Detection system, cleaning device and cleaning system

Abstract

A detection system, a cleaning device and a cleaning system. The detection system comprises an optical detection module (120) and a moving component (110) to be detected. The optical detection module (120) comprises a transmitting component (121), a receiving component (122) and a signal processing circuit (127). Detection light emitted by the transmitting component (121) propagates to the surface of the moving component (110), and the signal processing circuit (127) is configured to detect the movement of the moving component (110) on the basis of the condition of light received by the receiving component (122).

Description

Detection system, cleaning equipment and cleaning system

[0001] Cross-reference to related applications

[0002] This application claims priority to Chinese patent application No. 202421765799.9, filed on July 24, 2024, the entire contents of which are incorporated herein by reference. Technical Field

[0003] This disclosure relates to the field of automatic control, and more particularly to a detection system, cleaning equipment, and cleaning system. Background Technology

[0004] Today, cleaning equipment such as sweepers and floor scrubbers are favored by most consumers. To improve the flexibility of cleaning equipment, some mechanical moving parts are incorporated, such as lifting or rotating parts. Therefore, it is necessary to detect changes in the position of these moving parts to ensure that the cleaning equipment can respond promptly, thereby improving product performance and user experience. Summary of the Invention

[0005] This disclosure provides a detection system, a cleaning device, and a cleaning system that can effectively detect the movement of moving parts.

[0006] In a first aspect of this disclosure, a detection system for a cleaning device is provided, including an optical detection module and a moving part to be detected. The optical detection module includes a transmitting component, a receiving component, and a signal processing circuit. The transmitting component emits detection light that propagates to the surface of the moving part. The signal processing circuit is electrically connected to the receiving component and configured to detect the movement of the moving part based on the reflected light received by the receiving component. The reflected light is the detection light reflected from the surface of the moving part.

[0007] In a second aspect of this disclosure, a cleaning device is provided, including the detection system provided in the first aspect above.

[0008] In a third aspect of this disclosure, a cleaning system is provided, including the cleaning device provided in the second aspect above and a pile for docking with the cleaning device, the pile being configured at least to charge the cleaning device.

[0009] The above description is merely an overview of the technical solution provided in this disclosure. In order to better understand the technical means of this disclosure and to implement it in accordance with the contents of the specification, and to make the above and other features and effects of this disclosure more obvious and understandable, the following are specific examples of the implementation methods of this disclosure. Attached Figure Description

[0010] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of the embodiments disclosed herein. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0011] Figure 1 shows a schematic diagram of the structure of a cleaning system according to some embodiments of the present disclosure;

[0012] Figure 2 shows a schematic diagram of the structure of a detection system according to some embodiments of the present disclosure;

[0013] Figure 3 shows a structural block diagram of the optical detection module in Figure 2;

[0014] Figure 4 shows a schematic diagram of the optical detection module in Figure 2;

[0015] Figure 5 shows a schematic diagram of the structure of a detection system according to some other embodiments of the present disclosure;

[0016] Figure 6 shows a schematic diagram of the structure of an optical detection module according to some other embodiments of the present disclosure;

[0017] Figure 7 shows a schematic diagram of the structure of a detection system according to some embodiments of the present disclosure;

[0018] Figure 8A shows a schematic diagram of the structure of a detection system according to some embodiments of the present disclosure;

[0019] Figure 8B shows a schematic diagram of the structure of a detection system according to some other embodiments of the present disclosure;

[0020] Figure 9 shows a detection schematic diagram of a detection system according to some embodiments of the present disclosure;

[0021] Figure 10 shows a detection schematic diagram of a detection system according to some other embodiments of the present disclosure;

[0022] Figure 11 shows a partial structural schematic diagram of a cleaning device according to some embodiments of the present disclosure; and

[0023] Figure 12 shows a partial structural schematic diagram of a cleaning device according to some other embodiments of the present disclosure. Embodiments of the present invention

[0024] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. It should be noted that the dimensions of the elements may be exaggerated in the drawings for clarity of illustration. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

[0025] It should be noted that the term "and / or" in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. The term "at least one" includes one or more cases. The term "multiple" includes two or more cases. The terms "first," "second," etc., are used only as markers and do not restrict the number or order of the objects. The terms "before," "after," "above," "below," "left," "right," etc., are only used to indicate relative positional relationships; when the absolute position of the described objects changes, the relative positional relationship may also change accordingly.

[0026] This disclosure provides a cleaning system through several embodiments. As shown in FIG1, the cleaning system 1 includes a cleaning device 10 and a docking station 20 for docking with the cleaning device 10. The docking station 20 is configured at least to charge the cleaning device 10. Of course, in some embodiments, in addition to charging, the docking station 20 may also provide other services to the cleaning device 10, such as dust collection, mop washing, drying, and other self-cleaning services, depending on the needs of the actual product. For example, the cleaning device 10 may be a self-cleaning device such as a sweeping robot or a floor scrubber. The sweeping robot in this document may be a robotic vacuum cleaner, a robotic mop, or a combined sweeping and mopping robot.

[0027] This disclosure provides a detection system in some embodiments, which can be applied to the aforementioned cleaning equipment, such as a sweeper or floor scrubber. Of course, this detection system can also be applied to other equipment containing moving parts and requiring the detection of the movement of those parts; this disclosure does not impose any limitations on this application.

[0028] As shown in Figure 2, the detection system 100 provided in some embodiments of this disclosure includes an optical detection module 120 and a moving part 110 to be detected. It should be noted that the structure and movement of the moving part 110 shown in Figure 2 are merely illustrative and not intended as a limitation. The structure and movement of the moving part 110 are determined according to the actual product being used. For example, the movement can be moving, tilting, swinging, or rotating. For instance, when applied to a sweeper, the moving part 110 to be detected can be a lifting module used to move cleaning components (such as side brushes or mops); when applied to a floor scrubber, the moving part 110 to be detected can be a rotating shaft that drives the machine body to rotate relative to the cleaning head.

[0029] The optical detection module 120 can be disposed opposite to the upper surface, lower surface, or side surface of the movable component 110. The actual placement position can be determined according to the structure and movement mode of the movable component 110 to be detected. In the exemplary embodiment shown in FIG2, the movable component 110 moves relative to the central fixed component 200 along a preset direction (the Y-axis direction in FIG2), and the optical detection module 120 is disposed opposite to the upper surface 1101 of the movable component 110.

[0030] As shown in Figures 3 and 4, the optical detection module 120 may include a transmitting component 121, a receiving component 122, and a signal processing circuit 127. The detection light emitted by the transmitting component 121 propagates to the surface of the movable component 110. For example, the transmitting component 121 may include a light-emitting diode, or a laser diode, or other light-emitting device. For example, the receiving component 122 may include a phototransistor, or a photoresistor, or other photosensitive device capable of converting optical signals into electrical signals.

[0031] The signal processing circuit 127 is electrically connected to the receiving component 122. The signal processing circuit 127 is configured to detect the movement of the movable component 110 based on the light received by the receiving component 122. It should be noted that the movement of the movable component 110 affects the light received by the receiving component 122, and different light conditions result in different output signals. Therefore, the movement of the movable component 110 can be detected by detecting the difference in the output signal of the receiving component 122. For example, when the movement of the movable component 110 is a moving motion, it can be detected whether the movable component 110 has moved to the target position.

[0032] The detection system 100 provided in the embodiments of this disclosure detects the movement of the moving part 110 by setting an optical detection module 120 to detect the reflected light on the surface of the moving part 110, essentially without increasing the size of the moving part 110. Furthermore, if the transmitting part 121 and the receiving part 122 are small devices based on SMT (Surface Mount Technology), the size of the optical detection module 120 can be reduced, saving overall space.

[0033] In some embodiments, the light received by the receiving component 122 includes two cases: first, receiving detection light reflected from the surface of the movable component 110; second, not receiving detection light reflected from the surface of the movable component 110, i.e., no illumination. These two cases are related to the positional change of the movable component 110. As shown in FIG2, the movable component 110 moves relative to the central fixed component 200 along a preset direction (the Y-axis direction in FIG2). When the movable component 110 is located at the first reference position, the detection light reflected from the surface of the movable component 110 can enter the receiving component 122; when the movable component 110 is located at the second reference position, the detection light reflected from the surface of the movable component 110 cannot enter the receiving component 122.

[0034] Taking a phototransistor as an example, when the phototransistor receives the detection light reflected from the surface of the moving part 110, it conducts, converting the optical signal into an electrical signal and amplifying the photocurrent, outputting the amplified electrical signal. When the phototransistor cannot receive the detection light reflected from the surface of the moving part 110, it is in a cutoff state and no electrical signal is output. Therefore, the signal processing circuit 127 can detect whether the moving part 110 has moved to the target position by detecting whether the phototransistor outputs an electrical signal. For example, the signal processing circuit 127 may include a processor electrically connected to the signal output pin of the phototransistor. The processor determines whether the moving part 110 has reached the target position by detecting whether the phototransistor outputs a signal.

[0035] In other embodiments, the intensity of the light received by the receiving component 122 when the active component 110 is at the target position differs from the intensity of the light received by the receiving component 122 when the active component 110 is at a non-target position, resulting in a difference in the signal magnitude output by the receiving component 122. In this case, the receiving component 122 converts the received optical signal into an electrical signal, and the signal processing circuit 127 analyzes the magnitude of the electrical signal to determine whether the active component 110 has reached the target position based on the analysis results. For example, the signal processing circuit may include a comparator and a processor. The first input terminal of the comparator is electrically connected to the output terminal of the receiving component 122, the second output terminal is electrically connected to a reference voltage terminal, and the output terminal is electrically connected to the processor. The comparator can be used to compare the voltage value corresponding to the aforementioned electrical signal with the reference voltage value, and the processor determines whether the active component 110 has reached the target position based on the comparison result. This helps to reduce the influence of stray light on the detection results and improve the reliability of the detection results.

[0036] Of course, the signal processing circuit 127 may also include other electronic devices, such as an amplifier, which amplifies the electrical signal converted by the receiving component 122 before inputting it to the comparator. It should be noted that the specific circuit structure of the signal processing circuit 127 can be set according to actual needs, and this disclosure does not limit it.

[0037] As shown in Figure 4, in some embodiments, the optical detection module 120 may further include a substrate 123. The substrate 123 is provided with driving circuits for the emitting component 121 and the receiving component 122. The emitting component 121 and the receiving component 122 are disposed on the substrate 123. The light emitting surface of the emitting component 121 and the light receiving surface of the receiving component 122 both face the surface of the movable component 110 and are electrically connected to their respective driving circuits to drive the emitting component 121 to emit light and to realize the conversion of the received light signal by the receiving component 122.

[0038] To prevent crosstalk of the light emitted by the transmitting component 121 to the receiving component 122, which could lead to false detection, in some embodiments, the optical detection module 120 further includes a light-shielding component 124. The light-shielding component 124 is configured to prevent the detection light emitted by the transmitting component 121 from entering the receiving component 122 without being reflected by the surface of the moving component 110, so as to ensure that the light received by the receiving component 122 is the detection light reflected by the surface of the moving component 110, thereby detecting the movement of the moving component 110 based on the light received by the receiving component 122.

[0039] In some embodiments, the light-shielding member 124 may be positioned between the emitting member 121 and the receiving member 122. For example, one end of the light-shielding member 124 may abut against the substrate 123, and the other end may extend beyond the emitting member 121 and the receiving member 122. Of the detection light emitted by the emitting member 121, the portion of the detection light directed toward the receiving member 122 is blocked by the light-shielding member 124, while the portion of the detection light directed toward the movable member 110 propagates to the surface of the movable member 110.

[0040] In some embodiments, the light-shielding member 124 may include a first baffle 1241 disposed along a first direction and at least one second baffle 1242 disposed along a second direction, the first direction intersecting the second direction. For example, the first direction may be perpendicular to the second direction, the first direction may be the Y-axis direction in FIG4, and the second direction may be the X-axis direction in FIG4. The second baffle 1242 is connected to the first baffle 1241 and is located on the side of the first baffle 1241 closer to the emitting member 121.

[0041] As shown in Figure 4, the light-shielding component 124 may include a first baffle 1241 and a second baffle 1242. The first baffle 1241 is perpendicular to the surface of the substrate 123, and the second baffle 1242 is parallel to the surface of the substrate 123. One end of the first baffle 1241 abuts against the substrate 123, and the other end is connected to one end of the second baffle 1242, forming an "L" shape. The first baffle 1241 and the second baffle 1242 may be integrally formed, or they may be independently formed and connected together; this disclosure does not limit this.

[0042] Of course, the light-shielding component 124 can also be configured in other shapes. For example, the light-shielding component 124 may include a first baffle 1241 and two second baffles 1242, similar to an inverted "F" shape, to achieve a better anti-crosstalk effect.

[0043] In some embodiments, the movable component 110 is a component that moves along a preset direction. The optical detection module 120 and the movable component 110 are arranged along the preset direction, and the relative distance between the optical detection module 120 and the movable component 110 changes as the movable component 110 moves. In this case, in addition to the anti-crosstalk effect, the light-shielding component 124 can also block the detection light reflected from the surface of the movable component 110 from entering the receiving component 122 when the movable component 110 moves to the target position. Thus, the condition of the light received by the receiving component 122 can be used to determine whether the movable component 110 has moved to the target position. When the movable component 110 is in the first reference position, the detection light reflected from the surface of the movable component 110 enters the receiving component 122; when the movable component 110 is in the second reference position, the detection light reflected from the surface of the movable component 110 is blocked by the light-shielding component 124.

[0044] For example, in Figure 2, the movable component 110 moves from bottom to top along a preset direction (the Y-axis direction in Figure 2). Taking position A in Figure 2 as the first reference position and position B in Figure 2 as the second reference position, with position B being the target position, when the movable component 110 is at position A, i.e., before moving to the target position, the detection light emitted by the transmitting component 121 propagates to the upper surface 1101 of the movable component 110 (at point Q in Figure 2), and the receiving component 122 receives the detection light reflected by the upper surface 1101, as shown by the optical path L1 in Figure 2. When the movable component 110 moves to position B, i.e., moves to the target position, because the optical detection module 120 is closer to the movable component 110 and the optical path is shorter, the detection light reflected from the upper surface 1101 of the movable component 110 (at point Q' in Figure 2) is blocked by the light-shielding component 124, and the receiving component 122 is basically unable to receive the detection light reflected by the upper surface 1101, as shown by the optical path L2 in Figure 2. Based on this, by detecting the light received by the receiving component 122, it is possible to detect whether the moving component 110 has moved to the target position.

[0045] Considering that the greater the distance between the movable component 110 and the optical detection module 120, the longer the transmission path of the detection light reflected from the surface of the movable component 110 will be, which may easily lead to a weak received signal, as shown in Figure 5, in some embodiments, a reflective component 111 is provided on the surface of the movable component 110, and the reflectivity of the reflective component 111 is greater than the reflectivity of the surface material of the movable component 110. When the movable component 110 is located at the aforementioned first reference position, the detection light emitted by the emitting component 121 propagates to the reflective component 111, and after being reflected by the reflective component 111, it enters the receiving component 122, which helps to increase the intensity of the reflected light, thereby ensuring the intensity of the signal light received by the receiving component 122 and improving the reliability of the detection result. For example, the reflective component 111 can be a reflective film or reflective cloth attached to the surface of the movable component 110, and its thickness is negligible, so it will not cause a significant increase in the size of the movable component 110.

[0046] In some embodiments, when the movable component 110 is in the second reference position, the detection light reflected from the surface of the movable component 110 will be blocked by the light-shielding component 124, eliminating the need for light enhancement. Therefore, the reflective component 111 can be disposed in a portion of the surface of the movable component 110. As shown in FIG5, the surface of the movable component 110 opposite to the optical detection module 120 is the upper surface 1101, which includes a first region and a second region outside the first region. The reflective component 111 is disposed in the first region (the annular region covered by the reflective component 111 in FIG5). When the movable component 110 is in the second reference position, the detection light emitted by the emitting component 121 propagates to the second region of the upper surface 1101 (at point Q' in FIG5), i.e., the region where the reflective component 111 is not disposed, thus saving reflective material.

[0047] As shown in Figure 6, in some embodiments, in order to minimize the divergence angle of the detection light emitted by the transmitting component 121 and reduce interference to the receiving component 122, the optical detection module 120 may also include a first condensing lens 125, through which the detection light emitted by the transmitting component 121 propagates to the surface of the moving component 110.

[0048] As shown in Figure 6, in some embodiments, in order to increase the intensity of the signal light received by the receiving component 122 and improve the reliability of the detection results, the optical detection module 120 may also include a second condenser lens 126, and the detection light reflected by the surface of the moving component 110 is converged to the receiving component 122 after passing through the second condenser lens 126.

[0049] In some embodiments, the relative distance between the optical detection module 120 and the movable component 110 remains substantially constant during the movement of the movable component 110. At this time, as shown in FIG7, at least one position marker component 112 is provided on the surface of the movable component 110 opposite to the optical detection module 120 (side surface 1102 in FIG7). The reflectivity of the position marker component 112 differs from that of the surface of the movable component 110. During the movement of the movable component 110, the detection light emitted by the emitting component 121 may either illuminate the position marker component 112 or the surface of the movable component 110. The intensity of the reflected light differs in these two cases, resulting in differences in the light received by the receiving component 122. The position marker component 112 at least covers the area illuminated by the detection light emitted by the emitting component 121 on the surface of the movable component 110; its actual location is determined according to the target location to be detected.

[0050] As shown in Figure 7, the movable component 110 moves along a preset direction (the Y-axis direction in Figure 7), and the optical detection module 120 is disposed on the side 1102 of the movable component 110. The relative distance d between the optical detection module 120 and the movable component 110 remains essentially constant. For example, the position marking component 112 can be a strip as shown in Figure 6, attached to the side 1102 of the movable component 110. Its thickness is negligible and will not cause a significant increase in the size of the movable component 110. For example, if the movable component 110 is a hollow cylindrical structure as shown in Figure 7, the strip can be attached in half a circle or a full circle around the side 1102 of the movable component 110 to relax the positional requirements of the optical detection module 120.

[0051] When the movable part 110 is in the third reference position, the probe light emitted by the emitting part 121 propagates to the area on the surface of the movable part 110 where the position marker part 112 is not provided. When the movable part 110 is in the fourth reference position, the probe light emitted by the emitting part 121 propagates to the position marker part 112.

[0052] In some embodiments, the material of the position marking component 112 includes a light-absorbing material, the absorbance of which is greater than the absorbance of the material on the surface of the movable component 110. The light-absorbing material is one with good light absorption properties, for example, it may include a black resin material (such as acrylonitrile-styrene-butadiene copolymer, abbreviated as ABS) and / or light-absorbing foam. Correspondingly, as one embodiment, the material of the side surface 1102 of the movable component 110 may include a material with weak light absorption and good reflectivity, for example, it may include a white resin material and / or a white polypropylene material. As another embodiment, the side surface 1102 of the movable component 110 is covered with a reflective film or reflective fabric.

[0053] For example, as shown in Figure 7(a), the movable part 110 moves from bottom to top along a preset direction (the Y-axis direction in Figure 7). Taking the third reference position as position C, the fourth reference position as position D, and position D as the target position, when the movable part 110 is at position C, i.e., before moving to the target position, the detection light emitted by the transmitting part 121 propagates to the side 1102 of the movable part 110, and the receiving part 122 receives the detection light reflected by the side 1102. As shown in Figure 7(b), when the movable part 110 moves to position D, i.e., moves to the target position, the detection light emitted by the transmitting part 121 propagates to the strip and is absorbed by the strip, so the receiving part 122 cannot receive the reflected detection light. Based on this, by detecting the light received by the receiving part 122, it is possible to detect whether the movable part 110 has moved to the target position.

[0054] In other embodiments, the material of the position marker 112 may include a material with weak light absorption and good light reflection, while the material of the surface of the movable component 110 includes a light-absorbing material. In this case, contrary to the embodiment illustrated in FIG7, the probe light propagating to the surface of the movable component 110 is absorbed, while the probe light propagating to the position marker 112 is reflected and enters the receiving component 122.

[0055] It should be noted that the exemplary embodiment corresponding to FIG7 is illustrated by setting a position marker component 112 on the side 1102 of the movable component 110. In other embodiments, multiple position marker components 112 may be set at intervals on the side 1102 of the movable component 110 to achieve detection of multiple target positions. The number of position marker components 112 can be determined according to the position detection needs of the movable component 110 in the actual product, and this disclosure does not impose any limitations on it.

[0056] As shown in Figures 8A and 8B, when the central component is a movable component 110' and the peripheral component is a fixed component 200', the movable component 110' is positioned within the opening at the center of the fixed component 200' and moves relative to the fixed component 200' along a preset direction (the Y-axis direction in Figures 8A and 8B). At this time, the side of the movable component 110' is blocked by the peripheral fixed component 200', and the optical detection module 120 can be positioned opposite to the upper surface 1101' of the movable component 110', as shown in Figure 8A, or opposite to the lower surface of the movable component 110', as shown in Figure 8B.

[0057] In addition to detecting whether the movable part 110 has moved to the target position, the detection system 100 can also be used to detect whether the movable part 110 has swung to the target position.

[0058] As shown in Figure 9, when the movable part 110 is tilted and swinging, the optical detection module 120 can be set opposite to the side 1102 of the movable part 110. The side 1102 of the movable part 110 is provided with the aforementioned position marking part 112. The size of the position marking part 112 and its position on the side 1102 of the movable part 110 are determined according to the swing angle corresponding to the target position to be detected.

[0059] As shown in Figure 9(a), when the central axis M of the movable component 110 is parallel to the Y-axis (i.e., at a perpendicular angle), the probe light emitted by the emitting component 121 propagates onto the position marker component 112. As the movable component 110 tilts and swings, the spot of the probe light moves on the position marker component 112. As shown in Figure 9(b), when the movable component 110 swings to an angle θ between the central axis M and the Y-axis, the spot of the probe light moves out of the position marker component 112, meaning the probe light emitted by the emitting component 121 propagates to the area of ​​the side 1102 of the movable component 110 where the position marker component 112 is not located. Since the reflectivity of the position marker component 112 is different from that of the material of the side 1102 of the movable component 110, the reflected light incident on them differs. Therefore, the swing of the movable component 110 can be detected based on the reflected light received by the receiving component 122. It should be noted that Figure 9 illustrates the case where the probe light incident on the position marker component 112 is absorbed, resulting in virtually no reflected light.

[0060] When the movable component 110 is a component that rotates in a clockwise or counterclockwise direction, the optical detection module 120 can be disposed opposite to the side surface of the movable component 110, or opposite to the upper or lower surface of the movable component 110. The surface of the movable component 110 opposite to the optical detection module 120 is provided with the aforementioned position marking component 112, which is disposed at the target position to be detected. The exemplary embodiment corresponding to FIG10 is described with the optical detection module 120 opposite to the side surface 1102 of the movable component 110 as an example.

[0061] As shown in Figure 10(a), the movable component 110 rotates clockwise. Before reaching the target position, the probe light emitted by the emitting component 121 propagates to the area on the side 1102 of the movable component 110 where the position marker component 112 is not located. As the movable component 110 rotates, the spot of the probe light moves on the side 1102 of the movable component 110. As shown in Figure 10(b), when the movable component 110 rotates to the target position, the probe light emitted by the emitting component 121 illuminates the position marker component 112. Similarly, since the reflectivity of the position marker component 112 is different from that of the material on the side 1102 of the movable component 110, the reflected light from the probe light illuminating them is different. Therefore, the receiver 122 can detect whether the movable component 110 has rotated to the target position based on the reflected light received by the receiver 122. It should be noted that Figure 10 illustrates an example where the probe light incident on the position marker component 112 is absorbed, resulting in almost no reflected light.

[0062] This disclosure provides a cleaning device in some embodiments. As shown in FIG11, the cleaning device includes a cleaning component (not shown) and a lifting module 110a for moving the cleaning component. For example, when the cleaning device is a sweeper, the cleaning component may be a side brush or mop of the sweeper.

[0063] The cleaning equipment also includes a detection system 100 provided in some of the embodiments described above. The structure and technical effects of the detection system 100 can be referred to the relevant descriptions in the embodiments above, and will not be repeated here. In this case, the moving part to be detected in the detection system 100 can be the aforementioned lifting module 110a.

[0064] In order to realize the position detection of the lifting module 110a in the cleaning equipment, the aforementioned optical detection module 120 can be set near the lifting module 110a in the cleaning equipment, so that the light emitted by the emitting component 121 in the optical detection module 120 propagates to the surface of the lifting module 110a, thereby detecting whether the lifting module 110a has been raised or lowered in place according to the light received by the receiving component 122, so as to control the cleaning equipment to perform subsequent actions in a timely manner.

[0065] Taking a sweeping machine as the cleaning equipment and the lifting module 110a for raising the mop as the moving part to be detected, during the sweeping machine's cleaning task, when a carpet is detected, the lifting module 110a can be controlled to raise the mop to prevent carpet contamination. As shown in Figure 11, the lifting module 110a can move the mop up and down in a direction perpendicular to the machine body surface (Y-axis direction in Figure 11), for example, it can raise the mop by 10mm. The optical detection module 120 can be set on the machine body at a position opposite to the upper surface of the lifting module 110a, so that the movement of the lifting module 110a can be detected based on the light received by the receiving component 122. For example, by detecting the movement of the lifting module 110a, it can be determined whether the mop has been raised to the correct position, so that after determining that the mop has been raised to the correct position, the sweeping machine can be controlled to continue cleaning the carpet area.

[0066] This disclosure provides a cleaning device through several embodiments. As shown in FIG12, the cleaning device includes: a cleaning head 12 (also referred to as a brush head), a body 11, and a rotating shaft 110b for rotating the body 11 relative to the cleaning head 12. The cleaning head 12 refers to the part used for cleaning the floor, and the body 11 refers to the part connected to the handle. The body 11 is connected to the cleaning head 12 via the rotating shaft 110b. The user can adjust the tilt angle of the body 11 relative to the cleaning head 12 according to actual needs. For example, the above-mentioned cleaning device can be a handheld floor scrubber. When the user is cleaning with the handheld floor scrubber, they can rotate the body 11 to a suitable tilt angle for convenient cleaning. For example, when cleaning some special locations such as under sofas or beds, the body 11 can be rotated to a "flat" position, that is, the body 11 is at a 180-degree angle to the cleaning head 12. For example, when the user returns the floor scrubber to its base after cleaning, the body 11 can be rotated to an "upright" position, that is, the body 11 is perpendicular to the cleaning surface of the cleaning head 12.

[0067] The cleaning equipment also includes a detection system 100 provided in some of the embodiments described above. The structure and technical effects of the detection system 100 can be referred to the relevant descriptions in the embodiments above, and will not be repeated here. In this case, the moving part to be detected in the detection system 100 can be the aforementioned rotating shaft 110b.

[0068] To detect the rotation angle of the body 11 relative to the cleaning head 12 in the cleaning equipment, the aforementioned optical detection module 120 can be set near the rotating shaft 110b that drives the body 11 to rotate relative to the cleaning head 12 in the cleaning equipment, and the aforementioned position marking component 112 can be set on the surface of the rotating shaft 110b. The emitting component 121 in the optical detection module 120 emits detection light toward the surface of the rotating shaft 110b, thereby detecting whether the rotating shaft 110b has rotated to the position of the position marking component 112 based on the light received by the receiving component 122, that is, detecting whether the body 11 has rotated into position.

[0069] A position marker 112 is provided on the surface of the rotating shaft 110b opposite to the optical detection module 120. The reflectivity of the position marker 112 is different from that of the surface material of the rotating shaft 110b. The position marker 112 can be positioned at the target location to be detected. When the rotating shaft 110b rotates to the target location, the detection light emitted by the emitting component 121 in the optical detection module 120 can illuminate the position marker 112, and the difference will be reflected in the light signal received by the receiving component 122. Thus, the detection system 100 can detect whether the rotating shaft 110b has rotated to the target location and monitor the tilt angle of the body 11 relative to the cleaning head 12 in real time.

[0070] The target position to be detected is set according to the actual product requirements. Taking a handheld floor scrubber as an example, the target position may include the rotation position of the shaft 110b when the body 11 is in the "upright" state relative to the cleaning head 12, and / or the rotation position of the shaft 110b when the body 11 is in the "flat" state relative to the cleaning head 12.

[0071] According to a first aspect of this disclosure, a detection system for a cleaning device is provided, including an optical detection module and a moving part to be detected. The optical detection module includes a transmitting component, a receiving component, and a signal processing circuit. The transmitting component emits probe light that propagates to the surface of the moving part. The signal processing circuit is electrically connected to the receiving component and configured to detect the movement of the moving part based on the reflected light received by the receiving component. The reflected light is the probe light reflected from the surface of the moving part.

[0072] In some embodiments, the optical detection module further includes a light-shielding component configured to prevent probe light emitted by the emitting component from entering the receiving component without being reflected by the surface of the moving component.

[0073] In some embodiments, the light-shielding component is positioned between the transmitting component and the receiving component.

[0074] In some embodiments, the light-shielding component includes a first baffle disposed along a first direction and at least one second baffle disposed along a second direction, the first direction intersecting the second direction, and the second baffle being connected to the first baffle.

[0075] In some implementations, the second baffle is located on the side of the first baffle closer to the launching component.

[0076] In some embodiments, the optical detection module further includes a substrate, on which the emitting component and the receiving component are disposed, with the light emitting surface of the emitting component and the light receiving surface of the receiving component facing the surface of the movable component.

[0077] In some embodiments, the first baffle is perpendicular to the substrate surface, the second baffle is parallel to the substrate surface, one end of the first baffle abuts against the substrate, and the other end is connected to one end of the second baffle.

[0078] In some embodiments, the movable component is a component that moves along a preset direction; when the movable component is in a first reference position, the probe light reflected from the surface of the movable component enters the receiving component; and when the movable component is in a second reference position, the probe light reflected from the surface of the movable component is blocked by the light-shielding component.

[0079] In some embodiments, the surface of the movable component is provided with a reflective element, the reflectivity of which is greater than the reflectivity of the surface of the movable component.

[0080] In some embodiments, when the active component is located at the first reference position, the probe light emitted by the emitting component propagates to the reflective component, is reflected by the reflective component, and then enters the receiving component.

[0081] In some embodiments, the surface of the movable component opposite to the optical detection module includes a first region and a second region, and the reflective component is disposed in the first region; when the movable component is located in the second reference position, the probe light emitted by the emitting component propagates to the second region of the surface of the movable component opposite to the optical detection module.

[0082] In some embodiments, at least one position marker is provided on the surface of the movable component opposite to the optical detection module, the reflectivity of the position marker being different from the reflectivity of the surface of the movable component opposite to the optical detection module.

[0083] In some embodiments, when the active component is in a third reference position, the probe light emitted by the emitting component propagates to a region of the active component's surface opposite the optical detection module where the position marker component is not located; and when the active component is in a fourth reference position, the probe light emitted by the emitting component propagates to the position marker component.

[0084] In some embodiments, the material of the position marking component includes a light-absorbing material, the absorbance of which is greater than the absorbance of the material of the surface of the moving component opposite to the optical detection module.

[0085] In some embodiments, the material of the surface of the movable component opposite to the optical detection module includes a white resin material and / or a white polypropylene material; or, the surface of the movable component opposite to the optical detection module is covered with a reflective film or reflective cloth.

[0086] In some embodiments, the optical detection module is disposed on the side of the movable component, and the position marking component is a strip attached to the side of the movable component.

[0087] In some implementations, the optical detection module is disposed opposite to the upper surface, lower surface, or side surface of the moving part.

[0088] In some implementations, the receiving component is configured to convert the received optical signal into an electrical signal, and the signal processing circuit is configured to determine whether the movable component has moved to the target position by detecting whether the receiving component outputs an electrical signal; or, the signal processing circuit is configured to analyze the magnitude of the electrical signal and determine whether the movable component has reached the target position based on the analysis result.

[0089] In some embodiments, the optical detection module further includes a first condenser lens, through which the detection light emitted by the emitting component propagates to the surface of the moving component; and / or the optical detection module further includes a second condenser lens, through which the detection light reflected from the surface of the moving component is converged to the receiving component.

[0090] According to a second aspect of this disclosure, a cleaning device is provided, including the detection system provided in the first aspect above.

[0091] In some embodiments, the cleaning device further includes a cleaning component and a lifting module for moving the cleaning component; the moving part to be detected in the detection system is the lifting module.

[0092] In some embodiments, the cleaning device further includes a cleaning head, a body, and a rotating shaft that drives the body to rotate relative to the cleaning head, wherein the rotating shaft is the moving part to be detected in the detection system.

[0093] In some embodiments, at least one position marking component is provided on the surface of the rotating shaft opposite to the optical detection module, the reflectivity of the position marking component being different from the reflectivity of the surface of the rotating shaft opposite to the optical detection module.

[0094] According to a third aspect of this disclosure, a cleaning system is provided, including the cleaning device provided in the second aspect above and a pile for docking with the cleaning device, the pile being configured at least to charge the cleaning device.

[0095] In the detection system of the cleaning equipment provided in some embodiments of this disclosure, an optical detection module is used to detect the reflected light on the surface of a moving part. Since the movement of the moving part affects the reflected light received by the receiving component in the optical detection module, and different reflected light received by the receiving component results in different output signals, the movement of the moving part is effectively detected.

[0096] It should be noted that the various embodiments in this disclosure are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0097] Those skilled in the art should understand that the discussion of any of the above embodiments is merely exemplary and is not intended to imply that the scope of this disclosure is limited to these examples; within the framework of this disclosure, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of different aspects of one or more embodiments of this disclosure as described above, which are not provided in detail for the sake of brevity.

[0098] Although exemplary embodiments of this disclosure have been described, those skilled in the art, upon learning the basic inventive concept, can make further changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the exemplary embodiments as well as all changes and modifications falling within the scope of this disclosure.

Claims

1. A detection system of a cleaning device, comprising an optical detection module and a movable component to be detected, the optical detection module comprising an emitting component, a receiving component and a signal processing circuit, the emitting component emitting probe light which propagates to a surface of the movable component, the signal processing circuit being electrically connected to the receiving component and configured to detect movement of the movable component according to a condition of reflected light received by the receiving component, the reflected light being the probe light reflected by the surface of the movable component.

2. The detection system of claim 1, wherein, The optical detection module further comprises a light shielding component configured to prevent the probe light emitted by the emitting component from entering the receiving component without being reflected by the surface of the movable component.

3. The detection system of claim 1, wherein, The light shielding component is located between the emitting component and the receiving component.

4. The detection system of claim 3, wherein, The light shielding component comprises a first baffle arranged along a first direction and at least one second baffle arranged along a second direction, the first direction intersecting the second direction, and the second baffle being connected to the first baffle.

5. The detection system of claim 4, wherein, The second baffle is located on a side of the first baffle close to the emitting component.

6. The detection system of claim 4, wherein, The optical detection module further comprises a substrate, and the emitting component and the receiving component are arranged on the substrate, a light emitting surface of the emitting component and a light receiving surface of the receiving component facing the surface of the movable component.

7. The detection system of claim 6, wherein, The first baffle is perpendicular to a surface of the substrate, and the second baffle is parallel to the surface of the substrate, one end of the first baffle abutting the substrate and the other end connected to one end of the second baffle.

8. The detection system of claim 1, wherein, The movable component is a component moving along a preset direction. In a case where the movable component is located at a first reference position, the probe light reflected by the surface of the movable component enters the receiving component. In a case where the movable component is located at a second reference position, the probe light reflected by the surface of the movable component is blocked by the light shielding component. The surface of the movable component is provided with a light reflecting component, and a reflectivity of the light reflecting component is greater than a reflectivity of the surface of the movable component.

9. The detection system of claim 8, wherein, In the case where the movable component is located at the first reference position, the probe light emitted by the emitting component propagates to the light reflecting component and enters the receiving component after being reflected by the light reflecting component.

10. The detection system of claim 9, wherein, The surface of the movable component opposite to the optical detection module comprises a first region and a second region, and the light reflecting component is arranged in the first region.

11. The detection system of claim 9, wherein, In the case where the movable component is located at the second reference position, the probe light emitted by the emitting component propagates to the second region of the surface of the movable component opposite to the optical detection module. The surface of the movable component opposite to the optical detection module is provided with at least one position marker component, and a reflectivity of the position marker component is different from a reflectivity of the surface of the movable component opposite to the optical detection module.

12. The detection system of any one of claims 1-7, wherein, In the case where the movable component is located at a third reference position, the probe light emitted by the emitting component propagates to a region of the surface of the movable component opposite to the optical detection module which is not provided with the position marker component.

13. The detection system of claim 12, wherein, In the case where the movable component is located at a third reference position, the probe light emitted by the emitting component propagates to a region of the surface of the movable component opposite to the optical detection module which is not provided with the position marker component. ​ When the movable component is in the fourth reference position, the probe light emitted by the emitting component propagates to the position marker component.

14. The detection system of claim 12, wherein, The material of the position marker component comprises light-absorbing material, and the light-absorbing degree of the light-absorbing material is greater than the light-absorbing degree of the material of the surface of the movable component opposite to the optical detection module.

15. The detection system of claim 12, wherein, The material of the surface of the movable component opposite to the optical detection module comprises white resin material and / or white polypropylene material; or the surface of the movable component opposite to the optical detection module is covered with a light-reflecting film or a light-reflecting cloth.

16. The detection system of claim 12, wherein, The optical detection module is arranged at the side of the movable component, and the position marker component is a strip attached to the side of the movable component.

17. The detection system of claim 1, wherein, The optical detection module is arranged opposite to the upper surface, the lower surface or the side surface of the movable component.

18. The detection system of claim 1, wherein, The receiving component is configured to convert the received light signal into an electric signal, and the signal processing circuit is configured to determine whether the movable component moves to the target position by detecting whether the receiving component outputs the electric signal, or the signal processing circuit is configured to analyze the size of the electric signal and determine whether the movable component reaches the target position according to the analysis result.

19. The detection system of claim 1, wherein, The optical detection module further comprises a first condenser lens, and the probe light emitted by the emitting component propagates to the surface of the movable component after passing through the first condenser lens; and / or The optical detection module further comprises a second condenser lens, and the probe light reflected by the surface of the movable component converges to the receiving component after passing through the second condenser lens.

20. A cleaning device comprising the detection system of any one of claims 1-19.

21. The cleaning device of claim 20, further comprising a cleaning assembly and a lifting module for driving the cleaning assembly to move, and the movable component to be detected in the detection system is the lifting module.

22. The cleaning apparatus of claim 20, further comprising: A cleaning head, a machine body and a rotating shaft for driving the machine body to rotate relative to the cleaning head, and the movable component to be detected in the detection system is the rotating shaft.

23. The cleaning apparatus of claim 22, wherein, The surface of the rotating shaft opposite to the optical detection module is provided with at least one position marker component, and the reflectivity of the position marker component is different from the reflectivity of the surface of the rotating shaft opposite to the optical detection module.

24. A cleaning system comprising the cleaning device of any one of claims 20-23 and a pile body for interfacing with the cleaning device, and the pile body is configured to at least charge the cleaning device.

Images