Detection system, cleaning equipment and cleaning system

Abstract

The utility model provides a detection system, cleaning equipment and a cleaning system. The detection system comprises an optical detection module and a movable part to be detected. The optical detection module comprises a transmitting part, a receiving part and a signal processing circuit. The probe light emitted by the emitting part is propagated to the surface of the movable part, and the signal processing circuit is configured to detect the movement of the movable part according to the condition of the light received by the receiving part.

Description

Technical Field

[0001] The present disclosure relates to the field of automatic control technology, and in particular to a detection system, a cleaning device, and a cleaning system. Background Art

[0002] Nowadays, cleaning equipment such as sweepers and floor scrubbers are popular among consumers. To enhance their flexibility, these devices often incorporate mechanical moving parts, such as liftable or rotating components. Consequently, it's necessary to detect the position changes of these moving parts to ensure the cleaning equipment can respond promptly, thereby improving product performance and user experience. Utility Model Content

[0003] The embodiments of the present disclosure provide a detection system, a cleaning device, and a cleaning system, which can effectively detect the movement of movable parts.

[0004] In a first aspect, some embodiments of the present disclosure provide a detection system, comprising: an optical detection module and a movable part to be detected, the optical detection module comprising: a transmitting part, a receiving part and a signal processing circuit, the detection light emitted by the transmitting part propagates to the surface of the movable part, the signal processing circuit is electrically connected to the receiving part, and is configured to detect the movement of the movable part based on the light received by the receiving part.

[0005] In some embodiments, the optical detection module further includes a light-shielding component, and the light-shielding component is configured to prevent the detection light emitted by the emitting component from entering the receiving component without being reflected by the surface.

[0006] In some embodiments, the light shielding component is located between the emitting component and the receiving component.

[0007] In some embodiments, the shading component includes a first baffle arranged along a first direction and at least one second baffle arranged along a second direction, the first direction intersects with the second direction, the second baffle is connected to the first baffle, and is located on the side of the first baffle close to the emitting component.

[0008] In some embodiments, the movable component is a component that moves along a predetermined direction, and the optical detection module and the movable component are arranged along the predetermined direction. When the movable component is in a first reference position, the detection light reflected from the surface of the movable component enters the receiving component; when the movable component is in a second reference position, the detection light reflected from the surface of the movable component is blocked by the light shielding component.

[0009] In some embodiments, a reflective component is provided on the surface of the movable component, and the reflectivity of the reflective component is greater than the reflectivity of the surface. When the movable component is located at the first reference position, the detection light emitted by the emitting component propagates to the reflective component, and enters the receiving component after being reflected by the reflective component.

[0010] In some embodiments, the surface of the movable component opposite to the optical detection module includes a first area and a second area outside the first area, and the reflective component is arranged in the first area; when the movable component is located at the second reference position, the detection light emitted by the emitting component propagates to the second area of the surface.

[0011] In some embodiments, the surface of the movable component opposite to the optical detection module is provided with at least one position marking component, and the reflectivity of the position marking component is different from the reflectivity of the surface; when the movable component is located at a third reference position, the detection light emitted by the emitting component propagates to the area of the surface where the position marking component is not provided; when the movable component is located at a fourth reference position, the detection light emitted by the emitting component propagates to the position marking component.

[0012] In some embodiments, the material of the position marking component includes a light-absorbing material, and the light absorbance of the light-absorbing material is greater than the light absorbance of the material of the surface.

[0013] In some embodiments, the material of the surface includes white resin material and / or white polypropylene material, or the surface is covered with a reflective film or reflective cloth.

[0014] In some embodiments, the optical detection module is disposed opposite to the upper surface, lower surface or side surface of the movable component.

[0015] In a second aspect, some embodiments of the present disclosure provide a cleaning device, which includes a cleaning component and a lifting module for driving the cleaning component to move. The cleaning device also includes the detection system described in the first aspect above, and the movable part to be detected in the detection system is the lifting module.

[0016] In a third aspect, some embodiments of the present disclosure provide a cleaning device, comprising: a cleaning head, a body, and a rotating shaft for driving the body to rotate relative to the cleaning head, the cleaning device also comprising the detection system described in the first aspect above, wherein the movable part to be detected in the detection system is the rotating shaft, and at least one position marking part is provided on the surface of the rotating shaft opposite to the optical detection module, and the reflectivity of the position marking part is different from the reflectivity of the surface.

[0017] In a fourth aspect, some embodiments of the present disclosure provide a cleaning system, comprising the cleaning device provided in the second or third aspect above and a pile body for docking with the cleaning device, wherein the pile body is configured at least to charge the cleaning device.

[0018] In the detection systems provided in some embodiments of the present disclosure, an optical detection module is provided to detect the reflected light from the surface of a movable component. Because the movement of the movable component affects the reflected light received by the receiving component in the optical detection module, different reflected light conditions in the receiving component result in different output signals, effectively enabling detection of the movement of the movable component.

[0019] The above description is only an overview of the technical solution provided by the present disclosure. In order to more clearly understand the technical means of the present disclosure, it can be implemented in accordance with the contents of the specification. In order to make the above and other features and effects of the present disclosure more obvious and easy to understand, the following specifically lists the implementation methods of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Various other advantages and benefits will become apparent to those skilled in the art upon reading the detailed description of the preferred embodiment below. The accompanying drawings are intended only to illustrate exemplary embodiments and are not to be considered as limiting the embodiments of the present disclosure. The same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0021] Figure 1 A schematic structural diagram of a cleaning system according to some embodiments of the present disclosure is shown;

[0022] Figure 2 A schematic structural diagram of a detection system according to some embodiments of the present disclosure is shown;

[0023] Figure 3 A schematic structural diagram of an optical detection module according to some embodiments of the present disclosure is shown;

[0024] Figure 4 Showing a schematic structural diagram of a detection system according to some other embodiments of the present disclosure;

[0025] Figure 5 Showing a schematic structural diagram of an optical detection module according to some other embodiments of the present disclosure;

[0026] Figure 6 shows a schematic structural diagram of a detection system according to some other embodiments of the present disclosure;

[0027] Figure 7A Schematic diagrams showing the structure of detection systems according to some further embodiments of the present disclosure are shown;

[0028] Figure 7Bshows a schematic structural diagram of a detection system according to some other embodiments of the present disclosure;

[0029] Figure 8 A detection schematic diagram of a detection system according to some embodiments of the present disclosure is shown;

[0030] Figure 9 Schematic diagrams of detection systems according to other embodiments of the present disclosure are shown;

[0031] Figure 10 A partial structural schematic diagram of a cleaning device according to some embodiments of the present disclosure is shown;

[0032] Figure 11 Schematic diagrams of the partial structures of cleaning devices according to other embodiments of the present disclosure are shown. DETAILED DESCRIPTION

[0033] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. It should be noted that in the accompanying drawings, the sizes of the elements may be exaggerated for clarity of illustration. Although the accompanying drawings show exemplary embodiments of the present disclosure, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0034] It should be noted that the term "and / or" appearing in this article is only a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. The term "at least one" includes one or more situations. The term "plurality" includes two or more situations. The terms "first", "second", etc. are only used as labels, and are not restrictions on the number of their objects and the order of their relationship. The terms "front", "back", "up", "down", "left", "right", etc. are only used to indicate relative position relationships. When the absolute position of the described object changes, the relative position relationship may also change accordingly.

[0035] Some embodiments of the present disclosure provide a cleaning system. Figure 1 As shown, the cleaning system 1 includes: a cleaning device 10 and a pile body 20 for docking with the cleaning device 10. The pile body 20 is configured at least to charge the cleaning device 10. Of course, in some embodiments, in addition to the charging service, the pile body 20 can also provide other services for the cleaning device 10, such as dust collection, mop cleaning, drying and other self-cleaning services, which are set according to the needs of the actual product. For example, the cleaning device 10 can be a device with self-cleaning capabilities such as a sweeper or a floor scrubber. The sweeper in this article can be a sweeping robot, a mopping robot or a sweeping and mopping robot.

[0036] Some embodiments of the present disclosure provide a detection system that can be applied to the above-mentioned cleaning equipment, for example, a sweeper or a floor scrubber. Of course, the detection system can also be applied to other equipment that includes moving parts and needs to detect the movement of the moving parts, and the present disclosure does not limit this.

[0037] like Figure 2 As shown, the detection system 100 provided in some embodiments of the present disclosure includes an optical detection module 120 and a movable part 110 to be detected. It should be noted that, Figure 2 The structure and motion of the movable component 110 shown in the figure are for illustration only and are not intended to be limiting. The structure and motion of the movable component 110 are determined based on the actual product being used. For example, the motion may be movement, tilting, swinging, or rotation. For example, when used in a sweeper, the movable component 110 to be tested may be a lifting module used to move a cleaning component (such as a side brush or mop); when used in a scrubber, the movable component 110 to be tested may be a rotating shaft that drives the body of the scrubber to rotate relative to the cleaning head.

[0038] The optical detection module 120 can be arranged relative to the upper surface, lower surface or side surface of the movable part 110. The actual setting position can be determined according to the structure and movement mode of the movable part 110 to be detected. Figure 2 In the exemplary embodiment shown, the movable part 110 is moved relative to the central fixed part 200 in a predetermined direction (eg Figure 2 The optical detection module 120 moves in the Y-axis direction, and the optical detection module 120 is arranged relative to the upper surface 1101 of the movable component 110.

[0039] like Figure 3 As shown, the optical detection module 120 may include a transmitting component 121, a receiving component 122, and a signal processing circuit (not shown). The detection light emitted by the transmitting component 121 is transmitted to the surface of the movable component 110. For example, the transmitting component 121 may include a light-emitting diode or a light-emitting device such as a laser diode. For example, the receiving component 122 may include a phototransistor or a photoresistor, which is a photosensitive device capable of converting an optical signal into an electrical signal.

[0040] The signal processing circuit is electrically connected to the receiving component 122. The signal processing circuit is configured to detect the movement of the movable component 110 based on the light received by the receiving component 122. It should be noted that the movement of the movable component 110 affects the light received by the receiving component 122. Different light received by the receiving component 122 results in different output signals. Therefore, by detecting the difference in the signals output by the receiving component 122, the movement of the movable component 110 can be detected. For example, if the movable component 110 is moving, it can be detected whether the movable component 110 has moved to a target position.

[0041] The detection system 100 provided in the embodiments of the present disclosure detects the motion of the movable component 110 by providing an optical detection module 120 to detect reflected light from the surface of the movable component 110, thereby substantially eliminating the need to increase the size of the movable component 110. Furthermore, if the transmitting component 121 and the receiving component 122 are small devices based on SMT (Surface Mounted Technology), the size of the optical detection module 120 can be reduced, saving overall system space.

[0042] In some embodiments, there are two situations in which the light received by the receiving component 122 is received: the first situation is that the detection light reflected by the surface of the movable component 110 is received; the second situation is that the detection light reflected by the surface of the movable component 110 cannot be received, that is, there is no light. These two situations are related to the position change of the movable component 110. Figure 2 As shown, the movable part 110 moves relative to the central fixed part 200 along a preset direction (such as Figure 2 When the movable part 110 is located at the first reference position, the detection light reflected by the surface of the movable part 110 can enter the receiving part 122; when the movable part 110 is located at the second reference position, the detection light reflected by the surface of the movable part 110 cannot enter the receiving part 122.

[0043] Taking the receiving component 122 as a phototransistor as an example, when the phototransistor receives detection light reflected from the surface of the movable component 110, the phototransistor turns on, converts the optical signal into an electrical signal, amplifies the photocurrent, and outputs the amplified electrical signal. When the phototransistor cannot receive the detection light reflected from the surface of the movable component 110, it enters a cutoff state and outputs no electrical signal. Thus, the signal processing circuit can detect whether the movable component 110 has moved to the target position by detecting whether the phototransistor outputs an electrical signal. For example, the signal processing circuit can include a processor electrically connected to the signal output pin of the phototransistor. The processor determines whether the movable component 110 has reached the target position by detecting whether the phototransistor outputs a signal.

[0044] In other embodiments, the intensity of the light received by the receiving component 122 when the movable component 110 is in the target position differs from the intensity of the light received by the receiving component 122 when the movable component 110 is in the non-target position, resulting in a difference in the magnitude of the signal output by the receiving component 122. In this case, the receiving component 122 converts the received optical signal into an electrical signal, and the signal processing circuit can analyze the magnitude of the electrical signal and determine whether the movable component 110 has reached the target position based on the analysis result. For example, the signal processing circuit can include a comparator and a processor, wherein the first input terminal of the comparator is electrically connected to the output terminal of the receiving component 122, the second output terminal is electrically connected to the reference voltage terminal, and the output terminal is electrically connected to the processor. The comparator can be used to compare the voltage value corresponding to the above-mentioned electrical signal with the reference voltage value, and the processor determines whether the movable component 110 has reached the target position based on the comparison result. This helps to reduce the impact of stray light on the detection results and improve the reliability of the detection results.

[0045] Of course, the signal processing circuit may also include other electronic components, such as an amplifier, which amplifies the electrical signal converted by the receiving component 122 and then inputs it into the comparator. It should be noted that the specific circuit structure of the signal processing circuit can be set according to actual needs and is not limited in this disclosure.

[0046] like Figure 3 As shown, in some embodiments, the optical detection module 120 may further include a substrate 123, in which driving circuits for an emitting component 121 and a receiving component 122 are provided. The emitting component 121 and the receiving component 122 are arranged on the substrate 123, and the light emitting surface of the emitting component 121 and the light receiving surface of the receiving component 122 are both facing the surface of the movable component 110, and are electrically connected to their respective driving circuits to drive the emitting component 121 to emit light, and to realize the conversion of the received light signal by the receiving component 122.

[0047] In order to prevent the light emitted by the emitting component 121 from crosstalking with the receiving component 122 and causing false detection problems, in some embodiments, the optical detection module 120 also includes a shading component 124, which is configured to prevent the detection light emitted by the emitting component 121 from entering the receiving component 122 without being reflected by the surface of the movable component 110, so as to ensure that the light received by the receiving component 122 is the detection light reflected by the surface of the movable component 110, thereby detecting the movement of the movable component 110 based on the light received by the receiving component 122.

[0048] In some embodiments, a light shielding member 124 may be positioned between the emitting member 121 and the receiving member 122. For example, one end of the light shielding member 124 may abut the substrate 123, while the other end may extend beyond the emitting member 121 and the receiving member 122. Of the detection light emitted by the emitting member 121, the portion directed toward the receiving member 122 is blocked by the light shielding member 124, while the portion directed toward the movable member 110 propagates to the surface of the movable member 110.

[0049] In some embodiments, the light shielding member 124 may include a first baffle 1241 disposed along a first direction and at least one second baffle 1242 disposed along a second direction, wherein the first direction intersects the second direction. For example, the first direction is perpendicular to the second direction, and the first direction may be Figure 3 The Y-axis direction in the second direction can be Figure 3 The second baffle 1242 is connected to the first baffle 1241 and is located on a side of the first baffle 1241 close to the emitting component 121.

[0050] like Figure 3 As shown, the light shielding member 124 may include a first baffle 1241 and a second baffle 1242. The first baffle 1241 is perpendicular to the surface of the substrate 123, and the second baffle 1242 is parallel to the surface of the substrate 123. One end of the first baffle 1241 abuts against the substrate 123, and the other end is connected to one end of the second baffle 1242, similar to an "L" shape. The first baffle 1241 and the second baffle 1242 may be integrally provided, or may be independently provided and connected together, and this disclosure is not limited thereto.

[0051] Of course, the shading component 124 may also be configured in other shapes. For example, the shading component 124 may include a first baffle 1241 and two second baffles 1242 , similar to an inverted “F” shape, to achieve a better anti-crosstalk effect.

[0052] In some embodiments, the movable component 110 is a component that moves along a preset direction, the optical detection module 120 and the movable component 110 are arranged along the preset direction, and the relative distance between the optical detection module 120 and the movable component 110 changes as the movable component 110 moves. In this case, in addition to the anti-crosstalk effect, the light shielding component 124 can also block the detection light reflected from the surface of the movable component 110 from entering the receiving component 122 when the movable component 110 moves to the target position. In this way, it is possible to determine whether the movable component 110 has moved to the target position based on the light received by the receiving component 122. When the movable component 110 is at the first reference position, the detection light reflected from the surface of the movable component 110 enters the receiving component 122; when the movable component 110 is at the second reference position, the detection light reflected from the surface of the movable component 110 is blocked by the light shielding component 124.

[0053] For example, Figure 2 The movable part 110 in the embodiment moves in a predetermined direction (eg Figure 2 The Y-axis direction in the figure moves from bottom to top, with the first reference position as Figure 2 Position A in the second reference position is Figure 2 For example, when the movable part 110 is at position A, i.e., it has not yet moved to the target position, the detection light emitted by the emitting part 121 propagates to the upper surface 1101 (e.g., Figure 2 The receiving component 122 receives the detection light reflected by the upper surface 1101, as shown in FIG. Figure 2 When the movable part 110 moves to position B, that is, to the target position, the optical detection module 120 is closer to the movable part 110, and the optical path is shorter. Figure 2 The detection light reflected by the upper surface 1101 is blocked by the light shielding member 124, and the receiving member 122 is basically unable to receive the detection light reflected by the upper surface 1101. Figure 2 Based on this, by detecting the light received by the receiving component 122, it can be detected whether the movable component 110 moves to the target position.

[0054] Considering that the farther the distance between the movable part 110 and the optical detection module 120 is, the longer the transmission path of the detection light reflected by the surface of the movable part 110 will be, which may easily lead to a weak received signal, such as Figure 4As shown, in some embodiments, a reflective component 111 is provided on the surface of the movable component 110, and the reflectivity of the reflective component 111 is greater than the reflectivity of the surface material of the movable component 110. When the movable component 110 is in the first reference position described above, the detection light emitted by the transmitting component 121 propagates to the reflective component 111, is reflected by the reflective component 111, and enters the receiving component 122. This helps to increase the intensity of the reflected light, thereby ensuring the intensity of the signal light received by the receiving component 122 and improving the reliability of the detection results. For example, the reflective component 111 can be a reflective film or reflective cloth attached to the surface of the movable component 110, and the thickness is essentially negligible, which does not significantly increase the size of the movable component 110.

[0055] In some embodiments, when the movable part 110 is located at the second reference position, the detection light reflected from the surface of the movable part 110 will be blocked by the light shielding part 124, and there is no need to enhance the reflected light. Therefore, the reflective part 111 can be provided in a partial area of the surface of the movable part 110. Figure 4 As shown, the surface of the movable component 110 opposite to the optical detection module 120 is the upper surface 1101, and the upper surface 1101 includes a first area and a second area outside the first area. Figure 4 When the movable part 110 is located at the second reference position, the detection light emitted by the emitting part 121 propagates to the second area of the upper surface 1101 (such as Figure 4 The Q' point position in the figure), that is, the area where the reflective component 111 is not provided, is conducive to saving reflective materials.

[0056] like Figure 5 As shown, in some embodiments, in order to minimize the divergence angle of the detection light emitted by the emitting component 121 to reduce interference with the receiving component 122, the optical detection module 120 may also include a first focusing lens 125, and the detection light emitted by the emitting component 121 is transmitted to the surface of the movable component 110 after passing through the first focusing lens 125.

[0057] like Figure 5 As shown, in some embodiments, in order to increase the intensity of the signal light received by the receiving component 122 and improve the reliability of the detection results, the optical detection module 120 may also include a second focusing lens 126, and the detection light reflected by the surface of the movable component 110 is converged to the receiving component 122 after passing through the second focusing lens 126.

[0058] In some embodiments, during the movement of the movable part 110, the relative distance between the optical detection module 120 and the movable part 110 remains substantially unchanged. Figure 6As shown, the surface of the movable part 110 opposite to the optical detection module 120 (such as Figure 6 At least one position marking component 112 is provided on the side surface 1102 in the movable part 110. The reflectivity of the position marking component 112 is different from the reflectivity of the surface of the movable part 110. During the movement of the movable part 110, the detection light emitted by the emitting component 121 may be irradiated on the position marking component 112 or on the surface of the movable part 110. The intensity of the reflected light in these two situations will be different, and thus the light received by the receiving component 122 will be different. The position marking component 112 at least covers the irradiation area of the detection light emitted by the emitting component 121 on the surface of the movable part 110. The actual setting position is determined according to the target position to be detected.

[0059] like Figure 6 As shown, the movable part 110 moves along a preset direction (such as Figure 6 The optical detection module 120 is arranged on the side 1102 of the movable part 110, and the relative distance d between the optical detection module 120 and the movable part 110 remains substantially unchanged. For example, the position marking part 112 may be Figure 6 The strip shown in FIG. 1 is attached to the side surface 1102 of the movable part 110, and its thickness is basically negligible, which does not significantly increase the size of the movable part 110. For example, when the movable part 110 is Figure 6 In the case of the hollow cylindrical structure shown, the strip can be attached along the circumference of the side surface 1102 of the movable component 110 for half a circle or a full circle to relax the position requirement of the optical detection module 120 .

[0060] When the movable part 110 is at the third reference position, the detection light emitted by the emitting part 121 propagates to the area of the surface of the movable part 110 where the position marking part 112 is not provided. When the movable part 110 is at the fourth reference position, the detection light emitted by the emitting part 121 propagates to the position marking part 112.

[0061] In some embodiments, the material of the position marking component 112 includes a light-absorbing material, and the absorbance of the light-absorbing material is greater than the absorbance of the material on the surface of the movable component 110. The above-mentioned light-absorbing material is a material with good light-absorbing performance, for example, it can include a black resin material (such as acrylonitrile-styrene-butadiene copolymer, abbreviated as ABS) and / or light-absorbing foam, etc. Correspondingly, as an embodiment, the material of the side 1102 of the movable component 110 can include a material with weak light-absorbing performance and good light-reflecting performance, for example, it can include a white resin material and / or a white polypropylene material, etc. As another embodiment, the side 1102 of the movable component 110 is covered with a reflective film or reflective cloth, etc.

[0062] For example, Figure 6 As shown in FIG. (a), the movable part 110 moves along a preset direction (such as Figure 6 The Y-axis direction in FIG. 1 is used to move from bottom to top. For example, the third reference position is position C, the fourth reference position is position D, and position D is the target position. When the movable part 110 is at position C, i.e., it has not yet moved to the target position, the detection light emitted by the emitting part 121 propagates to the side surface 1102 of the movable part 110, and the receiving part 122 receives the detection light reflected by the side surface 1102. Figure 6 As shown in Figure (b), when movable component 110 moves to position D, i.e., the target position, the probe light emitted by emitting component 121 propagates to the strip and is absorbed by it, preventing the reflected probe light from being received by receiving component 122. Therefore, by detecting the light received by receiving component 122, it is possible to determine whether movable component 110 has moved to the target position.

[0063] In other embodiments, the material of the position marking component 112 may include a material with weak light absorption and good light reflection, while the material on the surface of the movable component 110 includes a light absorption material. Figure 6 In contrast to the illustrated embodiment, the detection light propagating to the surface of the movable component 110 is absorbed, while the detection light propagating to the position marking component 112 is reflected and enters the receiving component 122 .

[0064] It should be noted that Figure 6 The exemplary embodiment is described using an example in which a single position marking component 112 is provided on the side surface 1102 of the movable component 110. In other embodiments, multiple position marking components 112 may be provided at intervals on the side surface 1102 of the movable component 110 to enable detection of multiple target positions. The number of position marking components 112 may be determined based on the actual product requirements for detecting the position of the movable component 110, and this disclosure does not impose any limitations thereon.

[0065] like Figure 7A and 7B As shown, when the central component is the movable component 110' and the peripheral component is the fixed component 200', the movable component 110' is set in the opening in the center of the fixed component 200' and moves relative to the fixed component 200' along a preset direction (such as Figure 7A and 7B At this time, the side of the movable part 110' is blocked by the peripheral fixed part 200', and the optical detection module 120 can be arranged relative to the upper surface 1101' of the movable part 110', such as Figure 7A As shown, or, arranged relative to the lower surface of the movable part 110 ', as shown Figure 7B shown.

[0066] In addition to detecting whether the movable part 110 moves to the target position when the movable part 110 moves, the above detection system 100 can also be used to detect whether the movable part 110 swings to the target position when the movable part 110 moves.

[0067] like Figure 8 As shown, in the case where the movable part 110 is a part that tilts and swings, the optical detection module 120 can be arranged relative to the side 1102 of the movable part 110, and the side 1102 of the movable part 110 is provided with the above-mentioned position marking part 112. The size of the position marking part 112 and the position of the side 1102 of the movable part 110 are determined according to the swing inclination angle corresponding to the target position to be detected.

[0068] like Figure 8 As shown in Figure (a), when the central axis M of the movable part 110 is parallel to the Y-axis direction, that is, at a vertical angle, the detection light emitted by the emitting part 121 propagates to the position marking part 112. As the movable part 110 tilts and swings, the spot of the detection light moves on the position marking part 112. Figure 8 As shown in Figure (b), when the movable part 110 swings to the point where the central axis M forms an inclination angle θ with the Y-axis direction, the spot of the detection light moves out of the position marking part 112, that is, the detection light emitted by the emitting part 121 propagates to the area of the side 1102 of the movable part 110 where the position marking part 112 is not provided. Since the reflectivity of the position marking part 112 is different from the reflectivity of the material of the side 1102 of the movable part 110, the reflected light of the detection light irradiated on the two is also different, so that whether the swing of the movable part 110 is in place can be detected based on the reflected light received by the receiving part 122. It should be noted that Figure 8 In the figure, the detection light incident on the position marking component 112 is absorbed and there is basically no reflected light.

[0069] When the movable part 110 is a part that rotates in a clockwise or counterclockwise direction, the optical detection module 120 can be arranged opposite to the side of the movable part 110, or it can be arranged opposite to the upper surface or lower surface of the movable part 110. The surface of the movable part 110 that is arranged opposite to the optical detection module 120 is provided with the above-mentioned position marking part 112, and the position marking part 112 is arranged at the target position to be detected. Figure 9 The corresponding exemplary embodiment is described by taking the optical detection module 120 and the side surface 1102 of the movable component 110 as an example in which they are arranged opposite to each other.

[0070] like Figure 9As shown in FIG. (a), the movable part 110 rotates in the clockwise direction. Before it rotates to the target position, the detection light emitted by the emitting part 121 propagates to the area on the side 1102 of the movable part 110 where the position marking part 112 is not provided. As the movable part 110 rotates, the spot of the detection light moves on the side 1102 of the movable part 110. Figure 9 As shown in Figure (b), when the movable part 110 rotates to the target position, the detection light emitted by the emitting part 121 irradiates the position marking part 112. Similarly, since the reflectivity of the position marking part 112 is different from the reflectivity of the material of the side surface 1102 of the movable part 110, the reflected light of the detection light irradiated on the two is also different. Therefore, it is possible to detect whether the movable part 110 has rotated to the target position based on the reflected light received by the receiving part 122. It should be noted that Figure 9 In the figure, the detection light incident on the position marking component 112 is absorbed and there is basically no reflected light.

[0071] Some embodiments of the present disclosure provide a cleaning device. Figure 10 As shown, the cleaning device includes a cleaning component (not shown) and a lifting module 110a for driving the cleaning component to move. For example, in the case where the cleaning device is a sweeper, the cleaning component can be a side brush or mop of the sweeper.

[0072] The cleaning device also includes the detection system 100 provided in some embodiments above. The structure and technical effects of the detection system 100 can refer to the relevant descriptions in the above embodiments and will not be repeated here. At this time, the movable component to be detected in the detection system 100 can be the lifting module 110a mentioned above.

[0073] In order to realize the position detection of the lifting module 110a in the cleaning equipment, the above-mentioned optical detection module 120 can be set near the lifting module 110a in the cleaning equipment, so that the light emitted by the emitting component 121 in the optical detection module 120 is transmitted to the surface of the lifting module 110a, thereby detecting whether the lifting module 110a is lifted into place based on the light received by the receiving component 122, so as to timely control the cleaning equipment to perform subsequent actions.

[0074] For example, the cleaning device is a sweeper, and the active part to be detected is the lifting module 110a for lifting the mop in the sweeper. When the sweeper recognizes a carpet during the cleaning task, the lifting module 110a can be controlled to lift the mop to prevent the carpet from being contaminated. Figure 10 As shown, the lifting module 110a can drive the mop in a direction perpendicular to the surface of the fuselage (such as Figure 10The optical detection module 120 can be positioned on the machine body relative to the upper surface of the lifting module 110a, thereby detecting the movement of the lifting module 110a based on the light received by the receiving component 122. For example, by detecting the movement of the lifting module 110a, it can be determined whether the mop has been fully lifted. Once the mop has been fully lifted, the machine can be controlled to continue cleaning the carpet area.

[0075] Some embodiments of the present disclosure provide a cleaning device. Figure 11 As shown, the cleaning device includes a cleaning head 12 (also called a brush head), a body 11, and a rotating shaft 110b that rotates the body 11 relative to the cleaning head 12. The cleaning head 12 is the part that cleans the floor, and the body 11 is the part connected to the handle. The body 11 is connected to the cleaning head 12 via the rotating shaft 110b. The user can adjust the inclination of the body 11 relative to the cleaning head 12 according to actual needs. For example, the cleaning device can be a handheld floor scrubber. When using the handheld floor scrubber, the user can rotate the body 11 to a suitable inclination angle to facilitate cleaning. For example, when cleaning special areas such as under a sofa or bed, the body 11 can be rotated to a "lying flat" position, where the body 11 is 180 degrees relative to the cleaning head 12. For example, when the user is finished cleaning and returns the floor scrubber to its base, the body 11 can be rotated to an "upright" position, where the body 11 is perpendicular to the cleaning surface of the cleaning head 12.

[0076] The cleaning device further comprises the detection system 100 provided in some embodiments above. The structure and technical effects of the detection system 100 can refer to the relevant descriptions in the embodiments above and will not be described in detail here. At this time, the movable part to be detected in the detection system 100 can be the rotating shaft 110b.

[0077] In order to detect the rotation angle of the body 11 in the cleaning device relative to the cleaning head 12, the above-mentioned optical detection module 120 can be set near the rotating shaft 110b that drives the body 11 to rotate relative to the cleaning head 12 in the cleaning device, and the above-mentioned position marking component 112 can be set on the surface of the rotating shaft 110b, so that the emitting component 121 in the optical detection module 120 emits detection light toward the surface of the rotating shaft 110b, thereby detecting whether the rotating shaft 110b is rotated to the position where the position marking component 112 is located, that is, detecting whether the body 11 is rotated into place based on the light received by the receiving component 122.

[0078] The surface of the rotating shaft 110b opposite to the optical detection module 120 is provided with a position marking component 112, and the reflectivity of the position marking component 112 is different from the reflectivity of the surface material of the rotating shaft 110b. The position marking component 112 can be set at the target position to be detected. When the rotating shaft 110b rotates to the target position, the detection light emitted by the emitting component 121 in the optical detection module 120 can be irradiated onto the position marking component 112, and a difference is shown in the light signal received by the receiving component 122. Therefore, the above-mentioned detection system 100 can detect whether the rotating shaft 110b has rotated to the target position and monitor the tilt angle of the body 11 relative to the cleaning head 12 in real time.

[0079] The target position to be detected is set according to the actual needs of the product. Taking a handheld floor scrubber as an example, the target position may include the rotational position of the rotating shaft 110b when the body 11 is in the aforementioned "upright" position relative to the cleaning head 12, and / or the rotational position of the rotating shaft 110b when the body 11 is in the aforementioned "lying flat" position relative to the cleaning head 12.

[0080] It should be noted that the various embodiments in the present disclosure are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0081] Those skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of the present disclosure is limited to these examples. Based on the concept of the present disclosure, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of different aspects of one or more embodiments of the present disclosure as described above, which are not provided in detail for the sake of simplicity.

[0082] Although the exemplary embodiments of the present disclosure have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concepts. Therefore, the appended claims are intended to be interpreted as including the exemplary embodiments and all changes and modifications that fall within the scope of the present disclosure.

Claims

1. A detection system for cleaning equipment, characterized in that: include: An optical detection module and a movable part to be detected, the optical detection module comprising: a transmitting component, a receiving component, and a signal processing circuit, wherein the detection light emitted by the transmitting component is propagated to the surface of the movable part, the signal processing circuit is electrically connected to the receiving component and is configured to detect the movement of the movable part based on the reflected light received by the receiving component, wherein the reflected light is the detection light reflected by the surface of the movable part; The optical detection module further includes a light shielding component configured to prevent the detection light emitted by the emitting component from entering the receiving component without being reflected by the surface.

2. The detection system according to claim 1, characterized in that The light shielding component is located between the emitting component and the receiving component.

3. The detection system according to claim 2, characterized in that The light shielding component includes a first baffle arranged along a first direction and at least one second baffle arranged along a second direction, the first direction intersects the second direction, the second baffle is connected to the first baffle and is located on a side of the first baffle close to the emitting component.

4. The detection system according to claim 1, characterized in that The movable component is a component that moves along a preset direction, and the optical detection module and the movable component are arranged along the preset direction; When the movable part is located at a first reference position, the detection light reflected from the surface of the movable part enters the receiving part; When the movable member is located at the second reference position, the detection light reflected from the surface of the movable member is blocked by the light shielding member.

5. The detection system according to claim 4, characterized in that: A reflective component is provided on the surface of the movable component, and the reflectivity of the reflective component is greater than the reflectivity of the surface. When the movable component is located at the first reference position, the detection light emitted by the emitting component propagates to the reflective component, and enters the receiving component after being reflected by the reflective component.

6. The detection system according to claim 5, characterized in that: The surface of the movable component opposite to the optical detection module includes a first area and a second area outside the first area, and the reflective component is arranged in the first area; When the movable part is located at the second reference position, the detection light emitted by the emitting part propagates to a second area of the surface.

7. The detection system according to any one of claims 1 to 3, characterized in that: The surface of the movable component opposite to the optical detection module is provided with at least one position marking component, and the reflectivity of the position marking component is different from the reflectivity of the surface; When the movable component is located at a third reference position, the detection light emitted by the emitting component propagates to an area of the surface where the position marking component is not provided; In a case where the movable part is located at the fourth reference position, the detection light emitted by the emitting part propagates to the position marking part.

8. The detection system according to claim 7, characterized in that: The material of the position marking component includes a light-absorbing material, and the light absorbance of the light-absorbing material is greater than the light absorbance of the material of the surface.

9. The detection system according to claim 8, characterized in that: The material of the surface includes white resin material and / or white polypropylene material, or the surface is covered with a reflective film or reflective cloth.

10. The detection system according to claim 1, characterized in that: The optical detection module is arranged opposite to the upper surface, lower surface or side surface of the movable component.

11. A cleaning device, characterized in that: The cleaning device includes a cleaning component and a lifting module for driving the cleaning component to move. The cleaning device also includes a detection system according to any one of claims 1 to 10, and the movable component to be detected in the detection system is the lifting module.

12. A cleaning device, characterized in that: The cleaning device includes: a cleaning head, a body, and a rotating shaft that drives the body to rotate relative to the cleaning head. The cleaning device also includes a detection system according to any one of claims 1-3 and 7-10. The movable part to be detected in the detection system is the rotating shaft. The surface of the rotating shaft opposite to the optical detection module is provided with at least one position marking component, and the reflectivity of the position marking component is different from the reflectivity of the surface.

13. A cleaning system, characterized in that: The cleaning device comprises the cleaning device according to claim 11 or 12 and a pile body for docking with the cleaning device, wherein the pile body is at least configured to charge the cleaning device.

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