Cleaning device and cleaning system

Abstract

The utility model provides a cleaning device and a cleaning system, the cleaning device comprises a device main body, the device main body is provided with a scram button, a signal acquisition processing module and a control circuit are arranged in the device main body, the input end of the signal acquisition processing module is electrically connected with the scram button, and the output end of the signal acquisition processing module is electrically connected with the control circuit. The output end of the signal collecting and processing module is electrically connected with the control circuit, and the control circuit is at least used for controlling the operation modes of the mechanical arm and the walking wheels. Therefore, when the scram key is pressed down, the signal collecting and processing module can quickly receive and process the signal and then transmit the signal to the control circuit, and the control circuit immediately issues an instruction for stopping operation or executing safety action to the mechanical arm and the walking wheels, so that quick response is realized when an emergency situation occurs; personnel safety is guaranteed to the maximum extent, and equipment damage is reduced to the maximum extent.

Description

Technical Field

[0001] The utility model belongs to the technical field of smart home, and particularly relates to a cleaning device and a cleaning system. Background Art

[0002] With the continuous progress of technology and the improvement of people's living standards, cleaning devices are more and more widely used in daily life and work. However, traditional cleaning devices often have a single function. In case of emergency, such as sudden obstacles or abnormal situations encountered by the device, there is a lack of effective emergency stop mechanism or safety action execution measures, which are likely to cause safety accidents. Summary of the Utility Model

[0003] Therefore, the technical problem to be solved by the utility model is to provide a cleaning device and a cleaning system, wherein the cleaning device can quickly respond in case of emergency by setting an emergency stop button, so as to ensure the safety of personnel to the greatest extent and reduce equipment damage.

[0004] To solve the above problems, on the one hand, the utility model provides a cleaning device, including:

[0005] A device main body, on which an emergency stop button is arranged, and a signal acquisition and processing module and a control circuit are arranged inside the device main body. The input end of the signal acquisition and processing module is electrically connected to the emergency stop button, and the output end of the signal acquisition and processing module is electrically connected to the control circuit. The control circuit is at least used to control the operation modes of the robotic arm and the driving wheels.

[0006] Optionally, the output end of the signal acquisition and processing module is directly electrically connected to the control circuit, and the control circuit is used to cut off the power supply of the robotic arm and / or the driving wheels when the emergency stop button is triggered.

[0007] Optionally, the cleaning device further includes a microprocessor unit, which is electrically connected to the signal acquisition and processing module and the control circuit respectively, and is used to control the robotic arm and / or the driving wheels to execute safety actions when the emergency stop button is triggered.

[0008] Optionally, the safety actions executed by the robotic arm include stopping the extension action and slowly retracting to the initial position at a preset speed or locking the robotic arm joints and fixing them in a safe position;

[0009] The safety actions executed by the driving wheels include stopping or slowly decelerating to a stop.

[0010] Optionally, the area formed by the orthographic projection of the working space of the robotic arm on the device main body is the working coverage area, and the emergency stop button is located in the working coverage area.

[0011] Optionally, an arm compartment is provided on the device body, and the robotic arm can extend out or be retracted into the arm compartment;

[0012] Wherein, the arm compartment is provided with a hatch, and the emergency stop button is located at the hatch.

[0013] Optionally, a function adjustment module is further provided on the device body, and the function adjustment module is spaced apart from the emergency stop button.

[0014] Optionally, the emergency stop button is a mechanical trigger button or a touch trigger button.

[0015] Optionally, the cleaning device further includes a status indicator light, which is located on the device body and is adjacent to the emergency stop button.

[0016] Optionally, the cleaning device further includes a power supply module, which is located inside the device body.

[0017] On the other hand, the present utility model provides a cleaning system, including:

[0018] The cleaning device according to any one of the above;

[0019] A base station for docking the cleaning device.

[0020] Advantageous Effects

[0021] The embodiments of the present utility model provide a cleaning device and a cleaning system. An emergency stop button is provided on the device body of the cleaning device. When the emergency stop button is pressed, the signal acquisition and processing module can quickly receive and process this signal, and then transmit it to the control circuit. The control circuit then issues an instruction to the robotic arm and the driving wheels to stop working or perform a safety action.

[0022] Among them, in terms of personnel safety, it can prevent the robotic arm and the driving wheels from causing injuries such as collisions and squeezes to nearby personnel in an out-of-control state. For example, when the cleaning device is working in a crowded place, if an abnormal movement trend suddenly appears, pressing the emergency stop button in time can prevent the device from endangering the lives of personnel.

[0023] Among them, for the cleaning device itself, it can prevent further damage caused by the failure or abnormal operation of the robotic arm and the driving wheels. For example, if the joint of the robotic arm gets stuck, if not stopped in time, it may cause the motor to burn out or other components to break; if the driving wheels continue to rotate at high speed and get out of control, it may wear the tires and damage the transmission components, etc. Through the emergency stop function, these situations can be avoided, reducing the maintenance cost and the failure rate of the device.

[0024] Among them, in terms of the environment, it is possible to prevent the cleaning device from causing damage to surrounding items and facilities due to out-of-control situations. For example, in a narrow space, it can prevent the robotic arm from colliding with walls or furniture, and the walking wheels from scratching the ground, etc.

[0025] In addition, this timely and effective control can also enhance the user's trust and confidence in using the cleaning device, enabling the cleaning device to operate safely and reliably in various complex and potentially dangerous environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 Structural schematic diagram of a cleaning device according to an optional embodiment of the present utility model;

[0027] Figure 2 Top view of a cleaning device according to an optional embodiment of the present utility model;

[0028] Figure 3 Structural schematic diagram of a functional module in a cleaning device according to an optional embodiment of the present utility model;

[0029] Figure 4 Structural schematic diagram of a functional module in a cleaning device according to another optional embodiment of the present utility model.

[0030] The reference numerals are shown as:

[0031] 1, device main body; 11, arm bin; 2, emergency stop button; 3, signal acquisition and processing module; 4, control circuit; 5, microprocessor unit; 6, robotic arm; 7, walking wheel; 8, function adjustment module; 9, status indicator light. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0032] In the description of the present utility model, it should be understood that the orientation or positional relationship indicated by terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present utility model.

[0033] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present utility model, "a plurality" means two or more, unless otherwise specifically defined.

[0034] In the present utility model, unless otherwise clearly defined and limited, terms such as "installation", "connection", "linkage", "fixation", etc. shall be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be a direct connection or an indirect connection through an intermediate medium, and it may be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0035] The preferred embodiments of the present utility model will be described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present utility model, and are not used to limit the present utility model.

[0036] An embodiment of the first aspect of the present utility model provides a cleaning device. Among them, the cleaning system cleaning device can be a floor sweeping robot, a mopping robot, a sweeping and mopping integrated machine, or other cleaning devices that meet the requirements.

[0037] Specifically, the cleaning device includes but is not limited to: a device main body 1, a sensing system, a control system, a driving system, a cleaning system, an energy system, a human-machine interaction system, etc. The above-mentioned various systems cooperate with each other to enable the cleaning device to move autonomously to achieve the cleaning function. The functional elements constituting the above-mentioned various systems in the cleaning device are integrally arranged in the device main body 1. It can be understood that the cleaning device can be a self-moving cleaning device. Among them, the self-moving cleaning device is a device that automatically performs cleaning operations in a certain area to be cleaned without the operation of the user.

[0038] An embodiment of the second aspect of the present utility model provides a cleaning system. Among them, the cleaning system includes a base station, and the base station is used in cooperation with the cleaning device.

[0039] Specifically, when the cleaning device starts to work, the cleaning device departs from the base station to perform the cleaning task. When the cleaning device completes the cleaning task or other situations where the cleaning task needs to be aborted, the cleaning device can return to the base station for charging or other operations, such as water replenishment, and / or cleaning, and / or dust collection, etc.

[0040] See Figures 1 to 4 As shown, an emergency stop button 2 is provided on the device main body 1 of the cleaning device provided by the embodiment of the first aspect of the present utility model. A signal acquisition and processing module 3 and a control circuit 4 are arranged in the device main body 1 of the cleaning device. The input end of the signal acquisition and processing module 3 is electrically connected to the emergency stop button 2, and the output end of the signal acquisition and processing module 3 is electrically connected to the control circuit 4. The control circuit 4 is at least used to control the operation modes of the robotic arm 6 and the walking wheels 7.

[0041] Among them, the device main body 1 is the housing of the cleaning device, which is used to carry various internal components and systems, providing physical protection and structural support for them.

[0042] Among them, an emergency stop button 2 is provided on the device main body 1. Specifically, the emergency stop button 2 is arranged on the top surface of the device main body 1. When an emergency occurs during the operation of the cleaning device, the user does not need to bend down or search for a specific position, and can quickly press the emergency stop button 2 just above the cleaning device.

[0043] Among them, a signal acquisition and processing module 3 and a control circuit 4 are arranged in the device main body 1. The signal acquisition and processing module 3 is responsible for receiving and processing various input signals, while the control circuit 4 is the core control unit for the operation of the entire cleaning device, controlling the working states and action modes of various parts of the cleaning device.

[0044] Specifically, the signal acquisition and processing module 3 is electrically connected to the emergency stop button 2 and the control circuit 4 respectively. When the emergency stop button 2 is pressed, an electrical signal will be generated. This electrical signal will be transmitted to the input end of the signal acquisition and processing module 3. After receiving the signal from the emergency stop button 2, the signal acquisition and processing module 3 will process it, such as filtering, amplifying or shaping, etc., to enhance the stability and reliability of the signal, and then transmit the processed signal to the control circuit 4 through the output end. After receiving the emergency stop signal from the signal acquisition and processing module 3, the control circuit 4 will immediately play its control role, at least adjusting the operation modes of the robotic arm 6 and the driving wheels 7, so that the robotic arm 6 and the driving wheels 7 quickly stop working or perform safety actions, thereby ensuring the safety of personnel and the surrounding environment, and at the same time avoiding further damage to the cleaning device.

[0045] Among them, the driving wheels 7 are also applied to the cleaning device. For example, the driving wheels 7 are rotatably attached to the device main body 1 of the cleaning device, so that when the driving wheels 7 rotate, they can push the cleaning device to move on the surface to be cleaned. The surface to be cleaned can be the ground or a carpet, etc.

[0046] Specifically, the driving wheels 7 are in transmission connection with a driving motor, and the driving motor is electrically connected to the control circuit 4. The control circuit 4 can accurately control the rotational speed and torque output of the driving motor according to the working requirements and environmental conditions of the cleaning device. For example, when the cleaning device encounters a thick carpet or climbs a slope, the control circuit 4 will increase the torque of the driving motor to ensure that the driving wheels 7 have enough power to drive the device forward.

[0047] Among them, the robotic arm 6 is applied to a cleaning device. For example, the robotic arm 6 is connected to the device main body 1 of the cleaning device, so that the robotic arm 6 can move along with the movement of the cleaning device to reach the target position, and then through the movement of the robotic arm 6, the grasping or moving of obstacles, objects, and garbage near the cleaning device can be realized, so as to better realize the autonomous cleaning function. It can be understood that the above objects can also be objects required by users, such as remote controls, apples, etc., which will not be listed one by one here.

[0048] Specifically, the robotic arm 6 includes connecting arms and mechanical joints connecting adjacent two connecting arms. It can be understood that through the mechanical joints, relative movement can be generated between adjacent two connecting arms to realize the movement of the robotic arm 6, and then realize the grasping operation or folding and storage operation of the robotic arm 6. It can be understood that the control circuit 4 is also electrically connected to the robotic arm 6, and the control device is used to control the working states of the respective connecting arms in the robotic arm 6. Specifically, the control device can control the working states of the respective connecting arms by controlling the working states of the mechanical joints.

[0049] It should be noted that in this embodiment, when the emergency stop button 2 is pressed, the signal acquisition and processing module 3 can quickly receive and process this signal, and then transmit it to the control circuit 4. The control circuit 4 immediately issues instructions to the robotic arm 6 and the driving wheels 7 to stop working or perform safety actions, achieving the following important technical effects: In terms of personnel safety, it can prevent the robotic arm 6 and the driving wheels 7 from causing collisions, squeezes and other injuries to nearby personnel in an out-of-control state. For example, when the cleaning device is working in a crowded place, if an abnormal movement trend suddenly appears, pressing the emergency stop button 2 in time can prevent the device from endangering the lives of personnel; for the cleaning device itself, it can prevent further damage to the robotic arm 6 and the driving wheels 7 due to faults or abnormal operations. For example, if the joint of the robotic arm 6 gets stuck, if not stopped in time, it may cause the motor to burn out or other components to break; if the driving wheels 7 continue to rotate at high speed and get out of control, it may wear the tires and damage the transmission components, etc. Through the emergency stop function, these situations can be avoided, reducing the maintenance cost and the failure rate of the device; in terms of the environment, it can prevent the cleaning device from damaging the surrounding items and facilities due to out-of-control. For example, in a narrow space, prevent the robotic arm 6 from colliding with the wall or furniture, and the driving wheels 7 from scratching the ground, etc. In addition, this timely and effective control can also enhance the user's trust and confidence in using the cleaning device, enabling the cleaning device to operate safely and reliably in various complex and potentially dangerous environments.

[0050] In some specific examples, see Figure 3 As shown, the output end of the signal acquisition and processing module 3 is directly electrically connected to the control circuit 4, and the control circuit 4 is used to cut off the power supply of the robotic arm 6 and / or the driving wheels 7 when the emergency stop button 2 is triggered.

[0051] Among them, the output end of the signal acquisition and processing module 3 is directly electrically connected to the control circuit 4. Specifically, a direct electrical path without intermediate links is established between the signal acquisition and processing module 3 and the control circuit 4, ensuring that during the process of signal transmission from the signal acquisition and processing module 3 to the control circuit 4, it will not be interfered with or delayed by other factors, guaranteeing the efficiency and accuracy of signal transmission.

[0052] Specifically, when the output end of the signal acquisition and processing module 3 is directly electrically connected to the control circuit 4, the control circuit 4 can immediately execute the action of cutting off the power supply of the robotic arm 6, the power supply of the walking wheels 7, or both simultaneously when the emergency stop button 2 is pressed. It should be noted that when the robotic arm 6 malfunctions or performs a dangerous action, but the operation of the walking wheels 7 is normal and does not pose a threat, the power supply of the robotic arm 6 can be cut off only; when the walking wheels 7 get out of control and move in a dangerous direction, but the action of the robotic arm 6 is safe, at this time, the power supply of the walking wheels 7 can be cut off only. In addition, when a very urgent situation occurs, such as the overall out-of-control of the cleaning device, which may cause serious harm to personnel or the environment, the power supplies of both are cut off simultaneously to make the entire cleaning device stop running immediately.

[0053] In some other specific examples, see Figure 4 As shown, the cleaning device further includes a microprocessor unit 5, and the microprocessor unit 5 is electrically connected to the signal acquisition and processing module 3 and the control circuit 4 respectively. The microprocessing unit pre-stores a safety action strategy for controlling the safe actions of the robotic arm 6 and / or the walking wheels 7 when the trigger button is triggered.

[0054] Among them, the microprocessor unit 5 can be an MCU.

[0055] Specifically, the microprocessor unit 5 is arranged inside the device main body 1 of the cleaning device. The input end of the microprocessor unit 5 is electrically connected to the output end of the signal acquisition and processing module 3, and the output end of the microprocessor unit 5 is electrically connected to the input end of the control circuit 4. When the emergency stop button 2 is pressed, an electrical signal will be generated, and this electrical signal will be transmitted to the input end of the signal acquisition and processing module 3. After receiving the signal from the emergency stop button 2, the signal acquisition and processing module 3 will process it, such as performing operations like filtering, amplifying, or shaping to enhance the stability and reliability of the signal, and then transmit the processed signal to the microprocessor unit 5 through the output end. The microprocessor unit 5 has pre-stored a series of plans and instructions regarding how to respond to specific safety actions in advance, and when receiving the signal output by the signal acquisition and processing module 3, it sends control instructions to the control circuit 4 to make the robotic arm 6 and the walking wheels 7 perform corresponding safety actions. These safety actions may include but are not limited to quickly stopping the movement, slowly decelerating and stopping, adjusting the position or posture, etc., to ensure that no danger or damage will be caused in case of an emergency.

[0056] It should be noted that multiple safety action strategies can be pre-stored in the microprocessing unit, enabling the cleaning device to make appropriate responses in various complex and diverse working scenarios, and improving the versatility and adaptability of the cleaning device.

[0057] In the above embodiment, the robotic arm 6 performs safety actions including stopping the extension action and slowly retracting to the initial position at a preset speed or locking the joints of the robotic arm 6 and fixing it at a safe position; the driving wheels 7 perform safety actions including stopping or slowly decelerating to a stop.

[0058] Specifically, when the trigger button is triggered, the microprocessor unit 5 will quickly call the pre-stored safety action strategy. If the robotic arm 6 is in operation, the microprocessor unit 5 will immediately send an instruction to the control circuit 4 to quickly stop the current action of the robotic arm 6 and contract or fix it at a safe position according to the specific situation, so as to avoid harm to the surrounding environment or personnel. For example, if the robotic arm 6 is extending for high-altitude cleaning and the trigger button is pressed, the robotic arm 6 will immediately stop extending and retract to the initial position. For the driving wheels 7, the microprocessor unit 5 will decide whether to stop immediately or slowly decelerate to a stop according to the current driving state and environmental information. For example, if the cleaning device is moving fast and the trigger button is triggered, the driving wheels 7 will quickly brake to a stop; if the cleaning device is moving slowly, the driving wheels 7 will gradually decelerate until they stop to ensure stability and safety. In addition, when the trigger button is triggered, the microprocessor unit 5 can also perform corresponding control and adjustment on other relevant components of the cleaning device. For example, closing the working cleaning nozzle, stopping the operation of the dust suction motor, etc., to ensure the safety of the device and the surrounding environment to the greatest extent. At the same time, the microprocessor unit 5 will record and store this trigger event and related data for subsequent troubleshooting, maintenance, and optimization of the safety action strategy. For example, when the trigger button is pressed when the cleaning device is near the edge of the stairs, the microprocessor unit 5 will quickly control the driving wheels 7 to stop to prevent the device from falling down the stairs, and at the same time fix the robotic arm 6 to avoid colliding with the handrail of the stairs or other objects.

[0059] In some possible embodiments disclosed in the present utility model, refer to Figure 2 As shown, the area formed by the orthographic projection of the working space of the robotic arm 6 on the device main body 1 is the working coverage area, and the emergency stop button 2 is located in the working coverage area.

[0060] Among them, the robotic arm 6 can be arranged on the top of the device main body 1 of the cleaning device, so that the robotic arm 6 can more effectively cover the surrounding space during operation, improving the operation flexibility and cleaning range of the cleaning device. Moreover, arranging the robotic arm 6 at the top position is conducive to reducing its interference with other components or the surrounding environment during operation. When the robotic arm 6 is deployed for grasping or moving operations, it will not be blocked by components such as the traveling wheels 7 and cleaning system at the bottom of the device main body 1.

[0061] Specifically, the working space of the robotic arm 6 can be the three-dimensional space range that the robotic arm 6 can reach and operate during work. When observing the device main body 1 vertically from directly above, the area projected by the working space of the robotic arm 6 on the surface of the device main body 1 is the operation coverage area, and the emergency stop button 2 is placed within this operation coverage area.

[0062] It should be noted that in actual operation, since the emergency stop button 2 is located in a specific area directly related to the operation of the robotic arm 6, the operator's attention will naturally focus on this area, enabling them to clearly distinguish the emergency stop button 2 from other buttons for regular operations or function settings. This clear area division reduces the risk of misoperation caused by chaotic button layouts. For example, there may be various function buttons on the device main body 1, such as adjusting the cleaning mode and setting the working time. When the emergency stop button 2 is independently located within the operation coverage area, in a tense or emergency situation, the operator can quickly lock their gaze on this specific area and accurately find the emergency stop button 2 without being confused or hesitant due to the presence of numerous buttons. In addition, this setting method also follows ergonomics and operating habits. When the operator is focusing on the operation of the robotic arm 6, their hand movements and line of sight are often concentrated near the operation coverage area. The position of the emergency stop button 2 coincides with this, enabling the operator to quickly find and press the emergency stop button 2 based on intuition and muscle memory without wasting time searching for the button, thus improving the response speed and operation accuracy in emergency situations. Suppose in a complex operating environment where the device main body 1 is covered with various buttons of different colors, shapes, and markings, if the emergency stop button 2 is not clearly located within the operation coverage area, the operator may accidentally press other buttons during an emergency, resulting in a delay in the emergency handling. By arranging the emergency stop button 2 within the operation coverage area, the possibility of such misoperation is greatly reduced, ensuring the safety and efficiency of the operation.

[0063] In some specific examples, referring to Figure 2 As shown, the device main body 1 is provided with an arm bin 11, and the robotic arm 6 can extend out or be retracted into the arm bin 11.

[0064] Among them, the arm bin 11 is provided with a bin opening, and the emergency stop button 2 is located at the bin opening. It can be understood that since the emergency stop button 2 is located at the bin opening of the arm bin 11, this position is usually relatively conspicuous, and the operator does not need to search laboriously, greatly improving the operation convenience.

[0065] Specifically, the emergency stop button 2 protrudes from the bin opening towards the plane where the outside of the arm bin 11 is located, making the emergency stop button 2 easier to be touched. The operator can quickly and accurately press the emergency stop button 2 in an emergency situation without worrying about delaying time due to the inconspicuous or difficult-to-reach button position, so as to be able to stop the action of the robotic arm 6 in time and effectively and avoid the further expansion of the accident.

[0066] In some possible implementation embodiments disclosed by the present utility model, referring to Figure 1 as shown, a function adjustment module 8 is further provided on the device main body 1, and the function adjustment module 8 is arranged at an interval from the emergency stop button 2. Thus, in an emergency situation, the user can quickly locate and press the emergency stop button 2 without hesitation or misjudgment due to its too close distance from the function adjustment module 8, ensuring that the device operation can be stopped in time or a safety action can be executed at an emergency moment; at the same time, the existence of the interval distance makes the emergency stop button 2 have an obvious distinction from the function adjustment module 8 in appearance, and the operator can more easily identify the emergency stop button 2 through vision and touch, avoiding operation errors caused by the buttons being too close to each other and improving the operation efficiency and safety.

[0067] Among them, the function adjustment module 8 being arranged at an interval from the emergency stop button 2 can be understood as that the function adjustment module 8 and the emergency stop button 2 are spaced apart by a certain distance in the horizontal direction.

[0068] In some specific examples, the function adjustment module 8 and the emergency stop button 2 are located on the same side of the bin opening and are spaced apart by a certain distance. It can be understood that arranging the function adjustment module 8 and the emergency stop button 2 on the same side of the bin opening conforms to the user's operation habit and visual movement line. When the user operates the robotic arm 6 or adjusts the device function, the eyes will naturally focus on the area near the bin opening. At this time, the existence of the emergency stop button 2 can quickly come into the user's vision in an emergency situation, facilitating the user to make a timely response.

[0069] In some other specific examples, the function adjustment module 8 and the emergency stop button 2 are respectively arranged on both sides of the bin opening. In actual use, the user's hand movements usually naturally move in different directions under different operation requirements. When performing routine function adjustment, the hand will naturally reach towards the side where the function adjustment module 8 is located; while when an emergency occurs, the hand can quickly move towards the other side where the emergency stop button 2 is located, and this natural action process can improve the operation efficiency and accuracy.

[0070] In some possible embodiments disclosed by the present utility model, the emergency stop button 2 is a mechanical trigger button or a touch trigger button.

[0071] Among them, the mechanical trigger button refers to a button that triggers a signal through mechanical actions such as physical pressing, pushing, or toggling. There are usually mechanical structures inside such a button, such as springs, contacts, etc. When an external force is applied to cause a change in the mechanical structure, an electrical signal is generated to achieve the emergency stop function.

[0072] Among them, the touch trigger button is triggered through touch operations, such as capacitive touch or resistive touch. When a finger or other object touches the surface of the button, the touch action is sensed and a corresponding electrical signal is generated to achieve the emergency stop.

[0073] Specifically, in this embodiment, as shown in Figure 1 the emergency stop button 2 is preferably a mechanical trigger button, which is not easily affected by external factors such as electromagnetic interference and can stably trigger the emergency stop function under harsh environments or complex working conditions.

[0074] In some possible embodiments disclosed by the present utility model, as shown in Figure 1 the cleaning device further includes a status indicator light 9. The status indicator light 9 is located on the device main body 1 and is adjacent to the emergency stop button 2.

[0075] Among them, the status indicator light 9 is located beside the emergency stop button 2, such as in a close position on the left side, right side, above, or below, so that when the user observes the device or operates the emergency stop button 2, it is easy to simultaneously notice the display status of the status indicator light 9, improving the visibility and recognition of both.

[0076] Specifically, the status indicator light 9 can visually show the operating status of the cleaning device to the user through different colors, flashing frequencies, etc., such as normal operation, charging, fault, etc., allowing the user to quickly understand the device situation. When the status indicator light 9 shows an abnormal status, it can remind the user that they may need to use the emergency stop button 2 to stop the device, thereby avoiding the further expansion of danger or fault; at the same time, in an emergency, when the user finds the emergency stop button 2, they can immediately notice the prompt of the status indicator light 9, which helps to make an emergency stop decision more quickly and accurately.

[0077] In some possible embodiments disclosed by the present utility model, the cleaning device further includes a power supply module, and the power supply module is located inside the device main body 1.

[0078] Among them, the power supply module can be a lithium-ion battery pack, a nickel-metal hydride battery pack, etc., to achieve the storage of electrical energy and be repeatedly charged through a charger to provide power for the mobile use of the cleaning device.

[0079] Specifically, the power supply module is installed inside the main structure of the cleaning device, making the structure of the cleaning device more compact, reducing the use of external cables and power adapters, and improving the integrity and portability of the device. At the same time, the internal power supply module is protected by the device body 1, reducing the risk of being interfered by the external environment and physically damaged, thereby improving the stability and reliability of the power supply and ensuring that the device can operate continuously and stably. At the same time, the built-in power supply module reduces the chance of users directly contacting the power part, reducing safety risks such as electric shock.

[0080] It is easy for those skilled in the art to understand that, on the premise of no conflict, the above-mentioned advantageous ways can be freely combined and superimposed.

[0081] The above are only the preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention shall be included in the protection scope of the present invention. The above is only the preferred implementation manner of the present invention. It should be pointed out that for those of ordinary skill in the art, without departing from the technical principle of the present invention, several improvements and modifications can be made, and these improvements and modifications should also be regarded as the protection scope of the present invention.

Claims

1. A cleaning device, characterized in that, Including: A device main body (1), on which an emergency stop button (2) is provided. Inside the device main body (1), a signal acquisition and processing module (3) and a control circuit (4) are provided. The input end of the signal acquisition and processing module (3) is electrically connected to the emergency stop button (2), and the output end of the signal acquisition and processing module (3) is electrically connected to the control circuit (4). The control circuit (4) is at least used to control the operation modes of the robotic arm (6) and the walking wheels (7).

2. The cleaning device according to claim 1, wherein: The output end of the signal acquisition and processing module (3) is directly electrically connected to the control circuit (4). The control circuit (4) is used to cut off the power supply of the robotic arm (6) and / or the walking wheels (7) when the emergency stop button (2) is triggered.

3. The cleaning device according to claim 1, wherein: The cleaning device further includes a microprocessor unit (5). The microprocessor unit (5) is electrically connected to the signal acquisition and processing module (3) and the control circuit (4) respectively, and is used to control the robotic arm (6) and / or the walking wheels (7) to perform safety actions when the emergency stop button (2) is triggered.

4. The cleaning device according to claim 3, wherein: The robotic arm (6) performing a safety action includes stopping the extension action and slowly retracting to the initial position at a preset speed or locking the joints of the robotic arm (6) and fixing it at a safe position; The walking wheels (7) performing a safety action includes stopping or slowly decelerating to a stop.

5. The cleaning device according to claim 1, wherein: The area formed by the orthographic projection of the working space of the robotic arm (6) on the device main body (1) is the working coverage area, and the emergency stop button (2) is located in the working coverage area.

6. The cleaning device according to claim 5, wherein: The device main body (1) is provided with an arm bin (11), and the robotic arm (6) can extend out or be stored in the arm bin (11); Wherein, the arm bin (11) is provided with a bin opening, and the emergency stop button (2) is located at the bin opening.

7. The cleaning device according to claim 1, wherein: A function adjustment module (8) is further provided on the device main body (1), and the function adjustment module (8) is arranged at an interval from the emergency stop button (2).

8. The cleaning device according to claim 1, wherein: The emergency stop button (2) is a mechanical trigger button or a touch trigger button.

9. The cleaning device according to claim 1, wherein: The cleaning device further includes a status indicator light (9). The status indicator light (9) is located on the device main body (1) and is adjacent to the emergency stop button (2).

10. The cleaning device according to claim 1, wherein: The cleaning device further includes a power supply module, and the power supply module is located inside the device main body (1).

11. A cleaning system, characterized in that, Including: The cleaning device according to any one of claims 1-10; A base station, which is used to dock the cleaning device.

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