Detection device, cleaning apparatus and cleaning system

Abstract

Provided are a detection device, a cleaning apparatus and a cleaning system. The detection device is configured to be assembled on a main body of the cleaning apparatus, and comprises a driving mechanism (100) and a detection module (200). The driving mechanism (100) has a liftable output portion. The detection module (200) is connected to the output portion of the driving mechanism (100), and is movably located at a first detection position, a second detection position, or a position between the first detection position and the second detection position. The first detection position is higher than the top surface of the main body, and the second detection position is lower than or at the same level as the top surface of the main body.

Description

Detection device, cleaning device and cleaning system Cross-reference to Related Applications

[0001] The present disclosure claims priority to Chinese Patent Application No. 202422414366.5, filed on September 30, 2024, the entire contents of which are incorporated herein by reference. TECHNICAL FIELD

[0002] The present disclosure belongs to the technical field of electrical appliances, and specifically relates to a detection device, a cleaning device and a cleaning system. BACKGROUND

[0003] The cleaning device such as a sweeping robot is configured with a detection device for scanning the environmental information of the cleaning device, so as to plan the walking path of the cleaning device. SUMMARY

[0004] The present disclosure provides a detection device, a cleaning device and a cleaning system.

[0005] In a first aspect of the present disclosure, a detection device is provided. The detection device is configured to be assembled on a main machine of a cleaning device. The detection device comprises a driving mechanism having a liftable output portion and a detection module connected to the output portion of the driving mechanism. The detection module is movably located at a first detection position, a second detection position, or a position between the first detection position and the second detection position, wherein the first detection position is higher than a top surface of the main machine, and the second detection position is lower than or equal to the top surface of the main machine.

[0006] The detection device provided by the present disclosure for assembling on the main machine of the cleaning device, because it comprises the driving mechanism having the liftable output portion, and the detection module connected to the output portion of the driving mechanism, during the operation of the cleaning device, by controlling the driving mechanism to act, driving the detection module connected to the output portion of the driving mechanism to lift, making the detection module reciprocate between the first detection position and the second detection position, and then switching the detection module between the first detection position and the second detection position, so that the main machine is suitable for different height cleaning application scenarios, avoiding the phenomenon of damage to the detection module caused by the collision between the detection module and the obstacle on the cleaning device walking path, and ensuring the normal operation of the cleaning device.

[0007] In a second aspect of the present disclosure, a cleaning device is provided. The cleaning device comprises a main machine and a detection device according to the first aspect of the present disclosure assembled on the main machine.

[0008] In a third aspect of the present disclosure, a cleaning system is provided. The cleaning system comprises a cleaning device according to the first aspect of the present disclosure and a base station used in cooperation with the cleaning device. BRIEF DESCRIPTION OF DRAWINGS

[0009] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiments will be briefly introduced as follows. Obviously, the drawings in the following description only constitute some embodiments of the present application, and for those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.

[0010] Fig. 1 shows a first state schematic diagram of a cleaning device in one or more embodiments of the present disclosure.

[0011] Fig. 2 shows a second state schematic diagram of a cleaning device in one or more embodiments of the present disclosure.

[0012] Fig. 3 shows a structural schematic diagram of a detection module in the state of Fig. 1.

[0013] Fig. 4 shows a structural schematic diagram of a detection module in the state of Fig. 2.

[0014] Fig. 5 shows an exploded schematic diagram of the detection device in Fig. 3.

[0015] Fig. 6 shows an exploded schematic diagram of the detection device in Fig. 4.

[0016] Fig. 7 shows a structural schematic diagram of a driving mechanism in Fig. 5.

[0017] Fig. 8 shows a structural schematic diagram of a driving mechanism in Fig. 6.

[0018] Fig. 9 shows a top view schematic diagram of the detection device in Fig. 3.

[0019] Fig. 10 shows a sectional view schematic diagram of the detection device in Fig. 9 along line A-A.

[0020] Fig. 11 shows an assembly schematic diagram of a connecting piece, a second connecting rod and a detection module.

[0021] Fig. 12 shows a structural schematic diagram of a connecting piece.

[0022] Fig. 13 shows an exploded schematic diagram of the structure in Fig. 11.

[0023] Fig. 14 shows a structural schematic diagram of a fixing piece in Fig. 3 and Fig. 4.

[0024] Fig. 15 shows an exploded schematic diagram of a detection module and a fixing piece.

[0025] Fig. 16 shows a structural schematic diagram of a detection module.

[0026] Fig. 17 and Fig. 18 show a structural schematic diagram of a detection device in another embodiment.

[0027] Fig. 19 shows a structural schematic diagram of a shell in Fig. 1 and Fig. 2.

[0028] Explanation of reference signs: driving mechanism-100, driving member-101, driving shaft-1011, linkage assembly-102, first linkage-1021, second linkage-1022, first rotating shaft-1023, second rotating shaft-1024, first connecting member-1025, second connecting member-1026, first driving block-103, second driving block-104; detection module-200, second guide part-201, first positioning part-202, magnet-203; position confirming member-300; triggering member-400; first limiting member-500; connecting member-600, connecting protrusion-601, connecting hole-602; bearing member-700, bearing part-701; elastic member-800; fixing member-900, inlet and outlet-901, accommodating cavity-902, support seat-903, first guide part-904, second positioning part-905, metal member-906; shell-1000, recess-1001, through hole-1002. DETAILED DESCRIPTION

[0029] In order to make the person skilled in the art to which the present disclosure belongs more clearly understand the present disclosure, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below in combination with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, not all embodiments. Based on the embodiments in the present disclosure, 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 disclosure.

[0030] The cleaning equipment such as the sweeping robot is a cleaning machine suitable for hard ground cleaning, simultaneously absorbing and drying sewage, and taking sewage away from the scene, which has the advantages of environmental protection, energy saving, high efficiency, etc.

[0031] In the related art, the cleaning equipment such as the sweeping robot is provided with a detection device, which includes a detection module. The detection module can be a camera module or / and a sensor module, so as to scan environmental information during operation of the cleaning equipment, and provide the scanned environmental information to a processor of the cleaning equipment. The processor plans a walking path of the cleaning equipment according to the obtained environmental information.

[0032] However, during operation of the cleaning equipment, the detection device may be in contact with and collide with an obstacle in the walking path of the cleaning equipment, causing damage to the detection device, so that the detection device cannot provide the environmental information required for operation of the cleaning equipment, affecting the normal operation of the cleaning equipment.

[0033] To solve the above technical problems, the present disclosure provides a detection device, a cleaning device and a cleaning system, wherein the detection module of the detection device can be lifted, when there is an obstacle in the running path of the cleaning device, the detection module is controlled to be lowered in height to avoid the obstacle, when the cleaning device passes through the obstacle, the detection module is controlled to be lifted, and the detection module continues to provide the scanned environmental information to the processor of the cleaning device, so as to ensure the obstacle avoidance capability of the cleaning device and enable the cleaning device to operate normally. The specific details of the detection device are further described with reference to the accompanying drawings.

[0034] FIG. 1 shows a first state schematic diagram of a cleaning device in one or more embodiments of the present disclosure, FIG. 2 shows a second state schematic diagram of the cleaning device in one or more embodiments of the present disclosure, FIG. 3 shows a structural schematic diagram of the detection device in the state of FIG. 1, and FIG. 4 shows a structural schematic diagram of the detection device in the state of FIG. 2. The first state of the cleaning device refers to a state in which the detection module of the cleaning device is in a first detection position, and the second state of the cleaning device refers to a state in which the detection module of the cleaning device is in a second detection position. For the purpose of clear display, part of the components of the cleaning device are omitted in FIG. 1 and FIG. 2. In combination with FIG. 1-FIG. 4, the detection device provided by the present disclosure is mounted on the main machine of the cleaning device, and the detection device comprises a driving mechanism 100 and a detection module 200, the driving mechanism 100 has a liftable output portion; the detection module 200 is connected to the output portion of the driving mechanism 100, and the detection module 200 is movably located at the first detection position, the second detection position, or a position between the first detection position and the second detection position; wherein the first detection position is higher than the top surface of the main machine, and the second detection position is lower than or equal to the top surface of the main machine (i.e., the second detection position is lower than or flush with the top surface of the main machine).

[0035] The detection device mounted on the main machine of the cleaning device provided by the present disclosure comprises the driving mechanism 100 having the liftable output portion and the detection module 200 connected to the output portion of the driving mechanism 100, during the operation of the cleaning device, the detection module 200 connected to the output portion of the driving mechanism 100 is lifted or lowered by controlling the driving mechanism 100 to act, so that the detection module 200 reciprocates between the first detection position and the second detection position, and then the detection module can be located at the first detection position or the second detection position, so as to avoid the damage of the detection module 200 caused by the contact and collision of the detection module 200 with the obstacle in the running path of the cleaning device, and ensure the normal operation of the cleaning device and adapt to different height cleaning application scenarios.

[0036] According to an embodiment of the present disclosure, when the cleaning device is in normal operation, the detection module 200 is in the first detection position to scan the environmental information in real time, serving the operation of the cleaning device; if there is an obstacle on the travel path of the cleaning device, the detection module 200 is in the second detection position to avoid collision and damage of the detection module 200 with the obstacle, ensuring the normal operation of the cleaning device; or if there is an obstacle on the travel path of the cleaning device, the detection module 200 confirms the height of the obstacle, and according to the height of the obstacle, the detection module 200 is lowered to a position between the first detection position and the second detection position, which is lower than the height of the obstacle, so that the cleaning device can normally pass through the obstacle, and the cleaning device can operate normally.

[0037] In combination with FIG. 3 and FIG. 4, the detection device further comprises a fixing member 900, and at least part of the detection module 200 is lifted in the fixing member 900. When the detection module 200 is in the first detection position, the detection module 200 has a part protruding from the fixing member 900 for scanning the environmental information; when the detection module 200 is in the second detection position, the detection module 200 can be completely placed in the fixing member 900, or partially placed in the fixing member 900, and then the fixing member 900 protects the detection module 200 from being contacted and collided by the obstacle on the travel path.

[0038] FIG. 5 shows an exploded schematic view of the detection device in FIG. 3, and FIG. 6 shows an exploded schematic view of the detection device in FIG. 4. In combination with FIG. 5 and FIG. 6 and FIG. 7 and FIG. 8 to be described below, in an embodiment, the driving mechanism 100 comprises a driving member 101 and a linkage assembly 102, wherein the driving member 101 has a rotatable driving shaft 1011, the driving member 101 is placed below the detection module 200, and the linkage assembly 102 is connected with the driving shaft 1011 and the detection module 200 respectively. The present disclosure drives the linkage assembly 102 to act by controlling the rotation of the driving shaft 1011 of the driving member 101, and then drives the detection module 200 to lift.

[0039] According to an embodiment of the present disclosure, the driving member 101 can be a driving motor, which can receive and execute the control instructions issued by the processor of the cleaning device to rotate forward or reverse under the control of the processor of the cleaning device. In addition, the extension direction of the driving shaft 1011 of the driving member 101 is arranged perpendicular to the lifting direction of the detection module 200, so that when the detection device is assembled on the cleaning device, the horizontal space of the cleaning device can be utilized, thereby the size of the cleaning device in the height direction can be reduced, which is beneficial to the thinning of the cleaning device.

[0040] FIG. 7 shows a structural schematic diagram of the driving mechanism in FIG. 5, and FIG. 8 shows a structural schematic diagram of the driving mechanism in FIG. 6. In combination with FIG. 7 and FIG. 8, according to an embodiment of the present disclosure, the linkage assembly 102 includes a first linkage 1021 and a second linkage 1022, wherein the first linkage 1021 is rotatably connected to the driving shaft 1011, the second linkage 1022 is rotatably connected to the first linkage 1021, and the second linkage 1022 is rotatably connected to the detection module 200. During the operation of the cleaning device, the driving shaft 1011 of the driving member 101 is controlled to rotate, thereby driving the first linkage 1021 and the second linkage 1022 to rotate, and then adjusting the overall posture of the first linkage 1021 and the second linkage 1022 to drive the detection module 200 to ascend and descend. When the first linkage 1021 and the second linkage 1022 are in an extended state, the detection module 200 is raised, and the detection module 200 is in a first detection position; when the first linkage 1021 and the second linkage 1022 are in a folded state, the detection module 200 is lowered, and the detection module 200 is in a second detection position.

[0041] According to an embodiment of the present disclosure, the first linkage 1021 and the second linkage 1022 each have a first end and a second end, and the first linkage 1021 and the second linkage 1022 can be arranged in pairs, and the first linkage 1021 and the second linkage 1022 are arranged in a one-to-one correspondence. The first ends of the two first linkages 1021 are rotatably connected to the driving shaft 1011 of the driving member 101, the second end of the first linkage 1021 is rotatably connected to the first end of the corresponding second linkage 1022 through a first rotating shaft 1023, and the second end of the second linkage 1022 is connected to the detection module 200 through a second rotating shaft 1024. Under the driving of the driving member 101, the first linkage 1021 and the second linkage 1022 connected thereto are driven to rotate, and then the detection module 200 is driven to ascend and descend.

[0042] In combination with FIG. 7 and FIG. 8, the two first linkages 1021 can be connected through a first connecting member 1025 to form an overall structure. In an embodiment, the first connecting member 1025 can be connected between the first ends of the two first linkages 1021, and the first connecting member 1025 can be a sleeve structure rotatably sleeved on the driving shaft 1011 of the driving member 101. In another embodiment, the first connecting member 1025 can also be connected between the middle portions of the two first linkages 1021.

[0043] In combination with FIG. 7 and FIG. 8, two second connecting rods 1022 can be connected between two first connecting rods 1021 to reduce the overall length of the connecting rod assembly 102 and reduce the space occupied by the connecting rod assembly 102. The first ends of the two second connecting rods 1022 are respectively provided with the first rotating shaft 1023 described above, and the second ends of the two second connecting rods 1022 are respectively provided with the second rotating shaft 1024 described above, and the second rotating shaft 1024 is connected to the detection module 200.

[0044] In combination with FIG. 7 and FIG. 8, the two second connecting rods 1022 are connected by a second connecting piece 1026 to form a whole structure. In an embodiment, the second connecting piece 1026 can be connected between the second ends of the two second connecting rods 1022. In another embodiment, the second connecting piece 1026 can also be connected between the middle or first end of the two second connecting rods 1022.

[0045] In combination with FIG. 7 and FIG. 8, the detection device further comprises a position confirming piece 300 for confirming that the detection module 200 is in the first detection position or the second detection position. The position confirming piece 300 is used to confirm the position of the detection module 200 and send the detection module 200 in-place information to the processor of the cleaning device. The processor of the cleaning device controls the cleaning device to execute corresponding instructions according to the received detection module 200 in-place information.

[0046] In combination with FIG. 7 and FIG. 8, according to an embodiment of the present disclosure, the position confirming piece 300 is provided with two, and the two position confirming pieces 300 are arranged at intervals around the circumference of the drive shaft 1011, and the drive shaft 1011 is provided with a trigger piece 400. In the process of synchronous rotation of the trigger piece 400 and the drive shaft 1011, the trigger piece 400 triggers the two position confirming pieces 300. Specifically, in the process of controlling the detection module 200 to ascend and descend by the rotating drive shaft 1011, the trigger piece 400 rotates synchronously with the drive shaft 1011. When the detection module 200 is in the first detection position, the trigger piece 400 triggers one position confirming piece 300 to send a first in-place signal to the processor of the cleaning device, and the processor of the cleaning device controls the cleaning device to execute corresponding instructions according to the first in-place signal, which includes controlling the driving piece 101 to stop rotating; when the detection module 200 is in the second detection position, the trigger piece 400 triggers another position confirming piece 300 to send a second in-place signal to the processor of the cleaning device, and the processor of the cleaning device controls the cleaning device to execute corresponding instructions according to the second in-place signal, which includes controlling the driving piece 101 to stop rotating. In another embodiment, the position confirming piece 300 can be provided with three or more, which can not only confirm that the detection module 200 is in the first detection position or the second detection position, but also confirm that the detection module 200 is in a certain position between the first detection position and the second detection position.

[0047] In combination with FIG. 7 and FIG. 8, in an embodiment, the trigger 400 can be a plate-shaped structure connected to the outer periphery of the driving shaft 1011, and the position confirming member 300 can be a light interruption sensor or an infrared sensor. When the trigger 400 rotates to the position confirming member 300, the trigger 400 triggers the position confirming member 300 to generate one of the above-mentioned first and second in-position signals. In another embodiment, the position confirming member 300 can also be a trigger switch, and the present disclosure does not limit this.

[0048] FIG. 9 shows a top view of the detection device in FIG. 3, and FIG. 10 shows a sectional view of the detection device in FIG. 9 along the line A-A. In combination with FIG. 9 and FIG. 10, the detection device further comprises a first limiting member 500, which is spaced apart from the outer periphery of the driving shaft 1011, i.e., the first limiting member 500 and the outer periphery of the driving shaft 1011 have a distance. When the detection module 200 is in the first detection position, the first limiting member 500 is in contact with the first connecting rod 1021. The first limiting member 500 can be a plate-shaped structure to limit the rotation position of the first connecting rod 1021, so that the detection module 200 is kept in the first detection position.

[0049] In combination with FIG. 9 and FIG. 10, when the detection module 200 is in the first detection position, the first connecting rod 1021 and the second connecting rod 1022 have an included angle, which is an obtuse angle. The component of the weight of the detection module 200 borne by the second connecting rod 1022 is inclined in the direction towards the first limiting member 500. In combination with the limiting of the first connecting rod 1021 by the first limiting member 500, the detection module 200 can be kept in the first detection position.

[0050] According to an embodiment of the present disclosure, the detection device can further comprise a second limiting member (not shown in the figure), which is spaced apart from the driving shaft 1011, i.e., the second limiting member and the outer periphery of the driving shaft 1011 have a distance. When the detection module 200 is in the second detection position, the second limiting member is in contact with the first connecting rod 1021. In combination with the first limiting member 500, the second limiting member can also be a plate-shaped structure to limit the rotation position of the first connecting rod 1021, so that the detection module 200 is kept in the second detection position.

[0051] In combination with FIG. 10, the detection device further comprises a connecting piece 600 connected to the output of the driving mechanism 100 and the detection module 200, i.e. the connecting piece 600 connects the output of the driving mechanism 100 and the detection module 200. Under the driving of the driving mechanism 100, the connecting piece 600 is controlled to lift, and in turn, the detection module 200 connected to the connecting piece 600 is controlled to lift, so as to switch the detection module 200 between the first detection position and the second detection position. The connecting piece 600 and the connection details of the output of the driving mechanism 100 and the detection module 200 are further described by means of FIG. 11-FIG. 13.

[0052] FIG. 11 shows an assembly diagram of the connecting piece, the second connecting rod and the detection module, FIG. 12 shows a structural diagram of the connecting piece, and FIG. 13 shows an exploded diagram of the structure in FIG. 11. In combination with FIG. 11-FIG. 13, in an embodiment, the connecting piece 600 can be provided in one-to-one correspondence with the second connecting rod 1022 of the driving mechanism 100, since the second connecting rod 1022 is provided with two, correspondingly, the connecting piece 600 is also provided with two. The connecting piece 600 can be a plate structure, the second rotating shaft 1024 on the second connecting rod 1022 is rotatably connected to the middle part of the connecting piece 600, and the two ends of the connecting piece 600 are connected with the detection module 200. In another embodiment, the connecting piece 600 can also be placed between the two second connecting rods 1022.

[0053] In combination with FIG. 12 and FIG. 13, the inspection device comprises a carrier 700, the bottom of the carrier 700 is provided with a bearing part 701, and the top of the carrier 700 is connected with the detection module 200, and the connecting piece 600 can reciprocate between the bearing part 701 of the carrier 700 and the detection module 200. When the driving mechanism 100 drives the detection module 200 to lift, the connecting piece 600 abuts against the bottom of the detection module 200, and under the driving of the driving mechanism 100, the connecting piece 600 is lifted synchronously with the detection module 200. When the driving mechanism 100 drives the detection module 200 to descend, the driving piece 101 drives the connecting piece 600 and the detection module 200 to descend synchronously.

[0054] In combination with FIG. 12 and FIG. 13, in an embodiment, the connecting piece 600 is elastically connected to at least one of the bearing part 701 and the detection module 200, so that the connecting piece 600 can float between the bearing part 701 and the detection module 200. In the process of the cleaning equipment running, if the cleaning equipment jolts, since the connecting piece 600 floats between the bearing part 701 and the detection module 200, the jolt of the cleaning equipment can be buffered, so that the detection module 200 can stably acquire environmental information.

[0055] In combination with FIG. 12 and FIG. 13, the middle part of the top of the adapter 600 is provided with a connecting protrusion 601, and the second rotating shaft 1024 of the second connecting rod 1022 connected with the adapter 600 is rotatably connected to the connecting protrusion 601. The two ends of the top of the adapter 600 are respectively provided with connecting holes 602, and the carrier 700 is correspondingly provided with the connecting holes 602. The carrier 700 can be a columnar structure, and the carrier part 701 can be an annular structure integrally formed at the bottom of the carrier 700. The carrier part 701 of the carrier 700 is placed below the corresponding connecting hole 602, the top of the carrier 700 passes through the corresponding connecting hole 602, and the carrier 700 is fixedly assembled to the bottom of the detection module 200 by a threaded connection or the like. In an embodiment, an elastic member 800 can be arranged between the adapter 600 and the bottom of the detection module 200, or arranged between the adapter 600 and the carrier part 701 of the carrier 700, or arranged between the adapter 600 and the bottom of the detection module 200 and between the adapter 600 and the carrier part 701 of the carrier 700. The elastic member 800 is sleeved on the carrier 700 to guide the deformation of the elastic member 800 by the carrier 700.

[0056] FIG. 14 shows a structural schematic view of the fixing member in FIG. 3 and FIG. 4. In combination with FIG. 14, the top of the fixing member 900 is provided with an entrance 901, and the fixing member 900 is internally provided with a containing cavity 902, and the detection module 200 can enter the containing cavity 902 through the entrance 901. The driving member 101 can be arranged outside the fixing member 900, the driving shaft 1011 of the driving member 101 rotatably penetrates the side wall of the fixing member 900 and enters the containing cavity 902 of the fixing member 900, the above-mentioned connecting rod assembly 102 is also arranged in the containing cavity 902 of the fixing member 900, and the above-mentioned first limiting member 500 and the position confirming member 300 can be assembled on the inner wall of the fixing member 900. In addition, at least one supporting seat 903 can be arranged at the bottom of the containing cavity 902 of the fixing member 900, and the driving shaft 1011 rotatably penetrates the supporting seat 903 to support the driving shaft 1011 through the supporting seat 903, so that the driving shaft 1011 has sufficient bearing capacity.

[0057] FIG. 15 shows an exploded schematic view of the detection module and the fixing member, and FIG. 16 shows a structural schematic view of the detection module. In combination with FIG. 14-FIG. 16, the fixing member 900 is internally provided with a first guide part 904, and the detection module 200 is provided with a second guide part 201. The first guide part 904 and the second guide part 201 are inserted along the moving direction of the detection module 200 to guide the lifting of the detection module 200, so that the detection module 200 can only lift in a set direction.

[0058] In combination with FIGS. 14-16, in an embodiment, the first guide part 904 and the second guide part 201 can be columnar structures, the second guide part 201 is inserted into the first guide part 904, and the first guide part 904 and the second guide part 201 can be provided in plurality and placed on the outer side of the linkage assembly 102; in another embodiment, the first guide part 904 can also be inserted into the second guide part 201, and the present disclosure does not limit this.

[0059] In combination with FIGS. 14-16, the detection module 200 is provided with a first positioning part 202, and the fixing member 900 is provided with a second positioning part 905, under the condition that the detection module 200 is in the first detection position, the first positioning part 202 and the second positioning part 905 are oppositely arranged and magnetically connected, so as to prevent the detection module 200 from moving due to bumping when the cleaning equipment is running, and avoid the technical problem that the detection module 200 is damaged due to being lifted and colliding with the obstacle. When the detection module 200 starts to be lifted, the movement of the detection module 200 breaks the magnetic connection of the first positioning part 202 and the second positioning part 905, and with the lifting of the detection module 200, the first positioning part 202 and the second positioning part 905 also move apart.

[0060] In combination with FIGS. 14-16, the bottom of the detection module 200 is provided with a first positioning part 202, and the bottom of the accommodating cavity 902 of the fixing member 900 is provided with a second positioning part 905, the first positioning part 202 and the second positioning part 905 can be columnar structures, the first positioning part 202 and the second positioning part 905 are oppositely arranged, and each end of the first positioning part 202 and the second positioning part 905 is provided with an assembly groove, one of the assembly grooves is provided with a magnet 203, and the other assembly groove is provided with a metal member 906 which can be attracted by the magnet 203; alternatively, both of the assembly grooves are provided with magnets 203, and the magnetic connection of the two positioning parts is realized by the principle of opposite sex attraction. The first positioning part 202 and the second positioning part 905 can be provided in two, and are placed on the two sides of the linkage assembly 102.

[0061] FIGS. 17 and 18 show a structural schematic diagram of a detection device in another embodiment. In combination with FIGS. 17 and 18, in another embodiment, the driving member 101 of the driving mechanism 100 can also be a linear reciprocating mechanism, and the output part of the linear reciprocating movement of the driving member 101 drives the detection module 200 to lift and lower, and also achieves the purpose of switching the detection module 200 between the first detection position and the second detection position.

[0062] In combination with FIG. 17, in an embodiment, the driving member 101 has a driving shaft 1011 capable of linear reciprocating motion, and the driving shaft 1011 is connected with the detection module 200 placed above the driving member 101. The driving member 101 can be a linear motor, and the driving shaft 1011 of the driving member 101 is consistent with the lifting direction of the detection module 200, so as to directly drive the detection module 200 to switch between the first detection position and the second detection position by lifting the driving shaft 1011 of the driving member 101.

[0063] In combination with FIG. 18, in another embodiment, the driving mechanism 100 further comprises a first driving block 103 and a second driving block 104, wherein the first driving block 103 is connected with the driving shaft 1011, the second driving block 104 is connected with the detection module 200, the second driving block 104 is placed on the first driving block 103, and the surface of the second driving block 104 in contact with the first driving block 103 is at least partially a slope. By controlling the movement of the driving shaft 1011 of the driving member 101, the second driving block 104 can be lifted relative to the first driving block 103, thereby driving the detection module 200 connected with the second driving block 104 to lift, so that the detection module 200 can switch between the first detection position and the second detection position. Since the lifting of the detection module 200 is realized through the transfer of the first driving block 103 and the second driving block 104, the extension direction of the driving shaft 1011 of the driving member 101 can be arranged perpendicular to the lifting direction of the detection module 200. When the detection device is assembled on the cleaning equipment, the horizontal space of the cleaning equipment can be utilized, so that the size of the cleaning equipment in the height direction can be reduced, which is conducive to the lightness and thinness of the cleaning equipment.

[0064] In combination with FIG. 17 and FIG. 18, under the condition that the detection module 200 is driven to move up and down by the output part of the linear reciprocating motion of the driving member 101, at least two position confirming members 300 are arranged along the axial direction of the driving shaft 1011, and the periphery of the driving shaft 1011 is provided with a triggering member 400. During the movement of the driving shaft 1011, the triggering member 400 triggers the at least two position confirming members 300. During the control of the movement of the detection module 200 by the driving shaft 1011 with linear reciprocating motion, the triggering member 400 moves reciprocatingly synchronously with the driving shaft 1011. When the detection module 200 is at the first detection position, the triggering member 400 triggers one position confirming member 300 to send a first arrival signal to the processor of the cleaning device, and the processor of the cleaning device controls the cleaning device to execute corresponding instructions according to the first arrival signal, which includes controlling the driving member 101 to stop working; when the detection module 200 is at the second detection position, the triggering member 400 triggers another position confirming member 300 to send a second arrival signal to the processor of the cleaning device, and the processor of the cleaning device controls the cleaning device to execute corresponding instructions according to the second arrival signal, which includes controlling the driving member 101 to stop working. The structure of the triggering member 400 and the position confirming member 300 can refer to the description above, and will not be described here.

[0065] Based on the above detection device, the disclosure further provides a cleaning device, which comprises a host and the above detection device, and the detection device is assembled in the host.

[0066] The cleaning device provided by the disclosure can be suitable for cleaning application scenarios of different heights, and can avoid the damage of the detection module 200 caused by the contact and collision of the detection module 200 with obstacles on the path of the cleaning device, thereby ensuring the normal operation of the cleaning device.

[0067] FIG. 19 shows a structural schematic diagram of the shell in FIG. 1 and FIG. 2. In combination with FIG. 19, according to an embodiment of the disclosure, the host comprises a shell 1000, the top of the shell 1000 is provided with a recess 1001, the recess 1001 extends to the periphery of the shell 1000, the bottom of the recess 1001 is provided with a through hole 1002, the driving member 101 of the detection device is placed in the shell 1000, and the detection module 200 passes through the through hole 1002 and switches between the first detection position and the second detection position. When the detection module 200 is at the second detection position, the detection module 200 is not lower than the bottom of the recess 1001, and the detection module 200 can scan environmental information through the part of the recess 1001 extending to the periphery of the shell 1000 to serve the operation of the cleaning device.

[0068] In combination with FIG. 19, in an embodiment, the recess 1001 extends to the rear side of the peripheral side of the housing 1000. When the detection module 200 is in the second detection position, the processor of the cleaning device controls the cleaning device to rotate, so that the rear side of the cleaning device is rotated to the front side of the cleaning device, and the detection module 200 is used to scan the environmental information in the travel direction of the cleaning device, to serve the operation of the cleaning device. In another embodiment, the recess 1001 extends to the front side of the peripheral side of the housing 1000, and when the detection module 200 is in the second detection position, the detection module 200 can be directly used to scan the environmental information in the travel direction of the cleaning device, to serve the operation of the cleaning device.

[0069] Based on the above cleaning device, the present disclosure further provides a cleaning system, which comprises the base station and the above cleaning device used in cooperation.

[0070] The cleaning system with the above cleaning device can be suitable for cleaning application scenarios of different heights, and can avoid the phenomenon that the detection module 200 of the cleaning device is damaged due to contact and collision with obstacles on the travel path of the cleaning device, so as to ensure the normal operation of the cleaning device.

[0071] In the present disclosure, unless otherwise explicitly specified and limited, the first feature "on" or "under" the second feature can include that the first and second features are in direct contact, or can include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, the first feature "on", "above" and "over" the second feature includes that the first feature is directly above and obliquely above the second feature, or only means that the horizontal height of the first feature is higher than that of the second feature. The first feature "under", "below" and "under" the second feature includes that the first feature is directly below and obliquely below the second feature, or only means that the horizontal height of the first feature is less than that of the second feature.

[0072] In the description of the present disclosure, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise" indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present disclosure.

[0073] In this disclosure, unless specifically defined otherwise, the terms "connection", "fixed", and the like should be construed broadly and do not necessarily mean a direct connection, but can also mean an indirect connection or an integrated one; can be a mechanical connection, or an electrical connection; can be a direct connection, or an indirect connection through an intermediate medium; can be an internal connection of two elements, or an interaction relationship between two elements. For those of ordinary skill in the art, the specific meaning of the above terms in this disclosure can be understood according to the specific circumstances.

[0074] In addition, in this disclosure, the description such as "first", "second" and the like is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features, or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more features. In the description of this disclosure, the meaning of "multiple" is two or more, unless specifically and specifically limited.

[0075] Although the embodiments of the present disclosure have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, replacements and variations can be made to these embodiments without departing from the principles and purposes of the present disclosure, and the scope of the present disclosure is defined by the claims and their equivalents.

Claims

1. A detection device for being assembled on a main machine of a cleaning apparatus, the detection device comprising: a driving mechanism having a liftable output portion; and a detection module connected to the output portion of the driving mechanism, the detection module being movably positioned at a first detection position, a second detection position, or a position between the first detection position and the second detection position; wherein the first detection position is higher than a top surface of the main machine, and the second detection position is lower than or equal to the top surface of the main machine.

2. The detection device of claim 1, further comprising an adapter, wherein, The adapter is connected to the output portion of the driving mechanism and the detection module. 3.The detection device of claim 2, further comprising a carrier, wherein a bottom of the carrier is provided with a carrier portion, a top of the carrier is connected to the detection module, and the adapter is movable between the carrier portion of the carrier and the detection module.

4. The detection device of claim 3, wherein, The adapter is elastically connected to at least one of the carrier portion and the detection module.

5. The detection device of any one of claims 1-4, further comprising a fixture, wherein, At least part of the detection module is liftable within the fixing member.

6. The detection device of claim 5, wherein, The fixing member is provided with a first guide portion, and the detection module is provided with a second guide portion, the first guide portion and the second guide portion being inserted along a moving direction of the detection module.

7. The detection device of claim 5 or 6, wherein, The detection module is provided with a first positioning portion, and the fixing member is provided with a second positioning portion, the first positioning portion and the second positioning portion being oppositely arranged and magnetically connected.

8. The detection device of any one of claims 1-7, further comprising a position confirming member, wherein, The position confirming member is used to confirm that the detection module is at the first detection position or the second detection position.

9. The detection device of claim 8, wherein, The driving mechanism comprises: a driving member having a rotatable driving shaft; and a linkage assembly connected to the driving shaft and the detection module above the driving member, respectively.

10. The detection device of claim 9, wherein, At least two position confirming members are arranged around a circumference of the driving shaft, and a trigger member is arranged on a circumferential side of the driving shaft, the trigger member being capable of triggering the at least two position confirming members.

11. The detection device of any one of claims 9-10, wherein, The linkage assembly comprises: a first linkage rotatably connected to the driving shaft; and a second linkage rotatably connected to the first linkage and the detection module.

12. The detection device of claim 11, further comprising a first stopper, wherein, The first limiting member and the driving shaft are arranged at intervals, and the first limiting member contacts the first linkage when the detection module is at the first detection position.

13. The detection device of claim 12, wherein, The first linkage and the second linkage have an included angle when the detection module is at the first detection position.

14. The detection device of claim 12, further comprising a second stopper, wherein, The second limiting member and the driving shaft are arranged at intervals, and the second limiting member contacts the first linkage when the detection module is at the second detection position.

15. The detection device of claim 8, wherein, The driving mechanism comprises a driving member having a linearly reciprocating driving shaft, and the driving shaft is connected to the detection module above the driving member.

16. The detection device of claim 15, wherein, The driving mechanism further comprises: a first driving block connected to the driving shaft; and a second driving block connected to the detection module. A second driving block is connected to the detection module, and the second driving block is located above the first driving block. Surfaces of the second driving block and the first driving block that are in contact are at least partially inclined.

17. The detection device of claim 15 or 16, wherein, At least two position confirming members are arranged along the axial direction of the driving shaft. A triggering member is arranged on the circumferential side of the driving shaft, and the triggering member can trigger the at least two position confirming members.

18. A cleaning device, comprising: a host; and the detection device as claimed in any one of claims 1-17, which is assembled in the host.

19. The cleaning apparatus of claim 18, wherein, The host comprises a housing, a top of the housing is provided with a recess, the recess extends to the circumferential side of the housing, and when the detection module is in the second detection position, the detection module is not lower than the bottom of the recess.

20. A cleaning system comprising: The cleaning device as claimed in claim 18 or 19 and a base station used in cooperation with the cleaning device.

Images