Cleaning device

Abstract

The invention discloses a cleaning device. The first collision plate of the cleaning device is arranged close to the dust collecting opening or the charging part, and it means that the first collision plate is arranged on the side or at the rear end of the cleaning device. The first collision plate responds to the collision of the obstacle and accurately feeds back the collision condition of the cleaning device and the obstacle, so that the device main body makes corresponding obstacle avoidance actions, for example, the device main body avoids the obstacle in manners of turning, retreating and the like, and therefore, the obstacle avoidance capability of the cleaning device can be improved; the risk that the cleaning device cannot get out of trouble and furniture is damaged is reduced, and the cleaning device is particularly suitable for a non-circular machine type cleaning device.

Description

Technical Field

[0001] The present application relates to the technical field of cleaning equipment, and in particular to a cleaning device. Background Art

[0002] Cleaning robots with cleaning functions such as washing, mopping, and sweeping can replace users to clean the floor and other cleaning tasks, bringing many conveniences to users, and are therefore widely used. Cleaning robots need to avoid obstacles during cleaning. In order to ensure that the cleaning robot can accurately respond to obstacles to avoid being trapped by obstacles, the cleaning robot often needs to be equipped with a collision plate.

[0003] However, most cleaning robots on the market are circular, and the collision plate is usually located at the front end of the cleaning robot. For cleaning robots that are not circular, since there is no collision plate on the side and rear end of the cleaning robot, when the cleaning robot avoids obstacles by turning or backing up, the cleaning robot is likely to collide with obstacles and this situation cannot be detected, which can easily lead to the cleaning robot being unable to escape and causing furniture damage. Summary of the invention

[0004] The present application provides a cleaning device, which can improve the obstacle avoidance capability of the cleaning device.

[0005] The present application provides a cleaning device, comprising: a device body, which can move on a surface to be cleaned, wherein the side wall of the device body has a dust collection port; a dust collecting part, which is arranged on the device body, and the dirt in the dust collecting part is recovered to a base station through the dust collection port; and a collision plate assembly, comprising a first collision plate and a connecting part, wherein the first collision plate is movably arranged on the device body through the connecting part, and the first collision plate is arranged adjacent to the dust collection port, and the device body can perform obstacle avoidance action in response to the first collision plate being hit by an obstacle.

[0006] In one embodiment of the present application, the cleaning device has a moving direction, and the device body moves along the moving direction on the surface to be cleaned; the device body has a front end and a rear end relatively arranged, and the moving direction is from the rear end to the front end; the cleaning device also includes: a second impact plate, which is movably arranged at the front end, and the device body can also respond to the second impact plate being hit by an obstacle and perform an obstacle avoidance action; wherein, the dust collection port is close to the rear end, and the first impact plate is close to the dust collection port relative to the second impact plate.

[0007] In one embodiment of the present application, a distance between the first impact plate and the second impact plate in the moving direction is 1 mm to 21 mm.

[0008] In one embodiment of the present application, the cleaning device has a moving direction, and the device body moves along the moving direction on the surface to be cleaned; the first impact plate includes a front impact plate and a rear impact plate, the front impact plate and the rear impact plate are arranged at intervals along the moving direction, and the front impact plate is away from the dust collection port relative to the rear impact plate.

[0009] In one embodiment of the present application, the front impact plate extends linearly along the traveling direction.

[0010] In one embodiment of the present application, the rear impact plate includes: a first sub-portion, which is close to the dust collection port relative to the front impact plate; and a second sub-portion, which is an integral structure with the first sub-portion, and the second sub-portion is farther away from the front impact plate relative to the first sub-portion, wherein the first sub-portion and the second sub-portion are arranged at an angle.

[0011] In one embodiment of the present application, the first impact plate is located on a side of the dust collecting port facing toward and / or away from the surface to be cleaned.

[0012] In one embodiment of the present application, the first impact plate includes an upper impact plate and a lower impact plate, the upper impact plate is located on the side of the dust collecting port away from the surface to be cleaned, and the lower impact plate is located on the side of the dust collecting port facing the surface to be cleaned.

[0013] In one embodiment of the present application, the device body includes: a base; a top cover, located on the side of the base away from the surface to be cleaned; and a side wall member, arranged between the base and the top cover, the side wall member having a dust collection port; wherein the upper impact plate is movably arranged on the top cover, and the lower impact plate is movably arranged on the base.

[0014] In one embodiment of the present application, the cleaning device has a height direction perpendicular to the surface to be cleaned; wherein, the distance between the first impact plate and the dust collecting port in the height direction is 2 mm to 35 mm.

[0015] In one embodiment of the present application, the cleaning device has a moving direction and a width direction that are perpendicular to each other, the device body can move along the moving direction on the surface to be cleaned, and the width direction is also parallel to the surface to be cleaned; wherein, a first impact plate is provided on both sides of the device body in the width direction.

[0016] In one embodiment of the present application, the side wall of the device body further has an escape opening adjacent to the dust collecting opening, and the first impact plate passes through the escape opening and extends to the outside.

[0017] In one embodiment of the present application, the connecting member includes: a fixing portion, which is arranged on one of the first impact plate and the device body; and a guiding portion, which is arranged on the other of the first impact plate and the device body, and the guiding portion extends along the moving direction of the first impact plate, and the fixing portion is movably connected to the guiding portion, and the fixing portion can move along the guiding portion in response to the first impact plate being hit by an obstacle.

[0018] In an embodiment of the present application, the guiding portion has a guiding groove extending along the moving direction of the first striker plate, and the fixing portion is movably embedded in the guiding groove.

[0019] In one embodiment of the present application, the striker plate assembly further includes: an elastic member, and the first striker plate is further connected to the device body via the elastic member, and the elastic member is used to drive the first striker plate to reset.

[0020] In one embodiment of the present application, the impact plate assembly also includes: a sensor module, which is arranged on one of the first impact plate and the device body; and a trigger member, which is arranged on the other of the first impact plate and the device body, and the trigger member can trigger the sensor module to generate a target signal in response to the movement of the first impact plate, so that the device body responds to the target signal and performs an obstacle avoidance action.

[0021] In one embodiment of the present application, the striker plate assembly further includes a sensor group, the sensor group includes at least two groups of sensor modules, and the sensor modules belonging to the same sensor group cooperate to monitor the movement of the same first striker plate.

[0022] In one embodiment of the present application, the sensor module includes: a light-shielding shell; and a light sensing element accommodated in an internal cavity of the light-shielding shell.

[0023] In one embodiment of the present application, the cleaning device has a moving direction, and the device body moves along the moving direction on the surface to be cleaned; the device body has a front end and a rear end relatively arranged, and the moving direction points from the rear end to the front end; the cleaning device also includes: a charging part, which is arranged at the rear end, and the first impact plate is also arranged adjacent to the charging part.

[0024] In one embodiment of the present application, the cleaning device has a traveling direction and a width direction that are perpendicular to each other, and the device body can move along the traveling direction on the surface to be cleaned, and the width direction is also parallel to the surface to be cleaned; the device body includes: a main body; and a side portion, which is located on the side of the main body in the width direction, and the dust collection port is opened on the side portion, and the first impact plate is movably arranged on the side portion; wherein the side portion has a target orthographic projection on the surface to be cleaned, and the side of the target orthographic projection in the width direction has a target outer edge line extending along the traveling direction, and the target outer edge line has a straight line segment or the curvature of at least two positions on the target outer edge line is different.

[0025] Correspondingly, the present application also provides a cleaning device, comprising: a device main body, which can move on the surface to be cleaned; a charging part, which is arranged on the device main body; and a collision plate assembly, which includes a first collision plate and a connecting part, and the first collision plate is movably arranged on the device main body through the connecting part, and the first collision plate is arranged adjacent to the charging part, and the device main body can respond to the first collision plate being hit by an obstacle and perform obstacle avoidance action.

[0026] In one embodiment of the present application, the cleaning device has a moving direction, and the device body moves along the moving direction on the surface to be cleaned; the device body has a front end and a rear end relatively arranged, and the moving direction is from the rear end to the front end; the cleaning device also includes: a second impact plate, which is movably arranged at the front end, and the device body can also respond to the second impact plate being hit by an obstacle and perform an obstacle avoidance action; wherein, the charging piece is close to the rear end, and the first impact plate is close to the charging piece relative to the second impact plate.

[0027] In one embodiment of the present application, the cleaning device has a traveling direction, and the device body moves along the traveling direction on the surface to be cleaned; the first impact plate includes a front impact plate and a rear impact plate, the front impact plate and the rear impact plate are arranged at intervals along the traveling direction, and the front impact plate is away from the charging part relative to the rear impact plate.

[0028] Correspondingly, the present application also provides a cleaning device, which has a moving direction and a width direction that are perpendicular to each other, and the cleaning device includes: a device body, which can move along the moving direction on the surface to be cleaned, wherein the width direction is also parallel to the surface to be cleaned, and the device body includes a main body and a side portion, the side portion is located on the side of the main body in the width direction, and the side portion has a target orthographic projection on the surface to be cleaned, and the target orthographic projection has an outer edge line away from the main body in the width direction, and the outer edge line has a straight line segment or at least two positions on the outer edge line have different curvatures; and a collision plate assembly, including a first collision plate and a connecting member, the first collision plate is movably arranged on the side by the connecting member, and the first collision plate can move along the width direction in response to the impact of an obstacle, so that the device body performs an obstacle avoidance action.

[0029] The beneficial effect of the present application is as follows: Different from the prior art, the present application provides a cleaning device. The dust collecting port and the charging component of the cleaning device are usually close to the rear end of the device body. In the present application, the first impact plate is arranged near the dust collecting port or the charging component, which means that the first impact plate is arranged on the side or rear end of the cleaning device of the present application. The first impact plate responds to the impact of the obstacle itself and accurately feedbacks the collision between the cleaning device and the obstacle, so that the device body makes corresponding obstacle avoidance actions, such as the device body avoids obstacles by turning, backing up, etc., thereby improving the obstacle avoidance ability of the cleaning device, so as to reduce the risk of the cleaning device being unable to escape and causing damage to furniture, etc., and is particularly suitable for cleaning devices in the form of non-circular machines. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0031] Figure 1It is a structural schematic diagram of an embodiment of the cleaning device of the present application;

[0032] Figure 2 yes Figure 1 A schematic side view of the cleaning device shown;

[0033] Figure 3 It is a structural schematic diagram of an embodiment of a base of the cleaning device of the present application;

[0034] Figure 4 This is a structural schematic diagram of an embodiment of a front impact plate of the present application;

[0035] Figure 5 This is a structural schematic diagram of an embodiment of a rear impact plate of the present application;

[0036] Figure 6 It is a structural schematic diagram of an embodiment of a top cover of the cleaning device of the present application;

[0037] Figure 7 yes Figure 2 A schematic diagram of the structure of the cleaning device A area shown;

[0038] Figure 8 It is a schematic cross-sectional structure diagram of an embodiment of the sensor module of the present application;

[0039] Fig. 9 It is a schematic diagram of the top view of the structure of an embodiment of the main body of the device of the present application;

[0040] Fig.10 It is a schematic diagram of an embodiment of a target orthographic projection of the side of the main body of the device of the present application on the surface to be cleaned.

[0041] Description of reference numerals:

[0042] 10 cleaning device; 11 device body; 111 base; 112 top cover; 113 side wall member; 1131 dust collecting port; 1132 avoidance port; 114 front end; 115 rear end; 116 main body; 117 side; 20 surface to be cleaned; 30 impact plate assembly; 31 first impact plate; 311 front impact plate; 312 rear impact plate; 3121 first sub-section; 3122 second sub-section; 313 upper impact plate; 314 lower impact plate; 32 connecting member; 321 fixing portion; 322 guiding portion; 323 guiding groove; 33 elastic member; 34 sensor module; 341 light shielding shell; 342 light sensing element; 342a light emitting element; 342b light receiving element; 35 trigger member; 40 dust collecting member; 50 second impact plate; 60 charging member. DETAILED DESCRIPTION

[0043] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of the present application. In addition, it should be understood that the specific implementation methods described herein are only used to illustrate and explain the present application and are not used to limit the present application. In the present application, unless otherwise stated, the directional words used, such as "up", "down", "left", and "right", generally refer to the up, down, left, and right of the device in actual use or working state, specifically the drawing direction in the accompanying drawings.

[0044] In this application, unless otherwise clearly specified and limited, the terms "connected", "connected", "stacked" and the like should be understood in a broad sense, for example, it can be fixedly connected, detachably connected, or integrated; it can be directly connected, or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0045] The present application provides a cleaning device, which is described in detail below. It should be noted that the description order of the following embodiments does not limit the preferred order of the embodiments of the present application. In the following embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, please refer to the relevant description of other embodiments.

[0046] At present, most of the cleaning robots on the market are circular machines, that is, the orthographic projection of the cleaning robot on the surface to be cleaned is roughly circular. The collision plate is usually located at the front end of the cleaning robot. During the process of the cleaning robot moving forward, if the cleaning robot collides with an obstacle, the collision plate at the front end of the cleaning robot responds to the collision of the obstacle itself and accurately feedbacks the collision between the cleaning robot and the obstacle, so that the cleaning robot makes corresponding obstacle avoidance actions. Cleaning robots in the form of circular machines usually avoid obstacles by turning, and during the process of the cleaning robot turning, the rest of the cleaning robot will no longer collide with obstacles. Therefore, there is no need to set collision plates on the sides or rear ends of cleaning robots in the form of circular machines.

[0047] However, for a non-circular cleaning robot, its orthographic projection on the surface to be cleaned is not circular, for example, it is approximately square. When the cleaning robot avoids obstacles by turning, backing up, etc., the rest of the cleaning robot still has the risk of colliding with obstacles. In addition, since there is no collision plate on the side and rear end of the cleaning robot, the cleaning robot is prone to collide with obstacles during the obstacle avoidance process and this situation cannot be detected, which can easily lead to the cleaning robot being unable to escape and causing furniture damage.

[0048] In view of this, an embodiment of the present application provides a cleaning device that can improve the obstacle avoidance capability of the cleaning device, and is particularly suitable for cleaning devices in the form of non-circular machines.

[0049] See also Figure 1 and Figure 2 , Figure 1 is a schematic structural diagram of an embodiment of the cleaning device of the present application, Figure 2 yes Figure 1 A side structural schematic diagram of the cleaning device shown.

[0050] In one embodiment, the cleaning device 10 may be a cleaning robot with a cleaning function. The cleaning device 10 can move on the surface to be cleaned 20 to clean the area where it passes. The surface to be cleaned 20 may be the ground, or the surface of other objects to be cleaned.

[0051] Specifically, the cleaning device 10 includes a device body 11, which can move on the surface to be cleaned 20 to clean the area where it passes. For example, the device body 11 can be provided with a driving mechanism such as a driving wheel and a driving track to drive the device body 11 to move on the surface to be cleaned 20. In addition, the device body 11 can also be provided with a cleaning element such as a roller brush and a rag to clean the area where the device body 11 passes.

[0052] Furthermore, the device body 11 includes a base 111, a top cover 112, and a side wall 113. The top cover 112 is located on the side of the base 111 away from the surface to be cleaned 20, and the top cover 112 and the base 111 are connected to form a cavity for accommodating other parts of the cleaning device 10. The side wall 113 is arranged between the base 111 and the top cover 112, and specifically, the side wall 113 is arranged around the periphery of the cavity.

[0053] The side wall of the device body 11 has a dust collection port 1131, specifically, the side wall member 113 has a through dust collection port 1131. The cleaning device 10 also includes a dust collection member 40, and the dirt collected by the cleaning device 10 during the cleaning process is stored in the dust collection member 40. When the cleaning device 10 returns to the base station, the dirt in the dust collection member 40 is collected back to the base station through the dust collection port 1131, so as to achieve the purpose of cleaning the dust collection member 40, so that the dust collection member 40 is vacated so that the cleaning device 10 can carry out the next cleaning operation.

[0054] The cleaning device 10 also includes a charging member 60. A battery is disposed inside the device body 11, and the battery is a power supply for the cleaning device 10. The charging member 60 is electrically connected to the battery. When the cleaning device 10 returns to the base station, the charging member 60 establishes an electrical connection relationship with the base station to charge the battery. Specifically, the side wall member 113 of the device body 11 exposes the charging member 60 so that the charging member 60 can establish an electrical connection relationship with the base station.

[0055] It should be noted that the cleaning device 10 has a travel direction (such as Figure 2 As shown by the arrow X in the figure, the same below), the device body 11 moves along the travel direction on the surface 20 to be cleaned. The device body 11 has a front end 114 and a rear end 115 that are relatively arranged, and the travel direction is from the rear end 115 to the front end 114. The above-mentioned dust collecting port 1131 and the charging component 60 are both close to the rear end 115 of the device body 11. For example, the charging component 60 can be located in the middle position of the rear end 115 of the device body 11, and the dust collecting port 1131 is located at the side position of the rear end 115 of the device body 11.

[0056] Please also read Figure 3 , Figure 3 It is a structural schematic diagram of an embodiment of a base of the cleaning device of the present application.

[0057] In one embodiment, the cleaning device 10 further includes a striker assembly 30. The striker assembly 30 includes a first striker 31 and a connector 32. The first striker 31 is movably disposed on the device body 11 through the connector 32, and the device body 11 can perform an obstacle avoidance action in response to the first striker 31 being hit by an obstacle.

[0058] The first impact plate 31 is disposed adjacent to the dust collection port 1131, which means that the first impact plate 31 is disposed on the side or rear end 115 of the cleaning device 10 of this embodiment. The first impact plate 31 responds to the impact of the obstacle itself and accurately feedbacks the collision between the cleaning device 10 and the obstacle, so that the device body 11 performs corresponding obstacle avoidance actions, such as the device body 11 avoids the obstacle by turning, retreating, etc., thereby improving the obstacle avoidance ability of the cleaning device 10, reducing the risk of the cleaning device 10 being unable to escape and causing damage to furniture, and is particularly suitable for cleaning devices 10 in non-circular machine forms.

[0059] Furthermore, the cleaning device 10 also includes a second striker plate 50. The second striker plate 50 is movably disposed at the front end 114 of the device body 11, and the device body 11 can also perform an obstacle avoidance action in response to the second striker plate 50 being hit by an obstacle. The first striker plate 31 is disposed adjacent to the dust collection port 1131, which is specifically manifested in that the first striker plate 31 is closer to the dust collection port 1131 relative to the second striker plate 50. In other words, in this embodiment, the first striker plate 31 is used to monitor whether there are obstacles on the side or rear of the cleaning device 10, while the second striker plate 50 is used to monitor whether there are obstacles in front of the cleaning device 10.

[0060] Optionally, the distance D between the first impact plate 31 and the second impact plate 50 in the traveling direction may be 1 mm to 21 mm, for example, 1 mm, 3 mm, 5 mm, 7 mm, 9 mm, 11 mm, 13 mm, 15 mm, 17 mm, 19 mm, 21 mm, etc. Figure 2 It should be noted that the distance between the first strike plate 31 and the second strike plate 50 in the direction of travel is not less than the maximum travel of the second strike plate 50 after being hit by an obstacle, so that there is a sufficient distance between the first strike plate 31 and the second strike plate 50. In this way, when the second strike plate 50 is hit by an obstacle and moves toward the rear end 115 of the device body 11, the first strike plate 31 can avoid the second strike plate 50, and avoid the second strike plate 50 from contacting the first strike plate 31 as much as possible, which may cause the first strike plate 31 to be triggered by mistake.

[0061] In one embodiment, the first strike plate 31 includes a front strike plate 311 and a rear strike plate 312. The front strike plate 311 and the rear strike plate 312 are arranged at intervals along the traveling direction, and the front strike plate 311 is farther away from the dust collection port 1131 than the rear strike plate 312. In other words, the front strike plate 311 is close to the front end 114 of the device body 11, and the rear strike plate 312 is close to the rear end 115 of the device body 11.

[0062] In the above manner, the first striker 31 of the present embodiment is divided into a front striker 311 and a rear striker 312 that are spaced apart from each other, that is, the first striker 31 is designed in sections in the direction of travel. Compared with the first striker 31 being produced and assembled in an integral form, the first striker 31 is divided into the front striker 311 and the rear striker 312, and the front striker 311 and the rear striker 312 are both easy to produce and assemble separately, which can improve the convenience of producing and assembling the first striker 31.

[0063] For example, the cleaning device 10 also has a width direction (such as Figure 3As shown by the arrow Y in the middle, the width direction is perpendicular to the traveling direction and parallel to the surface to be cleaned 20. In the traveling direction, the front collision plate 311 is located between the front end 114 and the rear end 115 of the device body 11, and the rear collision plate 312 is closer to the rear end 115 of the device body 11 relative to the front collision plate 311. In addition, the front collision plate 311 is located on the side of the device body 11 in the width direction. Figure 4 As shown, the front collision plate 311 extends straight along the travel direction. Figure 5 As shown, the rear impact plate 312 includes a first sub-portion 3121 and a second sub-portion 3122, and the first sub-portion 3121 and the second sub-portion 3122 are an integral structure. The first sub-portion 3121 is close to the dust collection port 1131 relative to the front impact plate 311. The second sub-portion 3122 is far away from the front impact plate 311 relative to the first sub-portion 3121. Among them, the first sub-portion 3121 and the second sub-portion 3122 are arranged at an angle, and the angle is greater than 0° and less than 180°. Specifically, the first sub-portion 3121 is located on the side of the device body 11 in the width direction, and the second sub-portion 3122 is located at the rear end 115 of the device body 11. The first sub-portion 3121 and the second sub-portion 3122 are both bent toward the outside of the device body 11, so that the rear impact plate 312 as a whole presents a curved shape protruding toward the outside of the device body 11.

[0064] Please also read Figure 6 , Figure 6 It is a structural schematic diagram of an embodiment of a top cover of the cleaning device of the present application.

[0065] In one embodiment, the first impact plate 31 is located on the side of the dust collection port 1131 facing and / or away from the surface to be cleaned 20. Specifically, the first impact plate 31 includes an upper impact plate 313 and a lower impact plate 314, the upper impact plate 313 is located on the side of the dust collection port 1131 away from the surface to be cleaned 20, and the lower impact plate 314 is located on the side of the dust collection port 1131 facing the surface to be cleaned 20. The cleaning device 10 also has a height direction (such as Figure 2 As shown by the middle arrow Z, the same below), the height direction is perpendicular to the surface to be cleaned 20. In this embodiment, the upper collision plate 313 and the lower collision plate 314 are respectively located on both sides of the dust collection port 1131 in the height direction.

[0066] In the above manner, the first impact plate 31 of the present embodiment is divided into two layers in the height direction, namely, the upper impact plate 313 and the lower impact plate 314, so that the first impact plate 31 avoids the dust collection port 1131 to ensure that the side wall of the device body 11 has enough space to set the dust collection port 1131. In addition, the upper impact plate 313 and the lower impact plate 314 cooperate to monitor the collision between the cleaning device 10 and the obstacle, which can further improve the obstacle avoidance ability of the cleaning device 10.

[0067] Furthermore, the upper striker plate 313 is movably disposed on the top cover 112, and the lower striker plate 314 is movably disposed on the base 111. In this way, the wiring harness of the electronic devices such as the sensor (which will be described in detail below) provided by the upper striker plate 313 and the wiring harness of the electronic devices such as the sensor provided by the lower striker plate 314 can be arranged separately, which is beneficial to reduce the distribution density of the wiring harness inside the cleaning device 10, and further beneficial to the production and assembly of the cleaning device 10.

[0068] Optionally, please also refer to Figure 7 , the distance H between the first impact plate 31 and the dust collecting port 1131 in the height direction can be 2mm to 35mm, such as 2mm, 5mm, 10mm, 15mm, 20mm, 25mm, 30mm, 35mm, etc. In this way, there is a sufficient distance between the first impact plate 31 and the dust collecting port 1131, so that in the process of the base station recycling the dirt in the dust collecting part 40, the sealing soft glue of the base station can be closely attached to the side wall surface of the device body 11 around the dust collecting port 1131 to ensure the sealing effect, and the sealing soft glue will not contact the first impact plate 31 to reduce the impact on the function of the first impact plate 31. In addition, the distance between the first impact plate 31 and the dust collecting port 1131 is not too large, which can ensure that the dust collecting port 1131 is large enough to recycle large particles of dirt.

[0069] In one embodiment, first impact plates 31 are provided on both sides of the device body 11 in the width direction. In this way, the first impact plates 31 on both sides of the device body 11 are respectively used to monitor whether there are obstacles on the corresponding sides of the device body 11, which can further improve the obstacle avoidance capability of the cleaning device 10.

[0070] For example, see Figure 1 and Figure 2, the first collision plate 31 includes collision plate a, collision plate b, collision plate c, collision plate d, collision plate e, collision plate f, collision plate g, and collision plate h. The collision plates a, collision plates b, collision plates c, and collision plates d are the front collision plates 311 mentioned above. The collision plates a and collision plates b are located on one side of the device body 11 in the width direction, and the collision plate a is located on the side of the collision plate b away from the surface to be cleaned 20. The collision plates c and collision plates d are located on the other side of the device body 11 in the width direction, and the collision plate c is located on the side of the collision plate d away from the surface to be cleaned 20. The collision plates e, collision plates f, collision plates g, and collision plates h are the rear collision plates 312 mentioned above. The collision plates e and collision plates f are close to the sides where the collision plates a and collision plates b are located, and the collision plate e is located on the side where the collision plate f is away from the surface to be cleaned 20. The collision plates g and collision plates h are close to the sides where the collision plates c and collision plates d are located, and the collision plate g is located on the side of the collision plate h away from the surface to be cleaned 20. It can be seen that the collision plates a, c, e and g are the upper collision plates 313, and the collision plates b, d, f and h are the lower collision plates 314. The charging member 60 is located between the collision plates e and g. In other words, the left side, right side, left rear side and right rear side of the device body 11 of this embodiment are all arranged with the first collision plates 31, and the first collision plates 31 in the four directions are all two-layer collision plate structures including the upper collision plate 313 and the lower collision plate 314.

[0071] Please continue reading Figure 7 In one embodiment, the side wall of the device body 11 further has an escape opening 1132 adjacent to the dust collection opening 1131, specifically, the side wall member 113 of the device body 11 has a through escape opening 1132. The first striker 31 extends outward through the escape opening 1132, so that the first striker 31 protrudes outward relative to the outer side wall surface of the device body 11, so as to ensure that the first striker 31 contacts the obstacle before the device body 11, thereby ensuring that the function of the first striker 31 is realized.

[0072] Please continue reading Figure 3 In one embodiment, the connecting member 32 includes a fixing portion 321 and a guiding portion 322. The fixing portion 321 is disposed on one of the first strike plate 31 and the device body 11. The guiding portion 322 is disposed on the other of the first strike plate 31 and the device body 11, and the guiding portion 322 extends along the moving direction of the first strike plate 31. The fixing portion 321 and the guiding portion 322 are movably connected, and the fixing portion 321 can move along the guiding portion 322 in response to the first strike plate 31 being hit by an obstacle, so that not only the first strike plate 31 is connected to the device body 11, but also the first strike plate 31 can be ensured to move when hit by an obstacle.

[0073] Furthermore, the guide portion 322 has a guide groove 323 extending along the moving direction of the first collision plate 31 , and the fixing portion 321 is movably embedded in the guide groove 323 . When the first collision plate 31 is hit by an obstacle, the fixing portion 321 can move along the guide groove 323 .

[0074] Figure 3 The example shows that the fixing portion 321 is arranged on the device body 11, and the guide portion 322 is arranged on the first impact plate 31. The fixing portion 321 can be a fastener such as a screw or a bolt. The guide portion 322 and the first impact plate 31 can be an integral structure. The number of groups of connecting members 32 connected to each first impact plate 31 can be one group or multiple groups. For the front impact plate 311, when the front impact plate 311 is hit by an obstacle, the front impact plate 311 will move along the width direction and toward the inside of the device body 11, so the guide groove 323 on the front impact plate 311 extends along the width direction. For the rear impact plate 312, when the rear impact plate 312 is hit by an obstacle, the rear impact plate 312 will not only move along the width direction and toward the inside of the device body 11, but also move along the travel direction and toward the inside of the device body 11, so the guide groove 323 on the rear impact plate 312 will not only extend along the width direction, but also extend along the travel direction.

[0075] In one embodiment, the striker assembly 30 further includes an elastic member 33. The first striker 31 is also connected to the device body 11 through the elastic member 33, and the elastic member 33 is used to drive the first striker 31 to reset. When the first striker 31 is hit by an obstacle, the first striker 31 moves toward the inside of the device body 11, and the first striker 31 causes the elastic member 33 to elastically deform. When the first striker 31 moves away from the obstacle, the elastic member 33 drives the first striker 31 to move toward the outside of the device body 11 to reset in response to its own elastic restoring force.

[0076] Optionally, the elastic member 33 may be an elastic element such as a spring. Furthermore, the elastic member 33 is disposed between the first impact plate 31 and the device body 11. When the first impact plate 31 is impacted by an obstacle, the first impact plate 31 squeezes the elastic member 33. When the first impact plate 31 moves away from the obstacle, the elastic member 33 returns to its original length and drives the first impact plate 31 to move toward the outside of the device body 11 to reset. In addition, the number of elastic members 33 connected to each first impact plate 31 may be one or more, and each elastic member 33 is sequentially spaced and distributed along the extension direction of the first impact plate 31.

[0077] Please also read Figure 8 , Figure 8 It is a schematic cross-sectional structure diagram of an embodiment of a sensor module of the present application.

[0078] In one embodiment, the strike plate assembly 30 further includes a sensor module 34 and a trigger 35. The sensor module 34 is disposed on one of the first strike plate 31 and the device body 11, and the trigger 35 is disposed on the other of the first strike plate 31 and the device body 11. The trigger 35 can trigger the sensor module 34 to generate a target signal in response to the movement of the first strike plate 31, so that the device body 11 performs an obstacle avoidance action in response to the target signal.

[0079] Optionally, the sensor module 34 of this embodiment adopts the design of an optical coupler switch. Specifically, the sensor module 34 includes a light emitting element 342a and a light receiving element 342b. The light emitting element 342a and the light receiving element 342b are spaced apart from each other, and the light emitting element 342a is used to output a light signal to the light receiving element 342b. When the first collision plate 31 is hit by an obstacle, the trigger member 35 moves between the light emitting element 342a and the light receiving element 342b, and the trigger member 35 prevents the light signal output by the light emitting element 342a from being transmitted to the light receiving element 342b, so that the light receiving element 342b cannot receive the light signal or the intensity of the received light signal is reduced, thereby triggering the sensor module 34 to generate the above-mentioned target signal.

[0080] Figure 3 The example shows that the sensor module 34 is arranged on the device body 11 and the trigger member 35 is arranged on the first strike plate 31. The sensor module 34 corresponding to the upper strike plate 313 is arranged on the top cover 112 of the device body 11, and the sensor module 34 corresponding to the lower strike plate 314 is arranged on the base 111 of the device body 11.

[0081] Of course, in other embodiments of the present application, the sensor module 34 is not limited to the design of the above-mentioned optical coupling switch, and the sensor module 34 can also be designed with a micro switch, a Hall sensor, etc., which is not limited here. Among them, the mechanism of the trigger member 35 triggering the sensor module 34 is adaptively adjusted according to the type of the sensor module 34.

[0082] Furthermore, the striker assembly 30 also includes a sensor group. The sensor group includes at least two groups of sensor modules 34, and the sensor modules 34 belonging to the same sensor group cooperate to monitor the movement of the same first striker 31. In other words, in this embodiment, different sensor groups are respectively set for each first striker 31. When the first striker 31 is hit by an obstacle and moves, at least some of the sensor modules 34 in the sensor group can sense the movement of the first striker 31 and generate the above-mentioned target signal.

[0083] Regarding the above-mentioned triggering member 35, the light signal output by the light emitting element 342a is blocked from being transmitted to the light receiving element 342b to trigger the sensor module 34 to generate the target signal, the sensor modules 34 in the same sensor group are connected in series in sequence. When the first collision plate 31 is not hit by an obstacle, the light signal output by the light emitting element 342a in each sensor module 34 can be normally transmitted to the light receiving element 342b, that is, the light path of each sensor module 34 is connected, so that the entire circuit of the sensor group is open. Once the first collision plate 31 is hit by an obstacle and moves, the light path of at least part of the sensor modules 34 in the sensor group is blocked, causing the entire circuit of the sensor group to be open, thereby feeding back that the first collision plate 31 is hit by an obstacle, so that the device body 11 performs obstacle avoidance action.

[0084] Of course, in other embodiments of the present application, for the light signal output by the light emitting element 342a to be normally transmitted to the light receiving element 342b to trigger the sensor module 34 to generate the target signal, the sensor modules 34 in the same sensor group are connected in parallel. When the first collision plate 31 is not hit by an obstacle, the light signal output by the light emitting element 342a in each sensor module 34 is blocked by the trigger 35 and cannot be normally transmitted to the light receiving element 342b, that is, the light path of each sensor module 34 is blocked, so that the entire circuit of the sensor group is open. Once the first collision plate 31 is hit by an obstacle and moves, the light path of at least part of the sensor modules 34 in the sensor group is turned on, so that at least part of the branches of the sensor group circuit are open, thereby feeding back that the first collision plate 31 is hit by an obstacle, so that the device body 11 performs obstacle avoidance action.

[0085] Furthermore, the sensor module 34 includes a light shielding shell 341 and a light sensing element 342. The light sensing element 342 includes the above-mentioned light emitting element 342a and light receiving element 342b. The light sensing element 342 is accommodated in the internal cavity of the light shielding shell 341. In this way, the light shielding shell 341 can block external light to prevent external light from interfering with the light signal transmitted by the light sensing element 342, thereby ensuring that the sensor module 34 accurately feeds back the situation in which the first collision plate 31 is hit by an obstacle, so as to further improve the obstacle avoidance capability of the cleaning device 10.

[0086] It should be noted that the sensor module 34 of the present embodiment is assembled in the form of a module. In other words, the sensor module 34 itself is a whole independent of the device body 11. The various components of the sensor module 34 (including the light-shielding housing 341 and the light sensing element 342, etc.) are first assembled to form a whole, and then the sensor module 34 is assembled to the device body 11 as a whole. The sensor module 34 of the present embodiment is in the form of a module, which avoids the process of assembling its various components separately to the device body 11, that is, avoids the accumulation of assembly errors, which can not only reduce the assembly error of the sensor module 34 to improve the assembly accuracy, but also ensure the alignment accuracy of the sensor module 34 and its corresponding first collision plate 31.

[0087] In an alternative embodiment, the difference between this embodiment and the above embodiment is that the first impact plate 31 is arranged adjacent to the charging member 60. In other words, the first impact plate 31 is arranged on the side or rear end 115 of the cleaning device 10 of this embodiment. The first impact plate 31 responds to the impact of the obstacle itself and accurately feedbacks the collision between the cleaning device 10 and the obstacle, so that the device body 11 makes corresponding obstacle avoidance actions, such as the device body 11 avoids obstacles by turning, retreating, etc., thereby improving the obstacle avoidance ability of the cleaning device 10, so as to reduce the risk of the cleaning device 10 being unable to escape and causing damage to furniture, etc., and is particularly suitable for cleaning devices 10 in the form of non-circular machines.

[0088] Furthermore, the first impact plate 31 is disposed adjacent to the charging component 60 in that the first impact plate 31 is closer to the charging component 60 than the second impact plate 50 .

[0089] Furthermore, the front impact plate 311 is farther away from the charging component 60 than the rear impact plate 312 .

[0090] Please also read Fig. 9 and Fig.10 , Fig. 9 It is a schematic diagram of the top view of the structure of an embodiment of the main body of the device of the present application. Fig.10 It is a schematic diagram of an embodiment of a target orthographic projection of the side of the main body of the device of the present application on the surface to be cleaned.

[0091] In another alternative embodiment, the difference between this embodiment and the above embodiment is that the device body 11 includes a main body 116 and a side portion 117. The side portion 117 is located on the side of the main body 116 in the width direction. The side portion 117 has a target orthographic projection S on the surface to be cleaned 20, and the target orthographic projection S has an outer edge line L away from the main body 116 in the width direction, and the outer edge line L has a straight line segment or the curvature of at least two positions on the outer edge line L is different. In other words, the orthographic projection of the device body 11 on the surface to be cleaned 20 is not circular, that is, the cleaning device 10 of this embodiment is a non-circular machine form. The first impact plate 31 is movably arranged on the side portion 117 through the connecting member 32, and the first impact plate 31 can move along the width direction in response to the impact of an obstacle, so that the device body 11 performs an obstacle avoidance action.

[0092] In the above manner, the first impact plate 31 is provided at the side or rear end 115 of the cleaning device 10 of this embodiment. The first impact plate 31 responds to the impact of the obstacle itself and accurately feedbacks the collision between the cleaning device 10 and the obstacle, so that the device body 11 performs corresponding obstacle avoidance actions, such as the device body 11 avoids the obstacle by turning, retreating, etc., thereby improving the obstacle avoidance capability of the cleaning device 10, and reducing the risk of the cleaning device 10 being unable to escape and causing damage to furniture.

[0093] The technical solution provided in the embodiments of the present application is described below in conjunction with specific application scenarios.

[0094] Application scenario 1:

[0095] The cleaning device 10 is a cleaning robot, and the orthographic projection of the cleaning device 10 on the surface to be cleaned 20 is approximately square. The cleaning device 10 includes a device body 11, and the device body 11 can move on the surface to be cleaned 20, wherein the side wall of the device body 11 has a dust collecting port 1131. The cleaning device 10 also includes a dust collecting member 40, which is arranged on the device body 11, and the dirt in the dust collecting member 40 is recovered to the base station through the dust collecting port 1131. The cleaning device 10 also includes a collision plate assembly 30, and the collision plate assembly 30 includes a first collision plate 31 and a connecting member 32, the first collision plate 31 is movably arranged on the device body 11 through the connecting member 32, and the first collision plate 31 is arranged adjacent to the dust collecting port 1131, and the device body 11 can respond to the first collision plate 31 being hit by an obstacle and make an obstacle avoidance action.

[0096] A first strike plate 31 is provided at the side or rear end 115 of the cleaning device 10. The first strike plate 31 responds to the collision of the cleaning device 10 with the obstacle and accurately feedbacks the collision between the cleaning device 10 and the obstacle, so that the device body 11 performs corresponding obstacle avoidance actions, such as turning, backing up, etc., thereby improving the obstacle avoidance capability of the cleaning device 10 and reducing the risk of the cleaning device 10 being unable to escape and causing damage to furniture.

[0097] Application scenario 2:

[0098] The cleaning device 10 is a cleaning robot, and the orthographic projection of the cleaning device 10 on the surface to be cleaned 20 is approximately square. The cleaning device 10 includes a device body 11, and the device body 11 can move on the surface to be cleaned 20. The cleaning device 10 also includes a charging member 60, and the charging member 60 is arranged on the device body 11. The cleaning device 10 also includes a striker assembly 30, and the striker assembly 30 includes a first striker 31 and a connecting member 32. The first striker 31 is movably arranged on the device body 11 through the connecting member 32, and the first striker 31 is arranged adjacent to the charging member 60. The device body 11 can respond to the first striker 31 being hit by an obstacle and perform an obstacle avoidance action.

[0099] A first strike plate 31 is provided at the side or rear end 115 of the cleaning device 10. The first strike plate 31 responds to the collision of the cleaning device 10 with the obstacle and accurately feedbacks the collision between the cleaning device 10 and the obstacle, so that the device body 11 performs corresponding obstacle avoidance actions, such as turning, backing up, etc., thereby improving the obstacle avoidance capability of the cleaning device 10 and reducing the risk of the cleaning device 10 being unable to escape and causing damage to furniture.

[0100] Application scenario three:

[0101] The cleaning device 10 is a cleaning robot, and the orthographic projection of the cleaning device 10 on the surface to be cleaned 20 is approximately square. The cleaning device 10 includes a device body 11, and the device body 11 can move along the travel direction on the surface to be cleaned 20. The device body 11 includes a main body 116 and a side 117, the side 117 is located on the side of the main body 116 in the width direction, and the side 117 has a target orthographic projection S on the surface to be cleaned 20, and the target orthographic projection S has an outer edge line L away from the main body 116 in the width direction, and the outer edge line L has a straight line segment or at least two positions on the outer edge line L have different curvatures. The cleaning device 10 also includes a collision plate assembly 30, and the collision plate assembly 30 includes a first collision plate 31 and a connecting member 32, the first collision plate 31 is movably arranged on the side 117 through the connecting member 32, and the first collision plate 31 can move along the width direction in response to the impact of an obstacle, so that the device body 11 performs an obstacle avoidance action.

[0102] A first strike plate 31 is provided at the side or rear end 115 of the cleaning device 10. The first strike plate 31 responds to the collision of the cleaning device 10 with the obstacle and accurately feedbacks the collision between the cleaning device 10 and the obstacle, so that the device body 11 performs corresponding obstacle avoidance actions, such as turning, backing up, etc., thereby improving the obstacle avoidance capability of the cleaning device 10 and reducing the risk of the cleaning device 10 being unable to escape and causing damage to furniture.

[0103] The cleaning device provided by the present application is introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea; at the same time, for general technicians in this field, according to the idea of ​​the present application, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A cleaning device, characterized in that: include: The device body is movable on the surface to be cleaned, wherein the side wall of the device body is provided with a dust collection port; A dust collecting part, arranged on the main body of the device, and dirt in the dust collecting part is recovered to the base station through the dust collecting port; as well as The impact plate assembly includes a first impact plate and a connecting member, wherein the first impact plate is movably arranged on the device body through the connecting member, and the first impact plate is arranged adjacent to the dust collecting port, and the device body can perform obstacle avoidance action in response to the first impact plate being hit by an obstacle.

2. The cleaning device according to claim 1, characterized in that The cleaning device has a travel direction, and the device body moves along the travel direction on the surface to be cleaned; The device body has a front end and a rear end that are arranged opposite to each other, and the travel direction is from the rear end to the front end; The cleaning device also includes: A second striker plate is movably disposed at the front end, and the device body can also perform an obstacle avoidance action in response to the second striker plate being hit by an obstacle; Wherein, the dust collecting port is close to the rear end, and the first impact plate is close to the dust collecting port relative to the second impact plate.

3. The cleaning device according to claim 2, characterized in that: A distance between the first collision plate and the second collision plate in the traveling direction is 1 mm to 21 mm.

4. The cleaning device according to claim 1, characterized in that The cleaning device has a travel direction, and the device body moves along the travel direction on the surface to be cleaned; The first collision plate includes a front collision plate and a rear collision plate, the front collision plate and the rear collision plate are arranged at intervals along the traveling direction, and the front collision plate is farther away from the dust collection port than the rear collision plate.

5. The cleaning device according to claim 4, characterized in that: The front striker extends straight along the traveling direction.

6. The cleaning device according to claim 4, characterized in that: The rear impact plate comprises: A first sub-section, relative to the front collision plate and close to the dust collection port; and The second sub-portion is an integral structure with the first sub-portion, and the second sub-portion is farther away from the front collision plate than the first sub-portion, wherein the first sub-portion and the second sub-portion are arranged at an angle.

7. The cleaning device according to claim 1, characterized in that: The first collision plate is located at a side of the dust collecting port facing toward and / or away from the surface to be cleaned.

8. The cleaning device according to claim 7, characterized in that: The first impact plate includes an upper impact plate and a lower impact plate, wherein the upper impact plate is located on a side of the dust collecting port away from the surface to be cleaned, and the lower impact plate is located on a side of the dust collecting port facing the surface to be cleaned.

9. The cleaning device according to claim 8, characterized in that The device body comprises: Base; a top cover, located on a side of the base facing away from the surface to be cleaned; and A side wall member, disposed between the base and the top cover, the side wall member having the dust collecting port; Wherein, the upper impact plate is movably arranged on the top cover, and the lower impact plate is movably arranged on the base.

10. The cleaning device according to claim 7, characterized in that: The cleaning device has a height direction perpendicular to the surface to be cleaned; Wherein, the distance between the first collision plate and the dust collecting port in the height direction is 2 mm to 35 mm.

11. The cleaning device according to claim 1, characterized in that: The cleaning device has a travel direction and a width direction that are perpendicular to each other, the device body can move along the travel direction on the surface to be cleaned, and the width direction is also parallel to the surface to be cleaned; Wherein, the first collision plates are arranged on both sides of the device body in the width direction.

12. The cleaning device according to any one of claims 1 to 11, characterized in that The side wall of the device body also has an escape opening adjacent to the dust collecting opening, and the first collision plate extends to the outside through the escape opening.

13. The cleaning device according to any one of claims 1 to 11, characterized in that The connecting piece comprises: a fixing portion, disposed on one of the first striker plate and the device body; and A guide portion is arranged on the other of the first impact plate and the device body, and the guide portion extends along the moving direction of the first impact plate. The fixed portion is movably connected to the guide portion, and the fixed portion can move along the guide portion in response to the first impact plate being hit by an obstacle.

14. The cleaning device according to claim 13, characterized in that The guide portion has a guide groove extending along a moving direction of the first striker plate, and the fixing portion is movably embedded in the guide groove.

15. The cleaning device according to any one of claims 1 to 11, characterized in that The striker assembly further comprises: An elastic member, wherein the first impact plate is also connected to the device body through the elastic member, and the elastic member is used to drive the first impact plate to reset.

16. The cleaning device according to any one of claims 1 to 11, characterized in that The striker assembly further comprises: a sensor module, disposed on one of the first striker plate and the device body; and A triggering member is provided on the other of the first impact plate and the device body, and the triggering member can trigger the sensor module to generate a target signal in response to the movement of the first impact plate, so that the device body performs an obstacle avoidance action in response to the target signal.

17. The cleaning device according to claim 16, characterized in that The striker assembly further includes a sensor group, which includes at least two groups of sensor modules, and the sensor modules belonging to the same sensor group cooperate to monitor the movement of the same first striker.

18. The cleaning device according to claim 16, characterized in that The sensor module comprises: a light shielding housing; and The light sensing element is accommodated in the inner cavity of the light shielding shell.

19. The cleaning device according to claim 1, characterized in that The cleaning device has a travel direction, and the device body moves along the travel direction on the surface to be cleaned; The device body has a front end and a rear end that are arranged opposite to each other, and the travel direction is from the rear end to the front end; The cleaning device also includes: A charging component is arranged at the rear end, and the first collision plate is also arranged adjacent to the charging component.

20. The cleaning device according to claim 1, characterized in that The cleaning device has a travel direction and a width direction that are perpendicular to each other, the device body can move along the travel direction on the surface to be cleaned, and the width direction is also parallel to the surface to be cleaned; The device body comprises: the main body; and A side portion, located at a side edge of the main body in the width direction, and the dust collecting port is opened at the side portion, and the first collision plate is movably arranged at the side portion; Wherein, the side portion has a target orthographic projection on the surface to be cleaned, and the side of the target orthographic projection in the width direction has a target outer edge line extending along the traveling direction, and the target outer edge line has a straight line segment or at least two positions on the target outer edge line have different curvatures.

21. A cleaning device, characterized in that: include: The device body is movable on the surface to be cleaned; A charging component, arranged on the device body; as well as The impact plate assembly includes a first impact plate and a connecting member, wherein the first impact plate is movably arranged on the device body through the connecting member, and the first impact plate is arranged adjacent to the charging member, and the device body can perform obstacle avoidance action in response to the first impact plate being hit by an obstacle.

22. The cleaning device according to claim 21, characterized in that The cleaning device has a travel direction, and the device body moves along the travel direction on the surface to be cleaned; The device body has a front end and a rear end that are arranged opposite to each other, and the travel direction is from the rear end to the front end; The cleaning device also includes: A second striker plate is movably disposed at the front end, and the device body can also perform an obstacle avoidance action in response to the second striker plate being hit by an obstacle; Wherein, the charging component is close to the rear end, and the first impact plate is close to the charging component relative to the second impact plate.

23. The cleaning device according to claim 21, characterized in that The cleaning device has a travel direction, and the device body moves along the travel direction on the surface to be cleaned; The first collision plate includes a front collision plate and a rear collision plate, the front collision plate and the rear collision plate are arranged at intervals along the traveling direction, and the front collision plate is farther away from the charging component than the rear collision plate.

24. A cleaning device, characterized in that: The cleaning device has a travel direction and a width direction that are perpendicular to each other, and the cleaning device comprises: A device body, capable of moving along the travel direction on the surface to be cleaned, wherein the width direction is also parallel to the surface to be cleaned, the device body comprises a main body portion and a side portion, the side portion is located on the side of the main body portion in the width direction, and the side portion has a target orthographic projection on the surface to be cleaned, the target orthographic projection has an outer edge line away from the main body portion in the width direction, the outer edge line has a straight line segment or at least two positions on the outer edge line have different curvatures; and The strike plate assembly comprises a first strike plate and a connecting member, wherein the first strike plate is movably arranged on the side portion through the connecting member, and the first strike plate can move along the width direction in response to the impact of an obstacle, so that the device body performs an obstacle avoidance action.

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