Cleaning device and foreign object detection method

Abstract

The present application provides a cleaning device (100) and a foreign object detection method. The cleaning device (100) comprises a housing (1), a detection head (2), a telescopic device (3), and a detection member. A side wall of the housing (1) in a first direction is an opening wall (1b), and an opening (1c) communicated with the interior of the housing (1) is formed on the opening wall (1b); the detection head (2) is configured to detect a surrounding environment, and the detection head (2) has an extended state in which the detection head (2) extends out of the opening (1c) and a retracted state in which the detection head (2) retracts into the opening (1c); the telescopic device (3) is arranged in the housing (1), and the telescopic device (3) comprises a transmission mechanism (31) and a movable assembly (32); the movable assembly (32) is movably arranged on the transmission mechanism (31) in the first direction, the detection head (2) is arranged on the movable assembly (32), and the transmission mechanism (31) can drive the movable assembly (32) to move in the first direction, so that the detection head (2) is switched between the extended state and the retracted state; and detection ends (4) of the detection member are arranged between the opening wall (1b) and the movable assembly (32). The cleaning device (100) and the foreign object detection method that are provided in the present application can implement detection of a foreign object.

Description

A cleaning device and a foreign object detection method

[0001] Cross-references to related applications

[0002] This disclosure claims priority to Chinese Patent Application No. 202411464957.1, filed on October 18, 2024, entitled "A Cleaning Device and a Foreign Object Detection Method", and Chinese Patent Application No. 202422536490.9, filed on October 18, 2024, entitled "A Cleaning Device", the entire contents of which are incorporated herein by reference. Technical Field

[0003] This disclosure relates to the field of cleaning equipment technology, and in particular to a cleaning equipment and a method for detecting foreign objects. Background Technology

[0004] Cleaning equipment such as robotic vacuum cleaners consists of a shell and a probe. The shell has an opening, and the probe can extend out of the opening to explore the surrounding environment in order to model and map the surrounding environment. However, if there are foreign objects inside or above the shell during the extension of the probe, the probe will not be able to extend or will not be able to extend fully, which will affect the cleaning efficiency of the cleaning equipment. Summary of the Invention

[0005] In view of this, the present disclosure aims to provide a cleaning device and a foreign object detection method capable of detecting foreign objects.

[0006] To achieve the above objectives, the technical solution of this disclosure embodiment is implemented as follows:

[0007] One aspect of this disclosure is a cleaning device, comprising:

[0008] The housing has a sidewall along a first direction that is an open wall, and the open wall has an opening that communicates with the interior of the housing;

[0009] A probe is used to detect the surrounding environment. The probe has an extended state that extends out of the opening and a retracted state that retracts into the opening.

[0010] A telescopic device is disposed within the housing. The telescopic device includes a transmission mechanism and a movable component. The movable component is movably disposed on the transmission mechanism along the first direction. The probe head is disposed on the movable component. The transmission mechanism can drive the movable component to move along the first direction, so that the probe head switches between the extended state and the retracted state.

[0011] The detection element has its detection end located between the opening wall and the movable component.

[0012] In one embodiment, the detection end is provided on the inner surface of the opening wall and / or the surface of the movable component facing the opening wall;

[0013] When the probe is in the extended state, the movable component abuts against the opening wall and presses against the detection end to generate a positioning signal. The detection element is configured to determine whether the movable component has shifted based on the number of positioning signals.

[0014] In one embodiment, the inner surface of the opening wall and / or the surface of the movable component near the opening wall are provided with the detection end at intervals. The detection end detects the distance between the movable component and the opening wall, and the detection element determines whether the movable component is offset based on the distance.

[0015] In one embodiment, there are multiple detection ends, which are spaced apart circumferentially.

[0016] In one embodiment, the telescopic device further includes a housing disposed within the housing, the housing having a telescopic opening communicating with its interior, the telescopic opening communicating with the opening, the movable component being slidably disposed within the housing along the first direction, and a portion of the transmission mechanism being disposed within the housing for connection with the movable component.

[0017] In one embodiment, a slider is formed in the inner wall of the enclosure and in one of the movable components, and a groove is formed in the inner wall of the enclosure and in one of the movable components, and the slider and the groove cooperate to slide along the first direction.

[0018] In one embodiment, the transmission mechanism includes a first link, a second link, a third link, a fourth link, and a motor. The motor has an output shaft connected to the first link. One end of the second link is hinged to the first link, and the other end of the second link is hinged to one end of the third link and one end of the fourth link, respectively. The other end of the third link is hinged to the side of the housing away from the opening, and the other end of the fourth link is connected to the movable component. The axial direction of the output shaft is perpendicular to the first direction.

[0019] In one embodiment, the cleaning device further includes a vertical plate located within the housing, the vertical plate being provided with a second sensor, and the end of the first connecting rod away from its hinge end being a sensing end, the sensing end being able to move to the second sensor under the drive of the motor and generate a retraction arrival signal, the motor causing to stop working based on the retraction arrival signal.

[0020] In one embodiment, the upright plate is provided with a first sensing element, and the sensing end can move to the first sensing element under the drive of the motor and generate an extension arrival signal, and the motor causes to stop working based on the extension arrival signal.

[0021] In one embodiment, the upright plate is further provided with a first limiting member and a second limiting member, the first limiting member and the second limiting member being respectively provided on the rotation path of the hinge end of the first connecting rod, and the first sensing member and the second sensing member both having sensing grooves.

[0022] When the probe is in the extended state, the sensing end rotates into the sensing groove of the first sensing element, and the hinge end of the first connecting rod approaches the first limiting element.

[0023] When the probe is in the retracted state, the sensing end rotates into the sensing groove of the second sensing element, and the hinge end of the first connecting rod approaches the second limiting element.

[0024] In one embodiment, the cleaning device includes a limiting cover disposed at one end of the probe head away from the movable component along the first direction, and the projection area of ​​the opening along the first direction is located within the projection area of ​​the limiting cover.

[0025] In one embodiment, the movable component includes a support member and an elastic member. The probe head is disposed on the support member, the detection end is disposed between the opening wall and the support member, and the elastic member is disposed between the transmission mechanism and the support member. The transmission mechanism and the elastic member work together to cause the support member to drive the probe head to switch between the extended state and the retracted state.

[0026] In one embodiment, one of the transmission mechanism and the support member has a guide post, and the other of the transmission mechanism and the support member has a guide hole. The guide post is movably inserted into the guide hole, and the elastic member is sleeved on the guide post.

[0027] Another aspect of this disclosure discloses a foreign object detection method, including the cleaning device in any of the above embodiments, the foreign object detection method comprising:

[0028] In the extension step, the transmission mechanism drives the movable component to switch the probe head from the retracted state to the extended state;

[0029] The detection step involves the detection element detecting the movement state of the movable component relative to the opening wall;

[0030] In the judgment step, the detection component determines whether the active component has shifted based on the movement state.

[0031] In one embodiment, a plurality of detection ends are provided between the opening wall and the probe head at intervals. When the probe head is in the extended state, the movable component can abut against the opening wall and press the detection ends to generate a positioning signal.

[0032] The judgment step specifically includes:

[0033] The detection component determines whether the active component has shifted based on the number of the positioning signals;

[0034] If the number of positioning signals is equal to the total number of all detection terminals, then the active component is determined to be not offset; if the number of positioning signals is less than the total number of all detection terminals, then the active component is determined to be offset.

[0035] In one embodiment, a plurality of detection ends are disposed between the opening wall and the movable component, and the plurality of detection ends detect the various distances between the movable component and the opening wall;

[0036] The judgment step specifically includes:

[0037] The detection element determines whether the active component is offset based on the difference between the various spacings.

[0038] If the difference is not greater than the preset difference, it is determined that the active component has not shifted; if the difference is greater than the preset difference, it is determined that the active component has shifted.

[0039] This disclosure provides a cleaning device and a foreign object detection method. By forming a receiving space within the housing, the telescopic device, parts of the cleaning component, and the detection element are all housed within this space. This provides a certain degree of protection for the telescopic device, parts of the cleaning component, and the detection element, extending their service life. The portion of the cleaning component located outside the receiving space can clean the floor based on the detection data from the probe, improving cleaning efficiency. By mounting the probe on a movable component, which is movable along a first direction with the transmission mechanism, the transmission mechanism can drive the movable component to move along the first direction, switching the probe between an extended and retracted state. This allows the probe to retract into the receiving space when not in use or when avoiding objects, further enhancing its protection. By positioning the detection end of the detector between the opening wall and the movable component, when the transmission mechanism drives the movable component to extend the probe out of the opening, the detection end of the detector can detect the area located between the opening wall and the movable component. This ensures that the probe can smoothly extend out of the opening for detection. If there are foreign objects in the area between the opening wall and the telescopic device inside the housing, and / or if there are obstacles on the side of the probe away from the housing along the first direction, the user can be notified to handle the situation promptly upon successful detection. The movable component is movably mounted on the transmission mechanism along the first direction, allowing for gentler movement of the probe and reducing damage. Attached Figure Description

[0040] Figure 1 is a schematic diagram of a cleaning device provided in an embodiment of this disclosure, wherein the probe head is in an extended state;

[0041] Figure 2 is a structural schematic diagram of an opening wall, a probe, a transmission mechanism, a vertical plate, a limiting cover, and a cover plate provided in another embodiment of this disclosure, wherein the probe is in an extended state;

[0042] Figure 3 is a structural schematic diagram of the opening wall, probe, transmission mechanism, upright plate, circuit board, limiting cover, first sensor and second sensor provided in another embodiment of the present disclosure, wherein the probe is in the extended state;

[0043] Figure 4 is a schematic diagram of the structure of the probe head, transmission mechanism, detection end of the detection element, circuit board, limiting cover, first sensing element and second sensing element provided in another embodiment of the present disclosure, wherein the probe head is in the extended state;

[0044] Figure 5 is a schematic diagram of the structure of the probe head, the limiting cover, the detection end of the detection element and the support element provided in another embodiment of the present disclosure, wherein the probe head is in the extended state;

[0045] Figure 6 is a structural schematic diagram of the enclosure, upright plate and opening wall provided in another embodiment of the present disclosure;

[0046] Figure 7 is a schematic diagram of the structure of the opening wall, probe, transmission mechanism, upright plate, limiting cover and cover plate provided in another embodiment of this disclosure, wherein the probe is in a retracted state;

[0047] Figure 8 is a schematic diagram of the structure of the probe head, transmission mechanism, detection end of the detection element, circuit board, limiting cover, first sensing element and second sensing element provided in another embodiment of the present disclosure, wherein the probe head is in a retracted state;

[0048] Figure 9 is a flowchart illustrating a foreign object detection method according to another embodiment of this disclosure.

[0049] Explanation of reference numerals in the attached drawings: 100, Cleaning equipment; 1, Housing; 1a, Receiving space; 1b, Opening wall; 1b1, Extrusion column; 1c, Opening; 2, Probe head; 3, Telescopic device; 31, Transmission mechanism; 311, First connecting rod; 3111, Sensing end; 3112, Hinge end; 312, Second connecting rod; 313, Third connecting rod; 314, Fourth connecting rod; 3141, Rod body; 3142, Support seat; 3142a, Guide hole; 315, Motor; 32, Moving component; 32a, Slide groove; 321, Support member; 321a, Guide column; 3211. 3211a, receiving cavity; 3211b, loading / unloading port; 3212, extrusion plate; 3212a, mounting port; 3212b, connecting port; 322, elastic element; 33, enclosure; 33a, telescopic cavity; 33a1, slider; 33b, telescopic port; 33c, clearance port; 4, detection end; 5, limiting cover; 6, upright plate; 6a, storage space; 6b, storage port; 6c, notch; 61, first limiting element; 62, second limiting element; 7, first sensing element; 8, second sensing element; 9, circuit board; 10, cover plate; A, sensing groove. Detailed Implementation

[0050] It should be noted that, unless otherwise specified, the embodiments and technical features in the embodiments of this disclosure can be combined with each other, and the detailed descriptions in the specific embodiments should be understood as explanations of the purpose of this disclosure and should not be regarded as undue limitations on this disclosure.

[0051] The present disclosure will now be described in further detail with reference to the accompanying drawings and specific embodiments. The terms "first," "second," etc., used in the embodiments of this disclosure are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly including at least one feature. In the description of the embodiments of this disclosure, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0052] This disclosure provides a cleaning device 100, as shown in Figures 1 to 8. The cleaning device 100 includes a housing 1, a probe 2, a telescopic device 3, and a detection element. The sidewall of the housing 1 along a first direction is an open wall 1b, with an opening 1c communicating with the interior of the housing 1. The probe 2 is used to detect the surrounding environment and has an extended state (extending out of the opening 1c) and a retracted state (retracting from the opening 1c). The telescopic device 3 is disposed within the housing 1 and includes a transmission mechanism 31 and a movable component 32. The movable component 32 is movably disposed on the transmission mechanism 31 along the first direction. The probe 2 is disposed on the movable component 32. The transmission mechanism 31 can drive the movable component 32 to move along the first direction, allowing the probe 2 to switch between the extended and retracted states. The detection end 4 of the detection element is disposed between the open wall 1b and the movable component 32.

[0053] The cleaning device 100 provided in this disclosure protects the telescopic device 3 and the detection element to a certain extent and extends their service life by housing them within the housing 1. By mounting the probe 2 on the movable component 32, which is movably connected to the transmission mechanism 31 along a first direction, the transmission mechanism 31 can drive the movable component 32 to move along the first direction, switching the probe 2 between an extended and retracted state. This allows the probe 2 to retract into the housing 1 when not in use or when avoiding objects, thus improving protection for the probe 2. By positioning the detection end 4 of the detection element between the opening wall 1b and the movable component 32, when the transmission mechanism 31 drives the movable component 32 to extend the probe head 2 out of the opening 1c, the detection end 4 of the detection element can detect the area between the opening wall 1b and the movable component 32, on the side of the probe head 2 away from the housing 1 along the first direction. This ensures that the probe head 2 can smoothly extend out of the opening 1c for detection. If there are foreign objects in the area between the opening wall 1b and the telescopic device 3 inside the housing 1 and / or obstacles on the side of the probe head 2 away from the housing 1 along the first direction, the user can be notified to handle the situation promptly upon successful detection. The movable component 32 is movably mounted on the transmission mechanism 31 along the first direction, which can gently push the probe head 2 to move and reduce the impact of obstacles on the probe head 2, thereby reducing damage.

[0054] In one exemplary embodiment, the housing 1 has a receiving space 1a, and the telescopic device 3 and the detection element are both disposed in the receiving space 1a.

[0055] For example, in one embodiment, the cleaning device includes a cleaning component, which is at least partially located in the receiving space 1a. The cleaning component is used to clean the outside environment. The portion of the cleaning component located outside the receiving space 1a can clean the ground to be cleaned based on the detection data of the probe 2, which can improve cleaning efficiency.

[0056] In one exemplary embodiment, the detection device may issue an alarm signal upon detecting a foreign object to remind the user to clean it up promptly. The alarm signal may be sound and / or light.

[0057] For example, in one embodiment, the cleaning device 100 may be a robotic vacuum cleaner.

[0058] In one embodiment, for example, the foreign object may be hair, gravel, or paper scraps.

[0059] For example, in one embodiment, the first direction may be the top-bottom direction.

[0060] It should be noted that "top" refers to the direction of the ceiling, while "bottom" is the opposite direction.

[0061] For example, in one embodiment, R1 in FIG2 can be the top-bottom direction.

[0062] For example, in one embodiment, the shape of the housing 1 is not limited. For instance, the projected shape of the housing 1 along the top-bottom direction can be circular.

[0063] It should be noted that when the cleaning device 100 enters a narrow space, the probe 2 extends out of the opening. If there is an obstacle on the top of the probe 2, the probe 2 will not be able to extend, which will cause the space between the opening wall 1b and the movable component 32 in the receiving space 1a to change. At this time, it can be detected by the detection end 4 of the detection element.

[0064] For example, in one embodiment, the probe head 2 can be the part of the lidar that emits a laser beam and receives reflected signals. Here, when the movable component 32 is driven by the transmission mechanism 31 to move the probe head 2 out of the receiving space 1a from the opening 1c, the lidar can perceive the surrounding environment and acquire a three-dimensional model of the surrounding environment. Then, the cleaning device 100 can draw a map based on the acquired three-dimensional model data and plan the optimal cleaning path according to the map to improve the cleaning ability and cleaning efficiency of the cleaning device 100.

[0065] It should be noted that the probe head 2 has a window that can emit rays and receive reflected signals. The extended state means that the window can extend out of the accommodating space 1a through the opening 1c to detect the surrounding environment.

[0066] In one embodiment, a detection end 4 is provided on the inner surface of the opening wall 1b and / or the surface of the movable component 32 facing the opening wall 1b.

[0067] For example, the inner surface of the opening wall 1b refers to the surface facing the receiving space 1a. The inner surface of the opening wall 1b may be provided with a detection end 4, or the surface of the movable component 32 facing the opening wall 1b may be provided with a detection end 4, or both the inner surface of the opening wall 1b and the surface of the movable component 32 facing the opening wall 1b may be provided with a detection end 4.

[0068] In one embodiment, referring to Figures 4 to 6, when the probe head 2 is in the extended state, the movable component 32 abuts against the opening wall 1b and presses against the detection end 4 to generate a positioning signal at the detection end 4. The detection element is configured to determine whether the movable component 32 is offset based on the number of positioning signals.

[0069] For example, the detection element can be a pressure sensor. Thus, when the probe head 2 is in the extended state, if the movable component 32 abuts against the opening wall 1b, the opening wall 1b or the movable component 32 will press against the detection end 4 and generate a positioning signal. The detection element can determine that no foreign object is present based on this positioning signal. If the movable component 32 does not abut against the opening wall 1b, the opening wall 1b or the movable component 32 cannot press against the detection end 4 to generate a positioning signal. Based on this situation, the detection element can determine that the movable component 32 may have shifted due to the presence of a foreign object, and in this case, the detection element can issue an alarm signal. This reduces damage to the cleaning equipment 100 caused by foreign objects and extends the service life of the cleaning equipment 100.

[0070] In one embodiment, the inner surface of the opening wall 1b and / or the surface of the movable component 32 near the opening wall 1b are provided with detection ends 4 at intervals. The detection ends 4 detect the distance between the movable component 32 and the opening wall 1b, and the detection element determines whether the movable component 32 is offset based on the distance.

[0071] For example, a detection end 4 can be provided on the inner surface of the opening wall 1b, or a detection end 4 can be provided on the wall surface of the movable component 32 near the opening wall 1b, or both the surface of the opening wall 1b near the movable component 32 and the wall surface of the movable component 32 near the opening wall 1b can be provided with detection ends 4. The detection element can be a distance sensor used to measure the distance between the movable component 32 and the opening wall 1b along the first direction. The detection element can determine whether the movable component 32 is offset based on the distance, so that timely processing can be performed.

[0072] In one embodiment, there are multiple detection ends 4, which are spaced apart circumferentially.

[0073] For example, please refer to Figures 4 to 6. There can be four detection ends 4, and the four detection ends 4 can be set at 90° intervals. This can improve the reliability and accuracy of foreign object detection.

[0074] For example, in one embodiment, there can be two detection ends 4, which can be arranged diagonally.

[0075] For example, in one embodiment, there can be three detection ends 4, which can be located at the three corners of the active component 32.

[0076] In one embodiment, referring to Figures 1, 2, 3, 6 and 7, the telescopic device 3 further includes a housing 33 disposed within the housing 1. The housing 33 has a telescopic opening 33b communicating with its interior. The telescopic opening 33b communicates with the opening 1c. The movable component 32 is slidably disposed within the housing 33 along a first direction. A portion of the transmission mechanism 31 is disposed within the housing 33 for connection with the movable component 32.

[0077] Here, by providing a casing 33, the movable component 32 and the probe 2 located within the casing 33 can be protected, thereby further improving their service life. By providing a telescopic opening 33b that communicates with the opening 1c, the probe 2 can enter and exit the opening 1c through the telescopic opening 33b. The movable component 32 is slidably disposed within the casing 33 along the first direction, which can improve the movement accuracy of the movable component 32 and ensure that the probe 2 can stably extend out of or retract into the opening 1c.

[0078] In one exemplary embodiment, a telescopic cavity 33a is formed inside the casing 33, and a telescopic opening 33b communicates with the telescopic cavity 33a. A portion of the transmission mechanism 31 is disposed inside the telescopic cavity 33a.

[0079] In one embodiment, for example, the shape of the enclosure 33 is not limited; specifically, the projected shape of the enclosure 33 along the first direction is adapted to the projected shape of the movable component 32.

[0080] In one embodiment, referring to Figures 4 to 6, a slider 33a1 is formed in one of the inner wall of the housing 33 and the movable component 32, and a groove 32a is formed in the other of the inner wall of the housing 33 and the movable component 32. The slider 33a1 and the groove 32a slide together in a first direction.

[0081] For example, the cavity wall of the telescopic cavity 33a can be formed with a slider 33a1 extending along the first direction, and a groove 32a can be formed on the periphery of the movable component 32, which slides in cooperation with the slider 33a1. In this way, on the one hand, the groove 32a can provide a smooth and accurate movement path, and the slider 33a1 can slide easily within the groove 32a, making the entire movement process more precise and controllable; on the other hand, the groove 32a can provide additional support and stability, preventing the slider 33a1 from shaking or sliding unstably during movement, thus ensuring good movement stability.

[0082] In one embodiment, referring to Figures 1, 2, 3, 5, 7 and 8, the cleaning device 100 includes a limiting cover 5, which is disposed at the end of the probe head 2 away from the active component 32 along a first direction, and the projection area of ​​the opening 1c along the first direction is located within the projection area of ​​the limiting cover 5.

[0083] For example, the limiting cover 5 can be disposed on the end face of the probe head 2 away from the movable component 32 along the first direction. Here, when the transmission mechanism 31 drives the movable component 32 to retract the probe head 2 into the receiving space 1a, the limiting cover 5 can be disposed on the opening 1c. In this way, after the probe head 2 retracts into the receiving space 1a, the limiting cover 5 can reduce the entry of dust and other foreign objects into the receiving space 1a from the opening 1c, thereby improving the protection of the parts located in the receiving space 1a and extending the service life of the parts.

[0084] In one embodiment, referring to Figures 4 and 8, the transmission mechanism 31 includes a first link 311, a second link 312, a third link 313, a fourth link 314, and a motor 315. The motor 315 has an output shaft connected to the first link 311. One end of the second link 312 is hinged to the first link 311, and the other end of the second link 312 is hinged to one end of the third link 313 and one end of the fourth link 314, respectively. The other end of the third link 313 is hinged to the side of the housing 1 away from the opening 1c, and the other end of the fourth link 314 is connected to the movable component 32. The axial direction of the output shaft is perpendicular to the first direction.

[0085] For example, the motor 315 can be disposed outside the telescopic cavity 33a. The housing 33 has a clearance opening 33c communicating with the telescopic cavity 33a. A pivot hole is formed in the middle of the first connecting rod 311 along its length direction, and the output shaft is inserted into the pivot hole to transmit torque. The third connecting rod 313 and the fourth connecting rod 314 can be disposed in the telescopic cavity 33a. One end of the second connecting rod 312 along its length direction is hinged to one end of the third connecting rod 313 and one end of the fourth connecting rod 314, respectively. The other end of the second connecting rod 312 passes through the clearance opening 33c and is hinged to one end of the first connecting rod 311 along its length direction. The other end of the third connecting rod 313 along its length direction is hinged to the wall surface of the housing 1 on the side away from the opening 1c along the first direction. The other end of the fourth connecting rod 314 along its length direction is connected to the movable component 32. In other words, the connection point between the fourth link 314 and the movable component 32 and the hinge point between the third link 313 and the housing 1 are spaced apart along the first direction, while the hinge points between the second link 312 and the third link 313 and the second link 312 and the fourth link 314 are all located between the hinge point between the third link 313 and the protrusion and the hinge point between the fourth link 314 and the housing 1.

[0086] Thus, since the first connecting rod 311 is connected to the output shaft and is essentially fixed, and one end of the third connecting rod 313 is hinged to the housing 1, it is also essentially fixed, and the second connecting rod 312 is hinged to both the first connecting rod 311 and the third connecting rod 313, the first connecting rod 311, the second connecting rod 312, and the third connecting rod 313 essentially form a four-bar linkage. When the motor 315 drives the first connecting rod 311 to rotate through its output shaft, that is, when the first connecting rod 311 is at this time, it acts like a crank. The third link 313 is driven by the second link 312 to swing around its hinge point with the housing 1, acting as a rocker arm. One end of the fourth link 314 is hinged to the hinge point between the second link 312 and the third link 313, and the other end is connected to the movable component 32. Thus, the swinging motion of the third link 313 is converted into the fourth link 314 pushing the movable component 32 to move along the first direction, thereby causing the probe head 2 to extend or retract from the opening 1c. In this way, the extension and retraction of the probe head 2 are achieved through a linkage structure, resulting in a compact structure and relatively smooth transmission.

[0087] For example, in one embodiment, the second direction can be the front-back direction.

[0088] For example, R2 in Figure 2 can be the second direction.

[0089] In one exemplary embodiment, referring to Figures 4 and 8, the fourth link 314 includes a rod body 3141 and a support seat 3142. One end of the rod body 3141 is hinged to the hinge point of the second link 312 and the third link 313, and the other end of the rod body 3141 is hinged to the support seat 3142. The movable component 32 is movably disposed on the support seat 3142 along a first direction.

[0090] For example, in one embodiment, when the output shaft rotates clockwise, the probe 2 can extend out of the receiving space 1a through the opening 1c; when the output shaft rotates counterclockwise, the probe 2 can retract into the receiving space 1a through the opening 1c.

[0091] For example, in one embodiment, the opening direction of the clearance opening 33c can be a third direction, and the third direction, the second direction, and the first direction are perpendicular to each other. In Figure 2, R3 can be a third direction.

[0092] For example, in one embodiment, the third direction can be the left or right direction.

[0093] In one embodiment, referring to Figures 1, 2, 3 and 7, the cleaning device 100 further includes a vertical plate 6 located within the housing 1. The vertical plate 6 is provided with a second sensor 8. The end of the first connecting rod 311 away from its hinge end 3112 is the sensing end 3111. The sensing end 3111 can move to the second sensor 8 under the drive of the motor 315 and generate a retraction arrival signal. The motor 315 is configured to stop working based on the retraction arrival signal.

[0094] For example, one end of the upright plate 6 can be disposed on the surface of the enclosure 33 near the clearance opening 33c, and the other end of the upright plate 6 can extend away from the enclosure 33 along a third direction. The base of the motor 315 can be disposed at one end of the upright plate 6 along the second direction, and the output shaft of the motor 315 passes through the upright plate 6 and is drivenly connected to the first connecting rod 311. A circuit board 9 can be disposed at the end of the upright plate 6 away from the base of the motor 315 along the second direction. The second sensor 8 can be electrically connected to the circuit board 9, and the motor 315 is electrically connected to the circuit board 9. The end of the first connecting rod 311 away from its hinge end 3112 is the sensing end 3111. Driven by the motor 315, the sensing end 3111 can move to the second sensor 8. When the sensing end 3111 moves to the second sensor 8, a retraction arrival signal is generated, which means that the probe 2 is in a retracted state. At this time, the motor 315 can stop working based on the retraction arrival signal. In this way, the situation where the probe 2 is not fully extended or retracted can be reduced, and the degree of automation is high. When the probe head 2 extends out of the opening, the detection end 4 of the detection element can be used for judgment and detection. At this time, the motor 315 can stop working based on the signal emitted by the detection end 4 of the detection element, reducing the circuit layout and cost.

[0095] In one embodiment, the upright plate 6 is provided with a first sensing element 7, and the sensing end 3111 can move to the first sensing element 7 under the drive of the motor 315 and generate an extension arrival signal. The motor 315 is configured to stop working based on the extension arrival signal.

[0096] For example, the first sensor 7 can be electrically connected to the circuit board 9. Driven by the motor 315, the sensing end 3111 can move to the first sensor 7. When the sensing end 3111 moves to the first sensor 7, an extension arrival signal is generated, indicating that the probe head 2 is in the extended state. At this time, the motor 315 can stop working based on the extension arrival signal. In this way, it can cooperate with the detection end 4 of the detection element, resulting in better working stability.

[0097] In one exemplary embodiment, referring to Figures 1, 2, 3, and 7, the cleaning device 100 includes a cover plate 10. A portion of the edge of the upright plate 6 extends along a second direction away from the motor 315 to form a storage space 6a, a storage opening 6b, and a notch 6c. The circuit board 9, the first sensor 7, the second sensor 8, and the portion of the first connecting rod 311 with the sensing end 3111 are all located within the storage space 6a. The hinge end 3112 of the first connecting rod 311 passes through the notch 6c and is hinged to the second connecting rod 312. The cover plate 10 covers the storage opening 6b.

[0098] In this way, by setting a storage space 6a and a storage opening 6b on the upright plate 6, and covering the storage with a cover plate 10, the parts located in the storage space 6a can be protected, so as to reduce the impact of dust and other foreign objects entering the storage space 6a on the function of the parts.

[0099] In one embodiment, please refer to FIG3, the upright plate 6 is also provided with a first limiting member 61 and a second limiting member 62. The first limiting member 61 and the second limiting member 62 are respectively provided on the rotation path of the hinge end 3112 of the first connecting rod 311. The first sensing member 7 and the second sensing member 8 both have sensing grooves A.

[0100] For example, the first link 311 has an extended limit position where the probe 2 extends to its limit and a retracted limit position where it retracts to its limit in its rotational direction. The first limiting member 61 and the second limiting member 62 are respectively provided at the extended limit position and the retracted limit position. The first limiting member 61 can block the first link 311 when it rotates to the extended limit position, and the second limiting member 62 can block the first link 311 when it rotates to the retracted limit position.

[0101] In this way, by setting the first limiting member 61 and the second limiting member 62, the situation of structural interference between the first link 311 and the second link 312 caused by excessive rotation of the first link 311 and the situation of the probe 2 not extending or retracting properly can be reduced, resulting in good working stability.

[0102] With the probe head 2 in the extended state, the sensing end 3111 rotates into the sensing groove A of the first sensing element 7, and the hinge end 3112 of the first connecting rod 311 approaches the first limiting element 61.

[0103] In other words, when the sensing end 3111 rotates into the sensing groove A of the first sensing element 7, the first sensing element 7 generates an extension arrival signal, the motor 315 stops working based on the extension arrival signal, and the hinge end 3112 of the first link 311 moves closer to the first limiting member 61 to reduce the occurrence of collision between the first link 311 and the first limiting member 61.

[0104] When the probe head 2 is in the retracted state, the sensing end 3111 moves into the sensing groove A of the second sensing element 8, and the hinge end 3112 of the first connecting rod 311 approaches the second limiting element 62.

[0105] In other words, when the sensing end 3111 rotates into the sensing groove A of the second sensing element 8, the second sensing element 8 generates a retraction arrival signal, and the motor 315 stops working based on the retraction arrival signal. The hinge end 3112 of the first link 311 moves closer to the second limiting member 62 to reduce the possibility of the first link 311 colliding with the second limiting member 62.

[0106] In one embodiment, referring to Figures 4 and 8, the movable component 32 includes a support member 321 and an elastic member 322. The probe head 2 is disposed on the support member 321, the detection end 4 is disposed between the opening wall 1b and the support member 321, and the elastic member 322 is disposed between the transmission mechanism 31 and the support member 321. The transmission mechanism 31 and the elastic member 322 work together to make the support member 321 drive the probe head 2 to switch between an extended state and a retracted state.

[0107] For example, the elastic element 322 can be disposed between the bearing seat 3142 and the support member 321 along the first direction, the probe head 2 can be disposed on the end face of the support member 321 away from the bearing platform along the first direction, and the detection end 4 is disposed between the surface of the opening wall 1b close to the support member 321 along the first direction and the end face of the support member 321 away from the bearing platform along the first direction.

[0108] In this way, the transmission mechanism 31 can flexibly move the support member 321 along the first direction through the elastic element 322. That is, the transmission mechanism 31 can drive the support member 321 to move along the first direction for a first stroke, and then drive the support member 321 to move along the second stroke through the elastic element 322. For example, when the transmission mechanism 31 drives the movable component 32 to extend the probe head 2 out of the opening 1c, after the transmission mechanism 31 stops moving, the elastic element 322 can provide the support member 321 with an elastic force along the first direction towards the opening wall 1b to resist it, reducing the possibility of the support member 321 moving towards the transmission mechanism 31 along the first direction. This can improve the detection reliability and accuracy of the detection device. In some embodiments, when the transmission mechanism 31 drives the movable component 32 to retract the probe head 2 into the opening 1c, the elastic element 322 can provide a buffer to avoid direct collision between the support member 321 and the transmission mechanism 31, thereby improving the service life of both.

[0109] In one embodiment, for example, the elastic element 322 may be a spring.

[0110] In one embodiment, please refer to Figures 4 and 8. One of the transmission mechanism 31 and the support member 321 is provided with a guide post 321a, and the other of the transmission mechanism 31 and the support member 321 is provided with a guide hole 3142a. The guide post 321a is movably inserted into the guide hole 3142a, and the elastic member 322 is sleeved on the guide post 321a.

[0111] For example, the support member 321 has a guide post 321a formed on the end face away from the probe head 2 along the first direction. The guide post 321a extends along the first direction. The support platform can have a guide hole 3142a. The guide post 321a is movably inserted into the guide hole 3142a. The elastic member 322 can be sleeved on the outer periphery of the guide post 321a.

[0112] In this way, the elastic element 322 can be compressed and extended along the guiding direction of the guide post 321a to ensure that the elastic force provided by the elastic element 322 can directionally support the support element 321.

[0113] In one exemplary embodiment, referring to Figures 4, 5, and 8, the support member 321 includes a guide seat 3211 and a pressing plate 3212. The guide seat 3211 forms a receiving cavity 3211a and a pick-and-place port 3211b communicating with the receiving cavity 3211a. The pressing plate 3212 covers the pick-and-place port 3211b and forms a mounting port 3212a extending along a first direction. A portion of the probe head passes through the mounting port 3212a and is disposed in the receiving cavity 3211a. The outer peripheral side of the guide seat 3211 may form a groove 32a to slide in cooperation with the slider 33a1. The end face of the guide seat 3211 away from the probe head 2 along the first direction may... A guide post 321a is formed, which moves in conjunction with a guide hole 3142a. The detection element can be set on the cavity wall of the receiving cavity 3211a. A connecting port 3212b extending through the first direction is formed on the peripheral edge of the extrusion plate 3212. An extrusion post 1b1 is formed on the side of the opening wall 1b facing the support member 321 in one direction. Thus, when the probe head 2 extends out of the opening 1c, the extrusion plate 3212 contacts and extrudes the opening wall 1b. The extrusion post 1b1 on the extrusion plate 3212 can extrude the detection end 4 through the connecting port 3212b to determine whether there are foreign objects between the extrusion plate 3212 and the opening wall 1b that cause the extrusion plate 3212 to shift.

[0114] Another aspect of this disclosure provides a foreign object detection method, including the cleaning device 100 in any of the above embodiments. Referring to FIG9, the foreign object detection method includes:

[0115] S1. Extension step: The transmission mechanism drives the movable component to switch the probe head from the retracted state to the extended state;

[0116] S2, Detection step, wherein the detection element detects the movement state of the movable component relative to the opening wall;

[0117] S3. Judgment step: The detection component determines whether the active component has shifted based on the movement state.

[0118] For example, the transmission mechanism 31 can drive the probe head 2 from a retracted state to an extended state via the movable component 32. The detection element can detect the movement state of the movable component 32 relative to the opening wall 1b and determine whether the movable component 32 has shifted based on this movement state. If shift occurs, it indicates that there is a foreign object between the opening wall 1b and the movable component 32. If there is no shift, the cleaning device 100 continues to operate. This allows the user to handle the situation promptly, reducing damage to the cleaning device 100.

[0119] In one embodiment, a plurality of detection ends 4 are provided between the opening wall 1b and the probe head 2 at intervals. When the probe head 2 is in the extended state, the movable component 32 can abut against the opening wall 1b and press the detection ends 4 to generate a positioning signal.

[0120] For example, four detection ends 4 can be spaced apart between the opening wall 1b and the probe head 2. When the probe head 2 is in the extended state, the movable component 32 can come into contact with the opening wall 1b. If the movable component 32 or the opening wall 1b can press the detection ends 4 to generate a positioning signal, it indicates that there are no foreign objects between the opening wall 1b and the movable component 32.

[0121] The judgment step specifically includes:

[0122] S31. The detection element determines whether the active component has shifted based on the number of the positioning signals;

[0123] S32. If the number of positioning signals is the same as the total number of detection terminals, then it is determined that the active component 32 has not shifted; if the number of positioning signals is less than the total number of detection terminals, then it is determined that the active component has shifted.

[0124] Here, taking four detection terminals 4 as an example, if four positioning signals are detected, it indicates that there are no foreign objects between the opening wall 1b and the movable component 32; if fewer than four positioning signals are detected, it indicates that the presence of foreign objects in certain areas between the opening wall 1b and the movable component 32 prevents the corresponding portion of the opening wall 1b from contacting and pressing against the corresponding movable component 32, thus preventing the movable component 32 or the opening wall 1b from pressing against the detection terminal 4. In this way, the space between the opening wall 1b and the movable component 32 can be detected more comprehensively through multiple detection terminals 4.

[0125] In one embodiment, a plurality of detection ends 4 are provided between the opening wall 1b and the movable component 32, and the plurality of detection ends 4 detect the various distances between the movable component 32 and the opening wall 1b. For example, four detection ends 4 may be provided at intervals between the opening wall 1b and the movable component 32, and each detection end 4 can measure the distance between the movable component 32 and the opening wall 1b at the setting position.

[0126] The judgment step specifically includes:

[0127] S31' The detection element determines whether the active component is offset based on the difference between each of the spacings.

[0128] S32' If the difference is not greater than the preset difference, it is determined that the active component has not shifted; if the difference is greater than the preset difference, it is determined that the active component has shifted.

[0129] Here, if the difference between each spacing is less than or equal to a preset difference, it indicates that the spacing between the opening wall 1b and the movable component 32 is basically the same, and there are no foreign objects between the opening wall 1b and the movable component 32. If the difference between each spacing is greater than the preset difference, it indicates that the presence of foreign objects in certain areas between the opening wall 1b and the movable component 32 has caused a change in the spacing between the corresponding part of the opening wall 1b and the corresponding movable component 32. In this way, the space between the opening wall 1b and the movable component 32 can be detected more comprehensively through multiple detection terminals 4.

[0130] The above description is merely a preferred embodiment of this disclosure and is not intended to limit the scope of this disclosure. Various modifications and variations can be made to this disclosure by those skilled in the art. All modifications, equivalent substitutions, improvements, etc., within the spirit and principles of this disclosure are included within the scope of protection of this disclosure.

Claims

1. A cleaning device, comprising: The housing has a sidewall along a first direction that is an open wall, and the open wall has an opening that communicates with the interior of the housing; A probe is used to detect the surrounding environment. The probe has an extended state that extends out of the opening and a retracted state that retracts into the opening. A telescopic device is disposed within the housing. The telescopic device includes a transmission mechanism and a movable component. The movable component is movably disposed on the transmission mechanism along the first direction. The probe head is disposed on the movable component. The transmission mechanism can drive the movable component to move along the first direction, so that the probe head switches between the extended state and the retracted state. The detection element has its detection end located between the opening wall and the movable component.

2. The cleaning apparatus of claim 1, wherein, The detection end is provided on the inner surface of the opening wall and / or on the surface of the movable component facing the opening wall; When the probe is in the extended state, the movable component abuts against the opening wall and presses against the detection end to generate a positioning signal. The detection element is configured to determine whether the movable component has shifted based on the number of positioning signals.

3. The cleaning apparatus of claim 1, wherein, The inner surface of the opening wall and / or the surface of the movable component near the opening wall are provided with the detection end at intervals. The detection end detects the distance between the movable component and the opening wall, and the detection element determines whether the movable component is offset based on the distance.

4. The cleaning apparatus of any one of claims 1 to 3, wherein, The detection end is multiple, and the multiple detection ends are arranged at intervals along the circumference.

5. The cleaning apparatus of any one of claims 1 to 3, wherein, The telescopic device further includes a housing disposed within the housing, the housing having a telescopic opening communicating with its interior, the telescopic opening communicating with the opening, the movable component being slidably disposed within the housing along the first direction, and a portion of the transmission mechanism being disposed within the housing for connection with the movable component.

6. The cleaning apparatus of claim 5, wherein, A slider is formed on the inner wall of the enclosure and one of the movable components, and a groove is formed on the inner wall of the enclosure and the other of the movable components. The slider and the groove cooperate to slide along the first direction.

7. The cleaning apparatus of any one of claims 1 to 3, wherein, The transmission mechanism includes a first link, a second link, a third link, a fourth link, and a motor. The motor has an output shaft connected to the first link. One end of the second link is hinged to the first link, and the other end of the second link is hinged to one end of the third link and one end of the fourth link, respectively. The other end of the third link is hinged to the side of the housing away from the opening, and the other end of the fourth link is connected to the movable component. The axial direction of the output shaft is perpendicular to the first direction.

8. The cleaning apparatus of claim 7, wherein, The cleaning device also includes a vertical plate located inside the housing. The vertical plate is provided with a second sensor. The end of the first connecting rod away from its hinge end is the sensing end. The sensing end can move to the second sensor under the drive of the motor and generate a retraction arrival signal. The motor causes the device to stop working based on the retraction arrival signal.

9. The cleaning apparatus of claim 8, wherein, The upright plate is provided with a first sensing element. The sensing end can move to the first sensing element under the drive of the motor and generate an extension arrival signal. The motor causes the operation to stop based on the extension arrival signal.

10. The cleaning apparatus of claim 9, wherein, The upright plate is also provided with a first limiting member and a second limiting member. The first limiting member and the second limiting member are respectively provided on the rotation path of the hinge end of the first connecting rod. The first sensing member and the second sensing member both have sensing grooves. When the probe is in the extended state, the sensing end rotates into the sensing groove of the first sensing element, and the hinge end of the first connecting rod approaches the first limiting element. When the probe is in the retracted state, the sensing end rotates into the sensing groove of the second sensing element, and the hinge end of the first connecting rod approaches the second limiting element.

11. The cleaning apparatus of any one of claims 1 to 3, wherein, The cleaning device includes a limiting cover, which is disposed at one end of the probe head away from the movable component along the first direction, and the projection area of ​​the opening along the first direction is located within the projection area of ​​the limiting cover.

12. The cleaning apparatus of claim 1, wherein, The movable component includes a support member and an elastic member. The probe head is disposed on the support member, the detection end is disposed between the opening wall and the support member, and the elastic member is disposed between the transmission mechanism and the support member. The transmission mechanism and the elastic member work together to cause the support member to drive the probe head to switch between the extended state and the retracted state.

13. The cleaning apparatus of claim 12, wherein, One of the transmission mechanism and the support member has a guide post, and the other of the transmission mechanism and the support member has a guide hole. The guide post is movably inserted into the guide hole, and the elastic member is sleeved on the guide post.

14. A foreign object detection method, performed by the cleaning equipment according to any one of claims 1 to 13, the foreign object detection method comprising: In the extension step, the transmission mechanism drives the movable component to switch the probe head from the retracted state to the extended state; The detection step involves the detection element detecting the movement state of the movable component relative to the opening wall; In the judgment step, the detection component determines whether the active component has shifted based on the movement state.

15. The foreign object detection method of claim 14, wherein, Multiple detection ends are provided between the opening wall and the probe head at intervals. When the probe head is in the extended state, the movable component can abut against the opening wall and press the detection ends to generate a positioning signal. The judgment step specifically includes: The detection element determines whether the active component has shifted based on the number of the positioning signals; If the number of positioning signals is equal to the total number of all detection terminals, then the active component is determined to be not offset; if the number of positioning signals is less than the total number of all detection terminals, then the active component is determined to be offset.

16. The foreign object detection method of claim 14, wherein, Multiple detection ends are provided between the opening wall and the movable component, and the multiple detection ends detect the distances between the movable component and the opening wall; The judgment step specifically includes: The detection element determines whether the active component is offset based on the difference between the various spacings. If the difference values are all not greater than the preset difference value, it is judged that the active component is not deviated, and if the difference values are greater than the preset difference value, it is judged that the active component is deviated.

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