Ultrasonic sensor and cleaning equipment

Abstract

The utility model relates to an ultrasonic sensor and cleaning equipment, the ultrasonic sensor comprises a shell, the shell comprises a shell main body and a sound channel pipe which are connected, a mounting cavity is formed in the shell main body, the mounting cavity is communicated with a pipe cavity of the sound channel pipe, and a pipe opening, away from the shell main body, of the sound channel pipe is used for facing a to-be-cleaned ground; and the sensor probe core is arranged in the mounting cavity, and the emitting surface of the sensor probe core is arranged towards the pipe cavity direction of the sound channel pipe. The sound channel tube is arranged around the outer part of the sensor probe core, so that an ultrasonic signal emitted from the emitting surface is not diffused around like a point sound source, but is axially propagated along a tube cavity of the sound channel tube in a beam limiting manner; echo signals can still be completely returned to the sensor probe core under the constraint of the sound channel pipe, and meanwhile, the echo signals are blocked by the sound channel pipe and are not interfered by the outside, so that the echo signal gain effect is realized, and the sensor probe core can accurately identify the types of ground materials (such as carpets, wood floors and ceramic tiles).

Description

Technical Field

[0001] The present application relates to the technical field of detection sensors, and in particular to an ultrasonic sensor and a cleaning device. Background Art

[0002] As people's quality of life continues to improve, and due to the increasingly fast pace of work and life, it is difficult for people to spend more time on cleaning their living and office environments. Therefore, cleaning equipment that can automatically replace manpower to complete floor cleaning operations is very popular and widely used. Cleaning equipment such as sweeping robots are usually equipped with high-frequency ultrasonic sensors. When the sweeping robot moves and performs cleaning tasks, the ultrasonic sensor will continuously emit detection sound waves to the ground. According to the different absorption capabilities of different materials for sound waves, the echo detection technology can distinguish different types of ground materials (such as carpets, wooden floors, tiles, etc.), and then feed back the detection signal to the controller, which calls the cleaning mode suitable for the current ground material to support the sweeping robot to complete the cleaning operation in the optimal working state and obtain better cleaning results.

[0003] However, when the current sweeping robots encounter cracks in the ground or uneven surfaces, the detected echo signals are weak and cannot stably identify the ground material. Even if the output voltage is increased to enhance the product echo signal, the sensor's residual vibration will be too large, and the sensor's recognition blind area will increase, indirectly leading to increased difficulty in circuit processing. In addition, the sound field of the ultrasonic sensor is severely uneven, and during the material recognition process, the side lobes of the sound wave radiation will produce echo interference. Summary of the invention

[0004] Based on this, it is necessary to provide an ultrasonic sensor and cleaning equipment to address the problem that the echo signal in the prior art is easily interfered with, cannot accurately detect and identify the ground material, and affects the cleaning efficiency.

[0005] In a first aspect of the present application, an ultrasonic sensor is provided, comprising:

[0006] A shell, the shell comprising a shell body and a sound channel tube connected to each other, the shell body having an installation cavity formed therein, the installation cavity communicating with the tube cavity of the sound channel tube, the tube opening of the sound channel tube away from the shell body being arranged toward the floor to be cleaned; and

[0007] A sensor probe core is arranged in the installation cavity, a piezoelectric sheet is arranged inside the sensor probe core, and an emitting surface of the sensor probe core is arranged toward the tube cavity direction of the sound channel tube.

[0008] The ultrasonic sensor of this scheme is used to be installed on the cleaning equipment, and the sensor probe core is electrically connected to the cleaning equipment. When the cleaning equipment moves on the ground to be cleaned and performs cleaning operations, the sensor probe core will synchronously and real-time transmit ultrasonic signals to the ground through the transmitting surface to realize the detection and identification of the ground material. Since the sensor probe core is surrounded by a sound channel tube, the ultrasonic signal emitted from the transmitting surface will not spread around like a point sound source, but will propagate axially in a limited beam manner along the tube cavity of the sound channel tube. When the ultrasonic wave irradiates the ground and returns, the echo signal will still be completely returned to the sensor probe core under the constraint of the sound channel tube. At the same time, due to the enclosure of the sound channel tube, it is difficult for the ultrasonic signal to generate sound wave radiation side lobes, thereby reducing or even suppressing echo interference and achieving the effect of echo signal gain, ensuring that the sensor probe core can accurately identify the type of ground material (such as carpet, wooden floor, tile, etc.) so as to feedback the signal to the controller of the cleaning equipment, so that the controller can call up a suitable cleaning mode to control the cleaning equipment to perform cleaning operations and ensure the cleaning effect.

[0009] The technical solution of this application is further described below:

[0010] In one of the embodiments, the side wall of the tube cavity of the sound channel tube is set as a straight wall, and the straight wall is arranged parallel to the tube center line of the sound channel tube.

[0011] In one embodiment, the side wall of the tube cavity of the sound channel tube is set as an inclined wall, and the sound channel tube includes a first tube end arranged close to the sensor core and a second tube end arranged away from the sensor core, and the inclined wall is inclined from the first tube end to the second tube end toward the outer side away from the tube center line of the sound channel tube.

[0012] In one of the embodiments, an avoidance through hole is formed at one end of the shell body away from the sound channel tube, and a probe of the sensor core extends out from the avoidance through hole.

[0013] In one embodiment, the length L of the acoustic channel tube satisfies the relationship: , where r is the radius of the piezoelectric piece and λ is the wavelength of the ultrasonic wave.

[0014] In one of the embodiments, the shell body is further recessed to form a mounting hole, the mounting hole is located at one end of the avoidance through hole away from the sensor probe core, and the mounting hole is connected to the avoidance through hole, and a step surface is provided between the mounting hole and the avoidance through hole.

[0015] In one embodiment, a mounting tongue plate is protruded from the outer wall of the shell body, and the mounting tongue plate is provided with an assembly through hole;

[0016] The mounting tongue plate is arranged flush with the emitting surface of the sensor probe core.

[0017] In one embodiment, the ultrasonic sensor also includes a locking ring, the side wall of the mounting cavity is provided with a first step and a second step along the axial direction, the sensor core is provided with a third step, the bottom surface of the sensor core away from the emitting surface is abutted and positioned with the first step, the second step is flush with the third step, the locking ring is fastened between the side wall of the mounting cavity and the outer wall of the sensor core, and the end face of the locking ring abuts against the second step and the third step at the same time.

[0018] In one embodiment, the side wall of the installation cavity is provided with a first thread structure, the outer ring wall of the locking ring is provided with a second thread structure, and the second thread structure is threadedly connected to the first thread structure;

[0019] Alternatively, one of the side wall of the installation cavity and the outer ring wall of the locking ring is provided with a convex rib, and the other of the side wall of the installation cavity and the outer ring wall of the locking ring is provided with a slot, and the convex rib is clamped in the slot.

[0020] In a second aspect of the present application, a cleaning device is also provided, comprising:

[0021] The device body; and

[0022] The ultrasonic sensor as described above is installed on the bottom surface of the device body and is used to be set toward the ground to be cleaned. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The drawings constituting a part of the present application are used to provide a further understanding of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application.

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0025] FIG. 1 is a schematic diagram of the structure of an ultrasonic sensor according to an embodiment.

[0026] FIG. 2 is a schematic diagram of the structure of an ultrasonic sensor according to another embodiment.

[0027] Description of reference numerals:

[0028] 100. Ultrasonic sensor; 10. Shell; 11. Shell body; 111. Avoidance through hole; 112. Mounting hole; 113. Step surface; 114. Mounting tongue plate; 115. First step; 116. Second step; 117. First threaded structure; 12. Sound channel tube; 13. Straight wall; 14. Inclined wall; 20. Sensor core; 21. Contact pin; 22. Third step; 23. Emitting surface; 30. Potting glue; 40. Locking ring; 41. Second threaded structure. DETAILED DESCRIPTION

[0029] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0030] In the description of the present application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to 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.

[0031] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, if the term "plurality" appears, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0032] In this application, unless otherwise clearly specified and limited, if the terms "installed", "connected", "connected", "fixed" and the like appear, these terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0033] In the present application, unless otherwise clearly specified and limited, if there is a description that a first feature is "above" or "below" a second feature, etc., or similar descriptions appear, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0034] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only implementation method.

[0035] Referring to FIG. 1 and FIG. 2 , an ultrasonic sensor 100 is shown in an embodiment of the present application, which includes a housing 10 and a sensor core 20. The housing 10 is the main component of the ultrasonic sensor 100, and is used to load and fix the sensor core 20. According to actual needs, the housing 10 can be a plastic part or a metal part. For example, in this embodiment, the housing 10 is made of plastic material, which can not only reduce the manufacturing cost, but also be light in weight and avoid interference with the detection signal of the sensor core 20.

[0036] The sensor probe core 20 has the structure and function of the conventional ultrasonic sensor 100, and thus will not be described in detail here. In the present application, a piezoelectric sheet is disposed inside the sensor probe core 20. The piezoelectric sheet is a kind of electroacoustic transducer that can convert an electrical signal into a sound wave or an ultrasonic wave, so that the generated sound wave or ultrasonic wave is emitted for detecting the ground material.

[0037] The housing 10 includes a housing body 11 and a sound channel tube 12 connected to each other. The housing body 11 and the sound channel tube 12 can be an integrally formed structure or can be detachably assembled, which can be selected according to actual needs. For example, in this embodiment, the housing body 11 and the sound channel tube 12 are an integrally formed structure, which has better overall structural properties and higher strength.

[0038] The outer shape of the housing 10 can be any one of a square column shape, a cylindrical shape, etc. For example, in this embodiment, the housing 10 adopts a cylindrical structure.

[0039] An installation cavity is formed inside the shell body 11, and the installation cavity is communicated with the tube cavity of the sound channel tube 12. The tube mouth of the sound channel tube 12 away from the shell body 11 is used to be set toward the ground to be cleaned; the sensor core 20 is set in the installation cavity, and the emitting surface 23 of the sensor core 20 is set toward the tube cavity direction of the sound channel tube 12.

[0040] In summary, the implementation of the technical solution of this embodiment will have the following beneficial effects: the ultrasonic sensor 100 of this solution is used to be installed on the cleaning equipment, and the sensor probe 20 is electrically connected to the cleaning equipment. When the cleaning equipment moves on the ground to be cleaned and performs cleaning operations, the sensor probe 20 will synchronously and real-time transmit ultrasonic signals to the ground through the transmitting surface 23 to realize the detection and identification of the ground material. Since the sensor probe 20 is surrounded by the sound channel tube 12, the ultrasonic signal emitted from the transmitting surface 23 will not spread around like a point sound source, but will spread along the sound channel tube 12. The tube cavity of 2 propagates axially in a limited beam manner. When the ultrasonic wave irradiates the ground and returns, the echo signal will still be completely returned to the sensor probe core 20 under the constraint of the sound channel tube 12. At the same time, due to the enclosure of the sound channel tube 12, the ultrasonic signal is difficult to generate sound wave radiation side lobes, thereby reducing or even suppressing echo interference and achieving the effect of echo signal gain, ensuring that the sensor probe core 20 can accurately identify the type of ground material (such as carpet, wooden floor, tile, etc.) so as to feedback the signal to the controller of the cleaning equipment, so that the controller can call the appropriate cleaning mode to control the cleaning equipment to perform cleaning operations and ensure the cleaning effect.

[0041] It is necessary to explain that in actual use, the floor to be cleaned can be a tile surface, a wooden floor surface or a carpet surface after laying a carpet. The bottom surfaces of these different materials have different reflection degrees of the ultrasonic signal emitted by the sensor probe core 20 (that is, the absorption capacity of the ultrasonic signal), which will directly affect the detection results when the sensor probe core 20 receives the echo signal. This is the theoretical basis for the structural improvement design of this case.

[0042] It is also necessary to explain that the length L of the sound channel tube 12 must satisfy the relationship: , where r is the radius of the piezoelectric sheet and λ is the wavelength of the ultrasonic wave. With such a design, the side lobes can be more effectively isolated, thereby reducing energy attenuation, increasing the sensor echo signal gain, and avoiding echo signal interference, thus ensuring that the sweeping robot can stably identify the ground material.

[0043] Please continue to refer to FIG. 1. In some optional embodiments, the side wall of the tube cavity (i.e., the inner tube wall) of the sound channel tube 12 is set as a straight wall 13, and the straight wall 13 is set parallel to the tube centerline of the sound channel tube 12. The sound channel tube 12 designed with a straight wall 13 is easier to process and shape, and can directly guide the ultrasonic signal emitted from the emitting surface 23 of the sensor probe core 20 to the ground, and then directly guide the echo signal back to the sensor probe core 20, so that the return path of the ultrasonic signal is the shortest, thereby improving the detection efficiency.

[0044] Alternatively, please continue to refer to Figure 2. As an alternative to the above embodiment, the side wall of the tube cavity of the sound channel tube 12 is set to be an inclined wall 14. The sound channel tube 12 includes a first tube end arranged close to the sensor core 20 and a second tube end arranged away from the sensor core 20. The inclined wall 14 is inclined from the first tube end to the second tube end toward the outer side of the tube centerline away from the sound channel tube 12.

[0045] At this time, the side wall of the tube cavity of the sound channel tube 12 can be formed into a trumpet-shaped structure, and the opening area of ​​the second tube end is larger, so that the ultrasonic signal emitted from the sensor probe 20 can be irradiated to a larger area of ​​the ground, that is, the single detection area is larger, which is more helpful to improve the accuracy of the detection result.

[0046] It should be noted that, in the present embodiment, the side wall of the lumen of the sound duct tube 12 is in a conical shape, and in other embodiments, part of the side wall of the lumen of the sound duct tube 12 may be in an inclined shape.

[0047] Please continue to refer to FIG. 1 . In addition, in some optional embodiments, an avoidance through hole 111 is formed at one end of the shell body 11 away from the sound channel tube 12 , and the contact pin 21 of the sensor probe 20 extends out from the avoidance through hole 111 .

[0048] Furthermore, the shell body 11 is also recessed with a mounting hole 112 , which is located at one end of the avoidance through hole 111 away from the sensor core 20 , and is communicated with the avoidance through hole 111 , with a step surface 113 provided between the mounting hole 112 and the avoidance through hole 111 .

[0049] When in use, the ultrasonic sensor 100 needs to be installed on the bottom surface or side position of the cleaning equipment, and the installation method can be specifically plug-in. The installation position of the cleaning equipment is provided with a boss, and the boss is provided with an interface. During installation, the shell body 11 is aligned with the boss, and then the shell body 11 is pushed to insert the boss into the installation hole 112 until the top surface of the boss abuts the step surface 113, thereby completing the assembly and positioning of the shell body 11 and the boss, that is, realizing the assembly of the ultrasonic sensor 100 and the cleaning equipment. At the same time, the contact pin 21 extending from the avoidance through hole 111 is automatically inserted into the interface to form an electrical connection relationship, thereby realizing the communication connection between the ultrasonic sensor 100 and the controller of the cleaning equipment, so that the ultrasonic sensor 100 can transmit a stable detection signal to the controller, so that the controller can accurately control the cleaning mode of the cleaning equipment.

[0050] On the basis of the above embodiment, the ultrasonic sensor 100 further includes a potting glue 30, which is sealed and filled in the avoidance through hole 111 and is sealed and connected to the root of the stylus 21. By providing the potting glue 30, the main body of the sensor probe 20 can be isolated from the external environment, and the connection part between the sensor probe 20 and the stylus 21 is prevented from being exposed to dust or water vapor and causing a short circuit, thereby affecting the signal transmission quality and the service life of the ultrasonic sensor 100.

[0051] Furthermore, in some optional embodiments, the outer wall of the shell body 11 is convexly provided with a mounting tongue plate 114, and the mounting tongue plate 114 is provided with an assembly through hole. During installation, the assembly through hole is aligned with the threaded hole of the cleaning device, and then a threaded connection component is passed through the assembly through hole and screwed into the threaded hole, so that the ultrasonic sensor 100 is secured to the cleaning device. The threaded mounting structure has a simple connection method, high connection reliability, and convenient and labor-saving assembly and disassembly.

[0052] Of course, in other embodiments, the ultrasonic sensor 100 may also be assembled and fixed to the cleaning equipment by any of the methods such as bonding, magnetic connection, snap connection, riveting, etc., which is also within the protection scope of the present application.

[0053] The installation tongue plate 114 is arranged flush with the emitting surface 23 of the sensor probe core 20. After the ultrasonic sensor 100 is installed, the emitting surface 23 of the sensor probe core 20 is at a moderate height to avoid being too close or too far from the ground to affect the detection efficiency.

[0054] In addition, based on any of the above embodiments, the ultrasonic sensor 100 also includes a locking ring 40, the side wall of the installation cavity is provided with a first step 115 and a second step 116 along the axial direction, the sensor core 20 is provided with a third step 22, the bottom surface of the sensor core 20 away from the emitting surface 23 is abutted against the first step 115 for positioning, the second step 116 is flush with the third step 22, the locking ring 40 is fastened between the side wall of the installation cavity and the outer wall of the sensor core 20, and the end face of the locking ring 40 abuts against the second step 116 and the third step 22 at the same time.

[0055] During installation, the sensor core 20 is first inserted into the installation cavity, and the first step 115 is abutted against the bottom surface of the sensor core 20 to achieve installation and positioning of the sensor core 20. At this time, the second step 116 is also exactly flush with the third step 22, and then the locking ring 40 is inserted into the annular cavity between the sensor core 20 and the side wall of the installation cavity, and the inner and outer ring walls of the locking ring 40 are respectively pressed against the outer wall of the sensor core 20 and the side wall of the installation cavity, and the end surface of the locking ring 40 is pressed against the second step 116 and the third step 22, so that the locking ring 40 can lock and fix the sensor core 20 in the installation cavity.

[0056] Furthermore, in order to prevent the locking ring 40 from loosening due to vibration during a long period of time during the cleaning equipment, thereby causing the sensor core 20 to loosen or even fall out of the installation cavity, the side wall of the installation cavity is provided with a first threaded structure 117, and the outer ring wall of the locking ring 40 is provided with a second threaded structure 41, and the second threaded structure 41 is screwed to the first threaded structure 117.

[0057] Alternatively, a convex rib may be provided on one of the side wall of the installation cavity and the outer ring wall of the locking ring 40, and a clamping groove may be provided on the other of the side wall of the installation cavity and the outer ring wall of the locking ring 40, and the convex rib is clamped in the clamping groove. This installation method of clamping and fixing the convex rib and the clamping groove can also play a good role in preventing the sensor from loosening and falling off.

[0058] In addition to the above, the present application further provides a cleaning device, which includes a device body and an ultrasonic sensor 100 as described in any of the above embodiments, wherein the ultrasonic sensor 100 is mounted on the bottom surface of the device body and is arranged toward a floor to be cleaned.

[0059] For example, when the cleaning device is a sweeping robot, the device body corresponds to the sweeper of the sweeping robot, and the sweeper is a wheeled or tracked mobile structure. In addition, the sweeping robot also includes a base station, and the sweeper can leave the base station to perform ground cleaning operations, or return to the base station after completing the cleaning operation, and the base station provides dust collection, cleaning, charging and other services for the sweeper.

[0060] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0061] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. An ultrasonic sensor, characterized in that: include: A shell, the shell comprising a shell body and a sound channel tube connected to each other, the shell body having an installation cavity formed therein, the installation cavity communicating with the tube cavity of the sound channel tube, the tube opening of the sound channel tube away from the shell body being arranged toward the floor to be cleaned; and A sensor probe core is arranged in the installation cavity, a piezoelectric sheet is arranged inside the sensor probe core, and an emitting surface of the sensor probe core is arranged toward the tube cavity direction of the sound channel tube.

2. The ultrasonic sensor according to claim 1, characterized in that: The side wall of the tube cavity of the sound channel tube is set as a straight wall, and the straight wall is arranged parallel to the tube center line of the sound channel tube.

3. The ultrasonic sensor according to claim 1, characterized in that: The side wall of the tube cavity of the sound channel tube is set as an inclined wall. The sound channel tube includes a first tube end arranged close to the sensor probe core and a second tube end arranged away from the sensor probe core. The inclined wall is inclined from the first tube end to the second tube end toward the outer side away from the tube center line of the sound channel tube.

4. The ultrasonic sensor according to claim 1, characterized in that: An avoidance through hole is provided at one end of the shell body away from the sound channel tube, and a contact pin of the sensor core probe extends out from the avoidance through hole.

5. The ultrasonic sensor according to claim 1, characterized in that: The length L of the acoustic tube satisfies the relationship: , where r is the radius of the piezoelectric piece and λ is the wavelength of the ultrasonic wave.

6. The ultrasonic sensor according to claim 4, characterized in that: The shell body is further provided with a mounting hole, the mounting hole is located at one end of the avoidance through hole away from the sensor probe core, and the mounting hole is communicated with the avoidance through hole, and a step surface is provided between the mounting hole and the avoidance through hole.

7. The ultrasonic sensor according to claim 1, characterized in that: The outer wall of the shell body is provided with a mounting tongue plate, and the mounting tongue plate is provided with an assembly through hole; The mounting tongue plate is arranged flush with the emitting surface of the sensor probe core.

8. The ultrasonic sensor according to claim 1, characterized in that: The ultrasonic sensor also includes a locking ring. The side wall of the installation cavity is provided with a first step and a second step at intervals along the axial direction. The sensor core is provided with a third step. The bottom surface of the sensor core away from the emitting surface is abutted and positioned with the first step. The second step is flush with the third step. The locking ring is fastened between the side wall of the installation cavity and the outer wall of the sensor core, and the end face of the locking ring abuts against the second step and the third step at the same time.

9. The ultrasonic sensor according to claim 8, characterized in that: The side wall of the installation cavity is provided with a first thread structure, the outer ring wall of the locking ring is provided with a second thread structure, and the second thread structure is threadedly connected with the first thread structure; Alternatively, one of the side wall of the installation cavity and the outer ring wall of the locking ring is provided with a convex rib, and the other of the side wall of the installation cavity and the outer ring wall of the locking ring is provided with a slot, and the convex rib is clamped in the slot.

10. A cleaning device, characterized in that: include: Equipment body; as well as, The ultrasonic sensor according to any one of claims 1 to 9, wherein the ultrasonic sensor is mounted on the bottom surface of the device body and is arranged toward the floor to be cleaned.

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