Cleaning device and cleaning system

Abstract

The utility model discloses a cleaning device and a cleaning system. The cleaning device comprises a machine body, a cleaning assembly, a first obstacle detection module, a light guide assembly and a control module. The cleaning assembly is arranged on the machine body and used for cleaning a to-be-cleaned area, the first obstacle detection module is arranged on the machine body between a first position and a second position in a liftable mode and used for detecting obstacles in the to-be-cleaned area, and the light guide assembly is arranged on the machine body. The light guide assembly is used for guiding light emitted by the first obstacle detection module to be propagated upwards, and the control module is arranged on the machine body and used for controlling the cleaning assembly and the first obstacle detection module. According to the cleaning device provided by the embodiment of the utility model, the liftable first obstacle detection module is arranged to be matched with the light guide assembly, so that the obstacle detection range can be expanded, and the obstacle detection capability can be improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to cleaning electrical appliances technical field, especially a kind of cleaning device and cleaning system. BACKGROUND

[0002] With the improvement of living standards, intelligent cleaning device is more and more widely used in people's life. The cleaning device can clean the area to be cleaned during automatic movement in the area to be cleaned, which brings great convenience to people's life.

[0003] In order to reduce or avoid collision between cleaning device and obstacle during movement, related technology sets up liftable obstacle detection module on cleaning device to detect obstacle in area to be cleaned. However, the cleaning device with liftable obstacle detection module in related technology has limited detection range and detection ability for obstacle, especially when moving in low space, the liftable obstacle detection module cannot fully play its function. Therefore, it needs to be improved. UTILITY MODEL CONTENT

[0004] The utility model aims at at least one of the technical problems existing in prior art. Therefore, one purpose of the utility model is to provide a cleaning device, which is provided with liftable first obstacle detection module and light guide assembly, so as to expand the detection range and detection ability for obstacle.

[0005] The utility model further provides a cleaning system with the above cleaning device.

[0006] According to the cleaning device of the first aspect of the utility model, the machine body, the cleaning assembly, the first obstacle detection module and the light guide assembly are provided, so that the detection range and detection ability for obstacle can be expanded, and the cleaning device can be used in low space.

[0007] According to the cleaning device, the light emitted by the first obstacle detection module is guided to upward propagation through the light guide assembly, whether there is an obstacle above the first obstacle detection module and the distance between the obstacle above the first obstacle detection module and the fuselage in the up-down direction can be accurately detected, so that the rising timing of the first obstacle detection module can be accurately and timely judged, the first obstacle detection module is timely raised to detect whether there is an obstacle around the fuselage, the role of the first obstacle detection module can be better played, the collision between the cleaning device and the obstacle around the cleaning device in the moving process can be better avoided, and the detection range and detection capability of the first obstacle detection module are also expanded. Compared with another obstacle detection module separately provided for upward propagation of light, the light guide assembly cooperating with the first obstacle detection module can reduce the cost, and the information transmission between modules is also saved, so that the error or fault caused by the information transmission between modules is also avoided, and the inaccurate judgment result is also avoided.

[0008] In some embodiments, the light guide assembly is configured to guide the light emitted by the first obstacle detection module to upward propagation in a vertical direction.

[0009] In some embodiments, the light guide assembly is located at one side of the first obstacle detection module in a horizontal direction.

[0010] In some embodiments, the light guide assembly is located at the front side or the rear side of the first obstacle detection module.

[0011] In some embodiments, the light guide assembly is located in the fuselage, the first obstacle detection module comprises a light emission receiver, at least part of the light emission receiver is located in the fuselage when the first obstacle detection module is located at the predetermined position; a light guide channel is formed in the fuselage, the light guide channel is used for transmitting the light emitted by the light emission receiver, and the light guide channel penetrates the top of the fuselage to form a light guide window.

[0012] In some embodiments, an inner wall of the light guide channel is provided with a light shielding layer.

[0013] In some embodiments, a light-transmitting cover is arranged at the light guide window.

[0014] In some embodiments, the light guide channel comprises a first light guide channel and a second light guide channel arranged at an included angle, the first light guide channel is located between the first obstacle detection module and the light guide assembly, the lifting direction of the first obstacle detection module is a first direction, and the second light guide channel extends along the first direction and penetrates the top of the fuselage.

[0015] In some embodiments, the light guide assembly has a reflecting surface, which is configured to reflect the light emitted by the first obstacle detection module upward when the first obstacle detection module is at the predetermined position.

[0016] In some embodiments, the light guide assembly is located at one side of the first obstacle detection module in a horizontal direction, and the reflecting surface is inclined in a downward-to-upward direction away from the first obstacle detection module.

[0017] In some embodiments, the first obstacle detection module has a first direction of lifting, and the reflecting surface is one, and the angle between the reflecting surface and the first direction ranges from 40° to 50°.

[0018] In some embodiments, the angle between the reflecting surface and the first direction is 45°.

[0019] In some embodiments, the first obstacle detection module includes a light emitting receiver, which is adapted to be opposite to the light guide assembly when the first obstacle detection module is at the predetermined position.

[0020] In some embodiments, the first obstacle detection module is rotatable, and the first obstacle detection module has a first direction of lifting, and the rotation axis of the first obstacle detection module extends in the first direction, and the first obstacle detection module has a light guide angle position in the rotation direction of the first obstacle detection module, and the light emitting receiver is opposite to the light guide assembly when the first obstacle detection module is at the predetermined position and at the light guide angle position.

[0021] In some embodiments, the cleaning device includes an angle position detection module, which is configured to detect the angle position of the first obstacle detection module, and the angle position detection module is electrically connected to the control module.

[0022] In some embodiments, the first obstacle detection module is located at the rear of the body.

[0023] In some embodiments, the cleaning device further includes a second obstacle detection module arranged at the front end of the body, and the second obstacle detection module is configured to detect the obstacle of the area to be cleaned, and the control module is configured to control the cleaning assembly, the first obstacle detection module, and the second obstacle detection module, and the height position of the second obstacle detection module is lower than the height position of the first obstacle detection module when the first obstacle detection module is at the second position.

[0024] The cleaning system according to the second aspect of the present application comprises: the cleaning device according to the first aspect of the present application; and a cleaning base station, which is detachably connected with the cleaning device and is used for cleaning and / or charging the cleaning device.

[0025] The cleaning system according to the embodiments of the present application can expand the detection range and detection capability for obstacles by the cleaning device.

[0026] In some embodiments, the control module is configured to control the first obstacle detection module to rise upward when it is determined that the cleaning device is separated from the cleaning base station by detecting the light reflected by the light guide assembly.

[0027] Additional aspects and advantages of the present application will be given in part in the following description, become apparent from the following description, or be understood by practice of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0028] The above and / or additional aspects and advantages of the present application will become apparent and more readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

[0029] Figure 1 is a cooperation schematic view of the first obstacle detection module and the light guide assembly of the cleaning device according to some embodiments of the present application;

[0030] Figure 2 is a distribution schematic view of various components in the body of the cleaning device according to some embodiments of the present application;

[0031] Figure 3 is a distribution schematic view of various components in the body of the cleaning device according to some other embodiments of the present application.

[0032] REFERENCE NUMERALS:

[0033] 100, cleaning device;

[0034] 10, body; 11, guide wheel; 12, light guide channel; 121, first light guide channel; 122, second light guide channel; 13, light guide window;

[0035] 20, first cleaning assembly; 21, dust collection box; 22, dust suction fan; 23, avoidance structure; 231, avoidance gap;

[0036] 30, second cleaning assembly; 31, cleaning liquid tank; 32, mopping assembly;

[0037] 40, third cleaning assembly;

[0038] 51, first obstacle detection module; 511, light emitter-receiver; 52, second obstacle detection module; 53, camera module;

[0039] 60, control module; 70, light guide assembly; 71, emitting surface;

[0040] 200, obstacle. DETAILED DESCRIPTION

[0041] Embodiments of the present application are described below in detail, examples of which are shown in the drawings, wherein the same or similar notations represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by reference to the drawings are exemplary only, and are used only for explaining the present application, and cannot be understood as a limitation of the present application.

[0042] In the description of the present application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "inner", "outer", "axial", "circumferential" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0043] In the description of the present application, "first feature" and "second feature" can include one or more of the features.

[0044] In the description of the present application, "a plurality of" means two or more.

[0045] The following description is made with reference to Figures 1-3 A cleaning device 100 according to an embodiment of the present application is described.

[0046] Reference is made to Figures 1-3 Figure 1 The arrow direction in the drawing is the propagation direction of light rays), the cleaning device 100 according to the first aspect of the present application comprises a body 10, a cleaning assembly, a first obstacle detection module 51 and a control module 60.

[0047] The cleaning assembly is provided on the body 10, and the cleaning assembly is used for cleaning the to-be-cleaned area. The bottom of the body 10 can also be provided with a guide wheel 11 to realize the automatic movement of the cleaning device 100 in the to-be-cleaned area.

[0048] ​The first obstacle detection module 51 is arranged on the machine body 10 in a lifting manner between a first position and a second position, the first position is lower than the second position, and the first obstacle detection module 51 is used for detecting the obstacle 200 in the cleaning area. For example, when the first obstacle detection module 51 is lifted to the second position, the first obstacle detection module 51 can detect the obstacle 200 in the cleaning area, so that the probability of collision between the cleaning device 100 and the obstacle 200 during the movement of the cleaning device 100 can be reduced; for another example, when the first obstacle detection module 51 is lowered to the first position, the first obstacle detection module 51 can be accommodated in the machine body 10, and when the cleaning device 100 enters a low space such as under a bed or a sofa, the first obstacle detection module 51 can be prevented from interfering with or colliding with the obstacle 200 above the low space.

[0049] For example, the first obstacle detection module 51 can include a light emitting receiver 511, the light emitting receiver 511 includes a transmitting end and a receiving end, emits light through the transmitting end, and the emitted light is emitted back after hitting the obstacle 200 and is received by the receiving end, so that it can be judged whether there is an obstacle 200 in the cleaning area, and the distance between the obstacle 200 and the cleaning device 100 can be further judged.

[0050] The lifting direction of the first obstacle detection module 51 is the first direction, and the first obstacle detection module 51 can emit light in a direction perpendicular to the first direction. For example, the lifting direction of the first obstacle detection module 51 is the first direction, and the first direction can be a vertical direction, and the first obstacle detection module 51 can emit light in a horizontal direction.

[0051] The control module 60 is arranged on the machine body 10, and the control module 60 is used for controlling the cleaning assembly and the first obstacle detection module 51. For example, the control module 60 can control whether the cleaning assembly works.

[0052] For another example, the control module 60 can control the lifting of the first obstacle detection module 51, and can control the lifting of the first obstacle detection module 51 according to whether the first obstacle detection module 51 needs to be used, or according to whether the cleaning device 100 enters or is about to enter a low space. For example, the cleaning device 100 includes a lifting mechanism for driving the first obstacle detection module 51, the control module 60 can be electrically connected with the lifting mechanism, and the lifting of the first obstacle detection module 51 can be controlled by controlling the lifting mechanism.

[0053] For another example, the control module 60 can control the working of the first obstacle detection module 51, for example, the working of the light emitting receiver 511 of the first obstacle detection module 51.

[0054] Optionally, the first obstacle detection module 51 can also rotate relative to the machine body 10, and the rotation axis of the first obstacle detection module 51 can be consistent with the lifting direction of the first obstacle detection module 51, for example, the first obstacle detection module 51 can rotate around the central axis thereof. For example, when the first obstacle detection module 51 is located at the second position, the first obstacle detection module 51 can rotate relative to the machine body 10. By rotating the first obstacle detection module 51 relative to the machine body 10, the first obstacle detection module 51 can emit light rays towards different directions, so as to increase the detection range of the first obstacle detection module 51, and further reduce the interference or collision between the cleaning device 100 and the obstacle 200 during movement. Wherein, the first obstacle detection module 51 can rotate 360°.

[0055] When the first obstacle detection module 51 is rotatable relative to the machine body 10, the control module 60 can also control the rotation of the first obstacle detection module 51. The cleaning device 100 can also include a rotating mechanism for driving the first obstacle detection module 51 to rotate, and the rotating mechanism is electrically connected with the control module 60. The control module 60 can control the rotating mechanism of the first obstacle detection module 51 to realize the rotation control of the first obstacle detection module 51.

[0056] In some embodiments, referring to Figure 2 and Figure 3 , the cleaning assembly can include a first cleaning assembly 20, for example, the first cleaning assembly 20 can include a rolling brush, a dust suction fan 22 and a dust collection box 21. The rolling brush is suitable for contacting with the surface to be worked to clean the surface to be worked. The dust suction fan 22 is used to drive the airflow to flow, so as to suck the garbage on the rolling brush and the surface to be worked into the dust collection box 21 for collection.

[0057] For example, the control module 60 can control whether the first cleaning assembly 20 works, and the control module 60 can be electrically connected with the dust suction fan 22 of the first cleaning assembly 20, so as to control the first cleaning assembly 20 by controlling the dust suction fan 22.

[0058] In some embodiments, referring to Figure 2 and Figure 3The first obstacle detection module 51 is arranged at the rear of the machine body 10, the control module 60 is arranged at the front of the machine body 10, and at least part of the cleaning assembly is located behind the control module 60. For example, part of the cleaning assembly can be located behind the control module 60, or the entire cleaning assembly can be located behind the control module 60. By arranging the first obstacle detection module 51 which can be lifted at the rear of the machine body 10 and arranging the control module 60 at the front of the machine body 10, and arranging at least part of the cleaning assembly behind the control module 60, the space in the machine body 10 can be fully utilized, the arrangement of the components in the machine body 10 is compact, the volume of the cleaning device 100 can be reduced, and the miniaturization design of the cleaning device 100 is facilitated.

[0059] In some embodiments, referring to Figure 2 and Figure 3 At least part of the at least one component in the cleaning assembly is formed with an avoidance structure 23 for avoiding and accommodating the first obstacle detection module 51. For example, part of the at least one component in the cleaning assembly can be formed with the avoidance structure 23; multiple components in the cleaning assembly can be formed with the avoidance structure 23; one component in the cleaning assembly can be formed with the entire avoidance structure 23; or multiple components in the cleaning assembly can be formed with the avoidance structure 23. By forming at least part of the avoidance structure 23 on at least one component in the cleaning assembly, the space in the machine body 10 can be more fully utilized, the arrangement of the components in the machine body 10 is more compact, the volume of the cleaning device 100 is better reduced, and the miniaturization design of the cleaning device 100 is more facilitated.

[0060] In some embodiments, referring to Figure 2 and Figure 3 The avoidance structure 23 includes an avoidance gap 231, and at least part of the first obstacle detection module 51 is accommodated in the avoidance gap 231. For example, part of the first obstacle detection module 51 can be accommodated in the avoidance gap 231; or the entire first obstacle detection module 51 can be accommodated in the avoidance gap 231. By making the avoidance structure 23 include, for example, the avoidance gap 231, the avoidance gap 231 can be opened by the structure of the first cleaning assembly 20, a space for accommodating the first obstacle detection module 51 is provided, and the arrangement of the components in the machine body 10 is compact.

[0061] In some embodiments, at least part of the outer peripheral contour shape of the avoidance gap 231 is similar to at least part of the outer peripheral contour shape of the first obstacle detection module 51. For example, part of the outer peripheral contour shape of the avoidance gap 231 can be similar to part of the outer peripheral contour shape of the first obstacle detection module 51; or the entire outer peripheral contour shape of the avoidance gap 231 can be similar to the entire outer peripheral contour shape of the first obstacle detection module 51. For example, the outer peripheral contour of the first obstacle detection module 51 is circular, and at least part of the outer peripheral contour of the avoidance gap 231 is similar to the circular shape.

[0062] By making at least part of the outer peripheral contour shape of the avoidance gap 231 similar to at least part of the outer peripheral contour shape of the first obstacle detection module 51, the spacing between the inner peripheral wall of the avoidance gap 231 and the outer peripheral side of the first obstacle detection module 51 can be small and uniform, or closely fitted, and in the case of fully utilizing the space in the machine body 10, the first obstacle detection module 51 can also better avoid interference or relative movement with the cleaning assembly during movement.

[0063] In some embodiments, the cleaning device 100 comprises a mounting seat and a lifting mechanism, the mounting seat is mounted to the machine body 10, for example, the mounting seat can be detachably mounted to the machine body 10, and the lifting mechanism is provided on the mounting seat and connected with the first obstacle detection module 51 to drive the first obstacle detection module 51 to lift. On the basis of avoiding the first obstacle detection module 51, the avoidance structure 23 can also be used to avoid the mounting seat and / or the lifting mechanism. For example, the avoidance structure 23 can be used to avoid the mounting seat, or the avoidance structure 23 can be used to avoid the lifting mechanism, and the avoidance structure 23 can also be used to avoid the mounting seat and the lifting mechanism. On the basis of avoiding the first obstacle detection module 51, the avoidance structure 23 can also be used to avoid the mounting seat and / or the lifting mechanism, which can further make the arrangement of components in the machine body 10 compact, which is beneficial to reduce the volume of the cleaning device 100, thereby facilitating the miniaturization design of the cleaning device 100.

[0064] In some embodiments, referring to Figure 2 and Figure 3 , the first cleaning assembly 20 comprises a dust collection box 21 and a dust suction fan 22, the dust suction fan 22 is used to suck the garbage on the working surface into the dust collection box 21, and at least part of the avoidance structure 23 is formed on the dust collection box 21. For example, part of the avoidance structure 23 can be formed on the dust collection box 21, or the entire avoidance structure 23 can be formed on the dust collection box 21. By arranging at least part of the avoidance structure 23 on the relatively large dust collection box 21, the avoidance effect on the first obstacle detection module 51 can be achieved, so that the structure is compact and has little effect on the dust collection box 21, so that the overall structure is better arranged.

[0065] In some embodiments, at least part of the avoiding structure 23 is formed at the rear of the dust collection box 21. The first obstacle detection module 51 is arranged at the rear of the machine body 10, and by forming at least part of the avoiding structure 23 at the rear of the dust collection box 21, the avoiding of the first obstacle detection module 51 can be effectively achieved. Figure 2 Figure 3 In some embodiments, the dust collection fan 22 and the dust collection box 21 jointly form at least part of the avoiding structure 23 for avoiding the first obstacle detection module 51. For example, the dust collection fan 22 and the dust collection box 21 can jointly form part of the avoiding structure 23, or the dust collection fan 22 and the dust collection box 21 can jointly form all of the avoiding structure 23. By forming at least part of the avoiding structure 23 by the dust collection fan 22 and the dust collection box 21, the space between the dust collection box 21 and the dust collection fan 22 can be fully utilized, and a certain accommodation space for the first obstacle detection module 51 can be avoided, which is beneficial to make the arrangement of components in the machine body 10 more compact.

[0066] In some embodiments, the first cleaning assembly 20 further comprises a dust collection air duct, which is in communication with the dust collection box 21. When the dust collection fan 22 is working, the garbage on the working surface or the roller brush can be sucked into the dust collection box 21, and the dust collection air duct is used to discharge the garbage in the dust collection box 21. For example, when there is a large amount of garbage in the dust collection box 21, the garbage in the dust collection box 21 can be discharged through the dust collection air duct. For example, when the cleaning device 100 cooperates with the cleaning base station, the dust collection air duct of the cleaning device 100 can be docked with the cleaning base station, so as to discharge the garbage in the dust collection box 21 of the cleaning device 100 through the dust collection air duct to the cleaning base station for collection.

[0067] In some embodiments, the dust collection air duct and the dust collection box 21 jointly form at least part of the avoiding structure 23. For example, the dust collection air duct and the dust collection box 21 can jointly form part of the avoiding structure 23, or the dust collection air duct and the dust collection box 21 can jointly form at least all of the avoiding structure 23. By fully utilizing the space between the dust collection box 21 and the dust collection air duct, a certain accommodation space for the first obstacle detection module 51 can be avoided, which is beneficial to make the arrangement of components in the machine body 10 more compact.

[0068] In some embodiments, the dust collection air duct and the dust collection box 21 jointly form at least part of the avoiding structure 23. For example, the dust collection air duct and the dust collection box 21 can jointly form part of the avoiding structure 23, or the dust collection air duct and the dust collection box 21 can jointly form at least all of the avoiding structure 23. By fully utilizing the space between the dust collection box 21 and the dust collection air duct, a certain accommodation space for the first obstacle detection module 51 can be avoided, which is beneficial to make the arrangement of components in the machine body 10 more compact.

[0069] ​In some embodiments, the dust collecting box 21 comprises a suction port and an air outlet, the first cleaning assembly further comprises a rolling brush assembly, the rolling brush assembly comprises a rolling brush housing and a rolling brush, the rolling brush housing has a receiving chamber for accommodating the rolling brush. The suction port is in communication with the receiving chamber, and the garbage on the working surface or the rolling brush enters the dust collecting box 21 through the suction port. The air outlet is in communication with the suction fan 22, and the suction motor 22 forms a negative pressure in the dust collecting box 21 through the air outlet. When the suction fan 22 is working, the suction fan 22 can make the garbage on the working surface or the rolling brush enter the dust collecting box 21 through the suction port.

[0070] In some embodiments, the air outlet and the suction port are located on the adjacent side walls of the dust collecting box 21. In some embodiments, the suction port is located on the front side of the dust collecting box 21. In some embodiments, the air outlet is located on the left side of the dust collecting box 21.

[0071] In some embodiments, the first cleaning assembly 20 further comprises a dust collecting air duct, and the dust collecting box 21 further comprises a dust collecting port, the dust collecting port is in communication with the dust collecting air duct. The garbage in the dust collecting box 21 can be discharged through the dust collecting port and the dust collecting air duct.

[0072] In some embodiments, the dust collecting port is arranged on the rear side of the dust collecting box 21. In some embodiments, the dust collecting port and the suction port are located on the opposite side walls of the dust collecting box 21. In some embodiments, in the left-right direction, the dust collecting port and the suction port are a certain distance apart, and the distance between the dust collecting port and the suction port is greater than a threshold distance, so as to prevent the air flow of the suction port from directly flowing into the dust collecting port when dust collecting, thereby preventing the garbage in the dust collecting box 21 from being discharged. For example, the threshold distance can be 10mm, 15mm, 20mm, 25mm, 30mm, etc. For example, in the left-right direction, the dust collecting port and the suction port are respectively located at or close to the two ends of the side wall on which the dust collecting port and the suction port are respectively located. In some embodiments, at least part of the avoiding structure 23 is formed between the air outlet and the dust collecting port.

[0073] In some embodiments, referring to Figure 2 and Figure 3 , the cleaning assembly comprises the first cleaning assembly 20 and the second cleaning assembly 30. The first cleaning assembly 20 comprises the dust collecting box 21 and the suction fan 22, and the suction fan 22 is used to suck the garbage on the working surface into the dust collecting box 21. The cleaning device 100 further comprises the second cleaning assembly 30, and the control module 60 is used to control the first cleaning assembly 20, the second cleaning assembly 30 and the first obstacle detection module 51. The second cleaning assembly 30 comprises a cleaning liquid tank 31 and a mopping assembly 32, the mopping assembly 32 comprises a mopping piece and a driving mechanism, the driving mechanism is used to drive the mopping piece to move (for example, rotate, vibrate and / or swing outward relative to the machine body 10), the mopping piece is used to contact the working surface to clean the working surface, and the cleaning liquid tank 31 is used to store cleaning liquid and provide the cleaning liquid to the mopping piece.

[0074] By making the cleaning assembly of the cleaning device 100 include the first cleaning assembly 20 and the second cleaning assembly 30 described above, the cleaning ability and cleaning efficiency of the cleaning device 100 can be improved. Moreover, the second cleaning assembly 30 can adopt dry cleaning or wet cleaning as needed, and the cleaning mode is diversified. For example, when the second cleaning assembly 30 adopts wet cleaning, the cleaning liquid tank 31 can provide cleaning liquid to the wiping piece; when the second cleaning assembly 30 adopts dry cleaning, the cleaning liquid tank 31 can stop providing cleaning liquid to the wiping piece.

[0075] The control module 60 can control the operation of the second cleaning assembly 30, for example, the control module 60 can be electrically connected with the driving mechanism, and control the wiping piece by controlling the driving mechanism. The control module 60 can also control whether the cleaning liquid tank 31 provides cleaning liquid to the wiping piece, so as to make the second cleaning assembly 30 select dry cleaning or wet cleaning as needed.

[0076] In some embodiments, referring to Figure 2 and Figure 3 , at least part of the avoiding structure 23 is formed on the cleaning liquid tank 31, and the avoiding structure 23 is used to avoid and accommodate the first obstacle detection module 51. For example, part of the avoiding structure 23 can be formed on the cleaning liquid tank 31, or the whole avoiding structure 23 can be formed on the cleaning liquid tank 31. By setting at least part of the avoiding structure 23 on the cleaning liquid tank 31 with a larger volume, the avoiding effect of the first obstacle detection module 51 can be achieved, so that the structure is compact, and the influence on the cleaning liquid tank 31 is small, so that the overall structure is better arranged.

[0077] In some embodiments, referring to Figure 2 and Figure 3 , in the front-rear direction, the cleaning liquid tank 31 is located between the control module 60 and the dust suction fan 22. By making the cleaning liquid tank 31 located between the control module 60 and the dust suction fan 22 in the front-rear direction, the space in the front-rear direction in the machine body 10 can be fully utilized, so that the components in the machine body 10 are arranged compactly, which is beneficial to the miniaturization design of the cleaning device 100.

[0078] In some embodiments, referring to Figure 2 and Figure 3 , in the front-rear direction, the dust collecting box 21 is located between the control module 60 and the dust suction fan 22. By making the dust collecting box 21 located between the control module 60 and the dust suction fan 22 in the front-rear direction, the space in the front-rear direction in the machine body 10 can be fully utilized, so that the components in the machine body 10 are arranged compactly, which is beneficial to the miniaturization design of the cleaning device 100.

[0079] In some embodiments, the dust suction fan 22 is located between the control module 60 and the cleaning liquid tank 31 in the front-rear direction. By locating the dust suction fan 22 between the control module 60 and the cleaning liquid tank 31 in the front-rear direction, the space in the machine body 10 in the front-rear direction can be fully utilized, so that the components in the machine body 10 are arranged compactly, which is conducive to the miniaturization design of the cleaning device 100.

[0080] In some embodiments, the dust suction fan 22 is located between the control module 60 and the dust collection box 21 in the front-rear direction. By locating the dust suction fan 22 between the control module 60 and the dust collection box 21 in the front-rear direction, the space in the machine body 10 in the front-rear direction can be fully utilized, so that the components in the machine body 10 are arranged compactly, which is conducive to the miniaturization design of the cleaning device 100.

[0081] In some embodiments, the cleaning liquid tank 31 and the dust collection box 21 jointly form at least part of the avoiding structure 23 for avoiding and accommodating the first obstacle detection module 51. For example, the cleaning liquid tank 31 and the dust collection box 21 jointly form part of the avoiding structure 23, or the cleaning liquid tank 31 and the dust collection box 21 jointly form all of the avoiding structure 23. By locating the cleaning liquid tank 31 and the dust collection box 21 jointly form at least part of the avoiding structure 23, the space between the dust collection box 21 and the cleaning liquid tank 31 can be fully utilized, and a certain accommodation space is avoided for the first obstacle detection module 51, which is conducive to arranging the components in the machine body 10 more compactly.

[0082] In some embodiments, referring to Figure 2 and Figure 3 , the driving mechanism is located at the rear of the machine body 10, and at least part of the first obstacle detection module 51 is located between the driving mechanism and the dust collection box 21. When the driving mechanism is located at the rear of the machine body 10, the space between the driving mechanism and the dust collection box 21 can be fully utilized, and at least part of the first obstacle detection module 51 is located between the driving mechanism and the dust collection box 21, so that the components in the machine body 10 are arranged more compactly, which is conducive to the miniaturization design of the cleaning device 100.

[0083] In some embodiments, referring to Figure 2 and Figure 3 , the driving mechanism is located at the rear of the machine body 10, and at least part of the first obstacle detection module 51 is located between the driving mechanism and the cleaning liquid tank 31. When the driving mechanism is located at the rear of the machine body 10, the space between the driving mechanism and the cleaning liquid tank 31 can be fully utilized, and at least part of the first obstacle detection module 51 is located between the driving mechanism and the cleaning liquid tank 31, so that the components in the machine body 10 are arranged more compactly, which is conducive to the miniaturization design of the cleaning device 100.

[0084] In some embodiments, referring to Figure 2and Figure 3 The drive mechanism and the dust collection box 21 together form at least a partial obstacle avoidance structure 23. For example, the drive mechanism and the dust collection box 21 may form a partial obstacle avoidance structure 23, or they may form a complete obstacle avoidance structure 23. By making the drive mechanism and the dust collection box 21 together form at least a partial obstacle avoidance structure 23, the space between the dust collection box 21 and the drive mechanism can be fully utilized, providing a certain amount of accommodation space for the first obstacle detection module 51, which is beneficial for a more compact arrangement of components within the body 10.

[0085] In some embodiments, refer to Figure 2 and Figure 3 The drive mechanism, dust collection box 21, and vacuum fan 22 together form at least a partial obstacle avoidance structure 23, which is used to avoid the first obstacle detection module 51. For example, the drive mechanism, dust collection box 21, and vacuum fan 22 may form a partial obstacle avoidance structure 23, or they may form a complete obstacle avoidance structure 23. By having the drive mechanism, dust collection box 21, and vacuum fan 22 together form at least a partial obstacle avoidance structure 23, the space between the drive mechanism, dust collection box 21, and vacuum fan 22 can be fully utilized, providing a certain amount of space for the first obstacle detection module 51, which helps to make the component arrangement within the body 10 more compact.

[0086] In some embodiments, refer to Figure 2 and Figure 3 The drive mechanism and the cleaning fluid tank 31 together form at least a partial obstacle avoidance structure 23. For example, the drive mechanism and the cleaning fluid tank 31 may form a partial obstacle avoidance structure 23, or they may form a complete obstacle avoidance structure 23. By making the drive mechanism and the cleaning fluid tank 31 together form at least a partial obstacle avoidance structure 23, the space between the cleaning fluid tank 31 and the drive mechanism can be fully utilized, providing a certain amount of accommodation space for the first obstacle detection module 51, which is beneficial for a more compact arrangement of components within the body 10.

[0087] In some embodiments, refer to Figure 2 and Figure 3The driving mechanism, the cleaning liquid tank 31, and the suction fan 22 jointly form at least part of an avoidance structure 23 for avoiding the first obstacle detection module 51. For example, the driving mechanism, the cleaning liquid tank 31, and the suction fan 22 jointly form part of the avoidance structure 23, or the driving mechanism, the cleaning liquid tank 31, and the suction fan 22 jointly form the entire avoidance structure 23. By jointly forming at least part of the avoidance structure 23 by the driving mechanism, the cleaning liquid tank 31, and the suction fan 22, the space among the driving mechanism, the dust collection box 21, and the suction fan 22 can be fully utilized to avoid a certain accommodation space for the first obstacle detection module 51, which is conducive to making the components in the body 10 more compact.

[0088] In some embodiments, with reference to Figure 2 and Figure 3 , the suction fan 22 and the dust collection box 21 are arranged along the left-right direction or at least part of the suction fan 22 is located at the front side of the dust collection box 21. By arranging the suction fan 22 and the dust collection box 21 along the left-right direction or locating at least part of the suction fan 22 at the front side of the dust collection box 21, the distance between the suction fan 22 and the dust collection box 21 can be small, which is conducive to shortening the length of the dust collection air duct connected between the suction fan 22 and the dust collection box 21, and facilitating the connection of the suction fan 22 and the dust collection box 21.

[0089] In some embodiments, with reference to Figure 2 and Figure 3 , the suction fan 22 and the cleaning liquid tank 31 are arranged along the left-right direction or at least part of the suction fan 22 is located at the front side of the cleaning liquid tank 31. By arranging the suction fan 22 and the cleaning liquid tank 31 along the left-right direction or locating at least part of the suction fan 22 at the front side of the cleaning liquid tank 31, the layout space in the body can be fully utilized, and the overall structure is compact.

[0090] In some embodiments, with reference to Figure 2 and Figure 3 , the suction fan 22 and the cleaning liquid tank 31 are located in front of the first obstacle detection module 51. By arranging the suction fan 22 and the cleaning liquid tank 31 in front of the first obstacle detection module 51, the space in the body 10 in front of the first obstacle detection module 51 can be fully utilized, and the layout of the components in the body 10 is compact.

[0091] In some embodiments, with reference to Figure 2 and Figure 3 , the suction fan 22 and the dust collection box 21 are located in front of the first obstacle detection module 51. By arranging the suction fan 22 and the dust collection box 21 in front of the first obstacle detection module 51, the space in the body 10 in front of the first obstacle detection module 51 can be fully utilized, and the layout of the components in the body 10 is compact.

[0092] In some embodiments, referring to Figure 2 and Figure 3 , the cleaning liquid tank 31 and the suction fan 22 are arranged in the front-rear direction. Arranging the cleaning liquid tank 31 and the suction fan 22 in the front-rear direction can make full use of the space in the machine body 10 in the front-rear direction, so that the layout of the internal components of the machine body 10 is compact.

[0093] In some embodiments, referring to Figure 2 and Figure 3 , the dust collection box 21 and the suction fan 22 are arranged in the front-rear direction. Arranging the dust collection box 21 and the suction fan 22 in the front-rear direction can make full use of the space in the machine body 10 in the front-rear direction, so that the layout of the internal components of the machine body 10 is compact.

[0094] In some embodiments, referring to Figure 2 and Figure 3 , the cleaning assembly can further include at least one third cleaning assembly 40, the third cleaning assembly 40 can be arranged adjacent to the edge of the machine body 10, and the third cleaning assembly 40 can include an edge brush. The third cleaning assembly 40 can sweep the garbage on the working surface to the position where the first cleaning assembly 20 is located, and the suction fan 22 of the first cleaning assembly 20 can be used to suck the garbage swept by the third cleaning assembly 40 into the dust collection box 21. By arranging the third cleaning assembly 40, the cleaning device 100 can sweep the corner position more conveniently, and by cooperating the first cleaning assembly 20, the second cleaning assembly 30 and the third cleaning assembly 40, the cleaning ability, the cleaning efficiency and the cleaning effect of the cleaning device 100 can be further improved.

[0095] In some embodiments, referring to Figure 2 and Figure 3 , the third cleaning assembly 40 can be multiple, and the multiple cleaning assemblies can be arranged in the circumferential direction of the machine body 10. By arranging multiple third cleaning assemblies 40, the corner position can be cleaned better.

[0096] For example, in some specific embodiments, referring to Figure 2 and Figure 3The third cleaning assembly 40 can be arranged at one end of the left-right direction of the machine body 10, and the third cleaning assembly 40 arranged at the other end of the left-right direction can be located at one side of the control module 60 along the left-right direction, or the third cleaning assembly 40 arranged at the other end of the left-right direction can be located between the control module 60 and the dust collecting box 21 or between the control module 60 and the cleaning liquid tank 31. In this way, the third cleaning assembly 40 can make full use of the space of the control module 60 in the left-right direction and the space between the control module 60 and the dust collecting box 21 or the cleaning liquid tank 31, so that the components in the machine body 10 are arranged compactly, which is conducive to the miniaturization design of the cleaning device 100.

[0097] In some embodiments, referring to Figure 2 The cleaning device 100 further comprises a camera module 53 and / or a second obstacle detection module 52 arranged at the front end of the machine body 10, the camera module 53 and / or the second obstacle detection module 52 are located at the front side of the control module 60 and electrically connected with the control module 60, and the second obstacle detection module 52 is used for detecting the obstacle 200 in the cleaning area, and the height position of the second obstacle detection module 52 is lower than the height position of the first obstacle detection module 51 in the second position.

[0098] For example, the cleaning device 100 further comprises a camera module 53 arranged at the front end of the machine body 10, the camera module 53 is located at the front side of the control module 60 and electrically connected with the control module 60. The camera module 53 can collect the environmental features in front of the machine body 10, and the control module 60 can control the cleaning assembly according to the environmental features in front of the machine body 10.

[0099] For another example, the cleaning device 100 further comprises a second obstacle detection module 52, the second obstacle detection module 52 is located at the front side of the control module 60 and electrically connected with the control module 60, the second obstacle detection module 52 is used for detecting the obstacle 200 in the cleaning area, the second obstacle detection module 52 can emit linear laser to the front of the machine body 10, and the height position of the second obstacle detection module 52 is lower than the height position of the first obstacle detection module 51 in the second position.

[0100] On the basis of arranging the first obstacle detection module 51, further arranging the second obstacle detection module 52 at the front end of the machine body 10 can make up for the deficiency that the first obstacle detection module 51 cannot detect the obstacle 200 at a lower position, so that through the cooperation of the first obstacle detection module 51 and the second obstacle detection module 52, the detection range of the obstacle 200 can be increased, and the interference or collision between the cleaning device 100 and the obstacle 200 during movement can be further reduced.

[0101] In some embodiments, referring to Figure 3 The cleaning device 100 comprises a light guide assembly 70, which is arranged on the body 10, and is configured to guide the light emitted by the first obstacle detection module 51 to propagate upward when the first obstacle detection module 51 is at a predetermined position. The light can be laser, infrared light, visible light, etc. The predetermined position is lower than the second position, for example, the predetermined position can be the first position, or the predetermined position can be between the first position and the second position. In the case of Figure 1 In the case of the first obstacle detection module 51 represented by a solid line, the first obstacle detection module 51 is at the second position. Figure 1 In the case of the first obstacle detection module 51 represented by a dashed line, the first obstacle detection module 51 is at the predetermined position.

[0102] The light guide assembly 70 is configured to guide the light emitted by the first obstacle detection module 51 to propagate upward, including the following cases: for example, the light guide assembly 70 is configured to guide the light emitted by the first obstacle detection module 51 to propagate vertically upward; for another example, the light guide assembly 70 is configured to guide the light emitted by the first obstacle detection module 51 to propagate obliquely upward. In the case of the light guide assembly 70 guiding the light emitted by the first obstacle detection module 51 to propagate obliquely upward, the angle between the direction of oblique upward propagation and the vertical direction can be less than 30°.

[0103] For example, the light guide assembly 70 can comprise at least one of a reflecting mirror and a transmitting mirror. For example, in the case of the light guide assembly 70 comprising a reflecting mirror, when the light emitted by the first obstacle detection module 51 reaches the reflecting surface of the reflecting mirror, the reflecting mirror can reflect the light, thereby changing the propagation direction of the light and guiding the light to propagate upward. For another example, in the case of the light guide assembly 70 comprising a transmitting mirror, when the light emitted by the first obstacle detection module 51 reaches the transmitting mirror, the transmitting mirror can change the propagation direction of the light by transmitting the light, thereby guiding the light to propagate upward, because the light propagates in different media. For another example, the light guide assembly 70 can comprise a reflecting mirror and a transmitting mirror, and the light emitted by the first obstacle detection module 51 can change the propagation direction of the light by reflecting on the reflecting mirror and transmitting on the transmitting mirror, thereby guiding the light to propagate upward. For another example, the light guide assembly 70 can comprise a set of reflecting mirror groups and / or a set of transmitting mirror groups, and the light emitted by the first obstacle detection module 51 can change the propagation direction of the light by reflecting on the reflecting mirror groups and / or transmitting on the transmitting mirror groups, thereby guiding the light to propagate upward.

[0104] The light emitted by the first obstacle detection module 51 can reach the light guide assembly 70, and the light guide assembly 70 changes the propagation direction of the light emitted by the first obstacle detection module 51, so that the light emitted by the first obstacle detection module 51 is adjusted to propagate upward through the light guide assembly 70. In this way, the light emitted by the first obstacle detection module 51 can propagate upward to the upper side of the machine body 10, so that whether there is an obstacle 200 above the first obstacle detection module 51 can be detected, and the distance between the obstacle 200 above the first obstacle detection module 51 and the machine body 10 in the up-down direction can also be detected.

[0105] For example, when the first obstacle detection module 51 detects, through the light guide assembly 70, that there is an obstacle 200 above the first obstacle detection module 51 and the distance between the obstacle 200 above the first obstacle detection module 51 and the machine body 10 in the up-down direction is less than a preset distance, it indicates that the first obstacle detection module 51 should not be raised at this time, and if the first obstacle detection module 51 is raised at this time, interference between the first obstacle detection module 51 and the obstacle 200 above the first obstacle detection module 51 may occur.

[0106] The size of the preset distance can be determined according to the height of the first obstacle detection module 51 protruding from the machine body 10 when the first obstacle detection module 51 is located at the second position.

[0107] For example, when the first obstacle detection module 51 detects, through the light guide assembly 70, that there is an obstacle 200 above the first obstacle detection module 51 and the distance between the obstacle 200 above the first obstacle detection module 51 and the machine body 10 in the up-down direction is greater than or equal to a preset distance, it indicates that the first obstacle detection module 51 can be raised at this time, and if the first obstacle detection module 51 is raised at this time, interference between the first obstacle detection module 51 and the obstacle 200 above the first obstacle detection module 51 can be avoided. At this time, the first obstacle detection module 51 can be raised as needed, and further, the rising distance value of the first obstacle detection module 51 can be determined according to the distance between the obstacle 200 above the machine body 10 and the machine body 10 in the up-down direction at this time.

[0108] For example, when the first obstacle detection module 51 detects, through the light guide assembly 70, that there is no obstacle 200 above the first obstacle detection module 51, it indicates that the first obstacle detection module 51 can be raised at this time, and if the first obstacle detection module 51 is raised at this time, there is no problem of interference between the first obstacle detection module 51 and the obstacle 200 above the first obstacle detection module 51. At this time, the first obstacle detection module 51 can be raised as needed, for example, the first obstacle detection module 51 can be raised to the second position.

[0109] For example, when the cleaning device 100 is located in a low-lying space such as under a bed, under a sofa, or inside the base station housing of a cleaning base station, by setting the aforementioned light guide component 70, the distance between the obstacle 200 located above the first obstacle detection module 51 and the body 10 can be detected more accurately. This avoids interference between the first obstacle detection module 51 and the obstacle 200 located above it. Furthermore, even when the cleaning device 100 is located in a low-lying space such as under a bed, under a sofa, or inside the base station housing of a cleaning base station, the distance between the obstacle 200 located above the first obstacle detection module 51 and the body 10 can be detected more accurately. When the vertical distance between the bodies 10 is greater than or equal to a preset distance, the first obstacle detection module 51 can also be raised. For example, the first obstacle detection module 51 can be raised so that the light emitter and receiver 511 of the first obstacle detection module 51 is located on the upper side of the body 10, so that the first obstacle detection module 51 can emit light in the horizontal direction to detect whether there are obstacles 200 around the body 10. The first obstacle detection module 51 can be raised in time to better play its role and better avoid collisions between the cleaning device 100 and the obstacles 200 around it during the movement.

[0110] For example, when the cleaning device 100 is located in a low space such as under a bed, under a sofa, or inside the base station housing of a cleaning base station, the first obstacle detection module 51, in conjunction with the light guide component 70, detects that the distance between the obstacle 200 located above the first obstacle detection module 51 and the body 10 in the vertical direction is less than a preset distance. In this case, the first obstacle detection module 51 cannot rise to avoid interference with the obstacle 200 located above the first obstacle detection module 51. When the cleaning device 100 moves away from the low space, the first obstacle detection module 51, in conjunction with the light guide component 70, can raise the first obstacle detection module 51 in time to detect whether there are obstacles 200 around the body 10. This is to better perform its function and better avoid collisions between the cleaning device 100 and the obstacles 200 around it during the movement.

[0111] The light emitted by the first obstacle detection module 51 is guided upward by the light guide assembly 70, so that whether there is an obstacle 200 above the first obstacle detection module 51 and the distance between the obstacle 200 above the first obstacle detection module 51 and the machine body 10 in the vertical direction can be accurately detected, so that the rising timing of the first obstacle detection module 51 can be accurately and timely determined, so that the first obstacle detection module 51 rises in time to detect whether there is an obstacle 200 around the machine body 10, so as to better play its role, better avoid the collision between the cleaning device 100 and the obstacles 200 around it during movement, and also expand the detection range and detection capability of the first obstacle detection module 51. Compared with separately arranging an obstacle 200 detection module for upwardly propagating light, the light guide assembly 70 cooperating with the first obstacle detection module 51 can reduce the cost and eliminate the information transmission between modules, thereby avoiding the errors or faults caused by the information transmission between modules.

[0112] In some embodiments, referring to Figure 2 , the light guide assembly 70 is configured to guide the light emitted by the first obstacle detection module 51 to propagate upward in the vertical direction. The light guide assembly 70 guides the light emitted by the first obstacle detection module 51 to propagate upward in the vertical direction, so that whether there is an obstacle 200 above the first obstacle detection module 51 can be more accurately detected, and the distance between the obstacle 200 above the first obstacle detection module 51 and the machine body 10 in the vertical direction can also be more accurately detected, thereby providing more accurate information basis for the lifting control of the first obstacle detection module 51.

[0113] In some embodiments, referring to Figure 2 , the light guide assembly 70 is located on one side of the first obstacle detection module 51 in the horizontal direction. By arranging the light guide assembly 70 on one side of the first obstacle detection module 51 in the horizontal direction, the light emitted by the first obstacle detection module 51 can be conveniently guided upward, and the risk of interference between the first obstacle detection module 51 and the light guide assembly 70 during lifting can also be reduced.

[0114] In some embodiments, referring to Figure 1 , the light guide assembly 70 is located on the front side or the rear side of the first obstacle detection module 51. By arranging the light guide assembly 70 on the front side or the rear side of the first obstacle detection module 51, the space in the front-rear direction of the machine body 10 can be fully utilized, so that the arrangement of the internal components of the machine body 10 is compact.

[0115] In some embodiments, when the light guide assembly 70 is arranged at the front side of the first obstacle detection module 51, when the cleaning device 100 moves in the direction of leaving the low space, since the light guide assembly 70 is located at the front side of the first obstacle detection module 51, the light guide assembly 70 can leave the low space earlier than the first obstacle detection module 51. Through the cooperation and positional relationship between the light guide assembly 70 and the first obstacle detection module 51, when the light guide assembly 70 leaves the low space, it is determined that the first obstacle detection module 51 can be lifted, and the first obstacle detection module 51 can be controlled to be lifted in time. For example, the speed of the movement of the cleaning device 100 and the positional relationship between the light guide assembly 70 and the first obstacle detection module 51 can be combined to determine the time of lifting of the first obstacle detection module 51, so as to control the first obstacle detection module 51 to be lifted in time.

[0116] In some embodiments, when the light guide assembly 70 is arranged at the rear side of the first obstacle detection module 51, when the cleaning device 100 moves in the direction of leaving the low space, since the light guide assembly 70 is located at the rear side of the first obstacle detection module 51, through the cooperation and positional relationship between the light guide assembly 70 and the first obstacle detection module 51, when the light guide assembly 70 leaves the low space, it is determined that the first obstacle detection module 51 can be lifted, and the first obstacle detection module 51 can be controlled to be lifted in time. Moreover, since the light guide assembly 70 is arranged at the rear side of the first obstacle detection module 51, the first obstacle detection module 51 can leave the low space earlier than the light guide assembly 70, so that when the light guide assembly 70 leaves the low space, it indicates that the first obstacle detection module 51 has left the low space, and at this time, the first obstacle detection module 51 is controlled to be lifted, which not only makes the first obstacle detection module 51 be lifted in time, but also better avoids the interference between the first obstacle detection module 51 and the obstacle and damages the first obstacle detection module 51.

[0117] In some embodiments, the light guide assembly 70 can be distributed at the front side and the rear side of the first obstacle detection module 51. In some embodiments, the light guide assembly 70 can move around the first obstacle detection module 51. In some embodiments, the light guide channel 12 formed in the machine body 10 is arranged in a ring shape around the first obstacle detection module 51, the light guide channel 12 is used to transmit the light emitted by the light emission receiver 511, and the light guide channel 12 penetrates the top of the machine body 10 to form a light guide window 13, which can also be arranged in a ring shape around the first obstacle detection module 51.

[0118] In some embodiments, referring to Figure 1The light guide assembly 70 is located in the machine body 10. By arranging the light guide assembly 70 in the machine body 10, the light guide assembly 70 can be protected, and when the first obstacle detection module 51 is at the predetermined position lower than the second position, the emitted light can better reach the light guide assembly 70 to be guided upward by the light guide assembly 70. The first obstacle detection module 51 includes a light emitter-receiver 511, which includes an emitting end and a receiving end. When the first obstacle detection module 51 is at the predetermined position, the light emitter-receiver 511 is located in the machine body 10. The machine body 10 is formed with a light guide channel 12 for transmitting the light emitted by the light emitter-receiver 511. The light guide channel 12 penetrates the top of the machine body 10 to form a light guide window 13.

[0119] When the first obstacle detection module 51 is at the predetermined position, the light emitter-receiver 511 of the first obstacle detection module 51 is located in the machine body 10, and the machine body 10 is formed with the light guide channel 12. Thus, the light emitted by the emitting end can reach the light guide assembly 70 through the light guide channel 12. The light guide channel 12 penetrates the top of the machine body 10 to form the light guide window 13. The light guide assembly 70 guides the light emitted by the first obstacle detection module 51 to propagate upward. The light propagates upward along the light guide channel 12 and continues to propagate upward through the light guide window 13. When the light encounters an obstacle 200 during the upward propagation, the obstacle 200 blocks and reflects the light back. The reflected light can enter the light guide channel 12 through the light guide window 13 and be guided to the receiving end of the first obstacle detection module 51 by the light guide assembly 70. Thus, whether there is an obstacle 200 above the first obstacle detection module 51 and the distance between the obstacle 200 and the machine body 10 in the vertical direction can be determined according to the information received by the receiving end. If the receiving end cannot receive the light signal or the received light signal is very weak, it can be determined that there is no obstacle 200 above the first obstacle detection module 51.

[0120] By arranging the light guide assembly 70 in the machine body 10, the light guide assembly 70 can be protected. By arranging the light guide channel 12 in the machine body 10, when the first obstacle detection module 51 is at the predetermined position, the light emitted by the first obstacle detection module 51 and the light guided by the light guide assembly 70 can propagate along the light guide channel 12. Thus, the light emitted by the first obstacle detection module 51 can be smoothly guided to propagate upward by the light guide assembly 70, and the light can not be blocked during the propagation to affect the detection or cause incorrect detection results.

[0121] In some embodiments, with reference to Figure 1The inner wall of the light guide channel 12 is provided with a light shielding layer. By providing the light shielding layer on the inner wall of the light guide channel 12, the light shielding effect of the light shielding layer reduces light leakage and light loss during the propagation of the light emitted by the first obstacle detection module 51 along the light guide channel 12, thereby improving the accuracy and reliability of the detection result.

[0122] In some embodiments, with reference to Figure 1 A light-transmitting cover is provided on the cover at the light guide window 13. By providing the light-transmitting cover on the cover at the light guide window 13, the light-transmitting cover can reduce or avoid the entry of external dust, water droplets, and the like into the light guide channel 12 through the light guide window 13, thereby achieving the protection of the light guide assembly 70 and other components in the body 10.

[0123] In some embodiments, with reference to Figure 1 The light guide channel 12 includes a first light guide channel 12112 and a second light guide channel 12212 arranged at an angle, the first light guide channel 12112 is located between the first obstacle detection module 51 and the light guide assembly 70, the lifting direction of the first obstacle detection module 51 is the first direction, and the second light guide channel 12212 extends along the first direction and penetrates through the top of the body 10. By arranging the light guide channel 12 to include the first light guide channel 12112 between the first obstacle detection module 51 and the light guide assembly 70 and the second light guide channel 12212 extending along the first direction, the first obstacle detection module 51 is guided to propagate in different directions by the light guide channel 12 matched thereto.

[0124] The light emitted by the first obstacle detection module 51 can propagate through the first light guide channel 12112, the central axis of the first light guide channel 12112 can extend along the horizontal direction, and the light emitted by the first obstacle detection module 51 can propagate upward through the second light guide channel 12212 extending along the first direction after changing the propagation direction through the light guide assembly 70. In this way, the light emitted by the first obstacle detection module 51 can be guided by the corresponding matched channel when propagating in different directions, so that the light can propagate better along the set direction and reduce the loss during the propagation of the light.

[0125] In some embodiments, the channel for light propagation can be formed by the inner and outer walls of other modules or assemblies of the cleaning device 100.

[0126] In some embodiments, with reference to Figure 1The light guide assembly 70 has a reflecting surface. When the first obstacle detection module 51 is at the predetermined position, the light emitted by the first obstacle detection module 51 can reach the reflecting surface. For example, the light emitted by the first obstacle detection module 51 can reach the reflecting surface of the light guide assembly 70 along the first light guide channel 12112 described above. The reflecting surface is configured to reflect the light emitted by the first obstacle detection module 51 upward. By reflecting the light emitted by the first obstacle detection module 51, the direction of the light can be changed so that the light emitted by the first obstacle detection module 51 can propagate upward. By changing the direction of the light emitted by the first obstacle detection module 51 in this way, the implementation is facilitated, the control is easy, and the structure of the light guide assembly 70 is simple.

[0127] For example, the light guide assembly 70 can include a mirror having the reflecting surface described above.

[0128] It should be noted that the reflecting surface has a certain height in the up-down direction. When the light emitted by the first obstacle detection module 51 reaches between the two edges of the reflecting surface in the height direction, the light can be emitted to propagate upward. The predetermined position of the first obstacle detection module 51 can be a range in the height direction. When the first obstacle detection module 51 is at the upper boundary of the range, the light emitted by the first obstacle detection module 51 reaches the upper edge of the reflecting surface in the height direction. When the first obstacle detection module 51 is at the lower boundary of the range, the light emitted by the first obstacle detection module 51 reaches the lower edge of the reflecting surface in the height direction.

[0129] In some embodiments, referring to Figure 1 The light guide assembly 70 is located at one side of the first obstacle detection module 51 in the horizontal direction. By locating the light guide assembly 70 at one side of the first obstacle detection module 51 in the horizontal direction, the light guide assembly 70 can conveniently guide the light emitted by the first obstacle detection module 51 upward, and the risk of interference between the first obstacle detection module 51 and the light guide assembly 70 during lifting can be reduced. The reflecting surface is inclined in the direction away from the first obstacle detection module 51 in the up-down direction. By inclining the reflecting surface when the light guide assembly 70 is located at one side of the first obstacle detection module 51 in the horizontal direction, the light emitted by the first obstacle detection module 51 can be conveniently guided to propagate upward.

[0130] In some embodiments, referring to Figure 1, the lifting direction of the first obstacle detection module 51 is the first direction, and the reflecting surface is one. By setting the reflecting surface as one, the light emitted by the first obstacle detection module 51 can be reflected by one reflecting surface and then propagate upward. In this way, not only the structure of the light guide assembly 70 is simple, but also the frequency of changing the direction of the light during propagation is reduced, the loss of the light during propagation is reduced, and the accuracy and reliability of detection are improved.

[0131] In the embodiment, the angle between the reflecting surface and the first direction is in the range of α, and the value of α is in the range of 40°-50°. When the first direction is the vertical direction, the angle between the reflecting surface and the vertical direction is in the range of 40°-50°. By setting the angle between the reflecting surface of the light guide assembly 70 and the first direction in the range of 40°-50°, when the light guide assembly 70 is located on the side of the first obstacle detection module 51 along the horizontal direction, the light emitted by the first obstacle detection module 51 propagates to the emitting surface 71 along the horizontal direction, and the direction of the light propagating upward after being reflected by the reflecting surface can be closer to the vertical direction.

[0132] For example, the angle α between the reflecting surface and the first direction is 45°. In this way, when the light guide assembly 70 is located on the side of the first obstacle detection module 51 along the horizontal direction, the light emitted by the first obstacle detection module 51 propagates to the emitting surface 71 along the horizontal direction, and the light propagates upward along the vertical direction after being reflected by the reflecting surface.

[0133] In some embodiments, referring to Figure 1 , the lifting direction of the first obstacle detection module 51 is the first direction, and the first obstacle detection module 51 emits light along a direction perpendicular to the first direction. The first obstacle detection module 51 emits light along a direction perpendicular to the first direction, so that the first obstacle detection module 51 can emit light along the horizontal direction. When the light emitter-receiver 511 of the first obstacle detection module 51 is located above the body 10, the first obstacle detection module 51 emits light along the horizontal direction, so that the obstacles 200 around the cleaning device 100 can be detected conveniently and accurately. When the first obstacle detection module 51 is located at a predetermined position, the first obstacle detection module 51 can emit light along the horizontal direction and hit the light guide assembly 70, so as to detect the obstacles 200 above the first obstacle detection module 51.

[0134] In some embodiments, referring to Figure 1 , the first obstacle detection module 51 includes the light emitter-receiver 511, and when the first obstacle detection module 51 is located at a predetermined position, the light emitter-receiver 511 is adapted to be opposite to the light guide assembly 70. In this way, the light emitted by the first obstacle detection module 51 can reach the light guide assembly 70 without changing the direction of propagation, so that the light propagation path is simple and controllable.

[0135] In some embodiments, referring to Figure 1 , the first obstacle detection module 51 can be rotatable, for example, the first obstacle detection module 51 can comprise a laser radar (LDS), the lifting direction of the first obstacle detection module 51 is the first direction, the rotation axis of the first obstacle detection module 51 extends along the first direction, for example, the first obstacle detection module 51 can rotate around its central axis. For example, when the first obstacle detection module 51 is located at the second position, the first obstacle detection module 51 can be rotated relative to the machine body 10. By rotating the first obstacle detection module 51 relative to the machine body 10, the first obstacle detection module 51 can emit light rays towards different directions to increase the detection range of the first obstacle detection module 51, further reducing the interference or collision between the cleaning device 100 and the obstacle 200 during movement.

[0136] In the rotation direction of the first obstacle detection module 51, the first obstacle detection module 51 has a light guide angle position, when the first obstacle detection module 51 is located at the predetermined position, the first obstacle detection module 51 can be located at the light guide angle position by adjusting the angle position of the first obstacle detection module 51, for example, the first obstacle detection module 51 can be rotated to the light guide angle position by rotating the first obstacle detection module 51. When the first obstacle detection module 51 is located at the light guide angle position, the light emission receiver 511 is opposite to the light guide assembly 70, and the light emitted by the light emission receiver 511 can conveniently hit the light guide assembly 70.

[0137] In some embodiments, referring to Figure 1 , the cleaning device 100 comprises an angle position detection module, the angle position detection module is used for detecting the angle position of the first obstacle detection module 51, and the angle position detection module is electrically connected with the control module 60. By lifting the first obstacle detection module 51, when the first obstacle detection module 51 is adjusted to the predetermined position in the height direction, whether the first obstacle detection module 51 is located at the light guide angle position in the rotation direction of the first obstacle detection module 51 can be detected and judged by the angle position detection module.

[0138] For example, the angle position detection module can comprise an angle sensor, which can be arranged on the first obstacle detection module 51 or a rotating mechanism for driving the first obstacle detection module 51 to rotate. For example, the angle sensor can be a Hall sensor.

[0139] In some embodiments, referring to Figure 1The first obstacle detection module 51 is arranged at the rear of the machine body 10. By arranging the first obstacle detection module 51 at the rear of the machine body 10, the space at the rear of the machine body 10 can be fully utilized, so that the arrangement of the internal components of the machine body 10 is compact.

[0140] In some embodiments, with reference to Figure 1 Figure 1 Figure 1 The cleaning device 100 further comprises a second obstacle detection module 52 arranged at the front end of the machine body 10, and the control module 60 is configured to control the cleaning assembly, the first obstacle detection module 51 and the second obstacle detection module 52. The height position of the second obstacle detection module 52 is lower than the height position of the first obstacle detection module 51 in the second position. The second obstacle detection module 52 is configured to detect the obstacle 200 in the cleaning area, and the second obstacle detection module 52 can emit a linear laser beam to the front of the machine body 10.

[0141] On the basis of arranging the first obstacle detection module 51, further arranging the second obstacle detection module 52 at the front end of the machine body 10 can make up for the deficiency that the first obstacle detection module 51 cannot detect obstacles 200 at a lower position. Therefore, through the cooperation of the first obstacle detection module 51 and the second obstacle detection module 52, the detection range of the obstacle 200 can be increased, and the interference or collision between the cleaning device 100 and the obstacle 200 during movement can be further reduced.

[0142] According to the cleaning system of the second aspect of the present application, it comprises the cleaning device 100 and the cleaning base station according to the first aspect of the present application. The cleaning device 100 and the cleaning base station are detachably connected. The cleaning base station is configured to clean and / or charge the cleaning device 100.

[0143] For example, when the cleaning assembly of the cleaning device 100 needs to be cleaned, such as the cleaning assembly of the cleaning assembly, the cleaning device 100 can automatically move into the cleaning base station, and the cleaning base station can clean the cleaning assembly of the cleaning device 100. After cleaning, the cleaning device 100 can move away from the cleaning base station.

[0144] For another example, when the cleaning device 100 needs to be charged, the cleaning device 100 can automatically move into or beside the cleaning base station, the charging port of the cleaning device 100 is connected to the corresponding interface of the cleaning base station, and the automatic charging of the cleaning device 100 is realized. After charging, the cleaning device 100 can move away from the cleaning base station.

[0145] The cooperation mode of the cleaning device 100 and the cleaning base station can be as follows: the cleaning base station has a base station accommodating cavity, when the cleaning device 100 cooperates with the cleaning base station, the cleaning device 100 moves into the base station accommodating cavity of the cleaning base station; when the cleaning device 100 separates from the cleaning base station, the cleaning device 100 moves to leave the base station accommodating cavity to move to the outside of the cleaning base station.

[0146] The cleaning system according to the embodiment of the present application can expand the detection range and detection capability of the obstacle 200 by setting the cleaning device 100.

[0147] In some embodiments, the control module 60 of the cleaning device 100 is configured to control the first obstacle detection module 51 to rise upwardly when it is determined that the cleaning device 100 separates from the cleaning base station by detecting the light reflected and received by the light guide assembly 70.

[0148] For example, when the cleaning device 100 enters the cleaning base station, the cleaning device 100 enters a low space, the first obstacle detection module 51 cooperates with the light guide assembly 70 to detect that the cleaning device 100 enters the low space, the first obstacle detection module 51 of the cleaning device 100 is lowered, for example, the first obstacle detection module 51 is lowered to a first position, so as to avoid the interference between the first obstacle detection module 51 and the cleaning base station.

[0149] For another example, when the cleaning device 100 leaves the cleaning base station and moves to the outside of the cleaning base station, the cleaning device 100 leaves the low space, the first obstacle detection module 51 cooperates with the light guide assembly 70 to detect that the cleaning device 100 leaves the low space by detecting the light reflected and received by the light guide assembly 70, and the control module 60 controls the first obstacle detection module 51 of the cleaning device 100 to rise, for example, the first obstacle detection module 51 rises to a second position, so as to realize the timely rising of the first obstacle detection module 51 when the cleaning device 100 leaves the cleaning base station.

[0150] In the description of the present application, the description of the terms "one embodiment", "some embodiments", "exemplary embodiment", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the description of the present application, the exemplary description of the above terms does not necessarily mean the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0151] Although the embodiments of the utility model have been shown and described, those of ordinary skill 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 utility model, and the scope of the utility model is defined by the claims and their equivalents.

Claims

1. A cleaning device, characterized in that, The application relates to a cleaning robot, comprising: a body; a cleaning assembly arranged on the body and used for cleaning a region to be cleaned; a first obstacle detection module arranged on the body and used for detecting an obstacle of the region to be cleaned, the first obstacle detection module being liftable between a first position and a second position, the first position being lower than the second position; a light guide assembly arranged on the body, the light guide assembly being used for guiding light emitted by the first obstacle detection module to propagate upward when the first obstacle detection module is at a predetermined position; a control module arranged on the body and used for controlling the cleaning assembly and the first obstacle detection module.

2. The cleaning device of claim 1, wherein, The light guide assembly is used for guiding light emitted by the first obstacle detection module to propagate upward in a vertical direction.

3. The cleaning device of claim 1, wherein, The light guide assembly is located on one side of the first obstacle detection module in a horizontal direction.

4. The cleaning device of claim 3, wherein, The light guide assembly is located on a front side or a rear side of the first obstacle detection module.

5. The cleaning device of claim 1, wherein, The light guide assembly is located in the body, the first obstacle detection module comprises a light emission receiver, at least a part of the light emission receiver is located in the body when the first obstacle detection module is at the predetermined position; a light guide channel is formed in the body, the light guide channel is used for transmitting light emitted by the light emission receiver, the light guide channel penetrates a top of the body to form a light guide window.

6. The cleaning device of claim 5, wherein, An inner wall of the light guide channel is provided with a light shielding layer.

7. The cleaning device of claim 5, wherein, A light-transmitting cover is arranged on the light guide window.

8. The cleaning device of claim 5, wherein, The light guide channel comprises a first light guide channel and a second light guide channel arranged at an included angle, the first light guide channel is located between the first obstacle detection module and the light guide assembly, a lifting direction of the first obstacle detection module is a first direction, the second light guide channel extends along the first direction and penetrates the top of the body.

9. The cleaning device of claim 1, wherein, The light guide assembly has a reflecting surface, the reflecting surface is used for reflecting light emitted by the first obstacle detection module to propagate upward when the first obstacle detection module is at the predetermined position.

10. The cleaning device of claim 9, wherein, The light guide assembly is located on one side of the first obstacle detection module in a horizontal direction, the reflecting surface is arranged to be inclined away from the first obstacle detection module in a direction from bottom to top.

11. The cleaning device of claim 10, wherein, The lifting direction of the first obstacle detection module is a first direction, the reflecting surface is one, and an included angle between the reflecting surface and the first direction ranges from 40 DEG to 50 DEG.

12. The cleaning device of claim 11, wherein, The included angle between the reflecting surface and the first direction is 45 DEG.

13. The cleaning device of claim 1, wherein, The first obstacle detection module comprises a light emission receiver, the light emission receiver is adapted to be opposite to the light guide assembly when the first obstacle detection module is at the predetermined position.

14. The cleaning device of claim 13, wherein, The first obstacle detection module is rotatable, the lifting direction of the first obstacle detection module is a first direction, a rotation axis of the first obstacle detection module extends along the first direction, the first obstacle detection module has a light guide angle position in a rotation direction of the first obstacle detection module, the light emission receiver is opposite to the light guide assembly when the first obstacle detection module is at the predetermined position and at the light guide angle position.

15. The cleaning device of claim 14, wherein, The angle position detection module is electrically connected with the control module.

16. The cleaning device of any one of claims 1-15, wherein, The first obstacle detection module is located at the rear of the body.

17. The cleaning device of any one of claims 1-15, wherein, The second obstacle detection module is arranged at the front end of the body, and is configured to detect obstacles in the area to be cleaned.

18. A cleaning system characterized by, The cleaning device according to any one of claims 1-17; A cleaning base station, the cleaning device is detachably coupled with the cleaning base station, the cleaning base station is configured to clean and / or charge the cleaning device. The control module is configured to, when determining that the cleaning device is separated from the cleaning base station, 19. The cleaning system of claim 18, wherein, The control module is configured to, when determining that the cleaning device is separated from the cleaning base station, The control module is configured to, when determining that the cleaning device is separated from the cleaning base station, The control module is configured to, when determining that the cleaning device is separated from the cleaning base station,

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