Intelligent cleaning device

Abstract

The application provides a kind of intelligent cleaning equipment.The intelligent cleaning equipment includes: machine body;Position determining device, including protective cover, the protective cover is rotatably arranged on the machine body;Anti-stuck device, the anti-stuck device can detect the rotating position information of the protective cover, and according to the rotating position information detected, control the intelligent cleaning equipment executes anti-stuck action.The intelligent cleaning equipment can avoid being stuck, and is more adaptable.

Description

[0001] This application is a divisional application of application number 201710214641.0, with the original application date being April 1, 2017, and the invention title being: Intelligent Cleaning Equipment. Technical Field

[0002] This invention relates to the field of household appliances, and more particularly to an intelligent cleaning device. Background Technology

[0003] Intelligent cleaning equipment (or automatic cleaning equipment) is a device that can automatically complete cleaning according to a set program. For example, a robot vacuum cleaner.

[0004] Figure 1 The diagram shows an automatic cleaning device tilting due to an obstacle above it. The following is a related illustration. Figure 1 The relationship and principle between automatic cleaning equipment tilting and being stuck by overhead obstacles are described.

[0005] The existing automatic cleaning equipment's position determination device 20 can measure parameters such as the distance and size of surrounding objects. However, if there is an obstacle 100 above, and the height of the gap at the bottom of the obstacle 100 is very close to the height of the automatic cleaning equipment, then because the top of the protective cover of the position determination device 20 is located above the sensing unit, this part is a measurement blind zone. In addition, due to measurement errors, the position determination device 20 may not be able to identify the obstruction of the automatic cleaning equipment by the obstacle 100 above, or may make a misjudgment of the obstruction to the movement caused by the obstacle 100 above.

[0006] For example, if the highest point of an automatic cleaning device is about 10cm, the distance between the floor and the ground of cabinets, beds, sofas, etc. in a user's home is often about 10cm. These items may become obstacles above the automatic cleaning device.

[0007] As the automatic cleaning equipment moves forward, if the protruding structure corresponding to the position determining device 20 is indeed lower than the bottom height of the upper obstacle 100, the automatic cleaning equipment can normally enter the bottom of the upper obstacle 100 and perform the corresponding automatic cleaning operation. If the protruding structure corresponding to the position determining device 20 is indeed higher than the bottom height of the upper obstacle 100, then the protruding structure will form a contact point with the upper obstacle 100.

[0008] Then, another contact point is formed between the drive wheel of the automatic cleaning equipment and the ground. When the automatic cleaning equipment is caught at this contact point by an obstacle 100 during its movement, the automatic cleaning equipment, under the influence of its own downward gravity and the forward friction force from the drive wheel's friction with the ground, will rotate clockwise, meaning the head of the automatic cleaning equipment will tilt upwards, forming... Figure 1 The tilted state shown.

[0009] In this situation, the automatic cleaning equipment is stuck and cannot move, causing the device to become stuck in the gap. Summary of the Invention

[0010] Embodiments of the present invention provide an intelligent cleaning device to solve the problem that existing cleaning robots are prone to getting stuck when entering spaces with insufficient height.

[0011] Specifically, the present invention provides an intelligent cleaning device, comprising:

[0012] Machine body;

[0013] A position determining device includes a protective cover, which is rotatably mounted on the machine body;

[0014] An anti-jamming device is provided, which can detect the rotational position information of the protective cover and control the intelligent cleaning equipment to perform anti-jamming actions based on the detected rotational position information.

[0015] In some embodiments, the anti-jamming device includes a detector for detecting the rotational position of the protective cover.

[0016] In some embodiments, the intelligent cleaning device includes a walking unit connected to the machine body and capable of moving the machine body; the anti-jamming device further includes:

[0017] The control unit is connected to the detector and the walking unit respectively. The anti-jamming action includes: the control unit controlling the walking unit to drive the machine body to perform an avoidance action according to the position of the protective cover detected by the detector.

[0018] In some embodiments, the location determining device includes:

[0019] A bracket is rotatably mounted on the machine body, and a protective cover is mounted on the bracket. A position determining component is disposed inside the protective cover.

[0020] In some embodiments, the smart cleaning device further includes a cushioning component for cushioning the rotation of the protective cover.

[0021] In some embodiments, the buffer assembly includes a primary buffer and / or an auxiliary buffer for cushioning the rotation of the protective cover.

[0022] In some embodiments, the main buffer is disposed on the protective cover and can move as the protective cover rotates.

[0023] In some embodiments, the main buffer member comes into contact with the auxiliary buffer member as the protective cover rotates.

[0024] In some embodiments, the auxiliary buffer is provided with a detector, and the protective cover is provided with a trigger, such that when the protective cover rotates, the trigger on the protective cover activates the detector.

[0025] In some embodiments, the main buffer includes:

[0026] Matrix;

[0027] The buffer legs are fixedly connected to the base.

[0028] In some embodiments, the auxiliary buffer is disposed on the main housing.

[0029] In some embodiments, the auxiliary buffer includes:

[0030] Mounting base, which is connected to the main housing;

[0031] A buffer plate, the first end of which is connected to the mounting base, and a detector is provided at the second end of the buffer plate.

[0032] In some embodiments, a bending buffer section is provided at the first end of the buffer plate, and the buffer plate is connected to the mounting base through the bending buffer section.

[0033] To achieve the above objectives, embodiments of the present invention provide an intelligent cleaning device that rotatably connects a position determining device to the main housing. The anti-jamming device can detect the rotational position information of the position determining device and control the intelligent cleaning device to perform anti-jamming actions based on the rotational position information of the position determining device. In this way, the position determining device can rotate when it touches an obstacle, thereby enabling the anti-jamming device to control the intelligent cleaning device to perform anti-jamming operations, preventing the intelligent cleaning device from getting stuck in a space with insufficient height, and making the intelligent cleaning device more adaptable. Attached Figure Description

[0034] Figure 1 A schematic diagram illustrating the structure of an existing intelligent cleaning device that gets stuck in a gap that is not high enough.

[0035] Figure 2This is a top view of the intelligent cleaning device according to an embodiment of the present invention;

[0036] Figure 3 This is a bottom view of the intelligent cleaning device according to an embodiment of the present invention;

[0037] Figure 4 This is a rear view structural diagram of an intelligent cleaning device according to an embodiment of the present invention;

[0038] Figure 5 This is a schematic diagram of the structure of the intelligent cleaning device of the present invention driving into the gap;

[0039] Figure 6 This is a schematic diagram of the structure of the intelligent cleaning device according to an embodiment of the present invention when the position determination unit touches an obstacle;

[0040] Figure 7 This is a schematic diagram of the structure of the intelligent cleaning device of the present invention moving out of the gap;

[0041] Figure 8 This is a three-dimensional structural diagram of the main housing and the protective cover of the position determining part of the intelligent cleaning device according to an embodiment of the present invention;

[0042] Figure 9 This is a three-dimensional structural diagram of the protective cover and horizontal axis of the intelligent cleaning device according to an embodiment of the present invention;

[0043] Figure 10 This is a three-dimensional structural diagram of the protective cover of the intelligent cleaning device according to an embodiment of the present invention;

[0044] Figure 11 This is a three-dimensional structural diagram of the main buffer component of the intelligent cleaning device according to an embodiment of the present invention;

[0045] Figure 12 A three-dimensional structural diagram of the auxiliary buffer component of the intelligent cleaning device according to an embodiment of the present invention;

[0046] Figure 13 This is a three-dimensional structural diagram of the mounting plate of the main housing of the intelligent cleaning device according to an embodiment of the present invention;

[0047] Figure 14 for Figure 13 A magnified view of a section at point A in the middle;

[0048] Figure 15 This is a schematic diagram of a first type of intelligent cleaning device with chamfered edges, according to an embodiment of the present invention.

[0049] Figure 16 This is a schematic diagram of a second type of intelligent cleaning device with chamfered edges, according to an embodiment of the present invention.

[0050] Explanation of reference numerals in the attached figures:

[0051] 10. Main housing; 11. Forward section; 12. Rearward section; 13. Mounting plate; 131. Detector mounting space; 20. Position determination device; 21. Protective cover; 211. Rotary shaft mounting groove; 30. Horizontal shaft; 41. Detector; 51. Main buffer component; 511. Base; 512. Buffer support leg; 513. Trigger; 52. Auxiliary buffer component; 521. Mounting base; 522. Buffer plate; 523. Bending buffer section; 60. Air duct partition; 70. Traveling part; 100. Obstacle. Detailed Implementation

[0052] The intelligent cleaning device according to embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0053] like Figures 2 to 4 As shown, according to an embodiment of the present invention, a smart cleaning device is provided, including a machine body, a position determining device 20, and an anti-jamming device. The machine body includes a main housing 10, which has a receiving cavity. The position determining device 20 is rotatably mounted on the machine body, and at least a portion of the position determining device 20 can rotate into the receiving cavity of the main housing 10. The anti-jamming device detects the rotational position information of the position determining device 20 and controls the smart cleaning device to perform an anti-jamming action based on the detected rotational position information. The position determining device 20 is rotatably mounted on the machine body, allowing at least a portion of the position determining device 20 to rotate into the receiving cavity of the main housing 10. The anti-jamming device controls the smart cleaning device to perform an anti-jamming operation based on the detected position of the position determining device 20, preventing the smart cleaning device from getting stuck in gaps, thereby improving the smart cleaning device's ability to adapt to narrow gaps.

[0054] In this embodiment, the position determining device 20 is rotatably mounted on the machine body via a horizontal axis 30. This method can effectively reduce the space occupied by rotation.

[0055] Intelligent cleaning equipment can include robotic vacuum cleaners, robotic mops, and other intelligent robots. Besides the main body and positioning device 20, this intelligent cleaning equipment also includes: a sensing system, a control system, a drive system, a cleaning system, an energy system, and a human-machine interaction system. The sensing system is used to perceive the surrounding environment and its own information. The control system receives information from each component and performs control. The drive system moves the intelligent cleaning equipment. The cleaning system performs the cleaning. The energy system provides power. The human-machine interaction system allows interaction with the user, facilitating user control of the intelligent cleaning equipment.

[0056] In addition to the main housing 10, the machine body also includes a forward portion 11 and a rearward portion 12. The machine body has an approximately circular shape (both front and back are circular), but may also have other shapes, including but not limited to an approximately D-shaped shape with a circular front and rear. The forward portion 11 refers to the part of the intelligent cleaning device that faces the forward direction during cleaning. The rearward portion 12 refers to the part opposite to the forward portion 11. In this embodiment, both the forward portion 11 and the rearward portion 12 are arc-shaped.

[0057] The sensing system includes a buffer, cliff sensor, ultrasonic sensor (not shown in the figure), infrared sensor (not shown in the figure), magnetometer (not shown in the figure), accelerometer (not shown in the figure), gyroscope (not shown in the figure), and odometer (not shown in the figure) located in the forward section 11 of the machine body. The sensing system is used to provide the control system with various position and motion status information of the intelligent cleaning equipment.

[0058] The position determination device 20 includes a bracket 25 and a position determination component. The bracket 25 is rotatably mounted on the machine body and supports a protective cover 21 and the position determination component, which is located inside the protective cover 21. By supporting the protective cover 21 with the bracket 25 and housing the position determination component within the protective cover 21, the position determination component can be reliably protected by the protective cover 21. The position determination component of the position determination device 20 includes, but is not limited to, a camera and a laser rangefinder (LDS). The position determination device 20 is used to measure the distance between the intelligent cleaning equipment and its travel path and surrounding obstacles to ensure the normal operation of the intelligent cleaning equipment. The following example illustrates how position determination is performed using a laser rangefinder employing triangulation in the position determination device 20. The basic principle of triangulation is based on the proportional relationship of similar triangles, which will not be elaborated here.

[0059] The laser rangefinder includes a light-emitting unit and a light-receiving unit. The light-emitting unit may include a light source that emits light, and the light source may include a light-emitting element, such as an infrared or visible light-emitting diode (LED) that emits infrared or visible light. Preferably, the light source may be a light-emitting element that emits a laser beam.

[0060] In this embodiment, a laser diode (LD) is used as an example of a light source. Specifically, due to the monochromatic, directional, and collimated characteristics of a laser beam, using a laser beam as a light source allows for more accurate measurements compared to other types of light. For example, compared to a laser beam, the infrared or visible light emitted by a light-emitting diode (LED) is affected by ambient environmental factors (such as the color or texture of an object), which may reduce measurement accuracy. A laser diode (LD) can be a point laser, measuring the two-dimensional position information of an obstacle, or a line laser, measuring the three-dimensional position information of an obstacle within a certain range.

[0061] The light-receiving unit may include an image sensor on which light spots reflected or scattered by obstacles are formed. The image sensor may be a collection of multiple unit pixels in a single row or multiple rows. These light-receiving elements can convert light signals into electrical signals. The image sensor may be a complementary metal-oxide-semiconductor (CMOS) sensor or a charge-coupled device (CCD) sensor, with a CMOS sensor being preferred due to cost advantages. Furthermore, the light-receiving unit may include a light-receiving lens assembly. Light reflected or scattered by obstacles can travel through the light-receiving lens assembly to form an image on the image sensor. The light-receiving lens assembly may include one or more lenses.

[0062] The base supports the light-emitting unit and the light-receiving unit, which are arranged on the base and spaced apart by a specific distance. To measure obstacles in a 360° direction around the intelligent cleaning device, the base can be rotatably mounted on the machine body, or the base itself can remain stationary while rotating the emitted and received light sources using rotating elements. The rotational angular velocity of the rotating elements can be obtained by using an optocoupler and a code disk. The optocoupler senses the notches on the code disk, and the instantaneous angular velocity is obtained by dividing the sliding time of the notch spacing by the distance between the notches. A higher density of notches on the code disk results in higher measurement accuracy and precision, but also requires more complex structures and computational resources. Conversely, a lower density of notches results in lower measurement accuracy and precision, but allows for a simpler structure, less computational burden, and reduced costs.

[0063] A data processing device, such as a DSP, connected to the light-receiving unit records the obstacle distance values ​​at all angles relative to the smart cleaning device at a 0° angle and transmits them to the data processing unit in the control system, such as an application processor (AP) containing a CPU. The CPU runs a particle filter-based positioning algorithm to obtain the current position of the smart cleaning device and creates a map based on this position for navigation. The positioning algorithm preferably uses Simultaneous Localization and Mapping (SLAM).

[0064] While laser ranging devices based on triangulation can theoretically measure distances at infinite distances beyond a certain point, achieving long-distance measurements, such as those exceeding 6 meters, is practically very difficult. This is primarily due to the size limitations of the pixel units on the sensor of the light-receiving unit, as well as the limitations imposed by the sensor's photoelectric conversion speed, the data transmission speed between the sensor and the connected DSP, and the DSP's computational speed. Temperature fluctuations can also cause unacceptable changes in the measured values, mainly due to thermal expansion and deformation of the structure between the light-emitting and light-receiving units, leading to changes in the angle between the incident and emitted light. The light-emitting and light-receiving units themselves also exhibit temperature drift. Over long-term use, deformation caused by temperature changes, vibration, and other factors can also severely affect the measurement results. The accuracy of the measurement results directly determines the accuracy of the map creation, which is fundamental to the further implementation of strategies by intelligent cleaning equipment and is therefore of paramount importance.

[0065] The forward portion 11 of the main body of the machine can carry a buffer. During the cleaning process, when the drive system propels the intelligent cleaning device to walk on the ground, the buffer includes one or more sensors, such as infrared sensors, to detect one or more events (or objects) in the travel path of the intelligent cleaning device. The intelligent cleaning device can respond to the events (or objects) detected by the buffer, such as obstacles or walls, by controlling the drive system to move away from the obstacles.

[0066] The control system is housed on the main circuit board within the machine. It includes a computing processor (e.g., central processing unit, application processor) that communicates with non-transitory memory (e.g., hard drive, flash memory, random access memory). The application processor uses a localization algorithm (e.g., SLAM) to create a real-time map of the environment in which the intelligent cleaning device operates, based on obstacle information fed back by the laser rangefinder. It also combines distance and speed information from sensors such as buffers, cliff sensors, ultrasonic sensors, infrared sensors, magnetometers, accelerometers, gyroscopes, and odometers to comprehensively determine the current working state of the intelligent cleaning device. This includes situations such as crossing a threshold, stepping on a carpet, being on a cliff, being stuck above or below, a full dustbin, or being picked up. The system then provides specific next action strategies for different situations, making the intelligent cleaning device more aligned with the user's needs and providing a better user experience. Furthermore, the control system can plan the most efficient and reasonable cleaning path and method based on the real-time map information created by SLAM, significantly improving the cleaning efficiency of the intelligent cleaning device.

[0067] The energy system includes rechargeable batteries, which can include nickel-metal hydride (NiMH) and lithium-ion batteries. The rechargeable batteries are connected to a charging control circuit, a battery pack charging temperature detection circuit, and a battery undervoltage monitoring circuit. These circuits are then connected to a microcontroller control circuit. The main unit connects to the charging station via charging electrodes located on the side or bottom of the device. If dust adheres to the exposed charging electrodes, the accumulated charge during charging can cause the surrounding plastic casing to melt and deform, or even deform the electrodes themselves, preventing normal charging.

[0068] The drive system includes a walking unit, which propels the intelligent cleaning equipment. Specifically, the walking unit is connected to the main body of the machine and can move the main body of the machine.

[0069] like Figures 5 to 7 As shown, when the intelligent cleaning equipment moves, if it enters a gap that is not high enough, the upper end of the position determining device 20 will contact the obstacle, causing a change in the force on the main body of the machine, resulting in the main body of the machine exhibiting a certain shape. Figure 1 As shown in the image, the smart cleaning device is stuck and cannot continue to work.

[0070] To avoid this situation, the position determining device 20 can rotate around the horizontal axis 30. When entering a gap with insufficient height or colliding with an obstacle during the process of entering the gap, the position determining device 20 is forced to rotate into the main housing 10. When the anti-jamming device detects that the position determining device 20 has rotated into the main housing 10, it controls the intelligent cleaning equipment to perform an anti-jamming avoidance action, such as causing the intelligent cleaning equipment to move backward.

[0071] Of course, in other embodiments, to avoid this situation, when the intelligent cleaning device enters a gap with insufficient height or collides with an obstacle during the process of entering the gap, the position determining device 20 can be rotated around the horizontal axis 30 and rotated into the main housing 10, thereby reducing the overall height of the intelligent cleaning device and preventing the intelligent cleaning device from getting stuck.

[0072] Preferably, the control system includes the anti-jamming device, which includes a detector 41 and a control unit (the control unit can be integrated with the aforementioned computing processor or set up separately). The detector 41 is disposed within the receiving cavity of the main housing 10 and detects the position of the position determination device 20. Figure 6 As shown, when the position determining device 20 rotates into the receiving cavity, the detector 41 can detect that the position determining device 20 is in the position of rotating into the receiving cavity, indicating that the intelligent cleaning device is in a position of insufficient height or that the protective cover 21 has collided with an obstacle. Specifically, the detector 41 may include a micro switch, a laser detector, an infrared detector, etc.

[0073] The control unit is connected to the detector 41 and the walking unit respectively. The anti-jamming operation includes the control unit controlling the walking unit to move the main body of the machine backward based on the position of the position determination device 20 detected by the detector 41. When the detector 41 detects that the position determination device 20 is in a space with insufficient height or colliding with an obstacle, the control unit controls the walking unit to move in the opposite direction, thereby moving away from the obstacle or disengaging from the gap.

[0074] like Figures 8 to 10 As shown, the bracket is provided with a pivot mounting groove 211. The bracket includes a protective cover 21 and is connected to the main housing 10 via a horizontal shaft 30. The horizontal shaft 30 can be located on the front, rear, or left and right sides of the protective cover 21. Figure 15 and Figure 16 As shown, to prevent the protective cover 21 from colliding with and being damaged by obstacles, to disperse the impact force, and to make it easier for the protective cover 21 to detach from the gap, the top edge of the protective cover 21 is provided with a chamfered structure. Preferably, the chamfered structure is provided on the front top edge of the protective cover 21. This chamfered structure can be a rounded chamfer or a 45° chamfer.

[0075] Preferably, to improve durability and prevent damage to the detector due to excessive impact during rotation, the intelligent cleaning device also includes a buffer assembly housed within the main housing 10. The buffer assembly reduces the impact force during the rotation of the support 25, preventing excessive physical impact from damaging the detector, such as the microswitch, and thus extending its service life.

[0076] The structure of the cushioning component can be varied; any structure capable of reducing impact force is acceptable. For example, a cushioning rubber pad can be installed on the bracket 25.

[0077] Preferably, in this embodiment, the buffer assembly includes a main buffer 51, which is disposed on the protective cover 21 of the position determining device 20 and can move with the rotation of the protective cover 21. Specifically, as Figure 11 As shown, the main buffer component 51 includes a base 511 and buffer legs 512. The base 511 is connected to the protective cover 21. The base 511 is rectangular in shape and has a frame structure, which can reduce weight while ensuring strength. There are multiple buffer legs 512 (two or more), all of which are fixedly connected to the base 511. The buffer legs 512 have a slender leg structure, which can absorb the impact force through the deformation of the slender legs. The materials of the base 511 and buffer legs 512 can be selected as needed, such as plastic, steel, etc.

[0078] Preferably, there are multiple buffer legs 512, which are evenly distributed on the base 511 along the circumference of the base 511.

[0079] Preferably, the buffer assembly further includes an auxiliary buffer 52, which is disposed within the main housing 10, and the main buffer 51 contacts the auxiliary buffer 52 during the rotation of the protective cover 21 of the position determining device 20. Figure 9 As shown, an air duct baffle 60 is provided inside the receiving cavity of the main housing 10, and an auxiliary buffer 52 is disposed on the air duct baffle 60. Of course, in other embodiments, the auxiliary buffer 52 can be disposed on other structures, as long as the auxiliary buffer 52 can be installed and can buffer the protective cover 21.

[0080] Preferably, such as Figure 12 As shown, the auxiliary buffer 52 includes a mounting base 521 and a buffer plate 522. The mounting base 521 is connected to the air duct baffle 60. The structure and shape of the mounting base 521 can be adapted to the structural configuration of the object being installed. In this embodiment, the mounting base 521 includes multiple circular holes, through which the mounting base 521 is fixed to the cylinder on the upper part of the air duct baffle 60. The first end of the buffer plate 522 is provided with a bent buffer section 523, through which the buffer plate 522 is connected to the mounting base 521. The bent buffer section 523 is U-shaped, and the buffer plate 522 and the mounting base 521 combine to form a cantilever structure. When the protective cover 21 rotates into the main housing 10, the main buffer 51 moves accordingly, and the auxiliary buffer 52 moves along its movement path. During the movement of the main buffer 51, the buffer leg 512 contacts the buffer plate 522 of the auxiliary buffer 52. Through the deformation of the buffer leg 512 and the movement of the buffer plate 522, the impact force can be absorbed, thus achieving the purpose of protecting and buffering the protective cover 21.

[0081] Preferably, in order to facilitate the detection of the position of the protective cover 21, the detector 41 (micro switch) is set on the auxiliary buffer 52, and the main buffer 51 is provided with a trigger 513. When the position determining device 20 is rotated into the receiving cavity, the trigger 513 on the main buffer 51 triggers the detector 41 (micro switch), and at this time the detector 41 detects the position of the protective cover 21.

[0082] Preferably, such as Figure 11 As shown, to further improve the buffering effect, the trigger 513 is a cylindrical protrusion, which is connected to the base 511 of the main buffer 51 through two slender buffer bridges. In this way, during the contact between the trigger 513 and the detector 41, the deformation of the slender buffer bridges can absorb part of the impact force, and the deformation of the buffer legs 512 of the main buffer 51 can absorb part of the impact force, thus achieving multi-level buffering.

[0083] like Figure 13 and Figure 14As shown, a mounting plate 13 is provided inside the main housing 10. A detector mounting space 131 is provided on the mounting plate 13. The mounting plate 13 is provided with a hole for the protrusion 513 to pass through, so that the protrusion 513 can trigger the micro switch by passing through the hole. The maximum stroke of the movable end of the protective cover 21 can be set as needed. In this embodiment, it is 1.0 mm. This value mainly depends on the trigger stroke of the electronic device (e.g., the micro switch).

[0084] The position determining device 20 is rotatable. When the intelligent cleaning equipment gets stuck due to an obstacle above, the position determining device 20 pivots, triggering a microswitch. Upon receiving the signal from the microswitch, the control unit invokes a reverse command to prevent the intelligent cleaning equipment from moving forward. This solves the problem in existing technologies where the protective cover, fixed to the machine housing, can get stuck in situations where the height is insufficient. Furthermore, the hardware-triggered method for unblocking is more reliable and accurate.

[0085] The intelligent cleaning device of the present invention has the following effects:

[0086] By rotatably mounting the protective cover and other structures of the position determining device inside the protective cover on the machine body, the control unit can be notified when insufficient height is encountered. Upon receiving the signal, the control unit controls the intelligent cleaning equipment to move backward, preventing the protective cover from colliding severely with furniture (or other obstacles) and preventing the intelligent cleaning equipment from jamming.

[0087] The protective cover is set by pivoting, which allows for a large degree of freedom. The rotation direction is towards the inside of the machine, so it will not be affected by foreign objects. The structure is easy to implement, the function implementation cost is low, and it can meet the functional requirements.

[0088] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. An intelligent cleaning device, characterized in that, include: Machine body; A position determining device includes a protective cover, which is rotatably mounted on the machine body; An anti-jamming device is provided, which can detect the rotational position information of the protective cover and control the intelligent cleaning equipment to perform anti-jamming actions based on the detected rotational position information. A buffer assembly for cushioning the rotation of the protective cover; The buffer assembly includes a main buffer and an auxiliary buffer, and the main buffer comes into contact with the auxiliary buffer as the protective cover rotates.

2. The intelligent cleaning device according to claim 1, characterized in that, The anti-jamming device includes a detector for detecting the rotational position of the protective cover.

3. The intelligent cleaning device according to claim 2, characterized in that, The intelligent cleaning device includes a walking unit connected to the main body of the machine and capable of moving the main body of the machine. The anti-jamming device further includes: The control unit is connected to the detector and the walking unit respectively. The anti-jamming action includes: the control unit controlling the walking unit to drive the machine body to perform an avoidance action according to the position of the protective cover detected by the detector.

4. The intelligent cleaning device according to claim 1 or 2, characterized in that, The location determination device includes: A bracket is rotatably mounted on the machine body, and a protective cover is mounted on the bracket. A position determining component is disposed inside the protective cover.

5. The intelligent cleaning device according to claim 1, characterized in that, The main buffer is mounted on the protective cover and can move as the protective cover rotates.

6. The intelligent cleaning device according to claim 1, characterized in that, The auxiliary buffer is equipped with a detector, and the protective cover is equipped with a trigger. When the protective cover rotates, the trigger on the protective cover activates the detector.

7. The intelligent cleaning device according to claim 1, characterized in that, The main buffer includes: Matrix; The buffer legs are fixedly connected to the base.

8. The intelligent cleaning device according to claim 1, characterized in that, The auxiliary buffer is mounted on the main housing.

9. The intelligent cleaning device according to claim 8, characterized in that, The auxiliary buffer includes: Mounting base, which is connected to the main housing; A buffer plate, the first end of which is connected to the mounting base, and a detector is provided at the second end of the buffer plate.

10. The intelligent cleaning device according to claim 9, characterized in that, The first end of the buffer plate is provided with a bending buffer section, and the buffer plate is connected to the mounting base through the bending buffer section.

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