajectory of an outer end of the second short brush when the second rolling brush rotates does not interfere with the first outer contour.

9. The cleaning module according to claim 1, wherein the first rolling brush and the second rolling brush are arranged one behind the other side by side in a direction of movement of the cleaning module.

10. The cleaning module according to claim 1, wherein the first brushes spirally extend in an axial direction of the first rolling brush; or the second brushes spirally extend in an axial direction of the second rolling brush.

11. The cleaning module according to claim 6, wherein a thickness of the first long brush is less than or equal to a thickness of the first short brush; or a thickness of the second long brush is less than or equal to a thickness of the second short brush.

12. The cleaning module according to claim 1, wherein the first rolling brush comprises a first support, the first support being provided with a supporting surface that supports a first brush member in a contact manner, and at least a part of the supporting surface being incompressible; or the second rolling brush comprises a second support, the second support being provided with a supporting surface that supports a second brush member in a contact manner, and at least a part of the supporting surface being incompressible.

13. The cleaning module according to claim 12, wherein the supporting surface of the first rolling brush is incompressible; or the supporting surface of the second rolling brush is incompressible.

14. The cleaning module according to claim 6, wherein the first long brushes and the second short brush are arranged opposite to each other when the first rolling brush rotates; or the second long brushes and the first short brush are arranged opposite to each other when the second rolling brush rotates.

15. The cleaning module according to claim 1, wherein the first brushes and the second brushes are staggered.

16. The cleaning module according to claim 6, wherein the first long brushes and the second short brush are staggered, or the second long brushes and the first short brush are staggered.

17. A cleaning device, comprising a cleaning module, wherein the cleaning module comprises: a first rolling brush comprising first brushes; and a second rolling brush arranged substantially side by side with the first rolling brush and comprising second brushes, wherein when the first rolling brush and the second rolling brush rotate, a first outer contour formed by a trajectory of outer ends of the first brushes and a second outer contour formed by a trajectory of outer ends of the second brushes at least partially interfere with each other, and the first brushes are not in contact with the second brushes.

18. The cleaning device according to claim 17, wherein projections of the first outer contour and the second outer contour onto a horizontal plane at least partially overlap with each other.

19. The cleaning device according to claim 17, wherein when projections of one of the first brushes and one of the second brushes onto a horizontal plane at least partially overlap with each other, a distance between the one of the first brushes and the one of the second brushes is less than half of a distance between adjacent ones of the first brushes or of a distance between adjacent ones of the second brushes.

20. The cleaning device according to claim 17, wherein the first brushes and the second brushes are able to be in mirror symmetrical distribution in radial sections of the first rolling brush and the second rolling brush in an unassembled state of the first rolling brush and the second rolling brush.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The accompanying drawings herein, which are incorporated in the Description and constitute a part of the Description, show embodiments conforming to the present disclosure, and are used to explain the principles of the present disclosure together with the Description. Apparently, the accompanying drawings in the following description are only some embodiments of the present disclosure, and for those of ordinary skills in the art, other drawings may also be obtained from these accompanying drawings without creative efforts. In the accompanying drawings:

[0036] FIG. 1 is a schematic perspective diagram of an automatic cleaning device according to some embodiments of the present disclosure;

[0037] FIG. 2 is a schematic bottom view of the automatic cleaning device according to some embodiments of the present disclosure;

[0038] FIG. 3 is a schematic structural diagram of a cleaning module according to some embodiments of the present disclosure;

[0039] FIG. 4 is a schematic cross-sectional diagram of the cleaning module according to some embodiments of the present disclosure;

[0040] FIG. 5 is a schematic longitudinal cross-sectional diagram of a first rolling brush according to some embodiments of the present disclosure;

[0041] FIG. 6 is a schematic transverse cross-sectional diagram of the first rolling brush according to some embodiments of the present disclosure;

[0042] FIG. 6-1 is a schematic transverse cross-sectional diagram of a second rolling brush according to some embodiments of the present disclosure;

[0043] FIG. 6-2 is a schematic transverse cross-sectional diagram of the second rolling brush according to some other embodiments of the present disclosure;

[0044] FIG. 7 is an exploded perspective diagram of a cleaning brush according to an example of the present disclosure;

[0045] FIG. 8 is a perspective diagram of a first end member of the cleaning brush in FIG. 7 according to an example;

[0046] FIG. 9 is a partial structural exploded diagram of the first end member and a shaft lever of the cleaning brush in FIG. 7 from one perspective;

[0047] FIG. 10 is a partial structural exploded diagram of the first end member and the shaft lever of the cleaning brush in FIG. 7 from another perspective;

[0048] FIG. 11 is an exploded perspective diagram of the cleaning brush in FIG. 7 from another perspective;

[0049] FIG. 12 is a partial structural exploded diagram of a second end member and the shaft lever of the cleaning brush in FIG. 7 from one perspective;

[0050] FIG. 13 is an exploded perspective diagram of a cleaning brush according to an example of the present disclosure;

[0051] FIG. 14 is a schematic sectional diagram of the cleaning brush in FIG. 13;

[0052] FIG. 15 is a perspective diagram of an end member of the cleaning brush in FIG. 13 according to an example;

[0053] FIG. 16 is a schematic perspective diagram of an example of a fitting piece of the shaft lever in FIG. 13 according to an example;

[0054] FIG. 17 is a schematic perspective diagram of a guiding and fitting structure of the end member and the fitting piece of the shaft lever in FIG. 13 according to an example;

[0055] FIG. 18 is an exploded diagram of the guiding and fitting structure in FIG. 17;

[0056] FIG. 19 is a schematic exploded perspective diagram of a cleaning brush according to another example of the present disclosure;

[0057] FIG. 20 is a partial structural exploded diagram of the cleaning brush in FIG. 19 from one perspective;

[0058] FIG. 21 is a partial structural exploded diagram of the cleaning brush in FIG. 19 from another perspective;

[0059] FIG. 22 is a schematic diagram of a combined structure of two groups of rolling brushes according to some embodiments of the present disclosure;

[0060] FIG. 23 is a schematic cross-sectional diagram of a combined structure of the two groups of rolling brushes according to some embodiments of the present disclosure;

[0061] FIG. 24 is a schematic structural diagram of a first rolling brush in FIG. 22; and

[0062] FIG. 25 is a schematic cross-sectional diagram of the first rolling brush in FIG. 24.

DETAILED DESCRIPTION

[0063] To make the objectives, technical solutions and advantages of the present disclosure clearer, the present disclosure will be further described in detail below with reference to the accompanying drawings. It is obvious that the described embodiments are only some, but not all of the embodiments of the present disclosure. All other embodiments obtained by those of ordinary skills in the art without creative efforts based on the embodiments in the present disclosure are within the protection scope of the present disclosure.

[0064] It should be noted that, the terms including, containing, or any other variants thereof are intended to cover the nonexclusive inclusion, such that a commodity or device including a series of elements includes not only those elements, but also other elements not listed explicitly or elements inherent to such a commodity or device. Without more limitations, the element defined by the phrase including a . . . does not exclude the existence of other same elements in the commodity or device including the element.

[0065] In the related art, an automatic cleaning device, for example, a sweeping robot and the like, may be of a dual-rolling-brush model. For this dual-rolling-brush model, both of the two rolling brushes are usually soft brushes that deform easily. The rolling brush structure having the dual soft brushes allows a large degree of deformation, and thus ensures good passability of large-particle garbage. However, since the soft rolling brushes are complicated in process and high in cost, and may deform easily after long-term use, how to reasonably set the structure of the two rolling brushes has become an urgent technical problem.

[0066] An embodiment of the present disclosure provides an automatic cleaning device, including a mobile platform configured to move on an operating surface; and a cleaning module assembled on the mobile platform and configured to clean the operating surface. The cleaning module includes: a first rolling brush arranged in a first direction perpendicular to a longitudinal axis of the mobile platform, the first rolling brush including a first brush member, a first shaft lever and a first filler, the first filler being configured to sleeve the first shaft lever so that the first filler is coaxial with the first shaft lever, and a second rolling brush assembled with the cleaning module in a direction parallel to the first rolling brush, the second rolling brush including a second brush member and a second shaft component. The first filler is an elastic member, the second shaft component is a rigid member, and the first filler has a first inner diameter and a first outer diameter, so that the first filler has a preset thickness.

[0067] According to the automatic cleaning device provided by the embodiment of the present disclosure, by providing the dual-rolling-brush structure having the first rolling brush and the second rolling brush, and setting the first filler in the first rolling brush as the elastic member and the second shaft component as the rigid member, the automatic cleaning device can effectively clean the ground based on the two soft and hard rolling brushes, so that the passability of garbage between the first rolling brush and the second rolling brush is improved, and the interfering amount between the two soft and hard rolling brushes and the ground is reasonably configured, thereby wholly improving the ground cleaning efficiency.

[0068] According to some embodiments of the present disclosure, one of the rolling brushes is set as a hard brush, which is merely composed of an internal hard core and external rubber, so that the structure is simple, the dimensional accuracy is high, and the interfering amount between the rolling bush and the ground can be controlled easily during cleaning, so as to guarantee the cleaning effect and ensure that noise produced during cleaning is within an appropriate range. Moreover, the hard brush is free from sponge, is less deformed after long-term use, and thus is prolonged in service life. The combination of the soft brush and the hard brush can ensure sufficient passability of the large-particle garbage.

[0069] Optional embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0070] FIGS. 1-2 are schematic structural diagrams of an automatic cleaning device according to an exemplary embodiment. As shown in FIGS. 1-2, the automatic cleaning device may be a vacuum ground sucking robot, or may be a ground mopping/brushing robot, or may be a window climbing robot, or the like. The automatic cleaning device may include a mobile platform 1000, a perception system 2000, a control system (not shown), a driving system 3000, an energy system (not shown), a human-computer interaction system 4000 and a cleaning module 5000.

[0071] The mobile platform 1000 may be configured to move automatically along a target direction on an operating surface. The operating surface may be a surface to be cleaned by the automatic cleaning device. In some embodiments, the automatic cleaning device may be a ground mopping robot, and thus the automatic cleaning device operates on a ground, and the ground is the operating surface. The automatic cleaning device may also be a window cleaning robot, and thus the automatic cleaning device operates on an outer surface of glass of a building, and the glass is the operating surface. The automatic cleaning device may also be a pipe cleaning robot, and thus the automatic cleaning device operates on an inner surface of a pipe, and the inner surface of the pipe is the operating surface. For the purpose of presentation only, the following description in the present application takes a ground mopping robot as an example for illustration.

[0072] In some embodiments, the mobile platform 1000 may be an autonomous mobile platform, or a non-autonomous mobile platform. The autonomous mobile platform refers to that the mobile platform 1000 itself can automatically and adaptively make an operational decision based on an unexpected environmental input; and the non-autonomous mobile platform itself cannot adaptively make an operational decision based on an unexpected environmental input, but can execute a given procedure or operate according to an logic. Correspondingly, when the mobile platform 1000 is the autonomous mobile platform, the target direction may be determined autonomously by the automatic cleaning device; and when the mobile platform 1000 is the non-autonomous mobile platform, the target direction may be set systematically or manually.

[0073] The perception system 2000 includes a position determining apparatus (not shown) located on the mobile platform 1000, a buffer (not shown) located in the forward portion of the mobile platform 1000, cliff sensors (not shown) and sensing devices such as an ultrasonic sensor (not shown), an infrared sensor (not shown), a magnetometer (not shown), an accelerometer (not shown), a gyroscope (not shown) and an odometer (not shown) which are located at the bottom of the mobile platform 100, for providing various position information and motion state information of the robot to the control system.

[0074] For the ease of description, directions are defined as follows: the automatic cleaning device can be calibrated by the following three mutually perpendicular axes defined: a transversal axis Y, a longitudinal axis X and a vertical axis Z. A direction pointed by the arrow along the longitudinal axis X is designated as rearward, and a direction opposite to the direction of the arrow along the longitudinal axis X is designated as forward. The transversal axis Y is substantially a direction along the width of the automatic cleaning device, the direction of the arrow along the transversal axis Y is designated as leftward, and the direction opposite to the direction of the arrow along the transversal axis Y is designated as rightward. The vertical axis Z is a direction extending upwards from the bottom surface of the automatic cleaning device. As shown in FIG. 1, the direction along the longitudinal axis X is defined as a second direction, and the second direction is, for example, a forward direction or a rearward direction; and a direction perpendicular to the second direction within a horizontal plane is a first direction, and the first direction is, for example, a leftward direction or a rightward direction.

[0075] The control system (not shown) is disposed on a main circuit board in the mobile platform 1000, and includes a computing processor such as a central processing unit and an application processor, that communicates with a non-transitory memory such as a hard disk, a flash memory and a random-access memory. The application processor is configured to receive environmental information sensed by the plurality of sensors and transmitted from the perception system, to draw a simultaneous map of an environment where the automatic cleaning device is located using a positioning algorithm e.g., simultaneous localization and mapping (SLAM), based on obstacle information fed back by the position determining apparatus, and to autonomously determine a travelling path based on the environmental information and the environmental map, and then to control the driving system 3000 to perform operations, such as travelling forward, travelling backward, and/or steering based on the autonomously determined travelling path. Further, the control system may also determine whether to activate the cleaning module 5000 to perform a cleaning operation based on the environmental information and the environmental map.

[0076] The driving system 3000 may execute a driving command based on specific distance and angular information, such as x, y, and components, so as to manipulate the automatic cleaning device to travel across the ground. The driving system 3000 includes a driving wheel assembly, and the driving system 3000 may control a left wheel and a right wheel simultaneously. In order to control the motion of the automatic cleaning device more precisely, the driving system 3000 preferably includes a left driving wheel assembly and a right driving wheel assembly. The left driving wheel assembly and the right driving wheel assembly are arranged symmetrically along a transversal axis defined by the mobile platform 1000. In order to enable the automatic cleaning device to move on the ground more stably or have a stronger movement ability, the automatic cleaning device may include one or more steering assemblies. The steering assembly may be a driven wheel or a driving wheel, and structurally includes but is not limited to a universal wheel. The steering assembly may be located in front of the driving wheel assembly.

[0077] The energy system (not shown) includes a rechargeable battery, such as a nickel-hydride battery and a lithium battery. The rechargeable battery may be connected to a charging control circuit, a battery pack charging temperature detecting circuit and a battery undervoltage monitoring circuit, wherein the charging control circuit, the battery pack charging temperature detecting circuit and the battery undervoltage monitoring circuit are then connected to a single-chip microcomputer control circuit. A host of the automatic cleaning device is connected to a charging pile for charging through a charging electrode disposed on a side of or below a body of the automatic cleaning device for charging.

[0078] The human-computer interaction system 4000 includes buttons that are on a panel of the host and used by a user to select functions. The human-computer interaction system may further include a display screen and/or an indicator light and/or a horn that present/presents a current state or function item of the automatic cleaning device to the user. The human-computer interaction system may further include a mobile phone client program. For a route-navigation-type cleaning device, a mobile phone client may present a map of the environment where the device is located and the position of the device to the user, which may provide richer and more user-friendly function items to the user.

[0079] As shown in FIG. 2, the cleaning module 5000 includes a dust box, a blower, and a main brush module. The main brush module sweeps garbage on the floor to the front of a dust suction inlet between the main brush module and the dust box, and then the garbage is sucked into the dust box by air having a suction force, which is generated by the blower and passes through the dust box. A dust removal capacity of the sweeper may be characterized by the dust pickup (DPU) efficiency of the garbage. The DPU is affected by a utilization rate of air in an air channel formed by the dust suction inlet, the dust box, the blower, the air outlet and connecting components between the four, and by a type and power of the blower, which is a complex systematic design problem. Compared to an ordinary plug-in vacuum cleaner, the improvement of the dust removal capacity is more meaningful for an automatic cleaning device with limited energy because the improvement of the dust removal capacity directly and effectively reduces requirements for energy, that is, the cleaning device that originally may clean 80 square meters of the ground with a single charge may be evolved to clean 180 square meters or more with the single charge. Furthermore, the service life of the battery with the reduced number of charging times will also be greatly increased, so that the frequency of replacing the battery by the user will also be decreased. More intuitively and importantly, the improvement of the dust removal capacity is the most obvious and important user experience, as the user will directly conclude whether the thorough cleaning is achieved.

[0080] FIG. 2 is a schematic bottom view of the automatic cleaning device in FIG. 1. As shown in FIG. 2, the automatic cleaning device includes a mobile platform 1000, the mobile platform 1000 is configured to move freely on an operating surface, and a cleaning module 5000 is arranged at the bottom of the mobile platform 1000, and the cleaning module 5000 is configured to clean the operating surface. The cleaning module 5000 includes a driving unit 5100, a rolling brush frame 5200 and rolling brushes 5300 assembled in the rolling brush frame 5200. The driving unit 5100 provides a forward or reverse driving force, which is applied to the rolling brushes 5300 by means of a multi-stage gear set, and the rolling brushes 5300 rotates under the driving force to clean the operating surface, or the rolling brushes 5300 rotates under the driving force to collect dust.

[0081] As shown in FIG. 2, the rolling brush frame 5200 is provided with a front cleaning brush mounting site 5211 and a rear cleaning brush mounting site 5212 for accommodating a cleaning rolling brush. The front cleaning brush mounting site 5211 has a first end 52111 and a second end 52112 opposite to the first end 52111. One end of a first rolling brush 100 is fixed at the first end 52111 in a snap-fit manner, and the other end of the first rolling brush 100 is fixed at the second end 52112 in a snap-fit manner. In some embodiments, the front cleaning brush mounting site 5211 is a strip-shaped groove structure in the mobile platform, and the strip-shaped groove structure extends in the first direction. The rear cleaning brush mounting site 5212 has a third end 52121 and a fourth end 52122 opposite to the third end 52121. In some embodiments, the rear cleaning brush mounting site 5212 is of substantially the same structure as the front cleaning brush mounting site 5211, for example, a strip-shaped groove structure in the mobile platform, the strip-shaped groove structure extends in the first direction, and the second rolling brush may be mounted in a strip-shaped groove of the rear cleaning brush mounting site 5212 through the opening of the strip-shaped groove structure. The two strip-shaped groove structures are parallel to each other in a second direction. The strip-shaped groove structures are not limited in shape or size as long as at least a part of the first rolling brush and at least a part of the second rolling brush can be accommodated. The first end of the front cleaning brush mounting site 5211 and the third end of the rear cleaning brush mounting site 5212 are located at one side of the front and rear X, and the second end of the front cleaning brush mounting site 5211 and the fourth end of the rear cleaning brush mounting site 5212 are located at the other side of the longitudinal axis X.

[0082] It should be noted that in the following embodiments of the present disclosure, the strip-shaped groove structure on the automatic cleaning device close to a steering wheel is taken as the front cleaning brush mounting site 5211, and the strip-shaped groove structure away from the steering wheel is taken as the rear cleaning brush mounting site 5212, which is taken as an example for detailed explanation, and of course, vice versa.

[0083] As shown in FIG. 2, in some embodiments, the automatic cleaning device includes two cleaning rolling brushes 5300, one of which is arranged at the front cleaning brush mounting site 5211 and regarded as a front rolling brush, and the other of which is arranged at the rear cleaning brush mounting site 5212 and regarded as a rear rolling brush. The front rolling brush may be mounted in the front cleaning brush mounting site 5211 through the opening of the strip-shaped groove structure, and the rear rolling brush may be mounted in the rear cleaning brush mounting site 5212 through the opening of the strip-shaped groove structure.

[0084] FIG. 3 is a combined structure of a cleaning module according to some embodiments of the present disclosure, and FIG. 4 is a cross-sectional structure of the cleaning module according to some embodiments of the present disclosure. As shown in FIGS. 3 and 4, the rolling brushes 5300 assembled in the rolling brush frame 5200 includes: a first rolling brush 100 arranged in the first direction perpendicular to the longitudinal axis of the mobile platform, the first rolling brush 100 including a first brush member, a first shaft lever 110 and a first filler 120, the first filler 120 being configured to sleeve the first shaft lever 110 so that the first filler 120 is coaxial with the first shaft lever 110; and a second rolling brush 200 arranged in a direction parallel to the first rolling brush 100. In some embodiments, the first rolling brush 100 and/or the second rolling brush 200 may also be assembled in other directions, for example, in the second direction that is not parallel to the longitudinal axis. Obviously, the second direction forms an angle with each of the first direction and the longitudinal axis. The second rolling brush 200 includes a second brush member and a second shaft component 220, the second shaft component 220 being coaxial with the second brush member. The first filler 120 is elastic member, the second shaft component 220 is a rigid member, and the first filler has a first inner diameter and a first outer diameter, so that the first filler has a preset thickness. The assembled first filler is usually of a hollow cylindrical structure with a preset thickness, and the assembled first filler has a first inner diameter and a first outer diameter. However, in some embodiments, the first filler does not need to be in the shape of a continuous cylinder, but may be in a shape remaining after any cut is made on the cylinder, for example, the first filler may be a discontinuous cylinder, or one or more parts independent of each other, but they share the common feature that they all have the same thickness after assembly and that an inner surface and an outer surface of this thickness respectively have the diameters of the cylinders where they are located, i.e., the first inner diameter and the first outer diameter of the first filler. The first rolling brush 100 and the second rolling brush 200 rotate in opposite directions with respect to each other, so as to roll to gather the garbage from the operating surface when performing a cleaning task or spit out the garbage from the dust box when performing a dust collection task. It should be noted that, for this embodiment, the first rolling brush 100 may be the front rolling brush as previously described, or the rear rolling brush as previously described, and the second rolling brush 200 may likewise be the front rolling brush as previously described, or the rear rolling brush as previously described, which is not limited herein.

[0085] Specifically, FIG. 5 is a cross-sectional diagram of the first rolling brush in the second direction according to some embodiments of the present disclosure, and FIG. 6 is a cross-sectional diagram of the first rolling brush in the first direction according to some embodiments of the present disclosure, as shown in FIGS. 5 and 6.

[0086] The first rolling brush 100 includes a first shaft lever 110. At least one end of the first shaft lever 110 is connected to the multi-stage gear set to receive a driving force from the driving unit 5100 and to realize forward rotation or reverse rotation. The first shaft lever 110 is in the shape of a strip-shaped cylinder, a strip-shaped square cylinder or a strip-shaped polygon prism, which is not limited herein. The following description will be made by taking the strip-shaped cylinder as an example. The axis of the first shaft lever 110 may be regarded as a rotation axis of the first rolling brush 100. After the first rolling brush 100 is mounted on the mobile platform, the driving system 2000 may drive the first shaft lever 110 to rotate, so as to drive the first brush member 130 on the surface of the first shaft lever 110 to perform cleaning.

[0087] The first rolling brush 100 further includes a first filler 120. The first filler 120 is configured to sleeve the first shaft lever 110 so that the first filler 120 is coaxial with the first shaft lever 110. As shown in FIG. 4, the first filler 120 has a cross section of an annular structure, of which the inner ring matches the cross section of the first shaft lever 110 in shape, and the inner ring may be circular, square, polygonal, etc., which is not limited herein. The following description is made by taking the circular inner ring as an example. The outer ring is generally circular. When the cross section of the first filler 120 takes the shape of a circular ring, the cross section of the first filler 120 has an inner diameter and an outer diameter, the inner diameter is approximately equal to the diameter of the first shaft lever 110 to realize a seamless sleeve joint between the first filler 120 and the first shaft lever 110, and the outer diameter is approximately equal to the inner diameter of a first cylindrical member 131 to realize a seamless sleeve joint between the first filler 120 and the first cylindrical member 131. The first filler 120 is made of a compressible elastic material, and the first filler 120 has the characteristics of being compressed inwards by a force, and restoring to the original state after the force is removed, such as sponge, an organic flexible material, resin and foam, which is not enumerated herein. In addition, the first filler 120 may also be a hollowed-out material or structure having the same compressible characteristic, such as a spring or an elastic piece, which is not enumerated herein, either.

[0088] The first rolling brush 100 further includes a first brush member 130, the first brush member 130 sleeving an outer side of the first filler 120. The first brush member 130 includes a first cylindrical member 131, the first cylindrical member 131 is configured to sleeve the outer side of the first filler 120 so that the first cylindrical member 131 is coaxial with the first shaft lever 110. The first cylindrical member 131 is generally cylindrical and has substantially the same length as the first shaft lever 110. The first cylindrical member 131 is generally compressible, for example, made of elastic plastic or rubber, thus may be compressed inwards and deformed under the action of an external force, and may restore its original state after the external force is removed. The first cylindrical member 131 usually has a thickness to enhance the overall wear resistance of the first brush member 130. Besides, the first brush member 130 further includes first brushes 132. The first brushes 132 may be of a plurality of sheet-like structures, and extend from the outer surface of the first cylindrical member 131 in a direction away from the first cylindrical member 131. At least one first brush 132 extends in the axial direction of the first cylindrical member 131 from one end of the first cylindrical member 131 to the other end of the first cylindrical member 131. The first brush 132 may be in other forms, such as a blade or a bristle.

[0089] In some embodiments, there are a plurality of first brushes 132. Each first brush 132 is of a spiral structure on the outer surface of the first cylindrical member 131. The plurality of first brushes 132 are approximately uniformly distributed in the circumferential direction of the first cylindrical member 131. The spiral structures of the plurality of first brushes 132 are approximately parallel. By designing the first brush 132 as the spiral structure, the garbage may be easily gathered in a rolling manner when the front rolling brush and the rear rolling brush rotate in opposite directions without generating an excessive impact force to damage the first brush 132, so that the service life thereof is prolonged.

[0090] In some embodiments, there are a plurality of first brushes 132. Each first brush 132 is of a V-shaped structure on the outer surface of the first cylindrical member 131. The plurality of first brushes 132 is approximately uniformly distributed in the circumferential direction of the first cylindrical member 131, and the tips of the V-shaped structures of the plurality of first brushes 132 point in the same direction in the circumferential direction of the first cylindrical member 131. By designing the first brush 132 being the V-shaped structure, the garbage may be easily gathered in a rolling manner when the front rolling brush and the rear rolling brush rotate in opposite directions without generating an excessive impact force to damage the first brush 132, so that the service life thereof is prolonged.

[0091] In some embodiments, the surface of the first brush 132 is provided with a plurality of first bumps 1321. The plurality of first bumps on the first brush 132 are uniformly distributed in an extension direction of the surface of the first brush 132, and the plurality of first bumps 1321 can increase the friction between the brush member and the garbage, so that the sweeping is cleaner.

[0092] In some embodiments, as shown in FIG. 6-1, the second rolling brush 200 includes a second shaft component 220 and a second brush member 230. The second shaft component 220 is coaxial with the second brush member 230. The second brush member 230 sleeves an outer side of the second shaft component 220. The second shaft component 220 constitutes a second shaft lever of the second rolling brush 200, and is a rigid member. The second shaft component 220 includes at least one fitting piece 210 arranged at at least one end of the second shaft component 220 (for example, the fitting piece/pieces 210 may be arranged at one end or both ends of the second shaft component 220), and is connected to the multi-stage gear set of the driving system 2000 by means of the fitting piece 210 so as to receive the driving force from the driving system 2000 and to realize forward rotation or reverse rotation. The second shaft component 220 is in the shape of a strip-shaped cylinder, a strip-shaped square column or a strip-shaped polygon prism, which is not limited herein. The following description is made by taking the strip-shaped cylinder as an example.

[0093] In some embodiments, as shown in FIG. 6-1, the second shaft component 220 includes a hollow structure 221, the hollow structure 221 extending through the axis of the second shaft component 220 in an axial direction of the second shaft component 220. The second shaft component 220 has a second inner diameter D.sub.second inner and a second outer diameter D.sub.second outer, and the second inner diameter D.sub.second inner and the second outer diameter D.sub.second outer constitute a radial thickness of the second shaft component 220. At least one end of the hollow structure (for example, one end or two ends of the second shaft component 220) includes a stepped portion, and the stepped portion includes one, two or three steps. For example, when the stepped portion includes two steps, the end face of the hollow structure 221 has a third inner diameter and a fourth inner diameter. The second inner diameter is smaller than the third inner diameter and the fourth inner diameter. An accommodating cavity 222 having the maximum diameter (for example, the accommodating cavity 222 having the fourth inner diameter) is formed at the end of the stepped portion located on the outermost side of the hollow structure 221. The fitting piece 210 has an external structure that matches the stepped portion. After being assembled on the stepped portion, the fitting piece 210 is fixedly or detachably connected to the hollow structure. The fitting piece 210 is used for direct or indirect connection with the multi-stage gear set of the driving system to receive the driving force from the driving system 2000 and to realize forward rotation or reverse rotation of the second shaft component 220.

[0094] As shown in FIG. 6-1 and FIG. 6-2, the second rolling brush 200 further includes a second brush member 230. The second brush member 230 sleeves an outer side of the second shaft component 220. The second brush member 230 includes a second cylindrical member 231, and the second cylindrical member 231 is configured to sleeve the outer side of the first shaft component 120 so that the second cylindrical member 231 is coaxial with the second shaft component 220. The second cylindrical member 231 is generally cylindrical and has substantially the same length as the second shaft component 220. The second cylindrical member 231 is generally compressible, for example, made of elastic plastic or rubber, and thus may conveniently sleeve the outer side of the second shaft component 220. The second cylindrical member 231 usually has a thickness to enhance the overall wear resistance of the second brush member 230. There is usually no filler or at least there is no flexible or elastic filler between the second cylindrical member 231 and the second shaft component 220. In case of providing a rigid filler, since the second shaft component is also rigid, the rigid filler and the second shaft component may be regarded as the same functional part by all means, that is, the two rigid components together form the second shaft component, of which the outer diameter is obviously the outer diameter of the whole rigid component, i.e., the second outer diameter D.sub.second outer of the second shaft component. Besides, the second brush member 230 further includes second brushes 232. The second brushes 232 may be of a plurality of sheet-like structures. The second brushes 232 extend from the outer surface of the second cylindrical member 231 in a direction away from the second cylindrical member 231. At least one second brushes 232 extends in the axial direction of the second cylindrical member 231 from one end of the second cylindrical member 231 to the other end of the second cylindrical member 231. The second brush 232 may be in other forms, such as a blade or a bristle.

[0095] In some embodiments, there are a plurality of second brushes 232. Each second brush 232 is of a spiral structure on the outer surface of the second cylindrical member 231. The plurality of second brushes 232 is approximately uniformly distributed in the circumferential direction of the second cylindrical member 231, and the spiral structures of the plurality of second brushes 232 are approximately parallel. The second brush 232 matches the first brush 132 in shape, that is, when the second brush 232 is of the spiral structure, the first brush 132 is also of the spiral structure. By designing the second brush 232 as the spiral structure, the garbage may be easily gathered in a rolling manner when the front rolling brush and the rear rolling brush rotate in opposite directions without generating an excessive impact force to damage the second brush 232, so that the service life thereof is prolonged.

[0096] In some embodiments, there are a plurality of second brushes 232. Each second brush 232 is of a V-shaped structure on the outer surface of the second cylindrical member 231. The plurality of second brushes 232 is approximately uniformly distributed in the circumferential direction of the second cylindrical member 231, and the tips of the V-shaped structures of the plurality of second brushes 232 point in the same direction in the circumferential direction of the second cylindrical member 231. The second brush 232 matches the first brush 132 in shape, that is, when the second brush 232 is of the V-shaped structure, the first brush 132 is also of the V-shaped structure.

[0097] In some other embodiments, the second rolling brush 200 may also be implemented in other forms. As shown in FIG. 6-2, for example, the second rolling brush 200 includes a second shaft lever 240, a second filler 250 and a second brush member 230. The structure of the second brush member 230 is as described in the above embodiment and thus will not be repeated herein. The second shaft component as described in the above embodiment consists of the second shaft lever 240 and the second filler 250. The second filler 250 sleeves the second shaft lever 240 so that the second filler 250 is coaxial with the second shaft lever 240. The second filler 250 has a cross section of an annular structure, of which the inner ring matches the cross section of the second shaft lever 240 in shape, and the inner ring may be circular, square, polygonal, etc., which is not limited herein. The following description is made by taking a circular inner ring as an example. The outer ring is generally circular. When the cross section of the second filler 250 takes the shape of a circular ring, the cross section of the second filler 250 has an inner diameter and an outer diameter, the inner diameter is approximately equal to the diameter of the second shaft lever 240 to realize a seamless sleeve joint between the second filler 250 and the second shaft lever 240, and the outer diameter is approximately equal to the inner diameter of the second cylindrical member 231 to realize a seamless sleeve joint between the second filler 250 and the second cylindrical member 231. The second filler 250 is made of an incompressible elastic material, and the second filler 250 has the characteristic of not being compressed inwards by a force, so as to provide a sufficient supporting force to the second brush member 230. The second filler 250 is, for example, made of rigid plastic, a rigid resin material, a metal material, etc., which will not be enumerated herein. In addition, the second filler 250 may also be a hollow-out material or structure with the same incompressible characteristic, for example, an incompressible keel structure, so as to reduce the weight of the second rolling brush, which is not enumerated herein.

[0098] In some other embodiments, the second filler 250 and the second shaft lever 240 may be integrally molded to together form a one-piece structure from a rigid material so as to reduce a rotating clearance.

[0099] Upon completing mounting of the first rolling brush 100 and the second rolling brush 200, the first rolling brush 100 and the second rolling brush 200 rotate at the same speed and in opposite directions when the first rolling brush 100 and the second rolling brush 200 work, for example, the first rolling brush 100 rotates counterclockwise and the second rolling brush 200 rotates clockwise. In the process of rotation, the first brushes and the second brushes are always in an interference contact state in the middle position, that is, the next layer of brushes are in contact with the ground before the previous layer of brushes are separated from the ground; and along with continuous rotation, the previous layer of brushes are separated from the ground, and the brushes at two ends of the next layer of brushes are in contact with each other to form a diamond-shaped closed air path therebetween. As the brush member rotates, the brushes may collect the garbage towards the middle, such that the garbage can be sucked into the dust box in the device along the air channel 5400, thereby achieving the purpose of cleaning. With the synchronous rotation of the first rolling brush and the second rolling brush, the diamond-shaped closed air path formed by the next layer of brushes may gradually become smaller until the current closed sweeping is finished, and the next closed sweeping may start immediately, that is, the brushes at the two ends of the next layer may be in contact with each other to form another diamond-shaped closed air path therebetween, and so on. The first rolling brush and the second rolling brush can achieve the effect of continuous sweeping to further improve the sweeping efficiency.

[0100] In some embodiments, the surface of the second brush 232 is provided with a plurality of second bumps 2321. The plurality of second bumps on the second brush 232 is uniformly distributed in an extension direction of the surface of the second brush 232. The plurality of second bumps 2321 may increase the friction between the brush member and the garbage, so that the sweeping is cleaner.

[0101] In other embodiments, the first brush member in the first rolling brush 100 and the second brush member in the second rolling brush 200 may be different, which may be set according to sweeping needs. Optionally, the first rolling brush 100 is a hairbrush and the second rolling brush 200 is a rubber brush, and this combination can achieve the effect of cleaning various ground environments, i.e., by using the hairbrush's favorable cleaning ability for hair or fine and soft fibers. The first rolling brush may be used for cleaning up the garbage on soft ground, for example, carpets. Meanwhile, by using the rubber brush's favorable cleaning ability for hard ground, the second rolling brush may be used for cleaning up floors, tiles, etc.

[0102] In some embodiments, the outer diameter of the second shaft component is smaller than the outer diameter of the first filler, and/or the outer diameter of the second shaft component is larger than the inner diameter of the first filler. Since the second rolling brush is of an incompressible hard-core structure, in order to avoid greatly reducing the passability of large-particle garbage due to the incompressible hard-core structure, it is necessary to set blades of the second rolling brush to be longer than those of the first rolling brush, and set the distance between the outer diameter of the second shaft component (hard core) of the second rolling brush and the ground to be not less than that between the outer diameter of the first filler (soft core) of the first rolling brush and the ground. In this case, it is necessary to make the outer diameter of the second shaft component less than that of the first rolling brush. In addition, when the outer diameter of the second shaft component (hard core) of the second rolling brush is overlarge, a flexible space allowing for passage between the front rolling brush and the rear rolling brush becomes smaller, and the slightly larger hard garbage may get stuck between the first rolling brush and the second rolling brush. In addition, when the outer diameter of the second shaft component (hard core) of the second rolling brush is further reduced, in the case where the first brushes of the first rolling brush and the second brushes of the second rolling brush have the same outer contour diameter, correspondingly, the length of each second brush may gradually increase with the decrease of the outer diameter of the second shaft part (hard core). If the length of the second brush exceeds a reasonable range, the sweeping capability is weakened due to the excessively long second brushes, and the surface area of the second brushes is increased. As a result, the second brushes are prone to adhesion to dust, adversely affecting the cleaning effect. Therefore, in order to ensure the sweeping effect, the second brush should not be too long, and in this case, correspondingly, the outer diameter of the second shaft component (hard core) should not be too small. The outer diameter of the second shaft component may be set to be larger than the inner diameter of the first filler so as to ensure that the length of the second brush is within an appropriate range.

[0103] In some embodiments, a plane of the lowest point of the first filler is lower than a plane of the lowest point of the second shaft component. Due to the compressibility of the first filler, in order to ensure the passability of the garbage under the first rolling brush and the second rolling brush, it is necessary to make the plane of the lowest point of the first filler is lower than the plane of the lowest point of the second shaft component. In the case where the first rolling brush is the front rolling brush, the passability of the garbage can be ensured since the first filler is compressible; and in the case where the second rolling brush is the front rolling brush, the passability of the garbage can still be ensured since the lowest point of the second shaft member is higher. Meanwhile, since the first rolling brush is the rear rolling brush and is closer to the ground, the garbage can be stopped and is less liable to leak out from a place below the first rolling brush, which improves the cleaning efficiency of the cleaning device.

[0104] In some embodiments, the farthest distance for which the first brush extends from the outer surface of the first cylindrical member in a direction away from the first cylindrical member is less than the farthest distance for which the second brush extends from the outer surface of the second cylindrical member in a direction away from the second cylindrical member. As mentioned above, since the outer diameter of the first filler is greater than that of the second shaft component, if the length of the first brush is not less than that of the second brush, the first rolling brush may be larger on the whole. In the case where the assembly positions of the first rolling brush and the second rolling brush are located on approximately the same horizontal plane, the interfering amount between the first brush and the ground is greatly increased. As a result, noise formed by the first brush that slaps the ground and the resistance to the traveling process of the automatic cleaning device are increased, which is inconvenient for the automatic cleaning device to execute the cleaning task.

[0105] In some embodiments, an outer contour formed by the farthest distance for which the first brush extends in the direction away from the first cylindrical member from the outer surface of the first cylindrical member forms the outer diameter of the first rolling brush, an outer contour formed by the farthest distance for which the second brush extends in the direction away from the second cylindrical member from the outer surface of the second cylindrical member forms the outer diameter of the second rolling brush, and the outer diameter of the first rolling brush is substantially equal to the outer diameter of the second rolling brush. In the case where the assembly positions of the first rolling brush and the second rolling brush are located on approximately the same horizontal plane or have little difference, it can be ensured that both of the first rolling brush and the second rolling brush have a sufficient interference with the ground, thereby achieving the cleaning effect of dual brushes. In addition, for the automatic cleaning device in the non-working state, the dual rolling brushes in the storage state can be stored in the cleaning module in a generally flat manner, which also reduces the design and processing complexity caused by the inconsistency between the mounting sites of the front cleaning brush and the rear cleaning brush.

[0106] In some embodiments, the minimum distance between the inner diameter of the first filler and the outer diameter of the second shaft component is greater than the difference between the inner diameter and the outer diameter of the first filler. In the case of an excessively small minimum distance between the inner diameter of the first filler and the outer diameter of the second shaft component caused by an excessively large inner diameter of the first filler or an excessively large outer diameter of the second shaft component, the flexible space allowing for passing between the front rolling brush and the rear rolling brush is reduced. As a result, the slightly larger garbage, even flexible garbage, is stuck between the two brushes and cannot enter or leave the dust box. The critical distance is that the outer diameter of the second shaft component is in contact with the outer diameter of the first filler. In this case, although the first filler still has a compressible space margin, since there is no gap between the first filler and the second shaft component, the first filler and the second shaft component block the suction force of the blower to the garbage, which greatly reduces the effect of garbage entering and leaving the dust box and reduce the cleaning efficiency.

[0107] In some embodiments, the first rolling brush and the second rolling brush are arranged one behind the other in the traveling direction of the automatic cleaning device. In this case, a dual-brush assembly structure having a front soft brush and a rear hard brush is formed. In order to ensure that the garbage is missed from the rear, it is necessary to set the plane of the lowest point of the outer contour of the second rolling brush to be lower than the plane of the lowest point of the outer contour of the first rolling brush, so as to increase the interfering amount between the second brush and the ground and protect the garbage from leaking out from a place below the second rolling brush.

[0108] In some embodiments, the first rolling brush and the second rolling brush are arranged one behind the other in the traveling direction of the automatic cleaning device. In this case, a dual-brush assembly structure having a front hard brush and a rear soft brush is formed. In order to ensure that the garbage is missed from the rear, it is necessary to set the plane of the lowest point of the outer contour of the first rolling brush to be lower than the plane of the lowest point of the outer contour of the second rolling brush, so as to increase the interfering amount between the first brush and the ground and protect the garbage from leaking out from a place below the first rolling brush.

[0109] According to the automatic cleaning device provided by the embodiments of the present disclosure, by providing the dual-rolling-brush structure of the first rolling brush and the second rolling brush, and setting the first filler in the first rolling brush as the elastic member and the second shaft component of the second rolling brush as the rigid member, the automatic cleaning device can effectively clean the ground based on the two soft and hard rolling brushes, so that the passability of garbage between the first rolling brush and the second rolling brush is improved, and the interfering amount between the two soft and hard rolling brushes and the ground is reasonably configured, thereby wholly improving the ground cleaning efficiency.

[0110] The specific structure of the first rolling brush (also known as a soft brush or a cleaning brush) as described above will be described in detail with reference to FIGS. 7-12. The same structure and function have the same technical effect, which will not be repeated herein.

[0111] FIG. 7 is an exploded perspective diagram of a cleaning brush according to an example of the present disclosure. FIG. 8 is a perspective diagram of an end member of the cleaning brush of FIG. 7 according to an example. FIG. 9 is a perspective diagram of the end member of the cleaning brush in FIG. 8 from another perspective.

[0112] Referring to FIGS. 7-9, an embodiment of the present disclosure provides a cleaning brush 100. The cleaning brush 100 includes: a shaft lever 110 including a shaft lever main body 113, and a first end 111 and a second end 112 located on two sides of the shaft lever main body 113; and a first end member 120 configured to be mounted at the first end 111, the side of the first end member 120 away from the shaft lever 110 being provided with a first assembly structure 121. Specifically, the first assembly structure 121 is a transmission structure, and the first assembly structure 121 is connected to a driving mechanism of the cleaning device.

[0113] Specifically, the first end member 120 is provided with at least one first lead-in portion 1221, and the first end 111 is provided with at least one first fitting portion 1111. The at least one first lead-in portion 1221 matches the at least one first fitting portion 1111 to form a guiding and fitting structure, so that the first end member 120 can only be mounted at the first end 111 in a circumferential assembly manner, that is, the first end member 120 and the shaft lever 110 are mounted in only one direction during assembly.

[0114] The circumferential assembly herein means that two assemblies rotate by 360 degrees relative to each other. If there are N assembly modes, it is believed that there are N circumferential assembly modes of the two assemblies, in which N is greater than or equal to 1.

[0115] As shown in FIG. 8, the first end member 120 includes a first guide sleeve 122, and the first guide sleeve 122 is configured to receive the first end 111. The at least one first lead-in portion 1221 is arranged on the inner peripheral wall of the first guide sleeve 122, and is a lug boss protruding inwards from the inner peripheral wall of the first guide sleeve 122. The first end member 120 is mounted on the first end 111 located on a driving side.

[0116] Specifically, the at least one first lead-in portion 1221 extends spirally in the circumferential direction of the first guide sleeve 122 in a direction away from the first assembly structure 121, specifically in the form of a helical shape that helically rotates and extends along the inner peripheral wall, so that the first lead-in portion 1221 has a rotational direction, such as a rotational direction indicating clockwise (or counterclockwise) rotation around the axis z of the shaft lever 110.

[0117] It should be noted that in this example, the first lead-in portion 1221 is but not limited to a lug boss protruding from the inner peripheral wall of the first guide sleeve 122 as long as one of the first lead-in portion 1221 and the first fitting portion 1111 is the lug boss and the other is a recess.

[0118] In the example of FIG. 8, there are two first lead-in portions 1221 having different sizes. By setting the two first lead-in portions to have different sizes, it can be effectively ensured that the first end member 120 and the end of the shaft lever on the driving side are mounted in only one direction, thereby controlling the blades and other components of the cleaning brush to be mounted in only one direction.

[0119] It should be noted that in this example, the number of the first lead-in portions 1221 is two, which is not limited thereto. In other examples, the number of the first lead-in portions 1221 may be three or more, which is described as only an optional example and cannot be understood as a limitation to the present invention.

[0120] As can be seen from FIG. 9, the outer periphery of the first end 111 of the shaft lever 110 is provided with first fitting portions 1111 corresponding to the first lead-in portions 1221. In this example, the two first fitting portions 1111 are arranged on the outer periphery of the first end 111, and the two first fitting portions 1111 are in one-to-one correspondence with the two first lead-in portions 1221. The first fitting portions 1111 are recesses recessed inwards from the outer peripheral surface of the first end 111. The first lead-in portions 1221 and the first fitting portions 1111 are matched with each other to form the guiding and fitting structure, so that the first end member 120 can be mounted on the first end 111 in only one circumferential assembly manner.

[0121] By adding the two first lead-in portions having different sizes on the inner peripheral wall of the first guide sleeve, lead-in mounting can be carried out more effectively, and the first end member can be mounted on the first end in only one circumferential assembly manner, so that the simplicity in mounting the end member can be improved, and the stability of the mounting structure can be improved.

[0122] Optionally, the outer periphery of the first guide sleeve 122 is provided with a marking portion 1223 (see FIG. 8) configured to mark the outer periphery of the first guide sleeve 122 with the position of the first lead-in portions 1221, for indicating the rotational assembly direction in which the first end member 120 is mounted on the first end 111 of the shaft lever 110, so that the first lead-in portion 1221 and the first fitting portion 1111 are assembled in an aligning manner.

[0123] As shown in FIGS. 8-10, the first guide sleeve 122 is provided with a first locking portion 1222, for example, a recess recessed inwards from the outer peripheral surface of the first guide sleeve 122. Correspondingly, the first end 111 is provided with a first locking and matching portion 1112. The first locking portion 1222 and the first locking and matching portion 1112 cooperate to lock the first end member 120 to the first end 111.

[0124] Referring to FIGS. 9 and 10, the first end member 120 further includes a first guide shaft 123, and the first guide shaft 123 extends along the axis of the first guide sleeve 122. A first guide hole 1113 is formed in the end face of the first end 111 away from the second end 112. The first guide bole 113 is coaxial with the shaft lever 110 and is configured to accommodate the first guide shaft 123.

[0125] As shown in FIGS. 9 and 10, the end face of the first assembly structure 121 away from the shaft lever is a regular polygon, and the number of sides of the regular polygon is a divisor of the number of the brushes. In other words, there is a corresponding relationship between the number of sides of the regular polygon on the outer end face of the first end member and the number of groups of the brushes of the automatic cleaning device. For example, the number N of sides of the regular polygon is a divisor of the number of groups (for example, 4 sides and 8 groups of blades; for another example, 4 sides and 4 groups of blades). Thus, it can be ensured that after the cleaning brush is mounted on a main machine body of the automatic cleaning device in N directions, the blades and other components in the brushes of the cleaning brush are oriented consistently.

[0126] It should be noted that in this embodiment, the regular polygon has N straight-line sides, which is not limited thereto. In other embodiments, the sides may be adjusted, and are for example curved sides, or are combinations of straight-line sides and curved sides. In addition, in other examples, the shape of the regular polygon is adaptively changed according to the number of the brushes.

[0127] In the example of FIG. 7, the cleaning brush 100 further includes a brush member 130 that is coaxial with the shaft lever 110. The brush member 130 includes a cylindrical member 131 sleeving the outer periphery of the shaft lever; and a plurality of brushes 132. The plurality of brushes 132 extend from the outer surface of the cylindrical member in a direction away from the cylindrical member 131, and the plurality of brushes 132 are uniformly arranged in the circumferential direction of the cylindrical member.

[0128] Specifically, the brushes 131 includes first brushes. For example, the first brushes are V-shaped, and five groups of first brushes are included.

[0129] It should be noted that in other examples, the brushes may also include a second brush or a third brush or the like. The second brush and the third brush are of different shapes and lengths from the first brush. In addition, different groups of brushes are of basically the same structure, and each group of brushes may include one or more blades. When multiple blades are included, the structures of the multiple blades are often not exactly the same.

[0130] Specifically, a flexible filler (not shown) is filled between the brush member 130 and the shaft lever 110, and the flexible filler covers the outer periphery of the shaft lever main body, exposing the first end and the second end.

[0131] Further, the first end member 120 further includes a first barrier structure 125, which is arranged between the first assembly structure 121 and the first guide sleeve 122 and used for preventing an entanglement from excessively extending away from the brush member and preventing the entanglement from excessively extending away from the cleaning brush. The first barrier structure 125 is, for example, at least one barrier ring, and in this example, includes two barrier rings. By providing the barrier structure, the entanglement, for example, the garbage, may be wound around the barrier structure of the first end member, so that the entanglement can be effectively prevented from winding around the shaft lever, and the entanglement can be directly taken down along with disassembly of the end member when the end member is disassembled.

[0132] The first lead-in portion in the first guide sleeve of the first end member and the end of the shaft lever on the driving side form the guiding and fitting structure, and the first locking portion on the first guide sleeve and the first locking and matching portion at the end of the shaft lever cooperate to form the locking and fitting structure. The guiding and fitting structure and the locking and fitting structure assist and cooperate with each other to achieve a more effective mounting structure, so that the mounting structure of the end member and the shaft lever can be further optimized to further optimize the overall structure of the cleaning brush.

[0133] FIG. 11 is an exploded perspective diagram of the cleaning brush in FIG. 7 from another perspective, and FIG. 12 is a partial structural exploded diagram of a second end member and the shaft lever of the cleaning brush in FIG. 7 from one perspective.

[0134] As shown in FIGS. 11 and 12, the cleaning brush 100 further includes a second end member 140. The second end member 140 is located on a driven side and mounted at a second end 112 of the shaft lever 110. The side of the second end member 140 away from the shaft lever 110 is provided with a second assembly structure 141 (specifically, a bearing structure). The second assembly structure 141 is rotatable relative to the shaft lever, and the second end member 140 is rotationally connected to other structures (for example, a machine body) of the cleaning device by means of the second assembly structure 141.

[0135] As shown in FIGS. 11 and 12, the second end member 140 is provided with at least one second lead-in portion 1421, and the second end 112 is provided with at least one second fitting portion 1121. The at least one second lead-in portion 1421 and the at least one second fitting portion 1121 cooperate to form a guiding and fitting structure, so that the second end member 140 can be mounted on the second end in multiple circumferential assembly manners.

[0136] Further, the second lead-in portions 1421 extend spirally in the circumferential direction of the second guide sleeve 142 in a direction away from the second assembly structure 141, specifically in the form of a helical shape that helically rotates and extends along the inner peripheral wall, so that the second lead-in portions 1421 have a rotational direction, such as a rotational direction indicating clockwise (or anticlockwise) rotation around the axis z of the shaft lever 110, thereby forming a second lead-in direction. In this example, the second lead-in direction is the same as the first lead-in direction.

[0137] It should be noted that in this example, the first lead-in direction and the second lead-in direction are the same, which is not limited thereto. In other examples, the rotational direction of the first lead-in portions may also be for example non-spiral or linear. In addition, in other examples, the second lead-in direction and the first lead-in direction may be different. The above description is merely made as an optional example and should not be construed as a limitation to the present disclosure.

[0138] As shown in FIG. 12, the at least one second lead-in portion 1421 includes two second lead-in portions 1421 in the same shape and of the same size, so that the second end member can be mounted on the second end 112 in two circumferential assembly manners.

[0139] Preferably, when the lead-in directions of the first lead-in portions 1221 and the second lead-in portions 1421 are the same, the two first lead-in portions 1221 have different sizes (correspondingly, the first fitting portion 1111 and the second fitting portion 1121 have different sizes), the two second lead-in portions 1421 have the same size, and the sizes of the second lead-in portions 1421 are in between those of the two first lead-in portions 1221.

[0140] The sizes of the two second lead-in portions on the driven side are in between those of the two first lead-in portions on the driving side, so that it is ensured that the second end member can be freely mounted at multiple angles and the end members on the two sides cannot be mounted reversely, thereby effectively ensuring correct orientations of the components such as the blades after the cleaning brush is mounted.

[0141] It should be noted that for the number of the second lead-in portions, in other examples, there may be three or more. The above description is merely made as an optional example and should not be construed as a limitation to the present invention. In addition, for the first end member and the second end member, preferably, two first lead-in portions having different sizes are arranged on the driving side since there is a requirement for a mounting angle on the driving side, whereas the second end member on the driven side does not need to be of a differently sized design because the second assembly structure (specifically, the bearing structure) on the driven side is freely rotatable relative to the shaft lever. After the bearing structure is assembled on the machine body of the automatic cleaning device, the rest part of the cleaning brush is allowed to be freely rotatable relative to the bearing structure. There is no strong need for the assembly angle on the driven side. Therefore, in other examples, the second lead-in portions may also have the same size.

[0142] The first lead-in portion 1221 and the second lead-in portion 1421 form the guiding and fitting structure with the first fitting portion 1111 and the second fitting portion 1121, so that a more effective guiding and fitting structure can be realized. By providing that the two first lead-in portions 1221 have different sizes, and the second lead-in portion and the first lead-in portion have different sizes, the first end member can be mounted on the first end in only one circumferential assembly manner, and the second end member can be mounted on the second end in multiple circumferential assembly manners, enabling precise determination of the mounting angle of the first end member and the second end member relative to the shaft lever and achieving a more effective mounting structure.

[0143] Further, the outer periphery of the second guide sleeve 142 of the second end member 140 is provided with a second locking portion 1422, for example, a recess recessed inwards from the outer peripheral surface of the second guide sleeve 142, and the second locking portion 1422 may also be a through hole running through the second guide sleeve 142. Correspondingly, the second end 112 is provided with a first locking and matching portion 1123, and the second locking portion 1422 and the first locking and matching portion 1123 cooperate to lock the second end member 140 to the second end opening 112, so as to form a locking and fitting structure.

[0144] As shown in FIG. 12, the second end member 140 further includes a second guide shaft 144, and the second guide shaft 144 extends along the axis of the second guide sleeve 142. A second guide hole (not shown) is formed in the end face of the second end 112 away from the first end 111. The second guide hole is coaxial with the shaft lever 110 and is configured to accommodate the second guide shaft 144.

[0145] Further, the second end member 140 further includes a second barrier structure 145, and the second barrier structure 145 is arranged on the side of the second guide sleeve 142 away from the shaft lever 110.

[0146] Specifically, the outer diameter of the barrier structure 145 is larger than that of the second guide sleeve 142. By providing the barrier structure on the second end member, the entanglement, for example, the garbage, is wound around the barrier structure of the second end member, so that the entanglement can be effectively prevented from winding around the shaft lever, and the entanglement can be directly taken down along with disassembly of the end member when the end member is disassembled.

[0147] Optionally, the second guide sleeve 142 may be further provided with marking portions 1423 configured to mark the outer periphery of the second guide sleeve 142 with the positions of the second lead-in portions 1421, for indicating the rotational assembly direction in which the second end member 140 is mounted on the second end 112 of the shaft lever 110, so that the second lead-in portions and the second fitting portion can be assembled in an aligning manner.

[0148] Further, the second assembly structure 141 of the second end member 140 is configured into a polygonal shape corresponding to the number of the brushes. In this example, the polygonal shape of the outer end face of the second assembly structure 141 is a pentagon formed by a combination of straight lines and curves.

[0149] Preferably, the regular polygonal shape of the outer end face of the first end member 120 is different from the polygonal shape of the outer end face of the second assembly structure 141, so that the outer end face of the first end member and the outer end face of the second end member are different in shape, making it easier to distinguish the two ends and improving the convenience of mounting.

[0150] In the cleaning brush according to the present disclosure, the lead-in member of the end member at the driving end is set to be mounted in a unique circumferential assembly manner to ensure that the driving side is mounted in a relatively fixed direction, which helps to control the mounting angle of the rolling brushes, and is particularly beneficial in some scenarios with certain preset requirements on the orientation or alignment directions of sub-components of the rolling brushes, in particular blades. For example, the scenarios are those scenarios in which two of the presently described rolling brushes are employed to form a dual-brush system and in which there is a need for alignment of their respective blades.

[0151] In the cleaning brush according to the present disclosure, the lead-in portion on the inner wall of the guide sleeve of the end member and the end of the shaft lever form the guiding and fitting structure, and the locking portion on the outer periphery of the guide sleeve and the end of the shaft lever form the locking and fitting structure. The guiding and fitting structure and the locking and fitting structure assist and cooperate with each other to enable more effective introduction and mounting, realize a more effective guiding and fitting structure and achieve a more effective mistake-proofing mounting structure, so that the mounting simplicity and the stability of mounting structure of the end member can be improved, and the mounting structure of the end member and the shaft lever can be further optimized to further optimize the overall structure of the cleaning brush.

[0152] In addition, by providing that the two first lead-in portions have different sizes, and the second lead-in portion and the first lead-in portion have different sizes, the first end member can be mounted on the first end in only one circumferential assembly manner, and the second end member can be mounted on the second end in multiple circumferential assembly manners, enabling precise determination of the mounting angle of the first end member and the second end member relative to the shaft lever and achieving a more effective mounting structure.

[0153] In addition, by providing the marking portions on the outer peripheries of the first guide sleeve and the second guide sleeve to indicate the rotational assembly direction in which the first end member and the second end member are mounted on the first end and the second end of the shaft lever, the aligned assembly of the first lead-in portion and the first fitting portion can be effectively ensured, and the aligned assembly of the second lead-in portion and the second fitting portion can be effectively ensured.

[0154] In addition, since the number of sides of the regular polygon on the outer end face of the first end member is a divisor of the number of groups of the brushes of the automatic cleaning device, it can be ensured that after the cleaning brush is mounted on the main machine body of the automatic cleaning device in N directions, the blades and other components in the brushes of the cleaning brush are oriented consistently.

[0155] In addition, by providing the barrier structure on the end member, the entanglement may be directly wound around the barrier structure of the end member, so that the entanglement can be effectively prevented from winding around the shaft lever.

[0156] The specific structure of the second rolling brush (also known as a hard brush or a cleaning brush) as described above will be described in detail with reference to FIGS. 13-21. The same structure and function have the same technical effect, which will not be repeated herein.

[0157] FIG. 13 is an exploded perspective diagram of a cleaning brush according to an example of the present disclosure. FIG. 14 is a schematic cross-sectional diagram of the cleaning brush in FIG. 13. FIG. 15 is a perspective diagram of an end member of the cleaning brush in FIG. 13 according to an example. FIG. 16 is a schematic perspective diagram of an example of a fitting piece of the shaft lever in FIG. 13 according to an example. FIG. 17 is a schematic perspective diagram of a guiding and fitting structure of the end member and the fitting piece of the shaft lever in FIG. 13 according to an example. FIG. 18 is an exploded diagram of the guiding and fitting structure in FIG. 17.

[0158] Referring to FIGS. 13 to 18, the cleaning brush 200 includes: a shaft lever 210 having a first end 211 and a second end 212 that are opposite in the axial direction, at least one of the first end 211 and the second end 212 including a fitting piece 213; a brush member 230 coaxially sleeving the out periphery of the shaft lever 210; and an end member 220 configured to match the fitting piece 213 in mounting, the side of the end member 220 away from the fitting piece 213 being provided with an assembly structure 221.

[0159] Specifically, the assembly structure 221 includes, for example, a bearing structure 221 and a transmission structure 221. When the end member 220 is an end member located on the driving side, that is, when the end member 220 is a first side end member 220 connected to a driving unit of the cleaning module, the assembly structure 221 is, for example, the transmission structure 221. When the end member 220 is an end member located on the driven side, that is, when the end member 220 is a second side end member 220 opposite to the first side end member 220, the assembly structure 221 is, for example, the bearing structure 221.

[0160] In the followings, the connection and assembly relationship between the end member and the shaft lever is mainly explained by taking the end member on the driving side as an example, to which the connection relationship between the end member on the driven side and the shaft lever is similar.

[0161] As shown in FIG. 14, an accommodating space 214 is formed in the end face, facing the end member 220, of the end where the fitting piece 213 is located, the fitting piece 213 is accommodated in the accommodating space 214, and a part of the end member 220 is inserted into the accommodating space 214 to match the fitting piece 213 in mounting.

[0162] Specifically, the end face of the fitting piece 213 close to the assembly structure 221 is further away from the assembly structure 221 than an opening portion 2141 of the accommodating space 214, referring to FIG. 14 for details.

[0163] Optionally, the end face of the brush member 230 close to the assembly structure 221 is flush with the opening portion 2141 of the accommodating space 214, referring to FIG. 14 for details. In one aspect, the end of the brush member is effectively supported, and the proper strength can be maintained during sweeping of the ground. In the other aspect, the brush member can effectively protect three-dimensional mounting fit structures, such as a core rod and internal fitting pieces, so as to prevent loss of user experience caused by collision damages.

[0164] As shown in FIG. 15, the end member 220 includes a guide rod 222, and the guide rod 222 is located on the side of the assembly structure 221 close to the shaft lever 210. The end of the guide rod 222 away from the assembly structure 221 is provided with a guide portion 2221, and the guide portion 2221 is configured to form a rotary fit structure with the fitting piece 213.

[0165] Specifically, the guide portion 2221 extends spirally in the circumferential direction of the guide rod 222 in a direction away from the assembly structure 221. The guide portion 2221 is configured as a helical shape with a rotational direction, and is specifically in the form of a helical shape that helically rotates and extends (i.e., rotates and extends in a helical manner) along the outer peripheral surface of the guide rod 222, so that the guide portion 2221 has a rotational direction, such as a rotational direction indicating clockwise (or counterclockwise) rotation around the axis z of the shaft lever 210.

[0166] Referring to FIGS. 14 and 15, the end member 220 includes a guide rod 222 and at least one guide portion 2221. The guide portion 2221 is arranged on the outer peripheral surface of the guide rod 222. The plurality of guide portions 2221 is uniformly distributed in the circumferential direction of the guide rod 222, so that the guide portion 2221 and the fitting piece 213 form a rotary fit structure, referring to FIGS. 14 and 17.

[0167] In the example of FIG. 15, the guide portion 2221 is a lug boss formed by etching the outer peripheral surface of the guide rod 222 to form a groove. The guide portion 2221 is formed at the end of the guide rod 222 away from the assembly structure 221.

[0168] Specifically, there are a plurality of guide portions 2221. In the example of FIG. 15, there are five guide portions 2221, and the five guide portions 2221 have the same size.

[0169] It should be noted that in other examples, there may also be three, four, six or more guide portions, and the guide portions have different sizes, which is only described as an optional example and cannot be understood as a limitation to the present disclosure. In addition, as for the mode of forming the guide portion, the guide portion may also be a groove formed by etching inwards the outer peripheral surface of the guide rod, which is only described as an optional example and cannot be understood as a limitation to the present disclosure. Optionally, at least one of the shapes, numbers and sizes of the guide portions 2221 varies.

[0170] Further, the end member 220 further includes a guide shaft 223, and the guide shaft 223 extends from the guide rod 222 away from the assembly structure 221. The end of the guide shaft 223 away from the guide rod 222 is provided with a fastener 2231.

[0171] In this embodiment, the end of the guide shaft 223 close to the assembly structure 221 is sleeved with the guide rod 222.

[0172] Specifically, the guide shaft 223 includes a fastener 2231 arranged along the outer peripheral surface, and the fastener 2231 is, for example, an annular groove, so that the fastener 2231 and the fitting piece 213 form a snap-fit structure.

[0173] As shown in FIG. 16, the fitting piece 213 includes a fitting portion 2131 that matches the guide portion 2221 in shape, and the fitting portion 2131 is provided with a spiral groove for accommodating the guide portion 2221.

[0174] Specifically, the fitting piece 213 includes a main body portion 2130. The main body portion 2130 is provided with a cavity. The main body portion 2130 includes a fitting portion 2131 arranged in the cavity. The fitting portion 2131 is a spiral groove extending along the inner wall of the cavity. The fitting portion 2131 and the guide portion 2221 form a rotary fit structure, so that the guide rod of the end member and the fitting form a rotary fit mechanism, referring to FIG. 17 for details.

[0175] In this example, the number of the fitting portions 2131 is the same as that of the guide portions 2221, and is, for example, five.

[0176] It should be noted that for the shape of the fitting portion, in other examples, the fitting portion may also be a groove, whereas the guide portion is a lug boss. In other examples, the number of the fitting portions may also be three, four, six or more, as long as the number of the guide portions and the number of the fitting portions are the same. The foregoing is only described as an optional example and cannot be understood as a limitation to the present disclosure.

[0177] The guide portion is additionally arranged on the outer peripheral surface of the guide rod, so that the guide rod of the end member and the fitting piece of the shaft lever form a rotary fit structure. Therefore, guided mounting can be effectively carried out, an effective mistake-proof mounting structure can be realized, the mounting simplicity of the end member can be improved, and the stability of the mounting structure can be improved. By means of the rotary fit structure formed by the guide rod of the end member and the fitting inside the shaft lever, and the snap-fit structure formed by the guide shaft and the fitting, guided mounting can be carried out more effectively, a more effective mistake-proof mounting structure can be realized, the mounting simplicity of the end member can be further improved, and the stability of the mounting structure can be further improved.

[0178] In the example of FIG. 16, the fitting piece 213 includes an extension portion 2132 connected to the main body portion 2130 and extending outwards from the main body portion 2130. The extension portion 2132 is closer to the center of the shaft lever 210 than the main body portion 2130, and the outer diameter of the extension portion 2132 is smaller than that of the main body portion 2130.

[0179] As shown in FIGS. 17 and 18, the outer peripheral surface of the extension portion 2132 is provided with a plurality of ribs 21321 in uniform distribution, so that the outer peripheral surface of the extension portion 2132 forms a concave-convex surface for forming a corresponding fitting structure with the inside of the shaft lever 210 (i.e., the shape of the inside of the shaft lever) in order to increase a contact surface between the fitting piece 213 and the inside of the shaft lever 210, which is more conducive to bonding the fitting piece 213 to the inside of the accommodating space 214 of the shaft lever 210. Thus, the bonding strength of the bonding structure between the fitting piece 213 and the shaft lever 210 can be enhanced, enabling the mounting to be more stable.

[0180] It should be noted that the bonding structure between the fitting piece 213 and the inside of the shaft lever 210 may also be a stepped fitting structure. In other embodiments, the whole or at least part of assemblies of the fitting piece 213 may also be integrally molded with the shaft lever 210, which is only described as an optional example and cannot be understood as a limitation to the present disclosure.

[0181] As shown in FIG. 17, the end of the fitting piece 213 close to the center side of the shaft lever is provided with a fastening portion 21322, and the fastening portion 21322 is closer to the center side of the shaft lever than the rib 21321. The fastening portion 21322 is, for example, a claw portion, and the fastening portion 21322 and the fastener 2231 (i.e., an annular groove portion) of the guide shaft 223 of the end member 220 form a snap-fit structure.

[0182] In the example of FIG. 13, the end member 220 is provided with a barrier structure 225 for preventing an entanglement from excessively extending away from the cleaning brush. The barrier structure 225 is arranged on the side (i.e., the side away from the center side of the shaft lever) closer to the assembly structure 221 than the guide rod 210.

[0183] Specifically, the outer diameter of the barrier structure 225 is larger than that of the guide rod 210, and the barrier structure 225 is spaced from the first end 211 of the shaft lever 210 by a distance, referring to FIGS. 17 and 18.

[0184] By providing the end member with the barrier structure, the entanglement is directly wound around the barrier structure of the end member, so that the entanglement can be effectively prevented from winding around the shaft lever.

[0185] In another example, in the cleaning brush 200 shown in FIG. 19, the end member 220 includes a first side end member 220 and a second side end member 220, which respectively match the fittings 213 of the first end 211 and the second end 212 of the shaft lever 210. The shaft lever 210 is a rigid component. The brush member 230 directly sleeves the shaft lever 210. The cleaning brush 20 is, for example, a hard brush. Optionally, the shaft lever 210 is a rigid component. A rigid filler is filled between the brush member 230 and the shaft lever 210.

[0186] In this example, the first guide portion 2221 of the first side end member 220 (i.e., the end member 220 in FIG. 14) is different from the second guide portion 2221 of the second side end member 220 in at least one of shape, number and size.

[0187] In an alternative embodiment, the first guide portions 2221 of the first side end member 220 and the second guide portions 2221 of the second side end member 220 have the same shape and size. The number of the first guide portions 2221 of the first side end member 220 is greater than that of the second guide portions 2221 of the second side end member 220, and the number of the second guide portions 2221 of the second side end member 220 is not a divisor of the number of the first guide portions 2221 of the first side end member 220. For example, the number of the first guide portions 2221 of the first side end member 220 is five, and the number of the second guide portions 2221 of the second side end member 220 is two.

[0188] As shown in FIGS. 19 and 20, the first side end member 220 (i.e., the end member 220 on the driving side, the left end as shown in FIG. 20) is mounted on the first end 210 of the shaft lever 210. The first side end member 220 includes a transmission structure 221, and the transmission structure 221 is closer to the outer side than the first barrier structure 225. The end face of the transmission structure 221 is in the shape of a polygon, for example, a square polygon. The transmission structure 221 is connected to a driving mechanism of the automatic cleaning device.

[0189] In this example, the brush member 230 includes a cylindrical member sleeving the outer periphery of the shaft lever; and a plurality of brushes 232 extending from the outer surface of the cylindrical member in a direction away from the cylindrical member 231. The plurality of brushes 232 are uniformly arranged in the circumferential direction of the cylindrical member.

[0190] It should be noted that in this example, the brush 232 includes a first brush of at least one size, for example, includes five groups of brushes, each group including first brushes of two sizes, e.g., the first brushes are V-shaped or spiral. Since the brushes 230 in this example are substantially the same as the brushes 230 in the example of FIG. 13, descriptions of the same part are omitted.

[0191] Specifically, the number of the first guide portions 2221 of the first side end member 220 is a divisor of the number of the brushes 232. For example, the number of the first guide portions 2221 is five, and the number of the brushes 232 is a multiple of five, such as five groups and ten groups, in which each group includes two or more brushes.

[0192] In the example of FIG. 19, the number of the first guide portions 2221 is five, and the number of the brushes 232 is five.

[0193] As shown in FIG. 20, the second side end member 220 is mounted at the second end 212 of the shaft lever 210 (i.e., the end member located on the driven side, the right end shown in FIG. 20). The second side end member 220 includes an assembly structure (specifically, a bearing structure 221), the bearing structure 221 is rotatable relative to the shaft lever 210, and the second side end member 220 is connected to other structures (for example, the machine body) of the cleaning device by means of rotation of the bearing structure 221 relative to the shaft lever.

[0194] Specifically, the first side end member 220 is mounted on a first fitting piece 213 of the first end 211 inside the shaft lever 210, and the second side end member 220 is mounted on a second fitting piece 213 of the second end 212 inside the shaft lever 210.

[0195] It should be noted that since the shaft lever and the brush member in the example of FIG. 18 are of basically the same structures as the shaft lever and the brush member in the example of FIG. 13, descriptions of the same part are omitted. In addition, since the first fitting piece 213 in FIG. 19 is of basically the same structure as the fitting piece 213 in FIG. 16, descriptions of the same part are omitted.

[0196] In the example of FIG. 19, the first side end member 220 includes a first guide rod 222, at least one first guide portion 2221 and a first guide shaft 223. The first guide rod 222 is provided with the plurality of first guide portions 2221. Each first guide portion 2221 is a lug boss formed by etching the outer peripheral surface of the first guide rod 222 to form a groove, and is formed at the end of the first guide rod 222 away from the assembly structure 221.

[0197] As shown in FIGS. 20 and 21, the second side end member 220 includes a second guide rod 222, at least one second guide portion 2221 and a second guide shaft 223. The second guide rod 222 is provided with a plurality of second guide portions 2221.

[0198] Optionally, when the shape of each first guide portion 2221 of the first side end member 220 is the same as that of each second guide portion 2221 of the second side end member 220, the number of the first guide portions 2221 of the first side end member 220 is different from that of the second guide portions 2221 of the second side end member 220.

[0199] Optionally, the number of the first guide portion 2221 of the first side end member 220 is an odd number, and the number of the second guide portions 2221 of the second side end member 220 is an even number. Preferably, the number of the first guide portions 2221 of the first side end member 220 and the number of the second guide portions 2221 of the second side end member 220 are not divisors of each other, to ensure that the side end member having less guide portions cannot be mounted by mistake on the fitting pieces corresponding to the side end member having more guide portions, thereby ensuring that any side end member cannot be mounted by mistake and achieving the mistake-proofing function to the maximum extent.

[0200] As shown in FIGS. 20 and 21, the second end 212 of the shaft lever 210 includes a second fitting piece 213 that matches the second guide portion 2221 of the second guide rod 222, the number of the second guide portions 2221 is two. Each second guide portion 2221 is a lug boss formed by etching the outer peripheral surface of the second guide rod 222 to form a recess, and is arranged at the end of the second guide rod 222 away from the bearing structure 221.

[0201] Specifically, each second fitting piece 213 includes an extension portion 2132 connected to a main body portion 2130 and extending outwards from the main body portion 2130. The outer diameter of the main body portion 2130 is greater than that of the extension portion 2132. The main body portion 2130 includes a cavity. The main body portion 2130 includes a fitting portion 2131 arranged in the cavity. The fitting portion 2131 is a spiral groove extending along the inner wall of the cavity. The fitting portion 2131 and the second guide portion 2221 form a rotary fit structure, so that the guide rod of the second side end member and the fitting form a rotary fit mechanism.

[0202] As shown in FIGS. 20 and 21, the outer peripheral surface of the extension portion 2132 of the second fitting piece 213 is provided with a plurality of ribs 21321 in uniform distribution, so that the outer peripheral surface of the extension portion 2132 is a concave-convex surface for forming a corresponding fitting structure with the inside of the shaft lever 210 (i.e., the shape of the inside of the shaft lever) in order to increase a contact surface between the second fitting piece 213 and the inside of the shaft lever 210, which is more conducive to bonding the second fitting piece 213 to the inside of the accommodating space of the shaft lever 210. Thus, the bonding strength of the bonding structure between the second fitting piece 213 and the shaft lever 210 is enhanced, enabling the mounting to be more stable.

[0203] Further, the end of each second fitting piece 213 close to the center side of the shaft lever is provided with a fastening portion 21322, and the fastening portion 21322 is closer to the center side of the shaft lever than the rib 21321. The fastening portion 21322 is, for example, a claw portion, and the fastening portion 21322 and the fastener 2231 (i.e., an annular groove portion) of the guide shaft 223 of the second side end member 220 form a snap-fit structure.

[0204] In the example of FIG. 19, the first side end member 220 includes an assembly structure (specifically, a transmission structure 221) and a first guide shaft 223. One end of the first guide shaft 223 is sleeved with the first guide rod 222, and the other end of the first guide shaft 223 is sleeved in a first guide hole of the first end 211. The first guide hole is coaxially formed in the end face of the first end 211.

[0205] The assembly structure 221 of the second side end member 220 and the second guide rod 222 are of a split structure. Specifically, one end of the second guide shaft 223 passes through the assembly structure (specifically, the bearing structure 221) of the second side end member 220, and the other end of the second guide shaft 223 is sleeved in a second guide hole of the second end 212. The second guide hole is coaxially formed in the end face of the first end 211.

[0206] Optionally, the first side end member 220 is provided with a barrier structure 225 specifically arranged between the assembly structure (specifically, the transmission structure 221) and the first guide rod 222. The second side end member 220 is provided with a barrier structure 225 specifically arranged between the assembly structure (specifically, the bearing structure 221) and the second guide rod 222. The barrier structures of the two side end members are both used to prevent the entanglement from excessively extending away from the brush member 230.

[0207] In this example, the outer end face of the first side end member 220 is configured into the shape of a first polygon corresponding to the number of the brushes 232. Specifically, the end face of the transmission structure 221 of the first side end member 220 away from the guide rod 222 is in the shape of a regular polygon, of which the number of sides is the same as the number of the first guide portions 2221 of the first side end member 220. Meanwhile, the number of the first guide portions 2221 of the first side end member 220 is a divisor of the number of the brushes 232.

[0208] Compared with the prior art, the cleaning brush according to the present disclosure has the following advantages: by means of the cooperation between the rotary fit structure formed by the guide portion of the guide rod of the end member and the fitting piece inside the shaft lever, and the snap-fit structure formed by the guide shaft and the fitting, guided mounting can be carried out more effectively, a more effective mistake-proof mounting structure can be realized, the mounting simplicity of the end member can be further improved, and the stability of the mounting structure can be further improved.

[0209] In addition, by providing the barrier structure on the end member, the entanglement is directly wound around the barrier structure of the end member, so that the entanglement can be effectively prevented from winding around the shaft lever.

[0210] In the related art, an automatic cleaning device, for example, a sweeping robot, gathers garbage of different sizes in a rolling manner from a cleaning surface by means of paired rolling brushes, and the garbage can be sucked and transferred into a garbage collection box through an air intake channel. However, the existing automatic cleaning device cannot always effectively send the garbage into the garbage collection box. Therefore, how to effectively improve the dust collection effect of the automatic cleaning device has become an urgent technical problem to be solved.

[0211] The present disclosure provides a cleaning module and an automatic cleaning device. The cleaning module includes: a first rolling brush including first brushes; and a second rolling brush arranged substantially in parallel with the first rolling brush and including second brushes, wherein when the first rolling brush and the second rolling brush rotate, an outer contour formed by a trajectory of outer ends of the first brushes and an outer contour formed by a trajectory of outer ends of the second brushes at least partially interfere with each other, and the first brushes are not in contact with the second brushes, so as to improve the dust collection effect of the cleaning module.

[0212] During operation of the automatic cleaning device provided by the present disclosure, the outer contours of the first brushes and the second brushes interfere with each other, but the first brushes are not in contact with the second brushes, so that an air intake channel between the first rolling brush and the second rolling brush is kept unobstructed, and the same position on the ground can be cleaned twice successively, which improves the sweeping efficiency.

[0213] Optional embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0214] FIG. 1 is a schematic perspective diagram of an automatic cleaning device according to some embodiments of the present disclosure, and FIG. 2 is a schematic bottom view of the automatic cleaning device according to some embodiments of the present disclosure. As shown in FIGS. 1-2, the automatic cleaning device may be a vacuum ground sucking robot, or may be a ground mopping/brushing robot, or may be a window climbing robot, or the like. The automatic cleaning device may include a mobile platform 1000, a perception system 2000, a control system (not shown), a driving system 3000, an energy system (not shown), a human-computer interaction system 4000 and a cleaning module 5000. The specific structure is as described in the previous embodiment and will not be repeated herein.

[0215] FIG. 22 shows a structural and positional relationship between the first rolling brush and the second rolling brush according to some embodiments of the present disclosure. Referring to FIGS. 2, 22 and 23, the cleaning module 5000 further includes a first rolling brush 100 and a second rolling brush 200. The first rolling brush 100 serves as a front brush of the cleaning module 5000, and the second rolling brush 200 serves as a rear brush of the cleaning module 5000. A rolling brush accommodating space for accommodating the first rolling brush 100 and the second rolling brush 200, for example, a strip-shaped accommodating groove located at the bottom of the mobile platform 10, is provided in the mobile platform 10. In some embodiments, the mobile platform 10 is also provided with a rolling brush mounting site. One end of the first rolling brush 100 and one end of the second rolling brush 200 may be snapped into the rolling brush mounting site, so that the first rolling brush 100 and the second rolling brush 200 can be detachably mounted on the mobile platform 10.

[0216] The first rolling brush 100 is arranged in a first direction perpendicular to the axis of the mobile platform 10, for example, arranged along the transverse axis Y. The second rolling brush 200 is also arranged in the first direction perpendicular to the axis of the mobile platform 10, for example, arranged along the transverse axis Y, that is, the second rolling brush 200 and the first rolling brush 100 are arranged side by side.

[0217] In some embodiments, as shown in FIG. 22, the first rolling brush 100 and the second rolling brush 200 are arranged side by side. For example, the first rolling brush 100 and the second rolling brush 200 are arranged one behind the other side by side in a direction of movement of the cleaning module. The first rolling brush 100 is provided with first brushes, and the second rolling brush 200 is provided with second brushes. As an optional embodiment, the first rolling brush 100 includes first long brushes 121 and first short brushes 122, and the second rolling brush 200 includes second long brushes 221 and second short brushes 222. Of course, in some embodiments, the operating surface may also be cleaned when the first rolling brush 100 is provided with only the first long brushes 121 but not the first short brushes 122, and the second rolling brush 200 is provided with only the second long brushes 221 but not the second short brushes 222.

[0218] In some embodiments, as shown in FIG. 23, when the first rolling brush 100 and the second rolling brush 200 rotate, for example, when a cleaning task or a dust collection task is being executed, an outer contour A formed by a trajectory of the outer ends of the first brushes (e.g., the first long brushes 121) and an outer contour B formed by a trajectory of the outer ends of the second brushes (e.g., the second long brushes 221) interfere with each other, and the first brushes are not in contact with the second brushes. That is, there is an interfering region C between the outer contour A of the first rolling brush 100 and the outer contour B of the second rolling brush 200. In this interfering region C, the first brushes and the second brushes cross into gaps of each other, and the first brushes are not in contact with the second brushes. Therefore, an obstructed airflow channel can be formed between the first brushes and the second brushes. During execution of the cleaning task, an airflow generated by rotation of the blower may successfully enter the dust box through gaps between the first brushes and the second brushes, so that the garbage on the operating surface can enter the dust box through the gaps between the first brushes and the second brushes. During execution of the dust collection task, an airflow generated along with rotation of the blower on a dust collection apparatus enables the garbage to be successfully discharged from the dust box through the gaps between the first brushes and the second brushes.

[0219] In some embodiments, when the first rolling brush 100 and the second rolling brush 200 rotate, projections of the first brushes (e.g., the first long brushes 121) and the second brushes (e.g., the second long brushes 221) onto a horizontal plane are overlapping. It can be understood that the projections of the first long brushes 121 and the second long brushes 221 which rotate to be within a preset range between the axes of the first rolling brush 100 and the second rolling brush 200 onto the horizontal plane being overlapping also means that the first long brush 121 and the second long brush 221 must have one overlapping region C, and for the corresponding first long brush 121 and second long brush 221, the overlapping region C generated thereby is in a trend of gradual generation, then increase, and then decrease until disappearing. Optionally, the position where the overlapping region is the largest is also the position where the first long brush 121 and the second long brush 221 are the closest to each other.

[0220] In some embodiments, when the projections of the first long brush 121 and the second long brush 221 onto the horizontal plane are overlapping, the distance between the first long brush 121 and the second long brush 221 is less than half of the distance between the adjacent first long brushes or between the adjacent second long brushes. The distance between the first long brush and the adjacent second long brush refers to the minimum distance between the end of the first long brush and a brush surface of the adjacent second long brush, or the minimum distance between the end of the second long brush and a brush surface of the adjacent first long brush. The brush surface refers to a surface between the root of the brush and the end of the brush, and the brush surface may be a flat surface or a curved surface. That is, in the case where the distance between the two adjacent first long brushes 121 or between the two adjacent second long brushes 221 is a, as the first rolling brush 100 and the second rolling brush 200 rotate, the distance between the corresponding first long brush 121 and second long brush 221 is the shortest between the axes of the first rolling brush 100 and the second rolling brush 200, and at this time, the distance therebetween is defined to be greater than zero and less than a/2, so as to ensure that an adequate airflow channel is formed between the first long brush 121 and the second long brush 221 while an efficient cleaning effect is still achieved. In one aspect, when the first long brush 121 rotates to interfere with the operating surface, the second long brush 221 corresponding thereto basically interferes with the operating surface, and at this time, a closed cleaning space can be formed between the two rolling brushes on the operating surface in order to increase negative pressure generated by the blower at this position, which is more conducive to sucking the garbage into the dust box. In another aspect, as the first rolling brush 100 and the second rolling brush 200 rotate, the speed of rotation of the rolling brush is higher than the speed of movement of the cleaning device, so that the corresponding first long brush 121 and second long brush 221 can successively sweep the same position almost at the same time, which is more conducive to intensive cleaning of the operating surface.

[0221] In some embodiments, before the first rolling brush 100 and the second rolling brush 200 are assembled on the cleaning module, the first brush and the second brush may be able to be in mirror symmetrical distribution in radial sections of the first rolling brush 100 and the second rolling brush 200. The mirror symmetrical distribution means that along with rotation of the first rolling brush 100 and the second rolling brush 200 at least at an angle, the first brush and the second brush can completely coincide with respect to a symmetrical axis perpendicular to a connecting line of the axes of the first rolling brush 100 and the second rolling brush 200. However, during assembly, at least one of the two rolling brushes is rotated by a preset small angle, so that the first brush and the second brush cannot be in contact with each other and just pass through the interfering region C successively.

[0222] In some embodiments, at least one of the two rolling brushes may also be rotated by a preset large angle during assembly. When the first rolling brush 100 and the second rolling brush 200 are provided with the first short brush 122 and the second short brush 222 respectively, the first long brush 121 approximately corresponds to but is not in contact with the second short brush 222, and the second long brush 221 approximately corresponds to but is not in contact with the first short brush 122. Along with rotation of the first rolling brush 100 and the second rolling brush 200, the corresponding first short brush 122 is exactly adjacent to the operating surface when the second long brush 221 interferes with the operating surface. In this case, since the first short brush 122 may not be in contact with the operating surface or is in contact with the operating surface just now, the garbage located at the front side of the first rolling brush 100 is more likely to enter the gap between the first rolling brush 100 and the second rolling brush 200 from the place below the first short brush 122. In this case, the second long brush 221 interferes with the operating surface to prevent the garbage from leaking out from a place below the second rolling brush 200, so as to ensure that the garbage can enter the dust box with the airflow.

[0223] In some embodiments, the cleaning module further includes an air channel opening, and the air channel opening is located at the tops/top of the first rolling brush 100 and/or the second rolling brush 200, and configured such that an unobstructed airflow channel always exists between the air channel opening and the operating surface when the first rolling brush 100 and the second rolling brush 200 rotate. Since the first long brush 121 is not in contact with the second short brush 222, the air channel opening may be designed more flexibly, that is, the air channel opening provided at any position in the axial direction of the rolling brush can form an unobstructed airflow path to ensure collection of the garbage.

[0224] In some embodiments, referring to FIGS. 24 and 25, FIG. 24 is a schematic structural diagram of the first rolling brush 100, and FIG. 25 is a schematic cross-sectional diagram of the first rolling brush 100 in FIG. 24. It should be noted that the structure of the rolling brush is merely described by taking the first rolling brush 100 as an example in FIG. 24. In some embodiments, the second rolling brush 200 and the first rolling brush 100 may be of basically the same structure, and are in non-mirror assembly. Therefore, when the second rolling brush 200 is involved, a reference may also be made to the structure of the first rolling brush 100 shown in the figure, and descriptions of the second rolling brush 200 will not be repeated herein.

[0225] As shown in FIG. 24 or 25, in some embodiments, the first rolling brush 100 includes a first shaft lever 110 and a first brush member 120. The first brush member 120 is disposed on the first shaft lever 110.

[0226] The first shaft lever 110 may be of a rod-like structure, such as a strip-shaped cylindrical structure. The two ends of the rod-shaped structure may be detachably mounted at the bottom of the mobile platform of the cleaning device directly or by means of a connector. In some embodiments, the first shaft lever 110 and the first brush member 120 arranged on the first shaft lever 110 are detachably mounted in the strip-shaped rolling brush accommodating groove at the bottom of the mobile platform.

[0227] The axis of the first shaft lever 110 may be regarded as the rotation axis of the first rolling brush 100. The driving system located on the mobile platform can drive the first shaft lever 110 to rotate clockwise or counterclockwise after the first rolling brush 100 is mounted on the mobile platform. When the first shaft lever 110 rotates, other assemblies arranged on the first shaft lever 110, for example, the first brush member 120, may be driven to rotate together to achieve the purpose of sweeping.

[0228] The first brush member 120 is arranged on the first shaft lever 110. Specifically, in some embodiments, the first brush member 120 is detachably arranged on the first shaft lever 110 to facilitate daily cleaning and maintenance of the first brush member 120.

[0229] In some embodiments, the first brush member 120 includes a first cylindrical member 123 and first long brushes 121. In some embodiments, the first brush member 120 may further include first short brushes 122.

[0230] The first cylindrical member 123 is configured to sleeve the first shaft 110 so that the first cylindrical member 123 is coaxial with the first shaft lever 110. The first cylindrical member 123 may be of a strip-shaped cylindrical structure, and the first cylindrical member 123 and the first shaft lever 110 basically have the same length. The first cylindrical member 123 tightly sleeves the first shaft lever 110, and the inner diameter of the first cylindrical member 123 is basically equal to or slightly smaller than the outer diameter of the first shaft 110, so that the first shaft lever 110 and the first cylindrical member 123 cannot move relative to each other during rotation. The first cylindrical member 123 may be a flexible member or a rigid member.

[0231] In some embodiments, each first short brush 122 extends from the outer surface of the first cylindrical member 123 in a direction away from the first cylindrical member 123. Each first long brush 121 extends from the outer surface of the first cylindrical member 123 in a direction away from the first cylindrical member 123. In some embodiments, the length of extension of the first long brush 121 away from the first cylindrical member 123 is greater than that of extension of the first short brush 122 away from the first cylindrical member 123, and the thickness of the first long brush 121 is less than that of the first short brush 122. That is, relatively speaking, the first short brushes 122 are short and thick, and the first long brushes 121 are long and thin. The short and thick first short brushes 122 are beneficial to cleaning stains or garbage that require a large external force, while the long and thin first long brushes 121 are beneficial to cleaning a wider range of garbage.

[0232] By differentiating the lengths and thicknesses of the brushes, the first short brushes 122 can provide a powerful cleaning force when dealing with slightly larger garbage (such as fruit shells and particles), so that the force of contact between the first long brushes 121 and the cleaning surface is relatively small, and noise of daily sweeping is lower. By differentiating the lengths and thicknesses of the brushes, when flat and hard cleaning surfaces such as ceramic tiles and wooden floors are being swept, the first short brush 122 may not be in contact with these cleaning surfaces, whereas the first long brushes 121 can be in contact with these cleaning surfaces to gather the garbage that needs sweeping, such as dust and hair, in a flapping and rolling manner, and then suck them into the dust box; and when a cleaning surface with an thickness, for example, a carpet, is being swept, both of the first short brushes 122 and the first long brushes 121 can be in contact with the surface of the carpet, and in this case, the relatively thick first short brush 122 may play a more critical role of flapping and stripping dust and hair hidden in the carpet in a flapping manner to improve the cleaning effect.

[0233] The first rolling brush 100 includes a first support 130. The first support 130 is arranged between the first shaft lever 110 and the first brush member 120. The first support 130 has a supporting surface that supports the first brush member 120 in a contact manner. At least a part of the supporting surface or the whole supporting surface is incompressible.

[0234] It can be understood that correspondingly, the second rolling brush may include a second shaft lever and a second brush member. The second brush member is detachably mounted on the second shaft lever. The second brush member may include a second cylindrical member, a second long brush and a second short brush. The second rolling brush includes a second support. The second support is arranged between the second shaft lever and the second brush member. The second support has a supporting surface that supports the second brush member in a contact manner. At least a part of the supporting surface or the whole supporting surface is incompressible.

[0235] It can be understood that there may be more than one first long brush 121, there may also be a plurality of first long brushes 121, and the plurality of first long brushes 121 may be uniformly distributed in the circumferential direction of the first cylindrical member 123. There may also be more than one first short brush 122, there may also be a plurality of first short brushes 122, and the plurality of first short brushes 122 may be uniformly distributed in the circumferential direction of the first cylindrical member 123.

[0236] In some embodiments, the first short brushes 122 and the first long brushes 121 are alternately and uniformly arranged in the circumferential direction of the first cylindrical member 123. For example, the brush member 120 of the first rolling brush 100 includes five first short brushes 122 and five first long brushes 121, the five first short brushes 122 and the five first long brushes 121 are alternately and uniformly arranged in the circumferential direction of the first cylindrical member 123.

[0237] It can be understood that correspondingly, there may also be more than one second long brush, and the plurality of second long brushes may be uniformly distributed in the circumferential direction of the second cylindrical member. There may also be more than one second short brush, and there may also be a plurality of second short brushes which may be uniformly distributed in the circumferential direction of the second cylindrical member. The second short brushes and the second long brushes are alternately and uniformly arranged in the circumferential direction of the first cylindrical member.

[0238] Continuing to refer to FIG. 22, there is also an air intake channel 50 between the first rolling brush 100 and the second rolling brush 200. Since the first long brush 121 and the second long brush 221 extend spirally, at an moment, the air intake channel 50 is staggered at one ends of the rolling brushes to form a staggered opening, that is, the first long brush 121 and the second long brush 221 are staggered to form a staggered opening. The air intake channel 50 is opened at the other ends of the rolling brushes to form an open opening, that is, the first long brush 121 and the second long brush 221 do not interfere with each other to form an open opening. With the rotation of the rolling brushes, the interference-free open opening moves back and forth in the axial direction, the staggered opening formed by staggered arrangement also moves back and forth in the axial direction, and the staggered opening is communicated with the open opening.

[0239] Specifically, when the first rolling brush 100 and the second rolling brush 200 work, the first rolling brush 100 and the second rolling brush 200 rotate at approximately the same speed and in opposite directions. For example, the first rolling brush 100 rotates in a first rotational direction, and the second rolling brush 200 rotates in a second rotational direction, and the first rotational direction is opposite to the second rotational direction. For example, the second rotational direction is clockwise if the first rotational direction is counterclockwise. In the process of rotation, the outer contours of the corresponding first long brush 121 and second long brush 221 may interfere with each other but not be in contact with each other.

[0240] With the opposite rotation of the first rolling brush 100 and the second rolling brush 200, the first long brush 121 and the second long brush 221 may collect the garbage towards the middle, so that the garbage can be sucked into the dust box in the mobile platform 10 through the air channel, thereby achieving the purpose of cleaning.

[0241] In some embodiments, when the first rolling brush 100 and the second rolling brush 200 work, the first rolling brush 100 and the second rolling brush 200 rotate at the same speed and in opposite directions. During rotation, the first short brush 122 may not interfere with the second rolling brush 200, that is, the first short brush 122 may not be in surface contact with the second long brush 221 or the second short brush 222. Similarly, in some embodiments, the second short brush 222 may not interfere with the first rolling brush 100, that is, the second short brush 222 may not be in surface contact with the first long brush 121 or the first short brush 122. Compared with the long brush, the short brush is shorter and thicker, has a greater contact force, and thus can clean key stains.

[0242] In some embodiments, before the first rolling brush 100 and the second rolling brush 200 are assembled, the outer contours in their radial cross sections are distributed in mirror symmetry, that is, there are a plurality of first long brushes 121 and a plurality of second long brushes 221, and the plurality of first long brushes 121 are in one-to-one correspondence with the plurality of second long brushes 221. The positions where the first long brushes 121 are distributed in the circumferential direction of the first cylindrical member 123 are in one-to-one correspondence with the positions where the plurality of second long brushes 221 are distributed in the circumferential direction of the second cylindrical member 223. For example, the plurality of first long brushes 121 are uniformly distributed in the circumferential direction of the first cylindrical member 123, and the plurality of second long brushes 221 are uniformly distributed in the circumferential direction of the second cylindrical member 223.

[0243] In some embodiments, each first long brush 121 extends on the outer surface of the first cylindrical member 123 from one end of the first cylindrical member 123 to the other end of the first cylindrical member 123. Specifically, the first long brush 121 may spirally extend on the outer surface of the first cylindrical member 123 from one end of the first cylindrical member 123 to the other end of the first cylindrical member 123 in the second rotational direction. By spirally arranging the first long brushes 121 on the outer surface of the first cylindrical member 123, there may be more contact points between the first cylindrical member 123 and the cleaning surface, so that the first cylindrical member 123 can be in contact with the cleaning surface more fully, which helps to take away the garbage on the cleaning surface and to improve the sweeping capability.

[0244] It can be understood that correspondingly, the second long brushes 221 may spirally extend on the outer surface of the second cylindrical member 223 from one end of the second cylindrical member 223 to the other end of the second cylindrical member 223 in the first rotational direction.

[0245] In some embodiments, on the outer surface of the first cylindrical member 123, the first long brushes 121 spirally extend from one end of the first cylindrical member 123 to the middle of the first cylindrical member 123 in the second rotational direction and then spirally extends to the other end of the first cylindrical member 123 in the first rotational direction.

[0246] It can be understood that correspondingly, on the outer surface of the second cylindrical member 223, the second long brushes 221 spirally extends from one end of the second cylindrical member 223 to the middle of the second cylindrical member 223 in the first rotational direction, and then spirally extends to the other end of the second cylindrical member 223 in the second rotational direction.

[0247] In some embodiments, at least one of the first rolling brush 100 and the second rolling brush 200 is a hard-core rolling brush, for example, one is the hard-core rolling brush and the other is a soft-core rolling brush. The hard-core rolling brush means that a filler in an inner core of the rolling brush is a hard and inelastic filler, and the soft-core rolling brush means that the filler in the inner core of the rolling brush is an elastic filler. The hard-core rolling brush is not prone to deformation during long-term use, which is beneficial to accurate alignment of the rolling brush during the interference process. Therefore, in this embodiment, at least one rolling brush is the hard-core rolling brush, so that the first long brush and the second long brush corresponding to each other can maintain the positional correspondence for a long period of time, and the positional correspondence may not be affected by the deformation of the inner core of the rolling brush, which improves the stability of the automatic cleaning device.

[0248] During operation of the automatic cleaning device provided by the present disclosure, the outer contours of the first long brushes and the second long brushes interfere with each other, but the first long brushes are not in contact with the second long brushes, so that an air intake channel between the first rolling brush and the second rolling brush is kept unobstructed, and the same position on the ground can be cleaned twice successively, which improves the sweeping efficiency.

[0249] It should be noted that various embodiments in the Description are described in a progressive manner, each embodiment focuses on the differences from other embodiments, and the same or similar parts among the various embodiments may refer to one another. Since the system or apparatus disclosed in the embodiment corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can refer to the description of the method part.

[0250] The above embodiments are only used to illustrate, instead of limiting, the technical solutions of the present disclosure. Although the present disclosure is described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that they can still modify the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features; these modifications or substitutions do not deviate the nature of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present disclosure.