Cleaning device and cleaning system

Abstract

A cleaning device, comprising a mobile body (1), a first collision detection assembly (2) and a second collision detection assembly (3), wherein the first collision detection assembly (2) is arranged at an edge of the mobile body (1) and is configured to detect a collision of the cleaning device in a first direction; and the second collision detection assembly (3) is arranged on the mobile body (1) and is configured to detect a collision of the cleaning device in a second direction, the first direction being different from the second direction.

Description

Cleaning equipment and cleaning systems CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application claims priority to the Chinese patent application filed with the State Intellectual Property Office of China on March 26, 2024, with application number 202410354904.8 and application name “Cleaning Equipment and Cleaning System Equipment” and the Chinese patent application filed with the State Intellectual Property Office of China on March 26, 2024, with application number 202420601908.7 and application name “Cleaning Equipment and Cleaning System Equipment”, the entire contents of which are incorporated into this application by reference. Technical Field

[0002] The present application relates to the field of smart home technology, and in particular to a cleaning device and a cleaning system. Background Art

[0003] When cleaning equipment such as sweeping robots are running, they can easily get stuck on household obstacles such as under beds and tables, making it difficult to escape. Summary of the Invention

[0004] The present application provides a cleaning device and a cleaning system.

[0005] In the first aspect of the present application, the present application provides a cleaning device, which includes: a mobile body; a first collision detection component, arranged at the edge of the mobile body, for detecting a collision of the cleaning device in a first direction; a second collision detection component, arranged at the mobile body, for detecting a collision of the edge of the cleaning device in a second direction, wherein: the first direction and the second direction are different.

[0006] In some embodiments, the first collision detection component is disposed on a side of the mobile body, and the second collision detection component is disposed above the first collision detection component.

[0007] In some embodiments, the first collision detection component is disposed on a side surface of the mobile body, and the second collision detection component is disposed on an edge of a top surface of the mobile body.

[0008] In some embodiments, the second collision detection component is disposed on a side of the mobile body, and the first collision detection component is disposed above the second collision detection component.

[0009] In some embodiments, the second collision detection component is disposed on a side of the mobile body, and the first collision detection component is disposed on a side of the mobile body.

[0010] In some embodiments, the first collision detection component is away from the mobile body in a first direction relative to the second collision detection component.

[0011] In some embodiments, the second collision detection component is taller than the first collision detection component.

[0012] In some embodiments, the first collision detection component includes: a first collision buffer, at least partially configured to be movable along a first direction to detect a collision of the cleaning device in the first direction; and a first sensing component, triggered at least partially based on the movement of the first collision buffer.

[0013] In some embodiments, the second collision detection component includes: a second collision buffer, which is at least partially configured to be movable in the vertical direction, and the second collision buffer has a triggering portion that is higher than the top of the mobile body; and a second sensing component, which is triggered at least partially based on the movement of the second collision buffer.

[0014] In some embodiments, the second impact buffer is an integrally formed structure, or the second impact buffer is a plurality of independently movable single structures.

[0015] In some embodiments, there are one or more second sensing components, which are disposed corresponding to at least one second collision buffer.

[0016] In some embodiments, when the second sensing components are configured as M, the M sensing components are configured as N groups, the N groups of sensing components are arranged in N sensing areas, and the N sensing areas are sequentially located on the front side of the mobile body, wherein M and N are both positive integers greater than or equal to two.

[0017] In some embodiments, the M is specifically 5, the N is 3, the N sensing areas are specifically a first sensing area, a second sensing area and a third sensing area, two second sensing components are arranged in the first sensing area, one second sensing component is arranged in the second sensing area, and two second sensing components are arranged in the third sensing area.

[0018] In some embodiments, the second sensing area is disposed in a middle area on the front side of the mobile body, and the first sensing area and the second sensing area are respectively disposed in two side areas on the front side of the mobile body.

[0019] In some embodiments, the first sensing component is disposed on a first supporting portion, and the first supporting portion is disposed on a side of the mobile body.

[0020] In some embodiments, the second sensing component is disposed on a second supporting portion, and the second supporting portion is disposed on an edge of a top surface of the mobile body.

[0021] In some embodiments, the second sensing component is disposed on a second supporting portion, and the second supporting portion is disposed on the first collision buffer.

[0022] In some embodiments, when at least a portion of the first crash cushion is configured to be movable along a first direction, the second crash cushion is simultaneously movable along the first direction.

[0023] In some embodiments, when at least a portion of the second crash cushion is configured to be movable in a second direction, the first crash cushion does not have movement in the first direction.

[0024] In some embodiments, the first sensing component is disposed on a first carrying portion, which is disposed on a side of the mobile body; the second sensing component is disposed on a second carrying portion, which is disposed on a side of the mobile body.

[0025] In some embodiments, the second sensing component is disposed on a second supporting portion, and the second supporting portion is disposed on a side of the mobile body.

[0026] In some embodiments, the first sensing component is disposed on a first supporting portion, and the first supporting portion is disposed on the second collision buffer.

[0027] In some embodiments, when at least a portion of the first crash cushion is configured to be movable in a first direction, the second crash cushion does not have the capability to be movable in the second direction.

[0028] In some embodiments, when at least a portion of the second crash cushion is configured to be movable in a second direction, the first crash cushion is simultaneously movable in the second direction.

[0029] In some embodiments, the second collision detection assembly further includes: a first restoring member connected between the second bearing portion and the second collision buffer member.

[0030] In some embodiments, a first guide member is provided on the second bearing portion and / or the second collision buffer, and the first restoring member is sleeved on the first guide member.

[0031] In some embodiments, the second collision buffer is provided with a second guide member, and the second bearing portion is provided with a third guide member, and the second guide member and the third guide member cooperate to guide the movement of the second collision buffer relative to the bearing portion in a second direction.

[0032] In some embodiments, the second guide member and the third guide member are plug-connected.

[0033] In some embodiments, one of the second guide member and the third guide member is a guide column, and the other is a guide hole.

[0034] In some embodiments, the guide column has a first end facing the guide hole and a second end facing away from the guide hole, the projection of the second end of the guide column falls within the first end of the guide column, and the first end of the guide column can be fittedly inserted into the guide hole.

[0035] In some embodiments, the second collision detection component further includes: a trigger member that can be raised and lowered through the second collision buffer, the trigger member having a trigger portion extending out of the second collision buffer; and a second sensing component that is triggered at least in part based on the movement of the trigger member.

[0036] In some embodiments, the second crash cushion is movable through the first crash cushion in a second direction.

[0037] In some embodiments, the second sensing component includes: a conductive contact connected to the second collision buffer; and a guide plate separated from the conductive contact, wherein when the second collision buffer moves toward the second sensing component, the conductive contact contacts the guide plate.

[0038] In some embodiments, two guide plates are relatively spaced apart, the conductive contact is connected to the bottom of the second collision buffer, the conductive contact is arranged above or below the two guide plates, and both ends of the conductive contact are respectively arranged to contact the two guide plates.

[0039] In some embodiments, the second sensing component further includes: a second restoring member disposed between the bottom of the conductive contact piece and the moving body.

[0040] In some embodiments, the second sensing component is disposed below the second collision buffer, and the second collision buffer and the second sensing component are connected via a third restoring component.

[0041] In some embodiments, a trigger rod extending toward the second sensing component is provided at the bottom of the second sensing component, and the trigger rod and the second sensing component are provided separately. When the second collision buffer moves toward the second sensing component, the trigger rod contacts the second sensing component.

[0042] In some embodiments, the first crash cushion is an input to the first crash detection assembly.

[0043] In some embodiments, when the first sensing component and / or the second sensing component is triggered, a collision trigger signal is sent to a control unit of the cleaning device, and the control unit controls the mobile body to perform obstacle avoidance action based on the collision trigger signal.

[0044] In some embodiments, an auxiliary walking wheel is provided at the front bottom of the mobile body, a pressure sensor is provided between the auxiliary walking wheel and the mobile body, the first collision detection component is provided on the side of the mobile body, and the pressure sensor is configured as the second collision detection component. When the top edge of the mobile body collides with an obstacle, the pressure sensor is triggered to detect the collision in the second direction.

[0045] In some embodiments, the first direction is a horizontal direction and the second direction is a vertical direction.

[0046] In a second aspect of the present application, the present application provides a cleaning system, which includes: a base station; the above-mentioned cleaning device, and the cleaning device and the base station are used in combination. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] The above and various other advantages and benefits of the present invention will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments.

[0048] FIG1 shows a schematic structural diagram of a cleaning device in one or more embodiments of the present application;

[0049] FIG2 shows an exploded schematic diagram of FIG1 ;

[0050] FIG3 shows a schematic diagram of the assembly of the first collision detection component and the second collision detection component in FIG1 ;

[0051] FIG4 shows an exploded schematic diagram of FIG3 ;

[0052] FIG5 shows a schematic structural diagram of the first collision buffer member in FIG3 ;

[0053] FIG6 shows a schematic structural diagram of the second collision buffer member in FIG3 ;

[0054] FIG7 shows a schematic diagram of the partial structure of FIG6 from another perspective;

[0055] FIG8 shows a schematic diagram of the assembly of the second reset member in FIG3 ;

[0056] FIG9 shows an enlarged schematic diagram of point A in FIG7 ;

[0057] FIG10 shows a schematic diagram of the assembly of the second guide member;

[0058] FIG11 shows a schematic structural diagram of the second guide member in FIG10 ;

[0059] FIG12 shows a schematic diagram of the assembly of the first collision detection component and the second collision detection component in some embodiments;

[0060] FIG13 shows a schematic structural diagram of FIG12 from another perspective;

[0061] FIG14 shows a schematic structural diagram of a second collision detection component in some embodiments;

[0062] FIG15 shows an enlarged schematic diagram of point B in FIG13 ;

[0063] FIG16 is a schematic diagram showing a partial structure of a second collision detection assembly in some other embodiments;

[0064] FIG17 shows a partial schematic diagram of the assembly of the second collision detection assembly shown in FIG16 ;

[0065] FIG18 shows a schematic diagram of the exploded structure of a cleaning device having the second collision detection assembly shown in the fourth embodiment;

[0066] FIG19 shows a schematic diagram of the exploded structure of a cleaning device having the second collision detection assembly shown in the fifth embodiment;

[0067] FIG20 shows a schematic diagram of the assembly of the first collision detection component and the second collision detection component in FIG19 ;

[0068] FIG21 shows an exploded schematic diagram of a cleaning device having the second collision detection assembly shown in Example 6;

[0069] FIG22 shows an exploded schematic diagram of the assembly of the first collision detection component and the second collision detection component in FIG21 ;

[0070] FIG23 shows a schematic structural diagram of a cleaning device having the second collision detection assembly shown in Example 7;

[0071] FIG24 shows an exploded schematic diagram of FIG23 ;

[0072] FIG25 shows a schematic diagram of the exploded structure of a cleaning device having the second collision detection assembly shown in the eighth embodiment. DETAILED DESCRIPTION

[0073] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments. The following description is only for the purpose of illustrating the basic principles of the present invention and is not intended to limit the present invention.

[0074] The cleaning device provided in this application includes a mobile body 1, a first collision detection component 2 and a second collision detection component 3, wherein a walking mechanism (not shown) is provided at the bottom of the mobile body 1 so that the mobile body 1 can be driven to walk, the first collision detection component 2 is provided at the edge of the mobile body 1, and is used to detect the collision of the cleaning device in a first direction, and the second collision detection component 3 is provided on the mobile body 1, and is used to detect the collision of the cleaning device in a second direction, wherein the first direction and the second direction are different.

[0075] The cleaning device provided in the present application has a first collision detection component 2 arranged on the mobile body 1 that can detect the collision of the cleaning device in the first direction, and a second collision detection component 3 arranged on the mobile body 1 that can detect the collision of the cleaning device in the first direction, and the first direction and the second direction are different. When the cleaning device is running, if the first collision detection component 2 and / or the second collision detection component 3 detects a collision, the cleaning device can be controlled to stop moving forward, retreat, change to other directions or stop moving, so as to prevent the cleaning device from continuing to move forward and being trapped by obstacles, and has good practicality.

[0076] In some embodiments, the first direction can be a horizontal direction, that is, the first collision detection component 2 can detect collisions in the direction of travel of the cleaning device to prevent collisions in the direction of travel of the cleaning device from affecting the operation of the cleaning device; the second direction can be a vertical direction, and the second collision detection component 3 is used to detect collisions of the cleaning device in the direction of its height to prevent the cleaning device from being stuck by household obstacles such as under the bed or under the table. The collision in the first direction also includes the component direction of the collision in the first direction, and the collision in the second direction also includes the component direction of the collision in the second direction. For example, if the cleaning device is subjected to a collision at a certain angle to the horizontal direction, the component of the collision in the horizontal direction is configured as the first direction; and the component of the collision in the vertical direction is configured as the second direction.

[0077] In other embodiments, the first direction may also be inclined at a certain angle to the horizontal direction, and the second direction may also be inclined at a certain angle to the vertical direction, which is not limited here.

[0078] In some embodiments, the first collision detection component 2 can be arranged on the side of the mobile body 1, and the second collision detection component 3 is arranged on the first collision detection component 2. That is, the second collision detection component 3 is integrated on the first collision detection component 2 to improve the assembly efficiency of the two. The first collision detection component 2 can be arranged on the side of the front side of the mobile body 1, and accordingly, the second collision detection component 3 is also arranged on the side of the front side of the mobile body 1. When the cleaning equipment is running, if the first collision detection component 2 and / or the second collision detection component 3 detects that it has been hit, the cleaning equipment can respond to control the cleaning equipment to stop moving forward, retreat, change direction or stop driving, so as to prevent the cleaning equipment from continuing to move forward and being trapped by obstacles, which has good practicality.

[0079] In some embodiments, the first collision detection component 2 can be set on the side of the mobile body 1, and the second collision detection component 3 can be set on the edge of the top surface of the mobile body 1. For example, the first collision detection component 2 is set on the front side of the mobile body 1, and the second collision detection component 3 is set on the edge of the front side of the top surface of the mobile body 1. When the cleaning device is running, if the first collision detection component 2 and / or the second collision detection component 3 detects that it has been hit, the cleaning device can respond and control the cleaning device to stop moving forward, reverse, change direction or stop moving, so as to prevent the cleaning device from continuing to move forward and being trapped by obstacles, which has good practicality.

[0080] In some embodiments, the second collision detection component 3 can be arranged on the side of the mobile body 1, and the first collision detection component 2 can be arranged on the second collision detection component 3, that is, the first collision detection component 2 is integrated on the second collision detection component 3 to improve the assembly efficiency of the two. The second collision detection component 3 can be arranged on the side of the front side of the mobile body 1, and accordingly, the second collision detection component 3 is also arranged on the side of the front side of the mobile body 1. When the cleaning equipment is running, if the first collision detection component 2 and / or the second collision detection component 3 detects that it has been hit, the cleaning equipment can respond to control the cleaning equipment to stop moving forward, retreat, change direction or stop driving, so as to prevent the cleaning equipment from continuing to move forward and being trapped by obstacles, which has good practicality.

[0081] In some embodiments, the second collision detection component 3 can be arranged on the side of the mobile body 1, and the first collision detection component 2 can be arranged on the side of the mobile body 1, that is, the first collision detection component 2 and the second collision detection component 3 are independently arranged on the side of the mobile body 1. For example, the first collision detection component 2 and the second collision detection component 3 can be independently arranged on the side of the front side of the mobile body 1. When the cleaning device is running, if the first collision detection component 2 and / or the second collision detection component 3 detects that it has been hit, the cleaning device can respond and control the cleaning device to stop moving forward, reverse, change direction or stop moving, so as to prevent the cleaning device from continuing to move forward and being trapped by obstacles, which has good practicality.

[0082] In some embodiments, the first collision detection component 2 is horizontally away from the mobile body 1 relative to the second collision detection component 3, that is, the first collision detection component 2 protrudes more from the mobile body 1 in the horizontal direction relative to the second collision detection component 3. When the cleaning device is moving, obstacles located in the direction of travel of the cleaning device will preferentially touch the first collision detection component 2, so that the cleaning device responds to the first collision detection component 2 and takes corresponding actions, thereby avoiding obstacles located in the direction of travel of the cleaning device from touching the second collision detection component 3, so that the cleaning device cannot respond to the first collision detection component 2 and cannot escape. In addition, if the obstacle located in the direction of travel of the cleaning device touches the second collision detection component 3, a horizontal force will be applied to the second collision detection component 3. Since the second collision detection component 3 can only detect obstacles in the vertical direction, it may cause damage to the second collision detection component 3. The setting of the first collision detection component 2 protruding more from the mobile body 1 in the horizontal direction relative to the second collision detection component 3 can avoid the occurrence of this phenomenon and ensure the normal use of the second collision detection component 3.

[0083] In some embodiments, the second collision detection component 3 is higher than the first collision detection component 2, that is, the second collision detection component 3 protrudes more from the mobile body 1 in the vertical direction relative to the second collision detection component 3. When the cleaning device is moving, obstacles located in the vertical direction of the cleaning device will preferentially touch the second collision detection component 3, so that the cleaning device responds to the second collision detection component 3 and takes corresponding actions, avoiding obstacles located in the vertical direction of the cleaning device touching the first collision detection component 2, so that the cleaning device cannot respond to the second collision detection component 3 and cause the phenomenon of being unable to escape. In addition, if the obstacle located in the vertical direction of the cleaning device touches the first collision detection component 2, it will apply a horizontal force to the first collision detection component 2. Since the first collision detection component 2 can only detect obstacles in the horizontal direction, it may cause damage to the first collision detection component 2. The second collision detection component 3 is set to protrude more from the mobile body 1 in the vertical direction relative to the first collision detection component 2 to avoid the occurrence of the above phenomenon and ensure the normal use of the second collision detection component 3.

[0084] In some embodiments, the second collision detection component 3 may further include a second collision buffer 31 and a second sensing component 32, wherein at least a portion of the second collision buffer 31 is configured to be movable in the vertical direction, and the second collision buffer 31 has a trigger portion that is higher than the top of the mobile body 1, and at least a portion of the second sensing component 32 is triggered based on the movement of the second collision buffer 31. When the trigger portion of the trigger portion contacts an obstacle, the second collision buffer 31 moves toward the second sensing component 32 and contacts the second sensing component 32. The second sensing component 32 sends a touch signal to the controller of the cleaning device. In response to the received touch signal, the controller of the cleaning device controls the cleaning device to stop moving forward, reverse, change direction, or stop moving, so as to prevent the cleaning device from continuing to move forward and being trapped by the obstacle.

[0085] In some embodiments, the second collision buffer 31 can be an integrally formed structure, that is, only one second collision buffer is provided; in other embodiments, the second collision buffer 31 can also be a plurality of independently movable single structures, that is, a plurality of second collision buffers 31 are provided, and the plurality of second collision buffers 31 are provided independently of each other.

[0086] In some embodiments, there may be one or more second sensing components 32, each of which is provided in correspondence with at least one second collision buffer 31. In specific implementations, if the second collision buffer is an integrally formed structure, one or more second sensing components 32 may be provided for use in conjunction with each other; if the second collision buffer 31 is also a plurality of independently movable individual structures, one or more second sensing components 32 may be provided for use in conjunction with each second collision buffer 31, without limitation.

[0087] In some embodiments, when M second sensing components 32 are configured, the M sensing components are configured into N groups, and the N groups of sensing components are provided in N sensing areas 28, which are sequentially located in front of the mobile body 1, where M and N are both positive integers greater than or equal to 2. By providing multiple sensing areas 28 in front of the mobile body 1, each sensing area 28 is provided with a second sensing component 32, zoned detection can be implemented to determine the specific sensing area 28 that has been collided with, thereby enabling more precise control of the movement of the cleaning device to avoid obstacles.

[0088] In a specific implementation, there can be five second sensing components 32 and three sensing areas 28. The three sensing areas 28 are a first sensing area 281, a second sensing area 282, and a second sensing area 283. Two second sensing components 32 are arranged in the first sensing area 281, one second sensing component 32 is arranged in the second sensing area 282, and two second sensing components 32 are arranged in the second sensing area 283.

[0089] In addition, since the detection range of the middle area on the front side of the mobile body 1 is the largest, followed by the two sides, the second sensing area 282 can be set in the middle area on the front side of the mobile body 1, and the first sensing area 281 and the second sensing area 282 are respectively set in the two side areas on the front side of the mobile body 1.

[0090] In some embodiments, the first sensing component 22 is disposed on the first supporting portion 4, and the first supporting portion 4 can be disposed on the side of the mobile body 1. For example, when the first collision detection component 2 is disposed on the side of the mobile body 1, the first supporting portion 4 is disposed on the side of the mobile body 1.

[0091] In some embodiments, the second sensing component 32 is disposed on the second supporting portion 5, and the second supporting portion 5 can be disposed on the edge of the top surface of the mobile body 1. For example, when the second collision detection component 3 is disposed on the edge of the top surface of the mobile body 1, the second supporting portion 5 is disposed on the edge of the top surface of the mobile body 1.

[0092] In some embodiments, the second sensing component 32 is disposed on the second supporting portion 5, and the second supporting portion 5 can be disposed on the first collision buffer 21. For example, when the second collision detection component 3 is disposed on the first collision detection component 2, the second supporting portion 5 is disposed on the first collision buffer 21.

[0093] In some embodiments, the second sensing component 32 is disposed on the second supporting portion 5, and the second supporting portion 5 can be disposed on the side of the mobile body 1. For example, when the second collision detection component 3 is disposed on the side of the mobile body 1, the second supporting portion 5 is disposed on the side of the mobile body 1.

[0094] In some embodiments, when at least a portion of the first collision buffer 21 is configured to move horizontally, the second collision buffer 31 also moves horizontally. For example, when the first collision detection assembly 2 and the second collision detection assembly 3 are integrated together, they can move horizontally synchronously.

[0095] In some embodiments, when at least a portion of the second collision buffer 31 is configured to be movable in the vertical direction, the first collision buffer does not have horizontal movement. For example, the second collision detection assembly 3 is disposed above the first collision detection assembly 2, or the second collision detection assembly 3 is disposed on the edge of the top surface of the mobile body 1, or the second collision detection assembly 3 and the first collision detection assembly 2 are independently disposed on the side of the mobile body 1.

[0096] In some embodiments, the first sensing component 22 is disposed on the first supporting portion 4, which is disposed on the side of the mobile body 1, and the second sensing component 32 is disposed on the second supporting portion 5, which is disposed on the side of the mobile body 1. For example, if the second collision detection component 3 and the first collision detection component 2 are independently disposed on the side of the mobile body 1, the first supporting portion 4 and the second supporting portion 5 can be independently disposed on the side of the mobile body 1.

[0097] In some embodiments, the first sensing component 22 is disposed on the first supporting portion 4, and the first supporting portion 4 is disposed on the second collision buffer 31. For example, if the first collision detection component 2 is disposed on the second collision detection component 3, the first supporting portion 4 can be disposed on the second collision buffer 31.

[0098] In some embodiments, when at least a portion of the first collision buffer 21 is configured to be movable in the horizontal direction, the second collision buffer 31 does not have the ability to move in the vertical direction. For example, when the second collision detection component 3 is disposed above the first collision detection component 2, or when the first collision detection component 2 is disposed on the side of the mobile body 1 and the second collision detection component 3 is disposed on the edge of the top surface of the mobile body 1, or when the second collision detection component 3 and the first collision detection component 2 are independently disposed on the side of the mobile body 1, when at least a portion of the first collision buffer 21 is configured to be movable in the horizontal direction, the second collision buffer 31 does not have the ability to move in the vertical direction.

[0099] In some embodiments, when at least a portion of the second collision buffer 31 is configured to move in the vertical direction, the first collision buffer moves synchronously in the vertical direction: for example, when the first collision detection component 2 is arranged above the second collision detection component 3, the first collision buffer and the second collision buffer 31 move synchronously in the vertical direction.

[0100] In some embodiments, a pressure sensor 6 may be provided at the front bottom of the mobile body 1, the first collision detection component 2 is provided on the side of the mobile body 1, and the pressure sensor 6 is configured as the above-mentioned second collision detection component 3. When the top edge of the mobile body 1 collides with an obstacle, the pressure sensor 6 is triggered to detect the collision in the vertical direction.

[0101] Based on the above design ideas, this application provides the following embodiments:

[0102] Example 1:

[0103] Figure 1 illustrates a schematic structural diagram of a cleaning device according to one or more embodiments of the present application, and Figure 2 illustrates an exploded view of Figure 1. Referring to Figures 1 and 2 , the first collision detection assembly 2 includes a first collision buffer 21 and a first sensing assembly 22. At least a portion of the first collision buffer 21 is configured to move horizontally to detect horizontal collisions of the cleaning device. The first sensing assembly 22 is triggered at least in part based on the movement of the first collision buffer 21.

[0104] 2 , in a specific implementation, the first collision buffer 21 is used for colliding with surrounding objects during the movement of the cleaning device. The first collision buffer 21 can be slidably mounted on the edge of the front side of the mobile body 1. The first collision buffer 21 is approximately in an arc shape of 180°. Two first sensing components 22 can be provided. The two first sensing components 22 are relatively arranged on the mobile body 1. The two first sensing components 22 are symmetrically arranged or approximately symmetrically arranged. Each first sensing component 22 includes an elastic member 221 and a contact switch 222. The elastic member 221 is connected to the first collision buffer 21. The front side of the mobile body 1 is configured as a first bearing portion 4 for mounting the first sensing component 22. When the first collision buffer 21 encounters an obstacle, the first collision buffer 21 slides close to the mobile body 1, and the elastic member 221 deforms accordingly until the first collision buffer 21 abuts against a contact switch 222 on the mobile body 1. The contact switch 222 sends a touch signal to the controller of the cleaning device (not shown). After the controller of the cleaning device responds to the received touch signal, it controls the cleaning device to stop moving forward, backward, or change direction, or stop moving, to prevent the cleaning device from continuing to move forward and being trapped by the obstacle; after the cleaning device is freed, the elastic member 221 returns to its initial state, and drives the first collision buffer 21 to return to its initial state, so that the cleaning device can operate normally.

[0105] Since the first collision buffer 21 is approximately in the shape of a 180° arc, the first collision detection component can not only detect obstacles on the front side of the cleaning device, but also detect obstacles on the side of the cleaning device, thus having good practicality.

[0106] 1 , in some embodiments, the second collision detection component 3 is connected to the first collision detection component 2 , that is, the second collision detection component 3 and the first collision detection component 2 are assembled and integrated together to improve their assembly efficiency on the mobile body 1 .

[0107] FIG3 illustrates an assembly diagram of the first and second collision detection assemblies shown in FIG1 , while FIG4 illustrates an exploded view of FIG3 . In conjunction with FIG3 and FIG4 , in some embodiments, the second collision detection assembly 3 may include a second collision buffer 31 . The first collision buffer 21 is connected to at least a portion of an edge of the mobile body 1 . The first collision buffer 21 is provided with a supporting portion 23 on the side of the mobile body 1 , which serves as a second supporting portion 5 for carrying a second sensing assembly 32 . The second collision buffer 31 is movably connected to the supporting portion 23 . The second collision buffer 31 includes a trigger portion that extends from the top of the mobile body 1 . The highest point of the trigger portion of the second collision buffer 31 is the highest point of the entire cleaning device, facilitating detection of vertical collisions. The second sensing assembly 32 is disposed on the supporting portion 23 , separate from the second collision buffer 31 . When the trigger portion of the second collision buffer 31 contacts an obstacle, the second collision buffer 31 moves toward the second sensing assembly 32 , triggering the second sensing assembly 32 . The second sensing component 32 sends a touch signal to the controller of the cleaning device. After responding to the received touch signal, the controller of the cleaning device controls the cleaning device to stop moving forward, backward, or change direction, or stop moving to prevent the cleaning device from continuing to move forward and being trapped by obstacles.

[0108] Figure 5 shows a schematic structural diagram of the first collision buffer in Figure 3. Combined with Figures 3-5, in some embodiments, the bearing portion 23 can serve as a carrier of the second collision detection component 3, and the bearing portion 23 can be connected to the middle part of the side of the first collision buffer 21 facing the movable body 1 to form an inverted T-shaped structure, that is, part of the first collision buffer 21 is located above the bearing portion 23 to prevent horizontal obstacles from touching the second collision buffer 31 and causing damage to the second collision buffer 31.

[0109] 4 , in some embodiments, the second collision detection assembly 3 may further include a first restoring member 33 connected between the load-bearing portion 23 and the second collision buffer 31. When the second collision buffer 31 contacts an obstacle, the second collision buffer 31 moves toward the load-bearing portion 23 of the first collision buffer 21 to compress the first restoring member 33, thereby triggering the second sensing assembly 32. When the second collision buffer 31 is no longer in contact with the obstacle, the first restoring member 33 recovers its deformation, and the second collision buffer 31 moves away from the first collision buffer 21 to return to its initial state.

[0110] Figure 6 illustrates the structure of the second impact buffer in Figure 3 , Figure 7 illustrates a partial structural diagram from another perspective of Figure 6 , Figure 8 illustrates the assembly of the second restoring member in Figure 3 , and Figure 9 illustrates an enlarged schematic diagram of point A in Figure 7 . In conjunction with Figures 7-9 , in some embodiments, the second impact buffer 31 may be provided with a first guide member 34 , with the first restoring member 33 being mounted on the first guide member 34 to guide the first restoring member 33 in recovering from deformation.

[0111] 7-9 , in specific implementation, the first return member 33 may be a spring, both ends of which may be connected to the bearing portion 23 and the second collision buffer member 31 , and the first guide member 34 may be a guide column, which may be arranged on the side of the second collision buffer member 31 facing the bearing portion 23 .

[0112] In other embodiments, the first guide member 34 may be provided on the bearing portion 23; or, the first guide member 34 may be provided on both the bearing portion 23 and the second impact buffer 31, with the first restoration member 33 being mounted on the first guide member 34 to guide the first restoration member 33 in recovering from deformation. If both the bearing portion 23 and the second impact buffer 31 are provided with the first guide member 34, the two first guide members 34 may be coaxially disposed, with their opposing ends spaced apart or interposed, without limitation.

[0113] Figure 10 shows an assembly diagram of the second guide member. Combined with Figure 9 and Figure 10, in some embodiments, a second guide member 35 can also be provided on the second collision buffer member 31, and a third guide member 24 is provided on the bearing portion 23. The second guide member 35 and the third guide member 24 cooperate to guide the lifting and lowering of the second collision buffer member 31 relative to the bearing portion 23.

[0114] In a specific implementation, the second guide member 35 and the third guide member 24 can be interposed and connected to guide the movement of the second collision buffer 31. When the second collision buffer 31 contacts an obstacle, the second collision buffer 31 moves toward the bearing portion 23 of the first collision buffer 21. At the same time, the second guide member 35 and the third guide member 24 are interposed to guide the movement of the second collision buffer 31.

[0115] In order to realize the plug-in connection between the second guide member 35 and the third guide member 24, one of the second guide member 35 and the third guide member 24 is a guide column and the other is a guide hole. The guide column can be inserted into the corresponding guide hole to guide the movement of the second collision buffer 31.

[0116] 5 and 10 , in some embodiments, the second guide member 35 may be a guide column disposed at the bottom of the second collision buffer 31, and the third guide member 24 may be a guide hole disposed on the bearing portion 23 of the first collision buffer 21, and the second guide member 35 may be inserted into the third guide member 24 to guide the movement of the second collision buffer 31.

[0117] FIG11 illustrates a schematic structural diagram of the second guide member in FIG10 . In conjunction with FIG11 , in some embodiments, when the second guide member 35 is a guide post, the second guide member 35 has a first end facing the guide hole and a second end facing away from the guide hole. The projection of the second end of the second guide member 35 falls within the first end of the second guide member 35, and the first end of the second guide member 35 is fitably inserted into the guide hole. When the second impact buffer 31 moves toward the first impact buffer 21, the first end of the second guide member 35 moves synchronously within the guide hole. Because the first end of the second guide member 35 and the guide hole are approximately equal in size, the first end of the second guide member 35 is prevented from shaking while moving within the guide hole, thereby preventing the second impact buffer 31 from changing its direction of elevation and failing to contact the first switch member. When the second impact buffer 31 moves away from the first impact buffer 21, the projection of the second end of the second guide member 35 falls within the first end of the second guide member 35, allowing the second guide member 35 to smoothly move from the guide hole.

[0118] 9 and 10 , in a specific implementation, the second guide member 35 can be conical, and a positioning post 36 can be provided at the bottom of the second collision buffer 31. The second guide member 35 is sleeved on the positioning post 36 and fixed to the positioning post 36 via a screw or other connecting member. In other embodiments, the second guide member 35 can also be integrally formed at the bottom of the second collision buffer 31, which is not limited here.

[0119] It should be noted that, in other embodiments, the second guide member 35 may be a guide hole provided on the second collision buffer 31, and the third guide member 24 may be a guide post provided on the bearing portion 23 of the first collision buffer 21. The third guide member 24 is inserted into the second guide member 35 to guide the movement of the second collision buffer 31. The specific implementation method can be referred to the above description and is not repeated here.

[0120] 4 and 5 , in some embodiments, the second sensing component 32 can be disposed on the carrier 23, which can be provided with a mounting slot 25, and the second sensing component 32 can be assembled in the mounting slot 25 by bonding, screwing, or the like. In other embodiments, the second sensing component 32 can also be disposed on the mobile body 1, and the component on the mobile body 1 for mounting the second sensing component 32 can be configured as the second carrier 5, and the second collision buffer 31 can be provided with a portion that can be triggered by the second sensing component 32 on the mobile body 1.

[0121] 6 and 7 , in some embodiments, the second collision buffer 31 may be an arc-shaped sheet, which is coaxial or nearly coaxial with the first collision buffer 21 so that the second collision buffer 31 makes substantially surface contact with the obstacle.

[0122] It should be noted that a plurality of the above-mentioned first reset members 33, second guide members 35, third guide members 24 and second sensing components 32 can be arranged at intervals on the second collision buffer 31 to effectively guide the lifting and lowering of the second collision buffer 31, and keep the second collision buffer 31 and at least one second sensing component 32 effectively triggered, so as to prevent the second collision buffer 31 and the second sensing component 32 from failing to be triggered when touching an obstacle to a certain extent.

[0123] In some embodiments, there may be five second sensing components 32, and there may be three sensing areas 28 on the carrying portion 23. The three sensing areas 28 are a first sensing area 281, a second sensing area 282, and a second sensing area 283. Two second sensing components 32 are arranged in the first sensing area 281, one second sensing component 32 is arranged in the second sensing area 282, and two second sensing components 32 are arranged in the second sensing area 283. The second sensing area 282 can be arranged in the middle area of ​​the front side of the mobile body 1, and the first sensing area 281 and the second sensing area 282 are respectively arranged in the two side areas of the front side of the mobile body 1.

[0124] Example 2:

[0125] FIG12 is a schematic diagram of the assembly of the first collision detection component and the second collision detection component in some embodiments, FIG13 is a schematic diagram of the structure of FIG12 from another perspective, and FIG14 is a schematic diagram of the structure of the second collision detection component in some embodiments. In conjunction with FIG12-FIG14, the first collision buffer 21 is connected to at least a portion of the edge of the mobile body 1, the first collision buffer 21 is provided with a bearing portion 23 on the side facing the mobile body 1, the second collision buffer 31 can be raised and lowered to pass through the bearing portion 23 of the first collision buffer 21, and the portion of the second collision buffer 31 passing through the bearing portion 23 of the first collision buffer 21 can be configured as a trigger portion, and the second sensing component 32 is provided separately from the second collision buffer 31. During the operation of the cleaning device, if the second collision buffer 31 contacts an obstacle, the second collision buffer 31 moves toward the bearing portion 23 of the first collision buffer 21, and the second collision buffer 31 contacts the second sensing component 32. The second sensing component 32 sends a touch signal to the controller of the cleaning device. After responding to the received touch signal, the controller of the cleaning device controls the cleaning device to stop moving forward, backward, or change direction, or stop moving, to prevent the cleaning device from continuing to move forward and being trapped by an obstacle.

[0126] In the second embodiment, the second collision buffer 31 may be cylindrical, and its contact with the obstacle is approximately point contact, while the second collision buffer 31 in the first embodiment is approximately planar contact with the obstacle, which are different ways of realizing obstacle detection.

[0127] 14 , in some embodiments, the second sensing component 32 may include a conductive contact 321 and a guide 322. The conductive contact 321 is connected to the second impact cushion 31, while the guide 322 is separated from the conductive contact 321. Specifically, when the cleaning device is operating normally, the conductive contact 321 and the guide 322 on the second impact cushion 31 are in contact and conduction. If the second impact cushion 31 contacts an obstacle, the obstacle causes the second impact cushion 31 to move toward the support portion 23 of the first impact cushion 21, separating the conductive contact 321 and the guide 322 on the second impact cushion 31. Circuitry on the cleaning device detects whether the cleaning device is blocked by the obstacle. In response to the determination signal, the cleaning device controller controls the cleaning device to stop, reverse, change direction, or stop, to prevent the cleaning device from continuing to move forward and becoming trapped by the obstacle. Once the cleaning device is free, the second impact cushion 31 returns to its initial state, and the cleaning device operates normally. Or, under the condition of normal operation of the cleaning equipment, the conductive contact 321 on the second collision buffer 31 is separated from the guide piece 322. If the second collision buffer 31 contacts an obstacle, under the action of the obstacle, the second collision buffer 31 moves toward the direction of the first collision buffer 21, and the conductive contact 321 on the second collision buffer 31 contacts the guide piece 322. The circuit on the cleaning equipment performs detection to determine whether the cleaning equipment is blocked by the obstacle. After the controller of the cleaning equipment responds to the judgment signal, it controls the cleaning equipment to stop moving forward, backward, or change to other directions, or stop moving, to prevent the cleaning equipment from continuing to move forward and being trapped by the obstacle; after the cleaning equipment is freed, the second collision buffer 31 returns to its initial state, and the cleaning equipment operates normally.

[0128] 14 , in some embodiments, two guide pieces 322 may be provided at relative intervals, a conductive contact piece 321 may be connected to the bottom of the second collision buffer 31 , and the conductive contact piece 321 may be provided above or below between the two guide pieces 322 , with both ends of the conductive contact piece 321 being in releasable contact with the two guide pieces 322 .

[0129] In some embodiments, the two guide plates 322 can be connected to the bottom of the supporting portion 23 of the first collision buffer 21. In other embodiments, the two guide plates 322 can be connected to the inner side of the first collision buffer 21 of the first collision buffer 21. The inner side of the first collision buffer 21 serves as the second supporting portion 5 for loading the second sensing component 32, which is not limited here.

[0130] 14 , in some embodiments, the second sensing assembly 32 may further include a second restoring member 323 disposed between the bottom of the conductive contact 321 and the first impact buffer 21. When the second impact buffer 31 contacts an obstacle, the obstacle causes the second impact buffer 31 to move toward the first impact buffer 21, compressing the second restoring member 323. When the obstacle is released from the second impact buffer 31, the second restoring member 323 recovers its shape, causing the second impact buffer 31 to move away from the first impact buffer 21, thereby returning to its initial state.

[0131] Figure 15 shows an enlarged schematic diagram of point B in Figure 13. Combined with Figure 15, in a specific implementation, a fixed block 26 can be provided on the inner side of the first collision buffer 21, and a fourth guide member 27 can be provided on the fixed block 26. The fourth guide member 27 can be a guide column, and the second reset member 323 can be mounted on the fourth guide member 27, and its two ends are respectively connected between the top of the fixed block 26 and the bottom of the conductive contact 321.

[0132] FIG16 illustrates a partial structural diagram of a second collision detection assembly in some other embodiments, and FIG17 illustrates a partial schematic diagram of the assembly of the second collision detection assembly shown in FIG16 . In conjunction with FIG16 and FIG17 , in some other embodiments, the second sensing assembly 32 may be a switch module, such as a microswitch or a button, disposed below the second collision buffer 31. The second collision buffer 31 and the second sensing assembly 32 are connected by a third restoring member 324. During normal operation of the cleaning device, the third restoring member 324 separates the second collision buffer 31 from the second sensing assembly 32. If the second collision buffer 31 contacts an obstacle, the obstacle causes the second collision buffer 31 to move toward the second sensing assembly 32, compressing the third restoring member 324. This causes the second collision buffer 31 to contact the second sensing assembly 32, and the second sensing assembly 32 transmits a touch signal to the cleaning device controller. In response to the received touch signal, the cleaning device controller controls the cleaning device to stop, reverse, change direction, or stop, to prevent the cleaning device from continuing to move and becoming trapped by the obstacle.

[0133] In combination with Figures 16 and 17, in some embodiments, the second collision buffer 31 can be installed on the movable member 37, which can move through the bearing portion 23 of the first collision buffer 21. A number of limit buckles 371 can be provided around the bottom of the movable member 37 to be snapped onto the bottom of the bearing portion 23 to limit the movement range of the movable member 37 and prevent the second collision buffer 31 from detaching from the cleaning equipment under the action of obstacles. The top of the third reset member 324 is connected to the bottom of the movable member 37.

[0134] 16 and 17 , in some embodiments, the above-mentioned fixed block 26 may be provided on the inner side of the first collision buffer 21 , and the above-mentioned second sensing component 32 may be provided on the fixed block 26 . The second sensing component 32 may be cylindrical, and the third reset component 324 may be mounted on the second sensing component 32 . Under the condition of realizing the detection of the second collision buffer 31 , the compression deformation of the third reset component 324 may also be guided.

[0135] In conjunction with Figures 16 and 17 , the bottom of the second impact buffer 31 may also be provided with a trigger lever 38 extending toward the second sensing assembly 32. The trigger lever 38 and the second sensing assembly 32 are releasably in contact. During normal operation of the cleaning device, the trigger lever 38 of the second impact buffer 31 is separated from the second sensing assembly 32. If the second impact buffer 31 contacts an obstacle, the obstacle will cause the second impact buffer 31 to move toward the second sensing assembly 32, causing the trigger lever 38 of the second impact buffer 31 to contact the second sensing assembly 32.

[0136] The second collision detection components 3 may be provided in plurality and independently at intervals, so as to comprehensively and effectively inspect obstacles above the cleaning equipment and improve the reliability of the operation of the cleaning equipment.

[0137] Example 3:

[0138] In some embodiments, the second collision buffer 31 of the second collision detection assembly 3 may include the second collision buffer 31 shown in the first embodiment and the second collision buffer 31 shown in the second embodiment. Correspondingly, the second sensing assembly 32 includes the second sensing assembly 32 shown in the first embodiment and the second sensing assembly 32 shown in the second embodiment, that is, the second collision detection assembly 3 in this embodiment integrates the second collision buffers 31 of the above two embodiments. In a specific implementation, the second collision buffer 31 in the second embodiment can be defined as a trigger member, which can be raised and lowered to pass through the second collision buffer 31 in the first embodiment. The trigger member has a trigger portion that extends out of the second collision buffer 31. The trigger member cooperates with the second sensing assembly 32, and at least a portion of the second sensing assembly 32 is triggered based on the movement of the trigger member.

[0139] Since the second collision buffer 31 and the obstacle in Example 2 are roughly in point contact, adjacent second collision buffers 31 have gaps, and the second collision buffer 31 in Example 1 can fill the gaps between adjacent second collision buffers 31, which can compensate for the cleaning equipment's detection of obstacles in its forward direction, so as to further confirm the spatial conditions in the direction of travel of the cleaning equipment; similarly, since the second collision buffer 31 in Example 2 can be raised and lowered to pass through the second collision buffer 31 in Example 1, that is, the second collision buffer 31 in Example 2 is higher than the second collision buffer 31 in Example 1, it can compensate for the cleaning equipment's detection of obstacles in its height direction, so as to further confirm the spatial conditions above the cleaning equipment, thereby improving the reliability of the cleaning equipment's operation.

[0140] Example 4:

[0141] Figure 18 shows an exploded view of a cleaning device equipped with the second collision detection assembly of Example 4. Referring to Figure 18 , the second collision detection assembly 3 and the second sensing assembly 32 of Example 4 are disposed on the front edge of the top of the mobile body 1 . Their specific structure is substantially the same as that of Example 1 and will not be further described here.

[0142] It should be noted that the second collision detection component 3 shown in the fourth embodiment may also be integrated with a triggering member that makes point contact with an obstacle. For details, please refer to the description of the third embodiment, which will not be repeated here.

[0143] Embodiment 5:

[0144] Figure 19 shows an exploded structural diagram of a cleaning device having the second collision detection assembly shown in Example 5, and Figure 20 shows an assembly diagram of the first collision detection assembly and the second collision detection assembly in Figure 19. In conjunction with Figures 19 and 20, the first collision detection components 21 of the first collision detection assembly 2 shown in Example 5 are arranged in plurality at intervals, and the second collision detection components 31 of the second collision detection assembly 3 are also arranged in plurality at corresponding intervals. At least one second sensing component 32 is provided on the bearing portion 23 of each first collision detection component 21. The specific structure thereof is substantially the same as that shown in Example 1 and will not be described in detail here.

[0145] It should be noted that the second collision detection component 3 shown in the fifth embodiment may also be integrated with a triggering member that makes point contact with an obstacle. For details, please refer to the description in the third embodiment, which will not be repeated here.

[0146] Example 6:

[0147] FIG21 shows an exploded view of a cleaning device equipped with the second collision detection assembly of Example 6, and FIG22 shows an exploded view of the assembly of the first collision detection assembly and the second collision detection assembly of FIG21 . In conjunction with FIG21 and FIG22 , the second collision detection assembly 3 is mounted on the front edge of the mobile body 1. The front edge of the top of the mobile body 1 serves as a second supporting portion 5 for carrying the second sensing assembly 32. The second sensing assembly 32 of the second collision detection assembly 3 is mounted on the front edge of the top of the mobile body 1. A trigger portion is provided on the inner side of the second collision buffer 31 of the second collision detection assembly 3, located above the front edge of the top of the mobile body 1. The first collision buffer 21 of the first collision detection assembly 2 is mounted on the front side of the second collision buffer 31. The second collision buffer 31 serves as a first supporting portion 4 for carrying the first sensing assembly 22 of the first collision detection assembly 2. The first sensing assembly 22 is mounted on the second collision buffer 31 to be triggered based on the movement of the first collision buffer 21.

[0148] It should be noted that the second collision detection component 3 shown in the sixth embodiment may also be integrated with a triggering member that makes point contact with an obstacle. For details, please refer to the description in the third embodiment, which will not be elaborated here.

[0149] Embodiment seven:

[0150] FIG23 is a schematic structural diagram of a cleaning device equipped with the second collision detection assembly of Example 7, and FIG24 is an exploded view of FIG23 . In conjunction with FIG23 and FIG24 , the second collision detection assembly 3 is mounted on the front edge of the mobile body 1. The top front edge of the mobile body 1 serves as a second supporting portion 5 for carrying the second sensing assembly 32. The second sensing assembly 32 of the second collision detection assembly 3 is mounted on the top front edge of the mobile body 1. A trigger portion is provided inside the second collision buffer 31 of the second collision detection assembly 3, located above the top front edge of the mobile body 1. The first collision detection assembly 2 and the second collision detection assembly 3 are independently provided. The first collision buffer 21 of the first collision detection assembly 2 is mounted on the front side of the mobile body 1 and can be located below the first collision detection assembly 2. The front side of the mobile body 1 serves as a first supporting portion 4 for carrying the first sensing assembly 22 of the first collision detection assembly 2. The first sensing assembly 22 is mounted on the front side of the mobile body 1 to be triggered based on the movement of the first collision buffer 21.

[0151] It should be noted that the second collision detection assembly 3 shown in the seventh embodiment may also be integrated with a triggering member that makes point contact with an obstacle. For details, please refer to the description of the third embodiment, which will not be repeated here.

[0152] Embodiment 8:

[0153] Figure 25 shows an exploded schematic diagram of a cleaning device equipped with the second collision detection assembly shown in Example 8. Referring to Figure 22 , the running mechanism of the mobile body 1 includes running wheels 7 disposed at the front bottom of the mobile body, with a pressure sensor 6 disposed between the auxiliary running wheels 7 and the mobile body 1. The first collision detection assembly 2 is disposed on the side of the mobile body 1, and the pressure sensor 6 is configured as the second collision detection assembly 3. When the top edge of the mobile body 1 collides with an obstacle, the pressure sensor 6 is triggered to detect a vertical collision.

[0154] In addition, the first sensing component and the second sensing component in the present application can not only be components of the above type, but also can be sensors such as light interruption sensors and Hall sensors that can detect relative motion, which are not limited here.

[0155] In some embodiments, the cleaning device may be a sweeping robot. In other embodiments, the cleaning device may be an automatically operated cleaning device such as a mopping robot or a washing robot, which is not limited here.

[0156] Based on the above-mentioned cleaning equipment, the present application also provides a cleaning system, which includes a base station and the above-mentioned cleaning equipment, and the cleaning equipment and the base station are used in combination.

[0157] The cleaning system provided in the present application can prevent the cleaning equipment from continuing to move forward and being trapped by obstacles, and has good practicality.

[0158] While the foregoing description of specific embodiments of this specification is intended to encompass all other embodiments within the scope of the appended claims, in some cases, the actions or steps recited in the claims may be performed in a different order than that described in the embodiments and still achieve the desired results. Furthermore, the processes depicted in the accompanying drawings do not necessarily need to follow the specific order or sequential order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also feasible or advantageous.

[0159] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0160] It should be understood that the above embodiments are merely illustrative of the present invention and are not intended to limit the present invention. Those skilled in the art may also implement the present invention in other ways without departing from the basic spirit and characteristics of the present invention. The scope of the present invention shall be determined by the appended claims, and any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of one or more embodiments of this specification shall be encompassed.

Claims

1. A cleaning device comprising: The mobile body has a walking mechanism at the bottom; a first collision detection component, disposed at an edge of the mobile body, for detecting a collision of the cleaning device in a first direction; A second collision detection component is provided on the mobile body and is used to detect a collision of the edge of the cleaning device in a second direction, wherein: The first direction and the second direction are different.

2. The cleaning device according to claim 1, wherein The first collision detection component is arranged on a side of the mobile body, and the second collision detection component is arranged above the first collision detection component.

3. The cleaning device according to claim 1, wherein The first collision detection component is arranged on a side surface of the mobile body, and the second collision detection component is arranged on an edge of a top surface of the mobile body.

4. The cleaning device according to claim 1, wherein The second collision detection component is arranged on a side surface of the mobile body, and the first collision detection component is arranged above the second collision detection component.

5. The cleaning device according to claim 1, wherein The second collision detection component is disposed on a side surface of the mobile body, and the first collision detection component is disposed on a side surface of the mobile body.

6. The cleaning device according to any one of claims 2 to 5, wherein: The first collision detection component is located away from the moving body in a first direction relative to the second collision detection component.

7. The cleaning device according to any one of claims 2 to 5, wherein: The second collision detection component is higher than the first collision detection component.

8. The cleaning device according to any one of claims 2 to 5, wherein: The first collision detection component includes: a first collision buffer, at least partially configured to be movable along a first direction to detect a collision of the cleaning device in the first direction; The first sensing component is triggered at least in part based on the movement of the first impact buffer.

9. The cleaning device according to claim 8, wherein The second collision detection component includes: a second collision buffer, at least partially configured to be movable along a second direction, the second collision buffer having a trigger portion higher than the top of the moving body; The second sensing component is triggered at least in part based on the movement of the second impact buffer.

10. The cleaning device according to claim 9, wherein The second collision buffer is an integrally formed structure, or the second collision buffer is a plurality of independently movable single structures.

11. The cleaning device according to claim 10, wherein There are one or more second sensing components, which are correspondingly arranged to at least one second collision buffer.

12. The cleaning device according to claim 11, wherein When the second sensing components are configured as M, the M sensing components are configured as N groups, the N groups of sensing components are arranged in N sensing areas, and the N sensing areas are sequentially located on the front side of the mobile body, wherein M and N are both positive integers greater than or equal to two.

13. The cleaning device according to claim 12, wherein The M is specifically 5, the N is 3, the N sensing areas are specifically a first sensing area, a second sensing area and a third sensing area, two second sensing components are arranged in the first sensing area, one second sensing component is arranged in the second sensing area, and two second sensing components are arranged in the third sensing area.

14. The cleaning device according to claim 13, wherein The second sensing area is arranged in a middle area on the front side of the mobile body, and the first sensing area and the third sensing area are respectively arranged in two side areas on the front side of the mobile body.

15. The cleaning device according to claim 8, wherein The first sensing component is disposed on a first carrying portion, and the first carrying portion is disposed on a side surface of the mobile body.

16. The cleaning device according to claim 9, wherein The second sensing component is disposed on a second carrying portion, and the second carrying portion is disposed on an edge of a top surface of the mobile body.

17. The cleaning device according to claim 9, wherein The second sensing component is disposed on a second carrying portion, and the second carrying portion is disposed on the first collision buffer component.

18. The cleaning device according to claim 17, wherein When at least a portion of the first impact buffer is configured to be movable along a first direction, the second impact buffer is synchronously movable along the first direction.

19. The cleaning device according to claim 17, wherein When at least a portion of the second impact buffer is configured to be movable along a second direction, the first impact buffer does not have movement along the first direction.

20. The cleaning device according to claim 9, wherein The first sensing component is arranged on a first carrying portion, which is arranged on a side of the mobile body; the second sensing component is arranged on a second carrying portion, which is arranged on a side of the mobile body.

21. The cleaning device according to claim 9, wherein The second sensing component is disposed on a second carrying portion, and the second carrying portion is disposed on a side surface of the mobile body.

22. The cleaning device according to claim 21, wherein The first sensing component is disposed on a first carrying portion, and the first carrying portion is disposed on the second collision buffer.

23. The cleaning device according to claim 22, wherein When at least a portion of the first impact buffer is configured to be movable along a first direction, the second impact buffer does not have the capability of being movable along the second direction.

24. The cleaning device of claim 22, wherein: When at least a portion of the second impact buffer is configured to be movable along a second direction, the first impact buffer moves synchronously along the second direction.

25. The cleaning device according to any one of claims 16 to 24, wherein: The second collision detection component further includes: The first restoring member is connected between the second bearing portion and the second collision buffer member.

26. The cleaning device according to claim 25, wherein A first guide member is provided on the second bearing portion and / or the second collision buffer member, and the first restoring member is sleeved on the first guide member.

27. The cleaning device of claim 25, wherein The second collision buffer is provided with a second guide member, and the second bearing portion is provided with a third guide member. The second guide member and the third guide member cooperate to guide the movement of the second collision buffer relative to the bearing portion in a second direction.

28. The cleaning device according to claim 27, wherein The second guide member and the third guide member are plug-connected.

29. The cleaning device according to claim 28, wherein Among the second guide member and the third guide member, one is a guide column and the other is a guide hole.

30. The cleaning device of claim 29, wherein The guide post has a first end facing the guide hole and a second end facing away from the guide hole. The projection of the second end of the guide post falls within the first end of the guide post. The first end of the guide post can be fitted and inserted into the guide hole.

31. The cleaning device according to claim 9, wherein The second collision detection component further includes: a trigger member, movable and movable through the second collision buffer member, the trigger member comprising a trigger portion extending out of the second collision buffer member; The second sensing component is triggered at least in part based on the movement of the triggering member.

32. The cleaning device of claim 9, wherein: The second impact buffer is movable along a second direction through the first impact buffer.

33. The cleaning device of claim 32, wherein: The second sensing component includes: a conductive contact connected to the second collision buffer; The guide piece is separately provided from the conductive contact piece, and when the second collision buffer moves toward the second sensing component, the conductive contact piece contacts the guide piece.

34. The cleaning device of claim 33, wherein: Two guide plates are arranged at relative intervals, the conductive contact is connected to the bottom of the second collision buffer, the conductive contact is arranged above or below the two guide plates, and both ends of the conductive contact are respectively arranged to contact the two guide plates.

35. The cleaning device of claim 34, wherein The second sensing component further includes: The second restoring member is arranged between the bottom of the conductive contact piece and the moving body.

36. The cleaning apparatus of claim 32, wherein: The second sensing component is arranged below the second collision buffer, and the second collision buffer and the second sensing component are connected via a third restoring component.

37. The cleaning device of claim 36, wherein: A trigger rod extending toward the second sensing component is provided at the bottom of the second sensing component. The trigger rod and the second sensing component are separately provided. When the second collision buffer moves toward the second sensing component, the trigger rod contacts the second sensing component.

38. The cleaning device of claim 8, wherein The first collision buffer is an input component of the first collision detection assembly.

39. The cleaning device according to any one of claims 9-14, 16-17, 19-24, 26-37, wherein: When the first sensing component and / or the second sensing component is triggered, a collision trigger signal is sent to a control unit of the cleaning device, and the control unit controls the mobile body to perform an obstacle avoidance action based on the collision trigger signal.

40. The cleaning device of claim 1, wherein An auxiliary walking wheel is provided at the front bottom of the mobile body, and a pressure sensor is provided between the auxiliary walking wheel and the mobile body. The first collision detection component is provided on the side of the mobile body, and the pressure sensor is configured as the second collision detection component. When the top edge of the mobile body collides with an obstacle, the pressure sensor is triggered to detect the collision in the second direction.

41. The cleaning device according to any one of claims 1-5, 9-17, 19-24, 26-38 and 40, wherein: The first direction is a horizontal direction, and the second direction is a vertical direction.

42. A cleaning system comprising: base stations; The cleaning device according to any one of claims 1 to 41 is used in conjunction with the base station.

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