Obstacle recognition assembly, cleaning equipment and obstacle recognition and path planning method

Abstract

The invention discloses an obstacle recognition assembly, cleaning equipment and an obstacle recognition and path planning method, and a carrier of the obstacle recognition assembly can be detachably connected with a base body of the cleaning equipment so as to facilitate installation and separation of the obstacle recognition assembly and the cleaning equipment. The ball head assembly makes contact with different types of obstacles so as to move in different moving directions relative to the cleaning face in the first direction perpendicular to the cleaning face within the preset contact distance. The magnetic transmission assembly is connected with the ball head assembly so as to be driven by the ball head assembly to rotate in different directions. The magnetic induction unit is provided with change parameters corresponding to displacement change or angle change of the magnetic transmission assembly according to a preset magnetic induction distance, the magnetic induction unit obtains the corresponding different change parameters by inducing rotation of the magnetic transmission assembly in different directions, and an obstacle is recognized according to the different change parameters; therefore, the obstacle detection precision is improved.

Description

Technical Field

[0001] The present application relates to the field of daily cleaning, and specifically to an obstacle recognition component. The present application also provides a cleaning device, an obstacle recognition method based on the obstacle recognition component, a path planning method based on the cleaning device, and an electronic device and a storage medium. Background Art

[0002] With the development of social productivity and the continuous improvement of people's living standards, cleaning equipment has been widely used in daily life. Cleaning equipment includes floor scrubbers or surface cleaning equipment. In the process of the cleaning equipment moving in the dirty area to be cleaned, there will be obstacles in the dirty area to be cleaned, and in some scenes, the structural form of the obstacle is small and not easy to be found by the cleaning equipment, which will affect the normal operation and cleaning effect of the cleaning equipment. For example, in the process of glass cleaning equipment cleaning glass, some frameless glass or framed glass are often cleaned. Whether the glass has a frame or not will affect the normal driving of the cleaning equipment, thereby affecting the cleaning of the glass. Therefore, whether the glass has a frame or not can be defined as an obstacle in this scene. The prior art generally uses a movable impact plate to detect obstacles in this scene, but the movable impact plate is difficult to detect for some low frames, and there are also detection errors for frameless glass.

[0003] Therefore, how to improve the detection accuracy of cleaning equipment for obstacles has become an urgent problem to be solved by technical personnel in this field. Summary of the invention

[0004] The present application provides an obstacle recognition component, which can improve the detection accuracy of obstacles by a cleaning device. The present application also provides a cleaning device, an obstacle recognition method based on the obstacle recognition component, a path planning method based on the cleaning device, an electronic device, and a storage medium.

[0005] The present application provides an obstacle recognition component, comprising:

[0006] A carrier, which can be detachably connected to a base body of the cleaning device;

[0007] A ball head assembly is disposed on the carrier, is disposed toward the cleaning surface at a preset contact distance, and reciprocates along a first direction perpendicular to the cleaning surface at the preset contact distance; the preset contact distance is an absolute value distance at which the ball head assembly contacts an obstacle when reciprocating along the first direction;

[0008] A magnetic transmission assembly is disposed on the carrier and connected to the ball head assembly so as to rotate under the drive of the ball head assembly;

[0009] The magnetic sensing unit is arranged on the carrier and is arranged relative to the magnetic transmission component at a preset magnetic sensing distance, and is used to sense the change parameters corresponding to the displacement change or angle change of the magnetic transmission component to identify obstacles according to the change parameters.

[0010] Optionally, the magnetic transmission assembly includes:

[0011] A support shaft is disposed on the carrier along a second direction, wherein the second direction is perpendicular to the first direction;

[0012] A transmission connection component is sleeved on the support shaft and rotates around the support shaft, and the connecting portion of the transmission connection component is connected to the ball head assembly so as to rotate under the drive of the ball head assembly;

[0013] The magnetic component is arranged on the transmission connection component and is arranged toward the magnetic sensing unit at the preset magnetic sensing distance.

[0014] Optionally, the transmission connection component includes: a first transmission connection shaft, the first transmission connection shaft is sleeved on the support shaft to rotate around the support shaft;

[0015] The first transmission connecting shaft has a first radial end surface, the first radial end surface faces the magnetic induction unit at the preset magnetic induction distance, and the magnetic component is arranged on the first radial end surface;

[0016] A first connecting arm is provided on the circumferential outer side of the first transmission connection shaft, and the first connecting arm is connected to the ball head assembly so that the first transmission connection shaft can rotate under the drive of the ball head assembly; the first connecting arm is the connecting part of the transmission connection component.

[0017] Optionally, the transmission connection component includes:

[0018] A rotating tooth, mounted on the support shaft to rotate around the support shaft;

[0019] The rotating tooth has a second radial end surface, the second radial end surface faces the magnetic induction unit at the preset magnetic induction distance, and the magnetic component is arranged on the second radial end surface;

[0020] A first transmission tooth, wherein the connecting end of the first transmission tooth is connected to the ball head assembly, and the serrated end of the first transmission tooth is meshed with the rotating tooth, so that the first transmission tooth drives the rotating tooth to rotate under the drive of the ball head assembly; the first transmission tooth is the connecting part of the transmission connection component.

[0021] Optionally, the transmission connection component includes: a second transmission connection shaft, the second transmission connection shaft is sleeved on the support shaft to rotate around the support shaft;

[0022] A second connecting arm and a first extension arm are provided on the circumferential outer side of the second transmission connection shaft, and the second connecting arm is connected to the ball head assembly so that the second transmission connection shaft rotates under the drive of the ball head assembly; the second connecting arm is the connecting part of the transmission connection component;

[0023] The first extension arm extends along the circumference of the second transmission connecting shaft and rotates synchronously with the second transmission connecting shaft. The end of the first extension arm has a third radial end face, and the third radial end face faces the magnetic induction unit at the preset magnetic induction distance. The magnetic component is arranged on the third radial end face.

[0024] Optionally, the transmission connection component includes:

[0025] A third transmission connecting shaft, wherein the third transmission connecting shaft is sleeved on the support shaft to rotate around the support shaft;

[0026] The circumferential outer side of the third transmission connecting shaft is provided with a shifting tooth and a second extension arm, the second extension arm extends along the circumference of the third transmission connecting shaft and rotates synchronously with the third transmission connecting shaft; the end of the second extension arm has a fourth radial end face, the fourth radial end face faces the magnetic induction unit at the preset magnetic induction distance, and the magnetic component is arranged on the fourth radial end face; the fourth radial end face of the second extension arm is located in the second direction;

[0027] A second transmission tooth, the connecting end of the second transmission tooth is connected to the ball head assembly, and the serrated end of the second transmission tooth is meshed with the shifting tooth, so that the second transmission tooth drives the shifting tooth to rotate the third transmission connection shaft under the drive of the ball head assembly; the second transmission tooth is the connecting part of the transmission connection component.

[0028] Optionally, the magnetic component includes a radially half-magnetized magnet.

[0029] Optionally, the magnetic component includes an axially half-magnetized magnet.

[0030] Optionally, the transmission connection component is sleeved on the support shaft through the shaft connection hole and rotates around the support shaft.

[0031] Optionally, the transmission connection component further includes: an axle limiting structure, wherein the axle limiting structure is disposed on the axle connecting hole and the circumferential end surface of the support shaft and is used to limit the movement of the transmission connection component on the support shaft along the second direction.

[0032] Optionally, the magnetic transmission component further includes: a reset component, which is connected to the transmission connection component and the carrier and is used for returning to an initial position after the transmission connection component rotates.

[0033] Optionally, the magnetic sensing unit includes:

[0034] A tunnel magnetoresistance control board, provided on the carrier, for obtaining the change parameter obtained by the tunnel magnetoresistance sensor, so as to identify the obstacle according to the change parameter;

[0035] A tunnel magnetoresistance sensor is arranged on the tunnel magnetoresistance control board and is arranged relative to the magnetic component at a preset magnetic sensing distance, for sensing the angle change of the magnetic component and transmitting the obtained change parameters to the tunnel magnetoresistance control board; the change parameters include angle change parameters.

[0036] Optionally, the magnetic sensing unit includes:

[0037] A linear Hall control board, provided on the carrier, for obtaining the change parameters obtained by the linear Hall sensor, so as to identify the obstacle according to the change parameters;

[0038] A linear Hall sensor is arranged on the linear Hall control board and is arranged relative to the magnetic component at a preset magnetic sensing distance, and is used to sense the displacement change of the magnetic component and transmit the obtained change parameters to the linear Hall control board; the change parameters include magnetic flux change parameters.

[0039] Optionally, the ball head assembly includes:

[0040] A ball head movable axis is movably arranged to penetrate the carrier along the first direction;

[0041] A connection component is arranged at the first end of the bottom of the base of the cleaning device near the ball head movable shaft and connected to the magnetic transmission component; the connection component moves synchronously with the ball head movable shaft;

[0042] A ball head is connected to the second end of the ball head movable shaft, protrudes from the carrier and is arranged toward the cleaning surface; the first end and the second end of the ball head movable shaft are opposite;

[0043] An elastic member is disposed between the ball head and the carrier, and the elastic member has an elastic deformation length that satisfies the preset contact distance.

[0044] Optionally, the ball head assembly further includes:

[0045] A bearing, wherein the bearing is arranged on the carrier relative to the movable axis of the ball head;

[0046] A ball head support is connected to the bearing to rotate with the bearing; a ball head accommodating cavity is provided at one end of the ball head support facing the cleaning surface, and the ball head can be accommodated in the ball head accommodating cavity;

[0047] One end of the elastic member is connected to the ball head support, and the other end is connected to the ball head.

[0048] The present application also provides a cleaning device, including:

[0049] matrix;

[0050] An obstacle recognition component is provided on the base, and the obstacle recognition component comprises:

[0051] A carrier, which can be detachably connected to a base body of the cleaning device;

[0052] A ball head assembly is disposed on the carrier, is disposed toward the cleaning surface at a preset contact distance, and reciprocates along a first direction perpendicular to the cleaning surface at the preset contact distance; the preset contact distance is an absolute value distance at which the ball head assembly contacts an obstacle when reciprocating along the first direction;

[0053] A magnetic transmission assembly is disposed on the carrier and connected to the ball head assembly so as to rotate under the drive of the ball head assembly;

[0054] A magnetic sensing unit is provided on the carrier and is arranged relative to the magnetic transmission component at a preset magnetic sensing distance, and is used to sense a change parameter corresponding to a displacement change or an angle change of the magnetic transmission component, so as to identify an obstacle according to the change parameter, and send the change parameter to a main control unit;

[0055] The main control unit is arranged on the base body and is used to receive the change parameters sent by the magnetic induction unit, so as to identify the obstacle according to the change parameters and adjust the travel route of the cleaning device according to the type of the obstacle.

[0056] The present application also provides an obstacle recognition method based on the above-mentioned obstacle recognition component, including:

[0057] Obtaining a change parameter corresponding to the rotation of the magnetic transmission component to a different rotation position compared to the initial position, wherein the change parameter is a parameter generated in the process of the ball head component moving within a preset contact distance to drive the magnetic transmission component to rotate to the corresponding rotation position, and the initial position is the position of the magnetic transmission component when the ball head component does not encounter an obstacle and does not rotate;

[0058] The obstacle is identified according to the change parameter; the magnetic transmission component is used to rotate to different rotation positions according to different movement degrees of the ball head component within the preset contact distance range, and the magnetic transmission component rotates to different rotation positions corresponding to different change parameters.

[0059] Optionally, if the ball head assembly moves in a direction away from the cleaning surface within the preset contact distance and drives the magnetic transmission assembly to rotate clockwise to a first rotation position, the change parameter is a first change parameter corresponding to the rotation of the magnetic transmission assembly from the initial position to the first rotation position;

[0060] The identifying the obstacle according to the change parameter includes: identifying the obstacle as a first type of obstacle according to the first change parameter.

[0061] Optionally, if the ball head assembly moves in the direction toward the cleaning surface within the preset contact distance and drives the magnetic transmission assembly to rotate counterclockwise to a second rotation position, the change parameter is a second change parameter corresponding to the rotation of the magnetic transmission assembly from the initial position to the second rotation position;

[0062] The identifying the obstacle according to the change parameter includes: identifying the obstacle as a second type of obstacle according to the second change parameter.

[0063] Optionally, the change parameters include at least an angle change parameter and a magnetic flux change parameter.

[0064] The present application also provides a path planning method based on the cleaning device described above, including:

[0065] Obtaining a change parameter corresponding to the rotation of the magnetic transmission component to a different rotation position compared to the initial position, wherein the change parameter is a parameter generated in the process of the ball head component moving within a preset contact distance to drive the magnetic transmission component to rotate to the corresponding rotation position, and the initial position is the position of the magnetic transmission component when the ball head component does not encounter an obstacle and does not rotate;

[0066] The obstacle is identified according to the change parameter; the magnetic transmission component is used to correspond to different rotation positions according to different movement degrees of the ball head component within the preset contact distance range; the magnetic transmission component rotates to different rotation positions corresponding to different change parameters;

[0067] The travel route of the cleaning device is adjusted according to the type of the obstacle.

[0068] The embodiment of the present application also provides an electronic device, including: a processor and a memory;

[0069] The memory is used to store programs, and the processor calls the programs stored in the memory to execute the above-mentioned method.

[0070] An embodiment of the present application further provides a storage medium, including: the storage medium stores a program and data, and the program is executed by a processor to implement the method described above.

[0071] Compared with the prior art, this application has the following advantages:

[0072] The carrier of the obstacle identification component provided in the embodiment of the present application can be detachably connected to the base of the cleaning device to facilitate the installation and separation of the obstacle identification component from the cleaning device. The ball head component contacts different types of obstacles to move in different directions relative to the cleaning surface along a first direction perpendicular to the cleaning surface within a preset contact distance. The magnetic transmission component is connected to the ball head component to rotate in different directions driven by the ball head component. The magnetic sensing unit is provided to sense the displacement change or angle change corresponding to the change parameter of the magnetic transmission component at a preset magnetic sensing distance, wherein the magnetic sensing unit obtains corresponding different change parameters by sensing the rotation of the magnetic transmission component in different directions, and identifies obstacles according to different change parameters to improve the detection accuracy of obstacles.

[0073] The cleaning device provided in the embodiment of the present application identifies obstacles through an obstacle recognition component arranged on a base, and sends the obtained change parameters for the obstacles to a main control unit. The main control unit identifies different types of obstacles according to the change parameters, and adjusts the travel route of the cleaning device according to the different types of obstacles, so as to improve the detection accuracy of obstacles while further reasonably planning the travel route of the cleaning device, thereby improving the cleaning efficiency of the cleaning device.

[0074] An embodiment of the present application provides an obstacle identification method, which obtains different change parameters corresponding to the rotation of a magnetic transmission component to different rotation positions compared to an initial position, so as to identify different types of obstacles according to different change parameters, thereby improving the detection accuracy of obstacles.

[0075] The embodiment of the present application provides a path planning method, which obtains different change parameters corresponding to the rotation of the magnetic transmission component to different rotation positions compared to the initial position, so as to identify different types of obstacles according to different change parameters, thereby improving the detection accuracy of obstacles. The route of the cleaning equipment is adjusted according to different types of obstacles, so as to improve the detection accuracy of obstacles and further reasonably plan the route of the cleaning equipment, thereby improving the cleaning efficiency of the cleaning equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0076] Figure 1It is a first schematic structural diagram of the obstacle recognition component provided in the first embodiment of the present application.

[0077] Figure 2 It is a second schematic structural diagram of the obstacle recognition component provided in the first embodiment of the present application.

[0078] Figure 3 yes Figure 2 Schematic cross-sectional view of one direction.

[0079] Figure 4 yes Figure 2 A schematic cross-sectional view from another direction.

[0080] Figure 5 It is a schematic structural diagram of the second obstacle recognition component provided in the first embodiment of the present application.

[0081] Figure 6 It is a schematic structural diagram of the third obstacle recognition component provided in the first embodiment of the present application.

[0082] Figure 7 yes Figure 6 Schematic cross-sectional view of one direction.

[0083] Figure 8 yes Figure 6 A schematic cross-sectional view from another direction.

[0084] Fig. 9 It is a schematic structural diagram of the fourth obstacle recognition component provided in the first embodiment of the present application.

[0085] Fig.10 yes Fig. 9 Schematic cross-sectional view of one direction.

[0086] Fig.11 It is a schematic structural diagram of the fifth obstacle recognition component provided in the first embodiment of the present application.

[0087] Fig.12 It is a schematic structural diagram of the cleaning device provided in the second embodiment of the present application.

[0088] Fig.13 It is a schematic flowchart of an obstacle recognition method based on an obstacle recognition component provided in the third embodiment of the present application.

[0089] Fig.14 It is a schematic flowchart of a path planning method based on a cleaning device provided in the fourth embodiment of the present application.

[0090] Fig.15 It is a schematic structural diagram of an electronic device provided in the fifth embodiment of the present application.

[0091] Reference numerals:

[0092] Obstacle identification component 100, carrier 10, connection limiting hole 11, limiting hole 12, limiting groove 13, connecting block 14, ball head assembly 20, ball head movable shaft 21, connecting assembly 22, connecting ring 221, ring connecting part 2211, connecting bolt 222, ball head 23, elastic member 24, bearing 25, ball head support 26, transmission assembly 30, support shaft 31, transmission connection component 32, first transmission connection shaft 321, first radial end face 3211, first connecting arm 3212, first accommodating groove 3213, first shaft body connecting hole 3214, rotating tooth 322, second radial end face 3221, second accommodating groove 3222, second shaft body connecting hole 3223, first Transmission tooth 323, second transmission connecting shaft 324, second connecting arm 3241, first extension arm 3242, third accommodating groove 3243, third transmission connecting shaft 325, shifting tooth 3251, second extension arm 3252, fourth radial end face 3253, fourth accommodating groove 3254, second transmission tooth 3255, shaft body limiting structure 326, annular groove 3261, annular protrusion 3262, magnetic component 33, reset assembly 34, connecting ear 341, reset spring 342, magnetic sensing unit 40, tunnel magnetoresistance control board 41, tunnel magnetoresistance sensor 42, linear Hall control board 43, linear Hall sensor 44, cleaning device 50, substrate 51, cleaning surface 60. DETAILED DESCRIPTION

[0093] In order to make the purpose, advantages and features of the present application clearer, the technical solutions in the present application are further described in detail below in conjunction with the accompanying drawings and specific embodiments. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar promotions without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0094] It should be noted that, in the description of the present application, the terms "first", "second", etc. are only used for descriptive purposes and should not be understood as indicating or implying relative importance, and a specific order or precedence. The terms "equal", "same", etc. are not strictly limited in the mathematical and / or geometric sense, but also include errors that can be understood by those skilled in the art and are allowed in manufacturing or use. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances.

[0095] In addition, some of the above terms may be used to express other meanings in addition to indicating orientation or positional relationship. For example, the term "on" may also be used to express a certain dependency or connection relationship in some cases. For those of ordinary skill in the art, the specific meanings of these terms in this application can be understood according to specific circumstances.

[0096] In addition, the terms "disposed", "connected", and "fixed" should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection, or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be an internal connection between two devices, elements, or components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0097] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application may be combined with each other.

[0098] With the development of social productivity and the continuous improvement of people's living standards, cleaning equipment has been widely used in daily life. People can use cleaning equipment with different functions to complete corresponding cleaning tasks, such as washing clothes with a washing machine, washing glasses with a glasses washing machine, washing the floor with a floor washing machine, and cleaning glass with a glass washing machine.

[0099] Among them, in the process of cleaning the glass by the glass cleaning equipment, some frameless glass or framed glass will often be cleaned. The presence or absence of a frame on the glass will affect the normal operation of the cleaning equipment, thereby affecting the cleaning of the glass. Therefore, the presence or absence of a frame on the glass can be defined as an obstacle in this scene. However, the prior art is difficult to detect some low frames, and there are also detection errors for frameless glass. Therefore, the present application provides an obstacle recognition component to improve the detection accuracy of obstacles. The present application also provides a cleaning device, an obstacle recognition method based on an obstacle recognition component, a path planning method based on a cleaning device, an electronic device, and a storage medium. The above-mentioned devices or methods will be explained below through different embodiments.

[0100] First embodiment

[0101] like Figures 1 to 11 As shown, the embodiment of the present application provides an obstacle identification component 100, including: a carrier 10, a ball head component 20, a magnetic transmission component 30 and a magnetic sensing unit 40. The carrier 10 can be connected with a cleaning device 50 ( Fig.12The base 51 (as shown) is detachably connected. The ball head assembly 20 is arranged on the carrier 10, and is arranged toward the cleaning surface 60 at a preset contact distance, and reciprocates along a first direction perpendicular to the cleaning surface 60 at a preset contact distance. Among them, the preset contact distance is the absolute value distance of the ball head assembly 20 in contact with the obstacle when reciprocating along the first direction. The magnetic transmission assembly 30 is arranged on the carrier 10, and is connected to the ball head assembly 20, so as to rotate under the drive of the ball head assembly 20. The magnetic sensing unit 40 is arranged on the carrier 10, and is arranged relative to the magnetic transmission assembly 30 at a preset magnetic sensing distance, and is used to sense the change parameters corresponding to the displacement change or angle change of the magnetic transmission assembly 30, so as to identify the obstacle according to the change parameters. The specific structure and connection relationship of each of the above-mentioned components will be described below.

[0102] In the present embodiment, the carrier 10 is used to carry the ball head assembly 20, the magnetic transmission assembly 30 and the magnetic sensing unit 40. The morphological structure of the carrier 10 can be set to a cube shape, or set to an irregular shape according to needs, such as a horizontal cross-section that is approximately triangular in shape. The carrier 10 can be detachably connected to the base 51 of the cleaning device 50, and can be specifically arranged at the bottom of the base 51 of the cleaning device 50, or at the top of the base 51 of the cleaning device 50, or at the side of the base 51 of the cleaning device 50. In one example, in order to facilitate the cleaning device 50 to detect obstacles in time during driving, the carrier 10 can be arranged at the corners of the bottom of the base 51 of the cleaning device 50.

[0103] Further, in the present embodiment, the carrier 10 includes a connection limiting hole 11, a limiting groove 13, a limiting hole 12 and a connecting block 14, wherein the connection limiting hole 11 is arranged at a corner position of the carrier 10, and the hole direction of the connection limiting hole 11 is distributed along the first direction, and the first direction is a direction perpendicular to the cleaning surface 60. The limiting groove 13 is arranged at other corner positions of the carrier 10, and the notch of the limiting groove 13 is distributed along the first direction, and the notch direction is toward the cleaning device 50. The limiting groove 13 can be adapted to the limiting column (not shown) in the base 51 of the cleaning device 50, that is, the limiting column in the base 51 of the cleaning device 50 can be inserted into the limiting groove 13. In one example, the limiting groove 13 is set as a cylindrical limiting groove 13, or the limiting groove 13 is set as a square limiting groove 13. The limiting hole 12 is arranged at the bottom groove wall of the limiting groove 13, and the orifice of the limiting hole 12 is distributed along the first direction, and the orifice direction is toward the cleaning device 50. The orifice diameter of the limiting hole 12 is smaller than the notch diameter of the limiting groove 13. Correspondingly, a limiting rod is also provided on the end surface of the limiting column facing the limiting groove 13, and the limiting rod is adapted to the limiting hole 12 so that the limiting rod can be inserted into the limiting hole 12. In one example, the number of the limiting grooves 13 can be set to two or three, and correspondingly, the number of the limiting holes 12 can be set to two or three. The carrier 10 can be detachably connected with the base 51 of the cleaning device 50 through the structure of the limiting groove 13 and the limiting column, or the structure of the limiting groove 13, the limiting hole 12, the limiting column and the limiting rod. Of course, in another example, the detachable connection structure of the carrier 10 and the base 51 of the cleaning device 50 can also be a bolt screw hole structure or a card slot, a card body structure, etc. For example, the screw hole is provided at the bottom groove wall of the limiting groove 13, and the bolt is provided at the base 51 of the cleaning device 50 and is screwed with the screw hole to realize the detachable connection between the carrier 10 and the base 51 of the cleaning device 50.

[0104] In one example, a limiting cavity can also be provided at the bottom of the limiting groove 13, and the orifice of the limiting hole 12 is the opening of the limiting cavity. In the horizontal direction, the cavity diameter of the limiting cavity is larger than the orifice diameter of the limiting hole 12. Correspondingly, a boss column is provided on the end surface of the limiting column facing the limiting groove 13, and the boss column includes an integrally formed boss and a column rod, wherein the boss is arranged near the limiting groove 13, the diameter of the boss is slightly larger than the orifice diameter of the limiting hole 12, the diameter of the column rod is slightly smaller than the orifice diameter of the limiting hole 12, and the material of the boss can be set to a flexible material, so that the boss can be clamped in the limiting cavity through the orifice of the limiting hole 12. And in the first direction, the length of the column rod is equal to the hole wall thickness of the orifice of the limiting hole 12, so that the boss is better limited to the limiting cavity, so that the clamping of the boss column and the limiting cavity plays a role in limiting the connection between the carrier 10 and the base 51 of the cleaning device 50.

[0105] The connecting block 14 is disposed on the carrier 10 and is close to the magnetic transmission assembly 30 , so that the connecting block 14 provides connection support for the reset assembly 34 .

[0106] The ball head assembly 20 is disposed on the carrier 10, and is disposed toward the cleaning surface 60 at a preset contact distance, and reciprocates along a first direction perpendicular to the cleaning surface 60 at a preset contact distance. The preset contact distance is the absolute distance of the ball head assembly 20 in contact with the obstacle when reciprocating along the first direction, and the absolute distance includes the first distance of the ball head assembly 20 moving in the direction toward the cleaning surface 60 and the second distance of the ball head assembly 20 moving in the direction away from the cleaning surface 60 with the initial position as the zero point value. For example, in one example, the ball head assembly 20 takes the initial position as the zero point value, the first distance of the ball head assembly 20 moving in the direction toward the cleaning surface 60 is +2.2 mm, the second distance of the ball head assembly 20 moving in the direction away from the cleaning surface 60 is -2.2 mm, and the total moving distance is 4.4 mm, that is, the absolute distance is 4.4 mm. Of course, in other examples, the first distance, the second distance, and the absolute distance can be specifically set according to actual conditions.

[0107] Specifically, in the present embodiment, the ball head assembly 20 includes a ball head movable shaft 21, a connection assembly 22, a ball head 23 and an elastic member 24. The ball head movable shaft 21 is movably arranged to penetrate the carrier 10 along the first direction. Specifically, the ball head movable shaft 21 is arranged in the connection limiting hole 11 along the first direction and moves in the connection limiting hole 11. The ball head movable shaft 21 includes a first end and a second end, wherein the first end is arranged at the bottom of the base 51 of the ball head movable shaft 21 close to the cleaning device 50, and the second end is opposite to the first end and is located at one end of the ball head movable shaft 21 close to the cleaning surface 60. The ball head movable shaft 21 may be provided with a hollow cavity along the first direction, and the provision of the hollow cavity can reduce the weight of the ball head movable shaft 21 to facilitate the movement of the ball head movable shaft 21.

[0108] The connection assembly 22 is arranged at the first end of the ball head movable shaft 21 and is connected to the magnetic transmission assembly 30, and the connection assembly 22 moves synchronously with the ball head movable shaft 21. In one example, the connection assembly 22 includes a connecting ring 221 and a connecting bolt 222, wherein the connecting ring 221 is arranged at the first end of the ball head movable shaft 21 and is connected to the magnetic transmission assembly 30. The connecting bolt 222 is screwed to the first end of the ball head movable shaft 21, and the connecting ring 221 is fixed to the first end of the ball head movable shaft 21, so that the connecting ring 221 and the connecting bolt 222 move synchronously with the ball head movable shaft 21. Further, in one example, a ring connecting portion 2211 is provided on the side of the connecting ring 221 close to the magnetic transmission assembly 30, and the specific morphological structure of the ring connecting portion 2211 includes any one of the morphological structures of a connecting plate, a connecting platform or a connecting column. The connecting ring 221 is connected to the magnetic transmission assembly 30 through the ring connecting portion 2211. In another example, the connection component 22 includes a connection nut and a connection thread, wherein the connection thread is provided on the outside of the first end of the ball head movable shaft 21, the connection nut is connected to the first end of the ball head movable shaft 21 through the connection thread, and the connection nut can be connected to the magnetic transmission component 30. The connection component 22 is set as a detachable structure, which can facilitate the detachable connection between the connection component 22 and the ball head movable shaft 21, and the connection form of the connection component 22 can be set according to the structure of the magnetic transmission component 30. Of course, the connection component 22 can also be integrally formed with the first end of the ball head movable shaft 21.

[0109] The ball head 23 is connected to the second end of the ball head movable shaft 21, which can be an integrally formed connection or a detachable connection. The structure corresponding to the detachable connection can include a threaded connection structure or a clamping structure. For example, if an internal thread is provided on one end of the ball head 23 facing the second end of the ball head movable shaft 21, an external thread is provided on the second end of the ball head movable shaft 21, and the connection between the internal thread and the external thread is realized by screwing the internal thread and the external thread. For another example, the clamping structure includes a clamping groove and a clamping body, wherein a clamping groove is provided on one end of the ball head 23 facing the second end of the ball head movable shaft 21, and a clamping body is provided on the second end of the ball head movable shaft 21, and the connection between the clamping body and the clamping groove is realized by clamping the clamping body and the clamping groove. The ball head 23 protrudes from the carrier 10 and is arranged toward the cleaning surface 60. Specifically, the ball head 23 protrudes from the connection limiting hole 11 of the carrier 10 and is arranged toward the cleaning surface 60. Furthermore, when the ball head 23 and the ball head movable shaft 21 are connected, the ball head 23 and the ball head movable shaft 21 reciprocate along the connection limiting hole 11 along a first direction perpendicular to the cleaning surface 60 at a preset contact distance.

[0110] In one example, the end surface of the ball head 23 facing the cleaning surface 60 is set to a hemispherical arc surface. The hemispherical arc surface of the ball head 23 can reduce the contact area between the ball head 23 and the cleaning surface 60, thereby accurately determining the contact point between the ball head 23 and the cleaning surface 60, thereby improving the contact accuracy.

[0111] The elastic member 24 is disposed between the ball head 23 and the carrier 10, and specifically between the ball head 23 and the hole wall of the carrier 10 that constitutes the connection limiting hole 11. The elastic member 24 has an elastic deformation length that satisfies a preset contact distance. In one example, the elastic member 24 includes any one of a spring, a tension spring or an elastic belt.

[0112] In this embodiment, the ball head assembly 20 further includes a bearing 25 and a ball head support 26, wherein the bearing 25 is arranged on the carrier 10 relative to the ball head movable axis 21, and the bearing 25 is specifically arranged on the hole wall constituting the connection limiting hole 11 relative to the ball head movable axis 21. The ball head support 26 is connected to the bearing 25 so as to rotate with the bearing 25 in the second direction. The second direction is perpendicular to the first direction. A ball head accommodating cavity is provided at one end of the ball head support 26 facing the cleaning surface 60, and the ball head can be accommodated in the ball head accommodating cavity. One end of the elastic member 24 is connected to the ball head support 26, and the other end is connected to the ball head.

[0113] The magnetic transmission assembly 30 is disposed on the carrier 10 and connected to the ball head assembly 20 so as to rotate under the drive of the ball head assembly 20. The displacement change or angle change brought about by the rotation of the magnetic transmission assembly 30 is related to the different movement degrees of the ball head assembly 20 within the preset contact distance. In this embodiment, the magnetic transmission assembly 30 includes a support shaft 31, a transmission connection component 32 and a magnetic component 33, wherein the support shaft 31 is disposed on the carrier 10 along the second direction, and the second direction is perpendicular to the first direction. In one example, the support shaft 31 is fixedly disposed on the carrier 10 along the second direction, that is, the support shaft 31 does not rotate relative to the carrier 10. In another example, the support shaft 31 is rotatably disposed on the carrier 10 along the second direction, that is, the support shaft 31 rotates relative to the carrier 10. Specifically, in one example, a transfer hole (not marked) is provided on the carrier 10, and the hole direction of the transfer hole is distributed along the second direction. The support shaft 31 is sleeved in the transfer hole and can rotate in the transfer hole. In another example, a rotating bearing (not shown) is disposed on the carrier 10 , the axial holes of the rotating bearing are distributed along the second direction, the support shaft 31 is sleeved in the rotating bearing, and can rotate relative to the carrier 10 through the rotating bearing.

[0114] The transmission connection component 32 is sleeved on the support shaft 31 and rotates around the support shaft 31. The connection portion of the transmission connection component 32 is connected to the ball head assembly 20 so as to rotate under the drive of the ball head assembly 20, and the displacement change or angle change brought about by the rotation of the transmission connection component 32 is related to the different movement degrees of the ball head assembly 20 within the preset contact distance. In this embodiment, the transmission connection component 32 is sleeved on the support shaft 31 through the shaft body connection hole and rotates around the support shaft 31. Among them, the shaft body connection hole is arranged inside the transmission connection component 32 along the second direction. And corresponding to the connection mode of the support shaft 31 relative to the carrier 10, in one example, when the support shaft 31 is fixedly connected to the carrier 10, the transmission connection component 32 is sleeved on the support shaft 31 through the shaft body connection hole and rotates relative to the support shaft 31. In another example, when the support shaft 31 is rotationally connected to the carrier 10, the transmission connection component 32 is sleeved on the support shaft 31 through the shaft body connection hole and rotates synchronously with the support shaft 31.

[0115] Furthermore, when the transmission connection component 32 is sleeved on the support shaft 31 through the shaft body connection hole and rotates relative to the support shaft 31, in order to prevent the transmission connection component 32 from falling off the support shaft 31 during rotation, the transmission connection component 32 also includes a shaft body limiting structure 326, which is provided on the shaft body connection hole and the circumferential end surface of the support shaft 31, and is used to limit the movement of the transmission connection component 32 on the support shaft 31 along the second direction. In one example, the shaft body limiting structure 326 includes an annular groove 3261 and an annular protrusion 3262, wherein the annular groove 3261 is provided on the circumferential end surface of the support shaft 31, the annular protrusion 3262 is provided on the shaft body connection hole relative to the annular groove 3261, and the annular protrusion 3262 is clamped in the annular groove 3261 to limit the movement of the transmission connection component 32 on the support shaft 31 along the second direction. Of course, the annular protrusion 3262 can also be provided on the circumferential end surface of the support shaft 31, and correspondingly, the annular groove 3261 is provided in the shaft body connection hole relative to the annular protrusion 3262. In one example, in order to facilitate the annular protrusion 3262 to be clamped in the annular groove 3261, a side wall of the annular protrusion 3262 facing the support shaft 31 is set to be ramp-shaped, and the ramp is gradually raised along the direction in which the support shaft 31 is inserted into the shaft body connection hole.

[0116] In this embodiment, in order to enable the transmission connection component 32 to be reset to the initial position after rotation, the magnetic transmission assembly 30 further includes a reset assembly 34, which is connected to the transmission connection component 32 and the carrier 10, and is used to reset the transmission connection component 32 to the initial position after rotation. In one example, the reset assembly 34 includes a connecting ear 341 and a reset spring 342, wherein the connecting ear 341 is provided on the transmission connection component 32, one end of the reset spring 342 is connected to the connecting ear 341, and the other end is connected to the connection block 14 provided on the carrier 10. When the transmission connection component 32 is driven, the reset spring 342 is deformed to have a reset elastic force, and the transmission connection component 32 can be reset to the initial position after rotation through the reset elastic force of the reset spring 342. In another example, the reset assembly 34 includes a reset coil spring (not shown), a support rod (not shown) and a receiving groove (not shown), wherein the receiving groove is provided on the radial end surface of the transmission connection component 32 away from the magnetic induction unit 40, the support rod is distributed along the first direction, and one end of the support rod is connected to the carrier 10, and the other end is located in the receiving groove. The reset coil spring is received in the receiving groove, and one end of the reset coil spring is connected to the other end of the support rod, and the other end of the reset coil spring is connected to the groove wall of the receiving groove. When the transmission connection component 32 is rotated, the other end of the reset coil spring is driven, and the reset coil spring is deformed to have a reset elastic force, and the transmission connection component 32 can be reset to the initial position after rotation through the reset elastic force.

[0117] In this embodiment, the transmission connection component 32 has a variety of structures in different shapes. The transmission connection components 32 in a variety of structures in different shapes will be described in detail below.

[0118] Specifically, in one example, the transmission connection component 32 includes a first transmission connection shaft 321, and the first transmission connection shaft 321 is mounted on the support shaft 31 to rotate around the support shaft 31. Corresponding to the transmission connection component 32 being mounted on the support shaft 31 through the shaft body connection hole and rotating around the support shaft 31, in this example, the first transmission connection shaft 321 is mounted on the support shaft 31 through the first shaft body connection hole 3214 and rotates around the support shaft 31, wherein the first shaft body connection hole 3214 is arranged inside the first transmission connection shaft 321 along the second direction, and the support shaft 31 is plugged into the first shaft body connection hole 3214, so that the first transmission connection shaft 321 is mounted on the support shaft 31 and rotates around the support shaft 31. Correspondingly, the shaft body limiting structure 326 is arranged on the circumferential end surface of the first shaft body connection hole 3214 and the support shaft 31, and is used to limit the movement of the first transmission connection shaft 321 on the support shaft 31 along the second direction.

[0119] The first transmission connecting shaft 321 has a first radial end face 3211, the first radial end face 3211 faces the magnetic sensing unit 40 at a preset magnetic sensing distance, and the magnetic component 33 is arranged on the first radial end face 3211. The first radial end face 3211 of the first transmission connecting shaft 321 is located in the second direction. In one example, in order to make the magnetic component 33 arranged on the first radial end face 3211 more stable, a first accommodating groove 3213 is further arranged on the first radial end face 3211, the first accommodating groove 3213 is recessed or protruded from the first radial end face 3211, and the magnetic component 33 is accommodated in the first accommodating groove 3213.

[0120] A first connecting arm 3212 is further provided on the circumferential outer side of the first transmission connection shaft 321, and the first connecting arm 3212 is connected to the ball head assembly 20, so that the first transmission connection shaft 321 is rotated under the drive of the ball head assembly 20, wherein the first connecting arm 3212 is the connecting portion of the transmission connection component 32. And corresponding to the specific structure of the aforementioned ball head assembly 20, the first connecting arm 3212 is connected to the ring connecting portion 2211 of the connecting ring 221 of the ball head assembly 20, so that the first transmission connection shaft 321 is rotated under the drive of the ball head assembly 20.

[0121] In this embodiment, in order to enable the first transmission connecting shaft 321 to be reset to the initial position after rotation, this is achieved through a reset component 34, which is connected to the connecting ear 341 of the first transmission connecting shaft 321 and the connecting block 14 of the carrier 10, so that the first transmission connecting shaft 321 is reset to the initial position after rotation.

[0122] In one example, the transmission connection component 32 includes a rotating tooth 322 and a first transmission tooth 323, wherein the rotating tooth 322 is mounted on the support shaft 31 to rotate around the support shaft 31. Corresponding to the transmission connection component 32 being mounted on the support shaft 31 through the shaft body connection hole and rotating around the support shaft 31, in this example, the rotating tooth 322 is mounted on the support shaft 31 through the second shaft body connection hole 3223 and rotates around the support shaft 31, wherein the second shaft body connection hole 3223 is arranged inside the rotating tooth 322 along the second direction, and the support shaft 31 is inserted into the second shaft body connection hole 3223, so that the rotating tooth 322 is mounted on the support shaft 31 and rotates around the support shaft 31. Correspondingly, the shaft body limiting structure 326 is arranged on the circumferential end surface of the second shaft body connection hole 3223 and the support shaft 31, and is used to limit the movement of the rotating tooth 322 on the support shaft 31 along the second direction.

[0123] The rotating tooth 322 has a second radial end face 3221, the second radial end face 3221 faces the magnetic sensing unit 40 at a preset magnetic sensing distance, and the magnetic component 33 is arranged on the second radial end face 3221. The second radial end face 3221 of the rotating tooth 322 is located in the second direction. In one example, in order to make the magnetic component 33 more stable when it is arranged on the second radial end face 3221, a second receiving groove 3222 is further provided on the second radial end face 3221, the second receiving groove 3222 is recessed or protruded from the second radial end face 3221, and the magnetic component 33 is accommodated in the second receiving groove 3222.

[0124] The connecting end of the first transmission tooth 323 is connected to the ball head assembly 20, and the sawtooth end of the first transmission tooth 323 is meshed with the rotating tooth 322, so that the first transmission tooth 323 drives the rotating tooth 322 to rotate under the drive of the ball head assembly 20. Among them, the first transmission tooth 323 is the connecting portion of the transmission connection component 32. And corresponding to the specific structure of the aforementioned ball head assembly 20, the first transmission tooth 323 is connected to the ring connecting portion 2211 of the connecting ring 221 of the ball head assembly 20, so that the first transmission tooth 323 drives the rotating tooth 322 to rotate under the drive of the ball head assembly 20.

[0125] In this embodiment, in order to make the rotating tooth 322 return to the initial position after rotation, this can be achieved through a reset component 34, which is connected to the rotating tooth 322 and the connecting block 14 of the carrier 10, so that the rotating tooth 322 returns to the initial position after rotation.

[0126] In one example, the transmission connection component 32 includes a second transmission connection shaft 324, and the second transmission connection shaft 324 is mounted on the support shaft 31 to rotate around the support shaft 31. Corresponding to the transmission connection component 32 being mounted on the support shaft 31 through the shaft body connection hole and rotating around the support shaft 31, in this example, the second transmission connection shaft 324 is mounted on the support shaft 31 through the third shaft body connection hole (not shown) and rotates around the support shaft 31, wherein the third shaft body connection hole is arranged inside the second transmission connection shaft 324 along the second direction, and the support shaft 31 is plugged into the third shaft body connection hole, so that the second transmission connection shaft 324 is mounted on the support shaft 31 and rotates around the support shaft 31. Correspondingly, the shaft body limiting structure 326 is arranged on the circumferential end surface of the third shaft body connection hole and the support shaft 31, and is used to limit the movement of the second transmission connection shaft 324 on the support shaft 31 along the second direction.

[0127] In this embodiment, a second connecting arm 3241 and a first extension arm 3242 are provided on the circumferential outer side of the second transmission connecting shaft 324, wherein the second connecting arm 3241 is connected to the ball head assembly 20, so that the second transmission connecting shaft 324 is rotated under the drive of the ball head assembly 20. The second connecting arm 3241 is a connecting portion of the transmission connecting component 32. And corresponding to the specific structure of the aforementioned ball head assembly 20, the second connecting arm 3241 is connected to the ring connecting portion 2211 of the connecting ring 221 of the ball head assembly 20, so that the second transmission connecting shaft 324 is rotated under the drive of the ball head assembly 20.

[0128] The first extension arm 3242 extends along the circumference of the second transmission connecting shaft 324 and rotates synchronously with the second transmission connecting shaft 324. The end of the first extension arm 3242 has a third radial end face, and the third radial end face faces the magnetic sensing unit 40 at a preset magnetic sensing distance. The magnetic component 33 is arranged on the third radial end face (not shown). The third radial end face of the first extension arm 3242 is located in the second direction. In one example, in order to make the magnetic component 33 more stable when it is arranged on the third radial end face, a third accommodating groove 3243 is further provided on the third radial end face, and the third accommodating groove 3243 is recessed or protruded from the third radial end face, and the magnetic component 33 is accommodated in the third accommodating groove 3243.

[0129] In one example, the transmission connection component 32 includes a third transmission connection shaft 325 and a second transmission tooth 3255, wherein the third transmission connection shaft 325 is sleeved on the support shaft 31 to rotate around the support shaft 31. Corresponding to the transmission connection component 32 being sleeved on the support shaft 31 through the shaft body connection hole and rotating around the support shaft 31, in this example, the third transmission connection shaft 325 is sleeved on the support shaft 31 through the fourth shaft body connection hole (not shown) and rotates around the support shaft 31, wherein the fourth shaft body connection hole is arranged inside the third transmission connection shaft 325 along the second direction, and the support shaft 31 is plugged into the fourth shaft body connection hole, so that the third transmission connection shaft 325 is sleeved on the support shaft 31 and rotates around the support shaft 31. Correspondingly, the shaft body limiting structure 326 is arranged on the circumferential end surface of the fourth shaft body connection hole and the support shaft 31, and is used to limit the movement of the third transmission connection shaft 325 on the support shaft 31 along the second direction.

[0130] A second extension arm 3252 and a shifting tooth 3251 are provided on the circumferential outer side of the third transmission connecting shaft 325, wherein the second extension arm 3252 extends along the circumference of the third transmission connecting shaft 325 and rotates synchronously with the third transmission connecting shaft 325. The end of the second extension arm 3252 has a fourth radial end face 3253, the fourth radial end face 3253 faces the magnetic sensing unit 40 at a preset magnetic sensing distance, and the magnetic component 33 is provided on the fourth radial end face 3253. The fourth radial end face 3253 of the second extension arm 3252 is located in the second direction. In one example, in order to make the magnetic component 33 more stable when it is provided on the fourth radial end face 3253, a fourth accommodating groove 3254 is further provided on the fourth radial end face 3253, the fourth accommodating groove 3254 is recessed or protruded from the fourth radial end face 3253, and the magnetic component 33 is accommodated in the fourth accommodating groove 3254.

[0131] The connecting end of the second transmission tooth 3255 is connected to the ball head assembly 20, and the sawtooth end of the second transmission tooth 3255 is meshed with the shifting tooth 3251, so that the second transmission tooth 3255 drives the shifting tooth 3251 to rotate the third transmission connection shaft 325 under the drive of the ball head assembly 20. Among them, the second transmission tooth 3255 is the connecting portion of the transmission connection component 32. And corresponding to the specific structure of the aforementioned ball head assembly 20, the second transmission tooth 3255 is connected to the ring connecting portion 2211 of the connecting ring 221 of the ball head assembly 20, so that the second transmission tooth 3255 drives the shifting tooth 3251 to rotate and drives the third transmission connection shaft 325 to rotate under the drive of the ball head assembly 20.

[0132] The above are the various different shapes of the transmission connection component 32 in this embodiment. In other embodiments, the transmission connection component 32 also has other structural forms. As long as it can be connected to the ball head assembly 20 for rotation and can be set relative to the magnetic transmission assembly 30 at a preset magnetic sensing distance, it is within the scope of protection of this embodiment.

[0133] The magnetic component 33 is disposed on the transmission connection component 32 and is disposed toward the magnetic sensing unit 40 at a preset magnetic sensing distance. In this embodiment, based on the transmission connection component 32 having a plurality of different structures, the magnetic component 33 disposed on the transmission connection component 32 is also different. The structural type of the magnetic component 33 disposed on the transmission connection component 32 will be described in detail below.

[0134] Specifically, when the transmission connection component 32 is a first transmission connection shaft 321 or a rotating tooth 322, a first transmission tooth 323, the magnetic component 33 provided on the transmission connection component 32 includes a radially half-magnetized magnet. When the transmission connection component 32 is a second transmission connection shaft 324 or a third transmission connection shaft 325, a second transmission tooth 3255, the magnetic component 33 provided on the transmission connection component 32 includes an axially half-magnetized magnet.

[0135] After the magnetic transmission assembly 30 is driven by the ball head assembly 20 to rotate, the magnetic sensing unit 40 senses the change parameter corresponding to the displacement change or angle change of the magnetic transmission assembly 30 to identify the obstacle according to the change parameter.

[0136] Specifically, in one example, the magnetic sensing unit 40 includes a tunnel magnetoresistance control board 41 and a tunnel magnetoresistance sensor 42, wherein. The tunnel magnetoresistance control board 41 is provided on the carrier 10, and is used to obtain the change parameters obtained by the tunnel magnetoresistance sensor 42, so as to identify obstacles according to the change parameters. The tunnel magnetoresistance sensor 42 is provided on the tunnel magnetoresistance control board 41, and is arranged relative to the magnetic component 33 at a preset magnetic sensing distance, and is used to sense the angle change of the magnetic component 33, and transmit the obtained change parameters to the tunnel magnetoresistance control board 41. In this example, the change parameters include angle change parameters. Further, the angle change parameters include positive angle change parameters and negative angle change parameters. Correspondingly, the obstacle identified by the tunnel magnetoresistance control board 41 according to the positive angle change parameters is a first type of obstacle, and the first type of obstacle includes a low obstacle, and the height of the low obstacle relative to the cleaning surface 60 is less than 1.0 mm. For example, when the cleaning surface 60 is a glass surface, the low obstacle includes a low glass frame. Correspondingly, the obstacle identified by the tunnel magnetoresistive control board 41 according to the negative angle variation parameter is a second type obstacle, and the second type obstacle includes an invisible obstacle, which is farther away from the cleaning surface 60. For example, when the cleaning surface 60 is a glass surface, the invisible obstacle includes the boundary of the frameless glass.

[0137] It should be noted that the positive angle change parameter is generated in the following manner: if the ball head assembly 20 moves in a direction away from the cleaning surface 60 within a preset contact distance, and drives the magnetic transmission assembly 30 to rotate clockwise to a first rotation position, then the change parameter is the first change parameter corresponding to the rotation of the magnetic transmission assembly 30 from the initial position to the first rotation position, and the first change parameter includes a positive angle change parameter. Correspondingly, the negative angle change parameter is generated in the following manner: if the ball head assembly 20 moves in a direction toward the cleaning surface 60 within a preset contact distance, and drives the magnetic transmission assembly 30 to rotate counterclockwise to a second rotation position, then the change parameter is the second change parameter corresponding to the rotation of the magnetic transmission assembly 30 from the initial position to the second rotation position, and the second change parameter includes a positive angle change parameter. In this example, the rotation of the magnetic transmission assembly 30 is specifically the rotation of the magnetic component 33 equipped with a radially half-magnetized magnet of neodymium iron boron.

[0138] Of course, in other examples, when the ball head assembly 20 drives the magnetic transmission assembly 30 to rotate counterclockwise to the second rotation position, a positive angle change parameter can be obtained; correspondingly, when the ball head assembly 20 drives the magnetic transmission assembly 30 to rotate clockwise to the second rotation position, a negative angle change parameter can be obtained. It can be seen that the positive and negative angle change parameters are only used to identify the corresponding type of obstacles, rather than to limit the content of the change parameters formed after the ball head assembly 20 drives the magnetic transmission assembly 30 to rotate.

[0139] In one example, the magnetic sensing unit 40 includes a linear Hall control board 43 and a linear Hall sensor 44, wherein the linear Hall control board 43 is provided on the carrier 10, and is used to obtain the change parameters obtained by the linear Hall sensor 44, so as to identify the obstacle according to the change parameters. The linear Hall sensor 44 is provided on the linear Hall control board 43, and is arranged relative to the magnetic component 33 at a preset magnetic sensing distance, and is used to sense the displacement change of the magnetic component 33, and transmit the obtained change parameters to the linear Hall control board 43. In this example, the change parameters include magnetic flux change parameters. Further, the magnetic flux change parameters include large cardinality magnetic flux change parameters and small cardinality magnetic flux change parameters, and the large and small cardinality refer to the number of magnetic fluxes passing through a certain surface in a physical sense. Correspondingly, the obstacle identified by the linear Hall control board 43 according to the large cardinality magnetic flux change parameters is a first type of obstacle, and the first type of obstacle includes a low obstacle, and the height of the low obstacle compared to the cleaning surface 60 is less than 1.0 mm. For example, when the cleaning surface 60 is a glass surface, the low obstacle includes a low glass frame. Correspondingly, the obstacle identified by the linear Hall control board 43 according to the small cardinality magnetic flux change parameter is a second type obstacle, and the second type obstacle includes an invisible obstacle, which is farther away from the cleaning surface 60. For example, when the cleaning surface 60 is a glass surface, the invisible obstacle includes the boundary of the frameless glass.

[0140] It should be noted that the large cardinality magnetic flux change parameter is generated in the following manner: if the ball head assembly 20 moves in a direction away from the cleaning surface 60 within a preset contact distance, and drives the magnetic transmission assembly 30 to rotate clockwise to a first rotation position, then the change parameter is the first change parameter corresponding to the rotation of the magnetic transmission assembly 30 from the initial position to the first rotation position, and the first change parameter includes the large cardinality magnetic flux change parameter. Correspondingly, the small cardinality magnetic flux change parameter is generated in the following manner: if the ball head assembly 20 moves in a direction toward the cleaning surface 60 within a preset contact distance, and drives the magnetic transmission assembly 30 to rotate counterclockwise to a second rotation position, then the change parameter is the second change parameter corresponding to the rotation of the magnetic transmission assembly 30 from the initial position to the second rotation position, and the second change parameter includes the small cardinality magnetic flux change parameter. In this example, the rotation of the magnetic transmission assembly 30 is specifically the upper and lower arc movements of the magnetic component 33 of the axially half-magnetized magnet equipped with neodymium iron boron.

[0141] In one example, the magnetic sensing unit 40 includes an angle Hall control board and an angle Hall sensor.

[0142] The carrier 10 provided in the first embodiment of the present application can be detachably connected to the base 51 of the cleaning device 50 to facilitate the installation and separation of the obstacle identification component 100 and the cleaning device 50. The ball head component 20 contacts different types of obstacles to move in different moving directions relative to the cleaning surface 60 along a first direction perpendicular to the cleaning surface 60 within a preset contact distance. The magnetic transmission component 30 is connected to the ball head component 20 to rotate in different directions driven by the ball head component 20. The magnetic sensing unit 40 is configured to sense the displacement change or angle change corresponding to the change parameter of the magnetic transmission component 30 at a preset magnetic sensing distance, wherein the magnetic sensing unit 40 obtains the corresponding different change parameters by sensing the rotation of the magnetic transmission component 30 in different directions, and identifies the obstacle according to the different change parameters to improve the detection accuracy of the obstacle.

[0143] Second embodiment

[0144] Corresponding to the obstacle identification component 100 provided in the first embodiment of the present application, the second embodiment of the present application further provides a cleaning device equipped with the obstacle identification component 100 provided in the first embodiment.

[0145] like Fig.12As shown, an embodiment of the present application provides a cleaning device 50, comprising: a base 51, an obstacle recognition component 100 and a main control unit, wherein an integrated control module and other necessary functional modules (such as a main control unit, etc.) are provided inside the base station. The obstacle recognition component 100 is arranged on the base 51, and the obstacle recognition component 100 comprises: a carrier 10, a ball head component 20, a magnetic transmission component 30 and a magnetic sensing unit 40. Among them, the carrier 10 can be detachably connected to the base 51 of the cleaning device 50. The ball head component 20 is arranged on the carrier 10, and is arranged toward the cleaning surface 60 at a preset contact distance, and reciprocates along a first direction perpendicular to the cleaning surface 60 at a preset contact distance. Among them, the preset contact distance is the absolute value distance of the ball head component 20 in contact with the obstacle when reciprocating along the first direction. The magnetic transmission component 30 is arranged on the carrier 10 and is connected to the ball head component 20 so as to rotate under the drive of the ball head component 20. The magnetic sensing unit 40 is disposed on the carrier 10 and is disposed relative to the magnetic transmission component 30 at a preset magnetic sensing distance, and is used to sense the change parameter corresponding to the displacement change or angle change of the magnetic transmission component 30, so as to identify the obstacle according to the change parameter, and send the change parameter to the main control unit. The main control unit is disposed on the base 51, and is used to receive the change parameter sent by the magnetic sensing unit 40, so as to identify the obstacle according to the change parameter, and adjust the route of the cleaning device 50 according to the type of the obstacle.

[0146] The specific structural form and connection method of each structure included in the obstacle identification component 100 can be found in the above-mentioned first embodiment, and the second embodiment of the present application will not be repeated here.

[0147] The second embodiment of the present application identifies obstacles through the obstacle identification component 100 arranged on the base 51, and sends the obtained change parameters for the obstacles to the main control unit. The main control unit identifies different types of obstacles according to the change parameters, and adjusts the travel route of the cleaning equipment according to the different types of obstacles. While improving the detection accuracy of obstacles, it can also further reasonably plan the travel route of the cleaning equipment, thereby improving the cleaning efficiency of the cleaning equipment.

[0148] Third embodiment

[0149] Corresponding to the obstacle recognition component provided in the first embodiment of the present application, the third embodiment of the present application further provides an obstacle recognition method based on the obstacle recognition component provided in the first embodiment. Fig.13 : is a schematic flow chart of an obstacle recognition method based on an obstacle recognition component provided in the third embodiment of the present application. The method comprises the following steps:

[0150] Step S1301, obtaining a change parameter corresponding to the magnetic transmission component rotating to a different rotation position compared to the initial position.

[0151] In this step, the change parameter is a parameter generated in the process of the ball head assembly moving within the preset contact distance to drive the magnetic transmission assembly to rotate to the corresponding rotation position. The preset contact distance is the absolute value distance of the ball head assembly in contact with the obstacle when it moves back and forth in the first direction. The absolute value distance includes the first distance of the ball head assembly moving in the direction toward the cleaning surface and the second distance of the ball head assembly moving away from the cleaning surface with the initial position as the zero point value. For example, in one example, the ball head assembly takes the initial position as the zero point value, the first distance moving in the direction toward the cleaning surface is +2.2mm, the second distance moving in the direction away from the cleaning surface is -2.2mm, and the total moving distance is 4.4mm, that is, the absolute value distance is 4.4mm. Of course, in other examples, the first distance, the second distance and the absolute value distance can be specifically set according to actual conditions. The moving distance corresponding to the movement within the preset contact distance includes the positive moving distance and the negative moving distance with the rated initial position of the ball head assembly as the reference point, and the positive moving distance is less than or equal to the first distance, and the negative moving distance is less than or equal to the second distance.

[0152] The initial position of the magnetic transmission assembly is the position where the magnetic transmission assembly is located when the ball head assembly does not encounter any obstacle and does not rotate.

[0153] In the present embodiment, the change parameter includes an angle change parameter. Further, the angle change parameter includes a positive angle change parameter and a negative angle change parameter. Among them, the positive angle change parameter is generated in the following manner: if the ball head assembly moves in a direction away from the cleaning surface within a preset contact distance, and drives the magnetic transmission assembly to rotate clockwise to a first rotation position, then the change parameter is the first change parameter corresponding to the rotation of the magnetic transmission assembly to the first rotation position compared to the initial position, and the first change parameter includes a positive angle change parameter. Correspondingly, the negative angle change parameter is generated in the following manner: if the ball head assembly moves in a direction toward the cleaning surface within a preset contact distance, and drives the magnetic transmission assembly to rotate counterclockwise to a second rotation position, then the change parameter is the second change parameter corresponding to the rotation of the magnetic transmission assembly to the second rotation position compared to the initial position, and the second change parameter includes a positive angle change parameter. In this example, the rotation of the magnetic transmission assembly is specifically the rotation of the magnetic component of the radially half-magnetized magnet equipped with neodymium iron boron.

[0154] Of course, in other examples, when the ball head assembly drives the magnetic transmission assembly to rotate counterclockwise to the second rotation position, a positive angle change parameter can be obtained; correspondingly, when the ball head assembly drives the magnetic transmission assembly to rotate clockwise to the second rotation position, a negative angle change parameter can be obtained. It can be seen that the positive and negative angle change parameters are only used to identify the corresponding types of obstacles, rather than to limit the content of the change parameters formed after the ball head assembly drives the magnetic transmission assembly to rotate.

[0155] In this embodiment, the change parameter includes a magnetic flux change parameter. Further, the magnetic flux change parameter includes a large cardinality magnetic flux change parameter and a small cardinality magnetic flux change parameter, and the large and small cardinality refer to the number of magnetic fluxes passing through a certain surface in a physical sense. Among them, the large cardinality magnetic flux change parameter is generated in the following manner: if the ball head assembly moves in a direction away from the cleaning surface within a preset contact distance, and drives the magnetic transmission assembly to rotate clockwise to a first rotation position, then the change parameter is the first change parameter corresponding to the rotation of the magnetic transmission assembly to the first rotation position compared to the initial position, and the first change parameter includes the large cardinality magnetic flux change parameter. Correspondingly, the small cardinality magnetic flux change parameter is generated in the following manner: if the ball head assembly moves in a direction toward the cleaning surface within a preset contact distance, and drives the magnetic transmission assembly to rotate counterclockwise to a second rotation position, then the change parameter is the second change parameter corresponding to the rotation of the magnetic transmission assembly to the second rotation position compared to the initial position, and the second change parameter includes the small cardinality magnetic flux change parameter. In this example, the rotation of the magnetic transmission assembly is specifically that the magnetic component of the axially half-magnetized magnet equipped with NdFeB performs upper and lower semi-arc motions.

[0156] Of course, in other examples, when the ball head assembly drives the magnetic transmission assembly to rotate counterclockwise to the second rotation position, a large cardinality magnetic flux change parameter can be obtained; correspondingly, when the ball head assembly drives the magnetic transmission assembly to rotate clockwise to the second rotation position, a small cardinality magnetic flux change parameter can be obtained. It can be seen that the large and small cardinality magnetic flux change parameters are only for identifying the corresponding types of obstacles, rather than for limiting the content of the change parameters formed after the ball head assembly drives the magnetic transmission assembly to rotate.

[0157] Step S1302: identifying the obstacle according to the change parameter.

[0158] In this step, the magnetic transmission component is used to rotate to different rotational positions according to different movement degrees of the ball head component within the preset contact distance range, and the rotation of the magnetic transmission component to different rotational positions corresponds to different change parameters.

[0159] In one example, after obtaining the first change parameter in the above step S1301, the first change parameter includes a positive angle change parameter, and the obstacle identified according to the first change parameter is a first type obstacle, and the first type obstacle includes a low obstacle, and the height of the low obstacle relative to the cleaning surface is less than 1.0 mm. For example, when the cleaning surface is a glass surface, the low obstacle includes a low glass frame. Correspondingly, after obtaining the second change parameter, the second change parameter includes a negative angle change parameter, and the obstacle identified according to the second change parameter is a second type obstacle, and the second type obstacle includes an invisible obstacle, and the invisible obstacle is farther away from the cleaning surface. For example, when the cleaning surface is a glass surface, the invisible obstacle includes the boundary of frameless glass.

[0160] In another example, after obtaining the first change parameter in the above step S1301, the first change parameter includes a large cardinality magnetic flux change parameter, and the obstacle identified according to the first change parameter is a first type obstacle, and the first type obstacle includes a low obstacle, and the height of the low obstacle relative to the cleaning surface is less than 1.0 mm. For example, when the cleaning surface is a glass surface, the low obstacle includes a low glass frame. Correspondingly, after obtaining the second change parameter, the second change parameter includes a small cardinality magnetic flux change parameter, and the obstacle identified according to the second change parameter is a second type obstacle, and the second type obstacle includes an invisible obstacle, and the invisible obstacle is farther away from the cleaning surface. For example, when the cleaning surface is a glass surface, the invisible obstacle includes the boundary of frameless glass.

[0161] An embodiment of the present application provides an obstacle identification method, which obtains different change parameters corresponding to the rotation of a magnetic transmission component to different rotation positions compared to an initial position, so as to identify different types of obstacles according to different change parameters, thereby improving the detection accuracy of obstacles.

[0162] Fourth embodiment

[0163] Corresponding to the cleaning device provided in the second embodiment of the present application, the fourth embodiment of the present application further provides a path planning method for the cleaning device provided in the second embodiment. Fig.14 : is a schematic flow chart of a path planning method based on a cleaning device provided in the fourth embodiment of the present application. The method comprises the following steps:

[0164] Step S1401, obtaining a change parameter corresponding to the magnetic transmission component rotating to a different rotation position compared to the initial position.

[0165] In this step, the change parameter is the parameter generated in the process of the ball head assembly moving within the preset contact distance to drive the magnetic transmission assembly to rotate to the corresponding rotation position. The preset contact distance is the absolute value distance of the ball head assembly 20 in contact with the obstacle when it moves back and forth in the first direction. The absolute value distance includes the first distance that the ball head assembly 20 moves in the direction toward the cleaning surface and the second distance that moves in the direction away from the cleaning surface with the initial position as the zero point value. For example, in one example, the ball head assembly 20 takes the initial position as the zero point value, the first distance moved in the direction toward the cleaning surface is +2.2mm, the second distance moved in the direction away from the cleaning surface is -2.2mm, and the total moving distance is 4.4mm, that is, the absolute value distance is 4.4mm. Of course, in other examples, the first distance, the second distance and the absolute value distance can be specifically set according to actual conditions. The moving distance corresponding to the movement within the preset contact distance includes the positive moving distance and the negative moving distance with the rated initial position of the ball head assembly as the reference point, and the positive moving distance is less than or equal to the first distance, and the negative moving distance is less than or equal to the second distance.

[0166] The initial position of the magnetic transmission assembly is the position where the magnetic transmission assembly is located when the ball head assembly does not encounter any obstacle and does not rotate.

[0167] In the present embodiment, the change parameter includes an angle change parameter. Further, the angle change parameter includes a positive angle change parameter and a negative angle change parameter. Among them, the positive angle change parameter is generated in the following manner: if the ball head assembly moves in a direction away from the cleaning surface within a preset contact distance, and drives the magnetic transmission assembly to rotate clockwise to a first rotation position, then the change parameter is the first change parameter corresponding to the rotation of the magnetic transmission assembly to the first rotation position compared to the initial position, and the first change parameter includes a positive angle change parameter. Correspondingly, the negative angle change parameter is generated in the following manner: if the ball head assembly moves in a direction toward the cleaning surface within a preset contact distance, and drives the magnetic transmission assembly to rotate counterclockwise to a second rotation position, then the change parameter is the second change parameter corresponding to the rotation of the magnetic transmission assembly to the second rotation position compared to the initial position, and the second change parameter includes a positive angle change parameter. In this example, the rotation of the magnetic transmission assembly is specifically the rotation of the magnetic component of the radially half-magnetized magnet equipped with neodymium iron boron.

[0168] Of course, in other examples, when the ball head assembly drives the magnetic transmission assembly to rotate counterclockwise to the second rotation position, a positive angle change parameter can be obtained; correspondingly, when the ball head assembly drives the magnetic transmission assembly to rotate clockwise to the second rotation position, a negative angle change parameter can be obtained. It can be seen that the positive and negative angle change parameters are only used to identify the corresponding types of obstacles, rather than to limit the content of the change parameters formed after the ball head assembly drives the magnetic transmission assembly to rotate.

[0169] In this embodiment, the change parameter includes a magnetic flux change parameter. Further, the magnetic flux change parameter includes a large cardinality magnetic flux change parameter and a small cardinality magnetic flux change parameter, and the large and small cardinality refer to the number of magnetic fluxes passing through a certain surface in a physical sense. Among them, the large cardinality magnetic flux change parameter is generated in the following manner: if the ball head assembly moves in a direction away from the cleaning surface within a preset contact distance, and drives the magnetic transmission assembly to rotate clockwise to a first rotation position, then the change parameter is the first change parameter corresponding to the rotation of the magnetic transmission assembly to the first rotation position compared to the initial position, and the first change parameter includes the large cardinality magnetic flux change parameter. Correspondingly, the small cardinality magnetic flux change parameter is generated in the following manner: if the ball head assembly moves in a direction toward the cleaning surface within a preset contact distance, and drives the magnetic transmission assembly to rotate counterclockwise to a second rotation position, then the change parameter is the second change parameter corresponding to the rotation of the magnetic transmission assembly to the second rotation position compared to the initial position, and the second change parameter includes the small cardinality magnetic flux change parameter. In this example, the rotation of the magnetic transmission assembly is specifically that the magnetic component of the axially half-magnetized magnet equipped with NdFeB performs upper and lower semi-arc motions.

[0170] Of course, in other examples, when the ball head assembly drives the magnetic transmission assembly to rotate counterclockwise to the second rotation position, a large cardinality magnetic flux change parameter can be obtained; correspondingly, when the ball head assembly drives the magnetic transmission assembly to rotate clockwise to the second rotation position, a small cardinality magnetic flux change parameter can be obtained. It can be seen that the large and small cardinality magnetic flux change parameters are only for identifying the corresponding types of obstacles, rather than for limiting the content of the change parameters formed after the ball head assembly drives the magnetic transmission assembly to rotate.

[0171] Step S1402: identifying the obstacle according to the change parameter.

[0172] In this step, the magnetic transmission component is used to rotate to different rotational positions according to different movement degrees of the ball head component within the preset contact distance range, and the rotation of the magnetic transmission component to different rotational positions corresponds to different change parameters.

[0173] In one example, after obtaining the first change parameter in the above step S1401, the first change parameter includes a positive angle change parameter, and the obstacle identified according to the first change parameter is a first type obstacle, and the first type obstacle includes a low obstacle, and the height of the low obstacle relative to the cleaning surface is less than 1.0 mm. For example, when the cleaning surface is a glass surface, the low obstacle includes a low glass frame. Correspondingly, after obtaining the second change parameter, the second change parameter includes a negative angle change parameter, and the obstacle identified according to the second change parameter is a second type obstacle, and the second type obstacle includes an invisible obstacle, and the invisible obstacle is farther away from the cleaning surface. For example, when the cleaning surface is a glass surface, the invisible obstacle includes the boundary of frameless glass.

[0174] In another example, after obtaining the first change parameter in the above step S1401, the first change parameter includes a large cardinality magnetic flux change parameter, and the obstacle identified according to the first change parameter is a first type obstacle, and the first type obstacle includes a low obstacle, and the height of the low obstacle relative to the cleaning surface is less than 1.0 mm. For example, when the cleaning surface is a glass surface, the low obstacle includes a low glass frame. Correspondingly, after obtaining the second change parameter, the second change parameter includes a small cardinality magnetic flux change parameter, and the obstacle identified according to the second change parameter is a second type obstacle, and the second type obstacle includes an invisible obstacle, and the invisible obstacle is farther away from the cleaning surface. For example, when the cleaning surface is a glass surface, the invisible obstacle includes the boundary of frameless glass.

[0175] Step S1403: adjusting the route of the cleaning device according to the type of the obstacle.

[0176] After the corresponding type of the obstacle is identified in the above step S1402, the route of the cleaning device can be adjusted according to the type of the obstacle. For example, when the type of the obstacle is a first type obstacle, adjusting the route of the cleaning device includes avoiding the route of the first type obstacle and continuing the route, and the first type of obstacle can be cleaned in the route of continuing. When the type of the obstacle is a second type obstacle, adjusting the route of the cleaning device includes avoiding the route of the second type obstacle.

[0177] The embodiment of the present application provides a path planning method, which obtains different change parameters corresponding to the rotation of the magnetic transmission component to different rotation positions compared to the initial position, so as to identify different types of obstacles according to different change parameters, thereby improving the detection accuracy of obstacles. The route of the cleaning equipment is adjusted according to different types of obstacles, so as to improve the detection accuracy of obstacles and further reasonably plan the route of the cleaning equipment to prevent the cleaning equipment from detaching from the cleaning surface, thereby improving the cleaning efficiency of the cleaning equipment.

[0178] Fifth embodiment

[0179] Fig.15 is a schematic structural diagram of an electronic device provided in the fifth embodiment of the present application. The electronic device is used to implement Fig.13 or Fig.14 The method steps are shown.

[0180] like Fig.15As shown, the electronic device includes: including: including a memory 1501, a processor 1502, a communication interface 1503 and a communication bus 1504. The memory 1501, the processor 1502, and the communication interface 1503 are connected to each other through the communication bus 1504.

[0181] The memory 1501 may be a read only memory (ROM), a static storage device, a dynamic storage device or a random access memory (RAM). The memory 1501 may store a program. When the program stored in the memory 1501 is executed by the processor 1502, the processor 1502 and the communication interface 1503 are used to execute the various steps of the method described in the third embodiment or the fourth embodiment of the present application.

[0182] Processor 1502 can adopt a general-purpose central processing unit (CPU), a microprocessor, an application specific integrated circuit (ASIC), a graphics processing unit (GPU) or one or more integrated circuits to execute relevant programs to perform the various steps of the method described in the third embodiment or the fourth embodiment of the present application.

[0183] The processor 1502 may also be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the method described in the third embodiment or the fourth embodiment of the present application may be completed by an integrated logic circuit of hardware or software instructions in the processor 1502. The above-mentioned processor 1502 may also be a general-purpose processor, a digital signal processor (digital signal processing, DSP), an application-specific integrated circuit (application specific integrated circuit, ASIC), a field programmable gate array (field programmable gate array, FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The methods, steps and logic block diagrams disclosed in the embodiments of the present application may be implemented or executed. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc. The steps of the method disclosed in the embodiments of the present application may be directly embodied as being executed by a hardware decoding processor, or executed by a combination of hardware and software modules in a decoding processor. The software module may be located in a mature storage medium in the field such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory 1501, and the processor 1502 reads the information in the memory 1501 and completes each step of the method described in the third embodiment or the fourth embodiment of the present application in combination with its hardware.

[0184] The communication interface 1503 uses a transceiver such as, but not limited to, a transceiver to implement Fig.15 The communication between the electronic device and other devices or communication networks shown in the figure. For example, control information can be sent through the communication interface 1503 to realize self-cleaning of the cleaning device according to the target self-cleaning mode; or, operation parameter information can be obtained through the communication interface 1503.

[0185] The communication bus 1504 may include Fig.15 The illustrated example is a path for transmitting information between various components of the electronic device (eg, memory 1501, processor 1502, communication interface 1503).

[0186] Sixth embodiment

[0187] The sixth embodiment of the present application further provides a storage medium, wherein the storage medium stores a program, and the program is executed by a processor to implement each step of the method described in the third embodiment or the fourth embodiment.

[0188] It should be noted that, although several modules or units for action execution are mentioned in the above detailed description, this division is not mandatory. In fact, according to the specific implementation of the present application, the features and functions of two or more modules or units described above can be concretized in one module or unit. Conversely, the features and functions of one module or unit described above can be further divided into multiple modules or units to be concretized.

[0189] The technical solution provided in the embodiment of the present application is explained in conjunction with specific application scenarios.

[0190] Application Scenario 1

[0191] When the cleaning device 50 cleans the low-frame glass, the ball head assembly 20 of the cleaning device 50 contacts the low frame, so that the ball head assembly 20 moves in a direction away from the cleaning surface 60 within a preset contact distance, and drives the magnetic transmission assembly 30 to rotate clockwise to the first rotation position. The change parameter sensed and obtained by the magnetic sensing unit 40 is the first change parameter corresponding to the rotation of the magnetic transmission assembly 30 from the initial position to the first rotation position, and the first change parameter includes a positive angle change parameter. The magnetic sensing unit 40 sends the obtained change parameter to the main control unit, and the main control unit identifies the obstacle as a first type of obstacle based on the positive angle change parameter. The first type of obstacle includes a low obstacle, and the height of the low obstacle compared to the cleaning surface 60 is less than 1.0 mm. For example, when the cleaning surface 60 is a glass surface, the low obstacle includes a low glass frame.

[0192] Application Scenario 2

[0193] When the cleaning device 50 cleans the frameless glass, the ball head assembly 20 of the cleaning device 50 "contacts" the boundary of the frameless glass, so that the ball head assembly 20 moves in the direction toward the cleaning surface 60 within the preset contact distance, and drives the magnetic transmission assembly 30 to rotate counterclockwise to the second rotation position, then the change parameter sensed and obtained by the magnetic sensing unit 40 is the second change parameter corresponding to the rotation of the magnetic transmission assembly 30 from the initial position to the second rotation position, and the second change parameter includes a negative angle change parameter. The magnetic sensing unit 40 sends the obtained change parameter to the main control unit, and the main control unit identifies the obstacle as a second type of obstacle based on the negative angle change parameter, and the second type of obstacle includes an invisible obstacle, which is farther away from the cleaning surface 60. For example, when the cleaning surface 60 is a glass surface, the invisible obstacle includes the boundary of the frameless glass.

[0194] Application Scenario 3

[0195] When the cleaning device 50 cleans the floor, the ball head assembly 20 of the cleaning device 50 contacts a low obstacle on the floor, causing the ball head assembly 20 to move in a direction away from the cleaning surface 60 within a preset contact distance, and driving the magnetic transmission assembly 30 to rotate clockwise to a first rotation position. The change parameter sensed and obtained by the magnetic sensing unit 40 is a first change parameter corresponding to the rotation of the magnetic transmission assembly 30 from the initial position to the first rotation position, and the first change parameter includes a positive angle change parameter. The magnetic sensing unit 40 sends the obtained change parameter to the main control unit, and the main control unit identifies the obstacle as a first type of obstacle based on the positive angle change parameter. The first type of obstacle includes a low obstacle, and the height of the low obstacle relative to the cleaning surface 60 is less than 1.0 mm. For example, when the cleaning surface 60 is a glass surface, the low obstacle includes a low glass frame.

[0196] In addition, although the steps of the method in the present application are described in a specific order in the drawings, this does not require or imply that the steps must be performed in this specific order, or that all the steps shown must be performed to achieve the desired results. Additionally or alternatively, some steps may be omitted, multiple steps may be combined into one step, and / or one step may be decomposed into multiple steps, etc.

[0197] It should be noted that the embodiments of the present application can be implemented by hardware, software, or a combination of software and hardware. The hardware part can be implemented using dedicated logic; the software part can be stored in a memory and executed by an appropriate instruction execution system, such as a microprocessor or dedicated design hardware. A person of ordinary skill in the art will appreciate that the above-mentioned devices and methods can be implemented using computer executable instructions and / or contained in a processor control code, such as a carrier medium such as a disk, CD or DVD-ROM, a programmable memory such as a read-only memory (firmware), or a data carrier such as an optical or electronic signal carrier. Such code is provided on the carrier medium. The device and its modules of the present application can be implemented by hardware circuits such as very large-scale integrated circuits or gate arrays, semiconductors such as logic chips, transistors, etc., or programmable hardware devices such as field programmable gate arrays, programmable logic devices, etc., can also be implemented by software executed by various types of processors, and can also be implemented by a combination of the above-mentioned hardware circuits and software, such as firmware.

[0198] The above description is only a specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any modification, equivalent substitution and improvement made by any technician familiar with the technical field within the technical scope disclosed in the present application and within the spirit and principle of the present application shall be covered by the protection scope of the present application.

Claims

1. An obstacle recognition component, characterized in that: include: A carrier (10) detachably connected to a base body (51) of a cleaning device (50); A ball head assembly (20) is disposed on the carrier (10), is disposed toward the cleaning surface at a preset contact distance, and reciprocates along a first direction perpendicular to the cleaning surface at the preset contact distance; the preset contact distance is an absolute value distance at which the ball head assembly (20) contacts an obstacle when reciprocating along the first direction; A magnetic transmission component (30) is disposed on the carrier (10) and connected to the ball head component (20) so as to rotate under the drive of the ball head component (20); A magnetic sensing unit (40) is provided on the carrier (10) and is arranged relative to the magnetic transmission component (30) at a preset magnetic sensing distance, and is used to sense a change parameter corresponding to a displacement change or an angle change of the magnetic transmission component (30), so as to identify an obstacle according to the change parameter.

2. The obstacle recognition component according to claim 1, characterized in that: The magnetic transmission assembly (30) comprises: A support shaft (31) is arranged on the carrier (10) along a second direction, wherein the second direction is perpendicular to the first direction; A transmission connection component (32) is sleeved on the support shaft (31) and rotates around the support shaft (31), and a connecting portion of the transmission connection component (32) is connected to the ball head assembly (20) so as to rotate under the drive of the ball head assembly (20); The magnetic component (33) is arranged on the transmission connection component (32) and is arranged toward the magnetic sensing unit (40) at the preset magnetic sensing distance.

3. The obstacle recognition component according to claim 2, characterized in that: The transmission connection component (32) comprises: a first transmission connection shaft (321), wherein the first transmission connection shaft (321) is sleeved on the support shaft (31) so as to rotate around the support shaft (31); The first transmission connection shaft (321) has a first radial end surface (3211), the first radial end surface (3211) faces the magnetic sensing unit (40) at the preset magnetic sensing distance, and the magnetic component (33) is arranged on the first radial end surface (3211); A first connecting arm (3212) is provided on the circumferential outer side of the first transmission connecting shaft (321), and the first connecting arm (3212) is connected to the ball head assembly (20) so as to enable the first transmission connecting shaft (321) to rotate under the drive of the ball head assembly (20); the first connecting arm (3212) is the connecting part of the transmission connecting component (32).

4. The obstacle recognition component according to claim 2, characterized in that: The transmission connection component (32) comprises: A rotating tooth (322) is mounted on the support shaft (31) to rotate around the support shaft (31); The rotating tooth (322) has a second radial end surface (3221), the second radial end surface (3221) faces the magnetic induction unit (40) at the preset magnetic induction distance, and the magnetic component (33) is arranged on the second radial end surface (3221); A first transmission tooth (323), wherein a connecting end of the first transmission tooth (323) is connected to the ball head assembly (20), and a sawtooth end of the first transmission tooth (323) is meshed with the rotating tooth (322), so that the first transmission tooth (323) drives the rotating tooth (322) to rotate under the drive of the ball head assembly (20); the first transmission tooth (323) is a connecting portion of the transmission connection component (32).

5. The obstacle recognition component according to claim 2, characterized in that: The transmission connection component (32) comprises: a second transmission connection shaft (324), wherein the second transmission connection shaft (324) is sleeved on the support shaft (31) so as to rotate around the support shaft (31); A second connecting arm (3241) and a first extension arm (3242) are provided on the circumferential outer side of the second transmission connection shaft (324); the second connecting arm (3241) is connected to the ball head assembly (20) so as to enable the second transmission connection shaft (324) to rotate under the drive of the ball head assembly (20); the second connecting arm (3241) is a connecting portion of the transmission connection component (32); The first extension arm (3242) extends along the circumference of the second transmission connecting shaft (324) and rotates synchronously with the second transmission connecting shaft (324). The end of the first extension arm (3242) has a third radial end face, and the third radial end face faces the magnetic sensing unit (40) at the preset magnetic sensing distance. The magnetic component (33) is arranged on the third radial end face.

6. The obstacle identification component according to claim 2, characterized in that: The transmission connection component (32) comprises: A third transmission connecting shaft (325), wherein the third transmission connecting shaft (325) is sleeved on the support shaft (31) so as to rotate around the support shaft (31); The circumferential outer side of the third transmission connecting shaft (325) is provided with a shifting tooth (3251) and a second extension arm (3252), the second extension arm (3252) extends along the circumference of the third transmission connecting shaft (325) and rotates synchronously with the third transmission connecting shaft (325); the end of the second extension arm (3252) has a fourth radial end face (3253), the fourth radial end face (3253) faces the magnetic sensing unit (40) at the preset magnetic sensing distance, and the magnetic component (33) is arranged on the fourth radial end face (3253); the fourth radial end face (3253) of the second extension arm (3252) is located in the second direction; A second transmission tooth (3255), the connecting end of the second transmission tooth (3255) is connected to the ball head assembly (20), and the sawtooth end of the second transmission tooth (3255) is meshed with the shifting tooth (3251), so that the second transmission tooth (3255) drives the shifting tooth (3251) to rotate the third transmission connection shaft (325) under the drive of the ball head assembly (20); the second transmission tooth (3255) is the connecting part of the transmission connection component (32).

7. The obstacle recognition component according to any one of claims 2 to 4, characterized in that: The magnetic component (33) comprises a radially half magnetized magnet.

8. The obstacle recognition component according to any one of claims 2, 5 and 6, characterized in that: The magnetic component (33) comprises an axially half-magnetized magnet.

9. The obstacle recognition component according to any one of claims 2 to 6, characterized in that: The transmission connection component (32) is sleeved on the support shaft (31) through the shaft body connection hole and rotates around the support shaft (31).

10. The obstacle recognition component according to claim 9, characterized in that: The transmission connection component (32) further comprises: an axle limiting structure, which is arranged on the axle connection hole and the circumferential end surface of the support shaft (31) and is used to limit the movement of the transmission connection component (32) on the support shaft (31) along the second direction.

11. The obstacle recognition component according to any one of claims 2 to 6, characterized in that: The magnetic transmission component (30) further comprises: a reset component (34), the reset component (34) being connected to the transmission connection component (32) and the carrier (10) and being used for resetting the transmission connection component (32) to an initial position after the transmission connection component (32) rotates.

12. The obstacle identification component according to claim 7, characterized in that: The magnetic sensing unit (40) comprises: A tunnel magnetoresistance control board (41), arranged on the carrier (10), is used to obtain the change parameter obtained by the tunnel magnetoresistance sensor (42), so as to identify the obstacle according to the change parameter; A tunnel magnetoresistance sensor (42) is arranged on the tunnel magnetoresistance control board (41) and is arranged relative to the magnetic component (33) at a preset magnetic sensing distance, and is used to sense the angle change of the magnetic component (33) and transmit the obtained change parameter to the tunnel magnetoresistance control board (41); the change parameter includes an angle change parameter.

13. The obstacle identification component according to claim 8, characterized in that: The magnetic sensing unit (40) comprises: A linear Hall control board (43), arranged on the carrier (10), is used to obtain the change parameter obtained by the linear Hall sensor (44), so as to identify the obstacle according to the change parameter; A linear Hall sensor (44) is disposed on the linear Hall control board (43) and is arranged relative to the magnetic component (33) at a preset magnetic sensing distance, and is used to sense the displacement change of the magnetic component (33) and transmit the obtained change parameter to the linear Hall control board (43); the change parameter includes a magnetic flux change parameter.

14. The obstacle identification component according to claim 1, characterized in that: The ball head assembly (20) comprises: A ball head movable shaft (21) is movably arranged to penetrate the carrier (10) along the first direction; A connection component (22) is arranged at a first end of the ball head movable shaft (21) close to the bottom of the base (51) of the cleaning device (50), and is connected to the magnetic transmission component (30); the connection component (22) moves synchronously with the ball head movable shaft (21); A ball head (23) is connected to the second end of the ball head movable shaft (21), protrudes from the carrier (10) and is arranged toward the cleaning surface; the first end and the second end of the ball head movable shaft (21) are opposite to each other; An elastic member (24) is disposed between the ball head (23) and the carrier (10), and the elastic member (24) has an elastic deformation length that satisfies the preset contact distance.

15. The obstacle recognition component according to claim 14, characterized in that: The ball head assembly (20) further comprises: A bearing (25), wherein the bearing (25) is arranged on the carrier (10) relative to the ball head movable axis (21); A ball head support (26) is connected to the bearing (25) so as to rotate with the bearing (25); a ball head accommodating cavity is provided at one end of the ball head support (26) facing the cleaning surface, and the ball head can be accommodated in the ball head accommodating cavity; One end of the elastic member (24) is connected to the ball head support (26), and the other end is connected to the ball head.

16. A cleaning device, characterized in that: include: Matrix (51); An obstacle recognition component (100) is arranged on the base (51), and the obstacle recognition component (100) comprises: A carrier (10) detachably connected to a base body (51) of a cleaning device (50); A ball head assembly (20) is disposed on the carrier (10), is disposed toward the cleaning surface at a preset contact distance, and reciprocates along a first direction perpendicular to the cleaning surface at the preset contact distance; the preset contact distance is an absolute value distance at which the ball head assembly (20) contacts an obstacle when reciprocating along the first direction; A magnetic transmission component (30) is disposed on the carrier (10) and connected to the ball head component (20) so as to rotate under the drive of the ball head component (20); A magnetic sensing unit (40) is provided on the carrier (10) and is arranged relative to the magnetic transmission component (30) at a preset magnetic sensing distance, and is used to sense a change parameter corresponding to a displacement change or an angle change of the magnetic transmission component (30), so as to identify an obstacle according to the change parameter, and to send the change parameter to a main control unit; A main control unit is arranged on the base (51) and is used to receive the change parameters sent by the magnetic induction unit (40), to identify the obstacle according to the change parameters, and to adjust the travel route of the cleaning device (50) according to the type of the obstacle.

17. An obstacle recognition method based on the obstacle recognition component according to any one of claims 1 to 15, characterized in that: include: Obtaining a change parameter corresponding to the rotation of the magnetic transmission component to a different rotation position compared to the initial position, wherein the change parameter is a parameter generated in the process of the ball head component moving within a preset contact distance to drive the magnetic transmission component to rotate to the corresponding rotation position, and the initial position is the position of the magnetic transmission component when the ball head component does not encounter an obstacle and does not rotate; The obstacle is identified according to the change parameter; the magnetic transmission component is used to rotate to different rotation positions according to different movement degrees of the ball head component within the preset contact distance range, and the magnetic transmission component rotates to different rotation positions corresponding to different change parameters.

18. The obstacle recognition method according to claim 17, characterized in that: If the ball head assembly moves in the direction away from the cleaning surface within the preset contact distance and drives the magnetic transmission assembly to rotate clockwise to the first rotation position, the change parameter is a first change parameter corresponding to the rotation of the magnetic transmission assembly from the initial position to the first rotation position; The identifying the obstacle according to the change parameter includes: identifying the obstacle as a first type of obstacle according to the first change parameter.

19. The obstacle recognition method according to claim 17, characterized in that: If the ball head assembly moves in the direction toward the cleaning surface within the preset contact distance and drives the magnetic transmission assembly to rotate counterclockwise to the second rotation position, the change parameter is a second change parameter corresponding to the rotation of the magnetic transmission assembly from the initial position to the second rotation position; The identifying the obstacle according to the change parameter includes: identifying the obstacle as a second type of obstacle according to the second change parameter.

20. The obstacle recognition method according to claim 17, characterized in that: The variation parameters include at least an angle variation parameter and a magnetic flux variation parameter.

21. A path planning method for a cleaning device according to claim 16, characterized in that: include: Obtaining a change parameter corresponding to the rotation of the magnetic transmission component to a different rotation position compared to the initial position, wherein the change parameter is a parameter generated in the process of the ball head component moving within a preset contact distance to drive the magnetic transmission component to rotate to the corresponding rotation position, and the initial position is the position of the magnetic transmission component when the ball head component does not encounter an obstacle and does not rotate; The obstacle is identified according to the change parameter; the magnetic transmission component is used to correspond to different rotation positions according to different movement degrees of the ball head component within the preset contact distance range; the magnetic transmission component rotates to different rotation positions corresponding to different change parameters; The travel route of the cleaning device is adjusted according to the type of the obstacle.

22. An electronic device, characterized in that: include: Processor and memory; The memory is used to store programs, and the processor calls the programs stored in the memory to execute the method described in any one of claims 17-20 and 21.

23. A storage medium, characterized in that: include: The storage medium stores a program and data, and the program is executed by a processor to implement the method described in any one of claims 17-20 and 21.

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