A cleaning apparatus and cleaning system

Abstract

The application provides a cleaning device and a cleaning system, and relates to the technical field of cleaning robots. The cleaning device can improve the accuracy of obstacle avoidance of the cleaning device. The cleaning device comprises a device main body, a wall-following sensing assembly and a path conversion piece. The wall-following sensing assembly is arranged in the device main body and comprises a transmitting part and a receiving part. The transmitting part is used for transmitting a point light source, and the receiving part is used for receiving the light source reflected by the obstacle after the light source is transmitted by the transmitting part. The path conversion piece is arranged in the device main body and is used for expanding the point light source transmitted by the transmitting part.

Description

Technical Field

[0001] This application relates to the field of cleaning robot technology, and more particularly to a cleaning device and cleaning system. Background Technology

[0002] A robotic vacuum cleaner is a smart home appliance that can clean floors in a room. It typically removes dust and debris through brushing and vacuuming.

[0003] Robotic vacuum cleaners are typically equipped with detection devices to determine the distance between the robot and obstacles such as walls. During operation, if the detection devices determine that the distance between the robot and an obstacle is less than or equal to a preset distance, the robot will then change its path. However, current detection accuracy for low-lying, scattered objects that are not on walls is not very good. Utility Model Content

[0004] This application provides a cleaning device and a cleaning system that can improve the accuracy of the cleaning device in avoiding obstacles.

[0005] On one hand, this application provides a cleaning device, which includes: a device body, a wall-mounted sensing component, and a path conversion component. The sensing component, disposed within the device body, includes a transmitter and a receiver. The transmitter emits a point light source, and the receiver receives the light source emitted by the transmitter after reflection from an obstacle. The path conversion component, disposed within the device body, expands the beam of the point light source emitted by the transmitter.

[0006] The cleaning equipment provided in this application incorporates a wall-following sensing component on its main body. This component includes a transmitter and a receiver. The transmitter emits a point light source signal, which is reflected by obstacles and received by the receiver. This allows the device to detect the distance between the main body and the obstacle, enabling it to plan its movement path and avoid obstacles. Furthermore, the inclusion of a path-changing component expands the beam of the point light emitted by the transmitter, allowing it to detect multiple points and increasing the detection range, thus improving the accuracy of obstacle avoidance.

[0007] In one possible implementation of this application, the wall-mounted sensing component is a time-of-flight sensor, and the transmitter of the time-of-flight sensor is used to emit a point light source.

[0008] In one possible implementation of this application, the path conversion element includes a beam expander lens having a wavy convex surface, and the beam expander lens is disposed on the light output path of the point light source emitted by the emitting part.

[0009] In one possible implementation of this application, the path transformation component includes a first driving component disposed within the main body of the device. The first driving component is connected to the transmitting unit and is used to drive the transmitting unit to move so that the point light source emitted by the transmitting unit has at least two different transmission angles. During one acquisition time of the receiving unit, the first driving component drives the transmitting unit to move so that the transmitting unit emits point light sources at at least two different emission angles.

[0010] In one possible implementation of this application, the path changing component further includes a first rotating shaft extending in a horizontal direction, and the transmitting part is rotatably connected to the device body through the first rotating shaft; during one acquisition time of the receiving part, the first driving component drives the transmitting part to rotate around the first rotating shaft so that the orientation of the transmitting end of the transmitting part swings along the vertical plane.

[0011] In one possible implementation of this application, the path changing component includes a reflector and a second driving component. The reflector is disposed on the light emission path of the emitting unit, and the second driving component is connected to the reflector to drive the reflector to move to at least two different angles. During one acquisition time of the receiving unit, the second driving component drives the reflector to move, so that the reflector reflects the point light source emitted by the emitting unit at at least two different angles.

[0012] In one possible implementation of this application, the path changing component further includes a second rotating shaft extending in a horizontal direction. The reflector is rotatably connected to the main body of the device via the second rotating shaft, and the emitting part is located on one side of the reflective surface of the reflector. During one acquisition time of the receiving part, the second driving component drives the reflector to rotate around the second rotating shaft so that the orientation of the reflective surface of the reflector swings along the vertical plane.

[0013] In one possible implementation of this application, the path transformer expands the point light source emitted by the transmitter into a line light source extending in the vertical direction.

[0014] In one possible implementation of this application, at a position close to the device body, the line light source obtained after beam expansion by the path converter has a greater coverage range in the height direction than the device body in the height direction.

[0015] On the other hand, this application provides a cleaning system, which includes a base station and the cleaning equipment provided by any of the above. The base station is used to dock the cleaning equipment.

[0016] The cleaning system provided in this application includes any of the cleaning devices provided above, thus enabling it to accurately detect low-lying, scattered objects that are not on walls, thereby improving the accuracy of the cleaning devices in avoiding obstacles. Attached Figure Description

[0017] Figure 1 A top view of the cleaning equipment provided in this application;

[0018] Figure 2 A schematic diagram of the path transformation component of the cleaning equipment provided in this application, in the side view state, including a beam expander lens;

[0019] Figure 3 A schematic diagram of the path changing component of the cleaning equipment provided in this application, in a side view, including a first driving component;

[0020] Figure 4 The schematic diagram of the path changing component of the cleaning equipment provided in this application in the side view includes a reflector and a second driving component.

[0021] Explanation of reference numerals in the attached figures:

[0022] 1-Main body of the device; 2-Wall-following sensing component; 21-Transmitter; 22-Receiver; 23-Collimator; 3-Path conversion component; 31-Beam expander lens; 32-First drive component; 33-First rotating shaft; 34-Reflector; 35-Second drive component; 36-Second rotating shaft; 4-Side brush; 5-Walking mechanism; 6-Obstacle; X-First direction; Y-Direction of movement; Z-Vertical direction; n-First range; m-Second range. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the specific technical solutions of this application will be further described in detail below with reference to the accompanying drawings of the embodiments of this application. The following embodiments are used to illustrate this application, but are not intended to limit the scope of this application.

[0024] In the embodiments of this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the embodiments of this application, unless otherwise stated, "multiple" means two or more.

[0025] Furthermore, in the embodiments of this application, directional terms such as "upper," "lower," "left," and "right" are defined relative to the positions in which the components are schematically placed in the accompanying drawings. It should be understood that these directional terms are relative concepts, used for relative description and clarification, and can change accordingly depending on the position of the components in the accompanying drawings.

[0026] In the embodiments of this application, unless otherwise explicitly specified and limited, the term "connection" should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral part; it can be a direct connection or an indirect connection through an intermediate medium.

[0027] In embodiments of this application, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0028] In the embodiments of this application, the terms "exemplary" or "for example" are used to indicate that something is an example, illustration, or description. Any embodiment or design that is described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design. Specifically, the use of the terms "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0029] This application provides a cleaning device, which can be a sweeping robot, a mopping robot, a sweeping and mopping robot, or other cleaning devices that meet the requirements.

[0030] For example, cleaning equipment includes, but is not limited to: a main body, a walking mechanism, sensing components, control components, cleaning components, energy components, and human-machine interaction components. These components coordinate with each other to enable the cleaning equipment to move autonomously to perform its cleaning function. The functional elements constituting these components are integrated into the main body of the cleaning equipment. It is understood that the cleaning equipment can be a self-moving cleaning device, which is a device that automatically performs cleaning operations in a designated area without user intervention.

[0031] Reference Figure 1 and Figure 2 , Figure 1 This is a top view of the cleaning equipment provided in this application. Figure 2 This application provides a schematic diagram of the path conversion component of a cleaning device in a side view, including a beam expander lens. The cleaning device provided in this embodiment includes: a device body 1, a wall-following sensing component 2, and a path conversion component 3. The wall-following sensing component 2 is disposed within the device body 1 and includes a transmitter 21 and a receiver 22. The transmitter 21 emits a point light source, and the receiver 22 receives the light source emitted by the transmitter 21 after reflection from an obstacle. The path conversion component 3 is disposed within the device body 1 and is used to expand the beam of the point light source emitted by the transmitter 21.

[0032] In this embodiment, the device body 1 is used to clean dust, debris, and other garbage. For example, a negative pressure component, a side brush 4, and a mop assembly can be installed in the device body 1. Along the forward direction Y of the device body 1, the side brush 4 can be positioned on the side of the front end of the device body 1, such as on the edge of the right front part of the device body 1. The negative pressure component can absorb and collect garbage, the side brush 4 can gather garbage near corners and other locations to the suction port of the negative pressure component, and the mop assembly can wipe away stains and other dirt on the ground, thereby cleaning the surface to be cleaned.

[0033] It may also include a walking mechanism 5, which can generate movement to drive the cleaning equipment to move autonomously within the surface to be cleaned. For example, the surface to be cleaned may be the floor, carpet, etc. in a room.

[0034] For example, such as Figure 1 As shown, the walking mechanism 5 can be a structure including three rollers, which are arranged in a triangular pattern on the side of the device body 1 closest to the ground. For example, two rollers can be distributed along the first direction X on both sides of the device body 1, and the third roller can be located at the front end of the device body 1 along the forward direction Y. A drive unit can be provided for one of the rollers to drive its rotation, thereby moving the cleaning device. The first direction X is perpendicular to the forward direction Y of the device body 1.

[0035] In this embodiment, the emitting part 21 of the wall-following sensing component 2 generates a detection light, and the receiving part 22 receives the light emitted by the emitting part 21 after reflection by an obstacle, so as to detect the distance between the cleaning device and the obstacle 6 by means of the detection light. The obstacle 6 can be a wall, table, chair, etc., on or beside the travel path of the device body 1, and the device body 1 moves along the extension direction of the obstacle 6. The wall-following sensing component 2 can be set on one or both sides of the cleaning device along the first direction X, and is used to detect the distance between the device body 1 and the wall or obstacle. Based on the distance, the movement trajectory of the walking mechanism 5 is controlled, which can ensure that the robot always walks close to the edge of the wall, thereby enabling better cleaning of the dead corners of the wall edge.

[0036] For ease of description and explanation, the following description uses the example of the wall-mounted sensing component 2 being located on the right side of the device body 1 along the forward direction Y to illustrate the cleaning device provided in this application embodiment. However, it is not limited to the wall-mounted sensing component 2 being located only on the right side of the device body 1; the wall-mounted sensing component 2 can also be located on the left side of the device body 1. The side of the device body 1 refers to the edge portion of the device body 1, and this side includes the side wall of the device body 1 (the circumferential wall surface of the device body 1).

[0037] In another example, the wall-following sensing component 2 can be positioned at the front end of the device body 1. That is, if the device body 1 is divided into two equal halves along its forward direction Y, the wall-following sensing component 2 can be positioned on the front half of the device body 1, close to the circumferential sidewall of the device body 1. For example, as... Figure 1 As shown, the shape of the main body 1 can be approximately cylindrical. Along the forward direction Y of the main body 1, a side brush 4 can be installed on the front right side. The wall-following sensor 2 can then be installed on the front right edge of the main body 1, positioned behind the side brush 4. Alternatively, the wall-following sensor 2 can be installed on the front left edge of the main body 1.

[0038] In this embodiment, the wall-mounted sensing component 2 includes a transmitter 21 and a receiver 22. The light source signal emitted by the transmitter 21 is in the form of a point light source, and the receiver 22 is used to receive the light source after the light signal emitted by the transmitter 21 is reflected by the obstacle 6. The distance between the device body 1 and the obstacle 6 can be detected by the light source signal.

[0039] In this embodiment, a path transformation component 3 is also included. This component is disposed within the main body 1 of the device and can be located at a position that can affect the entire transmission path of the light source. For example, it can be disposed on the direct transmission path of the light source signal, including the downlink light source path of the point light source emitted by the transmitting unit 21, or the downlink light source path of other transmission components, such as collimating lenses. Alternatively, it can be disposed at the component positions of the transmitting unit 21 or other transmission components, capable of changing the shape or signal of the transmitting unit 21 itself to influence and alter the light source signal. Ultimately, this achieves beam expansion of the point light source signal.

[0040] The cleaning equipment provided in this application has a wall-following sensing component 2 installed on the main body 1. The wall-following sensing component 2 includes a transmitter 21 and a receiver 22. The transmitter 21 emits a point light source signal, which is reflected by the obstacle and received by the receiver 22. The wall-following sensing component 2 can then detect the distance between the main body 1 and the obstacle 6, allowing the cleaning equipment to plan its movement path and avoid obstacles based on the detected distance. Furthermore, since a path conversion component 3 is also included, the point light source emitted by the transmitter 21 can be expanded, allowing it to detect more than one point, thus increasing the detection range and improving the accuracy of the cleaning equipment in avoiding obstacles 6.

[0041] In some embodiments of this application, the wall-mounted sensing component 2 is a time-of-flight (TOF) sensor, and the transmitter 21 of the time-of-flight sensor is used to emit a point light source.

[0042] A time-of-flight (TOF) sensor is a distance-measuring sensor that detects objects using specific artificial light sources, such as ultrasonic waves, microwaves, or optical signals. The principle is to calculate the distance by measuring the "time of flight" of these signals between the transmitter (21) and receiver (22). The transmitter (21) of the TOF sensor emits infrared light or laser light, which bounces off any object it encounters and returns to the TOF sensor, where it is received by the receiver (22). By measuring the time difference between the emission, reflection, and return of the light to the sensor, the distance between the object and the sensor can be accurately calculated. Examples include TOF sensors using infrared and laser ranging. Data containing depth information generated and captured by the TOF sensor, combined with an image sensor, can generate a 3D image.

[0043] In the embodiments of this application, the path transformation element 3 can expand and adjust the point light source into a linear detection beam. The cross-section of the linear detection beam exhibits a slender linear shape, rather than a point or circle. After the linear detection beam is transmitted to the obstacle 6, it forms a linear light spot on the obstacle 6. This allows the detection beam to cover a larger detection area, which is beneficial to improving the accuracy of obstacle 6 detection.

[0044] In order to enable wide-range detection of the sides of the cleaning equipment, in some embodiments of this application, the path conversion element 3 can expand the point light source emitted by the emitting unit 21 into a line light source extending in the vertical direction Z.

[0045] The path conversion component 3 expands the point light source emitted by the transmitter 21 into a line light source extending along the vertical direction Z, so that a larger area can be covered in the vertical direction Z, thus improving the accuracy of detection.

[0046] Furthermore, in some embodiments of this application, at a position close to the device body 1, the coverage range of the line light source obtained after beam expansion by the path transformer 3 in the height direction is greater than the coverage range of the device body 1 in the height direction.

[0047] When a line light source extending vertically in the Z direction detects a relatively close obstacle 6, in order to ensure comprehensive detection and prevent the low obstacle 6 from being missed, the height range of the line light source can be set to be equal to or greater than the thickness of the main body 1 of the device. In this way, the range of possible collisions of the main body 1 of the device, especially low obstacles, can be detected, further improving accuracy.

[0048] For example, refer to Figure 2 , Figure 3 and Figure 4The line light source obtained after beam expansion by the path converter 3 has a first range n in the height direction, and the device body 1 has a second range m in the height direction. The first range n can be equal to or greater than the second range m, and the first range n completely covers the second range m. This application embodiment implements beam expansion of the point light source emitted by the transmitter 21 by the path converter 3 in various ways; three embodiments are described below.

[0049] Example 1:

[0050] In this embodiment, refer to Figure 2 The diagram below shows the structure of the path conversion component 3 of the cleaning equipment provided in this application, which includes a beam expander lens 31 in a side view. The path conversion component 3 includes a beam expander lens 31, which has a wavy convex surface and is disposed on the light output path of the point light source emitted by the emitting unit 21.

[0051] The beam expansion of a point light source can be achieved by using a beam-expanding lens 31 with optical beam-expanding effect. The wavy convex surface can expand and diverge light rays that travel in a straight line.

[0052] For example, when the detected light is a light wave, such as a laser, the beam expander 31 can be configured to perform linear shaping of the laser. For instance, it can include a lens group, which may include ordinary cylindrical lenses, aspherical lenses, Powell prisms, aspherical cylindrical lenses, and freeform lenses, etc.

[0053] Example 2:

[0054] In this embodiment, refer to Figure 3 This is a schematic diagram of the path changing component of the cleaning equipment provided in this application, in a side view, including a first driving component. The path changing component 3 includes a first driving component 32, which is disposed within the main body 1 of the equipment. The first driving component 32 is connected to the emitting part 21 and is used to drive the emitting part 21 to move so that the point light source emitted by the emitting part 21 has at least two different transmission angles.

[0055] During one acquisition time of the receiving unit 22, the first driving member 32 drives the transmitting unit 21 to move, so that the transmitting unit 21 emits point light sources at at least two different emission angles.

[0056] By setting the first driving component 32, the transmitter 21 can be driven to move, and the transmitter 21 itself can emit at least two different angles to achieve beam expansion and improve detection accuracy.

[0057] Of course, based on this, the first driving member 32 can drive the movement of the emitting part 21 to be linear and continuous, and the position and emission angle of the emitting part 21 can be changed linearly and continuously. The detection light source can change direction in real time. That is, the shape of the detection light source can be changed from point detection of point light source to linear scanning detection. The beam-expanding light source is more reasonable, and the detection area is increased to achieve linear coverage without omission, further improving the detection accuracy.

[0058] The first driving member 32 can drive the launching part 21 to slide, rotate, swing, etc. The driving of the first driving member 32 can change the direction of the light source at the outlet of the launching part 21, so that the emitted light source will undergo linear scanning, thereby improving the accuracy of detecting obstacles 6.

[0059] The first driving component 32 can be a motor, a micro-electromechanical system (MEMS), or the like.

[0060] The first driving component 32 can also adopt a structure including a power component and a reducer. The power component can be a servo motor, stepper motor, etc. The reducer is fixed inside the main body 1 of the device. The output shaft of the driving component is connected to the input shaft of the reducer. The transmitter 21 can be fixed on the output shaft of the reducer, thereby driving the reducer to rotate through the power component, and then driving the transmitter 21 to rotate through the reducer. In another example, the first driving component 32 can adopt a structure including an electromagnetic component and a reset component. The first rotating shaft 33 can be rotatably set inside the main body 1 of the device. The electromagnetic component is arranged adjacent to the first rotating shaft 33. One end of the reset component is connected to the first rotating shaft 33, and the other end is connected to the main body 1 of the device. The transmitter 21 can be fixed on the first rotating shaft 33. In this way, the electromagnetic component can apply a magnetic attraction force to the first rotating shaft 33 to make the first rotating shaft 33 rotate. When the magnetic attraction force of the electromagnetic component disappears, the first rotating shaft 33 returns to its original position under the action of the reset component.

[0061] It should be noted that in the wall-mounted sensing component 2 of this application, the receiving unit 22 detects and receives the reflected light signal in real time. Generally, the receiving unit 22 has a preset duration for one acquisition, and there may be a certain interval between two adjacent acquisitions. The acquisition time in this embodiment refers to the duration of the receiving unit 22 during one acquisition. The acquisition time of one side of the receiving unit 22 can be the acquisition time of one frame.

[0062] To improve detection accuracy, during the acquisition time on one side of the receiving unit 22, the first driving member 32 can drive the transmitting unit 21 to move to at least two different positions, so that the transmitting unit 21 emits point light sources at at least two different emission angles, thereby emitting point light sources in at least two different directions, increasing the detectable range, and thus collecting reflected light signals in at least two different directions during the acquisition time on one side of the receiving unit 22, thereby improving detection accuracy.

[0063] In order to achieve linear detection scanning in the vertical direction, in some embodiments of this application, reference is made to... Figure 3 The path transformation component 3 also includes a first rotating shaft 33 extending in the horizontal direction. The transmitting part 21 is rotatably connected to the device body 1 through the first rotating shaft 33. During one acquisition time of the receiving part 22, the first driving component 32 drives the transmitting part 21 to rotate around the first rotating shaft 33 so that the orientation of the transmitting end of the transmitting part 21 swings along the vertical plane.

[0064] In this way, the first driving member 32 drives the transmitting unit 21 to rotate around the first rotating shaft 33. This rotation can be a rotation or a fan-shaped oscillating rotation. The transmitting end of the transmitting unit 21 can oscillate along an arc-shaped motion trajectory in the vertical plane, so that the point light source emitted by the transmitting end of the transmitting unit 21 can continuously scan up and down in the vertical plane, thereby continuously performing linear detection in different directions and improving detection accuracy.

[0065] Example 3:

[0066] In this embodiment, refer to Figure 4 The diagram below shows the structure of the path changing component of the cleaning equipment provided in this application, which includes a reflector and a second driving component in a side view. The path changing component 3 may include a reflector 34 and a second driving component 35. The reflector 34 is disposed on the light emission path of the emitting unit 21. The second driving component 35 is connected to the reflector 34 and is used to drive the reflector 34 to move to at least two different angles. During one acquisition time of the receiving unit 22, the second driving component 35 drives the reflector 34 to move, so that the reflector 34 reflects the point light source emitted by the emitting unit 21 at at least two different angles.

[0067] In this embodiment, the reflector 34 is disposed on the light emission path of the emitting unit 21, which can reflect the point light source emitted by the emitting unit 21, thereby changing the transmission direction of the point light source. The reflector 34 is driven to move by the second driving member 35, so that the point light source emitted by the emitting unit 21 is reflected by the reflector 34 to different emission angles, thereby achieving beam expansion.

[0068] Of course, the movement of the reflector 34 driven by the second driving component 35 can be linear and continuous. Consequently, the point light source emitted by the emitting unit 21, after being reflected by the reflective surface of the reflector 34, can undergo linear and continuous changes. The detection light source can change direction in real time; that is, the shape of the detection light source can also change from point-like detection to linear scanning detection. The expanded beam light source is more reasonable, and the detection area is increased to achieve linear coverage without omission, further improving detection accuracy.

[0069] The second driving component 35 can drive the reflector 34 to slide, rotate, swing, etc. The driving of the second driving component 35 changes the orientation angle of the reflective surface of the reflector 34, and the light source reflected by the reflector 34 will change linearly, performing linear scanning detection and improving the accuracy of detecting obstacle 6.

[0070] In order to achieve vertical beam expansion of the point light source emitted by the emitter 21 by the reflector 34, refer to Figure 4 The path conversion component 3 also includes a second rotating shaft 36 extending in the horizontal direction. The reflector 34 is rotatably connected to the main body 1 of the device via the second rotating shaft 36. The emitting part 21 is located on one side of the reflective surface of the reflector 34. During one acquisition time of the receiving part 22, the second driving part 35 drives the reflector 34 to rotate around the second rotating shaft 36 so that the orientation of the reflective surface of the reflector 34 swings along the vertical plane.

[0071] The second driving element 35 drives the reflector 34 to rotate around the second axis 36. This rotation can be a full rotation or a fan-shaped oscillation. The orientation of the reflective surface of the reflector 34 changes continuously along the vertical plane, so that the point light source emitted by the emitting unit 21 is reflected by the reflective surface of the reflector 34 at continuously changing angles. The reflected detection light source can continuously scan up and down in the vertical plane, thereby continuously performing linear detection in different directions and improving detection accuracy.

[0072] The second driving component 35 can be a motor, a micro-electro-mechanical system (MEMS), or the like.

[0073] For example, the second driving component 35 can adopt a structure including a power component and a reducer. The power component can be a servo motor, a stepper motor, etc. The reducer is fixed inside the main body 1 of the equipment. The output shaft of the driving component is connected to the input shaft of the reducer. The reflector 34 can be fixed on the output shaft of the reducer. In this way, the reducer is driven to rotate by the power component, and then the reflector 34 is driven to rotate by the reducer.

[0074] In another example, the second driving component 35 can adopt a structure including an electromagnetic component and a reset component. The electromagnetic component can be arranged adjacent to the second rotating shaft 36, and one end of the reset component can be connected to the second rotating shaft 36, while the other end can be connected to the device body 1. The reflector 34 can be fixed to the second rotating shaft 36. In this way, a magnetic force can be applied to the second rotating shaft 36 by the electromagnetic component to make the second rotating shaft 36 rotate. When the magnetic force of the electromagnetic component disappears, the second rotating shaft 36 returns to its original position under the action of the reset component.

[0075] In some embodiments of this application, a controller may be included, and both the transmitter 21 and the receiver 22 may be electrically connected to the controller of the cleaning equipment. After the receiving component receives the detection light reflected by the obstacle 6, it can generate a corresponding electrical signal and upload it to the controller. The controller can generate corresponding control commands based on the received electrical signal to control the operation of the walking mechanism 5.

[0076] For example, if the detection light emitted by the transmitter 21 is a laser light wave, the receiver 22 can be a photodetector. If the detection light emitted by the transmitter 21 is infrared light, the receiver 22 can be a photodetector.

[0077] In the above embodiment, a point light source can be emitted by the emitting unit 21, a linear detection light beam can be generated by the path conversion component 3 after beam expansion, and the detection light beam reflected by the obstacle 6 can be received by the receiving unit 22. Thus, the controller can control the movement of the walking mechanism 5 according to the electrical signal generated by the receiving unit 22, thereby realizing the control of the movement path of the cleaning equipment.

[0078] In some embodiments of this application, reference is made to Figure 2 The wall-mounted sensing component 2 also includes a collimator 23, which is used to collimate the light source emitted by the transmitter 21.

[0079] After collimation, the energy transmitted by the light source is more concentrated, which facilitates transmission and acquisition, reduces interference, and improves the accuracy of detection.

[0080] In this embodiment, when the transmitting unit 21 uses a device capable of generating laser or infrared light, a collimator 23 can be provided to collimate the probe light.

[0081] For example, when the detected light is a light wave, such as a laser, the collimator 23 can be configured to collimate the laser emitted by the laser generator to reduce the divergence of the point laser. For instance, the collimator 23 may include a collimating lens or a collimating lens group. The collimating lens can be a plano-convex lens. The materials of the collimating lens or collimating lens group include, but are not limited to, polycarbonate (PC), polymethyl methacrylate (PMMA), and glass.

[0082] Additionally, this application also provides a cleaning system. The cleaning system includes a base station, which is used in conjunction with cleaning equipment.

[0083] For example, when the cleaning equipment starts working, it departs from the base station to perform the cleaning task. When the cleaning equipment is charging or performing other operations, such as water replenishment, and / or washing, and / or dust collection, it returns to the base station to complete the charging or other operations.

[0084] The cleaning system provided in this application includes the cleaning equipment provided in any of the above embodiments. Therefore, when there is a long distance between the cleaning equipment and the obstacle 6, the movement path of the cleaning equipment can be planned in advance, which helps to improve the response speed of the cleaning equipment to avoid the obstacle 6.

[0085] The above embodiments are merely illustrative of the technical solutions of this application and are not intended to limit it. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application, and all should be covered within the scope of the specification of this application. In particular, as long as there is no structural conflict, the various technical features mentioned in the embodiments can be combined in any way.

Claims

1. A cleaning device, characterized in that, include: Equipment body; A wall-mounted sensing component is disposed within the main body of the device and includes a transmitter and a receiver. The transmitter is used to emit a point light source, and the receiver is used to receive the light source emitted by the transmitter after it has been reflected by an obstacle. A path conversion component, disposed within the main body of the device, is used to expand the beam of the point light source emitted by the transmitting unit.

2. The cleaning equipment according to claim 1, characterized in that, The wall-mounted sensing component is a time-of-flight sensor, and the transmitter of the time-of-flight sensor is used to emit a point light source.

3. The cleaning equipment according to claim 1 or 2, characterized in that, The path conversion component includes a beam expander lens, which has a wavy convex surface and is disposed on the light output path of the point light source emitted by the emitting part.

4. The cleaning equipment according to claim 1 or 2, characterized in that, The path transformation component further includes a first driving component, which is disposed within the main body of the device. The first driving component is connected to the transmitting part and is used to drive the transmitting part to move so that the point light source emitted by the transmitting part has at least two different transmission angles. During one acquisition time of the receiving unit, the first driving member drives the transmitting unit to move, so that the transmitting unit emits point light sources at at least two different emission angles.

5. The cleaning equipment according to claim 4, characterized in that, The path changing component also includes a first rotating shaft extending in a horizontal direction, and the transmitting part is rotatably connected to the main body of the device via the first rotating shaft; During one acquisition time of the receiving unit, the first driving member drives the transmitting unit to rotate along the first rotating axis, so that the orientation of the transmitting end of the transmitting unit swings along the vertical plane.

6. The cleaning equipment according to claim 1 or 2, characterized in that, The path changing component also includes a reflector and a second driving component. The reflector is disposed on the light emission path of the emitting part, and the second driving component is connected to the reflector to drive the reflector to move to at least two different angles. During one acquisition time of the receiving unit, the second driving member drives the reflector to move, so that the reflector reflects the point light source emitted by the emitting unit at least two different angles.

7. The cleaning equipment according to claim 6, characterized in that, The path changing component also includes a second rotating shaft extending in the horizontal direction. The reflector is rotatably connected to the main body of the device via the second rotating shaft, and the emitting part is located on one side of the reflective surface of the reflector. During one acquisition time of the receiving unit, the second driving member drives the reflector to rotate along the second rotating axis, so that the orientation of the reflective surface of the reflector swings along the vertical plane.

8. The cleaning equipment according to claim 1, characterized in that, The path transformation component expands the point light source emitted by the transmitter into a line light source extending in the vertical direction.

9. The cleaning equipment according to claim 8, characterized in that, At a position close to the main body of the device, the coverage area of ​​the line light source obtained after beam expansion by the path transformer in the height direction is greater than the coverage area of ​​the main body of the device in the height direction.

10. A cleaning system, characterized in that, include: The cleaning equipment according to any one of claims 1 to 9; A base station, which is used to dock the cleaning equipment.

Images