Collision detection module, cleaning device and cleaning system

Abstract

A collision detection module, a cleaning device and a cleaning system, relating to the technical field of smart homes. The collision detection module comprises: a mounting frame, a detector, a collision assembly, and a reset member, wherein the detector is arranged on the mounting frame; the collision assembly is arranged on the mounting frame, the collision assembly is located at a first position relative to the mounting frame, and once the collision assembly has collided with an obstacle, the collision assembly moves relative to the first position and outputs a collision signal, thereby achieving collision detection; when the collision assembly is reset toward the first position, the reset member is connected to the collision assembly, so as to reset the collision assembly to the first position.

Description

Collision detection modules, cleaning equipment and cleaning systems Cross-references to related applications

[0001] This disclosure claims priority to China National Intellectual Property Administration application No. 202520177548.7 filed on January 27, 2025, entitled "Collision Detection Module, Cleaning Equipment and Cleaning System", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This disclosure relates to the field of smart home technology, and more specifically, to a collision detection module, cleaning equipment, and cleaning system. Background Technology

[0003] With the development of modern society, in order to save time and maintain household hygiene, more and more people are buying cleaning equipment to clean their homes promptly and conveniently. These cleaning devices, equipped with a degree of artificial intelligence, can automatically clean floors throughout the room.

[0004] Since users' homes typically have furniture such as sofas and tables in their rooms, there are many obstacles in the path of the cleaning equipment during automatic cleaning operations. If a collision occurs with an obstacle, a collision signal needs to be obtained in a timely manner.

[0005] Therefore, it is necessary to determine the impact point of the cleaning equipment in order to accurately control the cleaning equipment to turn or reverse and get out of trouble in time.

[0006] It should be noted that the information disclosed in the background section above is only used to enhance the understanding of the background of this disclosure, and therefore may include information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0007] The purpose of this disclosure is to provide a collision detection module, a cleaning device, and a cleaning system.

[0008] According to one aspect of this disclosure, a collision detection module is provided, the collision detection module comprising:

[0009] Mounting rack;

[0010] The detector is mounted on the mounting bracket;

[0011] A collision component is disposed on the mounting bracket, the collision component is in a first position relative to the mounting bracket, and after colliding with an obstacle, the collision component moves relative to the first position and outputs a collision signal;

[0012] A reset member, which connects to the collision component when the collision component is reset to the first position, so as to reset the collision component to the first position.

[0013] In one exemplary embodiment of this disclosure, the collision component includes:

[0014] A collision element, wherein the collision element is disposed on the mounting bracket and is in a first position relative to the mounting bracket;

[0015] The detector is activated when the collision element collides with the obstacle and moves relative to the first position.

[0016] In one exemplary embodiment of this disclosure, after colliding with an obstacle, the collision member moves relative to the first position in a first direction and / or in a second direction, the first direction intersecting the second direction.

[0017] In one exemplary embodiment of this disclosure, the collision element comes into direct contact with the detector to trigger the detector.

[0018] In one exemplary embodiment of this disclosure, the collision detection module includes a plurality of detectors, including a first detector and a second detector. When the collision element moves backward from the first position along the first direction, the collision element can simultaneously trigger the first detector and the second detector. When the collision element moves to the left from the first position, the collision element can trigger one of the first detector and the second detector. When the collision element moves to the right from the first position, the collision element can trigger the other of the first detector and the second detector.

[0019] In one exemplary embodiment of this disclosure, the collision member includes a top cover and a housing, the top cover and the housing being connected and enclosing to form a receiving space, at least a portion of the detector being located in the receiving space; the housing includes a light-transmitting portion, the light-transmitting portion being correspondingly disposed with the detector.

[0020] In one exemplary embodiment of this disclosure, the housing includes:

[0021] The movable part is capable of at least the backward movement and the left-right movement relative to the detector;

[0022] A triggering part is connected to the movable part, and the movable part can drive the triggering part to move synchronously, so as to trigger the first detector and / or the second detector through the triggering part.

[0023] In one exemplary embodiment of this disclosure, the triggering part is rotatably connected to the mounting bracket, and when the movable part moves left and right relative to the mounting bracket in the second direction, the moving direction of the movable part is opposite to that of the triggering part.

[0024] In one exemplary embodiment of this disclosure, a rotating structure is provided between the triggering part and the mounting bracket, and the movable part is rotatably connected to the mounting bracket through the rotating structure.

[0025] In an exemplary embodiment of this disclosure, the rotating structure includes a rotating protrusion and a rotating groove, one of which is disposed on the trigger portion and the other is disposed on the mounting bracket; the rotating protrusion is located in the rotating groove and is capable of moving a preset distance in the rotating groove along the first direction.

[0026] In one exemplary embodiment of this disclosure, the rotating protrusion is cylindrical.

[0027] In one exemplary embodiment of this disclosure, the mounting bracket includes a second limiting portion, the movable portion is formed with a receiving groove, and the second limiting portion is located in the receiving groove; when the collision member is in the first position, the distance between the two sides of the second limiting portion and the groove wall of the receiving groove is the same or substantially the same in the first direction and the second direction.

[0028] In one exemplary embodiment of this disclosure, the second limiting portion is cylindrical and the receiving groove is circular; when the collision member is in the first position, the distance between the outer peripheral surface of the second limiting portion and the groove wall of the receiving groove in the circumferential direction is the same or substantially the same.

[0029] In one exemplary embodiment of this disclosure, a limiting structure is provided between the movable part and the mounting bracket. The limiting structure is used to limit the movable part from moving up and down relative to the mounting bracket in a third direction, the third direction intersecting the first direction and the second direction.

[0030] In an exemplary embodiment of this disclosure, the limiting structure includes a limiting protrusion and a limiting groove, one of which is disposed on the movable part and the other is disposed on the mounting bracket; the limiting protrusion is located in the limiting groove and can move a preset distance in the limiting groove along the first direction and the second direction.

[0031] In one exemplary embodiment of this disclosure, the mounting bracket includes a second limiting portion, the movable portion is formed with a receiving groove, and the second limiting portion is located in the receiving groove;

[0032] The outer peripheral surface of the second limiting part is provided with a plurality of limiting protrusions, and the groove wall of the receiving groove is provided with a plurality of limiting grooves in the circumferential direction, with the plurality of limiting protrusions corresponding one-to-one in the plurality of limiting grooves.

[0033] In one exemplary embodiment of this disclosure, a plurality of the limiting protrusions are evenly distributed on the outer peripheral surface of the second limiting portion.

[0034] In one exemplary embodiment of this disclosure, at least one of the limiting protrusions is connected to the mounting bracket via an elastic arm.

[0035] In one exemplary embodiment of this disclosure, at least one of the limiting protrusions is directly connected to the mounting bracket.

[0036] In one exemplary embodiment of this disclosure, the reset member is located between the trigger portion and the mounting bracket.

[0037] In one exemplary embodiment of this disclosure, the reset member is a first elastic member.

[0038] In one exemplary embodiment of this disclosure, the reset element is a spring.

[0039] In one exemplary embodiment of this disclosure, at least one of the first detector and the second detector includes a detector body and a trigger key, wherein the trigger key includes an initial position and a detection position relative to the detector body;

[0040] When the collision member moves relative to the mounting bracket, the triggering part can press the trigger key to be in the detection position.

[0041] In one exemplary embodiment of this disclosure, at least one of the first detector and the second detector further includes a second elastic member, which is located between the trigger portion and the trigger key;

[0042] When the collision member moves relative to the mounting bracket, the trigger portion can squeeze the second elastic member so that the second elastic member squeezes the trigger key to be in the detection position.

[0043] In one exemplary embodiment of this disclosure, the trigger key includes multiple detection positions relative to the detector body. When the collision member moves relative to the mounting bracket, the trigger part can be positioned in different detection positions by the trigger key under different extrusion forces.

[0044] In one exemplary embodiment of this disclosure, the housing is a one-piece molded structure.

[0045] In one exemplary embodiment of this disclosure, at least one of the first detector and the second detector is snapped into the mounting bracket.

[0046] In one exemplary embodiment of this disclosure, the collision detection module further includes:

[0047] A drive assembly for driving the mounting bracket to move up and down.

[0048] According to another aspect of this disclosure, a cleaning device is provided that includes the aforementioned collision detection module.

[0049] According to another aspect of this disclosure, a cleaning system is provided, the cleaning system comprising:

[0050] The aforementioned cleaning equipment;

[0051] A base station, which is used to interface with the cleaning equipment.

[0052] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0053] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure. It is obvious that the drawings described below are merely some embodiments of this disclosure, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0054] Figure 1 is a schematic diagram of a cleaning system provided in one embodiment of the present disclosure.

[0055] Figure 2 is a schematic diagram of the LiDAR retraction on a cleaning device provided in an embodiment of this disclosure.

[0056] Figure 3 is a schematic diagram of a lidar extending from a cleaning device according to an embodiment of the present disclosure.

[0057] Figure 4 is a schematic diagram of the detector in the retracted position on a collision detection module provided in an embodiment of this disclosure.

[0058] Figure 5 is a schematic diagram of the detector in the extended position on a collision detection module provided in an embodiment of this disclosure.

[0059] Figure 6 is an exploded view of a collision detection module provided in one embodiment of this disclosure.

[0060] Figure 7 is a schematic diagram of a collision detection module provided in one embodiment of this disclosure.

[0061] Figure 8 is a schematic diagram of the collision detection module with the top cover removed according to an embodiment of the present disclosure.

[0062] Figure 9 is an exploded view of the mounting bracket, housing, detector, reset component and detector provided in one embodiment of the present disclosure.

[0063] Figure 10 is a cross-sectional schematic diagram of the mounting bracket, housing, detector, reset component and detector provided in one embodiment of the present disclosure.

[0064] Figure 11 is a schematic diagram of a collision detection module in a reset state according to an embodiment of the present disclosure.

[0065] Figure 12 is a schematic diagram of a collision detection module provided in an embodiment of the present disclosure when it is impacted on the left side of a cleaning device.

[0066] Figure 13 is a schematic diagram of a collision detection module provided in an embodiment of the present disclosure when it is impacted on the right side of a cleaning device.

[0067] Figure 14 is a schematic diagram of a collision detection module provided in an embodiment of the present disclosure when it is impacted head-on by a cleaning device.

[0068] Figure 15 is a schematic diagram of a collision component provided in one embodiment of this disclosure.

[0069] Figure 16 is a schematic diagram of a collision component provided in one embodiment of the present disclosure from another perspective.

[0070] Figure 17 is a schematic diagram of a mounting bracket provided in one embodiment of the present disclosure.

[0071] Figure 18 is a schematic diagram of another view of the mounting bracket provided in one embodiment of the present disclosure.

[0072] Figure 19 is a schematic diagram of another perspective of a collision component provided in an embodiment of this disclosure.

[0073] Figure 20 is a schematic diagram of a first detector and a second detector provided in an embodiment of this disclosure.

[0074] Figure 21 is a schematic diagram of the collision angle provided in one embodiment of this disclosure.

[0075] Figure 22 is a schematic diagram of the collision angle provided by another embodiment of this disclosure.

[0076] Figure 23 is a schematic diagram of a collision detection module provided in one embodiment of the present disclosure.

[0077] Figure 24 is a schematic diagram of a driving component driving a detector in a retracted position according to an embodiment of the present disclosure.

[0078] Figure 25 is a schematic diagram of a driving component driving a detector in an extended position according to an embodiment of the present disclosure.

[0079] Explanation of reference numerals in the attached figures:

[0080] 10. Cleaning equipment; 100. Equipment body; 20. Base station; 30. Collision detection module; 31. Mounting bracket; 311. Base part; 3111. Rotating protrusion; 3112. First positioning structure; 3113. Clamping arm; 3114. Positioning post; 312. Second limiting part; 3121. Limiting protrusion; 3122. Elastic arm; 3123. Blocking part; 32. Collision component; 321. Top cover; 3211. Cover plate; 3212. Buffer component; 322. Housing; 3221. Moving part; 32211. Receiving groove; 32212. Limiting groove; 32213. Limiting recess; 3 2214. Transparent part; 32215. First limiting part; 32216. Connecting part; 3222. Trigger part; 32221. Rotating groove; 32222. Second positioning structure; 33. Detector; 34. Detector; 341. First detector; 342. Second detector; 343. Detector body; 344. Trigger key; 345. Second elastic element; 35. Reset element; 36. Drive assembly; 361. Driver; 362. Transmission rod; 363. First rocker arm; 364. Second rocker arm; 365. Grating assembly; 371. First mounting housing; 372. Second mounting housing. Detailed Implementation

[0081] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, they are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and therefore their detailed description will be omitted.

[0082] Although relative terms such as "up" and "down" are used in this specification to describe the relative relationship of one component of an icon to another, these terms are used only for convenience, such as according to the orientation of the examples shown in the accompanying drawings. It is understood that if the device of the icon is flipped upside down, the component described as "up" will become the component described as "down." When a structure is "up" of another structure, it may mean that the structure is integrally formed on the other structure, or that the structure is "directly" mounted on the other structure, or that the structure is "indirectly" mounted on the other structure through another structure.

[0083] The terms “a,” “one,” “the,” “the,” and “at least one” are used to indicate the existence of one or more elements / components / etc.; the terms “including” and “having” are used to indicate an open-ended inclusion and to mean that there may be other elements / components / etc. in addition to the listed elements / components / etc.; the terms “first,” “second,” etc. are used only as markers and are not a limitation on the number of objects.

[0084] This disclosure provides a cleaning system, as shown in Figures 1 and 2, comprising a cleaning device 10 and a base station 20. The cleaning device 10 may be, for example, a robotic vacuum cleaner, a robotic mop, or a robotic vacuum and mop combo; the cleaning device 10 may include a device body 100, a cleaning module, a drive module, a sensing module, a control module, an energy module, and a human-machine interaction module. The base station 20 is used to dock with the cleaning device 10, allowing it to be parked. The cleaning device 10 can perform functions such as charging, self-cleaning, docking, wastewater discharge, and water replenishment on the base station 20.

[0085] In one embodiment, the device body 100 is configured to automatically move along a target direction on a travel surface, which can be the surface to be cleaned by the cleaning device 10. If the cleaning device 10 is a sweeping and mopping robot, then the cleaning device 10 operates on the ground, which is the aforementioned travel surface.

[0086] In one embodiment, a cleaning module is mounted on the device body 100 and performs cleaning operations on the travel surface as the device body 100 moves. The cleaning module may include a dry cleaning module or a combination of dry and wet cleaning modules. The dry cleaning module may include a roller brush assembly, side brushes, etc., while the wet cleaning module includes a cleaning head, a water tank, etc.

[0087] In one embodiment, the drive module includes a left drive wheel assembly and a right drive wheel assembly, which are symmetrically arranged along a transverse axis defined by the device body 100. The drive module can control both the left and right wheels simultaneously. In another embodiment, to enable the cleaning device 10 to move more stably or with greater mobility on the ground, the cleaning device 10 may further include one or more steering wheels. These steering wheels can be driven wheels or drive wheels, and their structural forms include, but are not limited to, swivel wheels. The steering wheels may be located in front of the drive wheel assembly. A drive motor provides power to the drive wheel assembly and / or the steering wheels.

[0088] In one embodiment, the sensing module includes a position determination device located above the device body 100, a buffer located on the forward portion of the device body 100, a cliff sensor and various sensing devices such as ultrasonic sensors, infrared sensors, magnetometers, accelerometers, gyroscopes, and odometers located at the bottom of the device body 100, providing the control module with various position and motion state information of the device body 100. For example, the position determination device above the device body 100 is equipped with a laser sensor. During the cleaning process, when the drive wheel assembly propels the cleaning device 10 to move on the ground, the laser sensor detects one or more objects in the travel path of the cleaning device 10. The cleaning device 10 can respond to objects detected by the buffer, such as steps, obstacles, or walls, and control the drive structure to make the cleaning device 10 move over the objects, such as steps.

[0089] In one embodiment, the control module can combine distance and speed information fed back from sensors such as buffers, cliff sensors, ultrasonic sensors, infrared sensors, magnetometers, accelerometers, gyroscopes, and odometers to comprehensively determine the current working state of the robot vacuum cleaner, such as climbing stairs, crossing thresholds, walking on carpets, being on a cliff, stuck above or below, having a full dustbin, or being picked up. It will also provide specific next action strategies for different situations, making the cleaning device 10 work more in line with the user's requirements and providing a better user experience. Furthermore, the control module can plan the most efficient and reasonable cleaning path and cleaning method based on real-time map information drawn using SLAM (Simultaneous Localization and Mapping), which can improve the cleaning efficiency of the cleaning device 10.

[0090] In one embodiment, the cleaning device 10 includes a cleaning head with a mop for mopping. The base station 20 has a cleaning trough. After completing the mopping operation, the cleaning device 10 can be placed on the cleaning trough of the base station 20, and the mop on the cleaning head can be self-cleaned by a cleaning component in the cleaning trough. The cleaning device 10 can have multiple cleaning heads, each located in a corresponding cleaning trough; that is, the number of cleaning troughs can be the same as the number of cleaning heads, allowing for simultaneous self-cleaning of multiple cleaning heads.

[0091] In one embodiment, the energy module includes a rechargeable battery, such as a nickel-metal hydride battery or a lithium battery. The rechargeable battery may be connected to a charging control circuit, a battery pack charging temperature detection circuit, and a battery undervoltage monitoring circuit. These circuits are then connected to a microcontroller control circuit. The device body 100 is connected to a charging station for charging via charging electrodes located on the side or bottom of the device.

[0092] In one embodiment, the human-machine interaction module includes buttons on the panel of the device body 100 for users to select functions; it may also include a display screen and / or indicator lights and / or a speaker, which display the current status of the machine or the function selection options to the user; and it may also include a mobile client application. For the path navigation type cleaning device 10, the mobile client can display a map of the environment where the device is located, as well as the location of the machine, and can provide users with richer and more user-friendly functions.

[0093] As shown in Figures 2 to 4, when the cleaning device 10 is not in operation, the laser sensor above the device body 100 can be retracted into the device body 100 under the drive of the drive component, thus hiding the collision detection module 30 and preventing sewage, oil, dust, and other debris from affecting the performance and lifespan of the laser sensor. When the cleaning device 10 is in operation, the laser sensor above the device body 100 can extend above the device body 100 under the drive of the drive component to detect one or more objects in the travel path of the cleaning device 10. However, because the laser sensor is at a high position when the cleaning device 10 is moving, there is a possibility of collision with obstacles in the travel path. For example, when the cleaning device 10 enters areas such as under beds, sofas, or coffee tables for cleaning, it is prone to collisions with obstacles. In this case, it is necessary to obtain collision information in time to control the cleaning device 10 to stop moving forward or control the laser sensor to lower, so as to avoid damage to the lidar. In this regard, the embodiments of the present disclosure provide a collision detection module 30, the structure of which will be described below with reference to Figures 5 to 7.

[0094] As shown in Figures 5 and 6, the collision detection module 30 includes a mounting frame 31, a detector 33, a collision component, and a reset component 35. The detector 33 is mounted on the mounting frame 31, and the collision component is also mounted on the mounting frame 31. The collision component can be in a first position relative to the mounting frame 31, which can be considered as the reset position. After colliding with an obstacle, the collision component moves relative to the mounting frame 31 and the reset position, and outputs a collision signal during the movement. The collision signal is used to determine whether the collision detection module 30 has collided with the obstacle. The reset component 35 connects to the collision component when the collision component resets to the reset position, thereby resetting the collision component to the reset position. Thus, the reset component 35 enables the collision detection module 30 to perform collision detection on multiple obstacles in the travel path of the cleaning equipment 10.

[0095] In one embodiment, as shown in Figures 5 and 6, the collision assembly includes a collision element 32 and a detector 34. The collision element 32 is disposed on and movably connected to the mounting frame 31. The collision element 32 can be in a first position relative to the mounting frame 31, that is, the collision element 32 is in a reset position relative to the mounting frame 31 in a free state. The detector 34 is disposed on the mounting frame 31 and is fixedly connected or limitedly connected to the mounting frame 31; when the collision element 32 moves relative to the reset position after colliding with an obstacle, the detector 34 can be triggered.

[0096] Specifically, after colliding with an obstacle, the collision element 32 can move backward in the first direction X and / or move left and right in the second direction Y relative to the mounting bracket 31, at least away from the reset position. The first direction X and the second direction Y intersect. When the collision element 32 moves backward in the first direction X or moves left and right in the second direction Y from the reset position, the collision element 32 can trigger the detector 34. It is understood that the backward movement of the collision element 32 in the first direction X and / or the left and right movement in the second direction Y discussed here is not limited to movement only in the first direction X or the second direction Y; when a part of the collision element 32 other than the part corresponding to the first direction X and the second direction Y collides with the obstacle, for example, when the front side of the collision element 32 collides with the obstacle, the collision element 32 will generate a component of movement in the first direction X and the second direction Y when it moves. At this time, it can be considered that the collision element 32 has moved in both the first direction X and the second direction Y.

[0097] In one embodiment, the collision detection module 30 includes a plurality of detectors 34, as shown in Figures 6 and 7. The plurality of detectors 34 include a first detector 341 and a second detector 342. When the collision member 32 moves backward from the reset position along the first direction X, the collision member 32 can simultaneously trigger the first detector 341 and the second detector 342. When the collision member 32 moves to the left from the reset position, the collision member 32 can trigger one of the first detector 341 and the second detector 342. When the collision member 32 moves to the right from the reset position, the collision member 32 can trigger the other of the first detector 341 and the second detector 342.

[0098] If both the first detector 341 and the second detector 342 are triggered simultaneously, the system determines that the cleaning device 10 has collided head-on with an obstacle in the forward direction. In this case, the drive module can be controlled to reverse and / or turn, driving the cleaning device 10 quickly away from the obstacle and escaping in time. If only one of the first detector 341 or the second detector 342 is triggered, the system determines that the cleaning device 10 has collided with an obstacle from the side while moving forward. In this case, the drive module can be controlled to reverse and / or turn, driving the cleaning device 10 quickly away from the obstacle and escaping in time, thereby improving cleaning efficiency. The collision detection module 30 will be further described in detail below with reference to Figures 6 to 13.

[0099] As shown in Figures 6 and 7, in one embodiment, the collision element 32 includes a top cover 321 and a housing 322, with the top cover 321 fixedly connected to the housing 322. The dimensions of the top cover 321 in the first direction X and the second direction Y are larger than those of the housing 322, and the outer edge of the top cover 321 protrudes beyond the housing 322. When the collision detection module 30 collides with an obstacle, the top cover 321 collides with the obstacle to prevent the detector 33 from directly colliding with the obstacle. After the top cover 321 collides with the obstacle, the force generated by the impact can be transmitted to the housing 322, triggering the detector 34 through the housing 322.

[0100] As shown in Figure 6, the top cover 321 includes a cover plate 3211 and a buffer member 3212, which are connected together to form the top cover. The buffer member 3212 can be fixedly connected to the housing 322 by a threaded connection, and the cover plate 3211 and the buffer member 3212 can be fixedly connected by, for example, adhesive bonding. In one embodiment, the buffer member 3212 can be made of rubber, and the outer edge of the buffer member 3212 protrudes from the cover plate 3211. When the collision detection module 30 collides with an obstacle, the buffer member 3212 collides with the obstacle, and the buffering effect is achieved by the rubber material of the buffer member 3212.

[0101] As shown in Figures 6 and 7, the housing 322 includes a movable part 3221 and a trigger part 3222. The movable part 3221 is movably disposed relative to the mounting bracket 31 and is fixedly connected to the top cover 321. In a free state, the movable part 3221 is in the reset position relative to the mounting bracket 31. After the top cover 321 collides with an obstacle, the movable part 3221, driven by the top cover 321, can move backward in the first direction X and left and right in the second direction Y relative to the mounting bracket 31, at least away from the reset position. The trigger part 3222 is connected to the movable part 3221, and the movable part 3221 can drive the trigger part 3222 to move synchronously, so as to trigger the first detector 341 and / or the second detector 342 through the trigger part 3222. In detail, when the cleaning device 10 collides with an obstacle during autonomous movement, if it collides with the obstacle head-on, the moving part 3221 drives the triggering part 3222 to simultaneously trigger the first detector 341 and the second detector 342; if the cleaning device 10 collides with an obstacle on the left side, the moving part 3221 drives the triggering part 3222 to trigger the first detector 341; if the cleaning device 10 collides with an obstacle on the right side, the moving part 3221 drives the triggering part 3222 to trigger the second detector 342.

[0102] In one embodiment, the collision element 32 directly contacts the detector 34 to trigger the detector 34. As shown in Figures 6 and 7, when the triggering part 3222 triggers the first detector 341 and the second detector 342, it directly contacts the first detector 341 and the second detector 342, thereby improving the reliability of triggering the first detector 341 and the second detector 342.

[0103] As shown in Figures 6 and 7, the movable part 3221 includes a transparent part 32214 and a connecting part 32216. The transparent part 32214 and the connecting part 32216 can be fixedly connected by means of plugging, bonding, snapping, etc., and the transparent part 32214 and the connecting part 32216 can also be a one-piece molded structure. The buffer member 3212 can be fixedly connected to the connecting part 32216 by a threaded part, thereby realizing the connection between the top cover 321 and the shell 322.

[0104] In one embodiment, as shown in Figures 8 and 9, the detector 33 is located in the receiving groove 32211 of the movable part 3221. When the detector 33 is a lidar, the lidar can detect obstacles on the travel path of the cleaning device 10 through the transparent part 32214. The housing 322 can be formed entirely of transparent material, or a transparent window can be formed by transparent material at the position corresponding to the lidar. In one embodiment, the portion of the active part 3221 other than the transparent part 32214 and the trigger part 3222 can be formed of a translucent or opaque material. Therefore, a two-color injection molding process can be used to form the shell 322, in which transparent and opaque materials are injection molded into the same mold. For example, a transparent material such as polymethyl methacrylate (PMMA) is used to form the transparent part 32214, while a translucent or opaque material such as polypropylene (PP) or polyethylene (PE) is used to form the portion of the shell 322 other than the transparent part 322. This results in a shell 322 with a transparent part 32214 that is injection molded, making the shell 322 with the transparent part 32214 an integrally molded structure.

[0105] As shown in Figure 10, in one embodiment, the reset member 35 is located between the triggering part 3222 and the mounting bracket 31. When the cleaning device 10 does not collide with an obstacle during autonomous movement, the reset force of the reset member 35 keeps the collision member 32 in a reset position, meaning that the triggering part 3222 does not contact or trigger the first detector 341 and the second detector 342. When the cleaning device 10 collides with an obstacle during autonomous movement, the triggering part 3222 overcomes the reset force provided by the reset member 35 and moves relative to the first detector 341 and / or the second detector 342, thereby triggering the first detector 341 and / or the second detector 342.

[0106] The reset member 35 can be a first elastic member, meaning that when the cleaning device 10 does not collide with an obstacle during autonomous movement, the collision member 32 is reset by the elastic force of the first elastic member. When the cleaning device 10 collides with an obstacle during autonomous movement, the triggering part 3222 overcomes the elastic force provided by the first elastic member to trigger the first detector 341 and / or the second detector 342.

[0107] As shown in Figure 10, the reset element 35 can be a spring. When the cleaning device 10 collides with an obstacle during autonomous movement, the triggering part 3222 compresses the spring to trigger the first detector 341 and / or the second detector 342. When the cleaning device 10 does not collide with an obstacle during autonomous movement, the triggering part 3222, under the elastic restoring force of the spring, drives the collision element 32 to the reset position. The spring has a stable structure and can provide a stable elastic restoring force, thereby enabling the collision element 32 to be stably in the reset position.

[0108] As shown in Figure 10, the mounting bracket 31 is provided with a first positioning structure 3112, and the trigger part 3222 is provided with a second positioning structure 32222. The two ends of the spring are respectively sleeved on the first positioning structure 3112 and the second positioning structure 32222 to achieve positioning assembly. The first positioning structure 3112 and the second positioning structure 32222 can be protruding structures or recessed structures, as long as they can achieve positioning assembly of the ends of the spring. This disclosure does not impose any restrictions on this.

[0109] When the spring is assembled between the trigger part 3222 of the collision member 32 and the mounting bracket 31, when the collision member 32 is in the reset position, the spring can be in a compressed state, that is, the spring can provide a preload. When the collision force on the collision member 32 is greater than the preload, the spring will be compressed to move, so that the collision member 32 can be more stably in the reset position as shown in FIG11.

[0110] It is understood that the first elastic element may also be a tension spring. When the cleaning device 10 collides with an obstacle during autonomous movement, the triggering part 3222 stretches the tension spring to trigger the first detector 341 and / or the second detector 342 by movement.

[0111] In one embodiment, the triggering part 3222 is rotatably connected to the mounting bracket 31. When the movable part 3221 moves left or right relative to the mounting bracket 31 in the second direction Y, the moving directions of the movable part 3221 and the triggering part 3222 are opposite. As shown in FIG12, when the front left of the top cover 321 of the collision member 32 collides with an obstacle during the autonomous movement of the cleaning device 10, the movable part 3221 of the collision member 32 moves to the right rear under the inertial force, while the triggering part 3222 rotates to the left under the drive of the movable part 3221, thereby triggering the first detector 341 provided on the left. As shown in FIG13, when the front right of the top cover 321 of the collision member 32 collides with an obstacle during the autonomous movement of the cleaning device 10, the movable part 3221 of the collision member 32 moves to the left rear under the inertial force, while the triggering part 3222 rotates to the right under the drive of the movable part 3221, thereby triggering the second detector 342 provided on the right. As shown in Figure 14, when the top cover 321 of the colliding member 32 collides with an obstacle in front of the cleaning device 10 during autonomous movement, the movable part 3221 of the colliding member 32 moves toward the rear under the action of inertia, and the triggering part 3222 moves toward the rear under the action of the movable part 3221, thereby simultaneously triggering the first detector 341 on the left and the second detector 342 on the right.

[0112] In one embodiment, a rotating structure is provided between the collider and the mounting frame 31, and the movable part 3221 is rotatably connected to the mounting frame 31 through the rotating structure. When the front of the collider 32 collides with an obstacle during the autonomous movement of the cleaning device 10, the movable part 3221 of the collider 32 can move to the rear through the rotating structure, and the trigger part 3222 moves to the rear under the drive of the movable part 3221, thereby simultaneously triggering the first detector 341 and the second detector 342. When the left front of the collider 32 collides with an obstacle during the autonomous movement of the cleaning device 10, the movable part 3221 of the collider 32 moves to the right rear, and the trigger part 3222 can rotate to the left under the drive of the movable part 3221, thereby triggering the first detector 341 on the left side. When the cleaning device 10 collides with an obstacle at the right front of the collision member 32 during the main movement of the self-rotating structure, the movable part 3221 of the collision member 32 moves to the left rearward under the action of inertia, while the trigger part 3222, driven by the movable part 3221, can rotate to the right through the rotating structure, thereby triggering the second detector 342 provided on the right side. The structure of the rotatable connection between the trigger part 3222 and the mounting bracket 31 will be described in detail below with reference to Figures 15 to 17.

[0113] In one embodiment, the rotating structure includes a rotating protrusion and a rotating groove. One of the rotating protrusion and the rotating groove is disposed on the trigger portion 3222, and the other is disposed on the mounting bracket 31. The rotating protrusion is located in the rotating groove and can move a preset distance in the rotating groove along the first direction X. By rotating the rotating protrusion and the rotating groove and being able to move a preset distance in the rotating groove along the first direction X, the rotating connection between the collision member 32 and the mounting bracket 31 is realized. As shown in FIG15, the rotating groove 32221 is disposed on the trigger portion 3222; as shown in FIG16, the rotating protrusion 3111 is disposed on the mounting bracket 31.

[0114] The rotating protrusion 3111 can move a preset distance along the first direction X in the rotating groove 32221. This ensures that when the cleaning device 10 collides with an obstacle in front during autonomous movement, the trigger part 3222, driven by the movable part 3221, moves backward to simultaneously trigger the first detector 341 and the second detector 342. Furthermore, by setting the length of the rotating groove 32221 along the first direction X, when the collision member 32 is in the reset position, the rotating groove 32221 limits the rotating protrusion 3111, thereby limiting the relative movement between the collision member 32 and the mounting bracket 31 along the first direction X. This allows the first elastic member located between the trigger part 3222 and the mounting bracket 31 to be in a compressed state, providing a preload force so that the collision member 32 can be more stably positioned in the reset position.

[0115] As shown in Figure 17, in one embodiment, the rotating protrusion 3111 is cylindrical. The cylindrical shape of the rotating protrusion 3111 facilitates its rotation in the rotating groove 32221, reduces resistance in the rotation direction, and thus improves the detection accuracy of the collision position.

[0116] In one embodiment, in the second direction Y, the width of the rotating groove 32221 is 100% to 110% of the width of the rotating protrusion 3111. That is, the rotating protrusion 3111 can only move in the rotating groove 32221 along the first direction X, and can only rotate relative to each other or move a very small distance along the second direction Y, for example, less than 2 mm. The structure of the collision member 32 and the mounting bracket 31 will be described in detail below with reference to Figures 16 to 19.

[0117] In one embodiment, as shown in FIG16, the movable part 3221 forms a receiving groove 32211; as shown in FIG17, the mounting bracket 31 includes a base part 311 and a second limiting part 312 disposed on the base part 311, the second limiting part 312 being located in the receiving groove 32211. When the collision member 32 is in the reset position, the distances between the two sides of the second limiting part 312 and the groove wall of the receiving groove 32211 are the same or substantially the same in the first direction X and the second direction Y. When the cleaning device 10 collides with an obstacle during autonomous movement, the movable part 3221 of the collision member 32 can move the same or substantially the same distance along the first direction X and the second direction Y, so that when the collision member 32 is in the reset position, the second limiting part 312 is located at the center of the receiving groove 32211.

[0118] In one embodiment, as shown in FIG16, the receiving groove 32211 is circular; as shown in FIG17, the second limiting part 312 is cylindrical. When the collision member 32 is in the reset position, the outer peripheral surface of the second limiting part 312 and the groove wall of the receiving groove 32211 are circumferentially the same or substantially the same distance. When the cleaning device 10 collides with an obstacle during autonomous movement, the movable part 3221 of the collision member 32 can move the same or substantially the same distance along the direction of impact, so that when the collision member 32 is in the reset position, the second limiting part 312 is located at the center of the receiving groove 32211.

[0119] As shown in Figure 18, the second limiting part 312 is provided with a blocking part 3123. When the collision member 32 moves toward the reset position under the action of the reset member 35, the blocking part 3123 forms a limiting block on the movable part 3221. When the blocking part 3123 abuts against the groove wall of the receiving groove 32211 on the movable part 3221, the first elastic member is in a compressed state, thereby providing a pre-tightening force so that the collision member 32 can be more stably in the reset position.

[0120] As shown in Figure 19, a limiting groove 32213 is provided on the inner wall of the receiving groove 32211 of the collision member 32, which abuts against the blocking part 3123. When the blocking part 3123 forms a limiting block on the movable part 3221, the blocking part 3123 is located in the limiting groove 32213, forming a relative movement between the movable part 3221 and the second limiting part 312 in the circumferential direction of the second limiting part 312. For example, the blocking part 3123 may have a structure with an arc-shaped protrusion, and the limiting groove 32213 may have a structure with an arc-shaped depression. In one embodiment, when the collision member 32 is in the reset position, the blocking part 3123 is located in the limiting groove 32213 and abuts against the groove wall of the limiting groove 32213 or the gap is small, for example, the gap is less than 5 mm.

[0121] In one embodiment, a limiting structure is provided between the movable portion 3221 of the collision member 32 and the second limiting portion 312 of the mounting bracket 31. The limiting structure is used to limit the vertical movement of the movable portion 3221 relative to the mounting bracket 31 in a third direction Z. The third direction Z intersects with, for example, the first direction X and the second direction Y, and is perpendicular to them. That is, the third direction Z can be the height direction of the collision detection module 30. When the collision member 32 moves, it is limited in the height direction, thereby preventing the collision member 32 from moving in the height direction. The limiting structure between the collision member 32 and the mounting bracket 31 will be described in detail below with reference to Figures 16 to 19.

[0122] In one embodiment, the limiting structure includes a limiting protrusion 3121 and a limiting groove 32212. One of the limiting protrusion 3121 and the limiting groove 32212 is disposed on the movable part 3221, and the other is disposed on the mounting bracket 31. The limiting protrusion 3121 is located in the limiting groove 32212 and can move a preset distance in the limiting groove 32212 along the first direction X and the second direction Y, thereby forming a clearance for the limiting protrusion 3121 to move in the limiting groove 32212 under inertial force, and the limiting is only formed in the height direction.

[0123] As shown in Figure 16, the movable part 3221 includes a first limiting part 32215 located below the transparent part 32214, and a limiting groove 32212 is provided on the first limiting part 32215 of the movable part 3221; as shown in Figure 17, a limiting protrusion 3121 is provided on the second limiting part 312. When the first limiting part 32215 and the second limiting part 312 are fitted together, the limiting protrusion 3121 is located in the limiting groove 32212 when the collision member 32 is assembled with the mounting bracket 31.

[0124] As shown in Figure 16, the limiting groove 32212 can be an arc-shaped groove, and its extension direction extends along the annular groove wall of the receiving groove 32211; as shown in Figures 17 and 18, the shape of the limiting protrusion 3121 matches that of the limiting groove 32212 so that the limiting protrusion 3121 and the second limiting part 312 have a high connection strength.

[0125] In one embodiment, the outer peripheral surface of the second limiting part 312 is provided with a plurality of limiting protrusions 3121, and the groove wall of the receiving groove 32211 is provided with a plurality of limiting grooves 32212 around the circumference. The plurality of limiting protrusions 3121 are located one-to-one in the limiting grooves 32212. At least one of the plurality of limiting grooves 32212 can be a through hole structure, that is, the limiting groove 32212 is directly formed through the through hole on the movable part 3221, so as to facilitate the assembly and disassembly of the collision member 32 and the mounting bracket 31. For example, as shown in Figures 18 and 19, the outer peripheral surface of the second limiting part 312 is provided with three limiting protrusions 3121, and the groove wall of the receiving groove 32211 is provided with three limiting grooves 32212 around the circumference. The two limiting grooves 32212 near the trigger part 3222 can be through holes, and the remaining one can be a countersunk hole. The free ends of the two limiting protrusions 3121 provided in the limiting groove 32212 may be provided with inclined surfaces to facilitate the entry and exit of the limiting protrusions 3121 in the limiting groove 32212 when the collision member 32 is assembled and disassembled with the mounting bracket 31.

[0126] As shown in Figure 18, the limiting protrusion 3121 can be connected to the second limiting part 312 through the elastic arm 3122, so that when the collision member 32 is assembled and disassembled with the mounting bracket 31, the deformation of the elastic arm 3122 can facilitate the entry and exit of the limiting protrusion 3121 in the limiting groove 32212.

[0127] In one embodiment, a plurality of limiting protrusions 3121 are evenly distributed on the outer peripheral surface of the second limiting portion 312. For example, three limiting protrusions 3121 are provided on the outer peripheral surface of the second limiting portion 312, and three limiting grooves 32212 are provided around the circumference of the groove wall of the receiving groove 32211. The three limiting protrusions 3121 are evenly distributed on the outer peripheral surface of the second limiting portion 312, and the three limiting grooves 32212 are evenly distributed around the circumference of the groove wall of the receiving groove 32211. Of course, two, four, five or more limiting protrusions 3121 may be provided on the outer peripheral surface of the second limiting portion 312, and the number of limiting grooves 32212 may match the number of limiting protrusions 3121; the plurality of limiting protrusions 3121 may also be non-uniformly distributed on the outer peripheral surface of the second limiting portion 312, and this disclosure does not limit this. The first detector 341 and the second detector 342 will be described in detail below with reference to Figures 20 to 23.

[0128] As shown in Figure 20, in one embodiment, at least one of the first detector 341 and the second detector 342 includes a detector body 343 and a trigger key 344. The trigger key 344 has an initial position and a detection position relative to the detector body 343. When the collision member 32 moves relative to the mounting bracket 31, the trigger part 3222 can press the trigger key 344 to be in the detection position. When the trigger key 344 is in the detection position, the circuit of the detector body 343 is turned on, thereby emitting a collision signal. By judging the collision signals in the first detector 341 and the second detector 342, the collision direction of the cleaning equipment 10 can be indirectly determined.

[0129] As shown in Figure 20, in one embodiment, at least one of the first detector 341 and the second detector 342 further includes a second elastic member 345, which is located between the trigger part 3222 and the trigger key 344. When the collision member 32 moves relative to the mounting bracket 31, the trigger part 3222 can squeeze the second elastic member 345 so that the second elastic member 345 squeezes the trigger key 344 to be in the detection position. When the collision member 32 is in the reset position, the second elastic member 345 separates from the trigger key 344 by elastic restoring force, or does not make the trigger key 344 in the detection position.

[0130] It is understandable that when the trigger key 344 is in the detection position, triggering the circuit of the detector body 343 and 342 to conduct, thereby emitting a collision signal, and judging the impact angle of the collision member 32 by the collision signal of the first detector 341 and the second detector 342, it can only be determined that the collision member 32 collides with the obstacle head-on, or with the obstacle on the left front, or with the obstacle on the right front.

[0131] When determining the impact location, as shown in Figure 21, for example, when the part corresponding to the angle A1 between the left and right sides in front of the cleaning device 10 and the central axis within the range of 0 to 15° collides with the obstacle, the collision element 32 can simultaneously trigger the first detector 341 and the second detector 342 to determine that the cleaning device 10 has collided head-on with the obstacle. When the part corresponding to the angle A2 between the left side in front of the cleaning device 10 and the central axis within the range of 15° to 90° collides with the obstacle, the collision element 32 can trigger the first detector 341 to determine that the front left side of the cleaning device 10 has collided with the obstacle. When the part corresponding to the angle A3 between the right side in front of the cleaning device 10 and the central axis within the range of 15° to 90° collides with the obstacle, the collision element 32 can trigger the second detector 342 to determine that the front right side of the cleaning device 10 has collided with the obstacle.

[0132] In order to more accurately determine the collision position between the cleaning device 10 and the obstacle, in one embodiment, the trigger key 344 includes multiple detection positions relative to the detector body 343. When the collision member 32 moves relative to the mounting bracket 31, the trigger part 3222 can be triggered by the trigger key 344 to be in different detection positions under different extrusion forces.

[0133] In detail, as shown in Figure 22, for example, the trigger key 344 has a first detection position and a second detection position relative to the detector body 343. When determining the impact position, for example, when the part corresponding to the angle B1 between the left and right sides in front of the cleaning device 10 and the central axis within the range of 0 to 15° collides with the obstacle, the collision member 32 can simultaneously trigger the first detector 341 and the second detector 342, so that the trigger key 344 of the first detector 341 and the second detector 342 are simultaneously in the first detection position or the second detection position, so as to determine that the cleaning device 10 has collided with the obstacle head-on. When the part corresponding to the angle B2 between the left side in front of the cleaning device 10 and the central axis within the range of 15° to 45° collides with the obstacle, the collision member 32 can trigger the first detector 341 and put the trigger key 344 of the first detector 341 in the first detection position, so as to determine that the part corresponding to the left front angle B2 of the cleaning device 10 has collided with the obstacle. When the part corresponding to angle B3 between the left front of the cleaning device 10 and the central axis (within the range of 45° to 90°) collides with an obstacle, the collision element 32 can trigger the first detector 341 and set the trigger key 344 of the first detector 341 to the second detection position to determine that the part corresponding to the left front angle B3 of the cleaning device 10 collides with the obstacle, thereby achieving a more accurate determination of the impact position. When the part corresponding to angle B4 between the right front of the cleaning device 10 and the central axis (within the range of 15° to 45°) collides with an obstacle, the collision element 32 can trigger the second detector 342 and set the trigger key 344 of the second detector 342 to the first detection position to determine that the part corresponding to the right front angle B4 of the cleaning device 10 collides with the obstacle. When the part of the front right side of the cleaning device 10, which is within the angle range of 45° to 90° with the central axis, collides with an obstacle, the collision member 32 can trigger the second detector 342 and put the trigger key 344 of the second detector 342 into the second detection position to determine that the part corresponding to the right front angle B5 of the cleaning device 10 collides with the obstacle, thereby achieving a more accurate judgment of the impact position.

[0134] It is understood that, for example, the trigger key 344 may include a third detection position or more detection positions relative to the detector body 343 to more accurately determine the impact angle of the colliding member 32, and this disclosure does not limit this.

[0135] In one embodiment, at least one of the first detector 341 and the second detector 342 is snapped into the mounting bracket 31. For example, as shown in FIG23, the mounting bracket 31 may be provided with opposing locking arms 3113, forming a locking space between them. The first detector 341 and the second detector 342 may each be disposed within a locking space. The ends of the locking arms 3113 are provided with hooks, which, through deformation of the locking arms 3113, abut against the top surface of the detector, thereby fixing the detector. Installing the first detector 341 and the second detector 342 by snapping together improves assembly efficiency and facilitates later maintenance. Of course, bonding, threaded connections, or other methods can also be used for fixing; this disclosure does not limit this.

[0136] In one embodiment, as shown in FIG23, the mounting frame 31 is provided with positioning posts 3114, and the first detector 341 and the second detector 342 are respectively provided with positioning holes. The positioning holes and positioning posts 3114 cooperate to form a positioning assembly of the first detector 341 and the second detector 342 on the mounting frame 31, thereby improving assembly accuracy and efficiency. Multiple positioning holes and positioning posts 3114 can be provided, with each post 3114 corresponding to a specific hole, forming positioning in the first direction X and the second direction Y. This, combined with the clamping arm 3113, achieves positioning assembly in three directions, ensuring that the assembly positions of the first detector 341 and the second detector 342 on the mounting frame 31 are unique, further improving assembly efficiency. For example, two positioning holes and two positioning posts 3114 can be provided respectively, to achieve positioning in the first direction X and the second direction Y while avoiding excessive positioning structures on the detectors 341 and the mounting frame 31, thereby reducing production costs. The drive assembly 36 that drives the detector 33 to rise and fall will be described in detail below with reference to Figures 24 and 25.

[0137] As shown in Figure 24, the drive assembly 36 includes a driver 361, a transmission rod 362, a first rocker arm 363, and a second rocker arm 364. The output shaft of the driver 361 is connected to and coaxially arranged with the transmission rod 362, meaning that the transmission rod 362 can rotate under the drive of the driver 361. The first rocker arm 363 passes through the transmission rod 362 and is fixedly connected to the transmission rod 362 in the rotation direction. One end of the second rocker arm 364 is rotatably connected to the base portion 311 of the mounting bracket 31, and the other end is rotatably connected to the first rocker arm 363. The second rocker arm 364 and the first rocker arm 363 cooperate to form a hinge-like structure, meaning that by rotating the first rocker arm 363, the distance between the two ends of the first rocker arm 363 and the second rocker arm 364 can be changed. By driving the first rocker arm 363 to rotate via the driver 361, the first rocker arm 363 and the second rocker arm 364 can be in a folded state as shown in Figure 24, thereby driving the mounting frame 31 to move the detector 33 to the retracted position. Then, by driving the first rocker arm 363 to rotate in the opposite direction via the driver, the first rocker arm 363 and the second rocker arm 364 can be in an unfolded state as shown in Figure 25, thereby driving the mounting frame 31 to move the detector 33 to the extended position, realizing the raising and lowering of the detector 33. In one embodiment, the driver 361 can be a drive motor, which, under the control of the controller, can rotate forward and reverse.

[0138] The driver 361 can be fixed to either the first mounting housing 371 or the second mounting housing 372. The first mounting housing 371 and the second mounting housing 372 are connected, and the collision detection module 30 can be fixed in the device body 100 through the second mounting housing 372. After the first mounting housing 371 and the second mounting housing 372 are connected, a receiving space can be formed, and components such as the transmission rod 362, the first rocker arm 363 and the second rocker arm 364 can be arranged in the receiving space.

[0139] As shown in Figures 24 and 25, the drive assembly 36 may further include a grating assembly 365. The light-shielding element of the grating assembly 365 can move synchronously with the output shaft of the driver 361 or the transmission rod 362. The photoelectric sensor of the grating assembly 365 can be mounted on the body of the driver 361. When the output shaft of the driver 361 rotates, causing the detector 33 to be in the retracted or extended position, the light-shielding element of the grating assembly 365 triggers the photoelectric sensor. That is, the grating assembly 365 can be used to assist in detecting whether the detector 33 is in the retracted or extended position. It is understood that the drive assembly 36 can also achieve auxiliary detection of the position of the detector 33 by setting other detection components such as a Hall sensor.

[0140] The collision detection module disclosed herein allows the collision component to move relative to a first position on the mounting bracket after colliding with an obstacle, and to output a collision signal during this movement. The system then determines that the cleaning equipment has collided with an obstacle while moving forward. At this point, the drive module can be controlled to reverse and / or steer the cleaning equipment away from the obstacle, thereby improving its cleaning efficiency. Furthermore, a reset component allows the collision component to move to a reset position, enabling the collision detection module to detect collisions with multiple obstacles separately along the cleaning equipment's travel path.

[0141] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the disclosure herein. This disclosure is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein.

Claims

1. A collision detection module, characterized by, include: Mounting rack; The detector is mounted on the mounting bracket; A collision component is disposed on the mounting bracket, the collision component is in a first position relative to the mounting bracket, and after colliding with an obstacle, the collision component moves relative to the first position and outputs a collision signal; A reset member, which connects to the collision component when the collision component is reset to the first position, so as to reset the collision component to the first position.

2. The crash detection module of claim 1, wherein, The collision component includes: A collision element, wherein the collision element is disposed on the mounting bracket and is in a first position relative to the mounting bracket; A detector is disposed on the mounting bracket. After the collision member collides with the obstacle, it moves relative to the first position and can trigger the detector.

3. The collision detection module according to claim 2, characterized in that, After colliding with the obstacle, the collision member moves relative to the first position in a first direction and / or in a second direction, the first direction intersecting the second direction.

4. The crash detection module of claim 2, wherein, The collision element comes into direct contact with the detector to trigger the detector.

5. The crash detection module of claim 3, wherein, The collision detection module includes multiple detectors, including a first detector and a second detector. When the collision element moves backward from the first position along the first direction, the collision element can simultaneously trigger the first detector and the second detector. When the collision element moves to the left from the first position, the collision element can trigger one of the first detector and the second detector. When the collision element moves to the right from the first position, the collision element can trigger the other of the first detector and the second detector.

6. The crash detection module of claim 5, wherein, The collision component includes a top cover and a housing, the top cover and the housing being connected and enclosing a receiving space, at least a portion of the detector being located in the receiving space; the housing includes a light-transmitting portion, the light-transmitting portion being correspondingly disposed with the detector.

7. The crash detection module of claim 6, wherein, The housing includes: The movable part is capable of at least the backward movement and the left-right movement relative to the detector; A triggering part is connected to the movable part, and the movable part can drive the triggering part to move synchronously, so as to trigger the first detector and / or the second detector through the triggering part.

8. The crash detection module of claim 7, wherein, The trigger part is rotatably connected to the mounting bracket. When the movable part moves left or right relative to the mounting bracket in the second direction, the moving direction of the movable part is opposite to that of the trigger part.

9. The crash detection module of claim 8, wherein, A rotating structure is provided between the triggering part and the mounting bracket, and the movable part is rotatably connected to the mounting bracket through the rotating structure.

10. The crash detection module of claim 9, wherein, The rotating structure includes a rotating protrusion and a rotating groove. One of the rotating protrusion and the rotating groove is disposed on the trigger part, and the other is disposed on the mounting bracket. The rotating protrusion is located in the rotating groove and can move a preset distance in the rotating groove along the first direction.

11. The crash detection module of claim 10, wherein, The rotating protrusion is cylindrical.

12. The crash detection module of claim 7, wherein, The mounting bracket includes a second limiting part, and the movable part forms a receiving groove, with the second limiting part located in the receiving groove; when the collision member is in the first position, the distance between the two sides of the second limiting part and the groove wall of the receiving groove is the same or substantially the same in the first direction and the second direction.

13. The crash detection module of claim 12, wherein, The second limiting part is cylindrical, and the receiving groove is circular; when the collision member is in the first position, the distance between the outer peripheral surface of the second limiting part and the groove wall of the receiving groove in the circumferential direction is the same or substantially the same.

14. The crash detection module of claim 7, wherein, A limiting structure is provided between the movable part and the mounting frame. The limiting structure is used to limit the movable part from moving up and down relative to the mounting frame in a third direction. The third direction intersects with the first direction and the second direction.

15. The crash detection module of claim 14, wherein, The limiting structure includes a limiting protrusion and a limiting groove. One of the limiting protrusion and the limiting groove is provided on the movable part, and the other is provided on the mounting bracket. The limiting protrusion is located in the limiting groove and can move a preset distance in the limiting groove along the first direction and the second direction.

16. The crash detection module of claim 15, wherein, The mounting bracket includes a second limiting part, the movable part is formed with a receiving groove, and the second limiting part is located in the receiving groove; The outer peripheral surface of the second limiting part is provided with a plurality of limiting protrusions, and the groove wall of the receiving groove is provided with a plurality of limiting grooves in the circumferential direction, with the plurality of limiting protrusions corresponding one-to-one in the plurality of limiting grooves.

17. The crash detection module of claim 16, wherein, The plurality of limiting protrusions are evenly distributed on the outer peripheral surface of the second limiting part.

18. The crash detection module of claim 16, wherein, At least one of the limiting protrusions is connected to the mounting bracket via an elastic arm.

19. The crash detection module of claim 18, wherein, At least one of the limiting protrusions is directly connected to the mounting bracket.

20. The crash detection module of claim 7, wherein, The reset element is located between the trigger portion and the mounting bracket.

21. The crash detection module of claim 7, wherein, The reset element is the first elastic element.

22. The crash detection module of claim 7, wherein, The reset element is a spring.

23. The crash detection module of claim 7, wherein, At least one of the first detector and the second detector includes a detector body and a trigger key, wherein the trigger key has an initial position and a detection position relative to the detector body; When the collision member moves relative to the mounting bracket, the triggering part can press the trigger key to be in the detection position.

24. The collision detection module according to claim 23, characterized in that, At least one of the first detector and the second detector further includes a second elastic element, which is located between the trigger portion and the trigger key; When the collision member moves relative to the mounting bracket, the trigger portion can squeeze the second elastic member so that the second elastic member squeezes the trigger key to be in the detection position.

25. The collision detection module according to claim 23, characterized in that, The trigger key has multiple detection positions relative to the detector body. When the collision member moves relative to the mounting bracket, the trigger part can be placed in different detection positions by the trigger key under different extrusion forces.

26. The crash detection module of claim 6, wherein, The shell is a one-piece molded structure.

27. The collision detection module according to claim 5, characterized in that, At least one of the first detector and the second detector is engaged with the mounting bracket.

28. The collision detection module according to claim 1, characterized in that, The collision detection module also includes: A drive assembly for driving the mounting bracket to move up and down.

29. A cleaning device, characterized in that, Includes the collision detection module as described in any one of claims 1 to 28.

30. A cleaning system characterized by, include: The cleaning equipment as claimed in claim 29; a base station configured to interface with the cleaning device.

Images