Detection device, cleaning equipment and cleaning system

Abstract

The present invention relates to a detection device, a cleaning device, and a cleaning system. The detection device is configured to be mounted on a main unit of the cleaning device, and the detection device comprises a drive mechanism and a detection assembly. The drive mechanism has an external part that can be raised and lowered. The detection assembly is connected to the external part of the drive mechanism and can be movably positioned in a first detection position, a second detection position, or a position between the first and second detection positions. The first detection position is higher than the upper surface of the main unit, and the second detection position is lower than or at the same height as the upper surface of the main unit. (See Figure 2 for an abstract illustration.)

Description

Title of the invention: Detection device, cleaning equipment and cleaning system. Technical field

[0001] The present invention relates to the technical field of electrical devices, and in particular a detection device, a cleaning device, and a cleaning system. Technological background

[0002] A cleaning device, such as a sweeper, is provided with a detection device configured to scan an environment of the cleaning device in order to use information relating to this environment in planning the movement path of the cleaning device. Summary of the present invention

[0003] The present invention provides a detection device, a cleaning device and a cleaning system.

[0004] According to a first aspect, the present invention relates to a detection device. The detection device is configured to be mounted on a main unit of a cleaning device. The detection device comprises: - a drive mechanism, the drive mechanism comprising an external part that can be raised and lowered; and - a detection assembly, the detection assembly being connected to the external part of the drive mechanism and movably situated in a first detection position, in a second detection position or in a position between the first detection position and the second detection position; in which the first detection position is higher than an upper surface of the main unit, and the second detection position is lower than or at the same height as the upper surface of the main unit.

[0005] The detection device is configured to be assembled on the main unit of the cleaning device according to the present invention and comprises a drive mechanism having a liftable and lowerable external part and a detection assembly connected to this external part of the drive mechanism. In this configuration, during the operation of the cleaning device, by driving the drive mechanism to move it, the detection assembly connected to the external part of the drive mechanism is driven to be lifted and lowered, thus allowing the detection assembly to perform a back-and-forth movement between the first detection position and the second position. detection, and thus allowing the detection assembly to switch between the first detection position and the second detection position. This enables the main unit to implement cleaning application scenarios at different heights and avoids damage to the detection assembly in the event of a collision with an obstacle on the movement path of the cleaning device, thus ensuring the normal operation of the cleaning device.

[0006] According to a second aspect, the present invention relates to a cleaning device, comprising: - a main unit; and - a detection device according to the first aspect of the present invention, the detection device being assembled on the main unit.

[0007] According to a third aspect, the present invention relates to a cleaning system comprising the cleaning device according to the second aspect of the present invention and a base station used jointly with the cleaning device. Brief description of the figures

[0008] For a clearer description of the technical solutions in the embodiments of the present invention, the figures to be used in the description of the embodiments are briefly presented below. It is evident that the figures in the description below represent only certain embodiments of the present invention, and for those skilled in the art, other figures can be obtained from the drawings without requiring creative effort.

[0009] [Fig. 1] shows a schematic view of a first state of a cleaning device according to one or more embodiments of the present invention;

[0010] [Fig.2] shows a schematic view of a second state of a cleaning device according to one or more embodiments of the present invention;

[0011] [Fig.3] shows a schematic view illustrating the structure of a detection assembly in the state shown in [Fig.1];

[0012] [Fig.4] shows a schematic view illustrating the structure of a detection assembly in the state illustrated in [Fig.2];

[0013] [Fig.5] shows an exploded schematic view of the detection device of the [Fig.3];

[0014] [Fig.6] shows an exploded schematic view of the detection device of the [Fig.4];

[0015] [Fig.7] shows a schematic structural view of a drive mechanism of the [Fig.5];

[0016] [Fig.8] shows a schematic structural view of a drive mechanism of the [Fig.6];

[0017] [Fig.9] shows a schematic top view of a detection device of the [Fig.3]

[0018] [Fig. 10] shows a schematic cross-sectional view of the detection device of the [Fig.9] taken along line AA;

[0019] [Fig. 11] shows a schematic view illustrating the assembly of a connecting element, a second connecting rod and a detection device;

[0020] [Fig. 12] shows a schematic structural view of a connecting element;

[0021] [Fig. 13] shows an exploded schematic view of a structure of the [Fig.1];

[0022] [Fig. 14] shows a schematic structural view of a figure fixing element 3 and 4;

[0023] [Fig. 15] shows a schematic exploded view of a detection assembly and a fixing element;

[0024] [Fig. 16] shows a schematic structural view of a detection assembly;

[0025] [Fig. 17] and [Fig. 18] show schematic structural views of a detection device according to another embodiment;

[0026] [Fig. 19] shows a schematic structural view of a housing in figures 1 and 2.

[0027] Description of reference numbers: drive mechanism-100, drive element-101, drive shaft-1011, connecting rod assembly-102, first connecting rod-1021, second connecting rod-1022, first rotation shaft-1023, second rotation shaft-1024, first connecting element-1025, second connecting element-1026, first drive block-103, second drive block-104; detection assembly-200, second guiding part-201, first positioning part-202, magnet-203; position confirmation element-300; triggering element-400; first stop -500; connecting element-600, connecting lug-601, connecting hole-602; support element-700, support part-701; elastic element-800; fixing element-900, access opening-901, housing cavity-902, support base-903, first guide part-904, second positioning part-905, integral element-906; housing-1000, concave part-1001, passage hole-1002. Description of examples of achievements

[0028] In order for persons skilled in the art to which the present invention relates to better understand the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the figures of the embodiments of the present invention. It is evident that the embodiments described represent only a part of all embodiments of the present invention. Based on these embodiments of the present invention, all other embodiments obtained by persons skilled in the art without creative effort fall within the scope of protection of the present invention.

[0029] The cleaning device, such as a sweeping robot, is a type of cleaning machine suitable for cleaning hard floors while simultaneously vacuuming wastewater and removing wastewater from the site, and includes advantages such as environmental friendliness, energy saving and efficiency.

[0030] In the prior art, a cleaning device, such as a sweeping robot, is equipped with a detection device. The detection device comprises a detection assembly, which may be a camera assembly and / or a sensor assembly, so as to scan an environment during the operation of the cleaning device and to provide representative information about this scanned environment to a processor of the cleaning device. The processor plans a path for the cleaning device based on the acquired environmental information.

[0031] However, during the operation of the cleaning device, the detection device may come into contact with and collide with an obstacle in the path of the cleaning device, thereby damaging the detection device. Consequently, the detection device cannot provide the environmental information required for the operation of the cleaning device, which affects the normal operation of the cleaning device.

[0032] Based on the technical problem described above, the present invention provides a detection device, a cleaning device, and a cleaning system. The detection device can be raised and lowered by a lifting mechanism. When an obstacle is in the path of the cleaning device, the detection assembly is driven to lower itself to avoid the obstacle; when the cleaning device passes the obstacle, the detection assembly is driven to raise itself and continues to provide information representative of the scanned environment to the processor of the cleaning device, thus ensuring obstacle avoidance capability for the cleaning device and allowing the cleaning device to operate normally. The specific details of the detection device are now described in more detail with reference to the figures.

[0033] Figure 1 shows a schematic view of a cleaning device in a first state according to one or more embodiments of the present invention; Figure 2 shows a schematic view of a cleaning device in a second state according to one or more embodiments of the present invention; Figure 3 shows a schematic view illustrating the structure of a detection device in the state shown. Figure 1; and Figure 4 shows a schematic view illustrating the structure of a sensing device in the state shown in Figure 2. The first state of the cleaning device refers to a state in which the sensing assembly of the cleaning device is in a first sensing position, and the second state of the cleaning device refers to a state in which the sensing assembly of the cleaning device is in a second sensing position. For clarity, some components of the cleaning device are omitted in Figures 1 and 2. With reference to Figures 1 to 4, the sensing device according to the present invention is assembled onto a main unit of a cleaning device, and the sensing device comprises a drive mechanism 100 and a sensing assembly 200. The drive mechanism 100 is provided with a liftable and lowerable external portion.The detection assembly 200 is connected to the external part of the drive mechanism 100, and the detection assembly 200 is movable in a first detection position, a second detection position, or a position between the first and second detection positions. The first detection position is higher than the top surface of the main unit, and the second detection position is lower than or at the same height as the top surface of the main unit (i.e., the second detection position is lower than the top surface of the main unit or is flush with the top surface of the main unit).

[0034] The detection device assembled on the main unit of the cleaning device according to the present invention comprises the drive mechanism 100 provided with the liftable and lowerable external part and the detection assembly 200 connected to the external part of the drive mechanism 100. In this configuration, during the operation of the cleaning device, by driving the drive mechanism 100 to move, the detection assembly 200 connected to the external part of the drive mechanism 100 is driven to be lifted and lowered, thus allowing the detection assembly 200 to perform a back-and-forth movement between the first detection position and the second detection position, and thus allowing the detection assembly to be located in the first detection position or in the second detection position.This prevents damage to the detection assembly 200 when it comes into contact and collides with an obstacle in the path of the cleaning device, thus ensuring the normal operation of the cleaning device and adaptation to cleaning application scenarios at different heights.

[0035] According to one embodiment of the present invention, when the cleaning device is operating normally, the detection assembly 200 is in the first detection position to analyze environmental information in real-time, which promotes the operation of the cleaning device. If an obstacle is in the path of the cleaning device, the detection assembly 200 is in the second detection position to prevent the detection assembly 200 from being damaged by a collision with the obstacle and to ensure the normal operation of the cleaning device; or, if an obstacle exists in the path of the cleaning device, the detection assembly 200 determines the height of the obstacle, and the detection assembly 200 is lowered to a position between the first detection position and the second detection position depending on the height of the obstacle, where the position is lower than the height of the obstacle, so that the cleaning device can successfully pass the obstacle and the cleaning device can operate normally.

[0036] With reference to Figures 3 and 4, the detection device also includes a mounting element 900, and at least a portion of the detection assembly 200 is raised and lowered within the mounting element 900. When the detection assembly 200 is in the first detection position, a portion of the mounting element 900 protrudes from the detection assembly 200 to scan the environment. When the detection assembly 200 is in the second detection position, the detection assembly 200 can be fully or partially retracted into the mounting element 900, such that the mounting element 900 protects the detection assembly 200 from contact and collision with the obstacle in its path of travel.

[0037] Figure 5 shows a schematic exploded view of a detection device [Fig. 3], and [Fig. 6] show a schematic exploded view of a detection device of [Fig. 4]. With reference to Figures 5 and 6 and Figures 7 and 8 described below, in one embodiment, the drive mechanism 100 comprises a drive element 101 and a connecting rod assembly 102. The drive element 101 is provided with a rotating drive shaft 1011, the drive element 101 is arranged under the detection assembly 200, and the connecting rod assembly 102 is connected by a pivot joint to the drive shaft 1011 and the detection assembly 200 separately. In the present invention, by driving the drive shaft 1011 of the drive element 101 to rotate, the connecting rod assembly 102 is driven to move, then the sensing assembly 200 is driven to be raised and lowered.

[0038] According to one embodiment of the present invention, the drive element 101 may be a drive motor capable of receiving and executing control instructions issued by the processor of the cleaning device, so as to rotate forward or backward under the control of the cleaning device's processor. Furthermore, an extension direction of the drive shaft 1011 of the drive element 101 is arranged perpendicular to a direction of lifting and lowering of the 200 detection assembly, so that when the detection device is assembled on the cleaning device, the space in a horizontal direction of the cleaning device can be used, thus reducing the dimension of the cleaning device in the vertical direction, and facilitating a light and thin design of the cleaning device.

[0039] Figure 7 shows a schematic structural view of a drive mechanism of Figure 5, and Figure 8 shows a schematic structural view of a drive mechanism of Figure 6. With reference to Figures 7 and 8, according to one embodiment of the present invention, the connecting rod assembly 102 comprises a first connecting rod 1021 and a second connecting rod 1022. The first connecting rod 1021 is connected by a pivot joint to the drive shaft 1011, the second connecting rod 1022 is connected by a pivot joint to the first connecting rod 1021, and the second connecting rod 1022 is connected by a pivot joint to the sensing assembly 200.During operation of the cleaning device, the drive shaft 1011 of the drive element 101 is rotated, and the drive shaft 1011 drives the first connecting rod 1021 and the second connecting rod 1022 in rotation. Then, the overall position of the first connecting rod 1021 and the second connecting rod 1022 is adjusted to raise and lower the sensing assembly 200. When the first connecting rod 1021 and the second connecting rod 1022 are in their extended state, the sensing assembly 200 is raised and is in the first sensing position. When the first connecting rod 1021 and the second connecting rod 1022 are in their retracted state, the sensing assembly 200 is lowered and is in the second sensing position.

[0040] According to one embodiment of the present invention, each of the first connecting rod 1021 and the second connecting rod 1022 is provided with a first end and a second end, two first connecting rods 1021 and two second connecting rods 1022 can each be arranged face to face, and the first connecting rods 1021 and the second connecting rods 1022 are arranged in one-to-one correspondence. The first ends of the first two connecting rods 1021 are both pivotally connected to the drive shaft 1011 of the drive element 101, the second ends of the first connecting rods 1021 are pivotally connected to the first ends of the corresponding second connecting rods 1022 via first rotation shafts 1023, and the second ends of the second connecting rods 1022 are connected to the sensing assembly 200 via second rotation shafts 1024.Under the action of the drive element 101, the first connecting rod 1021 and the second connecting rod 1022, linked to each other, are driven in rotation, then the detection assembly 200 is driven to be raised and lowered.

[0041] With reference to Figures 7 and 8, the first two connecting rods 1021 can be linked by means of a first connecting member 1025, such that the first two connecting rods 1021 form a single structure. In one embodiment, the first connecting member 1025 can be connected between the first ends of the first two connecting rods 1021, and the first connecting member 1025 can have a sleeve shape that rotatably fits onto the drive shaft 1011 of the drive element 101. In another embodiment, the first connecting member 1025 can also be connected between the midpoints of the first two connecting rods 1021.

[0042] With reference to Figures 7 and 8, the two second connecting rods 1022 can be connected to the two first connecting rods 1021 in order to reduce the overall length of the connecting rod assembly 102 to some extent and to reduce the space occupied by the connecting rod assembly. The first ends of the two second connecting rods 1022 receive the first rotation shafts 1023 described above, respectively; the second ends of the two second connecting rods 1022 are provided with the second rotation shafts 1024 described above, respectively; and the second rotation shafts 1024 are connected to the sensing assembly 200.

[0043] With reference to Figures 7 and 8, the two second connecting rods 1022 are linked by means of a second connecting member 1026, such that the two second connecting rods 1022 form an integral structure. In one embodiment, the second connecting member 1026 can be connected between the second ends of the two second connecting rods 1022. In another embodiment, the second connecting element 1026 can also be connected between the midpoints or the first ends of the two second connecting rods 1022.

[0044] With reference to Figures 7 and 8, the detection device further includes a position confirmation element 300. The position confirmation element is configured to confirm whether the detection assembly 200 is in the first or second detection position. The position confirmation element 300 is configured to confirm the position of the detection assembly 200 and send information about the position of the detection assembly 200 to the processor of the cleaning device. Based on the position information received from the detection assembly 200, the processor of the cleaning device controls the cleaning device to execute a corresponding instruction.

[0045] With reference to Figures 7 and 8, according to one embodiment of the present invention, two position confirmation elements 300 are provided, the two position confirmation elements 300 are spaced around the drive shaft 1011 in a circumferential direction, and a triggering element 400 is arranged on the circumferential side of the drive shaft 1011. During the rotation of the element Trigger element 400, in synchronization with the drive shaft 1011, triggers the two position confirmation elements 300. More specifically, during the process of driving the sensing assembly 200 to be raised or lowered via the rotating drive shaft 1011, trigger element 400 rotates synchronously with the drive shaft 1011. When the sensing assembly 200 is in the first sensing position, trigger element 400 triggers a position confirmation element 300 to transmit a first position signal to the cleaning device processor, and the cleaning device processor, based on the first position signal, drives the cleaning device to execute a corresponding instruction, where the instruction includes the command to stop the rotation of the drive element 101.When the detection assembly 200 is in the second detection position, the triggering element 400 triggers the other position confirmation element 300 to transmit a second position signal to the cleaning device processor, and the cleaning device processor drives, according to the second position signal, the cleaning device to execute a corresponding instruction, where the instruction includes the command to stop the rotation of the drive element 101. In another embodiment, three or more position confirmation elements 300 may be provided, which can not only confirm that the detection assembly 200 is in the first detection position or the second detection position, but also confirm that the detection assembly 200 is in a position between the first detection position and the second detection position.

[0046] With reference to Figures 7 and 8, in one embodiment, the triggering element 400 may have a plate-like structure connected to the circumferential side of the drive shaft 1011, and the position confirmation element 300 may be a photoelectric sensor-type switch or an infrared sensor. When the triggering element 400 rotates toward the position confirmation element 300, the triggering element 400 causes the position confirmation element 300 to generate one of two signals, first position and second position. In another embodiment, the position confirmation element 300 may also be a trigger switch, although this is not a limitation of the present invention.

[0047] [Fig. 9] shows a schematic top view of a detection device of [Fig. 3], and [Fig. 10] shows a schematic cross-sectional view of the detection device of [Fig. 9] taken along line AA. With reference to Figures 9 and 10, the detection device also includes a first stop 500, and the first stop 500 is spaced from the outer peripheral side of the drive shaft 1011; In other words, the first stop 500 is arranged at a certain distance from the outer peripheral side of the drive shaft 1011. When the sensing assembly 200 is in the first sensing position, the first stop 500 is in contact with the first connecting rod 1021. The first stop 500 may have a plate-shaped structure to limit a rotational position of the first connecting rod 1021, so that the sensing assembly 200 is held in the first sensing position.

[0048] With reference to Figures 9 and 10, when the detection assembly 200 is in the first detection position, an included angle is formed between the first connecting rod 1021 and the second connecting rod 1022, the included angle is an obtuse angle, a component of the weight of the detection assembly 200 supported by the second connecting rod 1022 is inclined in a direction towards the first stop 500, and in combination with the limitation of the first connecting rod 1021 by the first stop 500, the detection assembly 200 can be maintained in the first detection position.

[0049] According to one embodiment of the present invention, the sensing device may also include a second stop (not shown in the figure), and the second stop is spaced away from the drive shaft 1011; that is, the second stop is arranged at a certain distance from the outer circumferential side of the drive shaft 1011. When the sensing assembly 200 is in the second sensing position, the second stop is in contact with the first connecting rod 1021. Like the first stop 500, the second stop may also have a plate-shaped structure to limit a rotational position of the first connecting rod 1021, so that the sensing assembly 200 is held in the second sensing position.

[0050] With reference to [Fig. 10], the detection device also includes a linking element 600. The linking element 600 is connected to the external part of the drive mechanism 100 and to the detection assembly 200. In other words, the linking element 600 connects the external part of the drive mechanism 100 and the detection assembly 200. Under the drive of the drive mechanism 100, the linking element 600 is driven to be raised and lowered, and then the detection assembly 200 connected to the linking element 600 is driven to be raised and lowered, thus allowing the detection assembly 200 to switch between the first detection position and the second detection position. The details of the linking element 600 and its connection with the external part of the drive mechanism 100 and the sensing assembly 200 are now described in more detail with reference to Figures 11 to 13.

[0051] Figure 11 shows a schematic view illustrating the assembly of a connecting element, a second connecting rod, and a sensing assembly; Figure 12 shows a schematic structural view of a connecting element; and Figure 13 shows a schematic exploded view of a structure of Figure 11. With reference to the figures In one embodiment, the connecting element 600 can be arranged to correspond with the second connecting rod 1022 of the drive mechanism 100. Since two second connecting rods 1022 are provided, two corresponding connecting elements 600 are also provided. The connecting element 600 may have a plate-like structure; the second rotating shaft 1024 on the second connecting rod 1022 is pivotally connected to the middle of the connecting element 600, and the two ends of the connecting element 600 are connected to the sensing assembly 200. In another embodiment, the connecting element 600 can also be arranged between the two second connecting rods 1022.

[0052] With reference to Figures 12 and 13, the detection device comprises a support element 700, the lower part of the support element 700 is provided with a load-bearing part, the upper part of the support element 700 is connected to the detection assembly 200, and the linking element 600 can perform a reciprocating movement between the load-bearing part of the support element 700 and the detection assembly 200. When the drive mechanism 100 commands the lifting of the detection assembly 200, the linking element 600 comes to rest against the bottom of the detection assembly 200 and, under the action of the drive mechanism 100, the linking element 600 and the detection assembly 200 are lifted in a synchronized manner. When the drive mechanism 100 causes the detection assembly 200 to be lowered, the drive element 101 causes the linking element 600 and the detection assembly 200 to be lowered in a synchronized manner.

[0053] With reference to Figures 12 and 13, in one embodiment, the connecting element 600 is elastically connected to the carrier part and / or to the detection assembly 200, which allows the connecting element 600 to move between the carrier part and the detection assembly 200. During the movement of the cleaning device, when the cleaning device passes over a bump, as the connecting element 600 moves between the support part 701 and the detection assembly 200, the bump crossed by the cleaning device can be cushioned, which allows the detection assembly 200 to scan the environment stably.

[0054] With reference to Figures 12 and 13, a connecting lug 601 is provided in the middle of the connecting element 600. The second rotating shaft 1024 of the second connecting rod 1022, which is connected to the connecting element 600, is connected by a pivot joint to the connecting lug 601. Two ends of the connecting element 600 are provided with connecting holes 602, respectively, and the support element 700 and the connecting hole 602 are provided accordingly. The support element 700 may have a cylindrical structure, and the support portion 701 may have an annular structure formed integrally at the bottom of the support element 700. The support portion 701 of the support element 700 is arranged below the corresponding connecting hole 602, and the top of the support element 700 passes through the corresponding connection hole 602 and can be securely assembled on the bottom of the detection assembly 200 by means of a threaded fitting or similar. In one embodiment, an elastic element 800 may be provided between the connecting element 600 and the bottom of the detection assembly 200, or an elastic element 800 may be provided between the connecting element 600 and the support portion 701 of the support element 700, or elastic elements 800 are provided both between the connecting element 600 and the bottom of the detection assembly 200, and between the connecting element 600 and the support portion 701 of the support element 700. The elastic element 800 clamps the support element 700, thus allowing the support element 700 to guide the deformation of the elastic element 800.

[0055] Fig. 14 shows a schematic structural view of a fastening element of Figures 3 and 4. With reference to Fig.

[14] , the top of the receiving element 900 is provided with an access opening 901, the receiving element 900 is provided with a housing cavity 902, and the sensing assembly 200 can enter the housing cavity 902 through the access opening 901. The drive element 101 can be disposed on the outer side of the fixing element 900, the drive shaft 1011 of the drive element 101 rotates through the side wall of the fixing element 900 and enters the housing cavity 902 of the fixing element 900, the connecting rod assembly 102 above is also disposed in the housing cavity 902 of the fixing element 900, and the first stop 500 and the position confirmation element 300 described above can both be arranged on the inner wall of the 900 fixing element.In addition, at least one support base 903 may be provided at the bottom of the housing cavity 902 of the receiving element 900, and the drive shaft 1011 rotates through the support base 903 to support the drive shaft 1011 through the support base 903, so that the drive shaft 1011 has sufficient support capacity.

[0056] Figure 15 shows a schematic exploded view of a detection assembly and a fixing element, and Figure 16 shows a schematic structural view of a detection assembly. With reference to Figures 14 to 16, the fixing element 900 is provided with a first guide portion 904, the detection assembly 200 is provided with a second guide portion 201, and the first guide portion 904 and the second guide portion 201 are inserted along a direction of movement of the detection assembly 200 to guide the lifting and lowering of the detection assembly 200, thus allowing the detection assembly 200 to be raised and lowered only in a predetermined direction.

[0057] With reference to Figures 14 to 16, in one embodiment, the first guide part 904 and the second guide part 201 may each have a cylindrical structure, the second guide part 201 being inserted into the first part of guide 904, and a plurality of first guide parts 904 and a plurality of second guide parts 201 can each be provided and arranged on the outside side of the connecting rod assembly 102. In another embodiment, the first guide part 904 can also be inserted into the second guide part 201, which is not limited in the present invention.

[0058] With reference to figures 14 to 16, the detection assembly 200 is provided with a first positioning part 202, and the fixing element 900 is provided with a second positioning part 905. In the case where the detection assembly 200 is in the first detection position, the first positioning part 202 and the second positioning part 905 are arranged face to face and magnetically connected, so as to prevent the detection assembly 200 from moving due to a shock during the operation of the cleaning device, which avoids the technical problem of damage caused by the detection assembly 200 coming into contact and colliding with an obstacle during lifting.When the detection assembly 200 begins to be lifted, the movement of the detection assembly 200 overcomes the magnetic attraction between the first positioning part 202 and the second positioning part 905, and with the lifting of the detection assembly 200, the first positioning part 202 and the second positioning part 905 also move apart.

[0059] With reference to Figures 14 to 16, the first positioning portion 202 is arranged at the bottom of the sensing assembly 200, and the second positioning portion 905 is arranged at the bottom of the housing cavity 902 of the receiving element 900. The first positioning portion 202 and the second positioning portion 905 may have a cylindrical structure. The first positioning portion 202 and the second positioning portion 905 are arranged face to face, and assembly grooves are formed at opposite ends of the first positioning portion 202 and the second positioning portion 905, respectively. A magnet 203 is arranged in one of the assembly grooves, and a metal element 906 that can be attracted by the magnet 203 is arranged in the other assembly groove.The magnets 203 can also be placed in the two assembly grooves, and the magnetic connection between the two positioning parts is achieved according to the principle of opposite poles attracting each other. Two first positioning parts 202 and two second positioning parts 905 can each be provided, and can be arranged on two sides of the connecting rod assembly 102, respectively.

[0060] Figures 17 and 18 show schematic structural views of a detection device according to another embodiment. With reference to Figures 17 and 18, in another embodiment, the drive element 101 of the mechanism The drive 100 can also be a linear reciprocating motion mechanism, and the switching objective of the detection assembly 200 between the first detection position and the second detection position can also be achieved by driving the detection assembly 200 to be raised and lowered via the external part of the drive element 101 which performs a linear reciprocating motion.

[0061] With reference to [Fig. 17], in one embodiment, the drive element 101 is provided with a drive shaft 1011 capable of performing a linear reciprocating movement, and the drive shaft 1011 is connected to the sensing assembly 200 arranged above the drive element 101. The drive element 101 can be a linear motor, and the drive shaft 1011 of the drive element moves in a direction aligned with a lifting and lowering direction of the sensing assembly 200, so that the lifting and lowering of the drive shaft 1011 of the drive element 101 directly drives the sensing assembly 200 to switch between the first sensing position and the second sensing position.

[0062] With reference to [Fig. 18], in another embodiment, the drive mechanism 100 also includes a first drive block 103 and a second drive block 104. The first drive block 103 is connected to the drive shaft 1011, the second drive block 104 is connected to the sensing assembly 200, the second drive block 104 is located on the first drive block 103, and at least part of a contact surface between the second drive block 104 and the first drive block 103 is an inclined surface.By controlling the movement of the drive shaft 1011 of the drive element 101, the second drive block 104 can be raised and lowered relative to the first drive block 103. The detection assembly 200, connected to the second drive block 104, is then driven to be raised and lowered, allowing the detection assembly 200 to move from the first detection position to the second detection position. Since the raising and lowering of the detection assembly 200 is achieved through the intermediate action of the first drive block 103 and the second drive block 104, the extension direction of the drive shaft 1011 of the drive element 101 can be arranged perpendicular to the raising and lowering direction of the detection assembly 200.When the detection device is assembled onto the detection device, the space in a horizontal direction of the cleaning device can be used, thus reducing the dimension of the cleaning device in the vertical direction, and facilitating a light and thin design of the cleaning device.

[0063] With reference to Figures 17 and 18, in the case where the sensing assembly 200 is driven to be raised and lowered by the outer part of the drive element 101 which performs a linear reciprocating motion, at least two position confirmation elements 300 are spaced in an axial direction of the drive shaft 1011, and a triggering element 400 is arranged on the circumferential side of the drive shaft 1011. During the movement of the drive shaft 1011, the triggering element 400 triggers the at least two position confirmation elements 300. During the process of driving the sensing assembly 200 to be raised or lowered by means of the drive shaft 1011 which performs a linear reciprocating motion, the triggering element 400 performs a synchronous reciprocating motion with the 1011 drive shaft.When the detection assembly 200 is in the first detection position, the triggering element 400 triggers a position confirmation element 300 to transmit a first position signal to the cleaning device processor, and the cleaning device processor drives, based on the first position signal, the cleaning device to execute a corresponding instruction, the instruction including the command to stop the operation of the drive element 101.When the detection assembly 200 is in the second detection position, the triggering element 400 triggers the other position confirmation element 300 to transmit a second position signal to the cleaning device processor, and the cleaning device processor drives, according to the second position signal, the cleaning device to execute a corresponding instruction, where the instruction includes the command to stop the operation of the drive element 101. For the structural forms of the triggering element 400 and the position confirmation element 300, reference can be made to the previous descriptions, and the details are not described again here.

[0064] Based on the above-mentioned detection device, the present invention also provides a cleaning device. The cleaning device comprises a main unit and the above-mentioned detection device, and the above-mentioned detection device is assembled onto the main unit.

[0065] The cleaning device according to the present invention is configured to implement cleaning scenarios at different heights, and can prevent damage to the detection assembly 200 caused by the detection assembly 200 coming into contact and colliding with an obstacle on the path of movement of the cleaning device, thus ensuring the normal operation of the cleaning device.

[0066] Figure 19 shows a schematic structural view of a housing of Figures 1 and 2. With reference to Figure 19, according to one embodiment of the present invention, the main unit comprises a housing 1000, the top of the housing 1000 is provided with a concave part 1001, the concave part 1001 extends to a circumferential side of the housing 1000, the bottom of the concave part 1001 is provided with a through hole 1002, the drive element 101 of the sensing device is arranged in the housing 1000, and the sensing assembly 200 passes through the through hole 1002 and switches between the first sensing position and the second sensing position.When the detection assembly 200 is in the second detection position, it is no lower than the bottom of the concave part 1001, so that the detection assembly 200 can scan the environment through a part of the concave part 1001 that extends to the circumferential side of the housing 1000, thus facilitating the operation of the cleaning device.

[0067] With reference to [Fig. 19], in one embodiment, the concave portion 1001 extends to the rear of the circumferential side of the housing 1000. When the detection assembly 200 is in the second detection position, the processor of the cleaning device drives the rotation of the cleaning device, so that the rear side of the cleaning device rotates towards the front side of the cleaning device, and the environment in one direction of movement of the cleaning device is scanned by the detection assembly 200, thus supporting the operation of the cleaning device. In another embodiment, the concave portion 1001 extends to the front of the circumferential side of the housing 1000.When the 200 detection assembly is in the second detection position, it can be used directly to scan the environment in the direction of movement of the cleaning device, thus facilitating the operation of the cleaning device.

[0068] Based on the above-mentioned cleaning device, the present invention also provides a cleaning system. The cleaning system comprises the above-mentioned cleaning device and a base station used in conjunction with the cleaning device.

[0069] The cleaning system supplied with the above cleaning device is configured to implement cleaning scenarios at different heights, and can prevent damage to the detection assembly 200 of the cleaning device caused by the detection assembly 200 coming into contact and colliding with an obstacle on the path of movement of the cleaning device, thus ensuring the normal operation of the cleaning device.

[0070] In the present invention, unless otherwise clearly stated and defined, a first feature being "on" or "under" a second feature may include the first and second features being in direct contact and The first and second features are not in direct contact but are connected via an additional feature between them. Furthermore, a first feature being "on," "above," or "above" a second feature means that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is in a higher horizontal position than the second feature. A first feature being "under," "below," or "below" a second feature means that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is in a lower horizontal position than the second feature.

[0071] In the description of this document, it should be understood that the orientation or position relationships indicated by the terms "central," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "inside," "outside," "clockwise," and "counterclockwise" are those shown on the basis of the figures and are intended simply to describe the present invention and simplify the description, rather than to indicate or imply that the indicated apparatus or element must have a specific orientation and be configured and operated in that specific orientation. These relationships should not be interpreted as a limitation of the present invention.

[0072] In the present invention, unless otherwise clearly specified and agreed, the terms "connect," "fix," and others shall be interpreted broadly. For example, the term "fix" may refer to a fixed connection, a detachable connection, or an integration; a mechanical connection or an electrical connection; a direct connection or an indirect connection via an intermediary; or internal communication between two elements or interaction between two elements. For those skilled in the art, the specific meanings of the above terms in the present invention may be understood under specific conditions.

[0073] Furthermore, in this document, descriptions using the terms "first," "second," and others are used for descriptive purposes only and shall not be construed as indicating or implying relative importance or implicitly indicating the number of technical features specified. Therefore, the features defined by "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise clearly and specifically defined, the term "plurality" refers to two or more.

[0074] Although embodiments of the present invention have been illustrated and described, it can be understood by persons skilled in the art with ordinary competence that various changes, modifications, replacements and variations can be made to these embodiments without departing from the principle and purpose of the present invention, and the scope of the present invention is defined by the claims and their equivalents.

Claims

Demands

1. A detection device mounted on a main unit of a cleaning device, said device comprising: - a drive mechanism, the drive mechanism comprising an external part that can be raised and lowered; and - a detection assembly, the detection assembly being connected to the external part of the drive mechanism and movably situated at a first detection position, a second detection position, or a position between the first and second detection positions; wherein the first detection position is higher than an upper surface of the main unit, and the second detection position is lower than or at the same height as the upper surface of the main unit.

2. A detection device according to claim 1, further comprising a linking element, the linking element being connected to the external part of the drive mechanism and to the detection assembly.

3. A detection device according to claim 2, further comprising a support element, wherein a lower part of the support element is provided with a bearing portion, an upper part of the support element is connected to the detection assembly, wherein the linking element is movable between the bearing portion of the support element and the detection assembly; and / or the linking element is elastically connected to the bearing portion and / or to the detection assembly.

4. A detection apparatus according to any one of claims 1 to 3, further comprising a fastening element, in which at least a part of the detection assembly can be raised and lowered inside the fastening element.

5. A detection device according to claim 4, wherein the fastening element is provided with a first guide portion, the detection assembly is provided with a second guide portion, and the first guide portion and the second guide portion are arranged along a direction of movement of the detection assembly; and / or the detection assembly is provided with a first positioning portion, the fastening element is provided with a second positioning portion, and the first positioning portion and the The second positioning parts are arranged face to face and magnetically connected.

6. A detection device according to any one of claims 1 to 5, further comprising a position confirmation element, wherein the position confirmation element is configured to confirm that the detection assembly is in the first detection position or the second detection position.

7. A detection device according to claim 6, wherein the drive mechanism comprises: - a drive element, the drive element being provided with a rotating drive shaft; and - a set of connecting rods, wherein the set of connecting rods is connected to the drive shaft and to the detection assembly arranged separately above the drive element; and / or - at least two position confirmation elements arranged around said drive shaft in a circumferential direction, a triggering element being arranged on a circumferential side of the drive shaft, and the triggering element being capable of triggering the at least two position confirmation elements.

8. A detection device according to claim 7, wherein the connecting rod assembly comprises: - a first connecting rod, the first connecting rod being connected by pivot joint with the drive shaft; and - a second connecting rod, the second connecting rod being connected by pivot joint with the first connecting rod and the detection assembly.

9. A detection device according to claim 8, further comprising: - a first stop, wherein the first stop and the drive shaft are spaced apart, and when the detection assembly is in the first detection position, the first stop is in contact with the first connecting rod; and / or wherein, when the detection assembly is in the first detection position, an included angle is formed between the first connecting rod and the second connecting rod.

10. A detection device according to claim 9, further comprising a second stop, wherein the second stop and the drive shaft are spaced apart, and when the detection assembly found in the second detection position, the second stop is in contact with the first connecting rod.

11. A detection apparatus according to claim 6, wherein the drive mechanism comprises a drive element, the drive element being provided with a drive shaft capable of performing a linear reciprocating motion, and the drive shaft being connected to the detection assembly above the drive element.

12. A detection device according to claim 11, wherein the drive mechanism further comprises: - a first drive block, the first drive block being connected to the drive shaft; and - a second drive block, the second drive block being connected to the detection assembly and located on the first drive block, wherein at least a portion of a contact surface between the second drive block and the first drive block is an inclined surface; and / or at least two position confirmation elements are arranged in an axial direction of the drive shaft, a triggering element being arranged on a circumferential side of the drive shaft, and the triggering element being capable of triggering the at least two position confirmation elements.

13. Cleaning device, comprising: - a main unit; and - a detection device according to any one of claims 1 to 12, the detection device being assembled on the main unit.

14. Cleaning device according to claim 13, wherein the main unit comprises a housing, an upper part of the housing being provided with a concave portion, the concave portion extending to a circumferential side of the housing, and when a sensing assembly is in a second sensing position, the sensing assembly is not lower than the bottom of the concave portion.

15. Cleaning system comprising a cleaning device according to claim 13 or 14 and a base station used in conjunction with the cleaning device.

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