Collision detection module, cleaning equipment and cleaning system

Abstract

The utility model provides a collision detection module, cleaning equipment and a cleaning system, and relates to the technical field of smart home. The collision detection module comprises a mounting frame, a detector, a collision assembly and a reset part, the detector is arranged on the mounting frame, the collision assembly is arranged on the mounting frame, the collision assembly is located at a first position relative to the mounting frame, the collision assembly moves relative to the first position after colliding with an obstacle and outputs a collision signal, and collision detection is achieved; and when the collision assembly resets to the first position, the reset piece is connected with the collision assembly so as to reset the collision assembly to the first position.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of smart home, in particular, to a collision detection module, a cleaning device and a cleaning system. BACKGROUND

[0002] With the development of modern society, in order to save time and maintain home hygiene, more and more people begin to purchase cleaning devices to clean the home hygiene in time and conveniently. The cleaning device can automatically complete the cleaning work of the ground in the room by means of certain artificial intelligence.

[0003] Since there are sofas, tables and chairs and other furniture in the room of the user's home, there are many obstacles on the driving path of the automatic cleaning operation of the cleaning device, and the collision signal needs to be obtained in time after the collision with the obstacles.

[0004] Therefore, it is necessary to determine the impact position of the cleaning device to accurately control the cleaning device to turn or retreat and escape in time. UTILITY MODEL CONTENT

[0005] The purpose of the present disclosure is to provide a collision detection module, a cleaning device and a cleaning system.

[0006] According to one aspect of the present disclosure, a collision detection module is provided, which comprises:

[0007] a mounting frame;

[0008] a detector, which is arranged on the mounting frame;

[0009] a collision component, which is arranged on the mounting frame, is in a first position relative to the mounting frame, and moves relative to the first position and outputs a collision signal after colliding with an obstacle;

[0010] a reset member, which is connected with the collision component when the collision component resets to the first position, to reset the collision component to the first position.

[0011] In an exemplary embodiment of the present disclosure, the collision component comprises:

[0012] a collision member, which is arranged on the mounting frame, is in a first position relative to the mounting frame;

[0013] a detector, which is arranged on the mounting frame, is in a first position relative to the mounting frame;

[0014] In an example embodiment of the present disclosure, the collision member moves in a first direction and / or a second direction relative to the first position after colliding with the obstacle, the first direction intersecting the second direction.

[0015] In an example embodiment of the present disclosure, the collision member is in direct contact with the detector to trigger the detector.

[0016] In an example embodiment of the present disclosure, the collision detection module includes a plurality of detectors, including a first detector and a second detector, when the collision member moves backward from the first position in the first direction, the collision member is capable of triggering the first detector and the second detector simultaneously; when the collision member moves left from the first position, the collision member is capable of triggering one of the first detector and the second detector, and when the collision member moves right from the first position, the collision member is capable of triggering the other of the first detector and the second detector.

[0017] In an example embodiment of the present disclosure, the collision member includes a top cover and a housing, the top cover and the housing are connected to enclose a receiving space, at least part of the detector is located in the receiving space; the housing includes a light-transmitting portion, the light-transmitting portion is correspondingly arranged with the detector.

[0018] In an example embodiment of the present disclosure, the housing includes:

[0019] The movable portion is capable of at least the backward movement and the left-right movement relative to the detector.

[0020] The trigger portion is connected with the movable portion, the movable portion is capable of driving the trigger portion to move synchronously, so as to trigger the first detector and / or the second detector through the trigger portion.

[0021] In an example embodiment of the present disclosure, the trigger portion is rotatably connected with the mounting frame, when the movable portion moves left and right relative to the mounting frame in the second direction, the movable portion and the trigger portion move in opposite directions.

[0022] In an example embodiment of the present disclosure, a rotating structure is arranged between the trigger portion and the mounting frame, the movable portion is rotatably connected with the mounting frame through the rotating structure.

[0023] In an example embodiment of the present disclosure, the rotating structure comprises a rotating protrusion and a rotating groove, one of which is arranged on the trigger part and the other of which is arranged on the mounting frame; the rotating protrusion is located in the rotating groove and can move a preset distance in the rotating groove along the first direction.

[0024] In an example embodiment of the present disclosure, the rotating protrusion is in a cylindrical shape.

[0025] In an example embodiment of the present disclosure, the mounting frame comprises a second limiting part, the movable part is formed with a receiving groove, and the second limiting part is located in the receiving groove; when the collision piece is in the first position, the distance between the two sides of the second limiting part and the groove wall of the receiving groove in the first direction and the second direction is the same or substantially the same.

[0026] In an example embodiment of the present disclosure, the second limiting part is in a cylindrical shape, and the receiving groove is in a circular shape; when the collision piece is in the first position, the distance between the peripheral surface of the second limiting part and the groove wall of the receiving groove in one circumferential turn is the same or substantially the same.

[0027] In an example embodiment of the present disclosure, a limiting structure is arranged between the movable part and the mounting frame, and the limiting structure is used for limiting the downward movement of the movable part relative to the mounting frame in a third direction intersecting the first direction and the second direction.

[0028] In an example embodiment of the present disclosure, the limiting structure comprises a limiting protrusion and a limiting groove, one of which is arranged on the movable part and the other of which is arranged on the mounting frame; the limiting protrusion is located in the limiting groove and can move a preset distance in the limiting groove along the first direction and the second direction.

[0029] In an example embodiment of the present disclosure, the mounting frame comprises a second limiting part, the movable part is formed with a receiving groove, and the second limiting part is located in the receiving groove;

[0030] A plurality of limiting protrusions are arranged on the peripheral surface of the second limiting part, a plurality of limiting grooves are arranged on the groove wall of the receiving groove in one circumferential turn, and the plurality of limiting protrusions are one-to-one corresponding to the plurality of limiting grooves.

[0031] In an example embodiment of the present disclosure, the plurality of limiting protrusions are uniformly distributed on the peripheral surface of the second limiting part.

[0032] In an example embodiment of the present disclosure, at least one limiting protrusion is connected to the mounting frame through an elastic arm.

[0033] In an example embodiment of the present disclosure, at least one of the limiting protrusions is directly connected to the mounting frame.

[0034] In an example embodiment of the present disclosure, the reset member is located between the trigger portion and the mounting frame.

[0035] In an example embodiment of the present disclosure, the reset member is a first elastic member.

[0036] In an example embodiment of the present disclosure, the reset member is a spring.

[0037] In an example embodiment of the present disclosure, at least one of the first detector and the second detector includes a detector body and a trigger key, the trigger key including an initial position and a detection position relative to the detector body.

[0038] When the collision member moves relative to the mounting frame, the trigger portion can press the trigger key to be in the detection position.

[0039] In an example embodiment of the present disclosure, at least one of the first detector and the second detector further includes a second elastic member, the second elastic member being located between the trigger portion and the trigger key.

[0040] When the collision member moves relative to the mounting frame, the trigger portion can press the second elastic member, so that the second elastic member presses the trigger key to be in the detection position.

[0041] In an example embodiment of the present disclosure, the trigger key includes a plurality of detection positions relative to the detector body, and when the collision member moves relative to the mounting frame, the trigger portion can be pressed by the trigger key to be in different detection positions under different pressing forces.

[0042] In an example embodiment of the present disclosure, the housing is an integrally formed structure.

[0043] In an example embodiment of the present disclosure, at least one of the first detector and the second detector is clamped to the mounting frame.

[0044] In an example embodiment of the present disclosure, the collision detection module further includes:

[0045] A driving assembly for driving the mounting frame to ascend and descend.

[0046] According to another aspect of the present disclosure, a cleaning device is provided, which includes the above-mentioned collision detection module.

[0047] According to still another aspect of the present disclosure, there is provided a cleaning system, comprising:

[0048] The cleaning device as described above;

[0049] A base station for interfacing with the cleaning device.

[0050] The collision detection module provided by the present disclosure, when the collision component collides with the obstacle, moves relative to the first position of the mounting frame, and can output a collision signal when moving. Therefore, the system determines that the cleaning device collides with the obstacle when advancing, and at this time, the cleaning device can be driven away from the obstacle by controlling the driving module to perform a backward and / or turning action, thereby improving the cleaning efficiency of the cleaning device. In addition, the reset member can move the collision component to the reset position, so that the collision detection module can achieve collision detection on multiple obstacles respectively in the driving path of the cleaning device through the reset member.

[0051] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present disclosure. BRIEF DESCRIPTION OF DRAWINGS

[0052] The accompanying drawings, which are incorporated into and form part of the specification, illustrate embodiments consistent with the present disclosure and, together with the specification, serve to explain the principles of the present disclosure. Obviously, the drawings in the following description are only some embodiments of the present disclosure, and other drawings can be obtained from these drawings without creative labor for those skilled in the art.

[0053] Figure 1 A schematic diagram of a cleaning system provided by an embodiment of the present disclosure.

[0054] Figure 2 A schematic diagram of the laser radar retraction on the cleaning device provided by an embodiment of the present disclosure.

[0055] Figure 3 A schematic diagram of the laser radar extension on the cleaning device provided by an embodiment of the present disclosure.

[0056] Figure 4 A schematic diagram of the detector in the retracted position on the collision detection module provided by an embodiment of the present disclosure.

[0057] Figure 5 A schematic diagram of the detector in the extended position on the collision detection module provided by an embodiment of the present disclosure.

[0058] Figure 6 An exploded view of the collision detection module provided by an embodiment of the present disclosure.

[0059] Figure 7 A schematic view of a collision detection module provided for an embodiment of the present disclosure.

[0060] Figure 8 A schematic view of a collision detection module provided for an embodiment of the present disclosure.

[0061] Figure 9 An exploded view of a mounting bracket, a housing, a detector, a reset member, and a detector provided for an embodiment of the present disclosure.

[0062] Figure 10 A cross-sectional view of a mounting bracket, a housing, a detector, a reset member, and a detector provided for an embodiment of the present disclosure.

[0063] Figure 11 A schematic view of a collision detection module provided for an embodiment of the present disclosure.

[0064] Figure 12 A schematic view of a collision detection module provided for an embodiment of the present disclosure.

[0065] Figure 13 A schematic view of a collision detection module provided for an embodiment of the present disclosure.

[0066] Figure 14 A schematic view of a collision detection module provided for an embodiment of the present disclosure.

[0067] Figure 15 A schematic view of a collision member provided for an embodiment of the present disclosure.

[0068] Figure 16 A schematic view of a collision member provided for an embodiment of the present disclosure.

[0069] Figure 17 A schematic view of a mounting bracket provided for an embodiment of the present disclosure.

[0070] Figure 18 A schematic view of a mounting bracket provided for an embodiment of the present disclosure.

[0071] Figure 19 A schematic view of a collision member provided for an embodiment of the present disclosure.

[0072] Figure 20 A schematic view of a first detector and a second detector provided for an embodiment of the present disclosure.

[0073] Figure 21 A schematic view of a collision angle provided for an embodiment of the present disclosure.

[0074] Figure 22 A schematic view of a collision angle provided for another embodiment of the present disclosure.

[0075] Figure 23 A schematic view of a collision detection module provided for an embodiment of the present disclosure.

[0076] Figure 24 A schematic view of a drive assembly driving a probe to a retracted position provided for an embodiment of the present disclosure.

[0077] Figure 25 A schematic view of a drive assembly driving a probe to an extended position provided for an embodiment of the present disclosure.

[0078] BRIEF DESCRIPTION OF DRAWINGS

[0079] 10, cleaning device; 100, device body; 20, base station; 30, collision detection module; 31, mounting bracket; 311, base portion; 3111, rotating protrusion; 3112, first positioning structure; 3113, clamping arm; 3114, positioning column; 312, second limiting portion; 3121, limiting protrusion; 3122, elastic arm; 3123, blocking portion; 32, collision piece; 321, top cover; 3211, cover plate; 3212, buffer piece; 322, shell; 3221, movable portion; 32211, accommodating groove; 32212, limiting groove; 32213, limiting recess; 32214, transparent portion; 32215, first limiting portion; 32216, connecting portion; 3222, triggering portion; 32221, rotating groove; 32222, second positioning structure; 33, probe; 34, detector; 341, first detector; 342, second detector; 343, detector body; 344, trigger key; 345, second elastic piece; 35, reset piece; 36, drive assembly; 361, driver; 362, transmission rod; 363, first rocker arm; 364, second rocker arm; 365, grating assembly; 371, first mounting shell; 372, second mounting shell. DETAILED DESCRIPTION

[0080] Example embodiments now will be described more fully hereinafter with reference to the accompanying drawings. Example embodiments, however, can be implemented in many different forms and should not be construed as limited to the implementations set forth herein; rather, these implementations are provided so that this disclosure will be thorough and complete, and will fully convey the scope of example embodiments to those skilled in the art. Like reference numerals refer to like elements throughout the figures, and thus description of the same will be simplified or omitted.

[0081] Although relative terms are used in this description, such as "upper," "lower," to describe one component's relationship to another component, these terms are used herein for convenience only and are not intended to be limiting. It is to be understood that, when a part is referred to as being "on" or "under" another part, it can be directly on or under the other part or intervening parts can also be present. It is to be understood that other terms such as "on" and "under" can be interpreted in the context of the description.

[0082] The terms "one," "a," "an," "the" and "at least one" are used to mean one or more than one, i.e., any quantity of the stated component(s) / element(s) / etc.; the terms "comprising," "having," "including," and "containing" are used to mean including but not limited to, etc.; the term "first," "second," and the like are used merely as labels, and are not intended to impose numerical requirements on their objects.

[0083] Embodiments of the present disclosure provide a cleaning system, as shown in Figure 1 and Figure 2 The cleaning system includes a cleaning device 10 and a base station 20. The cleaning device 10 can be a sweeping robot, a mopping robot, a sweeping and mopping robot, etc. The cleaning device 10 can include a device body 100, a cleaning module, a driving module, a sensing module, a control module, a cleaning module, an energy module, a human-computer interaction module, etc. The base station 20 is used to dock the cleaning device 10, i.e., the cleaning device 10 can be parked on the base station 20, and the cleaning device 10 can perform functions such as charging, self-cleaning, parking, sewage discharge, and water replenishment on the base station 20.

[0084] In an embodiment, the device body 100 is configured to automatically move along a target direction on a travel surface, which can be a surface to be cleaned by the cleaning device 10. The cleaning device 10 can be a sweeping and mopping robot, and the cleaning device 10 works on the ground, which is the travel surface.

[0085] In an embodiment, the cleaning module is arranged on the device body 100 and performs cleaning operations on the travel surface as the device body 100 travels. The cleaning module can include a dry cleaning module or a dry and wet cleaning module. The dry cleaning module can include a roller brush assembly, an edge brush, etc., and the wet cleaning module can include a cleaning head, a water tank, etc.

[0086] In an embodiment, the driving module includes a left driving wheel assembly and a right driving wheel assembly, which are symmetrically arranged along a transverse axis defined by the device body 100, and the driving module can simultaneously control the left and right wheels. In an embodiment, in order to enable the cleaning device 10 to move more stably on the ground or have stronger movement ability, the cleaning device 10 can further include one or more steering wheels; wherein the steering wheels can be driven wheels or driving wheels, and the structural forms thereof include but are not limited to universal wheels, and the steering wheels can be located in front of the driving wheel assembly. The driving motor provides power for the driving wheel assembly and / or the steering wheels.

[0087] In an embodiment, the sensing module includes a position determining device located above the device body 100, a bumper located at the front portion of the device body 100, a cliff sensor and an ultrasonic sensor located at the bottom of the device body 100, an infrared sensor, a magnetometer, an accelerometer, a gyroscope, an odometer, and the like, which provide various position information and motion state information of the device body 100 to the control module. For example, the position determining device above the device body 100 is provided with a laser sensor, and when the driving wheel assembly propels the cleaning device 10 to walk on the ground during the cleaning process, the laser sensor detects one or more objects in the travel path of the cleaning device 10, and the cleaning device 10 can control the driving structure to respond to the objects, such as climbing over a step, by detecting the objects such as a step, an obstacle, a wall, and the like by the bumper.

[0088] In an embodiment, the control module can comprehensively judge the current working state of the cleaning robot, such as climbing a step, passing a threshold, being on a carpet, being at a cliff, being stuck above or below, being full of dust, being picked up, and the like, by combining the distance information, speed information, and the like, fed back by the bumper, the cliff sensor and the ultrasonic sensor, the infrared sensor, the magnetometer, the accelerometer, the gyroscope, the odometer, and the like, and can give specific next action strategies for different situations, so that the work of the cleaning device 10 is more in line with the requirements of the owner, and better user experience is achieved. Further, the control module can plan the most efficient and reasonable cleaning path and cleaning mode based on the real-time map information drawn by SLAM (Simultaneous Localization and Mapping), and can improve the cleaning efficiency of the cleaning device 10.

[0089] In an embodiment, the cleaning device 10 comprises a cleaning head provided with a mop for mopping cleaning; the base station 20 is provided with a cleaning tank, and the cleaning device 10 can be placed on the cleaning tank of the base station 20 after completing the mopping cleaning, so that the mop on the cleaning head is self-cleaned by the cleaning member in the cleaning tank. In this embodiment, a plurality of cleaning heads can be provided on the cleaning device 10, and each cleaning head can be located in a corresponding cleaning tank, that is, the number of cleaning tanks can be the same as the number of cleaning heads, so that the plurality of cleaning heads can be self-cleaned at the same time.

[0090] In an embodiment, the energy module comprises a rechargeable battery, such as a nickel-hydrogen battery or a lithium battery. The rechargeable battery can be connected with a charging control circuit, a battery pack charging temperature detection circuit and a battery undervoltage monitoring circuit, and the charging control circuit, the battery pack charging temperature detection circuit and the battery undervoltage monitoring circuit are connected with the single-chip microcomputer control circuit. In this embodiment, the device body 100 is connected with the charging pile through the charging electrode arranged on the side or the lower side of the machine body for charging.

[0091] In an embodiment, the man-machine interaction module comprises a button on the panel of the device body 100, which is used for function selection by the user; and can further comprise a display screen and / or an indicator light and / or a loudspeaker, which displays the current state of the machine or the function selection item to the user; and can further comprise a mobile phone client program. For the path navigation type cleaning device 10, the mobile phone client can display a map of the environment where the device is located and the position of the machine to the user, and can provide more abundant and humanized function items to the user.

[0092] As shown in Figures 2 to 4 When the cleaning device 10 is in a non-working state, the laser sensor above the device body 100 can be withdrawn into the device body 100 under the driving of the driving assembly, so as to hide the collision detection module 30, thereby avoiding the influence of sewage, oil stains, dust and other sundries on the performance and service life of the laser sensor. When the cleaning device 10 is in a working state, the laser sensor above the device body 100 can be extended above the device body 100 under the driving of the driving assembly, so as to detect one or more objects in the driving path of the cleaning device 10. However, since the laser sensor is at a high position when the cleaning device 10 is driving, there is a situation of collision with obstacles in the driving path, for example, when the cleaning device 10 enters the area of the bottom of the bed, the bottom of the sofa or the bottom of the tea table for cleaning, it is easy to collide with the obstacles. At this time, it is necessary to obtain the collision information in time, control the cleaning device 10 to stop continuing to drive forward or control the laser sensor to descend, so as to avoid damaging the laser radar. For this purpose, the embodiment of the present disclosure provides a collision detection module 30, which will be described below. Figures 5 to 7 The structure of the collision detection module 30 will be described below.

[0093] AsFigure 5 and Figure 6 As shown in FIGS. 1 and 2, the collision detection module 30 comprises a mounting frame 31, a detector 33, a collision component, and a reset component 35. The detector 33 is arranged on the mounting frame 31, and the collision component is arranged on the mounting frame 31. The collision component can be in a first position relative to the mounting frame 31, which can be regarded as a reset position. After the collision component collides with an obstacle, the collision component moves relative to the mounting frame 31 from the reset position, and can output a collision signal when moving, so that it is determined that the collision detection module 30 collides with the obstacle through the collision signal. The reset component 35 is connected with the collision component when the collision component resets to the reset position, so as to reset the collision component to the reset position, so that the collision detection module 30 can achieve collision detection on multiple obstacles in the driving path of the cleaning device 10 through the reset component 35.

[0094] In an embodiment, as shown in FIGS. 1 and 2, the collision component comprises a collision component 32 and a detector 34. The collision component 32 is arranged on the mounting frame 31 and movably connected with the mounting frame 31. The collision component 32 can be in a first position relative to the mounting frame 31, that is, the collision component 32 is in a reset position relative to the mounting frame 31 in a free state. The detector 34 is arranged on the mounting frame 31 and fixedly or limitingly connected with the mounting frame 31. The detector 34 can be triggered when the collision component 32 moves relative to the reset position after colliding with an obstacle. Figure 5 Figure 6 In an embodiment, as shown in FIGS. 1 and 2, the collision component comprises a collision component 32 and a detector 34. The collision component 32 is arranged on the mounting frame 31 and movably connected with the mounting frame 31. The collision component 32 can be in a first position relative to the mounting frame 31, that is, the collision component 32 is in a reset position relative to the mounting frame 31 in a free state. The detector 34 is arranged on the mounting frame 31 and fixedly or limitingly connected with the mounting frame 31. The detector 34 can be triggered when the collision component 32 moves relative to the reset position after colliding with an obstacle.

[0095] Specifically, after the collision component 32 collides with an obstacle, the collision component 32 can at least move backward in a first direction X and / or move left and right in a second direction Y relative to the mounting frame 31 from the reset position, and the first direction X intersects the second direction Y. When the collision component 32 moves backward along the first direction X or moves left and right along the second direction Y from the reset position, the collision component 32 can trigger the detector 34. It can be understood that the backward movement of the collision component 32 in the first direction X and / or the left and right movement of the collision component 32 in the second direction Y discussed herein is not limited to movement only in the first direction X or the second direction Y. When other parts of the collision component 32 except the parts corresponding to the first direction X and the second direction Y collide with an obstacle, for example, the side front of the collision component 32 collides with an obstacle, the collision component 32 will generate a component of movement in the first direction X and the second direction Y when moving, and at this time, it can be considered that the collision component 32 moves in the first direction X and the second direction Y.

[0096] In an embodiment, the collision detection module 30 comprises a plurality of detectors 34, as shown in FIGS. 1 and 2. Figure 6 Figure 7 ​​As shown, the multiple detectors 34 include a first detector 341 and a second detector 342. When the collision member 32 moves backward from the reset position along the first direction X, the collision member 32 can simultaneously trigger the first detector 341 and the second detector 342. When the collision member 32 moves to the left from the reset position, the collision member 32 can trigger one of the first detector 341 and the second detector 342. When the collision member 32 moves to the right from the reset position, the collision member 32 can trigger the other of the first detector 341 and the second detector 342.

[0097] If both the first detector 341 and the second detector 342 are triggered simultaneously, the system determines that the cleaning device 10 has collided head-on with an obstacle in the forward direction. In this case, the drive module can be controlled to reverse and / or turn, driving the cleaning device 10 quickly away from the obstacle and escaping in time. If only one of the first detector 341 or the second detector 342 is triggered, the system determines that the cleaning device 10 has collided sideways with an obstacle while moving forward. In this case, the drive module can be controlled to reverse and / or turn, driving the cleaning device 10 quickly away from the obstacle and escaping in time, thereby improving cleaning efficiency. The following will use... Figures 6 to 13 The collision detection module 30 is described in further detail.

[0098] like Figure 6 and Figure 7 As shown, in one embodiment, the collision element 32 includes a top cover 321 and a housing 322, with the top cover 321 fixedly connected to the housing 322. The dimensions of the top cover 321 in the first direction X and the second direction Y are larger than those of the housing 322, and the outer edge of the top cover 321 protrudes from the housing 322. When the collision detection module 30 collides with an obstacle, the top cover 321 collides with the obstacle to prevent the detector 33 from directly colliding with the obstacle. After the top cover 321 collides with the obstacle, the force generated by the impact can be transmitted to the housing 322, triggering the detector 34 through the housing 322.

[0099] like Figure 6 As shown, the top cover 321 includes a cover plate 3211 and a buffer member 3212, which are connected together to form the top cover. The buffer member 3212 can be fixedly connected to the housing 322 by a threaded connection, and the cover plate 3211 and the buffer member 3212 can be fixedly connected by, for example, adhesive bonding. In one embodiment, the buffer member 3212 can be made of rubber, and the outer edge of the buffer member 3212 protrudes from the cover plate 3211. When the collision detection module 30 collides with an obstacle, the buffer member 3212 collides with the obstacle, and the buffering effect is achieved by the rubber material buffer member 3212.

[0100] like Figure 6 and Figure 7As shown, the shell 322 comprises a movable part 3221 and a trigger part 3222, the movable part 3221 is movably arranged relative to the mounting frame 31, and the movable part 3221 is fixedly connected with the top cover 321. The movable part 3221 is in a reset position relative to the mounting frame 31 in a free state, and after the top cover 321 collides with the obstacle, the movable part 3221 can be driven by the top cover 321 to move at least away from the reset position in the first direction X and left and right in the second direction Y relative to the mounting frame 31. The trigger part 3222 is connected with the movable part 3221, and the movable part 3221 can drive the trigger part 3222 to move synchronously to trigger the first detector 341 and / or the second detector 342 through the trigger part 3222. In detail, when the cleaning device 10 collides with the obstacle during autonomous movement, the front side collides with the obstacle, and the movable part 3221 drives the trigger part 3222 to trigger the first detector 341 and the second detector 342 at the same time; when the left side of the cleaning device 10 collides with the obstacle, the movable part 3221 drives the trigger part 3222 to trigger the first detector 341; when the right side of the cleaning device 10 collides with the obstacle, the movable part 3221 drives the trigger part 3222 to trigger the second detector 342.

[0101] In an embodiment, the collision member 32 directly contacts the detector 34 to trigger the detector 34. As shown in Figure 6 and Figure 7 As shown, the trigger part 3222 directly contacts the first detector 341 and the second detector 342 when triggering the first detector 341 and the second detector 342, which improves the reliability of triggering the first detector 341 and the second detector 342.

[0102] As shown in Figure 6 and Figure 7 As shown, the movable part 3221 comprises a transparent part 32214 and a connecting part 32216, which can be fixedly connected by, for example, insertion, adhesion, clamping, etc., or can be an integrally formed structure. The buffer member 3212 can be fixedly connected with the connecting part 32216 through a threaded member, thereby realizing the top cover 321 and the shell 322.

[0103] In an embodiment, as shown in Figure 8 and Figure 9As shown, the detector 33 is located in the accommodating groove 32211 of the movable part 3221, when the detector 33 is a laser radar, the laser radar can detect the obstacle on the travel path of the cleaning device 10 through the transparent part 32214. The shell 322 can be formed of transparent material as a whole, or a transparent window is formed of transparent material at the position corresponding to the laser radar. In an embodiment, the part of the movable part 3221 except the transparent part 32214 and the trigger part 3222 can be formed of translucent or non-transparent material, thus the two-color injection molding process can be adopted to form the shell 322, that is, the transparent material and the non-transparent material are injected into the same set of molds. For example, the transparent part 32214 is formed of transparent material such as polymethyl methacrylate (PMMA), and the part of the shell 322 except the transparent part 32214 is formed of translucent or non-transparent material such as polypropylene (PP) or polyethylene (PE), so as to realize the injection molding of the shell 322 with the transparent part 32214, and the shell 322 with the transparent part 32214 is formed in one piece.

[0104] As shown in FIG. 3, the trigger part 3222 is provided with a first detector 341 and a second detector 342. Figure 10 As shown in an embodiment, the reset member 35 is located between the trigger part 3222 and the mounting frame 31. When the cleaning device 10 does not collide with the obstacle during the autonomous movement, the collision member 32 is in the reset position by the reset force of the reset member 35, that is, the trigger part 3222 is not in contact with or does not trigger the first detector 341 and the second detector 342. When the cleaning device 10 collides with the obstacle during the autonomous movement, the trigger part 3222 moves relative to the first detector 341 and / or the second detector 342 to trigger the first detector 341 and / or the second detector 342 by overcoming the reset force provided by the reset member 35.

[0105] In an embodiment, the reset member 35 can be a first elastic member, that is, when the cleaning device 10 does not collide with the obstacle during the autonomous movement, the collision member 32 is in the reset position by the elastic force of the first elastic member. When the cleaning device 10 collides with the obstacle during the autonomous movement, the trigger part 3222 triggers the first detector 341 and / or the second detector 342 by overcoming the elastic force provided by the first elastic member.

[0106] As shown in FIG. 3, the trigger part 3222 is provided with a first detector 341 and a second detector 342. Figure 10As shown, the reset member 35 can be a spring. When the cleaning device 10 collides with an obstacle during autonomous movement, the trigger portion 3222 compresses the spring to trigger the first detector 341 and / or the second detector 342; when the cleaning device 10 does not collide with an obstacle during autonomous movement, at this time the trigger portion 3222 is driven by the elastic restoring force of the spring to bring the collision member 32 to the reset position. The structure of the spring is stable, which can provide a stable elastic reset force, so that the collision member 32 can be stably in the reset position.

[0107] As shown in Figure 10 , the mounting frame 31 is provided with a first positioning structure 3112, and the trigger portion 3222 is provided with a second positioning structure 32222, and the two ends of the spring are sleeved on the first positioning structure 3112 and the second positioning structure 32222 respectively to realize positioning assembly. The first positioning structure 3112 and the second positioning structure 32222 can be protruding structures or recessed structures, which can realize positioning assembly of the ends of the spring, and the present disclosure does not limit this.

[0108] When the spring is assembled between the trigger portion 3222 of the collision member 32 and the mounting frame 31, the spring can be in a compressed state when the collision member 32 is in the reset position, that is, a pre-tightening force can be provided by the spring, and when the collision member 32 is subjected to a collision force greater than the pre-tightening force, the spring will be compressed to move, so that the collision member 32 can be more stably in the reset position as shown in Figure 11 .

[0109] It can be understood that the first elastic member can also be a tension spring, and when the cleaning device 10 collides with an obstacle during autonomous movement, the trigger portion 3222 stretches the tension spring to trigger the first detector 341 and / or the second detector 342 by moving.

[0110] In an embodiment, the trigger portion 3222 is rotationally connected with the mounting frame 31, and when the movable portion 3221 moves left and right relative to the mounting frame 31 in the second direction Y, the moving direction of the movable portion 3221 is opposite to that of the trigger portion 3222. As shown in Figure 12 , when the left front of the top cover 321 of the collision member 32 collides with an obstacle during autonomous movement of the cleaning device 10, at this time the movable portion 3221 of the collision member 32 moves toward the right rear under the action of inertia, and the trigger portion 3222 is driven by the movable portion 3221 to rotate toward the left side, thereby triggering the first detector 341 arranged on the left side. As shown in Figure 13As shown, when the front of the top cover 321 of the collision member 32 collides with an obstacle during autonomous movement of the cleaning device 10, the movable part 3221 of the collision member 32 moves toward the back under the action of inertia, and the trigger part 3222 moves toward the back under the action of the movable part 3221, thereby triggering the first detector 341 and the second detector 342 at the same time. Figure 14 As shown, when the front of the top cover 321 of the collision member 32 collides with an obstacle during autonomous movement of the cleaning device 10, the movable part 3221 of the collision member 32 moves toward the back under the action of inertia, and the trigger part 3222 moves toward the back under the action of the movable part 3221, thereby triggering the first detector 341 and the second detector 342 at the same time.

[0111] In an embodiment, a rotating structure is arranged between the trigger part and the mounting frame 31, and the movable part 3221 is rotatably connected to the mounting frame 31 through the rotating structure. When the front of the collision member 32 collides with an obstacle during autonomous movement of the cleaning device 10, the movable part 3221 of the collision member 32 can move toward the back through the rotating structure, and the trigger part 3222 moves toward the back under the action of the movable part 3221, thereby triggering the first detector 341 and the second detector 342 at the same time. When the left front of the collision member 32 collides with an obstacle during autonomous movement of the cleaning device 10, the movable part 3221 of the collision member 32 moves toward the right back, and the trigger part 3222 can rotate toward the left through the rotating structure under the action of the movable part 3221, thereby triggering the first detector 341 arranged at the left. When the right front of the collision member 32 collides with an obstacle during autonomous movement of the cleaning device 10, the movable part 3221 of the collision member 32 moves toward the left back under the action of inertia, and the trigger part 3222 can rotate toward the right through the rotating structure under the action of the movable part 3221, thereby triggering the second detector 342 arranged at the right. The following will be described by taking the rotating structure as an example. Figures 15 to 17 The structure that the trigger part 3222 is rotatably connected to the mounting frame 31 will be described in detail.

[0112] In an embodiment, the rotating structure includes a rotating protrusion and a rotating groove, one of the rotating protrusion and the rotating groove is arranged on the trigger part 3222, and the other is arranged on the mounting frame 31; the rotating protrusion is located in the rotating groove and can move a preset distance in the rotating groove along the first direction X. Through the rotating cooperation of the rotating protrusion and the rotating groove and the ability to move a preset distance in the rotating groove along the first direction X, the rotating connection of the collision member 32 and the mounting frame 31 is realized. As shown, Figure 15 As shown, the rotating groove 32221 is arranged on the trigger part 3222; as shown, Figure 16 As shown, the rotating protrusion 3111 is arranged on the mounting frame 31.

[0113] The rotating protrusion 3111 can move a preset distance along the first direction X in the rotating groove 32221. This ensures that when the cleaning device 10 collides with an obstacle in front during autonomous movement, the trigger part 3222, driven by the movable part 3221, moves backward to simultaneously trigger the first detector 341 and the second detector 342. Furthermore, by setting the length of the rotating groove 32221 along the first direction X, when the collision member 32 is in the reset position, the rotating groove 32221 limits the rotating protrusion 3111, thereby limiting the relative movement between the collision member 32 and the mounting bracket 31 along the first direction X. This allows the first elastic member located between the trigger part 3222 and the mounting bracket 31 to be in a compressed state, providing a preload force so that the collision member 32 can be more stably positioned in the reset position.

[0114] like Figure 17 As shown, in one embodiment, the rotating protrusion 3111 is cylindrical. The cylindrical shape of the rotating protrusion 3111 facilitates its rotation in the rotating groove 32221, reduces resistance in the rotation direction, and thus improves the detection accuracy of the collision position.

[0115] In one embodiment, in the second direction Y, the width of the rotating groove 32221 is 100% to 110% of the width of the rotating protrusion 3111, that is, the rotating protrusion 3111 can only move in the rotating groove 32221 along the first direction X, and can only rotate relative to each other in the second direction Y or can only move a very small distance along the second direction Y, for example, less than 2 mm. The following will explain... Figures 16 to 19 The structure of the collision component 32 and the mounting bracket 31 is described in detail.

[0116] In one embodiment, such as Figure 16 As shown, the movable part 3221 has a receiving groove 32211; as Figure 17 As shown, the mounting bracket 31 includes a base portion 311 and a second limiting portion 312 disposed on the base portion 311, the second limiting portion 312 being located in the receiving groove 32211. When the collision member 32 is in the reset position, the distances between the two sides of the second limiting portion 312 and the groove wall of the receiving groove 32211 are the same or substantially the same in the first direction X and the second direction Y. When the cleaning device 10 collides with an obstacle during autonomous movement, the movable portion 3221 of the collision member 32 can move the same or substantially the same distance along the first direction X and the second direction Y, thereby ensuring that the second limiting portion 312 is located at the center of the receiving groove 32211 when the collision member 32 is in the reset position.

[0117] In one embodiment, such as Figure 16 As shown, the receiving groove 32211 is circular; as Figure 17As shown, the second limiting portion 312 is in a cylindrical shape. When the collision member 32 is in the reset position, the outer circumferential surface of the second limiting portion 312 has the same or substantially the same distance from the groove wall of the accommodation groove 32211 in the circumferential direction. When the collision member 32 collides with the obstacle during the autonomous movement of the cleaning device 10, the movable portion 3221 of the collision member 32 can move the same or substantially the same distance in the direction of impact, so that the second limiting portion 312 is located at the center of the accommodation groove 32211 when the collision member 32 is in the reset position.

[0118] As shown in Figure 18 , the second limiting portion 312 is provided with a blocking portion 3123. When the collision member 32 moves towards the reset position under the action of the reset member 35, the blocking portion 3123 forms a limiting block to the movable portion 3221, and when the blocking portion 3123 abuts against the groove wall of the accommodation groove 32211 on the movable portion 3221, the first elastic member is in a compressed state, and the first elastic member provides a pre-tightening force to enable the collision member 32 to be more stably in the reset position.

[0119] As shown in Figure 19 , the inner wall of the accommodation groove 32211 of the collision member 32, which abuts against the blocking portion 3123, is provided with a limiting groove 32213. When the blocking portion 3123 forms a limiting block to the movable portion 3221, the blocking portion 3123 is located in the limiting groove 32213, forming a relative movement between the movable portion 3221 and the second limiting portion 312 in the circumferential direction of the second limiting portion 312. For example, the blocking portion 3123 can have an arc-shaped protrusion structure, and the limiting groove 32213 can have an arc-shaped recess structure. In an embodiment, when the collision member 32 is in the reset position, the blocking portion 3123 is located in the limiting groove 32213 and abuts against or has a small gap, for example, less than 5mm, with the groove wall of the limiting groove 32213.

[0120] In an embodiment, a limiting structure is provided between the movable portion 3221 of the collision member 32 and the second limiting portion 312 of the mounting frame 31, and the limiting structure is used to limit the downward movement of the movable portion 3221 relative to the mounting frame 31 in the third direction Z, which is perpendicular to the first direction X and the second direction Y, i.e., the third direction Z can be the height direction of the collision detection module 30. When the collision member 32 moves, a limiting block to the collision member 32 in the height direction is formed, thereby avoiding the movement of the collision member 32 in the height direction. The limiting structure between the collision member 32 and the mounting frame 31 will be described in detail below. Figures 16 to 19 The limiting structure between the collision member 32 and the mounting frame 31 will be described in detail below.

[0121] In an embodiment, the limiting structure comprises a limiting protrusion 3121 and a limiting slot 32212, one of which is arranged on the movable part 3221 and the other is arranged on the mounting frame 31; the limiting protrusion 3121 is located in the limiting slot 32212 and can move a preset distance in the limiting slot 32212 along the first direction X and the second direction Y, forming an avoidance of the limiting protrusion 3121 moving in the limiting slot 32212 under the action of inertial force, and only forming a limit in the height direction.

[0122] As shown in Figure 16 , the movable part 3221 comprises a first limiting part 32215 located below the transparent part 32214, and the limiting slot 32212 is arranged on the first limiting part 32215 of the movable part 3221; as shown in Figure 17 , the limiting protrusion 3121 is arranged on the second limiting part 312, and when the first limiting part 32215 and the second limiting part 312 are sleeved, it is convenient for the limiting protrusion 3121 to be located in the limiting slot 32212 when the impact piece 32 and the mounting frame 31 are assembled.

[0123] As shown in Figure 16 , the limiting slot 32212 can be an arc-shaped slot, and its extension direction is along the annular slot wall of the accommodating slot 32211; as shown in Figure 17 and Figure 18 , the limiting protrusion 3121 and the limiting slot 32212 are matched in shape, so that the limiting protrusion 3121 and the second limiting part 312 have high connection strength.

[0124] In an embodiment, a plurality of limiting protrusions 3121 are arranged on the outer circumferential surface of the second limiting part 312, and a plurality of limiting slots 32212 are arranged on the slot wall of the accommodating slot 32211 in one circle in the circumferential direction, and the plurality of limiting protrusions 3121 are one-to-one corresponding to the limiting slots 32212. Among them, at least one of the plurality of limiting slots 32212 can be a through hole structure, that is, the limiting slot 32212 is directly formed through the through hole on the movable part 3221, so as to facilitate the assembly and disassembly of the impact piece 32 and the mounting frame 31. As shown in Figure 18 and Figure 19 , three limiting protrusions 3121 are arranged on the outer circumferential surface of the second limiting part 312, and three limiting slots 32212 are arranged on the slot wall of the accommodating slot 32211 in one circle in the circumferential direction, wherein two limiting slots 32212 close to the trigger part 3222 can be through holes, and the remaining one can be a counterbore. The free ends of the two limiting protrusions 3121 arranged in the limiting slot 32212 can be provided with inclined surfaces, so as to facilitate the entry and exit of the limiting protrusion 3121 in the limiting slot 32212 when the impact piece 32 and the mounting frame 31 are assembled and disassembled.

[0125] As shown in Figure 18As shown, the limiting protrusion 3121 can be connected to the second limiting part 312 via the elastic arm 3122, so that when the collision member 32 is assembled and disassembled with the mounting bracket 31, the deformation of the elastic arm 3122 can facilitate the entry and exit of the limiting protrusion 3121 in the limiting groove 32212.

[0126] In one embodiment, a plurality of limiting protrusions 3121 are evenly distributed on the outer peripheral surface of the second limiting portion 312. For example, three limiting protrusions 3121 are provided on the outer peripheral surface of the second limiting portion 312, and three limiting grooves 32212 are provided around the circumference of the groove wall of the receiving groove 32211. The three limiting protrusions 3121 are evenly distributed on the outer peripheral surface of the second limiting portion 312, and the three limiting grooves 32212 are evenly distributed around the circumference of the groove wall of the receiving groove 32211. Of course, two, four, five or more limiting protrusions 3121 may be provided on the outer peripheral surface of the second limiting portion 312, and the number of limiting grooves 32212 matches the number of limiting protrusions 3121; the plurality of limiting protrusions 3121 may also be non-uniformly distributed on the outer peripheral surface of the second limiting portion 312, and this disclosure does not limit this. The following will be explained by Figures 20 to 23 The first detector 341 and the second detector 342 are described in detail.

[0127] like Figure 20 As shown, in one embodiment, at least one of the first detector 341 and the second detector 342 includes a detector body 343 and a trigger key 344. The trigger key 344 has an initial position and a detection position relative to the detector body 343. When the collision member 32 moves relative to the mounting bracket 31, the trigger part 3222 can press the trigger key 344 to be in the detection position. When the trigger key 344 is in the detection position, the circuit of the detector body 343 is turned on, thereby emitting a collision signal. By judging the collision signals in the first detector 341 and the second detector 342, the collision direction of the cleaning equipment 10 can be indirectly determined.

[0128] like Figure 20 As shown, in one embodiment, at least one of the first detector 341 and the second detector 342 further includes a second elastic member 345, which is located between the trigger portion 3222 and the trigger key 344. When the collision member 32 moves relative to the mounting bracket 31, the trigger portion 3222 can squeeze the second elastic member 345 so that the second elastic member 345 squeezes the trigger key 344 to be in the detection position. When the collision member 32 is in the reset position, the second elastic member 345 separates from the trigger key 344 by elastic restoring force, or does not make the trigger key 344 in the detection position.

[0129] It can be understood that when the trigger key 344 is located at the detection position, the circuit of the detector body 343 and the trigger key 344 is turned on, so as to send a collision signal, and when the collision signal of the first detector 341 and the second detector 342 is determined, the impact angle of the collision member 32 can be determined. It can be determined that the collision member 32 collides with the obstacle in the front, or collides with the obstacle in the left front, or collides with the obstacle in the right front.

[0130] In the determination of the impact position, as shown in Figure 21 for example, when the part corresponding to the included angle A1 of the left and right sides in front of the cleaning device 10 and the central axis angle is in the range of 0-15° collides with the obstacle, the collision member 32 can trigger the first detector 341 and the second detector 342 at the same time to determine that the cleaning device 10 collides with the obstacle in the front. When the left side in front of the cleaning device 10 and the central axis angle corresponding to the included angle A2 in the range of 15°-90° collides with the obstacle, the collision member 32 can trigger the first detector 341 to determine that the left front of the cleaning device 10 collides with the obstacle. When the right side in front of the cleaning device 10 and the central axis angle corresponding to the included angle A3 in the range of 15°-90° collides with the obstacle, the collision member 32 can trigger the second detector 342 to determine that the right front of the cleaning device 10 collides with the obstacle.

[0131] In order to more accurately determine the collision position of the cleaning device 10 and the obstacle, in an embodiment, the trigger key 344 includes a plurality of detection positions relative to the detector body 343, and when the collision member 32 moves relative to the mounting frame 31, the trigger part 3222 can be in different detection positions under different extrusion forces by the trigger key 344.

[0132] In detail, as shown in Figure 22As shown, for example, the trigger key 344 relative to the detector body 343 includes a first detection position and a second detection position. When, for example, the part corresponding to the angle B1 within the range of 0-15° with the central axis in front of the cleaning device 10 collides with the obstacle, the collision member 32 can trigger the first detector 341 and the second detector 342 at the same time, so that the trigger key 344 of the first detector 341 and the second detector 342 is in the first detection position or the second detection position at the same time, so as to determine that the cleaning device 10 collides with the obstacle head-on. When the part corresponding to the angle B2 within the range of 15°-45° with the central axis on the left side in front of the cleaning device 10 collides with the obstacle, the collision member 32 can trigger the first detector 341, and the trigger key 344 of the first detector 341 is in the first detection position, so as to determine that the part corresponding to the angle B2 on the left side in front of the cleaning device 10 collides with the obstacle. When the part corresponding to the angle B3 within the range of 45°-90° with the central axis on the left side in front of the cleaning device 10 collides with the obstacle, the collision member 32 can trigger the first detector 341, and the trigger key 344 of the first detector 341 is in the second detection position, so as to determine that the part corresponding to the angle B3 on the left side in front of the cleaning device 10 collides with the obstacle, thereby achieving further accurate determination of the collision position. When the part corresponding to the angle B4 within the range of 15°-45° with the central axis on the right side in front of the cleaning device 10 collides with the obstacle, the collision member 32 can trigger the second detector 342, and the trigger key 344 of the second detector 342 is in the first detection position, so as to determine that the part corresponding to the angle B4 on the right side in front of the cleaning device 10 collides with the obstacle. When the part corresponding to the angle B5 within the range of 45°-90° with the central axis on the right side in front of the cleaning device 10 collides with the obstacle, the collision member 32 can trigger the second detector 342, and the trigger key 344 of the second detector 342 is in the second detection position, so as to determine that the part corresponding to the angle B5 on the right side in front of the cleaning device 10 collides with the obstacle, thereby achieving further accurate determination of the collision position.

[0133] It can be understood that, for example, the trigger key 344 relative to the detector body 343 can also include a third detection position or more detection positions to more accurately determine the collision angle of the collision member 32, which is not limited in the present disclosure.

[0134] In an embodiment, at least one of the first detector 341 and the second detector 342 is clamped with the mounting frame 31. For example, as shown in FIG. 4, the first detector 341 is clamped with the mounting frame 31, and the second detector 342 is clamped with the mounting frame 31. Figure 23As shown, the mounting frame 31 can be provided with oppositely arranged clamping arms 3113, and a clamping space is formed between the oppositely arranged clamping arms 3113. The first detector 341 and the second detector 342 can be arranged in a clamping space, respectively. The end of the clamping arm 3113 is provided with a clamping hook. The clamping hook can be abutted against the top surface of the detector by deforming the clamping arm 3113, so as to form the fixing of the detector. The first detector 341 and the second detector 342 are installed in the form of clamping, which can improve the assembly efficiency and facilitate the later maintenance. Of course, the first detector 341 and the second detector 342 can also be fixedly connected in the form of adhesion, threaded connection, etc. The present disclosure does not limit this.

[0135] In an embodiment, as shown in Figure 23 The mounting frame 31 is provided with a positioning column 3114, and the first detector 341 and the second detector 342 are respectively provided with a positioning hole. The positioning hole and the positioning column 3114 are matched to form the positioning and assembly of the first detector 341 and the second detector 342 on the mounting frame 31, so as to improve the assembly accuracy and the assembly efficiency. The positioning hole and the positioning column 3114 can be provided in plurality, and the plurality of positioning columns 3114 are correspondingly arranged in the plurality of positioning holes to form the positioning in the first direction X and the second direction Y. The clamping arm 3113 is matched to realize the positioning and assembly in three directions, so that the assembly position of the first detector 341 and the second detector 342 on the mounting frame 31 is unique, thereby further improving the assembly efficiency. For example, the positioning hole and the positioning column 3114 can be provided in two, respectively, so as to realize the assembly positioning in the first direction X and the second direction Y, and avoid arranging too many positioning structures on the first detector 341, the second detector 342 and the mounting frame 31, thereby reducing the production cost. The driving assembly 36 for driving the probe 33 to ascend and descend will be described in detail below. Figure 24 and Figure 25 The driving assembly 36 for driving the probe 33 to ascend and descend will be described in detail below.

[0136] As shown in Figure 24 The driving assembly 36 includes a driver 361, a transmission rod 362, a first rocker arm 363 and a second rocker arm 364. The output shaft of the driver 361 is connected with the transmission rod 362 and coaxially arranged, that is, the transmission rod 362 can rotate under the driving of the driver 361. The first rocker arm 363 is arranged on the transmission rod 362 and fixedly connected with the transmission rod 362 in the rotation direction. One end of the second rocker arm 364 is rotationally connected with the base portion 311 of the mounting frame 31, and the other end is rotationally connected with the first rocker arm 363. The second rocker arm 364 and the first rocker arm 363 form a hinge-like structure, that is, the distance between the two ends of the first rocker arm 363 and the second rocker arm 364 can be changed by rotating the first rocker arm 363. The first rocker arm 363 is driven to rotate by the driver 361, so that the first rocker arm 363 and the second rocker arm 364 are in the state as shown in Figure 24The folding state is shown, so that the driving bracket 31 drives the detector 33 to be in the retracted position; then the first rocker arm 363 is reversely rotated by the driver, so that the first rocker arm 363 and the second rocker arm 364 are in the state as shown in Figure 25 The expanded state is shown, so that the driving bracket 31 drives the detector 33 to be in the extended position, and the detector 33 is lifted. In an embodiment, the driver 361 can be a driving motor, which can be reversely rotated under the control of the controller.

[0137] The driver 361 can be fixed on the first mounting shell 371 or the second mounting shell 372, and the first mounting shell 371 is connected with the second mounting shell 372. The collision detection module 30 can be fixed in the equipment body 100 through the second mounting shell 372. The first mounting shell 371 and the second mounting shell 372 can form a containing space after being connected, and the transmission rod 362, the first rocker arm 363 and the second rocker arm 364 and other components can be arranged in the containing space.

[0138] As shown in Figure 24 and Figure 25 The driving assembly 36 can further include a grating assembly 365, and the light shielding member of the grating assembly 365 can move synchronously with the output shaft of the driver 361 or the transmission rod 362, and the photoelectric sensor of the grating assembly 365 can be arranged on the body of the driver 361. When the output shaft of the driver 361 drives the detector 33 to be in the retracted position or the extended position by rotating, the light shielding member of the grating assembly 365 triggers the photoelectric sensor, that is, the grating assembly 365 can assist in detecting whether the detector 33 is in the retracted position or the extended position. It can be understood that other detection assemblies such as Hall sensors can also be arranged in the driving assembly 36 to assist in detecting the position of the detector 33.

[0139] Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any variations, uses or adaptive changes of this disclosure that follow the general principles of the disclosure and include known equivalents or technical possibilities within the scope of the disclosure. The specification and examples are only considered as exemplary, and the true scope and spirit of the disclosure are indicated by the appended claims.

Claims

1. A collision detection module, characterized by, The collision detection module comprises: a mounting frame; a detector arranged on the mounting frame; a collision component arranged on the mounting frame, the collision component being in a first position relative to the mounting frame, the collision component moving relative to the first position after colliding with an obstacle and outputting a collision signal; a reset member connected with the collision component to reset the collision component to the first position when the collision component is reset to the first position.

2. The crash detection module of claim 1, wherein, The collision component comprises: a collision member arranged on the mounting frame, the collision member being in a first position relative to the mounting frame; a detector arranged on the mounting frame, the collision member moving relative to the first position after colliding with an obstacle and being capable of triggering the detector.

3. The crash detection module of claim 2, wherein, The collision member moves in a first direction and / or a second direction relative to the first position after colliding with an obstacle, the first direction intersecting the second direction.

4. The crash detection module of claim 2, wherein, The collision member is in direct contact with the detector to trigger the detector.

5. The crash detection module of claim 3, wherein, The collision detection module comprises a plurality of detectors, the plurality of detectors comprising a first detector and a second detector, the collision member being capable of triggering the first detector and the second detector simultaneously when the collision member moves backward from the first position along the first direction, the collision member being capable of triggering one of the first detector and the second detector when the collision member moves left from the first position, and the collision member being capable of triggering the other of the first detector and the second detector when the collision member moves right from the first position.

6. The crash detection module of claim 5, wherein, The collision member comprises a top cover and a housing, the top cover and the housing being connected to enclose a containing space, at least part of the detector being located in the containing space, the housing comprising a light-transmitting portion corresponding to the detector.

7. The crash detection module of claim 6, wherein, The housing comprises: a movable portion capable of at least the backward movement and the left-right movement relative to the detector; a triggering portion connected with the movable portion, the movable portion being capable of driving the triggering portion to move synchronously to trigger the first detector and / or the second detector through the triggering portion.

8. The crash detection module of claim 7, wherein, The triggering portion is rotationally connected with the mounting frame, the movable portion moving in a direction opposite to the triggering portion when the movable portion moves left and right in the second direction relative to the mounting frame.

9. The crash detection module of claim 8, wherein, A rotation structure is arranged between the triggering portion and the mounting frame, the movable portion being rotationally connected with the mounting frame through the rotation structure.

10. The crash detection module of claim 9, wherein, The rotation structure comprises a rotation protrusion and a rotation groove, one of the rotation protrusion and the rotation groove being arranged on the triggering portion and the other being arranged on the mounting frame, the rotation protrusion being located in the rotation groove and being capable of moving a preset distance in the rotation groove along the first direction.

11. The crash detection module of claim 10, wherein, The rotation protrusion is in a cylindrical shape.

12. The crash detection module of claim 7, wherein, The mounting frame comprises a second limiting part, the movable part is formed with a receiving groove, and the second limiting part is located in the receiving groove; when the collision piece is in the first position, the distance between the two sides of the second limiting part and the groove wall of the receiving groove in the first direction and the second direction is the same or substantially the same.

13. The crash detection module of claim 12, wherein, The second limiting part is in a cylindrical shape, and the receiving groove is in a circular shape; when the collision piece is in the first position, the distance between the peripheral surface of the second limiting part and the groove wall of the receiving groove in one circumferential direction is the same or substantially the same.

14. The crash detection module of claim 7, wherein, A limiting structure is arranged between the movable part and the mounting frame, and the limiting structure is used for limiting the downward movement of the movable part relative to the mounting frame in a third direction intersecting the first direction and the second direction.

15. The crash detection module of claim 14, wherein, The limiting structure comprises a limiting protrusion and a limiting groove, one of the limiting protrusion and the limiting groove is arranged on the movable part, and the other is arranged on the mounting frame; the limiting protrusion is located in the limiting groove and can move in the limiting groove by a preset distance along the first direction and the second direction.

16. The crash detection module of claim 15, wherein, The mounting frame comprises a second limiting part, the movable part is formed with a receiving groove, and the second limiting part is located in the receiving groove; A plurality of limiting protrusions are arranged on the peripheral surface of the second limiting part, a plurality of limiting grooves are arranged on the groove wall of the receiving groove in one circumferential direction, and the plurality of limiting protrusions are one-to-one corresponding to the plurality of limiting grooves.

17. The crash detection module of claim 16, wherein, The plurality of limiting protrusions are uniformly distributed on the peripheral surface of the second limiting part.

18. The crash detection module of claim 16, wherein, At least one limiting protrusion is connected to the mounting frame through an elastic arm.

19. The crash detection module of claim 18, wherein, At least one limiting protrusion is directly connected to the mounting frame.

20. The crash detection module of claim 7, wherein, The reset piece is located between the trigger part and the mounting frame.

21. The crash detection module of claim 7, wherein, The reset piece is a first elastic piece.

22. The crash detection module of claim 7, wherein, The reset piece is a spring.

23. The crash detection module of claim 7, wherein, At least one of the first detector and the second detector comprises a detector body and a trigger key, and the trigger key comprises an initial position and a detection position relative to the detector body; When the collision piece moves relative to the mounting frame, the trigger part can press the trigger key to be in the detection position.

24. The crash detection module of claim 23, wherein, At least one of the first detector and the second detector further comprises a second elastic piece, and the second elastic piece is located between the trigger part and the trigger key; When the collision piece moves relative to the mounting frame, the trigger part can press the second elastic piece, so that the second elastic piece presses the trigger key to be in the detection position.

25. The crash detection module of claim 23, wherein, The trigger key comprises a plurality of detection positions relative to the detector body, and when the collision piece moves relative to the mounting frame, the trigger part can be in different detection positions under different pressing forces of the trigger key.

26. The crash detection module of claim 6, wherein, The shell is in an integral molding structure.

27. The crash detection module of claim 5, wherein, At least one of the first detector and the second detector is clamped with the mounting frame.

28. The crash detection module of claim 1, wherein, The collision detection module further comprises: A driving assembly for driving the mounting frame to ascend and descend.

29. A cleaning apparatus, characterized by The collision detection module comprises any one of claims 1-28.

30. A cleaning system characterized by, The cleaning device comprises: The cleaning device of claim 29; a base station configured to interface with the cleaning device.

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