Cleaning device and cleaning robot
By adopting a dual-detection component system in the cleaning robot, the problem of inaccurate roller position detection is solved, the accuracy of position detection is improved, the failure rate and wear are reduced, the service life is extended, and the efficient and stable operation of the cleaning robot is ensured.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- ANKER INNOVATIONS TECH CO LTD
- Filing Date
- 2025-04-21
- Publication Date
- 2026-06-16
AI Technical Summary
When cleaning robots work in different ground environments, inaccurate roller position detection leads to movement obstruction, increasing the failure rate and mechanical wear.
A dual-detection component system is adopted, including a first detection component and a second detection component, which respectively detect the position and displacement of the cleaning component and the driving component. The accuracy of position detection is improved through data verification, and false judgments and unnecessary initialization operations are reduced.
It improves the accuracy of cleaning component position detection, reduces the failure rate and mechanical wear of cleaning robots, extends their service life, and ensures efficient operation in complex environments.
Smart Images
Figure CN224357537U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of cleaning equipment technology, and more particularly to a cleaning device and a cleaning robot. Background Technology
[0002] Cleaning robots are gradually evolving from basic intelligence to higher levels of automation, aiming to replace manual cleaning and become indispensable cleaning assistants in many households, such as sweeping robots and floor scrubbers. In some technologies, the rollers in cleaning robots are installed using lifting devices, allowing their position relative to the ground to be adjusted according to the specific floor environment. Alternatively, the rollers may be installed using expansion devices, allowing their position relative to the robot body to extend and retract. However, during operation, the cleaning robot may not be able to accurately determine the relative position of the rollers. This can cause the rollers to obstruct the robot's movement in different floor environments, potentially increasing the failure rate over long-term use. Utility Model Content
[0003] This application provides a cleaning device and a cleaning robot that can improve the accuracy of detecting the position of the roller.
[0004] In a first aspect, embodiments of this application provide a cleaning device applied to a cleaning robot, comprising:
[0005] A mounting bracket for connecting to the main body of the cleaning robot;
[0006] A cleaning component is movably connected to the mounting bracket;
[0007] A drive assembly is disposed on the fixed frame. The drive assembly includes a drive member that is capable of moving or rotating relative to the fixed frame to drive the cleaning assembly to move between a first position and a second position.
[0008] A first detection component is disposed on the fixing frame and is used to detect the current position and / or displacement of the cleaning component;
[0009] The second detection component, disposed on the fixed frame, is used to detect the current position and / or displacement of the drive component.
[0010] Secondly, embodiments of this application also provide a cleaning robot, including a main body and a cleaning device as described in any of the above embodiments, wherein the cleaning device is disposed at the bottom of the main body and the fixing frame is connected to the main body.
[0011] Based on the cleaning device and cleaning robot in the embodiments of this application, the driving component can be used to drive the cleaning component to move and switch between a first position and a second position. At the same time, multiple detection components are set for the cleaning component, and all of the multiple detection components can be used to detect the position of the cleaning component. That is to say, the detection data of the first detection component and the second detection component can both detect the actual position of the cleaning component, thereby enabling the detection data of the two to be mutually verified. Compared with setting a single sensor to detect the movement position of the cleaning component, this application can not only improve the detection accuracy of the cleaning component position by setting this dual detection component, but also reduce the misjudgment of the cleaning component position, and reduce the uncertainty of the cleaning component position when the cleaning robot is turned on. In other words, it effectively reduces unnecessary lifting and lowering operations of the cleaning component when the cleaning robot is turned on, thereby reducing the mechanical wear of the cleaning robot caused by frequent initialization, extending the service life of the cleaning robot, thereby improving the overall performance and working stability of the cleaning robot, and ensuring the efficient operation of the cleaning robot in complex environments. Attached Figure Description
[0012] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0013] Figure 1 This is a schematic diagram of the cleaning device in one embodiment of this application;
[0014] Figure 2 (a) and (b) in the figure are schematic diagrams of the cleaning component in the working position and the storage position in an embodiment of this application, respectively;
[0015] Figure 3 This is a schematic diagram of the cleaning device in another embodiment of this application;
[0016] Figure 4 for Figure 3 Enlarged structural diagram at point A;
[0017] Figure 5 This is a schematic diagram of the first circuit in the first detection component according to an embodiment of this application;
[0018] Figure 6 for Figure 3 Enlarged structural diagram at point B;
[0019] Figure 7 This is a schematic diagram of the structure of some driving components and the second detection component in one embodiment of this application;
[0020] Figure 8 This is a schematic diagram of the second circuit in the second detection component in one embodiment of this application.
[0021] Figure label:
[0022] 1. Cleaning equipment;
[0023] 11. Sleeve; 111. First cavity;
[0024] 20. Cleaning component; 21. Support; 22. Roller; 23. Abutment; 231. Second opening;
[0025] 30. Drive assembly; 31. Drive component; 311. Elastic component; 312. Winding reel; 3121. Winding groove; 313. Cable; 32. Electrical drive component; 321. Output shaft; 33. Transmission gear;
[0026] 40. First detection component; 41. Infrared emitting tube; 42. Infrared receiving tube; 43. First control chip;
[0027] 50. Second detection component; 51. Second transmitter; 52. Second receiver; 53. Second control chip;
[0028] 61. First shielding component; 62. Second shielding component; 621. First baffle; 622. Second baffle;
[0029] L1, first direction; L2, second direction. Detailed Implementation
[0030] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, a clear and complete description will be provided below with reference to the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.
[0031] In related technologies, some cleaning robots use rollers mounted with lifting devices, allowing the roller's position relative to the ground to be adjusted according to the specific ground environment. Alternatively, the rollers may be mounted with expansion devices, allowing their position relative to the robot body to extend and retract. However, during operation, the cleaning robot may not be able to accurately determine the relative position of the rollers. This can cause the rollers to obstruct the robot's movement in different ground environments, potentially increasing the failure rate over long-term use. For example, taking the roller as a cleaning component in a cleaning robot, when the motor drives the roller to lift or expand, obstacles on the ground or outside the robot body, or a malfunction in the motor's transmission, may prevent the roller from moving to the planned target position, resulting in a discrepancy between the motor's feedback and the roller's actual position adjustment. Alternatively, the roller may be displaced relative to the robot body due to obstacles on the ground or outside the robot body, but the motor may not actually drive it or may not drive it to the correct position, leading to another discrepancy between the motor's feedback and the roller's actual position. At the same time, when the cleaning robot is first turned on, it may not be able to accurately know the initial position of the roller. Therefore, it is generally necessary to run the lifting device or the expansion device before use to initialize the actual position of the roller, which adds unnecessary steps and can easily increase the failure rate of the cleaning robot in the long run.
[0032] Regarding the above situation, firstly, please refer to [link / reference needed]. Figures 1-2 This application proposes a cleaning device 1, including a fixing frame (not shown in the figure), a cleaning component 20, a driving component 30, a first detection component 40, and a second detection component 50.
[0033] The mounting frame is used to connect to the main body of the cleaning robot; the cleaning component 20 is movably connected to the mounting frame; the drive component 30 is disposed on the mounting frame, and the drive component 30 includes a drive member 31, which can move or rotate relative to the mounting frame to drive the cleaning component 20 to move between a first position and a second position; the first detection component 40 is disposed on the mounting frame and is used to detect the current position and / or displacement of the cleaning component 20; the second detection component 50 is disposed on the mounting frame and is used to detect the current position and / or displacement of the drive member 31.
[0034] Specifically, the cleaning component 20 is movably connected to the fixed frame. The cleaning component 20 can move vertically up and down relative to the fixed frame, or it can move horizontally outward relative to the fixed frame. The cleaning component 20 has a movement trajectory relative to the fixed frame, with a first position and a second position along this trajectory. Taking the vertical movement of the cleaning component 20 relative to the fixed frame as an example, the first position is a storage position or a raised and obstructed position, and the second position is a working position. Figure 2In (a), it is shown that the cleaning component 20 is in the working position (second position). Figure 2 (b) illustrates that the cleaning component 20 is located in either the storage position or the raised and obstructed position (first position). The drive component 30 is installed between the fixed frame and the cleaning component 20, thus the drive component 30 can drive the cleaning component 20 to move relative to the fixed frame, thereby switching the cleaning component 20 between the storage position and the working position. At this time, both the first detection component 40 and the second detection component 50 can detect the actual position of the cleaning component 20. The first detection component 40 and the second detection component 50 can be infrared photoelectric sensors, ultrasonic sensors, or photoelectric sensors, etc. Among them, the first detection component 40 is used to directly detect the current position or displacement of the cleaning component 20; the drive component 31 drives the cleaning component 20 to move, and the second detection component 50 can determine the current position or displacement of the cleaning component 20 by detecting the movement or rotation position of the drive component 31, thereby realizing the cross-verification of the detection results of the first detection component 40 and the second detection component 50. The driving component 31 can be a linear driving component or a rotational driving component. By detecting the current position of the driving component 31, the current position of the cleaning component 20 corresponding to the current position of the driving component 31 can be determined. Alternatively, the linear driving displacement or rotational displacement of the linear driving component can be determined by detecting the displacement of the driving component 31, also known as the rotation angle or rotation amount. For example, the linear displacement, rotation angle, rotation amount, etc. of the driving component can be determined by detecting the initial position and the current position of the driving component 31, thereby detecting the position of the cleaning component 20.
[0035] It should be noted that in this embodiment, the drive component 31 can be used to drive the cleaning component 20 to move and switch between the first position and the second position. At the same time, multiple detection components are set for the cleaning component 20, and all of the multiple detection components can be used to detect the position of the cleaning component 20. That is to say, the detection data of the first detection component 40 and the second detection component 50 can both detect the actual position of the cleaning component 20, so that the detection data of the two can be mutually verified. Compared with setting a single sensor to detect the movement position of the cleaning component 20, this application can not only improve the detection accuracy of the position of the cleaning component 20 and reduce the misjudgment of the position of the cleaning component 20 by setting this dual detection component, but also reduce the uncertainty of the position of the cleaning component 20 when the cleaning robot is turned on. That is, it effectively reduces unnecessary lifting and lowering operations of the cleaning component 20 when the cleaning robot is turned on, thereby reducing the mechanical wear caused by frequent initialization of the cleaning robot, extending the service life of the cleaning robot, thereby improving the overall performance and working stability of the cleaning robot, and ensuring the efficient operation of the cleaning robot in complex environments. In addition, the dual detection components can quickly locate the problem when the cleaning component 20 malfunctions, making it easier for maintenance personnel to carry out targeted repairs and further improving the maintenance efficiency and reliability of the cleaning device 1.
[0036] It should also be noted that the cleaning device 1 also includes a control chip, which is electrically connected to both the first detection component 40 and the second detection component 50. Both the first detection component 40 and the second detection component 50 can transmit detection signals to the control chip, and the control chip detects the position information of the cleaning component 20 based on the received detection signals.
[0037] In some embodiments, such as Figure 1 As shown, the cleaning assembly 20 includes a bracket 21 and a roller 22. The bracket 21 has a mounting groove, and the roller 22 is disposed in the mounting groove. The bracket 21 is rotatably connected to a fixed frame so that the roller 22 can switch between a first position and a second position.
[0038] Specifically, the bracket 21 provides a base and installation space for the roller 22. The roller 22 in the cleaning device 1 can be used for mopping. Therefore, the roller 22 and the bracket 21 are rotatably connected around the axis of the roller 22. The bracket 21 is provided with cantilever arms on its periphery. The bracket 21 is rotatably connected to the fixed frame through the cantilever arms to drive the bracket 21 and the roller 22 to move and switch between a first position and a second position. Alternatively, the bracket 21 can also be slidably connected to the fixed frame to switch the position of the cleaning component 20.
[0039] In some embodiments, such as Figure 1As shown, the cleaning component 20 and the fixing frame are arranged along a first direction L1; the cleaning component 20 and the fixing frame are movably connected along the first direction L1, so that the cleaning component 20 can move towards or away from the fixing frame. Alternatively, the cleaning component 20 and the fixing frame are movably connected along a second direction L2, so that the cleaning component 20 can move towards or away from the central axis of the fixing frame, and the second direction L2 is perpendicular to the first direction L1.
[0040] Taking the first direction L1 as the vertical direction and the second direction L2 as the horizontal direction as an example, the fixing frame and the cleaning component 20 are arranged vertically, and the cleaning component 20 can move up and down in the vertical direction relative to the fixing frame. At this time, the first position of the cleaning component 20 can be the storage position, and the second position of the cleaning component 20 can be the working position; or, the cleaning component 20 can move outward in the horizontal direction relative to the fixing frame. At this time, the first position of the cleaning component 20 can be the retracted position, and the second position of the cleaning component can be the outward position.
[0041] Please see Figures 3-4 In some embodiments of this application, the cleaning device 1 includes a first shield 61 disposed on the cleaning component 20. When the cleaning component 20 moves between a first position and a second position, the first shield 61 is used to move relative to the first detection component 40 so that the first detection component 40 detects the current position and / or displacement of the cleaning component 20.
[0042] It is understandable that when the cleaning component 20 moves, it can also move the first blocking component 61 together, ensuring that the first detection component can detect the positional change of the first blocking component 61, thereby detecting the positional change of the cleaning component 20.
[0043] Please continue reading Figures 3-4 In some embodiments of this application, the driving member includes an elastic member 31, which is disposed between the fixing frame and the cleaning component 20. The elastic member 31 is used to drive the cleaning component 20 to move from a first position to a second position.
[0044] Specifically, when the cleaning assembly 20 is in the first position, the elastic element 31 is in a first compressed state. When the cleaning assembly 20 is in the second position, the elastic element 31 is in either a return-to-original state or a second compressed state. The elastic force of the elastic element 31 in the first compressed state is greater than that in the second compressed state. This allows the deformation of the elastic element 31 to generate a driving force that can move the cleaning assembly 20 from the first position to the second position. It is easy to understand that the elastic element 31 can be a spring, a rubber pad, or other elastic material. The elastic force of the elastic element 31 is sufficient to overcome the gravity or friction of the cleaning assembly 20, ensuring that the cleaning assembly 20 moves smoothly from the first position to the second position. Furthermore, multiple elastic elements 31 can be provided, evenly distributed along the axial direction of the cleaning assembly 20 (e.g., the axial direction of the roller 22), working together to ensure the synchronicity and stability of the movement of the cleaning assembly 20.
[0045] Furthermore, in some embodiments of this application, such as Figure 4 As shown, a sleeve 11 is provided on the fixing frame, the sleeve 11 having a first cavity 111 and a first opening communicating with the first cavity 111; a contact member 23 is provided on the cleaning component 20, at least a portion of the contact member 23 extends into the first cavity 111 through the first opening, the contact member 23 has a second cavity and a second opening 232 communicating with the second cavity; at least a portion of the elastic member 311 extends into the second cavity through the second opening 232 and is connected to the inner wall of the second cavity, and the end of the elastic member 311 away from the cleaning component 20 is connected to the inner wall of the first cavity 111; wherein, the contact member 23 can elastically extend and retract within the first cavity 111 through the elastic member 311, the first detection component 40 is provided on the sleeve 11, and the first shielding component 61 is provided on the contact member 23.
[0046] It is understood that the elastic element 311 is disposed in the second cavity of the abutment 23, and the abutment 23 is disposed in the first cavity 111 of the sleeve 11. The elastic element 311 can extend and retract within the second cavity, and the abutment 23 can also extend and retract within the first cavity 111 via the elastic element 311. The sleeve 11 can restrict the movement direction of the abutment 23, and the abutment 23 can restrict the deformation direction of the elastic element 311, ensuring that the elastic force of the elastic element 311 acts on the cleaning component along a predetermined path, thereby improving the stability and accuracy of the movement direction of the cleaning component 20. Furthermore, the abutment 23 can also be disposed outside the sleeve 11. Specifically, the sleeve 11 is fitted into the second cavity of the abutment 23 via the elastic element 311, which is also an equivalent embodiment of this embodiment.
[0047] Alternatively, in some embodiments, the end of the abutment 23 away from the cleaning component 20 is connected to the elastic member 311, and the end of the elastic member 311 away from the cleaning component 20 is connected to the inner wall of the first cavity 111. It is understood that the abutment 23 may also not be disposed in the second cavity, but may be directly connected to the elastic member 311, and elastically extend and retract within the first cavity 111 of the sleeve 11 via the elastic member 311, thereby reducing structural complexity.
[0048] In some embodiments of this application, the first detection component 40 includes an infrared pair and a first control chip 43. The infrared pair is disposed on a fixed frame and electrically connected to the first control chip 43. The infrared pair is used to output a first detection result for position detection of the cleaning component 20 and transmit the first detection result to the first control chip 43. The first control chip 43 is used to determine the current position and / or displacement of the cleaning component 20 based on the first detection result.
[0049] Specifically, the infrared pair includes an infrared emitting tube 41 and an infrared receiving tube 42, which are spaced apart. When the elastic member 31 moves the cleaning component 20, it can also move the first blocking member 61 together, ensuring that the first blocking member 61 can block the signal between the infrared emitting tube 41 and the infrared receiving tube 42. The positional state of the elastic member 31 and the first blocking member 61 changes, so that the first detection component 40 can detect the positional change of the first blocking member 61 to accurately determine the actual position of the cleaning component 20, thereby realizing dynamic detection of the position of the cleaning component 20.
[0050] When the cleaning component 20 is in the second position, the first blocking member 61 is located between the infrared emitting tube 41 and the infrared receiving tube 42. The first blocking member 61 blocks the optical path between the infrared emitting tube 41 and the infrared receiving tube 42, weakening the light signal received by the infrared receiving tube 42. At this time, the infrared receiving tube 42 outputs a low-level first detection result to the first control chip. The first control chip 43 detects that the cleaning component 20 has reached the second position based on the first detection result. For example, if the digital signal value detected by the first control chip 43 is less than 1000, then the cleaning component 20 is in the second position. When the cleaning component 20 is in the first position, the first blocking member 61 is away from the gap between the infrared emitting tube 41 and the infrared receiving tube 42. The infrared emitting tube 41 receives the complete light signal from the infrared emitting tube 42. The infrared receiving tube 42 outputs a high-level first detection result to the first control chip 43. The first control chip 43 detects that the cleaning component 20 is in the first position based on the first detection result, thereby accurately detecting the actual position of the cleaning component 20.
[0051] It should be noted that, as Figure 5As shown, the first detection component 40 has a first circuit for detecting signals. The first circuit includes a first chip 43 with multiple pins. The first pin of the first chip 43 is grounded; the second pin of the first chip 43 is electrically connected to an infrared emitting diode; the third pin of the first chip 43 is electrically connected to an infrared receiving diode via a transistor Q35; and the fourth pin of the first chip 43 is connected to a power supply after being connected in series with a protective resistor R33704. Specifically, the base of the transistor Q35 is connected to the third pin of the first chip 43, the collector of the transistor Q35 is connected in series with a protective resistor R33706 and then electrically connected to the infrared receiving diode, the emitter of the transistor Q35 is grounded, and a protective resistor R33705 is connected in parallel between the collector and emitter of the transistor Q35. The protective resistor in the first circuit can be used to adjust and stabilize the current and voltage in the circuit. In addition, a first analog-to-digital converter can be provided between the third pin of the first chip 43 and the infrared receiver tube through the transistor Q35. The first analog-to-digital converter is used to convert the analog signal received by the infrared receiver tube into a digital signal so as to process and transmit it to the first chip 43 more accurately.
[0052] Please see Figure 6 In some embodiments of this application, the cleaning device 20 further includes a second blocking member 62, which is disposed on the driving member 31. When the driving member 31 drives the cleaning component 20 to move between a first position and a second position, the second blocking member 62 is used to move or rotate relative to the second detection component 50, so that the second detection component 50 can detect the current position and / or displacement of the driving member 31 by detecting the position of the second blocking member 62.
[0053] It is understandable that the positional change of the second blocking member 62 can be accurately sensed by the second detection component 50. Since the second blocking member 62 is set on the driving member 31, the second detection component 50 can provide real-time feedback on the position or status information of the driving member 31, thereby detecting the status information of the cleaning component 20 and ensuring the cleaning robot accurately detects the position of the cleaning component 20.
[0054] Further, please see Figures 6-7 In some embodiments of this application, the drive assembly 30 includes an electrical drive element 32, and the drive element 31 includes a winding reel 312 and a cable 313. The winding reel 312 is connected to the electrical drive element 32, and the cable 313 is wound around the periphery of the winding reel 312. One end of the cable 313 is connected to the cleaning assembly 20. The electrical drive element 32 is used to drive the winding reel 312 to rotate, thereby moving the cable 313 and the cleaning assembly 20, so that the cable 313 pulls the cleaning assembly 20 from a second position to a first position. The electrical drive element 32 can be a motor, an electric motor, or an electromagnetic drive device, etc.
[0055] Specifically, such as Figure 7 As shown, the winding reel 312 has a winding groove 3121 on its periphery. The winding groove 3121 is used to guide the cable 313 to wind in an orderly manner and avoid tangling. The cable 313 is wound around the axis of the winding reel 312 and embedded in the winding groove 3121 to ensure that the cable 313 remains stable when the winding reel 312 rotates and is not easy to fall off. When the cleaning component 20 needs to be moved to the first position, the electric drive 32 can drive the winding reel 312 to rotate, causing the cable 313 to gradually wrap around the reel 312, i.e., the cable 313 gradually tightens, thereby smoothly lifting the cleaning component 20 from the second position to the first position. Conversely, when the cleaning component 20 needs to be moved to the second position, the electric drive 32 can drive the winding reel 3211 to rotate in the opposite direction, causing the cable 3212 to loosen. At this time, the cleaning component 20 can move to the second position under the action of gravity. At the same time, the elastic member 31 can assist the cleaning component 20 in moving from the first position to the second position, ensuring that the cleaning component 20 is smoothly positioned. Alternatively, in some embodiments, the lifting member 34 can pull the cleaning component 20 by telescopic movement, thereby realizing the flexible switching of the cleaning component 20 between the second position and the first position. Preferably, the connection point between the cable 313 and the cleaning component 20 is located on the central axis of the cleaning component 20 to ensure that the cleaning component 20 remains balanced during movement and avoids deviation or shaking.
[0056] Furthermore, such as Figures 6-7 As shown, the electric drive unit 32 has an output shaft 321; the drive assembly 30 also includes a transmission gear 33, which is arranged along the axial direction of the winding disk 312 and is connected to the winding disk 312 by meshing. The circumference of the output shaft 321 meshes with the transmission gear 33 and drives the transmission gear 33 and the winding disk 312 to rotate.
[0057] Understandably, the output shaft 321 precisely controls the rotational speed and direction of the winding reel 312 via the transmission gear 33, ensuring a smooth and reliable tensioning and untensioning process for the cable 313. This, in turn, enables precise adjustment of the position of the cleaning component 20, improving the working efficiency and stability of the cleaning device 1. For example, the transmission gear 33 is fixed to the winding reel 312 via a gear meshing mechanism, and a spring is also provided between the winding reel 312 and the fixing frame to improve the contact stability between the winding reel 312 and the transmission gear 33. Alternatively, the transmission gear 33 can be connected to the winding reel 312 in other ways, such as by a keyway connection, to ensure no slippage during transmission and improve the reliability of the transmission structure.
[0058] Please continue reading Figures 6-7In some embodiments of this application, the second detection component 50 includes a slotted photoelectric switch and a second control chip 53. The slotted photoelectric switch 53 is disposed on a fixed frame and electrically connected to the second control chip 53. The slotted photoelectric switch is used to output a second detection result for position detection of the driving component 31 and transmit the second detection result to the second control chip 53. The second control chip 53 is used to determine the moving or rotating position of the driving component 31 based on the second detection result.
[0059] Specifically, the slotted photoelectric switch includes a second transmitting part 51 and a second receiving part 52, which are spaced apart. When the driving member 31 moves the cleaning component 20, the positional states of the driving member 31 and the second blocking member 62 change, allowing the second detection component 50 to detect the actual position of the cleaning component 20 by detecting the position of the second blocking member 62. When the cleaning component 20 is in the working position and the storage position, the second blocking member 62 is located between the second transmitting part 51 and the second receiving part 52. At this time, the second blocking member 62 will block the signal emitted by the second transmitting part 51, so that the second receiving part 52 cannot receive the complete signal. At this time, the second receiving part 52 outputs a third signal to the second control chip 53. The second control chip 53 detects that the cleaning component 20 has reached the predetermined position (first position or second position) according to the third signal. That is, the third signal at this time can be used to realize the positioning detection of the cleaning component 20. When the cleaning component 20 moves between the first position and the second position, the second blocking member 62 leaves the gap between the second transmitting part 51 and the second receiving part 52. At this time, the signal of the second transmitting part 51 can reach the second receiving part 52 smoothly. The second receiving part 52 outputs a fourth signal. The second control chip 53 detects that the cleaning component 20 is in the process of moving and has not yet reached the predetermined position (first position or second position) according to the fourth signal. That is, the fourth signal at this time can detect that the cleaning component 20 is not in position.
[0060] In some embodiments, the second blocking member 62 is disposed on the winding reel 312, which can drive the second blocking member 62 to rotate. This allows the slotted photoelectric switch to capture the displacement changes of the second blocking member 62 in real time during the rotation of the winding reel 312, thereby accurately feeding back the position information of the cleaning component 20. For example, the slotted photoelectric switch can output 0 / 1 digital signals to the second control chip 53. When the cleaning component 20 is in the first or second position, the second blocking member 62 blocks the optical path between the second transmitting part 51 and the second receiving part 52, and the slotted photoelectric switch outputs signal 1. When the cleaning component 20 moves between the first and second positions, the second blocking member 62 leaves the optical path, and the slotted photoelectric switch outputs signal 0. That is, the output signal of the slotted photoelectric switch changes from 1 to 0 and then back to 1. This change process clearly reflects the movement trajectory of the cleaning component 20, thereby achieving the detection of the cleaning component 20's position, effectively reducing misjudgments of the cleaning component 20's position, and improving the accuracy of the cleaning component 20's position detection.
[0061] Furthermore, such as Figure 6 As shown, the second shielding member 62 includes a first baffle 621 and a second baffle 622, which are spaced apart on the winding reel 312. When the cleaning component 20 is in the second position, the first baffle 621 is located between the second transmitting part 51 and the second receiving part 52. When the cleaning component 20 is in the first position, the second baffle 622 is located between the second transmitting part 51 and the second receiving part 52.
[0062] Understandably, the first baffle 621 and the second baffle 622 are symmetrically arranged along the axial direction of the winding reel 312, ensuring that the first baffle 621 and the second baffle 622 can alternately block the light path at different positions, accurately distinguishing the specific position and state of the cleaning component 20, and improving the response speed and detection accuracy of the cleaning device 1. At the same time, the arrangement of two baffles reduces the risk of misjudgment that may be caused by a single baffle, and the electric drive component 32 only needs to drive the winding reel 312 to rotate 180° to complete the switching between the working position and the storage position, simplifying the mechanical structure, reducing energy consumption, and extending the service life of the equipment.
[0063] It should be noted that, as Figure 8As shown, the second detection component 50 has a second circuit for detecting signals. The second circuit includes a second chip 53 with multiple pins. The first pin of the second chip 53 is connected to a power supply after being connected in series with a protection resistor R33673. The protection resistor is used to regulate and stabilize the current and voltage in the circuit. The second pin of the second chip 53 is electrically connected to a photoelectric sensor. The third pin of the second chip 53 is grounded. Additionally, a signal amplification circuit and a second analog-to-digital converter can be provided between the second pin of the second chip 53 and the photoelectric sensor. The signal amplification circuit amplifies the signal strength captured by the photoelectric sensor, and the second analog-to-digital converter converts the analog signal received by the photoelectric sensor into a digital signal for more accurate processing and transmission to the second chip 53.
[0064] In summary, the infrared phototransistor is used to detect the first obstruction 61, and the slotted photoelectric switch is used to detect the second obstruction 62. This allows the first detection component 40 to detect positional changes in the elastic element 31, and the second detection component 50 to detect positional changes in the winding disc 312. Consequently, the detection data from both the first and second detection components 40 can accurately determine the actual position of the cleaning component 20, and their data can be cross-checked. This embodiment improves the accuracy of position detection for the cleaning component 20 and extends the service life of the cleaning robot by using dual detection components and dual drives. Furthermore, since the first detection component 40 can directly detect the displacement of the cleaning component 20, and the displacement of the cleaning component 20 is relatively large, and the working environment near the cleaning component 20 contains a significant amount of water and dust, an infrared phototransistor can be selected when choosing the type of the first detection component 40 to reduce the adverse effects of the environment on the first detection component 40. The second detection component 50 detects the position of the cleaning component 20 by detecting the rotation angle or rotation amount of the winding disc 312. At this time, the position change of the winding disc 312 is small. Therefore, when selecting the second detection component 50, a slotted photoelectric switch can be selected to improve the detection accuracy of the second detection component 50 on the second shielding member 62. In addition, the slotted photoelectric switch requires less installation space, which can reduce the volume of the cleaning device 1.
[0065] In some embodiments of this application, the cleaning device 1 further includes a third detection component (not shown in the figure) and a control component. The third detection component is electrically connected to both the electric drive component 32 and the control component. The third detection component is used to detect the drive current of the electric drive component 32 and transmit the drive current to the control component. The control component is used to control the start and stop of the electric drive component according to the drive current.
[0066] Specifically, taking the electric drive component 32 as a motor as an example, when the motor drives the winding reel 312 to rotate and moves the cleaning component 20 to the first position via the cable 313, the motor is in a state similar to a stall state, and the drive current in the motor will increase. At this time, the third detection component captures the current peak and quickly feeds it back to the control component. The control component determines that the cleaning component 20 has reached the position based on a preset threshold, further optimizing the accuracy of position detection and ensuring efficient and stable operation of the system. It can be understood that when the cleaning component 20 moves to the first position, the drive current reaches the preset upper limit, and the control component can immediately send a stop signal to the electric drive component 32 to avoid overload damage and ensure equipment safety. At the same time, the control component can also start the electric drive component 32 in time if the cleaning component 20 has not reached the position, ensuring accurate positioning of the cleaning component 20 and improving operational efficiency. The third detection component can use a current sensor or a Hall sensor to monitor current changes in real time and accurately feed back the drive status, ensuring double protection for the position detection of the cleaning component 20, further optimizing the stability of the cleaning device 1, and improving overall work efficiency.
[0067] It should be noted that, in this embodiment, the inclusion of the third detection component not only improves the reliability of position detection of the cleaning component 20, but also enables real-time monitoring of the operating status of the electrical drive component 32, effectively preventing overload and malfunction of the electrical drive component 32, and further enhancing the overall safety and durability of the cleaning device 1. Through a multi-layered detection mechanism, this embodiment enables the cleaning robot to not only accurately identify the position of the cleaning component 20, but also monitor the driving status of the cleaning component 20 in real time, ensuring stable operation of the cleaning robot under various working conditions, greatly improving the intelligence level and user experience of the cleaning robot.
[0068] It should also be noted that the third detection component has a third circuit (not shown in the figure) for detecting signals. The third circuit includes a third chip and a current sensor. The third chip has multiple pins. Some of the pins of the third chip are connected to ground in series with a protective resistor, and some of the pins of the third chip are also connected to the power supply in series with a protective resistor. The protective resistor is used to regulate and stabilize the current and voltage in the circuit. At the same time, other pins of the third chip are electrically connected to the current sensor, which is electrically connected to the electrical drive 32. The current sensor can detect the drive current of the electrical drive 32 in real time, and the signal is processed by the third chip and accurately fed back to the control chip to ensure that the drive current is within a safe range, prevent overload, and improve system stability and safety.
[0069] Secondly, this application also provides a cleaning robot, including a main body (not shown in the figure) and a cleaning device 1 as described in any of the above embodiments. The cleaning device 1 is disposed at the bottom of the main body, and the fixing frame is connected to the main body.
[0070] Specifically, the mounting bracket is installed at the bottom of the main body, and the drive component 30 drives the cleaning component 20 to move relative to the main body of the cleaning robot. At this time, the first detection component 40 and the second detection component 50 can detect the actual position of the cleaning component 20 after it moves.
[0071] For example, the cleaning device 1 can be used for mopping by a cleaning robot, and a brush assembly can also be provided at the bottom of the main body of the cleaning robot for sweeping. Taking the cleaning assembly 20 including a roller 22 as an example, the cleaning robot has a sweeping mode and a mopping mode. When the cleaning robot is in mopping mode, the roller 22 is in the working position (second position) to facilitate contact with the ground; when the cleaning robot is in sweeping mode, the roller 22 is in the storage position (first position) to avoid contact between the roller 22 and the ground, which would increase the resistance of the cleaning robot when sweeping.
[0072] In some embodiments of this application, the main body has a storage cavity and a first opening communicating with the storage cavity; the cleaning component 20 is movably connected to the fixing frame so that at least a portion of the cleaning component 20 enters and exits the storage cavity through the first opening.
[0073] Specifically, the storage cavity is used to store the cleaning component 20 when it is in the storage position, so as to provide storage space for the cleaning component 20 and reduce the interference between the cleaning component 20 and the external environment when the cleaning robot is working.
[0074] In the accompanying drawings of this embodiment, the same or similar reference numerals correspond to the same or similar components. In the description of this application, it should be understood that if terms such as "upper," "lower," "left," and "right" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, they are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the components or elements referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms used to describe positional relationships in the drawings are only for illustrative purposes and should not be construed as limiting this application. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.
[0075] The above are merely preferred embodiments of this application and are not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.
Claims
1. A cleaning device, characterized in that, Applied to a cleaning robot, the cleaning robot includes a main body, and the cleaning device includes: A mounting bracket is used to connect to the main body of the cleaning robot; A cleaning component is movably connected to the mounting bracket; A drive assembly is disposed on the fixed frame. The drive assembly includes a drive member that is capable of moving or rotating relative to the fixed frame to drive the cleaning assembly to move between a first position and a second position. A first detection component is disposed on the fixing frame and is used to detect the current position and / or displacement of the cleaning component; The second detection component, disposed on the fixed frame, is used to detect the current position and / or displacement of the drive component.
2. The cleaning device according to claim 1, characterized in that, The cleaning device includes a first shielding member disposed on the cleaning component. When the cleaning component moves between the first position and the second position, the first shielding member is used to move relative to the first detection component so that the first detection component detects the current position and / or displacement of the cleaning component.
3. The cleaning device according to claim 2, characterized in that, The driving component includes an elastic element disposed between the fixing frame and the cleaning component, and the elastic element is used to drive the cleaning component to move from the first position to the second position.
4. The cleaning device according to claim 3, characterized in that, The fixing frame is provided with a sleeve, the sleeve having a first cavity and a first opening communicating with the first cavity; the cleaning component is provided with an abutment, at least a portion of which extends into the first cavity through the first opening; The end of the abutment member away from the cleaning component is connected to the elastic member, and the end of the elastic member away from the cleaning component is connected to the inner wall of the first cavity; Alternatively, the abutment has a second cavity and a second opening communicating with the second cavity, at least a portion of the elastic member extends into the second cavity through the second opening and is connected to the inner wall of the second cavity, and one end of the elastic member away from the cleaning assembly is connected to the inner wall of the first cavity; The abutting member is elastically telescopically movable within the first cavity via the elastic member, the first detection component is disposed on the sleeve, and the first shielding member is disposed on the abutting member.
5. The cleaning device according to claim 1, characterized in that, The cleaning device further includes a second shielding member disposed on the driving member. When the driving member drives the cleaning component to move between the first position and the second position, the second shielding member is used to move or rotate relative to the second detection component so that the second detection component detects the current position and / or displacement of the driving member.
6. The cleaning device according to claim 5, characterized in that, The drive assembly also includes an electrical drive component; The driving component includes a winding reel and a cable. The winding reel is connected to the electrical driving component. The second shielding component is disposed on the winding reel. The cable is wound around the periphery of the winding reel, and one end of the cable is connected to the cleaning component. The electrical driving component is used to drive the winding reel to rotate, so that the cable pulls the cleaning component from the second position to the first position.
7. The cleaning device according to claim 6, characterized in that, The electric drive component has an output shaft; The drive assembly further includes a transmission gear, which is arranged along the axial direction of the winding disc and is meshed with the winding disc. The circumference of the output shaft meshes with the transmission gear and drives the transmission gear and the winding disc to rotate.
8. The cleaning device according to claim 6, characterized in that, The cleaning device further includes a third detection component and a control component. The third detection component is electrically connected to both the electrical drive component and the control component. The third detection component is used to detect the drive current of the electrical drive component and transmit the drive current to the control component. The control component is used to control the start and stop of the electrical drive component according to the drive current.
9. The cleaning device according to claim 1, characterized in that, The first detection component includes an infrared photodiode and a first control chip. The infrared photodiode is disposed on the mounting bracket and electrically connected to the first control chip. The infrared photodiode is used to output a first detection result for position detection of the cleaning component and transmit the first detection result to the first control chip. The first control chip is used to determine the current position and / or displacement of the cleaning component based on the first detection result; and / or, The second detection component includes a slotted photoelectric switch and a second control chip. The slotted photoelectric switch is disposed on the fixed frame and electrically connected to the second control chip. The slotted photoelectric switch is used to output a second detection result for position detection of the driving component and transmit the second detection result to the second control chip. The second control chip is used to determine the movement or rotation position of the driving component based on the second detection result.
10. The cleaning device according to claim 1, characterized in that, The cleaning components and the mounting bracket are arranged along a first direction; The cleaning component is movably connected to the fixing frame along the first direction, so that the cleaning component moves toward or away from the fixing frame; or, the cleaning component is movably connected to the fixing frame along a second direction, so that the cleaning component moves toward or away from the central axis of the fixing frame, wherein the second direction is perpendicular to the first direction.
11. A cleaning robot, characterized in that, It includes a main body and a cleaning device as described in any one of claims 1 to 10, the cleaning device being disposed at the bottom of the main body, and the fixing frame being connected to the main body.
12. The cleaning robot according to claim 11, characterized in that, The main body has a storage cavity and a first opening communicating with the storage cavity, and the cleaning component is movably connected to the fixing frame so that at least a portion of the cleaning component enters and exits the storage cavity through the first opening.