Edge extension detection device, cleaning equipment and obstacle detection method thereof

Abstract

The invention relates to an edge extension detection device, cleaning equipment and an obstacle detection method thereof, and the cleaning equipment comprises a host which is provided with an anti-collision plate on at least one side in the running direction; the edge extension detection device is arranged on the side, away from the main machine, of the anti-collision plate, the edge extension detection device comprises at least two sensing units distributed in the height direction of the main machine at intervals, the sensing units send first electric signals when making contact with an obstacle and compressed by a first distance, and the main machine conducts edge extension path planning according to the first electric signals. According to the method, surrounding obstacles can be effectively recognized in a mode of being in contact with the obstacles, the operation capacity and the safety coefficient of different edge extension scenes are improved, and the cleaning efficiency is improved.

Description

Technical Field

[0001] The present application relates to the technical field of intelligent cleaning equipment, and in particular to a Yanbian detection device, a cleaning equipment and an obstacle detection method thereof. Background Art

[0002] Obstacle detection is an important function of sweeping robots. It determines the diversity of scenarios in which sweeping robots can operate and plays a vital role in their adaptability to scenarios and safety factors. At present, sweeping robots use optical sensors to detect obstacles for edge cleaning. The optical sensors can detect obstacles with an accuracy of 1cm-2cm from the obstacle. The upper and lower distances cannot cover the height of the sweeping robot. They have different sensitivities to obstacles of different colors and cannot accurately judge obstacles such as glass and mirrors, resulting in constant collisions or even missed sweeps during cleaning. Summary of the invention

[0003] The purpose of this application is to provide a Yanbian detection device, a cleaning device and an obstacle detection method thereof, which can effectively identify surrounding obstacles by contacting the obstacles, improve the operating capacity and safety factor of different Yanbian scenarios, and improve the cleaning efficiency.

[0004] In the first aspect, an embodiment of the present application provides a cleaning device, comprising: a main body, with an anti-collision plate provided on at least one side along the running direction; and an edge detection device, which is arranged on the anti-collision plate, and the edge detection device includes at least two sensing units spaced apart and distributed along the height direction of the main body, wherein the sensing unit sends a first electrical signal when it contacts an obstacle and is compressed a first distance, and the main body performs edge path planning according to the first electrical signal.

[0005] In a possible implementation, the sensing unit sends a second electrical signal when it contacts an obstacle and is compressed a second distance, and the host moves in a direction away from the obstacle according to the second electrical signal, and the second distance is greater than the first distance.

[0006] In one possible implementation, the sensing unit includes a bracket connected to the anti-collision plate and a contact end retractably connected to the bracket, at least a portion of the contact end is located on a side of the anti-collision plate facing away from the main unit, the bracket has a receiving cavity, a sensor is disposed in the receiving cavity, and the contact end is compressed a first distance when it contacts an obstacle, and triggers the sensor to send a first electrical signal.

[0007] In a possible implementation, a protruding shaft is provided at one end of the contact end facing the bracket, a baffle is provided at one side of the bracket facing the contact end, the protruding shaft passes through the baffle, and an elastic member is provided between the outer peripheral side of the protruding shaft and the baffle.

[0008] In one possible implementation, a shading sheet is further provided at one end of the extending shaft that passes through the baffle, and the sensor includes a first optocoupler and a second optocoupler that are spaced apart. When the contact end is compressed by a first distance, the shading sheet contacts the first optocoupler and is not in contact with the second optocoupler, so as to trigger the sensor to send a first electrical signal.

[0009] In a possible implementation, when the contact end is compressed by the second distance, the light shielding sheet contacts both the first optical coupler and the second optical coupler to trigger the sensor to send a second electrical signal.

[0010] In a possible implementation, the first distance is d1, and the value range is 5mm≤d1<8mm; the second distance is d2, and the value range is 8mm≤d2≤10mm. Optionally, the detection range of the sensing unit is 7mm±3mm.

[0011] In a possible implementation, the contact end is a roller, and a rotation center axis of the roller extends along a height direction of the host.

[0012] In a possible implementation, when the contact end is not in contact with the obstacle, the height of the contact end exposed from the anti-collision plate is less than the radius of the contact end.

[0013] In a possible implementation, an opening for allowing the contact end to pass through is provided on the anti-collision plate, and a brush capable of contacting the contact end is provided on the outer peripheral side of the opening.

[0014] In the second aspect, an embodiment of the present application also provides an edge extension detection device, which is connected to a main unit of the cleaning equipment. A collision avoidance plate is provided on at least one side of the main unit along the running direction. The edge extension detection device is provided on the collision avoidance plate. The edge extension detection device includes at least two sensing units spaced apart along the height direction of the main unit, wherein the sensing unit sends a first electrical signal when it contacts an obstacle and is compressed a first distance, and the main unit performs edge extension path planning according to the first electrical signal.

[0015] In a possible implementation, the sensing unit sends a second electrical signal when it contacts an obstacle and is compressed a second distance, and the host moves in a direction away from the obstacle according to the second electrical signal, and the second distance is greater than the first distance.

[0016] In one possible implementation, the sensing unit includes a bracket connected to the anti-collision plate and a contact end retractably connected to the bracket, at least a portion of the contact end is located on a side of the anti-collision plate facing away from the main unit, the bracket has a receiving cavity, a sensor is disposed in the receiving cavity, and the contact end is compressed a first distance when it contacts an obstacle, and triggers the sensor to send a first electrical signal.

[0017] In a possible implementation, a protruding shaft is provided at one end of the contact end facing the bracket, a baffle is provided at one side of the bracket facing the contact end, the protruding shaft passes through the baffle, and an elastic member is provided between the outer peripheral side of the protruding shaft and the baffle.

[0018] In one possible implementation, a shading sheet is further provided at one end of the extending shaft that passes through the baffle, and the sensor includes a first optocoupler and a second optocoupler that are spaced apart. When the contact end is compressed by a first distance, the shading sheet contacts the first optocoupler and is not in contact with the second optocoupler, so as to trigger the sensor to send a first electrical signal.

[0019] In a possible implementation, when the contact end is compressed by the second distance, the light shielding sheet contacts both the first optical coupler and the second optical coupler to trigger the sensor to send a second electrical signal.

[0020] In a possible implementation, the first distance is d1, and the value range is 5mm≤d1<8mm; the second distance is d2, and the value range is 8mm≤d2≤10mm. Optionally, the detection range of the sensing unit is 7mm±3mm.

[0021] In a possible implementation, the contact end is a roller, and a rotation center axis of the roller extends along a height direction of the host.

[0022] In a possible implementation, when the contact end is not in contact with the obstacle, the height of the contact end exposed from the anti-collision plate is less than the radius of the contact end.

[0023] In a third aspect, an embodiment of the present application provides an obstacle detection method for a cleaning device, comprising: detecting whether there are obstacles in the surrounding environment; if so, obtaining a first electrical signal sent by at least one sensing unit in a Yanbian detection device; and controlling the host to perform Yanbian path planning according to the first electrical signal, wherein the sensing unit sends a first electrical signal when it contacts an obstacle and is compressed a first distance.

[0024] In one possible implementation, the obstacle detection method also includes: if at least one sensing unit in the Yanbian detection device sends a second electrical signal, the control host moves in a direction away from the obstacle according to the second electrical signal, wherein the sensing unit sends a second electrical signal when it contacts the obstacle and is compressed a second distance, and the second distance is greater than the first distance.

[0025] The edge detection device, cleaning equipment and obstacle detection method provided by the embodiment of the present application are provided by setting the edge detection device on the anti-collision plate on at least one side of the main machine along the running direction, and the edge detection device includes at least two sensing units spaced apart along the height direction of the main machine, wherein the sensing unit sends a first electrical signal when it contacts the obstacle and is compressed by a first distance, and the main machine performs edge path planning according to the first electrical signal. Thus, by setting the edge detection device on at least one side of the main machine along the running direction, and the edge detection device includes at least two sensing units spaced apart along the height direction of the main machine, any sensing unit can identify the obstacle by contacting the obstacle, and can effectively cover all obstacles within the height direction range of the cleaning equipment, improve detection accuracy, and prevent missed scanning. In addition, compared with the technical solution in the related art that uses a non-contact method of an optical sensor that has different sensitivities to obstacles of different colors and cannot accurately judge obstacles such as glass and mirrors, the sensing unit of the present application can have the same sensitivity to obstacles of different colors and materials, further improving detection accuracy, improving the operating capacity and safety factor of different edge scenes, and improving cleaning efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. In addition, in the drawings, the same parts are marked with the same reference numerals, and the drawings are not drawn according to the actual scale.

[0027] Figure 1 A schematic diagram showing the structure of a cleaning device provided in an embodiment of the present application is shown;

[0028] Figure 2 Show Figure 1 Schematic diagram of the scene where the cleaning equipment collides with different obstacles;

[0029] Figure 3 A schematic diagram showing the structure of a sensing unit of a Yanbian detection device provided by an embodiment of the present application in an initial state;

[0030] Figure 4 Show Figure 3 The structural schematic diagram of the sensing unit of the Yanbian detection device shown is in a compressed state;

[0031] Figure 5 A flowchart of an obstacle detection method for a cleaning device provided in an embodiment of the present application is shown.

[0032] Description of reference numerals:

[0033] 1. Yanbian detection device; 10. Sensing unit; 11. Bracket; 12. Contact end; 13. Sensor; 131. First optical coupler; 132. Second optical coupler; 14. Extending shaft; 15. Baffle; 16. Elastic member; 17. Shading sheet; O. Obstacle;

[0034] 2. Main machine; 21. Anti-collision plate; 211. Opening; 212. Brush. DETAILED DESCRIPTION

[0035] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution 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 part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0036] Figure 1 The schematic diagram of the structure of the cleaning device provided in the embodiment of the present application is shown. Figure 2 Show Figure 1 Schematic diagram of the scenario in which the cleaning device collides with different obstacles.

[0037] like Figure 1 As shown, an embodiment of the present application provides a cleaning device, including a main unit 2 and an edge detection device 1. The main unit 2 is provided with an anti-collision plate 21 on at least one side along the running direction, and the edge detection device 1 is provided on the anti-collision plate 21. The edge detection device 1 includes at least two sensing units 10 spaced apart and distributed along the height direction of the main unit 2, wherein the sensing unit 10 sends a first electrical signal when it contacts an obstacle O and is compressed by a first distance, and the main unit 2 performs edge path planning according to the first electrical signal.

[0038] Optionally, the cleaning device may be a sweeping robot, a mopping robot, or a sweeping and mopping robot. The sweeping robot uses a sweeping brush to sweep the floor, the mopping robot uses a mop to mop the floor, and the sweeping and mopping robot uses a mop to sweep and mop the floor. For ease of description, the present application takes a sweeping robot as an example for illustration.

[0039] When the sweeping robot moves on the ground, the sweeping brush moves with the main body of the device, and at the same time the sweeping brush itself rotates, so that the rotating sweeping brush and the ground produce sliding friction, thereby cleaning the ground. In the related art, during the cleaning process, the sweeping robot detects obstacles through optical sensors for edge cleaning. The optical sensor can detect the obstacle within the range of 1cm-2cm, and the upper and lower distances cannot cover the height of the sweeping robot. It has different sensitivities to obstacles of different colors, and cannot accurately judge obstacles such as glass and mirrors, resulting in constant collisions or even missed sweeps during cleaning.

[0040] To this end, the cleaning equipment provided in the embodiment of the present application is provided with an anti-collision plate 21 on at least one side of the main body 2 along the running direction, and the edge detection device 1 is arranged on the side of the anti-collision plate 21 away from the main body 2. The edge detection device 1 includes at least two sensing units 10 spaced apart along the height direction of the main body 2. The contact detection method between the sensing unit 10 and the obstacle O replaces the non-contact photoelectric sensor in the related technology, and can have the same sensitivity to obstacles of any color and material, so that obstacles such as glass and mirrors can be accurately identified, and the stability is good. At least two sensing units 10 are spaced apart along the height direction of the main body 2, and can detect all obstacles within the height range of the fuselage, thereby improving the detection accuracy and preventing missed scanning.

[0041] like Figure 2 As shown in (a), when the obstacle O contacts the sensing unit 10 located below the host 2 in the height direction, the obstacle O may be a stair step, for example, and the sensing unit 10 located below is triggered and sends a first electrical signal; Figure 2 As shown in (b), when the obstacle O contacts the sensing unit 10 above the host 2 in the height direction, the obstacle O may be a wall protrusion, for example, and the sensing unit 10 above is triggered and sends a first electrical signal; Figure 2 As shown in (c), when the obstacle O contacts all the sensing units 10 in the height direction of the host 2, the obstacle O may be, for example, a plane mirror, and each sensing unit 10 will be triggered at the same time and send a first electrical signal to enable the host 2 to perform Yanbian path planning. Therefore, the cleaning device provided in the embodiment of the present application can cover all obstacles within the height range of the fuselage, improve detection accuracy, and avoid missed scans. In addition, the sensing unit 10 has the same sensitivity to obstacles of any color and material, for example, it can accurately identify obstacles such as glass and mirrors, further improve detection accuracy, perform stable operation when performing cleaning operations, and improve the operation capacity and safety factor of different Yanbian scenes.

[0042] In one example, the anti-collision plate 21 is arranged on the right side of the host 2 along the running direction, that is, the Yanbian detection device 1 is arranged on the right side of the host 2 along the running direction. When at least one sensing unit 10 in the Yanbian detection device 1 contacts the obstacle O, the sensing unit 10 sends a first electrical signal when it is compressed a first distance by the obstacle O. The host 2 performs Yanbian path planning according to the first electrical signal, so that the host 2 approaches the obstacle on the right side for cleaning operations.

[0043] In another example, the anti-collision plate 21 is arranged on the left and right sides of the host 2 along the running direction, that is, the Yanbian detection device 1 is arranged on the left and right sides of the host 2 along the running direction, and at least two sensing units 10 are spaced apart on each side along the height direction of the host 2. When any sensing unit 10 on any side is compressed by the obstacle O by a first distance, a first electrical signal is sent to make the host 2 approach the obstacle on the corresponding side for cleaning operations, thereby further improving the detection accuracy of the Yanbian detection device 1.

[0044] The edge detection device and cleaning equipment provided in the embodiment of the present application are provided with an edge detection device 1 on the anti-collision plate 21 on at least one side of the main machine 2 along the running direction, and the edge detection device 1 includes at least two sensing units 10 spaced apart along the height direction of the main machine 2, wherein the sensing unit 10 sends a first electrical signal when it contacts the obstacle O and is compressed by a first distance, and the main machine 2 performs edge path planning according to the first electrical signal. Therefore, by providing the edge detection device 1 on at least one side of the main machine 2 along the running direction, and the edge detection device 1 includes at least two sensing units 10 spaced apart along the height direction of the main machine, any one of the sensing units 10 can identify the obstacle O by contacting the obstacle O, and can effectively cover all obstacles within the height direction range of the cleaning equipment, improve the detection accuracy, and prevent missed scanning. In addition, compared with the technical solution in the related art that uses a non-contact method of optical sensors, which has different sensitivities to obstacles of different colors and cannot accurately judge obstacles such as glass and mirrors, the sensing unit of the present application can have the same sensitivity to obstacles of different colors and materials, further improving the detection accuracy, improving the operating capacity and safety factor of different Yanbian scenes, and improving cleaning efficiency.

[0045] In some embodiments, the sensing unit 10 includes a bracket 11 connected to the anti-collision plate 21 and a contact end 12 retractably connected to the bracket 11, at least a portion of the contact end 12 is located on the side of the anti-collision plate 21 away from the host 2, the bracket 11 has a receiving cavity, a sensor 13 is arranged in the receiving cavity, and the contact end 12 is compressed a first distance when it contacts the obstacle O, and triggers the sensor 13 to send a first electrical signal.

[0046] Figure 3 A schematic diagram showing the structure of a sensing unit of a Yanbian detection device provided by an embodiment of the present application in an initial state; Figure 4 Show Figure 3 The structure diagram of the sensing unit of the Yanbian detection device shown is in a compressed state.

[0047] like Figure 3 As shown, the sensing unit 10 is located on the right side of the host 2 along the running direction, and the contact end 12 extends from the right side of the host 2 through the bracket 11 to detect whether there are obstacles around. When the contact end 12 contacts the surrounding obstacles, such as a fixed mirror, the mirror will compress the contact end 12 toward one side of the inside of the host 2, and when the compression amount meets the first distance, it will trigger the sensor 13 set in the accommodating cavity of the bracket 11 to send a first electrical signal.

[0048] Further, a projecting shaft 14 is provided at one end of the contact end 12 facing the bracket 11, a baffle 15 is provided at one side of the bracket 11 facing the contact end 12, the projecting shaft 14 penetrates the baffle 15, and an elastic member 16 is provided between the outer peripheral side of the projecting shaft 14 and the baffle 15. Optionally, the elastic member 16 is a compression spring, and the elastic member 16 is sleeved on the outer peripheral side of the projecting shaft 14. In the initial state, the contact end 12 is not in contact with the obstacle O, and the elastic member 16 is in a naturally extended state; when the contact end 12 comes into contact with the obstacle O, the contact end 12 compresses the elastic member 16 to move toward the baffle 15, so as to trigger the sensor 13 provided in the accommodating cavity of the bracket 11 to send a first electrical signal.

[0049] Furthermore, a shading sheet 17 is also provided at one end of the extended shaft 14 that passes through the baffle 15, and the sensor 13 includes a first optical coupler 131 and a second optical coupler 132 that are spaced apart. When the contact end 12 is compressed by a first distance, the shading sheet 17 contacts the first optical coupler 131 and is not in contact with the second optical coupler 132, so as to trigger the sensor 13 to send a first electrical signal.

[0050] Specifically, the first optical coupler 131 and the second optical coupler 132 are both photoelectric sensors, and the first optical coupler 131 and the second optical coupler 132 are spaced apart along the radial direction and the axial direction of the extension shaft 14. When the light shielding sheet 17 contacts the first optical coupler 131 or the second optical coupler 132, the first optical coupler 131 or the second optical coupler 132 will be triggered to send an electrical signal. In order to facilitate the calculation of the distance between the obstacle O and the host 2, it is designed that when the light shielding sheet 17 contacts the first optical coupler 131 and is not in contact with the second optical coupler 132, the sensor 13 can be triggered to send a first electrical signal.

[0051] Furthermore, if Figure 4As shown, the sensing unit 10 sends a second electrical signal when it contacts the obstacle O and is compressed by a second distance, and the host 2 moves in a direction away from the obstacle O according to the second electrical signal, and the second distance is greater than the first distance. Thus, the edge extension accuracy is controlled by controlling the distance at which the sensing unit 10 contacts and is compressed by the obstacle O, so as to prevent the obstacle O from being too close to the cleaning device and damaging the cleaning device. The first electrical signal and the second electrical signal can be distinguished by customizing different information, or by sending different alarm sounds, without limitation.

[0052] Optionally, the first distance is d1, and the value range is 5mm≤d1<8mm. Optionally, the second distance is d2, and the value range is 8mm≤d2≤10mm. Optionally, the detection range of the sensing unit is 7mm±3mm.

[0053] like Figure 3 and Figure 4 As shown, when the cleaning device is operating normally, the host 2 does not extend the edge because it does not contact the obstacle O, and the first optical coupler 131 and the second optical coupler 132 are not blocked by the light shielding sheet 17, and the host 2 receives a signal of no blocking. When the host 2 extends the edge and contacts the obstacle O, the exposed contact end 12 is compressed inward, and when the shielding sheet 17 moves a distance of, for example, 7 mm, the shielding sheet 17 will cover the first optical coupler 131, and the second optical coupler 132 will not be blocked, and the host 2 enters the extended edge state.

[0054] Since the first optical coupler 131 and the second optical coupler 132 have precision problems, in actual use, the shielding plate 17 can block the first optical coupler 131 when the moving distance is, for example, 5mm, and this distance is the minimum value of the extension. During the extension process, the shielding plate 17 may be slightly skewed due to the jitter of the whole machine, the different motor speeds of the host 2 extension, and other reasons, causing the shielding plate 17 to move a distance of 10mm to reach the position of the second optical coupler 132, blocking the second optical coupler 132, causing the two optical couplers to be blocked at the same time, triggering the sensor 13 to send a second electrical signal. At this time, it is necessary to control the host 2 to be slightly away from the obstacle O to reduce the compression of the contact end 12 toward the side of the host 2, until the second optical coupler 132 is no longer blocked by the shielding plate 17, and only the first optical coupler 131 is blocked by the shielding plate 17, so as to ensure that the maximum distance of the extension is within 4mm~10mm, thereby improving the accuracy of the extension.

[0055] The sensor 13 uses the shading sheet 17 to block the first optical coupler 131 and the second optical coupler 132 that are distributed at intervals to generate different electrical signals for the host 2 to make judgments and decisions. The second optical coupler 132 can control the edge extension accuracy of the cleaning equipment to reach ±3mm, thereby improving the operating capacity and safety factor of different edge extension scenarios and improving the cleaning efficiency.

[0056] In some embodiments, the contact end 12 is a roller, and the rotation center axis of the roller extends along the height direction of the main body 2. In this way, when the cleaning device is running along the edge, rolling friction is generated between the contact end 12 and the obstacle O, reducing the resistance between the two, preventing the obstacle O from damaging the contact end 12, and at the same time will not affect the running speed of the cleaning device.

[0057] Furthermore, the height of the contact end 12 exposed from the anti-collision plate 21 when not in contact with the obstacle O is less than the radius of the contact end 12. Optionally, the radius of the contact end 12 is 10 mm, and the height of the contact end 12 exposed from the anti-collision plate 21 when not in contact with the obstacle O is 8.5 mm, so as to prevent the contact end 12 from being affected by the tangential force of the protrusion when the host 2 is running. If a tangential force is encountered, since most of the structure of the contact end 12 is inside the host 2, the lateral tangential force will still compress the contact end 12 inward.

[0058] In some embodiments, the anti-collision plate 21 is provided with an opening 211 for allowing the contact terminal 12 to pass through, and a brush 212 capable of contacting the contact terminal 12 is provided on the outer peripheral side of the opening 211. The brush 212 can prevent dust from entering the gap between the contact terminal 12 and the host 2, and prevent the contact terminal 12 from being stained with dust and affecting the recognition accuracy of the sensing unit 10.

[0059] Figure 5 A flowchart of an obstacle detection method for a cleaning device provided in an embodiment of the present application is shown.

[0060] like Figure 5 As shown, the obstacle detection method for a cleaning device provided in an embodiment of the present application includes the following steps:

[0061] Step S1: Detect whether there is an obstacle O in the surrounding environment;

[0062] Step S2: If yes, obtain a first electrical signal sent by at least one sensing unit 10 in the Yanbian detection device 1;

[0063] Step S3: controlling the host 2 to perform extension path planning according to the first electrical signal, wherein the sensing unit 10 sends the first electrical signal when it contacts the obstacle O and is compressed by the first distance.

[0064] Furthermore, the obstacle O detection method provided in the embodiment of the present application also includes:

[0065] Step S4: If at least one sensing unit 10 in the Yanbian detection device 1 sends a second electrical signal, the control host 2 moves in a direction away from the obstacle O according to the second electrical signal, wherein the sensing unit 10 sends the second electrical signal when it contacts the obstacle O and is compressed a second distance.

[0066] Optionally, the value range of the first distance d1 is 5mm≤d1<8mm. Optionally, the value range of the second distance d2 is 8mm≤d2≤10mm. Optionally, the detection range of the sensing unit is 7mm±3mm.

[0067] like Figure 3 and Figure 4 As shown, when the cleaning device is operating normally, the host 2 does not extend the edge because it does not contact the obstacle O, and the first optical coupler 131 and the second optical coupler 132 of the sensing unit 10 are not blocked by the light shielding sheet 17, and the host 2 receives a signal of no blocking. When the host 2 extends the edge and contacts the obstacle O, the exposed contact end 12 is compressed inward, and when the shielding sheet 17 moves a distance of, for example, 7 mm, the shielding sheet 17 will cover the first optical coupler 131, and the second optical coupler 132 will not be blocked, and the host 2 enters the extended edge state.

[0068] Since the first optical coupler 131 and the second optical coupler 132 have precision problems, in actual use, the shielding plate 17 can block the first optical coupler 131 when the moving distance is, for example, 5mm. This distance is the minimum value of the edge extension. During the edge extension process, the shielding plate 17 may be slightly skewed due to the jitter of the whole machine, the different motor speeds of the host 2 edge extension, and other reasons, causing the shielding plate 17 to move a distance of 10mm to reach the position of the second optical coupler 132, blocking the second optical coupler 132, causing the two optical couplers to be blocked at the same time, triggering the sensor 13 to send a second electrical signal. At this time, it is necessary to control the host 2 to be slightly away from the obstacle O to reduce the compression of the contact end 12 toward the side of the host 2, until the second optical coupler 132 is no longer blocked by the shielding plate 17, and only the first optical coupler 131 is blocked by the shielding plate 17 to ensure that the maximum edge extension distance is within 4mm~10mm, and then continue the edge extension.

[0069] The sensing unit 10 uses the shading sheet 17 to block the first optical coupler 131 and the second optical coupler 132 that are distributed at intervals to generate different electrical signals for the host 2 to make judgments and decisions. The second optical coupler 132 can control the edge extension accuracy of the cleaning equipment to reach ±3mm, thereby improving the operating capacity and safety factor of different edge extension scenarios and improving the cleaning efficiency.

[0070] The obstacle detection method for cleaning equipment provided in the embodiment of the present application is provided with a side detection device 1 on at least one side of the main machine 2 along the running direction, and the side detection device 1 includes at least two sensing units 10 spaced apart along the height direction of the main machine. Any sensing unit 10 can identify the obstacle by contacting the obstacle O, which can effectively cover all obstacles within the height direction of the cleaning equipment, improve the detection accuracy, and prevent missed scans. In addition, compared with the technical solution in the related art that uses a non-contact method of an optical sensor that has different sensitivities to obstacles of different colors and cannot accurately judge obstacles such as glass and mirrors, the sensing unit 10 of the present application can have the same sensitivity to obstacles of different colors and materials, further improving the detection accuracy, improving the operating capacity and safety factor of different side scenes, and improving the cleaning efficiency.

[0071] The technical solution provided by this embodiment is described below in conjunction with specific application scenarios.

[0072] like Figure 2 As shown, the cleaning device is a sweeping robot, including a main body 2 and an edge detection device 1, the main body 2 is provided with an anti-collision plate 21 on the right side along the running direction, the edge detection device 1 is provided on the anti-collision plate 21, and the edge detection device 1 includes two sensing units 10 distributed at intervals along the height direction of the main body 2. The sensing unit 10 includes a bracket 11 connected to the anti-collision plate 21 and a contact end 12 telescopically connected to the bracket 11, at least part of the contact end 12 is located on the side of the anti-collision plate 21 away from the main body 2, and the bracket 11 has a receiving cavity, and a sensor 13 is provided in the receiving cavity.

[0073] When the sweeping robot moves on the ground, the sweeping brush moves with the main body 2, and the sweeping brush itself rotates, so that the rotating sweeping brush generates sliding friction with the ground to clean the ground. During the cleaning operation, the sweeping robot performs edge cleaning through the two sensing units 10.

[0074] like Figure 2 As shown in (a), when the sensing unit 10 located below in the height direction contacts the stair step, the contact end 12 is compressed by a first distance and triggers the sensor 13 to send a first electrical signal, and the host 2 performs extension path planning according to the first electrical signal.

[0075] like Figure 2 As shown in (b), when the sensing unit 10 located above in the height direction contacts the wall protrusion, the contact end 12 is compressed by a first distance and triggers the sensor 13 to send a first electrical signal, and the host 2 performs edge path planning according to the first electrical signal.

[0076] like Figure 2As shown in (c), when the two sensing units 10 spaced apart in the height direction are in contact with the vertical plane mirror, the contact ends 12 of the two sensing units 10 are compressed by a first distance and trigger the sensor 13 to send a first electrical signal, and the host 2 performs edge path planning according to the first electrical signal.

[0077] Therefore, the cleaning device in this embodiment is provided with a side edge detection device 1 on one side of the main machine 2 along the running direction, and the side edge detection device 1 includes two sensing units 10 spaced apart along the height direction of the main machine. Any sensing unit 10 can identify obstacles by contacting the obstacles, which can effectively cover all obstacles within the height direction of the cleaning device, improve detection accuracy, and prevent missed scans. Compared with the technical solution in the related art that uses a non-contact method of an optical sensor that has different sensitivities to obstacles of different colors and cannot accurately judge obstacles such as glass and mirrors, the sensing unit of the present application can have the same sensitivity to obstacles of different colors and materials, further improving detection accuracy, improving the operating capacity and safety factor of different side edge scenes, and improving cleaning efficiency.

[0078] In addition, the cleaning equipment continues to extend the edge after coming into contact with the above-mentioned three obstacles O during the cleaning operation. During the extension process, the sensing unit 10 may be slightly skewed due to the shaking of the whole machine, the different motor speeds of the main machine 2 during the extension, and other reasons, causing the contact end 12 to be compressed to a second distance, triggering the sensor 13 to send a second electrical signal. At this time, it is necessary to control the main machine 2 to be slightly away from the obstacle O to ensure that the extension distance remains within the first distance range, thereby improving the extension accuracy and preventing the obstacle O from being too close to the cleaning equipment and damaging the cleaning equipment.

[0079] It should be noted that the phrases "one embodiment", "an embodiment", "an exemplary embodiment", "some embodiments", etc. mentioned in the specification indicate that the described embodiments may include certain features, structures or characteristics, but not every embodiment may include the certain features, structures or characteristics. In addition, such phrases do not necessarily refer to the same embodiment. In addition, when describing certain features, structures or characteristics in conjunction with an embodiment, it is within the knowledge of those skilled in the art to implement such features, structures or characteristics in conjunction with other embodiments, whether explicitly or not explicitly described.

[0080] It should be easily understood that “on,” “above,” and “over” in the present disclosure should be interpreted in the broadest manner, so that “on” not only means “directly on something,” but also includes the meaning of “on something” with intervening features or layers therebetween, and “above” or “over” not only includes the meaning of “above” or “over,” but also may include the meaning of “above” or “over something” with no intervening features or layers therebetween (i.e., directly on something).

[0081] In addition, spatially relative terms, such as "below," "below," "beneath," "above," "above," etc., may be used herein for ease of description to describe the relationship of one element or feature relative to other elements or features as shown in the figures. Spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation shown in the figures. The device may have other orientations (rotated 90 degrees or at other orientations), and the spatially relative descriptors used herein may likewise be interpreted accordingly.

[0082] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0083] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A cleaning device, characterized in that: include: The main machine is provided with an anti-collision plate on at least one side along the running direction; and The edge detection device is arranged on the anti-collision plate, and the edge detection device includes at least two sensing units spaced apart and distributed along the height direction of the host. The sensing unit sends a first electrical signal when it contacts an obstacle and is compressed by a first distance, and the host performs edge path planning according to the first electrical signal.

2. The cleaning device according to claim 1, characterized in that The sensing unit sends a second electrical signal when it contacts an obstacle and is compressed by a second distance, and the host moves in a direction away from the obstacle according to the second electrical signal, and the second distance is greater than the first distance.

3. The cleaning device according to claim 1 or 2, characterized in that: The sensing unit includes a bracket connected to the anti-collision plate and a contact end retractably connected to the bracket, at least a portion of the contact end is located on a side of the anti-collision plate facing away from the host, the bracket has a receiving cavity, a sensor is arranged in the receiving cavity, and the contact end is compressed the first distance when it contacts an obstacle, and triggers the sensor to send the first electrical signal.

4. The cleaning device according to claim 3, characterized in that: An extension shaft is arranged at one end of the contact end facing the bracket, a baffle is arranged at one side of the bracket facing the contact end, the extension shaft penetrates the baffle, and an elastic member is arranged between the outer peripheral side of the extension shaft and the baffle.

5. The cleaning device according to claim 4, characterized in that A shading sheet is also provided at one end of the extending shaft that passes through the baffle, and the sensor includes a first optocoupler and a second optocoupler that are spaced apart from each other. When the contact end is compressed by the first distance, the shading sheet contacts the first optocoupler and is not in contact with the second optocoupler, so as to trigger the sensor to send the first electrical signal.

6. The cleaning device according to claim 4, characterized in that When the contact end is compressed by the second distance, the light shielding sheet contacts both the first optical coupler and the second optical coupler to trigger the sensor to send the second electrical signal.

7. The cleaning device according to claim 2, characterized in that: The first distance is d1, and its value range is 5mm≤d1<8mm; the second distance is d2, and its value range is 8mm≤d2≤10mm; the detection range of the sensing unit is 7mm±3mm.

8. The cleaning device according to claim 3, characterized in that: The contact end is a roller, and a rotation center axis of the roller extends along a height direction of the host.

9. The cleaning device according to claim 8, characterized in that When the contact end is not in contact with an obstacle, the height of the contact end exposed from the anti-collision plate is smaller than the radius of the contact end.

10. The cleaning device according to claim 8, characterized in that The anti-collision plate is provided with an opening for allowing the contact end to pass through, and a brush capable of contacting the contact end is provided on the outer peripheral side of the opening.

11. An edge detection device connected to a main unit of a cleaning device, wherein at least one side of the main unit along the running direction is provided with an anti-collision plate, and the edge detection device is provided on the anti-collision plate, characterized in that: The edge extension detection device includes at least two sensing units spaced apart and distributed along the height direction of the host, wherein the sensing unit sends a first electrical signal when it contacts an obstacle and is compressed a first distance, and the host performs edge extension path planning according to the first electrical signal.

12. The Yanbian detection device according to claim 11, characterized in that: The sensing unit sends a second electrical signal when it contacts an obstacle and is compressed by a second distance, and the host moves in a direction away from the obstacle according to the second electrical signal, and the second distance is greater than the first distance.

13. The Yanbian detection device according to claim 11 or 12, characterized in that: The sensing unit includes a bracket connected to the anti-collision plate and a contact end retractably connected to the bracket, at least a portion of the contact end is located on a side of the anti-collision plate facing away from the host, the bracket has a receiving cavity, a sensor is arranged in the receiving cavity, and the contact end is compressed the first distance when it contacts an obstacle, and triggers the sensor to send the first electrical signal.

14. The Yanbian detection device according to claim 13, characterized in that: An extension shaft is arranged at one end of the contact end facing the bracket, a baffle is arranged at one side of the bracket facing the contact end, the extension shaft penetrates the baffle, and an elastic member is arranged between the outer peripheral side of the extension shaft and the baffle.

15. The edge detection device according to claim 14, characterized in that: A shading sheet is also provided at one end of the extending shaft that passes through the baffle, and the sensor includes a first optocoupler and a second optocoupler that are spaced apart from each other. When the contact end is compressed by the first distance, the shading sheet contacts the first optocoupler and is not in contact with the second optocoupler, so as to trigger the sensor to send the first electrical signal.

16. The edge detection device according to claim 15, characterized in that: When the contact end is compressed by the second distance, the light shielding sheet contacts both the first optical coupler and the second optical coupler to trigger the sensor to send the second electrical signal.

17. The cleaning device according to claim 12, characterized in that The first distance is d1, and its value range is 5mm≤d1<8mm; the second distance is d2, and its value range is 8mm≤d2≤10mm; the detection range of the sensing unit is 7mm±3mm.

18. The Yanbian detection device according to claim 13, characterized in that: The contact end is a roller, and a rotation center axis of the roller extends along a height direction of the host.

19. The edge detection device according to claim 18, characterized in that: When the contact end is not in contact with an obstacle, the height of the contact end exposed from the anti-collision plate is smaller than the radius of the contact end.

20. An obstacle detection method for a cleaning device according to any one of claims 1 to 10, characterized in that: include: Detect whether there are obstacles in the surrounding environment; If yes, obtaining a first electrical signal sent by at least one sensing unit in the Yanbian detection device; The control host performs extension path planning according to the first electrical signal, wherein the sensing unit sends the first electrical signal when the sensing unit contacts the obstacle and is compressed by the first distance.

21. The obstacle detection method according to claim 20, characterized in that: Also includes: If at least one sensing unit in the Yanbian detection device sends a second electrical signal, the control host moves in a direction away from the obstacle according to the second electrical signal, wherein the sensing unit sends the second electrical signal when it contacts the obstacle and is compressed a second distance, and the second distance is greater than the first distance.

Images