A planar cleaning device and edge detection method thereof

Abstract

The application discloses a flat surface cleaning device and an edge detection method thereof, wherein the flat surface cleaning device comprises a cleaning main body and a sensing main body, the cleaning main body is used for performing a cleaning operation of a flat surface, the sensing main body is used for feeding back multi-directional edge information of the flat surface to the cleaning main body, the sensing main body is installed on both sides of the bottom of the cleaning main body, the sensing main body has a conduction state and an off state, the cleaning main body performs the cleaning operation when the sensing main body is in the conduction state, and the cleaning main body performs cleaning posture adjustment when the sensing main body is in the off state. Through the multi-directional sensing detection design, the application realizes the capability of omnidirectional edge detection, adopts the protection design, sets the sensing switch in the bottom of the cleaning main body, combines the mechanical trigger structure, enhances the stability and the anti-interference property, and through the modular design of the sensing main body and the cleaning main body, the maintenance and replacement process is simplified.

Description

Technical Field

[0001] This invention relates to the field of intelligent cleaning equipment technology, and in particular to a planar cleaning device and its edge detection method. Background Technology

[0002] In terms of surface cleaning, the length, height, and location of the surfaces to be cleaned often limit access to areas that are difficult to reach without tools or equipment. In particular, with the rapid advancement of urbanization and modern building technology, the height and scale of buildings are constantly increasing, leading to a growing demand for cleaning surface surfaces such as exterior walls and window / door finishes, making it an indispensable part of modern building cleaning and maintenance. However, due to the height and complexity of high-rise buildings, cleaning work often faces numerous challenges. Traditional cleaning methods, such as manual scrubbing or using simple cleaning tools, are not only inefficient but also pose significant safety risks. Operators face the risks of working at heights, and prolonged periods of high-intensity labor can easily lead to fatigue and operational errors. Although some automated or semi-automated cleaning devices exist on the market as alternatives, these devices still have some shortcomings in practical applications:

[0003] 1. Limited sensing and detection capabilities: It is weak in multi-directional sensing and detection of the edge conditions of the clean surface, making it difficult to achieve accurate perception in all directions. This makes it difficult to accurately identify the edge conditions of the clean surface when facing diverse application scenarios, thus limiting its applicability in diverse application scenarios.

[0004] 2. Poor stability: To ensure accurate sensing and detection of the cleaning scene, the core sensing components are often exposed to the external environment, which is easily affected by the external environment (such as dust, moisture, temperature changes, light, etc.), resulting in decreased sensing and detection accuracy and insufficient stability. This makes it easy to deviate or make errors when identifying the edge conditions of the cleaning surface, making it difficult to accurately adjust the cleaning strategy, and thus increasing the risk of falling or being damaged.

[0005] 3. Lack of convenience and efficiency in maintenance: The integrated design of the sensing and cleaning components makes it easy for later maintenance or parts replacement to be complicated and inefficient, which not only increases maintenance costs but also affects the normal progress of cleaning work. Summary of the Invention

[0006] In view of this, the present invention addresses the shortcomings of the existing technology by providing a planar cleaning device and an edge detection method, thereby solving the technical problems of limited sensing and detection capabilities, poor stability, and lack of convenient and efficient maintenance of the cleaning device.

[0007] To achieve the above objectives, the present invention adopts the following technical solution:

[0008] A planar cleaning device according to the present invention includes:

[0009] The cleaning unit is used to perform cleaning operations on flat surfaces;

[0010] The sensing body is used to feed back multi-directional edge information of the plane to the cleaning body. The sensing body is installed on both sides of the bottom of the cleaning body. The sensing body has an on state and an off state.

[0011] When the sensing element is in the conducting state, the cleaning element performs the cleaning operation;

[0012] When the sensing subject is in the off state, the cleaning subject performs cleaning posture adjustment.

[0013] As a preferred embodiment, the sensing element includes:

[0014] A sensing switch is disposed on both sides of the bottom of the cleaning body, and a sensing trigger end is provided on both sides of the sensing switch.

[0015] A first control element is disposed between the two sensor trigger ends and has a first tooth groove corresponding to the sensor trigger ends.

[0016] The second control element is disposed between the two sensor trigger ends and has a second tooth groove corresponding to the sensor trigger ends. The first tooth groove and the second tooth groove are used to switch the conduction state and the off state of the sensor body.

[0017] The first trigger is used to detect the lateral edge of the plane during the plane cleaning operation;

[0018] The second trigger is used to detect the longitudinal edge of the plane during the plane cleaning operation;

[0019] The module housing has the first and second triggers movably mounted inside the module housing and elastically connected to it. The ends of the first and second control members away from the sensing switch extend outside the cleaning body and pass through the module housing to connect with the first and second triggers respectively.

[0020] As a preferred embodiment, when the sensing body is in the conducting state, the first tooth groove and the second tooth groove are aligned and are on the same straight line as the two sensing trigger ends, and the two sensing trigger ends are connected.

[0021] When the sensing body is in the off state, the first and second tooth grooves are misaligned and not on the same straight line as the two sensing trigger ends, thus the two sensing trigger ends are blocked and interrupted.

[0022] As a preferred embodiment, the sensing switch is an infrared sensing device, and the two sensing trigger ends have symmetrically arranged mounting slots on opposite sides. An infrared emitting tube and an infrared receiving tube are respectively installed in the two mounting slots, and the two sensing trigger ends are connected by infrared light.

[0023] As a preferred embodiment, the sensing switch has a clearance groove corresponding to the first control element and the second control element. The two sensing trigger ends are respectively disposed on the opposite side walls of the clearance groove and arranged symmetrically. The first control element and the second control element are disposed in the clearance groove and are spaced apart from the clearance groove.

[0024] As a preferred embodiment, the module housing has a clearance through hole at one end near the cleaning body, corresponding to the first control member and the second control member. The ends of the first control member and the second control member away from the sensing switch member both extend out of the cleaning body and pass through the clearance through hole, respectively, and are fixedly connected to the first trigger member and the second trigger member.

[0025] As a preferred embodiment, the first control element and the second control element are arranged parallel to each other with a gap, the first trigger element and the second trigger element are arranged crosswise, and the module housing is also provided with a connecting post at one end near the cleaning body, the connecting post being connected to the cleaning body through a connector.

[0026] As a preferred embodiment, the system also includes an attitude sensor installed within the cleaning body, the attitude sensor providing attitude perception information for the cleaning body to adjust its cleaning attitude.

[0027] As a preferred embodiment, the attitude sensor is a gravity sensor, and the attitude sensing information is gravity direction information.

[0028] The planar cleaning device proposed in the first aspect of this application achieves all-round edge detection of the cleaning surface through the cooperation of triggering elements, control elements and sensing switches. The protective design improves the stability and anti-interference of the planar cleaning device. The modular design of the sensing body and the cleaning body facilitates later maintenance and replacement.

[0029] On the other hand, an edge detection method of the present invention is applied to a planar cleaning device, the cleaning device including a cleaning body and a sensing body installed at the bottom of the cleaning body, the sensing body including:

[0030] A sensing switch is disposed on both sides of the bottom of the cleaning body, and a sensing trigger end is provided on both sides of the sensing switch.

[0031] A first control element is disposed between the two sensor trigger ends and has a first tooth groove corresponding to the sensor trigger ends.

[0032] The second control element is disposed between the two sensor trigger ends and has a second tooth groove corresponding to the sensor trigger ends. The first tooth groove and the second tooth groove are used to switch the conduction state and the off state of the sensor body.

[0033] The first trigger is used to detect the lateral edge of the plane during the plane cleaning operation;

[0034] The second trigger is used to detect the longitudinal edge of the plane during the plane cleaning operation;

[0035] The module housing has the first and second triggers movably mounted inside the module housing and elastically connected to it. The ends of the first and second control members away from the sensing switch extend outside the cleaning body and pass through the module housing to connect with the first and second triggers respectively.

[0036] The cleaning body also includes a negative pressure device, an attitude sensor, and a control module. The cleaning body, negative pressure device, attitude sensor, and sensor switch are all electrically connected to the control module. The negative pressure device provides negative pressure adsorption force to the cleaning body. The first and second triggers are both connected to the outer shell of the module via elastic elements. The edge detection method includes the following steps:

[0037] S1: The negative pressure device adsorbs and adheres the flat cleaning device to the cleaning plane, and the cleaning plane provides the second trigger with a resistance force opposite to the negative pressure adsorption force. The cleaning plane includes a framed plane and a frameless plane.

[0038] S2: The pressure pushes the second trigger to move away from the cleaning plane, the longitudinally arranged elastic element is compressed, the second trigger drives the second control element to move, so that the first tooth groove and the second tooth groove are aligned, and the sensor switch is initially turned on.

[0039] S3: Based on the initial conduction, attitude perception information is collected through the attitude sensor;

[0040] S4: Based on the collected attitude perception information, adjust the cleaning attitude of the planar cleaning device and start the cleaning operation;

[0041] S5: When the cleaning plane is a borderless plane, when the plane cleaning device moves to the edge of the cleaning plane, the pressure disappears, the longitudinally arranged elastic element is reset, the second trigger element drives the second control element to reset, so that the positions of the first tooth groove and the second tooth groove are misaligned, the sensor switch element is turned off, indicating that the plane cleaning device is located at the edge of the cleaning plane.

[0042] S6: When the cleaning plane is a plane with a border, when the plane cleaning device moves to the edge of the cleaning plane, the first trigger abuts against the border of the cleaning plane, the border provides a reverse force, pushing the first trigger to move away from the border, the horizontally arranged elastic member is compressed, the first trigger drives the first control member to move, so that the positions of the first tooth groove and the second tooth groove are misaligned, the sensing switch is turned off, indicating that the plane cleaning device is located at the edge of the cleaning plane.

[0043] The edge detection method proposed in the second aspect of this application achieves the purpose of edge detection by changing the position of the first and second tooth grooves to switch the state of the sensing subject.

[0044] Compared with the prior art, the present invention has significant advantages and beneficial effects. Specifically, as can be seen from the above technical solution, its main features are:

[0045] 1. All-round edge detection capability: Through multi-directional sensing and detection design, it realizes all-round accurate perception of the edge condition of the cleaning surface. Whether the cleaning surface is borderless or bordered, the flat cleaning device can accurately detect and judge the edge position by cooperating with the trigger, control and sensing switch components and utilizing the positional relationship of the first and second tooth grooves. This provides accurate navigation for the cleaning work and effectively improves the applicability of the flat device in diverse application scenarios, making the cleaning work more accurate and efficient.

[0046] 2. Enhanced stability and anti-interference: The protective design and the placement of the sensor switches on both sides of the bottom of the cleaning body reduce the impact of external environmental factors (such as dust, moisture, temperature changes, and light) on the accuracy of sensor detection, improve the stability of the device, reduce deviations or errors when identifying the cleaning edge conditions, and reduce the risk of falling or being damaged. The mechanical trigger structure design further improves anti-interference, enabling the planar cleaning device to maintain excellent performance in complex environments.

[0047] 3. Simplified maintenance and replacement process: The sensor body and the cleaning body adopt a modular design, which allows for individual maintenance or parts replacement in the later stages. The operation is more convenient and efficient, reducing the complexity of maintenance operations, lowering maintenance costs, reducing the risk of cleaning work being interrupted due to maintenance problems, and improving the continuity and efficiency of cleaning work.

[0048] To more clearly illustrate the structural features and effects of the present invention, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. Attached Figure Description

[0049] Figure 1 This is a schematic diagram of the assembly structure of a planar cleaning device according to an embodiment of the present invention;

[0050] Figure 2 This is an exploded view of the planar cleaning device according to an embodiment of the present invention;

[0051] Figure 3 This is an embodiment of the present invention. Figure 2 Enlarged view of point A;

[0052] Figure 4 This is a schematic diagram of the first off state of the sensing body according to an embodiment of the present invention;

[0053] Figure 5 This is a schematic diagram of the conducting state of the sensing body according to an embodiment of the present invention;

[0054] Figure 6 This is a schematic diagram of the second off state of the sensing body according to an embodiment of the present invention;

[0055] Figure 7 This is a flowchart of an edge detection method according to an embodiment of the present invention.

[0056] Explanation of reference numerals in the attached figures:

[0057] 10. Cleaning body; 11. Connecting parts;

[0058] 20. Sensor body; 21. Sensor switch; 211. Sensor trigger end; 212. Clearance groove; 213. Mounting slot; 22. First control component; 221. First toothed groove; 23. Second control component; 231. Second toothed groove; 24. First trigger component; 25. Second trigger component; 26. Module housing; 261. Clearance through hole; 262. Connecting post. Detailed Implementation

[0059] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0060] It should be noted that when a component is said to be "fixed to" another component, it can be directly attached to the other component or there may be an intervening component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there may be an intervening component. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0061] With the accelerating pace of urbanization and the continuous innovation of modern building technology, the cleaning problems of high-rise buildings are becoming increasingly prominent. Areas that are difficult to reach, such as the exterior walls and high-positioned window and door surfaces, have become key challenges in cleaning work. Traditional cleaning methods, such as manual scrubbing or using simple tools, are not only inefficient but also pose significant safety risks. Although automated or semi-automated cleaning devices exist on the market, these devices still have many problems in practical applications: limited sensing capabilities make it difficult to accurately detect the edge conditions of the cleaning surface; insufficient stability makes them susceptible to interference from the external environment; and the maintenance process is complex, cumbersome, and inefficient, increasing operating costs. Therefore, embodiments 1-2 of this invention provide a planar cleaning device and an edge detection method.

[0062] Example 1:

[0063] Please see Figures 1 to 6 This invention provides a planar cleaning device, comprising:

[0064] The cleaning body 10 is used to perform cleaning operations on flat surfaces, removing stains, dust, and foreign objects.

[0065] The sensor 20 is used to feed back multi-directional edge information of the plane to the cleaning body 10. The sensor 20 is installed on both sides of the bottom of the cleaning body 10 to detect and accurately feed back the edge position of the plane, thereby ensuring that the cleaning body 10 can accurately avoid the edge during the cleaning process and prevent accidental falls. The sensor 20 has an on state and an off state, and the precise control of the behavior of the cleaning body 10 can be achieved by switching the state.

[0066] When the sensing body 20 is in the conducting state, the cleaning body 10 performs a cleaning operation.

[0067] When the sensing body 20 is in the off state, that is, when the cleaning body 10 has received the edge information, the cleaning body 10 performs cleaning posture adjustment to avoid crossing the edge, effectively preventing falls or violent collisions, ensuring the safety and stability of the cleaning process, and preparing the posture for the next cleaning step.

[0068] In this embodiment, please refer to Figures 2 to 6 The sensing element 20 includes:

[0069] The sensor switch 21 is located on both sides of the bottom of the cleaning body 10. As the core component of the sensor body 20, it is used to switch between the on and off states. Both sides of the sensor switch 21 are provided with sensor trigger terminals 211, which are interconnected. The sensor switch 21 detects the connection and disconnection of the two sensor trigger terminals 211 to detect and judge the external trigger signal, thereby controlling the behavior of the cleaning body 10.

[0070] The first control element 22 is disposed between the two sensing trigger ends 211 and has a first tooth groove 221 corresponding to the sensing trigger ends 211.

[0071] The second control element 23 is disposed between the two sensing trigger ends 211 and has a second toothed groove 231 corresponding to the sensing trigger ends 211. The first toothed groove 221 and the second toothed groove 231 cooperate with each other to switch the conduction state and the off state of the sensing body 20. The toothed groove structure achieves cooperation with the sensing trigger ends 211 to achieve precise control of the state of the sensing body 20 and ensure the accuracy and stability of the state switching.

[0072] The first trigger 24 is used to trigger and detect the lateral edge of the plane during the plane cleaning operation, ensuring that the cleaning body 10 can detect the edge of the plane with a border.

[0073] The second trigger 25 is used to trigger and detect the longitudinal edge of the plane during the plane cleaning operation, ensuring that the cleaning body 10 can detect the edge of the borderless plane.

[0074] The module housing 26, the first trigger 24 and the second trigger 25 are all movably installed inside the module housing 26 and are elastically connected to the module housing 26 to ensure that the first trigger 24 and the second trigger 25 can respond flexibly. The ends of the first control element 22 and the second control element 23 away from the sensing switch element 21 extend to the outside of the cleaning body 10 and pass through the module housing to connect with the first trigger 24 and the second trigger 25 respectively, so as to realize the effective connection and cooperation between the sensing body 20 and the cleaning body 10 and ensure that the entire cleaning device can operate stably.

[0075] For details, please refer to Figure 5 When the sensor body 20 is in the conducting state, the first tooth groove 221 and the second tooth groove 231 are aligned and are on the same straight line as the two sensor trigger ends 211. The two sensor trigger ends 211 are connected, realizing normal communication between the sensor body 20 and the cleaning body 10, and ensuring that the cleaning body 10 can operate according to the preset cleaning strategy.

[0076] Please see Figure 4 and Figure 6 When the sensor body 20 is in the off state, the first tooth groove 221 and the second tooth groove 231 are misaligned and not on the same straight line as the two sensor trigger ends 211. The two sensor trigger ends 211 are blocked and interrupted, blocking the communication between the sensor body 20 and the cleaning body 10, so that the cleaning body 10 can adjust the cleaning posture in time to avoid colliding with or crossing the edge of the surface to be cleaned.

[0077] In a preferred embodiment, the sensing switch 21 is an infrared sensor. Two symmetrically arranged mounting slots 213 are formed on opposite sides of the two sensing trigger ends 211. An infrared emitting tube and an infrared receiving tube are respectively housed in the two mounting slots 213. The two sensing trigger ends 211 are connected via infrared light. (See also...) Figure 5 When the first tooth groove 221 and the second tooth groove 231 coincide and are aligned with the two sensing trigger terminals 211, the infrared light emitted by the infrared emitting tube can smoothly pass through the first tooth groove 221 and the second tooth groove 231 and be received by the infrared receiving tube, thus realizing the normal conduction of the sensing switch 21; please refer to Figure 4 and Figure 6 When the first tooth groove 221 and the second tooth groove 231 are misaligned and are not on the same straight line as the two sensing trigger ends 211, the infrared light emitted by the infrared emitting tube is blocked and interrupted, and the infrared receiving tube cannot receive the infrared light, thereby realizing the turn-off of the sensing switch 21.

[0078] Further, please refer to Figure 3 and Figure 4 The sensing switch 21 has a clearance groove 212 corresponding to the first control element 22 and the second control element 23, which ensures that the first control element 22 and the second control element 23 can work normally and avoid obstruction. The two sensing trigger ends 211 are respectively set on the opposite side walls of the clearance groove 212 and are arranged symmetrically, so that the sensing trigger ends 211 can maintain balance and stability when sensing external trigger signals or trigger actions, thereby improving the accuracy and reliability of sensing. The first control element 22 and the second control element 23 are set in the clearance groove 212 and are separated from the clearance groove 212. The gap not only avoids friction and collision between the first control element 22 and the second control element 23 and the clearance groove 212, but also enables them to respond flexibly to external trigger signals or trigger actions, further improving the sensitivity and response speed of the sensing body 20.

[0079] Please see Figure 4The module housing 26 has a clearance through hole 261 at one end near the cleaning body 10, corresponding to the first control member 22 and the second control member 23. The ends of the first control member 22 and the second control member 23 away from the sensing switch member 21 extend out of the cleaning body 10 and pass through the clearance through hole 261 to be fixedly connected to the first trigger member 24 and the second trigger member 25 respectively. The clearance through hole 261 allows the first control member 22 and the second control member 23 to pass smoothly through the module housing 26 and connect to the first trigger member 24 and the second trigger member 25 respectively, avoiding obstruction by the module housing 26. At the same time, it meets the requirements of the first control member 22 moving laterally and the second control member 23 moving longitudinally. The fixed connection method ensures the stability and reliability of the connection structure, so that the first trigger member 24 and the second trigger member 25 can accurately transmit the external trigger signal or trigger action to the first control member 22 and the second control member 23 respectively, thereby realizing precise control of the state of the sensing body 20.

[0080] The first control element 22 and the second control element 23 are arranged parallel to each other with a gap. This design not only ensures the independence between the first control element 22 and the second control element 23, avoiding mutual interference, but also ensures the stability and reliability of the sensing body 20 during operation. The first trigger element 24 and the second trigger element 25 are arranged in a cross pattern. This cross arrangement allows the first trigger element 24 and the second trigger element 25 to more comprehensively cover the edge area of ​​the surface to be cleaned, improving the sensing range and accuracy of edge information. The module housing 26 also has a connecting post 262 at the end near the cleaning body 10. The connecting post 262 is connected to the cleaning body 10 through the connecting element 11, ensuring a stable connection between the sensing body 20 and the cleaning body 10. It also facilitates the installation and disassembly of the sensing body 20, improving the maintainability and replaceability of the flat cleaning device. Please refer to [link to details]. Figure 3 , Figure 4 and Figure 6 .

[0081] Furthermore, the planar cleaning device also includes an attitude sensor, which is installed inside the cleaning body 10, providing the cleaning body 10 with a more intelligent environmental adaptability. The attitude sensor is used to provide attitude perception information for the cleaning body 10 to adjust the cleaning attitude, and provides data support for the cleaning body 10 to formulate appropriate cleaning strategies, so as to achieve more efficient and precise cleaning operations.

[0082] Specifically, the attitude sensor is a gravity sensor, and the attitude perception information is gravity direction information. The gravity sensor is selected based on its ability to accurately perceive the direction of gravity. The gravity sensor plays a key role in the cleaning body 10, and can acquire and analyze the gravity direction information of the current environment in real time, determine the state of the surface to be cleaned, and provide the cleaning body 10 with a precise basis for adjusting the cleaning attitude. The state of the cleaning surface includes, but is not limited to, vertical, horizontal, and tilted states, which ensures the cleaning effect in complex environments and brings users a more convenient and efficient cleaning experience.

[0083] In another approach, the attitude sensor is a gyroscope, used to detect attitude changes of the planar cleaning device, and the attitude perception information is attitude angle information.

[0084] Example 2:

[0085] This invention provides an edge detection method applied to a planar cleaning device. Please refer to [link / reference]. Figure 1 , Figures 4 to 6 The planar cleaning device includes a cleaning body 10 and a sensing body 20. The sensing body 20 includes:

[0086] The sensor switch 21 is located on both sides of the bottom of the cleaning body 10. As the core component of the sensor body 20, it is used to switch between the on and off states. Both sides of the sensor switch 21 are provided with sensor trigger terminals 211, which are interconnected. The sensor switch 21 detects the connection and disconnection of the two sensor trigger terminals 211 to detect and judge the external trigger signal, thereby controlling the behavior of the cleaning body 10.

[0087] The first control element 22 is disposed between the two sensing trigger ends 211 and has a first tooth groove 221 corresponding to the sensing trigger ends 211.

[0088] The second control element 23 is disposed between the two sensing trigger ends 211 and has a second toothed groove 231 corresponding to the sensing trigger ends 211. The first toothed groove 221 and the second toothed groove 231 cooperate with each other to switch the conduction state and the off state of the sensing body 20. The toothed groove structure achieves cooperation with the sensing trigger ends 211 to achieve precise control of the state of the sensing body 20 and ensure the accuracy and stability of the state switching.

[0089] The first trigger 24 is used to trigger and detect the lateral edge of the plane during the plane cleaning operation, ensuring that the cleaning body 10 can detect the edge of the plane with a border.

[0090] The second trigger 25 is used to trigger and detect the longitudinal edge of the plane during the plane cleaning operation, ensuring that the cleaning body 10 can detect the edge of the borderless plane.

[0091] The module housing 26, the first trigger 24 and the second trigger 25 are all movably installed inside the module housing 26 and are elastically connected to the module housing 26 to ensure that the first trigger 24 and the second trigger 25 can respond flexibly. The ends of the first control element 22 and the second control element 23 away from the sensing switch element 21 extend to the outside of the cleaning body 10 and pass through the module housing to connect with the first trigger 24 and the second trigger 25 respectively, so as to realize the effective connection and cooperation between the sensing body 20 and the cleaning body 10 and ensure that the entire cleaning device can operate stably.

[0092] The cleaning body 10 also includes a negative pressure device, an attitude sensor, and a control module. The cleaning body 10, negative pressure device, attitude sensor, and sensor switch 21 are all electrically connected to the control module. During the cleaning process, the negative pressure device provides negative pressure suction to the cleaning body 10, ensuring that the flat cleaning device can fit tightly against the cleaning surface. The first trigger 24 and the second trigger 25 are both connected to the module housing 26 via elastic elements. Please refer to [link / reference]. Figure 7 The edge detection method includes the following steps:

[0093] S1: The negative pressure device adsorbs and adheres the flat cleaning device to the cleaning surface, ensuring close contact between the flat cleaning device and the cleaning surface, thereby improving the cleaning effect. The cleaning surface provides a resistance force opposite to the negative pressure adsorption force for the second trigger 25. The cleaning surface includes a framed surface and a frameless surface. Different types of cleaning surfaces correspond to different triggering methods of the sensing body 20, thereby improving the adaptability of the flat cleaning device to the cleaning environment.

[0094] It should be noted that the use of the negative pressure device allows the flat cleaning device to be firmly adhered to the cleaning surface, effectively preventing slippage during the cleaning process and ensuring the continuity and stability of the cleaning process. Meanwhile, the pressure provided by the cleaning surface to the second trigger 25 is key to the edge detection mechanism, enabling accurate detection and feedback when adjusting the cleaning posture or facing a borderless cleaning surface.

[0095] S2: The pressure pushes the second trigger 25 away from the cleaning surface, activating the edge detection mechanism. The longitudinally positioned elastic element is compressed. This elastic element serves to buffer and ensure the subsequent reset of the second trigger 25. The second trigger 25 drives the second control element 23 to move, changing the positional relationship between the second control element 23 and the sensing switch element 21. This causes the first tooth groove 221 and the second tooth groove 231 to coincide, and the sensing switch element 21 is initially activated. The edge detection function then officially takes effect, providing accurate edge information for subsequent cleaning operations. Please refer to [link / reference] for details. Figure 5 .

[0096] Here, the pressure acts as the direct force to move the second trigger 25, while the longitudinally arranged elastic element serves as a buffer and stabilizer, ensuring that the second trigger 25 can reset when it encounters a borderless clean surface. Simultaneously, the linkage between the second trigger 25 and the second control element 23 allows the second control element 23 to move along with the second trigger 25, thereby achieving precise coordination with the sensing switch element 21.

[0097] S3: Based on the initial conduction, the planar cleaning device then enters the attitude perception information acquisition stage, collecting attitude perception information through attitude sensors to provide accurate data support for subsequent cleaning operations.

[0098] It is important to clarify that the collection of posture perception information is a crucial step in ensuring that the planar cleaning device can adjust its cleaning posture according to different environmental characteristics. The planar cleaning device can then more intelligently select cleaning intensity and method, thereby improving cleaning effectiveness and efficiency.

[0099] Specifically, in the preferred embodiment, the attitude sensor is a gravity sensor, and the attitude perception information collected is gravity direction information. The collection of gravity direction information can not only help the planar cleaning device perceive the tilt of the cleaning surface, but also provide a stable attitude reference for the planar cleaning device, ensuring that it always maintains the correct direction and angle during operation, thereby improving the flexibility and adaptability of cleaning operations.

[0100] S4: Based on the collected attitude perception information, adjust the cleaning attitude of the planar cleaning device to adapt to the actual condition of the cleaning surface, and start cleaning operation according to the preset cleaning mode.

[0101] It should be noted that the collection of posture perception information provides reference data for the planar cleaning device, enabling it to make targeted posture adjustments based on the environmental characteristics of different cleaning surfaces.

[0102] S5: When the cleaning surface is a borderless plane, and the flat cleaning device moves to the edge of the cleaning surface, the second trigger 25 disengages from the edge of the cleaning surface, breaking the contact connection. The pressure disappears, and the longitudinally arranged elastic element resets, gradually returning from a compressed state to its original state. During this process, the second trigger 25, pushed by the elastic element, also drives the second control element 23 to perform a reset operation. As the second control element 23 resets, the positional relationship between the first tooth groove 221 and the second tooth groove 231 changes from being coincident to being misaligned, causing the sensor switch 21 to turn off. This change is accurately captured by the control module, thereby indicating that the flat cleaning device is now located at the edge of the cleaning surface. Please refer to [link to details]. Figure 4 ;

[0103] It should be noted that edge detection of the borderless cleaning surface is a crucial component of the flat cleaning device's functionality. When the flat cleaning device moves to the edge of the cleaning surface, the disappearance of the resistance pressure and the reset action of the elastic element work together to achieve precise coordination between the second trigger 25 and the second control element 23. By controlling the off state of the sensing switch 21, the control module can accurately determine the position of the flat cleaning device and take corresponding measures, such as stopping the cleaning operation or adjusting the cleaning path, to prevent the flat cleaning device from crossing the edge, reducing the risk of falling and thus ensuring the safety and stability of the cleaning process.

[0104] S6: When the cleaning surface is a bordered surface, and the flat cleaning device moves to the edge of the cleaning surface, the first trigger 24 abuts against the border of the cleaning surface. The border provides a reverse force, pushing the first trigger 24 to move away from the border. During this process, the laterally arranged elastic element is compressed, providing necessary buffering and stability for the movement of the first trigger 24. As the first trigger 24 moves, it drives the first control element 22 to move, causing the first tooth groove 221 and the second tooth groove 231, which were originally in an overlapping state, to be misaligned, resulting in the sensor switch 21 being turned off. This change is accurately captured by the control module, thereby indicating that the flat cleaning device is now at the edge of the cleaning surface. Please refer to [link / reference] for details. Figure 6 .

[0105] It is important to clarify that the design of the planar cleaning device fully considers the characteristics of the frame when performing edge detection on a bordered plane. The counterforce provided by the frame provides the necessary power for the movement of the first trigger 24, while the laterally positioned elastic element ensures the smoothness and accuracy of the movement of the first trigger 24. By controlling the off state of the sensor switch, the position information of the planar cleaning device can be promptly determined, avoiding collisions or boundary crossings with the frame, thus further ensuring the safety and effectiveness of the cleaning process.

[0106] In addition, the surface cleaning device is suitable for cleaning surfaces of various materials, which makes it widely applicable and flexible, providing users with a more convenient and efficient cleaning experience.

[0107] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A planar cleaning device, characterized in that, include: Cleaning body (10) is used to perform cleaning operations on the surface; The sensing body (20) is used to feed back the multi-directional edge information of the plane to the cleaning body (10). The sensing body (20) is installed on both sides of the bottom of the cleaning body (10). The sensing body (20) has an on state and an off state. When the sensing body (20) is in the conducting state, the cleaning body (10) performs the cleaning operation; When the sensing body (20) is in the off state, the cleaning body (10) performs cleaning posture adjustment; the sensing body (20) includes: A sensing switch (21) is provided on both sides of the bottom of the cleaning body (10), and a sensing trigger end (211) is provided on both sides of the sensing switch (21). The first control element (22) is disposed between the two sensor trigger ends (211) and has a first tooth groove (221) corresponding to the sensor trigger ends (211); The second control element (23) is disposed between the two sensing trigger ends (211) and has a second tooth groove (231) corresponding to the sensing trigger ends (211). The first tooth groove (221) and the second tooth groove (231) are used to switch the on state and off state of the sensing body (20). The first trigger (24) is used to trigger and detect the lateral edge of the plane during the plane cleaning operation; The second trigger (25) is used to trigger and detect the longitudinal edge of the plane during the plane cleaning operation; The module housing (26) is movably installed inside the module housing (26) and elastically connected to the module housing (26). The ends of the first control element (22) and the second control element (23) away from the sensing switch element (21) extend to the outside of the cleaning body (10) and pass through the module housing (26) to be connected to the first trigger element (24) and the second trigger element (25) respectively.

2. The planar cleaning device according to claim 1, characterized in that: When the sensing body (20) is in the conducting state, the first tooth groove (221) and the second tooth groove (231) are aligned and are on the same straight line as the two sensing trigger ends (211), and the two sensing trigger ends (211) are connected. When the sensing body (20) is in the off state, the first tooth groove (221) and the second tooth groove (231) are misaligned and are not on the same straight line as the two sensing trigger ends (211), and the two sensing trigger ends (211) are blocked and interrupted.

3. The planar cleaning device according to claim 1, characterized in that: The sensing switch (21) is an infrared sensing device. The two sensing trigger ends (211) have symmetrically arranged mounting slots (213) on their opposite sides. The two mounting slots (213) are respectively provided with an infrared emitting tube and an infrared receiving tube. The two sensing trigger ends (211) are connected by infrared light.

4. The planar cleaning device according to claim 1, characterized in that: The sensing switch (21) has a clearance groove (212) corresponding to the first control element (22) and the second control element (23). The two sensing trigger ends (211) are respectively disposed on the opposite side walls of the clearance groove (212) and arranged symmetrically. The first control element (22) and the second control element (23) are disposed in the clearance groove (212) and are separated from the clearance groove (212).

5. The planar cleaning device according to claim 1, characterized in that: The module housing (26) has a clearance through hole (261) at one end near the cleaning body (10) that corresponds to the first control member (22) and the second control member (23). The ends of the first control member (22) and the second control member (23) away from the sensing switch member (21) extend out of the cleaning body (10) and pass through the clearance through hole (261) to be fixedly connected to the first trigger member (24) and the second trigger member (25) respectively.

6. The planar cleaning device according to claim 1, characterized in that: The first control element (22) and the second control element (23) are arranged parallel to each other with a gap, and the first trigger element (24) and the second trigger element (25) are arranged crosswise. The module housing (26) is also provided with a connecting post (262) at one end near the cleaning body (10). The connecting post (262) is connected to the cleaning body (10) through a connector (11).

7. The planar cleaning device according to claim 1, characterized in that: It also includes an attitude sensor installed inside the cleaning body (10), which provides attitude perception information for the cleaning body (10) to adjust the cleaning attitude.

8. The planar cleaning device according to claim 7, characterized in that: The attitude sensor is a gravity sensor, and the attitude perception information is gravity direction information.

9. An edge detection method, applied to the planar cleaning device of claim 1, characterized in that, The cleaning body (10) is further provided with a negative pressure device, an attitude sensor and a control module. The cleaning body (10), the negative pressure device, the attitude sensor and the sensor switch (21) are all electrically connected to the control module. The negative pressure device is used to provide negative pressure adsorption force to the cleaning body (10). The first trigger (24) and the second trigger (25) are both connected to the outer shell (26) of the module through elastic elements. The edge detection method includes the following steps: S1: The negative pressure device adsorbs and adheres the flat cleaning device to the cleaning plane, and the cleaning plane provides the second trigger (25) with a resistance force opposite to the negative pressure adsorption force. The cleaning plane includes a framed plane and a frameless plane. S2: The pressure pushes the second trigger (25) to move away from the cleaning plane, the longitudinally arranged elastic element is compressed, the second trigger (25) drives the second control element (23) to move, so that the first tooth groove (221) and the second tooth groove (231) are aligned, and the sensing switch (21) is initially turned on; S3: Based on the initial conduction, attitude perception information is collected through the attitude sensor; S4: Based on the collected attitude perception information, adjust the cleaning attitude of the planar cleaning device and start the cleaning operation; S5: When the cleaning plane is a borderless plane, when the plane cleaning device moves to the edge of the cleaning plane, the pressure disappears, the longitudinally arranged elastic element is reset, the second trigger (25) drives the second control (23) to reset, so that the first tooth groove (221) and the second tooth groove (231) are misaligned, the sensor switch (21) is turned off, indicating that the plane cleaning device is located at the edge of the cleaning plane; S6: When the cleaning plane is a plane with a border, when the plane cleaning device moves to the edge of the cleaning plane, the first trigger (24) abuts against the border of the cleaning plane, the border provides a reverse force, pushing the first trigger (24) to move away from the border, the horizontally arranged elastic member is compressed, the first trigger (24) drives the first control member (22) to move, so that the first tooth groove (221) and the second tooth groove (231) are misaligned, the sensing switch (21) is turned off, indicating that the plane cleaning device is located at the edge of the cleaning plane.

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