Edge detection device and mobile equipment

Abstract

The invention discloses an edge detection device and mobile equipment, and relates to the technical field of safety protection of intelligent mobile equipment, and the edge detection device comprises a mounting base body, a detection element, a transmission mechanism, a trigger part and a position detection unit. The installation base body is provided with an installation groove penetrating through the detection end face, the detection element is arranged in the groove in a rolling mode, the peripheral face of the detection element is adjacent to the groove wall, and the detection element can be switched between an abutting position and a suspension position in the groove depth direction: the detection element is completely located in the groove and makes contact with the to-be-detected face during abutting, and at least part of the detection element extends out of the end face during suspension. The transmission mechanism is linked with the detection element to drive the trigger piece to move, and the position detection unit outputs a state signal accordingly. The edge detection device is compact in structure, the maximum outer diameter of the detection head does not exceed an installation base body, and integration on space-limited equipment such as a window cleaning robot is facilitated; rolling contact is adopted, friction is small, abrasion is low, omnidirectional adaptability is high, response is rapid, and the safety and reliability of edge operation can be improved.

Description

TECHNICAL FIELD

[0002] The present application relates to the technical field of security protection of intelligent mobile devices, and particularly relates to an edge detection device and a mobile device. BACKGROUND

[0003] With the popularity of intelligent mobile devices in home, industrial and aerial work scenarios, the security protection needs of the intelligent mobile devices when approaching the edge of a step, a glass curtain wall or a suspended edge are increasingly urgent. At present, mainstream edge detection schemes mostly use infrared, ultrasonic or laser sensors, which usually need to arrange the detection components outside the device body in front of or at the bottom of the device body. Such a structure causes the detection unit to be greatly beyond the boundary of the surface to be detected when the edge is first identified, resulting in detection lag in space, and the device body is often partially beyond the boundary, leaving very limited time for the control system to execute braking or obstacle avoidance. At the same time, optical schemes are prone to failure due to transmission, reflection or signal attenuation on transparent, mirror or light-absorbing surfaces. While some mechanical detection structures can directly contact the edge, they are difficult to integrate compactly in a small space due to the inclusion of a probe rod, a cantilever or a large-profile front-end component, and the response is not timely enough in high-speed or complex edge environments. SUMMARY

[0004] The main purpose of the present application is to provide an edge detection device and a mobile device, aiming at the problem that the existing edge detection device is unreliable due to structural overhang, response lag or poor environmental adaptability.

[0005] To achieve the above-mentioned purpose, the edge detection device provided by the present application comprises: An installation base body having a detection end face arranged to face a surface to be detected, the installation base body being provided with an installation slot penetrating the detection end face; A detection element rollably installed in the installation slot, and the outer peripheral surface of the detection element directly abutting the inner wall of the installation base body and being movably arranged along the slot depth direction of the installation slot to switch between an abutting position and a suspended position; A transmission mechanism arranged in linkage with the detection element to produce displacement with the change of the position of the detection element; A trigger connected to one end of the transmission mechanism away from the detection element to move synchronously with the transmission mechanism; and A position detection unit arranged to output different state signals according to the position of the trigger; Wherein, in the abutting position, the detection element is accommodated in the installation slot and in contact with the surface to be detected; and in the suspended position, the detection element at least partially protrudes from the detection end face.

[0006] In an embodiment, the transmission mechanism is provided with a matching recess which is adapted to the outer contour of the detection element at one end of the detection element, and at least part of the detection element is accommodated in the matching recess.

[0007] In an embodiment, the transmission mechanism comprises a push rod and a limiting member, the push rod is movably arranged along the slot depth direction, and the limiting member is fixed to one end of the push rod close to the detection element, and a cavity for accommodating the detection element is formed between the limiting member and the inner wall of the mounting slot.

[0008] In an embodiment, the trigger member is sleeved at one end of the push rod away from the detection element. The edge detection device further comprises a resilient retaining ring embedded in the annular clamping groove, and the resilient retaining ring is connected to the trigger member to limit the trigger member from moving away from the push rod along the slot depth direction.

[0009] In an embodiment, a resilient reset member is further provided between the transmission mechanism and the mounting base, and the resilient reset member is used to drive the transmission mechanism to move when the detection element switches from the abutting position to the suspended position.

[0010] In an embodiment, the mounting base comprises a base and a detection housing, the detection housing is rotatably connected to the base around the slot depth direction, and the mounting slot is arranged in the detection housing.

[0011] In an embodiment, the base is provided with a mounting column extending along the slot depth direction, the detection housing is sleeved on the outer periphery of the mounting column, and the mounting column is provided with a mounting hole; The transmission mechanism passes through the mounting hole and is connected to the trigger member, and the position detection unit is located on the side of the base away from the detection housing.

[0012] In an embodiment, a bearing is arranged between the detection housing and the base, the inner ring of the bearing is fixed to the base, and the outer ring of the bearing is fixed to the detection housing.

[0013] In an embodiment, the outer peripheral wall of the mounting column is provided with a first annular groove, the inner peripheral wall of the detection housing is provided with a second annular groove, the inner ring of the bearing is embedded in the first annular groove, and the outer ring of the bearing is embedded in the second annular groove.

[0014] In an embodiment, the position detection unit comprises a transmitting component and a receiving component which are arranged at intervals in the transverse direction, and a detection light path is formed between the transmitting component and the receiving component. The trigger is located outside the detection light path in a transmission state corresponding to the abutting position and enters the detection light path in a transmission state corresponding to the suspended position.

[0015] In an embodiment, the position detection unit is an optocoupler or a pair of photoelectric sensors.

[0016] The application also provides a mobile device, comprising: A device body configured to be movably arranged along the surface to be detected, the device body having a mounting side configured to face the surface to be detected; and The edge detection device as described above is mounted on the mounting side of the device body.

[0017] In an embodiment, a plurality of edge detection devices are provided, and the plurality of edge detection devices are arranged along the circumference of the mounting side of the device body; and / or, The edge detection device is arranged close to the outer periphery of the device body.

[0018] In an embodiment, the mobile device comprises a cleaning robot.

[0019] The technical solution provided by the application has at least the following advantages: By rollably arranging the detection element in the mounting groove of the mounting base, the maximum outer contour of the entire detection head is not greater than the outer diameter of the mounting base, the structure is compact and small in size, and the detection head is easy to integrate on a space-limited device such as a window-cleaning robot; the detection element adopts a rolling contact mode, has small friction and low wear, and has omnidirectional edge adaptation capability; when the detection element is switched from the abutting state to the suspended state, the transmission mechanism and the trigger can be quickly moved, the position detection unit can timely output a state change signal, the time from edge detection to control response is shortened, falling is prevented, and the safety and reliability of edge work are improved. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are only some embodiments of the application, and for those skilled in the art, other drawings can also be obtained from the structures shown in the drawings without creative labor.

[0021] Figure 1 The structural schematic diagram of an embodiment of the edge detection device provided by the application; Figure 2 The structural schematic diagram of an embodiment of the edge detection device provided by the application; Figure 1 The top view of the edge detection device; Figure 3 For Figure 2 Cross-sectional view of A-A when the detection element is in the abutting position; Figure 4 For Figure 2 Cross-sectional view of A-A when the detection element is in the suspended position.

[0022] Brief Description of the Drawings: 1, installation base; 11, base; 111, mounting column; 111a, mounting hole; 111b, first annular groove; 12, detection shell; 121, detection end face; 12a, second annular groove; 1a, mounting groove; 2, detection element; 3, transmission mechanism; 311, matching concave part; 31, push rod; 32, limiting piece; 4, trigger piece; 5, position detection unit; 51, transmitting part; 52, receiving part; 6, elastic check ring; 7, elastic reset piece; 8, bearing; 200, surface to be detected.

[0023] The implementation, functional features and advantages of the present application will be further described with reference to the accompanying drawings in conjunction with the embodiments. DETAILED DESCRIPTION

[0024] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0025] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative positional relationship, movement condition, etc. between components in a certain posture, and if the certain posture changes, the directional indications also change accordingly.

[0026] In addition, if the description of "first", "second" and the like is involved in the embodiments of the present application, the description of "first", "second" and the like is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can be explicitly or implicitly included at least one of the features. In addition, if "and / or" or "and / or" appears throughout the text, it means that the three parallel schemes are included, for example, "A and / or B" includes A scheme, or B scheme, or A and B scheme. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the realization of the ordinary skilled in the art, when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, nor within the scope of protection required by the present application.

[0027] The present application provides an edge detection device, which is suitable for intelligent devices with autonomous moving ability, especially for application scenarios with high requirements for boundary identification reliability and action timeliness in edge environment, such as window cleaning robots, inspection robots, aerial work platforms or automatic guided vehicles (AGV) and the like. When the above-mentioned devices approach dangerous areas such as steps, glass curtain walls, balcony edges or suspended platforms, they need to accurately perceive the boundary position and timely trigger braking, steering or obstacle avoidance operations to avoid the risk of falling.

[0028] For the convenience of description, the edge detection device is applied to a window cleaning robot as an example for specific description. For other application occasions, such as industrial inspection equipment, service robots or high-altitude cleaning devices, the size, layout or connection mode of the device can be adjusted according to the actual installation space, motion posture and edge structure characteristics, and the embodiments of the present application are not limited in this regard.

[0029] In the prior art, part of the edge detection device sets the sensing part outside the device body in front or at the bottom, which causes the sensing unit to cross the boundary of the measured surface when detecting the edge for the first time, resulting in a detection lag in space, and the time left for the control system to execute safety actions is very limited. Another part of the mechanical structure uses sliding contact mode, which has the problems of large friction resistance and easy wear, and is prone to action delay or sensitivity decline after long-term use. In view of the above problems, the present application provides an edge detection device with compact structure, rapid response and good durability to realize reliable identification of critical edge state.

[0030] Please refer to Figures 1 to 3In an embodiment of the present application, the edge detection device comprises a mounting base 1, a detection element 2, a transmission mechanism 3, a trigger 4 and a position detection unit 5. The mounting base 1 has a detection end face 121 arranged to face the surface 200 to be detected. The mounting base 1 is provided with a mounting groove 1a penetrating the detection end face 121. The detection element 2 is rollably mounted in the mounting groove 1a, and the outer peripheral surface of the detection element 2 directly abuts the inner wall of the mounting base 1 and is movably arranged in the direction of the groove depth of the mounting groove 1a to switch between the abutting position and the suspended position. The transmission mechanism 3 is arranged in linkage with the detection element 2 to produce displacement with the change of the position of the detection element 2. The trigger 4 is connected to the end of the transmission mechanism 3 away from the detection element 2 to move synchronously with the transmission mechanism 3. The position detection unit 5 is arranged to output different state signals according to the position of the trigger 4. In the abutting position, the detection element 2 is accommodated in the mounting groove 1a and in contact with the surface 200 to be detected. In the suspended position, the detection element 2 at least partially protrudes out of the detection end face 121.

[0031] It should be noted that the mounting base 1 is the mounting support body of the entire edge detection device, and one end thereof is provided with the detection end face 121, which faces the surface 200 to be detected (such as glass, floor, etc.) during work. The mounting base 1 is internally provided with the mounting groove 1a penetrating the detection end face 121, and the groove depth of the mounting groove 1a extends in a direction substantially perpendicular to the surface 200 to be detected, thereby providing installation and movement space for the detection element 2 and the transmission mechanism 3. The overall outer contour of the mounting base 1 has a radial dimension at the detection end face 121, which is the maximum dimension of the entire detection head, and no additional cantilever, probe rod or other radially outward protruding structure is required, thereby occupying extremely small space in the vertical direction, and being particularly suitable for mobile devices such as window cleaning robots with limited bottom space, facilitating the layout of components such as walking wheels and cleaning modules, and maximizing the use of limited installation area.

[0032] The detection element 2 is rollably arranged in the mounting groove 1a, and the outer peripheral surface thereof directly contacts or closely fits the inner wall of the mounting base 1. In an embodiment, the detection element 2 is a sphere, such as a metal ball, an engineering plastic ball or a ceramic ball. Of course, the detection element 2 can also adopt a cylindrical roller, a circular arc head or other rotary body structure having rolling ability, which can be determined according to the detection sensitivity, bearing requirement and manufacturing cost, and the embodiments of the present application do not limit the same.

[0033] Due to the rolling contact mode, the frictional resistance of the detection element 2 when acting on the surface to be detected 200 is smaller than the sliding friction, the movement is smoother, and the detection element 2 is not easy to wear in long-term use, and the triggering accuracy can be maintained. In addition, the spherical or symmetrical rotary structure also has omnidirectional adaptation capability, no matter which direction the mobile device approaches the edge (such as a right angle, an oblique side or a circular arc transition), the detection element 2 can effectively contact and smoothly trigger the state change, avoiding missed detection caused by direction sensitivity.

[0034] The transmission mechanism 3 is linked with the detection element 2 and can be displaced along the groove depth direction of the mounting groove 1a as the position of the detection element 2 changes. Please refer to Figure 3 When the mobile device is located inside the surface to be detected 200, the detection element 2 is abutted on the surface to be detected 200 under the action of the pre-tightening force or the return element, and is in the abutting position. At this time, the detection element 2 is completely accommodated in the mounting groove 1a; please refer to Figure 4 Once the mobile device travels to the outside of the edge, the detection element 2 is suspended under the loss of support below, and is driven by the gravity or the elastic return element 7 to move downward along the groove depth direction, enters the suspended position, and at least partially extends out of the detection end face 121. And the displacement is transmitted to the trigger 4 through the transmission mechanism 3.

[0035] The trigger 4 is connected to one end of the transmission mechanism 3 away from the detection element 2 and moves synchronously with the transmission mechanism 3. The position detection unit 5 is fixed on the mounting base 1 and can adopt common position detection elements such as photoelectric switches, Hall sensors or micro switches. When the trigger 4 is in the first working state corresponding to the abutting position, the position detection unit 5 outputs the first state signal, indicating that the mobile device is in the safe area; when the trigger 4 moves to the second working state with the detection element 2 entering the suspended position, the position detection unit 5 outputs the second state signal, and the control system executes the braking, turning or avoiding action accordingly.

[0036] The present specification does not limit the specific form of the transmission mechanism 3, which can be a push rod 31, a connecting rod, a flexible shaft or other structures capable of transmitting linear displacement, which will not be described in detail here.

[0037] In the technical scheme provided by the present application, the detection element 2 is rollably arranged in the mounting groove 1a of the mounting base 1, so that the maximum outer contour of the entire detection head does not exceed the outer diameter of the mounting base 1, the structure is compact and small in size, and is convenient to integrate on space-limited devices such as window cleaning robots; the detection element 2 adopts a rolling contact mode, has small friction and low wear, and has omnidirectional edge adaptation capability; when the detection element 2 is switched from the abutting state to the suspended state, the transmission mechanism 3 and the trigger 4 can be quickly driven to move, so that the position detection unit 5 can timely output the state change signal, shorten the time from edge detection to control response, prevent falling, and improve the safety and reliability of the edge operation.

[0038] Specifically, in order to avoid point contact, stress concentration or local jamming during the rolling or force process of the detection element 2, please refer to Figure 3 In the embodiment, the transmission mechanism 3 is provided with a matching recess 311 at one end thereof facing the detection element 2, and the detection element 2 is at least partially accommodated in the matching recess 311.

[0039] The transmission mechanism 3 is provided with a matching recess 311 at one end thereof facing the detection element 2, which is matched with the outer contour of the detection element 2. For example, when the detection element 2 is a sphere, the matching recess 311 can be designed as a spherical recess with a radius slightly greater than or equal to the radius of the sphere, so that the lower part of the sphere can be partially embedded therein; when the detection element 2 is a cylindrical roller, the matching recess 311 can be designed as a circular arc groove or a V-shaped groove accordingly. This structure forms a surface contact or an approximate surface contact between the detection element 2 and the transmission mechanism 3, which can disperse the pressure in the contact area and avoid local wear or jumping.

[0040] In actual work process, when the detection element 2 abuts against the detection surface 200 and is in the abutting position, the bottom thereof is stably embedded in the matching recess 311, and the transmission mechanism 3 is uniformly stressed; when the device moves to the outside of the edge and the detection element 2 is suspended, it moves downward along the mounting groove la under the action of gravity or the restoring member, and still can keep linkage with the transmission mechanism 3 through the matching recess 311, ensuring accurate displacement transmission and avoiding signal loss or delay due to poor contact.

[0041] Specifically, in order to simplify the assembly structure of the transmission mechanism 3, please refer to Figure 3 In the embodiment, the transmission mechanism 3 includes a push rod 31 and a limiting member 32, the push rod 31 is movably arranged along the groove depth direction, and the limiting member 32 is fixed to one end of the push rod 31 close to the detection element 2, and a cavity for accommodating the detection element 2 is formed between the limiting member 32 and the inner wall of the mounting groove la.

[0042] Specifically, the push rod 31 is a rod-shaped structure extending along the groove depth direction of the mounting groove la, and is slidably arranged inside the mounting base 1, and the movement direction thereof is consistent with the displacement direction of the detection element 2. The limiting member 32 is fixedly connected to one end of the push rod 31 close to the detection element 2, and can be designed as a disc-shaped, ring-shaped or structure with a central through hole, and the outer diameter thereof is less than or equal to the inner diameter of the mounting groove la, so that it can be stably located inside the mounting groove la. The limiting member 32 and the inner wall of the mounting groove la close to the detection end face 121 jointly enclose a closed or semi-closed cavity, and the detection element 2 is constrained in the cavity, which can freely roll and will not be detached from the detection end face 121 or axially deviated.

[0043] By setting the transmission mechanism 3 as a combined structure including the push rod 31 and the limiting piece 32, the limiting piece 32 and the inner wall of the mounting groove 1a jointly form a cavity accommodating the detection element 2, which is simple in structure and convenient to assemble.

[0044] Further, referring to Figure 1 and Figure 3 In the embodiment, the trigger piece 4 is sleeved on the end of the push rod 31 away from the detection element 2. The edge detection device further includes a resilient retaining ring 6 embedded in the annular clamping groove, and the resilient retaining ring 6 is connected to the trigger piece 4 to limit the trigger piece 4 from being separated from the push rod 31 in the groove depth direction.

[0045] Since the end of the push rod 31 away from the detection element 2 is provided with the annular clamping groove, the annular clamping groove is opened in the circumferential direction of the push rod 31, and the cross-sectional shape thereof can be rectangular, trapezoidal or circular arc-shaped, for embedding the resilient retaining ring 6. The trigger piece 4 is a hollow structure, is sleeved on the outer periphery of the end of the push rod 31, and is located on the side of the resilient retaining ring 6 close to the detection element 2. After the resilient retaining ring 6 is embedded in the annular clamping groove, the outer edge thereof protrudes from the surface of the push rod 31, thereby forming a stop for the trigger piece 4 and limiting the trigger piece 4 from falling off the push rod 31 in the groove depth direction.

[0046] It should be noted that, compared with other connection modes, such as a screwing mode, the end of the push rod 31 needs to be processed with internal threads, and the trigger part needs to be fixed by a screw or a nut. As a result, not only the diameter of the push rod 31 needs to be increased to ensure the strength of the threads, but also the overall structure size is increased, thereby forcing the mounting base 1 to be correspondingly enlarged, which is not conducive to compact arrangement on a mobile device (such as a window cleaning robot) with limited space.

[0047] Since the diameter of the push rod 31 is reduced, the internal passage of the mounting base 1 matched with the push rod 31 can also be correspondingly reduced, thereby optimizing the radial size of the entire detection end, and integrating multiple functional modules in the limited area at the bottom of the mobile device.

[0048] It should be noted that, if the device for realizing state switching only relies on the gravity of the detection element 2 itself, when the mobile device is in an inclined posture, crosses a small gap or is temporarily suspended, the detection element 2 may not be able to be timely extended to the suspended position due to insufficient gravity component or movement resistance, resulting in missed detection. Meanwhile, on a complex work surface (such as an arc-shaped window frame or a slope edge), the gravity direction is inconsistent with the detection axis, which also affects the action reliability.

[0049] Further, referring to Figure 3 and Figure 4 In the embodiment, the resilient reset piece 7 is further arranged between the transmission mechanism 3 and the mounting base 1, and is used to drive the transmission mechanism 3 to move when the detection element 2 is switched from the abutting position to the suspended position.

[0050] The elastic reset member 7 can be a compression spring, a tension spring, a disc spring, or an elastic rubber body, etc. with energy storage and recovery capability. In the normal working state, i.e. when the detection element 2 abuts against the detection surface 200 and is in the abutting position, the detection element 2 pushes the transmission mechanism 3 upward, so that the elastic reset member 7 is compressed (or stretched) and is in the energy storage state; when the device moves to the outside of the edge, the detection element 2 loses support below, the elastic reset member 7 releases the stored elastic potential energy, pushes the transmission mechanism 3 to move in the groove depth direction away from the detection surface 200, thereby driving the detection element 2 to quickly enter the suspended position, at least partially extending out of the detection end surface 121. In this way, the edge detection device does not depend on the posture or gravity direction of the mobile device, and can ensure reliable triggering even in inclined, inverted or dynamic jolting working conditions.

[0051] The specific type, number or mounting orientation of the elastic reset member 7 is not limited in the present specification, which can be arranged between the push rod 31 and the inner bottom wall of the mounting base 1, or between the side wall of the transmission mechanism 3 and the cavity wall of the mounting base 1, and the specific arrangement can be determined according to the space layout, required driving force and response speed requirement, which is not limited in the present embodiment.

[0052] It should be noted that when the mobile device (such as a window cleaning robot) travels along the wall surface or glass surface and contacts the window frame, wall protrusions or other lateral obstacles during operation, if the detection head is a rigid fixed structure, it is easy to cause hard collision, scratching, and even cause the device to be stuck or deviate from the predetermined path.

[0053] In order to avoid the above problems, further referring to Figure 3 and Figure 4 In the present embodiment, the mounting base 1 includes a base 11 and a detection housing 12, the detection housing 12 is rotatably connected to the base 11 around the groove depth direction, and the mounting groove 1a is arranged in the detection housing 12.

[0054] It should be noted that the base 11 is used to fix the entire edge detection device to the main body of the mobile device, the detection housing 12 is rotatably connected to the base 11, the mounting groove 1a penetrates the detection end surface 121 of the detection housing 12, and the detection element 2 and the transmission mechanism 3 are arranged in the detection housing 12. The rotatable connection between the detection housing 12 and the base 11 can be achieved by a bearing 8, a shaft sleeve, a clearance fit or other rotary support structure, so that the detection housing 12 can freely rotate within the horizontal plane around the groove depth direction (i.e. perpendicular to the detection surface 200) by a certain angle.

[0055] In actual operation, when the mobile device approaches a window frame, a corner or other lateral obstacle, the outer peripheral wall of the detection shell 12 can first contact the obstacle. Since the detection shell 12 is rotatable, the resulting contact force can cause the detection shell 12 to rotate slightly as a whole around the slot depth direction along with the detection element 2 inside it, thereby guiding the device to adjust the travel direction to conform to the obstacle profile, avoiding hard collision or stagnation. In this way, a flexible guide head is provided for the front end of the mobile device, which can improve the obstacle crossing ability and path adaptability, especially suitable for glass curtain wall or window cleaning scenes with complex frame structures.

[0056] The specific rotational connection between the detection shell 12 and the base 11 is not limited in the specification, and a ball bearing 8, a plastic shaft sleeve or a simple interference / clearance fit structure can be used; of course, the rotational damping size can also be adjusted according to actual needs, for example, the rotation sensitivity can be controlled by pre-tightening force, and the specific determination can be made according to the device weight, motion speed and obstacle avoidance requirements, which are not limited in the embodiments of the specification.

[0057] By rotatably arranging the detection shell 12 on the base 11, the entire detection head can automatically deflect when contacting a lateral obstacle, which can reduce jamming and impact and assist the mobile device to smoothly turn. In this way, not only the passability and stability of the mobile device in a complex edge environment can be improved, but also the risk of component damage caused by rigid collision can be reduced.

[0058] Specifically, please refer to Figure 3 In the embodiment, the base 11 is provided with a mounting column 111 extending along the slot depth direction, the detection shell 12 is sleeved on the outer periphery of the mounting column 111, and the mounting column 111 is provided with a mounting hole 111a. The transmission mechanism 3 passes through the mounting hole 111a and is connected with the trigger 4, and the position detection unit 5 is located on the side of the base 11 away from the detection shell 12.

[0059] Specifically, the base 11 is a hollow columnar structure, and the mounting hole 111a is provided inside. The detection shell 12 is sleeved on the outer periphery of the mounting column 111, and a relative rotation fit is formed between the mounting column 111 and the detection shell 12. In this way, the free rotation of the detection shell 12 around the slot depth direction is ensured, and stable coaxial support is provided for the entire detection head. The transmission mechanism 3 (such as a push rod 31) passes through the mounting hole 111a in the mounting column 111 and slides axially along the hole, one end of which is connected with the detection element 2 and the other end of which extends to the side of the base 11 away from the detection shell 12 and is connected with the trigger 4.

[0060] The position detection unit 5 is fixed to the base 11 away from the detection shell 12, and is in a corresponding position relationship with the trigger 4, for outputting a corresponding state signal according to the displacement of the trigger 4. Since this area is located on the inner side of the mobile device, away from the detection surface 200, and is basically not in contact with contaminants such as water stains, cleaning agents, dust, and oil stains, the risk of false triggering or detection failure caused by environmental interference can be reduced.

[0061] Specifically, referring to Figure 3 and Figure 4 In this embodiment, a bearing 8 is arranged between the detection shell 12 and the base 11, the inner ring of the bearing 8 is fixed to the base 11, and the outer ring of the bearing 8 is fixed to the detection shell 12.

[0062] It can be understood that the mounting column 111 on the base 11 serves as the mounting reference of the inner ring of the bearing 8, and the inner ring of the bearing 8 is fixed to the mounting column 111 by interference fit, snap spring, or locking screw. The inner peripheral wall of the detection shell 12 is connected to the outer ring of the bearing 8 by press fitting, bonding, or step limiting, so as to ensure synchronous rotation of the two.

[0063] Specifically, referring to Figure 3 In this embodiment, the outer peripheral wall of the mounting column 111 is provided with a first annular groove 111b, and the inner peripheral wall of the detection shell 12 is provided with a second annular groove 12a, the inner ring of the bearing 8 is embedded in the first annular groove 111b, and the outer ring of the bearing 8 is embedded in the second annular groove 12a.

[0064] Specifically, the outer peripheral wall of the mounting column 111 is provided with a first annular groove 111b, which continuously extends in the circumferential direction, and the cross-sectional shape can be rectangular, trapezoidal, or arc-shaped, for accommodating and limiting the inner ring of the bearing 8. The inner peripheral wall of the detection shell 12 is provided with a second annular groove 12a at a corresponding position, which is matched with the first annular groove 111b in structure, for embedding the outer ring of the bearing 8. During assembly, the inner ring of the bearing 8 is pressed into or clamped into the first annular groove 111b, and the outer ring is embedded into the second annular groove 12a, so as to realize double positioning of the bearing 8 in the axial and radial directions.

[0065] In this way, not only can the assembly process be simplified, but also the bearing 8 can be prevented from moving due to uneven stress or vibration during long-term use.

[0066] Specifically, referring to Figure 1 and Figure 2In the embodiment, the position detecting unit 5 comprises a transmitting component 51 and a receiving component 52 which are arranged at intervals in the transverse direction, and a detection light path is formed between the transmitting component 51 and the receiving component 52. The trigger 4 is located outside the detection light path in the transmission state corresponding to the abutting position, and enters the detection light path in the transmission state corresponding to the overhanging position.

[0067] It should be noted that the transverse direction is a direction substantially perpendicular to the groove depth, for example, a horizontal direction. When the detection element 2 is in the abutting position, the transmission mechanism 3 drives the trigger 4 to be located outside the detection light path, and the receiving component 52 can normally receive the signal (such as infrared light, visible light or laser) emitted by the transmitting component 51, at which time the position detecting unit 5 outputs a first state signal indicating a "safe area"; when the detection element 2 moves to the overhanging position, the transmission mechanism 3 synchronously drives the trigger 4 to enter the detection light path between the transmitting component 51 and the receiving component 52, and blocks the light beam, so that the receiving signal of the receiving component 52 changes obviously, and the position detecting unit 5 outputs a second state signal indicating "edge or out of bounds" accordingly.

[0068] Specifically, in the embodiment, the position detecting unit 5 is an optoelectronic coupler or a photoelectric sensor.

[0069] The optoelectronic coupler integrates the transmitting component 51 and the receiving component 52 in the same package, and realizes the blocking detection through an internal light path, so that the structure is compact and suitable for occasions with limited installation space; the photoelectric sensor is composed of a transmitting end and a receiving end arranged separately, and the two are fixed to opposite positions on the base 11 to form an open detection light path therebetween, so that the detection distance is longer and the anti-interference ability is stronger.

[0070] The application also provides a mobile device, which comprises a device and an edge detecting device, the device body is arranged movably along a surface to be detected 200 and has a mounting side facing the surface to be detected 200, and the edge detecting device is mounted on the mounting side. The specific structure of the edge detecting device is referred to the above-mentioned embodiments. Since the mobile device adopts all the technical solutions of the above-mentioned embodiments, it at least has all the beneficial effects brought by the technical solutions of the above-mentioned embodiments, which will not be described here.

[0071] Further, in the embodiment, a plurality of edge detecting devices are arranged at intervals along the circumference of the mounting side of the device body; and / or, the edge detecting device is arranged close to the outer periphery of the device body.

[0072] In an embodiment, multiple edge detection devices are provided on the mobile device, and are circumferentially spaced along the installation side of the device body. For example, three or four edge detection devices can be evenly distributed on a circular device, or can be arranged at the front side, left side, right side, and even the rear corner position of a square or rectangular device, so as to achieve omnidirectional monitoring of the main travel direction and lateral edges.

[0073] In another embodiment, the edge detection device is arranged close to the outer periphery of the device body. This arrangement enables the detection element 2 to contact or perceive the edge change in advance before the device body has gone beyond the surface 200 to be detected, leaving more response time for the control system, effectively preventing the risk of falling due to local suspension not being recognized.

[0074] Of course, the above two arrangements can also be used simultaneously, i.e., multiple edge detection devices are circumferentially spaced at the outer periphery of the device body, which can take into account both coverage and detection in advance. The specific number, installation angle, and distance from the outer periphery can be flexibly adjusted according to the shape, motion characteristics, and working environment of the mobile device, and the embodiments of the present specification do not limit this.

[0075] By circumferentially spacing multiple edge detection devices along the installation side of the device body, and preferably arranging them close to the outer periphery, the coverage of the edge detection can be expanded, and the directional blind area of single-point detection can be eliminated. Furthermore, such a layout can reliably perceive the edge state from different directions in advance, improving the obstacle avoidance ability and running safety of the mobile device in complex boundary environments, while being compact and not affecting the overall spatial layout.

[0076] In a specific embodiment, the mobile device includes a cleaning robot, particularly a window-cleaning robot suitable for working on high or suspended surfaces such as windows, curtain walls, and balconies.

[0077] Such a device needs to move closely to a glass or other smooth surface during operation, and often faces complex boundary conditions such as frameless edges, window frame corners, local steps, or wet and slippery transition areas. Traditional edge detection methods are easily disturbed by high reflectivity, light transmission, or water film, and mechanical extension structures are limited by the bottom space, making it difficult to balance compactness and reliability. The edge detection device provided by the present application is small in size, has no external probe, uses rolling contact and axial linkage mechanism, can directly contact the edge and quickly trigger state switching, and is particularly suitable for integration in the limited space of the bottom of the cleaning robot.

[0078] Of course, the cleaning robot can also include a floor cleaning robot, a pool cleaner, or other automatic cleaning devices with edge work requirements, and the specific applicable type can be determined according to the actual function and use environment, and the embodiments of the present specification do not limit this.

[0079] The above merely illustrates the embodiments of the present application, and is not intended to limit the patent scope of the present application. Any equivalent structural transformation, direct / indirect application in other related technical fields, or the like, which is made under the technical concept of the present application, and based on the content of the present application specification and drawings, is included in the patent protection scope of the present application.

Claims

1. An edge detection device for a mobile device, the device comprising: The edge detection device comprises: an installation base (1) having a detection end face (121) arranged to face a surface (200) to be detected, the installation base (1) being provided with an installation slot (1a) penetrating the detection end face (121); a detection element (2) rollably installed in the installation slot (1a) and having an outer circumferential surface directly abutting an inner wall of the installation base (1) and being movably arranged along a slot depth direction of the installation slot (1a) to switch between an abutting position and a suspended position; a transmission mechanism (3) arranged in linkage with the detection element (2) to generate displacement with a change in position of the detection element (2); a trigger (4) connected to an end of the transmission mechanism (3) away from the detection element (2) to move synchronously with the transmission mechanism (3); and a position detection unit (5) arranged to output different state signals according to a position of the trigger (4); wherein, in the abutting position, the detection element (2) is accommodated in the installation slot (1a) and in contact with the surface (200) to be detected, and in the suspended position, the detection element (2) at least partially protrudes out of the detection end face (121).

2. The edge detection apparatus of claim 1, wherein An end of the transmission mechanism (3) towards the detection element (2) is provided with a matching recess (311) matching an outer contour of the detection element (2), and at least part of the detection element (2) is accommodated in the matching recess (311).

3. The edge detection apparatus of claim 1 or 2, wherein The transmission mechanism (3) comprises a push rod (31) movably arranged along the slot depth direction and a limiting piece (32) fixed to an end of the push rod (31) close to the detection element (2), and a cavity for accommodating the detection element (2) is formed between the limiting piece (32) and an inner wall of the installation slot (1a).

4. The edge detection apparatus of claim 3, wherein The trigger (4) is sleeved on an end of the push rod (31) away from the detection element (2). The edge detection device further comprises a resilient retaining ring (6) embedded in the annular clamping groove, the resilient retaining ring (6) being connected to the trigger (4) to limit the trigger (4) from moving away from the push rod (31) along the slot depth direction.

5. The edge detection apparatus of claim 1, wherein Further comprising a resilient reset piece (7) arranged between the transmission mechanism (3) and the installation base (1) to drive the transmission mechanism (3) to move when the detection element (2) switches from the abutting position to the suspended position.

6. The edge detection apparatus of claim 1, wherein The installation base (1) comprises a base (11) and a detection housing (12) rotatably connected to the base (11) about the slot depth direction, and the installation slot (1a) is arranged in the detection housing (12).

7. The edge detection apparatus of claim 6, wherein The base (11) is provided with an installation column (111) extending along the slot depth direction, the detection housing (12) is sleeved on an outer periphery of the installation column (111), and the installation column (111) is provided with an installation hole (111a); The transmission mechanism (3) passes through the mounting hole (111a) and is connected with the trigger (4), and the position detection unit (5) is located on the side of the base (11) away from the detection shell (12).

8. The edge detection apparatus of claim 6 or 7, wherein A bearing (8) is arranged between the detection shell (12) and the base (11), an inner ring of the bearing (8) is fixed to the base (11), and an outer ring of the bearing (8) is fixed to the detection shell (12).

9. The edge detection apparatus of claim 8, wherein, The outer peripheral wall of the mounting column (111) is provided with a first annular groove (111b), the inner peripheral wall of the detection shell (12) is provided with a second annular groove (12a), the inner ring of the bearing (8) is embedded in the first annular groove (111b), and the outer ring of the bearing (8) is embedded in the second annular groove (12a).

10. The edge detection apparatus of claim 1, wherein The position detection unit (5) comprises a transmitting component (51) and a receiving component (52) arranged at intervals in the transverse direction, and a detection light path is formed between the transmitting component (51) and the receiving component (52); The trigger (4) is located outside the detection light path in the transmission state corresponding to the abutting position, and enters the detection light path in the transmission state corresponding to the suspended position.

11. The edge detection apparatus of claim 10, wherein, The position detection unit (5) is an optoelectronic coupler or a pair of photoelectric sensors.

12. A mobile device, comprising: Comprise: A device body for movably arranging along the surface to be detected (200), the device body having a mounting side for facing the surface to be detected (200); And, The edge detection device as claimed in any one of claims 1 to 11 is mounted on the mounting side of the device body.

13. The mobile device of claim 12, wherein, The edge detection device is provided in plurality, and the plurality of edge detection devices are arranged at intervals along the circumference of the mounting side of the device body; and / or, The edge detection device is arranged close to the outer periphery of the device body.

14. The mobile device of claim 12, wherein, The mobile device comprises a cleaning robot.

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