Integrated corner cleaning bump and bound detection device and cleaning robot

Abstract

Integrated corner cleaning collision type boundary detection device and cleaning robot, relate to the technical field of intelligent cleaning equipment. The boundary detection device is used for a cleaning robot provided with a cleaning turntable at the bottom, and comprises: a detection component movably arranged at the corner area of the cleaning robot and at least partially protruding from the side of the cleaning robot to be displaced when subjected to external extrusion; a trigger component linked with the displacement of the detection component; a sensor for generating a sensing signal when the trigger component is displaced to a preset position; and a corner cleaning mechanism comprising a wiping component arranged on the detection component, which contacts the surface to be cleaned and rotates to clean the corner area not covered by the cleaning turntable due to the blocking of the peripheral frame of the surface to be cleaned when the detection component abuts against the surface to be cleaned. The above boundary detection device is installed on the cleaning robot, which can clean the corner area of the window glass while performing boundary detection, thereby reducing the cleaning dead angle.

Description

Technical Field

[0001] This utility model relates to the field of intelligent cleaning equipment technology, and in particular to a collision-type boundary detection device and cleaning robot that integrates corner cleaning. Background Technology

[0002] Chinese patent document CN219895552U discloses a window cleaning robot, which includes cleaning discs located at the bottom of the robot body. These cleaning discs are rotated by a drive motor to wipe the surface of the window glass. However, since the rotating coverage area of ​​the cleaning discs is circular, when the robot moves to the corners of the window glass, the circular motion trajectory of the cleaning discs cannot reach the corner areas of the window, resulting in cleaning dead spots. Utility Model Content

[0003] One of the objectives of this invention is to provide an integrated device capable of achieving corner cleaning and collision detection.

[0004] To achieve the above objectives, this utility model adopts the following technical solution: a collision-type boundary detection device integrating corner cleaning, used in a cleaning robot, wherein the cleaning robot wipes the surface to be cleaned via a cleaning turntable located at its bottom, the device comprising:

[0005] The detection component is movably disposed in the corner area of ​​the cleaning robot (body) and at least partially protrudes from the side of the cleaning robot (body) so as to be displaced when subjected to external impact;

[0006] The triggering component moves in tandem with the displacement of the detection component;

[0007] A sensor is used to generate a sensing signal when the triggering component is displaced to a preset position;

[0008] The corner cleaning mechanism includes a wiping component disposed on the detection component. When the detection component comes into contact with the surface to be cleaned, the wiping component contacts the surface to be cleaned and rotates to clean the corner area that is not covered by the cleaning turntable due to the obstruction of the outer frame of the surface to be cleaned (i.e., the corner area that the cleaning turntable cannot reach due to the obstruction of the outer frame of the surface to be cleaned).

[0009] Furthermore, the detection component includes:

[0010] The rod-shaped part is configured to move laterally (e.g., along a direction parallel to the surface to be cleaned) and is connected to the triggering component (e.g., fixedly connected or connected in a synchronously movable manner).

[0011] The contact part is sleeved on the rod-shaped part, and its side protrudes from the side of the cleaning robot (body) to form a collision contact surface;

[0012] When the contact part is subjected to external pressure, it causes the rod-shaped part to move laterally, thereby causing the triggering component (moved to a preset position) to trigger the sensor to generate a sensing signal, and simultaneously adjust the contact position between the wiping component of the corner cleaning mechanism and the surface to be cleaned.

[0013] Furthermore, the contact portion is rotatably disposed, and the wiping component is fixed to the contact portion and rotates with it; when the contact portion is not squeezed or bumped, the wiping component rotates to clean the corner area of ​​the surface to be cleaned; when the contact portion is squeezed or bumped, the wiping component moves with the contact portion to adjust its contact position with the surface to be cleaned.

[0014] Furthermore, the rod-shaped part is configured to have a vertical degree of freedom. When the cleaning robot is adsorbed onto the surface to be cleaned, the bottom end of the rod-shaped part maintains contact with the surface to be cleaned (i.e., abuts against the surface to be cleaned). When the cleaning robot moves to the outside of the surface to be cleaned, the rod-shaped part moves downward (e.g., moves downward in a direction perpendicular to the surface to be cleaned), driving the triggering component to move to a preset position and triggering the sensor to generate a sensing signal.

[0015] Furthermore, the boundary detection device also includes a first elastic reset mechanism, which is configured to apply an elastic force to the rod-shaped portion so that its bottom end abuts against the surface to be cleaned.

[0016] Furthermore, the rod-shaped part is rotatably connected to the body of the cleaning robot via a swing arm, so that when the contact part is subjected to horizontal squeezing, the rod-shaped part can be displaced along a circular trajectory centered on the rotation center of the swing arm, causing the triggering component to move synchronously in an arc.

[0017] Furthermore, the free end of the swing arm is provided with a mounting hole and the contact part is rotatably mounted in the mounting hole; the pivot end of the swing arm is rotatably mounted on the machine body and is provided with a rotatable first synchronous wheel. The first synchronous wheel is connected to a drive source that drives its rotation. The contact part is coaxially fixed with a second synchronous wheel, and the second synchronous wheel is connected to the first synchronous wheel through a synchronous belt or gear transmission mechanism to transmit the rotational power of the first synchronous wheel to the contact part, so as to make it rotate (i.e. generate a rotational motion independent of the swing arm swing).

[0018] Furthermore, the drive source includes a drive gear coaxially fixed on the cleaning turntable, and a driven gear coaxially fixed on the first synchronous pulley. The drive gear meshes with the driven gear to transmit the rotational power of the cleaning turntable to the contact part, causing it to rotate.

[0019] Furthermore, the boundary detection device also includes a second elastic reset mechanism, which is configured to apply an elastic force to the swing arm so that it drives the detection component to reset after the collision disappears.

[0020] Another objective of this utility model is to provide a cleaning robot, which has a body with a rectangular or square outer contour, a cleaning turntable at the bottom of the body, and the aforementioned integrated corner cleaning collision-type boundary detection device at the four corners of the bottom of the body.

[0021] This invention integrates corner cleaning functionality into a collision-based boundary detection device. Through the coordinated operation of detection and wiping components positioned at the corners of the cleaning robot, when the robot detects the outer edge of the surface to be cleaned (e.g., reaching a corner), the wiping component can clean corner areas inaccessible to the cleaning turntable due to the outer edge obstructing the view. This achieves the integration of boundary detection and corner cleaning functions. Consequently, it not only expands the cleaning robot's coverage area and improves cleaning efficiency but also reaches corner areas inaccessible to the cleaning turntable, reducing blind spots and enhancing cleaning effectiveness. Attached Figure Description

[0022] Figure 1 For the three-dimensional cleaning robot Figure 1 ;

[0023] Figure 2 For the three-dimensional cleaning robot Figure 2 ;

[0024] Figure 3 For the three-dimensional cleaning robot Figure 3 ;

[0025] Figure 4 A three-dimensional diagram of the organism;

[0026] Figure 5 For boundary detection device, U-shaped seat and swing arm three-dimensional Figure 1 ;

[0027] Figure 6 For boundary detection device, U-shaped seat and swing arm three-dimensional Figure 2 ;

[0028] Figure 7 A three-dimensional view of the boundary detection device and the swing arm;

[0029] Figure 8 This is a schematic diagram showing the structure in which the first and second synchronous pulleys are connected by a synchronous belt.

[0030] Figure 9 This is an exploded view of the swing arm;

[0031] Figure 10 This is an exploded view of the detection component and the triggering component.

[0032] In the picture:

[0033] 1—Detection component 1a—Rod-shaped part

[0034] 1b – Contact part; 2 – Triggering component

[0035] 2a – First trigger section; 2b – Second trigger section

[0036] 3 - Sensor; 4 - Wiping component

[0037] 5—Swing arm 5a—Upper housing

[0038] 5a1 – Limiting hole; 5b – Lower housing

[0039] 5b1 – Mounting hole 6 – First synchronizer pulley

[0040] 7 - Second synchronous pulley; 8 - Synchronous belt

[0041] 9 – Drive gear; 10 – Driven gear

[0042] 11 - Body 12 - Cleaning Turntable

[0043] 13 - Suction Module 14 - Drive Module

[0044] 15 - Controller 16 - Wheels

[0045] 17 - Shaft 18 - Compression Spring

[0046] 19 – First guide hole; 20 – Second guide hole

[0047] 21——U-shaped seat 22——Fixed seat. Detailed Implementation

[0048] To facilitate a clearer understanding of the concept of this utility model by those skilled in the art, it will be further described below in conjunction with embodiments and accompanying drawings. (See also...) Figure 1-10 .

[0049] like Figure 1-4As shown, the cleaning robot in this embodiment mainly consists of a body 11, a cleaning turntable 12, a suction module 13, a drive module 14, a boundary detection device, and a controller 15. The number of cleaning turntables 12 can be set according to actual needs; this embodiment uses four cleaning turntables 12 as an example for detailed explanation. The bottom of the body 11 typically has a negative pressure suction chamber for adsorbing the cleaning robot onto the surface to be cleaned. In this embodiment, the cleaning turntable 12 has a chamber inside, which is connected to the suction module 13. By extracting air from the chamber, a negative pressure suction force is formed, creating a negative pressure suction chamber that allows the cleaning robot to adhere to the surface to be cleaned. The surface to be cleaned can be various panel surfaces, such as floors, glass windows, glass curtain walls, etc. This embodiment mainly uses a glass window as an example. The suction module 13 can be a negative pressure fan or a vacuum pump. Since the air duct and control circuit of the cleaning robot involved in this embodiment are similar to those of existing cleaning robots, these contents will not be described in detail for the sake of simplicity.

[0050] The cleaning robot in this embodiment can achieve twisting movement by alternately rotating the cleaning turntable 12, or it can achieve straight-line movement by adding a walking unit. The walking unit can be a tracked structure driven by drive wheels, or walking wheels 16 driven by a motor. The specific choice can be made according to actual needs, and will not be elaborated here. Furthermore, when the walking unit uses walking wheels 16, the walking wheels 16 can also be installed inside the cavity of the cleaning turntable 12 and connected to the cleaning turntable 12 through a transmission structure, thereby allowing the cleaning turntable 12 and the walking wheels 16 to share the same drive module 14.

[0051] from Figure 1 , 2 As can be seen from Figure 4, the overall shape of the cleaning robot in this embodiment adopts a square (rectangular or square) outer contour. Of course, this design can be adjusted to other shapes as needed. In this embodiment, four cleaning discs 12 are set at the bottom of the body 11. When the cleaning discs 12 are attached to the glass surface, the cleaning discs 12 can be driven to rotate by the drive module 14 to wipe and clean the glass surface.

[0052] The following explanation uses a common example of a square glass window with a frame.

[0053] Because the cleaning robot is square in shape, while the rotating coverage area of ​​the cleaning turntable 12 is circular, when the robot moves to the corner of the square glass, that corner area cannot be reached by the cleaning turntable 12 (equivalent to the corner area not being covered by the rotating coverage area of ​​the cleaning turntable 12), making the corner of the glass a cleaning dead zone. Unlike traditional cleaning robots, this embodiment has a boundary detection device with a built-in corner cleaning mechanism at the four corners of the bottom of the body 11, integrating the corner cleaning function into this device. Typically, one boundary detection device is set at each of the four corners of the bottom of the body 11 (see [reference]). Figure 1 , 2 When the cleaning robot cleans the glass surface, the corner cleaning mechanism can wipe the outer area of ​​the rotation trajectory of the cleaning turntable 12 (i.e., the outer area covered by the rotation of the cleaning turntable 12). This expands the cleaning coverage area of ​​the cleaning robot and improves cleaning efficiency. Furthermore, when the cleaning robot reaches the corners of the glass surface, while the boundary detection device performs boundary detection, the corner cleaning mechanism can also wipe the corner areas that the cleaning turntable 12 cannot reach due to obstruction by the outer frame of the surface to be cleaned (i.e., the glass frame), thereby reducing cleaning dead spots and improving cleaning effectiveness. At the same time, the integrated design of the corner cleaning mechanism and the boundary detection device improves space utilization and makes the structure more compact.

[0054] The aforementioned boundary detection device for integrated corner cleaning at least has frame boundary detection functionality, and can employ a collision-based detection method, i.e., boundary detection is achieved by touching the frame. Specifically, such as... Figure 5-8 and Figure 10 As shown, the boundary detection device mainly includes a detection component 1, a triggering component 2, a sensor 3, and a corner cleaning mechanism. The detection component 1 is movably mounted in the corner area of ​​the body 11, with at least a portion protruding from the side of the body 11. This allows the detection component 1 to shift (e.g., move parallel to the surface to be cleaned) when the protruding portion is subjected to external impact (e.g., by a frame). The triggering component 2 moves in tandem with the detection component 1. When the triggering component 2 moves to a preset position with the detection component 1, it triggers the sensor 3 to generate a signal, indicating that the boundary has been reached. The corner cleaning mechanism includes a rotatable wiping component 4 mounted on the detection component 1. When the detection component 1 abuts against the surface to be cleaned, the wiping component 4 contacts and rotates, cleaning the corner areas not covered by the cleaning turntable 12 due to obstruction by the outer frame of the surface (i.e., corner areas inaccessible to the cleaning turntable 12 due to obstruction by the outer frame).

[0055] The boundary detection device in this embodiment can also simultaneously have a frameless boundary detection function. Specifically, the detection component 1 is configured to have a vertical degree of freedom. When the cleaning robot is attached to the surface to be cleaned, the bottom end of the detection component 1 abuts against the surface to be cleaned. When the cleaning robot moves to the outside of the surface to be cleaned, the detection component 1 moves downward (e.g., moves downward in a direction perpendicular to the surface to be cleaned), causing the trigger component 2 to move to a preset position, triggering the sensor 3 to generate a sensing signal.

[0056] The detection component 1 in this embodiment mainly consists of a rod-shaped part 1a, a contact part 1b, and other components. The rod-shaped part 1a is mounted on the body 11 and can move laterally (e.g., along a direction parallel to the surface to be cleaned). The rod-shaped part 1a is connected to the triggering component 2 (e.g., fixedly connected or connected in a synchronously movable manner), allowing both to move synchronously. The contact part 1b is a ring-shaped or sleeve-shaped structure fitted onto the rod-shaped part 1a, with its side protruding from the side of the body 11 to form a collision contact surface. When the contact part 1b is impacted by an external object (e.g., a frame), it can cause the rod-shaped part 1a to move laterally, thereby moving the triggering component 2 to a preset position. This triggers the sensor 3 to generate a sensing signal and simultaneously adjusts the contact position between the wiping component 4 of the corner cleaning mechanism and the surface to be cleaned.

[0057] In this embodiment, the contact portion 1b is rotatably mounted on the rod-shaped portion 1a, and the wiping member 4 is fixed to the contact portion 1b and rotates with it. When the contact portion 1b is not subjected to pressure, the wiping member 4 rotates to clean the corner areas of the surface to be cleaned; when the contact portion 1b is subjected to pressure, the wiping member 4 moves with the contact portion 1b to adjust its contact position with the surface to be cleaned. The wiping member 4 can also be configured as a ring or sleeve structure and fixed to the bottom end of the contact portion 1b. When the bottom end of the rod-shaped portion 1a abuts against the surface to be cleaned, the bottom end of the wiping member 4 also contacts the surface to be cleaned.

[0058] Since the boundary detection device has a frameless boundary detection function, the rod-shaped part 1a in the detection component 1 can be configured to have a vertical degree of freedom. When the cleaning robot is adsorbed onto the surface to be cleaned, the bottom end of the rod-shaped part 1a maintains contact with the surface to be cleaned (i.e., abuts against the surface to be cleaned). When the cleaning robot moves to the outside of the surface to be cleaned, the rod-shaped part 1a moves downward (e.g., moves downward in a direction perpendicular to the surface to be cleaned), driving the triggering component 2 to move to a preset position, triggering the sensor 3 to generate a sensing signal.

[0059] In this embodiment, the rod-shaped part 1a is rotatably connected to the body 11 via the swing arm 5, so that when the contact part 1b is squeezed in the horizontal direction, the rod-shaped part 1a can be displaced along a circular trajectory with the rotation center of the swing arm 5 as the center, driving the triggering component 2 to move in an arc synchronously.

[0060] The free end of the swing arm 5 is provided with a mounting hole 5b1, and the contact part 1b is rotatably installed in the mounting hole 5b1; the pivot end of the swing arm 5 is rotatably installed on the body 11 and is provided with a rotatable first synchronous pulley 6, the first synchronous pulley 6 is connected to a drive source that drives its rotation, and the contact part 1b is coaxially fixed with a second synchronous pulley 7, and the second synchronous pulley 7 is connected to a synchronous belt 8 (see also...). Figure 8 The first synchronous wheel 6 is connected to the first synchronous wheel 6 via a gear transmission mechanism to transmit the rotational power of the first synchronous wheel 6 to the contact part 1b, causing it to rotate (i.e., generate a rotational motion independent of the swing arm 5). The pivot end of the swing arm 5 can be mounted on the machine body 11 via a rotating shaft 17, and the first synchronous wheel 6 is mounted on the rotating shaft 17 and can rotate around the rotating shaft 17.

[0061] The drive source can be a drive motor that directly drives the first synchronous pulley 6 to rotate (power output is achieved through the meshing connection between a gear on the motor's output shaft and a synchronous gear coaxially mounted on the first synchronous pulley 6). Alternatively, the drive source can include a drive gear 9 coaxially fixed to the cleaning turntable 12, with a driven gear 10 coaxially fixed to the first synchronous pulley 6, and the drive gear 9 meshing with the driven gear 10 (see [reference]). Figure 3 The rotational power of the cleaning turntable 12 is transmitted to the contact part 1b, causing it to rotate. By using the cleaning turntable 12 to drive the first synchronous wheel 6, no additional drive components are needed; the power can be provided solely by the motor driving the cleaning turntable 12. This reduces equipment costs and simplifies the structure. Furthermore, by using the rotating cleaning turntable 12 as the driving force, the wiping component 4 and the cleaning turntable 12 can rotate simultaneously, working together to wipe the surface to be cleaned, thereby improving cleaning efficiency and effectiveness.

[0062] In this embodiment, the boundary detection device further includes a first elastic reset mechanism, which is configured to apply an elastic force to the rod-shaped portion 1a so that its bottom end abuts against the surface to be cleaned. The first elastic reset mechanism can be a spring (such as a tension spring, compression spring, or other elastic component), which can be located between the rod-shaped portion 1a and the body 11, or between the rod-shaped portion 1a and the swing arm 5, or between the rod-shaped portion 1a and the contact portion 1b, or between the swing arm 5 and the triggering component 2. Of course, the arrangement of the first elastic reset mechanism should not interfere with the movement of other connected components. A preferred embodiment is that the first elastic reset mechanism is located between the rod-shaped portion 1a and the swing arm 5. For example, the spring selected for the first elastic reset mechanism is a tension spring, which is located between the rod-shaped portion 1a and the swing arm 5 (not shown in the figure). The lower end of the tension spring is fixed to the upper end of the swing arm 5, and the upper end of the tension spring is fixed to the rod-shaped part 1a (the fixed position is located above the swing arm 5). When the rod-shaped part 1a moves upward due to the adsorption of the machine body 11 onto the surface to be cleaned, the tension spring can be stretched. When the machine body 11 moves to the outside of the surface to be cleaned, the tension spring is released and retracted, which can pull the rod-shaped part 1a downward. In addition, a gap can be reserved between the upper end of the swing arm 5 and the lower end of the machine body 11 for installing the tension spring, or a groove can be provided on the swing arm 5 / machine body 11, and the tension spring can be accommodated in the groove. Of course, since the triggering component 2 is fixed to the upper end of the rod-shaped part 1a, a tension spring can also be provided between the triggering component 2 and the swing arm 5.

[0063] Simultaneously, the boundary detection device may also include a second elastic reset mechanism, which is configured to apply an elastic force to the swing arm 5 so that it drives the detection component 1 to reset after the collision disappears. Through the elastic force of the second elastic reset mechanism, the free end of the swing arm 5 can remain in a convex state when the machine has not reached the edge, thereby ensuring that the side of the contact portion 1b in the detection component 1 remains protruding from the side of the machine body 11 when it has not contacted the edge. The second elastic reset mechanism may be a spring, which can be disposed between the swing arm 5 and the machine body 11. For example, the spring selected for the second elastic reset mechanism is a compression spring 18. Figure 4-7 and Figure 9As shown, a fixed base 22 is provided at the upper end of the swing arm 5, and a first guide hole 19 is provided on the body 11. The fixed base 22 is installed in the first guide hole 19 and can move within it. A compression spring 18 is located between the inner end of the fixed base 22 and the inner end of the first guide hole 19. A second guide hole 20 is also provided on the body 11, and a rod-shaped part 1a is installed in the second guide hole 20 and can move within it. Both the first guide hole 19 and the second guide hole 20 are arc-shaped structures, and their extension trajectories are consistent with the swing path of the swing arm 5, so that when the swing arm swings around its pivot end, the fixed base 22 and the rod-shaped part 1a can move in the first guide hole 19 and the second guide hole 20 in the same direction, respectively. During this movement, the fixed base 22 can compress the compression spring 18, and the rod-shaped part 1a can drive the triggering component 2 to move to a preset position. Furthermore, the swing angle of the swing arm 5 can be limited so that when the swing arm 5 swings to its limit position towards the body 11, the contact part 1b will not contact the cleaning turntable 12, thus avoiding interference. For example, the swing angle of the swing arm 5 can be limited by properly configuring the lengths of the first guide hole 19 and the second guide hole 20.

[0064] In this embodiment, as Figure 9 As shown, the swing arm 5 consists of an upper housing 5a and a lower housing 5b, which are connected and fixed to form a mounting cavity. The first synchronous wheel 6 and the second synchronous wheel 7 can be installed in this mounting cavity, making the structure compact. A mounting hole 5b1 is provided on the lower housing 5b, and the contact portion 1b is rotatably mounted on the lower housing 5b. The upper housing 5a has a limiting hole 5a1 at a position corresponding to the mounting hole 5b1. The upper end of the rod-shaped portion 1a passes through the contact portion 1b and then upwards through the limiting hole 5a1, thereby enabling the rod-shaped portion 1a to move axially and restricting its radial movement. The shapes of the limiting hole 5a1 and the rod-shaped portion 1a can match each other; for example, when the limiting hole 5a1 adopts a square structure, the rod-shaped portion 1a also adopts a square structure accordingly. Furthermore, the bottom end of the rod-shaped portion 1a can be designed as a spherical or hemispherical structure so that it can slide downwards more smoothly when reaching the frameless boundary and move upwards more smoothly to return to the surface to be cleaned when retracting inwards.

[0065] The working principle of the boundary detection device is briefly explained below.

[0066] For the specific structure of a single boundary detection device, please refer to [link / reference]. Figure 5 , 6As shown in Figure 10. In this embodiment, the sensor 3 is an interruption sensor, but other types of sensors can also be selected, such as reflective sensors, as long as the sensor can trigger a sensing signal due to the movement of the triggering component 2. The triggering component 2 can trigger the sensing signal by contact triggering or non-contact triggering. For example, non-contact triggering can be achieved by blocking or changing the original signal transmission path of the sensor 3. In this embodiment, the lower rear end of the triggering component 2 is provided with an avoidance notch, the lower front end (i.e., the front side of the avoidance notch) is the first triggering part 2a, and the upper rear end (i.e., the upper side of the avoidance notch) is the second triggering part 2b. The first triggering part 2a is located in front of the sensor 3 in the non-triggered state, and the second triggering part 2b is located above the sensor 3 in the non-triggered state. When the first triggering part 2a of the triggering component 2 moves backward (laterally backward) from the non-triggering position along the arc trajectory (i.e., the swing direction of the swing arm 5) to the triggering position (first triggering position) with the rod-shaped part 1a, it can block the original signal transmission path of the sensor 3, thereby triggering the sensor 3 to generate a sensing signal (corresponding to framed boundary detection). When the second triggering part 2b of the triggering component 2 moves downward from the non-triggering position to the triggering position (second triggering position) with the rod-shaped part 1a, it can block the original signal transmission path of the sensor 3, thereby triggering the sensor 3 to generate a sensing signal (corresponding to frameless boundary detection).

[0067] The robot body 11 is equipped with a U-shaped base 21, and the sensor 3 is mounted on the inner wall of the U-shaped base 21. When the cleaning robot performs boundary detection of framed window glass, when the side of the contact part 1b is squeezed by the frame, the triggering part 2 moves backward with the rod-shaped part 1a (along an arc trajectory), causing its lower front end (first triggering part 2a) to move between the two side walls of the U-shaped base 21, thereby triggering the sensor 3 to generate a sensing signal. When the cleaning robot performs boundary detection of frameless window glass, when the bottom of the rod-shaped part 1a moves out of the glass boundary, the triggering part 2 moves downward with it, causing its upper rear end (second triggering part 2b) to move between the two side walls of the U-shaped base 21, thereby triggering the sensor 3 to generate a sensing signal.

[0068] Figure 5The diagram illustrates the relative positions of the first trigger part 2a, the second trigger part 2b, and the sensor 3 when the triggering component 2 is in the non-triggering position. As can be seen from the diagram, when the triggering component 2 is in the non-triggering position, the first trigger part 2a is located in front of the signal transmission path of the sensor 3, and the second trigger part 2b is located above the signal transmission path of the sensor 3. During the operation of the cleaning robot, when it moves to the edge of a framed window, the contact part 1b of the detection component 1 collides with the glass frame. Because the contact part 1b can drive the rod-shaped part 1a to move backward relative to the body 11 when it collides with the glass frame, the rod-shaped part 1a drives the triggering component 2 to move backward under the pushing action of the frame. When the triggering component 2 moves backward to the point where it interferes with the original signal transmission path of the sensor 3 (at this time, the triggering component 2 is in the first triggering position, see [reference]),... Figure 6 When the cleaning robot moves to the edge of the frameless window glass, since the contact part 1b is not pushed by the frame, it will not cause the rod-shaped part 1a to move laterally relative to the body 11 (moving along the arc direction), but the rod-shaped part 1a will move to the outside of the glass and be suspended in the air. After losing the support of the glass, the rod-shaped part 1a causes the triggering part 2 to move downward relative to the body 11. When the second triggering part 2b moves downward to interfere with the original signal transmission path of the sensor 3 (at this time, the triggering part 2 is in the second triggering position), the original signal transmission path is blocked, thereby triggering the sensing signal.

[0069] The above embodiments are preferred implementations of this utility model. Any obvious substitutions without departing from the concept of this technical solution are within the protection scope of this utility model.

Claims

1. A collision-type boundary detection device integrating corner cleaning for a cleaning robot, wherein the cleaning robot wipes the surface to be cleaned by a cleaning turntable (12) disposed at its bottom, characterized in that, include: The detection component (1) is movably disposed in the corner area of ​​the cleaning robot and at least partially protrudes from the side of the cleaning robot so as to be displaced when subjected to external impact; The triggering component (2) moves in conjunction with the displacement of the detection component (1); Sensor (3) is used to generate a sensing signal when the triggering component (2) is displaced to a preset position; The corner cleaning mechanism includes a wiping component (4) disposed on the detection component (1). When the detection component (1) comes into contact with the surface to be cleaned, the wiping component (4) contacts the surface to be cleaned and rotates to clean the corner area that is not covered by the cleaning turntable (12) due to the obstruction of the outer frame of the surface to be cleaned.

2. The collision-type boundary detection device with integrated corner cleaning according to claim 1, characterized in that: The detection component (1) includes: The rod-shaped part (1a) is movably disposed laterally and connected to the triggering component (2); The contact portion (1b) is sleeved on the rod-shaped portion (1a), and its side protrudes from the side of the cleaning robot to form a collision contact surface; When the contact part (1b) is squeezed by the outside, it causes the rod-shaped part (1a) to move laterally, thereby causing the triggering component (2) to trigger the sensor (3) to generate a sensing signal, and simultaneously adjust the contact position between the wiping component (4) of the corner cleaning mechanism and the surface to be cleaned.

3. The collision-type boundary detection device with integrated corner cleaning according to claim 2, characterized in that: The contact portion (1b) is rotatably disposed, and the wiping component (4) is fixed to the contact portion (1b) and rotates with it; When the contact portion (1b) is not squeezed, the wiping component (4) rotates to clean the corner area of ​​the surface to be cleaned; When the contact part (1b) is squeezed, the wiping component (4) moves with the contact part (1b) to adjust its contact position with the surface to be cleaned.

4. The collision-type boundary detection device with integrated corner cleaning according to claim 2, characterized in that: The rod-shaped part (1a) is configured to have a vertical degree of freedom. When the cleaning robot is adsorbed onto the surface to be cleaned, the bottom end of the rod-shaped part (1a) maintains contact with the surface to be cleaned. When the cleaning robot moves to the outside of the surface to be cleaned, the rod-shaped part (1a) moves downward, driving the triggering component (2) to move to a preset position, triggering the sensor (3) to generate a sensing signal.

5. The collision-type boundary detection device with integrated corner cleaning according to claim 4, characterized in that: It also includes a first elastic reset mechanism, which is configured to apply an elastic force to the rod-shaped portion (1a) so that its bottom end abuts against the surface to be cleaned.

6. The collision-type boundary detection device with integrated corner cleaning according to claim 3, characterized in that: The rod-shaped part (1a) is rotatably connected to the body (11) of the cleaning robot via the swing arm (5), so that when the contact part (1b) is squeezed in the horizontal direction, the rod-shaped part (1a) can be displaced along a circular trajectory with the rotation center of the swing arm (5) as the center, driving the triggering component (2) to move in an arc synchronously.

7. The collision-type boundary detection device with integrated corner cleaning according to claim 6, characterized in that: The free end of the swing arm (5) is provided with a mounting hole (5b1) and the contact part (1b) is rotatably installed in the mounting hole (5b1); The pivot end of the swing arm (5) is rotatably mounted on the body (11) and is provided with a rotatable first synchronous wheel (6). The first synchronous wheel (6) is connected to a drive source that drives its rotation. The contact part (1b) is coaxially fixed with a second synchronous wheel (7), and the second synchronous wheel (7) is connected to the first synchronous wheel (6) through a synchronous belt (8) or a gear transmission mechanism to transmit the rotational power of the first synchronous wheel (6) to the contact part (1b) so that it generates a rotational motion independent of the swing arm (5).

8. The collision-type boundary detection device with integrated corner cleaning according to claim 7, characterized in that: The drive source includes a drive gear (9) coaxially fixed on the cleaning turntable (12), and a driven gear (10) coaxially fixed on the first synchronous pulley (6). The drive gear (9) meshes with the driven gear (10) to transmit the rotational power of the cleaning turntable (12) to the contact part (1b) to make it rotate.

9. The collision-type boundary detection device with integrated corner cleaning according to any one of claims 6-8, characterized in that: It also includes a second elastic reset mechanism, which is configured to apply an elastic force to the swing arm (5) so that it drives the detection component (1) to reset after the collision disappears.

10. A cleaning robot having a body (11) with a rectangular or square outer contour, wherein a cleaning turntable (12) is provided at the bottom of the body (11), characterized in that: The bottom of the body (11) is provided with a collision-type boundary detection device for integrated corner cleaning as described in any one of claims 1-9 at the four corners.

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