Intelligent cleaning equipment

Abstract

The utility model provides intelligent cleaning equipment. According to the intelligent cleaning equipment, the situation that the remaining amount of the cleaning liquid in the liquid storage tank is insufficient can be judged through the detection assembly composed of the magnets and the Hall sensors which are arranged in pairs. The first displacement component of the relative displacement of the magnet and the Hall element between any two moments in the plane parallel to the trigger marking surface is always greater than the second displacement component in the plane perpendicular to the trigger marking surface, so that the magnet and the Hall element are mainly close to each other and far away from each other in the plane parallel to the trigger marking surface; therefore, the relative position between the magnet and the Hall element is adjusted. Therefore, the triggering accuracy of the Hall sensor can be improved, the possibility that accurate judgment cannot be performed is greatly reduced or even eliminated, and the structural matching flexibility of the lever assembly and the detection assembly can be improved.

Description

Technical Field

[0001] The present disclosure relates to the construction of an intelligent cleaning device. Background Art

[0002] An intelligent cleaning device is an intelligent mobile device that can autonomously perform cleaning tasks, such as an intelligent sweeper, an intelligent floor scrubber, a window cleaning robot, etc. The intelligent cleaning device can use a wet cleaning mechanism to clean the traveling surface (such as the surface to be cleaned) while traveling on the traveling surface. The wet cleaning mechanism here can usually be detachably installed on the housing of the intelligent cleaning device, and includes a rag and a liquid storage tank. The rag is installed at the bottom of the housing of the intelligent cleaning device. During the normal operation of the intelligent cleaning device, the rag can wipe the dirt on the traveling surface, and the cleaning liquid such as water in the liquid storage tank can be supplied to the rag or the ground via the flow path.

[0003] In the above-mentioned existing intelligent cleaning devices, the cleaning liquid in the liquid storage tank gradually decreases as it is continuously supplied to the rag or the ground. Once the remaining amount of cleaning liquid in the liquid storage tank is insufficient to maintain the normal operation of the intelligent cleaning device, it is necessary to add cleaning liquid to the liquid storage tank. Some intelligent cleaning devices currently on the market use magnets and Hall sensors that cooperate with each other to detect whether the remaining amount of cleaning liquid in the liquid storage tank is insufficient. As the liquid level of the cleaning liquid changes, the magnet mainly moves along its magnetic axis direction (in the present disclosure, the magnetic axis is a theoretical line connecting and passing through the south pole and the north pole of the magnet, and the magnetic axis direction is a direction extending along the magnetic axis and includes the SN direction from the south pole of the magnet to the north pole and the NS direction from the north pole to the south pole) relative to the Hall element of the Hall sensor. In this way, when the remaining amount of cleaning liquid in the liquid storage tank is insufficient, the magnet can trigger the Hall sensor. However, there is a corresponding relationship between the magnetic flux at the sensing part of the Hall element and the distance between the magnet and the Hall element. As the magnet gradually approaches or moves away from the Hall sensor mainly along the magnetic axis direction of the magnet, affected by the magnetic field distribution of the magnet and the Hall sensor itself, the Hall sensor may be in a triggered state within a relatively long distance range between the magnet and the Hall sensor. This may result in a false alarm even when the remaining amount of cleaning liquid in the liquid storage tank is relatively sufficient. In other words, it is difficult to accurately determine whether the remaining amount of cleaning liquid in the liquid storage tank is insufficient. Utility Model Content

[0004] Based on the above-mentioned problems of the prior art, the purpose of the present disclosure is to provide an intelligent cleaning device, which can greatly reduce or even eliminate the possibility of inaccurate judgment when using a magnet and a Hall sensor that cooperate with each other to judge the remaining amount of cleaning liquid in the liquid storage tank.

[0005] In order to achieve the above objectives, the present disclosure adopts the following technical solutions.

[0006] The present disclosure provides an intelligent cleaning device, comprising:

[0007] A liquid storage tank, which is formed with a liquid storage space for storing a cleaning liquid;

[0008] a detection assembly, comprising a magnet and a Hall sensor, wherein the Hall sensor comprises a Hall element, wherein the Hall element has a trigger mark surface and a sensing portion, wherein the magnet triggers the Hall element only when an end surface of a predetermined magnetic pole of the magnet and the trigger mark surface face each other and a distance between the magnet and the sensing portion is equal to or less than a distance threshold, wherein one of the magnet and the Hall sensor is fixed relative to the liquid storage tank; and

[0009] A lever assembly, comprising a lever and a float, wherein the lever is mounted on the liquid storage tank and can perform a lever movement around a fulcrum connected to the liquid storage tank, the float is fixed to a first end of the lever, and the other of the magnet and the Hall sensor is fixed to a second end of the lever, so that the float rises and falls with the rise and fall of the liquid level of the cleaning liquid to realize the lever movement, thereby driving the other of the magnet and the Hall sensor to approach and move away from the one of the magnet and the Hall sensor, and in the process of approaching and moving away, the relative displacement of the magnet and the Hall element between any two moments has a first displacement component parallel to the trigger mark surface and a second displacement component perpendicular to the trigger mark surface, and the first displacement component is greater than the second displacement component.

[0010] In an optional solution, the other of the magnet and the Hall sensor moves in a plane parallel to the trigger mark surface to approach and move away from the one of the magnet and the Hall sensor, so that the second displacement component is always zero.

[0011] In another optional solution, only when the liquid level of the cleaning liquid is equal to or lower than a liquid level threshold, the other of the magnet and the Hall sensor is moved via the lever assembly to a position where the magnet triggers the Hall sensor.

[0012] In another optional solution, the magnet is constructed in a cylindrical or rectangular shape, and at the position where the magnet triggers the Hall sensor, the magnet has a center line passing through its geometric center and perpendicular to the end surface.

[0013] When the liquid level of the cleaning liquid is equal to or lower than the liquid level threshold, the end surface is parallel to the trigger mark surface, and the center line of the magnet passes through the sensing portion.

[0014] In another optional solution, when the liquid level of the cleaning liquid is equal to the liquid level threshold, the straight-line distance between the center of the end surface and the geometric center of the sensing part is equal to the distance threshold, so that the magnet triggers the Hall sensor, and

[0015] When the liquid level of the cleaning liquid is lower than the liquid level threshold, the straight-line distance between the center of the end surface and the geometric center of the sensing portion is smaller than the distance threshold so that the magnet triggers the Hall sensor.

[0016] In another optional solution, the distance threshold is 14.6 mm.

[0017] In another optional solution, the lever assembly further includes a connecting sleeve, which is fixed to the second end of the lever, and the magnet is mounted on the connecting sleeve, so that the magnet is fixed to the lever via the connecting sleeve.

[0018] In another optional scheme, it also includes a casing, the liquid storage tank is detachably mounted on the casing, and the magnet and one of the Hall sensors are fixed to the casing so that the magnet and one of the Hall sensors are relatively fixed to the liquid storage tank.

[0019] In another optional solution, the Hall sensor also includes a circuit board, the Hall element is a switch-type Hall element and is installed on the circuit board, thereby forming a circuit board assembly, and the circuit board assembly is fixed to the casing so that the trigger mark surface is perpendicular to the bottom surface of the liquid storage tank.

[0020] In another optional solution, the lever includes a middle portion between the first end and the second end thereof, and the middle portion is configured to have at least one bending structure.

[0021] By adopting the above technical solution, the present disclosure provides an intelligent cleaning device. The intelligent cleaning device includes a liquid storage tank, a detection component and a lever component. Specifically, the liquid storage tank is formed with a liquid storage space for storing cleaning liquid. The detection component includes a magnet and a Hall sensor, one of which is relatively fixed to the liquid storage tank. The lever assembly includes a lever and a float, the lever is installed on the liquid storage tank and can perform a lever movement around a fulcrum connected to the liquid storage tank, the float is fixed to the first end of the lever, and the other of the magnet and the Hall sensor is fixed to the second end of the lever, whereby the float rises and falls with the rise and fall of the liquid level of the cleaning liquid so that the lever performs a lever movement. Further, the Hall element of the Hall sensor has a trigger mark surface and a sensing part, and the magnet can trigger the Hall element only when the end face of the predetermined magnetic pole of the magnet faces the trigger mark surface and the distance between the magnet and the sensing part is equal to or less than the distance threshold. Furthermore, in the process of approaching and moving away, the relative displacement between the magnet and the Hall element at any two moments has a first displacement component parallel to the trigger mark surface and a second displacement component perpendicular to the trigger mark surface, and the first displacement component is greater than the second displacement component.

[0022] In this way, the detection assembly composed of a magnet and a Hall sensor arranged in pairs can be used to judge the situation that the remaining amount of the cleaning liquid in the liquid storage tank is insufficient. Compared with the scheme in which the magnet and the Hall sensor mainly approach and move away from each other along the direction perpendicular to the trigger mark surface, since the first displacement component of the relative displacement between the magnet and the Hall element at any two moments in the plane parallel to the trigger mark surface is always greater than the second displacement component in the plane perpendicular to the trigger mark surface, the magnet and the Hall element mainly approach and move away in the plane parallel to the trigger mark surface to adjust the relative position between the magnet and the Hall element. In this way, it is easier to control the triggering condition of the Hall sensor, so that the Hall sensor is triggered only when the relative position between the magnet and the Hall element is accurately within a specific range. The scheme disclosed in the present invention can improve the triggering accuracy of the Hall sensor, greatly reduce or even eliminate the possibility of inaccurate judgment; and it is also conducive to improving the flexibility of the structural coordination of the lever assembly and the detection assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1A 2 is a perspective schematic diagram showing an intelligent cleaning device according to a first embodiment of the present disclosure.

[0024] Figure 1B It shows Figure 1A Another three-dimensional schematic diagram of the intelligent cleaning device in FIG.

[0025] Figure 1C It shows Figure 1A A three-dimensional schematic diagram of the cleaning components of the intelligent cleaning device in FIG.

[0026] Figure 1D It shows Figure 1A A partial cross-sectional schematic diagram of the intelligent cleaning device in FIG. 1 mainly shows the installation positions of the magnet and the Hall sensor of the detection component.

[0027] Figure 2A It shows Figure 1A A three-dimensional schematic diagram of a partial structure of an intelligent cleaning device in which the relative positions of a magnet of a detection component and a Hall sensor cause the Hall sensor to be triggered.

[0028] Figure 2B It shows Figure 2A A schematic cross-sectional view of some structures in FIG.

[0029] Figure 2C It shows Figure 2A A side perspective schematic diagram of part of the structure.

[0030] Figure 3A It shows Figure 1A A three-dimensional schematic diagram of a partial structure of an intelligent cleaning device in which the relative positions of a magnet of a detection component and a Hall sensor are such that the Hall sensor is not triggered.

[0031] Figure 3B It shows Figure 3A A schematic cross-sectional view of some structures in FIG.

[0032] Figure 3C It shows Figure 3A A side perspective schematic diagram of part of the structure.

[0033] Figure 4 It is used to illustrate Figure 1A An explanatory schematic diagram of the working process of the intelligent cleaning device in FIG. 1 , wherein the single-dash line represents the liquid level in the liquid storage tank and the arc-shaped dotted line represents the movement trajectory of the magnet.

[0034] Figure 5 2 is an explanatory schematic diagram for illustrating the working process of the intelligent cleaning device according to the second embodiment of the present disclosure, wherein the single-dotted line represents the liquid level in the liquid storage tank and the arc-shaped dotted line represents the movement trajectory of the magnet.

[0035] Description of Reference Numerals

[0036] MB—housing; LC—cleaning components;

[0037] 1—Liquid storage tank;

[0038] 2—magnet; 2s—center line;

[0039] 3—Hall sensor;

[0040] 31—Hall element; 31s—trigger mark surface; 31p—sensing part;

[0041] 32—circuit board;

[0042] 4—Lever assembly;

[0043] 41 — Leverage;

[0044] 42—floating block;

[0045] 43—Connecting sleeve. DETAILED DESCRIPTION

[0046] The following describes the embodiments of the present disclosure with reference to the accompanying drawings. For ease of understanding, the elements shown in the drawings may include elements whose sizes and scales are different from the actual sizes and scales.

[0047] In the present disclosure, unless otherwise specified, "front (front side)", "rear (rear side)", "left (left side)", "right (right side)", "upper (upper side)", and "lower (lower side)" are all relative to the normal operating state of the intelligent cleaning device according to the present disclosure. Specifically, the intelligent cleaning device has a positive direction of movement (i.e., positive direction) when it is in a normal operating state on the traveling surface (e.g., the surface to be cleaned). The so-called "normal operating state" refers to the moving state of the intelligent cleaning device when performing a task, which is different from the abnormal normal operating state of the intelligent cleaning device such as retreating and swinging in the escape mode. “Front (front side)” and “rear (rear side)” refer to the front side and rear side in the forward direction of the intelligent cleaning device according to the present disclosure when the intelligent cleaning device according to the present disclosure is in normal operation, “left (left side)” and “right (right side)” refer to the left side and right side when viewed toward the front side in the forward direction of the intelligent cleaning device according to the present disclosure when the intelligent cleaning device according to the present disclosure is in normal operation, and “upper (upper side)” and “lower (lower side)” refer to the upper side and lower side in the height direction perpendicular to the traveling surface when the intelligent cleaning device according to the present disclosure is in normal operation. In the present disclosure, unless otherwise specified, the “top” and “bottom” of each component refer to the top and bottom respectively when the intelligent cleaning device according to the present disclosure is in normal operation, that is, the top refers to the part that is away from the traveling surface and is located on the upper side in the up-down direction when the intelligent cleaning device is in normal operation, and the bottom refers to the part that is close to the traveling surface and is located on the lower side in the up-down direction when the intelligent cleaning device is in normal operation.

[0048] In the present disclosure, the intelligent cleaning device according to the present disclosure can move autonomously according to the control scheme preset in its processing unit, and the traveling surface where the intelligent cleaning device moves autonomously can be a plane or a curved surface with a large radius of curvature, typically, for example, the floor of each room in a building. The processing unit in the present disclosure is a general term, and the type, quantity and form of the processing unit are not limited. Specifically, the processing unit can be one or more of MCU, DSP, FPGA, GPU, or other types of hardware chips, processors or software algorithms with data processing and computing capabilities. Further, the processing unit can be a unified and unique processor of the intelligent cleaning device, or it can be a collection of multiple processing units, and the connection mode, function and computing power distribution of multiple processing units can be adjusted as needed. For example, in an optional scheme, a first processing unit and a second processing unit can be included. In this case, the first processing unit and the second processing unit as a whole realize the various functions of the above-mentioned processing units. In addition, the processing unit of the intelligent cleaning device according to the present disclosure can receive parameters from the sensing component, and can perform relevant control on the intelligent cleaning device through a preset program stored in the storage unit. In the present disclosure, the data, information, and programs required by the processing unit during the processing process can be stored in the storage unit and obtained from the storage unit as needed. The processing unit can store the processed data, information, etc. in the storage unit again. The storage unit can be a RAM, ROM, etc., or a device and / or equipment with storage function such as a cloud / server / mobile terminal connected via a wired / wireless network.

[0049] In the present disclosure, unless otherwise specified, "center line" refers to a theoretical line of the magnet of the detection component that passes through its geometric center and extends along the magnetic axis direction. In the case where the magnet has a cylindrical shape and a rectangular parallelepiped shape, the center line also passes through the center of the end face of the predetermined magnetic pole of the magnet, and the Hall element can only be triggered when the end face of the correct predetermined magnetic pole faces the trigger mark surface of the Hall element that triggers the Hall sensor. In some embodiments, when the Hall sensor is fixed relative to the liquid storage tank, the trigger mark surface of the Hall element is perpendicular to the bottom surface of the liquid storage tank, and the center line of the magnet is parallel to the bottom surface of the liquid storage tank.

[0050] In the present disclosure, "liquid level threshold" refers to the height threshold of the cleaning liquid in the liquid storage tank of the intelligent cleaning device (cleaning liquid depth threshold). Once the liquid level of the cleaning liquid is equal to or lower than the liquid level threshold, it means that there is not much cleaning liquid left in the liquid storage tank and it is not enough to perform subsequent cleaning tasks. The liquid level threshold can be set as needed. For example, the liquid level threshold can be determined based on the quotient of the minimum amount (volume) of cleaning liquid required when the intelligent cleaning device is in normal operation divided by the bottom area of ​​the liquid storage tank. In a specific example, when the minimum amount of cleaning liquid required is 20cm3 And the bottom area of ​​the tank is 83cm 2 In the case of, the liquid level threshold can be set to 2.4 mm. However, the present disclosure is not limited thereto, and the specific value of the liquid level threshold can be set according to actual needs.

[0051] The following describes the intelligent cleaning device according to the first embodiment of the present disclosure in conjunction with the accompanying drawings.

[0052] like Figures 1A to 1D As shown, the intelligent cleaning device according to the first embodiment of the present disclosure includes a housing MB, a cleaning component LC and a detection component (including a magnet 2 and a Hall sensor 3) assembled together.

[0053] In the optional schemes of this embodiment and its variations, the housing MB may have various shapes such as D-shape, circle, oval, square, etc. When the intelligent cleaning device is in normal operation, the bottom surface of the housing MB is opposite to the traveling surface (such as the surface to be cleaned), and the bottom surface of the housing MB is usually parallel to the traveling surface. Here, "parallel" not only includes the situation where the bottom surface of the housing MB and the traveling surface have a geometric parallel relationship, but also includes the situation where the two are roughly parallel. The above "roughly" means that within the reasonable error range recognized by those skilled in the art, it can be determined that the parallel relationship between the two is established. In addition, in order to support and protect other components, other components of the intelligent cleaning device are installed inside or on the surface of the housing MB, or have a connection relationship with the housing MB. Furthermore, the intelligent cleaning device may be provided with a processing unit and a sensing component in the housing MB. The processing unit can obtain environmental parameters through the sensing component, and the processing unit can control the entire intelligent cleaning device to move autonomously on the traveling surface based on the obtained environmental parameters. Further, as Figures 1A to 1D As shown, the housing MB has a connection structure that cooperates with the cleaning component LC and forms an installation space for installing the cleaning component LC. The present disclosure does not limit the specific structure of the connection structure and the specific shape of the installation space, as long as the cleaning component LC and the base MB can be detachably installed.

[0054] In the optional solutions of this embodiment and its variations, the cleaning component LC has a docking structure docking with the connecting structure of the housing MB and a shape matching the installation space of the housing MB, so that the cleaning component LC can be installed in the housing MB in a detachable manner. Figure 1C and Figure 1DAs shown, the cleaning component LC has a liquid storage tank 1, a lever assembly 4, and a wet cleaning member such as a rag, which are assembled together. The liquid storage tank 1 has a hollow structure and is formed with a liquid storage space, and a cleaning liquid such as water is stored in the liquid storage space. The shape of the liquid storage tank 1 can be adaptively adjusted according to the structure of the cleaning component LC. Moreover, the cleaning component LC can be formed with a flow path that guides the cleaning liquid in the liquid storage space to the wet cleaning member or the ground, so that the cleaning liquid can flow to the wet cleaning member or the ground through the flow path in a controlled manner. Further, as shown in FIG. Figure 1D , Figure 2A and Figure 3A As shown, the lever assembly 4 is arranged on the liquid storage tank 1 in a manner that it can perform lever movement relative to the liquid storage tank 1. Specifically, the lever assembly 4 includes a lever 41, a float 42 and a connecting sleeve 43 fixed to each other. The lever 41 is formed as a bent long rod, and the lever 41 includes a middle portion located between its first end and the second end, and the middle portion is installed on the bracket of the liquid storage tank 1, so that the lever 41 can perform lever movement around a fulcrum connected to the bracket of the liquid storage tank 1. The float 42 is fixed to the first end of the lever 41, and the float 42 is configured to float on the liquid surface of the cleaning liquid in the liquid storage tank 1 through the buoyancy generated by the cleaning liquid, so that the float 42 rises and falls with the rise and fall of the liquid surface of the cleaning liquid (that is, the amount of the remaining cleaning liquid), thereby driving the lever 41 to perform a lever movement of rotating around the bracket. The connecting sleeve 43 is fixed to the second end of the lever 41, and the connecting sleeve 43 is formed with an installation space open to one side (that is, the installation space is open to the side where the Hall sensor 3 is located), and the magnet 2 is installed in the installation space, so that the magnet 2 is fixed to the lever 41 via the connecting sleeve 43. Installing the magnet 2 through the connecting sleeve 43 is not only conducive to the firm assembly of the magnet 2 and the lever 41, but also enables the magnet 2 to have a predetermined posture after installation, which is conducive to easily triggering the Hall sensor 3 after the lever moves to a predetermined position. In addition, as mentioned above, the middle part of the lever 41 is configured to have a bent structure, and the bent structure can be bent once or multiple times. In this way, when the magnet 2 is installed on the second end of the lever 41 via the connecting sleeve 43, the installation position and the corresponding movement trajectory of the magnet 2 can be flexibly adjusted, thereby not only enabling the magnet 2 to trigger the Hall sensor 3 after the lever moves to the desired position, but also can be conducive to improving the setting position of the detection component, making its structure more flexible.

[0055] In this embodiment, if Figures 2A to 3CAs shown, the detection component includes a magnet 2 and a Hall sensor 3 that cooperate with each other. Only when the liquid level of the cleaning liquid is equal to or lower than the liquid level threshold, the magnet 2 moves with the lever assembly to make the distance between the magnet 2 and the Hall element 31 of the Hall sensor 3 (in the present disclosure, the distance can be the distance between the center of the end face of the predetermined magnetic pole of the magnet 2 and the geometric center of the sensing part 31p of the Hall element 31) equal to or less than the distance threshold (the distance threshold can be the maximum distance at which the magnetic field of the magnet 2 can effectively trigger the Hall element 31), and the magnet 2 can trigger the Hall element 31 of the Hall sensor 3. Once the liquid level of the cleaning liquid is higher than the liquid level threshold, the magnet 2 moves with the lever assembly 4 to make the distance between the magnet 2 and the Hall element 31 greater than the distance threshold, and the magnet 2 cannot trigger the Hall sensor 3.

[0056] like Figures 1D to 3C As shown, the magnet 2 is a permanent magnet 2 and is formed in a cylindrical shape. The magnetic field strength of the cylindrical magnet 2 is more uniform, which is conducive to accurately controlling the magnet 3 to trigger the Hall sensor 4 by controlling the distance between the magnet 2 and the Hall element 31 of the Hall sensor 3. As described above, the magnet 2 is fixedly installed in the connecting sleeve 43, so that the magnet 2 is relatively fixed to the lever 41 via the connecting sleeve 43, so that the magnet 2 can rotate with the lever assembly 4 relative to the liquid storage tank 1 (rotate around the fulcrum where the lever 41 is connected to the liquid storage tank 1).

[0057] like Figures 1D to 3C As shown, the Hall sensor 3 includes a Hall element 31, a circuit board 32, a signal amplifier, a filter capacitor and other circuit board components, and other components are arranged on the circuit board 32 and they are connected in a predetermined electrical circuit. The Hall sensor 3 can be directly installed on the housing MB, so that the Hall sensor 3 is relatively fixed to the housing MB. By fixing the Hall sensor 3 to the housing MB, it is beneficial for the power supply to the Hall sensor 3 and for the signal of the Hall sensor 3 to be transmitted to the processing unit of the intelligent cleaning device. Furthermore, the Hall element 31 is constructed as a switch-type Hall element that can be triggered by the magnetic field of the magnet 2 at a predetermined distance based on the Hall effect. As shown Figures 1D to 3C As shown in FIG. 1 , the Hall element 31 has a trigger mark surface 31s. The Hall element 31 can be triggered by the magnet 2 only when the end surface of the predetermined magnetic pole (S pole or N pole) of the magnet 2 and the trigger mark surface 31s face each other. In addition, in the present embodiment, the trigger mark surface 31s is always parallel to the end surface of the predetermined magnetic pole of the cylindrical magnet 2. When the magnet 2 rotates relative to the liquid storage tank 1, the magnet 2 approaches and moves away from the Hall element 31 in a plane parallel to the trigger mark surface 31s. In addition, the Hall element 31 has a sensing portion 31p, as shown in FIG. Figures 2A to 3CAs shown, the sensing part 31p is located at the part of the Hall element 31 relatively far from the circuit board 32. The Hall element 31 can only be triggered when the magnetic flux passing through the sensing part 31 is large enough. In this embodiment, only when the liquid level of the cleaning liquid in the liquid storage tank 1 is equal to or lower than the liquid level threshold, the center line 2s of the magnet 2 is perpendicular to the trigger mark surface 31s and the center line 2s of the magnet 2 passes through the sensing part 31p, so that the magnetic flux passing through the sensing part 31p is large enough, and the magnet 2 can trigger the Hall sensor 3. The "vertical" here includes the situation of being approximately vertical, and the above "approximately" means that within the reasonable error range recognized by those skilled in the art, it can be determined that the vertical relationship between the two is established. In this embodiment, when the liquid level of the cleaning liquid is equal to the liquid level threshold, the straight-line distance between the center of the end face of the magnet 2 and the geometric center of the sensing part 31p is equal to the above distance threshold; when the liquid level of the cleaning liquid is lower than the liquid level threshold, the straight-line distance between the center of the end face of the magnet 2 and the geometric center of the sensing part 31p is less than the above distance threshold. In the above cases, the magnet 2 can trigger the Hall element 31 of the Hall sensor 3. Figure 2B As shown, the distance threshold L can be 14.6 mm. In other variations, the distance threshold L can be set according to the relevant parameters of the Hall element 31 and other needs. In addition, it can be understood that when there is basically no cleaning liquid in the liquid storage tank 1 (the liquid level of the cleaning liquid can be considered to be 0 at this time), the straight-line distance between the end face center of the magnet 2 and the geometric center of the sensing part 31p can be minimized, and the center line 2s of the magnet 2 passes through the geometric center of the sensing part 31p.

[0058] By adopting the above scheme, Figure 4 As shown, the float 42 rises and falls with the rise and fall of the liquid level of the cleaning liquid in the liquid storage tank 1 to realize the lever movement of the lever 41 rotating around the bracket, so that the magnet 2 moves in a plane parallel to the trigger mark surface 31s of the Hall element 31 with the lever movement of the lever 41 to approach and move away from the Hall sensor 3 (Hall element 31). Figure 4 Taking the process of the middle magnet 2 being driven by the lever 41 to approach the Hall element 31 as an example, the magnet 2 is always in a plane parallel to the trigger mark surface 31s (it can be considered that Figure 4The magnet 2 and the Hall element 31 move in the plane parallel to the trigger mark surface 31s, and the relative displacement S of the magnet 2 and the Hall element 31 between any two moments does not have a second displacement component in the plane perpendicular to the trigger mark surface 31s (that is, the second displacement component is always zero). Therefore, in this embodiment, the magnet 2 moves relative to the Hall element 31 of the Hall sensor 3 in a plane parallel to the trigger mark surface 31s to adjust the relative position between the two. It can be seen that in this embodiment, not only can the detection component composed of the magnet 2 and the Hall sensor 3 arranged in pairs be used to determine whether there is a lack of clean liquid in the liquid storage tank 1; and no matter whether the magnet 2 moves relative to the Hall element 31 of the Hall sensor 3 in any direction to adjust the relative position between the two, in fact, the magnet 2 moves in a plane parallel to the trigger mark surface 31s to approach or move away from the Hall element 31, and it can be considered that the magnet 2 always moves relative to the Hall element 31 in a plane perpendicular to its magnetic axis direction to approach or move away from the Hall element 31. This is conducive to the magnetic field of the magnet 2 making the Hall sensor 31 have a clear "non-trigger" or "trigger" state, which can improve the triggering accuracy of the Hall sensor 3. Furthermore, the Hall element 31 is triggered only when the distance between the magnet 2 and the Hall element 31 of the Hall sensor 3 is equal to or less than the distance threshold, thereby greatly reducing the probability of the Hall sensor 3 being falsely triggered.

[0059] An intelligent cleaning device according to a second embodiment of the present disclosure is described below.

[0060] The intelligent cleaning device according to the second embodiment of the present disclosure has a substantially same structure as the intelligent cleaning device according to the first embodiment of the present disclosure. However, in this embodiment, the movement process of the magnet 2 being driven by the lever 41 to approach and move away from the Hall element 31 is different from that in the first embodiment. Figure 5 Taking the movement process of the middle magnet 2 being driven by the lever 41 to approach the Hall element 31 as an example, the magnet 2 has an arc-shaped movement trajectory as shown in the figure, resulting in that the magnet 2 does not always move in a plane parallel to the trigger mark surface 31s. Further, in this embodiment, the relative displacement S of the magnet 2 and the Hall element 31 between any two moments can be decomposed into a first displacement component S1 in a plane parallel to the trigger mark surface 31s (that is, in a plane perpendicular to the magnetic axis direction of the magnet 2) and a second displacement component S2 in a plane perpendicular to the trigger mark surface 31s, and is represented by Figure 5It can be seen that the first displacement component S1 is much larger than the second displacement component S2. That is to say, the above relative displacement amount S can be decomposed into a first displacement component S1 in a plane parallel to the trigger mark surface 31s and a second displacement component S2 in a plane perpendicular to the trigger mark surface 31s. Therefore, no matter in which direction the magnet 2 moves relative to the Hall element 31 of the Hall sensor 3 to adjust the relative position between the two, in fact, the magnet 2 mainly moves in the above plane parallel to the trigger mark surface 31s to approach or move away from the Hall element 31, and it can be considered that the magnet 2 mainly moves relative to or moves away from the Hall element 31 in a plane perpendicular to its magnetic axis direction. In this way, the same technical effect as the first embodiment can be achieved. It can be understood that in this embodiment, a mechanism can be set to make the end face of a specific magnetic pole of the magnet 2 always parallel to the trigger mark surface 31s of the Hall element 31 during the movement of the magnet 2 relative to the Hall element 31. The mechanism can be, for example, a balance correction mechanism.

[0061] It should be understood that the above embodiments are merely exemplary and are not intended to limit the present disclosure. Those skilled in the art may make various modifications and changes to the above embodiments under the guidance of the present disclosure without departing from the scope of the present disclosure. The following supplementary explanation is provided for the technical solution of the present disclosure.

[0062] i. It is understood that in addition to the examples of self-moving cleaning devices described in the above specific embodiments, the technical concept of the present disclosure can also be applied to other fields. For example, in some scenarios where a Hall sensor is required to realize a detection function, the technical concept of the present disclosure can be adopted as needed.

[0063] ii. In the above specific embodiments, the magnet 2 is configured to adopt a cylindrical shape, but the present disclosure is not limited thereto. In an optional solution, the magnet 2 is configured to be in a rectangular parallelepiped shape, and the end face of the predetermined magnetic pole of the magnet 2 is always parallel to the trigger mark surface 31s of the Hall element 31. In this optional solution, the magnet 2 is made to move relative to the Hall element 31 of the Hall sensor 3 mainly in a plane parallel to the trigger mark surface 31s to adjust the relative position between the two, which can also achieve the same technical effect described in the above specific embodiments.

[0064] iii. In the above specific embodiments, the magnet 2 is fixed to the lever 41 via the connecting sleeve 43, and the Hall sensor 3 is fixed to the housing MB, but the present disclosure is not limited thereto. For example, in other optional schemes, the magnet 2 can be fixedly mounted on the housing MB, and the Hall sensor 3 can be fixed to the lever 41. That is to say, in the technical concept of the present disclosure, one of the magnet 2 and the Hall sensor 3 is relatively fixed to the liquid storage tank 1 (the one can be directly fixed to the liquid storage tank 1, or can be fixed to other components such as the housing MB), and the other of the magnet 2 and the Hall sensor 3 is relatively fixed to the lever assembly 4, and the same technical effect can be achieved, as long as the magnet 2 moves relative to the Hall element 31 of the Hall sensor 3 mainly in a plane parallel to the trigger mark surface 31s (in the above specific embodiments, it can be considered to be in a plane perpendicular to the magnetic axis direction of the magnet 2) to adjust the relative position between the two.

[0065] Furthermore, in the above specific embodiments, the Hall sensor 3 is fixed to the top of the housing MB (e.g., the cover), but the present disclosure is not limited thereto. For example, in other optional solutions, the Hall sensor 3 can also be fixed to other parts of the housing MB (e.g., the base at the bottom of the housing MB), and the relative position of the magnet 2 can be adjusted accordingly, thereby improving the flexibility of the structural setting of the detection device.

[0066] iv. It can be understood that the intelligent cleaning device according to the present disclosure may also include a wheel assembly, a dry cleaning mechanism and a wet cleaning mechanism. The wheel assembly can be installed in the housing MB to drive the entire intelligent cleaning device to travel on the travel surface under the control of the processing unit. By making the wheels (driving wheels) of the two wheel assemblies rotate in the same direction at the same speed (for example, rotating clockwise or counterclockwise at the same time), the intelligent cleaning device can be driven to move linearly along the forward direction; by making the driving wheels of the two wheel assemblies rotate at different speeds and / or different directions (for example, one driving wheel rotates clockwise and the other driving wheel rotates counterclockwise), the intelligent cleaning device can be driven to turn in a direction different from the forward direction. The intelligent cleaning device may also include a universal wheel arranged in the housing MB, so that no matter how the driving wheel rolls on the surface to be cleaned, the universal wheel can support the entire intelligent cleaning device. The dry cleaning mechanism is arranged in the housing MB and may include a main brush, a side brush (side brush) and a suction device, etc. The wet cleaning mechanism is arranged in the housing MB and may include a rag and a water tank, etc. Thus, when the intelligent cleaning device is moving on the traveling surface, the traveling surface can be cleaned by the dry cleaning mechanism and / or the wet cleaning mechanism. In different working modes, the cleaning operations performed by the intelligent cleaning device according to the present disclosure include but are not limited to one or more of sweeping, mopping, vacuuming, etc.

Claims

1. An intelligent cleaning device, characterized in that: include: A liquid storage tank, which is formed with a liquid storage space for storing a cleaning liquid; A detection assembly, comprising a magnet and a Hall sensor, wherein the Hall sensor comprises a Hall element, wherein the Hall element has a trigger mark surface and a sensing portion, wherein the magnet triggers the Hall element only when an end surface of a predetermined magnetic pole of the magnet and the trigger mark surface face each other and a distance between the magnet and the sensing portion is equal to or less than a distance threshold, and one of the magnet and the Hall sensor is fixed relative to the liquid storage tank; as well as A lever assembly, comprising a lever and a float, wherein the lever is mounted on the liquid storage tank and can perform a lever movement around a fulcrum connected to the liquid storage tank, the float is fixed to a first end of the lever, and the other of the magnet and the Hall sensor is fixed to a second end of the lever, so that the float rises and falls with the rise and fall of the liquid level of the cleaning liquid to realize the lever movement, thereby driving the other of the magnet and the Hall sensor to approach and move away from the one of the magnet and the Hall sensor, and in the process of approaching and moving away, the relative displacement of the magnet and the Hall element between any two moments has a first displacement component parallel to the trigger mark surface and a second displacement component perpendicular to the trigger mark surface, and the first displacement component is greater than the second displacement component.

2. The intelligent cleaning device according to claim 1, characterized in that: The other of the magnet and the Hall sensor moves within a plane parallel to the trigger mark surface to approach and move away from the one of the magnet and the Hall sensor, so that the second displacement component is always zero.

3. The intelligent cleaning device according to claim 1 or 2, characterized in that: Only when the liquid level of the cleaning liquid is equal to or lower than a liquid level threshold, the other of the magnet and the Hall sensor is moved via the lever assembly to a position where the magnet triggers the Hall sensor.

4. The intelligent cleaning device according to claim 3, characterized in that: The magnet is configured in a cylindrical shape or a rectangular parallelepiped shape, and at a position where the magnet triggers the Hall sensor, the magnet has a center line passing through its geometric center and perpendicular to the end surface, When the liquid level of the cleaning liquid is equal to or lower than the liquid level threshold, the end surface is parallel to the trigger mark surface, and the center line of the magnet passes through the sensing portion.

5. The intelligent cleaning device according to claim 4, characterized in that: When the liquid level of the cleaning liquid is equal to the liquid level threshold, the straight-line distance between the center of the end surface and the geometric center of the sensing part is equal to the distance threshold, so that the magnet triggers the Hall sensor, and When the liquid level of the cleaning liquid is lower than the liquid level threshold, the straight-line distance between the center of the end surface and the geometric center of the sensing portion is smaller than the distance threshold so that the magnet triggers the Hall sensor.

6. The intelligent cleaning device according to claim 5, characterized in that: The distance threshold is 14.6 mm.

7. The intelligent cleaning device according to claim 1 or 2, characterized in that: The lever assembly further includes a connecting sleeve, which is fixed to the second end of the lever, and the magnet is mounted on the connecting sleeve, so that the magnet is fixed to the lever via the connecting sleeve.

8. The intelligent cleaning device according to claim 1 or 2, characterized in that: It also includes a casing, the liquid storage tank is detachably mounted on the casing, and the magnet and the one of the Hall sensor are fixed to the casing so that the magnet and the one of the Hall sensor are relatively fixed to the liquid storage tank.

9. The intelligent cleaning device according to claim 8, characterized in that: The Hall sensor also includes a circuit board, the Hall element is a switch-type Hall element and is mounted on the circuit board, thereby forming a circuit board assembly, and the circuit board assembly is fixed to the housing so that the trigger mark surface is perpendicular to the bottom surface of the liquid storage tank.

10. The intelligent cleaning device according to claim 1 or 2, characterized in that: The lever includes a middle portion between a first end and a second end thereof, and the middle portion is configured to have at least one bending structure.

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