Cleaning device

Abstract

The utility model discloses cleaning equipment which at least comprises an equipment body and a detection assembly, the equipment body is provided with a peripheral face, and a containing groove is formed in the peripheral face; the detection assembly comprises a reset assembly and a first detection element, a first part of the reset assembly is movably arranged in the containing groove, a second part of the reset assembly is connected with the first detection element, and the detection end of the first detection element faces the bottom of the equipment body; when the cleaning equipment moves towards a collision object and the detection assembly collides with the collision object, the collision object extrudes the reset assembly and forces at least a second part of the reset assembly to move in the direction away from the collision object relative to the equipment body. According to the technical scheme, welt cleaning can be achieved, and the cleaning effect is improved.

Description

Technical Field

[0001] This application relates to the field of cleaning technology, and in particular to a cleaning device. Background Technology

[0002] As people's living standards improve, more and more families are starting to use various cleaning equipment, such as robot vacuums and window cleaning robots, to reduce labor intensity and improve their quality of life.

[0003] Taking window cleaning robots as an example, window cleaning robots need to have contact sensors installed at their bottom corners to detect the edges of frameless glass, thereby ensuring that the window cleaning robot will not rush out of the glass.

[0004] However, this type of contact sensor occupies the corner area of ​​the bottom surface of the window cleaning robot, making it impossible for the cleaning cloth to cover the corner area of ​​the bottom surface of the window cleaning robot. As a result, when cleaning framed glass, there will be missed cleaning of the corners and edges of the glass, which greatly affects the user experience. Utility Model Content

[0005] The purpose of this application is to provide a cleaning device that can perform edge cleaning and improve the cleaning effect.

[0006] To achieve the above objectives, this application provides a cleaning device, the main body of which has an outer peripheral surface, and a receiving groove is provided on the outer peripheral surface;

[0007] The detection assembly includes a reset component and a first detection element. A first part of the reset component is movably disposed in the receiving groove, and a second part of the reset component is connected to the first detection element. The detection end of the first detection element is disposed facing the bottom of the device body.

[0008] When the cleaning device moves toward the impact object and the detection assembly collides with the impact object, the impact object compresses the reset assembly and forces at least a second portion of the reset assembly to move away from the impact object relative to the device body.

[0009] To achieve the above objectives, this application also provides an edge detection method, which is applied to the aforementioned cleaning device for cleaning a target surface, the method comprising:

[0010] Obtain the detection value of the first detection element;

[0011] Determine whether the detected value is equal to the first detected value. When the detected value is equal to the first detected value, the cleaning device is located at the edge of the target surface.

[0012] The first detection value is the value detected by the first detection element when the first detection element is retracted into the receiving slot.

[0013] Therefore, the technical solution provided in this application involves a detection assembly housed within a receiving groove on the outer periphery of the device body, and the reset component of the detection assembly can move at least a second portion relative to the device body in a direction away from the colliding object. Thus, when cleaning a target surface with a frame, as the cleaning device moves towards the frame, the frame can compress at least a second portion of the reset component, moving it away from the frame relative to the device body, causing the device body to come closer to the frame. This shortens the distance between the cleaning cloth located at the bottom of the device body and the frame, allowing the cleaning cloth to clean the edge of the target surface, thereby further improving the cleaning effect. Furthermore, when cleaning a frameless surface, the detection assembly can extend out of the receiving groove to detect the edge of the frameless surface.

[0014] Meanwhile, by installing the detection assembly on the outer circumference of the main body of the device, the corner area of ​​the bottom surface of the main body of the device is avoided. This allows the cleaning cloth installed on the bottom surface of the main body of the device to cover the corner area of ​​the bottom surface of the window cleaning robot and the bottom edge of the window cleaning robot, thereby achieving higher cleaning efficiency and reducing the number of missed cleaning areas. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a schematic diagram of a window cleaning robot cleaning framed glass in related technologies;

[0017] Figure 2 This is a perspective view of a cleaning device in one embodiment provided in this application;

[0018] Figure 3 This is a bottom view of a cleaning device in one embodiment provided in this application;

[0019] Figure 4 This is a bottom view of the cleaning equipment in another embodiment provided in this application;

[0020] Figure 5 This is an exploded schematic diagram of a cleaning device in one embodiment provided in this application;

[0021] Figure 6 This is a half-sectional schematic diagram of the cleaning device located at the detection assembly in one embodiment provided in this application;

[0022] Figure 7 This is an exploded schematic diagram of a cleaning device in one embodiment provided in this application;

[0023] Figure 8 This is a half-sectional schematic diagram of the cleaning device located at the detection assembly in one embodiment provided in this application;

[0024] Figure 9 This is a schematic diagram showing the positions of the first support, the first step surface, the second step surface, and the second detection element when the first support is in the first position.

[0025] Figure 10 This is a schematic diagram showing the positions of the first support in the second position relative to the first step surface, the second step surface, and the second detection element.

[0026] Figure 11 This is a schematic diagram showing the positions of the first support in the third position relative to the first step surface, the second step surface, and the second detection element.

[0027] Figure 12 This is a schematic diagram showing the positions of the first support in the fourth position relative to the first step surface, the second step surface, and the second detection element.

[0028] Figure 13 This is a schematic diagram showing the positions of the first support in the fifth position relative to the first step surface, the second step surface, and the second detection element.

[0029] Figure 14 This is a schematic diagram of the window cleaning robot walking in the rapid cleaning mode according to one embodiment provided in this application;

[0030] Figure 15 This is a schematic diagram of the first step of the window cleaning robot in deep cleaning mode in one embodiment provided in this application;

[0031] Figure 16 This is a schematic diagram of the second walking motion of the window cleaning robot in deep cleaning mode according to one embodiment provided in this application;

[0032] Figure 17 This is an exploded view of the cleaning equipment in another embodiment provided in this application;

[0033] Figure 18 This is an exploded schematic diagram of the cleaning equipment in another embodiment provided in this application;

[0034] Figure 19 This is a half-sectional view of the cleaning device located at the detection assembly in another embodiment provided in this application;

[0035] Figure 20This is a schematic diagram of the structure of the reset seat in one embodiment provided in this application;

[0036] Figure 21 This is a schematic diagram of the resetting seat and the fourth bracket assembled in one embodiment provided in this application;

[0037] Figure 22 This is a half-sectional view of the cleaning device located at the detection assembly in another embodiment provided in this application;

[0038] Explanation of reference numerals in the attached figures:

[0039] 100. Equipment body; 101. Contact sensor; 102. Cleaning cloth; 110. Outer peripheral surface; 111. End face; 112. Corner surface; 120. Receiving groove; 121. First step surface; 122. Second step surface; 130. Main body; 140. Top cover;

[0040] 200. Detection assembly; 210. Reset assembly; 211. First bracket; 2111. Mounting hole; 2112. Mounting section; 2113. Gathering section; 2114. Annular part; 2115. Notch; 212. First elastic element; 213. Roller; 214. Second detection element; 215. Second bracket; 216. Second elastic element; 217. Third bracket; 218. Third elastic element; 219. Fourth bracket; 2191. Drive block; 2192. First column; 220. First detection element; 230. Return component; 231. Reset seat; 2311. First drive surface; 2312. Second drive surface; 2313. Engagement surface; 232. Fourth elastic element; 240. Sliding component; α. Symmetry plane. Detailed Implementation

[0041] Figure 1 This is a schematic diagram illustrating a window-cleaning robot cleaning framed glass in a related technology. (Reference) Figure 1 The relevant window cleaning robot has contact sensors 101 installed at the four corners of its bottom surface. When performing cleaning tasks, these sensors at the corners detect the edges of frameless glass, ensuring the robot doesn't accidentally fall. However, these contact sensors 101 occupy valuable space at the corners of the robot's bottom surface, preventing the cleaning cloth 102 from fully covering these areas. When cleaning framed glass, this design limitation may result in incomplete cleaning of corners and edges, leaving cleaning blind spots and affecting the user's overall cleaning experience.

[0042] To address the aforementioned technical problems, this application considered replacing the contact sensor with a non-contact sensor (such as an acoustic sensor). This would eliminate the need for the sensor to be located on the bottom surface of the window cleaning robot; instead, the sensor could be positioned on the top or outer periphery, allowing the cleaning cloth 102 to be positioned along the bottom edge of the robot, reducing missed areas when cleaning frameless glass. However, since the sensor still needs to extend circumferentially from the window cleaning robot to detect the edge of the frameless glass, when cleaning framed glass, the circumferentially extending sensor would hinder the robot from reaching the edge of the framed glass, easily leading to missed areas during framed glass cleaning. Furthermore, the window cleaning robot cannot detect the edge of framed glass, limiting its applicability.

[0043] To maximize the usability of the window cleaning robot and improve cleaning efficiency, this application further incorporates a retractable sensor structure. Specifically, during the cleaning of frameless glass, the sensor is never subjected to external force and can extend beyond the robot to detect the edges of the frameless glass. During the cleaning of framed glass, when the robot reaches the frame, the frame applies a force to the sensor, causing it to move away from the frame relative to the robot's main body. This allows the robot to clean close to the frame, achieving edge-to-edge cleaning and improving cleaning effectiveness. In this way, the window cleaning robot can utilize the retractable sensor to detect the edges of frameless glass and perform edge-to-edge cleaning on framed glass, enabling edge-to-edge cleaning for both types of glass, reducing missed areas, and improving overall cleaning efficiency.

[0044] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some embodiments of this application, but not all embodiments.

[0045] This application provides a cleaning device with self-movement and cleaning functions, which can simultaneously clean a target surface during the movement of the cleaning device. The cleaning device can be a window cleaning robot or a floor sweeping robot, etc., and the target surface can be understood as the plane on which the cleaning device works, such as a glass surface, wall surface, or floor surface.

[0046] Please see also Figures 2 to 3In one feasible implementation, the cleaning equipment may include a main body 100, which serves as the basic carrier of the cleaning equipment, providing support and protection for other components. The main body 100 has an outer peripheral surface 110, which connects the top and bottom surfaces of the main body 100, and a receiving groove 120 is provided on the outer peripheral surface 110. In practical applications, a moving mechanism and cleaning components may be installed on the main body 100. The main body 100 moves via the moving mechanism, and during this movement, the cleaning components clean the target surface.

[0047] In this embodiment, the cleaning device may further include a detection assembly 200, which can be used to detect a target surface portion located in front of the moving body 100, thereby determining whether there are edges, pits, or protrusions or other obstacles in the area to be moved of the body 100. Specifically, the detection assembly 200 includes a reset component 210 and a first detection element 220, wherein a first part of the reset component 210 is movably disposed in the receiving groove 120, and a second part of the reset component 210 is connected to the first detection element 220. When the body 100 moves toward a collision object (which may be an obstacle or a frame) and the detection assembly 200 collides with the collision object, the collision object squeezes the reset component 210 and forces at least the second part of the reset component 210 to move away from the collision object relative to the body 100. Thus, when the cleaning device cleans a target surface with a frame, when the frame collides with the reset component 210, the frame can force the reset component 210 to move at least partially away from the device body 100, allowing the outer peripheral surface of the device body 100 to be cleaned close to the frame, achieving edge cleaning, avoiding missed areas, and improving cleaning effect. In practical applications, the reset component 210 can also have a restoring force, that is, when the squeezing force of the colliding object disappears, the reset component 210 can return to its initial position, so that the first detection element 220 extends to the outside of the device body 100, so that when the cleaning device cleans inside the frame of the target surface with a frame, the reset component 210 extends from the outer peripheral surface of the device body 100 to detect the travel path.

[0048] The first detection element 220 has its detection end facing the bottom of the device body 100, meaning its detection direction is downwards. Thus, during the movement of the device body 100, when the reset assembly 210 is blocked by an obstacle (such as the frame of a framed target surface or other obstacles of a certain height), the second part of the reset assembly 210 is subjected to external force, causing the first detection element 220 to retract into the receiving groove 120. The first detection element 220 can then detect the values ​​within the receiving groove 120. When the first detection element 220 extends outside the device body 100, it can detect flat target surfaces, protrusions and depressions on the target surface, and values ​​after extending beyond frameless target surfaces. Therefore, based on the different detection values ​​obtained, the condition of the road segment to be traveled and the current location can be identified, such as whether it is a framed edge or a frameless edge, thereby enabling a corresponding travel strategy.

[0049] It is worth mentioning that when the aforementioned cleaning equipment is used as a window cleaning robot, in addition to recognizing both framed and frameless edges, the window cleaning robot can also avoid occupying the bottom corner area by mounting the detection assembly 200 on the outer peripheral surface of the main body 100. This allows the cleaning cloth 102 to cover the bottom corner area and bottom edge of the window cleaning robot (e.g., ...). Figure 3 As shown, this achieves higher cleaning efficiency and reduces missed cleaning areas. Furthermore, when cleaning a target surface with a frame, as the window cleaning robot moves to the frame, the frame can squeeze the detection assembly 200 to move at least partially away from the frame relative to the main body 100 of the device, thereby further reducing the distance between the cleaning cloth 102 and the frame, allowing the cleaning cloth 102 to clean the edge of the target surface, and thus further improving the cleaning effect.

[0050] In one feasible implementation, the receiving groove 120 can be formed by opening on the outer peripheral surface 110 of the device body 100.

[0051] In another alternative embodiment, the device body 100 may include a main body portion 130 and a top cover 140, which are detachably connected. When the top cover 140 is mounted on the main body portion 130, the top cover 140 and the main body portion 130 together form a receiving groove 120. Thus, when installing the detection assembly 200, the top cover 140 can be removed, thereby facilitating the installation operation of the detection assembly 200.

[0052] In one feasible implementation, the first detection element 220 may be a camera, and the detection value of the first detection element 220 is the image captured by the camera. The first detection element 220 identifies the edge and / or obstacle of the target surface where the cleaning device is located by capturing the image.

[0053] In another possible implementation, the first detection element 220 can be configured to receive and transmit signals, and detect the edge and / or obstacles of the target surface where the cleaning equipment is located based on the signals.

[0054] In practical applications, the first detection element 220 can be equipped with laser sensors, infrared sensors, and acoustic sensors, depending on the specific application scenario. The corresponding signal will be one of laser, infrared light, or ultrasonic waves. Taking a window-cleaning robot cleaning a window as an example, since laser and infrared light easily penetrate glass and cannot reflect light for measurement, the first detection element 220 preferably uses an ultrasonic sensor, and the corresponding signal will be ultrasonic waves.

[0055] The placement of the detection end of the first detection element 220 facing the bottom of the device body 100 may include the detection end of the first detection element 220 being vertically aligned with the bottom of the device body 100, meaning that the transmission and reception direction of the first detection element 220 is approximately parallel to the height direction of the device body 100. Alternatively, it may include the detection end of the first detection element 220 being tilted towards the bottom of the device body 100.

[0056] Regarding the specific arrangement of the detection assembly 200 on the outer peripheral surface 110 of the device body 100, this application provides two feasible embodiments for reference.

[0057] Example 1, such as Figure 2 and Figure 3 As shown, the outer peripheral surface 110 has an end face 111 and a corner face 112 located between two adjacent end faces 111, and the receiving groove 120 is located on the corner face 112. Correspondingly, the detection assembly 200 installed in the receiving groove 120 is located at the corner of the device body 100.

[0058] In practical applications, the device body 100 can be constructed as a rectangular structure, a D-shaped structure, or a triangular structure, etc., and this application does not impose specific limitations on this. Taking the device body 100 as a rectangular structure as an example, the outer peripheral surface 110 of the device body 100 has four end faces 111 and four corner faces 112. Each of the four corner faces 112 can be provided with a receiving groove 120, and a detection assembly 200 is installed in each mounting groove 120. That is to say, a detection assembly 200 is installed at each of the four corners of the device body 100. Of course, the detection assembly 200 can also be installed only at the four corners of the device body 100, and this application does not impose specific limitations on this.

[0059] Example 2, as follows Figure 4 As shown, the outer peripheral surface 110 has an end face 111 and a corner face 112 located between two adjacent end faces 111, and a receiving groove 120 is located on the end face 111. Correspondingly, the detection assembly 200 installed in the receiving groove 120 is located at the end of the device body 100.

[0060] Considering that mounting the detection assembly 200 on the end of the device body 100 may create blind spots during the movement of the device body 100, especially when the device body 100 turns, mounting the detection assembly 200 at the corner of the device body 100 can reduce these blind spots, ensuring that the cleaning equipment can detect edges at all times, thereby reducing the possibility of collisions or accidental drops of the cleaning equipment. Therefore, this application preferably uses a detection assembly 200 located at the corner of the device body 100, and the following description will follow accordingly.

[0061] Regarding the specific implementation of the reset assembly 210 driving the first detection element 220 to move relative to the device body 100 in a direction away from the colliding object, this application provides three feasible embodiments for reference.

[0062] Example 1, such as Figure 5 and Figure 6 As shown, the reset assembly 210, through unidirectional telescoping, causes the first detection element 220 to retract into and extend out of the receiving groove 120. Specifically, the reset assembly 210 may include a first bracket 211 and a first elastic member 212. One end of the first bracket 211 is slidably connected to the receiving groove 120, and the other end of the first bracket 211 is connected to the first detection element 220. Thus, when one end of the first bracket 211 slides within the receiving groove 120, it can cause the first detection element 220, connected to the other end of the first bracket 211, to retract into and extend out of the receiving groove 120.

[0063] Along the sliding direction of the first bracket 211, the first elastic member 212 abuts against the inner wall of the first bracket 211 and the receiving groove 120. The first elastic member 212 is used to provide a restoring force for the first bracket 211 to extend out of the receiving groove 120, so that when the external force disappears, another part of the reset assembly 210 can automatically extend out of the receiving groove 120.

[0064] In practical applications, one end of the first bracket 211 can be slidably connected to the receiving groove 120 by means of a slider and a groove. A limiting block can also be provided in the receiving groove 120 to prevent one end of the first bracket 211 from completely detaching from the receiving groove 120.

[0065] In one feasible implementation, the first detection element 220 can be directly connected to the other end of the first bracket 211. However, to avoid damage to the first detection element 220 from collisions, such as... Figure 6 As shown, in another optional embodiment, the other end of the first bracket 211 may be provided with a mounting hole 2111, which extends along the height direction of the device body 100 and penetrates through the bottom end of the first bracket 211. The first detection element 220 is installed in the mounting hole 2111, with the detection end of the first detection element 220 facing the bottom of the device body 100 through the mounting hole 2111. In this way, by installing the first detection element 220 in the mounting hole 2111, direct contact between the first detection element 220 and the colliding object can be avoided, thereby preventing damage caused by direct collision between the first detection element 220 and the colliding object.

[0066] In one feasible implementation, the mounting hole 2111 can be a blind hole with an opening located at the bottom end of the first bracket 211. When installing the first detection element 220, the first detection element 220 is installed into the mounting hole 2111 through the opening located at the bottom end of the first bracket 211.

[0067] Please see again Figure 6 As shown, in another alternative embodiment, the mounting hole 2111 can also be configured as a through hole. The through hole includes a mounting section 2112 and a converging section 2113. The mounting section 2112 is located above the converging section 2113. The first detection element 220 is mounted within the mounting section 2112. The converging section 2113 extends downward from the mounting section 2112 and converges inward; or, the converging section 2113 is a truncated cone with a large-diameter end and a small-diameter end, and the large-diameter end communicates with the mounting section 2112. When mounting the first detection element 220, the first detection element 220 can be mounted into the mounting section 2112 through the upper opening of the mounting section 2112.

[0068] It is worth mentioning that when the detection assembly 200 is used to detect the edgeless edge, by setting the convergence section 2113, the detection area of ​​the first detection element 220 can be made closer to the cleaning cloth 102. Thus, when the first detection element 220 detects the edgeless edge, the distance between the edge and the cleaning cloth 102 is closer, thereby further reducing the missed cleaning area and improving the cleaning effect.

[0069] In practical applications, when the cleaning equipment is used as a window cleaning robot, the detection assembly 200 may collide with the edge frame in different forms, which means that the external force on the other end of the first bracket 211 may come from different directions.

[0070] To ensure that external forces from different directions can drive the probe assembly 200 to retract into the receiving slot 120, please refer again... Figure 6As shown, in one feasible embodiment, the other end of the first bracket 211 has an annular portion 2114 at its bottom, which surrounds the edge of the mounting hole 2111. The reset assembly 210 may further include a roller 213, which is rotatably connected to the annular portion 2114, and the outer wall surface of the roller 213 is at least partially located on the side of the first bracket 211 away from the first elastic member 212. Thus, when the cleaning device moves to the edge of the frame, the first bracket 211 contacts the frame via the roller 213, thereby reducing the friction when the cleaning device contacts the frame by utilizing the rotational characteristics of the roller 213. Furthermore, the roller 213 can roll in different directions, meaning that it can adapt regardless of the direction of the external force, thereby allowing the detection assembly 200 to move along the direction of the force. This makes it easier for the detection assembly 200 to move and retract under the action of force, preventing the detection assembly 200 from jamming and affecting the normal operation of the cleaning device.

[0071] Furthermore, a plane of symmetry α exists between the two end faces 111 adjacent to the reset assembly 210. The first bracket 211 is located on the plane of symmetry α, and the sliding direction of the first bracket 211 is parallel to the plane of symmetry α. This helps ensure that the detection assembly 200 maintains consistent detection accuracy on both adjacent end faces 111 during movement. Thus, regardless of which end face 111 the cleaning device moves with as the front, the detection assembly 200 can accurately detect the edge position, ensuring detection accuracy. Simultaneously, the first bracket 211 being located on the plane of symmetry α also improves the aesthetics and balance of the design.

[0072] In one feasible implementation, when the detection assembly 200 is squeezed back into the receiving groove 120 by the frame, the detection value of the first detection element 220 will change, so that it can be determined whether the detection assembly 200 has been squeezed back into the receiving groove 120 based on the detection value of the first detection element 220, and thus determine whether the cleaning device is at the edge.

[0073] In another alternative embodiment, the reset assembly 210 may further include a second detection element 214, which is mounted within the receiving groove 120 and configured to detect whether the first support 211 has retracted into the receiving groove 120. In other words, when the detection assembly 200 is compressed back into the receiving groove 120 by the frame, the detection signal of the second detection element 214 changes, thus determining that the detection assembly 200 has retracted into the receiving groove 120, and consequently, whether the cleaning device is at the edge.

[0074] In practical applications, the second detection element 214 can be a proximity sensor. The second detection element 214 is installed within the receiving groove 120 at one end away from the opening of the receiving groove 120. When the first support 211 retracts into the receiving groove 120, the first support 211 can compress the second detection element 214, causing a change in the signal of the second detection element 214. Alternatively, the second detection element 214 can also be a laser sensor, an infrared sensor, or an ultrasonic sensor, in which case the first support 211 can block the second detection element 214, causing a change in the signal of the second detection element 214.

[0075] Considering that when the second detection element 214 is a proximity sensor, the first bracket 211 can only switch directions for cleaning after it retracts into the receiving groove 120 to a fixed position and collides with the second detection element 214, which results in a relatively simple cleaning mode for the cleaning equipment.

[0076] Therefore, such as Figures 7 to 15 As shown, in one feasible implementation, the second detection element 214 preferably changes its signal by blocking or not blocking it. The detection direction of the second detection element 214 is set to intersect with the sliding direction of the first support 211. The first support 211 has a notch 2115, which is located on the same plane as the second detection element 214. That is, as the first support 211 slides, it can block or not block the second detection element 214 through the notch 2115, thereby allowing the second detection element 214 to obtain two different signal outputs. For ease of description, the signal formed when the second detection element 214 is blocked by the first support 211 is defined as an off signal, and the signal formed when the second detection element 214 is not blocked by the first support 211 is defined as an on signal. Correspondingly, the bottom of the receiving groove 120 has at least a first stepped surface 121, which is located on the sliding path of the first detection element 220, and a second stepped surface 122 is located between the first stepped surface 121 and the outer peripheral surface 110. That is, as the first support 211 slides, the first detection element 220 can detect the first stepped surface 121 and the target surface respectively, thereby obtaining different detection values. The value obtained by the first detection element 220 from the first stepped surface 121 can be defined as the A value, and the value obtained by the first detection element 220 from the target surface can be defined as the C value.

[0077] Along the sliding direction of the first bracket 211 into the receiving groove 120, the first bracket 211 sequentially has a first position, a second position, a fourth position, and a fifth position. When the first bracket 211 is in the first position, as... Figure 9As shown, the detection end of the first detection element 200 is located outside the receiving groove 120, and the second detection element 214 is blocked by the first bracket 211. When the first bracket 211 is in the second position, as... Figure 10 As shown, the detection end of the first detection element 200 remains outside the receiving groove 120, and the second detection element 214 is not obstructed by the first bracket 211. When the first bracket 211 is in the fourth position, as... Figure 12 As shown, the detection end of the first detection element 200 is located directly above the first step surface 121, and the second detection element 214 is not obstructed by the first bracket 211. When the first bracket 211 is in the fifth position, as... Figure 13 As shown, the detection end of the first detection element 200 is still located directly above the first step surface 121, and the second detection element 214 is blocked by the first bracket 211. It should be noted that the position of the detection end of the first detection element 200 as defined in this application can be understood as the position where the first detection element 200 transmits and receives signals.

[0078] In practical applications, the second detection element 214 can be an optical coupler sensor. The second detection element 214 has a transmitter and a receiver, which are located on opposite sides of the first bracket 211. When the notch 2115 is located between the transmitter and the receiver, the light emitted by the transmitter can be received by the receiver, thereby outputting a corresponding signal.

[0079] It's worth mentioning that when the cleaning equipment is a window cleaning robot, the above methods can also enrich the cleaning modes of the window cleaning robot in framed glass scenarios. Specifically, the window cleaning robot can have a fast cleaning mode and a deep cleaning mode.

[0080] When the window cleaning robot uses the quick cleaning mode, such as Figure 14 As shown, the window cleaning robot can move and clean from top to bottom in a Z-shaped pattern. When the robot reaches the frame, it can switch directions to clean by switching signals generated when the first support 211 slides from the fourth position to the fifth position. Specifically, when the detection value of the first detection element 220 remains constant (value A), and the detection signal of the second detection element 214 switches from an on signal to an off signal, the robot switches directions to clean. This allows the robot to clean close to the frame, reducing missed areas.

[0081] When the window cleaning robot uses the deep cleaning mode, such as Figure 15 and Figure 16As shown, the window cleaning robot can perform cleaning in two steps. First, the robot moves from top to bottom in a Z-shaped pattern. When it reaches the frame, it can switch directions to clean by switching signals generated when the first support 211 slides from the first position to the second position. Specifically, when the detection value of the first detection element 200 remains constant (C value), and the detection signal of the second detection element 214 switches from an off signal to a on signal, the robot switches directions to clean, leaving a certain space between the main body 100 and the frame un-cleaned. Second, as... Figure 16 As shown, the window cleaning robot then performs edge cleaning by switching signals between the fourth and fifth positions via the first support 211. In this way, during the first step of Z-shaped walking cleaning, dirt is pushed to a point some distance from the junction of the window and frame. During the second step of edge cleaning, the dirt left from the first step is pushed to a designated area for easier cleaning. This prevents the problem of the window cleaning robot pushing dirt to and accumulating at the junction of the window and frame, as is common in fast cleaning mode, further improving the cleaning effect.

[0082] To avoid encountering obstacles of the same height as the first step surface 121 during the return from the second position to the first position, and thus being misidentified as switching from the fourth position to the fifth position, in one feasible embodiment, the bottom of the receiving groove 120 may also have a second step surface 122 located below the first step surface 121. The second step surface 122 is located on the moving path of the first detection element 220, between the first step surface 121 and the outer peripheral surface 110. That is, as the first support 211 slides, the first detection element 220 can detect the second step surface 122, thereby obtaining different detection values. Correspondingly, the first support 211 also has a third position, located between the second and fourth positions. When the first support 211 is in the third position, such as Figure 11 As shown, the detection end of the first detection element 220 is located directly above the first step surface 121, and the second detection element 214 is not blocked by the first bracket 211.

[0083] Thus, when the signal changes of the first detection element 220 and the second detection element 214 are the same, it can be determined whether the signal changes of the first detection element 220 and the second detection element 214 within a preset time period prior to this moment meet the signal change requirements from the second position to the fourth position. If they meet the requirements, the current action is to switch from the fourth position to the fifth position. If they do not meet the requirements, the current action is to return from the second position to the first position.

[0084] It should be noted that when the first bracket 211 is in the first, second, third, and fourth positions, the detection assembly 200 can be partially located outside the receiving groove 120 and partially inside the receiving groove 120. When the first bracket 211 is in the fifth position, the detection assembly 200 is completely located inside the receiving groove 120. This allows the device body 100 to move completely close to the frame when the first bracket 211 is in the fifth position, preventing missed cleaning. Of course, when the first bracket 211 is in the first, second, third, fourth, and fifth positions, the detection assembly 200 can be partially located outside the receiving groove 120 and partially inside the receiving groove 120. This ensures that even when the first bracket 211 is in the fifth position, the detection assembly 200 is still partially located between the device body 100 and the frame, leaving a slight distance between the device body 100 and the frame to prevent scratches and damage between the device body 100 and the frame.

[0085] Example 2, as follows Figure 17 As shown, the reset assembly 210 moves the first detection element 220 relative to the device body 100 away from the colliding object via bidirectional telescoping. Specifically, the reset assembly 210 may include a second bracket 215, a second elastic element 216, a third bracket 217, and a third elastic element 218. The second bracket 215 is slidably connected within the receiving groove 120, and the second elastic element 216 abuts against the inner wall of the receiving groove 120 along the sliding direction of the second bracket 215. The third bracket 217 is slidably connected to the second bracket 215, and the third elastic element 218 abuts against one end of the third bracket 217 between the second bracket 215 along the sliding direction of the third bracket 217. The other end of the third bracket 217 is connected to the first detection element 220. The sliding direction of the second bracket 215 intersects the sliding direction of the third bracket 217 and is perpendicular to the height direction of the device body 100. In this way, the first detection element 220 can move relative to the main body 100 away from the collision object and return to its initial state by sliding the second bracket 215 and the third bracket 217.

[0086] Taking a window cleaning robot as an example, when the robot is cleaning frameless glass, the first detection element 220 extends outside the main body 100 under the elastic action of the second elastic element 216 and the third elastic element 218, positioned in front of the main body 100, thus allowing it to detect the glass edge in advance and change its movement strategy. When the robot is cleaning framed glass, as it moves to the frame, the other end of the third support 217 contacts the frame and is squeezed by it, causing the second support 215 to move along the Y direction (see reference). Figure 17(As shown) The first detection element 220 slides relative to the device body 100 in a direction away from the frame, or the third bracket 217 slides relative to the device body 100 in the X direction in a direction away from the frame, so that the detection assembly 200 can move at least partially relative to the device body 100 in a direction away from the frame to avoid it, enabling the window cleaning robot to achieve edge cleaning and achieve the effect of cleaning corners. Furthermore, the first detection element 220 can also cooperate with the detection elements corresponding to the second bracket 215 and the third bracket 217 to detect that the window cleaning robot is at the edge. When the window cleaning robot moves away from the frame, the first detection element 220 returns to its initial state under the elastic action of the second elastic element 216 and the third elastic element 218.

[0087] In practical applications, the sliding direction of one of the two end faces 111 adjacent to the reset component 210 and the second bracket 215 is parallel, and the sliding direction of the other of the two end faces 111 adjacent to the reset component 210 and the third bracket 217 is parallel.

[0088] Example 3, as follows Figure 18 and Figure 19 As shown, the reset assembly 210 rotates to move the first detection element 220 away from the colliding object relative to the device body 100. Specifically, the reset assembly 210 includes a fourth bracket 219 and a return component 230. One end of the fourth bracket 219 is rotatably connected to the receiving groove 120, and the other end of the fourth bracket 219 is connected to the first detection element 220. The return component 230 is installed in the receiving groove 120 and is configured to drive the fourth bracket 219 to return to its initial state by rotation when the external force disappears.

[0089] In practical applications, the detection assembly 200 containing the reset component 210 in this embodiment can be used in conjunction with the existing impact detection mechanism, whereby the impact detection mechanism detects the framed edge and the detection assembly 200 detects the frameless edge.

[0090] The rotation axis of the fourth bracket 219 can be perpendicular to the height direction of the equipment body 100. In this way, the fourth bracket 219 can switch between the initial position and the position after moving away from the collision object relative to the equipment body 100 by flipping up and down.

[0091] However, considering that if the fourth bracket 219 were to be flipped up and down, it would inevitably increase the overall height of the main body 100 of the equipment, thus limiting the cleaning work of the main body 100 in low-ceilinged areas, this application preferably places the rotation axis of the fourth bracket 219 parallel to the height direction of the main body 100 of the equipment.

[0092] Regarding the specific structure of the return component 230, as follows: Figures 19 to 21As shown, in one feasible embodiment, the return component 230 includes a reset seat 231 and a fourth elastic member 232. The reset seat 231 is slidably connected within the receiving groove 120, and the sliding direction of the reset seat 231 is parallel to the height direction of the device body 100. Along the sliding direction of the reset seat 231, the fourth elastic member 232 abuts against the inner wall of the receiving groove 120 to drive the reset seat 231 to slide upward. The top surface of the reset seat 231, i.e., the side of the reset seat 231 away from the fourth elastic member 232, is arranged around the rotation axis of the fourth bracket 219. The top surface of the reset seat 231 has a first driving surface 2311, a second driving surface 2312, and a mating surface 2313 connecting the first driving surface 2311 and the second driving surface 2312. The first driving surface 2311 and the second driving surface 2312 are respectively inclined downward toward the mating surface 2313. The fourth bracket 219 is also provided with a drive block 2191 at one end, which is used to abut against the first drive surface 2311, the second drive surface 2312 and the mating surface 2313.

[0093] Thus, when the fourth support 219 is subjected to an external force, it can flip towards the first driving surface 2311 or towards the second driving surface 2312, depending on the direction of the force, to move relative to the main body 100 away from the colliding object. Taking the fourth support 219 flipping towards the first driving surface 2311 as an example, during the flipping process, the driving block 2191 moves from the mating surface 2313 to the first driving surface 2311. Since the fourth support 219 only has the degree of freedom in the direction of rotation, the vertical height of the driving block 2191 will not change. This means that as the driving block 2191 rotates, it can push the reset seat 231 downward by abutting against the first driving surface 2311, thereby compressing and storing energy by squeezing the fourth elastic element 232.

[0094] When the external force on the fourth support 219 disappears, the fourth elastic element 232 releases energy, thereby pushing the reset seat 231 to slide upward. Similarly, since the fourth support 219 only has the degree of freedom in the direction of rotation, as the reset seat 231 slides upward, the reset seat 231 can drive the drive block 2191 to move along the first drive surface 2311 towards the mating surface 2313 through the first drive surface 2311, thereby causing the fourth support 219 to flip and return to its initial position.

[0095] In practical applications, the bottom end of the drive block 2191, i.e., the abutment end of the drive block 2191 with the first drive surface 2311, the second drive surface 2312, and the mating surface 2313, should be provided with an arc transition surface structure to reduce the friction between the drive block 2191 and the first drive surface 2311, the second drive surface 2312, and the mating surface 2313, thereby preventing jamming and ensuring the stability of the rotation of the fourth bracket 219. The outer wall surface and / or inner wall surface of the reset seat 231 may also be provided with ribs or limiting grooves, etc., to limit the rotation of the reset seat 231 during its up-and-down sliding process.

[0096] It should be noted that the first elastic element 212, the second elastic element 216, the third elastic element 218 and the fourth elastic element 232 defined in this application may be springs, elastic blocks or other components with elastic properties, and this application does not make specific limitations.

[0097] In one feasible implementation, one end of the fourth bracket 219 can be rotatably connected to the upper cover 140. Correspondingly, the drive block 2191 extends downward from the bottom of one end of the fourth bracket 219. The fourth bracket 219 restricts the vertical movement freedom of the fourth bracket 219 through its rotatable connection structure with the upper cover 140.

[0098] In another alternative embodiment, one end of the fourth bracket 219 may be provided with a first column portion 2192. The fourth bracket 219 is rotatably connected to the receiving groove 120 through the first column portion 2192. Correspondingly, the driving block 2191 extends radially outward from the outer wall surface of the first column portion 2192. The reset seat 231 is sleeved on the first column portion 2192, thereby limiting the sliding direction of the reset seat 231 through the first column portion 2192.

[0099] In practical applications, the bottom of the inner wall of the receiving groove 120 can be formed with an upwardly extending stepped shaft. The first column portion 2192 is fitted onto the stepped shaft, and its vertical movement is restricted by the stepped surface of the stepped shaft and the top cover 140. The fourth elastic member 232 can also be fitted onto the stepped shaft to prevent displacement during compression and release.

[0100] Considering that when the cleaning device in this embodiment travels at a special angle of 45° to the corner of the frame, the fourth bracket 219 will be obliquely inserted into the corner, preventing the fourth bracket 219 from flipping to avoid it, thus creating a problem where edge cleaning cannot be achieved. Therefore, as Figure 22As shown, this application further adds a sliding component 240 in the receiving groove 120, and the sliding component 240 is slidably connected in the receiving groove 120. The fourth bracket 219 and the return component 230 are installed on the sliding component 240. So when the fourth bracket 219 is inserted obliquely into the included angle and the fourth bracket 219 cannot be flipped to avoid, the fourth bracket 219 can slide into the receiving groove 120 with the sliding component 240 to avoid, thereby achieving edge cleaning.

[0101] In practical applications, the sliding component 240 can be composed of a slider and an elastic element. The fourth bracket 219 and the return component 230 are installed on the slider. Along the sliding direction of the slider, the elastic element abuts between the slider and the inner wall surface of the receiving groove 120.

[0102] Based on the same inventive concept, this application also provides an edge detection method, which is applied to the cleaning device described above. The cleaning device is used to clean a target surface, and the method is used to detect the edge of the target surface. Specifically, the method includes:

[0103] Obtain the detection value of the first detection element;

[0104] Determine whether the detected value is equal to the first detected value. When the detected value is equal to the first detected value, the cleaning device is located at the edge of the target surface.

[0105] The first detection value is the value detected by the first detection element when the first detection element retracts into the receiving groove.

[0106] Furthermore, when the detected value is not equal to the first detected value, it is determined whether the detected value is greater than the second detected value. When the detected value is greater than the second detected value, the cleaning equipment is located at the edge of the target surface.

[0107] It should be noted that the detected value can be distance, time, or a corresponding electrical signal, etc., and this application does not specifically limit it. The first detected value can be a fixed value or a vertical range. When the detected value meets any value within this range, it can be considered that the detected value is equal to the first detected value, thereby avoiding the problem of unidentified detection. The second detected value should be slightly larger than the value detected by the first detection element when the cleaning device is not at the edge, thereby eliminating interference factors such as pits on the target surface, and avoiding the problem of misidentification caused by small pits on the target surface.

[0108] The following section will provide a detailed explanation using a window cleaning robot as an example, taking a specific application scenario as an example.

[0109] Application Scenario 1

[0110] A user purchased a window cleaning robot. The robot has a sensor assembly that can extend and retract from the outer periphery at the corner. Because the sensor assembly is located on the outer periphery, the cleaning cloth on the bottom of the window cleaning robot can extend as far as possible to the bottom edge of the robot.

[0111] After the user presses the start button on the window cleaning robot and places it on the floor-to-ceiling window, the robot can automatically clean the glass.

[0112] During the cleaning process of the window cleaning robot, when the window cleaning robot moves to the left and right frameless edges of the window, the detection assembly extends from the outer peripheral surface and is positioned in front of the window cleaning robot. The detection assembly moves to the edge position before the main body of the device. The detection value of the detection assembly changes, thereby identifying this as the edge of the window, and then the route is changed to continue cleaning.

[0113] When the window cleaning robot moved to the low edge of the window, the detection value of the detection assembly changed again, and it once again identified this as the edge of the window, so it changed its route and continued cleaning.

[0114] When the window cleaning robot moves to the high frame of the window, the frame collides with the detection assembly, squeezing the assembly back into the receiving groove on the outer periphery. This allows the cleaning cloth to clean the edge of the frame, improving cleaning efficiency. Furthermore, the detection value of the assembly changes again, once again identifying this as the edge of the window, and the robot changes its route to continue cleaning.

[0115] After the window cleaning robot finishes cleaning, it returns to its starting position and sends a notification message to the mobile app indicating that cleaning is complete, prompting the user to remove the robot from the window.

[0116] The terms "upper" and "lower" are used to describe the relative positions of the various structures in the accompanying drawings. They are only for clarity of description and are not intended to limit the scope of implementation of this application. Any changes or adjustments to the relative positions without substantially altering the technical content shall also be considered within the scope of implementation of this application.

[0117] It should be noted that, in this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0118] Furthermore, in this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0119] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this disclosure. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0120] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A cleaning device, characterized in that, The main body of the equipment has an outer peripheral surface, and a receiving groove is provided on the outer peripheral surface; The detection assembly includes a reset component and a first detection element. A first part of the reset component is movably disposed in the receiving groove, and a second part of the reset component is connected to the first detection element. The detection end of the first detection element is disposed facing the bottom of the device body. When the cleaning device moves toward the impact object and the detection assembly collides with the impact object, the impact object compresses the reset assembly and forces at least a second portion of the reset assembly to move away from the impact object relative to the device body.

2. The cleaning equipment according to claim 1, characterized in that, The first detection element is configured to receive and transmit signals, and to detect the edge and / or obstacles of the target surface where the cleaning device is located based on the signals.

3. The cleaning equipment according to claim 2, characterized in that, The first detection element has a transmit / receive direction, which is approximately parallel to the height direction of the main body of the device.

4. The cleaning equipment according to claim 1, characterized in that, The outer peripheral surface includes an end face and a corner face located between two adjacent end faces, and the receiving groove is located on the corner face.

5. The cleaning equipment according to claim 4, characterized in that, The reset assembly includes a first bracket and a first elastic element; One end of the first bracket is slidably connected to the receiving groove, and the other end of the first bracket is connected to the first detection element; Along the sliding direction of the first bracket, the first elastic element abuts against the inner wall of the first bracket and the receiving groove.

6. The cleaning equipment according to claim 5, characterized in that, The other end of the first bracket is provided with a mounting hole, which extends along the height direction of the main body of the equipment and passes through the bottom end of the first bracket; The first detection element is installed in the mounting hole, and the detection end of the first detection element is disposed through the mounting hole toward the bottom of the device body.

7. The cleaning equipment according to claim 5, characterized in that, The reset assembly also includes a second detection element; The second detection element is installed in the receiving groove and is configured to detect whether the first bracket retracts into the receiving groove.

8. The cleaning equipment according to claim 7, characterized in that, The detection direction of the second detection element intersects with the sliding direction of the first bracket, and the first bracket is provided with a notch, the notch and the second detection element are located on the same plane; The bottom of the receiving groove has at least a first stepped surface, and the first stepped surface is located on the sliding path of the first detection element; Along the sliding direction of the first bracket into the receiving groove, the first bracket has a first position, a second position, a fourth position and a fifth position in sequence. When the first bracket is in the first position, the detection end of the first detection element is located outside the receiving groove, and the second detection element is blocked by the first bracket. When the first bracket is in the second position, the detection end of the first detection element is located outside the receiving groove, and the second detection element is not blocked by the first bracket; When the first bracket is in the fourth position, the detection end of the first detection element is directly above the first step surface, and the second detection element is not blocked by the first bracket. When the first bracket is in the fifth position, the detection end of the first detection element is located directly above the first step surface, and the second detection element is blocked by the first bracket.

9. The cleaning equipment according to claim 8, characterized in that, The bottom of the receiving groove also has a second step surface located below the first step surface. The second step surface is located on the moving path of the first detection element and is located between the first step surface and the outer peripheral surface. The first bracket also has a third position, which is located between the second position and the fourth position; When the first bracket is in the third position, the detection end of the first detection element is directly above the first step surface, and the second detection element is not obstructed by the first bracket.

10. The cleaning equipment according to claim 5, characterized in that, A symmetrical plane exists between the two end faces adjacent to the reset assembly, the first bracket is located on the symmetrical plane, and the sliding direction of the first bracket is parallel to the symmetrical plane.

11. The cleaning equipment according to claim 4, characterized in that, The reset assembly includes a second bracket, a second elastic element, a third bracket, and a third elastic element; The second bracket is slidably connected to the receiving groove, and along the sliding direction of the second bracket, the second elastic element abuts between the second bracket and the inner wall of the receiving groove; The third bracket is slidably connected to the second bracket. Along the sliding direction of the third bracket, the third elastic element abuts between one end of the third bracket and the second bracket, and the other end of the third bracket is connected to the first detection element. The sliding direction of the second bracket intersects with the sliding direction of the third bracket and is perpendicular to the height direction of the main body of the equipment.

12. The cleaning equipment according to claim 11, characterized in that, One of the two end faces adjacent to the reset component is parallel to the sliding direction of the second bracket, and the other of the two end faces adjacent to the reset component is parallel to the sliding direction of the third bracket.

13. The cleaning equipment according to claim 4, characterized in that, The reset assembly includes a fourth bracket and a return component; One end of the fourth bracket is rotatably connected to the receiving groove, and the other end of the fourth bracket is connected to the first detection element; The return component is installed in the receiving slot and is configured to drive the fourth bracket to return to its initial state by rotation when the external force disappears.

14. The cleaning equipment according to claim 13, characterized in that, The rotation axis of the fourth bracket is parallel to the height direction of the main body of the equipment.

15. The cleaning equipment according to claim 14, characterized in that, The return component includes a reset seat and a fourth elastic element; The reset seat is slidably connected to the receiving groove, and the sliding direction of the reset seat is parallel to the height direction of the device body. Along the sliding direction of the reset seat, the fourth elastic element abuts against the inner wall of the reset seat and the receiving groove to drive the reset seat to slide upward. The top surface of the reset seat is arranged around the rotation axis of the fourth bracket. The top surface of the reset seat has a first driving surface, a second driving surface, and a mating surface connecting the first driving surface and the second driving surface. The first driving surface and the second driving surface are respectively inclined downward toward the mating surface. One end of the fourth bracket is provided with a driving block, which is used to abut against the first driving surface, the second driving surface, and the mating surface.

16. The cleaning equipment according to claim 15, characterized in that, One end of the fourth bracket is provided with a first column; The fourth bracket is rotatably connected to the receiving groove via the first column, the driving block extends outward in the radial direction from the outer wall surface of the first column, and the reset seat is sleeved on the first column.

17. The cleaning equipment according to claim 15, characterized in that, A symmetrical plane exists between the two end faces adjacent to the reset assembly, and the junction of the first driving surface and the second driving surface is located on the symmetrical plane.

18. The cleaning equipment according to claim 13, characterized in that, The reset assembly also includes a sliding component; The sliding component is slidably connected within the receiving groove, and the fourth bracket and the return component are mounted on the sliding component.

19. The cleaning equipment according to claim 1, characterized in that, The main body of the device includes a main body and a top cover; The upper cover is detachably connected to the main body. When the upper cover is installed on the main body, the upper cover and the main body together form the receiving groove.

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