Detection device, cleaning equipment and cleaning system

Abstract

The utility model belongs to the technical field of electrical equipment, and particularly relates to a detection device, cleaning equipment and a cleaning system. The detection device is assembled on a main machine of the cleaning equipment and comprises a driving mechanism and a detection module, and the driving mechanism is provided with a liftable output part; the detection module is connected with the output part of the driving mechanism, and the detection module is movably located at a first detection position, a second detection position or between the first detection position and the second detection position; wherein the first detection position is higher than the top surface of the host, and the second detection position is lower than or equal to the top surface of the host. The phenomenon that the detection module is damaged due to the fact that the detection module makes contact with and collides with an obstacle on the advancing path of the cleaning equipment can be avoided, and normal operation of the cleaning equipment is guaranteed.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of electrical equipment, and particularly relates to a detection device, a cleaning device and a cleaning system. BACKGROUND

[0002] The cleaning device such as a sweeping robot is configured with a detection device for scanning the environmental information of the cleaning device for planning the walking path of the cleaning device.

[0003] In the related art, in the process of running of the cleaning device, the detection device may be in contact with the obstacle and collide, causing damage to the detection device, and the detection device cannot provide the environmental information required for the running of the cleaning device, affecting the normal running of the cleaning device. SUMMARY

[0004] The present application provides a detection device, a cleaning device and a cleaning system, aiming to at least partly avoid the technical problem of the contact and collision of the detection device with the obstacle, causing damage to the detection device, and enabling the normal running of the cleaning device.

[0005] In the first aspect of the present application, a detection device is provided, which is assembled on a main machine of a cleaning device, and the detection device comprises a driving mechanism with a liftable output part and a detection module. The detection module connected to the output part of the driving mechanism is movably located at a first detection position, a second detection position, or between the first detection position and the second detection position, wherein the first detection position is higher than the top surface of the main machine, and the second detection position is lower than or equal to the top surface of the main machine.

[0006] The detection device assembled on the main machine of the cleaning device provided by the present application comprises the driving mechanism with the liftable output part and the detection module connected to the output part of the driving mechanism. In the process of running of the cleaning device, the driving mechanism is controlled to act, the detection module connected to the output part of the driving mechanism is driven to lift and lower, the detection module is reciprocally moved between the first detection position and the second detection position, and then the detection module is switched between the first detection position and the second detection position, so that the main machine is suitable for different height cleaning application scenarios, the phenomenon of damage to the detection module caused by the collision of the detection module with the obstacle on the running path of the cleaning device is avoided, and the normal running of the cleaning device is ensured.

[0007] In the second aspect of the present application, the present application provides a cleaning device, which comprises the main machine assembled with the above detection device.

[0008] In the third aspect of the present application, the present application provides a cleaning system, which comprises a base station and the above cleaning device used in cooperation.

[0009] The cleaning system and the cleaning device provided by the application can be suitable for cleaning application scenarios of different heights, avoid the phenomenon of damage of the detection module caused by contact and collision of the detection module with obstacles on the running path of the cleaning device, and ensure normal operation of the cleaning device. BRIEF DESCRIPTION OF DRAWINGS

[0010] In order to more clearly illustrate the technical solutions in the embodiments of the application, the drawings needed to be used in the embodiments will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative effort on the basis of these drawings.

[0011] Figure 1 A first state schematic diagram of the cleaning device in one or more embodiments of the application is shown;

[0012] Figure 2 A second state schematic diagram of the cleaning device in one or more embodiments of the application is shown;

[0013] Figure 3 A structure schematic diagram of the detection module in the state is shown; Figure 1 A structure schematic diagram of the detection module in the state is shown;

[0014] Figure 4 A structure schematic diagram of the detection module in the state is shown; Figure 2 A structure schematic diagram of the detection module in the state is shown;

[0015] Figure 5 An exploded schematic diagram of the detection module is shown; Figure 3 An exploded schematic diagram of the detection module is shown;

[0016] Figure 6 An exploded schematic diagram of the detection module is shown; Figure 4 An exploded schematic diagram of the detection module is shown;

[0017] Figure 7 A structure schematic diagram of the driving mechanism in the detection module is shown; Figure 5 A structure schematic diagram of the driving mechanism in the detection module is shown;

[0018] Figure 8 A structure schematic diagram of the driving mechanism in the detection module is shown; Figure 6 A structure schematic diagram of the driving mechanism in the detection module is shown;

[0019] Figure 9 A top view schematic diagram of the detection module is shown; Figure 1 A top view schematic diagram of the detection module is shown;

[0020] Figure 10 An A-A sectional view schematic diagram of the detection module is shown; Figure 9 An A-A sectional view schematic diagram of the detection module is shown;

[0021] Figure 11 An assembly schematic diagram of the adapter, the second connecting rod and the detection module is shown;

[0022] Figure 12 A structural diagram of the adapter is shown;

[0023] Figure 13 An exploded diagram of the adapter is shown; Figure 11

[0024] Figure 14 A structural diagram of the fixing member in the adapter is shown; Figure 3 Figure 4

[0025] Figure 15 An exploded diagram of the detection module and the fixing member is shown;

[0026] Figure 16 A structural diagram of the detection module is shown;

[0027] Figure 17 A structural diagram of the detection device in another embodiment is shown; Figure 18

[0028] Figure 19 A structural diagram of the housing in the adapter is shown. Figure 1 Figure 2

[0029] BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Driving mechanism-100, driving member-101, driving shaft-1011, linkage assembly-102, first linkage-1021, second linkage-1022, first rotating shaft-1023, second rotating shaft-1024, first connecting member-1025, second connecting member-1026, first driving block-103, second driving block-104;

[0031] Detection module-200, second guiding portion-201, first positioning portion-202, magnet-203;

[0032] Position confirming member-300;

[0033] Triggering member-400;

[0034] First limiting member-500;

[0035] Adapter-600, connecting protrusion-601, connecting hole-602;

[0036] Bearing member-700, bearing portion-701;

[0037] Elastic member-800;

[0038] Fixing member-900, inlet and outlet-901, accommodating cavity-902, support seat-903, first guiding portion-904, second positioning portion-905, metal member-906; ​​​​​​

[0039] Housing - 1000, recess - 1001, through hole - 1002. DETAILED DESCRIPTION

[0040] In order for those skilled in the art to which the present application pertains to more clearly understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0041] The cleaning equipment such as the sweeping robot is a cleaning machine suitable for hard ground cleaning while sucking dry sewage and taking sewage away from the scene, which has the advantages of environmental protection, energy saving, high efficiency, etc.

[0042] In the related art, the cleaning equipment such as the sweeping robot is provided with a detection device, which includes a detection module. The detection module can be a camera module or / and a sensor module, so as to scan environmental information in the process of running of the cleaning equipment, and provide the scanned environmental information to the processor of the cleaning equipment. The processor plans the walking path of the cleaning equipment according to the obtained environmental information.

[0043] However, in the process of running of the cleaning equipment, the detection device may be in contact with and collide with the obstacle in the walking path of the cleaning equipment, causing damage to the detection device. The detection device cannot provide the environmental information required for the running of the cleaning equipment, affecting the normal operation of the cleaning equipment.

[0044] Based on the above technical problems, the present application provides a detection device, a cleaning equipment and a cleaning system, wherein the detection module of the detection device can be lifted. When there is an obstacle in the walking path of the cleaning equipment, the height of the detection module is controlled to be lowered to avoid the obstacle. When the cleaning equipment passes through the obstacle, the detection module is controlled to be lifted, and the detection module continues to provide the scanned environmental information to the processor of the cleaning equipment, so as to guarantee the obstacle avoidance capability of the cleaning equipment and enable the cleaning equipment to run normally. The specific details of the detection device are further described in the drawings.

[0045] Figure 1 Fig. 1 shows a first state schematic diagram of the cleaning equipment in one or more embodiments of the present application, Figure 2 Fig. 2 shows a second state schematic diagram of the cleaning equipment in one or more embodiments of the present application, Figure 3 Fig. 3 shows Figure 1 a structure schematic diagram of the detection module in the state, Figure 4 Fig. 4 shows Figure 2The structural schematic diagram of the detection module in the first state. The first state of the cleaning device refers to the state schematic diagram of the detection module of the cleaning device in the first detection position. The second state of the cleaning device refers to the state schematic diagram of the detection module of the cleaning device in the second detection position. For the purpose of clear display, part of the components of the cleaning device is omitted. In combination with Figure 1 and Figure 2 part of the components of the cleaning device is omitted. In combination with Figures 1-4 The detection device provided by the present application is assembled on the main machine of the cleaning device, which comprises a driving mechanism 100 and a detection module 200. The driving mechanism 100 has a liftable output part. The detection module 200 is connected to the output part of the driving mechanism 100 and is movably located at a first detection position, a second detection position, or between the first detection position and the second detection position. The first detection position is higher than the top surface of the main machine, and the second detection position is lower than or equal to the top surface of the main machine.

[0046] The detection device provided by the present application is assembled on the main machine of the cleaning device, which comprises a driving mechanism 100 and a detection module 200. The driving mechanism 100 has a liftable output part. The detection module 200 is connected to the output part of the driving mechanism 100 and is movably located at a first detection position, a second detection position, or between the first detection position and the second detection position. The first detection position is higher than the top surface of the main machine, and the second detection position is lower than or equal to the top surface of the main machine.

[0047] According to an embodiment of the present application, when the cleaning device is normally running, the detection module 200 is in the first detection position to scan the environmental information in real time, serving the running of the cleaning device. If there is an obstacle on the running path of the cleaning device, the detection module 200 is in the second detection position to avoid collision and damage of the detection module 200 with the obstacle, ensuring the normal running of the cleaning device. Alternatively, if there is an obstacle on the running path of the cleaning device, the detection module 200 confirms the height of the obstacle, and according to the height of the obstacle, the detection module 200 is lowered to a position between the first detection position and the second detection position, which is lower than the height of the obstacle, so that the cleaning device can normally pass through the obstacle and run normally.

[0048] In combination with Figure 3 and Figure 4The detection device further comprises a fixing member 900, and the detection module 200 is at least partially lifted in the fixing member 900. When the detection module 200 is in the first detection position, the detection module 200 has a part protruding from the fixing member 900, so as to scan the environmental information; when the detection module 200 is in the second detection position, the detection module 200 can be completely placed in the fixing member 900, or partially placed in the fixing member 900, so as to protect the detection module 200 from being contacted and collided by the obstacles on the travel path by the fixing member 900.

[0049] Figure 5 An exploded schematic view of Figure 3 is shown, Figure 6 An exploded schematic view of Figure 4 is shown. In combination with Figure 5 and Figure 6 In an embodiment, the driving member 101 comprises the driving member 101 and the connecting rod assembly 102, wherein the driving member 101 has a rotatable driving shaft 1011, the driving member 101 is placed below the detection module 200, and the connecting rod assembly 102 is connected with the driving shaft 1011 and the detection module 200 respectively. That is, the application drives the connecting rod assembly 102 to act by controlling the rotation of the driving shaft 1011 of the driving member 101, and then drives the detection module 200 to lift.

[0050] According to an embodiment of the application, the driving member 101 can be a driving motor, which can receive and execute the control instructions issued by the processor of the cleaning device, so as to be controlled by the processor of the cleaning device to rotate forward or reversely. In addition, the extension direction of the driving shaft 1011 of the driving member 101 is preferably perpendicular to the lifting direction of the detection module 200, so that the horizontal space of the cleaning device can be utilized when the detection device is assembled on the cleaning device, thereby the size of the cleaning device in the height direction can be reduced, and the thinning of the cleaning device is facilitated.

[0051] Figure 7 An exploded schematic view of the driving mechanism in Figure 5 is shown, Figure 8 An exploded schematic view of the driving mechanism in Figure 6 is shown. In combination with Figure 7 and Figure 8According to an embodiment of the present application, the linkage assembly 102 comprises a first linkage 1021 and a second linkage 1022, wherein the first linkage 1021 is rotatably connected to the driving shaft 1011, the second linkage 1022 is rotatably connected to the first linkage 1021, and the second linkage 1022 is rotatably connected to the detection module 200. During the operation of the cleaning device, the driving shaft 1011 of the driving member 101 is controlled to rotate, thereby driving the first linkage 1021 and the second linkage 1022 to rotate, and then adjusting the overall posture of the first linkage 1021 and the second linkage 1022 to drive the detection module 200 to ascend and descend. When the first linkage 1021 and the second linkage 1022 are in an extended posture, the detection module 200 ascends, and the detection module 200 is in a first detection position; when the first linkage 1021 and the second linkage 1022 are in a folded posture, the detection module 200 descends, and the detection module 200 is in a second detection position.

[0052] According to an embodiment of the present application, the first linkage 1021 and the second linkage 1022 each have a first end and a second end, and the first linkage 1021 and the second linkage 1022 can be arranged in pairs, and the first linkage 1021 and the second linkage 1022 are arranged in a one-to-one correspondence. The first ends of the two first linkages 1021 are rotatably connected to the driving shaft 1011 of the driving member 101, the second end of the first linkage 1021 is rotatably connected to the first end of the corresponding second linkage 1022 through a first rotating shaft 1023, and the second end of the second linkage 1022 is connected to the detection module 200 through a second rotating shaft 1024. Under the driving of the driving member 101, the first linkage 1021 and the second linkage 1022 connected thereto are driven to rotate, and then the detection module 200 is driven to ascend and descend.

[0053] In combination with Figure 7 and Figure 8 The two first linkages 1021 can be connected through a first connecting member 1025 to form an overall structure. In an embodiment, the first connecting member 1025 can be connected between the first ends of the two first linkages 1021, and the first connecting member 1025 can be a sleeve structure rotatably sleeved on the driving shaft 1011 of the driving member 101. In another embodiment, the first connecting member 1025 can also be connected between the middle portions of the two first linkages 1021.

[0054] In combination with Figure 7 and Figure 8Two second connecting rods 1022 can be connected between the two first connecting rods 1021 to reduce the overall length of the connecting rod assembly 102 and reduce the space occupied by the connecting rod assembly 102. The first end of each of the two second connecting rods 1022 is provided with the first rotating shaft 1023 described above, and the second end of each of the two second connecting rods 1022 is provided with the second rotating shaft 1024 described above, and the second rotating shaft 1024 is connected to the detection module 200.

[0055] In combination Figure 7 and Figure 8 The two second connecting rods 1022 are connected by a second connecting piece 1026 to form a whole structure. In an embodiment, the second connecting piece 1026 can be connected between the second ends of the two second connecting rods 1022. In another embodiment, the second connecting piece 1026 can also be connected between the middle or first end of the two second connecting rods 1022.

[0056] In combination Figure 7 and Figure 8 The detection device further comprises a position confirming member 300 for confirming that the detection module 200 is in the first detection position or the second detection position. The position confirming member 300 is used to confirm the position of the detection module 200 and send the detection module 200 in place information to the processor of the cleaning device. The processor of the cleaning device controls the cleaning device to execute the corresponding instructions according to the received detection module 200 in place information.

[0057] In combination Figure 7 and Figure 8According to an embodiment of the present application, the position confirming member 300 is provided in two, and the two position confirming members 300 are arranged at intervals in the circumferential direction of the driving shaft 1011. The driving shaft 1011 is provided with a triggering member 400, and the triggering member 400 triggers the two position confirming members 300 in the process of synchronous rotation with the driving shaft 1011. In the specific implementation, in the process of controlling the detection module 200 to ascend and descend through the rotating driving shaft 1011, the triggering member 400 rotates synchronously with the driving shaft 1011. When the detection module 200 is in the first detection position, the triggering member 400 triggers one position confirming member 300 to send a first arrival signal to the processor of the cleaning device, and the processor of the cleaning device controls the cleaning device to execute corresponding instructions according to the first arrival signal, which includes controlling the driving member 101 to stop rotating. When the detection module 200 is in the second detection position, the triggering member 400 triggers another position confirming member 300 to send a second arrival signal to the processor of the cleaning device, and the processor of the cleaning device controls the cleaning device to execute corresponding instructions according to the second arrival signal, which includes controlling the driving member 101 to stop rotating. In another embodiment, the position confirming member 300 can be provided in more than three, which can not only confirm that the detection module 200 is in the first detection position or the second detection position, but also confirm that the detection module 200 is in a certain position between the first detection position and the second detection position.

[0058] In combination Figure 7 and Figure 8 In an embodiment, the triggering member 400 can be a plate-shaped structure connected to the circumferential side of the driving shaft 1011, and the position confirming member 300 can be an optical interruption sensor or an infrared sensor. When the triggering member 400 rotates to the position confirming member 300, the triggering member 400 triggers the position confirming member 300 to generate one of the above-mentioned first arrival signal and the second arrival signal. In another embodiment, the position confirming member 300 can also be a trigger switch, which is not limited by the present application.

[0059] Figure 9 A top view of Figure 1 is shown, Figure 10 A-A sectional view of Figure 9 is shown, in combination Figure 9 and Figure 10 The detection device further comprises a first limiting member 500, which is arranged at intervals with the outer circumferential side of the driving shaft 1011, i.e. the first limiting member 500 and the outer circumferential side of the driving shaft 1011 have a distance. When the detection module 200 is in the first detection position, the first limiting member 500 is in contact with the first connecting rod 1021. The first limiting member 500 can be a plate-shaped structure to limit the rotating position of the first connecting rod 1021, so that the detection module 200 remains in the first detection position.

[0060] In combinationFigure 9 And Figure 10 When the detection module 200 is in the first detection position, the first connecting rod 1021 and the second connecting rod 1022 have an included angle, which is an obtuse angle, and the component of the weight of the detection module 200 borne by the second connecting rod 1022 is inclined to the direction of the first limiting piece 500. In combination with the limiting of the first connecting rod 1021 by the first limiting piece 500, the detection module 200 can be kept in the first detection position.

[0061] According to an embodiment of the present application, the detection device can further include a second limiting piece (not shown in the figure), which is spaced apart from the drive shaft 1011, i.e., the second limiting piece and the drive shaft 1011 have a distance on the outer circumferential side. When the detection module 200 is in the second detection position, the second limiting piece is in contact with the first connecting rod 1021. In combination with the first limiting piece 500, the second limiting piece can also be a plate-shaped structure to limit the rotating position of the first connecting rod 1021, so that the detection module 200 is kept in the second detection position.

[0062] In combination with Figure 10 The detection device further includes a connecting piece 600 connected to the output of the drive mechanism 100 and the detection module 200. Under the driving of the drive mechanism 100, the connecting piece 600 is controlled to be lifted, and then the detection module 200 connected to the connecting piece 600 is controlled to be lifted, so as to switch the detection module 200 between the first detection position and the second detection position. Now the assembly of the connecting piece, the second connecting rod and the detection module is shown in the following figure, Figure 11 - the assembly of the connecting piece, the second connecting rod and the detection module is shown in the following figure, Figure 13 The connecting piece 600 and the connection details of the output of the drive mechanism 100 and the detection module 200 are further described.

[0063] Figure 11 The assembly of the connecting piece, the second connecting rod and the detection module is shown in the following figure, Figure 12 The structure of the connecting piece is shown in the following figure, Figure 13 The exploded view of Figure 11 is shown in the following figure. In combination with Figures 11-13 In an embodiment, the connecting piece 600 can be provided one-to-one with the second connecting rod 1022 of the drive mechanism 100. Since there are two second connecting rods 1022, correspondingly, the connecting piece 600 is also provided with two, which can be a plate-shaped structure. The second rotating shaft 1024 on the second connecting rod 1022 is rotatably connected to the middle part of the connecting piece 600, and the two ends of the connecting piece 600 are connected to the detection module 200. In another embodiment, the connecting piece 600 can also be placed between the two second connecting rods 1022.

[0064] In combination with Figure 12 And Figure 13The inspection device comprises a carrier 700, the bottom of the carrier 700 is provided with a bearing part 701, the top of the carrier 700 is connected with the detection module 200, and the adapter 600 can reciprocate between the bearing part 701 of the carrier 700 and the detection module 200. When the detection module 200 is lifted by the driving mechanism 100, the adapter 600 abuts against the bottom of the detection module 200, and under the driving of the driving mechanism 100, the adapter 600 is lifted synchronously with the detection module 200. When the detection module 200 is lowered by the driving mechanism 100, the driving part 101 drives the adapter 600 and the detection module 200 to be lowered synchronously.

[0065] In combination Figure 12 and Figure 13 In an embodiment, the adapter 600 is elastically connected with at least one of the bearing part 701 and the detection module 200, so that the adapter 600 can float between the bearing part 701 and the detection module 200. During the travel of the cleaning device, if the cleaning device is jolted, the jolt of the cleaning device can be buffered due to the floating of the adapter 600 between the bearing part 701 and the detection module 200, so that the detection module 200 can stably acquire environmental information.

[0066] In combination Figure 12 and Figure 13 The middle part of the top of the adapter 600 is provided with a connecting protrusion 601, the second rotating shaft 1024 of the second connecting rod 1022 connected with the adapter 600 is rotatably connected with the connecting protrusion 601, and the two ends of the top of the adapter 600 are respectively provided with connecting holes 602. The carrier 700 and the connecting holes 602 are correspondingly provided, the carrier 700 can be in a columnar structure, the bearing part 701 can be in an annular structure integrally formed at the bottom of the carrier 700, the bearing part 701 of the carrier 700 is arranged below the corresponding connecting hole 602, the top of the carrier 700 passes through the corresponding connecting hole 602 and is fixedly assembled to the bottom of the detection module 200 by a threaded connection or the like. In an embodiment, an elastic part 800 can be arranged between the adapter 600 and the bottom of the detection module 200, or arranged between the adapter 600 and the bearing part 701 of the carrier 700, or arranged between the adapter 600 and the bottom of the detection module 200 and between the adapter 600 and the bearing part 701 of the carrier 700, and the elastic part 800 is sleeved on the carrier 700 to guide the deformation of the elastic part 800.

[0067] Figure 14 The structure diagram of the fixing part in Figure 3 and Figure 4 is shown, in combination Figure 14The top of the fixing member 900 is provided with an access 901, and the fixing member 900 is internally provided with a containing cavity 902, and the detection module 200 can enter the containing cavity 902 through the access 901. The driving member 101 can be arranged outside the fixing member 900, the driving shaft 1011 of the driving member 101 is rotatably arranged through the side wall of the fixing member 900 and enters the containing cavity 902 of the fixing member 900, the above-mentioned connecting rod assembly 102 is arranged in the containing cavity 902 of the fixing member 900, and the above-mentioned first limiting member 500 and the position confirming member 300 can be assembled on the inner wall of the fixing member 900. In addition, at least one supporting seat 903 can be arranged at the bottom of the containing cavity 902 of the fixing member 900, the driving shaft 1011 is rotatably arranged through the supporting seat 903, so that the driving shaft 1011 is supported by the supporting seat 903, and the driving shaft 1011 has sufficient bearing capacity.

[0068] Figure 15 An explosion schematic view of the detection module and the fixing member is shown, Figure 16 An explosion schematic view of the detection module is shown. In combination Figures 14-16 The fixing member 900 is internally provided with a first guide part 904, the detection module 200 is provided with a second guide part 201, the first guide part 904 and the second guide part 201 are inserted in the moving direction of the detection module 200 to provide guidance for the lifting of the detection module 200, so that the detection module 200 can only be lifted in a set direction.

[0069] In combination Figures 14-16 In an embodiment, the first guide part 904 and the second guide part 201 can be columnar structures, the second guide part 201 is inserted in the first guide part 904, and the first guide part 904 and the second guide part 201 can be provided in plurality and arranged outside the connecting rod assembly 102; in another embodiment, the first guide part 904 can also be inserted in the second guide part 201, and the present application does not make any limitation in this aspect.

[0070] In combination Figures 14-16 The detection module 200 is provided with a first positioning part 202, and the fixing member 900 is provided with a second positioning part 905, under the condition that the detection module 200 is in the first detection position, the first positioning part 202 and the second positioning part 905 are oppositely arranged and magnetically connected to prevent the detection module 200 from moving due to bumping when the cleaning equipment is running, and to avoid the technical problem that the detection module 200 is damaged due to collision with an obstacle when the detection module 200 is lifted. When the detection module 200 is lifted, the movement of the detection module 200 breaks the magnetic connection between the first positioning part 202 and the second positioning part 905, and with the lifting of the detection module 200, the first positioning part 202 and the second positioning part 905 also move apart.

[0071] In combination Figures 14-16A first positioning part 202 is arranged at the bottom of the detection module 200, and a second positioning part 905 is arranged at the bottom of the accommodating cavity 902 of the fixing member 900. The first positioning part 202 and the second positioning part 905 are both in a columnar structure, and are oppositely arranged. A fitting groove is arranged at the opposite end of the first positioning part 202 and the second positioning part 905. A magnet 203 is arranged in one of the fitting grooves, and a metal member 906 that can be attracted by the magnet 203 is arranged in the other fitting groove. Alternatively, magnets 203 are arranged in both of the fitting grooves, and the magnetic connection of the two positioning parts is realized by the principle of opposite poles attracting each other. The first positioning part 202 and the second positioning part 905 can both be provided with two, which are arranged at the two sides of the connecting rod assembly 102.

[0072] Figure 17 and Figure 18 The structural schematic diagram of the detection device in another embodiment is shown. In combination with Figure 17 and Figure 18 In another embodiment, the driving member 101 of the driving mechanism 100 can also be a linear reciprocating mechanism. The output part of the linear reciprocating of the driving member 101 drives the detection module 200 to lift, and the purpose of switching the detection module 200 between the first detection position and the second detection position can also be realized.

[0073] In combination with Figure 17 In an embodiment, the driving member 101 has a driving shaft 1011 that can linearly reciprocate, and the driving shaft 1011 is connected with the detection module 200 arranged above the driving member 101. The driving member 101 can be a linear motor, and the lifting direction of the driving shaft 1011 of the driving member 101 is consistent with the lifting direction of the detection module 200, so as to directly drive the detection module 200 to switch between the first detection position and the second detection position by the lifting of the driving shaft 1011 of the driving member 101.

[0074] In combination with Figure 18In another embodiment, the driving mechanism 100 further comprises a first driving block 103 and a second driving block 104, the first driving block 103 is connected with the driving shaft 1011, the second driving block 104 is connected with the detection module 200, the second driving block 104 is located on the first driving block 103, and at least part of the contact between the second driving block 104 and the first driving block 103 is a slope. By controlling the movement of the driving shaft 1011 of the driving member 101, the second driving block 104 can be lifted relative to the first driving block 103, and in turn drive the detection module 200 connected with the second driving block 104 to lift, so that the detection module 200 can be switched between the first detection position and the second detection position. Since the lifting of the detection module 200 is realized through the transfer of the first driving block 103 and the second driving block 104, the extension direction of the driving shaft 1011 of the driving member 101 can be arranged perpendicular to the lifting direction of the detection module 200. When the detection device is assembled on the cleaning equipment, the horizontal space of the cleaning equipment can be utilized, so that the height direction size of the cleaning equipment can be reduced, which is beneficial to the light and thin of the cleaning equipment.

[0075] In combination Figure 17 And Figure 18 Under the condition of driving the detection module 200 to lift by the output part of the linear reciprocating motion of the driving member 101, at least two position confirming members 300 are arranged along the axial direction of the driving shaft 1011, and a trigger member 400 is arranged on the side of the driving shaft 1011. During the movement of the driving shaft 1011, the trigger member 400 triggers the at least two position confirming members 300. During the process of controlling the detection module 200 to lift by the driving shaft 1011 of linear reciprocating motion, the trigger member 400 moves synchronously and reciprocally with the driving shaft 1011. When the detection module 200 is in the first detection position, the trigger member 400 triggers one position confirming member 300 to send a first arrival signal to the processor of the cleaning equipment, and the processor of the cleaning equipment controls the cleaning equipment to execute corresponding instructions according to the first arrival signal, which includes controlling the driving member 101 to stop working. When the detection module 200 is in the second detection position, the trigger member 400 triggers another position confirming member 300 to send a second arrival signal to the processor of the cleaning equipment, and the processor of the cleaning equipment controls the cleaning equipment to execute corresponding instructions according to the second arrival signal, which includes controlling the driving member 101 to stop working. The structure of the trigger member 400 and the position confirming member 300 can refer to the description above, which will not be repeated here.

[0076] Based on the above detection device, the application further provides a cleaning equipment, which comprises a host and the above detection device, and the detection device is assembled in the host.

[0077] The cleaning device provided by the application can avoid the damage of the detection module 200 caused by the contact and collision of the detection module 200 with the obstacle on the path of the cleaning device, and ensure the normal operation of the cleaning device.

[0078] Figure 19 The structure diagram of the shell in Figure 1 and Figure 2 is shown. In combination with Figure 19 , according to an embodiment of the application, the host computer includes a shell 1000, the top of the shell 1000 is provided with a recess 1001, the recess 1001 extends to the side of the shell 1000, the bottom of the recess 1001 is provided with a through hole 1002, the driving part 101 of the detection device is placed in the shell 1000, the detection module 200 passes through the through hole 1002, and switches between the first detection position and the second detection position. Wherein, when the detection module 200 is in the second detection position, the detection module 200 is not lower than the bottom of the recess 1001, the detection module 200 can scan the environmental information through the recess 1001 on the side of the shell 1000, so as to serve the operation of the cleaning device.

[0079] In combination with Figure 19 , in an embodiment, the recess 1001 extends to the rear side of the side of the shell 1000, when the detection module 200 is in the second detection position, the processor of the cleaning device controls the rotation of the cleaning device, so that the rear side of the cleaning device is rotated to the front side of the cleaning device, and the environmental information in the direction of the cleaning device is scanned by the detection module 200, so as to serve the operation of the cleaning device. In another embodiment, the recess 1001 extends to the front side of the side of the shell 1000, when the detection module 200 is in the second detection position, the environmental information in the direction of the cleaning device can be directly scanned by the detection module 200, so as to serve the operation of the cleaning device.

[0080] Based on the above cleaning device, the application further provides a cleaning system, which includes a base station and the above cleaning device used in cooperation.

[0081] The cleaning system with the above cleaning device can avoid the damage of the detection module 200 caused by the contact and collision of the detection module 200 with the obstacle on the path of the cleaning device, so as to ensure the normal operation of the cleaning device.

[0082] In the present application, unless specifically defined and limited otherwise, the "on" or "under" of a first feature to a second feature can include that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, the "on", "above" and "under" of the first feature to the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the first feature is higher in horizontal height than the second feature. The "under", "below" and "under" of the first feature to the second feature includes that the first feature is directly below and obliquely below the second feature, or only indicates that the first feature is lower in horizontal height than the second feature.

[0083] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise" indicate the orientation or positional relationship shown in the drawings, which are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0084] In the present application, unless otherwise specifically defined and limited, the terms "connection", "fixing" and the like should be broadly understood, for example, "fixing" can be fixed connection, or detachable connection, or integral; can be mechanical connection, or electrical connection; can be directly connected, or indirectly connected through intermediate medium, can be internal connection of two elements or interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0085] In addition, in the present application, the description such as "first", "second" and the like is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implying the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise specifically defined.

[0086] Although the embodiments of the present application have been shown and described, those skilled in the art can understand that various changes, modifications, replacements and variations can be made to these embodiments without departing from the principles and purposes of the present application, and the scope of the present application is defined by the claims and their equivalents.

Claims

1. A detection device, characterized in that, The detection device, mounted on the main unit of the cleaning equipment, includes: The drive mechanism has a liftable output section; and A detection module is connected to the output of the drive mechanism, and the detection module is movably located at a first detection position, a second detection position, or between the first detection position and the second detection position; The first detection position is higher than the top surface of the host, and the second detection position is lower than or equal to the top surface of the host.

2. The detection device as claimed in claim 1 further includes a connector, the connector connecting the output of the drive mechanism and the detection module.

3. The detection device as described in claim 2 further includes a carrier, wherein a bearing portion is provided at the bottom of the carrier, the top of the carrier is connected to the detection module, and the connector is movable between the bearing portion of the carrier and the detection module.

4. The detection device as described in claim 3, wherein, The connector elastically connects at least one of the bearing portion and the detection module.

5. The detection device according to any one of claims 1-4, further comprising a fixing member, wherein at least a portion of the detection module is raised and lowered within the fixing member.

6. The detection device as described in claim 5, wherein, The fixing component has a built-in first guide portion, and the detection module is provided with a second guide portion. The first guide portion and the second guide portion are inserted into each other along the moving direction of the detection module.

7. The detection device as described in claim 5, wherein, The detection module is provided with a first positioning part, and the fixing part is provided with a second positioning part. The first positioning part and the second positioning part are arranged opposite to each other and magnetically connected.

8. The detection device according to any one of claims 1-4 further includes a position confirmation element, the position confirmation element confirming that the detection module is in the first detection position or the second detection position.

9. The detection device as described in claim 8, wherein, The drive mechanism includes: A drive component having a rotatable drive shaft; and The linkage assembly connects the drive shaft and the detection module located above the drive component.

10. The detection device as claimed in claim 9, wherein, The position confirmation element is arranged circumferentially around the drive shaft, and a trigger element is arranged on the circumferential side of the drive shaft, which triggers at least two of the position confirmation elements.

11. The detection apparatus according to any one of claims 9-10, wherein, The linkage assembly includes: A first link is rotatably connected to the drive shaft; and The second link is rotatably connected to the first link and the detection module.

12. The detection device as claimed in claim 11 further includes a first limiting member, the first limiting member and the drive shaft being spaced apart, wherein when the detection module is in the first detection position, the first limiting member contacts the first connecting rod.

13. The detection device as claimed in claim 12, wherein, When the detection module is in the first detection position, the first link and the second link have an angle.

14. The detection device as described in claim 12 further includes a second limiting member, the second limiting member being spaced apart from the drive shaft, wherein when the detection module is in the second detection position, the second limiting member contacts the first connecting rod.

15. The detection device as claimed in claim 8, wherein, The driving mechanism includes a driving component, which has a driving shaft capable of linear reciprocating motion, and the driving shaft is connected to the detection module above the driving component.

16. The detection apparatus as claimed in claim 15, wherein, The drive mechanism also includes: A first drive block, the first drive block being connected to the drive shaft; and The second driving block is connected to the detection module and is located above the first driving block. At least the portion of the second driving block that contacts the first driving block is an inclined surface.

17. The detection apparatus as described in claim 15 or 16, wherein, The position confirmation element is arranged along the axial direction of the drive shaft, and a trigger element is arranged on the circumference of the drive shaft, the trigger element triggering at least two of the position confirmation elements.

18. A cleaning device, characterized in that, include: Host; The detection device according to any one of claims 1-17 is assembled on the host computer.

19. The cleaning equipment as claimed in claim 18, wherein, The host includes a housing, the top of which is provided with a recess that extends to the periphery of the housing. When the detection module is in the second detection position, the detection module is not lower than the bottom of the recess.

20. A cleaning system, characterized in that, include: The base station used in conjunction with the cleaning equipment as described in claim 18 or 19.

Images