Cleaning device

Abstract

The invention relates to the technical field of cleaning equipment, in particular to cleaning equipment, and aims to solve the problem that a detection range cannot be ensured by a setting mode of a sensor of an existing swimming pool cleaning machine. In order to achieve the purpose, the cleaning equipment comprises a shell and a rotating assembly rotationally arranged on the shell, and at least part of the rotating assembly protrudes out of the shell. According to the cleaning equipment, the rotating assembly comprising the sensor is arranged on the shell of the equipment, and at least part of the rotating assembly protrudes out of the shell, so that on one hand, it is guaranteed that the sensor has a large detection range, and on the other hand, due to the fact that no shielding object is arranged outside, the sensor can directly obtain environment information; the detection effect of the sensor is ensured, and the existing problems are solved.

Description

Technical Field

[0001] This invention relates to the field of cleaning equipment technology, and specifically provides a cleaning device. Background Technology

[0002] A pool cleaner is an intelligent device used to automatically clean the bottom, sidewalls, and even the waterline of a swimming pool. To efficiently and autonomously complete cleaning tasks, modern pool cleaners are typically equipped with various sensors (such as ultrasonic sensors, infrared sensors, cameras, and water level sensors) to detect the surrounding environment, identify obstacles, detect pool boundaries, and determine their own position. Based on the information provided by the sensors, the pool cleaner's main control system can further plan the cleaning path, avoid obstacles, and execute corresponding actions.

[0003] Currently, the sensor placement methods on pool cleaning machines have certain limitations, primarily using fixed sensors. These sensors are permanently installed in specific locations on the machine body, and their sensing direction and range are fixed. This method has a very limited detection range, with numerous blind spots, causing the pool cleaning machine to be unable to fully perceive its surroundings, making it prone to jamming or collisions, and resulting in low cleaning efficiency. Therefore, optimizing the sensor placement method to ensure the sensor's detection range has become a pressing technical problem to be solved in this field.

[0004] In view of this, the present invention proposes a new cleaning device to solve the above problems. Summary of the Invention

[0005] The present invention aims to solve the above-mentioned technical problems, namely, to solve the problem that the existing sensor setting method of swimming pool cleaning machine cannot guarantee the detection range.

[0006] In a first aspect, the present invention provides a cleaning device, comprising: a housing; a rotating assembly rotatably disposed on the housing and at least partially exposed outside the housing; and a detection unit disposed on the rotating assembly for acquiring environmental information.

[0007] In the preferred technical solution of the above-mentioned cleaning equipment, by setting the rotating component, the detection range of the detection unit can be increased, overcoming the problem of limited detection range of the fixedly installed detection unit (such as sensor) in the prior art.

[0008] In the preferred embodiment of the above-mentioned cleaning equipment, the cleaning equipment further includes a walking unit, through which the cleaning equipment moves, and the cleaning equipment also includes a reference surface, which is defined by the contact point between the walking unit and the ground.

[0009] In the preferred technical solutions of the cleaning device, the rotation shaft of the rotating assembly is perpendicular or substantially perpendicular to the reference surface; or the rotation shaft of the rotating assembly is parallel or substantially parallel to the reference surface.

[0010] In the preferred technical solutions of the cleaning device, the rotating assembly can be arranged on the top surface of the cleaning device or one side surface of the cleaning device.

[0011] In the preferred technical solutions of the cleaning device, the rotation shaft of the rotating assembly is perpendicular to the reference surface or the inclination angle of the rotation shaft of the rotating assembly with respect to the normal line of the reference surface ranges from -10° to 10°; or the rotation shaft of the rotating assembly is parallel to the reference surface or the inclination angle of the rotation shaft of the rotating assembly with respect to the reference surface ranges from -10° to 10°.

[0012] In the preferred technical solutions of the cleaning device, the rotation speed of the rotating assembly is less than 1 Hz.

[0013] In the preferred technical solutions of the cleaning device, the rotatable angle of the rotating assembly around the rotation shaft is less than or equal to 360°.

[0014] In the preferred technical solutions of the cleaning device, the rotatable angle of the rotating assembly around the rotation shaft is -180° to 180°.

[0015] In the preferred technical solutions of the cleaning device, the arrangement of the rotating assembly and the arrangement of the rotation speed of the rotating assembly can further ensure the detection range and the detection stability.

[0016] In the preferred technical solutions of the cleaning device, the detection unit comprises a sensor module, and the sensor module comprises one or more of a visual sensor and a distance measuring sensor, wherein the distance measuring sensor comprises one or more of an ultrasonic sensor, a laser sensor and an infrared sensor.

[0017] In the preferred technical solutions of the cleaning device, the sensor module comprises a laser sensor and a visual sensor.

[0018] In the preferred technical solutions of the cleaning device, the sensor module comprises a laser sensor, and the laser sensor comprises a self-rotating laser radar, and the rotation shaft of the self-rotating laser radar is not coincident with the rotation shaft of the rotating assembly.

[0019] In the preferred technical solutions of the cleaning device, the sensor module is a 360° laser radar.

[0020] In the preferred technical solutions of the cleaning device, the rotation axis of the rotating assembly is perpendicular to the reference surface or has an inclination angle range of -10° to 10° with the normal line of the reference surface, and the rotation axis of the self-rotating laser radar is parallel to the reference surface or has an inclination angle range of -10° to 10° with the reference surface; or, the rotation axis of the rotating assembly is parallel to the reference surface or has an inclination angle range of -10° to 10° with the reference surface, and the rotation axis of the self-rotating laser radar is perpendicular to the reference surface or has an inclination angle range of -10° to 10° with the normal line of the reference surface.

[0021] In the preferred technical solutions of the cleaning device, the rotating speed of the rotating assembly is less than the rotating speed of the self-rotating laser radar.

[0022] In the preferred technical solutions of the cleaning device, the rotating assembly is arranged at at least one of the top, front end and side of the cleaning device; or, the rotating assembly is arranged at the intersection of at least two of the top, front end and side of the cleaning device; or, the rotating assembly is arranged at the intersection of the top, front end and side of the cleaning device.

[0023] In the preferred technical solutions of the cleaning device, when the cleaning device is running, the detection unit can keep detecting the front or obliquely downward of the running direction of the cleaning device.

[0024] In the preferred technical solutions of the cleaning device, the cleaning device further comprises a control unit, and the cleaning device is configured such that when the cleaning device is in a static state or an almost static state, the control unit controls the rotating assembly to rotate.

[0025] In the preferred technical solutions of the cleaning device, when the running speed of the cleaning device is ≤3 m / min, the control unit controls the rotating assembly to rotate.

[0026] In the preferred technical solutions of the cleaning device, the cleaning device further comprises a driving module and a transmission mechanism, the driving module is electrically connected with the control unit, the driving module drives the rotating assembly to rotate through the transmission mechanism; or, the driving module directly drives the rotating assembly to rotate, wherein the driving module comprises at least one motor, the transmission mechanism comprises a gear unit, and the driving module is fixedly connected with the shell.

[0027] In the preferred technical solutions of the cleaning device, the communication mode between the control unit and the detection unit comprises one or more of electrical communication, optical communication and acoustic communication.

[0028] In the preferred technical solution of the cleaning device, the electrical communication includes that the electrical signal communication line connects the control unit and the detection unit through the slip ring structure.

[0029] In the preferred technical solution of the cleaning device, the slip ring structure includes a stator and a rotor rotating relative to the stator, the stator is fixedly connected with the shell, the rotor outgoing line is connected with the detection unit, and the stator outgoing line is connected with the control unit; or the control unit and the detection unit are in radio communication.

[0030] In the preferred technical solution of the cleaning device, the detection unit includes a control module and a sensor module, the control module is electrically connected with the sensor module, and the detection unit is in one or more of electrical communication, optical communication and acoustic communication with the control unit through the control module.

[0031] In the preferred technical solution of the cleaning device, the cleaning device further includes an operation panel, and the operation panel is provided with operation keys for setting parameters of the rotating assembly.

[0032] In the preferred technical solution of the cleaning device, the cleaning device is a swimming pool cleaning machine, and the swimming pool cleaning machine includes a water inlet, a water pump assembly, a water outlet and a filter device arranged in the shell, under the action of the water pump assembly, the water to be cleaned flows into the filter device from the water inlet and is discharged from the water outlet.

[0033] In the preferred technical solution of the cleaning device, the swimming pool cleaning machine further includes a sealing device arranged in the shell or connected with the shell, and the driving module is arranged in the sealing device.

[0034] In the preferred technical solution of the cleaning device, the cleaning device can also be a lawn mower.

[0035] In the case of adopting the above technical solution, the cleaning device of the present application is provided with a rotating assembly containing a detection unit on the shell of the device, and the rotating assembly at least partially protrudes outside the shell, which on the one hand ensures that the detection unit has a larger detection range (such as for obstacle detection, distance measurement and mapping, etc.), and on the other hand, since no shielding object is arranged outside, the detection unit can directly acquire environmental information, ensuring the detection effect of the detection unit. At the same time, compared with the prior art, the cleaning device of the present application ensures the detection range of the detection unit, solving the problems existing in the prior art. BRIEF DESCRIPTION OF DRAWINGS

[0036] The preferred embodiments of the present application will be described below with reference to the accompanying drawings, in which: Figure 1is the shaft side view schematic diagram of the pool cleaner of the present application; Figure 2 is the connection relationship diagram of the driving module, the transmission mechanism and the rotating assembly on the inner surface of the shell; Figure 3 is the connection relationship diagram of the motor, the first gear and the second gear on the mounting member; Figure 4 is the shaft side view of the mower of the present application; Figure 5 is the schematic diagram (partly disassembled) of the mower of one of the embodiments of the present application.

[0037] List of reference signs: 1, pool cleaner; 11, shell; 111, mounting member; 1111, first mounting groove; 1112, second mounting groove; 12, rotating assembly; 121, base; 13, driving module; 131, motor; 14, transmission mechanism; 141, first gear; 142, second gear; 15, walking unit. DETAILED DESCRIPTION

[0038] The preferred embodiments of the present application will be described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present application, and are not intended to limit the protection scope of the present application. Those skilled in the art can make adjustments as needed in order to adapt to specific application occasions.

[0039] It should be noted that in the description of the present application, the terms indicating the direction or position relationship of "up", "down", "left", "right", "front", "back" and the like are based on the direction or position relationship shown in the drawings, which is only for the convenience of description, and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second", "third" are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0040] In addition, it should also be noted that in the description of the present application, unless otherwise explicitly specified and limited, the terms "connected", "connected", "communicated" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0041] First, the existing pool cleaning machine is described. The arrangement of the existing pool cleaning machine sensor has certain limitations, mainly fixed sensor, the sensor is fixedly installed at a specific position of the machine body, and the sensing direction and range are fixed. The detection range of this way is very limited, there are a lot of sensing blind area, which leads to the pool cleaning machine cannot fully perceive the surrounding environment, easy to occur card stagnation or collision, low cleaning efficiency. Therefore, how to optimize the setting mode of the sensor to ensure the detection range of the sensor becomes a technical problem to be solved in the field.

[0042] As Figures 1-3To solve the problem that the existing sensor arrangement of the pool cleaner 1 cannot reduce costs while ensuring detection range, the pool cleaner 1 of the present application comprises a housing 11 and a rotating assembly 12 rotatably arranged on the housing 11 and at least partially protruding outside the housing 11. The pool cleaner 1 further comprises a walking unit 15 (the subject mechanism of the cleaner is shown in the schematic diagram, and the rotating assembly 12 can be used in different styles of cleaners), which moves the pool cleaner 1. The pool cleaner 1 further comprises a reference plane defined by the contact points of the walking unit 15 with the ground, wherein the walking unit 15 can be a wheel or a track, or other common walking units 15 used to realize the movement of the device. The reference plane is defined by the contact points of the walking unit 15 with the ground, and the rotation axis of the rotating assembly 12 is perpendicular to the reference plane, or the inclination angle of the normal line of the reference plane is in the range of -10° to 10°, and the rotation speed of the rotating assembly 12 is less than 1 Hz. The rotatable angle of the rotating assembly 12 around the rotation axis is less than or equal to 360°; preferably, the rotatable angle of the rotating assembly 12 around the rotation axis is -180° to +180°. The rotating assembly 12 comprises a base 121 and a detection unit for acquiring environmental information, which can be one or more of a distance measuring sensor, a laser sensor, a vision sensor, wherein the distance measuring sensor comprises one or more of an ultrasonic sensor, an infrared sensor, and other common detection units for acquiring environmental information. Preferably, the sensor module of the detection unit comprises a laser sensor and a vision sensor, which is not limited by the present application. The detection unit is arranged in a closed housing, and the closed housing is rotated by the base 121, so that the detection unit rotates. The base 121 is rotatably arranged on the housing 11, and the detection unit is provided with an L-shaped cross section (the appearance in the drawing is suitable, which is a modeling, and different shapes of appearance modeling can be set according to actual needs). The bottom of the base 121 is provided with a first rolling / sliding structure (not shown in the drawing), and the housing 11 is provided with a second rolling / sliding structure (not shown in the drawing), and the first rolling / sliding structure and the second rolling / sliding structure cooperate to realize the rolling rotation / sliding rotation between the base 121 and the housing 11, wherein the first and second rolling structures can be bearings or other common rolling rotation structures, and the first and second sliding structures can be sliding rails or other common sliding rotation structures. As another embodiment, a gap is provided between the base 121 and the housing 11 to realize (or not affect) the rotation of the base 121 relative to the housing 11.

[0043] The pool cleaner 1 further comprises a control unit (not shown in the figure), a driving module 13, a transmission mechanism 14 and an operation panel (not shown in the figure) provided with operation buttons for setting parameters of the rotating assembly 12, the driving module 13 is electrically connected with the control unit, the transmission mechanism 14 comprises a gear unit connected with the output end of the driving module 13 and the base 121. The driving module 13 drives the rotating assembly 12 to rotate through the gear unit. Specifically, the transmission mechanism 14 comprises a first gear 141 and a second gear 142, the driving module 13 comprises a motor 131 fixedly connected with the shell 11, the second gear 142 is connected with the output shaft of the motor 131, the first gear 141 is connected with the base 121, the first gear 141 is meshingly connected with the second gear 142, the motor 131 drives the rotating assembly 12 to rotate along the horizontal direction through the first gear 141 and the second gear 142; when the rotating assembly 12 is horizontally arranged on the top of the cleaner, the rotating shaft of the rotating assembly 12 is perpendicular to the reference plane. In other embodiments, when the rotating assembly 12 is arranged on the side of the cleaner, the rotating shaft of the rotating assembly 12 is parallel to the reference plane. The inner surface of the shell 11 is provided with a mounting piece 111 detachably mounted on the shell 11, the mounting piece 111 is provided with a first mounting groove 1111 and a second mounting groove 1112, the first gear 141 is arranged in the first mounting groove 1111, and the second gear 142 is arranged in the second mounting groove 1112, the first mounting groove 1111 and the second mounting groove 1112 are integrally formed or independently arranged.

[0044] In the above-mentioned embodiments, first, the installation process of the rotating assembly 12 and related modules of the pool cleaner 1 of the present application is introduced (the following installation process is illustrative, and the specific installation can be adjusted according to the actual situation). First, the detection unit is installed inside the base 121, then the base 121 is installed on the shell 11 through the first rolling / sliding structure, thereby completing the installation between the rotating assembly 12 and the shell 11, and after the installation is completed, a part of the base 121 body extends into the shell 11. The driving module 13 and the transmission mechanism 14 of the pool cleaner 1 are arranged inside the shell 11, the first gear 141 is first installed in the first mounting groove 1111 of the mounting piece 111, the second gear 142 is installed in the second mounting groove 1112, then the mounting piece 111 inside the shell 11 is fixedly installed on the inner surface of the shell 11 through screws, and at the same time, the central part of the first gear 141 is sleeved on the part of the base 121 body extending into the shell 11, thereby realizing the driving connection between the driving module 13 and the rotating assembly 12 through the first gear 141.

[0045] Next, the working process of driving module 13 driving rotating assembly 12 to rotate is introduced. First, the operator sets the rotation parameters of rotating assembly 12 according to actual needs through the operation keys on the operation panel (when there is no operation panel, the related parameters of rotating assembly can be set by program), including the rotation angle of base 121 and the rotation mode, whether continuous or intermittent, the rotation trigger condition, etc. After the setting is completed, the pool cleaner 1 is started, and the control unit can control the motor 131 to drive the base 121 to rotate on the shell 11 through the first gear 141 and the second gear 142, so that the sensor rotates to the specified angle to realize the acquisition of environmental information, and then the pool cleaner 1 can execute the cleaning action based on the environmental information.

[0046] The advantage of the above setting mode is that the pool cleaner 1 of the present application sets the rotating assembly 12 on the shell 11 of the device, installs the sensor in the closed shell, and rotates the sensor together with the base 121, which ensures that the sensor has a larger detection range and can widely acquire environmental information, thereby ensuring the sensor detection effect. At the same time, compared with the prior art, the cleaning device of the present application reduces the manufacturing cost of the device while ensuring the detection range of the sensor, and solves the problems existing in the prior art. In addition, by setting the transmission mechanism 14 as a gear transmission, the transmission mechanism 14 is more flattened as a whole, reducing the occupation of the internal space of the pool cleaner 1. Those skilled in the art can set the number of gears according to actual needs, and the present application does not make specific limitations thereon. As for the setting mode of the first mounting groove 1111 and the second mounting groove 1112 on the mounting piece 111, those skilled in the art can set them as an integrated mode, or set them independently, which are all within the protection scope of the present application.

[0047] In addition, those skilled in the art can understand that the above scheme can also be changed to only include a control unit and a driving module 13, the driving module 13 is electrically connected with the control unit and directly connected with the base 121 to drive the base 121 to rotate. The advantage of the above setting mode compared with the foregoing embodiment is that the driving mode of the driving module 13 directly connected with the base 121 avoids setting the transmission mechanism 14, further reduces the occupation of the internal space of the pool cleaner 1, thereby more favorably reducing the volume of the pool cleaner 1. Alternatively, those skilled in the art can also set the driving module 13 to be connected with the base 121 and the detection module through the transmission mechanism 14 and drive the base 121 and the detection module to rotate synchronously, and these embodiments are all within the protection scope of the present application.

[0048] In addition, by setting the rotation shaft of the rotating assembly 12 to be perpendicular to the plane on the shell 11 where the rotating assembly 12 is arranged, or the inclination angle range of the normal line of the reference plane is -10° to 10°, the detection unit can detect the space in the area perpendicular to the reference plane or slightly inclined to the normal line of the reference plane. In addition, those skilled in the art can also set the rotation shaft of the rotating assembly 12 to be parallel to the reference plane or the inclination angle range of the reference plane is -10° to 10°, so as to realize the detection of the space in the area parallel to the reference plane or slightly inclined to the reference plane. The rotating assembly 12 and the detection unit are both arranged in a rotatable form, which increases the detection range of the detection unit as a whole, and the pool cleaner 1 can realize detection within a full range of 360°. These arrangement modes are all within the protection scope of the present application. In addition, by limiting the rotation speed of the rotating assembly 12 to be less than 1 Hz, the detection unit detects the surrounding environment at a relatively slow rotation speed, so that the environmental information obtained by the detection unit is more complete and comprehensive, and the accuracy and integrity of the obtained information are improved.

[0049] In addition, as for the arrangement position of the rotating assembly 12, those skilled in the art can arrange it at at least one position of the top, front end and side of the pool cleaner 1, or at the intersection of at least two positions of the top, front end and side, or at the intersection of the top, front end and side, as long as the detection unit can keep detecting the front or obliquely downward of the moving direction of the pool cleaner 1 when the pool cleaner 1 is running. The present application does not make specific limitation on this. In addition, the pool cleaner 1 of the present application can also be configured such that when the pool cleaner 1 is in a static state or a near static state (the moving speed is very low, such as ≤3 m / min), the control unit can directly control the rotating assembly 12 to rotate, so as to realize automatic detection after the device is in place, and thus better detection results can be obtained.

[0050] In a possible implementation, the sensor module of the detection unit includes a laser sensor, and the laser sensor includes a self-rotating laser radar. The rotation shaft of the self-rotating laser radar is not coincident with the rotation shaft of the rotating assembly 12. Specifically, the rotation shaft of the rotating assembly 12 is perpendicular to the reference plane or the inclination angle range of the normal line of the reference plane is -10° to 10°, and the rotation shaft of the self-rotating laser radar is parallel to the reference plane or the inclination angle range of the reference plane is -10° to 10°. Alternatively, the rotation shaft of the rotating assembly 12 is parallel to the reference plane or the inclination angle range of the reference plane is -10° to 10°, and the rotation shaft of the self-rotating laser radar is perpendicular to the reference plane or the inclination angle range of the normal line of the reference plane is -10° to 10°. The rotation speed of the rotating assembly 12 is less than the rotation speed of the self-rotating laser radar.

[0051] The advantages of the above embodiments are that by setting the rotation shaft of the rotating assembly 12 and the rotation shaft of the self-rotating laser radar to rotate in different directions, the detection unit can not only detect environmental information in the horizontal space, but also adjust the pitch angle to detect environmental information in the vertical space, greatly increasing the detection range. In addition, by setting the rotation speed of the rotating assembly 12 to be less than the rotation speed of the self-rotating laser radar, the detection direction of the self-rotating laser radar can be coarsely adjusted by the rotation of the rotating assembly 12, and the detection direction can be finely adjusted by the self-rotating laser radar itself. Through the two adjustment methods, the detection direction of the detection unit is adjusted more flexibly and accurately.

[0052] Further, the communication mode between the control unit and the detection unit includes one or more of electrical communication, optical communication, and acoustic communication. The electrical communication includes connecting the control unit and the detection unit through a slip ring structure, the slip ring structure including a stator and a rotor rotating relative to the stator, the stator being fixedly connected to the housing 11, the rotor being connected to the detection unit, and the stator being connected to the control unit. Alternatively, the control unit and the detection unit communicate through wireless communication. The detection unit includes a control module and a sensor module, the control module being electrically connected to the sensor module, and the detection unit communicating with the control unit through one or more of electrical communication, optical communication, and acoustic communication.

[0053] Further, in a possible embodiment, the detection unit includes a control module and a sensor module, the control module being electrically connected to the sensor module, and the detection unit communicating with the control unit through one or more of electrical communication, optical communication, and acoustic communication. Specifically, the sensor is connected to the control module, and both are in the closed housing. The data obtained by the sensor is first received and / or processed by the control module, and then communicated to the control unit to control the action of the cleaning device according to the feedback information.

[0054] Further, in a possible embodiment, the transmission mechanism 14 further includes a pitch angle adjusting member (not shown in the figure), the first end of the pitch angle adjusting member being connected to the output end of the driving module 13, and the second end being connected to the base 121. The driving module 13 can adjust the pitch angle of the rotating assembly 12 through the pitch angle adjusting member, wherein the pitch angle adjusting member can be a telescopic rod or other member capable of adjusting the pitch angle of the base 121. The telescopic rod abuts against one side of the base 121, and the driving module 13 drives the telescopic rod to extend or retract to adjust the pitch angle of the base 121.

[0055] In the case of adopting the above-mentioned embodiment, the pool cleaner 1 of the present application can not only rotate the base 121 along the horizontal direction through the gear structure, but also adjust the pitch angle of the base 121 through the pitch angle adjusting member. The sensor can not only rotate along the horizontal direction, but also flip along the vertical direction, so that all the areas in front of the pool cleaner 1 are within the detection range of the sensor, greatly increasing the acquisition range of the sensor on the environmental information, and enabling more accurate control of the cleaning action of the pool cleaner 1.

[0056] In addition, in a possible embodiment, the base 121 is flipably arranged on the outer surface of the shell 11, and the pitch angle of the rotating assembly 12 can be adjusted by flipping the base 121. Unlike the foregoing arrangement of adjusting the pitch angle of the rotating assembly 12 by arranging the telescopic structure, in the present embodiment, the purpose of adjusting the pitch angle of the rotating assembly 12 is achieved by arranging the base 121 in a flipable form. Compared with the foregoing embodiment, the scheme in the present embodiment can simultaneously adjust the horizontal direction and vertical direction angles of the detection unit, increase the acquisition range of the sensor on the environmental information, and make the adjustment process more convenient.

[0057] It is mentioned above that the parameter information of the rotating assembly 12 can be set by human, and the cleaning action of the pool cleaner 1 is controlled based on the environmental information acquired by the sensor, but the parameter information of the rotating assembly 12 set by human may not be accurate, in which case, only based on the parameter information of the rotating assembly 12 set by human, the sensor may not be able to aim at the target cleaning area, so as to fail to accurately acquire the environmental information, and further fail to accurately control the cleaning action of the pool cleaner 1. Therefore, further, the control unit of the pool cleaner 1 can control the driving module 13 to adjust the horizontal direction or pitch angle of the rotating assembly 12 based on the environmental information acquired by the sensor.

[0058] In the case of adopting the above-mentioned embodiment, the control unit controls the driving module 13 to adjust the horizontal direction or pitch angle of the rotating assembly 12 based on the environmental information acquired by the sensor. Specifically, the control unit can determine whether the stain is located at the center position of the image based on the environmental information image acquired by the sensor, and if it is found that the stain is not located at the center position, calculate the deviation angle and control the driving module 13 to adjust the horizontal direction or pitch angle of the rotating assembly 12 accordingly, so as to ensure the accuracy of the acquired environmental information, and further ensure the accuracy of the subsequent cleaning action of the pool cleaner 1.

[0059] The pool cleaner 1 further comprises a water inlet, a water pump assembly (such as a motor and an impeller), a water outlet, and a filter device (not shown in the figure) arranged in the housing 11. Under the action of the water pump assembly, the water to be cleaned flows into the filter device from the water inlet and is discharged from the water outlet. The pool cleaner further comprises a sealing device (not shown in the figure) arranged in or connected with the housing 11, and the driving module 13 is arranged in the sealing device.

[0060] The above embodiment has the advantage that the water to be cleaned is filtered by the filter device arranged in the housing 11, and then is discharged from the water outlet back into the pool, thereby achieving the cleaning of the pool water. Since the pool cleaner works in an underwater environment, the sealing device is arranged outside the driving module 13 in the embodiment to prevent the water in the pool from entering the inside of the driving module 13, thereby ensuring the normal operation of the driving module 13.

[0061] In addition, the above cleaning device can also be a lawn mower or other cleaning device comprising the above structure.

[0062] It should be noted that the above embodiment is only used to illustrate the principle of the present application and is not intended to limit the protection scope of the present application. Those skilled in the art can adjust the above structure without departing from the principle of the present application, so that the present application can be applied to more specific application scenarios.

[0063] So far, the technical solution of the present application has been described in combination with the preferred embodiments shown in the accompanying drawings, but those skilled in the art can easily understand that the protection scope of the present application is obviously not limited to these specific embodiments. Those skilled in the art can make equivalent changes or replacements to the related technical features without departing from the principle of the present application, and the technical solutions after the changes or replacements will fall within the protection scope of the present application.

Claims

1. A cleaning device, characterized in that, include: Shell (11); A rotating assembly (12) is rotatably disposed on the housing (11) and is at least partially exposed outside the housing (11); A detection unit is located on the rotating component (12) and is used to acquire environmental information.

2. The cleaning equipment according to claim 1, characterized in that, The cleaning equipment also includes a walking unit (15) through which the cleaning equipment moves, and the cleaning equipment also includes a reference surface defined by the contact point between the walking unit (15) and the ground.

3. The cleaning equipment according to claim 2, characterized in that, The rotation axis of the rotating component (12) is perpendicular to the reference plane or has an inclination angle between it and the normal of the reference plane, ranging from -10° to 10°; or the rotation axis of the rotating component (12) is parallel to the reference plane or has an inclination angle between it and the reference plane, ranging from -10° to 10°.

4. The cleaning equipment according to claim 1, characterized in that, The rotational speed of the rotating component (12) is less than 1 Hz.

5. The cleaning equipment according to claim 1, characterized in that, The rotatable angle of the rotating component (12) around the axis of rotation is less than or equal to 360°.

6. The cleaning equipment according to claim 5, characterized in that, The rotatable angle of the rotating component (12) about the axis is -180° to 180°.

7. The cleaning equipment according to claim 3, characterized in that, The detection unit includes a sensor module, which includes one or more of a visual sensor and a ranging sensor, wherein the ranging sensor includes one or more of an ultrasonic sensor, a laser sensor, and an infrared sensor.

8. The cleaning equipment according to claim 7, characterized in that, The sensor module includes a laser sensor and a vision sensor.

9. The cleaning equipment according to claim 7, characterized in that, The sensor module includes a laser sensor, which includes a self-rotating lidar, the axis of which does not coincide with the axis of the rotating assembly (12).

10. The cleaning equipment according to claim 9, characterized in that, The rotation axis of the rotating component (12) is perpendicular to the reference plane or has an inclination angle between it and the normal of the reference plane, ranging from -10° to 10°; the rotation axis of the self-rotating lidar is parallel to the reference plane or has an inclination angle between it and the reference plane, ranging from -10° to 10°; or, the rotation axis of the rotating component (12) is parallel to the reference plane or has an inclination angle between it and the reference plane, ranging from -10° to 10°; the rotation axis of the self-rotating lidar is perpendicular to the reference plane or has an inclination angle between it and the normal of the reference plane, ranging from -10° to 10°.

11. The cleaning equipment according to claim 10, characterized in that, The rotational speed of the rotating component (12) is less than the rotational speed of the self-rotating lidar.

12. The cleaning equipment according to any one of claims 1-11, characterized in that, The rotating component (12) is located at at least one position on the top, front end, and side of the cleaning device; or, the rotating component (12) is located at the intersection of at least two positions on the top, front end, and side of the cleaning device; or, the rotating component (12) is located at the intersection of the top, front end, and side of the cleaning device.

13. The cleaning equipment according to claim 12, characterized in that, When the cleaning equipment is running, the detection unit can maintain its position directly in front of or diagonally below the direction of travel of the cleaning equipment.

14. The cleaning equipment according to claim 12, characterized in that, The cleaning device also includes a control unit, which is configured such that when the cleaning device is in a stationary or near-stationary state, the control unit controls the rotating component (12) to rotate.

15. The cleaning equipment according to claim 14, characterized in that, When the operating speed of the cleaning equipment is ≤3m / min, the control unit controls the rotating component (12) to rotate.

16. The cleaning equipment according to claim 14, characterized in that, The cleaning device further includes a drive module (13) and a transmission mechanism (14). The drive module (13) is electrically connected to the control unit. The drive module (13) drives the rotating component (12) to rotate through the transmission mechanism (14). Alternatively, the drive module (13) directly drives the rotating component (12) to rotate. The drive module (13) includes at least one motor (131), the transmission mechanism (14) includes a gear unit, and the drive module (13) is fixedly connected to the housing (11).

17. The cleaning equipment according to claim 14, characterized in that, The communication method between the control unit and the detection unit includes one or more of electrical communication, optical communication, and acoustic communication.

18. The cleaning equipment according to claim 17, characterized in that, The electrical communication includes: an electrical signal communication line connecting the control unit and the detection unit through a slip ring structure, the slip ring structure including a stator and a rotor rotating relative to the stator, the stator being fixedly connected to the housing (11), the rotor output line being connected to the detection unit, and the stator output line being connected to the control unit; or, the control unit and the detection unit communicating via radio.

19. The cleaning equipment according to claim 14, characterized in that, The detection unit includes a control module and a sensor module. The control module is electrically connected to the sensor module. The detection unit communicates with the control unit through the control module via one or more of the following: electrical communication, optical communication, and acoustic communication.

20. The cleaning equipment according to claim 12, characterized in that, The cleaning device also includes an operation panel, which is provided with operation keys for setting the parameters of the rotating component (12).

21. The cleaning equipment according to claim 16, characterized in that, The cleaning equipment is a pool cleaner (1). The pool cleaner (1) includes an inlet, a pump assembly, an outlet, and a filter device located in the housing (11). Under the action of the pump assembly, the water to be cleaned flows from the inlet, passes through the filter device, and is discharged from the outlet.

22. The cleaning equipment according to claim 21, characterized in that, The pool cleaning machine (1) also includes a sealing device, which is located inside or connected to the housing (11), and the drive module (13) is located inside the sealing device.

23. The cleaning equipment according to claim 16, characterized in that, The cleaning equipment can also be a lawnmower.

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