Detection device and mobile device

Abstract

The utility model discloses a detection device and mobile device relates to the safety protection technical field of intelligent mobile device, wherein, detection device includes main part, drive part and response detection unit. The main part is equipped with the installation passageway of extending along the first direction, and its first side is in close contact with the surface to be detected, drive part is movably arranged in the installation passageway, one end is equipped with the ball head accommodating groove of accommodating ball head, and the other end is equipped with trigger part, ball head makes drive part be in the first detection position when having support, and when hanging, it is moved to the second detection position, and drive trigger part switching position, response detection unit exports corresponding state signal according to trigger part position. Detection device simple structure only contains main part, drive part with ball head and response detection unit, and does not need infrared or image module, ball head rolling friction resistance is small, and the wear resistance is good, and still can be reliable work on transparent or uneven ground, when ball head is in suspension, trigger part switches position quickly, and output signal makes equipment in time to avoid danger, prevents falling.

Description

Technical Field

[0001] This utility model relates to the field of cleaning system technology, and in particular to a detection device and a mobile device. Background Technology

[0002] With the increasing prevalence of smart mobile devices in homes, industries, and high-altitude environments, their edge safety capabilities are crucial. When approaching steps, glass curtain walls, or suspended edges, devices need high-precision, fast-response edge detection mechanisms to trigger obstacle avoidance or braking in a timely manner to prevent falls.

[0003] Current mainstream solutions rely on infrared, laser, or ultrasonic sensors, but these are susceptible to transmission and reflection interference on smooth, transparent, or highly reflective surfaces (such as frameless glass and mirrored floors), leading to misjudgments or missed detections. While some mechanical touch structures are relatively reliable, they suffer from issues such as response lag, structural complexity, and susceptibility to wear, making it difficult to balance sensitivity and long-term stability. Especially in high-speed or dynamic operations, existing devices often fail to accurately distinguish between "nearby edges" and "already crossed edges" within milliseconds due to sampling delays or threshold rigidity, affecting the timeliness of control decisions. Therefore, there is an urgent need for an edge detection device with a simple structure, strong anti-interference capabilities, and rapid state switching to improve the sensing accuracy and real-time response of mobile devices at critical edges and ensure operational safety. Utility Model Content

[0004] The main purpose of this invention is to propose a detection device and a mobile device, which aims to solve the problem that existing mobile devices suffer from delayed edge detection response or misjudgment due to sensor failure at transparent, reflective, or smooth edges.

[0005] To achieve the above objectives, the present invention proposes a detection device for use in mobile equipment, the detection device comprising:

[0006] The main body has a first side and a second side that are arranged opposite to each other in a first direction. The first side of the main body is used to face and abut against the surface to be tested. The main body is provided with a mounting channel extending in the first direction.

[0007] A drive unit is movably disposed within the mounting channel along the first direction. One end of the drive unit adjacent to the first side of the main body is provided with a ball-head receiving groove, in which a ball head is rotatably accommodated. The other end of the drive unit away from the first side of the main body is provided with a trigger unit. The drive unit is configured to move between a first detection position and a second detection position. Correspondingly, the trigger unit corresponds to a first working position and a second working position in the first direction.

[0008] The sensing and detection unit is configured to output a first status signal when the trigger part is in the first working position, and to output a second status signal when the trigger part is in the second working position;

[0009] In the first detection position, the outer end face of the ball head is used to abut against the surface to be detected, and in the second detection position, the outer end face of the ball head extends out of the first side of the main body.

[0010] In one embodiment, the driving unit includes:

[0011] A push rod having a mounting end adjacent to a first side of the main body, the mounting end of the push rod having a recessed spherical groove, a portion of the ball head being accommodated in the spherical groove; and...

[0012] An annular end cap is fitted around the mounting end of the push rod, and a ball head receiving groove is defined between the annular end cap and the push rod. The ball head protrudes at least partially from the hollow area of ​​the annular end cap to abut against the surface to be tested at the first detection position.

[0013] In one embodiment, one of the outer peripheral wall of the mounting end of the push rod and the inner peripheral wall of the annular end cap is provided with a slot, and the other is provided with a buckle that engages with the slot.

[0014] In one embodiment, the mounting channel is disposed through the main body portion along the first direction, and the sensing detection unit is located on the second side of the main body portion;

[0015] The other end of the drive unit passes through the mounting channel and extends out to the second side of the main body.

[0016] In one embodiment, the main body includes:

[0017] A mounting base has a first mounting hole along the first direction, and the sensing unit is located on one side of the mounting base; and,

[0018] A rotating seat is arranged around the periphery of the driving part and communicates with the first mounting hole to define the mounting channel together with the fixed seat. The rotating seat is located on the side of the fixed seat away from the sensing and detection unit in the first direction. The side of the rotating seat away from the fixed seat forms the first side of the main body.

[0019] The rotating seat is rotatably connected to the fixed seat about a rotation axis extending along the first direction.

[0020] In one embodiment, the detection device further includes a reset member for providing a reset force when the drive unit moves from the first detection position toward the second detection position.

[0021] In one embodiment, a limiting protrusion is provided on the inner wall of the installation channel, and a limiting step is formed on the outer peripheral side of the drive part. The limiting step is located on the side of the limiting protrusion close to the first side of the main body and is arranged opposite to it in the first direction.

[0022] The reset component includes a compression spring, which is disposed between the limiting protrusion and the limiting step.

[0023] In one embodiment, one of the driving part and the main body part is provided with a guide groove extending along the first direction, and the other is provided with a guide protrusion that slides with the guide groove.

[0024] In one embodiment, the other end of the driving part is provided with an internal thread, and the trigger part is provided with a connecting hole;

[0025] The detection device also includes a threaded connector with external threads, which passes through the connecting hole to be threaded into the internal threads of the drive unit.

[0026] In one embodiment, the sensing detection unit has a transmitting end and a receiving end spaced apart in a second direction, and a detection area is formed between the transmitting end and the receiving end of the sensing detection unit. When the triggering part is in the first working position, the triggering part is away from the detection area, and when the triggering part is in the second working position, the triggering part is in the detection area.

[0027] In one embodiment, the sensing and detection unit includes an optical coupler or an infrared transmitter.

[0028] This utility model also proposes a mobile device, which includes:

[0029] A device body, movably disposed along the surface to be inspected, the device body having a mounting side for facing the surface to be inspected; and,

[0030] The aforementioned detection device is installed on the mounting side of the main body of the equipment.

[0031] In one embodiment, multiple detection devices are provided, and the multiple detection devices are arranged at circumferential intervals along the mounting side of the equipment body; and / or,

[0032] The detection device is located near the outer periphery of the main body of the equipment.

[0033] In one embodiment, the mobile device includes a cleaning robot.

[0034] The technical solution provided by this utility model has at least the following advantages:

[0035] The detection device has a simple overall structure, consisting only of a main body, a drive unit with a ball head, and a fixed sensing unit. It requires no infrared, laser, or image processing modules, making it simple to design and easy to assemble. The drive unit moves along a straight path, coordinating with the rolling support of the ball head and the position switching of the trigger unit, eliminating the need for complex transmission mechanisms such as linkages and gears. The ball head uses rolling friction, reducing motion resistance and preventing sensitivity loss due to long-term sliding wear. It also operates reliably on transparent, reflective, or uneven surfaces. When the ball head is suspended in the air, the drive unit quickly moves into position, the trigger unit instantly switches position, and the sensing unit immediately outputs a status signal, enabling the mobile device to react promptly to avoid falls and improving operational safety. Attached Figure Description

[0036] To more clearly illustrate the technical solutions in the embodiments of this utility model 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 utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0037] Figure 1 A schematic diagram of the structure of the detection device provided by this utility model when the driving part is located in the first detection position;

[0038] Figure 2 for Figure 1 Cross-sectional view of the detection device in the middle;

[0039] Figure 3 A schematic diagram of the structure of the detection device provided by this utility model when the driving part is located in the second detection position in one embodiment;

[0040] Figure 4 for Figure 3 Cross-sectional view of the detection device in the middle;

[0041] Figure 5 for Figure 1 A partial structural diagram of the detection device.

[0042] Explanation of icon numbers:

[0043] 100. Detection device; 1. Main body; a. First side; b. Second side; c. Mounting channel; 11. Fixing base; 11a. First mounting hole; 12. Rotating base; 101. Limiting protrusion; 1a. Guide groove; 2. Drive unit; 2a. Ball head receiving groove; 21. Push rod; 21a. Spherical groove; 211. Buckle; 22. Annular end cap; 22a. Slot; 201. Limiting step; 23. Guide protrusion; 3. Ball head; 4. Trigger unit; 5. Sensing detection unit; 51. Transmitter; 52. Receiver; 6. Reset component; 7. Screw connector;

[0044] 200. Surface to be tested.

[0045] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0046] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present utility model.

[0047] It should be noted that if the embodiments of this utility model involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.

[0048] Furthermore, if the embodiments of this utility model involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0049] This invention proposes a detection device applicable to various autonomous mobile devices, such as window cleaning robots, service robots, automated guided vehicles (AGVs), inspection drone chassis, and intelligent lawnmowers. These devices typically operate in complex environments such as home floors, industrial plants, glass platforms, balconies, or stairwells, requiring high reliability and response speed for edge sensing. For clarity, the following description uses the integration of this detection device into a window cleaning robot as an example. For other types of mobile devices, such as logistics handling robots or outdoor cleaning equipment, the size, quantity, and arrangement of the detection device can be adaptively adjusted according to their bottom structure, movement speed, and installation space; this specification does not limit this aspect.

[0050] The specific embodiments of this utility model will now be described in detail with reference to the accompanying drawings.

[0051] First, let's describe the overall structure of the mobile device. The mobile device includes a main body that is movably mounted along the surface to be inspected, for example, by means of wheels or tracks to move on the ground or other supporting surfaces. The main body has a mounting side facing the surface to be inspected, on which the detection device is mounted, typically located in the bottom region of the leading edge or side edge of the main body, to detect changes in state in advance as the device approaches the edge.

[0052] The specific structure of the detection device will be explained next.

[0053] Please see Figures 1 to 4 In one embodiment of this utility model, the detection device 100 includes a main body 1, a driving part 2, and a sensing detection unit 5. The main body 1 has a first side a and a second side b arranged opposite to each other in a first direction. The first side a of the main body 1 is used to face and abut against the surface 200 to be detected. The main body 1 is provided with a mounting channel c extending along the first direction. The driving part 2 is movably disposed in the mounting channel c along the first direction. One end of the driving part 2 adjacent to the first side a of the main body 1 is provided with a ball head receiving groove 2a, in which a ball head 3 is rotatably accommodated. The other end of the driving part 2 away from the first side a of the main body 1 is provided with a trigger part 4. The driving part 2 is configured to move between a first detection position and a second detection position. Correspondingly, the trigger part 4 corresponds to a first working position and a second working position in the first direction. The sensing detection unit 5 is used to output a first status signal when the trigger part 4 is in the first working position and to output a second status signal when the trigger part 4 is in the second working position. In the first detection position, the outer end face of the ball head 3 is used to abut against the surface to be detected 200, and in the second detection position, the outer end face of the ball head 3 extends out of the first side a of the main body 1.

[0054] Specifically, the first side a of the main body 1 is oriented towards and abuts against the surface 200 to be inspected (e.g., the ground, a step surface, etc.), while the second side b is away from the surface 200 to be inspected. An installation channel c extending in a first direction is provided inside the main body 1, which passes between the first side a and the second side b, and is used to accommodate the drive unit 2 and guide it to move in the first direction.

[0055] It should be noted that the shape of the main body 1 can be designed as a block, column or other adaptable shape according to the space at the bottom of the equipment. Of course, other possible shapes can also be used. The specific shape can be determined according to the actual situation. This specification does not limit this embodiment.

[0056] The drive unit 2 is movably disposed within the mounting channel c and can move between two positions along a first direction. When the mobile device is located inside the edge of the surface to be detected 200, the ball head 3 at the end of the drive unit 2 near the first side a of the main body 1 contacts the surface to be detected 200, and the outer end face of the ball head 3 is pushed upward, so that the drive unit 2 is in the first detection position; correspondingly, the trigger unit 4 at the other end of the drive unit 2 away from the first side a is in the first working position. The sensing detection unit 5 is fixedly disposed on the main body 1, and its sensing area is directly opposite the movement path of the trigger unit 4. When the trigger unit 4 is in the first working position, the sensing detection unit 5 outputs a first status signal (e.g., a high level or a closed signal), indicating that the device is in a safe area and can operate normally.

[0057] When the mobile device moves to the outer edge, the ball head 3 loses support and becomes suspended in the air. The drive unit 2 moves towards the second side b under its own weight or the action of a preset elastic reset member 6 (such as a compression spring, a spring sheet, etc.) until it reaches the second detection position. At this time, the outer end face of the ball head 3 extends out of the first side a of the main body 1. Correspondingly, the trigger unit 4 moves to the second working position. After the sensing detection unit 5 detects that the trigger unit 4 has entered the second working position, it outputs a second status signal (e.g., a low level or a disconnect signal). After receiving this signal, the main control system can control the device to perform actions such as stopping, turning around, or avoiding obstacles to prevent it from falling.

[0058] The drive unit 2 has a ball head receiving groove 2a at one end near the first side a, and a ball head 3 is rotatably accommodated in the ball head receiving groove 2a. The ball head 3 can rotate freely in any horizontal direction, thereby adapting to different tilt angles, material differences or slight undulations on the surface 200 to be tested, thus ensuring stable and reliable contact.

[0059] More importantly, the ball head 3 and the surface to be tested 200 exhibit rolling friction. Compared to a sliding friction structure, this results in lower frictional resistance, making it less prone to wear buildup, jamming, or motion lag over long-term use, thus maintaining detection sensitivity over a long period. Furthermore, the rolling contact is insensitive to dust, water stains, or minor oil contamination on the ground, further enhancing the reliability of the detection device 100 in complex environments.

[0060] This manual does not limit the specific form of the sensing and detection unit 5. It can use a Hall sensor in combination with a magnet, a photoelectric switch in combination with a light shield, a micro switch, or other forms of position detection element, as long as it can output a corresponding electrical signal according to the position change of the trigger part 4.

[0061] It should also be noted that the sensing and detection unit 5 can be fixedly installed on the main body 1 or installed on the main body of the equipment; its installation location is not limited here.

[0062] The detection device 100 provided by this utility model has a simple overall structure, consisting only of a main body 1, a drive unit 2 with a ball head 3, and a sensing detection unit 5. It requires no infrared, laser, or image processing modules, making it simple in structure and easy to assemble. The drive unit 2 moves along a straight channel, cooperating with the rolling support of the ball head 3 and the position switching of the trigger unit 4, eliminating the need for complex transmission mechanisms such as linkages and gears. The ball head 3 uses rolling friction, which reduces motion resistance and avoids sensitivity loss due to long-term sliding wear. It can also work reliably on transparent, reflective, or uneven surfaces. When the ball head 3 is suspended in the air, the drive unit 2 quickly moves into position, the trigger unit 4 immediately switches positions, and the sensing detection unit 5 outputs a status signal, enabling the mobile device to react promptly to avoid falls and improve operational safety.

[0063] Specifically, for ease of installation and reliable positioning of ball head 3, please refer to [link / reference]. Figure 1 and Figure 4 In this embodiment, the driving unit 2 specifically includes a push rod 21 and an annular end cap 22. The push rod 21 has a mounting end adjacent to a first side a of the main body 1, and the mounting end of the push rod 21 is recessed with a spherical groove 21a, in which a portion of the ball head 3 is accommodated. The annular end cap 22 is sleeved around the mounting end of the push rod 21, and the annular end cap 22 and the push rod 21 define a ball head receiving groove 2a. The ball head 3 is at least partially protruding from the hollow area of ​​the annular end cap 22 to abut against the surface 200 to be detected at the first detection position.

[0064] It should be noted that the curvature of the spherical groove 21a matches the outer surface of the ball head 3, and is used to accommodate a part of the ball head 3, serving as a preliminary positioning and support function. The annular end cap 22 and the push rod 21 together form a semi-closed cavity, which constitutes the ball head receiving groove 2a.

[0065] This manual does not limit the specific connection method between the push rod 21 and the annular end cap 22. It can be a snap-fit, threaded connection, adhesive bonding, or integral molding, etc., which will not be described in detail here. The inner diameter of the annular end cap 22, the depth and curvature of the spherical groove 21a can be designed to match the size of the ball head 3. Of course, other possible mating structures can also be used. The specifics can be determined according to the actual situation. This manual does not limit this in the embodiments.

[0066] This configuration, where the ball head 3 is clamped between the spherical groove 21a of the push rod 21 and the annular end cap 22, not only restricts the axial dislodgement of the ball head 3 but also allows it to roll freely within the ball head receiving groove 2a. The assembly process is simple, requiring no additional fasteners or complex clamps. Simultaneously, the annular end cap 22 provides circumferential restraint for the ball head 3, preventing it from shifting or falling off under lateral impact, thus improving structural stability.

[0067] Specifically, to achieve a reliable connection between the push rod 21 and the annular end cap 22, please refer to [link / reference needed]. Figure 5 In this embodiment, one of the outer peripheral wall of the mounting end of the push rod 21 and the inner peripheral wall of the annular end cap 22 is provided with a slot 22a, and the other is provided with a buckle 211 that engages with the slot 22a.

[0068] This manual does not limit the specific location and number of the buckle 211 and the slot 22a. They can be single-point or multi-point snap-fit ​​structures. Of course, other equivalent detachable or fixed connection methods can also be used. The specific method can be determined according to the actual situation. This manual does not limit this in the embodiments.

[0069] Thus, through the cooperation of the buckle 211 and the slot 22a, the annular end cap 22 can be quickly fitted and fixed on the mounting end of the push rod 21 without the need for additional fasteners, making assembly simple. At the same time, it ensures that the ball head receiving groove 2a structure remains stable during use and prevents the annular end cap 22 from loosening.

[0070] Furthermore, in order to optimize the structural layout of the detection device 100 and avoid detection malfunction caused by ground dust, water stains, oil stains, and other contaminants affecting the sensing unit 5 and triggering unit 4 during use, please refer to [link to relevant documentation]. Figure 4 In this embodiment, the mounting channel c is disposed through the main body 1 along the first direction, and the sensing unit 5 is located on the second side b of the main body 1. The other end of the driving unit 2 passes through the mounting channel c and extends out of the second side b of the main body 1.

[0071] Since both the sensing and detection unit 5 and the triggering unit 4 are located on the upper side of the main body 1, i.e. the second side b, they can be kept away from the ground or other surfaces to be detected 200, thus isolating the external pollution sources from affecting the core components of the detection device. Therefore, they are not easily affected by contaminants such as dust, liquid, hair or debris, avoiding misjudgment or failure due to dirt obstruction or adhesion, and improving the working stability of the detection device 100 in complex environments. At the same time, the layout structure is simple, requiring no additional sealing or protective structure, which facilitates assembly and maintenance.

[0072] Further, please refer to Figure 4 In this embodiment, the main body 1 includes a fixed base 11 and a rotating base 12. The fixed base 11 has a first mounting hole 11a along the first direction, and the sensing unit 5 is mounted on one side of the fixed base 11. The rotating base 12 is arranged around the periphery of the driving part 2 and communicates with the first mounting hole 11a to define the mounting channel c together with the fixed base 11. The rotating base 12 is located on the side of the fixed base 11 facing away from the sensing unit 5 in the first direction, and the side of the rotating base 12 facing away from the fixed base 11 forms the first side a of the main body 1. The rotating base 12 is rotatably connected to the fixed base 11 about a rotation axis extending along the first direction.

[0073] Understandably, the rotating seat 12 is fitted around the drive unit 2 and communicates with the first mounting hole 11a of the fixed seat 11, and the two together form a mounting channel c that runs through the main body 1. The rotating seat 12 is located on the side of the fixed seat 11 away from the sensing unit 5 in the first direction, and the side away from the fixed seat 11 constitutes the first side a of the main body 1, which faces the surface to be detected 200 directly.

[0074] The rotating seat 12 is rotatably connected to the fixed seat 11 about a rotation axis extending along the first direction via a rotatable connection structure. It should be noted that the rotatable connection structure can be in the form of a shaft-hole fit, bearing nesting, or snap-fit ​​shaft, etc. This specification does not limit the specific implementation of the rotatable connection, as long as it allows the rotating seat 12 to rotate smoothly relative to the fixed seat 11 about the first direction; detailed descriptions are not provided here.

[0075] The shape of the rotating base 12 can be designed as a circle, polygon or irregular shape according to the bottom contour of the equipment. Of course, other possible shapes can also be used. The specific shape can be determined according to the actual situation. This specification does not limit this embodiment.

[0076] With this configuration, when the front or side of the mobile device encounters a wall, furniture leg, or other obstacle during operation, the rotating seat 12 can rotate relative to the fixed seat 11 in the first direction under the action of contact force. This causes the ball head 3 and the front structure to deflect in accordance with the contour of the obstacle, thus providing a buffering and guiding effect. This makes it easier for the device to smoothly turn or escape when cleaning near edges or operating in narrow spaces, avoiding the device from jamming or the detection device 100 from being damaged by impact due to rigid collisions.

[0077] Furthermore, to ensure that the drive unit 2 can reliably reset after completing the edge detection operation, please refer to [further details needed]. Figure 4 In this embodiment, the detection device 100 further includes a reset member 6, which is used to provide a reset force when the driving part 2 moves from the first detection position to the second detection position.

[0078] The reset element 6 can be a compression spring, tension spring, spring sheet, rubber pad, or other element with elastic restoring function. This specification does not limit the specific type and installation method of the reset element 6, as long as it can provide a reset force to the drive unit 2 in the first direction, which will not be described in detail here.

[0079] Specifically, when the mobile device is located inside the edge of the surface to be detected 200, the ball head 3 is against the ground, the drive unit 2 is in the first detection position, and the reset member 6 is in the natural or pre-compressed state. When the device moves to the outside of the edge, the ball head 3 is suspended in the air, and the drive unit 2 moves to the second side b to the second detection position under its own gravity or external action. The reset member 6 is compressed or stretched accordingly, generating a reset force pointing to the first detection position. Once the ball head 3 contacts the effective support surface again (for example, the device moves backward or turns and is pressed back to the ground), the reset member 6 pushes the drive unit 2 to quickly move back to the first detection position, so that the trigger unit 4 returns to the first working position, and the sensing detection unit 5 outputs the first state signal accordingly, restoring the normal operation state of the device.

[0080] By setting the reset component 6, not only is the reliability of the drive unit 2's operation improved, but the ball head 3 can also quickly return to its initial state after being briefly suspended (such as crossing a small gap or step transition), avoiding false triggering of continuous alarms. At the same time, it reduces dependence on gravity, enabling the detection device 100 to work stably on inclined surfaces or in non-horizontal postures.

[0081] Specifically, for ease of installation of the reset piece 6 and to limit the travel of the drive unit 2, please refer to [link / reference needed]. Figure 4In this embodiment, the inner wall of the mounting channel c is provided with a limiting protrusion 101, and the outer periphery of the driving part 2 is formed with a limiting step 201. The limiting step 201 is located on the side of the limiting protrusion 101 near the first side a of the main body part 1, and is disposed opposite to it in the first direction. The reset member 6 includes a compression spring, which is disposed between the limiting protrusion 101 and the limiting step 201.

[0082] When the drive unit 2 is in the first detection position, the compression spring is in a natural or slightly compressed state; when the drive unit 2 moves to the second detection position, the limiting step 201 pushes the compression spring to compress further, thereby generating a restoring force towards the first detection position. This structure makes the compression spring securely installed, requiring no additional fixing structure, and making assembly simple and reliable.

[0083] It should be noted that this instruction manual does not limit the specific size or number of coils of the compression spring. Of course, other forms of elastic elements can also be used instead, which will not be described in detail here. The position and height of the limiting protrusion 101 and the limiting step 201 can be set according to the actual stroke requirements. The specifics can be determined according to the actual situation, and this instruction manual does not limit this aspect in the embodiments.

[0084] Furthermore, to ensure that the drive unit 2 moves smoothly along the first direction within the mounting channel c and to avoid deflection or jamming, please refer to [reference needed]. Figure 1 In this embodiment, one of the driving part 2 and the main body part 1 is provided with a guide groove 1a extending along the first direction, and the other is provided with a guide protrusion 23 that slides with the guide groove 1a.

[0085] In other words, a guide groove 1a can be provided on the inner wall of the mounting channel c of the main body 1, and a guide protrusion 23 can be provided on the outer periphery of the drive part 2; or a guide groove 1a can be provided on the outer side of the drive part 2, and a guide protrusion 23 can be provided on the inner wall of the mounting channel c. The guide protrusion 23 is embedded in the guide groove 1a and can slide along its length direction, thereby limiting and guiding the movement of the drive part 2, ensuring that it only moves linearly in the first direction and does not rotate or sway laterally.

[0086] This guide structure is simple to manufacture and has a reliable fit, which can improve the action accuracy of the detection device 100. This specification does not limit the specific setting position and cross-sectional shape of the guide groove 1a and the guide protrusion 23. They can be rectangular, trapezoidal, T-shaped or other adaptable forms. Of course, multiple sets of guide structures can also be used to enhance the guiding effect. The specifics can be determined according to the actual situation. This specification does not limit this in the embodiments.

[0087] Specifically, for ease of installation and replacement of trigger unit 4, please refer to [link / reference]. Figure 4In this embodiment, the other end of the driving part 2 is provided with an internal thread, and the trigger part 4 is provided with a connecting hole. The detection device 100 also includes a screw connector 7 provided with an external thread, which passes through the connecting hole to be screwed into the internal thread of the driving part 2.

[0088] This design allows the trigger unit 4 to be quickly assembled or disassembled through a simple screwing operation, facilitating maintenance or replacement of the trigger unit 4 with a suitable one according to different types of sensing units 5. At the same time, the screw connection is reliable and not easily loosened, ensuring that the trigger unit 4 maintains a stable position during frequent reciprocating motion.

[0089] Please see Figure 3 In this embodiment, the sensing detection unit 5 has a transmitting end 51 and a receiving end 52 spaced apart in a second direction, and a detection area is formed between the transmitting end 51 and the receiving end 52 of the sensing detection unit 5. When the triggering part 4 is in the first working position, the triggering part 4 is away from the detection area. When the triggering part 4 is in the second working position, the triggering part 4 is in the detection area.

[0090] When the drive unit 2 is in the first detection position, the trigger unit 4 is in the first working position. At this time, the trigger unit 4 is far away from the detection area. The receiver 52 can normally receive the signal (such as infrared light, visible light, etc.) emitted by the transmitter 51. The sensing detection unit 5 outputs the first status signal, indicating that the device is in a safe area. When the drive unit 2 moves to the second detection position, the trigger unit 4 enters the second working position and inserts into the detection area between the transmitter 51 and the receiver 52, blocking or blocking the signal transmission. The receiver 52 cannot receive the complete signal, so the sensing detection unit 5 outputs the second status signal, indicating that the device has approached or crossed the edge.

[0091] By setting up a through-beam sensing structure, the system exhibits high sensitivity and strong anti-interference capabilities, and avoids direct contact with the triggering part 4, thus preventing mechanical wear. Furthermore, positioning the detection area on the second side b of the main body 1, away from contamination sources on the surface to be detected 200, further enhances operational reliability.

[0092] It should be noted that the installation distance between the transmitter 51 and the receiver 52 can be adjusted according to the size of the trigger part 4. Of course, other equivalent non-contact detection methods can also be used. The specific method can be determined according to the actual situation. This specification does not limit this embodiment.

[0093] Specifically, the sensing and detection unit 5 includes an optical coupler or an infrared transmitter.

[0094] When an optical coupler board is used, it integrates a transmitter and a receiver. When the trigger unit 4 moves to the corresponding position, it blocks the internal optical path, thereby changing the output level. When an infrared transmitter is used, the infrared transmitter 51 and receiver 52, which are separately configured, form a through-beam structure. When the trigger unit 4 enters between them, it blocks the infrared signal, realizing state switching. Both forms can reliably output a first state signal and a second state signal, which the main control system can use to determine whether the device is in an edge critical region.

[0095] Of course, the specific type of sensing and detection unit 5 is not limited to optical coupler or infrared photodetector; it can also be other position detection elements based on the principle of optical path on / off, which will not be described in detail here.

[0096] This utility model also proposes a mobile device, which includes a device body and a detection device 100. The device body is movably disposed along a surface 200 to be detected and has a mounting side facing the surface 200 to be detected. The detection device 100 is mounted on the mounting side. The specific structure of the detection device 100 is as described in the above embodiments. Since this mobile device adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be described in detail here.

[0097] Furthermore, to enhance edge perception of the surrounding environment, in this embodiment, multiple detection devices 100 are provided, and these multiple detection devices 100 are arranged at circumferential intervals along the mounting side of the device body. For example, they can be arranged at the front, left front, right front, or rear sides of the device to achieve multi-directional critical edge detection. Through multi-point arrangement, the mobile device can promptly identify steps, cliffs, or suspended areas in different directions of travel, improving the reliability of obstacle avoidance and fall prevention.

[0098] Furthermore, the detection device 100 is positioned close to the outer periphery of the device body, enabling it to detect edge conditions earlier and avoiding delayed response due to the detection position being too inward. This configuration is particularly suitable for scenarios requiring edge cleaning or walking along walls, allowing the mobile device to make turning or adjustment actions in advance when approaching obstacles or boundaries.

[0099] This specification does not limit the specific number and circumferential distribution angle of the detection devices 100. They can be flexibly configured according to the shape of the equipment, the mode of movement and the usage scenario. Of course, a single detection device 100 can also be set only in key positions. The specific configuration can be determined according to the actual situation. This specification does not limit this in the embodiments.

[0100] Specifically, in this embodiment, the mobile device includes a cleaning robot. The cleaning robot includes a main body and a detection device 100 installed on its bottom (i.e., the mounting side facing the surface to be detected 200). The specific structure of the detection device 100 is as described above. By integrating the detection device 100 onto the cleaning robot, steps, stair edges, or suspended areas can be sensed in real time during movement, triggering avoidance or turning actions in a timely manner to prevent falls and improve the safety and continuity of cleaning operations.

[0101] Since the cleaning robot adopts the technical solutions of all the aforementioned embodiments, it has at least all the beneficial effects brought about by the corresponding technical solutions, which will not be repeated here.

[0102] The above description is merely an exemplary embodiment of the present utility model and does not limit the patent scope of the present utility model. Any equivalent structural transformations made based on the technical concept of the present utility model and the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present utility model.

Claims

1. A detection device (100) for use in mobile equipment, characterized in that, The detection device (100) includes: The main body (1) has a first side (a) and a second side (b) arranged opposite to each other in a first direction. The first side (a) of the main body (1) is used to face and abut against the surface to be tested (200). The main body (1) is provided with an installation channel (c) extending in the first direction. A drive unit (2) is movably disposed within the mounting channel (c) along the first direction. One end of the drive unit (2) adjacent to the first side (a) of the main body (1) is provided with a ball head receiving groove (2a), in which a ball head (3) is rotatably accommodated. The other end of the drive unit (2) away from the first side (a) of the main body (1) is provided with a trigger unit (4). The drive unit (2) is configured to move between a first detection position and a second detection position. Correspondingly, the trigger unit (4) corresponds to the first working position and the second working position in the first direction. The sensing detection unit (5) is used to output a first status signal when the trigger part (4) is in the first working position, and to output a second status signal when the trigger part (4) is in the second working position; In the first detection position, the outer end face of the ball head (3) is used to abut against the surface to be detected (200), and in the second detection position, the outer end face of the ball head (3) extends out of the first side (a) of the main body (1).

2. The detection device (100) as described in claim 1, characterized in that, The drive unit (2) includes: A push rod (21) having a mounting end adjacent to a first side (a) of the main body (1), the mounting end of the push rod (21) having a recessed spherical groove (21a), a portion of the ball head (3) being accommodated in the spherical groove (21a); ​​and, An annular end cap (22) is sleeved around the mounting end of the push rod (21). The annular end cap (22) and the push rod (21) define the ball head receiving groove (2a). The ball head (3) protrudes at least partially from the hollow area of ​​the annular end cap (22) to abut against the surface to be tested (200) at the first detection position.

3. The detection device (100) as described in claim 2, characterized in that, The outer peripheral wall of the mounting end of the push rod (21) and the inner peripheral wall of the annular end cap (22) are provided with a slot (22a), and the other is provided with a buckle (211) that engages with the slot (22a).

4. The detection device (100) as described in claim 1, characterized in that, The mounting channel (c) is provided through the main body (1) along the first direction, and the sensing detection unit (5) is located on the second side (b) of the main body (1); The other end of the drive unit (2) passes through the mounting channel (c) and extends out to the second side (b) of the main body (1).

5. The detection device (100) as described in claim 4, characterized in that, The main body (1) includes: A mounting base (11) has a first mounting hole (11a) along the first direction, and the sensing unit (5) is located on one side of the mounting base (11); and, A rotating seat (12) is arranged around the periphery of the driving part (2) and communicates with the first mounting hole (11a) to define the mounting channel (c) together with the fixed seat (11). The rotating seat (12) is located on the side of the fixed seat (11) away from the sensing detection unit (5) in the first direction. The side of the rotating seat (12) away from the fixed seat (11) forms the first side (a) of the main body (1). The rotating seat (12) is rotatably connected to the fixed seat (11) about a rotation axis extending along the first direction.

6. The detection device (100) as described in claim 1, characterized in that, The detection device (100) further includes a reset member (6) for providing a reset force when the drive unit (2) moves from the first detection position toward the second detection position.

7. The detection device (100) as described in claim 6, characterized in that, The inner wall of the installation channel (c) is provided with a limiting protrusion (101), and the outer peripheral side of the drive part (2) is formed with a limiting step (201). The limiting step (201) is located on the side of the limiting protrusion (101) close to the first side (a) of the main body part (1), and is arranged opposite to it in the first direction. The reset member (6) includes a compression spring, which is disposed between the limiting protrusion (101) and the limiting step (201).

8. The detection device (100) as described in claim 1, characterized in that, One of the driving part (2) and the main body part (1) is provided with a guide groove (1a) extending along the first direction, and the other is provided with a guide protrusion (23) that slides with the guide groove (1a).

9. The detection device (100) as described in claim 1, characterized in that, The other end of the drive part (2) is provided with an internal thread, and the trigger part (4) is provided with a connecting hole; The detection device (100) further includes a threaded connector (7) with external threads, which passes through the connection hole to be threaded into the internal threads of the drive unit (2).

10. The detection device (100) as claimed in claim 1, characterized in that, The sensing detection unit (5) has a transmitting end (51) and a receiving end (52) spaced apart in a second direction. A detection area is formed between the transmitting end (51) and the receiving end (52) of the sensing detection unit (5). When the trigger part (4) is in the first working position, the trigger part (4) is away from the detection area. When the trigger part (4) is in the second working position, the trigger part (4) is in the detection area.

11. The detection device (100) as claimed in claim 1, characterized in that, The sensing and detection unit (5) includes an optical coupler or an infrared detector.

12. A mobile device, characterized in that, include: The device body is movably disposed along the surface to be inspected (200), the device body having a mounting side for facing the surface to be inspected (200); and, The detection device (100) as described in any one of claims 1 to 11 is mounted on the mounting side of the main body of the equipment.

13. The mobile device as claimed in claim 12, characterized in that, Multiple detection devices (100) are provided, and the multiple detection devices (100) are arranged at circumferential intervals along the mounting side of the equipment body; and / or, The detection device (100) is located near the outer periphery of the main body of the equipment.

14. The mobile device as claimed in claim 12, characterized in that, The mobile device includes a cleaning robot.

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