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 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 rear portion of 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, the control module is arranged on the front portion of the machine body, and at least part of the cleaning assembly is located behind the control module. The control module is used for controlling the cleaning assembly and the first obstacle detection module. According to the cleaning device disclosed by the embodiment of the utility model, the parts in the machine body are compactly arranged, so that the size of the cleaning device can be reduced, and the miniaturization design of the cleaning device is favorably realized.

Description

Technical Field

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

[0002] With the improvement of living standards, intelligent cleaning devices are being used more and more widely in people's lives. These devices automatically move within the area to be cleaned, achieving cleaning and bringing great convenience to people's lives. However, some existing cleaning devices suffer from large sizes due to unreasonable internal structural designs, hindering miniaturization. Therefore, improvements are needed. Utility Model Content

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, one object of the present invention is to provide a cleaning device that is compact in structure and small in size.

[0004] This utility model also proposes a cleaning system having the above-mentioned cleaning device.

[0005] A cleaning device according to a first aspect of the present invention includes: a body; a cleaning component disposed on the body and used for cleaning an area to be cleaned; a first obstacle detection module disposed vertically at the rear of the body between a first position and a second position and used for detecting obstacles in the area to be cleaned, wherein the first position is lower than the second position; and a control module disposed at the front of the body, wherein at least a portion of the cleaning component is located behind the control module, and the control module is used to control the cleaning component and the first obstacle detection module.

[0006] According to the present invention, the cleaning device has a liftable first obstacle detection module located at the rear of the body and a control module located at the front of the body. At least part of the cleaning components are located behind the control module. This makes full use of the space inside the body, resulting in a more compact arrangement of the components inside the body. This reduces the size of the cleaning device and facilitates miniaturization of the cleaning device.

[0007] In some embodiments, at least one component of the cleaning assembly has at least a partial avoidance structure formed thereon, the avoidance structure being used to avoid and accommodate the first obstacle detection module.

[0008] In some embodiments, the avoidance structure includes an avoidance gap, in which the first obstacle detection module is at least partially accommodated.

[0009] In some embodiments, at least a portion of the outer peripheral contour shape of the avoidance gap is similar to at least a portion of the outer peripheral contour shape of the first obstacle detection module.

[0010] In some embodiments, the cleaning device includes a mounting base and a lifting mechanism. The mounting base is mounted on the body, and the lifting mechanism is located on the mounting base and connected to the first obstacle detection module to drive the first obstacle detection module to move up and down. The obstacle avoidance structure is used to avoid the mounting base and / or the lifting mechanism.

[0011] In some embodiments, the cleaning component includes a first cleaning component, which includes a dust collection box and a vacuum fan, the vacuum fan being used to suck up debris on the work surface into the dust collection box, and at least a portion of the avoidance structure being formed on the dust collection box.

[0012] In some embodiments, at least a portion of the avoidance structure is formed at the rear of the dust collection box.

[0013] In some embodiments, the vacuum fan and the dust collection box together form at least part of the avoidance structure.

[0014] In some embodiments, the dust collection box includes a suction port and an air outlet, the air outlet being connected to the vacuum cleaner fan, and the first cleaning component further includes a roller brush assembly, the roller brush assembly including a roller brush housing and a roller brush, the roller brush housing having a receiving chamber for accommodating the roller brush, and the suction port being connected to the receiving chamber; wherein the air outlet and the suction port are on adjacent sidewalls of the dust collection box.

[0015] In some embodiments, the first cleaning component further includes a dust collection duct that communicates with the dust collection box and is used to discharge waste from the dust collection box. The dust collection duct and the dust collection box together form at least a portion of the avoidance structure.

[0016] In some embodiments, the first cleaning component further includes a dust collection duct that communicates with the dust collection box and is used to discharge debris from the dust collection box. The dust collection box includes a suction port, an air outlet, and an integrated port. The air outlet communicates with the vacuum cleaner fan. The first cleaning component also includes a roller brush assembly that includes a roller brush housing and a roller brush. The roller brush housing has a receiving chamber for accommodating the roller brush. The suction port communicates with the receiving chamber, and the dust collection port communicates with the dust collection duct. The dust collection port and the suction port are located on two opposite sidewalls of the dust collection box, and at least a portion of the clearance structure is formed between the air outlet and the dust collection port.

[0017] In some embodiments, the cleaning assembly includes a first cleaning assembly and a second cleaning assembly. The first cleaning assembly includes a dust collection box and a vacuum fan, the vacuum fan being used to suck up debris from the work surface into the dust collection box. The second cleaning assembly includes a cleaning fluid tank and a mopping assembly. The mopping assembly includes a mopping element and a drive mechanism, the drive mechanism being used to drive the mopping element to move. The cleaning fluid tank is used to store cleaning fluid and to supply cleaning fluid to the mopping element.

[0018] In some embodiments, at least a partial obstacle avoidance structure is formed on the cleaning fluid tank, the obstacle avoidance structure being used to avoid and accommodate the first obstacle detection module.

[0019] In some embodiments, the cleaning fluid tank is located between the control module and the vacuum fan in the front-to-back direction; or, the dust collection box is located between the control module and the vacuum fan in the front-to-back direction.

[0020] In some embodiments, the vacuum cleaner is located between the control module and the cleaning fluid tank in the front-to-back direction; or, in the front-to-back direction, the vacuum cleaner is located between the control module and the dust collection box.

[0021] In some embodiments, the cleaning fluid tank and the dust collection box together form at least a partial obstacle avoidance structure, which is used to avoid and accommodate the first obstacle detection module.

[0022] In some embodiments, the drive mechanism is located at the rear of the body, and at least a portion of the first obstacle detection module is located between the drive mechanism and the dust collection box, or at least a portion of the first obstacle detection module is located between the drive mechanism and the cleaning fluid tank.

[0023] In some embodiments, the drive mechanism and the dust collection box together form at least a partial obstacle avoidance structure, or the drive mechanism, the dust collection box and the vacuum fan together form at least a partial obstacle avoidance structure, or the drive mechanism and the cleaning liquid tank together form at least a partial obstacle avoidance structure, or the drive mechanism, the cleaning liquid tank and the vacuum fan together form at least a partial obstacle avoidance structure, wherein the obstacle avoidance structure is used to avoid and accommodate the first obstacle detection module.

[0024] In some embodiments, the cleaning device includes a light guide assembly disposed on the body. When the first obstacle detection module is in a predetermined position, the light guide assembly is used to guide the light emitted by the first obstacle detection module to propagate upward.

[0025] In some embodiments, the light guide assembly is used to guide the light emitted by the first obstacle detection module to propagate upward in a vertical direction.

[0026] In some embodiments, the light guide assembly is located on one side of the first obstacle detection module along the horizontal direction.

[0027] In some embodiments, the light guide assembly is located inside the fuselage, the first obstacle detection module includes a light emitter and receiver, and when the first obstacle detection module is located at the predetermined position, at least a portion of the light emitter and receiver is located inside the fuselage; a light guide channel is formed inside the fuselage, the light guide channel is used to transmit the light emitted by the light emitter and receiver, and the light guide channel extends through the top of the fuselage to form a light guide window.

[0028] In some embodiments, the light guide assembly has a reflective surface, which, when the first obstacle detection module is at the predetermined position, is used to reflect the light emitted by the first obstacle detection module to propagate upwards.

[0029] In some embodiments, the light guide assembly is located on one side of the first obstacle detection module along the horizontal direction, and the reflective surface is inclined in the direction away from the first obstacle detection module from bottom to top.

[0030] In some embodiments, the lifting direction of the first obstacle detection module is a first direction, and the first obstacle detection module emits light in a direction perpendicular to the first direction.

[0031] In some embodiments, the first obstacle detection module includes a light emitter receiver, which is adapted to be opposite the light guide component when the first obstacle detection module is located at the predetermined position.

[0032] In some embodiments, the first obstacle detection module is rotatable, the lifting direction of the first obstacle detection module is a first direction, the rotation axis of the first obstacle detection module extends along 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. When the first obstacle detection module is located at the predetermined position and at the light guide angle position, the light emitting receiver is opposite to the light guide component.

[0033] In some embodiments, the cleaning device further includes a camera module and / or a second obstacle detection module disposed at the front end of the body. The camera module and / or the second obstacle detection module are located on the front side of the control module and electrically connected to the control module. The second obstacle detection module is used to detect obstacles in the area to be cleaned. The height of the second obstacle detection module is lower than the height of the first obstacle detection module when it is in the second position.

[0034] A cleaning system according to a second aspect of the present invention includes: a cleaning device according to the first aspect of the present invention described above; and a cleaning base station, wherein the cleaning device and the cleaning base station are detachably coupled, and the cleaning base station is used to clean and / or charge the cleaning device.

[0035] According to the cleaning system of this utility model embodiment, by setting the above-mentioned cleaning device, the volume of the cleaning device can be reduced, which is conducive to realizing the miniaturization design of the cleaning device. When the volume of the cleaning device is reduced, the space occupied by the cleaning device in the cleaning base station can be reduced, which is also conducive to realizing the miniaturization of the cleaning base station.

[0036] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0037] The above and / or additional aspects and advantages of this utility model will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0038] Figure 1 This is a schematic diagram of the cooperation between the first obstacle detection module and the light guide component of the cleaning device according to some embodiments of the present invention;

[0039] Figure 2 This is a schematic diagram showing the distribution of various components inside the body of a cleaning device according to some embodiments of the present invention;

[0040] Figure 3 This is a schematic diagram showing the distribution of various components within the body of a cleaning device according to other embodiments of the present invention.

[0041] Figure label:

[0042] 100. Cleaning equipment;

[0043] 10. Body; 11. Guide wheel; 12. Light guide channel; 121. First light guide channel; 122. Second light guide channel; 13. Light guide window;

[0044] 20. First cleaning component; 21. Dust collection box; 22. Vacuum fan; 23. Clearance structure; 231. Clearance notch;

[0045] 30. Second cleaning component; 31. Cleaning solution tank; 32. Mopping component;

[0046] 40. Third cleaning component;

[0047] 51. First obstacle detection module; 511. Light transmitter and receiver; 52. Second obstacle detection module; 53. Camera module;

[0048] 60. Control module; 70. Light guide assembly; 71. Emitting surface;

[0049] 200. Obstacles. Detailed Implementation

[0050] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0051] In the description of this utility model, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "inner", "outer", "axial", "circumferential", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0052] In the description of this utility model, "first feature" and "second feature" may include one or more of the features.

[0053] In the description of this utility model, "multiple" means two or more.

[0054] The following is for reference. Figures 1-3 A cleaning device 100 according to an embodiment of the present invention is described.

[0055] Reference Figures 1-3 ( Figure 1 (The arrow in the image indicates the direction of light propagation). According to the first aspect of the present invention, the cleaning device 100 includes: a body 10, a cleaning component, a first obstacle detection module 51, and a control module 60.

[0056] A cleaning component is located on the body 10 and is used to clean the area to be cleaned. Guide wheels 11 may also be provided at the bottom of the body 10 to enable the cleaning device 100 to move automatically in the area to be cleaned.

[0057] The first obstacle detection module 51 is vertically detachable from the body 10 between a first position and a second position, with the first position being lower than the second position. The first obstacle detection module 51 is used to detect obstacles 200 in the area to be cleaned. For example, when the first obstacle detection module 51 rises to the second position, it can detect obstacles 200 in the area to be cleaned, thus reducing the probability of collision between the cleaning device 100 and the obstacle 200 during the movement of the cleaning device 100. Alternatively, when the first obstacle detection module 51 descends to the first position, it can be stored inside the body 10, preventing interference or collision between the first obstacle detection module 51 and obstacles 200 above the low space when the cleaning device 100 enters low spaces such as under a bed or sofa.

[0058] For example, the first obstacle detection module 51 may include a light emitter receiver 511, which includes a transmitter and a receiver. The transmitter emits light, and after the emitted light hits the obstacle 200, it is emitted back and received by the receiver. This allows the system to determine whether the area to be cleaned contains the obstacle 200, and also to determine the distance between the obstacle 200 and the cleaning device 100.

[0059] The first obstacle detection module 51 has a lifting direction defined as a first direction, and it can emit light in a direction perpendicular to this first direction. For example, while the lifting direction of the first obstacle detection module 51 may be vertical, it can also emit light in a horizontal direction.

[0060] The control module 60 is located on the body 10, and the control module 60 is used to control the cleaning components and the first obstacle detection module 51. For example, the control module 60 can control whether the cleaning components are working.

[0061] For example, the control module 60 can control the raising and lowering of the first obstacle detection module 51. This control can be based on whether the first obstacle detection module 51 needs to be used, or on whether the cleaning device 100 has entered or is about to enter a low-ceilinged space. For instance, the cleaning device 100 includes a raising mechanism for driving the first obstacle detection module 51. The control module 60 can be electrically connected to the raising mechanism, thereby controlling the raising and lowering of the first obstacle detection module 51.

[0062] For example, the control module 60 can control the operation of the first obstacle detection module 51, such as controlling the operation of the light transmitter and receiver 511 of the first obstacle detection module 51.

[0063] Optionally, the first obstacle detection module 51 can also rotate relative to the body 10. 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 its own central axis. For example, when the first obstacle detection module 51 is in the second position, the first obstacle detection module 51 can rotate relative to the body 10. By rotating the first obstacle detection module 51 relative to the body 10, the first obstacle detection module 51 can emit light in different directions, thereby increasing the detection range of the first obstacle detection module 51 and further reducing the interference or collision between the cleaning device 100 and the obstacle 200 during movement. The first obstacle detection module 51 can rotate 360°.

[0064] When the first obstacle detection module 51 is rotatable relative to the body 10, the control module 60 can also control the rotation of the first obstacle detection module 51. The cleaning device 100 may also include a rotating mechanism for driving the first obstacle detection module 51 to rotate. The rotating mechanism is electrically connected to the control module 60. The control module 60 can control the rotation of the first obstacle detection module 51 by controlling the rotating mechanism of the first obstacle detection module 51.

[0065] In some embodiments, refer to Figure 2 and Figure 3 The cleaning components may include a first cleaning component 20, such as a roller brush, a vacuum fan 22, and a dust collection box 21. The roller brush is adapted to contact the surface to be cleaned, and the vacuum fan 22 is used to drive airflow to suck the roller brush and the debris on the surface to be cleaned into the dust collection box 21 for collection.

[0066] For example, the control module 60 can control whether the first cleaning component 20 works. The control module 60 can be electrically connected to the vacuum cleaner 22 of the first cleaning component 20, and control the first cleaning component 20 by controlling the vacuum cleaner 22.

[0067] In some embodiments, refer to Figure 2 and Figure 3The first obstacle detection module 51 is located at the rear of the body 10, and the control module 60 is located at the front of the body 10. At least a portion of the cleaning components is located behind the control module 60; for example, a portion of the cleaning components may be located behind the control module 60, or all of the cleaning components may be located behind the control module 60. By placing the liftable first obstacle detection module 51 at the rear of the body 10 and the control module 60 at the front of the body 10, and by placing at least a portion of the cleaning components behind the control module 60, the space within the body 10 can be fully utilized, resulting in a more compact arrangement of components within the body 10. This reduces the size of the cleaning device 100 and facilitates a miniaturized design of the cleaning device 100.

[0068] In some embodiments, refer to Figure 2 and Figure 3 At least one component of the cleaning assembly has at least a partial obstacle avoidance structure 23 formed thereon, which is used to avoid and accommodate the first obstacle detection module 51. For example, the partial obstacle avoidance structure 23 may be formed on one component of the cleaning assembly; the partial obstacle avoidance structure 23 may be formed on multiple components of the cleaning assembly; the entire obstacle avoidance structure 23 may be formed on one component of the cleaning assembly; or the obstacle avoidance structure 23 may be formed on multiple components of the cleaning assembly together. By forming at least a partial obstacle avoidance structure 23 on at least one component of the cleaning assembly, the space inside the body 10 can be utilized more fully, making the arrangement of the various components inside the body 10 more compact, better reducing the volume of the cleaning device 100, and making it more conducive to the miniaturization design of the cleaning device 100.

[0069] In some embodiments, refer to Figure 2 and Figure 3 The obstacle avoidance structure 23 includes an obstacle avoidance notch 231, in which at least a portion of the first obstacle detection module 51 is accommodated. For example, a portion of the first obstacle detection module 51 may be accommodated in the obstacle avoidance notch 231; alternatively, the entire first obstacle detection module 51 may be accommodated within the obstacle avoidance notch 231. By including, for example, the obstacle avoidance notch 231 in the obstacle avoidance structure 23, the obstacle avoidance notch 231 can be created using the structure of the first cleaning component 20, providing space for the first obstacle detection module 51 and resulting in a compact arrangement of components within the body 10.

[0070] In some embodiments, at least a portion of the outer peripheral contour shape of the clearance notch 231 is similar to at least a portion of the outer peripheral contour shape of the first obstacle detection module 51. For example, a portion of the outer peripheral contour shape of the clearance notch 231 may be similar to a portion of the outer peripheral contour shape of the first obstacle detection module 51; alternatively, the entire outer peripheral contour shape of the clearance notch 231 may 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 may be circular, and at least a portion of the outer peripheral contour of the clearance notch 231 may be a shape similar to a circle.

[0071] By making at least a portion of the outer peripheral contour shape of the clearance notch 231 similar to at least a portion of the outer peripheral contour shape of the first obstacle detection module 51, the distance between the inner peripheral wall of the clearance notch 231 and the outer peripheral side of the first obstacle detection module 51 can be smaller and more uniform, or fit more tightly. While making full use of the space inside the body 10, it can also better avoid interference or relative movement between the first obstacle detection module 51 and the cleaning component during the movement.

[0072] In some embodiments, the cleaning device 100 includes a mounting base and a lifting mechanism. The mounting base is mounted on the body 10, for example, the mounting base may be detachably mounted on the body 10. The lifting mechanism is disposed on the mounting base and connected to the first obstacle detection module 51 to drive the first obstacle detection module 51 to rise and fall. In addition to avoiding the first obstacle detection module 51, the avoidance structure 23 can also be used to avoid the mounting base and / or the lifting mechanism. For example, the avoidance structure 23 can be used to avoid the mounting base, or it can be used to avoid the lifting mechanism, or it can be used to avoid both the mounting base and the lifting mechanism. By making the avoidance structure 23 not only avoid the first obstacle detection module 51 but also avoid the mounting base and / or the lifting mechanism, the components within the body 10 can be arranged more compactly, which helps to reduce the size of the cleaning device 100 and thus facilitates the miniaturization design of the cleaning device 100.

[0073] In some embodiments, refer to Figure 2 and Figure 3 The first cleaning component 20 includes a dust collection box 21 and a vacuum blower 22. The vacuum blower 22 is used to suck up debris from the work surface into the dust collection box 21. At least a portion of the avoidance structure 23 is formed on the dust collection box 21. For example, the avoidance structure 23 may be partially or entirely formed on the dust collection box 21. By providing at least a portion of the avoidance structure 23 on the relatively large dust collection box 21, the avoidance function of the first obstacle detection module 51 can be achieved, resulting in a compact structure with minimal impact on the dust collection box 21, leading to a more optimized overall structural layout.

[0074] In some embodiments, refer to Figure 2 and Figure 3 At least a portion of the obstacle avoidance structure 23 is formed at the rear of the dust collection box 21. The first obstacle detection module 51 is located at the rear of the body 10. By forming at least a portion of the obstacle avoidance structure 23 at the rear of the dust collection box 21, obstacle avoidance of the first obstacle detection module 51 can be effectively achieved.

[0075] In some embodiments, the vacuum cleaner 22 and the dust collection box 21 together form at least a partial obstacle avoidance structure 23, which is used to avoid the first obstacle detection module 51. For example, the vacuum cleaner 22 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 having the vacuum cleaner 22 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 vacuum cleaner 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 inside the body 10 more compact.

[0076] In some embodiments, the first cleaning component 20 further includes a dust collection duct that communicates with a dust collection box 21. When the vacuum cleaner 22 is working, it can suck up debris from the work surface or the roller brush into the dust collection box 21. The dust collection duct is used to discharge the debris from the dust collection box 21. For example, when there is a lot of debris in the dust collection box 21, the debris can be discharged through the dust collection duct. For example, when the cleaning device 100 cooperates with the cleaning base station, the dust collection duct of the cleaning device 100 can be connected to the cleaning base station to discharge the debris in the dust collection box 21 of the cleaning device 100 into the cleaning base station for collection.

[0077] The dust collection duct and the dust collection box 21 together form at least a partial obstacle avoidance structure 23. For example, the dust collection duct and the dust collection box 21 may form a partial obstacle avoidance structure 23, or they may form at least a complete obstacle avoidance structure 23. By making full use of the space between the dust collection box 21 and the dust collection duct, a certain amount of space is provided for the first obstacle detection module 51, which helps to make the component arrangement inside the body 10 more compact.

[0078] In some embodiments, the dust collection box 21 includes a suction port and an air outlet. The first cleaning component further includes a roller brush assembly, which includes a roller brush housing and a roller brush. The roller brush housing has a receiving chamber for accommodating the roller brush. The suction port communicates with the receiving chamber, and debris on the working surface or the roller brush enters the dust collection box 21 through the suction port. The air outlet communicates with a vacuum cleaner motor 22. The vacuum cleaner motor 22 creates a negative pressure inside the dust collection box 21 through the air outlet. When the vacuum cleaner motor 22 is working, it can cause debris on the working surface or the roller brush to enter the dust collection box 21 through the suction port.

[0079] In some embodiments, the air outlet and the dust suction port are located on adjacent sidewalls of the dust collection box 21. In some embodiments, the dust suction port is located on the front side of the dust collection box 21. In some embodiments, the air outlet is located on the left side of the dust collection box 21.

[0080] In some embodiments, the first cleaning component 20 further includes a dust collection duct, and the dust collection box 21 further includes a dust collection port connected to the dust collection duct. Waste within the dust collection box 21 can be disposed of through the dust collection port and the dust collection duct.

[0081] In some embodiments, the dust collection port is located on the rear side of the dust collection box 21. In some embodiments, the dust collection port and the suction port are located on two opposite side walls of the dust collection box 21. In some embodiments, the dust collection port and the suction port are spaced a certain distance in the left-right direction, and the distance between the dust collection port and the suction port is greater than a threshold distance to prevent the airflow from the suction port from flowing directly into the dust collection port during dust collection, thus preventing the waste in the dust collection box 21 from being discharged. For example, the threshold distance can be 10mm, 15mm, 20mm, 25mm, 30mm, etc. Exemplarily, in the left-right direction, the dust collection port and the suction port are respectively located at or near the two ends of their respective side walls on the dust collection box 21. In some embodiments, at least a portion of the clearance structure 23 is formed between the air outlet and the dust collection port.

[0082] In some embodiments, refer to Figure 2 and Figure 3 The cleaning components include a first cleaning component 20 and a second cleaning component 30. The first cleaning component 20 includes a dust collection box 21 and a vacuum blower 22, which sucks debris from the work surface into the dust collection box 21. The cleaning device 100 further includes a second cleaning component 30. A control module 60 controls the first cleaning component 20, the second cleaning component 30, and a first obstacle detection module 51. The second cleaning component 30 includes a cleaning fluid tank 31 and a mopping component 32. The mopping component 32 includes a mopping element and a drive mechanism. The drive mechanism drives the mopping element to move (e.g., rotate, vibrate, and / or swing outward relative to the body 10). The mopping element contacts the work surface to clean it. The cleaning fluid tank 31 stores cleaning fluid and supplies cleaning fluid to the mopping element.

[0083] By including the first cleaning component 20 and the second cleaning component 30 described above in the cleaning assembly of the cleaning device 100, the cleaning ability and efficiency of the cleaning device 100 can be improved. Furthermore, the second cleaning component 30 can employ either dry or wet cleaning methods as needed, offering diverse cleaning options. For example, when the second cleaning component 30 uses wet cleaning, the cleaning fluid tank 31 can supply cleaning fluid to the mopping component; when the second cleaning component 30 uses dry cleaning, the cleaning fluid tank 31 can stop supplying cleaning fluid to the mopping component.

[0084] The control module 60 can control the operation of the second cleaning component 30. For example, the control module 60 can be electrically connected to the drive mechanism to control the mopping component. The control module 60 can also control whether the cleaning fluid tank 31 supplies cleaning fluid to the mopping component, so that the second cleaning component 30 can select dry cleaning or wet cleaning as needed.

[0085] In some embodiments, refer to Figure 2 and Figure 3 At least a partial obstacle avoidance structure 23 is formed on the cleaning fluid tank 31. The obstacle avoidance structure 23 is used to avoid and accommodate the first obstacle detection module 51. For example, the obstacle avoidance structure 23 may be partially formed on the cleaning fluid tank 31, or it may be entirely formed on the cleaning fluid tank 31. By providing at least a partial obstacle avoidance structure 23 on the relatively large cleaning fluid tank 31, the obstacle avoidance function of the first obstacle detection module 51 can be achieved, resulting in a compact structure with minimal impact on the cleaning fluid tank 31, thus achieving a superior overall structural layout.

[0086] In some embodiments, refer to Figure 2 and Figure 3 In the front-to-back direction, the cleaning fluid tank 31 is located between the control module 60 and the vacuum blower 22. By positioning the cleaning fluid tank 31 between the control module 60 and the vacuum blower 22 in the front-to-back direction, the space within the body 10 in the front-to-back direction can be fully utilized, resulting in a compact arrangement of components within the body 10, which is beneficial for the miniaturization design of the cleaning device 100.

[0087] In some embodiments, refer to Figure 2 and Figure 3 In the front-to-back direction, the dust collection box 21 is located between the control module 60 and the vacuum cleaner 22. By positioning the dust collection box 21 between the control module 60 and the vacuum cleaner 22 in the front-to-back direction, the space inside the body 10 in the front-to-back direction can be fully utilized, making the components inside the body 10 more compact and facilitating the miniaturization design of the cleaning device 100.

[0088] In some embodiments, the vacuum cleaner 22 is located between the control module 60 and the cleaning fluid tank 31 in the front-to-back direction. By positioning the vacuum cleaner 22 between the control module 60 and the cleaning fluid tank 31 in the front-to-back direction, the space within the body 10 in the front-to-back direction can be fully utilized, resulting in a compact arrangement of components within the body 10, which is beneficial for the miniaturization design of the cleaning device 100.

[0089] In some embodiments, the vacuum cleaner 22 is located between the control module 60 and the dust collection box 21 in the front-to-back direction. By positioning the vacuum cleaner 22 between the control module 60 and the dust collection box 21 in the front-to-back direction, the space within the body 10 in the front-to-back direction can be fully utilized, resulting in a compact arrangement of components within the body 10, which is beneficial for the miniaturization design of the cleaning device 100.

[0090] In some embodiments, the cleaning fluid tank 31 and the dust collection box 21 together form at least a partial clearance structure 23, which is used to avoid and accommodate the first obstacle detection module 51. For example, the cleaning fluid tank 31 and the dust collection box 21 may form a partial clearance structure 23, or they may form a complete clearance structure 23. By having the cleaning fluid tank 31 and the dust collection box 21 together form at least a partial clearance structure 23, the space between the dust collection box 21 and the cleaning fluid tank 31 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.

[0091] In some embodiments, refer to Figure 2 and Figure 3 The drive mechanism is located at the rear of the body 10, and at least a portion of the first obstacle detection module 51 is located between the drive mechanism and the dust collection box 21. When the drive mechanism is located at the rear of the body 10, the space between the drive mechanism and the dust collection box 21 can be fully utilized, allowing at least a portion of the first obstacle detection module 51 to be located between the drive mechanism and the dust collection box 21. This makes the component layout within the body 10 more compact, which is beneficial for achieving a miniaturized design of the cleaning device 100.

[0092] In some embodiments, refer to Figure 2 and Figure 3 The drive mechanism is located at the rear of the body 10, and at least a portion of the first obstacle detection module 51 is located between the drive mechanism and the cleaning fluid tank 31. When the drive mechanism is located at the rear of the body 10, the space between the drive mechanism and the cleaning fluid tank 31 can be fully utilized, allowing at least a portion of the first obstacle detection module 51 to be located between the drive mechanism and the cleaning fluid tank 31. This makes the component layout within the body 10 more compact, which is beneficial for achieving a miniaturized design of the cleaning device 100.

[0093] In some embodiments, refer 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.

[0094] 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.

[0095] 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.

[0096] In some embodiments, refer to Figure 2 and Figure 3The drive mechanism, cleaning fluid tank 31, 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, cleaning fluid tank 31, 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, cleaning fluid tank 31, 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.

[0097] In some embodiments, refer to Figure 2 and Figure 3 The vacuum cleaner 22 and the dust collection box 21 are arranged in a left-right direction, or at least a portion of the vacuum cleaner 22 is located in front of the dust collection box 21. By arranging the vacuum cleaner 22 and the dust collection box 21 in a left-right direction, or at least a portion of the vacuum cleaner 22 is located in front of the dust collection box 21, the distance between the vacuum cleaner 22 and the dust collection box 21 can be reduced, which helps to shorten the length of the dust collection duct connecting the vacuum cleaner 22 and the dust collection box 21, and facilitates the connection between the vacuum cleaner 22 and the dust collection box 21.

[0098] In some embodiments, refer to Figure 2 and Figure 3 The vacuum cleaner 22 and the cleaning fluid tank 31 are arranged in a left-right direction, or at least a portion of the vacuum cleaner 22 is located in front of the cleaning fluid tank 31. By arranging the vacuum cleaner 22 and the cleaning fluid tank 31 in a left-right direction, or at least a portion of the vacuum cleaner 22 is located in front of the cleaning fluid tank 31, the layout space inside the machine body can be fully utilized, resulting in a compact overall structure.

[0099] In some embodiments, refer to Figure 2 and Figure 3 The vacuum cleaner 22 and the cleaning fluid tank 31 are located in front of the first obstacle detection module 51. By placing the vacuum cleaner 22 and the cleaning fluid tank 31 in front of the first obstacle detection module 51, the space inside the body 10 in front of the first obstacle detection module 51 can be fully utilized, making the layout of the internal components of the body 10 more compact.

[0100] In some embodiments, refer to Figure 2 and Figure 3 The vacuum cleaner 22 and the dust collection box 21 are located in front of the first obstacle detection module 51. By placing the vacuum cleaner 22 and the dust collection box 21 in front of the first obstacle detection module 51, the space inside the body 10 in front of the first obstacle detection module 51 can be fully utilized, making the layout of the internal components of the body 10 more compact.

[0101] In some embodiments, refer to Figure 2 and Figure 3 The cleaning fluid tank 31 and the vacuum cleaner fan 22 are arranged in the front-to-back direction. Arranging the cleaning fluid tank 31 and the vacuum cleaner fan 22 in the front-to-back direction can make full use of the space in the front-to-back direction inside the body 10, making the layout of the internal components of the body 10 compact.

[0102] In some embodiments, refer to Figure 2 and Figure 3 The dust collection box 21 and the vacuum cleaner 22 are arranged in the front-to-back direction. Arranging the dust collection box 21 and the vacuum cleaner 22 in the front-to-back direction can make full use of the space in the front-to-back direction inside the body 10, making the layout of the internal components of the body 10 compact.

[0103] In some embodiments, refer to Figure 2 and Figure 3 The cleaning assembly may further include at least one third cleaning assembly 40, which may be located near the edge of the body 10 and may include a side brush. The third cleaning assembly 40 can sweep debris on the working surface toward the location of the first cleaning assembly 20, and the dust collector 22 of the first cleaning assembly 20 can use to suck the debris swept by the third cleaning assembly 40 into the dust collection box 21. The third cleaning assembly 40 facilitates the cleaning of corners and edges by the cleaning device 100. Through the cooperation of the first cleaning assembly 20, the second cleaning assembly 30, and the third cleaning assembly 40, the cleaning ability, cleaning efficiency, and cleaning effect of the cleaning device 100 can be further improved.

[0104] In some embodiments, refer to Figure 2 and Figure 3 There can be multiple third cleaning components 40, which can be arranged at intervals along the circumference of the body 10. By setting multiple third cleaning components 40, corners and edges can be cleaned more effectively.

[0105] For example, in some specific embodiments, refer to Figure 2 and Figure 3Multiple third cleaning components 40 can be distributed at both ends of the main body 10. The third cleaning component 40 at one end in the left-right direction can be located on one side of the control module 60 along the left-right direction, while the third cleaning component 40 at the other end in the left-right direction can be located between the control module 60 and the dust collection box 21, or between the control module 60 and the cleaning liquid tank 31. In this way, multiple third cleaning components 40 can make full use of the space in the left-right direction of the control module 60 and the space between the control module 60 and the dust collection box 21 or the cleaning liquid tank 31, so that the component layout inside the main body 10 is compact, which is conducive to the miniaturization design of the cleaning device 100.

[0106] In some embodiments, refer to Figure 1 The cleaning device 100 also includes a camera module 53 and / or a second obstacle detection module 52 located at the front end of the body 10. The camera module 53 and / or the second obstacle detection module 52 are located on the front side of the control module 60 and are electrically connected to the control module 60. The second obstacle detection module 52 is used to detect obstacles 200 in the area to be cleaned. The height of the second obstacle detection module 52 is lower than the height of the first obstacle detection module 51 in the second position.

[0107] For example, the cleaning device 100 also includes a camera module 53 located at the front of the body 10. The camera module 53 is located in front of the control module 60 and is electrically connected to the control module 60. The camera module 53 can collect environmental features in front of the body 10, and the control module 60 can control the cleaning components based on these environmental features.

[0108] For example, the cleaning device 100 also includes a second obstacle detection module 52. The second obstacle detection module 52 is located in front of the control module 60 and is electrically connected to the control module 60. The second obstacle detection module 52 is used to detect obstacles 200 in the area to be cleaned. The second obstacle detection module 52 can emit a laser beam in front of the body 10. The height of the second obstacle detection module 52 is lower than the height of the first obstacle detection module 51 in the second position.

[0109] Based on the first obstacle detection module 51, a second obstacle detection module 52 is further set at the front end of the body 10. This can compensate for the deficiency that the first obstacle detection module 51 cannot detect obstacles 200 at lower positions. Thus, through the cooperation of the first obstacle detection module 51 and the second obstacle detection module 52, the detection range of obstacles 200 can be increased, further reducing the interference or collision between the cleaning device 100 and obstacles 200 during the movement of the device.

[0110] In some embodiments, refer to Figure 1 The cleaning device 100 includes a light guide assembly 70, which is disposed on the body 10. When the first obstacle detection module 51 is in a predetermined position, the light guide assembly 70 guides the light emitted by the first obstacle detection module 51 to propagate upwards. The light can be laser light, 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 it can be located between the first and second positions. Figure 2 The solid line indicates that the first obstacle detection module 51 is in the second position. Figure 2 The first obstacle detection module 51 is indicated by a dashed line to show that the first obstacle detection module 51 is in a predetermined position.

[0111] The light guide assembly 70 is used to guide the light emitted by the first obstacle detection module 51 to propagate upwards, including the following situations: for example, the light guide assembly 70 is used to guide the light emitted by the first obstacle detection module 51 to propagate vertically upwards; as another example, the light guide assembly 70 is used to guide the light emitted by the first obstacle detection module 51 to propagate obliquely upwards. When the light guide assembly 70 is used to guide the light emitted by the first obstacle detection module 51 to propagate obliquely upwards, the angle between the direction of obliquely upward propagation and the vertical direction can be less than 30°.

[0112] For example, the light guide assembly 70 may include at least one of a reflector and a transmissive mirror. For instance, when the light guide assembly 70 includes a reflector, when the light emitted by the first obstacle detection module 51 reaches the reflective surface of the reflector, the reflector can reflect the light, thereby changing the propagation direction of the light and guiding it upwards. As another example, when the light guide assembly 70 includes a transmissive mirror, when the light emitted by the first obstacle detection module 51 reaches the transmissive mirror, since the light propagates in different media, the transmissive mirror can change the propagation direction of the light by transmitting it, guiding it upwards. Yet another example, the light guide assembly 70 may include both a reflector and a transmissive mirror; the light emitted by the first obstacle detection module 51 can change its propagation direction and be guided upwards by the reflection of the reflector and the transmission of the transmissive mirror. For example, the light guide assembly 70 may include a set of reflectors and / or a set of transmissors. The light emitted by the first obstacle detection module 51 can be reflected by the reflectors and / or transmitted by the transmissors, which can change the direction of light propagation and guide the light to propagate upward.

[0113] The light emitted by the first obstacle detection module 51 can reach the light guide component 70. The light guide component 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 and guided by the light guide component 70 to propagate upward. This allows the light emitted by the first obstacle detection module 51 to propagate upward to the top of the fuselage 10, thereby detecting whether there is an obstacle 200 above the first obstacle detection module 51, and also detecting the vertical distance between the obstacle 200 located above the first obstacle detection module 51 and the fuselage 10.

[0114] For example, when the first obstacle detection module 51 detects an obstacle 200 above it by guiding light through the light guide component 70, and the vertical distance between the obstacle 200 above the first obstacle detection module 51 and the body 10 is less than a preset distance, it indicates that the first obstacle detection module 51 should not rise at this time. If the first obstacle detection module 51 rises at this time, it may interfere with the obstacle 200 above it.

[0115] The preset distance can be determined based on the height at which the first obstacle detection module 51 protrudes from the fuselage 10 when the first obstacle detection module 51 is in the second position.

[0116] For example, the first obstacle detection module 51, guided by the light guide component 70, detects an obstacle 200 above it. When the vertical distance between the obstacle 200 and the fuselage 10 is greater than or equal to a preset distance, the first obstacle detection module 51 can rise. Rising at this time prevents interference between the first obstacle detection module 51 and the obstacle 200 above it. The rise of the first obstacle detection module 51 can be controlled as needed. Furthermore, the rising distance of the first obstacle detection module 51 can be determined based on the vertical distance between the obstacle 200 and the fuselage 10.

[0117] For example, the first obstacle detection module 51, guided by the light guide component 70, detects that there is no obstacle 200 above it. This indicates that the first obstacle detection module 51 can rise. If the first obstacle detection module 51 rises, there will be no interference between it and the obstacle 200 above it. At this point, the rise of the first obstacle detection module 51 can be controlled as needed, for example, it can be raised to a second position.

[0118] 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.

[0119] 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.

[0120] By using the light guide component 70 to guide the light emitted by the first obstacle detection module 51 upwards, it is possible to more accurately detect whether there is an obstacle 200 above the first obstacle detection module 51 and the vertical distance between the obstacle 200 above the first obstacle detection module 51 and the body 10. This allows for a more accurate and timely determination of when the first obstacle detection module 51 should rise, enabling it to rise promptly to detect obstacles 200 around the body 10, thus better fulfilling its function and better preventing collisions between the cleaning device 100 and the surrounding obstacles 200 during movement. It also effectively expands the detection range and capability of the first obstacle detection module 51. Furthermore, compared to a separate obstacle 200 detection module that propagates light upwards, using the light guide component 70 in conjunction with the first obstacle detection module 51 reduces costs and eliminates the need for information transmission between modules. This also avoids errors or malfunctions caused by information transmission between modules, preventing incorrect or inaccurate judgments.

[0121] In some embodiments, refer to Figure 1 The light guide assembly 70 is used to guide the light emitted by the first obstacle detection module 51 to propagate upwards in a vertical direction. By guiding the light emitted by the first obstacle detection module 51 to propagate upwards in a vertical direction, the light guide assembly 70 can more accurately detect whether there is an obstacle 200 above the first obstacle detection module 51, and can also more accurately detect the vertical distance between the obstacle 200 above the first obstacle detection module 51 and the fuselage 10. This provides more accurate information for the lifting and lowering control of the first obstacle detection module 51.

[0122] In some embodiments, refer to Figure 1 The light guide component 70 is located on one side of the first obstacle detection module 51 along the horizontal direction. By placing the light guide component 70 on one side of the first obstacle detection module 51 along the horizontal direction, it is convenient for the light guide component 70 to guide the light emitted by the first obstacle detection module 51 upward, and it can also reduce the risk of interference between the first obstacle detection module 51 and the light guide component 70 during the raising and lowering process.

[0123] In some embodiments, refer to Figure 1 The light guide assembly 70 is located on the front or rear side of the first obstacle detection module 51. By placing the light guide assembly 70 on the front or rear side of the first obstacle detection module 51, the space in the front-rear direction of the fuselage 10 can be fully utilized, making the arrangement of the internal components of the fuselage 10 compact.

[0124] In some embodiments, when the light guide component 70 is positioned in front of the first obstacle detection module 51, as the cleaning device 100 moves in the direction away from the low-ceilinged space, since the light guide component 70 is located in front of the first obstacle detection module 51, the light guide component 70 can leave the low-ceilinged space before the first obstacle detection module 51. By determining the timing of the first obstacle detection module 51's ascent based on the cooperation and positional relationship between the light guide component 70 and the first obstacle detection module 51, the first obstacle detection module 51 can be controlled to rise promptly as soon as it leaves the low-ceilinged space. For example, the rising time of the first obstacle detection module 51 can be determined by combining the moving speed of the cleaning device 100 and the positional relationship between the light guide component 70 and the first obstacle detection module 51, thereby controlling the timely rise of the first obstacle detection module 51.

[0125] In some embodiments, when the light guide component 70 is disposed behind the first obstacle detection module 51, when the cleaning device 100 moves in the direction away from the low space, since the light guide component 70 is located behind the first obstacle detection module 51, through the cooperation and positional relationship between the light guide component 70 and the first obstacle detection module 51, it can be determined that the first obstacle detection module 51 can rise when the light guide component 70 leaves the low space, and thus the first obstacle detection module 51 can be controlled to rise in a timely manner. Furthermore, since the light guide component 70 is disposed behind the first obstacle detection module 51, the first obstacle detection module 51 can leave the low space before the light guide component 70. Thus, when the light guide component 70 leaves the low space, it indicates that the first obstacle detection module 51 has left the low space. Controlling the first obstacle detection module 51 to rise at this time not only ensures the timely rise of the first obstacle detection module 51, but also better avoids interference between the first obstacle detection module 51 and obstacles, thus preventing damage to the first obstacle detection module 51.

[0126] In some embodiments, the light guide assembly 70 may be distributed on the front and rear sides of the first obstacle detection module 51. In some embodiments, the light guide assembly 70 may move around the first obstacle detection module 51. In some embodiments, the light guide channel 12 formed within the body 10 is an annular ring surrounding the first obstacle detection module 51. The light guide channel 12 is used to transmit the light emitted by the light transmitter receiver 511. The light guide channel 12 extends through the top of the body 10 to form a light guide window 13. The light guide window 13 may also be formed as an annular ring surrounding the first obstacle detection module 51.

[0127] In some embodiments, refer to Figure 1The light guide component 70 is located inside the body 10. By placing the light guide component 70 inside the body 10, it can be protected and also facilitate the emitted light to reach the light guide component 70 better when the first obstacle detection module 51 is in a predetermined position lower than the second position, so that the light can be guided upward through the light guide component 70. The first obstacle detection module 51 includes a light emitter and receiver 511, which includes a transmitter and a receiver. When the first obstacle detection module 51 is in the predetermined position, the light emitter and receiver 511 is located inside the body 10. A light guide channel 12 is formed inside the body 10. The light guide channel 12 is used to transmit the light emitted by the light emitter and receiver 511. The light guide channel 12 extends through the top of the body 10 to form a light guide window 13.

[0128] When the first obstacle detection module 51 is in the predetermined position, since the light emitter and receiver 511 of the first obstacle detection module 51 is located inside the body 10 and a light guide channel 12 is formed inside the body 10, the light emitted by the emitter can reach the light guide assembly 70 through the light guide channel 12. The light guide channel 12 extends through the top of the body 10 to form a light guide window 13. The light guide assembly 70 guides the light emitted by the first obstacle detection module 51 to propagate upwards, along the light guide channel 12, and through the light guide window 13. When the light encounters an obstacle 200 during its 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 by the light guide assembly 70 to the receiver of the first obstacle detection module 51. Therefore, based on the information received by the receiver, it can be determined whether there is an obstacle 200 above the first obstacle detection module 51 and the vertical distance between the obstacle 200 and the body 10. If the receiving end does not 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.

[0129] By placing the light guide component 70 inside the body 10, the light guide component 70 can be protected. At the same time, by setting the light guide channel 12 inside the body 10, the light emitted by the first obstacle detection module 51 and the light guided by the light guide component 70 can both propagate along the light guide channel 12 when the first obstacle detection module 51 is in the predetermined position. This allows the light emitted by the first obstacle detection module 51 to be smoothly guided upward through the light guide component 70, and also reduces the risk of the light being blocked during propagation, thus preventing detection or causing incorrect detection results.

[0130] In some embodiments, refer to Figure 1The inner wall of the light guide channel 12 is provided with a light-shielding layer. By providing a light-shielding layer on the inner wall of the light guide channel 12, the light emitted by the first obstacle detection module 51 is reduced in terms of light leakage and light loss as it propagates along the light guide channel 12, thereby improving the accuracy and reliability of the detection results.

[0131] In some embodiments, refer to Figure 1 A light-transmitting cover is provided at the light guide window 13. By providing a light-transmitting cover at the light guide window 13, while allowing light to pass through the light guide window 13 normally, external dust, water droplets, etc. can be reduced or prevented from entering the light guide channel 12 through the light guide window 13, thus protecting the light guide assembly 70 and other components inside the body 10.

[0132] In some embodiments, refer 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 a first direction. The second light guide channel 12212 extends along the first direction and penetrates the top of the body 10. By configuring the light guide channel 12 to include the first light guide channel 12112 located 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 has a matching light guide channel 12 to guide its propagation when it propagates in different directions.

[0133] 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 horizontally. After the light emitted by the first obstacle detection module 51 changes its propagation direction through the light guide component 70, it propagates upward through the second light guide channel 12212 extending in the first direction. This ensures that the light emitted by the first obstacle detection module 51 has a corresponding matching channel to guide it when it propagates in different directions, allowing the light to propagate better along the set direction and reducing light loss during propagation.

[0134] In some embodiments, the light propagation channel may be formed by the inner or outer walls of other modules or components of the cleaning device 100.

[0135] In some embodiments, refer to Figure 1The light guide component 70 has a reflective surface. When the first obstacle detection module 51 is in a predetermined position, the light emitted by the first obstacle detection module 51 can reach the reflective surface. For example, the light emitted by the first obstacle detection module 51 can reach the reflective surface of the light guide component 70 along the first light guide channel 12112. The reflective surface is used to reflect the light emitted by the first obstacle detection module 51 so that it propagates upward. By reflecting the light, the propagation direction of the light can be changed, allowing the light emitted by the first obstacle detection module 51 to propagate upward. Changing the propagation direction of the light emitted by the first obstacle detection module 51 by using an emission method is easy to implement and control, and also makes the structure of the light guide component 70 relatively simple.

[0136] For example, the light guide assembly 70 may include a reflector having the aforementioned reflective surface.

[0137] It should be noted that, since the reflective surface has a certain height dimension in the vertical direction, when the light emitted by the first obstacle detection module 51 hits between the two edges of the reflective surface in the height direction, the light can be emitted and propagated upwards. 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 this range, the light emitted by the first obstacle detection module 51 hits the upper edge of the reflective surface in the height direction; when the first obstacle detection module 51 is at the lower boundary of this range, the light emitted by the first obstacle detection module 51 hits the lower edge of the reflective surface in the height direction.

[0138] In some embodiments, refer to Figure 1 The light guide component 70 is located on one side of the first obstacle detection module 51 along the horizontal direction. By placing the light guide component 70 on one side of the first obstacle detection module 51 along the horizontal direction, it is convenient for the light guide component 70 to guide the light emitted by the first obstacle detection module 51 upwards, and it can also reduce the risk of interference between the first obstacle detection module 51 and the light guide component 70 during the raising and lowering process. The reflective surface is inclined from bottom to top in a direction away from the first obstacle detection module 51. Thus, when the light guide component 70 is located on one side of the first obstacle detection module 51 along the horizontal direction, by tilting the reflective surface, it is easy to guide the light emitted by the first obstacle detection module 51 to propagate upwards.

[0139] In some embodiments, refer to Figure 1The first obstacle detection module 51 has a lifting direction of the first direction and a single reflective surface. By setting only one reflective surface, the light emitted by the first obstacle detection module 51 can be reflected by the reflective surface and then propagate upwards. This not only simplifies the structure of the light guide component 70, but also reduces the frequency of light direction changes during propagation, reduces light loss during propagation, and improves the accuracy and reliability of detection.

[0140] The angle between the reflective surface and the first direction is α, with α ranging from 40° to 50°. When the first direction is vertical, the angle between the reflective surface and the vertical direction is also between 40° and 50°. By setting the angle between the reflective surface of the light guide assembly 70 and the first direction to 40° to 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 approximately horizontally to the emitting surface 71. After being reflected by the reflective surface, the upward propagation direction of this light can be closer to the vertical direction.

[0141] For example, the angle α between the reflective surface and the first direction is 45°. Thus, with the light guide assembly 70 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 approximately horizontally to the emitting surface 71, and after being reflected by the reflective surface, the light propagates vertically upward.

[0142] In some embodiments, refer 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 in a direction perpendicular to the first direction. Emitting light in a direction perpendicular to the first direction allows the first obstacle detection module 51 to emit light in a roughly horizontal direction. When the light emitter and receiver 511 of the first obstacle detection module 51 is located above the body 10, the first obstacle detection module 51 emits light in a roughly horizontal direction, thereby conveniently and accurately detecting obstacles 200 around the cleaning device 100. When the first obstacle detection module 51 is in a predetermined position, the first obstacle detection module 51 can emit light in a horizontal direction and hit the light guide assembly 70 to detect and determine the situation of obstacles 200 above the first obstacle detection module 51.

[0143] In some embodiments, refer to Figure 1 The first obstacle detection module 51 includes a light emitter and receiver 511. When the first obstacle detection module 51 is in a predetermined position, the light emitter and receiver 511 is adapted to be opposite the light guide component 70. In this way, the light emitted by the first obstacle detection module 51 can reach the light guide component 70 without changing its propagation direction, making the light propagation path simple and controllable.

[0144] In some embodiments, refer to Figure 1 The first obstacle detection module 51 is rotatable. For example, the first obstacle detection module 51 may include a lidar (LDS). The lifting direction of the first obstacle detection module 51 is a first direction, and 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 own central axis. For example, when the first obstacle detection module 51 is in the second position, the first obstacle detection module 51 can rotate relative to the body 10. By rotating the first obstacle detection module 51 relative to the body 10, the first obstacle detection module 51 can emit light in different directions, thereby increasing the detection range of the first obstacle detection module 51 and further reducing the interference or collision between the cleaning device 100 and the obstacle 200 during movement.

[0145] In the rotation direction of the first obstacle detection module 51, the first obstacle detection module 51 has a light-guiding angle position. When the first obstacle detection module 51 is in a predetermined position, its angle position can be adjusted to position it at the light-guiding angle position. For example, the first obstacle detection module 51 can be rotated to this position. When the first obstacle detection module 51 is in the light-guiding angle position, the light emitter / receiver 511 is opposite to the light guide assembly 70, and the light emitted by the light emitter / receiver 511 can easily hit the light guide assembly 70.

[0146] In some embodiments, refer to Figure 1 The cleaning device 100 includes an angle position detection module, which detects the angle position of the first obstacle detection module 51. The angle position detection module is electrically connected to the control module 60. By raising and lowering the first obstacle detection module 51, when the first obstacle detection module 51 is adjusted to a predetermined position in the height direction, the angle position detection module can detect and determine 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.

[0147] For example, the angle position detection module may include an angle sensor, which may be mounted on the first obstacle detection module 51 or on a rotating mechanism for driving the first obstacle detection module 51 to rotate. For example, the angle sensor may be a Hall sensor.

[0148] In some embodiments, refer to Figure 1The first obstacle detection module 51 is located at the rear of the fuselage 10. By placing the first obstacle detection module 51 at the rear of the fuselage 10, the space at the rear of the fuselage 10 can be fully utilized, making the internal components of the fuselage 10 more compact.

[0149] In some embodiments, refer to Figure 1 The cleaning device 100 also includes a second obstacle detection module 52 located at the front end of the body 10. A control module 60 controls the cleaning components, the first obstacle detection module 51, and the second obstacle detection module 52. The height of the second obstacle detection module 52 is lower than the height of the first obstacle detection module 51 in its second position. The second obstacle detection module 52 detects obstacles 200 in the area to be cleaned and can emit a laser beam towards the front of the body 10.

[0150] Based on the first obstacle detection module 51, a second obstacle detection module 52 is further set at the front end of the body 10. This can compensate for the deficiency that the first obstacle detection module 51 cannot detect obstacles 200 at lower positions. Thus, through the cooperation of the first obstacle detection module 51 and the second obstacle detection module 52, the detection range of obstacles 200 can be increased, further reducing the interference or collision between the cleaning device 100 and obstacles 200 during the movement of the device.

[0151] A cleaning system according to a second aspect of the present invention includes: a cleaning device 100 according to the first aspect of the present invention and a cleaning base station, wherein the cleaning device 100 and the cleaning base station are detachably coupled, and the cleaning base station is used to clean and / or charge the cleaning device 100.

[0152] For example, when the cleaning components of the cleaning device 100 need cleaning, such as the brush rollers or mopping parts of the cleaning components, the cleaning device 100 can automatically move into the cleaning base station, where the cleaning base station can clean the cleaning components of the cleaning device 100. After cleaning is completed, the cleaning device 100 can move and leave the cleaning base station.

[0153] For example, when the cleaning device 100 needs charging, it can automatically move to or next to the cleaning base station, and its charging port connects to the corresponding interface of the cleaning base station to automatically charge the device. After charging is complete, the cleaning device 100 can move and leave the cleaning base station.

[0154] The cleaning device 100 and the cleaning base station can cooperate in the following way: the cleaning base station has a base station receiving cavity. When the cleaning device 100 cooperates with the cleaning base station, the cleaning device 100 moves into the base station receiving cavity of the cleaning base station. When the cleaning device 100 separates from the cleaning base station, the cleaning device 100 moves away from the base station receiving cavity to move to the outside of the cleaning base station.

[0155] According to the cleaning system of this utility model embodiment, by setting the cleaning device 100 described above, the volume of the cleaning device 100 can be reduced, which is conducive to realizing the miniaturization design of the cleaning device 100. When the volume of the cleaning device 100 is reduced, the space occupied by the cleaning device 100 in the cleaning base station can be reduced, which is also conducive to realizing the miniaturization of the cleaning base station.

[0156] In some embodiments, the control module 60 of the cleaning device 100 is configured to control the first obstacle detection module 51 to rise upward when it is determined that the cleaning device 100 has separated from the cleaning base station by detecting the light received by the light guide component 70.

[0157] For example, when the cleaning device 100 enters the cleaning base station, the cleaning device 100 enters the low space. The first obstacle detection module 51, in conjunction with the light guide component 70, can detect that the cleaning device 100 has entered the low space. The first obstacle detection module 51 of the cleaning device 100 then descends, for example, to a first position, thereby avoiding interference between the first obstacle detection module 51 and the cleaning base station.

[0158] For example, when the cleaning device 100 leaves the cleaning base station and moves outside the cleaning base station, the cleaning device 100 leaves the low space. The first obstacle detection module 51, in conjunction with the light guide component 70, can detect that the cleaning device 100 has left the low space by detecting the light reflected and received by the light guide component 70. The control module 60 can control the first obstacle detection module 51 of the cleaning device 100 to rise, for example, the first obstacle detection module 51 rises to the second position, so that the first obstacle detection module 51 can be raised in time when the cleaning device 100 leaves the cleaning base station.

[0159] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0160] Although embodiments of the present invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A cleaning device, characterized in that, include: body; A cleaning component is provided on the body and is used to clean the area to be cleaned; A first obstacle detection module is vertically and flexibly disposed at the rear of the machine body between a first position and a second position and is used to detect obstacles in the area to be cleaned. The first position is lower than the second position. A control module is located at the front of the machine body, and at least a portion of the cleaning component is located behind the control module. The control module is used to control the cleaning component and the first obstacle detection module.

2. The cleaning device according to claim 1, characterized in that, At least one component of the cleaning assembly has at least a partial obstacle avoidance structure formed thereon, the obstacle avoidance structure being used to avoid and accommodate the first obstacle detection module.

3. The cleaning device according to claim 2, characterized in that, The obstacle avoidance structure includes an obstacle avoidance gap, and the first obstacle detection module is at least partially accommodated in the obstacle avoidance gap.

4. The cleaning device according to claim 3, characterized in that, The shape of at least a portion of the outer periphery of the avoidance gap is similar to the shape of at least a portion of the outer periphery of the first obstacle detection module.

5. The cleaning device according to claim 2, characterized in that, The device includes a mounting base and a lifting mechanism. The mounting base is installed on the body, and the lifting mechanism is located on the mounting base and connected to the first obstacle detection module to drive the first obstacle detection module to move up and down. The obstacle avoidance structure is used to avoid the mounting base and / or the lifting mechanism.

6. The cleaning device according to claim 2, characterized in that, The cleaning component includes a first cleaning component, which includes a dust collection box and a vacuum fan. The vacuum fan is used to suck up the garbage on the work surface into the dust collection box, and at least a portion of the avoidance structure is formed on the dust collection box.

7. The cleaning device according to claim 6, characterized in that, At least a portion of the avoidance structure is formed at the rear of the dust collection box.

8. The cleaning device according to claim 6, characterized in that, The vacuum fan and the dust collection box together form at least part of the avoidance structure.

9. The cleaning device according to claim 6, characterized in that, The dust collection box includes a suction port and an air outlet. The air outlet is connected to the suction fan. The first cleaning component also includes a roller brush assembly. The roller brush assembly includes a roller brush shell and a roller brush. The roller brush shell has a receiving chamber for accommodating the roller brush. The suction port is connected to the receiving chamber. The air outlet and the dust suction port are located on adjacent side walls of the dust collection box.

10. The cleaning device according to claim 6, characterized in that, The first cleaning component further includes a dust collection duct that is connected to the dust collection box and is used to discharge the waste in the dust collection box. The dust collection duct and the dust collection box together form at least part of the avoidance structure.

11. The cleaning device according to claim 6, characterized in that, The first cleaning component further includes a dust collection duct, which is connected to the dust collection box and is used to discharge the waste in the dust collection box. The dust collection box includes a suction port, an air outlet, and a dust collection port. The air outlet is connected to the vacuum cleaner fan. The first cleaning component also includes a roller brush assembly, which includes a roller brush shell and a roller brush. The roller brush shell has a receiving chamber for accommodating the roller brush. The suction port is connected to the receiving chamber, and the dust collection port is connected to the dust collection duct. The dust collection port and the dust suction port are located on two opposite side walls of the dust collection box, and at least part of the avoidance structure is formed between the air outlet and the dust collection port.

12. The cleaning device according to claim 1, characterized in that, The cleaning components include a first cleaning component and a second cleaning component. The first cleaning component includes a dust collection box and a vacuum fan. The vacuum fan is used to suck up the garbage on the work surface into the dust collection box. The second cleaning assembly includes a cleaning fluid tank and a mopping assembly. The mopping assembly includes a mopping element and a drive mechanism. The drive mechanism is used to drive the mopping element to move. The cleaning fluid tank is used to store cleaning fluid and to supply cleaning fluid to the mopping element.

13. The cleaning device according to claim 12, characterized in that, At least a partial obstacle avoidance structure is formed on the cleaning fluid tank, the obstacle avoidance structure being used to avoid and accommodate the first obstacle detection module.

14. The cleaning device according to claim 12, characterized in that, In the front-to-back direction, the cleaning fluid tank is located between the control module and the vacuum fan; or, in the front-to-back direction, the dust collection box is located between the control module and the vacuum fan.

15. The cleaning apparatus according to claim 12, characterized in that, In the front-to-back direction, the vacuum fan is located between the control module and the cleaning liquid tank; or, in the front-to-back direction, the vacuum fan is located between the control module and the dust collection box.

16. The cleaning apparatus according to claim 12, characterized in that, The cleaning fluid tank and the dust collection box together form at least a partial obstacle avoidance structure, which is used to avoid and accommodate the first obstacle detection module.

17. The cleaning apparatus according to claim 12, characterized in that, The drive mechanism is located at the rear of the body, and at least a portion of the first obstacle detection module is located between the drive mechanism and the dust collection box or at least a portion of the first obstacle detection module is located between the drive mechanism and the cleaning liquid tank.

18. The cleaning apparatus according to claim 17, characterized in that, The drive mechanism and the dust collection box together form at least a partial obstacle avoidance structure, or the drive mechanism, the dust collection box and the vacuum fan together form at least a partial obstacle avoidance structure, or the drive mechanism and the cleaning liquid tank together form at least a partial obstacle avoidance structure, or the drive mechanism, the cleaning liquid tank and the vacuum fan together form at least a partial obstacle avoidance structure, wherein the obstacle avoidance structure is used to avoid and accommodate the first obstacle detection module.

19. The cleaning apparatus according to any one of claims 1-18, characterized in that, The device includes a light guide assembly disposed on the body. When the first obstacle detection module is in a predetermined position, the light guide assembly is used to guide the light emitted by the first obstacle detection module to propagate upward.

20. The cleaning apparatus according to claim 19, characterized in that, The light guide component is used to guide the light emitted by the first obstacle detection module to propagate upward in a vertical direction.

21. The cleaning apparatus according to claim 19, characterized in that, The light guide component is located on one side of the first obstacle detection module along the horizontal direction.

22. The cleaning device according to claim 19, characterized in that, The light guide assembly is located inside the fuselage, and the first obstacle detection module includes a light emitter and receiver. When the first obstacle detection module is located at the predetermined position, at least a portion of the light emitter and receiver is located inside the fuselage. A light guide channel is formed inside the body, which is used to transmit the light emitted by the light transmitter and receiver. The light guide channel extends through the top of the body to form a light guide window.

23. The cleaning apparatus according to claim 19, characterized in that, The light guide component has a reflective surface, which is used to reflect the light emitted by the first obstacle detection module upward when the first obstacle detection module is in the predetermined position.

24. The cleaning apparatus according to claim 23, characterized in that, The light guide component is located on one side of the first obstacle detection module along the horizontal direction, and the reflective surface is inclined in the direction away from the first obstacle detection module from bottom to top.

25. The cleaning apparatus according to claim 19, characterized in that, The lifting direction of the first obstacle detection module is the first direction, and the first obstacle detection module emits light in a direction perpendicular to the first direction.

26. The cleaning apparatus according to claim 19, characterized in that, The first obstacle detection module includes a light emitter and receiver, which is adapted to be opposite the light guide component when the first obstacle detection module is located at the predetermined position.

27. The cleaning apparatus according to claim 26, characterized in that, The first obstacle detection module is rotatable, and the lifting direction of the first obstacle detection module is a first direction. The rotation axis of the first obstacle detection module extends along the first direction. In the rotation direction of the first obstacle detection module, the first obstacle detection module has a light guide angle position. When the first obstacle detection module is located at the predetermined position and at the light guide angle position, the light emitting receiver is opposite to the light guide component.

28. The cleaning apparatus according to any one of claims 1-18, characterized in that, It also includes a camera module and / or a second obstacle detection module located at the front end of the body. The camera module and / or the second obstacle detection module are located on the front side of the control module and are electrically connected to the control module. The second obstacle detection module is used to detect obstacles in the area to be cleaned. The height of the second obstacle detection module is lower than the height of the first obstacle detection module when it is in the second position.

29. A cleaning system, characterized in that, include: The cleaning apparatus according to any one of claims 1-28; A cleaning base station, wherein the cleaning device is detachably coupled to the cleaning base station, and the cleaning base station is used to clean and / or charge the cleaning device.

Images