Tracking auxiliary device and cleaning device

Abstract

The utility model discloses a tracking auxiliary device and a cleaning device. The tracking auxiliary device is at least used for being installed on the cleaning device. The tracking auxiliary device comprises a connecting assembly and a tracker placing seat, the connecting assembly is provided with a first end and a second end which are oppositely arranged, and the first end is connected with a movable part of the cleaning device; the tracker placing seat is fixedly connected with the second end, and a placing platform for placing a tracker is arranged at the top of the tracker placing seat. According to the tracking auxiliary device and the cleaning device, the problem that the cleaning coverage rate of the cleaning device cannot be accurately calculated due to the fact that a tracker arranged on the cleaning device cannot track the movement track of the movable cleaning assembly in real time is solved.

Description

Technical Field

[0001] This utility model relates to the field of cleaning equipment technology, and more specifically, to a tracking auxiliary device and a cleaning device. Background Technology

[0002] Currently, cleaning devices such as robotic vacuum cleaners mainly locate the cleaning components by fixing trackers on the main unit of the cleaning device, such as mops or rollers, to capture their movement trajectory and calculate the cleaning coverage rate of the cleaning device based on the movement trajectory. However, when the cleaning components can move relative to the main unit, the trackers cannot follow the movement of the movable cleaning components and track their movement trajectory in real time, resulting in the inability to accurately calculate the cleaning coverage rate of the cleaning device. Utility Model Content

[0003] The main objective of this invention is to provide a tracking auxiliary device and a cleaning device, so as to at least solve the problem that the tracker installed on the existing cleaning device cannot track the movement trajectory of the movable cleaning components in real time, which leads to the inability to accurately calculate the cleaning coverage of the cleaning device.

[0004] According to one aspect of the present invention, a tracking assist device is provided, the tracking assist device being at least for installation on a cleaning device, characterized in that the tracking assist device comprises:

[0005] A connecting component having a first end and a second end disposed opposite to each other, the first end being connected to a movable part of the cleaning device;

[0006] A tracker placement base is fixedly connected to the second end, and a placement platform for placing the tracker is provided on the top of the tracker placement base.

[0007] Furthermore, the connecting component includes a telescopic connecting component that can extend and retract along a first direction and / or a second direction, wherein the first direction is perpendicular to the second direction.

[0008] Furthermore, the telescopic connection assembly includes:

[0009] A connector, comprising a first connecting segment, a second connecting segment, and a connecting portion, wherein the first connecting segment and the second connecting segment are arranged parallel to each other, and the connecting portion is connected between the first connecting segment and the second connecting segment; the first connecting segment is used to connect with the movable component; both the first connecting segment and the second connecting segment extend along a first direction, and the connecting portion extends along a second direction.

[0010] A first telescopic member is connected to the second connecting segment and can extend and retract relative to the extension direction of the second connecting segment, and the tracker placement seat is disposed on the first telescopic member.

[0011] Furthermore, both the first telescopic member and the second connecting segment are rod-shaped structures, with the first telescopic member sleeved on the second connecting segment; and / or,

[0012] Both the first telescopic member and the second connecting section are strip-shaped structures. One of the first telescopic member and the second connecting section is provided with a sliding groove, and the other is provided with a slider that matches the sliding groove.

[0013] Furthermore, the connecting part includes two connecting rods nested together, one of the two connecting rods can extend and retract relative to the other in the second direction, and a first locking structure is provided between the two connecting rods.

[0014] Furthermore, the first telescopic member includes a telescopic part and a mounting part. The telescopic part is connected to the second connecting segment and can telescopically extend and retract relative to the extension direction of the second connecting segment. The mounting part is connected to the end of the telescopic part opposite to the second connecting segment.

[0015] The telescopic connection assembly further includes a second telescopic member, which is connected to the mounting portion and can extend and retract relative to the mounting portion in the second direction. The tracker placement seat is disposed on the first telescopic member via the second telescopic member.

[0016] Furthermore, a second locking structure is provided between the first telescopic member and the second connecting section, and between the second telescopic member and the mounting part.

[0017] Furthermore, the telescopic connection assembly also includes a fixing member disposed at the end of the first connection segment, and the telescopic connection assembly is detachably connected to the movable component through the fixing member.

[0018] Furthermore, the tracking assist device also includes a tracker:

[0019] When the tracking aid is connected to the cleaning device, the tracker is placed at the center of the placement platform and directly above the geometric center of the movable component; and / or,

[0020] The tracker includes a visual tracking sensor or an infrared ranging sensor.

[0021] On the other hand, the present invention also provides a cleaning device, which includes a movable part and a tracking auxiliary device connected to the movable part, the tracking auxiliary device including the aforementioned tracking auxiliary device.

[0022] In this invention, a tracker placement base is connected to a movable part of the cleaning device via a connecting component, allowing the tracker placement base to move synchronously with the movable part. When the movable part moves relative to the cleaning device, the tracker, placed on the platform atop the tracker placement base, moves in real-time with the cleaning component, thus achieving real-time tracking of the movable part's trajectory. Compared to situations where the tracker is fixed to the cleaning device and cannot dynamically track the movable part, this significantly improves the accuracy of tracking the movable part's trajectory. Because the movable part's trajectory can be tracked in real-time, the cleaning coverage rate of the cleaning device can be calculated more precisely based on accurate trajectory data. The tracking auxiliary device mainly consists of a connecting component and a tracker placement base; its overall structure is relatively simple and easy to manufacture. Attached Figure Description

[0023] The accompanying drawings, which are included to provide a further understanding of the present invention and constitute a part of this invention, illustrate exemplary embodiments of the present invention and, together with the description thereof, serve to explain the present invention and do not constitute an undue limitation thereof. In the drawings:

[0024] Figure 1 This is a schematic diagram of the structure of the tracking assistance device (when installed on a cleaning device) disclosed in an embodiment of this utility model.

[0025] The above figures include the following reference numerals:

[0026] 10. Cleaning device; 20. Tracker placement base; 21. Placement platform; 30. Connector; 31. First connecting section; 32. Second connecting section; 33. Connecting part; 40. First telescopic member; 41. Telescopic part; 42. Mounting part; 50. Second telescopic member; 60. Fixing member. Detailed Implementation

[0027] It should be noted that, where there is no conflict, the embodiments and features in the embodiments of this utility model can be combined with each other. The present utility model will now be described in detail with reference to the accompanying drawings and embodiments.

[0028] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to the present invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0029] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of this invention. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following drawings denote similar items; therefore, once an item is defined in one drawing, it need not be further discussed in subsequent drawings.

[0030] As described in the background section, in existing cleaning devices, when a movable component (moving horizontally relative to the cleaning device) moves with the cleaning device, the tracker mounted directly above the movable component and fixed to the cleaning device housing cannot dynamically track its movement trajectory due to the horizontal displacement of the movable component. This results in inaccurate calculations of the cleaning coverage area based on the tracker's detected movement trajectory, making it difficult to accurately assess the cleaning efficiency of the cleaning device. Therefore, this application provides a tracking auxiliary device that connects a tracker placement base to the movable component via a connecting assembly. The tracker is placed on a placement platform on top of the tracker placement base. When the movable component moves horizontally (i.e., the geometric center of the movable component shifts horizontally), the tracker moves along with the movable component due to the presence of the connecting assembly and the tracker placement base. This ensures that the tracker's horizontal coordinates remain consistent with the horizontal coordinates of the movable component at all times, achieving dynamic tracking of the movable component's movement trajectory and enabling more accurate calculation of the cleaning coverage area of ​​the cleaning device.

[0031] See Figure 1 As shown, according to an embodiment of this application, a tracking assist device is provided. The tracking assist device is at least used for installation on a cleaning device 10. The tracking assist device includes a connecting component and a tracker placement seat 20. The connecting component has a first end and a second end disposed opposite to each other. The first end is connected to a movable part of the cleaning device. The tracker placement seat 20 is fixedly connected to the second end, and a placement platform 21 for placing a tracker is provided on the top of the tracker placement seat 20.

[0032] Specifically, the cleaning device 10 includes cleaning equipment such as a sweeper, a mop, and a sweeper-mop combo. Movable parts refer to components on the cleaning device 10 that can move relative to the cleaning device 10, including a mop with an outward expansion function and a side sweeping assembly. When the cleaning device 10 performs cleaning work on a horizontal surface, such as a floor, the movable part moves with the cleaning device 10 on the one hand, and on the other hand, it moves independently relative to the cleaning device 10. For example, when the movable part is a mop with outward expansion / inward contraction, the mop will expand outward or contract inward to clean the corner of the floor when the cleaning device 10 is close to the corner of the floor. The first end of the connecting component of the tracking auxiliary device is connected to the movable part of the cleaning device 10, and the second end is fixedly connected to the second end of the tracking auxiliary device. The tracker is placed on the placement platform 21 on top of the tracker placement seat 20. Whether the movable part on the cleaning device 10 moves with the cleaning device 10 or moves relative to the cleaning device 10, the tracker can track the movement trajectory of the movable part in real time under the action of the tracking auxiliary device, so as to achieve more accurate dynamic tracking of the movement trajectory of the movable part and make the cleaning coverage area calculation of the cleaning device 10 more accurate.

[0033] Furthermore, the connecting component includes components that can be connected along a first direction ( Figure 1 The direction indicated by X in the diagram) and / or the second direction ( Figure 1 The telescopic connecting component extends and retracts in the direction indicated by Y, with the first direction perpendicular to the second direction. This includes three scenarios: the telescopic connecting component can only extend and retract in the first direction, the telescopic connecting component can only extend and retract in the second direction, and the telescopic connecting component can extend and retract simultaneously in both the first and second directions. Because the first end of the connecting component is connected to the movable part, and the second end of the connecting component is fixedly connected to the tracker placement base 20, the extension and retraction of the telescopic connecting component in the first direction can adjust the position of the tracker placement base 20 in the first direction, allowing for better alignment between the tracker placement base 20 and the movable part. The extension and retraction of the telescopic connecting component in the second direction allows the tracking assistance device of this embodiment to adapt to cleaning devices 10 with different housing heights. Different models of cleaning devices may have different movable part positions and housing heights; therefore, the extension and retraction of the telescopic connecting component in both the first and second directions allows the tracking assistance device to adapt to different models of cleaning devices, improving the adaptability and practicality of the tracking assistance device.

[0034] Furthermore, the telescopic connection assembly includes a connector 30 and a first telescopic member 40. The connector 30 includes a first connecting segment 31, a second connecting segment 32, and a connecting portion 33. The first connecting segment 31 and the second connecting segment 32 are arranged parallel to each other, and the connecting portion 33 connects between the first connecting segment 31 and the second connecting segment 32. The first connecting segment 31 is used to connect to a movable component. Both the first connecting segment 31 and the second connecting segment 32 extend along a first direction, and the connecting portion 33 extends along a second direction. The first telescopic member 40 is connected to the second connecting segment 32 and can extend and retract relative to the extending direction of the second connecting segment 32. The tracker placement seat 20 is disposed on the first telescopic member 40.

[0035] Since the first connecting segment 31 and the second connecting segment 32 are arranged in parallel and the connecting part 33 connects the first connecting segment 31 and the second connecting segment 32, both the first connecting segment 31 and the second connecting segment 32 extend along the first direction, and the connecting part 33 extends along the second direction, the shape of the connector 30 can be U-shaped or I-shaped. (Refer to...) Figure 1 As shown, the first connecting section 31 of the connector 30 is located at the bottom of the cleaning device 10, the second connecting section is located at the top of the cleaning device 10, and the connecting part 33 is located on the side of the cleaning device 10. That is, the cleaning device 10 is located in the gap between the first connecting section 31 and the second connecting section 32 of the U-shaped or I-shaped connector 30. When the first telescopic member 40 extends or retracts relative to the extension direction of the second connecting section 32, the vertical projection position of the tracker placement seat 20 on the cleaning device 10 will change. Through the extension and retraction of the first telescopic member 40, when the tracking auxiliary device is installed on the cleaning device 10, the tracker placement seat 20 can be aligned more accurately with the movable parts on the cleaning device 10, thereby improving the accuracy of the tracker in tracking the movement trajectory of the movable parts. Furthermore, the extension and retraction function of the first telescopic member 40 relative to the extension direction of the second connecting section 32 (i.e., the first direction, the horizontal direction when the cleaning device 10 moves horizontally) allows the tracking auxiliary device to adapt to various models of cleaning devices, avoiding the need for different telescopic auxiliary devices to adapt to movable parts in different positions for different cleaning devices, thus improving the practicality and economy of the telescopic auxiliary device.

[0036] Furthermore, both the first telescopic member 40 and the second connecting section 32 are rod-shaped structures, with the first telescopic member 40 sleeved on the second connecting section 32; and / or, both the first telescopic member 40 and the second connecting section 32 are strip-shaped structures, with a groove provided on one of the first telescopic member 40 and the second connecting section 32, and a slider adapted to the groove provided on the other.

[0037] In this embodiment, the first telescopic member 40 and the second connecting section 32 may include a rod-shaped structure or a strip structure, or both. When the first telescopic member 40 and the second connecting section 32 are rod-shaped structures, the inner diameter of the section of the first telescopic member 40 connecting to the second connecting section 32 is larger than the outer diameter of the second connecting section 32, allowing the first telescopic member 40 to be fitted onto the second connecting section 32. The rod-shaped structure can withstand greater axial pressure or tension, and the assembly structure is relatively simple. The production cost of the rod-shaped structure is also relatively low, which can reduce the production cost of the tracking auxiliary device. When the first telescopic member 40 and the second connecting section 32 are rod-shaped structures, telescopic movement is achieved through the cooperation of a sliding groove and a slider. When the sliding groove is set on the first telescopic member 40, the slider is set on the second connecting section 32; when the sliding groove is set on the second connecting section 32, the slider is set on the first telescopic member 40. The contact surface between the sliding groove and the slider can be achieved through friction or by ball bearing buffering, which can absorb vibration energy, improve the overall stability of the tracking auxiliary device, and achieve better telescopicity, making telescopic movement more convenient.

[0038] Furthermore, the connecting part 33 includes two nested connecting rods, one of which can extend and retract relative to the other in a second direction, and a first locking structure is provided between the two connecting rods. As can be seen from the foregoing embodiments, the cleaning device 10 is located in the gap between the first connecting section 31 and the second connecting section 32 of the U-shaped or I-shaped connector 30. One of the two connecting rods of the connecting part 33 can extend and retract relative to the other in a second direction, which can adjust the gap between the first connecting section 31 and the second connecting section 32 in the second direction. The height direction of the housing of the cleaning device 10 is consistent with the second direction. Therefore, the tracking auxiliary device can be adapted to cleaning devices with different housing heights, that is, it can be adapted to different models of cleaning devices. This prevents the problem that the gap between the first connecting section 31 and the second connecting section 32 of the tracking auxiliary device in the second direction is too small when the housing height of the cleaning device 10 is large, which would prevent installation. This improves the practicality and economy of the tracking auxiliary device, and eliminates the need to produce different models and specifications of tracking auxiliary devices to adapt to different models of cleaning devices. A first locking structure is installed between the two connecting rods to lock them in their current state after they have extended or retracted to a certain length, preventing displacement due to vibration or gravity. The first locking structure can be a ratchet locking structure, a locking pin locking structure, or an electromagnetic locking structure. The ratchet locking structure preferably uses a ratchet with a certain degree of elasticity, which not only locks the two connecting rods but also prevents them from automatically unlocking under the weight of the tracking auxiliary device. The locking pin locking structure can use a spring-loaded locking pin or a detachable locking pin, which engages with the pin holes (limiting holes) on the two connecting rods to achieve locking. When the locking pin is detachable, screws, bolts, or studs can be used as the locking pin, with the pin hole being a threaded hole. Locking through the locking pin provides high locking strength and can withstand relatively large loads (external forces or gravity). The electromagnetic locking structure uses a combination of electromagnet and armature. Current passes through the coil on the electromagnet to generate a magnetic field, which attracts the armature to be pressed and locked into the limiting hole (or limiting groove) on the connecting rod. After the magnetic field disappears, the spring supporting the armature returns to its original position and the locking is released.

[0039] Furthermore, the first telescopic member 40 includes a telescopic part 41 and a mounting part 42. The telescopic part 41 is connected to the second connecting segment 32 and can extend and retract relative to the extension direction of the second connecting segment 32. The mounting part 42 is connected to the end of the telescopic part 41 opposite to the second connecting segment 32. The telescopic connection assembly also includes a second telescopic member 50. The second telescopic member 50 is connected to the mounting part 42 and can extend and retract relative to the mounting part 42 in a second direction. The tracker placement seat 20 is disposed on the first telescopic member 40 through the second telescopic member 50.

[0040] The telescopic part 41 of the first telescopic member 40 and the second telescopic member 50 are respectively connected to the mounting part 42 of the first telescopic member 40. The second telescopic member 50 can extend and retract relative to the mounting part 42 in the second direction. When the tracking auxiliary device is connected to the movable part of the cleaning device 10 through the first end of the connecting component, if the gap between the first connecting section 31 and the second connecting section 32 in the second direction is too large, it will affect the strength of the connecting component. Therefore, it is best for the second connecting section 32 to be close to the upper shell of the cleaning device 10. However, since different models of cleaning devices may use different trackers, the different distances between different trackers and movable parts in the second direction may affect the tracking accuracy of the motion trajectory. Therefore, by designing the second telescopic member 50 connected to the tracker placement seat 20 to extend and retract relative to the mounting part 42 in the second direction, the distance between the tracker and the movable part in the second direction can be adjusted without adjusting the extension and retraction state of the connecting part 33, thereby improving the practicality of the tracking auxiliary device.

[0041] Specifically, both the second telescopic member 50 and the mounting part 42 are rod-shaped structures, with the second telescopic member 50 sleeved on the mounting part 42; and / or, both the second telescopic member 50 and the mounting part 42 are strip-shaped structures, with a groove provided on one of the second telescopic member 50 and the mounting part 42, and a slider adapted to the groove provided on the other.

[0042] Furthermore, second locking structures are provided between the first telescopic member 40 and the second connecting section 32, and between the second telescopic member 50 and the mounting part 42. The second locking structure between the first telescopic member 40 and the second connecting section 32 prevents the first telescopic member 40 from extending or retracting relative to the second connecting section 32 in the second direction when the tracking auxiliary device is already installed and in use. This prevents the tracker from shifting horizontally relative to the movable part, resulting in inaccurate detection of the movable part's movement trajectory. The second locking mechanism between the second telescopic member 50 and the mounting part 42 prevents the second telescopic member 50 from actively extending or retracting due to its own weight, or the weight of the tracker placement base 20 connected to the second telescopic member 50 and the tracker on the tracker placement base 20. The second locking mechanism between the first telescopic member 40 and the second connecting section 32 includes one of a ratchet locking structure, a locking pin locking structure, or an electromagnetic locking structure. The second locking mechanism between the second telescopic member 50 and the mounting part 42 includes one of a ratchet locking structure, a locking pin locking structure, or an electromagnetic locking structure.

[0043] Furthermore, the telescopic connection assembly also includes a fixing member 60, which is disposed at the end of the first connecting segment 31. The telescopic connection assembly is detachably connected to the movable part through the fixing member 60. This detachable connection design between the fixing member 60 and the movable part allows the tracking assist device of this embodiment to be installed as an independent device on different cleaning devices, improving the convenience of using the tracking assist device.

[0044] Furthermore, the tracking assist device also includes a tracker, which, when connected to the cleaning device 10, is positioned at the center of the placement platform 21 and directly above the geometric center of the movable part; and / or, the tracker includes a visual tracking sensor or an infrared ranging sensor. Positioning the tracker at the center of the placement platform 21 allows for better alignment with the movable part when the control connector 30 extends or retracts in the first direction. Positioning the tracker directly above the geometric center of the movable part ensures that the tracker's horizontal coordinates remain consistent with the movable part at all times, improving the accuracy of the tracker's tracking of the movable part's motion trajectory.

[0045] On the other hand, this application also discloses a cleaning device, which includes a movable part and a tracking assist device connected to the movable part, the tracking assist device including the aforementioned tracking assist device. Therefore, this cleaning device includes all the technical effects of the aforementioned tracking assist device. Since the technical effects of the tracking assist device have been described in detail above, they will not be repeated here.

[0046] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0047] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be construed as limiting the scope of protection of this utility model.

[0048] The above are merely preferred embodiments of this utility model and are not intended to limit the scope of this utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A tracking aid, at least for mounting on a cleaning device (10), characterized in that The tracking assistance device includes: A connecting component having a first end and a second end disposed opposite to each other, the first end being connected to a movable part of the cleaning device; Tracker placement base (20) is fixedly connected to the second end, and a placement platform (21) for placing trackers is provided on the top of the tracker placement base (20).

2. The tracking aid of claim 1, wherein, The connecting component includes a telescopic connecting component that can extend and retract along a first direction and / or a second direction, wherein the first direction is perpendicular to the second direction.

3. The tracking aid of claim 2, wherein, The telescopic connection assembly includes: A connector (30) includes a first connecting segment (31), a second connecting segment (32), and a connecting part (33). The first connecting segment (31) and the second connecting segment (32) are arranged parallel to each other. The connecting part (33) is connected between the first connecting segment (31) and the second connecting segment (32). The first connecting segment (31) is used to connect with the movable component. The first connecting segment (31) and the second connecting segment (32) both extend along the first direction, and the connecting part (33) extends along the second direction. The first telescopic member (40) is connected to the second connecting segment (32) and can extend and retract relative to the extension direction of the second connecting segment (32). The tracker placement seat (20) is disposed on the first telescopic member (40).

4. The tracking aid of claim 3, wherein, Both the first telescopic member (40) and the second connecting section (32) are rod-shaped structures, with the first telescopic member (40) sleeved on the second connecting section (32); and / or, Both the first telescopic member (40) and the second connecting section (32) are strip-shaped structures. One of the first telescopic member (40) and the second connecting section (32) is provided with a groove, and the other is provided with a slider that matches the groove.

5. The tracking aid of claim 3, wherein, The connecting part (33) includes two connecting rods nested together. One of the two connecting rods can extend and retract relative to the other in the second direction, and a first locking structure is provided between the two connecting rods.

6. The tracking aid of claim 3, wherein, The first telescopic member (40) includes a telescopic part (41) and a mounting part (42). The telescopic part (41) is connected to the second connecting section (32) and can extend and retract relative to the extension direction of the second connecting section (32). The mounting part (42) is connected to one end of the telescopic part (41) away from the second connecting section (32). The telescopic connection assembly further includes a second telescopic member (50), which is connected to the mounting portion (42) and can extend and retract relative to the mounting portion (42) in the second direction. The tracker placement seat (20) is disposed on the first telescopic member (40) via the second telescopic member (50).

7. The tracking aid of claim 6, wherein, A second locking structure is provided between the first telescopic member (40) and the second connecting section (32), and between the second telescopic member (50) and the mounting part (42).

8. The tracking aid of claim 3, wherein, The telescopic connection assembly further includes a fixing member (60), which is disposed at the end of the first connecting segment (31), and the telescopic connection assembly is detachably connected to the movable component through the fixing member (60).

9. The tracking assist device according to claim 1, characterized in that, The tracking aid also includes a tracker: When the tracking aid is connected to the cleaning device (10), the tracker is placed at the center of the placement platform (21) and directly above the geometric center of the movable component; and / or, The tracker includes a visual tracking sensor or an infrared ranging sensor.

10. A cleaning device characterized by The cleaning device includes a movable part and a tracking aid connected to the movable part, the tracking aid including the tracking aid according to any one of claims 1 to 9.

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