Cleaning device

Abstract

The cleaning device comprises a machine body, a cleaning assembly and an obstacle clearing module, the cleaning assembly is arranged on the machine body and used for cleaning a working face, the obstacle clearing module is arranged on the machine body and used for moving an obstacle so that the obstacle can leave the original position, and the obstacle clearing module comprises a driving mechanism and an obstacle clearing component. The driving mechanism is installed on the machine body and connected with the obstacle removing component so as to drive the obstacle removing component to move. According to the cleaning device provided by the embodiment of the utility model, when an obstacle exists on the working surface, the obstacle is automatically identified through the obstacle clearing module, and the obstacle clearing component is driven by the driving mechanism to move so as to move the obstacle away from the original position, so that the working surface in an area corresponding to the original position of the obstacle is exposed; therefore, the cleaning assembly can conveniently clean the working face of the area corresponding to the original position of the obstacle, cleaning dead angles and missing areas are effectively reduced, the overall cleaning effect on the working face can be enhanced, and the use experience feeling of a user can be improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of cleaning appliances, especially to a cleaning device. BACKGROUND

[0002] In the related art, the cleaning device is provided with a cleaning module for cleaning the working surface, and an obstacle recognition module is arranged in the cleaning device. When the obstacle recognition module recognizes an obstacle, the cleaning device will change the travel path to avoid the obstacle, which may result in that part of the working surface cannot be cleaned by the cleaning device, for example, the working surface covered by the obstacle cannot be cleaned by the cleaning device.

[0003] In order to avoid the problem of cleaning omission of the working surface, the user often needs to remove the obstacles on the working surface before the cleaning device performs the cleaning task. If the user fails to clean the obstacles on the working surface in advance, the working surface covered by the obstacles will be omitted and cannot be effectively cleaned, which will seriously affect the overall cleaning effect of the working surface and make the user's experience poor. Therefore, it needs to be improved. SUMMARY

[0004] The utility model aims at at least solving one of the technical problems existing in the prior art. Therefore, one purpose of the utility model is to provide a cleaning device. The cleaning device is provided with an obstacle removal module on the body. When there is an obstacle on the working surface, the obstacle removal module automatically recognizes the obstacle and drives the obstacle removal component to move by the driving mechanism to remove the obstacle from the original position. The working surface corresponding to the original position of the obstacle is exposed, so that the cleaning assembly can clean the working surface corresponding to the original position of the obstacle and the surrounding area, effectively reducing the cleaning dead angle and the omission area. This can enhance the overall cleaning effect of the working surface, reduce the dependence on manual work, and improve the user's experience.

[0005] The cleaning device according to the utility model embodiment comprises a body, a cleaning assembly arranged on the body and used for cleaning a working surface, and an obstacle removal module arranged on the body and used for moving an obstacle to make the obstacle leave the original position. The obstacle removal module comprises a driving mechanism and an obstacle removal component. The driving mechanism is installed on the body and connected with the obstacle removal component to drive the obstacle removal component to move. The driving mechanism comprises a driving motor and a transmission mechanism connected with the obstacle removal component.

[0006] According to the cleaning device provided by the embodiment of the utility model, the obstacle removing module is arranged on the machine body of the cleaning device, when there is an obstacle on the working surface, the obstacle removing module can automatically identify the obstacle and drive the obstacle removing component to move through the driving mechanism to remove the obstacle from the original position, the working surface of the original position corresponding area of the obstacle can be exposed, the cleaning assembly can clean the working surface of the original position corresponding area of the obstacle and the surrounding area, the cleaning dead angle and the missed area are effectively reduced, the cleaning effect of the whole working surface can be enhanced, the dependence on manual work can be reduced, and the use experience of the user can be improved.

[0007] According to some embodiments of the utility model, the transmission mechanism includes a gear mechanism, a motor shaft of the driving motor is connected with the gear mechanism to drive the gear mechanism to move, the gear mechanism includes an output gear, the output gear has an output end, and the output end is directly connected with the obstacle removing component or connected through an outer swing mechanism.

[0008] According to some embodiments of the utility model, the rotation axis of the output gear extends along the up-down direction, and the lower end of the output gear constitutes the output end.

[0009] According to some embodiments of the utility model, the output gear includes a gear body and a gear shaft, the gear shaft includes a second shaft part, the second shaft part is coaxially connected with the gear body, and the lower end of the gear body has the output end.

[0010] According to some embodiments of the utility model, the cross section of the second shaft part is in the shape of "D", a second connecting hole is arranged on the gear body, the second shaft part is accommodated in the second connecting hole, and the cross section of the second connecting hole is in the shape of "D".

[0011] According to some embodiments of the utility model, a first mounting hole is arranged on the obstacle removing component or the outer swing mechanism, and the output end is inserted into the first mounting hole.

[0012] According to some embodiments of the utility model, the cross section of the output end and the cross section of the first mounting hole are both non-circular.

[0013] According to some embodiments of the utility model, a foolproof notch is formed on the inner peripheral wall of the first mounting hole, a foolproof protrusion is arranged on the outer peripheral wall of the output end, and the foolproof protrusion is accommodated in the foolproof notch.

[0014] According to some embodiments of the utility model, the obstacle removing component includes a connecting mechanism and an obstacle removing part, the connecting mechanism is connected between the obstacle removing part and the machine body, the output end is directly connected with the connecting mechanism or connected through the outer swing mechanism, and the obstacle removing part is suitable for acting on the obstacle to move the obstacle and leave the original position.

[0015] According to some embodiments of the present application, the connecting mechanism comprises a plurality of connecting rods rotatably connected with each other, one of the plurality of connecting rods is a driving rod, and the output end of the driving mechanism is directly connected with the driving rod or connected with the driving rod through the outer swing mechanism.

[0016] According to some embodiments of the present application, the output end of the driving mechanism is directly connected with the driving rod, a first mounting hole is arranged on the driving rod, and the output end is inserted into the first mounting hole.

[0017] According to some embodiments of the present application, the plurality of connecting rods comprises a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod, the third connecting rod constitutes the driving rod, one end of the first connecting rod is rotatably connected with the fuselage, the other end of the first connecting rod is rotatably connected with one end of the second connecting rod, the other end of the second connecting rod is rotatably connected with the obstacle removing piece, the second connecting rod and the third connecting rod are crossed and rotatably connected, one end of the fourth connecting rod is rotatably connected with the end of the third connecting rod, and the other end of the fourth connecting rod is rotatably connected with the obstacle removing piece.

[0018] The rotatable connection point of the third connecting rod and the second connecting rod is a first rotatable connection point, the rotatable connection point of the third connecting rod and the fourth connecting rod is a second rotatable connection point, the connection point of the output end of the driving mechanism and the third connecting rod is a driving connection point, and the first rotatable connection point is located between the second rotatable connection point and the driving connection point.

[0019] According to some embodiments of the present application, the connecting rods rotatably connected are connected through a connecting piece, and in the direction of the rotation axis of the connecting rods rotatably connected, the connecting piece does not protrude from the outer surface of the connecting rods.

[0020] According to some embodiments of the present application, the connecting piece comprises a connecting column and a limiting cap, the connecting column is arranged in the two connecting rods rotatably connected, at least one of the connecting rods is formed with a sink, and the limiting cap is accommodated in the sink.

[0021] The additional aspects and advantages of the present application will be partially given in the following description, partially will become obvious from the following description, or will be understood through the practice of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0022] The above and / or additional aspects and advantages of the present application will become apparent and more readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:

[0023] Figure 1is a schematic view of the cleaning device in the embodiment one of the utility model;

[0024] Figure 2 is Figure 1 a schematic view of part structure of the cleaning device in the embodiment one of the utility model; Figure 1 Wherein the obstacle removing component is located at the storage position.

[0025] Figure 3 is Figure 1 a schematic view of part structure of the cleaning device in the embodiment one of the utility model; Figure 2 Wherein the obstacle removing component is located at the storage position.

[0026] Figure 4 is Figure 1 a schematic view of part structure of the cleaning device in the embodiment one of the utility model; Figure 3 Wherein the obstacle removing component is located at the storage position.

[0027] Figure 5 is Figure 1 a schematic view of part structure of the cleaning device in the embodiment one of the utility model; Figure 4 Wherein the obstacle removing component is located at the obstacle removing position.

[0028] Figure 6 is Figure 1 a schematic view of part structure of the cleaning device in the embodiment one of the utility model; Figure 5 Wherein the obstacle removing component is located at the storage position.

[0029] Figure 7 is Figure 1 a schematic view of part structure of the cleaning device in the embodiment one of the utility model; Figure 6 Wherein the obstacle removing component is located at the obstacle removing position.

[0030] Figure 8 is Figure 7 a schematic view of part structure of the cleaning device in the embodiment one of the utility model;

[0031] Figure 9 is Figure 8 a schematic view of part structure of the cleaning device in the embodiment one of the utility model;

[0032] Figure 10 is Figure 1 a schematic view of part structure of the cleaning device in the embodiment one of the utility model; Figure 7 Wherein the obstacle removing component is located at the obstacle removing position.

[0033] Figure 11 is a schematic view of the cleaning device in the embodiment two of the utility model, wherein the obstacle removing component is located at the storage position.

[0034] Figure 12 is Figure 11 a schematic view of the obstacle removing module in the cleaning device in the embodiment one of the utility model, wherein the obstacle removing component is located at the storage position.

[0035] Figure 13 yes Figure 12 A schematic diagram of the obstacle removal module, in which the obstacle removal component is located at the obstacle removal position;

[0036] Figure 14 This is a partial structural diagram of the cleaning device according to Embodiment 3 of this utility model. Figure 1 The obstacle clearing component is located at the obstacle clearing position;

[0037] Figure 15 yes Figure 14 A partial structural diagram of the cleaning device in the diagram;

[0038] Figure 16 yes Figure 14 Schematic diagram of part of the cleaning device Figure 2 The obstacle removal component is located in the storage area;

[0039] Figure 17 yes Figure 16 A partial structural diagram of the cleaning device in the diagram;

[0040] Figure 18 This is a schematic diagram of the cleaning device according to Embodiment 3 of this utility model;

[0041] Figure 19 This is a schematic diagram of the obstacle removal component in the cleaning device according to Embodiment 4 of this utility model;

[0042] Figure 20 yes Figure 10 A schematic diagram of the installation box in the cleaning device;

[0043] Figure 21 yes Figure 20 A schematic diagram of the mounting box from another angle;

[0044] Figure 22 yes Figure 10 A schematic diagram showing the separation of some structures of the connecting mechanism, gear mechanism, and detection component in the cleaning device;

[0045] Figure 23 yes Figure 22 A schematic diagram of the third connecting rod in the connecting mechanism;

[0046] Figure 24 yes Figure 22 A schematic diagram of the output gear in the gear mechanism;

[0047] Figure 25 yes Figure 22 A schematic diagram of the gear shaft in the gear mechanism;

[0048] Figure 26 yes Figure 22FIG. 2 is a schematic view of a light coupling detection element in the detection assembly in FIG. 1;

[0049] Figure 27 FIG. 4 is a schematic view of part of the cleaning device in FIG. 3, according to an embodiment of the present application; Figure 1 wherein the obstacle-removing element is in the storage position and the auxiliary element is in the second position;

[0050] Figure 28 FIG. 5 is a schematic view of part of the cleaning device in FIG. 4, according to an embodiment of the present application; Figure 27 wherein the obstacle-removing element is in the storage position and the auxiliary element is in the second position; Figure 2

[0051] Figure 29 FIG. 6 is a schematic view of part of the cleaning device in FIG. 5, according to an embodiment of the present application; Figure 27 wherein the obstacle-removing element is in the storage position and the auxiliary element is in the second position; Figure 3

[0052] Figure 30 FIG. 7 is a schematic view of part of the cleaning device in FIG. 6, according to an embodiment of the present application; Figure 27 wherein the obstacle-removing element is in the obstacle-removing position and the auxiliary element is in the first position; Figure 4

[0053] Figure 31 FIG. 8 is a schematic view of part of the cleaning device in FIG. 7, according to an embodiment of the present application; Figure 27 wherein the obstacle-removing element is in the obstacle-removing position and the auxiliary element is in the first position; Figure 5

[0054] Figure 32 FIG. 9 is a schematic view of the obstacle-removing element in the cleaning device in FIG. 8; Figure 27

[0055] Figure 33 FIG. 10 is a schematic view of the auxiliary element in the cleaning device in FIG. 8; Figure 27

[0056] Figure 34 FIG. 11 is a schematic view of the auxiliary element in FIG. 10 from another angle; Figure 33

[0057] Figure 35 FIG. 12 is a schematic view of the elastic driving element in the cleaning device in FIG. 8; Figure 27

[0058] Figure 36 FIG. 13 is a schematic view of the fourth connecting rod in the cleaning device in FIG. 8; Figure 27

[0059] Figure 37 FIG. 14 is a schematic view of part of the cleaning device in FIG. 13, according to an embodiment of the present application, wherein the obstacle-removing element is in the obstacle-removing position and the auxiliary element is in the first position;

[0060] ​​​​​​​​​Figure 38 is Figure 37 is an enlarged view of A in

[0061] Figure 39 is Figure 37 is a partial structural schematic view of the cleaning device in

[0062] Figure 40 is Figure 37 is a partial structural schematic view of the cleaning device in

[0063] Figure 41 is Figure 40 is a partial structural schematic view of the cleaning device in

[0064] Figure 42 is Figure 40 is a partial structural schematic view of the cleaning device in

[0065] Figure 43 is Figure 40 is a partial structural schematic view of the cleaning device in

[0066] Figure 44 is Figure 40 is a partial structural schematic view of the cleaning device in

[0067] Figure 45 is a partial structural schematic view of the cleaning device in

[0068] Figure 46 is Figure 40 is a partial structural schematic view of the cleaning device in

[0069] Figure 47 is Figure 40 is a partial structural schematic view of the cleaning device in

[0070] Figure 48 is Figure 41 is a partial structural schematic view of the cleaning device in

[0071] Reference signs:

[0072] 100, cleaning device

[0073] 1, body; 11, front end; 12, bottom shell; 121, accommodating notch; 13, limiting structure; 14, mounting box; 141, accommodating groove; 142, cover plate; 143, wire outlet

[0074] 3, obstacle removal module; 31, driving mechanism; 3121, output gear; 3122, output end; 3123, foolproof protrusion; 3124, gear body; 3125, gear shaft; 3126, first shaft part; 3127, second shaft part; 32, outer swing mechanism; 321, turntable; 322, sliding block; 324, first mounting hole; 3241, foolproof notch;

[0075] 33, obstacle removal component; 331, outer side edge; 332, avoiding opening; 333, sliding groove; 334, obstacle removal piece; 3341, receiving opening; 3342, obstacle removal push rod; 3343, rotating hole; 335, connecting mechanism; 336, connecting rod; 3361, first connecting rod; 3362, second connecting rod; 3363, third connecting rod; 3364, fourth connecting rod; 3365, fifth connecting rod; 3366, sixth connecting rod; 3367, seventh connecting rod; 3368, eighth connecting rod; 3369, ninth connecting rod; 3370, tenth connecting rod; 3371, first rotating connection point; 3372, second rotating connection point; 3373, third rotating connection point; 3374, fourth rotating connection point; 3375, fifth rotating connection point; 3376, sinking groove; 3377, pushing-away protrusion; 3378, anti-return protrusion; 3379, reset protrusion; 3380, gasket; 340, connecting piece; 3401, connecting column; 3402, limiting cap; 342, cleaning structure; 343, auxiliary piece; 3431, rotating shaft; 3432, matching protrusion; 3433, limiting protrusion; 3434, connecting part; 3435, obstacle removal part; 344, elastic driving piece;

[0076] 4, detection assembly; 41, detection circuit board; 412, lead terminal; 42, first optocoupler; 43, second optocoupler; 431, second optocoupler seat; 4311, second detection groove; 44, optocoupler detection piece; 441, detection protrusion; 442, first connecting hole. DETAILED DESCRIPTION

[0077] The embodiments of the present application are described in detail below, examples of which are shown in the drawings, wherein the same or similar notations represent the same or similar elements having the same or similar functions throughout. The embodiments described below by reference to the drawings are exemplary only, and are used only for explaining the present application, and cannot be understood as limiting the present application.

[0078] The following description is made with reference to the drawings, in which Figures 1-48 A cleaning device 100 according to an embodiment of the present application is described.

[0079] Reference is made to Figure 1 , Figure 6 and Figure 7According to the cleaning device 100 of the first aspect of the utility model, including fuselage 1, cleaning assembly and clearing module 3, cleaning assembly is located in fuselage 1 and cleaning assembly is used to clean the work surface, clearing module 3 is located in fuselage 1 and clearing module 3 is used to move the obstacle, so that the obstacle leaves the original position. Fuselage 1 can be used as the basic carrier of the cleaning device 100, and can be used as an integrated structure or a combined structure formed by multiple components. Fuselage 1 plays a role in carrying and protecting other components of the cleaning device 100, including the cleaning assembly and the clearing module 3, but is not limited thereto.

[0080] The cleaning assembly can directly clean the work surface. If there is an obstacle on the work surface, the obstacle will hinder the cleaning of the area below and around it, resulting in incomplete cleaning of the work surface. By automatically identifying the obstacle and moving it away from the original position, the work surface corresponding to the original position of the obstacle is exposed, allowing the cleaning assembly to clean the work surface and the surrounding area corresponding to the original position of the obstacle, effectively reducing the cleaning dead angle and missed area, improving the completeness and coverage of the work surface cleaning, and enhancing the overall cleaning effect of the work surface. It can also reduce the dependence on manual labor, and users only need to start the cleaning device 100 to automatically complete the cleaning and obstacle removal work, saving manpower and improving user experience.

[0081] The clearing module 3 includes a driving mechanism 31 and a clearing component 33. The driving mechanism 31 is installed on the fuselage 1 and connected to the clearing component 33 to drive the movement of the clearing component 33. The driving mechanism 31 includes a driving motor and a transmission mechanism connected to the clearing component 33. When the driving motor is working, it can drive the transmission mechanism to move, and the transmission mechanism can drive the clearing component 33 to move, so that the driving motor drives the clearing component 33 to move between the clearing position and the storage position through the transmission mechanism.

[0082] In some embodiments, the cleaning device 100 is adapted to cooperate with a cleaning base station for cleaning and / or charging the cleaning device 100. The cleaning device 100 further includes an obstacle identification module. The obstacle identification module is located in the fuselage 1 and is used to identify obstacles. When the obstacle identification module identifies that there is an obstacle on the work surface, the cleaning device 100 controls the clearing module 3 to move the obstacle so that it leaves the original position.

[0083] For example, the obstacle recognition module can be an image acquisition device, an infrared sensor, an LDS module, a line laser, etc. For example, the image acquisition device arranged on the machine body 1 can acquire image information around the cleaning device 100, and the cleaning device 100 can recognize whether the cleaning device 100 has approached an obstacle from the acquired image information. In other embodiments, the obstacle detection module can also be other sensors that can detect the surrounding environment.

[0084] In some embodiments, the cleaning assembly can include a wiping member, which can be a dry wiping member to achieve a dry cleaning effect on the work surface, or a wet wiping member containing cleaning liquid to achieve a wet cleaning effect on the work surface. The cleaning liquid can be water, a liquid containing 84 disinfectant, ethanol, a liquid containing sodium chloride, etc. For example, the cleaning device 100 includes a water tank, and the cleaning liquid in the water tank can be dropped into the wiping member or sprayed onto the work surface and wiped off by the wiping member.

[0085] According to the cleaning device 100 of the embodiments of the present application, the obstacle removal module 3 is arranged on the machine body 1 of the cleaning device 100. When there is an obstacle on the work surface, the obstacle removal module 3 automatically recognizes the obstacle and drives the obstacle removal component 33 to move through the driving mechanism 31 to remove the obstacle from the original position. The work surface corresponding to the original position of the obstacle can be exposed to facilitate the cleaning assembly to clean the work surface and the surrounding area corresponding to the original position of the obstacle. This effectively reduces the cleaning dead angle and the missed area, thereby enhancing the overall cleaning effect of the work surface and reducing the dependence on manual labor, which is beneficial to improve the user experience.

[0086] Referring to Figure 1 , Figure 6 and Figure 7 , according to some embodiments of the present application, the transmission mechanism includes a gear mechanism, the motor shaft of the driving motor is connected with the gear mechanism to drive the gear mechanism to move, and the gear mechanism includes an output gear 3121, the output gear 3121 has an output end 3122, and the output end 3122 is directly connected with the obstacle removal component 33 or connected with the obstacle removal component 33 through the outer swing mechanism 32.

[0087] The gear mechanism is in driving connection with the motor shaft of the driving motor, the output end 3122 of the output gear 3121 is directly in driving connection with the obstacle removal component 33 or in driving connection with the obstacle removal component 33 through the outer swing mechanism 32. When the driving motor works, the rotation of the motor shaft can drive the gear mechanism to rotate, the rotation of the output gear 3121 in the gear mechanism can directly drive the obstacle removal component 33 to rotate or drive the obstacle removal component 33 to rotate through the outer swing mechanism 32, so as to realize the process that the driving motor drives the obstacle removal component 33 to move between the obstacle removal position and the storage position through the gear mechanism.

[0088] Referring to Figure 1 andFigure 18 According to some embodiments of the present application, the obstacle removing module 3 is located at the front end 11 of the machine body 1, compared with the cleaning assembly, the obstacle removing module 3 located at the front end 11 of the machine body 1 can contact and remove the obstacles in advance, for example, when the cleaning device 100 is running, the obstacle removing module 3 of the front end 11 can clean the obstacles on the working surface in the advancing direction of the cleaning device 100 in advance, so as to facilitate the subsequent cleaning assembly to clean the working surface of the area corresponding to the original position of the obstacle, thereby the cleaning effect on the whole working surface can be improved, and the repeated work can be reduced, and the cleaning efficiency is improved.

[0089] Referring to Figure 1 and Figure 18 According to some embodiments of the present application, the obstacle removing module 3 is located at the left front end 11 or the right front end 11 of the machine body 1, which makes the obstacle removing module 3 can effectively remove the obstacles on one side of the machine body 1, for example, the obstacle removing module 3 located at the left front end 11 or the right front end 11 of the machine body 1 can move the obstacles adjacent to the narrow area such as the wall or the furniture leg, and then the cleaning assembly can clean the working surface of the narrow area such as the wall or the furniture leg, so as to improve the cleaning effect on the whole working surface, and the obstacle removing range of the obstacle removing module 3 is expanded.

[0090] For another example, when the cleaning device 100 turns, the obstacle removing module 3 located at the left front end 11 or the right front end 11 can clean the obstacles on the turning side in advance, so as to provide more space for the turning of the cleaning device 100, and the turning of the cleaning device 100 is more smooth.

[0091] Referring to Figure 1 and Figure 18 According to some embodiments of the present application, the obstacle removing module 3 is located at the outer edge of the machine body 1, which makes the obstacle removing module 3 can effectively move the obstacles in the narrow area such as the wall or the furniture leg, and then the cleaning assembly can clean the working surface of the narrow area such as the wall or the furniture leg, so as to improve the cleaning effect on the whole working surface, and the obstacle removing range of the obstacle removing module 3 is expanded.

[0092] Referring to Figure 1 and Figure 18 According to some embodiments of the present application, at least part of the obstacle removing module 3 is arranged at the bottom of the machine body 1, which can make full use of the space below the machine body 1, so that the structure of the obstacle removing module 3 and the machine body 1 is more compact, the obstacle removing module 3 can reduce the occupation of the external space of the machine body 1, which is beneficial to the miniaturization of the cleaning device 100, and facilitates the carrying and storage of the cleaning device 100.

[0093] For example, part of the obstacle removing module 3 can be arranged at the bottom of the machine body 1, and for another example, all of the obstacle removing module 3 can be arranged at the bottom of the machine body 1.

[0094] With reference to Figures 2-6 According to some embodiments of the present application, the lower view sensor is arranged at the bottom of the machine body 1, and the obstacle clearing module 3 is provided with an avoiding part 332 for avoiding the lower view sensor. The lower view sensor is located at the bottom of the machine body 1, and the space below the machine body 1 can be fully utilized, so that the structure of the lower view sensor and the machine body 1 as a whole is compact, the occupation of the external space of the machine body 1 by the lower view sensor can be reduced, which is beneficial to the miniaturization of the cleaning device 100 and facilitates the carrying and storage of the cleaning device 100. The avoiding part 332 can avoid the obstruction of the obstacle clearing module 3 to the lower view sensor, so as to ensure that the lower view sensor can detect the situation of the lower part of the machine body 1 in real time, so that the cleaning device 100 can more accurately determine the position information of itself, and then realize the intelligent control of the cleaning device 100.

[0095] For example, the avoiding part 332 can be a light-transmitting piece, so that the light can be transmitted from the avoiding part 332, thereby avoiding the obstruction of the lower view sensor, so that the lower view sensor can more accurately detect the situation of the lower part of the machine body 1.

[0096] For another example, the obstacle clearing module 3 as a whole can also be a light-transmitting piece, so that the obstruction of the lower view sensor can be avoided, so that the lower view sensor can more accurately detect the situation of the lower part of the machine body 1.

[0097] In some embodiments, the lower view sensor is electrically connected with a control module of the cleaning device 100, and the control module is used for controlling the movement path and movement direction of the cleaning device 100 according to the position information detected by the lower view sensor. The lower view sensor is located at the bottom of the machine body 1, so that the lower view sensor can more directly identify the information of the working surface of the lower part of the cleaning device 100. For example, if the cleaning device 100 is located at a higher working surface and is about to move to a lower working surface, the lower view sensor located at the bottom of the machine body 1 can timely and accurately identify the position of the cleaning device 100 and transmit the information to the control assembly, and the control assembly can change the movement path and movement direction of the cleaning device 100, so as to reduce or avoid the damage caused by the falling of the cleaning device 100 from a high place, which is beneficial to prolong the service life of the cleaning device 100.

[0098] With reference to Figures 4-7 According to some embodiments of the present application, the obstacle clearing module 3 comprises a driving mechanism 31 and an obstacle clearing component 33, the driving mechanism 31 is installed on the machine body 1, and the driving mechanism 31 is connected with the obstacle clearing component 33, so as to drive the movement of the obstacle clearing component 33. The machine body 1 can bear and protect the driving mechanism 31, and the movement of the obstacle clearing component 33 can be driven by the driving mechanism 31, so as to realize the process of moving the obstacle clearing component 33 to move the obstacle away from the original position.

[0099] With reference to Figures 4-7According to some embodiments of the present application, the clearing component 33 is movable between the clearing position and the storage position, at least part of the clearing component 33 is stored in the fuselage 1 when the clearing component 33 is in the storage position, and at least part of the clearing component 33 is located outside the outer edge of the fuselage 1 when the clearing component 33 is in the clearing position.

[0100] For example, at least part of the clearing component 33 is stored in the fuselage 1 when the clearing component 33 is in the storage position; for another example, the entire clearing component 33 can be stored in the fuselage 1 when the clearing component 33 is in the storage position. Correspondingly, at least part of the clearing component 33 is located outside the outer edge of the fuselage 1 when the clearing component 33 is in the clearing position can include the following cases: for example, part of the clearing component 33 is located outside the outer edge of the fuselage 1 when the clearing component 33 is in the clearing position; for another example, the entire clearing component 33 can be located outside the outer edge of the fuselage 1 when the clearing component 33 is in the clearing position.

[0101] The driving mechanism 31 can drive the clearing component 33 to move between the storage position and the clearing position, when the driving mechanism 31 drives the clearing component 33 to move from the storage position to the clearing position, the clearing range of the clearing component 33 can be expanded, and the process of the clearing component 33 moving the obstacle can be realized, when the driving mechanism 31 drives the clearing component 33 to move from the clearing position to the storage position, the occupation of the external space of the fuselage 1 by the clearing component 33 can be reduced, which is conducive to the layout optimization and miniaturization of the cleaning device 100.

[0102] Referring to Figure 6 and Figure 7According to some embodiments of the utility model, when the obstacle removing part 33 is located at the storage position, the projection of the obstacle removing part 33 on the horizontal plane coincides with the first coinciding area of the fuselage 1, and when the obstacle removing part 33 is located at the obstacle removing position, the projection of the obstacle removing part 33 on the horizontal plane coincides with the second coinciding area of the fuselage 1, and the first coinciding area is larger than the second coinciding area. Compared with the obstacle removing part 33 being located at the obstacle removing position, when the obstacle removing part 33 is located at the storage position, the first coinciding area of the obstacle removing part 33 and the fuselage 1 on the horizontal plane is larger, so that the obstacle removing part 33 can better fit the contour of the fuselage 1 when being located at the storage position, so that the overall cleaning device 100 can reduce the occupation of the external space of the fuselage 1, which is beneficial to the miniaturization of the cleaning device 100 and facilitates the carrying and storage of the cleaning device 100. Compared with the obstacle removing part 33 being located at the storage position, when the obstacle removing part 33 is located at the obstacle removing position, the second coinciding area of the obstacle removing part 33 and the fuselage 1 on the horizontal plane is smaller, so that the obstacle removing part 33 can extend more to the outside of the fuselage 1 when being located at the obstacle removing position, so that the obstacle removing range of the obstacle removing part 33 is larger.

[0103] Referring to Figure 6 , Figure 7 , Figure 10 , Figure 11 and Figure 18 , according to some embodiments of the utility model, when the obstacle removing part 33 is located at the storage position, the projection of the obstacle removing part 33 on the horizontal plane is located within the projection of the fuselage 1 on the horizontal plane, and when the obstacle removing part 33 is located at the storage position, so that the obstacle removing part 33 can be completely accommodated inside the fuselage 1, avoiding the obstacle removing part 33 occupying the external space of the fuselage 1, which is beneficial to the miniaturization of the cleaning device 100 and facilitates the carrying and storage of the cleaning device 100.

[0104] Referring to Figure 6 , Figure 7 , Figure 10 , Figure 11 and Figure 18 , according to some embodiments of the utility model, when the obstacle removing part 33 is located at the storage position, the side edge of the obstacle removing part 33 close to the outer edge of the fuselage 1 is the outer side edge 331, and the contour line of the outer side edge 331 is consistent with the outer edge contour line of the fuselage 1. When the obstacle removing part 33 is located at the storage position, the outer edge contour line of the fuselage 1 is consistent with the contour line of the outer side edge 331 of the obstacle removing part 33, so that the distance between the outer side edge 331 of the obstacle removing part 33 and the outer edge of the fuselage 1 can be smaller, so that the distance of the obstacle removing part 33 from the storage position to the obstacle removing position can be shortened, and when the obstacle removing part 33 moves from the storage position to the obstacle removing position, the obstacle removing part 33 can move to the obstacle removing position at a faster speed to remove the obstacle, thereby facilitating to improve the obstacle removing efficiency of the obstacle removing part 33.

[0105] Referring to Figure 6 ,Figure 7 、 Figure 10 、 Figure 11 and Figure 18 According to some embodiments of the present application, the body 1 comprises a bottom shell 12, and the obstacle removing module 3 is mounted on the bottom shell 12. An accommodation gap 121 is formed on the outer edge of the bottom shell 12, and at least part of the obstacle removing component 33 is located in the accommodation gap 121 when the obstacle removing component 33 is in the storage position. For example, part of the obstacle removing component 33 can be located in the accommodation gap 121. For another example, the entire obstacle removing component 33 can be located in the accommodation gap 121.

[0106] When the obstacle removing component 33 is in the storage position, at least part of the obstacle removing component 33 is located in the accommodation gap 121, which can make the structure of the obstacle removing component 33 and the bottom shell 12 more compact, reduce the occupation of the external space of the body 1, and facilitate the miniaturization of the cleaning device 100, and facilitate the carrying and storage of the cleaning device 100.

[0107] Referring to Figure 6 and Figure 7 According to some embodiments of the present application, a downward-looking sensor is arranged on the bottom of the body 1, and an avoiding portion 332 for avoiding the downward-looking sensor is arranged on the obstacle removing component 33. When the obstacle removing component 33 is in the storage position, the avoiding portion 332 is located below the downward-looking sensor, and the avoiding portion 332 and the downward-looking sensor are arranged opposite to each other in the up-down direction. The avoiding portion 332 can avoid the obstruction of the obstacle removing module 3 to the downward-looking sensor, so that the downward-looking sensor can detect the situation below the body 1 in real time, so as to facilitate the cleaning device 100 to determine the position information of itself more accurately, and then realize the intelligent control of the cleaning device 100. When the obstacle removing component 33 is in the storage position, the avoiding portion 332 and the downward-looking sensor are arranged opposite to each other in the up-down direction, which can further reduce the obstruction area of the obstacle removing component 33 to the downward-looking sensor, so that the downward-looking sensor can obtain clearer and more accurate image information.

[0108] Referring to Figure 6 and Figure 7 According to some embodiments of the present application, the mechanism for driving the obstacle removing component 33 to move between the obstacle removing position and the storage position is the same mechanism as the mechanism for driving the obstacle removing component 33 to move to make the obstacle move. While achieving the movement of the obstacle removing component 33 to the obstacle removing position to expand the obstacle removing range, the obstacle removing component 33 can also be driven to move to make the obstacle move, which can reduce the number of parts and simplify the overall structure of the cleaning device 100, thereby facilitating the layout optimization of the cleaning device 100 and reducing the manufacturing cost of the cleaning device 100.

[0109] Referring to Figure 7 ,Figure 13 and Figure 14 According to some embodiments of the present application, the obstacle removing component 33 removes the obstacle by pushing or clamping the obstacle, so as to make the obstacle leave the original position. The structure of the pushing type obstacle removing component 33 is relatively simple, and when the driving mechanism 31 drives the obstacle removing component 33 to move from the storage position to the obstacle removing position, the obstacle removing component 33 can also push the obstacle, so as to make the obstacle leave the original position. In this way, the number of parts can be reduced, and the structure of the cleaning device 100 as a whole can be simplified. The clamping type obstacle removing component 33 has a more reliable effect on removing the obstacle. For example, the obstacle removing component 33 comprises a clamping part, which can stably clamp obstacles of different shapes, so as to reduce or avoid the situation that the obstacle bounces back to the original position during movement, and the obstacle removing component 33 needs to be repeatedly cleaned.

[0110] For example, the obstacle removing component 33 can swing relative to the body 1 between the storage position and the obstacle removing position. The obstacle removing component 33 sweeps a larger space area during the swinging process, which can effectively expand the obstacle removing range of the obstacle removing component 33, and also can push the obstacle to leave the original position.

[0111] For another example, the obstacle removing component 33 can comprise a clamping part, which can clamp the obstacle. For irregularly shaped obstacles, such as balls, columnar objects, etc., the clamping part can stably grasp the obstacle. The obstacle removing component 33 can firmly grasp the obstacle through the clamping action, and the driving mechanism 31 drives the obstacle removing component 33 to move to the obstacle removing position. In this way, the obstacle can be reliably removed from the original position, and the situation that the obstacle slips during movement, bounces back to the original position and needs to be repeatedly cleaned can be effectively reduced or avoided.

[0112] Referring to Figure 8 , Figure 13 , Figure 15 and Figure 19 According to some embodiments of the present application, the output end 3122 of the driving mechanism 31 is directly connected with the obstacle removing component 33, or the output end 3122 of the driving mechanism 31 is connected with the obstacle removing component 33 through the outward swinging mechanism 32. If the output end 3122 of the driving mechanism 31 is directly connected with the obstacle removing component 33, the power transmission path between the driving mechanism 31 and the obstacle removing component 33 can be shortened, so as to reduce the energy loss during power transmission, improve the obstacle removing efficiency of the obstacle removing component 33, and simplify the structure of the obstacle removing component 33 and the driving mechanism 31 as a whole, reduce the number and complexity of intermediate parts, and reduce the manufacturing cost.

[0113] If the output end 3122 of the driving mechanism 31 is connected with the obstacle removing component 33 through the outward swinging mechanism 32, one end of the outward swinging mechanism 32 is in driving connection with the output end 3122 of the driving mechanism 31, and the other end of the outward swinging mechanism 32 is connected with the obstacle removing component 33, the driving mechanism 31 drives the outward swinging mechanism 32 to move, the outward swinging mechanism 32 drives the obstacle removing component 33 to move, and then the driving mechanism 31 can drive the obstacle removing component 33 to move between the storage position and the obstacle removing position relative to the fuselage 1, so that the obstacle removing range of the obstacle removing component 33 can be effectively expanded.

[0114] With reference to Figures 11-13 According to some embodiments of the utility model, the obstacle removing component 33 is rotatably connected with the fuselage 1, the outward swinging mechanism 32 comprises a rotating disc 321 and a sliding block 322, the rotating disc 321 is rotatably installed on the output end 3122 of the driving mechanism 31, the sliding block 322 is arranged on the rotating disc 321 and is spaced apart from the rotation center of the rotating disc 321, the sliding groove 333 is formed on the obstacle removing component 33, the sliding block 322 is accommodated in the sliding groove 333 and is slidable along the extension direction of the sliding groove 333, and the sliding block 322 is used to drive the obstacle removing component 33 to move. When the driving mechanism 31 works, the output end 3122 of the driving mechanism 31 rotates to drive the rotating disc 321 to rotate, and the rotating movement of the rotating disc 321 can be converted into the sliding movement of the sliding block 322 in the sliding groove 333, so that the sliding block 322 drives the obstacle removing component 33 to move between the storage position and the obstacle removing position.

[0115] The sliding groove 333 is formed on the obstacle removing component 33, the sliding block 322 is accommodated in the sliding groove 333 and is slidable along the extension direction of the sliding groove 333, and the cooperation between the sliding block 322 and the sliding groove 333 can provide a guiding effect for the obstacle removing component 33, so that the obstacle removing component 33 can stably move between the storage position and the obstacle removing position relative to the fuselage 1. In addition, the sliding block 322 is accommodated in the sliding groove 333, so that the obstacle removing component 33 can be effectively prevented from shaking or tilting relative to the fuselage 1 during the movement process, and the obstacle removing component 33 can stably move, thereby facilitating the stable operation of the cleaning device 100.

[0116] For example, when the rotating disc 321 rotates in the forward direction, the sliding block 322 rotates under the driving action of the driving force of the rotating disc 321 and drives the obstacle removing component 33 to move from the storage position to the obstacle removing position, and when the rotating disc 321 rotates in the reverse direction, the sliding block 322 rotates under the driving action of the driving force of the rotating disc 321 and drives the obstacle removing component 33 to move from the obstacle removing position to the storage position.

[0117] With reference to Figure 8 , Figure 9 , Figure 12 and Figure 13According to some embodiments of the present application, the sliding groove 333 extends along the radial direction of the rotation axis of the obstacle removing component 33. By extending the sliding groove 333 along the radial direction of the rotation axis of the obstacle removing component 33, the sliding direction of the sliding block 322 in the sliding groove 333 is consistent with the rotation direction of the obstacle removing component 33, which helps to realize accurate power transmission.

[0118] With reference to Figure 6 , Figure 7 , Figure 14 and Figure 19 According to some embodiments of the present application, the obstacle removing component 33 is deformable, for example, the size of the obstacle removing component 33 can be changed, so that the size of the obstacle removing component 33 in the storage position is smaller than the size of the obstacle removing component 33 in the obstacle removing position. When the obstacle removing component 33 is in the obstacle removing position, the size of the obstacle removing component 33 is larger, which can effectively expand the obstacle removing range of the obstacle removing component 33.

[0119] With reference to Figure 6 , Figure 7 , Figure 14 and Figure 19 According to some embodiments of the present application, the size of the obstacle removing component 33 is variable. For example, the size of the obstacle removing component 33 in the storage position is smaller than the size of the obstacle removing component 33 in the obstacle removing position. When the obstacle removing component 33 is in the obstacle removing position, the size of the obstacle removing component 33 is larger, which can effectively expand the obstacle removing range of the obstacle removing component 33. When the obstacle removing component 33 is in the storage position, the size of the obstacle removing component 33 is smaller, which can reduce the occupation of the external space of the fuselage 1.

[0120] By changing the size of the obstacle removing component 33, the size of the obstacle removing component 33 can be increased to expand the obstacle removing range of the obstacle removing component 33, or the size of the obstacle removing component 33 can be reduced for storage, so that the obstacle removing component 33 can more flexibly meet the actual use requirements, and the use experience of the user is improved.

[0121] For example, the obstacle removing component 33 includes a connecting mechanism 335 and an obstacle removing piece 334, the obstacle removing piece 334 is used for moving obstacles, the driving mechanism 31 and the obstacle removing piece 334 can be connected through the connecting mechanism 335, the connecting mechanism 335 can be a connecting rod telescopic mechanism, the connecting rod telescopic mechanism includes a plurality of hingedly connected connecting rods 336, the connecting rod telescopic mechanism can realize the movement process of the obstacle removing piece 334 between the storage position and the obstacle removing position by changing the length and the angle of the connecting rod telescopic mechanism under the driving action of the driving force of the driving mechanism 31, and the size change of the obstacle removing component 33 can be realized.

[0122] With reference to Figure 6 , Figure 7 , Figure 14 and Figure 19According to some embodiments of the present application, the length of the obstacle removing component 33 is variable, so that the size of the obstacle removing component 33 can be changed to expand the obstacle removing range or reduce the space occupied by the obstacle removing component 33, thereby facilitating the storage and transportation of the cleaning device 100, and the movement process of the obstacle removing component 33 from the storage position to the obstacle removing position can also be realized.

[0123] With reference to Figure 6 , Figure 7 , Figure 14 and Figure 19 , according to some embodiments of the present application, the size of the obstacle removing component 33 in the storage position is smaller than the size of the obstacle removing component 33 in the obstacle removing position, and when the obstacle removing component 33 is in the obstacle removing position, the size of the obstacle removing component 33 is larger, which can effectively expand the obstacle removing range of the obstacle removing component 33, and when the obstacle removing component 33 is in the storage position, the size of the obstacle removing component 33 is smaller, which can reduce the occupation of the external space of the fuselage 1.

[0124] With reference to Figure 6 , Figure 7 , Figure 14 and Figure 19 , according to some embodiments of the present application, the obstacle removing component 33 comprises a connecting mechanism 335 and an obstacle removing piece 334, the connecting mechanism 335 is connected between the obstacle removing piece 334 and the fuselage 1, the output end 3122 of the driving mechanism 31 is directly connected with the connecting mechanism 335 or connected through the outer swing mechanism 32, and the obstacle removing piece 334 is adapted to act on the obstacle to move and leave the original position. Among them, in the process of driving the obstacle removing component 33 to move by the driving mechanism 31, the connecting mechanism 335 is deformable to make the size of the obstacle removing component 33 variable.

[0125] If the driving mechanism 31 is directly connected with one end of the connecting mechanism 335 or connected through the outer swing mechanism 32, and the other end of the connecting mechanism 335 is connected with the obstacle removing piece 334, the driving mechanism 31 drives the connecting mechanism 335 to move, and the connecting mechanism 335 drives the obstacle removing piece 334 to move, thereby the driving mechanism 31 can drive the obstacle removing piece 334 to move relative to the fuselage 1 between the storage position and the obstacle removing position, so that the obstacle removing range of the obstacle removing piece 334 can be effectively expanded, and in the process of driving the obstacle removing component 33 to move by the driving mechanism 31, the connecting mechanism 335 is deformable to change the size of the obstacle removing component 33, for example, the size of the obstacle removing component 33 in the storage position is smaller than the size of the obstacle removing component 33 in the obstacle removing position, so that the external space of the fuselage 1 occupied by the obstacle removing component 33 in the storage position can be reduced, thereby facilitating the storage and transportation of the whole cleaning device 100.

[0126] With reference to Figure 7 , Figure 8 , Figure 12 and Figure 13According to some embodiments of the utility model, drive mechanism 31 includes carousel 321 and sliding block 322, carousel 321 rotatablely install at the output end 3122 of drive mechanism 31, sliding block 322 is located at carousel 321 and sliding block 322 is spaced apart from the rotation center of carousel 321 and is arranged, sliding block 322 is movably connected with connecting mechanism 335. When drive mechanism 31 works, the rotation of the output end 3122 of drive mechanism 31 can drive carousel 321 to rotate, the rotary motion of carousel 321 can be converted into the sliding of sliding block 322 in sliding groove 333, and then the process that sliding block 322 drives connecting mechanism 335 to move can be realized, to make connecting mechanism 335 deform.

[0127] Referring to Figure 7 、 Figure 8 、 Figure 12 and Figure 13 According to some embodiments of the utility model, sliding groove 333 is arranged on connecting mechanism 335, sliding block 322 is accommodated in sliding groove 333 and sliding block 322 is slidably arranged along the extension direction of sliding groove 333, and sliding block 322 is used to drive obstacle removing component 33 to move. By arranging sliding groove 333 on connecting mechanism 335, sliding block 322 is accommodated in sliding groove 333 and sliding block 322 is slidably arranged along the extension direction of sliding groove 333, and the cooperation of sliding block 322 and sliding groove 333 can provide guiding effect for connecting mechanism 335, so that connecting mechanism 335 can stably move between the storage position and the obstacle removing position relative to fuselage 1. In addition, sliding block 322 is accommodated in sliding groove 333, which can effectively prevent connecting mechanism 335 from shaking or tilting relative to fuselage 1 during movement, and is conducive to the stable movement of connecting mechanism 335, thereby facilitating the stable operation of obstacle removing component 33.

[0128] Referring to Figure 6 、 Figure 7 、 Figure 14 and Figure 19 According to some embodiments of the utility model, connecting mechanism 335 includes a plurality of connecting rods 336 that are rotatably connected with each other, one of the plurality of connecting rods 336 is a driving rod, and the output end 3122 of drive mechanism 31 is directly connected with the driving rod or connected with the driving rod through outer swing mechanism 32. The plurality of connecting rods 336 that are rotatably connected with each other can form a linkage mechanism, and under the driving action of the driving force of drive mechanism 31, the angle and length between the plurality of connecting rods 336 that are rotatably connected with each other will change, which can realize the deformation of connecting mechanism 335, thereby realizing the size change of obstacle removing component 33.

[0129] Referring to Figure 12 and Figure 13According to some embodiments of the utility model, the obstacle removing module 3 is located at least one end of the fuselage 1 along the left-right direction, and the included angle between the driving rod and the preset direction is a when the obstacle removing component 33 is located at the obstacle removing position, a is greater than 90 DEG, the preset direction is parallel to the left-right direction, and in the left-right direction, the preset direction points to the other end of the fuselage 1 from the end where the obstacle removing module 3 is located. For example, the included angle a between the driving rod and the preset direction when the obstacle removing component 33 is located at the obstacle removing position can be 95 DEG, 100 DEG, 130 DEG, 150 DEG, 180 DEG, 200 DEG etc. When the obstacle removing component 33 is located at the obstacle removing position, by the included angle a between the driving rod and the preset direction being greater than 90 DEG, the obstacle removing component 33 can be located at the left front or right front of the fuselage 1, so that the obstacle removing range of the obstacle removing component 33 is as large as possible, and the dead angle of obstacle removing is reduced, thereby facilitating the subsequent cleaning assembly to clean the working surface, and effectively enhancing the cleaning effect of the cleaning device 100 on the whole working surface.

[0130] Referring to Figure 12 and Figure 13 According to some embodiments of the utility model, when the obstacle removing component 33 is located at the obstacle removing position, the range of a is 100 DEG to 135 DEG. For example, a can be 100 DEG, 110 DEG, 120 DEG, 130 DEG, 135 DEG etc., by a being not less than 100 DEG, the obstacle removing component 33 can be located at the left front or right front of the fuselage 1, so as to ensure that the obstacle removing range of the obstacle removing component 33 is large, thereby effectively enhancing the overall cleaning effect of the cleaning device 100, and by a being not greater than 135 DEG, the extension distance of the obstacle removing component 33 at least one end in the left-right direction is reasonable, and when the cleaning device 100 encounters an obstacle, the obstacle removing component 33 can be adjusted to a suitable position to move the obstacle relatively quickly.

[0131] For example, when the obstacle removing component 33 is located at the obstacle removing position, if the included angle a between the driving rod and the preset direction is too large, the obstacle removing component 33 can need more time to adjust the position, resulting in that the response time of the obstacle removing action is long, and thereby affecting the overall cleaning efficiency of the cleaning device 100. And the relatively small included angle a can make the obstacle removing component 33 quickly in place, so as to improve the obstacle removing efficiency.

[0132] By the range of a being 100 DEG to 135 DEG, the obstacle removing range and the obstacle removing efficiency of the obstacle removing component 33 can be considered, the obstacle removing range of the obstacle removing component 33 is ensured to be large, thereby effectively enhancing the overall cleaning effect of the cleaning device 100, and when the cleaning device 100 encounters an obstacle, the obstacle removing component 33 can be adjusted to a suitable position to move the obstacle relatively quickly.

[0133] Referring to Figure 12 and Figure 13According to some embodiments of the present utility model, the obstacle removing module 3 is located at least one end of the fuselage 1 along the left-right direction, the included angle between the driving rod and the preset direction is gamma when the obstacle removing component 33 is located at the storage position, the range of gamma is 20°-45°, the preset direction is parallel to the left-right direction, and in the left-right direction, the preset direction points from one end where the obstacle removing module 3 is located to the other end of the fuselage 1. For example, the included angle gamma between the driving rod and the preset direction can be 20°, 25°, 30°, 35°, 40°, 45° and the like when the obstacle removing component 33 is located at the storage position. When the obstacle removing component 33 is located at the storage position, by making gamma not less than 20°, the distance that the obstacle removing component 33 moves from the storage position to the obstacle removing position can be short, so that the obstacle removing component 33 can move from the storage position to the obstacle removing position more rapidly, thereby the obstacle removing efficiency can be improved; by making gamma not more than 45°, it can be ensured that the projection of the obstacle removing component 33 on the horizontal plane is located within the projection of the fuselage 1 on the horizontal plane, thereby the occupation of the external space of the fuselage 1 by the obstacle removing component 33 can be reduced or avoided, which is beneficial to the storage and carrying of the cleaning device 100.

[0134] By making the range of gamma be 20°-45°, the external space of the fuselage 1 occupied by the obstacle removing component 33 when the obstacle removing component 33 is located at the storage position and the obstacle removing efficiency can be well balanced, it can be ensured that the projection of the obstacle removing component 33 on the horizontal plane is located within the projection of the fuselage 1 on the horizontal plane, so as to reduce or avoid the occupation of the external space of the fuselage 1 by the obstacle removing component 33, and the distance that the obstacle removing component 33 moves from the storage position to the obstacle removing position can also be short, so that the obstacle removing component 33 can move from the storage position to the obstacle removing position more rapidly, thereby the obstacle removing efficiency can be improved.

[0135] Referring to Figure 7 , Figure 8 , Figure 12 and Figure 13 , according to some embodiments of the present utility model, the driving rod is rotatably connected with the fuselage 1, a sliding groove 333 extending along the extension direction of the driving rod is formed on the driving rod, the outer swing mechanism 32 comprises a rotating disc 321 and a sliding block 322, the rotating disc 321 is rotatably installed on the output end 3122 of the driving mechanism 31, the sliding block 322 is arranged on the rotating disc 321 and is spaced apart from the rotation center of the rotating disc 321, the sliding block 322 is accommodated in the sliding groove 333 and is slidable along the extension direction of the sliding groove 333, and the sliding block 322 is used to drive the obstacle removing component 33 to move. When the driving mechanism 31 works, the rotation of the output end 3122 of the driving mechanism 31 can drive the rotating disc 321 to rotate, and the rotary motion of the rotating disc 321 can be converted into the sliding motion of the sliding block 322 in the sliding groove 333, so as to realize the process that the sliding block 322 drives the obstacle removing component 33 to move between the storage position and the obstacle removing position.

[0136] The sliding block 322 is accommodated in the sliding groove 333 and can slide along the extension direction of the sliding groove 333, and the cooperation between the sliding block 322 and the sliding groove 333 can provide a guiding effect for the driving rod, so that the driving rod can stably move between the storage position and the obstacle removing position relative to the machine body 1. In addition, the sliding block 322 is accommodated in the sliding groove 333, which can effectively avoid the shaking or tilting of the driving rod relative to the machine body 1 during movement, and is beneficial to the stable movement of the driving rod, thereby being beneficial to the stable operation of the obstacle removing component 33.

[0137] With reference to Figure 7 , Figure 8 , Figure 9 , Figure 14 and Figures 15-17 According to some embodiments of the utility model, the plurality of connecting rods 336 include a first connecting rod 3361, a second connecting rod 3362, a third connecting rod 3363 and a fourth connecting rod 3364, wherein the third connecting rod 3363 constitutes the driving rod, one end of the first connecting rod 3361 is rotatably connected with the machine body 1, the other end of the first connecting rod 3361 is rotatably connected with one end of the second connecting rod 3362, the other end of the second connecting rod 3362 is rotatably connected with the obstacle removing component 334, the second connecting rod 3362 and the third connecting rod 3363 are crossed and rotatably connected, one end of the fourth connecting rod 3364 is rotatably connected with the end of the third connecting rod 3363 and the other end of the fourth connecting rod 3364 is rotatably connected with the obstacle removing component 334.

[0138] Wherein, the rotating connection point of the third connecting rod 3363 and the second connecting rod 3362 is the first rotating connection point 3371, the rotating connection point of the third connecting rod 3363 and the fourth connecting rod 3364 is the second rotating connection point 3372, and the connection point of the output end 3122 of the driving mechanism 31 and the third connecting rod 3363 is the driving connection point, and the first rotating connection point 3371 is located between the second rotating connection point 3372 and the driving connection point.

[0139] The first connecting rod 3361, the second connecting rod 3362, the third connecting rod 3363 and the fourth connecting rod 3364 can form a four-bar linkage mechanism, and the movement of the clearing member 334 can be realized by changing the length and angle of the four-bar linkage mechanism. The third connecting rod 3363 is connected with the output end 3122 of the driving mechanism 31, and under the driving action of the driving force of the driving mechanism 31, the third connecting rod 3363 rotates around the driving connection point, the third connecting rod 3363 can drive the second connecting rod 3362 to rotate around the first rotating connection point 3371, and the third connecting rod 3363 can drive the fourth connecting rod 3364 to rotate around the second rotating connection point 3372. One end of the first connecting rod 3361 is rotatably connected with the machine body 1, and the other end of the first connecting rod 3361 is rotatably connected with the second connecting rod 3362, and the rotation of the second connecting rod 3362 can also drive the first connecting rod 3361 to rotate relative to the machine body 1. Through the deformation of the whole four-bar linkage mechanism, under the common driving of the second connecting rod 3362 and the fourth connecting rod 3364, the clearing member 334 can be driven to move, so that the process that the driving mechanism 31 drives the clearing member 334 to move between the storage position and the clearing position through the connecting mechanism 335 can be realized.

[0140] For example, when the third connecting rod 3363 rotates in the forward direction, the second connecting rod 3362 rotates in the forward direction around the first rotating connection point 3371 under the driving action of the driving force of the third connecting rod 3363 and drives the first connecting rod 3361 to rotate in the forward direction, and the fourth connecting rod 3364 rotates in the forward direction around the second rotating connection point 3372 under the driving action of the driving force of the third connecting rod 3363. Through the change of the included angle between each connecting rod 336, the relative position between each connecting rod 336 also changes, the whole four-bar linkage mechanism can be stretched, and the second connecting rod 3362 and the fourth connecting rod 3364 can drive the clearing member 334 to move away from the outer edge of the machine body 1, so that the process that the driving mechanism 31 drives the clearing member 334 to move from the storage position to the clearing position through the connecting mechanism 335 can be realized.

[0141] For another example, when the third connecting rod 3363 rotates in the reverse direction, the second connecting rod 3362 rotates in the reverse direction around the first rotating connection point 3371 under the driving action of the driving force of the third connecting rod 3363 and drives the first connecting rod 3361 to rotate in the reverse direction, and the fourth connecting rod 3364 rotates in the reverse direction around the second rotating connection point 3372 under the driving action of the driving force of the third connecting rod 3363. Through the change of the included angle between each connecting rod 336, the relative position between each connecting rod 336 also changes, the whole four-bar linkage mechanism can be contracted, and the second connecting rod 3362 and the fourth connecting rod 3364 can drive the clearing member 334 to move close to the machine body 1 and be accommodated in the bottom of the machine body 1, so that the process that the driving mechanism 31 drives the clearing member 334 to move from the clearing position to the storage position through the connecting mechanism 335 can be realized.

[0142] With reference to Figures 15-17 According to some embodiments of the present application, the obstacle removing module 3 is located at at least one end of the machine body 1 in the left-right direction, and the included angle between the driving rod and the preset direction is β when the obstacle removing component 33 is located at the obstacle removing position, β is greater than 90°, the preset direction is parallel to the left-right direction, and in the left-right direction, the preset direction points from one end where the obstacle removing module 3 is located to the other end of the machine body 1. For example, the included angle β between the driving rod and the preset direction when the obstacle removing component 33 is located at the obstacle removing position can be 95°, 100°, 130°, 150°, 180°, 200°, etc. By making the included angle β between the driving rod and the preset direction greater than 90° when the obstacle removing component 33 is located at the obstacle removing position, the obstacle removing component 33 can be located in front of the left or right of the machine body 1, so that the obstacle removing range of the obstacle removing component 33 is as large as possible, and the obstacle removing dead angle is reduced, thereby facilitating the subsequent cleaning assembly to clean the working surface, so as to effectively enhance the cleaning effect of the cleaning device 100 on the whole working surface.

[0143] With reference to Figures 15-17 According to some embodiments of the present application, the range of β is 100°-135° when the obstacle removing component 33 is located at the obstacle removing position. For example, β can be 100°, 110°, 120°, 130°, 135°, etc. By making β not less than 100°, the obstacle removing component 33 can be located in front of the left or right of the machine body 1, so as to ensure that the obstacle removing range of the obstacle removing component 33 is large, thereby effectively enhancing the overall cleaning effect of the cleaning device 100; by making β not greater than 135°, the extension distance of the obstacle removing component 33 at at least one end in the left-right direction is reasonable, and when the cleaning device 100 encounters an obstacle, the obstacle removing component 33 can be quickly adjusted to a suitable position to move the obstacle.

[0144] For example, when the obstacle removing component 33 is located at the obstacle removing position, if the included angle β between the driving rod and the preset direction is too large, the obstacle removing component 33 may need more time to adjust the position, resulting in a long response time of the obstacle removing action, and thereby affecting the overall cleaning efficiency of the cleaning device 100. A relatively small included angle β can quickly position the obstacle removing component 33, thereby improving the obstacle removing efficiency.

[0145] By making the range of β be 100°-135°, the obstacle removing range and the obstacle removing efficiency of the obstacle removing component 33 can be considered, the obstacle removing range of the obstacle removing component 33 is ensured to be large, thereby effectively enhancing the overall cleaning effect of the cleaning device 100, and when the cleaning device 100 encounters an obstacle, the obstacle removing component 33 can be quickly adjusted to a suitable position to move the obstacle.

[0146] With reference to Figures 7-9, according to some embodiments of the utility model, the obstacle removing module 3 is located at least one end of fuselage 1 along left and right direction, when the obstacle removing part 33 is located in the storage position, the included angle between the driving rod and the preset direction is γ, the range of γ is 20 ° ~ 45 °, the preset direction is parallel to the left and right direction, and in the left and right direction, the preset direction points to the other end of fuselage 1 from the end where the obstacle removing module 3 is located. For example, when the obstacle removing part 33 is located in the storage position, the included angle γ between the driving rod and the preset direction can be 20 °, 25 °, 30 °, 35 °, 40 °, 45 ° etc. When the obstacle removing part 33 is located in the storage position, by not less than 20 °, this can make the distance of the obstacle removing part 33 moving from the storage position to the obstacle removing position shorter, so that the obstacle removing part 33 moves from the storage position to the obstacle removing position more rapidly, thereby the obstacle removing efficiency can be improved;By not more than 45 °, it can be ensured that the projection of the obstacle removing part 33 in the horizontal plane is located in the projection of fuselage 1 in the horizontal plane, thereby reducing or avoiding the occupation of the external space of fuselage 1 by the obstacle removing part 33, which is beneficial to the storage and carrying of cleaning device 100.

[0147] By the range of γ being 20 ° ~ 45 °, the external space of fuselage 1 occupied by the obstacle removing part 33 when in the storage position and the obstacle removing efficiency can be better balanced, it can be ensured that the projection of the obstacle removing part 33 in the horizontal plane is located in the projection of fuselage 1 in the horizontal plane, to reduce or avoid the occupation of the external space of fuselage 1 by the obstacle removing part 33, and the distance of the obstacle removing part 33 moving from the storage position to the obstacle removing position can also be shorter, so that the obstacle removing part 33 moves from the storage position to the obstacle removing position more rapidly, thereby the obstacle removing efficiency is improved.

[0148] Referring to Figure 7 , according to some embodiments of the utility model, the third connecting rod 3363 is rotatably connected with fuselage 1, the rotation connecting point of third connecting rod 3363 and fuselage 1 is third rotation connecting point 3373, the third connecting rod 3363 is formed with sliding groove 333 extending along the extension direction of third connecting rod 3363, the sliding groove 333 is located between third rotation connecting point 3373 and first rotation connecting point 3371, the outer swing mechanism 32 includes rotating disc 321 and sliding block 322, the rotating disc 321 is rotatably installed on the output end 3122 of driving mechanism 31, the sliding block 322 is arranged on rotating disc 321 and the rotation center of sliding block 322 and rotating disc 321 is spaced apart, the sliding block 322 is accommodated in sliding groove 333 and the sliding block 322 is slidable along the extension direction of sliding groove 333, the sliding block 322 is used to drive the obstacle removing part 33 to move, and the position of sliding block 322 constitutes driving connecting point.

[0149] When the driving mechanism 31 drives the rotating disc 321 to rotate around the rotating center of the rotating disc 321, the sliding block 322 limited in the sliding groove 333 can be driven to move along the extending direction of the third connecting rod 3363, and the third connecting rod 3363 can be driven to rotate around the third rotating joint 3373 through the cooperation between the sliding block 322 and the sliding groove 333. Since the first connecting rod 3361, the second connecting rod 3362, the third connecting rod 3363 and the fourth connecting rod 3364 form a four-bar linkage, when the third connecting rod 3363 rotates, the second connecting rod 3362 can be driven to rotate around the first rotating joint 3371 and the fourth connecting rod 3364 can be driven to rotate around the second rotating joint 3372, and the second connecting rod 3362 can drive the first connecting rod 3361 to move relative to the machine body 1. Thus, through the deformation of the four-bar linkage as a whole, the clearing member 334 can be driven to move under the joint driving of the second connecting rod 3362 and the fourth connecting rod 3364, so that the process that the driving mechanism 31 drives the clearing member 334 to move between the storage position and the clearing position through the connecting mechanism 335 can be realized.

[0150] For example, when the rotating disc 321 rotates in the forward direction, the sliding block 322 moves along the extending direction of the third connecting rod 3363 and towards the direction close to the third rotating joint 3373, the movement of the sliding block 322 can drive the third connecting rod 3363 to move, the second connecting rod 3362 rotates in the forward direction around the first rotating joint 3371 under the driving of the driving force of the third connecting rod 3363 and drives the first connecting rod 3361 to rotate in the forward direction, and the fourth connecting rod 3364 rotates in the forward direction around the second rotating joint 3372 under the driving of the driving force of the third connecting rod 3363. Through the change of the included angle between each connecting rod 336, the relative position between each connecting rod 336 also changes, so that the extension of the four-bar linkage as a whole can be realized, and the second connecting rod 3362 and the fourth connecting rod 3364 can drive the clearing member 334 to move away from the outer edge of the machine body 1, so that the process that the driving mechanism 31 drives the clearing member 334 to move from the storage position to the clearing position through the connecting mechanism 335 can be realized.

[0151] For another example, when the rotating disc 321 rotates reversely, the slider 322 moves along the extension direction of the third connecting rod 3363 and towards the direction away from the third rotating connecting point 3373, the movement of the slider 322 can drive the third connecting rod 3363 to move, the second connecting rod 3362 rotates reversely around the first rotating connecting point 3371 under the driving of the driving force of the third connecting rod 3363 and drives the first connecting rod 3361 to rotate reversely, the fourth connecting rod 3364 rotates reversely around the second rotating connecting point 3372 under the driving of the driving force of the third connecting rod 3363, through the change of the included angle between the connecting rods 336, the relative positions between the connecting rods 336 also change, and the contraction of the whole four-connecting-rod mechanism can be realized, the second connecting rod 3362 and the fourth connecting rod 3364 can drive the clearing member 334 to approach the machine body 1 and be accommodated in the bottom of the machine body 1, so as to realize the process that the driving mechanism 31 drives the clearing member 334 to move from the clearing position to the storage position through the connecting mechanism 335.

[0152] With reference to Figure 8 , Figure 9 and Figure 19 , according to some embodiments of the utility model, the plurality of connecting rods 336 include a fifth connecting rod 3365, a sixth connecting rod 3366, a seventh connecting rod 3367, an eighth connecting rod 3368, a ninth connecting rod 3369 and a tenth connecting rod 3370, wherein the eighth connecting rod 3368 constitutes a driving rod, one end of the fifth connecting rod 3365 is rotatably connected with the machine body 1, the other end of the fifth connecting rod 3365 is rotatably connected with one end of the sixth connecting rod 3366, the other end of the sixth connecting rod 3366 is rotatably connected with one end of the seventh connecting rod 3367, the other end of the seventh connecting rod 3367 is rotatably connected with the clearing member 334, the output end 3122 of the driving mechanism 31 is connected with the eighth connecting rod 3368, one end of the tenth connecting rod 3370 is rotatably connected with the end of the eighth connecting rod 3368 and one end of the ninth connecting rod 3369 at the same point, the other end of the tenth connecting rod 3370 is rotatably connected with the clearing member 334, and the tenth connecting rod 3370 intersects with the sixth connecting rod 3366 and is rotatably connected with the sixth connecting rod 3366, the other end of the ninth connecting rod 3369 is rotatably connected with the fifth connecting rod 3365.

[0153] Wherein, the rotatable connecting point of the fifth connecting rod 3365 with the machine body 1 is the fourth rotating connecting point 3374, the rotating connecting point of the fifth connecting rod 3365 with the sixth connecting rod 3366 is the fifth rotating connecting point 3375, the rotating connecting point of the ninth connecting rod 3369 with the fifth connecting rod 3365 is the sixth rotating connecting point, and the sixth rotating connecting point is located between the fourth rotating connecting point 3374 and the fifth rotating connecting point 3375.

[0154] For example, the fifth connecting rod 3365, the sixth connecting rod 3366, the seventh connecting rod 3367, the eighth connecting rod 3368, the ninth connecting rod 3369 and the tenth connecting rod 3370 can form a linkage telescopic mechanism, and the movement of the clearing member 334 can be realized by the length and angle of the linkage telescopic mechanism. For example, the connecting point of the output end 3122 of the driving mechanism 31 and the eighth connecting rod 3368 constitutes a driving connecting point, and the eighth connecting rod 3368 is connected with the output end 3122 of the driving mechanism 31. Under the driving action of the driving force of the driving mechanism 31, the eighth connecting rod 3368 rotates around the driving connecting point, and the eighth connecting rod 3368 can drive the ninth connecting rod 3369 and the tenth connecting rod 3370 to rotate. The ninth connecting rod 3369 can drive the fifth connecting rod 3365 to rotate, the fifth connecting rod 3365 can drive the sixth connecting rod 3366 to rotate, and the sixth connecting rod 3366 can drive the seventh connecting rod 3367 to rotate. In this way, the deformation of the linkage telescopic mechanism can be realized, and the movement of the clearing member 334 can be realized under the common driving action of the driving force of the seventh connecting rod 3367 and the tenth connecting rod 3370. Thus, the process that the driving mechanism 31 drives the clearing member 334 to move between the storage position and the clearing position through the connecting mechanism 335 can be realized.

[0155] In some embodiments, the eighth connecting rod 3368 is rotatably connected with the machine body 1, and the rotation connecting point of the eighth connecting rod 3368 and the machine body 1 is a seventh rotation connecting point. The eighth connecting rod 3368 is formed with a sliding groove 333 extending along the extension direction of the eighth connecting rod 3368. The rotation connecting point of the eighth connecting rod 3368 and the ninth connecting rod 3369 and the tenth connecting rod 3370 is an eighth rotation connecting point. The sliding groove 333 is located between the seventh rotation connecting point and the eighth rotation connecting point. The swinging mechanism 32 includes a rotating disc 321 and a sliding block 322. The rotating disc 321 is rotatably installed on the output end 3122 of the driving mechanism 31. The sliding block 322 is arranged on the rotating disc 321 and is spaced apart from the rotation center of the rotating disc 321. The sliding block 322 is accommodated in the sliding groove 333 and is slidable along the extension direction of the sliding groove 333. The sliding block 322 is used to drive the clearing member 33 to move, and the position of the sliding block 322 constitutes a driving connecting point.

[0156] When the driving mechanism 31 drives the rotating disc 321 to rotate around the rotating center thereof, the sliding block 322 limited in the sliding groove 333 can be driven to move along the extension direction of the eighth connecting rod 3368, and the eighth connecting rod 3368 can be driven to rotate around the seventh rotating connecting point through the cooperation between the sliding block 322 and the sliding groove 333. Since the fifth connecting rod 3365, the sixth connecting rod 3366, the seventh connecting rod 3367, the eighth connecting rod 3368, the ninth connecting rod 3369 and the tenth connecting rod 3370 can form a connecting rod telescopic mechanism, the eighth connecting rod 3368 can drive the ninth connecting rod 3369 and the tenth connecting rod 3370 to rotate, the ninth connecting rod 3369 can drive the fifth connecting rod 3365 to rotate, the fifth connecting rod 3365 can drive the sixth connecting rod 3366 to rotate, and the sixth connecting rod 3366 can drive the seventh connecting rod 3367 to rotate, so that the movement of the obstacle removing piece 334 can be realized through the deformation of the connecting rod telescopic mechanism under the driving force of the seventh connecting rod 3367 and the tenth connecting rod 3370, and the process that the driving mechanism 31 drives the obstacle removing piece 334 to move between the storage position and the obstacle removing position through the connecting mechanism 335 can be realized.

[0157] With reference to Figures 7-9 According to some embodiments of the present application, the rotatable connecting connecting rod 336 is connected through the connecting piece 340, and in the direction of the rotating axis of the rotatable connecting connecting rod 336, the connecting piece 340 does not protrude from the outer surface of the connecting rod 336. Through the connecting piece 340 not protruding from the outer surface of the connecting rod 336, interference between the connecting rod 336 and the connecting piece 340 during rotation of the connecting rod 336 can be avoided, so that the rotation of the connecting rod 336 is more smooth.

[0158] With reference to Figure 10 According to some embodiments of the present application, the connecting piece 340 includes a connecting column 3401 and a limiting cap 3402, the connecting column 3401 is arranged in the two rotatable connecting connecting rods 336, at least one connecting rod 336 is formed with a sink groove 3376, and the limiting cap 3402 is accommodated in the sink groove 3376. The connecting column 3401 is arranged in the two connecting rods 336, so that rotatable connection between the two connecting points can be realized. The sink groove 3376 can facilitate accommodation of the connecting piece 340 therein, and can make the structure of the connecting piece 340 and the connecting rod 336 compact. The limiting cap 3402 can limit the assembly of the connecting column 3401 on the connecting rod 336, and through accommodation of the limiting cap 3402 in the sink groove 3376, the limiting cap 3402 can be prevented from protruding from the outer surface of the connecting rod 336, so that interference between the connecting rod 336 and the limiting cap 3402 during rotation of the connecting rod 336 can be avoided, so that the rotation of the connecting rod 336 is more smooth.

[0159] In some embodiments, the connecting column 3401 is arranged through the two rotatably connected connecting rods 336, the two connecting rods 336 are both provided with the sink groove 3376, the two ends of the connecting column 3401 are both provided with the limiting cap 3402, the limiting cap 3402 at one end is arranged in the sink groove 3376 of one of the connecting rods 336 and abuts against the bottom wall of the sink groove 3376, the limiting cap 3402 at the other end is arranged in the sink groove 3376 of the other connecting rod 336 and is in clearance fit with the bottom wall of the sink groove 3376, and the limiting cap 3402 at the two ends of the connecting column 3401 is arranged in the sink groove 3376 of the two connecting rods 336, which can limit the fixed connection of the connecting column 3401 between the two connecting rods 336, effectively constrain the connecting column 3401, reduce or prevent the back and forth movement of the connecting column 3401 between the two connecting rods 336, thereby improving the connection stability between the two connecting rods 336 and reducing or avoiding the connection failure between the two connecting rods 336 due to the position deviation of the connecting column 3401 or the interference between the connecting column 3401 and the connecting rod 336.

[0160] The limiting cap 3402 at one end abuts against the bottom wall of the sink groove 3376 of one of the connecting rods 336 and the limiting cap 3402 at the other end is in clearance fit with the bottom wall of the sink groove 3376 of the other connecting rod 336, so that the fixed connection between the two connecting rods 336 is realized, and the relative rotation between the two connecting rods 336 is relatively smooth, thereby reducing or avoiding the jamming of the two connecting rods 336.

[0161] For example, the connecting piece 340 further comprises the gasket 3380 arranged between the limiting cap 3402 at the other end and the bottom wall of the sink groove 3376 of the other connecting rod 336, so as to ensure that there is a certain gap between the limiting cap 3402 at the other end and the bottom wall of the sink groove 3376 of the other connecting rod 336.

[0162] Referring to Figure 12 According to some embodiments of the present application, the output end 3122 of the driving mechanism 31 is connected with the obstacle removing component 33 through the outward swinging mechanism 32, the transmission point between the outward swinging mechanism 32 and the obstacle removing component 33 is the obstacle removing transmission point, the force of the obstacle removing component 33 on the outward swinging mechanism 32 at the obstacle removing transmission point is the reaction force, and the speed of the outward swinging mechanism 32 at the obstacle removing transmission point under the reaction force is the reaction speed. When the obstacle removing component 33 is located at the obstacle removing position, the included angle between the reaction speed and the reaction force is φ, and φ is greater than or equal to 90°. The driving mechanism 31 drives the obstacle removing component 33 to move between the storage position and the obstacle removing position through the outward swinging mechanism 32, so as to expand the obstacle removing range of the obstacle removing component 33.

[0163] In the process that the removing obstacle component 33 moves the obstacle to make the obstacle leave the original position, the obstacle will generate a reaction force to the removing obstacle component 33, which makes the removing obstacle component 33 generate a reaction force to the swing mechanism 32 to make the removing obstacle component 33 move from the removing obstacle position to the storage position, and the swing mechanism 32 has a corresponding reaction speed at the removing obstacle transmission point.

[0164] By the angle φ between the reaction force of the obstacle to the swing mechanism 32 through the removing obstacle component 33 and the reaction speed of the swing mechanism 32 at the removing obstacle transmission point being greater than or equal to 90°, the removing obstacle component 33 and the swing mechanism 32 can enter the transmission dead point position, at this time, the projection component of the reaction force in the direction of the reaction speed tends to be zero or opposite, the force of the reaction force in the direction of the reaction speed of the removing obstacle component 33 is invalid, that is, the reaction force of the obstacle to the swing mechanism 32 through the removing obstacle component 33 cannot push the removing obstacle component 33 to move to the storage position, so that the removing obstacle component 33 can be more stably kept in the removing obstacle position, effectively reducing or preventing the influence of the reaction force of the obstacle to the removing obstacle component 33, thereby ensuring the removing obstacle effect of the removing obstacle component 33.

[0165] Referring to Figure 10 , according to some embodiments of the utility model, the removing obstacle component 33 is rotatably connected with the fuselage 1, the swing mechanism 32 includes a rotating disc 321 and a sliding block 322, the rotating disc 321 is rotatably installed on the output end 3122 of the driving mechanism 31, the sliding block 322 is arranged on the rotating disc 321 and is spaced apart from the rotation center of the rotating disc 321, the removing obstacle component 33 is formed with a sliding groove 333, the sliding block 322 is accommodated in the sliding groove 333 and is slidable along the extension direction of the sliding groove 333, and the sliding block 322 is used to drive the removing obstacle component 33 to move, wherein the transmission point between the sliding block 322 and the inner wall of the sliding groove 333 is the removing obstacle transmission point. When the driving mechanism 31 works, the rotation of the output end 3122 of the driving mechanism 31 can drive the rotating disc 321 to rotate, and the rotating movement of the rotating disc 321 can be converted into the sliding movement of the sliding block 322 in the sliding groove 333, so as to realize the process that the sliding block 322 drives the removing obstacle component 33 to move between the storage position and the removing obstacle position. When the removing obstacle component 33 moves the obstacle, since the transmission point between the sliding block 322 and the inner wall of the sliding groove 333 is the removing obstacle transmission point, the reaction force of the obstacle to the removing obstacle component 33, that is, the reaction force of the inner wall of the sliding groove 333 to the sliding block 322, the speed of the sliding block 322 under the reaction force and at the removing obstacle transmission point is the reaction speed.

[0166] When the obstacle removing component 33 is located at the obstacle removing position, the angle φ between the reaction force of the inner wall of the sliding groove 333 on the sliding block 322 and the reaction speed of the sliding block 322 at the obstacle removing transmission point is greater than or equal to 90°, so that the sliding block 322 and the inner wall of the sliding groove 333 enter a transmission dead point position, at this time, the projection component of the reaction force of the sliding block 322 in the direction of the reaction speed of the sliding block 322 tends to be zero or is opposite, the force applied by the reaction force of the sliding block 322 in the direction of the reaction speed of the sliding block 322 is invalid, that is, the reaction force of the obstacle on the sliding block 322 through the inner wall of the sliding groove 333 cannot push the sliding block 322 to move along the extension direction of the sliding groove 333, so that the sliding block 322 can be kept stationary, so that the obstacle removing component 33 can be more stably kept at the obstacle removing position, the influence of the reaction force of the obstacle on the obstacle removing component 33 is effectively reduced or prevented, and the obstacle removing effect of the obstacle removing component 33 can be ensured.

[0167] With reference to Figure 12 , Figure 30 , Figure 32 and Figure 30 , according to some embodiments of the utility model, the connecting mechanism 335 includes a plurality of connecting rods 336 rotatably connected with each other, one of the plurality of connecting rods 336 is a driving rod, the driving rod is rotatably connected with the fuselage 1, the sliding groove 333 is formed on the driving rod and extends along the extension direction of the driving rod. When the obstacle removing component 33 removes the obstacle, the reaction force of the obstacle on the obstacle removing component 33 is transmitted through the plurality of connecting rods 336 layer by layer and is converted into the reaction force of the inner wall of the sliding groove 333 on the sliding block 322, the sliding block 322 is under the reaction force and the speed of the sliding block 322 at the obstacle removing transmission point is the reaction speed.

[0168] When the obstacle removing component 33 is located at the obstacle removing position, the angle φ between the reaction force of the inner wall of the sliding groove 333 on the sliding block 322 and the reaction speed of the sliding block 322 at the obstacle removing transmission point is greater than or equal to 90°, so that the sliding block 322 and the inner wall of the sliding groove 333 enter a transmission dead point position, at this time, the projection component of the reaction force of the sliding block 322 in the direction of the reaction speed of the sliding block 322 tends to be zero or is opposite, the force applied by the reaction force of the sliding block 322 in the direction of the reaction speed of the sliding block 322 is invalid, that is, the reaction force of the obstacle on the sliding block 322 through the inner wall of the sliding groove 333 cannot push the sliding block 322 to move along the extension direction of the driving rod, so that the sliding block 322 can be kept stationary, so that the driving rod can be stably kept at the position, and the obstacle removing component 33 can be more stably kept at the obstacle removing position.

[0169] With reference to Figure 32According to some embodiments of the utility model, multiple connecting rods 336 include first connecting rod 3361, second connecting rod 3362, third connecting rod 3363 and fourth connecting rod 3364, wherein third connecting rod 3363 constitutes a drive rod, one end of first connecting rod 3361 is rotatably connected with fuselage 1, the other end of first connecting rod 3361 is rotatably connected with one end of second connecting rod 3362, the other end of second connecting rod 3362 is rotatably connected with clearing member 334, second connecting rod 3362 and third connecting rod 3363 are crossed and second connecting rod 3362 and third connecting rod 3363 are rotatably connected, third connecting rod 3363 is formed with sliding groove 333, third connecting rod 3363 is rotatably connected with fuselage 1, one end of fourth connecting rod 3364 is rotatably connected with the end of third connecting rod 3363 and the other end of fourth connecting rod 3364 is rotatably connected with clearing member 334.

[0170] Wherein, the rotation connecting point of third connecting rod 3363 and second connecting rod 3362 is first rotation connecting point 3371, the rotation connecting point of third connecting rod 3363 and fourth connecting rod 3364 is second rotation connecting point 3372, the rotation connecting point of third connecting rod 3363 and fuselage 1 is third rotation connecting point 3373, the connecting point of output end 3122 of drive mechanism 31 and third connecting rod 3363 is drive connecting point, first rotation connecting point 3371 is located between second rotation connecting point 3372 and sliding groove 333, and sliding groove 333 is located between third rotation connecting point 3373 and first rotation connecting point 3371.

[0171] The first connecting rod 3361, the second connecting rod 3362, the third connecting rod 3363 and the fourth connecting rod 3364 can form a four-bar linkage mechanism, and the movement of the clearing member 334 can be realized by changing the length and angle of the four-bar linkage mechanism. When the driving mechanism 31 drives the rotating disc 321 to rotate around the rotation center thereof, the sliding block 322 limited in the sliding groove 333 can be driven to move along the extension direction of the third connecting rod 3363, and the third connecting rod 3363 can be driven to rotate around the third rotation connecting point 3373 through the cooperation between the sliding block 322 and the sliding groove 333. Since the first connecting rod 3361, the second connecting rod 3362, the third connecting rod 3363 and the fourth connecting rod 3364 form a four-bar linkage mechanism, when the third connecting rod 3363 rotates, the second connecting rod 3362 can be driven to rotate around the first rotation connecting point 3371 and the fourth connecting rod 3364 can be driven to rotate around the second rotation connecting point 3372, and the second connecting rod 3362 can drive the first connecting rod 3361 to move relative to the machine body 1. Thus, through the deformation of the four-bar linkage mechanism as a whole, the clearing member 334 can be driven to move under the joint driving of the second connecting rod 3362 and the fourth connecting rod 3364, so that the process that the driving mechanism 31 drives the clearing member 334 to move between the storage position and the clearing position through the connecting mechanism 335 can be realized.

[0172] When the clearing member 33 moves the obstacle, since the transmission point between the sliding block 322 and the inner wall of the sliding groove 333 is the clearing transmission point, the reaction force generated by the obstacle on the clearing member 33 can be transmitted through the second connecting rod 3362 and the fourth connecting rod 3364 and then changed into the reaction force of the inner wall of the sliding groove 333 on the sliding block 322 on the third connecting rod 3363. The sliding block 322 is under the reaction force, and the speed of the sliding block 322 at the clearing transmission point is the reaction speed.

[0173] When the clearing member 33 is located at the clearing position, the angle φ between the reaction force of the inner wall of the sliding groove 333 on the sliding block 322 and the reaction speed of the sliding block 322 at the clearing transmission point is greater than or equal to 90°, so that the sliding block 322 and the inner wall of the sliding groove 333 can enter the transmission dead point position. At this time, the reaction force of the sliding block 322 is ineffective in the direction of the reaction speed of the sliding block 322, that is, the reaction force of the obstacle on the sliding block 322 through the inner wall of the sliding groove 333 cannot drive the sliding block 322 to move along the extension direction of the third connecting rod 3363, so that the sliding block 322 can be kept stationary, and the third connecting rod 3363 can be stably kept at the position, so that the clearing member 33 can be more stably kept at the clearing position.

[0174] Referring to Figure 30 and Figure 32According to some embodiments of the present application, the obstacle removing component 33 comprises a contact portion adapted to contact with the obstacle, and the contact portion is arc-shaped. When the obstacle removing component 33 contacts with the obstacle to make the obstacle leave the original position, the arc-shaped contact portion can make the obstacle better adhere to obstacles with different shapes and different surfaces, such as circular, square or irregular obstacles. The arc-shaped contact portion can increase the contact area between the obstacle removing component 33 and the obstacle, so that the obstacle removing process is more stable and reliable. Moreover, when the obstacle removing component 33 contacts with the obstacle, the arc-shaped contact portion can also guide the obstacle to move along an arc-shaped trajectory, so that the obstacle removing process is more smooth, the obstacle removing component 33 is less jammed and hindered by the obstacle, and the obstacle removing difficulty is reduced.

[0175] With reference to Figure 30 and Figure 32 According to some embodiments of the present application, at least part of the obstacle removing component 33 constitutes the front impact plate of the cleaning device 100. For example, part of the obstacle removing component 33 can constitute the front impact plate of the cleaning device 100. By at least part of the obstacle removing component 33 constituting the front impact plate of the cleaning device 100, for example, the front impact plate is a front side arc-shaped plate structure, the obstacle can be perceived through the collision of the front impact plate, so that the driving mechanism 31 drives the obstacle removing component 33 to move towards the obstacle removing position to make the obstacle leave the original position more quickly.

[0176] With reference to Figure 30 and Figure 32 According to some embodiments of the present application, a flexible layer is arranged on the obstacle removing component 33, and the flexible layer is used to contact with the obstacle. When the obstacle removing component 33 moves the obstacle, the flexible layer arranged on the obstacle removing component 33 can buffer the force applied by the obstacle removing component 33 to the obstacle due to its soft characteristics, so that the obstacle can be protected to a certain extent, and the friction and wear between the obstacle removing component 33 and the obstacle can be reduced or avoided.

[0177] With reference to Figure 30 and Figure 32 According to some embodiments of the present application, the flexible layer is a rubber layer or a silica gel layer. Since rubber and silica gel both have good flexibility, the rubber layer or the silica gel layer can deform itself when contacting with the obstacle, so as to buffer the force between the obstacle removing component 33 and the obstacle, thereby reducing or avoiding the friction and wear between the obstacle removing component 33 and the obstacle.

[0178] With reference to Figure 30 and Figure 32According to some embodiments of the utility model, the flexible layer is fixed on the obstacle removing component 33 by adhesion, or the flexible layer is integrally formed on the obstacle removing component 33. If the flexible layer is fixed on the obstacle removing component 33 by adhesion, the connection between the flexible layer and the obstacle removing component 33 is simple and has strong stability. If the flexible layer is integrally formed on the obstacle removing component 33, the structural strength of the obstacle removing component 33 as a whole can be enhanced, and the assembly process between the flexible layer and the obstacle removing component 33 can be omitted, so that the assembly efficiency of the obstacle removing module 3 as a whole can be improved.

[0179] With reference to Figure 30 and Figure 32 According to some embodiments of the utility model, the obstacle removing component 33 is provided with a cleaning structure 342, and the cleaning structure 342 is used for cleaning the work surface and / or the obstacle. For example, the cleaning structure 342 can be a brush, a blade, a wiping cloth or the like. By providing the cleaning structure 342 on the obstacle removing component 33, the obstacle removing component 33 can remove the obstacle on the work surface, and the cleaning structure 342 can clean the work surface at the same time, so that the overall cleaning effect of the cleaning device 100 can be enhanced.

[0180] With reference to Figures 29-31 and Figure 28 According to some embodiments of the utility model, the cleaning structure 342 is arranged at the bottom of the obstacle removing component 33, so that the cleaning structure 342 is adjacent to the work surface to clean the work surface. In this way, an additional driving mechanism 31 is not needed to adjust the position or angle of the cleaning structure 342, the number of components can be reduced, and the overall structure of the cleaning device 100 can be simplified.

[0181] With reference to Figure 31 and Figure 37 According to some embodiments of the utility model, the cleaning structure 342 is fixed on the obstacle removing component 33 by adhesion or is detachably arranged on the obstacle removing component 33. If the cleaning structure 342 is fixed on the obstacle removing component 33 by adhesion, the connection between the cleaning structure 342 and the obstacle removing component 33 is simple and has strong stability. If the cleaning structure 342 is detachably arranged on the obstacle removing component 33, the cleaning structure 342 can be easily cleaned or replaced.

[0182] With reference to Figure 39 and Figure 38According to some embodiments of the utility model, the cleaning structure 342 comprises at least one of a cleaning brush, a cleaning cloth and a cleaning scraping strip. For example, the cleaning structure 342 can comprise a cleaning brush or a cleaning cloth or a cleaning scraping strip, or comprise a cleaning brush and a cleaning cloth or a cleaning brush and a cleaning scraping strip or a cleaning cloth and a cleaning scraping strip, or comprise a cleaning brush, a cleaning cloth and a cleaning scraping strip. The cleaning brush, the cleaning cloth and the cleaning scraping strip can all have a certain cleaning effect on the working surface, and the cleaning structure 342 comprising at least one of a cleaning brush, a cleaning cloth and a cleaning scraping strip can have an effective cleaning effect on the working surface.

[0183] With reference to Figure 40 According to some embodiments of the utility model, the obstacle removing component 33 comprises an obstacle removing piece 334 and an auxiliary piece 343, the auxiliary piece 343 is movably arranged on the obstacle removing piece 334, the output end 3122 of the driving mechanism 31 is directly connected with the obstacle removing piece 334 or is connected with the obstacle removing piece 334 through the outer swing mechanism 32, so as to drive the obstacle removing component 33 to move, and at least one of the obstacle removing piece 334 and the auxiliary piece 343 can act on the obstacle, so that the obstacle moves and leaves the original position. If the output end 3122 of the driving mechanism 31 is directly connected with the obstacle removing piece 334, the power transmission path between the driving mechanism 31 and the obstacle removing component 33 can be shortened, so that the energy loss in the power transmission process can be reduced, the obstacle removing delay caused by the too long power transmission path between the driving mechanism 31 and the obstacle removing component 33 can be reduced, the obstacle removing efficiency of the obstacle removing component 33 can be improved, and the structure of the obstacle removing component 33 and the driving mechanism 31 as a whole can be simplified by directly connecting the output end 3122 of the driving mechanism 31 with the obstacle removing component 33, the number and complexity of intermediate components are reduced, and the manufacturing cost can be reduced.

[0184] If the output end 3122 of the driving mechanism 31 is connected with the obstacle removing component 33 through the outer swing mechanism 32, one end of the outer swing mechanism 32 is drivingly connected with the output end 3122 of the driving mechanism 31, the other end of the outer swing mechanism 32 is connected with the obstacle removing component 33, the driving mechanism 31 drives the outer swing mechanism 32 to move, the outer swing mechanism 32 drives the obstacle removing component 33 to move, and then the driving mechanism 31 can drive the obstacle removing component 33 to move relative to the fuselage 1 between the storage position and the obstacle removing position, so that the obstacle removing range of the obstacle removing component 33 can be effectively expanded.

[0185] The auxiliary piece 343 can help the obstacle removing piece 334 to move the obstacle, at least one of the obstacle removing piece 334 and the auxiliary piece 343 can act on the obstacle, so that the obstacle is moved away from the original position, and the obstacle removing effect of the obstacle removing component 33 can be enhanced.

[0186] For example, the auxiliary member 343 can be rotatably arranged on the clearing member 334, and the distance between the outer side edge 331 of the auxiliary member 343 and the outer edge of the fuselage 1 can be greater than the distance between the outer side edge 331 of the clearing member 334 and the outer edge of the fuselage 1 by adjusting the position of the auxiliary member 343 relative to the clearing member 334, so as to expand the clearing range of the clearing member 334; or the distance between the bottom of the auxiliary member 343 and the working surface can be smaller than the distance between the bottom of the clearing member 334 and the working surface when the auxiliary member 343 is rotated to a certain angle, for example, when there are low obstacles on the working surface, the height of the obstacles is smaller, and the bottom of the auxiliary member 343 is closer to the working surface, so that the obstacles can be moved by the auxiliary member 343, and the clearing effect of the clearing member 33 can be effectively enhanced.

[0187] With reference to Figure 41 , Figures 27-31 , Figure 31 and Figure 41 According to some embodiments of the present application, the auxiliary member 343 is rotatably connected with the clearing member 334, and the position of the auxiliary member 343 relative to the clearing member 334 can be adjusted to expand the clearing range of the clearing member 33, so as to improve the clearing efficiency and the clearing effect.

[0188] For example, the bottom of the auxiliary member 343 can be lower than the bottom of the clearing member 334, so that the distance between the clearing member 33 and the working surface is smaller, which is helpful for better moving low obstacles; for another example, the distance between the outer side edge 331 of the auxiliary member 343 and the outer edge of the fuselage 1 can be greater than the distance between the outer side edge 331 of the clearing member 334 and the outer edge of the fuselage 1, so as to expand the clearing range of the clearing member 33, which can reduce repeated work and improve the clearing efficiency.

[0189] With reference to Figures 37-39 , Figure 27 and Figure 30 According to some embodiments of the present application, the auxiliary member 343 can be downwardly flipped or moved relative to the clearing member 334. By flipping or moving the auxiliary member 343 downwardly relative to the clearing member 334, at least part of the auxiliary member 343 can be lower than the bottom of the clearing member 334, so that the distance between the clearing member 33 and the working surface is smaller, which is helpful for better moving low obstacles.

[0190] With reference to Figure 37According to some embodiments of the present application, the auxiliary member 343 is movable between the first position and the second position, when the auxiliary member 343 is located at the first position, at least part of the auxiliary member 343 is located above or below the clearing member 334, and the auxiliary member 343 is adapted to contact the obstacle, when the auxiliary member 343 is located at the second position, the auxiliary member 343 is accommodated in the clearing member 334. Wherein, at least part of the auxiliary member 343 located above or below the clearing member 334 can include the following cases: for example, part of the auxiliary member 343 can be located above or below the clearing member 334; for another example, all of the auxiliary member 343 can be located above or below the clearing member 334.

[0191] For example, when the auxiliary member 343 is located at the first position, at least part of the auxiliary member 343 is located below the clearing member 334, which can make the distance between the bottom of the clearing member 33 as a whole and the working surface smaller, which is helpful for better moving the obstacle, especially the low obstacle, so as to enhance the clearing effect and effectively reduce the clearing dead angle and the missed area. When the auxiliary member 343 is located at the second position, the auxiliary member 343 is accommodated in the clearing member 334, which can reduce the occupation of the external space of the clearing member 334, so that the structure of the auxiliary member 343 and the clearing member 334 as a whole is more compact, which is conducive to the miniaturization of the cleaning device 100, and facilitates the carrying and storage of the cleaning device 100.

[0192] Referring to Figure 39 and Figure 33 , according to some embodiments of the present application, when the auxiliary member 343 is located at the first position, the lowest position of the auxiliary member 343 is lower than the lowest position of the clearing member 334. When the auxiliary member 343 is located at the first position, the lowest position of the auxiliary member 343 is lower than the lowest position of the clearing member 334, which can make the distance between the bottom of the clearing member 33 as a whole and the working surface smaller, which is helpful for better moving the obstacle, especially the low obstacle, so as to enhance the clearing effect and effectively reduce the clearing dead angle and the missed area.

[0193] Referring to Figure 35 , according to some embodiments of the present application, the clearing member 334 is provided with a receiving opening 3341, and when the auxiliary member 343 is located at the second position, at least part of the auxiliary member 343 is accommodated in the receiving opening 3341. Wherein, at least part of the auxiliary member 343 accommodated in the receiving opening 3341 can include the following cases: for example, part of the auxiliary member 343 can be accommodated in the receiving opening 3341; for another example, all of the auxiliary member 343 can be accommodated in the receiving opening 3341.

[0194] When the auxiliary member 343 is located at the second position, at least part of the auxiliary member 343 is accommodated in the accommodation opening 3341, which can reduce the occupation of the external space of the clearing member 334, so that the structure of the whole of the clearing member 334 and the auxiliary member 343 is more compact, thereby facilitating the miniaturization of the cleaning device 100 and facilitating the carrying and accommodation of the cleaning device 100.

[0195] With reference to Figure 38 , Figure 27 , Figure 30 and Figure 27 According to some embodiments of the present application, the clearing member 334 comprises a connecting mechanism 335 and a clearing push rod 3342, the connecting mechanism 335 is connected between the clearing push rod 3342 and the fuselage 1, the output end 3122 of the driving mechanism 31 is directly connected with the connecting mechanism 335 or connected through the outer swing mechanism 32 to drive the clearing member 33 to move between the accommodation position and the clearing position, the auxiliary member 343 is rotatably connected with the clearing push rod 3342, one end of the elastic driving member 344 is connected with the auxiliary member 343, and the other end of the elastic driving member 344 is connected with the clearing push rod 3342, wherein one of the elastic driving member 344 and the connecting mechanism 335 is used to drive the auxiliary member 343 to move from the first position to the second position, and the other of the elastic driving member 344 and the connecting mechanism 335 is used to drive the auxiliary member 343 to move from the second position to the first position.

[0196] The connecting mechanism 335 can drive the auxiliary member 343 to move under the driving action of the driving force of the driving mechanism 31, and thus can drive the auxiliary member 343 to move from the first position to the second position or from the second position to the first position. By providing the elastic driving member 344, the elastic driving member 344 provides a driving force to drive the auxiliary member 343 to move, and thus can drive the auxiliary member 343 to move from the first position to the second position or from the second position to the first position, so that the elastic driving member 344 can act with the connecting mechanism 335 to control the movement of the auxiliary member 343 between the first position and the second position, so that the clearing member 33 can realize the function of expanding the clearing range.

[0197] For example, the connecting mechanism 335 can drive the auxiliary member 343 to move under the driving action of the driving force of the driving mechanism 31, and the driving force acting on the auxiliary member 343 can overcome the elastic force of the elastic driving member 344 to drive the auxiliary member 343 to move from the first position to the second position, and the elastic driving member 344 is subjected to the elastic restoring force of itself, and can drive the auxiliary member 343 to move from the second position to the first position through the clearing push rod 3342.

[0198] Correspondingly, the auxiliary member 343 can also be driven from the first position to the second position by the elastic force of the elastic driving member 344, and the connecting mechanism 335 drives the auxiliary member 343 to move under the driving of the driving mechanism 31, and the driving force acting on the auxiliary member 343 can overcome the elastic force of the elastic driving member 344, so that the auxiliary member 343 is driven from the second position to the first position.

[0199] With reference to Figure 30 , Figure 36 and Figure 27 , according to some embodiments of the present application, the auxiliary member 343 is provided with a rotating shaft 3431, the clearing push rod 3342 is provided with a rotating hole 3343, the rotating shaft 3431 is rotatably arranged in the rotating hole 3343, and the elastic driving member 344 is a torsion spring and is sleeved on the outer circumferential side of the rotating shaft 3431. By making the elastic driving member 344 a torsion spring and sleeving the elastic driving member 344 on the outer circumferential side of the rotating shaft 3431, the torsion spring and the rotating shaft 3431 can be coaxially arranged, the overall structure of the torsion spring and the rotating shaft 3431 is compact, and the driving force provided by the other end of the torsion spring to the auxiliary member 343 can stably and efficiently drive the auxiliary member 343 to move.

[0200] With reference to Figure 30 and Figure 36 , according to some embodiments of the present application, during the process that the driving mechanism 31 drives the clearing member 33 to move to the clearing position, the connecting mechanism 335 is adapted to act on the auxiliary member 343 to drive the auxiliary member 343 to move from the second position to the first position, and the elastic driving member 344 is used to drive the auxiliary member 343 to move from the first position to the second position. The connecting mechanism 335 can drive the clearing push rod 3342 to move under the driving of the driving force of the driving mechanism 31, and the driving force applied to the auxiliary member 343 by the connecting mechanism 335 can overcome the elastic force of the elastic driving member 344 to drive the auxiliary member 343 to move from the second position to the first position, and the elastic driving member 344 can drive the auxiliary member 343 to move from the first position to the second position under the action of its own elastic force.

[0201] When the driving mechanism 31 drives the clearing member 33 to move to the clearing position through the connecting mechanism 335, the connecting mechanism 335 can also drive the auxiliary member 343 to move from the second position to the first position, which can reduce the number of parts, simplify the overall structure of the cleaning device 100, and thus be conducive to the layout optimization of the cleaning device 100 and the reduction of the manufacturing cost of the cleaning device 100.

[0202] With reference to Figure 27 , Figure 30 and Figure 36According to some embodiments of the present application, the connecting mechanism 335 is provided with a pushing protrusion 3377, and during the movement of the clearing component 33 to the clearing position, the pushing protrusion 3377 is in contact with the auxiliary part 343 to drive the auxiliary part 343 to move to the first position. The pushing protrusion 3377 can improve the structural strength of the connecting mechanism 335 to some extent, and the pushing protrusion 3377 is in contact with the auxiliary part 343 to drive the auxiliary part 343 to move, so as to reduce the distance between the connecting mechanism 335 and the auxiliary part 343, so that the connecting mechanism 335 can drive the auxiliary part 343 to move to the first position, thereby improving the clearing efficiency.

[0203] Optionally, during the movement of the clearing component 33 from the storage position to the clearing position, the pushing protrusion 3377 can gradually approach and be in contact with the auxiliary part 343, and under the driving action of the driving force of the connecting mechanism 335, the pushing protrusion 3377 can overcome the elastic force of the elastic driving part 344 to drive the auxiliary part 343 to move to the first position.

[0204] Correspondingly, during the movement of the clearing component 33 from the clearing position to the storage position, the pushing protrusion 3377 can be away from the auxiliary part 343 and gradually away from the auxiliary part 343 to gradually cancel the driving force on the auxiliary part 343, and the auxiliary part 343 can be driven by the elastic force of the elastic driving part 344 to move from the first position to the second position.

[0205] Referring to Figures 37-41 , Figure 38 and Figure 39 , according to some embodiments of the present application, the connecting mechanism 335 includes a plurality of connecting rods 336 that are rotatably connected to each other, one of the plurality of connecting rods 336 is a driving rod, the output end 3122 of the driving mechanism 31 is directly connected to the driving rod or connected through the outer swing mechanism 32, and the connecting rod 336 rotatably connected to the clearing push rod 3342 is provided with the pushing protrusion 3377.

[0206] The plurality of connecting rods 336 that are rotatably connected to each other can form a connecting rod mechanism, and under the driving action of the driving force of the driving mechanism 31, the angle and length between the plurality of connecting rods 336 that are rotatably connected to each other can change, so as to realize the deformation of the connecting mechanism 335, and further change the distance between the pushing protrusion 3377 and the auxiliary part 343, so as to realize the process of driving the auxiliary part 343 to move by the pushing protrusion 3377.

[0207] For example, in the process that the driving mechanism 31 drives the clearing component 33 to move to the clearing position through the connecting mechanism 335, the push-away protrusion 3377 can gradually approach the auxiliary piece 343 and finally contact the auxiliary piece 343 through the deformation of the connecting mechanism 335, so as to realize the process that the auxiliary piece 343 is driven to move from the second position to the first position.

[0208] With reference to Figure 40 , Figure 43 and Figure 38 , according to some embodiments of the utility model, the plurality of connecting rods 336 include a first connecting rod 3361, a second connecting rod 3362, a third connecting rod 3363 and a fourth connecting rod 3364, wherein the third connecting rod 3363 constitutes a driving rod, one end of the first connecting rod 3361 is rotatably connected with the fuselage 1, the other end of the first connecting rod 3361 is rotatably connected with one end of the second connecting rod 3362, the other end of the second connecting rod 3362 is rotatably connected with the clearing piece 334, the second connecting rod 3362 and the third connecting rod 3363 are crossed and rotatably connected, one end of the fourth connecting rod 3364 is rotatably connected with the end of the third connecting rod 3363 and the other end of the fourth connecting rod 3364 is rotatably connected with the clearing piece 334.

[0209] Wherein, the rotating connection point of the third connecting rod 3363 and the second connecting rod 3362 is a first rotating connection point 3371, the rotating connection point of the third connecting rod 3363 and the fourth connecting rod 3364 is a second rotating connection point 3372, the connecting point of the output end 3122 of the driving mechanism 31 and the third connecting rod 3363 is a driving connection point, the first rotating connection point 3371 is located between the second rotating connection point 3372 and the driving connection point, and the push-away protrusion 3377 is arranged on the fourth connecting rod 3364 and located on the side of the fourth connecting rod 3364 close to the auxiliary piece 343.

[0210] The first connecting rod 3361, the second connecting rod 3362, the third connecting rod 3363 and the fourth connecting rod 3364 can form a four-bar linkage mechanism, and the movement of the clearing member 334 can be realized by changing the length and angle of the four-bar linkage mechanism. The third connecting rod 3363 is connected with the output end 3122 of the driving mechanism 31, and under the driving action of the driving force of the driving mechanism 31, the third connecting rod 3363 rotates around the driving connection point, the third connecting rod 3363 can drive the second connecting rod 3362 to rotate around the first rotating connection point 3371, and the third connecting rod 3363 can drive the fourth connecting rod 3364 to rotate around the second rotating connection point 3372. One end of the first connecting rod 3361 is rotatably connected with the machine body 1, and the other end of the first connecting rod 3361 is rotatably connected with the second connecting rod 3362, and the rotation of the second connecting rod 3362 can also drive the first connecting rod 3361 to rotate relative to the machine body 1. Through the deformation of the four-bar linkage mechanism as a whole, under the common driving of the second connecting rod 3362 and the fourth connecting rod 3364, the clearing member 334 can be driven to move, so that the process that the driving mechanism 31 drives the clearing member 334 to move between the storage position and the clearing position through the connecting mechanism 335 can be realized.

[0211] In addition, in the process that the driving mechanism 31 drives the clearing member 334 to move to the clearing position through the connecting mechanism 335, the pushing protrusion on the fourth connecting rod 3364 can also drive the auxiliary member 343 to move from the second position to the first position.

[0212] Among them, by arranging the push-away protrusion 3377 on the side of the fourth connecting rod 3364 close to the auxiliary member 343, the distance between the push-away protrusion 3377 and the auxiliary member 343 can be made closer, so that the push-away protrusion 3377 can more quickly drive the auxiliary member 343 to move to the first position, thereby improving the clearing efficiency.

[0213] For example, when the third connecting rod 3363 rotates in the positive direction, the second connecting rod 3362 rotates in the positive direction about the first rotating connecting point 3371 under the driving action of the driving force of the third connecting rod 3363 and drives the first connecting rod 3361 to rotate in the positive direction, the fourth connecting rod 3364 rotates in the positive direction about the second rotating connecting point 3372 under the driving action of the driving force of the third connecting rod 3363, and the relative positions among the connecting rods 336 change through the change of the included angles among the connecting rods 336, so that the entire four-connecting-rod mechanism is stretched, the second connecting rod 3362 and the fourth connecting rod 3364 can drive the clearing member 334 to move away from the outer edge of the machine body 1, so that the process that the driving mechanism 31 drives the clearing member 334 to move from the storage position to the clearing position through the connecting mechanism 335 is realized; and in the process that the fourth connecting rod 3364 moves toward the outer edge of the machine body 1, the pushing protrusion provided on the fourth connecting rod 3364 can gradually approach the auxiliary member 343 and finally contact the auxiliary member 343, so as to drive the auxiliary member 343 to move to the first position.

[0214] For another example, when the third connecting rod 3363 rotates in the reverse direction, the second connecting rod 3362 rotates in the reverse direction about the first rotating connecting point 3371 under the driving action of the driving force of the third connecting rod 3363 and drives the first connecting rod 3361 to rotate in the reverse direction, the fourth connecting rod 3364 rotates in the reverse direction about the second rotating connecting point 3372 under the driving action of the driving force of the third connecting rod 3363, and the relative positions among the connecting rods 336 change through the change of the included angles among the connecting rods 336, so that the entire four-connecting-rod mechanism is contracted, the second connecting rod 3362 and the fourth connecting rod 3364 can drive the clearing member 334 to move close to the machine body 1 and be accommodated in the bottom of the machine body 1, so as to realize the process that the driving mechanism 31 drives the clearing member 334 to move from the clearing position to the storage position through the connecting mechanism 335; and in the process that the fourth connecting rod 3364 moves in the reverse direction, the pushing protrusion provided on the fourth connecting rod 3364 can be disengaged from the auxiliary member 343 and gradually move away from the auxiliary member 343, so as to gradually cancel the driving force on the auxiliary member 343, and the auxiliary member 343 moves to the second position under the driving action of the elastic force of the elastic driving member 344.

[0215] With reference to Figure 39According to some embodiments of the utility model, in the process that driving mechanism 31 drives obstacle removing component 33 to move to the obstacle removing position, connecting mechanism 335 is suitable for acting with auxiliary part 343 to drive auxiliary part 343 to move from the first position to the second position, and elastic driving part 344 is used to drive auxiliary part 343 to move from the second position to the first position. Connecting mechanism 335 can drive obstacle removing push rod 3342 to move under the driving action of the driving force of driving mechanism 31, and the driving force that connecting mechanism 335 exerts on auxiliary part 343 can overcome the elastic force of elastic driving part 344 to drive auxiliary part 343 to move from the first position to the second position, and elastic driving part 344 can drive auxiliary part 343 to move from the second position to the first position under the elastic force of itself.

[0216] When driving mechanism 31 drives obstacle removing component 33 to move to the obstacle removing position through connecting mechanism 335, connecting mechanism 335 can also drive auxiliary part 343 to move from the first position to the second position, which can reduce the number of parts, simplify the overall structure of cleaning device 100, thereby facilitating the layout optimization of cleaning device 100 and reducing the manufacturing cost of cleaning device 100.

[0217] Referring to Figure 40 , Figure 43 , Figure 38 and Figure 39 , according to some embodiments of the utility model, connecting mechanism 335 includes a plurality of connecting rods 336 rotatably connected with each other, one of the plurality of connecting rods 336 is a driving rod, the output end 3122 of driving mechanism 31 is directly connected with the driving rod or connected through outer swing mechanism 32, and the connecting rod 336 rotatably connected with obstacle removing push rod 3342 is provided with anti-return protrusion 3378. When auxiliary part 343 is at the first position, anti-return protrusion 3378 abuts against the outer side surface of auxiliary part 343 to limit auxiliary part 343 at the first position, and anti-return protrusion 3378 is separated from auxiliary part 343 in the process that obstacle removing part 334 moves from the obstacle removing position to the storage position.

[0218] Anti-return protrusion 3378 can enhance the overall structural strength of connecting mechanism 335 to some extent, anti-return protrusion 3378 is provided on the connecting rod 336 rotatably connected with obstacle removing push rod 3342 and can abut against the outer side surface of auxiliary part 343, anti-return protrusion 3378 can overcome the elastic force of elastic driving part 344 under the driving action of the driving force of driving mechanism 31 to limit auxiliary part 343, so that auxiliary part 343 is stably kept at the first position, and anti-return protrusion 3378 is separated when obstacle removing part 334 moves from the obstacle removing position to the storage position, thereby releasing the limiting effect on auxiliary part 343.

[0219] Optionally, during the movement of the obstacle removing component 33 from the storage position to the obstacle removing position, the auxiliary piece 343 is driven by the elastic force of the elastic driving piece 344 to move from the second position to the first position, and the anti-back protrusion 3378 gradually approaches and abuts against the outer side surface of the auxiliary piece 343 to limit the auxiliary piece 343 in the first position.

[0220] With reference to Figure 40 , Figure 43 , Figure 38 and Figure 39 According to some embodiments of the utility model, the plurality of connecting rods 336 include a first connecting rod 3361, a second connecting rod 3362, a third connecting rod 3363 and a fourth connecting rod 3364, wherein the third connecting rod 3363 constitutes a driving rod, one end of the first connecting rod 3361 is rotatably connected with the fuselage 1, the other end of the first connecting rod 3361 is rotatably connected with one end of the second connecting rod 3362, the other end of the second connecting rod 3362 is rotatably connected with the obstacle removing piece 334, the second connecting rod 3362 and the third connecting rod 3363 are crossed and rotatably connected, one end of the fourth connecting rod 3364 is rotatably connected with the end of the third connecting rod 3363 and the other end of the fourth connecting rod 3364 is rotatably connected with the obstacle removing piece 334.

[0221] Wherein, the rotation connecting point of the third connecting rod 3363 and the second connecting rod 3362 is a first rotation connecting point 3371, the rotation connecting point of the third connecting rod 3363 and the fourth connecting rod 3364 is a second rotation connecting point 3372, the connecting point of the output end 3122 of the driving mechanism 31 and the third connecting rod 3363 is a driving connecting point, the first rotation connecting point 3371 is located between the second rotation connecting point 3372 and the driving connecting point, and the anti-back protrusion 3378 is arranged on the fourth connecting rod 3364 and located on the side of the fourth connecting rod 3364 close to the auxiliary piece 343.

[0222] The first connecting rod 3361, the second connecting rod 3362, the third connecting rod 3363 and the fourth connecting rod 3364 can form a four-bar linkage mechanism, and the movement of the clearing tool 334 can be realized by changing the length and angle of the four-bar linkage mechanism. The third connecting rod 3363 is connected with the output end 3122 of the driving mechanism 31, and under the driving action of the driving force of the driving mechanism 31, the third connecting rod 3363 rotates around the driving connection point. The third connecting rod 3363 can drive the second connecting rod 3362 to rotate around the first rotating connection point 3371, and the third connecting rod 3363 can drive the fourth connecting rod 3364 to rotate around the second rotating connection point 3372. One end of the first connecting rod 3361 is rotatably connected with the machine body 1, and the other end of the first connecting rod 3361 is rotatably connected with the second connecting rod 3362. The rotation of the second connecting rod 3362 can also drive the first connecting rod 3361 to rotate relative to the machine body 1. Through the deformation of the four-bar linkage mechanism as a whole, under the common driving of the second connecting rod 3362 and the fourth connecting rod 3364, the clearing tool 334 can be driven to move, so that the process that the driving mechanism 31 drives the clearing tool 334 to move between the storage position and the clearing position through the connecting mechanism 335 can be realized.

[0223] Moreover, in the process that the driving mechanism 31 drives the clearing tool 334 to move to the clearing position through the connecting mechanism 335, the anti-return protrusion 3378 on the fourth connecting rod 3364 can gradually approach the auxiliary tool 343 and finally abut against the outer side surface of the auxiliary tool 343, so as to limit the auxiliary tool 343, thereby stably keeping the auxiliary tool 343 in the first position.

[0224] Among them, by locating the anti-return protrusion 3378 on the side of the fourth connecting rod 3364 close to the auxiliary tool 343, the distance between the anti-return protrusion 3378 and the auxiliary tool 343 can be close, so as to facilitate the anti-return protrusion 3378 to contact the auxiliary tool 343 more quickly, so as to limit the auxiliary tool 343 to the first position, which is beneficial to improve the clearing efficiency.

[0225] For example, when the third connecting rod 3363 rotates in the positive direction, the second connecting rod 3362 rotates in the positive direction about the first rotating connecting point 3371 under the driving action of the driving force of the third connecting rod 3363 and drives the first connecting rod 3361 to rotate in the positive direction, the fourth connecting rod 3364 rotates in the positive direction about the second rotating connecting point 3372 under the driving action of the driving force of the third connecting rod 3363, and the relative positions among the connecting rods 336 change through the change of the included angles among the connecting rods 336, so that the entire four-connecting-rod mechanism is stretched, the second connecting rod 3362 and the fourth connecting rod 3364 can drive the clearing member 334 to move away from the outer edge of the machine body 1, so that the process that the clearing member 334 is driven by the driving mechanism 31 through the connecting mechanism 335 to move from the storage position to the clearing position is realized; and the auxiliary member 343 is driven by the elastic force of the elastic driving member 344 to move from the second position to the first position, and the anti-return protrusion 3378 provided on the fourth connecting rod 3364 can gradually approach the outer side surface of the auxiliary member 343 and finally contact the auxiliary member 343 to limit the auxiliary member 343 in the first position.

[0226] For another example, when the third connecting rod 3363 rotates in the reverse direction, the second connecting rod 3362 rotates in the reverse direction about the first rotating connecting point 3371 under the driving action of the driving force of the third connecting rod 3363 and drives the first connecting rod 3361 to rotate in the reverse direction, the fourth connecting rod 3364 rotates in the reverse direction about the second rotating connecting point 3372 under the driving action of the driving force of the third connecting rod 3363, and the relative positions among the connecting rods 336 change through the change of the included angles among the connecting rods 336, so that the entire four-connecting-rod mechanism is contracted, the second connecting rod 3362 and the fourth connecting rod 3364 can drive the clearing member 334 to move close to the machine body 1 and be accommodated in the bottom of the machine body 1, so that the process that the clearing member 334 is driven by the driving mechanism 31 through the connecting mechanism 335 to move from the clearing position to the storage position is realized; and in the reverse movement process of the fourth connecting rod 3364, the anti-return protrusion 3378 provided on the fourth connecting rod 3364 can be separated from the auxiliary member 343 to cancel the limiting effect on the auxiliary member 343.

[0227] Referring to Figure 40 , Figure 43 , Figures 37-40 and Figure 41According to some embodiments of the utility model, the connecting mechanism 335 includes a plurality of connecting rods 336 rotatably connected with each other, one of the plurality of connecting rods 336 is a driving rod, the output end 3122 of the driving mechanism 31 is directly connected with the driving rod or connected through the outer swing mechanism 32, the connecting rod 336 rotatably connected with the obstacle removing push rod 3342 in the plurality of connecting rods 336 is provided with a reset protrusion 3379, in the process that the obstacle removing component 33 moves from the obstacle removing position to the storage position, the reset protrusion 3379 contacts the auxiliary part 343 to drive the auxiliary part 343 to move to the second position.

[0228] The reset protrusion 3379 can enhance the structural strength of the connecting mechanism 335 to some extent, by providing the reset protrusion 3379 on the connecting rod 336 rotatably connected with the obstacle removing push rod 3342 and the reset protrusion 3379 can abut against the auxiliary part 343, in the process that the obstacle removing component 33 moves from the obstacle removing position to the storage position, the reset protrusion 3379 can gradually approach the auxiliary part 343 and finally abut against the auxiliary part 343, under the driving force of the driving mechanism 31, the driving force of the reset protrusion 3379 on the auxiliary part 343 can overcome the elastic force of the elastic driving part 344 to drive the auxiliary part 343 to move to the second position, reducing the occupation of the external space of the obstacle removing component 33, and facilitating the carrying and storage of the cleaning device 100 as a whole.

[0229] Referring to Figure 42 , Figure 44 , Figure 45 and Figure 41 , according to some embodiments of the utility model, the inner side surface of the auxiliary part 343 is provided with a matching protrusion 3432, in the process that the obstacle removing part 334 moves from the obstacle removing position to the storage position, the reset protrusion 3379 contacts the matching protrusion 3432 to drive the auxiliary part 343 to move to the second position. The matching protrusion 3432 can enhance the structural strength of the auxiliary part 343 to some extent, in the process that the obstacle removing part 334 moves from the obstacle removing position to the storage position, by the contact between the reset protrusion 3379 and the matching protrusion 3432, the distance between the reset protrusion 3379 and the auxiliary part 343 can be shortened to some extent, so that the reset protrusion 3379 can drive the auxiliary part 343 to move to the second position relatively rapidly.

[0230] Referring to Figure 44According to some embodiments of the utility model, multiple connecting rods 336 include first connecting rod 3361, second connecting rod 3362, third connecting rod 3363 and fourth connecting rod 3364, wherein third connecting rod 3363 constitutes a drive rod, one end of first connecting rod 3361 is rotatably connected with fuselage 1, the other end of first connecting rod 3361 is rotatably connected with one end of second connecting rod 3362, the other end of second connecting rod 3362 is rotatably connected with clearing member 334, second connecting rod 3362 and third connecting rod 3363 cross and are rotatably connected, one end of fourth connecting rod 3364 is rotatably connected with the end of third connecting rod 3363 and the other end of fourth connecting rod 3364 is rotatably connected with clearing member 334.

[0231] Wherein, the rotatable connecting point of third connecting rod 3363 and second connecting rod 3362 is first rotatable connecting point 3371, the rotatable connecting point of third connecting rod 3363 and fourth connecting rod 3364 is second rotatable connecting point 3372, the connecting point of output end 3122 of drive mechanism 31 and third connecting rod 3363 is drive connecting point, first rotatable connecting point 3371 is located between second rotatable connecting point 3372 and drive connecting point, reset protrusion 3379 is arranged on fourth connecting rod 3364.

[0232] First connecting rod 3361, second connecting rod 3362, third connecting rod 3363 and fourth connecting rod 3364 can form a four-bar linkage mechanism, and the movement of clearing member 334 can be realized by changing the length and angle of the four-bar linkage mechanism. By connecting third connecting rod 3363 with output end 3122 of drive mechanism 31, under the driving force of drive mechanism 31, third connecting rod 3363 rotates around drive connecting point, third connecting rod 3363 can drive second connecting rod 3362 to rotate around first rotatable connecting point 3371, and third connecting rod 3363 can drive fourth connecting rod 3364 to rotate around second rotatable connecting point 3372, by rotatably connecting one end of first connecting rod 3361 with fuselage 1 and rotatably connecting the other end of first connecting rod 3361 with second connecting rod 3362, the rotation of second connecting rod 3362 can also drive first connecting rod 3361 to rotate relative to fuselage 1, by the deformation of the whole four-bar linkage mechanism, under the common driving of second connecting rod 3362 and fourth connecting rod 3364, clearing member 334 can be driven to move, so that the process that drive mechanism 31 drives clearing member 334 to move between the storage position and the clearing position through connecting mechanism 335 can be realized.

[0233] And, in the process that the driving mechanism 31 drives the recovery tool 334 to move from the recovery position to the storage position through the connecting mechanism 335, the reset protrusion 3379 on the fourth connecting rod 3364 gradually approaches the auxiliary member 343 and finally contacts with the auxiliary member 343 to drive the auxiliary member 343 to move from the first position to the second position.

[0234] Further, the fourth connecting rod 3364 is further provided with an anti-return protrusion 3378, and the reset protrusion 3379 and the anti-return protrusion 3378 are respectively located on the opposite sides of the connecting point between the fourth connecting rod 3364 and the recovery tool 334. When the auxiliary member 343 is in the first position, the anti-return protrusion 3378 abuts against the outer side surface of the auxiliary member 343 to limit the auxiliary member 343 in the first position, and in the process that the recovery tool 334 moves from the recovery position to the storage position, the anti-return protrusion 3378 is separated from the auxiliary member 343.

[0235] For example, when the third connecting rod 3363 rotates in the positive direction, the second connecting rod 3362 rotates in the positive direction around the first rotation connecting point 3371 under the driving of the driving force of the third connecting rod 3363 and drives the first connecting rod 3361 to rotate in the positive direction, and the fourth connecting rod 3364 rotates in the positive direction around the second rotation connecting point 3372 under the driving of the driving force of the third connecting rod 3363, and through the change of the included angle between the connecting rods 336, the relative positions between the connecting rods 336 also change, so that the stretching of the whole four-connecting-rod mechanism can be realized, and the second connecting rod 3362 and the fourth connecting rod 3364 can drive the recovery tool 334 to move away from the outer edge of the machine body 1, so that the process that the driving mechanism 31 drives the recovery tool 334 to move from the storage position to the recovery position through the connecting mechanism 335 can be realized; and in the process that the fourth connecting rod 3364 moves toward the outer edge of the machine body 1, the reset protrusion 3379 gradually moves away from the auxiliary member 343 to gradually cancel the driving force on the auxiliary member 343, the auxiliary member 343 moves from the second position to the first position under the driving of the elastic force of the elastic driving member 344, and the anti-return protrusion 3378 on the fourth connecting rod 3364 can gradually approach the outer side surface of the auxiliary member 343 and finally contact with the auxiliary member 343 to limit the auxiliary member 343 in the first position.

[0236] For another example, when the third connecting rod 3363 rotates reversely, the second connecting rod 3362 rotates reversely around the first rotating connecting point 3371 under the driving of the driving force of the third connecting rod 3363 and drives the first connecting rod 3361 to rotate reversely, the fourth connecting rod 3364 rotates reversely around the second rotating connecting point 3372 under the driving of the driving force of the third connecting rod 3363, through the change of the included angle between the connecting rods 336, the relative position between the connecting rods 336 also changes, the contraction of the whole four-connecting-rod mechanism can be realized, the second connecting rod 3362 and the fourth connecting rod 3364 can drive the clearing member 334 to approach the machine body 1 and be accommodated in the bottom of the machine body 1, so as to realize the process that the clearing member 334 is driven by the driving mechanism 31 through the connecting mechanism 335 to move from the clearing position to the storage position; and in the reverse movement process of the fourth connecting rod 3364, the anti-return protrusion 3378 arranged on the fourth connecting rod 3364 can be separated from the auxiliary member 343, so as to cancel the limiting effect on the auxiliary member 343, and the reset protrusion 3379 gradually approaches the auxiliary member 343 and finally contacts the auxiliary member 343, so as to drive the auxiliary member 343 to move from the first position to the second position.

[0237] With reference to Figure 45 , Figure 31 , Figure 34 and Figure 44 According to some embodiments of the present application, the inner side of the auxiliary member 343 is provided with a limiting protrusion 3433, when the auxiliary member 343 is located at the first position, the limiting protrusion 3433 abuts against the clearing push rod 3342 to limit the auxiliary member 343, when the elastic driving member 344 drives the auxiliary member 343 to open to the first position, through the abutment of the limiting protrusion 3433 and the clearing push rod 3342, the limiting effect on the auxiliary member 343 can be achieved, so that the opening angle of the auxiliary member 343 can be prevented from being too large, so that the auxiliary member 343 can be opened to a preset angle position.

[0238] With reference to Figure 45 , Figures 11-13 and Figures 22-24According to some embodiments of the utility model, the auxiliary part 343 includes a connecting part 3434 and a barrier removing part 3435, the connecting part 3434 is movably connected with the barrier removing part 334, the barrier removing part 3435 is connected below the connecting part 3434 and is adapted to act on the barrier, and the length of the barrier removing part 3435 is greater than the length of the connecting part 3434 in the circumferential direction of the fuselage 1. For example, when the auxiliary part 343 is located at the first position, the distance between the bottom of the auxiliary part 343 and the working surface can be further reduced by connecting the barrier removing part 3435 below the connecting part 3434, which can more effectively move the barrier on the working surface, especially low barriers, effectively reducing the barrier removing dead angle and missing area. Furthermore, by making the length of the barrier removing part 3435 greater than the length of the connecting part 3434 in the circumferential direction of the fuselage 1, the auxiliary part 343 can cover a larger area in the circumferential direction of the fuselage 1, thereby effectively expanding the barrier removing range of the barrier removing part 33 as a whole, and facilitating the improvement of the barrier removing effect of the barrier removing part 33 as a whole.

[0239] Referring to Figures 22-24 and Figure 22 , according to some embodiments of the utility model, the auxiliary part 343 is provided with a flexible layer, which is used to contact the barrier. When the auxiliary part 343 moves the barrier, the auxiliary part 343 is provided with a flexible layer, which can buffer the force exerted by the auxiliary part 343 on the barrier due to its soft characteristics, and can protect the barrier to a certain extent, thereby reducing or avoiding friction and wear between the auxiliary part 343 and the barrier.

[0240] Referring to Figure 24 and Figure 25 , according to some embodiments of the utility model, the auxiliary part 343 is provided with a cleaning structure 342 for cleaning the working surface and / or the barrier. For example, the cleaning structure 342 can be a brush, a scraper, a wiping cloth, etc. By providing the auxiliary part 343 with a cleaning structure 342, the auxiliary part 343 can clean the working surface while assisting the barrier removing part 334 in removing the barrier on the working surface, thereby enhancing the overall cleaning effect of the cleaning device 100.

[0241] Referring to Figure 22 , according to some embodiments of the utility model, the fuselage 1 is provided with a limiting structure 13, which is located on the side of the barrier removing part 33 away from the barrier removing position in the storage position to limit the barrier removing part 33 in the direction from the barrier removing position to the storage position. During the movement of the barrier removing part 33 from the barrier removing position to the storage position, the limiting structure 13 provided on the fuselage 1 can limit the barrier removing part 33, which can prevent the barrier removing part 33 from being retracted to an angle that is too large, so that the barrier removing part 33 can be retracted to a preset angle position.

[0242] With reference to Figure 24 , according to some embodiments of the present application, the driving mechanism 31 comprises a driving motor and a transmission mechanism, the transmission mechanism is connected with the obstacle removing component 33, the transmission mechanism comprises a gear mechanism, a motor shaft of the driving motor is connected with the gear mechanism to drive the gear mechanism to move, the gear mechanism comprises an output gear 3121, an axial one end of the output gear 3121 has an output end 3122, the output end 3122 is directly connected with the obstacle removing component 33 or connected through the outer swing mechanism 32. The gear mechanism is drivingly connected with the motor shaft of the driving motor, the output end 3122 of the output gear 3121 is directly drivingly connected with the obstacle removing component 33 or drivingly connected with the obstacle removing component 33 through the outer swing mechanism 32. When the driving motor works, the rotation of the motor shaft can drive the gear mechanism to rotate, the rotation of the output gear 3121 in the gear mechanism can directly drive the obstacle removing component 33 to rotate or drive the obstacle removing component 33 to rotate through the outer swing mechanism 32, so as to realize the process that the driving motor drives the obstacle removing component 33 to move between the obstacle removing position and the storage position through the gear mechanism.

[0243] With reference to Figure 25 , according to some embodiments of the present application, the first mounting hole 324 is arranged on the obstacle removing component 33 or the outer swing mechanism 32, the output end 3122 is inserted into the first mounting hole 324, the cross section of the output end 3122 and the cross section of the first mounting hole 324 are both non-circular, compared with the cross section of the output end 3122 and the cross section of the first mounting hole 324 being circular, the non-circular cross section can make the output end 3122 and the first mounting hole 324 have a relatively single direction and angle, when the output gear 3121 is assembled with the obstacle removing component 33 or the outer swing mechanism 32, the single direction and angle can play a guiding role in the assembly of the output end 3122 and the obstacle removing component 33 or the outer swing mechanism 32, so as to make the output end 3122 and the obstacle removing component 33 or the outer swing mechanism 32 assemble according to the preset direction and angle, and then the accuracy of power transmission between the driving mechanism 31 and the obstacle removing component 33 can be improved.

[0244] With reference to Figure 22 , Figure 25 and Figures 22-24 , according to some embodiments of the present application, the rotation axis of the output gear 3121 extends along the up-down direction, the lower end of the output gear 3121 constitutes the output end 3122. The lower end of the output gear 3121 has the output end 3122 and the output end 3122 is connected with the obstacle removing component 33 or the outer swing mechanism 32, so as to realize the driving of the obstacle removing component 33 by the output gear 3121.

[0245] With reference to Figures 20-22 , Figures 20-22 and Figures 20-22According to some embodiments of the utility model, output gear 3121 includes gear body 3124 and gear shaft 3125, gear shaft 3125 includes second shaft part 3127, second shaft part 3127 is coaxial with gear body 3124 Connection, the lower end of gear body 3124 has output end 3122. Gear body 3124 can be used as the carrier of gear shaft 3125, second shaft part 3127 is coaxial with gear body 3124 Connection, can make gear body 3124 and second shaft part 3127 more smooth when rotating, and, through the lower end of gear body 3124 has output end 3122, the lower end of gear body 3124 has output end 3122 and output end 3122 is connected with the obstacle removing component 33 or the outer swing mechanism 32, the drive of output gear 3121 to the obstacle removing component 33 can be realized.

[0246] Referring to Figures 20-22 And Figures 20-22 According to some embodiments of the utility model, the cross section of second shaft part 3127 is '' D '' type, second connecting hole is equipped on gear body 3124, second shaft part 3127 is contained in second connecting hole, and the cross section of second connecting hole is '' D '' type. Compared with the cross section of second shaft part 3127 and the cross section of second connecting hole are circular, the cross section of '' D '' type can make second shaft part 3127 and second connecting hole have relatively single direction and angle, when second shaft part 3127 is assembled with gear body 3124, the single direction and angle can guide the assembly of second shaft part 3127 and gear body 3124, so that second shaft part 3127 and gear body 3124 are assembled according to the preset direction and angle, and then the accuracy of power transmission between second shaft part 3127 and gear body 3124 can be improved.

[0247] Referring to Figures 20-22 According to some embodiments of the utility model, the inner peripheral wall of first mounting hole 324 is formed with anti-stupid gap 3241, and the outer peripheral wall of output end 3122 is provided with anti-stupid convex 3123, and anti-stupid convex 3123 is contained in anti-stupid gap 3241. The cooperation of anti-stupid gap 3241 and anti-stupid convex 3123 can make the assembly between output end 3122 of output gear 3121 and obstacle removing component 33 or outer swing mechanism 32 more convenient, and can make the structure of output gear 3121 and obstacle removing component 33 or outer swing mechanism 32 more compact. By containing anti-stupid convex 3123 in anti-stupid gap 3241, the assembly position and direction between output end 3122 and obstacle removing component 33 or outer swing mechanism 32 can be ensured to be accurate, and installation errors caused by misoperation can be avoided.

[0248] Referring to Figures 20-22According to some embodiments of the utility model, still include detection component 4, detection component 4 is used for detecting the position of clearing obstacle part 33, detection component 4 and drive mechanism 31 are all with the control module of cleaning device 100 electric connection, control module is used for controlling drive mechanism 31 according to the position information of detection component 4 detection, detection component 4 can in time the position information of clearing obstacle part 33 measured is delivered to control module, to facilitate control module according to the position information of clearing obstacle part 33 control drive mechanism 31, to drive clearing obstacle part 33 movement to clearing obstacle position or storage position, detection component 4 can be camera, ultrasonic detector etc.

[0249] For example, when detection component 4 detects that clearing obstacle part 33 movement to clearing obstacle position, control module will control drive mechanism 31 to stop continuing to drive clearing obstacle part 33 movement, to make clearing obstacle part 33 stably keep in clearing obstacle position, correspondingly, when detection component 4 detects that clearing obstacle part 33 movement to storage position, for example, clearing obstacle part 33 and limit structure 13 abut, can the position information of clearing obstacle part 33 in time is delivered to control component, control component control drive mechanism 31 to stop continuing to drive clearing obstacle part 33 movement.

[0250] Refer to Figures 20-22 According to some embodiments of the utility model, detection component 4 includes detection circuit board 41, first optocoupler 42, second optocoupler 43 and optocoupler detection piece 44, optocoupler detection piece 44 is connected with the output end 3122 of drive mechanism 31, to rotate synchronously with the output end 3122 of drive mechanism 31, detection circuit board 41 is fixed relative to body 1, first optocoupler 42 and second optocoupler 43 are all set up in detection circuit board 41 and first optocoupler 42 and second optocoupler 43 are spaced apart along the rotation direction of clearing obstacle part 33, wherein, when clearing obstacle part 33 is located in storage position, optocoupler detection piece 44 is opposite first optocoupler 42, when clearing obstacle part 33 is located in clearing obstacle position, optocoupler detection piece 44 is opposite second optocoupler 43.

[0251] Detection circuit board 41 can be as the carrier of first optocoupler 42, second optocoupler 43 and optocoupler detection piece 44, detection circuit board 41 can be as integrated structure, also can be the combination structure formed by multiple components cooperation, detection circuit board 41 plays the role of information and energy transmission to other components of detection component 4, wherein, other components include first optocoupler 42, second optocoupler 43 and optocoupler detection piece 44, but not limited to this.

[0252] The driving mechanism 31 drives the clearing component 33 to move between the storage position and the clearing position, and can synchronously drive the photocoupler detection piece 44 to rotate. Since the first photocoupler 42 and the second photocoupler 43 are both arranged on the detection circuit board 41 and are arranged in a spaced manner along the rotating direction of the clearing component 33, when the clearing component 33 is located at the clearing position, the driving mechanism 31 can synchronously drive the photocoupler detection piece 44 to rotate to a position opposite to the second photocoupler 43, for example, the photocoupler detection piece 44 can block or change the propagation path of the light emitted in the second photocoupler 43, so as to trigger the signal generated by the second photocoupler 43 to change, and when the clearing component 33 is located at the storage position, the driving mechanism 31 can synchronously drive the photocoupler detection piece 44 to rotate to a position opposite to the first photocoupler 42, for example, the photocoupler detection piece 44 can block or change the propagation path of the light emitted in the first photocoupler 42, so as to trigger the signal generated by the first photocoupler 42 to change, so as to realize the recognition of the position information of the clearing component 33 by the detection assembly 4.

[0253] Through the cooperation between the photocoupler detection piece 44 and the first photocoupler 42 and the second photocoupler 43, the position information of the clearing component 33 can be perceived, and the corresponding position information can be fed back to the detection circuit board 41, so that the control module can control the driving mechanism 31 in time according to the position information of the clearing component 33 measured by the detection assembly 4, and the intelligent control of the clearing component 33 by the cleaning device 100 can be realized.

[0254] With reference to Figure 22 According to some embodiments of the utility model, the first photocoupler 42 comprises a first photocoupler seat 421 and a first photocoupler 42 device, the first detection groove is formed in the first photocoupler seat 421 and penetrates the first photocoupler seat 421 along the rotating direction of the output end 3122, the first photocoupler 42 device is installed on the first photocoupler seat 421 and is located at the bottom wall of the first detection groove, the second photocoupler 43 comprises a second photocoupler seat 431 and a second photocoupler 43 device, the second detection groove 4311 is formed in the second photocoupler seat 431, the second photocoupler 43 device is installed on the second photocoupler seat 431 and is located at the bottom wall of the second detection groove 4311, the second detection groove 4311 penetrates the second photocoupler seat 431 along the rotating direction of the output end 3122, the detection protrusion 441 is arranged on the photocoupler detection piece 44, the detection protrusion 441 is accommodated in the first detection groove when the clearing component 33 is located at the storage position, and the detection protrusion 441 is accommodated in the second detection groove 4311 when the clearing component 33 is located at the clearing position.

[0255] The first detection groove and the second detection groove 4311 can facilitate the detection of the protrusion 441 accommodated therein, when the obstacle removing component 33 is located at the storage position or the obstacle removing position, by detecting that the protrusion 441 is located in the first detection groove or the second detection groove 4311 respectively, the first optical coupler 42 or the second optical coupler 43 can timely capture the position information of the protrusion 441 and transmit it to the control module, and then control the driving mechanism 31 through the control module to realize the intelligent control of the cleaning device 100. Moreover, when the obstacle removing component 33 rotates between the storage position and the obstacle removing position, by arranging the detection grooves on the first optical coupler seat 421 and the second optical coupler seat 431, the protrusion 441 can smoothly enter or exit the first detection groove or the second detection groove 4311, reducing the jamming of the protrusion 441 during rotation or interference with the first optical coupler seat 421 or the second optical coupler seat 431.

[0256] With reference to Figure 24 According to some embodiments of the present application, the machine body 1 is provided with a mounting box 14, the driving mechanism 31 is arranged in the mounting box 14, the detection circuit board 41 is mounted on the mounting box 14, and the first optical coupler 42, the second optical coupler 43 and the optical coupler detection piece 44 are all located on the side of the detection circuit board 41 away from the driving mechanism 31. The mounting box 14 can support and protect the driving mechanism 31, reduce the influence of external impact or external impurities on the driving mechanism 31, and is beneficial to prolong the service life of the driving mechanism 31.

[0257] The mounting box 14 can also serve as a carrier of the detection assembly 4, by mounting the detection circuit board 41 on the mounting box 14 and locating the first optical coupler 42, the second optical coupler 43 and the optical coupler detection piece 44 on the side of the detection circuit board 41 away from the driving mechanism 31, the detection circuit board 41 can separate the first optical coupler 42, the second optical coupler 43 and the optical coupler detection piece 44 from the driving mechanism 31, while achieving the driving of the optical coupler detection piece 44 by the driving mechanism 31, the first optical coupler 42, the second optical coupler 43 and the optical coupler detection piece 44 can be prevented from interfering with the driving mechanism 31.

[0258] With reference to Figure 25According to some embodiments of the utility model, one side of installation box 14 forms accommodating groove 141, detection circuit board 41 is accommodated in accommodating groove 141, first photocoupler 42, second photocoupler 43 and photocoupler detection piece 44 are all located on the side of the open side of detection circuit board 41 towards accommodating groove 141. Detection assembly 4 is accommodated in accommodating groove 141, can make detection assembly 4, drive mechanism 31 and the compact structure of installation box 14 whole, through first photocoupler 42, second photocoupler 43 and photocoupler detection piece 44 are all located on the side of the open side of detection circuit board 41 towards accommodating groove 141, can leave certain space for the rotation of photocoupler detection piece 44, to make the rotation of photocoupler detection piece 44 more smooth, thereby facilitate the position information of detection of clearing obstacle component 33, also can make the operation space be larger, further facilitate the maintenance and troubleshooting of detection assembly 4 directly from the open side to operation personnel later stage.

[0259] With reference to Figure 26 According to some embodiments of the utility model, cover plate 142 is further arranged on installation box 14, and the cover plate 142 is arranged on the open side of accommodating groove 141, so that the outer surface of installation box 14 forms a relatively complete sealing structure, and other wire harnesses in cleaning device 100 can be spaced apart from the components in accommodating groove 141, preventing other wire harnesses in cleaning device 100 from entering accommodating groove 141 and interfering with the components in accommodating groove 141. For example, when photocoupler detection piece 44 rotates, photocoupler detection piece 44 can rotate more smoothly, preventing other wire harnesses from being entangled with photocoupler detection piece 44, which can cause photocoupler detection piece 44 to jam or even be stuck.

[0260] With reference to Figure 20 According to some embodiments of the utility model, detection circuit board 41 is arranged on the top of installation box 14, so that the installation of detection assembly 4 can avoid limiting the size of the space occupied by drive mechanism 31 in installation box 14, so as to effectively utilize the space inside installation box 14. Therefore, the height of drive mechanism 31 in the up-down direction can be close to the overall up-down height of installation box 14, so that the size of drive mechanism 31 in the up-down direction can be larger. In addition, the transmission path between drive mechanism 31 and detection assembly 4 can be closer, so that detection assembly 4 can rotate synchronously with drive mechanism 31, thereby improving the accuracy of the position information detection of clearing obstacle component 33 by detection assembly 4.

[0261] With reference to Figure 22According to some embodiments of the utility model, drive mechanism 31 includes drive motor and transmission mechanism, transmission mechanism is connected with clearing part 33, transmission mechanism includes gear mechanism, motor shaft of drive motor is connected with gear mechanism to drive gear mechanism movement, gear mechanism includes output gear 3121, the rotation axis of output gear 3121 extends along up-down direction, the avoidance perforation that is equipped with on detection circuit board 41, the upper end of output gear 3121 is equipped in avoidance perforation and output gear 3121 is connected with photocoupler detection piece 44, the lower end of output gear 3121 constitutes output end 3122. Avoidance perforation can facilitate the output gear 3121 and go out, to facilitate output gear 3121 and photocoupler detection piece 44 direct connection, and then can realize the synchronous drive of drive mechanism 31 to clearing part 33 and photocoupler detection piece 44, facilitate subsequent detection assembly 4 to the identification of clearing part 33 position information.

[0262] Referring to Figure 25 、 Figure 20 、 Figure 22 and Figure 25 , according to some embodiments of the utility model, output gear 3121 includes gear body 3124 and gear shaft 3125, gear shaft 3125 includes first shaft part 3126 and second shaft part 3127, first shaft part 3126 is connected on the upper side of second shaft part 3127, first shaft part 3126 is connected with photocoupler detection piece 44, second shaft part 3127 is coaxially connected with gear body 3124, and the lower end of gear body 3124 has output end 3122. Gear body 3124 can be used as the carrier of gear shaft 3125, first shaft part 3126 is connected with photocoupler detection piece 44, and second shaft part 3127 is coaxially connected with gear body 3124, so that gear body 3124 and second shaft part 3127 rotate more smoothly. Furthermore, the lower end of gear body 3124 has output end 3122, the lower end of gear body 3124 has output end 3122, and output end 3122 is connected with clearing part 33 or outer swing mechanism 32, so that the synchronous drive of clearing part 33 and photocoupler detection piece 44 can be realized, and the detection of clearing part 33 position information by detection assembly 4 can be realized.

[0263] Referring to ​ 、 ​ and ​According to some embodiments of the utility model, the cross section of first shaft part 3126 is "D" type, first connecting hole 442 is equipped on light coupling detection piece 44, first shaft part 3126 is contained in first connecting hole 442, and the cross section of first connecting hole 442 is "D" type. Compared with the cross section of first shaft part 3126 and the cross section of first connecting hole 442 are circular, the cross section of "D" type can make first shaft part 3126 and first connecting hole 442 have relatively single direction and angle, when first shaft part 3126 is assembled with light coupling detection piece 44, single direction and angle can guide the assembly of first shaft part 3126 and light coupling detection piece 44, so that first shaft part 3126 and light coupling detection piece 44 are assembled according to preset direction and angle, and then the accuracy of power transmission between output gear 3121 and light coupling detection piece 44 can be improved.

[0264] Referring to ​ , ​ and ​ , according to some embodiments of the utility model, the cross section of second shaft part 3127 is "D" type, second connecting hole is equipped on gear body 3124, second shaft part 3127 is contained in second connecting hole, and the cross section of second connecting hole is "D" type. Compared with the cross section of second shaft part 3127 and the cross section of second connecting hole are circular, the cross section of "D" type can make second shaft part 3127 and second connecting hole have relatively single direction and angle, when second shaft part 3127 is assembled with gear body 3124, single direction and angle can guide the assembly of second shaft part 3127 and gear body 3124, so that second shaft part 3127 and gear body 3124 are assembled according to preset direction and angle, and then the accuracy of power transmission between second shaft part 3127 and gear body 3124 can be improved.

[0265] Referring to Figures 20-22 , according to some embodiments of the utility model, lead terminal 412 is equipped on detection circuit board 41, lead terminal 412 is connected with light coupling wire harness, and light coupling wire harness is connected with control module. Lead terminal 412 is connected with control module through light coupling wire harness, and the electrical connection of lead terminal 412 and control module can be indirectly realized, so as to realize the energy and information transmission between control module and detection circuit board 41.

[0266] Referring to Figures 20-22According to some embodiments of the utility model, in the rotation direction of output end 3122, first light coupling 42 and second light coupling 43 are all located on the same side of lead terminal 412, so that the wire harness between lead terminal 412 and first light coupling 42 and second light coupling can be routed in a relatively concentrated area, and the length of the wire harness between lead terminal 412 and first light coupling 42 and second light coupling 43 can be shortened, reducing or avoiding the entanglement between the wire harnesses or interference with other components (for example, when light coupling detection piece 44 rotates), which is conducive to optimizing the wiring layout on detection circuit board 41.

[0267] Referring to Figures 20-22 According to some embodiments of the utility model, body 1 is provided with mounting box 14, driving mechanism 31 is arranged in mounting box 14, one side of mounting box 14 is formed with containing groove 141, detection circuit board 41 is contained in containing groove 141, first light coupling 42, second light coupling 43 and light coupling detection piece 44 are all located on the side of the open side of detection circuit board 41 towards containing groove 141, and lead terminal 412 is arranged on the side of the open side of detection circuit board 41 towards containing groove 141. Mounting box 14 is formed with wire outlet 143, and wire outlet 143 is used for the wire outlet of the light coupling wire harness. Wire outlet 143 can facilitate the wire outlet of the light coupling wire harness from mounting box 14, so as to facilitate the electrical connection between lead terminal 412 and the control module through the light coupling wire harness.

[0268] In some embodiments, a sealing member is arranged on the outer circumferential side of the light coupling wire harness, the sealing member is fixed to wire outlet 143, and the sealing member is used for sealing the gap between the outer circumferential side of the light coupling wire harness and the inner wall of wire outlet 143. In this way, the sealing effect of wire outlet 143 can be enhanced, the gap between the outer circumferential side of the light coupling wire harness and the inner wall of wire outlet 143 can be sealed, external impurities (such as dust and moisture) can be blocked from entering mounting box 14 through the gap between the outer circumferential side of the light coupling wire harness and the inner wall of wire outlet 143, so as to protect detection assembly 4 in mounting box 14, and the service life of detection assembly 4 can be prolonged.

[0269] Referring to Figures 20-22 According to some embodiments of the utility model, lead terminal 412 is arranged opposite wire outlet 143. Lead terminal 412 and wire outlet 143 are arranged opposite each other, so that the length of the light coupling wire harness between lead terminal 412 and the control module is relatively small, the wiring in mounting box 14 is more orderly, the light coupling wire harness occupies less space, and the layout on detection circuit board 41 can be optimized.

[0270] Referring to Figures 11-13According to some embodiments of the present application, the cleaning device 100 comprises an obstacle identification module, and the obstacle identification module is arranged on the machine body 1 and is used for identifying obstacles. For example, the obstacle identification module is adapted to cooperate with a control module of the cleaning device 100, and the obstacle identification module is used for identifying whether there is an obstacle on the working surface. When the obstacle identification module identifies that there is an obstacle on the working surface, the obstacle identification module can transmit information to the control module, and the control module drives the obstacle removal module 3 to move the obstacle according to the received information, so that the obstacle leaves the original position. When the obstacle identification module identifies that there is no obstacle on the working surface, the control module can control the obstacle removal module 3 to be stationary or to be withdrawn into the machine body 1 according to the received information.

[0271] In some embodiments, the obstacle identification module can be an LDS (Laser Distance Sensor) module, and the LDS module comprises a light emitting receiver, the light emitting receiver comprises a transmitting end and a receiving end, the light emitting receiver emits light through the transmitting end, the light emitted by the light emitting receiver is reflected back after hitting an obstacle and is received by the receiving end, so that it can be determined whether there is an obstacle on the working surface, and the distance between the obstacle and the cleaning device 100 can be further determined.

[0272] In some other embodiments, the obstacle module can comprise a line laser, and the line laser comprises a laser emitting assembly, the line laser emits laser light along a predetermined direction through the laser emitting assembly, the laser light emitted by the line laser is reflected back after hitting an obstacle and is received by the laser emitting assembly, so that it can be determined whether there is an obstacle on the working surface.

[0273] Reference is made to Figures 11-13 According to some embodiments of the present application, the cleaning device 100 comprises an obstacle image acquisition module, and the obstacle image acquisition module is arranged on the machine body 1 and is used for acquiring images of obstacles. By acquiring images of obstacles, the size and shape of the obstacles can be determined.

[0274] For example, the obstacle image acquisition module comprises an optical camera and an image sensor, the optical camera is responsible for focusing the light reflected by the obstacle on the image sensor, and the image sensor can process the optical signal and convert it into an electrical signal to form an image of the obstacle, so that the size or shape of the obstacle can be determined. The image sensor can also be an ultrasonic sensor.

[0275] Reference is made to Figures 1-48 The cleaning device 100 according to some embodiments of the present application is described below.

[0276] Reference is made to Figures 14-17In the embodiment, the cleaning device 100 comprises a machine body 1, a cleaning assembly, a barrier removing module 3, a downward looking sensor, a detection assembly 4, a barrier identifying module and a barrier image collecting module. The cleaning assembly is arranged on the machine body 1 and is used for cleaning a working surface. The barrier removing module 3 is arranged on the machine body 1 and is used for moving a barrier to make the barrier leave an original position. The barrier removing module 3 is located at a left front end 11 or a right front end 11 of the machine body 1. The barrier removing module 3 is located at an outer edge of the machine body 1 and is arranged at a bottom of the machine body 1. The downward looking sensor is arranged at the bottom of the machine body 1. The barrier removing module 3 is provided with an avoiding portion 332 for avoiding the downward looking sensor. The detection assembly 4 is used for detecting a position of the barrier removing component 33. The detection assembly 4 and a driving mechanism 31 are electrically connected with a control module of the cleaning device 100. The control module is used for controlling the driving mechanism 31 according to position information detected by the detection assembly 4. The barrier identifying module is arranged on the machine body 1 and is used for identifying a barrier. The barrier image collecting module is arranged on the machine body 1 and is used for collecting an image of the barrier.

[0277] The barrier removing module 3 comprises the driving mechanism 31 and the barrier removing component 33. The driving mechanism 31 is mounted on the machine body 1 and is connected with the barrier removing component 33 to drive the barrier removing component 33 to move. The barrier removing component 33 is movable between a barrier removing position and a storage position. When the barrier removing component 33 is located at the storage position, at least a part of the barrier removing component 33 is stored in the machine body 1. When the barrier removing component 33 is located at the barrier removing position, at least a part of the barrier removing component 33 is located outside an outer edge of the machine body 1 to act on the barrier. The barrier removing component 33 pushes or clamps the barrier to make the barrier leave the original position.

[0278] The machine body 1 comprises a bottom shell 12. The barrier removing module 3 is mounted on the bottom shell 12. An accommodation gap 121 is formed at an outer edge of the bottom shell 12. When the barrier removing component 33 is located at the storage position, at least a part of the barrier removing component 33 is located in the accommodation gap 121. When the barrier removing component 33 is located at the storage position, the avoiding portion 332 is located below the downward looking sensor and is arranged opposite to the downward looking sensor in a vertical direction. A limiting structure 13 is arranged on the machine body 1. In the storage position, the limiting structure 13 is located at a side of the barrier removing component 33 away from the barrier removing position to limit the barrier removing component 33 in a direction from the barrier removing position to the storage position.

[0279] The projection of the clearing member 33 on the horizontal plane coincides with the projection of the fuselage 1 when the clearing member 33 is in the storage position, and the area of the projection of the clearing member 33 on the horizontal plane coincides with the projection of the fuselage 1 when the clearing member 33 is in the clearing position, and the first coinciding area is larger than the second coinciding area. The projection of the clearing member 33 on the horizontal plane is within the projection of the fuselage 1 when the clearing member 33 is in the storage position. The side edge of the clearing member 33 close to the outer edge of the fuselage 1 is the outer side edge 331 when the clearing member 33 is in the storage position, and the contour line of the outer side edge 331 coincides with the contour line of the outer edge of the fuselage 1.

[0280] The output end 3122 of the driving mechanism 31 is directly connected with the clearing member 33, and the mechanism for driving the clearing member 33 to move between the clearing position and the storage position is the same as the mechanism for driving the clearing member 33 to move to move the obstacle.

[0281] The driving mechanism 31 comprises a driving motor and a transmission mechanism, the transmission mechanism is connected with the clearing member 33, the transmission mechanism comprises a gear mechanism, the motor shaft of the driving motor is connected with the gear mechanism to drive the gear mechanism to move, the gear mechanism comprises an output gear 3121, the output end 3122 is arranged at one axial end of the output gear 3121, the output end 3122 is directly connected with the clearing member 33 or connected through the outer swing mechanism 32. The first mounting hole 324 is arranged on the clearing member 33, the output end 3122 is inserted into the first mounting hole 324, and the cross section of the output end 3122 and the cross section of the first mounting hole 324 are both non-circular. The foolproof notch 3241 is formed on the inner peripheral wall of the first mounting hole 324, and the foolproof protrusion 3123 is arranged on the outer peripheral wall of the output end 3122, and the foolproof protrusion 3123 is accommodated in the foolproof notch 3241.

[0282] The clearing module 3 is arranged at least at one end of the fuselage 1 along the left-right direction, and the included angle between the driving rod and the preset direction is β when the clearing member 33 is in the clearing position, β is greater than 90°, the preset direction is parallel to the left-right direction, and in the left-right direction, the preset direction points from the one end where the clearing module 3 is arranged to the other end of the fuselage 1.

[0283] The clearing module 3 is arranged at least at one end of the fuselage 1 along the left-right direction, and the included angle between the driving rod and the preset direction is γ when the clearing member 33 is in the storage position, γ ranges from 20° to 45°, the preset direction is parallel to the left-right direction, and in the left-right direction, the preset direction points from the one end where the clearing module 3 is arranged to the other end of the fuselage 1.

[0284] The removing obstacle component 33 comprises a connecting mechanism 335 and an obstacle removing member 334, the connecting mechanism 335 is connected between the obstacle removing member 334 and the fuselage 1, the output end 3122 of the driving mechanism 31 is directly connected with the connecting mechanism 335 or connected through the outer swing mechanism 32, the obstacle removing member 334 is adapted to act on the obstacle to move the obstacle and leave the original position.

[0285] The connecting mechanism 335 comprises a plurality of connecting rods 336 which are rotatably connected with each other, one of the plurality of connecting rods 336 is a driving rod, the output end 3122 of the driving mechanism 31 is directly connected with the driving rod or connected through the outer swing mechanism 32. The driving rod is rotatably connected with the fuselage 1, the driving rod is formed with a sliding groove 333 extending along the extending direction of the driving rod, the outer swing mechanism 32 comprises a rotating disc 321 and a sliding block 322, the rotating disc 321 is rotatably installed on the output end 3122 of the driving mechanism 31, the sliding block 322 is arranged on the rotating disc 321 and spaced apart from the rotation center of the rotating disc 321, the sliding block 322 is accommodated in the sliding groove 333 and slidable along the extending direction of the sliding groove 333, the sliding block 322 is used to drive the removing obstacle component 33 to move.

[0286] The plurality of connecting rods 336 comprises a first connecting rod 3361, a second connecting rod 3362, a third connecting rod 3363 and a fourth connecting rod 3364, wherein the third connecting rod 3363 constitutes the driving rod, one end of the first connecting rod 3361 is rotatably connected with the fuselage 1, the other end of the first connecting rod 3361 is rotatably connected with one end of the second connecting rod 3362, the other end of the second connecting rod 3362 is rotatably connected with the obstacle removing member 334, the second connecting rod 3362 and the third connecting rod 3363 are crossed and rotatably connected, one end of the fourth connecting rod 3364 is rotatably connected with the end of the third connecting rod 3363 and the other end of the fourth connecting rod 3364 is rotatably connected with the obstacle removing member 334.

[0287] The rotatable connecting point of the third connecting rod 3363 and the second connecting rod 3362 is a first rotatable connecting point 3371, the rotatable connecting point of the third connecting rod 3363 and the fourth connecting rod 3364 is a second rotatable connecting point 3372, the connecting point of the output end 3122 of the driving mechanism 31 and the third connecting rod 3363 is a driving connecting point, the first rotatable connecting point 3371 is located between the second rotatable connecting point 3372 and the driving connecting point.

[0288] The rotatably connected connecting rods 336 are connected through a connecting piece 340, in the direction of the rotation axis of the rotatably connected connecting rods 336, the connecting piece 340 does not protrude from the outer surface of the connecting rods 336. The connecting piece 340 comprises a connecting column 3401 and a limiting cap 3402, the connecting column 3401 is arranged through the two rotatably connected connecting rods 336, at least one of the connecting rods 336 is formed with a sunken groove 3376, the limiting cap 3402 is accommodated in the sunken groove 3376.

[0289] The clearing component 33 comprises a contact portion adapted to contact the obstacle, the contact portion is arc-shaped, and at least part of the clearing component 33 constitutes a front bumper of the cleaning device 100. The clearing component 33 is provided with a flexible layer for contacting the obstacle, the flexible layer is a rubber layer or a silica gel layer, and the flexible layer is fixedly bonded to the clearing component 33 or integrally formed on the clearing component 33.

[0290] The clearing component 33 is provided with a cleaning structure 342 for cleaning the work surface and / or the obstacle, the cleaning structure 342 is arranged at the bottom of the clearing component 33, and the cleaning structure 342 is fixedly bonded to the clearing component 33 or detachably arranged on the clearing component 33. The cleaning structure 342 comprises at least one of a cleaning brush, a cleaning cloth, and a cleaning scraping strip.

[0291] The detection assembly 4 comprises a detection circuit board 41, a first optocoupler 42, a second optocoupler 43, and an optocoupler detection piece 44, the optocoupler detection piece 44 is connected with the output end 3122 of the driving mechanism 31 to rotate synchronously with the output end 3122 of the driving mechanism 31, the detection circuit board 41 is fixed relative to the machine body 1, the first optocoupler 42 and the second optocoupler 43 are both arranged on the detection circuit board 41 and are spaced apart along the rotation direction of the clearing component 33; wherein, when the clearing component 33 is located at the storage position, the optocoupler detection piece 44 is opposite to the first optocoupler 42, and when the clearing component 33 is located at the clearing position, the optocoupler detection piece 44 is opposite to the second optocoupler 43.

[0292] The first optocoupler 42 comprises a first optocoupler seat 421 and a first optocoupler 42 device, the first optocoupler seat 421 is formed with a first detection groove, the first detection groove penetrates through the first optocoupler seat 421 along the rotation direction of the output end 3122, and the first optocoupler 42 device is installed on the first optocoupler seat 421 and located at the bottom wall of the first detection groove; the second optocoupler 43 comprises a second optocoupler seat 431 and a second optocoupler 43 device, the second optocoupler seat 431 is formed with a second detection groove 4311, the second optocoupler 43 device is installed on the second optocoupler seat 431 and located at the bottom wall of the second detection groove 4311, and the second detection groove 4311 penetrates through the second optocoupler seat 431 along the rotation direction of the output end 3122; the optocoupler detection piece 44 is provided with a detection protrusion 441, the detection protrusion 441 is accommodated in the first detection groove when the clearing component 33 is located at the storage position, and the detection protrusion 441 is accommodated in the second detection groove 4311 when the clearing component 33 is located at the clearing position.

[0293] The machine body 1 is provided with a mounting box 14, the driving mechanism 31 is arranged in the mounting box 14, the detection circuit board 41 is mounted on the mounting box 14, and the first optocoupler 42, the second optocoupler 43, and the optocoupler detection piece 44 are all located on the side of the detection circuit board 41 away from the driving mechanism 31.

[0294] One side of the mounting box 14 is formed with a receiving groove 141, the detection circuit board 41 is received in the receiving groove 141, the first optical coupler 42, the second optical coupler 43 and the optical coupler detection piece 44 are all located on one side of the detection circuit board 41 which is towards the open side of the receiving groove 141. The mounting box 14 is further provided with a cover plate 142, the cover plate 142 is covered on the open side of the receiving groove 141.

[0295] The driving mechanism 31 comprises a driving motor and a transmission mechanism, the transmission mechanism is connected with the clearing component 33, the transmission mechanism comprises a gear mechanism, a motor shaft of the driving motor is connected with the gear mechanism to drive the gear mechanism to move, the gear mechanism comprises an output gear 3121, a rotation axis of the output gear 3121 extends along the up-down direction, the detection circuit board 41 is provided with an avoiding through hole, an upper end of the output gear 3121 is penetrated in the avoiding through hole and connected with the optical coupler detection piece 44, a lower end of the output gear 3121 constitutes an output end 3122. The output gear 3121 comprises a gear body 3124 and a gear shaft 3125, the gear shaft 3125 comprises a first shaft part 3126 and a second shaft part 3127, the first shaft part 3126 is connected on the upper side of the second shaft part 3127, the first shaft part 3126 is connected with the optical coupler detection piece 44, the second shaft part 3127 is coaxially connected with the gear body 3124, the lower end of the gear body 3124 has the output end 3122.

[0296] The first shaft part 3126 is in a "D" type in cross section, the optical coupler detection piece 44 is provided with a first connecting hole 442, the first shaft part 3126 is received in the first connecting hole 442, the first connecting hole 442 is in a "D" type in cross section; and / or, the second shaft part 3127 is in a "D" type in cross section, the gear body 3124 is provided with a second connecting hole, the second shaft part 3127 is received in the second connecting hole, the second connecting hole is in a "D" type in cross section.

[0297] The detection circuit board 41 is provided with a lead terminal 412, the lead terminal 412 is connected with an optical coupler wire harness, the optical coupler wire harness is connected with a control module. In the rotation direction of the output end 3122, the first optical coupler 42 and the second optical coupler 43 are all located on the same side of the lead terminal 412. The mounting box 14 is formed with a wire outlet 143, the wire outlet 143 is used for the optical coupler wire harness to go out of line.

[0298] Next, the cleaning device 100 of another embodiment of the utility model will be described. Figures 11-13 The cleaning device 100 of another embodiment of the utility model will be described.

[0299] The output end 3122 of the driving mechanism 31 is connected with the clearing component 33 through the outward swinging mechanism 32, the clearing component 33 is rotatably connected with the machine body 1, the outward swinging mechanism 32 comprises a rotating disc 321 and a sliding block 322, the rotating disc 321 is rotatably installed on the output end 3122 of the driving mechanism 31, the sliding block 322 is arranged on the rotating disc 321 and is spaced apart from the rotation center of the rotating disc 321, the sliding groove 333 is formed on the clearing component 33, the sliding block 322 is accommodated in the sliding groove 333 and is slidable along the extension direction of the sliding groove 333, and the sliding block 322 is used for driving the clearing component 33 to move. The sliding groove 333 extends along the radial direction of the rotation axis of the clearing component 33. During the driving of the clearing component 33 by the driving mechanism 31, the size of the clearing component 33 is variable.

[0300] The output end 3122 of the driving mechanism 31 is connected with the clearing component 33 through the outward swinging mechanism 32, the transmission point between the outward swinging mechanism 32 and the clearing component 33 is a clearing transmission point, the force of the clearing component 33 on the outward swinging mechanism 32 at the clearing transmission point is a reaction force, and the speed of the outward swinging mechanism 32 at the clearing transmission point under the reaction force is a reaction speed; wherein, when the clearing component 33 is located at the clearing position, the included angle between the reaction speed and the reaction force is φ, and φ is greater than or equal to 90°.

[0301] The clearing module 3 is located at at least one end of the machine body 1 along the left-right direction, and the included angle between the driving rod and the preset direction is α when the clearing component 33 is located at the clearing position, α is greater than 90°, the preset direction is parallel to the left-right direction, and in the left-right direction, the preset direction points from the one end where the clearing module 3 is located to the other end of the machine body 1.

[0302] The clearing module 3 is located at at least one end of the machine body 1 along the left-right direction, and the included angle between the driving rod and the preset direction is γ when the clearing component 33 is located at the storage position, γ is in the range of 20°-45°, the preset direction is parallel to the left-right direction, and in the left-right direction, the preset direction points from the one end where the clearing module 3 is located to the other end of the machine body 1.

[0303] Next, the cleaning device 100 of some other embodiments of the utility model will be described. Figures 6-9 The cleaning device 100 of some other embodiments of the utility model will be described.

[0304] The clearing component 33 comprises a connecting mechanism 335 and a clearing piece 334, the connecting mechanism 335 is connected between the clearing piece 334 and the machine body 1, the output end 3122 of the driving mechanism 31 is directly connected with the connecting mechanism 335 or is connected through the outward swinging mechanism 32, and the clearing piece 334 is suitable for acting on the obstacle to move the obstacle and leave the original position.

[0305] The connecting mechanism 335 comprises a plurality of connecting rods 336 rotatably connected with each other, one of the plurality of connecting rods 336 is a driving rod, the output end 3122 of the driving mechanism 31 is directly connected with the driving rod or connected with the driving rod through the outer swing mechanism 32. The driving rod is rotatably connected with the machine body 1, the driving rod is formed with a sliding groove 333 extending along the extending direction of the driving rod, the outer swing mechanism 32 comprises a rotating disc 321 and a sliding block 322, the rotating disc 321 is rotatably installed on the output end 3122 of the driving mechanism 31, the sliding block 322 is arranged on the rotating disc 321 and is arranged at intervals from the rotation center of the rotating disc 321, the sliding block 322 is accommodated in the sliding groove 333 and is slidable along the extending direction of the sliding groove 333, and the sliding block 322 is used to drive the clearing component 33 to move.

[0306] The plurality of connecting rods 336 comprises a first connecting rod 3361, a second connecting rod 3362, a third connecting rod 3363 and a fourth connecting rod 3364, wherein the third connecting rod 3363 constitutes the driving rod, one end of the first connecting rod 3361 is rotatably connected with the machine body 1, the other end of the first connecting rod 3361 is rotatably connected with one end of the second connecting rod 3362, the other end of the second connecting rod 3362 is rotatably connected with the clearing component 334, the second connecting rod 3362 and the third connecting rod 3363 are crossed and rotatably connected, one end of the fourth connecting rod 3364 is rotatably connected with the end of the third connecting rod 3363 and the other end of the fourth connecting rod 3364 is rotatably connected with the clearing component 334.

[0307] The third connecting rod 3363 and the second connecting rod 3362 are rotatably connected at a first rotation connecting point 3371, the third connecting rod 3363 and the fourth connecting rod 3364 are rotatably connected at a second rotation connecting point 3372, the third connecting rod 3363 is rotatably connected with the machine body 1 at a third rotation connecting point 3373, the third connecting rod 3363 is formed with a sliding groove 333 extending along the extending direction of the third connecting rod 3363, the sliding groove 333 is located between the third rotation connecting point 3373 and the first rotation connecting point 3371, the outer swing mechanism 32 comprises a rotating disc 321 and a sliding block 322, the rotating disc 321 is rotatably installed on the output end 3122 of the driving mechanism 31, the sliding block 322 is arranged on the rotating disc 321 and is arranged at intervals from the rotation center of the rotating disc 321, the sliding block 322 is accommodated in the sliding groove 333 and is slidable along the extending direction of the sliding groove 333, and the sliding block 322 is used to drive the clearing component 33 to move, and the position where the sliding block 322 is located constitutes a driving connecting point.

[0308] Next, the cleaning device 100 of some other embodiments of the present application will be described. Figure 19 The cleaning device 100 of some other embodiments of the present application will be described.

[0309] The plurality of connecting rods 336 comprises a fifth connecting rod 3365, a sixth connecting rod 3366, a seventh connecting rod 3367, an eighth connecting rod 3368, a ninth connecting rod 3369 and a tenth connecting rod 3370, wherein the eighth connecting rod 3368 constitutes a driving rod, one end of the fifth connecting rod 3365 is rotatably connected with the fuselage 1, the other end of the fifth connecting rod 3365 is rotatably connected with one end of the sixth connecting rod 3366, the other end of the sixth connecting rod 3366 is rotatably connected with one end of the seventh connecting rod 3367, the other end of the seventh connecting rod 3367 is rotatably connected with the clearing member 334, the output end 3122 of the driving mechanism 31 is connected with the eighth connecting rod 3368, one end of the tenth connecting rod 3370 is rotatably connected with the end of the eighth connecting rod 3368 and one end of the ninth connecting rod 3369 at the same point, the other end of the tenth connecting rod 3370 is rotatably connected with the clearing member 334, and the tenth connecting rod 3370 intersects with the sixth connecting rod 3366 and is rotatably connected, and the other end of the ninth connecting rod 3369 is rotatably connected with the fifth connecting rod 3365.

[0310] The rotatable connection point of the fifth connecting rod 3365 with the fuselage 1 is a fourth rotatable connection point 3374, the rotatable connection point of the fifth connecting rod 3365 with the sixth connecting rod 3366 is a fifth rotatable connection point 3375, and the rotatable connection point of the ninth connecting rod 3369 with the fifth connecting rod 3365 is a sixth rotatable connection point, which is located between the fourth rotatable connection point 3374 and the fifth rotatable connection point 3375.

[0311] Next, the cleaning device 100 of some other embodiments of the present application will be described. Figures 27-30 The cleaning device 100 of some other embodiments of the present application will be described.

[0312] The clearing member 334 and the auxiliary member 343 are rotatably connected, and the auxiliary member 343 can be flipped downward or moved relative to the clearing member 334. The auxiliary member 343 is movable between a first position and a second position, at least part of the auxiliary member 343 is located above or below the clearing member 334 when the auxiliary member 343 is in the first position, and the auxiliary member 343 is adapted to contact the obstacle, and the auxiliary member 343 is accommodated in the clearing member 334 when the auxiliary member 343 is in the second position.

[0313] The clearing member 334 and the auxiliary member 343 are rotatably connected, and the auxiliary member 343 can be flipped downward or moved relative to the clearing member 334. The auxiliary member 343 is movable between a first position and a second position, at least part of the auxiliary member 343 is located above or below the clearing member 334 when the auxiliary member 343 is in the first position, and the auxiliary member 343 is adapted to contact the obstacle, and the auxiliary member 343 is accommodated in the clearing member 334 when the auxiliary member 343 is in the second position.

[0314] When the auxiliary member 343 is in the first position, the lowest position of the auxiliary member 343 is lower than the lowest position of the recovery member 334. The recovery member 334 is provided with a receiving opening 3341, and when the auxiliary member 343 is in the second position, at least part of the auxiliary member 343 is received in the receiving opening 3341.

[0315] The recovery member 334 comprises a connecting mechanism 335 and a recovery push rod 3342, the connecting mechanism 335 is connected between the recovery push rod 3342 and the fuselage 1, the output end 3122 of the driving mechanism 31 is directly connected with the connecting mechanism 335 or connected through the outer swing mechanism 32 to drive the recovery member 33 to move between the receiving position and the recovery position, the auxiliary member 343 is rotatably connected with the recovery push rod 3342, one end of the elastic driving member 344 is connected with the auxiliary member 343, and the other end of the elastic driving member 344 is connected with the recovery push rod 3342; wherein one of the elastic driving member 344 and the connecting mechanism 335 is used to drive the auxiliary member 343 to move from the first position to the second position, and the other of the elastic driving member 344 and the connecting mechanism 335 is used to drive the auxiliary member 343 to move from the second position to the first position.

[0316] The auxiliary member 343 is provided with a rotating shaft 3431, the recovery push rod 3342 is provided with a rotating hole 3343, the rotating shaft 3431 is rotatably arranged in the rotating hole 3343, and the elastic driving member 344 is a torsion spring and is sleeved on the outer circumferential side of the rotating shaft 3431.

[0317] During the process that the driving mechanism 31 drives the recovery member 33 to move to the recovery position, the connecting mechanism 335 is adapted to act on the auxiliary member 343 to drive the auxiliary member 343 to move from the second position to the first position, and the elastic driving member 344 is used to drive the auxiliary member 343 to move from the first position to the second position.

[0318] The plurality of connecting rods 336 comprises a first connecting rod 3361, a second connecting rod 3362, a third connecting rod 3363 and a fourth connecting rod 3364, wherein the third connecting rod 3363 constitutes a driving rod, one end of the first connecting rod 3361 is rotatably connected with the fuselage 1, the other end of the first connecting rod 3361 is rotatably connected with one end of the second connecting rod 3362, the other end of the second connecting rod 3362 is rotatably connected with the recovery member 334, the second connecting rod 3362 and the third connecting rod 3363 are crossed and rotatably connected, one end of the fourth connecting rod 3364 is rotatably connected with the end of the third connecting rod 3363 and the other end of the fourth connecting rod 3364 is rotatably connected with the recovery member 334.

[0319] The rotating connection point of the third connecting rod 3363 and the second connecting rod 3362 is a first rotating connection point 3371, the rotating connection point of the third connecting rod 3363 and the fourth connecting rod 3364 is a second rotating connection point 3372, the connecting point of the output end 3122 of the driving mechanism 31 and the third connecting rod 3363 is a driving connection point, the first rotating connection point 3371 is located between the second rotating connection point 3372 and the driving connection point, and the push-away protrusion 3377 is arranged on the fourth connecting rod 3364 and located on the side of the fourth connecting rod 3364 close to the auxiliary piece 343. During movement of the obstacle removing component 33 to the obstacle removing position, the push-away protrusion 3377 is in contact with the auxiliary piece 343 to push the auxiliary piece 343 to move to the first position.

[0320] The auxiliary piece 343 comprises a connecting portion 3434 and an obstacle removing portion 3435, the connecting portion 3434 is movably connected with the obstacle removing piece 334, the obstacle removing portion 3435 is connected below the connecting portion 3434 and is adapted to act on the obstacle, and the length of the obstacle removing portion 3435 is greater than the length of the connecting portion 3434 in the circumferential direction of the fuselage 1. The auxiliary piece 343 is provided with a flexible layer for contact with the obstacle. The auxiliary piece 343 is provided with a cleaning structure 342 for cleaning the working surface and / or the obstacle.

[0321] Reference Figures 37-40 The cleaning device 100 of another embodiment of the utility model is described. In this embodiment, the same parts as the above-mentioned embodiments are not described again, and the above-mentioned embodiments can be referred to, and the differences from the above-mentioned embodiments are mainly described.

[0322] During movement of the obstacle removing component 33 to the obstacle removing position driven by the driving mechanism 31, the connecting mechanism 335 is adapted to act on the auxiliary piece 343 to drive the auxiliary piece 343 to move from the first position to the second position, and the elastic driving piece 344 is used to drive the auxiliary piece 343 to move from the second position to the first position.

[0323] The plurality of connecting rods 336 comprise a first connecting rod 3361, a second connecting rod 3362, a third connecting rod 3363 and a fourth connecting rod 3364, wherein the third connecting rod 3363 constitutes a driving rod, one end of the first connecting rod 3361 is rotatably connected with the fuselage 1, the other end of the first connecting rod 3361 is rotatably connected with one end of the second connecting rod 3362, the other end of the second connecting rod 3362 is rotatably connected with the obstacle removing piece 334, the second connecting rod 3362 and the third connecting rod 3363 are crossed and rotatably connected, one end of the fourth connecting rod 3364 is rotatably connected with the end of the third connecting rod 3363, and the other end of the fourth connecting rod 3364 is rotatably connected with the obstacle removing piece 334.

[0324] The rotating connection point of the third connecting rod 3363 and the second connecting rod 3362 is a first rotating connection point 3371, the rotating connection point of the third connecting rod 3363 and the fourth connecting rod 3364 is a second rotating connection point 3372, and the connecting point of the output end 3122 of the driving mechanism 31 and the third connecting rod 3363 is a driving connection point; the first rotating connection point 3371 is located between the second rotating connection point 3372 and the driving connection point; the anti-return protrusion 3378 and the reset protrusion 3379 are arranged on the fourth connecting rod 3364. When the auxiliary part 343 is in the first position, the anti-return protrusion 3378 abuts against the outer side surface of the auxiliary part 343, so as to limit the auxiliary part 343 in the first position; during movement of the clearing part 334 from the clearing position to the storage position, the anti-return protrusion 3378 is separated from the auxiliary part 343. During movement of the clearing part 33 from the clearing position to the storage position, the reset protrusion 3379 is in contact with the auxiliary part 343, so as to drive the auxiliary part 343 to move to the second position.

[0325] The inner side surface of the auxiliary part 343 is provided with a matching protrusion 3432 and a limiting protrusion 3433; during movement of the clearing part 334 from the clearing position to the storage position, the reset protrusion 3379 is in contact with the matching protrusion 3432, so as to drive the auxiliary part 343 to move to the second position. When the auxiliary part 343 is in the first position, the limiting protrusion 3433 abuts against the clearing push rod 3342, so as to limit the auxiliary part 343.

[0326] Referring to Figure 6 and Figure 7 According to the control method of the cleaning device 100, the cleaning device 100 comprises a machine body 1, a cleaning assembly and a clearing module 3; the cleaning assembly is arranged on the machine body 1 and is used for cleaning a working surface; the clearing module 3 is arranged on the machine body 1 and is used for moving an obstacle, so that the obstacle is away from an original position; the control method of the cleaning device 100 comprises the following steps: confirming that there is an obstacle in front of the cleaning device 100 and confirming that the distance between the obstacle and the cleaning device 100 is less than a first preset distance.

[0327] When the distance between the obstacle and the cleaning device 100 is less than the first preset distance, it indicates that the distance between the obstacle and the cleaning device 100 is small, and the obstacle will affect the cleaning effect of the cleaning device 100; by confirming that the distance between the obstacle and the cleaning device 100 is less than the first preset distance, the obstacle existing on the working surface in the working area of the cleaning device 100 can be identified in time, and the clearing module 3 is driven to move the obstacle, so that the obstacle is away from the original position, thereby facilitating the cleaning of the cleaning assembly, reducing the cleaning dead angle and the missed area, and improving the overall cleaning effect of the cleaning assembly on the working surface.

[0328] For example, the first preset distance can be 10cm-20cm, which can reserve a certain time for the control module of the cleaning device 100 to control the movement of the obstacle removing module 3 to move the obstacle, and can also reserve a certain space for the obstacle removing module 3 to extend; and the movement of the obstacle removing component 33 can be controlled frequently due to the first preset distance being too long, and the cleaning efficiency of the cleaning device 100 can be ensured.

[0329] In some embodiments, the cleaning device 100 comprises an obstacle identifying module adapted to cooperate with the control module of the cleaning device 100, the obstacle identifying module being used to identify whether there is an obstacle on the working surface. When the obstacle identifying module identifies that there is an obstacle on the working surface, the obstacle identifying module can transmit information to the control module, and the control module drives the obstacle removing module 3 to move the obstacle according to the received information, so that the obstacle leaves the original position. When the obstacle identifying module identifies that there is no obstacle on the working surface, the control module can control the obstacle removing module 3 to be stationary or to be retracted into the body 1 according to the received information.

[0330] The cleaning device 100 is controlled to move towards the obstacle, the obstacle removing module 3 is controlled to work to move the obstacle, and the obstacle is caused to leave the original position; for example, the obstacle removing module 3 is located at the outer edge of the body 1, the obstacle removing module 3 comprises a driving mechanism 31 and an obstacle removing component 33, the driving mechanism 31 is installed on the body 1 and connected with the obstacle removing component 33, so as to drive the obstacle removing component 33 to move between the storage position and the obstacle removing position. Controlling the cleaning device 100 to move towards the obstacle can make the distance between the obstacle removing component 33 and the obstacle closer, so as to facilitate the obstacle removing component 33 to move the obstacle. By controlling the driving mechanism 31 to drive the obstacle removing component 33 to move from the storage position to the obstacle removing position, the obstacle can be caused to leave the original position, so as to facilitate the cleaning assembly of the cleaning device 100 to clean the area where the original position of the obstacle is located.

[0331] In some embodiments, the bottom of the obstacle removing component 33 is provided with a cleaning structure 342, which is used to clean the working surface and / or the obstacle. After the obstacle removing component 33 moves the obstacle away from the original position, the cleaning structure 342 provided at the bottom of the obstacle removing component 33 can also clean the area where the original position of the obstacle is located, which is beneficial to improve the overall cleaning efficiency of the cleaning device 100.

[0332] The area where the original position of the obstacle is located is cleaned, and the obstacle removing module 3 is controlled to stop working and reset.

[0333] After the obstacle removing component 33 removes the obstacle from the original position, the control unit controls the cleaning assembly to clean the area corresponding to the original position of the obstacle, and controls the obstacle removing component 33 to stop working and controls the driving mechanism 31 to drive the obstacle removing component 33 to move from the obstacle removing position to the storage position, so as to control the driving mechanism 31 to drive the obstacle removing component 33 to move from the storage position to the obstacle removing position next time.

[0334] Through the above steps, the obstacle can be identified and removed from the original position by the cleaning device 100, so that the area corresponding to the original position of the obstacle can be cleaned by the cleaning assembly, which can reduce the dead angle and the missed area, thereby improving the overall cleaning effect of the cleaning device 100 and improving the cleaning efficiency, and the use experience of the user can be improved.

[0335] According to the control method, the obstacle removing module 3 is arranged on the machine body 1 of the cleaning device 100, when there is an obstacle on the working surface, the obstacle removing module 3 can automatically identify the obstacle and remove the obstacle from the original position, so that the working surface corresponding to the original position of the obstacle can be exposed, and the cleaning assembly can clean the working surface corresponding to the original position of the obstacle and the surrounding area, thereby effectively reducing the dead angle and the missed area, which can enhance the overall cleaning effect of the working surface, reduce the dependence on manual work, and improve the use experience of the user.

[0336] Referring to Figure 6 and Figure 7 , according to some embodiments of the present application, the method further comprises: determining whether the obstacle is a movable obstacle, when it is determined that the obstacle is a movable obstacle, controlling the cleaning device 100 to move towards the obstacle, and when it is determined that the obstacle is not a movable obstacle, controlling the cleaning device 100 to avoid the obstacle. By determining whether the obstacle is a movable obstacle, when it is determined that the obstacle is not a movable obstacle, the driving mechanism 31 is controlled to drive the obstacle removing module 3 to avoid the obstacle in time, which can reduce or avoid the collision between the obstacle removing component 33 and the obstacle, thereby reducing or avoiding the abrasion or damage of the obstacle removing component 33.

[0337] Referring to Figure 6 and Figure 7 , according to some embodiments of the present application, the method further comprises: collecting an image of the obstacle; for example, the cleaning device 100 can comprise an obstacle image collecting module, and the obstacle image collecting module is used to collect the image of the obstacle.

[0338] According to the collected image of the obstacle, it is determined whether the obstacle is a movable obstacle. According to the collected image of the obstacle, it can be more accurately determined whether the obstacle is a movable obstacle, and the possibility of misjudgment can be reduced.

[0339] Referring to Figure 6And Figure 7 According to some embodiments of the present application, according to the image of the collected obstacle, it is determined whether the obstacle belongs to a movable obstacle, comprising:

[0340] According to the image of the collected obstacle, the size and shape of the obstacle are determined to determine whether the obstacle belongs to a movable obstacle.

[0341] For example, the cleaning device 100 can include an obstacle image acquisition module, which is adapted to cooperate with the control module of the cleaning device 100. The obstacle image acquisition module acquires the image of the obstacle to determine the size and shape of the obstacle, for example, by acquiring the image of the obstacle, it is determined that the size or shape of the obstacle is within the set range, it is confirmed that the obstacle belongs to a movable obstacle, the cleaning device 100 is controlled to move towards the obstacle, and the driving mechanism 31 is controlled to drive the obstacle removing component 33 to move from the storage position to the obstacle removing position, so that the obstacle can be removed from the original position, thereby facilitating the cleaning assembly of the cleaning device 100 to clean the area where the original position of the obstacle is located.

[0342] For another example, when it is determined that the size or shape of the obstacle exceeds the set range by acquiring the image of the obstacle, it is confirmed that the obstacle does not belong to a movable obstacle, and the driving mechanism 31 is controlled to drive the obstacle removing component 33 to move towards the storage position to avoid the obstacle, thereby reducing or avoiding the possibility of collision and wear or even damage between the obstacle removing component 33 and the obstacle.

[0343] In some embodiments, the cleaning device 100 further comprises a prompting assembly. If the size of the obstacle collected by the obstacle image acquisition module exceeds the set range, the prompting assembly sends a prompt information to prompt the user to move the obstacle. The prompting assembly can be a display screen, an LED lamp, a sound, a vibrator, etc. The prompt information can be text or picture output by the display screen, light or flashing light emitted by the LED lamp, sound played by the sound, vibration generated by the vibrator, etc. The obstacle image acquisition module can be a camera, an ultrasonic detector, etc.

[0344] Through the above control logic, by determining the size and shape of the obstacle according to the collected image of the obstacle, it can be more accurately determined whether the obstacle belongs to a movable obstacle.

[0345] Referring to Figure 6 And Figure 7 According to some embodiments of the present application, the cleaning device 100 is controlled to move towards the obstacle, the obstacle removing module 3 is controlled to work to move the obstacle, and the obstacle is removed from the original position, comprising:

[0346] The cleaning device 100 is controlled to move towards the obstacle to a distance between the cleaning device 100 and the obstacle less than a second preset distance, and the second preset distance is less than the first preset distance.

[0347] The obstacle removing module 3 is controlled to work to move the obstacle and make the obstacle leave the original position.

[0348] The driving mechanism 31 is controlled to drive the obstacle removing component 33 to move to the obstacle removing position, so as to shorten the distance between the cleaning component and the obstacle, and when the distance between the obstacle and the cleaning device 100 is less than the second preset distance, the driving mechanism 31 is controlled to drive the obstacle removing component 33 to move to the obstacle removing position to remove the obstacle from the original position, so as to ensure that the obstacle removing component 33 can effectively move the obstacle and improve the obstacle removing efficiency of the obstacle removing component 33, and avoid affecting the obstacle removing efficiency of the obstacle removing module 3 due to the too long distance between the obstacle removing module 3 and the obstacle.

[0349] For example, the second preset distance can be 2cm-10cm, so as to leave a certain distance between the cleaning device 100 and the obstacle, so as to facilitate the movement of the obstacle removing component 33 towards the outside of the body 1, and ensure that the obstacle removing component 33 can effectively move the obstacle.

[0350] For example, the obstacle removing component 33 includes a clamping part, and when the obstacle removing component 33 clamps the obstacle to make the obstacle leave the original position, the second preset distance can be 2cm-10cm, so as to leave a certain space between the cleaning device 100 and the obstacle, so as to facilitate the movement of the clamping part from the inside of the body 1 to the outside, and make the clamping part can effectively grasp the obstacle, thereby improving the obstacle removing efficiency of the obstacle removing component 33.

[0351] Referring to Figure 6 and Figure 7 According to some embodiments of the utility model, the obstacle removing module 3 is controlled to work to move the obstacle and make the obstacle leave the original position, comprising:

[0352] The output power of the obstacle removing module 3 is controlled to be the initial power, and the obstacle removing module 3 is controlled to contact the obstacle.

[0353] After the obstacle removing module 3 works for a first preset time, it is judged whether the obstacle moves, and when the obstacle does not move, the output power of the obstacle removing module 3 is increased.

[0354] Firstly, the output power of the obstacle removing module 3 is controlled to be the initial power, and the obstacle removing module 3 is controlled to contact the obstacle to make the obstacle away from the original position, after the obstacle removing component 33 works for a first preset time, it is judged whether the obstacle moves, if the obstacle does not move, it indicates that the driving force of the obstacle removing module 3 on the obstacle is small, and the obstacle cannot be effectively pushed, at this time, by increasing the output power of the obstacle removing module 3, the driving force on the obstacle can be increased, so as to increase the possibility of the obstacle removing module 3 moving the obstacle.

[0355] The first preset time length can be 3s-10s, so that the output power of the obstacle removing module 3 can be kept in a relatively stable state in a short time, the fluctuation of the obstacle removing module 3 is reduced, and the stability of the control system of the cleaning device 100 is improved; and the output power of the obstacle removing module 3 can be adjusted in time according to the latest situation, so that the obstacle removing efficiency of the obstacle removing module 3 is improved.

[0356] For example, the obstacle removing module 3 comprises a driving mechanism 31 and an obstacle removing component 33, the driving mechanism 31 is installed on the fuselage 1 and connected with the obstacle removing component 33 for driving the obstacle removing component 33 to move, and the driving mechanism 31 comprises a driving motor, the driving motor has an output end 3122, and the output end 3122 is directly connected with the obstacle removing component 33 or connected with the obstacle removing component 33 through the outer swing mechanism 32.

[0357] First, the output power of the driving motor is controlled to be the initial power, and the driving motor is controlled to directly drive or drive through the outer swing mechanism 32 to drive the obstacle removing component 33 to move to the obstacle removing position so that the obstacle removing component 33 is in contact with the obstacle, so that the obstacle is moved away from the original position, after the obstacle removing component 33 works for a first preset time length, it is judged whether the obstacle moves, if the obstacle does not move, it indicates that the driving force applied to the obstacle removing component 33 by the driving motor is small, and the obstacle cannot be effectively pushed, at this time, by increasing the output power of the driving motor, the driving force applied to the obstacle removing component 33 by the driving mechanism 31 can be larger, so that the possibility of moving the obstacle by the obstacle removing component 33 is increased; if the obstacle moves, the cleaning assembly is controlled to clean the area where the original position of the obstacle is located, and the obstacle removing component 33 is controlled to stop working and the driving mechanism 31 is controlled to drive the obstacle removing component 33 to move from the obstacle removing position to the storage position, so as to facilitate the next control of the driving mechanism 31 to drive the obstacle removing component 33 to move from the storage position to the obstacle removing position.

[0358] Referring to Figure 6 and Figure 7 , according to some embodiments of the utility model, when the obstacle does not move, the output power of the obstacle removing module 3 is increased, which comprises:

[0359] When the output power of the obstacle removing module 3 is increased to the preset output power, the obstacle does not move, it is determined that the obstacle is an unpushable obstacle, and the obstacle removing module 3 is controlled to stop working and reset. When the output power of the obstacle removing module 3 is increased to the preset output power, the obstacle still does not move, indicating that the obstacle is an unpushable obstacle, by controlling the obstacle removing module 3 to stop working and reset, the driving motor of the obstacle removing module 3 can be prevented from running for too long and consuming too much energy.

[0360] Referring to Figure 6 and Figure 7 , according to some embodiments of the utility model, whether the obstacle moves is judged, which comprises:

[0361] detecting whether the distance between the machine body 1 and the obstacle increases;

[0362] in the case of detecting that the distance between the machine body 1 and the obstacle increases, determining that the obstacle moves;

[0363] in the case of detecting that the distance between the machine body 1 and the obstacle does not change, determining that the obstacle does not move.

[0364] If the obstacle-removing module 3 can move the obstacle under the current driving force, the distance between the machine body 1 and the obstacle will increase, and if the obstacle-removing module 3 cannot move the obstacle under the current driving force, the distance between the machine body 1 and the obstacle does not change. By judging the change of the distance between the machine body 1 and the obstacle, it can be more accurately confirmed whether the obstacle belongs to the movable obstacle.

[0365] It needs to be explained that when the obstacle-removing module 3 contacts and pushes the obstacle, the machine body 1 does not move on the working surface.

[0366] Referring to Figure 6 and Figure 7 , according to some embodiments of the utility model, judging whether the obstacle moves, comprising:

[0367] detecting the current change of the obstacle-removing module 3;

[0368] in the case of detecting that the current of the obstacle-removing module 3 remains in the preset range, determining that the obstacle moves;

[0369] in the case of detecting that the current of the obstacle-removing module 3 suddenly increases, determining that the obstacle does not move.

[0370] If the obstacle-removing module 3 can move the obstacle under the current driving force, the current of the obstacle-removing module 3 will be relatively stable and remain in the preset range. If the obstacle-removing module 3 cannot move the obstacle under the current driving force, the obstacle-removing module 3 is in the locked-rotor state, and the current of the obstacle-removing module 3 becomes the locked-rotor current. Since the locked-rotor current is greater than the normal current, the current of the obstacle-removing module 3 will suddenly increase. By judging the current change of the obstacle-removing module 3, it can be more directly and accurately confirmed whether the obstacle belongs to the movable obstacle, reducing the possibility of misjudgment of the control system of the cleaning device 100.

[0371] For example, the obstacle-removing module 3 includes a driving mechanism 31 and an obstacle-removing component 33, the driving mechanism 31 is installed on the machine body 1, and the driving mechanism 31 is connected with the obstacle-removing component 33 for driving the obstacle-removing component 33 to move. The driving mechanism 31 includes a driving motor, and the driving motor has an output end 3122 which is directly connected with the obstacle-removing component 33 or connected through an outer swing mechanism 32.

[0372] First, the output current of the driving motor is controlled to be an initial current within a preset range, and the driving motor is controlled to drive the obstacle removing component 33 to move to an obstacle removing position to make the obstacle removing component 33 contact with the obstacle, so as to move the obstacle away from the original position. After the obstacle removing component 33 works for a first preset time length, it is judged whether the obstacle moves.

[0373] If it is detected that the current of the driving motor still remains within the preset range, it is judged that the obstacle moves, the cleaning assembly is controlled to clean the area where the original position of the obstacle is located, and the obstacle removing component 33 is controlled to stop working and the driving mechanism 31 is controlled to drive the obstacle removing component 33 to move from the obstacle removing position to the storage position, so as to facilitate the driving mechanism 31 to drive the obstacle removing component 33 to move from the storage position to the obstacle removing position next time.

[0374] If it is detected that the current of the driving motor suddenly increases, it indicates that the obstacle does not move. At this time, by increasing the output current of the driving motor, the driving force of the driving motor output to the obstacle removing component 33 can be larger, so as to increase the possibility of the obstacle removing component 33 moving the obstacle.

[0375] By detecting the current change of the driving motor in the obstacle removing module 3, whether the obstacle is a movable obstacle can be directly and accurately confirmed, and the possibility of misjudgment of the control system of the cleaning device 100 is reduced.

[0376] Referring to Figure 6 and Figure 7 , according to some embodiments of the utility model, the obstacle removing module 3 includes a driving mechanism 31 and an obstacle removing component 33, the driving mechanism 31 is arranged on the machine body 1, and the driving mechanism 31 is connected with the obstacle removing component 33 to drive the obstacle removing component 33 to move.

[0377] Among them, control the obstacle removing module 3 to work to move the obstacle includes: control the driving mechanism 31 to drive the obstacle component to move, so that at least part of the obstacle removing component 33 swings out to the machine body 1 outside;Control the obstacle removing module 3 to stop working and reset includes: control the driving mechanism 31 to drive the obstacle removing component 33 to retract to the machine body 1.

[0378] Among them, at least part of the obstacle removing component 33 swings out to the machine body 1 outside can include the following cases: for example, it can be that part of the obstacle removing component 33 swings out to the machine body 1 outside;For another example, it can also be that all of the obstacle removing component 33 swings out to the machine body 1 outside.

[0379] Control the driving mechanism 31 to drive the obstacle removing component 33 to move so that at least part of the obstacle removing component 33 swings out to the machine body 1 outside can expand the obstacle removing range of the obstacle removing component 33, and in the process of the obstacle removing component 33 swinging out to the machine body 1, for example, the outer side edge 331 of the obstacle removing component 33 contacts with the obstacle and can exert a certain pushing force on the obstacle to push the obstacle away from the original position, so as to realize the process of the obstacle removing module 3 moving the obstacle.

[0380] The control driving mechanism 31 drives the clearing component 33 to retract to the machine body 1, so that the clearing component 33 moves back to the storage position, the process of controlling the clearing module 3 to stop working and reset can be realized, which can reduce the occupation of the external space of the cleaning device 100, is conducive to the overall miniaturization of the cleaning device 100, facilitates the storage and carrying of the cleaning device 100, and the control of the clearing module 3 to stop working and reset can also facilitate the next control of the driving mechanism 31 to drive the clearing component 33 to move from the storage position to the clearing position.

[0381] Referring to Figure 6 and Figure 7 , according to some embodiments of the utility model, the cleaning structure 342 is arranged on the clearing component 33, wherein the area where the original position of the obstacle is located is cleaned, including: controlling the clearing component 33 to move in the area where the original position of the obstacle is located, so that the cleaning structure 342 cleans the area where the original position of the obstacle is located; for example, the cleaning structure 342 includes at least one of a cleaning brush, a cleaning cloth and a cleaning scraping strip, by arranging the cleaning structure 342 on the clearing component 33, controlling the clearing component 33 to move in the area where the original position of the obstacle is located, the area where the original position of the obstacle is located can be cleaned, which can increase the cleaning range of the cleaning device 100, and is conducive to enhancing the overall cleaning efficiency of the cleaning device 100.

[0382] Alternatively, the machine body 1 of the cleaning device 100 is controlled to move to the area where the original position of the obstacle is located, and the cleaning assembly is controlled to clean the area where the original position of the obstacle is located.

[0383] After the clearing component 33 removes the obstacle from the original position, the machine body 1 of the cleaning device 100 is controlled to move to the area where the original position of the obstacle is located, and the cleaning assembly is controlled to clean the area where the original position of the obstacle is located, which can effectively reduce the cleaning dead angle and the missed area, thereby enhancing the overall cleaning effect of the cleaning device 100.

[0384] Referring to Figure 6 and Figure 7 , according to some embodiments of the utility model, further comprising:

[0385] Confirming that the downward-looking sensor of the cleaning device 100 is blocked, for example, it can be determined that the downward-looking sensor is blocked by the fact that the downward-looking sensor cannot receive light or the received light is less than a preset threshold;

[0386] Detecting whether the clearing module 3 stops working, in the case that the clearing module 3 stops working, detecting whether the clearing component 33 is located in the storage position, in the case that the clearing component 33 is not located in the storage position, retracting the clearing component 33 to the storage position, in the case that the clearing module 3 works, it is determined that the cleaning device 100 has a falling risk.

[0387] If the obstacle removing module 3 is stopped and the obstacle removing component 33 is not in the storage position, the obstacle removing component 33 can be between the obstacle removing position and the storage position, which can block at least part of the downward looking sensor, so that the downward looking sensor cannot timely receive light or the received light is less than the threshold value. By retracting the obstacle removing component 33 to the storage position, the avoiding part 332 of the obstacle removing component 33 can be located below the downward looking sensor and oppositely arranged with the downward looking sensor in the up-down direction, so that the light can be more smoothly transmitted to the downward looking sensor.

[0388] If the obstacle removing module 3 is working, the obstacle removing component 33 is in the obstacle removing position, and the obstacle removing component 33 does not block the downward looking sensor at this time, which indicates that the downward looking sensor cannot receive light or the received light is less than the threshold value, which indicates that the front end of the cleaning device 100 is located at a lower working surface, and it is determined that the cleaning device 100 has a falling risk.

[0389] By detecting whether the obstacle removing module 3 is stopped and confirming whether the obstacle removing component 33 is in the storage position, it can be determined whether the obstacle removing component 33 blocks the downward looking sensor. When it is confirmed that the obstacle removing component 33 does not block the downward looking sensor and it is confirmed that the downward looking sensor is blocked, it can be determined that the cleaning device 100 has a falling risk.

[0390] Referring to Figure 6 and Figure 7 , according to some embodiments of the present application, when it is confirmed that the obstacle removing component 33 is not in the storage position, the obstacle removing component 33 is retracted to the storage position, which comprises:

[0391] When it is confirmed that the obstacle removing component 33 is not in the storage position, the driving mechanism 31 is controlled to drive the obstacle removing component 33 to move towards the storage position. By controlling the driving mechanism 31 to drive the obstacle removing component 33 to move towards the storage position, when the obstacle removing component 33 moves to the storage position, the avoiding part 332 of the obstacle removing component 33 can be located below the downward looking sensor and oppositely arranged with the downward looking sensor in the up-down direction, so that the light can be more smoothly transmitted to the downward looking sensor, so that the downward looking sensor can more accurately determine whether the cleaning device 100 has a falling risk.

[0392] Referring to Figure 6 and Figure 7 , according to some embodiments of the present application, after the driving mechanism 31 is controlled to drive the obstacle removing component 33 to move towards the storage position, it is determined whether the downward looking sensor is blocked;

[0393] When it is confirmed that the downward-looking sensor is blocked, the cleaning device 100 prompts the user to manually retract the obstacle-removing component 33 to the storage position, through the cleaning device 100 obstacle reporting prompt, the user can be reminded, and through the user manually moving the obstacle-removing component 33 towards the storage position, when the obstacle-removing component 33 moves to the storage position, the avoiding portion 332 of the obstacle-removing component 33 is located below the downward-looking sensor and is arranged opposite to the downward-looking sensor in the up-down direction, so that the light can propagate more smoothly to the downward-looking sensor, so that the downward-looking sensor can more accurately determine whether the cleaning device 100 has a falling risk.

[0394] Referring to Figure 6 and Figure 7 Figure 6 Figure 7 Figure 6 Figure 7 Figure 6 Figure 7 Figure 6 Figure 7 According to the cleaning system of the third aspect of the present application, the cleaning device 100 and the cleaning base station according to the first aspect of the present application are provided, the cleaning device 100 and the cleaning base station are detachably matched, the cleaning base station is used for cleaning and / or charging the cleaning device 100, wherein the cleaning base station comprises a cleaning mechanism, and the cleaning mechanism is used for cleaning the cleaning structure 342.

[0395] According to the cleaning system of the present application, the obstacle-removing module 3 is arranged on the body 1 of the cleaning device 100, when there is an obstacle on the working surface, the obstacle-removing module 3 automatically identifies the obstacle and drives the obstacle-removing component 33 to move through the driving mechanism 31 to move the obstacle away from the original position, so that the working surface of the original position of the obstacle is exposed, so that the cleaning assembly can clean the working surface of the original position of the obstacle and the surrounding area, effectively reducing the cleaning dead angle and the missed area, so that the cleaning effect of the whole working surface can be enhanced, and the dependence on manual work can be reduced, and the user's use experience can be improved.

[0396] In the description of the present application, it should be understood that the orientations or positional relationships indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0397] In the description of the present application, "first feature" and "second feature" can include one or more features.

[0398] In the description of the utility model, the first feature is "above" or "below" the second feature, which can include that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact through another feature between them.

[0399] In the description of the utility model, the first feature is "above", "upper" and "on" the second feature, which includes that the first feature is directly above and obliquely above the second feature, or only indicates that the first feature is higher than the second feature in horizontal height.

[0400] In the description of the utility model, the description of the reference terms "one embodiment", "some embodiments", "illustrative embodiment", "example", "specific example" or "some examples" means that the specific features, structures, materials or characteristics described in combination with the embodiment or example are included in at least one embodiment or example of the utility model. In the description, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0401] Although the embodiments of the utility model have been shown and described, those skilled in the art can understand that various changes, modifications, replacements and variations can be made to these embodiments without departing from the principles and purposes of the utility model, and the scope of the utility model is defined by the claims and their equivalents.

Claims

1. A cleaning device, characterized in that, The utility model relates to a cleaning and removing obstacle device, including: A machine body; A cleaning assembly arranged on the machine body and used for cleaning a work surface; An obstacle removing module arranged on the machine body and used for moving an obstacle to make the obstacle move away from an original position, the obstacle removing module comprising a driving mechanism and an obstacle removing component, the driving mechanism being mounted on the machine body and connected with the obstacle removing component to drive the obstacle removing component to move, the driving mechanism comprising a driving motor and a transmission mechanism, the transmission mechanism being connected with the obstacle removing component.

2. The cleaning device of claim 1, wherein, The transmission mechanism comprises a gear mechanism, a motor shaft of the driving motor being connected with the gear mechanism to drive the gear mechanism to move, the gear mechanism comprising an output gear, the output gear having an output end, the output end being directly connected with the obstacle removing component or being connected with the obstacle removing component through an outer swing mechanism.

3. The cleaning device of claim 2, wherein, An axis of rotation of the output gear extends in an up-down direction, a lower end of the output gear constituting the output end.

4. The cleaning device of claim 3, wherein, The output gear comprises a gear body and a gear shaft, the gear shaft comprising a second shaft portion, the second shaft portion being coaxially connected with the gear body, a lower end of the gear body having the output end.

5. The cleaning device of claim 4, wherein, A cross section of the second shaft portion is in a "D" shape, the gear body being provided with a second connecting hole, the second shaft portion being accommodated in the second connecting hole, a cross section of the second connecting hole being in a "D" shape.

6. The cleaning device of claim 2, wherein, The obstacle removing component or the outer swing mechanism is provided with a first mounting hole, the output end being inserted into the first mounting hole.

7. The cleaning device of claim 6, wherein, Cross sections of the output end and the first mounting hole are both non-circular.

8. The cleaning device of claim 6, wherein, An anti-fool notch is formed on an inner peripheral wall of the first mounting hole, an anti-fool protrusion is arranged on an outer peripheral wall of the output end, and the anti-fool protrusion is accommodated in the anti-fool notch.

9. The cleaning device of claim 2, wherein, The obstacle removing component comprises a connecting mechanism and an obstacle removing piece, the connecting mechanism being connected between the obstacle removing piece and the machine body, the output end being directly connected with the connecting mechanism or being connected with the connecting mechanism through the outer swing mechanism, the obstacle removing piece being adapted to act on an obstacle to make the obstacle move and move away from an original position.

10. The cleaning device of claim 9, wherein, The connecting mechanism comprises a plurality of connecting rods rotatably connected with each other, one of the plurality of connecting rods being a driving rod, an output end of the driving mechanism being directly connected with the driving rod or being connected with the driving rod through the outer swing mechanism.

11. The cleaning device of claim 10, wherein, The output end of the driving mechanism is directly connected with the driving rod, the driving rod being provided with a first mounting hole, and the output end is inserted into the first mounting hole.

12. The cleaning device of claim 10, wherein, The plurality of connecting rods comprise a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod, the third connecting rod constituting the driving rod, one end of the first connecting rod being rotatably connected with the machine body, the other end of the first connecting rod being rotatably connected with one end of the second connecting rod, the other end of the second connecting rod being rotatably connected with the obstacle removing piece, the second connecting rod and the third connecting rod being crossed and rotatably connected, one end of the fourth connecting rod being rotatably connected with an end portion of the third connecting rod and the other end of the fourth connecting rod being rotatably connected with the obstacle removing piece. The rotating connection point of the third connecting rod and the second connecting rod is a first rotating connection point, the rotating connection point of the third connecting rod and the fourth connecting rod is a second rotating connection point, and the connection point of the output end of the driving mechanism and the third connecting rod is a driving connection point.

13. The cleaning device of claim 10, wherein, The rotatably connected connecting rods are connected through a connecting piece, and the connecting piece does not protrude from the outer surface of the connecting rods in the direction of the rotating axis of the rotatably connected connecting rods.

14. The cleaning device of claim 13, wherein, The connecting piece comprises a connecting column and a limiting cap, the connecting column is arranged in the two rotatably connected connecting rods, at least one of the connecting rods is provided with a sink groove, and the limiting cap is accommodated in the sink groove.

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