Cleaning equipment and cleaning system

Abstract

The utility model belongs to the technical field of smart home, particularly relates to cleaning equipment and a cleaning system, and aims to solve the technical problems that the cleaning equipment is easily blocked by obstacles and is difficult to escape to a certain extent. The cleaning equipment comprises a moving body, a walking mechanism is arranged at the bottom of the moving body, and a first collision detection assembly is arranged on the edge of the moving body and used for detecting collision of the cleaning equipment in the first direction; the second collision detection assembly is arranged on the moving body and used for detecting collision of the cleaning equipment in the second direction, and the first direction is different from the second direction. The cleaning equipment can be prevented from continuing to advance and being trapped by obstacles, and the cleaning equipment has good practicability.

Description

Technical Field

[0001] The present application belongs to the field of smart home technology, and specifically relates to a cleaning device and a cleaning system. Background Art

[0002] When cleaning equipment such as sweeping robots are in operation, they can easily get stuck on household obstacles such as under beds and tables, making them difficult to escape. Utility Model Content

[0003] The present application provides a cleaning device and a cleaning system, which aim to at least to some extent solve the technical problem that the cleaning device is easily stuck by obstacles and is difficult to get out of trouble.

[0004] The technical solution of this application is:

[0005] In the first aspect of the present application, the present application provides a cleaning device, which includes: a mobile body with a walking mechanism at the bottom; a first collision detection component, arranged at the edge of the mobile body, for detecting a collision of the cleaning device in a first direction; a second collision detection component, arranged at the mobile body, for detecting a collision of the edge of the cleaning device in a second direction, wherein: the first direction and the second direction are different.

[0006] The cleaning device provided by the present application has a first collision detection component arranged on the mobile body that can detect the collision of the cleaning device in a first direction, and a second collision detection component arranged on the mobile body that can detect the collision of the cleaning device in the first direction, and the first direction and the second direction are different. When the cleaning device is running, if the first collision detection component and / or the second collision detection component detects that it has been hit, the cleaning device can be controlled to stop moving forward, retreat, change direction or stop driving, so as to prevent the cleaning device from continuing to move forward and being trapped by obstacles. The cleaning device has good practicality.

[0007] In some embodiments, the first collision detection component is disposed on a side of the mobile body, and the second collision detection component is disposed on top of the first collision detection component.

[0008] In some embodiments, the first collision detection component is disposed on a side surface of the mobile body, and the second collision detection component is disposed on an edge of a top surface of the mobile body.

[0009] In some embodiments, the second collision detection component is disposed on a side of the mobile body, and the first collision detection component is disposed above the second collision detection component.

[0010] In some embodiments, the second collision detection component is disposed on a side of the mobile body, and the first collision detection component is disposed on a side of the mobile body.

[0011] In some embodiments, the first collision detection component is away from the mobile body in a first direction relative to the second collision detection component.

[0012] In some embodiments, the second collision detection component is taller than the first collision detection component.

[0013] In some embodiments, the first collision detection component includes: a first collision buffer, at least partially configured to be movable along a first direction to detect a collision of the cleaning device in the first direction; and a first sensing component, triggered at least partially based on the movement of the first collision buffer.

[0014] In some embodiments, the second collision detection component includes: a second collision buffer, at least partially configured to be movable in the vertical direction, the second collision buffer having a triggering portion higher than the top of the mobile body; and a second sensing component, which is triggered at least partially based on the movement of the second collision buffer.

[0015] In some embodiments, the second impact buffer is an integrally formed structure, or the second impact buffer is a plurality of independently movable single structures.

[0016] In some embodiments, there are one or more second sensing components, which are disposed corresponding to at least one of the second collision buffer components.

[0017] In some embodiments, when the second sensing components are configured as M, the M sensing components are configured as N groups, the N groups of sensing components are arranged in N sensing areas, and the N sensing areas are sequentially located on the front side of the mobile body, wherein M and N are both positive integers greater than or equal to two.

[0018] In some embodiments, the M is specifically 5, the N is 3, the N sensing areas are specifically a first sensing area, a second sensing area and a third sensing area, two of the second sensing components are arranged in the first sensing area, one of the second sensing components is arranged in the second sensing area, and two of the second sensing components are arranged in the third sensing area.

[0019] In some embodiments, the second sensing area is disposed in a middle area on the front side of the mobile body, and the first sensing area and the second sensing area are disposed in two side areas on the front side of the mobile body, respectively.

[0020] In some embodiments, the first sensing component is disposed on a first bearing portion, and the first bearing portion is disposed on a side of the mobile body.

[0021] In some embodiments, the second sensing component is disposed on a second supporting portion, and the second supporting portion is disposed on an edge of a top surface of the mobile body.

[0022] In some embodiments, the second sensing component is disposed on a second bearing portion, and the second bearing portion is disposed on the first collision buffer.

[0023] In some embodiments, when at least a portion of the first impact buffer is configured to be movable along a first direction, the second impact buffer is simultaneously movable along the first direction.

[0024] In some embodiments, when at least a portion of the second crash cushion is configured to be movable in a second direction, the first crash cushion has no movement in the first direction.

[0025] In some embodiments, the first sensing component is disposed on a first bearing portion, the first bearing portion is disposed on a side of the mobile body, and the second sensing component is disposed on a second bearing portion, the second bearing portion is disposed on a side of the mobile body.

[0026] In some embodiments, the second sensing component is disposed on a second bearing portion, and the second bearing portion is disposed on a side of the mobile body.

[0027] In some embodiments, the first sensing component is disposed on a first bearing portion, and the first bearing portion is disposed on the second collision buffer.

[0028] In some embodiments, when at least a portion of the first crash cushion is configured to be movable in a first direction, the second crash cushion does not have the ability to move in the second direction.

[0029] In some embodiments, when at least a portion of the second impact buffer is configured to be movable along a second direction, the first impact buffer is simultaneously movable along the second direction.

[0030] In some embodiments, the second collision detection assembly further includes: a first restoring member connected between the second bearing portion and the second collision buffer member.

[0031] In some embodiments, a first guide member is disposed on the second bearing portion and / or the second collision buffer, and the first restoring member is sleeved on the first guide member.

[0032] In some embodiments, the second collision buffer is provided with a second guide member, and the second bearing portion is provided with a third guide member, and the second guide member and the third guide member cooperate to guide the movement of the second collision buffer relative to the bearing portion in a second direction.

[0033] In some embodiments, the second guide member and the third guide member are plug-connected.

[0034] In some embodiments, one of the second guide member and the third guide member is a guide column, and the other is a guide hole.

[0035] In some embodiments, the guide column has a first end facing the guide hole and a second end facing away from the guide hole, the projection of the second end of the guide column falls within the first end of the guide column, and the first end of the guide column can be cooperatively inserted into the guide hole.

[0036] In some embodiments, the second collision detection component further includes: a trigger member that can be lifted and lowered through the second collision buffer, the trigger member having a trigger portion extending out of the second collision buffer; and a second sensing component that is triggered at least in part based on the movement of the trigger member.

[0037] In some embodiments, the second crash cushion is movable through the first crash cushion in a second direction.

[0038] In some embodiments, the second sensing component includes: a conductive contact connected to the second collision buffer; and a guide plate separately disposed from the conductive contact, wherein when the second collision buffer moves toward the second sensing component, the conductive contact contacts the guide plate.

[0039] In some embodiments, two guide plates are relatively spaced apart, the conductive contact is connected to the bottom of the second collision buffer, the conductive contact is disposed above or below the two guide plates, and both ends of the conductive contact are respectively disposed in contact with the two guide plates.

[0040] In some embodiments, the second sensing component further includes: a second restoring member disposed between the bottom of the conductive contact piece and the moving body.

[0041] In some embodiments, the second sensing component is disposed below the second collision buffer, and the second collision buffer and the second sensing component are connected via a third restoring member.

[0042] In some embodiments, a trigger rod extending toward the second sensing component is disposed at the bottom of the second sensing component, and the trigger rod and the second sensing component are disposed separately. When the second collision buffer moves toward the direction of the second sensing component, the trigger rod contacts the second sensing component.

[0043] In some embodiments, the first crash buffer is an input to the first crash detection assembly.

[0044] In some embodiments, when the first sensing component and / or the second sensing component is triggered, a collision trigger signal is sent to a control unit of the cleaning device, and the control unit controls the mobile body to perform an obstacle avoidance action based on the collision trigger signal.

[0045] In some embodiments, an auxiliary walking wheel is provided at the front bottom of the mobile body, a pressure sensor is provided between the auxiliary walking wheel and the mobile body, the first collision detection component is provided on the side of the mobile body, and the pressure sensor is configured as the second collision detection component. When the top edge of the mobile body collides with an obstacle, the pressure sensor is triggered to detect the collision in the second direction.

[0046] In some embodiments, the first direction is a horizontal direction and the second direction is a vertical direction.

[0047] In some embodiments, the cleaning system includes: a base station; the above-mentioned cleaning device, and the cleaning device and the base station are used in coordination.

[0048] The cleaning system provided by the present application can prevent the cleaning device from continuing to move forward and being trapped by obstacles, and has good practicality. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0050] Figure 1 A schematic diagram of the structure of a cleaning device in one or more embodiments of the present application is shown;

[0051] Figure 2 Shows Figure 1 Explosion diagram of

[0052] Figure 3 Shows Figure 1An assembly diagram of the first collision detection component and the second collision detection component;

[0053] Figure 4 Shows Figure 3 Explosion diagram of

[0054] Figure 5 Shows Figure 3 A schematic structural diagram of the first collision buffer member;

[0055] Figure 6 Shows Figure 3 A schematic structural diagram of a second collision buffer member;

[0056] Figure 7 Shows Figure 6 A schematic diagram of a local structure from another perspective;

[0057] Figure 8 Shows Figure 3 An assembly diagram of the second reset member in FIG.

[0058] Fig. 9 Shows Figure 7 A magnified schematic diagram of point A;

[0059] Fig.10 Shows Figure 4 An assembly diagram of the second guide member in FIG.

[0060] Fig.11 Shows Figure 4 A schematic structural diagram of the second guide member in FIG.

[0061] Fig.12 A schematic diagram of assembling a first collision detection component and a second collision detection component in some embodiments is shown;

[0062] Fig.13 Shows Fig.12 A structural diagram from another perspective;

[0063] Fig.14 A schematic diagram showing the structure of a second collision detection component in some embodiments is shown;

[0064] Fig.15 Shows Fig.13 An enlarged schematic diagram of point B;

[0065] Fig.16 A partial structural schematic diagram of a second collision detection assembly in some other embodiments is shown;

[0066] Fig.17 Shows Fig.16 A partial schematic diagram of the second collision detection assembly assembly shown;

[0067] Fig.18 A schematic diagram of the exploded structure of a cleaning device having the second collision detection assembly shown in the fourth embodiment is shown;

[0068] Fig.19 A schematic diagram of the exploded structure of a cleaning device having the second collision detection assembly shown in the fifth embodiment is shown;

[0069] Fig. 20 Shows Fig.19 An assembly diagram of the first collision detection component and the second collision detection component;

[0070] Fig.21 An exploded schematic diagram of a cleaning device having the second collision detection assembly shown in Embodiment 6 is shown;

[0071] Fig. 22 Shows Fig.21 An exploded schematic diagram of the assembly of the first collision detection component and the second collision detection component;

[0072] Fig.23 A schematic diagram of the structure of a cleaning device having the second collision detection assembly shown in Embodiment 7 is shown;

[0073] Fig.24 Shows Fig.23 Explosion diagram of

[0074] Fig.25 A schematic diagram of the exploded structure of a cleaning device having the second collision detection assembly shown in the eighth embodiment is shown.

[0075] Description of reference numerals:

[0076] Mobile Subject-1;

[0077] first collision detection component-2, first collision buffer-21, first sensing component-22, elastic component-221, contact switch-222, bearing portion-23, third guide component-24, mounting groove-25, fixing block-26, fourth guide component-27, sensing area-28, first sensing area-281, second sensing area-282, third sensing area-283;

[0078] second collision detection component-3, second collision buffer-31, second sensing component-32, conductive contact-321, guide-322, second reset component-323, third reset component-324, first reset component-33, first guide component-34, second guide component-35, positioning column-36, moving component-37, limit buckle-371, trigger rod-38

[0079] First bearing part-4;

[0080] Second bearing portion-5;

[0081] Pressure sensor - 6;

[0082] Auxiliary wheels - 7. DETAILED DESCRIPTION

[0083] In order to make the technical personnel in the technical field to which the present application belongs to understand the present application more clearly, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0084] The cleaning device provided in the present application includes a mobile body 1, a first collision detection component 2 and a second collision detection component 3, wherein a walking mechanism is arranged at the bottom of the mobile body 1 to drive the mobile body 1 to walk, the first collision detection component 2 is arranged at the edge of the mobile body 1, and is used to detect a collision of the cleaning device in a first direction, and the second collision detection component 3 is arranged on the mobile body 1, and is used to detect a collision of the cleaning device in a second direction, wherein the first direction and the second direction are different.

[0085] The cleaning device provided in the present application has a first collision detection component 2 arranged on the mobile body 1 that can detect the collision of the cleaning device in a first direction, and a second collision detection component 3 arranged on the mobile body 1 that can detect the collision of the cleaning device in the first direction, and the first direction and the second direction are different. When the cleaning device is running, if the first collision detection component 2 and / or the second collision detection component 3 detects that it has been hit, the cleaning device can be controlled to stop moving forward, retreat, change direction or stop moving, so as to prevent the cleaning device from continuing to move forward and being trapped by obstacles, and has good practicality.

[0086] In some embodiments, the first direction may be a horizontal direction, that is, the first collision detection component 2 may detect a collision in the direction of travel of the cleaning device to prevent collision objects in the direction of travel of the cleaning device from affecting the operation of the cleaning device; the second direction may be a vertical direction, and the second collision detection component 3 is used to detect a collision of the cleaning device in its height direction to prevent the cleaning device from being stuck by household obstacles such as the bottom of a bed or a table. The collision in the first direction also includes the component direction of the collision in the first direction, and the collision in the second direction also includes the component direction of the collision in the second direction. For example, if the cleaning device is subjected to a collision at a certain angle along the horizontal direction, the component of the collision in the horizontal direction is configured as the first direction; and the component of the collision in the vertical direction is configured as the second direction.

[0087] In other embodiments, the first direction may also be inclined at a certain angle to the horizontal direction, and the second direction may also be inclined at a certain angle to the vertical direction, which is not limited here.

[0088] In some embodiments, the first collision detection component 2 can be arranged on the side of the mobile body 1, and the second collision detection component 3 is arranged on the first collision detection component 2. That is, the second collision detection component 3 is integrated on the first collision detection component 2 to improve the assembly efficiency of the two. The first collision detection component 2 can be arranged on the side of the front side of the mobile body 1, and correspondingly, the second collision detection component 3 is also arranged on the side of the front side of the mobile body 1. When the cleaning device is running, if the first collision detection component 2 and / or the second collision detection component 3 detects that it has been hit, the cleaning device can respond, and the cleaning device can be controlled to stop moving forward, retreat, change direction or stop driving, so as to prevent the cleaning device from continuing to move forward and being trapped by obstacles, which has good practicality.

[0089] In some embodiments, the first collision detection component 2 can be arranged on the side of the mobile body 1, and the second collision detection component 3 can be arranged on the edge of the top surface of the mobile body 1, for example: the first collision detection component 2 is arranged on the front side of the mobile body 1, and the second collision detection component 3 is arranged on the edge of the front side of the top surface of the mobile body 1. When the cleaning device is running, if the first collision detection component 2 and / or the second collision detection component 3 detects that it has been hit, the cleaning device can respond and control the cleaning device to stop moving forward, retreat, change direction or stop driving, so as to prevent the cleaning device from continuing to move forward and being trapped by obstacles, which has good practicality.

[0090] In some embodiments, the second collision detection component 3 can be arranged on the side of the mobile body 1, and the first collision detection component 2 can be arranged on the second collision detection component 3, that is, the first collision detection component 2 is integrated on the second collision detection component 3 to improve the assembly efficiency of the two. The second collision detection component 3 can be arranged on the side of the front side of the mobile body 1, and correspondingly, the second collision detection component 3 is also arranged on the side of the front side of the mobile body 1. When the cleaning device is running, if the first collision detection component 2 and / or the second collision detection component 3 detects that it has been hit, the cleaning device can respond, and the cleaning device can be controlled to stop moving forward, retreat, change direction or stop driving, so as to prevent the cleaning device from continuing to move forward and being trapped by obstacles, which has good practicality.

[0091] In some embodiments, the second collision detection component 3 can be arranged on the side of the mobile body 1, and the first collision detection component 2 can be arranged on the side of the mobile body 1, that is, the first collision detection component 2 and the second collision detection component 3 are independently arranged on the side of the mobile body 1. For example: the first collision detection component 2 and the second collision detection component 3 can be independently arranged on the side of the front side of the mobile body 1. When the cleaning device is running, if the first collision detection component 2 and / or the second collision detection component 3 detects that it has been hit, the cleaning device can respond and control the cleaning device to stop moving forward, retreat, change to other directions or stop driving, so as to prevent the cleaning device from continuing to move forward and being trapped by obstacles, which has good practicality.

[0092] In some embodiments, the first collision detection component 2 is horizontally away from the mobile body 1 relative to the second collision detection component 3, that is, the first collision detection component 2 protrudes more from the mobile body 1 in the horizontal direction relative to the second collision detection component 3. When the cleaning device is moving, obstacles located in the direction of travel of the cleaning device will preferentially touch the first collision detection component 2, so that the cleaning device responds to the first collision detection component 2 and takes corresponding actions, thereby avoiding obstacles located in the direction of travel of the cleaning device from touching the second collision detection component 3, so that the cleaning device cannot respond to the first collision detection component 2 and cannot escape. In addition, if the obstacle located in the direction of travel of the cleaning device touches the second collision detection component 3, a horizontal force will be applied to the second collision detection component 3. Since the second collision detection component 3 can only detect obstacles in the vertical direction, the second collision detection component 3 may be damaged. The setting of the first collision detection component 2 protruding more from the mobile body 1 in the horizontal direction relative to the second collision detection component 3 can avoid the occurrence of this phenomenon and ensure the normal use of the second collision detection component 3.

[0093] In some embodiments, the second collision detection component 3 is higher than the first collision detection component 2, that is, the second collision detection component 3 protrudes the mobile body 1 more in the vertical direction relative to the second collision detection component 3. When the cleaning device is moving, obstacles located in the vertical direction of the cleaning device will preferentially touch the second collision detection component 3, so that the cleaning device responds to the second collision detection component 3 and takes corresponding actions, thereby avoiding obstacles located in the vertical direction of the cleaning device from touching the first collision detection component 2, so that the cleaning device cannot respond to the second collision detection component 3 and cannot escape. In addition, if the obstacle located in the vertical direction of the cleaning device touches the first collision detection component 2, a horizontal force will be applied to the first collision detection component 2. Since the first collision detection component 2 can only detect obstacles in the horizontal direction, the first collision detection component 2 may be damaged. The setting of the second collision detection component 3 protruding the mobile body 1 more in the vertical direction relative to the first collision detection component 2 can avoid the occurrence of this phenomenon and ensure the normal use of the second collision detection component 3.

[0094] In some embodiments, the second collision detection component 3 may also include a second collision buffer 31 and a second sensing component 32, wherein at least a portion of the second collision buffer 31 is configured to be movable in the vertical direction, the second collision buffer 31 has a trigger portion that is higher than the top of the mobile body 1, and at least a portion of the second sensing component 32 is triggered based on the movement of the second collision buffer 31. When the trigger portion of the trigger component contacts an obstacle, the second collision buffer 31 moves toward the direction of the second sensing component 32 and contacts the second sensing component 32, and the second sensing component 32 sends a touch signal to the controller of the cleaning device. After responding to the received touch signal, the controller of the cleaning device controls the cleaning device to stop moving forward, backward, or change to other directions, or stop moving, so as to prevent the cleaning device from continuing to move forward and being trapped by the obstacle.

[0095] In some embodiments, the second collision buffer 31 can be an integrally formed structure, that is, only one second collision buffer is provided; in other embodiments, the second collision buffer 31 can also be a plurality of independently movable single structures, that is, a plurality of second collision buffers 31 are provided, and the plurality of second collision buffers 31 are provided independently of each other.

[0096] In some embodiments, the second sensing component 32 may be one or more, and the second sensing component 32 is provided corresponding to at least one second collision buffer 31. In specific implementation, under the condition that the second collision buffer is an integrated structure, one second sensing component 32 or multiple second components may be provided for use in conjunction with each other; under the condition that the second collision buffer 31 is also a plurality of independently movable monomer structures, one second sensing component 32 or multiple second sensing components 32 may be provided for use in conjunction with each second collision buffer 31, and no limitation is made here.

[0097] In some embodiments, when the second sensing components 32 can be configured as M, the M sensing components are configured as N groups, and the N groups of sensing components are arranged in N sensing areas 28, and the N sensing areas 28 are sequentially located on the front side of the mobile body 1, wherein M and N are both positive integers greater than or equal to 2. By providing multiple sensing areas 28 on the front side of the mobile body 1, and each sensing area 28 is provided with a second sensing component 32, partition detection can be achieved to determine the specific sensing area 28 that is collided, and then the action of the cleaning device can be more accurately controlled to avoid obstacles.

[0098] In a specific implementation, there may be five second sensing components 32 and three sensing areas 28 , the three sensing areas 28 being a first sensing area 281 , a second sensing area 282 , and a second sensing area 283 . Two second sensing components 32 are arranged in the first sensing area 281 , one second sensing component 32 is arranged in the second sensing area 282 , and two second sensing components 32 are arranged in the second sensing area 283 .

[0099] In addition, since the detection range of the middle area on the front side of the mobile body 1 is the largest, followed by the two sides, the second sensing area 282 can be set in the middle area on the front side of the mobile body 1, and the first sensing area 281 and the second sensing area 282 are respectively set in the two side areas on the front side of the mobile body 1.

[0100] In some embodiments, the first sensing component 22 is disposed on the first bearing portion 4, and the first bearing portion 4 can be disposed on the side of the mobile body 1. For example, when the first collision detection component 2 is disposed on the side of the mobile body 1, the first bearing portion 4 is disposed on the side of the mobile body 1.

[0101] In some embodiments, the second sensing component 32 is disposed on the second bearing portion 5, and the second bearing portion 5 can be disposed on the edge of the top surface of the mobile body 1. For example, under the condition that the second collision detection component 3 is disposed on the edge of the top surface of the mobile body 1, the second bearing portion 5 is disposed on the edge of the top surface of the mobile body 1.

[0102] In some embodiments, the second sensing component 32 is disposed on the second bearing portion 5, and the second bearing portion 5 can be disposed on the first collision buffer 21. For example, when the second collision detection component 3 is disposed on the first collision detection component 2, the second bearing portion 5 is disposed on the first collision buffer 21.

[0103] In some embodiments, the second sensing component 32 is disposed on the second bearing portion 5, and the second bearing portion 5 can be disposed on the side of the mobile body 1. For example, when the second collision detection component 3 is disposed on the side of the mobile body 1, the second bearing portion 5 is disposed on the side of the mobile body 1.

[0104] In some embodiments, when at least a portion of the first collision buffer 21 is configured to move in the horizontal direction, the second collision buffer 31 moves in the horizontal direction synchronously. For example, when the first collision detection component 2 and the second collision detection component 3 are integrated together, the two can move synchronously in the horizontal direction.

[0105] In some embodiments, when at least a portion of the second collision buffer 31 is configured to be movable in the vertical direction, the first collision buffer does not have any movement in the horizontal direction. For example, the second collision detection component 3 is disposed above the first collision detection component 2, or the second collision detection component 3 is disposed at the edge of the top surface of the mobile body 1, or the second collision detection component 3 and the first collision detection component 2 are independently disposed on the side of the mobile body 1.

[0106] In some embodiments, the first sensing component 22 is disposed on the first bearing portion 4, which can be disposed on the side of the mobile body 1, and the second sensing component 32 is disposed on the second bearing portion 5, which can be disposed on the side of the mobile body 1. For example, under the condition that the second collision detection component 3 and the first collision detection component 2 are independently disposed on the side of the mobile body 1, the first bearing portion 4 and the second bearing portion 5 can be independently disposed on the side of the mobile body 1.

[0107] In some embodiments, the first sensing component 22 is disposed on the first bearing portion 4, and the first bearing portion 4 can be disposed on the second collision buffer 31. For example, when the first collision detection component 2 is disposed on the second collision detection component 3, the first bearing portion 4 can be disposed on the second collision buffer 31.

[0108] In some embodiments, when at least a portion of the first collision buffer 21 is configured to be movable in the horizontal direction, the second collision buffer 31 does not have the ability to move in the vertical direction. For example, when the second collision detection component 3 is disposed above the first collision detection component 2, or when the first collision detection component 2 is disposed on the side of the mobile body 1 and the second collision detection component 3 is disposed on the edge of the top surface of the mobile body 1, or when the second collision detection component 3 and the first collision detection component 2 are independently disposed on the side of the mobile body 1, when at least a portion of the first collision buffer 21 is configured to be movable in the horizontal direction, the second collision buffer 31 does not have the ability to move in the vertical direction.

[0109] In some embodiments, when at least a portion of the second collision buffer 31 is configured to be movable in the vertical direction, the first collision buffer moves synchronously in the vertical direction: for example, when the first collision detection component 2 is disposed above the second collision detection component 3, the first collision buffer and the second collision buffer 31 move synchronously in the vertical direction.

[0110] In some embodiments, a pressure sensor 6 may be provided at the front bottom of the mobile body 1, the first collision detection component 2 is provided on the side of the mobile body 1, and the pressure sensor 6 is configured as the above-mentioned second collision detection component 3. When the top edge of the mobile body 1 collides with an obstacle, the pressure sensor 6 is triggered to detect the collision in the vertical direction.

[0111] Based on the above design ideas, this application provides the following embodiments:

[0112] Embodiment 1:

[0113] Figure 1 shows a schematic structural diagram of a cleaning device in one or more embodiments of the present application, Figure 2 Shows Figure 1 Explosion diagram of the . Figure 1 as well as Figure 2 The first collision detection component 2 may include a first collision buffer 21 and a first sensing component 22. At least a portion of the first collision buffer 21 is configured to be movable in a horizontal direction to detect a collision of the cleaning device in a horizontal direction. The first sensing component 22 is triggered at least in part based on the movement of the first collision buffer 21.

[0114] Combination Figure 2In a specific implementation, the first collision buffer 21 is used for the collision between the cleaning device and the surrounding objects during the movement. The first collision buffer 21 can be slidably mounted on the edge of the front side of the mobile body 1, and is approximately in an arc shape of 180°. Two first sensing components 22 can be provided. The two first sensing components 22 are relatively arranged on the mobile body 1. The two first sensing components 22 are symmetrically arranged or approximately symmetrically arranged. Each first sensing component 22 includes an elastic member 221 and a contact switch 222. The elastic member 221 is connected to the first collision buffer 21. The front side of the mobile body 1 is configured as a first bearing portion 4 for installing the first sensing component 22. When the first collision When the collision buffer 21 encounters an obstacle, the first collision buffer slides close to the mobile body 1, and the elastic member 221 deforms accordingly until the first collision buffer 21 abuts against a contact switch 222 on the mobile body 1. The contact switch 222 sends a touch signal to the controller of the cleaning device. After the controller of the cleaning device responds to the received touch signal, it controls the cleaning device to stop moving forward, backward, or change direction, or stop moving, so as to prevent the cleaning device from continuing to move forward and being trapped by obstacles. After the cleaning device is freed, the elastic member 221 returns to its initial state and drives the first collision buffer 21 to return to its initial state, so that the cleaning device can operate normally.

[0115] Since the first collision buffer 21 is approximately in the shape of an arc of 180°, the first collision detection component can not only detect obstacles on the front side of the cleaning device, but also detect obstacles on the side of the cleaning device, thus having good practicality.

[0116] Combination Figure 1 In some embodiments, the second collision detection component 3 is connected to the first collision detection component 2, that is, the two collision components are assembled and integrated together to improve the assembly efficiency on the mobile body 1.

[0117] Figure 3 Shows Figure 1 The assembly diagram of the first collision detection component and the second collision detection component in FIG. Figure 4 Shows Figure 3 Explosion diagram of . Figure 3 as well as Figure 4In some embodiments, the second collision detection component 3 may include a second collision buffer 31, the first collision buffer 21 is connected to at least a portion of the edge of the mobile body 1, and the first collision buffer 21 is provided with a bearing portion 23 on the side facing the mobile body 1, so as to serve as a second bearing portion 5 for loading the second sensing component 32. The second collision buffer 31 is connected to the bearing portion 23 in a liftable manner, and the second collision buffer 31 has a triggering portion that can extend out of the top of the mobile body 1, and the highest point of the triggering portion is the highest point of the cleaning device as a whole to facilitate the detection of vertical collisions, and the second sensing component 32 is arranged on the bearing portion 23, and the second sensing component 32 and the second collision buffer 31 are arranged separately; wherein, under the condition that the triggering portion of the second collision buffer 31 contacts an obstacle, the second collision buffer 31 moves in the direction of the second sensing component 32, and the second collision buffer 31 triggers the second sensing component 32. The second sensing component 32 sends a touch signal to the controller of the cleaning device. The controller of the cleaning device responds to the received touch signal to control the cleaning device to stop moving forward, move backward, change to other directions, or stop moving to prevent the cleaning device from continuing to move forward and being trapped by obstacles.

[0118] Figure 5 Shows Figure 3 The structural diagram of the first collision buffer member in Figure 3-Figure 5 In some embodiments, the bearing portion 23 can serve as a carrier of the second collision detection component 3, and the bearing portion 23 can be connected to the middle portion of the side of the first collision buffer 21 facing the mobile body 1 to form an inverted T-shaped structure, that is, the first collision buffer 21 has a protective portion located above the bearing portion 23 to prevent horizontal obstacles from touching the second collision buffer 31 and causing damage to the second collision buffer 31.

[0119] Combination Figure 4 In some embodiments, the second collision detection component 3 may further include a first restoring member 33, and the first restoring member 33 is connected between the bearing portion 23 and the second collision buffer 31. When the triggering portion of the second collision buffer 31 contacts an obstacle, the second collision buffer 31 moves toward the bearing portion 23 of the first collision buffer 21 to compress the first restoring member 33, and the second collision buffer 31 triggers the second sensing component 32; when the second collision buffer 31 is no longer in contact with the obstacle, the first restoring member 33 restores its deformation, and the second collision buffer 31 moves away from the first collision buffer 21 to restore to an initial state.

[0120] Figure 6 Shows Figure 3 A schematic diagram of the structure of the second collision buffer member in FIG. Figure 7 Shows Figure 6 A schematic diagram of the local structure from another perspective, Figure 8 Shows Figure 3 The assembly diagram of the second reset member in FIG. Fig. 9 Shows Figure 7 A magnified schematic diagram of the combined Figure 7-Figure 9 In some embodiments, a first guide member 34 may be provided on the second collision buffer member 31 , and the first reset member 33 is mounted on the first guide member 34 to guide the deformation recovery of the reset member.

[0121] Combination Figure 7-Figure 9 In a specific implementation, the first reset member 33 can be a spring, both ends of which can be connected to the bearing portion 23 and the second collision buffer member 31, and the first guide member 34 can be a guide column, which can be arranged on the side of the second collision buffer member 31 facing the bearing portion 23.

[0122] In other embodiments, the first guide member 34 may also be provided on the bearing portion 23; or, the bearing portion 23 and the second collision buffer member 31 may both be provided with the first guide member 34, and the first restoration member 33 is sleeved on the first guide member 34 to guide the deformation recovery of the first restoration member 33. Under the condition that the bearing portion 23 and the second collision buffer member 31 are both provided with the first guide member 34, the two first guide members 34 may be coaxially provided, and the opposite ends of the two may have a distance, or may be inserted into each other, which is not limited here.

[0123] Combination Figure 4 , Figure 5 as well as Figure 7 In some embodiments, a second guide member 35 may be further provided on the second collision buffer 31, and a third guide member 24 may be provided on the bearing portion 23. The second guide member 35 cooperates with the third guide member 24 to guide the lifting and lowering of the second collision buffer 31 relative to the bearing portion 23.

[0124] In a specific implementation, the second guide member 35 and the third guide member 24 can be inserted and connected to guide the movement of the second collision buffer member 31. When the second collision buffer member 31 contacts an obstacle, the second collision buffer member 31 moves toward the bearing portion 23 of the first collision buffer member 21. At the same time, the second guide member 35 and the third guide member 24 are inserted to guide the movement of the second collision buffer member 31.

[0125] In order to realize the plug-in connection between the second guide member 35 and the third guide member 24 , one of the second guide member 35 and the third guide member 24 is a guide column and the other is a guide hole. The guide column can be inserted into the corresponding guide hole to guide the movement of the second collision buffer 31 .

[0126] Fig.10 Shows Figure 4The assembly diagram of the second guide member in FIG. Figure 5 as well as Fig.10 In some embodiments, the second guide member 35 can be a guide column arranged at the bottom of the second collision buffer 31, and the third guide member 24 can be a guide hole arranged on the bearing portion 23 of the first collision buffer 21. The second guide member 35 is inserted into the third guide member 24 to guide the movement of the second collision buffer 31.

[0127] Fig.11 Shows Figure 4 The schematic diagram of the structure of the second guide member in FIG. Fig.11 In some embodiments, when the second guide member 35 is a guide column, the second guide member 35 has a first end facing the guide hole and a second end facing away from the guide hole, the projection of the second end of the second guide member 35 falls within the first end of the second guide member 35, and the first end of the second guide member 35 can be inserted in the guide hole in a matching manner. When the second collision buffer 31 moves toward the first collision buffer 21, the first end of the second guide member 35 moves synchronously in the guide hole. Since the first end of the second guide member 35 and the guide hole are approximately equal in size, the first end of the second guide member 35 can be prevented from shaking when moving in the guide hole, so as to prevent the second collision buffer 31 from changing its lifting direction and failing to contact the first switch member to a certain extent; when the second collision buffer 31 moves in a direction away from the first collision buffer 21, since the projection of the second end of the second guide member 35 falls within the first end of the second guide member 35, the second guide member 35 can smoothly move from the guide hole.

[0128] Combination Fig. 9 as well as Fig.10 In a specific implementation, the second guide member 35 may be in a cone shape, and a positioning column 36 may be provided at the bottom of the second collision buffer member 31. The second guide member 35 is sleeved on the positioning column 36 and fixed to the positioning column 36 by a connecting member such as a screw. In other embodiments, the second guide member 35 may also be integrally formed at the bottom of the second collision buffer member 31, which is not limited here.

[0129] It should be noted that, in other embodiments, the second guide member 35 may also be a guide hole provided on the second collision buffer member 31, and the third guide member 24 may be a guide column provided on the bearing portion 23 of the first collision buffer member 21, and the third guide member 24 is inserted into the second guide member 35 to guide the movement of the second collision buffer member 31. The specific implementation method can refer to the above description, which will not be repeated here.

[0130] Combination Figure 4 as well as Figure 5In some embodiments, the second sensing component 32 can be disposed on the bearing portion 23, and a mounting groove 25 can be disposed on the bearing portion 23. The second sensing component 32 can be assembled in the mounting groove 25 by bonding, screw connection, etc. In other embodiments, the second sensing component 32 can also be disposed on the mobile body 1, and the component on the mobile body 1 for loading the second sensing component 32 can be configured as the second bearing portion 5, and the second collision buffer 31 can be provided with a portion that can be triggered by the second sensing component 32 on the mobile body 1.

[0131] Combination Figure 6 as well as Figure 7 In some embodiments, the second collision buffer 31 may be an arc-shaped sheet, which is coaxially or nearly coaxially arranged with the first collision buffer 21, so that the contact between the second collision buffer 31 and the obstacle is substantially surface contact.

[0132] It should be noted that a plurality of the above-mentioned first reset members 33, second guide members 35, third guide members 24 and second sensing components 32 may be arranged at intervals on the second collision buffer 31 to effectively guide the lifting and lowering of the second collision buffer 31, and to keep the second collision buffer 31 and at least one second sensing component 32 effectively triggered, so as to prevent the second collision buffer 31 and the second sensing component 32 from failing to be triggered when touching an obstacle to a certain extent.

[0133] In some embodiments, there may be five second sensing components 32, and there may be three sensing areas 28 on the carrier portion 23. The three sensing areas 28 are a first sensing area 281, a second sensing area 282, and a second sensing area 283. Two second sensing components 32 are arranged in the first sensing area 281, one second sensing component 32 is arranged in the second sensing area 282, and two second sensing components 32 are arranged in the second sensing area 283. The second sensing area 282 may be arranged in the middle area on the front side of the mobile body 1, and the first sensing area 281 and the second sensing area 282 are respectively arranged in the two side areas on the front side of the mobile body 1.

[0134] Embodiment 2:

[0135] Fig.12 shows a schematic diagram of assembling the first collision detection component and the second collision detection component in some embodiments, Fig.13 Shows Fig.12 A structural diagram from another perspective, Fig.14 FIG. 2 shows a schematic diagram of the structure of the second collision detection component in some embodiments. Figure 12-14The first collision buffer 21 is connected to at least a portion of the edge of the mobile body 1, the first collision buffer 21 is provided with a bearing portion 23 on the side facing the mobile body 1, the second collision buffer 31 can be lifted and lowered through the bearing portion 23 of the first collision buffer 21, the portion of the second collision buffer 31 passing through the bearing portion 23 of the first collision buffer 21 can be configured as a trigger portion, and the second sensing component 32 is separately provided from the second collision buffer 31. During the operation of the cleaning device, if the second collision buffer 31 contacts an obstacle, the second collision buffer 31 moves toward the bearing portion 23 of the first collision buffer 21, the second collision buffer 31 contacts the second sensing component 32, and the second sensing component 32 sends a touch signal to the controller of the cleaning device. After the controller of the cleaning device responds to the received touch signal, it controls the cleaning device to stop moving forward, backward, or change to another direction, or stop moving, so as to prevent the cleaning device from continuing to move forward and being trapped by the obstacle.

[0136] In the second embodiment, the second collision buffer 31 may be columnar, and its contact with the obstacle is approximately point contact, while the second collision buffer 31 in the first embodiment is approximately planar contact with the obstacle, which are different ways of realizing obstacle detection.

[0137] Combination Fig.14In some embodiments, the second sensing component 32 may include a conductive contact 321 and a guide 322, wherein the conductive contact 321 is connected to the second collision buffer 31, and the guide 322 is separated from the conductive contact 321. In specific implementation, under the condition that the cleaning device operates normally, the conductive contact 321 on the second collision buffer 31 is in contact with the guide 322 and is connected. If the second collision buffer 31 contacts an obstacle, under the action of the obstacle, the second collision buffer 31 moves toward the bearing portion 23 of the first collision buffer 21, and the conductive contact 321 on the second collision buffer 31 is separated from the guide 322. The circuit on the cleaning device detects whether the cleaning device is blocked by the obstacle. After the controller of the cleaning device responds to the judgment signal, it controls the cleaning device to stop moving forward, backward, or change to other directions, or stop moving, so as to prevent the cleaning device from continuing to move forward and being trapped by the obstacle. After the cleaning device is freed, the second collision buffer 31 returns to its initial state, and the cleaning device operates normally. Or, under the condition of normal operation of the cleaning device, the conductive contact piece 321 on the second collision buffer 31 is separated from the guide piece 322. If the second collision buffer 31 contacts an obstacle, under the action of the obstacle, the second collision buffer 31 moves in the direction of the first collision buffer 21, and the conductive contact piece 321 on the second collision buffer 31 contacts the guide piece 322. The circuit on the cleaning device performs detection to determine whether the cleaning device is blocked by the obstacle. After the controller of the cleaning device responds to the judgment signal, it controls the cleaning device to stop moving forward, backward, or change direction, or stop driving, to prevent the cleaning device from continuing to move forward and being trapped by the obstacle. After the cleaning device is freed, the second collision buffer 31 returns to its initial state, and the cleaning device operates normally.

[0138] Combination Fig.14 In some embodiments, two guide pieces 322 may be arranged at relative intervals, a conductive contact piece 321 is connected to the bottom of the second collision buffer 31, the conductive contact piece 321 is arranged above or below the two guide pieces 322, and both ends of the conductive contact piece 321 are respectively in releasable contact with the two guide pieces 322.

[0139] In some embodiments, the two guide plates 322 can be connected to the bottom of the supporting portion 23 of the first collision buffer 21. In other embodiments, the two guide plates 322 can be connected to the inner side of the first collision buffer 21 of the first collision buffer 21. The inner side of the first collision buffer 21 serves as the second supporting portion 5 for loading the second sensing component 32, which is not limited here.

[0140] Combination Fig.14In some embodiments, the second sensing component 32 may further include a second restoring member 323, which is disposed between the bottom of the conductive contact sheet 321 and the first collision buffer 21. When the second collision buffer 31 contacts an obstacle, the second collision buffer 31 moves toward the first collision buffer 21 under the action of the obstacle, compressing the second restoring member 323; when the second collision buffer 31 and the obstacle are released, the second restoring member 323 restores its deformation, and the second collision buffer 31 moves away from the first collision buffer 21 to restore to an initial state.

[0141] Fig.15 Shows Fig.13 The enlarged schematic diagram of point B, combined with Fig.15 In a specific implementation, a fixed block 26 can be provided on the inner side of the first collision buffer 21, and a fourth guide member 27 can be provided on the fixed block 26. The fourth guide member 27 can be a guide column. The second reset member 323 can be mounted on the fourth guide member 27, and its two ends are respectively connected between the top of the fixed block 26 and the bottom of the conductive contact piece 321.

[0142] Fig.16 shows a partial structural schematic diagram of the second collision detection component of some other embodiments, Fig.17 Shows Fig.16 A partial schematic diagram of the second collision detection assembly assembly shown. Fig.16 as well as Fig.17 In some other embodiments, the second sensing component 32 may be a switch module, which may be a micro switch or a button, which is disposed below the second collision buffer 31, and the second collision buffer 31 and the second sensing component 32 are connected via a third reset component 324. Under the condition that the cleaning device operates normally, under the action of the third reset component 324, the second collision buffer 31 and the second sensing component 32 are separated. If the second collision buffer 31 contacts an obstacle, under the action of the obstacle, the second collision buffer 31 moves toward the direction of the second sensing component 32 and compresses the third reset component 324, so that the second collision buffer 31 contacts the second sensing component 32, and the second sensing component 32 sends a touch signal to the controller of the cleaning device. After responding to the received touch signal, the controller of the cleaning device controls the cleaning device to stop moving forward, backward, or change to another direction, or stop moving, so as to prevent the cleaning device from continuing to move forward and being trapped by the obstacle.

[0143] Combination Fig.16 as well as Fig.17In some embodiments, the second collision buffer 31 can be installed on the moving member 37, and the moving member 37 can move through the bearing portion 23 of the first collision buffer 21. A plurality of limit buckles 371 can be provided around the bottom of the moving member 37 to be snapped onto the bottom of the bearing portion 23 to limit the range of movement of the moving member 37 and prevent the second collision buffer 31 from detaching from the cleaning equipment under the action of obstacles. The top of the third reset member 324 is connected to the bottom of the moving member 37.

[0144] Combination Fig.16 as well as Fig.17 In some embodiments, the above-mentioned fixing block 26 can be provided on the inner side of the first collision buffer 21, and the above-mentioned second sensing component 32 can be provided on the fixing block 26. The second sensing component 32 can be cylindrical, and the third reset component 324 can be mounted on the second sensing component 32. Under the condition of realizing the detection of the second collision buffer 31, the compression deformation of the third reset component 324 can also be guided.

[0145] Combination Fig.16 as well as Fig.17 In addition, a trigger rod 38 extending toward the second sensing component 32 may be provided at the bottom of the second collision buffer 31, and the trigger rod 38 and the second sensing component 32 may be in releasable contact. Under the condition of normal operation of the cleaning device, the trigger rod 38 of the second collision buffer 31 is separated from the second sensing component 32. If the second collision buffer 31 contacts an obstacle, the second collision buffer 31 moves toward the direction of the second sensing component 32 under the action of the obstacle, and the trigger rod 38 of the second collision buffer 31 contacts the second sensing component 32.

[0146] The second collision detection components 3 may be arranged in plurality and independently at intervals, so as to comprehensively and effectively check obstacles above the cleaning device and improve the reliability of the operation of the cleaning device.

[0147] Embodiment three:

[0148] In some embodiments, the second collision buffer 31 of the second collision detection component 3 may include the second collision buffer 31 shown in the first embodiment and the second collision buffer 31 shown in the second embodiment. Correspondingly, the second sensing component 32 includes the second sensing component 32 shown in the first embodiment and the second sensing component 32 shown in the second embodiment, that is, the second collision detection component 3 in this embodiment integrates the second collision buffer 31 of the above two embodiments. In specific implementation, the second collision buffer 31 in the second embodiment may be defined as a trigger member, which can be lifted and lowered through the second collision buffer 31 in the first embodiment, and the trigger member has a trigger portion extending out of the second collision buffer 31, and the trigger member cooperates with the second sensing component 32, and at least part of the second sensing component 32 is triggered based on the activity of the trigger member.

[0149] Since the second collision buffer 31 in the second embodiment and the obstacle are roughly in point contact and adjacent second collision buffers 31 have gaps, the second collision buffer 31 in the first embodiment can fill the gaps between adjacent second collision buffers 31, thereby compensating for the detection of obstacles in the forward direction of the cleaning equipment, so as to further confirm the spatial conditions in the forward direction of the cleaning equipment; similarly, since the second collision buffer 31 in the second embodiment can be raised and lowered to pass through the second collision buffer 31 in the first embodiment, that is, the second collision buffer 31 in the second embodiment is higher than the second collision buffer 31 in the first embodiment, thereby compensating for the detection of obstacles in the height direction of the cleaning equipment, so as to further confirm the spatial conditions above the cleaning equipment, so as to improve the reliability of the operation of the cleaning equipment.

[0150] Embodiment 4:

[0151] Fig.18 The exploded structure diagram of the cleaning device having the second collision detection assembly shown in the fourth embodiment is shown. Fig.18 The second collision detection component 3 and the second sensing component 32 shown in the fourth embodiment are arranged at the front edge of the top of the mobile body 1. The specific structure is roughly the same as that shown in the first embodiment, and will not be repeated here.

[0152] It should be noted that the second collision detection component 3 shown in the fourth embodiment may also be integrated with a triggering member that makes point contact with the obstacle. For details, please refer to the description of the third embodiment, which will not be repeated here.

[0153] Embodiment five:

[0154] Fig.19 The exploded structural diagram of the cleaning device having the second collision detection assembly shown in the fifth embodiment is shown. Fig. 20 Shows Fig.19 Schematic diagram of the assembly of the first collision detection component and the second collision detection component. Fig.19 as well as Fig. 20 The first collision detection components 21 of the first collision detection component 2 shown in the fifth embodiment are arranged in plurality at intervals, and the second collision detection components 31 of the second collision detection component 3 are also arranged in plurality at corresponding intervals. At least one second sensing component 32 is arranged on the bearing portion 23 of each first collision detection component 21. The specific structure thereof is substantially the same as that shown in the first embodiment and will not be elaborated herein.

[0155] It should be noted that the second collision detection component 3 shown in the fifth embodiment may also be integrated with a triggering member that makes point contact with the obstacle. For details, please refer to the description of the third embodiment, which will not be repeated here.

[0156] Embodiment six:

[0157] Fig.21 An exploded schematic diagram of a cleaning device having the second collision detection assembly shown in the sixth embodiment is shown. Fig. 22 Shows Fig.21 Schematic diagram of the assembly explosion of the first collision detection component and the second collision detection component. Fig.21 as well as Fig. 22 The second collision detection component 3 is installed on the edge of the front side of the mobile body 1, and the front edge of the top of the mobile body 1 serves as the second bearing part 5 for loading the second sensing component 32. The second sensing component 32 of the second collision detection component 3 is assembled on the front edge of the top of the mobile body 1. The inner side of the second collision buffer 31 of the second collision detection component 3 is provided with a triggering part located above the front edge of the top of the mobile body 1. The first collision buffer 21 of the first collision detection component 2 is assembled on the front side of the second collision buffer 31. The second collision buffer 31 serves as the first bearing part 4 for loading the first sensing component 22 of the first collision detection component 2. The first sensing component 22 is assembled on the second collision buffer 31 to be triggered based on the activity of the first collision buffer 21.

[0158] It should be noted that the second collision detection component 3 shown in the sixth embodiment may also be integrated with a triggering member that makes point contact with an obstacle. For details, please refer to the description of the third embodiment, which will not be elaborated here.

[0159] Embodiment seven:

[0160] Fig.23 shows a schematic structural diagram of a cleaning device having the second collision detection assembly shown in the seventh embodiment, Fig.24 Shows Fig.23 Explosion diagram of the . Fig.23 as well as Fig.24 The second collision detection component 3 is installed on the edge of the front side of the mobile body 1, and the front edge of the top of the mobile body 1 serves as a second bearing part 5 for loading the second sensing component 32. The second sensing component 32 of the second collision detection component 3 is assembled on the front edge of the top of the mobile body 1. The inner side of the second collision buffer 31 of the second collision detection component 3 is provided with a triggering part located above the front edge of the top of the mobile body 1. The first collision detection component 2 and the second collision detection component 3 are independently arranged. The first collision buffer 21 of the first collision detection component 2 is assembled on the front side of the mobile body 1 and can be located below the first collision detection component 2. The front side of the mobile body 1 serves as a first bearing part 4 for loading the first sensing component 22 of the first collision detection component 2. The first sensing component 22 is assembled on the front side of the mobile body 1 to be triggered based on the activity of the first collision buffer 21.

[0161] It should be noted that the second collision detection assembly 3 shown in the seventh embodiment may also be integrated with a triggering member that makes point contact with the obstacle. For details, please refer to the description of the third embodiment, which will not be repeated here.

[0162] Embodiment eight:

[0163] Fig.25 The exploded structure diagram of the cleaning device having the second collision detection assembly shown in the eighth embodiment is shown. Fig. 22 The walking mechanism of the mobile body 1 includes a walking wheel 7 arranged at the bottom of the front side of the mobile body, a pressure sensor 6 is arranged between the auxiliary walking wheel 7 and the mobile body 1, the first collision detection component 2 is arranged on the side of the mobile body 1, and the pressure sensor 6 is configured as the second collision detection component 3. When the top edge of the mobile body 1 collides with an obstacle, the pressure sensor 6 is triggered to detect the collision in the vertical direction.

[0164] In addition, the first sensing component and the second sensing component in the present application can not only be components of the above-mentioned type, but also can be sensors such as light-interrupting sensors and Hall sensors that can detect relative motion, which are not limited here.

[0165] In some embodiments, the cleaning device may be a sweeping robot. In other embodiments, the cleaning device may be an automatically operated cleaning device such as a mopping robot or a floor washing robot, which is not limited here.

[0166] Based on the above-mentioned cleaning device, the present application also provides a cleaning system, which includes a base station and the above-mentioned cleaning device, and the cleaning device and the base station are used in combination.

[0167] The cleaning system provided by the present application can prevent the cleaning device from continuing to move forward and being trapped by obstacles, and has good practicality.

[0168] In the present application, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0169] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise" and "counterclockwise" indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0170] In this application, unless otherwise clearly specified and limited, the terms "connection", "fixation", etc. should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or an integral 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. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0171] In addition, the descriptions of "first", "second", etc. in this application are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0172] Although the embodiments of the present application have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present application, and that the scope of the present application is defined by the claims and their equivalents.

Claims

1. A cleaning device, characterized in that: The cleaning equipment comprises: The mobile body has a walking mechanism at the bottom; A first collision detection component, disposed at an edge of the mobile body, for detecting a collision of the cleaning device in a first direction; A second collision detection component is provided on the mobile body and is used to detect a collision of the edge of the cleaning device in a second direction, wherein: The first direction and the second direction are different.

2. The cleaning device according to claim 1, characterized in that The first collision detection component is arranged on a side of the mobile body, and the second collision detection component is arranged on the first collision detection component.

3. The cleaning device according to claim 1, characterized in that: The first collision detection component is arranged on a side surface of the mobile body, and the second collision detection component is arranged on an edge of a top surface of the mobile body.

4. The cleaning device according to claim 1, characterized in that: The second collision detection component is arranged on a side of the mobile body, and the first collision detection component is arranged on the second collision detection component.

5. The cleaning device according to claim 1, characterized in that: The second collision detection component is disposed on a side of the mobile body, and the first collision detection component is disposed on a side of the mobile body.

6. The cleaning device according to any one of claims 2 to 5, characterized in that: The first collision detection component is away from the moving body in a first direction relative to the second collision detection component.

7. The cleaning device according to any one of claims 2 to 5, characterized in that: The second collision detection component is higher than the first collision detection component.

8. The cleaning device according to any one of claims 2 to 5, characterized in that: The first collision detection component comprises: a first collision buffer, at least partially configured to be movable along a first direction to detect a collision of the cleaning device in the first direction; The first sensing component is triggered based at least in part on the movement of the first impact buffer.

9. The cleaning device according to claim 8, characterized in that The second collision detection component comprises: A second collision buffer, at least partially configured to be movable along a second direction, the second collision buffer having a trigger portion higher than the top of the moving body; The second sensing component is triggered based at least in part on the movement of the second impact buffer.

10. The cleaning device according to claim 9, characterized in that The second collision buffer is an integrally formed structure, or the second collision buffer is a plurality of independently movable single structures.

11. The cleaning device according to claim 10, characterized in that There are one or more second sensing components, which are arranged corresponding to at least one second collision buffer.

12. The cleaning device according to claim 11, characterized in that When the second sensing components are configured as M, the M sensing components are configured as N groups, the N groups of sensing components are arranged in N sensing areas, and the N sensing areas are sequentially located on the front side of the mobile body, wherein M and N are both positive integers greater than or equal to two.

13. The cleaning device according to claim 12, characterized in that The M is specifically 5, the N is 3, the N sensing areas are specifically a first sensing area, a second sensing area and a third sensing area, two of the second sensing components are arranged in the first sensing area, one of the second sensing components is arranged in the second sensing area, and two of the second sensing components are arranged in the third sensing area.

14. The cleaning device according to claim 13, characterized in that The second sensing area is arranged in the middle area of ​​the front side of the mobile body, and the first sensing area and the third sensing area are arranged in the two side areas of the front side of the mobile body respectively.

15. The cleaning device according to claim 8, characterized in that The first sensing component is disposed on a first carrying portion, and the first carrying portion is disposed on a side surface of the mobile body.

16. The cleaning device according to claim 9, characterized in that The second sensing component is disposed on a second carrying portion, and the second carrying portion is disposed on an edge of a top surface of the mobile body.

17. The cleaning device according to claim 9, characterized in that The second sensing component is disposed on a second bearing portion, and the second bearing portion is disposed on the first collision buffer component.

18. The cleaning device according to claim 17, characterized in that When at least a portion of the first impact buffer is configured to be movable along a first direction, the second impact buffer is synchronously movable along the first direction.

19. The cleaning device according to claim 17, characterized in that When at least a portion of the second impact buffer is configured to be movable along a second direction, the first impact buffer does not have movement along the first direction.

20. The cleaning device according to claim 9, characterized in that The first sensing component is arranged on a first bearing part, and the first bearing part is arranged on a side of the mobile body. The second sensing component is arranged on a second bearing part, and the second bearing part is arranged on a side of the mobile body.

21. The cleaning device according to claim 9, characterized in that The second sensing component is disposed on a second carrying portion, and the second carrying portion is disposed on a side surface of the mobile body.

22. The cleaning device according to claim 21, characterized in that The first sensing component is disposed on a first bearing portion, and the first bearing portion is disposed on the second collision buffer component.

23. The cleaning device according to claim 22, characterized in that When at least a portion of the first impact buffer is configured to be movable along a first direction, the second impact buffer does not have the capability of being movable along the second direction.

24. The cleaning device according to claim 22, characterized in that When at least a portion of the second impact buffer is configured to be movable along a second direction, the first impact buffer moves synchronously along the second direction.

25. The cleaning device according to any one of claims 16 to 24, characterized in that The second collision detection component also includes: The first restoring member is connected between the second bearing portion and the second collision buffer member.

26. The cleaning device according to claim 25, characterized in that A first guide member is disposed on the second bearing portion and / or the second collision buffer member, and the first restoring member is sleeved on the first guide member.

27. The cleaning device according to claim 25, characterized in that The second collision buffer is provided with a second guide member, and the second bearing portion is provided with a third guide member. The second guide member and the third guide member cooperate with each other to guide the movement of the second collision buffer relative to the bearing portion in a second direction.

28. The cleaning device according to claim 27, characterized in that The second guide member and the third guide member are plug-connected.

29. The cleaning device according to claim 28, characterized in that One of the second guide member and the third guide member is a guide column, and the other is a guide hole.

30. The cleaning device according to claim 29, characterized in that The guide column has a first end facing the guide hole and a second end facing away from the guide hole. The projection of the second end of the guide column falls within the first end of the guide column. The first end of the guide column can be cooperatively inserted into the guide hole.

31. The cleaning device according to claim 9, characterized in that The second collision detection component also includes: a triggering member, which can be lifted and lowered to pass through the second collision buffering member, and the triggering member has a triggering portion extending out of the second collision buffering member; The second sensing component is triggered at least in part based on the activity of the triggering member.

32. The cleaning device according to claim 9, characterized in that The second impact buffer is movable through the first impact buffer along a second direction.

33. The cleaning device according to claim 32, characterized in that The second sensing component comprises: A conductive contact sheet connected to the second collision buffer; The guide piece is separately arranged from the conductive contact piece, and when the second collision buffer moves toward the second sensing component, the conductive contact piece contacts the guide piece.

34. The cleaning device according to claim 33, characterized in that Two guide pieces are arranged at a relative interval, the conductive contact piece is connected to the bottom of the second collision buffer, the conductive contact piece is arranged above or below the two guide pieces, and the two ends of the conductive contact piece are respectively arranged to be in contact with the two guide pieces.

35. The cleaning device according to claim 34, characterized in that The second sensing component also includes: The second restoring member is arranged between the bottom of the conductive contact piece and the moving body.

36. The cleaning device according to claim 32, characterized in that The second sensing component is arranged below the second collision buffer, and the second collision buffer and the second sensing component are connected via a third restoring component.

37. The cleaning device according to claim 36, characterized in that A trigger rod extending toward the second sensing component is disposed at the bottom of the second sensing component. The trigger rod and the second sensing component are disposed separately. When the second collision buffer moves toward the direction of the second sensing component, the trigger rod contacts the second sensing component.

38. The cleaning device according to claim 8, characterized in that The first collision buffer is an input member of the first collision detection assembly.

39. A cleaning device according to any one of claims 9-14, 16-17, 19-24, 26-37, characterized in that: When the first sensing component and / or the second sensing component is triggered, a collision trigger signal is sent to a control unit of the cleaning device, and the control unit controls the mobile body to perform an obstacle avoidance action based on the collision trigger signal.

40. The cleaning device according to claim 1, characterized in that An auxiliary walking wheel is arranged at the front bottom of the mobile body, a pressure sensor is arranged between the auxiliary walking wheel and the mobile body, the first collision detection component is arranged on the side of the mobile body, and the pressure sensor is configured as the second collision detection component. When the top edge of the mobile body collides with an obstacle, the pressure sensor is triggered to detect the collision in the second direction.

41. The cleaning device according to any one of claims 1-5, 9-17, 19-24, 26-38 and 40, characterized in that: The first direction is a horizontal direction, and the second direction is a vertical direction.

42. A cleaning system, characterized in that: The cleaning system comprises: Base station; The cleaning device described in any one of claims 1-41 is used in combination with the base station.

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