Surface cleaning device and cleaning system

Abstract

Embodiments of the present application provide a surface cleaning device and a cleaning system. The surface cleaning device comprises a device body and a boundary detector. The boundary detector comprises a detection part, wherein the detection part is movably arranged on an edge-detection side of the device body. The detection part has an extended position. In a first plane direction, at least part of the detection part at the extended position protrudes outward beyond the outer edge of the edge-detection side. When colliding with a barrier edge, the detection part at the extended position can move relative to the outer edge of the edge-detection side, so as to reduce the distance by which the detection part protrudes beyond the outer edge of the edge-detection side in a direction perpendicular to the outer edge of the edge-detection side, thereby shortening the distance between the outer edge of the edge-detection side and the barrier edge in the direction perpendicular to the outer edge of the edge-detection side. The surface cleaning device and the cleaning system in the embodiments of the present application have the advantage of a good cleaning effect.

Description

Surface cleaning device and cleaning system

[0001] Cross-reference to Related Applications

[0002] The present application claims priority to the patent application No. 202422320591.2 filed on September 23, 2024 with the China National Intellectual Property Office and titled "Surface cleaning device and cleaning system", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0003] Embodiments of the present application relate to the technical field of cleaning, in particular to a surface cleaning device and a cleaning system. BACKGROUND

[0004] This section is intended to provide background information to assist with understanding various technologies described herein. As the title of this section implies, this is a discussion of contexts as it pertains to the understanding of the technologies described herein. As such, it should be understood that nothing contained in this section should be taken as an acknowledgement that any of the related technologies as of the filing date of this document were prior art to the present disclosure.

[0005] When it comes to cleaning a surface to be cleaned such as a glass surface, a wall surface, etc., the traditional manual cleaning method shows obvious limitations, such as low efficiency, high labor intensity, high safety risk, and difficulty in large-area surface operation, etc.

[0006] In the related art, window-cleaning robots are gradually replacing the traditional manual cleaning method due to the advantages of time-saving, labor-saving, low safety risk, convenient use, and good cleaning effect, etc. The bottom of the window-cleaning robot is usually provided with a walking assembly and a cloth assembly, wherein the walking assembly drives the window-cleaning robot to walk on the surface to be cleaned, and the cloth assembly contacts and cleans the surface to be cleaned.

[0007] However, the above-mentioned window-cleaning robot has a large missed cleaning area at the edge of the surface to be cleaned.

[0008] Utility model content

[0009] Embodiments of the present application aim to provide a surface cleaning device and a cleaning system, which can solve the problem of a large missed cleaning area.

[0010] In particular, according to an aspect of the embodiments of the present application, there is provided a surface cleaning device, comprising a device main body and an adsorption assembly arranged on the device main body, the adsorption assembly being configured to enable the surface cleaning device to be adsorbed on a surface of a body to be cleaned; the surface cleaning device further comprises a boundary detector, the boundary detector comprising a detection portion, the detection portion being movably arranged on an edge detection side of the device main body; the detection portion has a detection position; in a first plane direction, at least a part of the detection portion in the detection position protrudes outwardly beyond an outer edge of the edge detection side; the detection portion in the detection position is capable of being collided by a surrounding edge and moving relative to the outer edge of the edge detection side to reduce a distance by which the detection portion protrudes outwardly beyond the outer edge of the edge detection side in a vertical edge detection direction, thereby shortening a distance between the outer edge of the edge detection side and the surrounding edge in the vertical edge detection direction; the first plane is configured to be parallel to the surface of the body to be cleaned, the first plane direction comprises the vertical edge detection direction, and the vertical edge detection direction is a direction perpendicular to the outer edge of the edge detection side.

[0011] The surface cleaning device provided by the embodiments of the present application is capable of detecting a target edge by arranging the boundary detector, and when the detection portion of the boundary detector is in the detection position, at least a part of the detection portion protrudes outwardly beyond the outer edge of the edge detection side of the device main body, so as to facilitate the detection portion to detect the edge of the body to be cleaned, and enable the device to make appropriate responses, such as stopping, turning, and the like, when the edge of the body to be cleaned is the target edge. In this way, it is ensured that the device will not fall or exceed the cleaning range during the cleaning process, and the safety and accuracy of the cleaning are improved.

[0012] In addition, the detection portion of the boundary detector is arranged to be movable relative to the outer edge of the edge detection side of the device main body, so that when the detection portion collides with the surrounding edge, the detection portion moves relative to the outer edge of the edge detection side and reduces the distance by which the detection portion protrudes outwardly beyond the outer edge of the edge detection side, thereby reducing the distance between the outer edge of the edge detection side and the surrounding edge, and further reducing the missed wiping area, and improving the cleaning effect of the surface cleaning device.

[0013] Optionally, when the pressure received by the detection portion is less than or equal to 0.3 N, the detection portion will not move relative to the outer edge of the edge detection side to reduce the protruding distance of the detection portion.

[0014] Optionally, when the detection portion touches an obstacle while the surface cleaning device is moving and receives a pressure from the obstacle less than or equal to 0.3 N, the detection portion will not move relative to the outer edge of the edge detection side to reduce the protruding distance of the detection portion.

[0015] Specifically, in the force received by the detection part, as long as there is a component force towards the middle position of the device main body, the force can be called pressure. In addition, the surface of the body to be cleaned will have various obstacles, including the first type of obstacles and the second type of obstacles. Among them, the first type of obstacles are objects with fixed force between the surface of the body to be cleaned and the surrounding edge, handle, base, etc., which are fixed to the surface of the body to be cleaned by snap connection, fastener connection, adhesion, adsorption connection, etc.; the second type of obstacles are impurities with low fixed force between the surface of the body to be cleaned and bird droppings, rotten fruits, leaves, asphalt, tar, gum, feathers, large particle dust, debris, etc. The above objects are adhered to the surface of the body to be cleaned by their own adhesion.

[0016] When the surface cleaning device collides with the second type of obstacles, the detection part can act as a "scraper", which can make the second type of obstacles separate from the original position and move with the detection part. But because there is a certain connection force (such as adhesion, friction, etc.) between the second type of obstacles and the surface of the body to be cleaned, or the gravity of the second type of obstacles, when the detection part pushes these second type of obstacles to move, the second type of obstacles will also react on the detection part, and even make the detection part move and shorten the protruding distance of the detection part. If the detection part can detect the non-surrounding edge, the change of the protruding distance will affect the detection speed of the non-surrounding edge, and thus cause the device to not act in time when encountering the non-surrounding edge and fall.

[0017] In order to avoid the above situation, the inventor of the present application has verified through experiments that setting the pressure capable of moving the detection part to be greater than 0.3N can avoid the situation that the protruding distance of the detection part changes due to the movement of the second type of obstacles, and thus the detection speed of the device on the non-surrounding edge is not affected, and thus the device can act in time when encountering the non-surrounding edge and will not fall. In addition, setting the pressure capable of moving the detection part to be greater than 0.3N can make the detection part not move when encountering the second type of obstacles mentioned above, so as to improve the effect of the detection part as a "scraper", so that the detection part is more likely to scrape the second type of obstacles from the original position and push the second type of obstacles to move, so as to improve the adsorption effect of the adsorption assembly and the cleaning effect of the device.

[0018] In addition, when the position change amount of the detection part is used to judge whether the surrounding edge is reached, setting the pressure capable of moving the detection part to be higher than 0.3N can avoid the situation that the protruding distance of the detection part changes due to the movement of the second type of obstacles, and thus the detection part can generate a change amount greater than the preset change amount when colliding with the surrounding edge, and thus the wiping assembly is closer to the surrounding edge when it is determined that the surrounding edge is reached, so as to reduce the missed wiping area.

[0019] Optionally, the boundary detector further comprises a reset member; the reset member is arranged between the detection part and the device body, and provides an elastic resistance force of more than 0.3N to the detection part.

[0020] Through the above scheme, when the detection part in the protruding position moves due to collision with the first type of obstacle, the reset member deforms to accumulate reset force pressure. When the detection part separates from the first type of obstacle, the reset member can restore the detection part to the protruding position, so that the boundary detector continues to detect the edge of the to-be-cleaned body, ensuring the function of the boundary detector and improving the automation degree and use convenience. In addition, the reset member also has a certain impact absorption effect, so that when the detection part moves due to collision with the first type of obstacle, a certain buffer can be obtained, thereby protecting the boundary detector and the device body from damage due to movement. In addition, the force that deforms the reset member (or the force that moves the detection part) is set to be more than 0.3N, so that the reset member can provide an elastic resistance force to the detection part to resist the pressure of the second type of obstacle, so as to avoid the detection part moving due to the second type of obstacle and affecting the detection speed.

[0021] Optionally, when the edge of the to-be-cleaned body is a non-surrounding edge, and when the detection part moves to a first preset distance beyond the non-surrounding edge along with the movement of the surface cleaning device, the surface cleaning device performs a stop action or a turning action.

[0022] Through the above scheme, the non-surrounding edge is detected by the detection part to prevent the surface cleaning device from falling.

[0023] Optionally, the first preset distance is not more than 20cm.

[0024] Through the above scheme, it is avoided that the detection part in the protruding position protrudes from the device body too long, which affects the overall proportion of the machine. In addition, it is also avoided that the protruding distance of the detection part is too long, which leads to a too high frequency of the detection part being triggered to move, thereby affecting the service life of the detection part. In addition, it is also avoided that the detection part protrudes too much from the non-surrounding edge and collides with other obstacles, thereby affecting the operation of the device.

[0025] Optionally, the detection part comprises a support and a movable member; the support is movably arranged on the device body, so that the support can change position in the first plane direction; the movable member moves along with the movement of the support, and the movable member is movably arranged on the support, so that the movable member changes position relative to the support in a second direction; the second direction is configured as a direction perpendicular to the surface of the to-be-cleaned body; when the movable member falls from the non-surrounding edge to make the detection part protrude from the non-surrounding edge by the first preset distance, the surface cleaning device performs a stop action or a turning action.

[0026] By the above scheme, the activity of the detection part is borne by the bracket to realize the movement when encountering obstacles, and the moving part can mainly focus on its own work, i.e., the design of boundary detection. This design of each doing its own job enhances the adaptability of the device to different application scenarios and tasks, and improves the versatility.

[0027] In addition, the state change caused by the falling of the moving part from the unbounded edge can infer in a contact manner whether the surface cleaning device reaches the surface edge of the to-be-cleaned body, and output a signal in the case of reaching, so as to facilitate the surface cleaning device to respond. The contact boundary detector has high accuracy, and detects by direct contact, which is not related to the reflection and transmission characteristics, color, etc. of the measured object surface, and has high reliability.

[0028] Optionally, the boundary detector further comprises a first sensing part for sensing the position change of the moving part in the second direction, and the first sensing part is arranged on the bracket or the device body; when the moving part falls from the unbounded edge, the first sensing part sends a first sensing signal, and the surface cleaning device performs a stop action or a turning action.

[0029] By the above scheme, the first sensing part can sense the abutment and disengagement of the moving part and the surface of the to-be-cleaned body, so that the moving part and the first sensing part can be designed in a targeted and cost-controllable manner.

[0030] Optionally, the detection part comprises a bracket and a second sensing part; the bracket is movably arranged on the device body, so that the bracket can change position in the first plane direction; the second sensing part is installed on the bracket and moves with the movement of the bracket, and the second sensing part has a first emission end configured to emit waves or linear light that can be reflected by the surface of the to-be-cleaned body; when the first emission end is located outside the unbounded edge so that the detection part exceeds the first preset distance from the unbounded edge, the surface cleaning device performs a stop action or a turning action.

[0031] By the above scheme, the detection accuracy and efficiency are improved. Specifically, the detection part is provided with a non-contact sensor (second sensing element) on the support, realizing non-contact detection of the target object. This design reduces errors and interference caused by contact, improving the accuracy and stability of detection. In addition, it will not cause wear and tear to the sensor itself or the surface of the body to be cleaned due to contact. At the same time, the non-contact sensor can quickly respond to changes in the target object and transmit data in real time, thereby improving the detection efficiency. Thus, the adaptability and flexibility of the detection part are enhanced, enabling efficient and accurate detection in different environments and conditions.

[0032] In addition, the change of the measurement result or the change of the measurement state expressed by the second sensing signal can infer that the surface cleaning device has walked to the unobstructed edge, and can timely control the motion of the surface cleaning device, such as stopping or turning action, improving the safety of cleaning. The technical scheme provides the implementation feasibility of the boundary detector based on the non-contact principle, enriching the selection of the type of the boundary detector. For example, non-contact detection can avoid damage due to contact failure or pressure contact, avoiding wear and tear or pollution of the second sensing element and the surface of the body to be cleaned due to contact detection, increasing the service life of both. At the same time, this detection method has the characteristics of high precision, fast response, good environmental adaptability, and the non-contact detection will not affect the cleaning process of the surface cleaning device on the surface of the body to be cleaned. In addition, the technical scheme limits the second sensing element to be installed on the support and to move with the support, so that the support bears the activity of the boundary detector, and the second sensing element bears the detection of the surface edge of the body to be cleaned, so that the support and the second sensing element can be designed more targetedly.

[0033] Optionally, the surface cleaning device further comprises a wiping assembly arranged at the bottom end of the device main body, the wiping assembly being configured to cooperate with the suction assembly and the surface of the body to be cleaned to form a vacuum cavity; the bottom surface of the detection part is higher than the top surface of the wiping assembly in the second direction; the second direction is configured to be perpendicular to the direction of the surface of the body to be cleaned.

[0034] By the above scheme, the suction assembly, the surface of the body to be cleaned and the wiping assembly cooperate to form a vacuum cavity or negative pressure cavity, so that the suction force of the device main body is guaranteed, and the surface cleaning device can be firmly adsorbed on the surface of the body to be cleaned. Therefore, it can cope with the surface of the body to be cleaned in various directions, even on inclined or smooth surfaces, such as vertical surfaces, and can remain stable. The formation of the vacuum cavity can also make the wiping assembly closely fit the cleaned surface, improving the wiping capacity and cleaning effect.

[0035] In addition, the bottom surface of the probe is arranged to be higher than the wiping assembly, so that a space is formed between the probe and the surface of the object to be cleaned, thereby improving the detection effect of the second sensing element. In addition, the bottom surface of the probe is arranged to be higher than the wiping assembly, so that the movement of the probe in the first plane direction does not affect the wiping assembly, and the coverage range or wiping area of the wiping assembly can be made larger and wider, for example, the outer edge of the wiping assembly can be flush with the outer edge of the device body, or slightly behind, or slightly in front, thereby improving the wiping effect and range, and reducing the missed wiping area.

[0036] Optionally, at least part of the wiping assembly covers the probe located in the area surrounded by the outer edge of the device body.

[0037] According to the above scheme, the wiping assembly overlaps at least part of the probe, thereby improving the space utilization of the device, reducing the area of the device in the first plane direction, and further reducing the overall volume of the device, so as to put it into the base station or facilitate the user to carry it.

[0038] Optionally, the wiping assembly comprises a floating chassis and a wiping element; the floating chassis is slidably arranged along the second direction on the device body; the wiping element is connected to the side of the floating chassis away from the device body, and the outer edge of the wiping element along the second direction is located outside the outer edge of the floating chassis.

[0039] According to the above scheme, the slidable design of the floating chassis along the second direction can support or facilitate the formation of a vacuum cavity or negative pressure cavity by cooperating with the wiping assembly through the suction assembly, so as to facilitate the wiping element to stably and tightly adhere to the surface of the object to be cleaned. Therefore, the floating chassis can be adapted to various surfaces of the object to be cleaned by floating, for example, the surface with high and low undulations can be compensated by the corresponding floating of the floating chassis, thereby improving the application range of the surface cleaning device. In addition, the relative position relationship and size relationship between the wiping element and the floating chassis are limited, so that the wiping area of the wiping element is larger than the coverage area of the floating chassis, thereby improving the wiping effect and range. In particular, the technical scheme can better cooperate with the non-contact probe (second sensing element), which can allow the wiping area of the wiping element to be more flexible in design, so that the outer edge of the wiping element can be flush with the outer edge of the device body, or slightly behind, or slightly protruding, and the wiping element can cover the corner of the base or the floating chassis, thereby improving the wiping effect and range.

[0040] Optionally, the device body comprises a base and a protective member; the protective member is wrapped around the periphery of the base and is slidably arranged on the base along the first plane direction; when the edge of the object to be cleaned is a surrounding edge, and when the protective member collides with the surrounding edge during the movement of the surface cleaning device and moves a second preset distance towards the base, the surface cleaning device performs a stop action or a turning action.

[0041] Through the above scheme, the displacement of the protective member is used to realize the detection of the surrounding edge. In addition, the outer edge of the protective member constitutes the outer edge of the device body, and the protective member and the detection part are independent of each other. The movement of the protective member is caused only by the direct collision with the obstacle, and the movement of the protective member is independent of the movement of the detection part, i.e., the movement of the protective member and the movement of the detection part do not interfere with each other. In this way, the missed cleaning area is reduced, the bending and deformation of the protective member are avoided, and the logic confusion of the device is also avoided.

[0042] Optionally, when the edge of the object to be cleaned is a surrounding edge, and when the detection part collides with the surrounding edge during the movement of the surface cleaning device and the change in position in the first plane direction is greater than a preset change, the surface cleaning device performs a stop action or a turning action.

[0043] Through the above scheme, the change in position of the detection part caused by the collision with the obstacle is used as a standard for judging whether the detection part collides with the surrounding edge, so that the detection part can detect both the surrounding edge and the non-surrounding edge. In this way, the number of parts of the device (such as the number of protective members and collision sensors) is reduced, the device is simplified, the overall volume of the device is reduced, and the weight of the device is reduced.

[0044] Optionally, the surface cleaning device further comprises a sensor, the sensor has a second emission end, the second emission end is configured to emit waves or linear light rays that can be reflected by the surrounding edge; when the edge of the object to be cleaned is a surrounding edge, and when the distance between the second emission end and the surrounding edge during the movement of the surface cleaning device reaches a third preset distance, the surface cleaning device performs a stop action or a turning action.

[0045] Through the above scheme, the sensor is a non-contact sensor, which can avoid damage caused by contact failure or pressure contact, and can avoid wear and tear or pollution caused by contact detection between the sensor and the surrounding edge, thereby increasing the service life of the two. At the same time, this detection method has the characteristics of high precision, fast response, and good environmental adaptability.

[0046] Optionally, when the edge of the object to be cleaned is a surrounding edge, and when the detection portion collides with the surrounding edge while the surface cleaning device is moving, and when the change in position of the detection portion in the first plane direction is greater than the preset change, the surface cleaning device performs a stop action or a turning action.

[0047] Optionally, the detection portion includes a bracket movably arranged on the device body, so that the bracket can change position in the first plane direction; the boundary detector further includes a sensing portion for sensing the change in position of the bracket in the first plane direction, the sensing portion being arranged on the device body; when the change in position of the bracket in the first plane direction is greater than the preset change, the sensing portion sends a sensing signal, and the surface cleaning device performs a stop action or a turning action.

[0048] Optionally, the device body has a first edge detection side and a second edge detection side adjacent to each other, the extension direction of the first edge detection side and the extension direction of the second edge detection side intersect to form a corner; the detection portion is movably arranged at the corner, and the detection portion protrudes from the outer edge of the first edge detection side and the outer edge of the second edge detection side when in the body detection position; when the detection portion in the body detection position is moved by colliding with the surrounding edge, at least one of the length of the detection portion protruding from the outer edge of the first edge detection side and the length of the detection portion protruding from the outer edge of the second edge detection side decreases.

[0049] Through the above scheme, the detection portion arranged at the corner can not only detect a target edge parallel to the first edge detection side, but also detect a target edge parallel to the second edge detection side, so that the detection range of the boundary detector is improved, and the number of boundary detectors is reduced, and the cost is reduced.

[0050] Optionally, the bracket is slidably arranged on the device body along a preset direction; the preset direction intersects the extension direction of the first edge detection side and the extension direction of the second edge detection side.

[0051] Through the above scheme, the same boundary detector can correspondingly detect different edges of the surface of the object to be cleaned, and when the detection portion touches the surrounding edge, the detection portion can retreat along the preset direction to simultaneously reduce the length of the detection portion protruding from the outer edge of the first edge detection side and the length of the detection portion protruding from the outer edge of the second edge detection side.

[0052] Optionally, the bracket comprises a first sliding part and a second sliding part connected to each other, the first sliding part is slidably arranged on the device body along a first translation direction, and the second sliding part is slidably arranged on the device body along a second translation direction; the second translation direction intersects the first translation direction, the first translation direction has a component along the extension direction of the first edge detection side, and the second translation direction has a component along the extension direction of the second edge detection side.

[0053] Through the above scheme, the limitation of the first translation direction and the second translation direction ensures that the boundary detector can make corresponding translation retreat movement when touching different edges, and the translation retreat movement can be along the first translation direction, the second translation direction or a combination thereof. The design scheme can respond to different edges with different translation directions, so that the retreat movement of the boundary detector can be more targeted, and the surface cleaning device can also respond more targetedly according to the retreat direction to infer which edge the boundary detector touches.

[0054] Optionally, the bracket comprises a first sliding part and a second sliding part connected to each other, the first sliding part is slidably arranged on the device body along a first translation direction, and the second sliding part is slidably arranged on the device body along a second translation direction; the second translation direction intersects the first translation direction, the first translation direction has a component along the extension direction of the first edge detection side, and the second translation direction has a component along the extension direction of the second edge detection side.

[0055] Through the above scheme, the limitation of the first translation direction and the second translation direction ensures that the boundary detector can make corresponding translation retreat movement when touching different edges, and the translation retreat movement can be along the first translation direction, the second translation direction or a combination thereof. In addition, the technical scheme concentrates the sliding feasibility of the first sliding part of the bracket along the first translation direction and the sliding feasibility of the second sliding part on the first sliding part along the second translation direction, and they are used together to respond to the boundary detector when touching different edges.

[0056] Optionally, the bracket is rotatably arranged on the device body.

[0057] Through the above scheme, the rotating bracket can adapt to the scene that the boundary detector touches the edge of the surface of the cleaning object along different directions, and can infer the touching direction according to the different rotation directions. In addition, in some cases, the rotating bracket has lower requirements for the internal accommodation space of the device body, because it can rotate to other edge areas of the device body. The design can better respond to various positions or forms of boundaries.

[0058] Optionally, the bracket utilizes a cylindrical cam mechanism to move in the direction of the rotation axis while rotating relative to the device body.

[0059] By the above scheme, the bracket responds to the touch of the boundary detector to the obstacle by a rotation movement, and further links the rotation movement by moving in the direction of the rotation axis. Therefore, in some cases, the adjustment of the rotation movement can be realized by the control of the movement in return, and various possibilities are provided for the design of the bracket including the movement mechanism.

[0060] Optionally, a first roller is rotatably arranged on the bracket, and the outer side of the first roller protrudes from the outer side of the detection part.

[0061] By the above scheme, when the device walks along the edge with the enclosure, the rolling friction of the first roller can reduce the friction between the device and the edge with the enclosure, so as to facilitate the rotation or walking of the device body. In addition, the first roller is integrated on the bracket, and the device has high integration, which is convenient for assembly.

[0062] Optionally, the device body comprises a base and a protection member; the protection member is wrapped around the side of the base and is slidably arranged on the base along the first plane direction.

[0063] The detection part is movably arranged on the base; or, the detection part is movably arranged on the protection member and can slide relative to the base with the sliding of the protection member.

[0064] Through the above scheme, through the setting of the protection piece, a certain buffering effect can be achieved, the impact of collision is reduced, so as to protect the surface cleaning device, especially the collision protection effect of the surface frame of the obstacle or the surface of the cleaning body can be achieved, and the edge of the obstacle or the cleaning body can also be detected. The technical scheme that the detection part is movably arranged on the base can detect the surface frame of the cleaning body from two different heights, improve the detection range and applicability, and in some embodiments (the detection part is arranged on the base, and the protection piece is arranged outside the detection part) after the protection piece slides, the detection part can remain in place without stretching and contracting, so as to play the function of the detection part, and in time, the outer edge of the device main body is retracted inside, so that the main cleaning piece or the wiping piece of the surface cleaning device can clean the frame area; the technical scheme that the detection part is movably arranged on the protection piece and can slide relative to the base with the sliding of the protection piece, the stretching and contracting activity of the detection part can be independently or jointly borne by the protection piece, so as to simplify the design of the boundary detector or enhance the activity range of the detection part, and support the design of various different principles of the boundary detector, such as contact or non-contact boundary detector. At the same time, when the detection part is retracted into the outer edge of the device main body due to the frame or the obstacle, the base of the device main body can be closer to the frame or the obstacle, so that the main cleaning piece or the wiping piece can clean the area.

[0065] Optionally, the surface cleaning device further comprises a second roller, which is rotatably arranged on the device main body, and the outer side of the second roller protrudes from the outer edge of the device main body.

[0066] Through the above scheme, when the device main body is walking along the frame edge, the rolling friction of the second roller can reduce the friction between the surface cleaning device and the frame edge, so as to facilitate the rotation or walking of the device main body. In addition, the second roller and the detection part are arranged separately, so that they can perform their respective functions without affecting each other.

[0067] According to another aspect of the embodiments of the present application, a surface cleaning device is provided, comprising a device body and an adsorption assembly arranged on the device body, the adsorption assembly being configured to enable the surface cleaning device to be adsorbed on a surface of a body to be cleaned; the surface cleaning device further comprises a boundary detector, the boundary detector comprising a detection portion, the detection portion being movably arranged on a boundary detecting side of the device body; the detection portion has a detection position; in a first plane direction, at least a part of the detection portion in the detection position protrudes outwardly beyond an outer edge of the boundary detecting side; the detection portion in the detection position is capable of being collided by a surrounding edge and moving relative to the outer edge of the boundary detecting side to reduce a distance by which the detection portion protrudes outwardly beyond the outer edge of the boundary detecting side in a vertical boundary detecting direction, thereby shortening a distance between the outer edge of the boundary detecting side and the surrounding edge in the vertical boundary detecting direction; the first plane is configured to be parallel to the surface of the body to be cleaned, the first plane direction comprises the vertical boundary detecting direction, and the vertical boundary detecting direction is a direction perpendicular to the outer edge of the boundary detecting side; when a pressure received by the detection portion is less than or equal to 0.3 N, the detection portion does not move relative to the outer edge of the boundary detecting side to reduce the protruding distance.

[0068] According to another aspect of the embodiments of the present application, a cleaning system is provided, comprising a base station and a surface cleaning device as described above, the base station having a receiving space for accommodating the surface cleaning device. BRIEF DESCRIPTION OF DRAWINGS

[0069] The above and other features of the embodiments of the present application will become more apparent from the following detailed description when taken in conjunction with the accompanying drawings, in which:

[0070] FIG. 1 is a schematic view of a window-cleaning robot of the related art;

[0071] FIG. 2 is a schematic view of the window-cleaning robot of FIG. 1 in an ideal state in which all of the left-side collision sensors of the window-cleaning robot are triggered;

[0072] FIG. 3 is a schematic view of the window-cleaning robot of FIG. 1 in an actual state in which the left-side collision sensors of the window-cleaning robot are triggered;

[0073] FIG. 4 is a side view of the window-cleaning robot of FIG. 1 walking on a glass surface;

[0074] FIG. 5 is a side view of the window-cleaning robot of FIG. 4 advancing to an edge of a frameless glass;

[0075] FIG. 6 is a schematic view of the window-cleaning robot of FIG. 1 in a state in which a lower end of the left-side bumper of the window-cleaning robot of FIG. 1 first contacts a glass frame;

[0076] FIG. 7 is a schematic view of the window-cleaning robot of FIG. 6 in a state in which the collision sensors of the window-cleaning robot of FIG. 6 are triggered;

[0077] Fig. 8 is a perspective view of a surface cleaning device of an embodiment of the present application cleaning a surface of an object to be cleaned;

[0078] Fig. 9 is a front view of the surface cleaning device of Fig. 8 cleaning a surface of an object to be cleaned;

[0079] Fig. 10 is a back view of the surface cleaning device of Fig. 8;

[0080] Fig. 11 is a back view of the surface cleaning device of Fig. 10 with the detection portion of the surface cleaning device colliding with a barrier edge;

[0081] Fig. 12 is a partial cross-sectional view of a boundary detector of a surface cleaning device of an embodiment of the present application;

[0082] Fig. 13 is a side view of another surface cleaning device of an embodiment of the present application;

[0083] Fig. 14 is a first schematic view of the surface cleaning device of Fig. 12;

[0084] Fig. 15 is a second schematic view of the surface cleaning device of Fig. 12;

[0085] Fig. 16 is a third schematic view of the surface cleaning device of Fig. 12;

[0086] Fig. 17 is a fourth schematic view of the surface cleaning device of Fig. 12;

[0087] Fig. 18 is a schematic view of a second detection portion of an embodiment of the present application;

[0088] Fig. 19 is a partial schematic view of a third detection portion of an embodiment of the present application;

[0089] Fig. 20 is a partial schematic view of a fourth detection portion of an embodiment of the present application;

[0090] Fig. 21 is a cross-sectional view of another surface cleaning device of an embodiment of the present application;

[0091] Fig. 22 is a cross-sectional view of a bristle assembly of an embodiment of the present application;

[0092] Fig. 23 is a cross-sectional view of a second bristle assembly of an embodiment of the present application;

[0093] Fig. 24 is a cross-sectional view of a third bristle assembly of an embodiment of the present application;

[0094] Fig. 25 is a cross-sectional view of a fourth bristle assembly of an embodiment of the present application;

[0095] Fig. 26 is a cross-sectional view of a fifth bristle assembly of an embodiment of the present application;

[0096] Fig. 27 is a cross-sectional view of a sixth hair planting assembly according to an embodiment of the present application;

[0097] Fig. 28 is a schematic view of another surface cleaning device according to an embodiment of the present application. DETAILED DESCRIPTION

[0098] As described in the background section, the related window cleaning robot has a problem of a large missed cleaning area. The present inventors have found that the cause of the above problem is as follows:

[0099] Fig. 1 is a schematic view of a related window cleaning robot. Referring to Fig. 1, the window cleaning robot includes a base plate 2001, a bumper plate 2002 (in Fig. 1, the left edge of the bumper plate 2002 is close to the left glass frame F), a collision sensor 2003, a walking assembly 2004, and a cloth 2005. The cloth 2005 is arranged at the bottom end of the base plate 2001 (the edge of the cloth 2005 coincides with the edge of the base plate 2001), and the walking assembly 2004 is arranged on the front and back sides or the left and right sides of the base plate 2001. The bumper plate 2002 is annular in shape and surrounds the side of the base plate 2001 and can slide relative to the base plate 2001. The collision sensor 2003 is arranged on the base plate 2001, and the front end of the collision sensor 2003 abuts the bumper plate 2002. When the bumper plate 2002 encounters an obstacle, the bumper plate 2002 is retracted backward and compresses the front end of the collision sensor 2003. When the retraction amount of the bumper plate 2002 relative to the base plate 2001 (or the advancement amount of the base plate 2001 / cloth 2005 relative to the bumper plate 2002) is H, the collision sensor 2003 is triggered to send a collision signal to the controller of the window cleaning robot 200, and the controller determines that the window cleaning robot 200 is collided according to the collision signal and controls the window cleaning robot 200 to stop or turn.

[0100] For example, Fig. 1 shows a schematic view in which the left edge of the bumper plate 2002 of the window cleaning robot 200 just contacts the left glass frame F, and Fig. 2 shows a schematic view in which the left side collision sensor 2003 of the window cleaning robot 200 is triggered in an ideal state. Referring to Figs. 1 and 2, in an ideal state, when the retraction amount of the left edge of the bumper plate 2002 (or the advancement amount of the base plate 2001 / cloth 2005) is H, the distance between the left edge of the base plate 2001 / cloth 2005 and the left glass frame F is small or even zero.

[0101] Fig. 3 shows a case in which the left side collision sensor 2003 of the window cleaning robot 200 is triggered in an actual situation. Referring to Fig. 3, the present inventors have found that when the left side collision sensor 2003 is triggered, there is a large gap (such as the part shown by the hatched line in Fig. 3) between the left edge of the cloth 2005 and the left glass frame F.

[0102] In the case that the window-cleaning robot 200 performs the edge cleaning mode, when the left collision sensor 2003 is triggered, the window-cleaning robot 200 considers that it has adhered to the left glass frame F, and the window-cleaning robot 200 will adhere to the edge and walk in the state that the left collision sensor 2003 is triggered. Fig. 3 shows the state that the left collision sensor 2003 is triggered, if the window-cleaning robot 200 adheres to the edge and walks in the state shown in Fig. 3, the part shown by the hatched line in Fig. 3 cannot be wiped by the cloth 2005, which will cause a larger missed wiping area near the left glass frame F.

[0103] The inventors of the present application have further found that the reason for the above-mentioned gap (the part shown by the hatched line in Fig. 3) is as follows:

[0104] In Fig. 2, in the ideal state, when the left collision sensor 2003 is triggered, the left edge of the baffle plate 2002 is retracted by H, or the advancing amount of the bottom plate 2001 (the cloth 2005) reaches H, so that the left edge of the baffle plate 2002 completely adheres to the left edge of the bottom plate 2001, and the distance between the left edge of the baffle plate 2002 and the left edge of the cloth 2005 is small or even zero.

[0105] In Fig. 3, in the actual situation, when the left collision sensor 2003 is triggered, the upper end of the left edge of the baffle plate 2002 adheres to the upper end of the left edge of the bottom plate 2003, and the lower end of the left edge of the baffle plate 2002 adheres to the lower end of the left edge of the bottom plate 2003. However, the middle part of the left edge of the baffle plate 2002 does not adhere to the middle part of the left side wall of the bottom plate 2003, that is, in Fig. 3, when the left collision sensor 2003 is triggered, the retraction amount of the end region (the upper end and the lower end) of the left edge of the baffle plate 2002 reaches H, but the retraction amount of the middle region (the middle part) of the left edge of the baffle plate 2002 does not reach H. This will cause the advancing amount of the bottom plate 2001 / cloth 2005 not to reach H when the left collision sensor 2003 is triggered, resulting in a larger missed wiping area between the cloth 2005 and the left glass frame F.

[0106] The inventors of the present application have found that the reason for the different retraction amounts of the end region and the middle region of the left edge of the baffle plate 2002 is that the position of the contact sensor.

[0107] Specifically, FIG. 4 is a side view of a window-cleaning robot of the related art walking on a glass surface, and FIG. 5 is a side view of the window-cleaning robot of FIG. 4 advancing to the edge of a frameless glass. Referring to FIGS. 4 and 5, in the related art, the window-cleaning robot 200 further includes a contact sensor 2006. When the window-cleaning robot 200 walks on the glass surface O as shown in FIG. 4, the ball head 20061 of the contact sensor 2006 abuts against the glass surface O. When the window-cleaning robot 200 advances to the edge of the frameless glass as shown in FIG. 5, the ball head 20061 of the contact sensor 2006 falls and is triggered, and the window-cleaning robot 200 will perform a stop or turning action to prevent the window-cleaning robot 200 from falling.

[0108] Referring to FIGS. 1-3, the contact sensor 2006 is disposed at a corner of the bumper 2002 and protrudes from the bumper 2002, and when the contact sensor 2006 is impacted and retracted, the bumper 2002 will be retracted. In addition, the impact sensor 2003 is also disposed at the corner.

[0109] For example, in FIGS. 1-3, two contact sensors 2006 are disposed at the upper and lower ends of the left edge of the bumper 2002, and both of the contact sensors 2006 are more leftward than the left side surface of the left edge of the bumper 2002. In this way, the contact sensor 2006 disposed at the left edge of the bumper 2002 will collide with the left glass frame F before the left side surface of the left edge of the bumper 2002, causing the left edge region of the bumper 2002 at the end of the left edge of the bumper 2002 (i.e., the end region of the left edge of the bumper 2002) to be retracted before the left edge region of the bumper 2002 at the middle of the left edge of the bumper 2002 (i.e., the middle region of the left edge of the bumper 2002).

[0110] When the retraction amount of the end region of the left edge of the bumper 2002 reaches H, the left side impact sensor 2003 at the end is triggered, and the controller of the window-cleaning robot 200 receives the signal sent by the left side impact sensor 2003 and determines that the window-cleaning robot 200 is attached to the left glass frame F. However, at this time, the retraction amount of the middle region of the left edge of the bumper 2002 does not reach H, and the left edge of the bumper 2002 is bent and deformed as shown in FIG. 3 (i.e., concave at the upper and lower ends and convex at the middle), which will make the bumper 2002 easily damaged, resulting in a low service life of the bumper 2002 and further resulting in frequent maintenance by the user. In addition, the advancement amount of the bottom plate 2001 (or the cloth 2005) does not reach H, resulting in a large missed cleaning area.

[0111] In addition, in order to realize the edge-walking cleaning function of the window-cleaning robot 200, two collision sensors 2003 are arranged on each edge of the window-cleaning robot 200, and the two collision sensors 2003 are arranged at the two ends of the edge. When the two collision sensors 2003 at the two ends of an edge are triggered, the controller of the window-cleaning robot 200 considers that the window-cleaning robot 200 is in the edge-walking state.

[0112] For example, as shown in FIG. 6, the lower end of the left edge of the bumper 2002 first contacts the left glass frame F. When the lower end collision sensor 2003 of the left edge of the bumper 2002 is triggered, the controller of the window-cleaning robot 200 can determine that the left edge of the bumper 2002 is colliding with the left glass frame F, and can control the window-cleaning robot 200 to rotate counterclockwise according to the determination result until the upper end collision sensor 2003 of the left edge of the bumper 2002 is also triggered. At this time, the controller of the window-cleaning robot 200 considers that the left side of the window-cleaning robot 200 is in the edge-walking state.

[0113] However, as shown in FIG. 7, the window-cleaning robot 200 has two lower-left collision sensors (one is the lower end collision sensor 2003 of the left edge of the bumper 2002, and the other is the left end collision sensor 2003 of the lower edge of the bumper 2002), which respectively detect the collision of the left edge of the bumper 2002 and the lower edge of the bumper 2002. When the contact sensor 2006 arranged at the lower-left corner collides with the glass frame F, because the collision force received by the contact sensor 2006 arranged at the lower-left corner is oblique, this will cause both of the two lower-left collision sensors to be triggered, and thus the controller of the window-cleaning robot 200 cannot determine which side of the bumper 2002 is colliding with the glass frame F, and thus the logic of the window-cleaning robot 200 is confused.

[0114] In summary, the present inventors have analyzed that the contact sensor 2006 arranged at the corner of the bumper 2002 and protruding from the bumper 2002 causes the contact sensor 2006 to be impacted first, and then the bumper 2002 is retracted together, which is the root cause of the above problems. Therefore, the problem can be solved from the following two aspects: avoiding the contact sensor 2006 arranged at the corner of the bumper 2002, and avoiding the contact sensor 2006 protruding from the bumper 2002.

[0115] The contact sensor 2006 is arranged to protrude from the bumper 2002 because the contact sensor 2006 is used to detect the edge of frameless glass. The more the contact sensor 2006 protrudes from the bumper 2002, the faster the frameless boundary is detected, the faster the window-cleaning robot 200 reacts, and the better the window-cleaning robot 200 can be prevented from falling.

[0116] In addition, compared with arranging the contact sensor 2006 at other positions, arranging the contact sensor 2006 at the corner has the effect that the contact sensor 2006 can detect the two adjacent and intersecting edges of the frameless glass.

[0117] In summary, the inventor of the present application changes the thinking and arranges the contact sensor to be movable relative to the impact plate when colliding with the frame, so as to reduce or even eliminate the protruding distance of the contact sensor from the impact plate, thereby shortening the distance between the impact plate and the frame, so as to reduce the missed wiping area, avoid logic confusion, and avoid bending deformation of the impact plate.

[0118] To make the purposes, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application.

[0119] Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative labor fall within the scope of protection of the present application. The embodiments and features in the embodiments below can be combined with each other without conflict.

[0120] FIG. 8 is a perspective view of surface cleaning of a surface cleaning device provided by an embodiment of the present application on a surface to be cleaned, and FIG. 9 is a front view of surface cleaning of the surface cleaning device shown in FIG. 8 on the surface to be cleaned. Referring to FIGS. 8 and 9, the surface cleaning device 100 provided by an embodiment of the present application can walk on the surface S of the surface to be cleaned and clean the surface S of the surface to be cleaned. In some examples, the surface S of the surface to be cleaned can be the surface of glass, the surface of wall, the surface of door panel, or the like, which is the surface intersecting with the ground; or the surface S of the surface to be cleaned can also be the roof surface or the like, which is the surface parallel to the ground and having a certain distance from the ground.

[0121] The surface to be cleaned can have an edge, which can be a framed edge or an unframed edge. The framed edge refers to that there is a frame at the edge of the surface to be cleaned, and the frame protrudes from the surface S of the surface to be cleaned in the direction perpendicular to the surface S. For example, the surface of the surface to be cleaned faces forward, and the front edge of the frame is located at the front side of the surface of the surface to be cleaned. When the surface cleaning device 100 walks on the surface S of the surface to be cleaned, if the device 100 encounters the frame, the frame will block the device 100 from continuing to move forward. For example, the edge of the framed glass is a framed edge, and the frame of the framed glass is the frame of the glass; the edges of the two walls forming a corner are both framed edges, and the two walls can be frames of each other. In addition, the unframed edge refers to that there is no frame at the edge of the surface to be cleaned, such as the edge of the unframed glass.

[0122] The surface cleaning device 100 comprises a device body 1 and a boundary detector 2. When the edge of the object to be cleaned is a target edge, the surface cleaning device 100 performs a stopping or turning action when the boundary detector detects the target edge. Specifically, the boundary detector 2 can detect a fenced edge, or a non-fenced edge, or both a fenced edge and a non-fenced edge.

[0123] When the boundary detector 2 can only detect a non-fenced edge, the target edge mentioned above is a non-fenced edge. When the boundary detector 2 detects a non-fenced edge, it can send a signal to the controller of the device, and the controller can control the device to stop or turn.

[0124] When the boundary detector 2 can only detect a fenced edge, the target edge mentioned above is a fenced edge. When the boundary detector 2 detects a fenced edge, it can send a signal to the controller of the device, and the controller can control the device to stop or turn.

[0125] When the boundary detector 2 can detect both a fenced edge and a non-fenced edge, when the boundary detector 2 detects a fenced edge, it can send a signal to the controller of the device, and the controller can control the device to stop or turn; when the boundary detector 2 detects a non-fenced edge, it can also send a signal to the controller of the device, and the controller can control the device to stop or turn.

[0126] For ease of description, the plane parallel to the surface S of the object to be cleaned is defined as the first plane. "In the direction of the first plane" means in any direction parallel to the surface S of the object to be cleaned. These directions can intersect each other, but all of them are parallel to the surface S of the object to be cleaned. For example, in FIG. 9, the X direction and the Y direction are both parallel to the surface S of the object to be cleaned, so both the X direction and the Y direction can be referred to as the first plane direction. For ease of description, in the embodiments of the present application, the X direction represents the left-right direction of the surface cleaning device 100, wherein the direction indicated by the arrow X is right, and vice versa; the Y direction represents the front-rear direction of the surface cleaning device 100, wherein the direction indicated by the arrow Y is front, and vice versa. In addition, the direction perpendicular to the surface S of the object to be cleaned is defined as the second direction. For example, in FIG. 9, the direction perpendicular to the plane of the paper is the second direction, and the surface cleaning device 100 can have a bottom end and a top end arranged opposite to each other in the second direction.

[0127] Figure 10 is a back view of the surface cleaning device shown in Figure 8. Referring to Figures 8-10, the surface cleaning device 100 comprises a device body 1, a suction assembly 4, and a wiping assembly 5. The device body 1 can have opposite top and bottom ends in a second direction (perpendicular to the paper plane in Figure 10). The device body 1 comprises a base 11 (shown in the back view in Figure 10, the base 11 is hidden by the wiping assembly 5, so the base 11 is shown by dashed lines), which has a receiving space (not shown) in which the suction assembly 4 is arranged. The bottom end of the base 11 has a suction port in communication with the suction assembly 4. The wiping assembly 5 is connected to the bottom end of the base 11 and has a first through hole 51 corresponding to the suction port.

[0128] The surface cleaning device 100 provided by the embodiments of the present application can perform a turning action or a linear planar motion by the track mechanism 6 shown in Figure 10; or the surface cleaning device 100 can also perform a turning action and a twisting forward action by the two differential turntables.

[0129] When the surface cleaning device 100 provided by the embodiments of the present application is working, the wiping assembly 5 can cooperate with the suction assembly 4 and the surface S of the object to be cleaned to form a vacuum cavity, so that the surface cleaning device 100 can be adsorbed on the surface S of the object to be cleaned and travel on the surface S of the object to be cleaned by the track mechanism 6 or the differential turntables, and the wiping assembly 5 wipes the surface S of the object to be cleaned in the process of traveling.

[0130] The base 11 can have a peripheral side. The peripheral side of the base 11 refers to the side of the base 11 in the first planar direction. For example, the base 11 has opposite left and right sides in the X direction, and the base 11 has opposite front and back sides in the Y direction. The peripheral side of the base 11 can be at least one of the left side, the right side, the front side, and the back side.

[0131] The controller of the surface cleaning device 100 can determine whether the surface cleaning device 100 reaches the edge with a surrounding barrier in the following possible ways.

[0132] In one possible way, the controller of the surface cleaning device 100 can determine whether the surface cleaning device 100 reaches the edge with a surrounding barrier by the signal fed back by the sensing part 22 of the boundary detector 2 mentioned below; or the controller can determine whether the surface cleaning device 100 reaches the edge with a surrounding barrier by the signal fed back by a sensor capable of detecting the change of the speed or acceleration of the surface cleaning device. In this case, the outer edge of the base 11 constitutes the outer edge of the device body 1.

[0133] In another possible implementation, the device body 1 can further include a protector 12, which can wrap around the periphery of the base 11 and slide along the first planar direction on the base 11. For example, the left side wall (or the right side wall) of the protector 12 can be located to the left of the left side wall (or to the right of the right side wall) of the base 11, and the left side wall (or the right side wall) of the protector 12 can slide along the X direction towards or away from the left side wall (or the right side wall) of the base 11; the front side wall (or the rear side wall) of the protector 12 can be located to the front of the front side wall (or to the rear of the rear side wall) of the base 11, and the front side wall (or the rear side wall) of the protector 12 can slide along the Y direction towards or away from the front side wall (or the rear side wall) of the base 11.

[0134] A collision sensor 7 can be arranged between the base 11 and the protector 12, and the collision sensor 7 can be triggered when the retraction amount of the protector 12 (or the advancement amount of the base 11) reaches H. The controller of the surface cleaning device 100 receives the trigger signal sent by the collision sensor 7, determines that the surface cleaning device 100 reaches the edge with a barrier, and controls the surface cleaning device 100 to stop or turn. In this case, the outer edge of the protector 12 constitutes the outer edge of the device body 1.

[0135] The surface cleaning device provided by the embodiments of the present application further includes a boundary detector 2, which can include a detection part 21. The wiping assembly 5 and the at least part of the boundary detector 2 have a spacing. Specifically, when the boundary detector 2 uses the movable part 212 shown in FIG. 12 for detection, in the first planar direction, the wiping assembly 5 and the at least part of the boundary detector 2 (the movable part 212) have a spacing for the movement of the movable part 212; when the boundary detector 2 uses the second sensing part 216 shown in FIG. 13 for detection, in the second direction, the wiping assembly 5 and the boundary detector 2 can be spaced apart along the second direction to cleverly utilize the space in the second direction, increase the area of the wiping assembly 5, and further improve the cleaning effect of the device 100.

[0136] With reference to FIGS. 8-10, the number of the boundary detectors 2 can be one or more, and each boundary detector 2 can include a detection part 21. For example, in FIG. 10, the surface cleaning device 100 includes four boundary detectors 2, and each boundary detector 2 can have a detection part 21. It should be noted that FIG. 10 is only an example, and does not specifically limit the number of the boundary detectors 2.

[0137] Continuing to refer to FIG. 10, the detection portions 21 are movably arranged at the edge sides of the device body 1. Here, the edge sides of the device body 1 can refer to the sides of the device body 1 in the first plane direction. For example, in FIG. 10, the device body 1 has oppositely arranged left and right sides (both of which are edge sides of the device body 1) in the X direction, wherein the side indicated by the arrow X is the right side; the device body 1 has oppositely arranged front and back sides (both of which are edge sides of the device body 1) in the Y direction, wherein the side indicated by the arrow Y is the front side.

[0138] One detection portion 21 of one boundary detector 2 can be movably arranged at one or two edge sides of the device body 1. It should be noted that in FIG. 10, the detection portions 21 are movably arranged at two edge sides as an example. For the case that the detection portions 21 are movably arranged at one edge side, those skilled in the art can easily deduce from the above, and thus, no further elaboration is given here.

[0139] The detection portions 21 can have a detection position. When the detection portions 21 are in the detection position, at least part of the detection portions 21 protrudes outward beyond the outer edge of the edge side in the first plane direction. Here, "outward" refers to the direction away from the central axis of the device body 1 (the extension direction of the central axis is perpendicular to the surface S of the object to be cleaned) or the middle position. "At least part of the detection portions 21 protrudes outward beyond the outer edge of the edge side in the first plane direction" can mean that the outer edge of the detection portions 21 is located outside the outer edge of the edge side in the first plane direction, i.e., the outer edge of the detection portions 21 is located on the side of the outer edge of the edge side away from the central axis of the device body 1 in the first plane direction.

[0140] For example, in FIG. 10, the outer edge of the edge side of the device body 1 can include the left edge, the right edge, the front edge, and the back edge. FIG. 10 shows that the detection portions 21 are all in the detection position. For example, the left edge of the left front detection portion 21 is located to the left of the left edge of the device body 1, and the front edge of the left front detection portion 21 is located to the front of the front edge of the device body 1; for another example, the left edge of the left back detection portion 21 is located to the left of the left edge of the device body 1, and the back edge of the left back detection portion 21 is located to the back of the back edge of the device body 1; for another example, the right edge of the right front detection portion 21 is located to the right of the right edge of the device body 1, and the front edge of the right front detection portion 21 is located to the front of the front edge of the device body 1; for another example, the right edge of the right back detection portion 21 is located to the right of the right edge of the device body 1, and the back edge of the right back detection portion 21 is located to the back of the back edge of the device body 1. It should be noted that in FIG. 10, one detection portion 21 protrudes outward beyond the outer edges of two edge sides of the device body 1 as an example. For the case that the detection portions 21 protrude outward beyond the outer edge of one edge side of the device body 1, those skilled in the art can easily deduce from the above, and thus, no further elaboration is given here.

[0141] Fig. 11 is a back view of the device 100 shown in Fig. 10 when the detecting portion hits a surrounding edge. Referring to Figs. 10 and 11, when the edge of the object to be cleaned is a surrounding edge, the detecting portion 21 in the body-in position can be hit by the surrounding edge and move relative to the outer edge of the edge side to reduce the distance between the outer edge of the edge side and the front edge of the detecting portion 21 in the vertical edge-detecting direction, and further shorten the distance between the outer edge of the edge side and the surrounding edge in the vertical edge-detecting direction. Here, the first plane direction includes the vertical edge-detecting direction, and the vertical edge-detecting direction is a direction perpendicular to the outer edge of the edge side.

[0142] For example, in Fig. 10, the front edge of the front detecting portion 21 (left / right front detecting portion 21) protrudes out of the front edge of the device main body 1 when in the body-in position, i.e., the front edge of the front detecting portion 21 is located in front of the front edge of the device main body 1. Referring to Fig. 11, when the front detecting portion 21 hits the front surrounding edge C2 as the device 100 moves forward, the front detecting portion 21 moves relative to the front edge of the device main body 1 to reduce the distance between the front edge of the device main body 1 and the front edge of the front detecting portion 21 in the Y direction, and further shorten the distance between the front edge of the device main body 1 and the front surrounding edge C2 in the Y direction. When the distance between the front edge of the device main body 1 and the front edge of the front detecting portion 21 in the Y direction is 0 or negative, it means that the front edge of the front detecting portion 21 is no longer located in front of the front edge of the device main body 1 (wherein a distance of 0 means that the front edge of the front detecting portion 21 is flush with the front edge of the device main body 1, as shown in Fig. 11; a negative distance means that the front edge of the front detecting portion 21 is located behind the front edge of the device main body 1), and at this time, the distance between the front edge of the device main body 1 and the front surrounding edge C2 is the smallest or even zero. In this way, the movement of the left front detecting portion 21 (or the right front detecting portion 21) does not cause the front edge of the device main body 1 to move.

[0143] For example, when the device main body 1 includes the protective member 12, the front edge of the protective member 12 constitutes the front edge of the device main body 1, and the collision sensor 7 arranged between the protective member 12 and the base 11 is triggered, the device performs a stop or turning action. In this case, the movement of the left front detecting portion 21 (or the right front detecting portion 21) does not cause the front edge of the protective member 12 to move, so that the retraction amount of each part of the front edge of the entire protective member 12 can reach H when the collision sensor 7 is triggered, to avoid deformation of the front edge of the protective member 12, and also to avoid logical confusion when the device performs the edge-following cleaning mode, and to reduce the missed cleaning area.

[0144] Another example, when the device body 1 is not provided with the protection member 12, the front edge of the base 11 constitutes the front edge of the device body 1, when the sensor capable of detecting the change of the speed or acceleration of the surface cleaning device is triggered (or, when the sensing part 22 of the boundary detector 2 is triggered), the device performs the stopping or turning action. In this case, the left front side detection part 21 (or the right front side detection part 21) can move relative to the front edge of the base 11, so that the front edge of the base 11 is closer to the front surrounding edge C2, and further, the distance between the front edge of the wiping assembly 5 and the front surrounding edge C2 is closer, and further, the missed wiping area is reduced or even eliminated.

[0145] It should be noted that the above description takes the case that the front side detection part 21 moves relative to the front edge of the device body 1 as an example, and for the case that the rear side detection part 21 moves relative to the rear edge of the device body 1, the left side detection part 21 moves relative to the left edge of the device body 1, and the right side detection part 21 moves relative to the right edge of the device body 1, the skilled in the art can easily deduce from the above description, and here is not repeated.

[0146] In summary, the surface cleaning device 100 provided by the embodiment of the present application, by setting the boundary detector 2 capable of detecting the target edge, and when the detection part 21 of the boundary detector 2 is in the detection position, at least part of the detection part 21 protrudes the outer edge of the edge detection side of the device body 1, so as to facilitate the detection part 21 to detect the edge of the to-be-cleaned body, and when the edge of the to-be-cleaned body is the target edge, the device 100 makes appropriate response, for example, stopping, turning, and the like. In this way, it is ensured that the device 100 will not fall or exceed the cleaning range during the cleaning process, and the safety and accuracy of the cleaning are improved. In addition, the detection part 21 of the boundary detector 2 is arranged to be movable relative to the outer edge of the edge detection side of the device body 21, so that when the detection part 21 collides with the surrounding edge, the detection part 21 will move relative to the outer edge of the edge detection side, and the length of the detection part 21 protruding the outer edge of the edge detection side is shortened, so as to reduce the distance between the outer edge of the edge detection side and the surrounding edge, and further, the missed wiping area is reduced, and the cleaning effect of the surface cleaning device is improved. At the same time, it also avoids the logic confusion when the edge cleaning mode is performed.

[0147] An example, when the device body 1 includes the base 11 and does not include the protection member 12, the detection part 21 is movably arranged on the base 11.

[0148] Another example, when the device body 1 includes the base 11 and the protection piece 12 as shown in FIG. 12, the detection part 21 can be movably arranged on the base 11; or, the detection part 21 can be movably arranged on the protection piece 12 and can slide relative to the base 11 along with the sliding of the protection piece 12. Among them, when the detection part 21 is movably arranged on the base 11, the detection part 21 and the protection piece 12 are independent of each other and do not affect each other, so as to further avoid the influence of the movement of the detection part 21 on the protection piece 12. Specifically, the protection piece 12 forms a passage for the detection part 21 to pass through, and a containing space capable of containing at least part of the detection part 21 is formed between the inner side surface of the base 11 and the protection piece 12. This technical solution provides an integrated solution when the detection part 21 is movably arranged on the base 11. According to this solution, the detection part 21, the base 11 and the protection piece 12 of the boundary detector 2 have high integration and compactness. At the same time, through the passage design on the protection piece 12, the detection part 21 is allowed to pass through flexibly, and the protection piece 12 and the base 11 form a containing space, so that the detection part 21 can adjust the position as needed and meet the movement requirements of the detection part 21. In addition, the design of the containing space effectively avoids the hard collision between the detection part 21 and the base 11 or the protection piece 12, reduces the damage risk, at the same time ensures the stability and safety of the device during operation, and can meet the expected design requirements.

[0149] In addition, when the detection part 21 is movably arranged on the protection piece 12, the activity of the detection part 21 can be independently borne by the protection piece 12, so as to simplify the assembly. In addition, when the protection piece 12 is collided by an obstacle, the detection part 21 can move together with the protection piece 12 to increase the movable range of the detection part 21, and the base 11 does not need to provide additional movement space for the detection part 21. Specifically, when the detection part 21 is movably arranged on the protection piece 12, the protection piece 12 is formed with a groove, and the groove has an opening for the detection part 21 to pass through and an inner cavity for containing at least part of the detection part 21. In this way, the detection part 21 can adjust the position as needed and meet the movement requirements of the detection part 21. The design of the inner cavity of the groove effectively avoids the hard collision between the detection part 21 and the external environment, reduces the damage risk, and at the same time ensures the stability of the device 100 during operation.

[0150] Further, whether the detection part 21 is arranged on the base 11 or the protection piece 12, when the detection part 21 is in the probe position, part of the detection part 21 can be located in the area surrounded by the outer edge of the device body 1, so as to hide part of the detection part 21, so as to reduce the volume of the device 100. For example, in FIG. 12, the outer edge of the protection piece 12 constitutes the outer edge of the device body 1, and part of the detection part 21 is located in the area surrounded by the outer edge of the protection piece 12.

[0151] Further, no matter whether the detecting part 21 is arranged on the base 11 or the protection part 12, when the detecting part 21 detects the corner with the surrounding edge, the detecting part 21 can be accommodated in the area surrounded by the outer edge of the device main body 1, so as to further reduce the missed cleaning area. For example, in Fig. 16, the boundary detector 2 on the left rear side is accommodated in the area surrounded by the outer edge of the device main body 1; in Fig. 17, the boundary detector 2 on the left front side is accommodated in the area surrounded by the outer edge of the device main body 1.

[0152] Optionally, when the pressure received by the detecting part 21 is less than or equal to 0.3 N, the detecting part 21 will not make the movement of reducing the protruding distance of the detecting part 21 relative to the outer edge of the boundary side.

[0153] Specifically, in the force received by the detecting part 21, as long as there is a component of the force towards the middle position of the device main body 1, the force can be called pressure. For example, in Fig. 10, the detecting part 21 on the left rear side protrudes at the corner formed by the left side and the rear side of the device main body 1, and the middle position of the device main body 1 is located on the right front side of the detecting part 21 on the left rear side. When the force applied to the detecting part 21 on the left rear side has a component towards the front or the right, it indicates that the force is pressure. For another example, the detecting part 21 on the right front side protrudes at the corner formed by the right side and the front side of the device main body 1, and the middle position of the device main body 1 is located on the left rear side of the detecting part 21 on the right front side. When the force applied to the detecting part 21 on the right front side has a component towards the rear or the right, it indicates that the force is pressure. It is worth mentioning that in Fig. 10, one detecting part 21 protrudes at the outer edge of two boundary sides of the device main body 1, and for the case that one detecting part 21 protrudes at the outer edge of one boundary side of the device main body 1, the skilled in the art can deduce according to the above that the force is pressure, and here will not be repeated.

[0154] Further, when the detecting part 21 touches the obstacle while the surface cleaning device 100 is running, and the pressure received by the detecting part 21 is less than or equal to 0.3 N, the detecting part 21 will not make the movement of reducing the protruding distance of the detecting part 21 relative to the outer edge of the device main body 1. The "protruding distance" refers to the distance that the detecting part 21 protrudes at the outer edge of the boundary side in the vertical boundary direction.

[0155] Specifically, the surface of the body to be cleaned will have many obstacles, including the first type of obstacles and the second type of obstacles. Among them, the first type of obstacles are objects with enclosing edges, handles, bases and the like, which have relatively large fixing force between the surface of the body to be cleaned. The above-mentioned objects are fixed to the surface of the body to be cleaned by means such as snap connection, fastener connection, adhesion, adsorption connection, etc. The second type of obstacles are impurities such as bird droppings, rotten fruits, leaves, asphalt, tar, gum, feathers, large particle dust, debris and the like, which have relatively low fixing force between the surface of the body to be cleaned. The above-mentioned objects are adhered to the surface of the body to be cleaned by their own small adhesion or small adhesion from the outside.

[0156] When the detection part 21 collides with the second type of obstacles, the detection part 21 can act as a "scraper", which can make the second type of obstacles move away from the original position and move with the detection part 21. But because there is a certain connection force (such as adhesion, friction, etc.) between the second type of obstacles and the surface of the body to be cleaned, or the gravity of the second type of obstacles, when the detection part 21 pushes these second type of obstacles to move, the second type of obstacles will also react on the detection part 21, and even make the detection part 21 move and shorten the protruding distance of the detection part 21.

[0157] When the boundary detector 2 detects the edgeless boundary by using the detection part 21, the change of the protruding distance of the detection part 21 will affect its detection speed of the edgeless boundary, and further cause the device to not act in time when encountering the edgeless boundary and fall. In order to avoid this situation, the present inventors have conducted many experiments and set the pressure that can make the detection part 21 move to be greater than 0.3N, so as to avoid the situation that the protruding distance of the detection part 21 changes due to the movement of the second type of obstacles, and further make the detection speed of the device 100 on the edgeless boundary not be affected, and further make the device 100 act in time when encountering the edgeless boundary and not fall.

[0158] In addition, when the boundary detector 2 detects the enclosing edge by using the position change amount of the detection part 21, the pressure that can make the detection part 21 move is set to be higher than 0.3N, which can avoid the situation that the protruding distance of the detection part 21 changes due to the movement of the second type of obstacles, and further make the detection part 21 generate a change amount greater than the preset change amount when colliding with the enclosing edge, and further make the controller of the device 100 determine that the device 100 reaches the enclosing edge by the change amount of the detection part 21, and make the device 100 execute the stop action or the turning action, so that the cloth assembly 5 is closer to the enclosing edge, so as to reduce the missed wiping area.

[0159] In addition, the pressure capable of moving the detection portion 21 is set to be greater than 0.3N, so that the detection portion 21 will not move when encountering the second type of obstacles mentioned above, to improve the effect of the detection portion 21 as a "squeegee", so that the detection portion 21 is more likely to scrape the second type of obstacles from the original position and push the second type of obstacles to move, to improve the adsorption effect of the adsorption assembly 4 and the cleaning effect of the device 100.

[0160] Optionally, the direction of the pressure mentioned above is opposite to the direction of movement of the surface cleaning device 100. For example, when the surface cleaning device 100 moves to the left, the direction of the pressure is to the right; for another example, when the surface cleaning device 100 moves forward, the direction of the pressure is backward; for another example, when the surface cleaning device 100 rotates, the direction of the pressure is opposite to the direction of movement of the contact point of the detection portion 21 and the obstacle.

[0161] Referring to FIG. 12, optionally, the boundary detector 2 further comprises a reset member 15, which is arranged between the detection portion 21 and the device body 1 (for example, the reset member 15 is arranged between the detection portion 21 and the base 11 in FIG. 12), and provides an elastic resistance force greater than 0.3N to the detection portion 21.

[0162] Through the above scheme, when the detection portion 21 in the probe position moves due to collision with the first type of obstacles, the reset member 15 deforms to accumulate a reset force. When the detection portion 21 separates from the first type of obstacles, the reset member 15 can restore the detection portion 21 to the probe position, so that the boundary detector 2 continues to detect the edge of the to-be-cleaned body, ensuring the function of the boundary detector 2 and improving the degree of automation and use convenience. In addition, the reset member 15 also has a certain impact absorption effect, so that when the detection portion 21 moves due to collision with the first type of obstacles, a certain buffer can be obtained, thereby protecting the boundary detector 2 and the device body 1 from being damaged by movement. In addition, the reset member 15 provides an elastic resistance force greater than 0.3N to the detection portion 21, that is, the force causing the reset member to deform is set to be greater than 0.3N, to avoid the detection portion 21 moving due to the second type of obstacles, thereby affecting the detection speed.

[0163] Optionally, referring to FIGS. 10 and 11, the device body 1 has adjacent first and second edge detection sides 13 and 14, and the extension direction of the first edge detection side 13 intersects the extension direction of the second edge detection side 14 to form a corner 15. The detection portion 21 is movably arranged at the corner 15, and the detection portion 21 in the probe position protrudes from the outer edges of the first and second edge detection sides 13 and 14.

[0164] When the detection portion 21 in the protruding position is collided by the surrounding edge and moves, at least one of the length of the outer edge of the first edge side 13 protruded by the detection portion 21 and the length of the outer edge of the second edge side 14 protruded by the detection portion 21 is reduced.

[0165] Through the above-mentioned solution, the detection portion 21 arranged at the corner 15 can not only detect the target edge parallel to the first edge side, but also detect the target edge parallel to the second edge side. Thus, not only the detection application range of the boundary detector 2 is improved, but also the number of the boundary detector 2 is reduced, and the cost is lowered. For example, in FIG. 10 and FIG. 11, the boundary detector 2 at the left front side can detect the left side edge and the front side edge of the body to be cleaned; the boundary detector 2 at the left rear side can detect the left side edge and the rear side edge of the body to be cleaned; the boundary detector 2 at the right front side can detect the right side edge and the rear side edge of the body to be cleaned; and the boundary detector 2 at the right rear side can detect the right side edge and the rear side edge of the body to be cleaned.

[0166] Optionally, when the edge of the body to be cleaned is the non-surrounding edge, and when the detection portion 21 moves to exceed the non-surrounding edge by the first preset distance along with the movement of the surface cleaning device 100 (wherein the movement of the device 100 relative to the surface S of the body to be cleaned except for the stop is referred to as the movement), the surface cleaning device 100 performs the stop action or the turning action. When the detection portion 21 exceeds the non-surrounding edge by the first preset distance, the surface cleaning device 100 performs the stop action or the turning action. Thus, the non-surrounding edge is detected by the detection portion 21 to prevent the surface cleaning device 100 from falling.

[0167] Further, the first preset distance is less than or equal to 20 cm. Thus, the length of the detection portion 21 protruding from the device main body 100 is not too long, which affects the proportion of the whole machine. In addition, the protruding distance of the detection portion 21 is not too long, which prevents the detection portion 21 from being triggered by the obstacle too frequently, thereby affecting the service life of the detection portion 21. In addition, the detection portion 21 does not exceed the non-surrounding edge too much to collide with other obstacles, thereby affecting the operation of the device 100. For example, the first preset distance can be 1 cm, 2 cm, 5 cm, 10 cm, 15 cm, 18 cm, 20 cm, or other values less than or equal to 20 cm.

[0168] When the detection portion 21 can detect the non-surrounding edge, the detection portion 21 can have the following possible configurations.

[0169] In one possible configuration, referring to FIG. 12, the detecting part 21 comprises a bracket 211 and a movable member 212. The bracket 211 is movably arranged on the device body 1 so that the bracket 211 changes position in a first direction. The movable member 212 moves with the bracket 211 and is movably arranged on the bracket 211 so that the movable member 212 changes position in a second direction relative to the bracket 211.

[0170] Specifically, the bracket 211 bears the mobility of the detecting part 21 to realize the movement when colliding with an obstacle, while the movable member 212 can mainly focus on its own work, i.e., the detection of the edgeless edge. This design of each performing its own function enhances the adaptability of the device 100 to different application scenarios and tasks, and improves the versatility. In addition, the state change caused by the falling of the movable member 212 from the edgeless edge can infer in a contact manner whether the surface cleaning device 100 reaches the edge of the surface of the to-be-cleaned body, and output a signal in the case of reaching, so as to facilitate the surface cleaning device 100 to make a response. The contact boundary detector 2 has high accuracy and high reliability by detecting through direct contact, which is not related to the reflection and transmission characteristics, color, etc. of the surface of the measured object.

[0171] Here, the falling from the edgeless edge should be understood in a broad sense, which not only includes the case of moving down from the edgeless edge (in the view of FIG. 11), but also includes the case of turning away from the edgeless edge. For example, the movable member 212 can comprise a third position abutting against the surface S of the to-be-cleaned body and a fourth position away from the surface S of the to-be-cleaned body, and when the movable member 212 falls from the edgeless edge, it enters the fourth position from the third position.

[0172] Further, the boundary detector 2 further comprises a first sensing member 213 for sensing the position change of the movable member 212 in the second direction, and the first sensing member 213 is arranged on the bracket 211 or the device body 1. When the movable member 212 falls from the edgeless edge, the first sensing member 213 sends out a first sensing signal, and the surface cleaning device 100 performs a stopping or turning action. In this way, the first sensing member 213 senses the abutment and disengagement of the movable member 212 and the surface S of the to-be-cleaned body, so that the movable member 212 and the first sensing member 213 can be designed in a targeted and cost-controllable manner.

[0173] It can also be understood that, after the active element 212 is detached from the fourth position of the surface S of the body to be cleaned and the surface cleaning device 100 makes a corresponding response, the active element 212 can return to the third position abutting the surface S of the body to be cleaned when the surface cleaning device 100 normally walks and cleans on the surface S of the body to be cleaned. For example, through the spherical or arc-shaped arrangement of the head of the active element 212, it interacts with the surface S of the body to be cleaned and applies a restoring force to the active element 212 towards the third position, so that it is eventually restored to the third position. Or reset by using a reset element such as a spring.

[0174] It can also be understood that the active element 212 and the first sensing element 213 can be based on contact or non-contact principles, such as the light coupling, Hall, microswitch, spring element with strain gauge, ultrasonic, etc. already described above. Taking the contact type as an example, the active element 212 can cooperate with the first sensing element 213 based on the light coupling, and the detection part 21 of the boundary detector 2 further comprises a resilient element 214 abutting between the bracket 211 and the ball-shaped active element 212. In the third position, the reset element is in a compressed state. When the surface cleaning device 100 walks to the edge of the surface of the body to be cleaned, the active element 212 is lowered under the action of the resilient element 214 and triggers the light coupling, so that it can generate a sensing signal and output to the surface cleaning device 100, for example, its controller, so that the surface cleaning device 100 can take corresponding measures, such as stopping, turning or reversing. Here, the movement of the active element 212 between the third and fourth positions is linear movement. However, rotational movement can also be used to achieve the movement switching of the active element 212 between the third and fourth positions, and the triggering state of the light coupling can also correspond to the third position.

[0175] In the case of the contact type boundary detector 2, the wiping assembly 5 is provided with a gap for the bottom end of the active element 212 to move. Through the gap design of the wiping assembly 5, space is provided for the detection movement of the active element 212, and the movement of the boundary detector 2 is facilitated, so that the boundary detector 2 and the wiping assembly 5 have high compactness as a whole.

[0176] In another possible configuration, referring to FIG. 13, the detection part 21 comprises a bracket 211 and a second sensing element 216. The bracket 211 is movably arranged on the device main body 1, so that the bracket 211 changes position in the first plane direction. The second sensing element 216 is mounted on the bracket 211 and can move with the movement of the bracket 211. The second sensing element 216 has a first emission end that can emit waves or linear light that can be reflected by the surface S of the body to be cleaned. When the first emission end is located outside the unbounded edge by a first predetermined distance, the second sensing element 216 can emit a second sensing signal, and the surface cleaning device 100 performs a stop or turning action.

[0177] In this way, the detection accuracy and efficiency are improved. Specifically, the detection unit 21 adds a non-contact sensor (second sensing element 216) to the support 211, achieving non-contact detection of the target object. This design reduces errors and interference caused by contact, improving the accuracy and stability of detection. In addition, it will not cause wear to the sensor itself or the surface of the object to be cleaned due to contact. At the same time, the non-contact sensor can quickly respond to changes in the target object and transmit data in real time, thereby improving the efficiency of detection. Thus, the design enhances the adaptability and flexibility of the detection unit 21, enabling efficient and accurate detection in different environments and conditions.

[0178] It should be understood that in the normal walking and cleaning state, the second sensing element 216 of the boundary detector can sense the distance d from the surface S of the object to be cleaned, and when the surface cleaning device 100 walks to the unbounded edge of the surface S of the object to be cleaned, the distance d will become larger or in some cases it may not be possible to measure any distance or the distance is infinite, thus, through the change of the measurement result or the change of the measurement state, it can be inferred that the surface cleaning device 100 has walked to the unbounded edge, and the motion of the surface cleaning device 100 can be controlled in time, such as stopping or turning, improving the safety of cleaning.

[0179] The technical solution provides the boundary detector 2 with implementation feasibility based on the non-contact principle, enriching the selection of the type of the boundary detector 2. For example, non-contact detection can avoid damage due to contact failure or pressurized contact, avoiding wear or contamination of the second sensing element 216 and the surface S of the object to be cleaned due to contact detection, increasing the service life of both. At the same time, this detection method has high precision, fast response, good environmental adaptability, and non-contact detection does not affect the cleaning process of the surface cleaning device 100 on the surface S of the object to be cleaned. In addition, the technical solution limits the second sensing element 216 to be installed on the support 211 and to move with the movement of the support 211, thereby the support 211 bears the mobility of the boundary detector 2, and the second sensing element 216 bears the detection of the edge of the surface S of the object to be cleaned, thereby the support 211 and the second sensing element 216 can be designed more targetedly.

[0180] The non-contact sensor can be an ultrasonic sensor, a microwave sensor, or other sensors that can emit waves. In addition, according to the manufacturing process of the surface S of the object to be cleaned, in some cases (such as cleaning the wall surface of ceramic tiles), the non-contact sensor can be an infrared sensor.

[0181] In the case of non-contact detection, it is possible that the bottom surface of the detection portion 21 is higher than the top surface of the wiping assembly 5 in the second direction. When the device 100 is in operation, the wiping assembly 5 is in contact with the surface S of the object to be cleaned for cleaning. By arranging the bottom surface of the boundary detection portion 21 to be higher than the wiping assembly 5, a gap can be formed between the detector 2 and the surface S of the object to be cleaned, so as to improve the detection effect of the second sensing element 216. In addition, the movement of the detection portion 21 in the first plane direction will not affect the wiping assembly 5, so that the coverage range or wiping area of the wiping assembly 5 can be made larger and wider. For example, the outer edge of the wiping assembly 5 can be flush with the outer edge of the device body 1, or slightly behind or slightly in front, thereby improving the wiping effect and range, and further reducing the missed wiping area.

[0182] Further, at least part of the wiping assembly 5 covers the detection portion 21 located in the area surrounded by the outer edge of the device body 1. In this way, the wiping assembly 5 overlaps at least part of the detection portion 21, so as to improve the space utilization of the device 100, reduce the area of the device 100 in the first plane direction, and further reduce the overall volume of the device 100, so as to facilitate the device 100 to be placed in the base station or to be carried by the user.

[0183] Regarding the specific structure of the wiping assembly 5, it is exemplary that the wiping assembly 5 comprises a floating chassis 51 and a wiping element 52; the floating chassis 51 is slidably arranged on the base 11 along the second direction; the wiping element 52 is connected to the side of the floating chassis 51 away from the base 11, and the outer edge of the wiping element 52 is located outside the outer edge of the floating chassis 51 in the second direction.

[0184] The design scheme gives an embodiment of the wiping assembly 5. By the slidable design of the floating chassis 51 along the second direction, it can support or facilitate the formation of a vacuum cavity or negative pressure cavity by cooperating the suction assembly 4 and the wiping assembly 5, so as to facilitate the wiping element 52 to stably and tightly adhere to the surface S of the object to be cleaned. Therefore, the floating chassis 51 can be adapted to various surfaces S of the object to be cleaned by floating, for example, the surface with ups and downs can be compensated by the corresponding floating of the floating chassis 51, thereby improving the application range of the surface cleaning device 100. The technical scheme also limits the relative position relationship and size relationship between the wiping element 52 and the floating chassis 51, so that the wiping area of the wiping element 52 is larger than the coverage area of the floating chassis 51, thereby improving the wiping effect and range. In particular, the technical scheme can better cooperate with the non-contact boundary detector 2, which can allow the wiping area of the wiping element 52 to be more flexibly designed, so that the outer edge of the wiping element 52 can be flush with the outer edge of the device body 1 or slightly behind, and the wiping element 52 can cover the corners of the base 11 or the floating chassis 51, thereby improving the wiping effect and range.

[0185] The above mentioned two possible ways of detecting the edge without enclosure by the detecting part 21, the following describes several possible ways of detecting the edge with enclosure by the surface cleaning device 100 provided by the embodiment of the application.

[0186] In one possible implementation, the device body 1 comprises a base 11 and a protection member 12. The protection member 12 is wrapped around the periphery of the base 11 and is slidably arranged on the base 11 along the first planar direction. When the edge of the object to be cleaned is an edge with enclosure, and when the protection member 12 collides with the edge with enclosure while the surface cleaning device 100 is moving, and moves a second preset distance towards the base 12, the surface cleaning device 100 performs a stop action or a turning action.

[0187] Specifically, the displacement of the protection member 12 is used to detect the edge with enclosure. In addition, the outer edge of the protection member 12 constitutes the outer edge of the device body 1, and the protection member 12 is independent of the detecting part 21, and the movement of the protection member 12 is caused only by the direct collision with the obstacle, and the movement of the protection member 12 is independent of the movement of the detecting part 21, i.e. the movement of the protection member 12 and the movement of the detecting part 21 do not interfere with each other. In this way, the missed cleaning area is reduced, the bending and deformation of the protection member 12 is avoided, and the logic confusion of the device 100 is also avoided. A collision sensor can be arranged between the protection member 12 and the base 11, and when the protection member 12 moves the second preset distance, the collision sensor can be triggered to send a signal to the controller of the device 100. The second preset distance can be greater than 0 mm and less than or equal to 5 mm, so as to avoid the entry of dust and other impurities. For example, the second preset distance can be 0.5 mm, 1 mm, 3 mm, 2 mm, 5 mm, etc.

[0188] In another possible implementation, when the edge of the object to be cleaned is an edge with enclosure, and when the detecting part 21 collides with the edge with enclosure while the surface cleaning device 100 is moving, and the change in position of the detecting part 21 in the first planar direction is greater than a preset change, the surface cleaning device 100 performs a stop action or a turning action.

[0189] Specifically, the change in position of the detecting part caused by the collision with the obstacle is used as a criterion for judging whether the detecting part collides with the edge with enclosure, so that the detecting part can detect both the edge without enclosure and the edge with enclosure, and thus the number of parts of the device is reduced (such as the number of protection members and collision sensors is not used), the device is simplified, the overall volume of the device is reduced, and the weight of the device is reduced.

[0190] It should be noted that the greater the value of the position change amount, the greater the space required for the movement of the detection portion 21. In addition, the position change amount can be different in different scenarios. For example, when the detection portion 21 rotates relative to the device body 1 as shown in FIGS. 14-17, the position change amount can be an angle change amount. The preset change amount can be greater than 0 degrees and less than or equal to 180 degrees, such as 1 degree, 2 degrees, 3 degrees, 5 degrees, 10 degrees, 30 degrees, 60 degrees, 90 degrees, 120 degrees, 150 degrees, 180 degrees, etc. For another example, when the detection portion 21 slides relative to the device body 1 in a preset direction as shown in FIG. 18, the position change amount can be a change amount in the preset direction. The preset change amount can be greater than 0 cm and less than or equal to 25 cm, such as 1 mm, 2 mm, 3 mm, 5 mm, 1 cm, 2 cm, 3 cm, 5 cm, 10 cm, 15 cm, 20 cm, 25 cm, etc. For another example, when the detection portion 21 can slide in a first translation direction and / or a second translation direction as shown in FIG. 19, the position change amount can be a change amount in the first translation direction, a change amount in the second translation direction. The preset change amount can be greater than 0 cm and less than or equal to 25 cm, such as 1 mm, 2 mm, 3 mm, 5 mm, 1 cm, 2 cm, 3 cm, 5 cm, 10 cm, 15 cm, 20 cm, 25 cm, etc. For another example, when the detection portion 21 can rotate and move as shown in FIG. 20, the position change amount can be a movement amount. The preset change amount can be greater than 0 cm and less than or equal to 5 cm, such as 1 mm, 2 mm, 3 mm, 5 mm, 1 cm, 2 cm, 3 cm, 5 cm, etc.

[0191] Further, referring to FIG. 12, the boundary detector 2 further comprises a sensing portion 22 for sensing a position change of the support in the first plane direction. The sensing portion 22 is provided on the device body 1. When the change amount of the detection portion 21 in the first plane direction is greater than the preset change amount, the sensing portion sends a sensing signal. The controller can receive the sensing signal and control the surface cleaning device to perform a stopping action or a turning action.

[0192] For example, the sensing portion 22 can use a non-contact sensor, such as a microwave detector, an ultrasonic sensor, etc., which can detect the distance and position or position change of an object by emitting microwaves or ultrasonic waves and receiving their reflected waves, and convert them into electrical signals for processing. A mechanical sensing method can also be used, for example, using a spring element and a strain gauge, which detects the deformation of the elastic element when the position of the detection portion 21 changes and converts it into an electrical signal.

[0193] In addition, the sensing device can also be constructed based on the principles of optical coupling, infrared, Hall, micro-switch. Among them, the working principle of optical coupling is a conversion process of "electric-optical-electric". The input end electrical signal makes the light emitting device emit light. According to the different positions of the detection part, the light signal can be blocked or not blocked by the detection part. In the unblocked state, the light signal can be transmitted to the light receiving device and converted into an electrical signal output. Thus, the position change of the detection part 21 is reflected by the different states of the light receiving device. The principle of Hall switch is to convert the magnetic input signal into an electrical signal. When the magnetic induction intensity reaches a certain value, the internal trigger of the Hall switch flips, and the output level state changes accordingly. Based on this, a magnet can be arranged on the detection part 21, and a Hall sensor can be arranged on the sensing part. The Hall sensor can sense the change of the surrounding magnetic field generated by the magnet and convert it into a voltage signal output. Through the voltage signal, the position of the detection part 21 can be obtained. The principle of micro-switch is to realize the quick connection or disconnection of the moving contact and the fixed contact through external mechanical force.

[0194] In yet another possible implementation, referring to FIG. 28, the surface cleaning device 100 comprises a sensor 10. The sensor 10 has a second emitting end. The second emitting end emits waves or linear light rays that can be reflected by the surrounded edge. When the edge of the object to be cleaned is a surrounded edge, and the distance between the second emitting end and the surrounded edge reaches a third preset distance as the surface cleaning device travels, the surface cleaning device 100 performs a stopping action or a turning action.

[0195] Specifically, the sensor 10 can be a non-contact sensor, which can avoid damage due to contact failure or pressure contact, and avoid wear or pollution caused by contact detection between the sensor 10 and the surrounded edge, thereby increasing the service life of both. At the same time, this detection method has the characteristics of high precision, fast response, and good environmental adaptability. For example, the sensor 10 can be an ultrasonic sensor, a microwave sensor, an infrared sensor, or any sensor with a wave-emitting end. In addition, the third preset distance can be any value greater than 0 mm and less than or equal to 20 mm, such as 0.5 mm, 1 mm, 2 mm, 5 mm, 8 mm, 9 mm, 10 mm, 12 mm, 15 mm, 20 mm, etc. It should be noted that the smaller the third preset distance, the smaller the missed area.

[0196] Regardless of the way to detect the surrounded edge and the surrounded edge, the movement of the detection part 21 can be realized by the movement of the bracket 211. The following describes several possible implementations of the movement of the bracket 211.

[0197] In one possible implementation, referring to FIGS. 12, 14-17, the bracket 211 is rotatably arranged on the device body 1. This technical solution provides one possibility of constructing the boundary detector 2 in the form of a rotating bracket 211, and provides another design angle for the realization of the movability of the bracket 211. The rotating bracket 211 can adapt to the scenario where the boundary detector 2 touches the edge of the surface S of the object to be cleaned in different directions, and can infer the touching direction according to the different rotating directions. In addition, in some cases, the rotating bracket 211 has lower requirements for the internal accommodation space of the device body 1, because it can be rotated to other edge areas of the device body 1. As can be seen from FIGS. 14-17, this design can better cope with boundaries of various positions or forms.

[0198] Here, the base 11 includes a post 111, the bracket 211 is rotatably sleeved on the post 111, and a reset member 15 (such as a torsional spring) is sleeved on the post 111 and connected to the bracket 211. The design of the torsional spring can better match the rotating bracket 211, and can provide restoring force for the reset rotation of the bracket 211. In addition, the torsional spring has the characteristics of high performance, strong pressure resistance, good buffering, etc. Therefore, the bracket 211 can correspondingly include a fixing column 2114, so that the torsional spring can be sleeved on the post 111 of the base 11 on the one hand, and fixed to the fixing column 2114 of the bracket 211 on the other hand, so as to realize force transmission to the bracket 211.

[0199] In another possible implementation, referring to FIG. 18, the bracket 211 is slidably arranged on the device body 1 along a preset direction. The preset direction intersects the extension direction of the first edge detection side and the extension direction of the second edge detection side. This technical solution realizes that the same boundary detector 2 can correspondingly detect different edges of the surface S of the object to be cleaned, and in the case of touching the edge, the boundary detector 2 can retreat in the preset direction, that is, the same direction of retreat can cope with two different position edges, which is cost-effective and cost-controllable. From the perspective of FIG. 17, the preset direction of sliding can be diagonal, that is, at an angle relative to the first edge detection side 13 and the second edge detection side 14. In this regard, the movable member 212 and the first sensing member 213 can be arranged at one end of the bracket 211 away from the device body 1.

[0200] In a specific implementation, the base 11 comprises a slide rail 112, and the bracket 211 is slidably arranged on the base 11 along a preset direction. In this regard, in order to provide a reset function for the bracket 211, the surface cleaning device 100 can further comprise a reset member 15 (such as a linear spring) abutting between an end surface of the slide rail 112 and an end portion of the bracket 211. Those skilled in the art can flexibly adjust the number, series-parallel connection mode, size, shape, etc. of the elastic element according to the needs to obtain the desired stiffness coefficient and reset force.

[0201] In addition, the slide rail 112 can comprise a frame or be configured in a frame shape, which has a hollow receiving space for arranging the reset member, and the end portion of the bracket 211 can slide in the receiving space. This design can realize the sliding of the bracket 211 relative to the base 11 in a compact manner. In this regard, in order to limit the sliding movement of the bracket 211, the bracket 211 comprises a clamping portion 2115 or the end portion of the bracket 211 forms the clamping portion 2115. When the detection portion 21 is in the extended position, the clamping portion 2115 is clamped to one end of the slide rail 112 or the frame, thereby preventing the bracket 211 from further extending outward and serving as a limiting function.

[0202] In yet another possible implementation, referring to FIG. 19, the bracket 211 comprises a first sliding portion 2113 slidably arranged on the device body 1 along a first translation direction and a second sliding portion 2118 slidably arranged on the first sliding portion 2113 along a second translation direction; the first translation direction intersects the second translation direction, the first translation direction has a component along the extension direction of the first edge detection side 13, and the second translation direction has a component along the extension direction of the second edge detection side 14.

[0203] In this technical solution, the definition of the first translation direction and the second translation direction ensures that the boundary detector 2 can perform corresponding translation retreat movements when touching different-direction surrounding edge, and the translation retreat movements can be along the first translation direction, the second translation direction, or a combination thereof. In addition, this technical solution concentrates the sliding feasibility of the first sliding portion 2113 of the bracket 211 along the first translation direction and the sliding feasibility of the second sliding portion 2118 on the first sliding portion 2113 along the second translation direction, and uses them together to respond to the boundary detector 2 when touching different edges. The above two technical solutions provide different angle ideas for the design of the sliding bracket 211.

[0204] In this regard, seen from the perspective of Fig. 18, the first and second translation directions are horizontal and vertical directions, respectively, perpendicular to each other, so as to better adapt to the rectangular corner of the surface of the body to be cleaned. In this regard, the base 11 can exemplarily comprise a first guide rail 113, so as to guide the X-direction movement of the first sliding part 2113. The first sliding part 2113 can be provided with a second guide rail 21131, so as to provide Y-direction movement guide for the sliding of the second sliding part 2118. Optionally, the reset member 15 can comprise a first reset part 151 and a second reset part 152, the first reset part 151 being arranged between the device body 1 and the first sliding part 2113, and the second reset part 152 being arranged between the device body 1 and the second sliding part 2118.

[0205] In yet another possible implementation, referring to Fig. 20, the detection part 21 comprises a cylindrical cam mechanism 213, and the support 211 moves relative to the device body 1 in the direction of the rotation axis while rotating.

[0206] It should be understood that the cylindrical cam mechanism is a kind of mechanical transmission device, which realizes the conversion of movement by the cooperation of the curved sliding groove and the cam, converting the rotary movement into linear movement. It can also be understood that the cam and the sliding groove comprise a spiral-shaped trajectory surface and a matching trajectory surface, respectively, and the conversion of movement is realized by the shape cooperation of the two trajectory surfaces.

[0207] This technical solution provides a kind of compound movement feasibility for the support 211. The support 211 responds to the touch of the boundary detector 2 to the obstacle through rotary movement, and further establishes a link with the rotary movement through movement in the direction of the rotation axis. For this purpose, in some cases, the adjustment of the rotary movement can be realized by means of the control of the movement in the direction of the rotation axis in this way, providing multiple possibilities for the design of the support 211 including the movement mechanism.

[0208] Here, the support 211 exemplarily comprises a first support part 2116 and a second support part 2117, and the first support part 2116 and the second support part 2117 are connected via the cylindrical cam mechanism. The device body 1, for example, the base 11 comprises a mounting seat 18, wherein the second support part 2117 is exemplarily configured in a cylindrical or columnar shape and is slidably arranged in the mounting seat 18, and the mounting seat 18 can comprise a sliding rail, so as to guide the sliding movement of the second support part 2117. The reset member, for example, the straight spring 5 can abut between the second support part 2117 and the mounting seat 18 (for example, the bottom thereof). This design can realize the conversion of the rotary movement of the first support part 2116 to the linear movement of the second support part 2117 in a cost-effective and relatively compact manner, and the reset force of the reset member to the second support part 2117 can further convert the linear movement of the second support part 2117 to the rotary movement of the first support part 2116, realizing the reset.

[0209] It can also be understood that the first bracket part 2116 can be configured such that the clockwise movement and the counterclockwise movement from the probe position (corresponding to the probe position of the probe part 21 of the boundary detector 2) can be converted into the linear movement of the second bracket part 2117 in the same direction via the cylindrical cam mechanism. In the perspective of FIG. 19, the rotational movement of the first bracket part 2116 in the clockwise direction or the counterclockwise direction from the probe position can be converted into the downward movement of the second bracket part 2117. In this regard, the cylindrical cam mechanism can be designed accordingly to support this, for example, the cylindrical cam mechanism is designed in a V-shaped structure.

[0210] In another embodiment of the rotating and moving bracket 211 not shown, the second bracket part 2117 can be fixedly arranged in the mounting seat 18, and a reset member such as a torsion spring 6 is arranged in abutment between the first bracket part 2116 and the device main body 1. In this case, the first bracket part 2116 simultaneously assumes the functions of rotation and movement. The connection relationship between the second bracket part 2117 and the mounting seat 18 is simplified, and the reset of the first bracket part 2116 can be more targeted, and the functional integration of the first bracket part 2116 is also improved.

[0211] Referring to FIG. 21, the surface cleaning device provided by the embodiment of the present application can further include a second roller 8, which is rotatably arranged on the device main body 1, for example, the protective member 12, and the outer side of the second roller 8 protrudes from the outer side of the device main body 1, for example, the protective member 12, and the second roller 8 and the probe part 21 are arranged in the second direction in sequence, and the second direction is perpendicular to the surface S of the body to be cleaned.

[0212] The design of the second roller 8 provides a feasibility that when the device main body 1 is running along the edge of the surface S of the body to be cleaned, the rolling friction of the second roller 8 can reduce the friction between the surface cleaning device 100 and the edge, so as to facilitate the rotation or running of the device main body 1. The arrangement position of the device main body 1 provides a plurality of arrangement position possibilities for the second roller 8. Specifically, in the technical solution in which the second roller 8 is arranged on the protective member 12, the second roller 8 can be more easily disassembled or maintained.

[0213] In this regard, the second roller 8 is rotatably arranged on the protection member 12 and can move with the movement of the protection member 12. The detection part 21 of the boundary detector 2 can slide on the base 11 of the surface cleaning device 100 and can be reset by the straight spring 5. Thus, the second roller 8 is responsible for the movement guide of the device body 1 on the upper side, the boundary detector 2 performs boundary detection on the lower side, and when the device encounters an obstacle or a surrounding edge during the processing of the surface to be cleaned, the second roller 8 can retract with the protection member 12, and the detection part 21 of the boundary detector 2 can retract relative to the base 11.

[0214] This design also facilitates the limiting design of the rotating bracket 211. As shown in FIG. 11, the detection part 21 of the boundary detector 2 can further include a limiting member 215 arranged on the bracket 211 and capable of interfering with the second roller 8 to limit the extreme position of the bracket 211. This scheme makes full use of the layout of the second roller 8 and the boundary detector 2 arranged in sequence. The limiting member 215 can be simply constructed in a columnar shape. Thus, according to the layout position of the limiting member 215 on the bracket 211 and the design of the internal space of the second roller 8, the extreme position of the bracket 211 can be limited as needed. In addition, a photoelectric limit switch, a lock mechanism, etc. can also be used to limit the bracket 211.

[0215] Referring to FIGS. 21-23, in the case where the second roller 8 is arranged on the protection member 12 and the detection part 21 includes the movable member 212 and the first sensing member 213, the surface cleaning device 100 provided by the embodiments of the present application further includes a bristle assembly 3 capable of cleaning the surface S of the surface to be cleaned, the bristle assembly 3 can be wrapped outside the movable member 212; and / or the bristle assembly 3 is connected to the bracket 211.

[0216] Specifically, as known from the above, the second roller 8 protrudes from the protective member 12, which results in a certain missed wiping area between the protective member 12 and the surrounding edge. In order to eliminate the missed wiping area, the bristle assembly 3 is provided. These design schemes enable the detection part 21 to not only detect the edge of the surface S of the body to be cleaned, but also clean the detection area during detection, and also clean together with the wiping assembly 5. For example, in the application scenario of cleaning the surrounding edge of the surface S of the body to be cleaned, the bristle assembly 3 can pre-clean the edge area, and then the wiping assembly 5 cleans after the boundary detector 2 is retracted into the outer edge of the device main body 1 due to the edge. In the application scenario of cleaning the non-surrounding edge of the surface S of the body to be cleaned, the bristle assembly 3 can clean the edge area, and the edge area has been cleaned after the boundary detector 2 detects the edge and the surface cleaning device 100 makes a reaction action such as stopping, turning, or reversing. Therefore, whether it is a surrounding edge or a non-surrounding edge, the missed wiping area can be reduced or avoided.

[0217] In addition, as can be seen from FIG. 22, the bristle assembly 3 can be provided on the detection part 21 (such as the bottom end of the movable piece 212). In this way, the functions of the movable piece 212 and the bristle assembly 3 are well integrated and unified, and do not affect each other. In addition, since the movable piece 212 is in the third position abutting against the surface S of the body to be cleaned during the normal walking and cleaning process of the surface cleaning device 100, the bristle assembly 3 can continuously apply pressure to the surface S of the body to be cleaned, thereby improving the cleaning effect of the bristle assembly 3. It should be understood that this design form can also be used with other cooperation forms of the bristle assembly 3 and the bracket 211, the movable piece 212, or the roller 8.

[0218] When the bristle assembly 3 is connected to the bracket 211, the bristle assembly 3 is wrapped on the outer side of the bracket 211. Alternatively or additionally, the bristle assembly 3 can also be connected to the bottom surface of the bracket 211.

[0219] Referring to FIGS. 24-27, several structural schematic diagrams of the first roller 9 of the surface cleaning device 100 according to the embodiments of the present application are shown.

[0220] As can be seen, the first roller 9 is rotatably provided on the bracket 211, and the outer side of the first roller 9 protrudes from the outer side of the detection part 21. When the device main body 1 walks along the edge of the surrounding edge of the surface S of the body to be cleaned, the rolling friction of the first roller 9 can reduce the friction between the surface cleaning device 100 and the surrounding edge, so as to rotate or walk the device main body 1.

[0221] As described above, the first roller 9 protrudes from the outer surface of the detection part 21, which results in a certain missed area between the outer surface of the detection part 21 and the edge with the barrier. To eliminate the missed area, a bristle-planting assembly 3 is provided. Specifically, at least a portion of the bristle-planting assembly 3 surrounds the outer surface of the first roller 9 (Fig. 27, i.e., the bristle-planting assembly 3 is fitted onto the first roller 9); and / or, at least a portion of the bristle-planting assembly 3 is connected to the bottom surface of the first roller 9 (Figs. 24 and 25). The bristle-planting assembly 3 can also be spaced apart from the first roller 9 along a second direction (Fig. 26).

[0222] These technical solutions provide various feasibility options for the positional relationship or connection between the tufting component 3 and the first roller 9 when the first roller 9 is mounted on the bracket 211, allowing for a more flexible layout of the tufting component 3. For example, the rotation of the first roller 9 can drive the tufting component 3 to rotate together, thereby improving the cleaning effect of the tufting component 3, and the disassembly and maintenance of the tufting component 3 are relatively convenient. In the technical solution where at least part of the tufting component 3 surrounds the outer surface of the first roller 9, the tufting component 3 and the first roller 9 can have good integration and compactness while maintaining their respective functions, and the first roller 9 and the tufting component 3 can have a large mating surface, resulting in good fit. In the technical solution where at least part of the tufting component 3 is connected to the bottom surface of the first roller 9, the structure of the first roller 9 can be designed more simply, and it can work together with the tufting component 3 in a cost-effective manner, while the shape space of the tufting component 3 can be larger, allowing for adaptive design according to actual needs. Furthermore, regarding the assembly method of the first roller 9 and the tufting component 3, interference fit, adhesive bonding, and plug-in methods can be used, for example. Similarly, depending on the relative position or connection between the movable part 212 and the bracket 211 (that is, whether the movable part 212 is fitted onto the bracket 211 or the movable part 212 is partially disposed within the bracket 211 and does not extend outward from the bracket 211), the tufting assembly 3 and the first roller 9 can be assembled flexibly and adaptably.

[0223] These technical solutions provide possibilities for the specific arrangement of the first roller 9, and seek multiple layout solutions among the first roller 9, the protective component 12, the detection part 21 of the boundary detector 2, and the bracket 211.

[0224] According to another aspect of the present disclosure, a cleaning system is provided, including a base station and any of the above-described surface cleaning devices 100.

[0225] Therefore, the various implementation methods and corresponding technical effects of the cleaning system can inherit the implementation methods and technical effects of the surface cleaning device 100 of the various embodiments of this disclosure, and will not be repeated here.

[0226] It should be understood that the base station has a functional relationship with the surface cleaning device 100. The base station can provide support and services for the surface cleaning device 100. Exemplarily, the surface cleaning device 100 includes a working state detached from the base station and a standby state placed on the base station. Accordingly, the base station can be used to carry the surface cleaning device 100, clean, drain, dry, and / or replenish the surface cleaning device 100 when the surface cleaning device 100 is in the standby state, and can also charge the surface cleaning device 100. In this regard, the cleaning system realizes efficient cleaning and self-cleaning functions through the cooperation of the base station and the surface cleaning device 100, and improves the user experience. In addition, the controller of the embodiments of the present disclosure can be arranged in the surface cleaning device 100, or can be arranged in the base station.

[0227] The up, down, left, right, front, back, front, back, top, bottom, and other orientation terms mentioned or possibly mentioned in the embodiments of the present application are defined with respect to the structure shown in the drawings, and they are relative concepts, so they can change accordingly according to different positions, different use states. Therefore, these or other orientation terms should not be interpreted as restrictive terms. In addition, the terms "first", "second", "third" or the like or similar expressions are only used for description and differentiation purposes, and cannot be understood as indicating or implying the relative importance of the corresponding members.

[0228] It should be understood that all the above preferred embodiments are exemplary and not limiting, and various modifications or variations of the above described specific embodiments made by those skilled in the art under the concept of the embodiments of the present application should be within the legal protection scope of the embodiments of the present application.

Claims

1. A surface cleaning device comprising a device body and a boundary detector arranged on the device body, the boundary detector being configured to detect a boundary of a surface to be cleaned; characterized in that, the boundary detector comprises a detecting portion, the detecting portion being movably arranged on a boundary detecting side of the device body; the detecting portion has a detecting position; at least a part of the detecting portion in the detecting position protrudes outwardly beyond an outer edge of the boundary detecting side in a first plane direction; the detecting portion in the detecting position is capable of moving relative to the outer edge of the boundary detecting side in response to a collision with a surrounding edge to reduce a protruding distance of the detecting portion beyond the outer edge of the boundary detecting side in a vertical boundary detecting direction, thereby reducing a distance between the outer edge of the boundary detecting side and the surrounding edge in the vertical boundary detecting direction; the first plane direction comprises the vertical boundary detecting direction, and the vertical boundary detecting direction is perpendicular to the outer edge of the boundary detecting side.

2. The surface cleaning apparatus of claim 1 wherein, When a pressure applied to the detecting portion is less than or equal to 0.3 N, the detecting portion does not move relative to the outer edge of the boundary detecting side to reduce the protruding distance of the detecting portion.

3. The surface cleaning apparatus of claim 2 wherein, When the detecting portion touches an obstacle during movement of the surface cleaning device and a pressure applied by the obstacle to the detecting portion is less than or equal to 0.3 N, the detecting portion does not move relative to the outer edge of the boundary detecting side to reduce the protruding distance of the detecting portion.

4. The surface cleaning apparatus of claim 2 wherein, The boundary detector further comprises a restoring member arranged between the detecting portion and the device body, and the restoring member provides an elastic resistance to the detecting portion greater than 0.3 N.

5. The surface cleaning apparatus of any of claims 1-4, wherein, When an edge of the surface to be cleaned is an open edge, and the detecting portion moves beyond the open edge by a first predetermined distance during movement of the surface cleaning device, the surface cleaning device performs a stop action or a turning action.

6. The surface cleaning apparatus of claim 5, wherein, The first predetermined distance is not greater than 20 cm.

7. The surface cleaning apparatus of claim 5, wherein, The detecting portion comprises a support movably arranged on the device body so as to change a position of the support in the first plane direction, and a movable member movably arranged on the support so as to change a position of the movable member relative to the support in a second direction, the second direction being perpendicular to the surface to be cleaned; When the movable member falls from the open edge so that the detecting portion is beyond the open edge by the first predetermined distance, the surface cleaning device performs a stop action or a turning action.

8. The surface cleaning apparatus of claim 7, wherein, The boundary detector further comprises a first sensing member arranged on the support or the device body and configured to sense the position change of the movable member in the second direction; When the movable member falls from the open edge, the first sensing member sends a first sensing signal, and the surface cleaning device performs a stop action or a turning action.

9. The surface cleaning apparatus of claim 5, wherein, The detection part comprises a bracket and a second sensing element; the bracket is movably arranged on the device body, so that the bracket can change position in the first plane direction; the second sensing element is mounted on the bracket and moves with the movement of the bracket, and the second sensing element has a first emitting end configured to emit waves or linear light that can be reflected by the surface of the object to be cleaned; When the first emitting end is located outside the open edge by the first preset distance, the surface cleaning device performs a stop action or a turning action.

10. The surface cleaning apparatus of claim 9, wherein, The device body further comprises a wiping assembly arranged at the bottom end of the device body, which is configured to cooperate with the adsorption assembly and the surface of the object to be cleaned to form a vacuum cavity; In the second direction, the bottom surface of the detection part is higher than the top surface of the wiping assembly; the second direction is configured to be perpendicular to the direction of the surface of the object to be cleaned.

11. The surface cleaning apparatus of claim 10, wherein, At least part of the wiping assembly covers the detection part located in the area surrounded by the outer edge of the device body.

12. The surface cleaning apparatus of claim 10, wherein, The wiping assembly comprises a floating chassis and a wiping element; The floating chassis is slidably arranged on the device body along the second direction; The wiping element is connected to the side of the floating chassis away from the device body, and the outer edge of the wiping element is located outside the outer edge of the floating chassis in the orthographic projection of the bottom surface of the floating chassis along the second direction.

13. The surface cleaning apparatus of claim 5, wherein, The device body comprises a base and a protection element; the protection element is wrapped around the side of the base and is slidably arranged on the base along the first plane direction; when the edge of the object to be cleaned is a surrounding edge, and the protection element collides with the surrounding edge during the movement of the surface cleaning device and moves towards the base by a second preset distance, the surface cleaning device performs a stop action or a turning action; Or, when the edge of the object to be cleaned is a surrounding edge, and the position of the detection part changes in the first plane direction by an amount greater than a preset change amount during the movement of the surface cleaning device, the surface cleaning device performs a stop action or a turning action; Or, the surface cleaning device further comprises a sensor, and the sensor has a second emitting end configured to emit waves or linear light that can be reflected by the surrounding edge; when the edge of the object to be cleaned is a surrounding edge, and the distance between the second emitting end and the surrounding edge reaches a third preset distance during the movement of the surface cleaning device, the surface cleaning device performs a stop action or a turning action.

14. The surface cleaning apparatus of any one of claims 1-4, wherein, When the edge of the object to be cleaned is a surrounding edge, and the position of the detection part changes in the first plane direction by an amount greater than a preset change amount during the movement of the surface cleaning device, the surface cleaning device performs a stop action or a turning action.

15. The surface cleaning apparatus of claim 14, wherein, The detection part comprises a bracket, which is movably arranged on the device body, so that the bracket can change position in the first plane direction; The boundary detector further comprises a sensing unit configured to sense a change in position of the support in the first plane direction, the sensing unit being arranged on the device body; When the change in position of the support in the first plane direction is greater than the preset change, the sensing unit sends a sensing signal, and the surface cleaning device performs a stop action or a turning action.

16. The surface cleaning apparatus of any of claims 7-12, 15, wherein, The device body has a first edge detection side and a second edge detection side adjacent to each other, and the extension direction of the first edge detection side intersects with the extension direction of the second edge detection side to form a corner; The detection unit is movably arranged at the corner, and when the detection unit in the inserted position is moved by colliding with the surrounding edge, at least one of the length of the detection unit protruding from the outer edge of the first edge detection side and the length of the detection unit protruding from the outer edge of the second edge detection side decreases. The support is slidably arranged on the device body in a preset direction, and the preset direction intersects with the extension direction of the first edge detection side and the extension direction of the second edge detection side; 17. The surface cleaning apparatus of claim 16, wherein, Alternatively, the support comprises a first sliding unit and a second sliding unit, the first sliding unit is slidably arranged on the device body in a first translation direction, and the second sliding unit is slidably arranged on the first sliding unit in a second translation direction; the first translation direction intersects with the second translation direction, the first translation direction has a component along the extension direction of the first edge detection side, and the second translation direction has a component along the extension direction of the second edge detection side; Alternatively, the support is rotatably arranged on the device body; Alternatively, the support moves along the direction of the rotation axis while rotating relative to the device body by using a cylindrical cam mechanism. Further comprising a first roller rotatably arranged on the support, and the outer side of the first roller protrudes from the outer side of the detection unit.

18. The surface cleaning apparatus of any of claims 7-12, 15, wherein, The device body comprises a base and a protective member, and the protective member is wrapped around the periphery of the base and is slidably arranged on the base in the first plane direction; 19. The surface cleaning apparatus of any one of claims 1-4, wherein, The detection unit is movably arranged on the base, or the detection unit is movably arranged on the protective member and can slide relative to the base with the sliding of the protective member. Further comprising a second roller rotatably arranged on the device body, and the outer side of the second roller protrudes from the outer edge of the device body.

20. The surface cleaning apparatus of any one of claims 1-4, wherein, 21. A surface cleaning device comprising a device body and a suction assembly arranged on the device body, the suction assembly being configured to enable the surface cleaning device to be adsorbed on the surface of an object to be cleaned; characterized in that, The surface cleaning device further comprises a boundary detector, the boundary detector comprising a detection unit movably arranged on the edge detection side of the device body; The detection unit has an inserted position; In a first plane direction, at least part of the detection unit in the inserted position protrudes outward from the outer edge of the edge detection side; When the detection unit in the inserted position is moved by colliding with the surrounding edge, at least one of the length of the detection unit protruding from the outer edge of the first edge detection side and the length of the detection unit protruding from the outer edge of the second edge detection side decreases. The probe portion in the probe-in position is capable of colliding with the surrounding edge and moving relative to the outer edge of the probe-out side to reduce the distance of the probe portion protruding out of the outer edge of the probe-out side in the vertical probe-out direction, and further shorten the distance between the outer edge of the probe-out side and the surrounding edge in the vertical probe-out direction; The first plane is configured to be parallel to the surface of the object to be cleaned, the first plane direction includes the vertical probe-out direction, and the vertical probe-out direction is a direction perpendicular to the outer edge of the probe-out side; When the pressure on the probe portion is less than or equal to 0.3N, the probe portion will not move relative to the outer edge of the probe-out side to reduce the protruding distance of the probe portion.

22. A cleaning system comprising a base station and a surface cleaning device according to any one of claims 1-21, the base station and the surface cleaning device being connected by a safety cord.

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