Cleaning device, cleaning system and control method

Abstract

A cleaning device (100), comprising a body (1), a cleaning assembly and an obstacle-removing module (3), wherein the cleaning assembly is arranged on the body (1) and is configured to clean a working surface; and the obstacle-removing module (3) is arranged on the body (1), and is configured to move an obstacle so as to cause the obstacle to move away from the original position thereof. Further provided are a cleaning system, and a control method for a cleaning device (100).

Description

Cleaning devices, cleaning systems and control methods

[0001] Cross-reference to related applications

[0002] This application is based on and claims priority to Chinese patent applications with application numbers 202520421041.1, 202520421802.3, 202520421843.2, 202520421066.1, 202520421021.4, 202520421010.6, 202520421834.3, and 202510286650.5, all of which are incorporated herein by reference. Technical Field

[0003] This application relates to the field of cleaning appliances, and in particular to a cleaning device, cleaning system and control method. Background Technology

[0004] In related technologies, cleaning equipment is equipped with a cleaning module for cleaning the work surface, and an obstacle recognition module is also included within the cleaning device. When the obstacle recognition module detects an obstacle, it controls the cleaning device to change its travel path to avoid the obstacle. This can result in situations where some work surfaces are not cleaned by the cleaning device, such as work surfaces covered by obstacles not being cleaned.

[0005] To avoid cleaning gaps, users typically need to remove obstacles from the work surface before the cleaning device begins its work. If users fail to clear obstacles beforehand, those areas will be missed and cannot be effectively cleaned, severely impacting the overall cleaning effect and resulting in a poor user experience. Therefore, this aspect needs improvement. Summary of the Invention

[0006] This application aims to at least solve one of the technical problems existing in the prior art. To this end, one objective of this application is to provide a cleaning device that, by incorporating a clearing module on its body, automatically identifies and removes obstacles from their original positions when they exist on the work surface. This exposes the work surface corresponding to the original location of the obstacle, allowing the cleaning components to clean the work surface in that area and its surrounding area, effectively reducing cleaning dead zones and missed areas. This enhances the overall cleaning effect on the work surface, reduces reliance on manual labor, and improves the user experience.

[0007] This application proposes a cleaning system that includes the above-described cleaning device.

[0008] This application also proposes a control method including the above-described cleaning device.

[0009] A cleaning device according to a first aspect of this application includes: a body; a cleaning component disposed on the body and used for cleaning a work surface; and a clearing module disposed on the body and used for moving obstacles to move the obstacles away from their original positions.

[0010] According to the cleaning device of this application embodiment, by providing a clearing module on the body of the cleaning device, when there is an obstacle on the working surface, the clearing module automatically identifies the obstacle and moves the obstacle away from its original position, so that the working surface corresponding to the original position of the obstacle can be exposed, so that the cleaning component can clean the working surface corresponding to the original position of the obstacle and its surrounding area, effectively reducing cleaning dead corners and missed areas. This can enhance the overall cleaning effect of the working surface, reduce the dependence on manual labor, and improve the user experience.

[0011] According to some embodiments of this application, the obstacle clearing module is located at the front end of the fuselage.

[0012] According to some embodiments of this application, the obstacle clearing module is located at the left or right front end of the fuselage.

[0013] According to some embodiments of this application, the obstacle clearing module is located on the outer edge of the fuselage.

[0014] According to some embodiments of this application, at least a portion of the obstacle clearing module is located at the bottom of the fuselage.

[0015] According to some embodiments of this application, a downward-looking sensor is included, the downward-looking sensor being disposed at the bottom of the fuselage, and the obstacle clearing module is provided with an obstacle avoidance part for avoiding the downward-looking sensor.

[0016] According to some embodiments of this application, the obstacle clearing module includes a drive mechanism and an obstacle clearing component. The drive mechanism is mounted on the body and connected to the obstacle clearing component to drive the obstacle clearing component to move.

[0017] According to some embodiments of this application, the obstacle clearing component moves the obstacle away from its original position by pushing or clamping it.

[0018] According to some embodiments of this application, the obstacle clearing component is movable between an obstacle clearing position and a storage position; when the obstacle clearing component is in the storage position, at least a portion of the obstacle clearing component is stored within the fuselage; when the obstacle clearing component is in the obstacle clearing position, at least a portion of the obstacle clearing component is located outside the outer edge of the fuselage.

[0019] According to some embodiments of this application, when the obstacle clearing component is located in the storage position, the overlapping area of ​​the projection of the obstacle clearing component and the fuselage on the horizontal plane is a first overlapping area; when the obstacle clearing component is located in the obstacle clearing position, the overlapping area of ​​the projection of the obstacle clearing component and the fuselage on the horizontal plane is a second overlapping area; wherein, the first overlapping area is greater than the second overlapping area.

[0020] According to some embodiments of this application, when the obstacle clearing component is located in the storage position, the projection of the obstacle clearing component on the horizontal plane is located within the projection of the fuselage on the horizontal plane.

[0021] According to some embodiments of this application, when the obstacle clearing component is located in the storage position, the side of the obstacle clearing component near the outer edge of the body is the outer side, and the outline of the outer side is consistent with the outline of the outer edge of the body.

[0022] According to some embodiments of this application, the body includes a bottom shell, the obstacle clearing module is mounted on the bottom shell, and an accommodating notch is formed on the outer edge of the bottom shell. When the obstacle clearing component is in the storage position, at least a portion of the obstacle clearing component is located in the accommodating notch.

[0023] According to some embodiments of this application, a downward-facing sensor is included, which is disposed at the bottom of the body. The obstacle clearing component is provided with an obstacle avoidance portion for avoiding the downward-facing sensor, which is an obstacle avoidance opening or a transparent portion. When the obstacle clearing component is in the storage position, the obstacle avoidance portion is located below the downward-facing sensor and is disposed opposite to the downward-facing sensor in the vertical direction.

[0024] According to some embodiments of this application, the body is provided with a limiting structure. In the storage position, the limiting structure is located on the side of the obstacle clearing component away from the obstacle clearing position, so as to limit the obstacle clearing component in the direction from the obstacle clearing position to the storage position.

[0025] According to some embodiments of this application, the mechanism for driving the obstacle clearing component to move between the obstacle clearing position and the storage position is the same mechanism for driving the obstacle clearing component to move the obstacle.

[0026] According to some embodiments of this application, the cleaning device includes: a detection component for detecting the position of the obstacle clearing component; the detection component and the drive mechanism are both electrically connected to the control module of the cleaning device; the control module is used to control the drive mechanism according to the position information detected by the detection component.

[0027] According to some embodiments of this application, the detection component includes a detection circuit board, a first optocoupler, a second optocoupler, and an optocoupler detection element. The optocoupler detection element is connected to the output end of the driving mechanism to rotate synchronously with the output end of the driving mechanism. The detection circuit board is fixed relative to the body. The first optocoupler and the second optocoupler are both disposed on the detection circuit board and spaced apart along the rotation direction of the obstacle clearing component. Wherein, when the obstacle clearing component is located in the storage position, the optocoupler detection element is opposite to the first optocoupler; when the obstacle clearing component is located in the obstacle clearing position, the optocoupler detection element is opposite to the second optocoupler.

[0028] According to some embodiments of this application, the first optocoupler includes a first optocoupler base and a first optocoupler device. A first detection groove is formed on the first optocoupler base, and the first detection groove passes through the first optocoupler base along the rotation direction of the output end. The first optocoupler device is mounted on the first optocoupler base and located on the bottom wall of the first detection groove. The second optocoupler includes a second optocoupler base and a second optocoupler device. A second detection groove is formed on the second optocoupler base, and the second optocoupler device is mounted on the second optocoupler base and located on the bottom wall of the second detection groove. The second detection groove passes through the second optocoupler base along the rotation direction of the output end. The optocoupler detection element is provided with a detection protrusion. When the obstacle clearing component is located in the storage position, the detection protrusion is accommodated in the first detection groove. When the obstacle clearing component is located in the obstacle clearing position, the detection protrusion is accommodated in the second detection groove.

[0029] According to some embodiments of this application, the housing is provided with a mounting box, the drive mechanism is disposed in the mounting box, the detection circuit board is mounted on the mounting box, and the first optocoupler, the second optocoupler and the optocoupler detection device are all located on the side of the detection circuit board away from the drive mechanism.

[0030] According to some embodiments of this application, a receiving groove is formed on one side of the mounting box, and the detection circuit board is housed in the receiving groove. The first optocoupler, the second optocoupler, and the optocoupler detection element are all located on the side of the detection circuit board facing the open side of the receiving groove.

[0031] According to some embodiments of this application, the mounting box is further provided with a cover plate, which covers the open side of the receiving groove.

[0032] According to some embodiments of this application, the detection circuit board is disposed on the top of the mounting box.

[0033] According to some embodiments of this application, the driving mechanism includes a drive motor and a gear mechanism. The motor shaft of the drive motor is connected to the gear mechanism to drive the gear mechanism to move. The gear mechanism includes an output gear. The rotation axis of the output gear extends in the vertical direction. The detection circuit board is provided with a clearance through hole. The upper end of the output gear passes through the clearance through hole and is connected to the optocoupler detection element. The lower end of the output gear constitutes the output end.

[0034] According to some embodiments of this application, the output gear includes a gear body and a gear shaft. The gear shaft includes a first shaft portion and a second shaft portion. The first shaft portion is connected to the upper side of the second shaft portion. The first shaft portion is connected to the optocoupler detection element. The second shaft portion is coaxially connected to the gear body. The lower end of the gear body has the output end.

[0035] According to some embodiments of this application, the cross-section of the first shaft portion is "D" shaped, the optocoupler detection element is provided with a first connecting hole, the first shaft portion is accommodated in the first connecting hole, and the cross-section of the first connecting hole is "D" shaped; and / or, the cross-section of the second shaft portion is "D" shaped, the gear body is provided with a second connecting hole, the second shaft portion is accommodated in the second connecting hole, and the cross-section of the second connecting hole is "D" shaped.

[0036] According to some embodiments of this application, the detection circuit board is provided with lead terminals, the lead terminals are connected to an optocoupler bundle, and the optocoupler bundle is connected to the control module.

[0037] According to some embodiments of this application, in the rotation direction of the output terminal, the first optocoupler and the second optocoupler are both located on the same side of the lead terminal.

[0038] According to some embodiments of this application, the housing is provided with a mounting box, the drive mechanism is disposed in the mounting box, a receiving groove is formed on one side of the mounting box, the detection circuit board is accommodated in the receiving groove, the first optocoupler, the second optocoupler and the optocoupler detection device are all located on the side of the detection circuit board facing the open side of the receiving groove, and a wire outlet is formed on the mounting box for the optocoupler wire harness to exit.

[0039] According to some embodiments of this application, the lead terminal is disposed opposite to the outlet.

[0040] According to some embodiments of this application, the output end of the drive mechanism is directly connected to the obstacle clearing component, or the output end of the drive mechanism is connected to the obstacle clearing component through an external swing mechanism.

[0041] According to some embodiments of this application, the obstacle clearing component includes a connecting mechanism and an obstacle clearing member. The connecting mechanism is connected between the obstacle clearing member and the body. The output end of the driving mechanism is connected to the connecting mechanism. The obstacle clearing member is adapted to cooperate with an obstacle to move the obstacle away from its original position. The connecting mechanism is deformable during the process of the driving mechanism driving the obstacle clearing component to move.

[0042] According to some embodiments of this application, the connecting mechanism includes a plurality of connecting rods that are rotatably connected to each other, one of the plurality of connecting rods being a driving rod, and the output end of the driving mechanism being connected to the driving rod.

[0043] According to some embodiments of this application, the plurality of connecting rods include a first connecting rod, a second connecting rod, a third connecting rod, and a fourth connecting rod, wherein the third connecting rod constitutes the driving rod, and wherein, when the driving rod moves, the relative positions between the first connecting rod, the second connecting rod, the third connecting rod, and / or the fourth connecting rod are variable.

[0044] According to some embodiments of this application, one end of the first connecting rod is rotatably connected to the machine body, the other end of the first connecting rod is rotatably connected to one end of the second connecting rod, the other end of the second connecting rod is rotatably connected to the obstacle clearing component, the second connecting rod and the third connecting rod intersect and are rotatably connected, one end of the fourth connecting rod is rotatably connected to the end of the third connecting rod, and the other end of the fourth connecting rod is rotatably connected to the obstacle clearing component.

[0045] According to some embodiments of this application, the rotational connection point between the third connecting rod and the second connecting rod is the first rotational connection point, the rotational connection point between the third connecting rod and the fourth connecting rod is the second rotational connection point, the connection point between the output end of the driving mechanism and the third connecting rod is the driving connection point, and the first rotational connection point is located between the second rotational connection point and the driving connection point.

[0046] According to some embodiments of this application, the plurality of connecting rods includes a fifth connecting rod, a sixth connecting rod, a seventh connecting rod, an eighth connecting rod, a ninth connecting rod, and a tenth connecting rod, wherein the eighth connecting rod constitutes the drive rod, one end of the fifth connecting rod is rotatably connected to the body, the other end of the fifth connecting rod is rotatably connected to one end of the sixth connecting rod, the other end of the sixth connecting rod is rotatably connected to one end of the seventh connecting rod, the other end of the seventh connecting rod is rotatably connected to the obstacle clearing component, the output end of the drive mechanism is connected to the eighth connecting rod, and one end of the tenth connecting rod is connected to the end of the eighth connecting rod. The tenth connecting rod and the sixth connecting rod are rotatably connected to the same point. The other end of the tenth connecting rod is rotatably connected to the obstacle clearing component. The tenth connecting rod intersects with and is rotatably connected to the sixth connecting rod. The other end of the ninth connecting rod is rotatably connected to the fifth connecting rod. The rotatable connection point between the fifth connecting rod and the body is the fourth rotatable connection point. The rotatable connection point between the fifth connecting rod and the sixth connecting rod is the fifth rotatable connection point. The rotatable connection point between the ninth connecting rod and the fifth connecting rod is the sixth rotatable connection point. The sixth rotatable connection point is located between the fourth rotatable connection point and the fifth rotatable connection point.

[0047] According to some embodiments of this application, the rotatably connected connecting rod is connected by a connector, and the connector does not protrude from the outer surface of the connecting rod in the direction of the rotation axis of the rotatably connected connecting rod.

[0048] According to some embodiments of this application, the connector includes a connecting post and a limiting cap, the connecting post passing through two rotatably connected connecting rods, at least one of the connecting rods having a recessed groove, and the limiting cap being accommodated in the recessed groove.

[0049] According to some embodiments of this application, the obstacle clearing component is deformable.

[0050] According to some embodiments of this application, the size of the obstacle clearing component is variable.

[0051] According to some embodiments of this application, the length of the obstacle clearing component is variable.

[0052] According to some embodiments of this application, the size of the obstacle clearing component in the storage position is smaller than the size of the obstacle clearing component in the obstacle clearing position.

[0053] According to some embodiments of this application, the output end of the drive mechanism is directly connected to the drive rod, and the obstacle clearing component is movable between the obstacle clearing position and the storage position; when the obstacle clearing component is in the storage position, at least a portion of the obstacle clearing component is stored in the body; when the obstacle clearing component is in the obstacle clearing position, at least a portion of the obstacle clearing component is located outside the outer edge of the body for interacting with obstacles to move the obstacles away from their original positions.

[0054] According to some embodiments of this application, the obstacle clearing module is located at at least one end of the fuselage along the left-right direction. When the obstacle clearing component is located in the obstacle clearing position, the angle between the drive rod and the preset direction is β, where β is greater than 90°. The preset direction is parallel to the left-right direction, and in the left-right direction, the preset direction points from the end where the obstacle clearing module is located to the other end of the fuselage.

[0055] According to some embodiments of this application, when the obstacle clearing component is located in the obstacle clearing position, the range of β is 100° to 135°.

[0056] According to some embodiments of this application, the obstacle clearing module is located at at least one end of the body along the left-right direction. When the obstacle clearing component is in the storage position, the angle between the drive rod and the preset direction is γ, the range of γ is 20° to 45°, the preset direction is parallel to the left-right direction, and in the left-right direction, the preset direction points from the end where the obstacle clearing module is located to the other end of the body.

[0057] According to some embodiments of this application, the obstacle clearing module is located at at least one end of the fuselage along the left-right direction. When the obstacle clearing component is located in the obstacle clearing position, the angle between the drive rod and the preset direction is α, where α is greater than 90°. The preset direction is parallel to the left-right direction, and in the left-right direction, the preset direction points from the end where the obstacle clearing module is located to the other end of the fuselage.

[0058] According to some embodiments of this application, when the obstacle clearing component is located in the obstacle clearing position, the range of α is 100° to 135°.

[0059] According to some embodiments of this application, the obstacle clearing component is rotatably connected to the body, the outward swing mechanism includes a turntable and a slider, the turntable is rotatably mounted on the output end of the drive mechanism, the slider is disposed on the turntable and spaced apart from the rotation center of the turntable, a groove is formed on the obstacle clearing component, the slider is accommodated in the groove and can slide along the extension direction of the groove, and the slider is used to drive the obstacle clearing component to move.

[0060] According to some embodiments of this application, the chute extends radially along the rotation axis of the obstacle clearing component.

[0061] According to some embodiments of this application, the output end of the drive mechanism is connected to the obstacle clearing component via an external swing mechanism. The obstacle clearing component includes a connecting mechanism and an obstacle clearing member. The connecting mechanism is connected between the obstacle clearing member and the body. The output end of the drive mechanism is connected to the connecting mechanism via the external swing mechanism.

[0062] According to some embodiments of this application, the swing mechanism includes a turntable and a slider. The turntable is rotatably mounted on the output end of the drive mechanism, and the slider is disposed on the turntable and spaced apart from the rotation center of the turntable. The slider is movably connected to the connecting mechanism.

[0063] According to some embodiments of this application, the connecting mechanism is provided with a slide groove, the slider is accommodated in the slide groove and can slide along the extension direction of the slide groove, and the slider is used to drive the obstacle clearing component to move.

[0064] According to some embodiments of this application, the connecting mechanism includes a plurality of connecting rods that are rotatably connected to each other, one of the plurality of connecting rods being a driving rod, and the output end of the driving mechanism being connected to the driving rod through the swing mechanism.

[0065] According to some embodiments of this application, the drive rod is rotatably connected to the body, and a groove extending along the extension direction of the drive rod is formed on the drive rod. The outward swing mechanism includes a turntable and a slider. The turntable is rotatably mounted on the output end of the drive mechanism. The slider is disposed on the turntable and spaced apart from the rotation center of the turntable. The slider is accommodated in the groove and can slide along the extension direction of the groove. The slider is used to drive the obstacle clearing component to move.

[0066] According to some embodiments of this application, the plurality of connecting rods include a first connecting rod, a second connecting rod, a third connecting rod, and a fourth connecting rod, wherein the third connecting rod constitutes the driving rod, and wherein, when the driving rod moves, the relative positions between the first connecting rod, the second connecting rod, the third connecting rod, and / or the fourth connecting rod are variable.

[0067] According to some embodiments of this application, one end of the first connecting rod is rotatably connected to the machine body, the other end of the first connecting rod is rotatably connected to one end of the second connecting rod, the other end of the second connecting rod is rotatably connected to the obstacle clearing component, the third connecting rod is rotatably connected to the machine body, the second connecting rod and the third connecting rod intersect and are rotatably connected, one end of the fourth connecting rod is rotatably connected to the end of the third connecting rod, and the other end of the fourth connecting rod is rotatably connected to the obstacle clearing component.

[0068] According to some embodiments of this application, the rotational connection point between the third connecting rod and the second connecting rod is the first rotational connection point, the rotational connection point between the third connecting rod and the fourth connecting rod is the second rotational connection point, the connection point between the output end of the driving mechanism and the third connecting rod is the driving connection point, the first rotational connection point is located between the second rotational connection point and the driving connection point, the rotational connection point between the third connecting rod and the machine body is the third rotational connection point, the slide is located between the third rotational connection point and the first rotational connection point, and the position of the slider constitutes the driving connection point.

[0069] According to some embodiments of this application, the output end of the drive mechanism is connected to the obstacle clearing component via an external swing mechanism. The transmission point between the external swing mechanism and the obstacle clearing component is the obstacle clearing transmission point. The force exerted by the obstacle clearing component on the external swing mechanism at the obstacle clearing transmission point is a reaction force. The speed of the external swing mechanism under the reaction force at the obstacle clearing transmission point is the reaction speed. When the obstacle clearing component is located at the obstacle clearing position, the angle between the reaction speed and the reaction force is φ, where φ is greater than or equal to 90°.

[0070] According to some embodiments of this application, the obstacle clearing component is rotatably connected to the body, the outward swing mechanism includes a turntable and a slider, the turntable is rotatably mounted on the output end of the drive mechanism, the slider is disposed on the turntable and spaced apart from the rotation center of the turntable, the obstacle clearing component has a sliding groove, the slider is accommodated in the sliding groove and can slide along the extension direction of the sliding groove, the slider is used to drive the obstacle clearing component to move; wherein, the transmission point between the slider and the inner wall of the sliding groove is the obstacle clearing transmission point.

[0071] According to some embodiments of this application, the obstacle clearing component includes a connecting mechanism and an obstacle clearing member. The connecting mechanism is connected between the obstacle clearing member and the machine body. The output end of the drive mechanism is connected to the connecting mechanism through the outward swing mechanism. The connecting mechanism includes a plurality of connecting rods that are rotatably connected to each other. One of the plurality of connecting rods is a drive rod. The drive rod is rotatably connected to the machine body and is connected to the outward swing mechanism.

[0072] According to some embodiments of this application, the external swing mechanism includes a turntable and a slider. The turntable is rotatably mounted on the output end of the drive mechanism. The slider is disposed on the turntable and spaced apart from the rotation center of the turntable. A groove is formed on the drive rod. The slider is accommodated in the groove and can slide along the extension direction of the groove. The slider is used to drive the drive rod to move. The transmission point between the slider and the inner wall of the groove is the obstacle clearing transmission point.

[0073] According to some embodiments of this application, the plurality of connecting rods include a first connecting rod, a second connecting rod, a third connecting rod, and a fourth connecting rod, wherein the third connecting rod constitutes the drive rod; one end of the first connecting rod is rotatably connected to the machine body; the other end of the first connecting rod is rotatably connected to one end of the second connecting rod; the other end of the second connecting rod is rotatably connected to the obstacle clearing component; the second connecting rod and the third connecting rod intersect and are rotatably connected; the third connecting rod is rotatably connected to the machine body; one end of the fourth connecting rod is rotatably connected to the end of the third connecting rod; and the other end of the fourth connecting rod is rotatably connected to the obstacle clearing component. The rotational connection point between the third connecting rod and the second connecting rod is the first rotational connection point; the rotational connection point between the third connecting rod and the fourth connecting rod is the second rotational connection point; the rotational connection point between the third connecting rod and the machine body is the third rotational connection point; the connection point between the output end of the drive mechanism and the third connecting rod is the drive connection point; the first rotational connection point is located between the second rotational connection point and the slide groove; and the slide groove is located between the third rotational connection point and the first rotational connection point.

[0074] According to some embodiments of this application, the obstacle removal component includes an obstacle removal component and an auxiliary component. The auxiliary component is disposed on the obstacle removal component. The output end of the drive mechanism is connected to the obstacle removal component to drive the obstacle removal component to move. At least one of the obstacle removal component and the auxiliary component can interact with an obstacle to move the obstacle away from its original position.

[0075] According to some embodiments of this application, the auxiliary component is rotatably connected to the obstacle clearing component.

[0076] According to some embodiments of this application, the auxiliary component is provided with a rotating shaft, the obstacle clearing push rod is provided with a rotating hole, the rotating shaft is rotatably inserted through the rotating hole, and an elastic driving member is sleeved on the outer periphery of the rotating shaft, and the elastic driving member is a torsion spring.

[0077] According to some embodiments of this application, the auxiliary component may be flipped downwards or moved relative to the obstacle clearing component.

[0078] According to some embodiments of this application, the auxiliary member is movable between a first position and a second position; when the auxiliary member is in the first position, at least a portion of the auxiliary member is located above or below the obstacle clearing member, and the auxiliary member is adapted to contact the obstacle; when the auxiliary member is in the second position, the auxiliary member is housed within the obstacle clearing member.

[0079] According to some embodiments of this application, when the auxiliary component is located in the first position, the lowest position of the auxiliary component is lower than the lowest position of the obstacle clearing component.

[0080] According to some embodiments of this application, the obstacle clearing component is provided with a storage opening, and when the auxiliary component is located in the second position, at least a portion of the auxiliary component is stored in the storage opening.

[0081] According to some embodiments of this application, the obstacle clearing component includes a connecting mechanism, an obstacle clearing push rod, and an elastic drive component. The connecting mechanism is connected between the obstacle clearing push rod and the body. The output end of the drive mechanism is directly connected to the connecting mechanism or connected through an external swing mechanism to drive the obstacle clearing component to move between a storage position and an obstacle clearing position. The auxiliary component is rotatably connected to the obstacle clearing push rod. One end of the elastic drive component is connected to the auxiliary component, and the other end of the elastic drive component is connected to the obstacle clearing push rod. Specifically, one of the elastic drive component and the connecting mechanism is used to drive the auxiliary component to move from the first position to the second position, and the other of the elastic drive component and the connecting mechanism is used to drive the auxiliary component to move from the second position to the first position.

[0082] According to some embodiments of this application, during the process of the driving mechanism driving the obstacle clearing component to the obstacle clearing position, the connecting mechanism is adapted to interact with the auxiliary component to drive the auxiliary component to move from the second position to the first position; the elastic driving component is used to drive the auxiliary component to move from the first position to the second position.

[0083] According to some embodiments of this application, the connecting mechanism is provided with a push-open protrusion. During the process of the obstacle clearing component moving to the obstacle clearing position, the push-open protrusion contacts the auxiliary component to push the auxiliary component to move to the first position.

[0084] According to some embodiments of this application, the connecting mechanism includes a plurality of connecting rods that are rotatably connected to each other, one of the plurality of connecting rods is a driving rod, the output end of the driving mechanism is directly connected to the driving rod or connected through an external swing mechanism, and the connecting rod that is rotatably connected to the obstacle clearing push rod among the plurality of connecting rods is provided with the push-open protrusion.

[0085] According to some embodiments of this application, the plurality of connecting rods include a first connecting rod, a second connecting rod, a third connecting rod, and a fourth connecting rod, wherein the third connecting rod constitutes the drive rod; one end of the first connecting rod is rotatably connected to the body; the other end of the first connecting rod is rotatably connected to one end of the second connecting rod; the other end of the second connecting rod is rotatably connected to the obstacle clearing component; the second connecting rod and the third connecting rod intersect and are rotatably connected; one end of the fourth connecting rod is rotatably connected to the end of the third connecting rod; and the other end of the fourth connecting rod is rotatably connected to the obstacle clearing component. The rotational connection point between the third connecting rod and the second connecting rod is the first rotational connection point; the rotational connection point between the third connecting rod and the fourth connecting rod is the second rotational connection point; the connection point between the output end of the drive mechanism and the third connecting rod is the drive connection point; the first rotational connection point is located between the second rotational connection point and the drive connection point; and the push-open protrusion is provided on the fourth connecting rod and located on the side of the fourth connecting rod closer to the auxiliary component.

[0086] According to some embodiments of this application, during the process of the drive mechanism driving the obstacle clearing component to the storage position, the connecting mechanism is adapted to interact with the auxiliary component to drive the auxiliary component to move from the first position to the second position; the elastic drive component is used to drive the auxiliary component to move from the second position to the first position.

[0087] According to some embodiments of this application, the connecting mechanism includes a plurality of connecting rods rotatably connected to each other, one of the plurality of connecting rods being a driving rod, the output end of the driving mechanism being directly connected to the driving rod or connected through an external swing mechanism, and the connecting rod rotatably connected to the obstacle clearing push rod among the plurality of connecting rods being provided with an anti-return protrusion; when the auxiliary component is in the first position, the anti-return protrusion abuts against the outer surface of the auxiliary component to limit the auxiliary component to the first position; during the process of the obstacle clearing component moving from the obstacle clearing position to the storage position, the anti-return protrusion disengages from the auxiliary component.

[0088] According to some embodiments of this application, the plurality of connecting rods include a first connecting rod, a second connecting rod, a third connecting rod, and a fourth connecting rod, wherein the third connecting rod constitutes the drive rod; one end of the first connecting rod is rotatably connected to the body; the other end of the first connecting rod is rotatably connected to one end of the second connecting rod; the other end of the second connecting rod is rotatably connected to the obstacle clearing component; the second connecting rod and the third connecting rod intersect and are rotatably connected; one end of the fourth connecting rod is rotatably connected to the end of the third connecting rod; and the other end of the fourth connecting rod is rotatably connected to the obstacle clearing component; wherein the rotational connection point between the third connecting rod and the second connecting rod is the first rotational connection point; the rotational connection point between the third connecting rod and the fourth connecting rod is the second rotational connection point; the connection point between the output end of the drive mechanism and the third connecting rod is the drive connection point; the first rotational connection point is located between the second rotational connection point and the drive connection point; and the anti-backflow protrusion is provided on the fourth connecting rod and located on the side of the fourth connecting rod closer to the auxiliary component.

[0089] According to some embodiments of this application, the connecting mechanism includes a plurality of connecting rods that are rotatably connected to each other, one of the plurality of connecting rods being a driving rod, the output end of the driving mechanism being directly connected to the driving rod or connected through an external swing mechanism, and a reset protrusion being provided on the connecting rod that is rotatably connected to the obstacle clearing push rod among the plurality of connecting rods; during the process of the obstacle clearing component moving from the obstacle clearing position to the storage position, the reset protrusion contacts the auxiliary component to drive the auxiliary component to move to the second position.

[0090] According to some embodiments of this application, the inner surface of the auxiliary component is provided with a mating protrusion. During the process of the clearing component moving from the clearing position to the storage position, the reset protrusion contacts the mating protrusion to drive the auxiliary component to move to the second position.

[0091] According to some embodiments of this application, the plurality of connecting rods include a first connecting rod, a second connecting rod, a third connecting rod, and a fourth connecting rod, wherein the third connecting rod constitutes the drive rod, one end of the first connecting rod is rotatably connected to the body, the other end of the first connecting rod is rotatably connected to one end of the second connecting rod, the other end of the second connecting rod is rotatably connected to the obstacle clearing component, the second connecting rod and the third connecting rod intersect and are rotatably connected, one end of the fourth connecting rod is rotatably connected to the end of the third connecting rod, and the other end of the fourth connecting rod is rotatably connected to the obstacle clearing component; wherein, the rotational connection point between the third connecting rod and the second connecting rod is the first rotational connection point, the rotational connection point between the third connecting rod and the fourth connecting rod is the second rotational connection point, the connection point between the output end of the drive mechanism and the third connecting rod is the drive connection point, the first rotational connection point is located between the second rotational connection point and the drive connection point, and the reset protrusion is provided on the fourth connecting rod.

[0092] According to some embodiments of this application, the inner side of the auxiliary component is provided with a limiting protrusion. When the auxiliary component is in the first position, the limiting protrusion abuts against the obstacle clearing push rod to limit the auxiliary component.

[0093] According to some embodiments of this application, the auxiliary component includes a connecting portion and a clearing portion. The connecting portion is movably connected to the clearing portion, and the clearing portion is connected below the connecting portion and adapted to interact with obstacles. In the circumferential direction of the fuselage, the length of the clearing portion is greater than the length of the connecting portion.

[0094] According to some embodiments of this application, the obstacle removal component is provided with a cleaning structure, which is used to clean the work surface and / or obstacles.

[0095] According to some embodiments of this application, the cleaning structure is located at the bottom of the obstacle removal component.

[0096] According to some embodiments of this application, the cleaning structure is adhered to the obstacle removal component or detachably disposed on the obstacle removal component.

[0097] According to some embodiments of this application, the cleaning structure includes at least one of a cleaning brush, a cleaning cloth, and a cleaning squeegee.

[0098] According to some embodiments of this application, the obstacle clearing component is provided with a flexible layer for contacting the obstacle.

[0099] According to some embodiments of this application, the flexible layer is a rubber layer or a silicone layer.

[0100] According to some embodiments of this application, the flexible layer is bonded and fixed to the obstacle removal component, or the flexible layer is integrally formed on the obstacle removal component.

[0101] According to some embodiments of this application, the obstacle removal component is provided with a cleaning structure for cleaning the work surface and / or obstacles, and at least a portion of the cleaning structure constitutes the flexible layer.

[0102] According to some embodiments of this application, the obstacle clearing component includes a contact portion adapted to contact the obstacle, the contact portion being arc-shaped.

[0103] According to some embodiments of this application, at least a portion of the obstacle clearing component constitutes the front impact plate of the cleaning device.

[0104] According to some embodiments of this application, the drive mechanism includes a drive motor and a transmission mechanism, the transmission mechanism being connected to the obstacle clearing component.

[0105] According to some embodiments of this application, the transmission mechanism includes a gear mechanism, the motor shaft of the drive motor is connected to the gear mechanism to drive the gear mechanism to move, the gear mechanism includes an output gear, the output gear has an output end, and the output end is directly connected to the obstacle clearing component or connected through an external swing mechanism.

[0106] According to some embodiments of this application, the rotation axis of the output gear extends in the vertical direction, and the lower end of the output gear constitutes the output end.

[0107] According to some embodiments of this application, the output gear includes a gear body and a gear shaft, the gear shaft includes a second shaft portion, the second shaft portion is coaxially connected to the gear body, and the lower end of the gear body has the output end.

[0108] According to some embodiments of this application, the cross-section of the second shaft portion is "D" shaped, the gear body is provided with a second connecting hole, the second shaft portion is accommodated in the second connecting hole, and the cross-section of the second connecting hole is "D" shaped.

[0109] According to some embodiments of this application, the obstacle clearing component or the outward swing mechanism is provided with a first mounting hole, and the output end is inserted into the first mounting hole.

[0110] According to some embodiments of this application, the cross-section of the output terminal and the cross-section of the first mounting hole are both non-circular.

[0111] According to some embodiments of this application, a foolproof notch is formed on the inner peripheral wall of the first mounting hole, and a foolproof protrusion is provided on the outer peripheral wall of the output end, the foolproof protrusion being accommodated within the foolproof notch.

[0112] According to some embodiments of this application, the obstacle clearing component includes a connecting mechanism and an obstacle clearing member. The connecting mechanism is connected between the obstacle clearing member and the body. The output end is directly connected to the connecting mechanism or connected through the outward swing mechanism. The obstacle clearing member is adapted to act on the obstacle to move the obstacle away from its original position.

[0113] According to some embodiments of this application, the connecting mechanism includes a plurality of connecting rods that are rotatably connected to each other, one of the plurality of connecting rods being a driving rod, and the output end of the driving mechanism being directly connected to the driving rod or connected through the swing mechanism.

[0114] According to some embodiments of this application, the output end of the drive mechanism is directly connected to the drive rod, the drive rod is provided with a first mounting hole, and the output end is inserted into the first mounting hole.

[0115] According to some embodiments of this application, it includes: an obstacle recognition module, which is disposed on the fuselage and used to recognize obstacles.

[0116] According to some embodiments of this application, it includes: an obstacle image acquisition module, the obstacle image acquisition module being disposed on the body and used to acquire images of the obstacle.

[0117] A cleaning system according to a second aspect of this application includes: a cleaning device according to a first aspect of this application; and a cleaning base station, wherein the cleaning device and the cleaning base station are detachably coupled, and the cleaning base station is used to clean and / or charge the cleaning device.

[0118] According to the cleaning system of this application embodiment, by providing a clearing module on the body of the cleaning device, when there is an obstacle on the working surface, the clearing module automatically identifies the obstacle and moves the obstacle away from its original position, so that the working surface corresponding to the original position of the obstacle can be exposed, so that the cleaning component can clean the working surface corresponding to the original position of the obstacle and its surrounding area, effectively reducing cleaning dead corners and missed areas. This can enhance the overall cleaning effect of the working surface, reduce the dependence on manual labor, and improve the user experience.

[0119] According to a third aspect of this application, the cleaning device is a cleaning device according to a first aspect of this application. The control method of the cleaning device includes: confirming that there is an obstacle in front of the cleaning device and confirming that the distance between the obstacle and the cleaning device is less than a first preset distance; controlling the cleaning device to move toward the obstacle, controlling the obstacle clearing module to work to move the obstacle and make the obstacle leave its original position; cleaning the area where the obstacle was originally located, and controlling the obstacle clearing module to stop working and reset.

[0120] According to some embodiments of this application, the method further includes: determining whether the obstacle is a movable obstacle; when it is confirmed that the obstacle is a movable obstacle, controlling the cleaning device to move toward the obstacle; and when it is confirmed that the obstacle is not a movable obstacle, controlling the cleaning device to avoid the obstacle.

[0121] According to some embodiments of this application, determining whether an obstacle is a movable obstacle includes: acquiring an image of the obstacle; and determining whether the obstacle is a movable obstacle based on the acquired image of the obstacle.

[0122] According to some embodiments of this application, determining whether an obstacle belongs to the movable obstacle based on the collected image of the obstacle includes: determining the size and shape of the obstacle based on the collected image of the obstacle, so as to determine whether the obstacle belongs to the movable obstacle.

[0123] According to some embodiments of this application, controlling the cleaning device to move toward the obstacle, and controlling the obstacle clearing module to operate to move the obstacle and cause the obstacle to leave its original position, includes: controlling the cleaning device to move toward the obstacle until the distance between the cleaning device and the obstacle is less than a second preset distance, the second preset distance being less than a first preset distance; and controlling the obstacle clearing module to operate to move the obstacle and cause the obstacle to leave its original position.

[0124] According to some embodiments of this application, controlling the obstacle clearing module to move the obstacle and cause the obstacle to leave its original position includes: controlling the output power of the obstacle clearing module to an initial power and controlling the obstacle clearing module to contact the obstacle; after the obstacle clearing module has been working for a first preset time, determining whether the obstacle has moved, and increasing the output power of the obstacle clearing module when the obstacle has not moved.

[0125] According to some embodiments of this application, when the obstacle does not move, increasing the output power of the obstacle clearing module includes: when the output power of the obstacle clearing module increases to a preset output power and the obstacle does not move, then the obstacle is determined to be an unpushable obstacle, and the obstacle clearing module is controlled to stop working and reset.

[0126] According to some embodiments of this application, determining whether the obstacle has moved includes: detecting whether the distance between the fuselage and the obstacle has increased; if the distance between the fuselage and the obstacle has increased, determining that the obstacle has moved; if the distance between the fuselage and the obstacle has remained unchanged, determining that the obstacle has not moved.

[0127] According to some embodiments of this application, determining whether the obstacle has moved includes: detecting a change in the current of the obstacle clearing module; determining that the obstacle has moved when the current of the obstacle clearing module remains within a preset range; and determining that the obstacle has not moved when the current of the obstacle clearing module suddenly increases.

[0128] According to some embodiments of this application, the obstacle removal module includes a drive mechanism and an obstacle removal component. The drive mechanism is disposed on the fuselage and connected to the obstacle removal component to drive the obstacle removal component to move. Controlling the obstacle removal module to operate and move the obstacle includes: controlling the drive mechanism to drive the obstacle removal component to move, so that at least a portion of the obstacle removal component swings out of the fuselage; controlling the obstacle removal module to stop operating and reset includes: controlling the drive mechanism to drive the obstacle removal component back to the fuselage.

[0129] According to some embodiments of this application, the obstacle removal component is provided with a cleaning structure; wherein cleaning the original location area of ​​the obstacle includes: controlling the obstacle removal component to move in the original location area of ​​the obstacle so that the cleaning structure cleans the original location area of ​​the obstacle; or, controlling the body of the cleaning device to move to the original location area of ​​the obstacle, and controlling the cleaning component to clean the original location area of ​​the obstacle.

[0130] According to some embodiments of this application, the method further includes: confirming that the downward-facing sensor of the cleaning device is blocked; detecting whether the obstacle clearing module has stopped working; if the obstacle clearing module has stopped working, detecting whether the obstacle clearing component is in the storage position; if the obstacle clearing component is not in the storage position, retracting the obstacle clearing component to the storage position; and if the obstacle clearing module is working, determining that the cleaning device has a risk of falling.

[0131] According to some embodiments of this application, when it is confirmed that the obstacle clearing component is not in the storage position, retracting the obstacle clearing component to the storage position includes: when it is confirmed that the obstacle clearing component is not in the storage position, controlling the drive mechanism to drive the obstacle clearing component to move toward the storage position.

[0132] According to some embodiments of this application, after controlling the drive mechanism to drive the obstacle clearing component toward the storage position, it is determined whether the downward-facing sensor is obstructed; after confirming that the downward-facing sensor is obstructed, the cleaning device reports an obstacle to prompt the user to manually retract the obstacle clearing component to the storage position.

[0133] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0134] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0135] Figure 1 is a schematic diagram of the cleaning device according to Embodiment 1 of this application;

[0136] Figure 2 is a schematic diagram of a portion of the cleaning device in Figure 1, where the obstacle removal component is located in the storage position;

[0137] Figure 3 is a schematic diagram of a portion of the cleaning device in Figure 1, where the obstacle removal component is located in the storage position;

[0138] Figure 4 is a schematic diagram of a portion of the cleaning device in Figure 1, where the obstacle removal component is located in the storage position;

[0139] Figure 5 is a schematic diagram of a portion of the cleaning device in Figure 1, where the obstacle-clearing component is located at the obstacle-clearing position;

[0140] Figure 6 is a schematic diagram of a portion of the cleaning device in Figure 1, where the obstacle removal component is located in the storage position;

[0141] Figure 7 is a schematic diagram of a portion of the cleaning device in Figure 1, where the obstacle-clearing component is located at the obstacle-clearing position;

[0142] Figure 8 is a partial structural schematic diagram of the cleaning device in Figure 7;

[0143] Figure 9 is a schematic diagram of the assembly of some structures of the drive mechanism and the swing mechanism in the cleaning device in Figure 8.

[0144] Figure 10 is a schematic diagram of a portion of the cleaning device in Figure 1, where the obstacle-clearing component is located at the obstacle-clearing position;

[0145] Figure 11 is a schematic diagram of the cleaning device according to Embodiment 2 of this application, wherein the obstacle removal component is located in the storage position;

[0146] Figure 12 is a schematic diagram of the obstacle removal module in the cleaning device in Figure 11, wherein the obstacle removal component is located in the storage position;

[0147] Figure 13 is a schematic diagram of the obstacle removal module in Figure 12, where the obstacle removal component is located at the obstacle removal position;

[0148] Figure 14 is a partial structural schematic diagram of the cleaning device according to Embodiment 3 of this application, wherein the obstacle-clearing component is located at the obstacle-clearing position;

[0149] Figure 15 is a partial structural schematic diagram of the cleaning device in Figure 14;

[0150] Figure 16 is a partial structural schematic diagram of the cleaning device in Figure 14, in which the obstacle removal component is located in the storage position;

[0151] Figure 17 is a partial structural schematic diagram of the cleaning device in Figure 16;

[0152] Figure 18 is a schematic diagram of the cleaning device according to Embodiment 3 of this application;

[0153] Figure 19 is a schematic diagram of the obstacle removal component in the cleaning device according to Embodiment 4 of this application;

[0154] Figure 20 is a schematic diagram of the installation box in the cleaning device in Figure 10;

[0155] Figure 21 is a schematic diagram of the mounting box in Figure 20 from another angle;

[0156] Figure 22 is a partial structural diagram of the connecting mechanism, gear mechanism and detection component in the cleaning device in Figure 10.

[0157] Figure 23 is a schematic diagram of the third connecting rod in the connecting mechanism of Figure 22;

[0158] Figure 24 is a schematic diagram of the output gear in the gear mechanism in Figure 22;

[0159] Figure 25 is a schematic diagram of the gear shaft in the gear mechanism in Figure 22;

[0160] Figure 26 is a schematic diagram of the optical coupler detection element in the detection assembly in Figure 22;

[0161] Figure 27 is a schematic diagram of a partial structure of the cleaning device according to Embodiment 5 of this application, wherein the obstacle clearing component is located in the storage position and the auxiliary component is located in the second position;

[0162] Figure 28 is a schematic diagram of a portion of the cleaning device in Figure 27, where the obstacle-clearing component is located in the storage position and the auxiliary component is located in the second position.

[0163] Figure 29 is a schematic diagram of a portion of the cleaning device in Figure 27, where the obstacle removal component is located in the storage position and the auxiliary component is located in the second position.

[0164] Figure 30 is a schematic diagram of a portion of the cleaning device in Figure 27, wherein the obstacle-clearing component is located at the obstacle-clearing position and the auxiliary component is located at the first position.

[0165] Figure 31 is a schematic diagram of a portion of the cleaning device in Figure 27, wherein the obstacle-clearing component is located at the obstacle-clearing position and the auxiliary component is located at the first position;

[0166] Figure 32 is a schematic diagram of the obstacle removal component in the cleaning device shown in Figure 27;

[0167] Figure 33 is a schematic diagram of the auxiliary components in the cleaning device shown in Figure 27;

[0168] Figure 34 is a schematic diagram of the auxiliary component in Figure 33 from another angle;

[0169] Figure 35 is a schematic diagram of the elastic drive element in the cleaning device in Figure 27;

[0170] Figure 36 is a schematic diagram of the fourth connecting rod in the cleaning device in Figure 27;

[0171] Figure 37 is a schematic diagram of a partial structure of the cleaning device according to Embodiment 6 of this application, wherein the obstacle-clearing component is located at the obstacle-clearing position and the auxiliary component is located at the first position;

[0172] Figure 38 is an enlarged view of point A in Figure 37;

[0173] Figure 39 is a partial structural schematic diagram of the cleaning device in Figure 37, wherein the obstacle removal component is located in the storage position and the auxiliary component is located in the second position;

[0174] Figure 40 is a schematic diagram of part of the obstacle clearing component in Figure 37, wherein the obstacle clearing component is located in the obstacle clearing position and the auxiliary component is located in the first position;

[0175] Figure 41 is a cross-sectional view of a portion of the obstacle-clearing component in Figure 40, wherein the auxiliary component is located in the first position;

[0176] Figure 42 is a schematic diagram of the obstacle clearing component in Figure 40;

[0177] Figure 43 is a schematic diagram of the fourth connecting rod in Figure 40;

[0178] Figure 44 is a schematic diagram of the auxiliary component in Figure 40;

[0179] Figure 45 is a schematic diagram of the auxiliary components in the cleaning apparatus according to Embodiment 7 of this application;

[0180] Figure 46 is a sectional view of a portion of the connecting mechanism in Figure 40;

[0181] Figure 47 is a cross-sectional view of another part of the connecting mechanism in Figure 40;

[0182] Figure 48 is a cross-sectional view of another part of the connecting mechanism in Figure 41.

[0183] Reference numerals: 100, Cleaning device; 1, Body; 11, Front end; 12, Bottom shell; 121, Receiving notch; 13, Limiting structure; 14, Mounting box; 141, Receiving groove; 142, Cover plate; 143, Cable outlet; 3, Obstacle removal module; 31, Drive mechanism; 3121, Output gear; 3122, Output end; 3123, Anti-foolproof protrusion; 3124, Gear body; 3125, Gear shaft; 3126, First shaft; 3127, Second shaft; 32, Swinging mechanism; 321, Turntable; 322, Slider; 324, First mounting hole; 3241, Anti-foolproof notch; 33. Obstacle clearing component; 331. Outer side; 332. Clearance opening; 333. Slide groove; 334. Obstacle clearing piece; 3341. Storage opening; 3342. Obstacle clearing push rod; 3343. Rotary hole; 335. Connecting mechanism; 336. Connecting rod; 3361. First connecting rod; 3362. Second connecting rod; 3363. Third connecting rod; 3364. Fourth connecting rod; 3365. Fifth connecting rod; 3366. Sixth connecting rod; 3367. Seventh connecting rod; 3368. Eighth connecting rod; 3369. Ninth connecting rod; 3370. Tenth connecting rod; 3371. First rotating hole 3372. Second rotating connection point; 3373. Third rotating connection point; 3374. Fourth rotating connection point; 3375. Fifth rotating connection point; 3376. Settling groove; 3377. Push-open protrusion; 3378. Anti-reverse protrusion; 3379. Reset protrusion; 3380. Gasket; 340. Connector; 3401. Connecting post; 3402. Limiting cap; 342. Cleaning structure; 343. Auxiliary component; 3431. Rotating shaft; 3432. Matching protrusion; 3433. Limiting protrusion; 3434. Connecting part; 3435. Obstruction clearing part; 344. Elastic drive component; 4. Detection component; 41. Detection circuit board; 412. Lead terminal; 42. First optocoupler; 43. Second optocoupler; 431. Second optocoupler base; 4311. Second detection groove; 44. Optocoupler detection element; 441. Detection bump; 442. First connection hole. Detailed Implementation

[0184] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0185] The cleaning apparatus 100 according to an embodiment of the present application is described below with reference to Figures 1-48.

[0186] Referring to Figures 1, 6, and 7, a cleaning device 100 according to a first aspect embodiment of this application includes a body 1, a cleaning component, and a clearing module 3. The cleaning component is disposed on the body 1 and is used to clean the work surface. The clearing module 3 is disposed on the body 1 and is used to move obstacles to remove them from their original positions. The body 1 can serve as the basic carrier of the cleaning device 100. The body 1 can be a one-piece structure or a combined structure formed by the cooperation of multiple components. The body 1 provides support and protection for other components of the cleaning device 100, including, but not limited to, the cleaning component and the clearing module 3.

[0187] The cleaning component can directly clean the work surface. If there are obstacles on the work surface, the obstacles will hinder the cleaning component from cleaning the area below and around it, resulting in the work surface not being completely cleaned. The obstacle removal module 3 automatically identifies the obstacles and removes them from their original positions, exposing the work surface corresponding to the original position of the obstacle. This allows the cleaning component to clean the work surface corresponding to the original position of the obstacle and its surrounding area, effectively reducing cleaning dead corners and missed areas, and improving the integrity and coverage of the work surface cleaning. This enhances the overall cleaning effect of the work surface and reduces reliance on manual labor. Users only need to start the cleaning device 100 to allow it to automatically complete the cleaning and obstacle removal work, saving manpower and improving the user experience.

[0188] In some embodiments, the cleaning device 100 is adapted to cooperate with a cleaning base station, which is used to clean and / or charge the cleaning device 100. The cleaning device 100 also includes an obstacle recognition module. The obstacle recognition module is disposed on the body 1 and is used to identify obstacles. When the obstacle recognition module detects an obstacle on the working surface, the cleaning device 100 controls the obstacle removal module 3 to move the obstacle so that the obstacle leaves its original position.

[0189] For example, the obstacle recognition module can be an image acquisition device, an infrared sensor, an LDS module, a line laser, etc. For instance, an image acquisition device installed on the body 1 can acquire image information about the area around the cleaning device 100, and the cleaning device 100 can identify from the acquired image information whether it has approached an obstacle. In other embodiments, the obstacle detection module can also be other sensors capable of detecting the surrounding environment.

[0190] In some embodiments, the cleaning component may include a wiping element, which can be a dry wiping element to achieve a dry cleaning effect on the work surface. Alternatively, the wiping element can be a wet wiping element containing a cleaning solution to achieve a wet cleaning effect on the work surface. The cleaning solution can be water, a liquid containing 84 disinfectant, ethanol, a liquid containing sodium chloride, etc. For example, the cleaning device 100 includes a water tank, and the cleaning solution in the water tank can be dripped into the wiping element or sprayed onto the work surface and wiped away by the wiping element.

[0191] According to the embodiments of this application, the cleaning device 100 is equipped with a clearing module 3 on its body 1. When there is an obstacle on the working surface, the clearing module 3 automatically identifies the obstacle and moves it away from its original position, which exposes the working surface corresponding to the original position of the obstacle. This allows the cleaning components to clean the working surface corresponding to the original position of the obstacle and its surrounding area, effectively reducing cleaning dead corners and missed areas. This enhances the overall cleaning effect of the working surface, reduces reliance on manual labor, and improves the user experience.

[0192] Referring to Figures 1 and 18, according to some embodiments of this application, the obstacle removal module 3 is located at the front end 11 of the body 1. Compared with the cleaning components, the obstacle removal module 3 located at the front end 11 of the body 1 can contact and remove obstacles in advance. For example, when the cleaning device 100 is moving, the obstacle removal module 3 at the front end 11 can pre-clean the obstacles on the working surface in the forward direction of the cleaning device 100, so that the subsequent cleaning components can clean the working surface corresponding to the original position of the obstacles, thereby improving the overall cleaning effect of the working surface and reducing repetitive work, which is conducive to improving cleaning efficiency.

[0193] Referring to Figures 1 and 18, according to some embodiments of this application, the obstacle removal module 3 is located at the left front end 11 or right front end 11 of the body 1. This enables the obstacle removal module 3 to effectively remove obstacles on one side of the body 1. For example, the obstacle removal module 3 located at the left front end 11 or right front end 11 of the body 1 can move obstacles in narrow areas such as adjacent single-sided walls or furniture legs, thereby facilitating the cleaning components to clean the working surface of narrow areas such as walls or furniture legs, improving the overall cleaning effect of the working surface, and helping to expand the obstacle removal range of the obstacle removal module 3.

[0194] For example, when the cleaning device 100 turns, the obstacle clearing module 3 located at the left front end 11 or the right front end 11 can clear obstacles on the turning side in advance, providing more space for the cleaning device 100 to turn, so that the turning of the cleaning device 100 is smoother.

[0195] Referring to Figures 1 and 18, according to some embodiments of this application, the obstacle removal module 3 is located on the outer edge of the body 1. This allows the obstacle removal module 3 to effectively move obstacles in narrow areas such as walls or furniture legs, thereby facilitating the cleaning components to clean the working surface of narrow areas such as walls or furniture legs, improving the overall cleaning effect of the working surface, and helping to expand the obstacle removal range of the obstacle removal module 3.

[0196] Referring to Figures 1 and 18, according to some embodiments of this application, at least part of the obstacle removal module 3 is located at the bottom of the body 1, which can make full use of the space below the body 1, making the overall structure of the obstacle removal module 3 and the body 1 more compact, reducing the space occupied by the obstacle removal module 3 on the external space of the body 1, which is conducive to the miniaturization of the cleaning device 100 and facilitates the handling and storage of the cleaning device 100.

[0197] The fact that at least part of the obstacle clearing module 3 is located at the bottom of the fuselage 1 can include the following situations: for example, part of the obstacle clearing module 3 can be located at the bottom of the fuselage 1; or, for another example, all of the obstacle clearing module 3 can be located at the bottom of the fuselage 1.

[0198] Referring to Figures 2-6, according to some embodiments of this application, a downward-looking sensor is included. The downward-looking sensor is located at the bottom of the body 1, and the obstacle clearing module 3 is provided with a clearance part 332 for avoiding the downward-looking camera. The downward-looking sensor's location at the bottom of the body 1 fully utilizes the space below the body 1, making the overall structure of the downward-looking sensor and the body 1 compact. This reduces the space occupied by the downward-looking sensor on the external space of the body 1, facilitating the miniaturization of the cleaning device 100 and making it easier to transport and store. The clearance part 332 prevents the obstacle clearing module 3 from obstructing the downward-looking sensor, ensuring that the downward-looking sensor can detect the situation below the body 1 in real time. This allows the cleaning device 100 to more accurately determine its own position information, thereby achieving intelligent control of the cleaning device 100.

[0199] For example, the clearance part 332 can be a light-transmitting part, which allows light to pass through the clearance part 332, thereby avoiding obstruction of the downward-looking sensor and enabling the downward-looking sensor to detect the situation under the fuselage 1 more accurately.

[0200] For example, the obstacle clearing module 3 could also be a light-transmitting component, which would avoid obstructing the downward-facing sensor and allow the downward-facing sensor to more accurately detect the situation under the fuselage 1.

[0201] In some embodiments, the downward-facing sensor is electrically connected to the control module of the cleaning device 100. The control module is used to control the movement path and direction of the cleaning device 100 based on the position information detected by the downward-facing sensor. The downward-facing sensor is located at the bottom of the body 1, which allows the sensor to more directly identify the information of the working surface below the cleaning device 100. For example, if the cleaning device 100 is located on a higher working surface and is about to move to a lower working surface, the position of the cleaning device 100 can be identified in a timely and accurate manner by the downward-facing sensor located at the bottom of the body 1, and the information can be transmitted to the control component. The control component can change the movement path and direction of the cleaning device 100 to reduce or avoid damage caused by the cleaning device 100 falling from a height, which is beneficial to extending the service life of the cleaning device 100.

[0202] Referring to Figures 4-7, according to some embodiments of this application, the obstacle removal module 3 includes a drive mechanism 31 and an obstacle removal component 33. The drive mechanism 31 is mounted on the body 1 and connected to the obstacle removal component 33 to drive the obstacle removal component 33 to move. The body 1 can support and protect the drive mechanism 31. By driving the obstacle removal component 33 to move through the drive mechanism 31, the obstacle removal component 33 can move the obstacle to make it leave its original position.

[0203] Referring to Figures 4-7, according to some embodiments of this application, the obstacle clearing component 33 is movable between an obstacle clearing position and a storage position. When the obstacle clearing component 33 is in the storage position, at least a portion of the obstacle clearing component 33 is stored in the fuselage 1. When the obstacle clearing component 33 is in the obstacle clearing position, at least a portion of the obstacle clearing component 33 is located outside the outer edge of the fuselage 1.

[0204] When the obstacle clearing component 33 is in the storage position, at least a portion of the obstacle clearing component 33 being stored within the fuselage 1 can include the following situations: for example, when the obstacle clearing component 33 is in the storage position, only a portion of the obstacle clearing component 33 can be stored within the fuselage 1; or, for example, the entire obstacle clearing component 33 can be stored within the fuselage 1. Correspondingly, when the obstacle clearing component 33 is in the obstacle clearing position, at least a portion of the obstacle clearing component 33 being located outside the outer edge of the fuselage 1 can include the following situations: for example, when the obstacle clearing component 33 is in the obstacle clearing position, only a portion of the obstacle clearing component 33 can be located outside the outer edge of the fuselage 1; or, for example, the entire obstacle clearing component 33 can be located outside the outer edge of the fuselage 1.

[0205] The drive mechanism 31 can drive the obstacle removal component 33 to move between the storage position and the obstacle removal position. When the drive mechanism 31 drives the obstacle removal component 33 from the storage position to the obstacle removal position, the obstacle removal range of the obstacle removal component 33 can be expanded, and the obstacle removal component 33 can also move obstacles. When the drive mechanism 31 drives the obstacle removal component 33 from the obstacle removal position to the storage position, this can reduce the space occupied by the obstacle removal component 33 on the external space of the body 1, which is conducive to the layout optimization and miniaturization of the cleaning device 100.

[0206] Referring to Figures 6 and 7, according to some embodiments of this application, when the obstacle removal component 33 is in the storage position, the overlapping area of ​​the projection of the obstacle removal component 33 and the body 1 on the horizontal plane is the first overlapping area; when the obstacle removal component 33 is in the obstacle removal position, the overlapping area of ​​the projection of the obstacle removal component 33 and the body 1 on the horizontal plane is the second overlapping area, and the first overlapping area is larger than the second overlapping area. Compared to when the obstacle removal component 33 is in the obstacle removal position, when the obstacle removal component 33 is in the storage position, its first overlapping area with the body 1 on the horizontal plane is larger. This allows the obstacle removal component 33 to better fit the contour of the body 1 when in the storage position, reducing the space occupied by the cleaning device 100 on the external space of the body 1, which is beneficial to the miniaturization of the cleaning device 100 and facilitates the handling and storage of the cleaning device 100. Compared to when the obstacle clearing component 33 is in the storage position, when the obstacle clearing component 33 is in the obstacle clearing position, its second overlapping area with the fuselage 1 on the horizontal plane is smaller. This allows the obstacle clearing component 33 to extend more outside the fuselage 1 when it is in the obstacle clearing position, so that the obstacle clearing component 33 has a larger obstacle clearing range.

[0207] Referring to Figures 6, 7, 10, 11 and 18, according to some embodiments of this application, when the obstacle removal component 33 is in the storage position, the projection of the obstacle removal component 33 on the horizontal plane is located within the projection of the body 1 on the horizontal plane. When the obstacle removal component 33 is in the storage position, this allows the obstacle removal component 33 to be completely accommodated inside the body 1, avoiding the obstacle removal component 33 occupying the external space of the body 1, which is beneficial to the miniaturization of the cleaning device 100 and facilitates the handling and storage of the cleaning device 100.

[0208] Referring to Figures 6, 7, 10, 11, and 18, according to some embodiments of this application, when the obstacle clearing component 33 is in the retracted position, the side of the obstacle clearing component 33 closest to the outer edge of the fuselage 1 is called the outer side 331, and the outline of the outer side 331 is consistent with the outline of the outer edge of the fuselage 1. When the obstacle clearing component 33 is in the retracted position, the outline of the outer edge of the fuselage 1 is consistent with the outline of the outer side 331 of the obstacle clearing component 33, which minimizes the distance between the outer side 331 of the obstacle clearing component 33 and the outer edge of the fuselage 1. This shortens the distance the obstacle clearing component 33 needs to move from the retracted position to the obstacle clearing position. When the obstacle clearing component 33 moves from the retracted position to the obstacle clearing position, it can move to the obstacle clearing position at a faster speed to move obstacles, thereby improving the obstacle clearing efficiency of the obstacle clearing component 33.

[0209] Referring to Figures 6, 7, 10, 11, and 18, according to some embodiments of this application, the fuselage 1 includes a bottom shell 12, and a clearing module 3 is mounted on the bottom shell 12. A receiving notch 121 is formed on the outer edge of the bottom shell 12. When the clearing component 33 is in the retracted position, at least a portion of the clearing component 33 is located within the receiving notch 121. This location of at least a portion of the clearing component 33 within the receiving notch 121 can include the following situations: for example, a portion of the clearing component 33 may be located within the receiving notch 121; or, for another example, the entire clearing component 33 may be located within the receiving notch 121.

[0210] When the obstacle removal component 33 is in the storage position, at least a portion of the obstacle removal component 33 is located in the receiving notch 121, which makes the overall structure of the obstacle removal component 33 and the bottom shell 12 more compact, reduces the occupation of the external space of the body 1, is conducive to the miniaturization of the obstacle removal device as a whole, and facilitates the handling and storage of the cleaning device 100.

[0211] Referring to Figures 6 and 7, according to some embodiments of this application, a downward-facing sensor is included. The downward-facing sensor is located at the bottom of the body 1, and the obstacle clearing component 33 is provided with a clearance portion 332 for avoiding the downward-facing camera. When the obstacle clearing component 33 is in the retracted position, the clearance portion 332 is located below the downward-facing sensor and is positioned vertically opposite to the downward-facing sensor. The clearance portion 332 prevents the obstacle clearing module 3 from obstructing the downward-facing sensor, thereby enabling the downward-facing sensor to detect the situation under the body 1 in real time. This allows the cleaning device 100 to more accurately determine its own position information, thereby achieving intelligent control of the cleaning device 100. When the obstacle clearing component 33 is in the retracted position, the clearance portion 332 is positioned vertically opposite to the downward-facing sensor, further reducing the area obstructed by the obstacle clearing component 33, allowing the downward-facing sensor to acquire clearer and more accurate image information.

[0212] Referring to Figures 6 and 7, according to some embodiments of this application, the mechanism for driving the obstacle-clearing component 33 to move between the obstacle-clearing position and the storage position is the same mechanism as the mechanism for driving the obstacle-clearing component 33 to move the obstacle. While enabling the obstacle-clearing component 33 to move to the obstacle-clearing position to expand the obstacle-clearing range, it can also drive the obstacle-clearing component 33 to move the obstacle, reducing the number of parts, simplifying the overall structure of the cleaning device 100, thus facilitating layout optimization of the cleaning device 100 and reducing the manufacturing cost of the cleaning device 100.

[0213] Referring to Figures 7, 13, and 14, according to some embodiments of this application, the obstacle removal component 33 pushes or clamps the obstacle to move it away from its original position. The structure of the push-type obstacle removal component 33 is relatively simple. When the drive mechanism 31 drives the obstacle removal component 33 from its storage position to its removal position, it can also exert a pushing force on the obstacle to move it away from its original position. This reduces the number of parts and simplifies the overall structure of the cleaning device 100. The clamping-type obstacle removal component 33 provides more reliable obstacle removal. For example, the obstacle removal component 33 includes a clamping part that can stably clamp obstacles of different shapes, reducing or avoiding the situation where the obstacle bounces back to its original position during movement, causing the obstacle removal component 33 to clean it repeatedly.

[0214] For example, the obstacle clearing component 33 can swing relative to the body 1 between the storage position and the obstacle clearing position. The area swept by the obstacle clearing component 33 during the swing is relatively large. While effectively expanding the obstacle clearing range of the obstacle clearing component 33, it can also exert a pushing force on the obstacle to push the obstacle away from its original position.

[0215] For example, the obstacle clearing component 33 may include a clamping part, which can clamp the obstacle. For obstacles with irregular shapes, such as balls or cylindrical objects, the clamping part can stably grasp the obstacle. Through the clamping action, the obstacle can be firmly grasped, and the drive mechanism 31 drives the obstacle clearing component 33 to move to the obstacle clearing position. This can reliably remove the obstacle from its original position, effectively reducing or avoiding the situation where the obstacle slips and bounces back to its original position during the movement, causing repeated clearing.

[0216] Referring to Figures 8, 13, 15, and 19, according to some embodiments of this application, the output end 3122 of the drive mechanism 31 is directly connected to the obstacle clearing component 33, or the output end 3122 of the drive mechanism 31 is connected to the obstacle clearing component 33 through an external swing mechanism 32. If the output end 3122 of the drive mechanism 31 is directly connected to the obstacle clearing component 33, the power transmission path between the drive mechanism 31 and the obstacle clearing component 33 can be shortened, thus reducing energy loss during power transmission. Furthermore, it can reduce obstacle clearing delays caused by excessively long power transmission paths between the drive mechanism 31 and the obstacle clearing component 33, thereby improving the obstacle clearing efficiency of the obstacle clearing component 33. The direct connection between the output end 3122 of the drive mechanism 31 and the obstacle clearing component 33 also simplifies the overall structure of the obstacle clearing component 33 and the drive mechanism 31, reducing the number and complexity of intermediate parts and lowering manufacturing costs.

[0217] If the output end 3122 of the drive mechanism 31 is connected to the obstacle clearing component 33 through the external swing mechanism 32, one end of the external swing mechanism 32 is connected to the output end 3122 of the drive mechanism 31, and the other end of the external swing mechanism 32 is connected to the obstacle clearing component 33, the drive mechanism 31 drives the external swing mechanism 32 to move, and the external swing mechanism 32 drives the obstacle clearing component 33 to move. In this way, the drive mechanism 31 can drive the obstacle clearing component 33 to move relative to the body 1 between the storage position and the obstacle clearing position, thereby effectively expanding the obstacle clearing range of the obstacle clearing component 33.

[0218] Referring to Figures 11-13, according to some embodiments of this application, the obstacle clearing component 33 is rotatably connected to the body 1. The outward swing mechanism 32 includes a turntable 321 and a slider 322. The turntable 321 is rotatably mounted on the output end 3122 of the drive mechanism 31. The slider 322 is disposed on the turntable 321 and spaced apart from the rotation center of the turntable 321. A groove 333 is formed on the obstacle clearing component 33. The slider 322 is accommodated in the groove 333 and can slide along the extension direction of the groove 333. The slider 322 is used to drive the obstacle clearing component 33 to move. When the drive mechanism 31 is working, the rotation of the output end 3122 of the drive mechanism 31 can drive the turntable 321 to rotate. The rotational motion of the turntable 321 can be converted into the sliding of the slider 322 in the groove 333, so as to realize the process of the slider 322 driving the obstacle clearing component 33 to move between the storage position and the obstacle clearing position.

[0219] The obstacle removal component 33 has a groove 333 formed on it, and the slider 322 is accommodated in the groove 333 and can slide along the extension direction of the groove 333. The cooperation between the slider 322 and the groove 333 can provide guidance for the obstacle removal component 33, so that the obstacle removal component 33 can move stably between the storage position and the obstacle removal position relative to the body 1. In addition, the slider 322 is accommodated in the groove 333, which can effectively prevent the obstacle removal component 33 from shaking or tilting relative to the body 1 during movement, which is conducive to the smooth movement of the obstacle removal component 33 and thus to the stable operation of the cleaning device 100.

[0220] For example, when the turntable 321 rotates in the forward direction, the slider 322 rotates under the driving force of the turntable 321 and drives the obstacle clearing component 33 from the storage position to the obstacle clearing position. When the turntable 321 rotates in the reverse direction, the slider 322 rotates under the driving force of the turntable 321 and drives the obstacle clearing component 33 from the obstacle clearing position to the storage position.

[0221] Referring to Figures 8, 9, 12, and 13, according to some embodiments of this application, the slide groove 333 extends radially along the rotation axis of the obstacle clearing component 33. By extending the slide groove 333 radially along the rotation axis of the obstacle clearing component 33, the sliding direction of the slider 322 within the slide groove 333 is coordinated with the rotation direction of the obstacle clearing component 33, which helps to achieve precise power transmission.

[0222] Referring to Figures 6, 7, 14 and 19, according to some embodiments of this application, the obstacle clearing component 33 is deformable. For example, the size of the obstacle clearing component 33 can be changed so that the size of the obstacle clearing component 33 when it is in the storage position is smaller than the size of the obstacle clearing component 33 when it is in the obstacle clearing position. When the obstacle clearing component 33 is in the obstacle clearing position, the size of the obstacle clearing component 33 is larger, which can effectively expand the obstacle clearing range of the obstacle clearing component 33.

[0223] Referring to Figures 6, 7, 14, and 19, according to some embodiments of this application, the size of the obstacle clearing component 33 is variable. For example, the size of the obstacle clearing component 33 when it is in the storage position is smaller than the size of the obstacle clearing component 33 when it is in the obstacle clearing position. When the obstacle clearing component 33 is in the obstacle clearing position, its size is larger, which can effectively expand the obstacle clearing range of the obstacle clearing component 33. When the obstacle clearing component 33 is in the storage position, its size is smaller, which can reduce the space occupied by the body 1.

[0224] By making the size of the obstacle clearing component 33 variable, it can be made larger to expand the obstacle clearing range, or smaller for easier storage, so that the obstacle clearing component 33 can more flexibly meet actual use needs and improve the user experience.

[0225] For example, the obstacle clearing component 33 includes a connecting mechanism 335 and an obstacle clearing member 334. The obstacle clearing member 334 is used to move obstacles. The driving mechanism 31 and the obstacle clearing member 334 can be connected through the connecting mechanism 335. The connecting mechanism 335 can be a linkage telescopic mechanism. The linkage telescopic mechanism includes multiple hinged connecting rods 336. Under the driving force of the driving mechanism 31, the linkage telescopic mechanism can change the length and angle of the linkage telescopic mechanism to realize the movement of the obstacle clearing member 334 between the storage position and the obstacle clearing position, and can realize the size change of the obstacle clearing component 33.

[0226] Referring to Figures 6, 7, 14 and 19, according to some embodiments of this application, the length of the obstacle clearing component 33 is variable, which allows for changes in the size of the obstacle clearing component 33 to expand the obstacle clearing range or reduce the space occupied by the obstacle clearing component 33, thereby facilitating the storage and transportation of the cleaning device 100, and also enabling the obstacle clearing component 33 to move from the storage position to the obstacle clearing position.

[0227] Referring to Figures 6, 7, 14 and 19, according to some embodiments of this application, the size of the obstacle clearing component 33 in the storage position is smaller than the size of the obstacle clearing component 33 in the obstacle clearing position. When the obstacle clearing component 33 is in the obstacle clearing position, the size of the obstacle clearing component 33 is larger, which can effectively expand the obstacle clearing range of the obstacle clearing component 33. When the obstacle clearing component 33 is in the storage position, the size of the obstacle clearing component 33 is smaller, which can reduce the occupation of the external space of the body 1.

[0228] Referring to Figures 6, 7, 14, and 19, according to some embodiments of this application, the obstacle clearing component 33 includes a connecting mechanism 335 and an obstacle clearing member 334. The connecting mechanism 335 is connected between the obstacle clearing member 334 and the body 1. The output end 3122 of the drive mechanism 31 is directly connected to the connecting mechanism 335 or connected through an outward swing mechanism 32. The obstacle clearing member 334 is adapted to interact with obstacles to move them away from their original position. During the movement of the obstacle clearing component 33 driven by the drive mechanism 31, the connecting mechanism 335 is deformable, allowing the dimensions of the obstacle clearing component 33 to be variable.

[0229] If the drive mechanism 31 is directly connected to one end of the connecting mechanism 335 or connected through the external swing mechanism 32, and the other end of the connecting mechanism 335 is connected to the obstacle clearing component 334, the drive mechanism 31 drives the connecting mechanism 335 to move, and the connecting mechanism 335 drives the obstacle clearing component 334 to move. This allows the drive mechanism 31 to drive the obstacle clearing component 334 to move relative to the body 1 between the storage position and the obstacle clearing position, thereby effectively expanding the obstacle clearing range of the obstacle clearing component 334. Furthermore, during the process of the drive mechanism 31 driving the obstacle clearing component 33 to move, the connecting mechanism 335 is deformable, which allows the size of the obstacle clearing component 33 to change. For example, the size of the obstacle clearing component 33 in the storage position is smaller than the size of the obstacle clearing component 33 in the obstacle clearing position. This reduces the external space of the body 1 occupied by the obstacle clearing component 33 in the storage position, thus facilitating the overall storage and transportation of the cleaning device 100.

[0230] Referring to Figures 7, 8, 12, and 13, according to some embodiments of this application, the swing mechanism 32 includes a turntable 321 and a slider 322. The turntable 321 is rotatably mounted on the output end 3122 of the drive mechanism 31. The slider 322 is disposed on the turntable 321 and spaced apart from the rotation center of the turntable 321. The slider 322 is movably connected to the connecting mechanism 335. When the drive mechanism 31 is working, the rotation of the output end 3122 of the drive mechanism 31 can drive the turntable 321 to rotate. The rotational motion of the turntable 321 can be converted into the sliding of the slider 322 in the groove 333, thereby realizing the process of the slider 322 driving the connecting mechanism 335 to move, so that the connecting mechanism 335 deforms.

[0231] Referring to Figures 7, 8, 12, and 13, according to some embodiments of this application, the connecting mechanism 335 is provided with a groove 333, and a slider 322 is accommodated in the groove 333 and can slide along the extending direction of the groove 333. The slider 322 is used to drive the obstacle clearing component 33 to move. By providing a groove 333 on the connecting mechanism 335 and accommodating the slider 322 in the groove 333, the cooperation between the slider 322 and the groove 333 can provide guidance for the connecting mechanism 335, allowing the connecting mechanism 335 to move stably between the storage position and the obstacle clearing position relative to the body 1. Furthermore, the slider 322 being accommodated in the groove 333 can effectively prevent the connecting mechanism 335 from swaying or tilting relative to the body 1 during movement, which is beneficial for the smooth movement of the connecting mechanism 335 and thus for the stable operation of the obstacle clearing component 33.

[0232] Referring to Figures 6, 7, 14, and 19, according to some embodiments of this application, the connecting mechanism 335 includes a plurality of mutually rotatably connected connecting rods 336. One of the plurality of connecting rods 336 is a driving rod, and the output end 3122 of the driving mechanism 31 is directly connected to the driving rod or connected through the external swing mechanism 32. The plurality of mutually rotatably connected connecting rods 336 can form a linkage mechanism. Under the driving force of the driving mechanism 31, the angle and length between the plurality of mutually rotatably connected connecting rods 336 will change, thereby realizing the deformation of the connecting mechanism 335, and thus realizing the size change of the obstacle clearing component 33.

[0233] Referring to Figures 12 and 13, according to some embodiments of this application, the obstacle removal module 3 is located at at least one end of the body 1 along the left-right direction. When the obstacle removal component 33 is in the obstacle removal position, the angle between the drive rod and the preset direction is α, where α is greater than 90°. The preset direction is parallel to the left-right direction, and in the left-right direction, the preset direction points from the end where the obstacle removal module 3 is located to the other end of the body 1. For example, when the obstacle removal component 33 is in the obstacle removal position, the angle α between the drive rod and the preset direction can be 95°, 100°, 130°, 150°, 180°, 200°, etc. When the obstacle removal component 33 is in the obstacle removal position, by ensuring that the angle α between the drive rod and the preset direction is greater than 90°, the obstacle removal component 33 can be located at the left front or right front of the body 1, so that the obstacle removal range of the obstacle removal component 33 is as large as possible, reducing obstacle removal dead angles, thereby facilitating the subsequent cleaning components to clean the working surface, and effectively enhancing the overall cleaning effect of the cleaning device 100 on the working surface.

[0234] Referring to Figures 12 and 13, according to some embodiments of this application, when the obstacle clearing component 33 is in the obstacle clearing position, the range of α is 100° to 135°. For example, α can be 100°, 110°, 120°, 130°, 135°, etc. By ensuring that α is not less than 100°, the obstacle clearing component 33 can be located at the left front or right front of the body 1, ensuring that the obstacle clearing component 33 has a large obstacle clearing range, thereby effectively enhancing the overall cleaning effect of the cleaning device 100. By ensuring that α is not greater than 135°, the extension distance of at least one end of the obstacle clearing component 33 in the left and right directions can be more reasonable, and when the cleaning device 100 encounters an obstacle, the obstacle clearing component 33 can be adjusted to a suitable position more quickly to move the obstacle.

[0235] For example, when the obstacle clearing component 33 is in the obstacle clearing position, if the angle α between the drive rod and the preset direction is too large, the obstacle clearing component 33 may need more time to adjust its position, resulting in a longer response time for the obstacle clearing action, which in turn affects the overall cleaning efficiency of the cleaning device 100. A relatively small angle α allows the obstacle clearing component 33 to quickly reach its position, thereby improving the obstacle clearing efficiency.

[0236] By using α in the range of 100° to 135°, both the clearing range and the clearing efficiency of the clearing component 33 can be taken into account. This ensures that the clearing range of the clearing component 33 is large, thereby effectively enhancing the overall cleaning effect of the cleaning device 100. At the same time, when the cleaning device 100 encounters an obstacle, the clearing component 33 can be adjusted to a suitable position relatively quickly to move the obstacle.

[0237] Referring to Figures 12 and 13, according to some embodiments of this application, the obstacle clearing module 3 is located at at least one end of the fuselage 1 along the left-right direction. When the obstacle clearing component 33 is in the retracted position, the angle between the drive rod and the preset direction is γ, where γ ranges from 20° to 45°. The preset direction is parallel to the left-right direction, and in the left-right direction, the preset direction points from the end where the obstacle clearing module 3 is located to the other end of the fuselage 1. For example, when the obstacle clearing component 33 is in the retracted position, the angle γ between the drive rod and the preset direction can be 20°, 25°, 30°, 35°, 40°, 45°, etc. When the obstacle removal component 33 is in the storage position, by using γ not less than 20°, the distance that the obstacle removal component 33 needs to move from the storage position to the obstacle removal position is shorter, so that the obstacle removal component 33 can move from the storage position to the obstacle removal position more quickly, thereby improving the obstacle removal efficiency; by using γ not greater than 45°, it can be ensured that the projection of the obstacle removal component 33 on the horizontal plane is within the projection of the body 1 on the horizontal plane, thereby reducing or avoiding the occupation of the external space of the body 1 by the obstacle removal component 33, which is beneficial to the storage and transportation of the cleaning device 100.

[0238] By using a γ range of 20° to 45°, the external space occupied by the obstacle clearing component 33 in the retracted position and the obstacle clearing efficiency can be better balanced. This ensures that the projection of the obstacle clearing component 33 on the horizontal plane is within the projection of the fuselage 1 on the horizontal plane, thereby reducing or avoiding the occupation of the external space of the fuselage 1 by the obstacle clearing component 33. It also allows the obstacle clearing component 33 to move from the retracted position to the obstacle clearing position with a shorter distance, so that the obstacle clearing component 33 can move from the retracted position to the obstacle clearing position more quickly, thereby improving the obstacle clearing efficiency.

[0239] Referring to Figures 7, 8, 12, and 13, according to some embodiments of this application, a drive rod is rotatably connected to the body 1. A groove 333 extending along the extension direction of the drive rod is formed on the drive rod. The outward swing mechanism 32 includes a turntable 321 and a slider 322. The turntable 321 is rotatably mounted on the output end 3122 of the drive mechanism 31. The slider 322 is disposed on the turntable 321 and spaced apart from the rotation center of the turntable 321. The slider 322 is accommodated in the groove 333 and can slide along the extension direction of the groove 333. The slider 322 is used to drive the obstacle-clearing component 33 to move. When the drive mechanism 31 is working, the rotation of the output end 3122 of the drive mechanism 31 can drive the turntable 321 to rotate. The rotational motion of the turntable 321 can be converted into the sliding of the slider 322 within the groove 333, thereby realizing the process of the slider 322 driving the obstacle-clearing component 33 to move between the storage position and the obstacle-clearing position.

[0240] A groove 333 is formed on the drive rod, and a slider 322 is accommodated in the groove 333 and can slide along the extension direction of the groove 333. The cooperation between the slider 322 and the groove 333 can guide the drive rod so that the drive rod can move stably between the storage position and the obstacle clearing position relative to the body 1. In addition, the slider 322 is accommodated in the groove 333, which can effectively prevent the drive rod from shaking or tilting relative to the body 1 during movement, which is conducive to the smooth movement of the drive rod, and thus conducive to the stable operation of the obstacle clearing component 33.

[0241] Referring to Figures 7, 8, 9, 14, and 15, according to some embodiments of this application, a plurality of connecting rods 336 include a first connecting rod 3361, a second connecting rod 3362, a third connecting rod 3363, and a fourth connecting rod 3364, wherein the third connecting rod 3363 constitutes a drive rod, one end of the first connecting rod 3361 is rotatably connected to the body 1, the other end of the first connecting rod 3361 is rotatably connected to one end of the second connecting rod 3362, the other end of the second connecting rod 3362 is rotatably connected to the obstacle clearing component 334, the second connecting rod 3362 and the third connecting rod 3363 intersect and are rotatably connected, one end of the fourth connecting rod 3364 is rotatably connected to the end of the third connecting rod 3363, and the other end of the fourth connecting rod 3364 is rotatably connected to the obstacle clearing component 334.

[0242] The rotational connection point between the third connecting rod 3363 and the second connecting rod 3362 is the first rotational connection point 3371, the rotational connection point between the third connecting rod 3363 and the fourth connecting rod 3364 is the second rotational connection point 3372, the connection point between the output end 3122 of the drive mechanism 31 and the third connecting rod 3363 is the drive connection point, and the first rotational connection point 3371 is located between the second rotational connection point 3372 and the drive connection point.

[0243] The first connecting rod 3361, the second connecting rod 3362, the third connecting rod 3363, and the fourth connecting rod 3364 can form a four-bar linkage mechanism, and the movement of the obstacle clearing component 334 can be achieved by changing the length and angle of the four-bar linkage mechanism. The third connecting rod 3363 is connected to the output end 3122 of the drive mechanism 31. Under the driving force of the drive mechanism 31, the third connecting rod 3363 rotates around the drive connection point. The third connecting rod 3363 can drive the second connecting rod 3362 to rotate around the first rotation connection point 3371, and the third connecting rod 3363 can drive the fourth connecting rod 3364 to rotate around the second rotation connection point 3372. One end of the first connecting rod 3361 is rotatably connected to the body 1, and the other end of the first connecting rod 3361 is rotatably connected to the second connecting rod 3362. The rotation of the second connecting rod 3362 can also drive the first connecting rod 3361 to rotate relative to the body 1. Through the overall deformation of the four-bar linkage, under the joint drive of the second connecting rod 3362 and the fourth connecting rod 3364, the obstacle clearing component 334 can be driven to move. Thus, the process of the drive mechanism 31 driving the obstacle clearing component 334 to move between the storage position and the obstacle clearing position via the connecting mechanism 335 can be realized.

[0244] For example, when the third connecting rod 3363 rotates in the forward direction, the second connecting rod 3362 rotates in the forward direction around the first rotating connection point 3371 under the driving force of the third connecting rod 3363, and drives the first connecting rod 3361 to rotate in the forward direction. The fourth connecting rod 3364 rotates in the forward direction around the second rotating connection point 3372 under the driving force of the third connecting rod 3363. By changing the included angle between each connecting rod 336, the relative position between each connecting rod 336 also changes, which can realize the extension of the entire four-bar linkage. The second connecting rod 3362 and the fourth connecting rod 3364 can drive the obstacle clearing component 334 away from the outer edge of the body 1. In this way, the process of the drive mechanism 31 driving the obstacle clearing component 334 from the storage position to the obstacle clearing position via the connecting mechanism 335 can be realized.

[0245] For example, when the third connecting rod 3363 rotates in the opposite direction, the second connecting rod 3362 rotates in the opposite direction around the first rotating connection point 3371 under the driving force of the third connecting rod 3363, and drives the first connecting rod 3361 to rotate in the opposite direction. The fourth connecting rod 3364 rotates in the opposite direction around the second rotating connection point 3372 under the driving force of the third connecting rod 3363. By changing the included angle between each connecting rod 336, the relative position between each connecting rod 336 also changes, which can realize the retraction of the entire four-bar linkage. The second connecting rod 3362 and the fourth connecting rod 3364 can drive the obstacle clearing component 334 to approach the body 1 and be accommodated at the bottom of the body 1, so as to realize the process of the drive mechanism 31 driving the obstacle clearing component 334 from the obstacle clearing position to the storage position through the connecting mechanism 335.

[0246] Referring to Figures 15-17, according to some embodiments of this application, the obstacle removal module 3 is located at at least one end of the body 1 along the left-right direction. When the obstacle removal component 33 is in the obstacle removal position, the angle between the drive rod and the preset direction is β, where β is greater than 90°. The preset direction is parallel to the left-right direction, and in the left-right direction, the preset direction points from the end where the obstacle removal module 3 is located to the other end of the body 1. For example, when the obstacle removal component 33 is in the obstacle removal position, the angle β between the drive rod and the preset direction can be 95°, 100°, 130°, 150°, 180°, 200°, etc. When the obstacle removal component 33 is in the obstacle removal position, by ensuring that the angle β between the drive rod and the preset direction is greater than 90°, the obstacle removal component 33 can be located at the left front or right front of the body 1, so that the obstacle removal range of the obstacle removal component 33 is as large as possible, reducing obstacle removal dead angles, thereby facilitating the subsequent cleaning components to clean the working surface, and effectively enhancing the overall cleaning effect of the cleaning device 100 on the working surface.

[0247] Referring to Figures 15-17, according to some embodiments of this application, when the obstacle clearing component 33 is in the obstacle clearing position, the range of β is 100° to 135°. For example, β can be 100°, 110°, 120°, 130°, 135°, etc. By ensuring that β is not less than 100°, the obstacle clearing component 33 can be located at the left front or right front of the body 1, ensuring that the obstacle clearing component 33 has a large obstacle clearing range, thereby effectively enhancing the overall cleaning effect of the cleaning device 100. By ensuring that β is not greater than 135°, the extension distance of at least one end of the obstacle clearing component 33 in the left and right directions can be more reasonable, and when the cleaning device 100 encounters an obstacle, the obstacle clearing component 33 can be adjusted to a suitable position more quickly to move the obstacle.

[0248] For example, when the obstacle clearing component 33 is in the obstacle clearing position, if the angle β between the drive rod and the preset direction is too large, the obstacle clearing component 33 may need more time to adjust its position, resulting in a longer response time for the obstacle clearing action, which in turn affects the overall cleaning efficiency of the cleaning device 100. A relatively small angle β allows the obstacle clearing component 33 to quickly reach its position, thereby improving the obstacle clearing efficiency.

[0249] By using a β range of 100° to 135°, both the clearing range and efficiency of the clearing component 33 can be considered. This ensures that the clearing range of the clearing component 33 is large, thereby effectively enhancing the overall cleaning effect of the cleaning device 100. At the same time, when the cleaning device 100 encounters an obstacle, the clearing component 33 can be adjusted to a suitable position relatively quickly to move the obstacle.

[0250] Referring to Figures 15-17, according to some embodiments of this application, the obstacle clearing module 3 is located at at least one end of the body 1 along the left-right direction. When the obstacle clearing component 33 is in the retracted position, the angle between the drive rod and the preset direction is γ, and the range of γ is 20° to 45°. The preset direction is parallel to the left-right direction, and in the left-right direction, the preset direction points from the end where the obstacle clearing module 3 is located to the other end of the body 1. For example, when the obstacle clearing component 33 is in the retracted position, the angle γ between the drive rod and the preset direction can be 20°, 25°, 30°, 35°, 40°, 45°, etc. When the obstacle removal component 33 is in the storage position, by using γ not less than 20°, the distance that the obstacle removal component 33 needs to move from the storage position to the obstacle removal position is shorter, so that the obstacle removal component 33 can move from the storage position to the obstacle removal position more quickly, thereby improving the obstacle removal efficiency; by using γ not greater than 45°, it can be ensured that the projection of the obstacle removal component 33 on the horizontal plane is within the projection of the body 1 on the horizontal plane, thereby reducing or avoiding the occupation of the external space of the body 1 by the obstacle removal component 33, which is beneficial to the storage and transportation of the cleaning device 100.

[0251] By using a γ range of 20° to 45°, the external space occupied by the obstacle clearing component 33 in the retracted position and the obstacle clearing efficiency can be better balanced. This ensures that the projection of the obstacle clearing component 33 on the horizontal plane is within the projection of the fuselage 1 on the horizontal plane, thereby reducing or avoiding the occupation of the external space of the fuselage 1 by the obstacle clearing component 33. It also allows the obstacle clearing component 33 to move from the retracted position to the obstacle clearing position with a shorter distance, so that the obstacle clearing component 33 can move from the retracted position to the obstacle clearing position more quickly, thereby improving the obstacle clearing efficiency.

[0252] Referring to Figures 7-9, according to some embodiments of this application, the third connecting rod 3363 is rotatably connected to the body 1, and the rotatable connection point between the third connecting rod 3363 and the body 1 is the third rotatable connection point 3373. A groove 333 extending along the extension direction of the third connecting rod 3363 is formed on the third connecting rod 3363. The groove 333 is located between the third rotatable connection point 3373 and the first rotatable connection point 3371. The outward swing mechanism 32 includes a turntable 321 and a slider 322. The turntable 321 is rotatably mounted on the output end 3122 of the drive mechanism 31. The slider 322 is disposed on the turntable 321 and is spaced apart from the rotation center of the turntable 321. The slider 322 is accommodated in the groove 333 and can slide along the extension direction of the groove 333. The slider 322 is used to drive the obstacle clearing component 33 to move. The position of the slider 322 constitutes the drive connection point.

[0253] When the drive mechanism 31 drives the turntable 321 to rotate around its own rotation center, it can drive the slider 322, which is restricted in the slide groove 333, to move relative to the extension direction of the third connecting rod 3363. Through the cooperation between the slider 322 and the slide groove 333, the third connecting rod 3363 can be driven to rotate around the third rotation connection point 3373. Since the first connecting rod 3361, the second connecting rod 3362, the third connecting rod 3363, and the fourth connecting rod 3364 form a four-bar linkage, when the third connecting rod 3363 rotates, it can drive the second connecting rod 3362 to rotate around the first rotation connection point 3371 and drive the fourth connecting rod 3364 to rotate around the second rotation connection point 3372. The second connecting rod 3362 can drive the first connecting rod 3361 to move relative to the body 1. In this way, through the overall deformation of the four-bar linkage, under the joint drive of the second connecting rod 3362 and the fourth connecting rod 3364, the obstacle clearing component 334 can be driven to move, thereby realizing the process of the drive mechanism 31 driving the obstacle clearing component 334 to move between the storage position and the obstacle clearing position via the connecting mechanism 335.

[0254] For example, when the turntable 321 rotates in the forward direction, the slider 322 moves along the extension direction of the third connecting rod 3363 and toward the direction close to the third rotating connection point 3373. The movement of the slider 322 can drive the third connecting rod 3363 to move. Under the driving force of the third connecting rod 3363, the second connecting rod 3362 rotates in the forward direction around the first rotating connection point 3371 and drives the first connecting rod 3361 to rotate in the forward direction. Under the driving force of the third connecting rod 3363, the fourth connecting rod 3364 rotates in the forward direction around the second rotating connection point 3372. By changing the included angle between each connecting rod 336, the relative position between each connecting rod 336 also changes, which can realize the extension of the entire four-bar linkage. The second connecting rod 3362 and the fourth connecting rod 3364 can drive the obstacle clearing component 334 away from the outer edge of the body 1. In this way, the process of the drive mechanism 31 driving the obstacle clearing component 334 from the storage position to the obstacle clearing position via the connecting mechanism 335 can be realized.

[0255] For example, when the turntable 321 rotates in the opposite direction, the slider 322 moves along the extension direction of the third connecting rod 3363 and toward a direction away from the third rotation connection point 3373. The movement of the slider 322 can drive the third connecting rod 3363 to move. Under the driving force of the third connecting rod 3363, the second connecting rod 3362 rotates around the first rotation connection point 3371 in the opposite direction and drives the first connecting rod 3361 to rotate in the opposite direction. Under the driving force of the third connecting rod 3363, the fourth connecting rod 3364 rotates around the second rotation connection point 3372 in the opposite direction. By changing the included angle between each connecting rod 336, the relative position between each connecting rod 336 also changes, which can realize the retraction of the entire four-bar linkage. The second connecting rod 3362 and the fourth connecting rod 3364 can drive the obstacle clearing component 334 to approach the body 1 and be housed at the bottom of the body 1, so as to realize the process of the drive mechanism 31 driving the obstacle clearing component 334 from the obstacle clearing position to the storage position through the connecting mechanism 335.

[0256] Referring to Figures 7, 8, and 19, according to some embodiments of this application, the plurality of connecting rods 336 include a fifth connecting rod 3365, a sixth connecting rod 3366, a seventh connecting rod 3367, an eighth connecting rod 3368, a ninth connecting rod 3369, and a tenth connecting rod 3370. The eighth connecting rod 3368 constitutes a drive rod. One end of the fifth connecting rod 3365 is rotatably connected to the body 1, and the other end of the fifth connecting rod 3365 is rotatably connected to one end of the sixth connecting rod 3366. The other end of the sixth connecting rod 3366 is rotatably connected to one end of the seventh connecting rod 3367. The other end of rod 3367 is rotatably connected to the obstacle clearing component 334. The output end 3122 of the drive mechanism 31 is connected to the eighth connecting rod 3368. One end of the tenth connecting rod 3370, the end of the eighth connecting rod 3368, and one end of the ninth connecting rod 3369 are rotatably connected to the same point. The other end of the tenth connecting rod 3370 is rotatably connected to the obstacle clearing component 334. The tenth connecting rod 3370 intersects with the sixth connecting rod 3366 and the tenth connecting rod 3370 and the sixth connecting rod 3366 are rotatably connected. The other end of the ninth connecting rod 3369 is rotatably connected to the fifth connecting rod 3365.

[0257] Among them, the rotatable connection point between the fifth connecting rod 3365 and the fuselage 1 is the fourth rotating connection point 3374, the rotatable connection point between the fifth connecting rod 3365 and the sixth connecting rod 3366 is the fifth rotating connection point 3375, the rotatable connection point between the ninth connecting rod 3369 and the fifth connecting rod 3365 is the sixth rotating connection point, and the sixth rotating connection point is located between the fourth rotating connection point 3374 and the fifth rotating connection point 3375.

[0258] For example, the fifth connecting rod 3365, the sixth connecting rod 3366, the seventh connecting rod 3367, the eighth connecting rod 3368, the ninth connecting rod 3369, and the tenth connecting rod 3370 can form a linkage telescopic mechanism, and the movement of the obstacle clearing component 334 can be realized by the length and angle of the linkage telescopic mechanism. For example, the connection point between the output end 3122 of the drive mechanism 31 and the eighth connecting rod 3368 constitutes a drive connection point. The eighth connecting rod 3368 is connected to the output end 3122 of the drive mechanism 31. Under the driving force of the drive mechanism 31, the eighth connecting rod 3368 rotates around the drive connection point. The eighth connecting rod 3368 can drive the ninth connecting rod 3369 and the tenth connecting rod 3370 to rotate. The ninth connecting rod 3369 can drive the fifth connecting rod 3365 to rotate. The fifth connecting rod 3365 can drive the sixth connecting rod 3366 to rotate. The sixth connecting rod 3366 can drive the seventh connecting rod 3367 to rotate. This can realize the deformation of the linkage telescopic mechanism. Then, under the joint driving force of the seventh connecting rod 3367 and the tenth connecting rod 3370, the movement of the obstacle clearing component 334 can be realized. Thus, the process of the drive mechanism 31 driving the obstacle clearing component 334 to move between the storage position and the obstacle clearing position via the connecting mechanism 335 can be realized.

[0259] In some embodiments, the eighth connecting rod 3368 is rotatably connected to the body 1, and the rotatable connection point between the eighth connecting rod 3368 and the body 1 is the seventh rotatable connection point. A groove 333 extending along the extension direction of the eighth connecting rod 3368 is formed on the eighth connecting rod 3368. The rotatable connection point between the eighth connecting rod 3368 and the ninth connecting rod 3369 and the tenth connecting rod 3370 is the eighth rotatable connection point. The groove 333 is located between the seventh rotatable connection point and the eighth rotatable connection point. The swing mechanism 32 includes a turntable 321 and a slider 322. The turntable 321 is rotatably mounted on the output end 3122 of the drive mechanism 31. The slider 322 is disposed on the turntable 321 and is spaced apart from the rotation center of the turntable 321. The slider 322 is accommodated in the groove 333 and can slide along the extension direction of the groove 333. The slider 322 is used to drive the obstacle clearing component 33 to move. The position of the slider 322 constitutes the drive connection point.

[0260] When the drive mechanism 31 drives the turntable 321 to rotate around its own rotation center, it can drive the slider 322, which is confined in the slide groove 333, to move relative to the extension direction of the eighth connecting rod 3368. Through the cooperation between the slider 322 and the slide groove 333, the eighth connecting rod 3368 can be driven to rotate around the seventh rotation connection point. Since the fifth connecting rod 3365, the sixth connecting rod 3366, the seventh connecting rod 3367, the eighth connecting rod 3368, the ninth connecting rod 3369, and the tenth connecting rod 3370 can form a linkage telescopic mechanism, when the eighth connecting rod 3368 rotates, it can drive the ninth connecting rod 3369 and the tenth connecting rod 3370 to rotate. The ninth connecting rod 3369 can drive the fifth connecting rod 3365 to rotate. The fifth connecting rod 3365 can drive the sixth connecting rod 3366 to rotate. The sixth connecting rod 3366 can drive the seventh connecting rod 3367 to rotate. In this way, through the overall deformation of the linkage telescopic mechanism, under the joint driving force of the seventh connecting rod 3367 and the tenth connecting rod 3370, the movement of the obstacle clearing component 334 can be realized. Thus, the process of the drive mechanism 31 driving the obstacle clearing component 334 to move between the storage position and the obstacle clearing position via the connecting mechanism 335 can be realized.

[0261] Referring to Figures 46-48, according to some embodiments of this application, the rotatably connected connecting rod 336 is connected by a connecting member 340. In the direction of the rotation axis of the rotatably connected connecting rod 336, the connecting member 340 does not protrude from the outer surface of the connecting rod 336. By ensuring that the connecting member 340 does not protrude from the outer surface of the connecting rod 336, interference between the connecting rod 336 and the connecting member 340 during rotation can be avoided, thus allowing for smoother rotation of the connecting rod 336.

[0262] Referring to Figures 46-48, according to some embodiments of this application, the connector 340 includes a connecting post 3401 and a limiting cap 3402. The connecting post 3401 passes through two rotatably connected connecting rods 336. At least one connecting rod 336 has a recessed groove 3376 formed therein, and the limiting cap 3402 is accommodated within the recessed groove 3376. The connecting post 3401 passing through the two connecting rods 336 enables a rotatable connection between the two connection points. The recessed groove 3376 facilitates the accommodation of the connector 340 and allows for a compact overall structure of the connector 340 and the connecting rods 336. The limiting cap 3402 can limit the assembly of the connecting column 3401 on the connecting rod 336. By the limiting cap 3402 being accommodated in the recess 3376, the limiting cap 3402 can be prevented from protruding from the outer surface of the connecting rod 336, thereby preventing interference between the connecting rod 336 and the limiting cap 3402 when the connecting rod 336 rotates, so that the rotation of the connecting rod 336 is smoother.

[0263] In some embodiments, a connecting post 3401 passes through two rotatably connected connecting rods 336. Each of the two connecting rods 336 has a recessed groove 3376. Limiting caps 3402 are formed at both ends of the connecting post 3401. The limiting caps 3402 at both ends of the connecting post 3401 are respectively accommodated within the recessed grooves 3376 on the two connecting rods 336. One end of the limiting cap 3402 abuts against the bottom wall of the recessed groove 3376 of one connecting rod 336, while the other end of the limiting cap 3402 has a clearance fit with the bottom wall of the recessed groove 3376 of the other connecting rod 336. 2. The grooves 3376 respectively accommodated on the two connecting rods 336 can limit the fixed connection of the connecting post 3401 between the two connecting rods 336, effectively constrain the connecting post 3401, reduce or prevent the connecting post 3401 from moving back and forth between the two connecting rods 336, thereby improving the connection stability between the two connecting rods 336, and also reducing or avoiding the connection failure between the two connecting rods 336 due to the positional displacement of the connecting post 3401, or the connecting post 3401 protruding from the outer surface of the connecting rod 336 and interfering with the connecting rod 336.

[0264] By having one end of the limiting cap 3402 abut against the bottom wall of the groove 3376 of one of the connecting rods 336, and the other end of the limiting cap 3402 clearance fit with the bottom wall of the groove 3376 of the other connecting rod, a fixed connection between the two connecting rods 336 can be achieved, while also allowing for smoother relative rotation between the two connecting rods 336, reducing or avoiding the possibility of the two connecting rods 336 getting stuck.

[0265] For example, connector 340 also includes a gasket 3380, which is disposed between the limiting cap 3402 at the other end and the bottom wall of the recess 3376 of the other connecting rod 336 to ensure that there is a certain gap between the limiting cap 3402 at the other end and the bottom wall of the recess 3376 of the other connecting rod 336.

[0266] Referring to Figures 7-9, according to some embodiments of this application, the output end 3122 of the drive mechanism 31 is connected to the obstacle clearing component 33 via an external swing mechanism 32. The transmission point between the external swing mechanism 32 and the obstacle clearing component 33 is the obstacle clearing transmission point. The force exerted by the obstacle clearing component 33 on the external swing mechanism 32 at the obstacle clearing transmission point is a reaction force. The speed of the external swing mechanism 32 at the obstacle clearing transmission point under the reaction force is the reaction speed. When the obstacle clearing component 33 is in the obstacle clearing position, the angle between the reaction speed and the reaction force is φ, where φ is greater than or equal to 90°. The drive mechanism 31 drives the obstacle clearing component 33 to move between the storage position and the obstacle clearing position via the external swing mechanism 32, thereby expanding the obstacle clearing range of the obstacle clearing component 33.

[0267] During the process of the obstacle removal component 33 moving the obstacle to move it away from its original position, the obstacle will generate a reaction force on the obstacle removal component 33. This causes the obstacle removal component 33 to generate a reaction force on the outward swing mechanism 32, so that the obstacle removal component 33 moves from the obstacle removal position to the storage position, and the outward swing mechanism 32 has a corresponding reaction speed at the obstacle removal transmission point.

[0268] If the angle φ between the reaction force of the obstacle clearing component 33 on the external swing mechanism 32 and the reaction velocity of the external swing mechanism 32 at the obstacle clearing transmission point is greater than or equal to 90°, the obstacle clearing component 33 and the external swing mechanism 32 can enter the transmission dead point position. At this time, the projection component of the reaction force in the direction of the reaction velocity approaches zero or is in the opposite direction. The force applied by the reaction force in the direction of the reaction velocity of the obstacle clearing component 33 is ineffective. That is, the reaction force applied by the obstacle clearing component 33 on the external swing mechanism 32 cannot push the obstacle clearing component 33 to move towards the storage position. This can make the obstacle clearing component 33 more stably maintain the obstacle clearing position, effectively reduce or prevent the impact of the reaction force applied by the obstacle on the obstacle clearing component 33, thereby ensuring the obstacle clearing effect of the obstacle clearing component 33.

[0269] Referring to Figures 7-9, according to some embodiments of this application, the obstacle clearing component 33 is rotatably connected to the body 1. The outward swing mechanism 32 includes a turntable 321 and a slider 322. The turntable 321 is rotatably mounted on the output end 3122 of the drive mechanism 31. The slider 322 is disposed on the turntable 321 and is spaced apart from the rotation center of the turntable 321. A groove 333 is formed on the obstacle clearing component 33. The slider 322 is accommodated in the groove 333 and can slide along the extension direction of the groove 333. The slider 322 is used to drive the obstacle clearing component 33 to move. The transmission point between the slider 322 and the inner wall of the groove 333 is the obstacle clearing transmission point. When the drive mechanism 31 is working, the rotation of the output end 3122 of the drive mechanism 31 can drive the turntable 321 to rotate. The rotational motion of the turntable 321 can be converted into the sliding motion of the slider 322 in the groove 333, so as to realize the process of the slider 322 driving the obstacle clearing component 33 to move between the storage position and the obstacle clearing position. When the obstacle clearing component 33 moves the obstacle, since the transmission point between the slider 322 and the inner wall of the groove 333 is the obstacle clearing transmission point, the reaction force generated by the obstacle on the obstacle clearing component 33 is the reaction force of the inner wall of the groove 333 on the slider 322. The speed of the slider 322 at the obstacle clearing transmission point under the reaction force is the reaction speed.

[0270] When the obstacle clearing component 33 is in the obstacle clearing position, the angle φ between the reaction force of the inner wall of the slide groove 333 on the slider 322 and the reaction velocity of the slider 322 at the obstacle clearing transmission point is greater than or equal to 90°. This allows the slider 322 to enter the transmission dead point position with the inner wall of the slide groove 333. At this time, the projection component of the reaction force on the slider 322 in the direction of the reaction velocity of the slider 322 approaches zero or is in the opposite direction. The force applied by the reaction force in the direction of the reaction velocity of the slider 322 is ineffective. That is, the reaction force applied by the obstacle through the inner wall of the slide groove 333 on the slider 322 cannot push the slider 322 to move along the extension direction of the slide groove 333. This allows the slider 322 to remain stationary, so that the obstacle clearing component 33 can be more stably maintained in the obstacle clearing position. This effectively reduces or prevents the impact of the reaction force applied by the obstacle on the obstacle clearing component 33, thereby ensuring the obstacle clearing effect of the obstacle clearing component 33.

[0271] Referring to Figures 7, 8, 9, and 19, according to some embodiments of this application, the connecting mechanism 335 includes a plurality of mutually rotatably connected connecting rods 336. One of the plurality of connecting rods 336 is a driving rod, which is rotatably connected to the body 1. A groove 333 is formed on the driving rod, which extends along the extension direction of the driving rod. When the obstacle clearing component 33 moves the obstacle, since the transmission point between the slider 322 and the inner wall of the groove 333 is the obstacle clearing transmission point, the reaction force generated by the obstacle on the obstacle clearing component 33 is transmitted layer by layer through the plurality of connecting rods 336 and transformed into the reaction force of the inner wall of the groove 333 on the slider 322. The speed of the slider 322 at the obstacle clearing transmission point under the reaction force is the reaction speed.

[0272] When the obstacle clearing component 33 is in the obstacle clearing position, the angle φ between the reaction force of the inner wall of the slide groove 333 on the slider 322 and the reaction velocity of the slider 322 at the obstacle clearing transmission point is greater than or equal to 90°. This allows the slider 322 to enter the transmission dead point position with the inner wall of the slide groove 333. At this time, the force applied to the slider 322 in the direction of the reaction velocity of the slider 322 is ineffective. That is, the reaction force applied to the slider 322 by the inner wall of the slide groove 333 cannot push the slider 322 to move along the extension direction of the drive rod. This allows the slider 322 to remain stationary, so that the drive rod is stably maintained in this position, thereby making the obstacle clearing component 33 more stably maintained in the obstacle clearing position.

[0273] Referring to Figures 7-9, according to some embodiments of this application, a plurality of connecting rods 336 include a first connecting rod 3361, a second connecting rod 3362, a third connecting rod 3363, and a fourth connecting rod 3364. The third connecting rod 3363 constitutes a drive rod. One end of the first connecting rod 3361 is rotatably connected to the body 1, and the other end of the first connecting rod 3361 is rotatably connected to one end of the second connecting rod 3362. The other end of the second connecting rod 3362 is rotatably connected to the obstacle clearing component 334. The second connecting rod 3362 and the third connecting rod 3363 intersect and are rotatably connected. A sliding groove 333 is formed on the third connecting rod 3363. The third connecting rod 3363 is rotatably connected to the body 1. One end of the fourth connecting rod 3364 is rotatably connected to the end of the third connecting rod 3363, and the other end of the fourth connecting rod 3364 is rotatably connected to the obstacle clearing component 334.

[0274] The rotational connection point between the third connecting rod 3363 and the second connecting rod 3362 is the first rotational connection point 3371; the rotational connection point between the third connecting rod 3363 and the fourth connecting rod 3364 is the second rotational connection point 3372; the rotational connection point between the third connecting rod 3363 and the body 1 is the third rotational connection point 3373; the connection point between the output end 3122 of the drive mechanism 31 and the third connecting rod 3363 is the drive connection point; the first rotational connection point 3371 is located between the second rotational connection point 3372 and the slide groove 333; and the slide groove 333 is located between the third rotational connection point 3373 and the first rotational connection point 3371.

[0275] The first connecting rod 3361, the second connecting rod 3362, the third connecting rod 3363, and the fourth connecting rod 3364 can form a four-bar linkage. The movement of the obstacle clearing component 334 can be achieved by changing the length and angle of the four-bar linkage. When the drive mechanism 31 drives the turntable 321 to rotate around its own rotation center, it can drive the slider 322, which is confined in the slide groove 333, to move relative to the extension direction of the third connecting rod 3363. Through the cooperation between the slider 322 and the slide groove 333, the third connecting rod 3363 can be driven to rotate around the third rotation connection point 3373. Since the first connecting rod 3361, the second connecting rod 3362, the third connecting rod 3363, and the fourth connecting rod 3364 form a four-bar linkage, when the third connecting rod 3363 rotates, it can drive the second connecting rod 3362 to rotate around the first rotation connection point 3371 and drive the fourth connecting rod 3364 to rotate around the second rotation connection point 3372. The second connecting rod 3362 can drive the first connecting rod 3361 to move relative to the body 1. In this way, through the overall deformation of the four-bar linkage, under the joint drive of the second connecting rod 3362 and the fourth connecting rod 3364, the obstacle clearing component 334 can be driven to move, thereby realizing the process of the drive mechanism 31 driving the obstacle clearing component 334 to move between the storage position and the obstacle clearing position via the connecting mechanism 335.

[0276] When the obstacle clearing component 33 moves the obstacle, since the transmission point between the slider 322 and the inner wall of the groove 333 is the obstacle clearing transmission point, the reaction force generated by the obstacle on the obstacle clearing component 33, after being transmitted through the second connecting rod 3362 and the fourth connecting rod 3364, can be transformed into the reaction force of the inner wall of the groove 333 on the third connecting rod 3363 on the slider 322. The slider 322 under the reaction force and the speed of the slider 322 at the obstacle clearing transmission point is the reaction speed.

[0277] When the obstacle clearing component 33 is in the obstacle clearing position, the angle φ between the reaction force of the inner wall of the slide groove 333 on the slider 322 and the reaction velocity of the slider 322 at the obstacle clearing transmission point is greater than or equal to 90°. This allows the slider 322 to enter the transmission dead point position with the inner wall of the slide groove 333. At this time, the force applied to the slider 322 in the direction of the reaction velocity of the slider 322 is ineffective. That is, the reaction force applied to the slider 322 by the obstacle through the inner wall of the slide groove 333 cannot push the slider 322 to move along the extension direction of the third connecting rod 3363. This allows the slider 322 to remain stationary, so that the third connecting rod 3363 is stably maintained in this position, thereby making the obstacle clearing component 33 more stably maintained in the obstacle clearing position.

[0278] Referring to Figures 10 and 12, according to some embodiments of this application, the obstacle clearing component 33 includes a contact portion adapted to contact the obstacle, and the contact portion is arc-shaped. When the obstacle clearing component 33 contacts the obstacle to move the obstacle from its original position, the arc-shaped contact portion allows the obstacle to better conform to obstacles of different shapes and surfaces, such as circular, square, or irregularly shaped obstacles. The arc-shaped contact portion can increase the contact area between the obstacle clearing component 33 and the obstacle, making the obstacle clearing process more stable and reliable. Furthermore, when the obstacle clearing component 33 contacts the obstacle, the arc-shaped contact portion can also guide the obstacle to move along an arc-shaped trajectory, making the obstacle clearing process smoother, reducing the obstruction and resistance of the obstacle clearing component 33 by the obstacle, and reducing the difficulty of obstacle clearing.

[0279] Referring to Figures 10 and 12, according to some embodiments of this application, at least a portion of the obstacle clearing component 33 constitutes the front impact plate of the cleaning device 100. This situation, where at least a portion of the obstacle clearing component 33 constitutes the front impact plate of the cleaning device 100, can include situations where, for example, a portion of the obstacle clearing component 33 constitutes the front impact plate of the cleaning device 100. By using the obstacle clearing component 33 as the front impact plate of the cleaning device 100, for example, a front-arc plate structure, obstacles can be sensed through collision with the front impact plate, allowing for more rapid control of the drive mechanism 31 to drive the obstacle clearing component 33 toward the obstacle clearing position, causing the obstacle to leave its original position.

[0280] Referring to Figures 30 and 32, according to some embodiments of this application, the obstacle clearing component 33 is provided with a flexible layer for contacting the obstacle. When the obstacle clearing component 33 moves the obstacle, the flexible layer on the obstacle clearing component 33, due to its softness, can buffer the force applied by the obstacle clearing component 33 to the obstacle, and can protect the obstacle to a certain extent, thereby reducing or avoiding friction and wear between the obstacle clearing component 33 and the obstacle.

[0281] Referring to Figures 30 and 32, according to some embodiments of this application, the flexible layer is a rubber layer or a silicone layer. Since both rubber and silicone have good flexibility, the rubber layer or silicone layer can deform itself when in contact with an obstacle, so as to buffer the force between the obstacle clearing component 33 and the obstacle, thereby reducing or avoiding friction and wear between the obstacle clearing component 33 and the obstacle.

[0282] Referring to Figures 30 and 32, according to some embodiments of this application, the flexible layer is bonded and fixed to the obstacle removal component 33, or the flexible layer is integrally formed on the obstacle removal component 33. If the flexible layer is bonded and fixed to the obstacle removal component 33, the connection between the flexible layer and the obstacle removal component 33 can be simple and has strong stability. If the flexible layer is integrally formed on the obstacle removal component 33, it can enhance the overall structural strength of the obstacle removal component 33 to a certain extent, and can also eliminate the assembly process between the flexible layer and the obstacle removal component 33, thereby improving the overall assembly efficiency of the obstacle removal module 3.

[0283] Referring to Figures 30 and 32, according to some embodiments of this application, the obstacle removal component 33 is provided with a cleaning structure 342, which is used to clean the working surface and / or obstacles. For example, the cleaning structure 342 can be a brush, a scraper, a wiping cloth, etc. By providing the cleaning structure 342 on the obstacle removal component 33, while the obstacle removal component 33 removes obstacles from the working surface, the working surface can be cleaned by the cleaning structure 342, thereby enhancing the overall cleaning effect of the cleaning device 100.

[0284] Referring to Figures 30 and 32, according to some embodiments of this application, the cleaning structure 342 is located at the bottom of the obstacle removal component 33, which allows the cleaning structure 342 to be adjacent to the working surface for cleaning. There is no need to set an additional drive mechanism 31 to adjust the position or angle of the cleaning structure 342, which can reduce the number of parts and simplify the overall structure of the cleaning device 100.

[0285] Referring to Figures 30 and 32, according to some embodiments of this application, the cleaning structure 342 is bonded to the obstacle removal component 33 or detachably disposed on the obstacle removal component 33. If the cleaning structure 342 is bonded to the obstacle removal component 33, the connection between the cleaning structure 342 and the obstacle removal component 33 is simple and has strong stability. If the cleaning structure 342 is detachably disposed on the obstacle removal component 33, it facilitates the cleaning or replacement of the cleaning structure 342.

[0286] Referring to Figures 30 and 32, according to some embodiments of this application, the cleaning structure 342 includes at least one of a cleaning brush, a cleaning cloth, and a cleaning squeegee. For example, the cleaning structure 342 may include a cleaning brush, a cleaning cloth, or a cleaning squeegee; it may also include a cleaning brush and a cleaning cloth, a cleaning brush and a cleaning squeegee, or a cleaning cloth and a cleaning squeegee; or it may include a cleaning brush, a cleaning cloth, and a cleaning squeegee. The cleaning brush, cleaning cloth, and cleaning squeegee can all achieve a certain cleaning effect on the work surface. By including at least one of the cleaning brush, cleaning cloth, and cleaning squeegee in the cleaning structure 342, an effective cleaning effect can be achieved on the work surface.

[0287] Referring to Figures 29-31, according to some embodiments of this application, the obstacle clearing component 33 includes an obstacle clearing member 334 and an auxiliary member 343. The auxiliary member 343 is movably disposed on the obstacle clearing member 334. The output end 3122 of the drive mechanism 31 is directly connected to the obstacle clearing member 334 or connected through the outward swing mechanism 32 to drive the obstacle clearing component 33 to move. At least one of the obstacle clearing member 334 and the auxiliary member 343 can cooperate with the obstacle to make the obstacle move and leave its original position. If the output end 3122 of the drive mechanism 31 is directly connected to the obstacle clearing component 334, the power transmission path between the drive mechanism 31 and the obstacle clearing component 33 can be shortened, thus reducing energy loss during power transmission. Furthermore, it can reduce obstacle clearing delay caused by an excessively long power transmission path between the drive mechanism 31 and the obstacle clearing component 33, thereby improving the obstacle clearing efficiency of the obstacle clearing component 33. The direct connection between the output end 3122 of the drive mechanism 31 and the obstacle clearing component 33 can also simplify the overall structure of the obstacle clearing component 33 and the drive mechanism 31, reducing the number and complexity of intermediate parts and lowering manufacturing costs.

[0288] If the output end 3122 of the drive mechanism 31 is connected to the obstacle clearing component 33 through the external swing mechanism 32, one end of the external swing mechanism 32 is connected to the output end 3122 of the drive mechanism 31, and the other end of the external swing mechanism 32 is connected to the obstacle clearing component 33, the drive mechanism 31 drives the external swing mechanism 32 to move, and the external swing mechanism 32 drives the obstacle clearing component 33 to move. In this way, the drive mechanism 31 can drive the obstacle clearing component 33 to move relative to the body 1 between the storage position and the obstacle clearing position, thereby effectively expanding the obstacle clearing range of the obstacle clearing component 33.

[0289] The auxiliary component 343 can help the obstacle clearing component 334 move obstacles. By having at least one of the obstacle clearing component 334 and the auxiliary component 343 interact with the obstacle to move it away from its original position, the obstacle clearing effect of the obstacle clearing component 33 can be enhanced.

[0290] For example, the auxiliary component 343 is rotatably disposed on the obstacle clearing component 334. By adjusting the position of the auxiliary component 343 relative to the obstacle clearing component 334, for example, the distance between the outer edge 331 of the auxiliary component 343 and the outer edge of the machine body 1 can be larger than the distance between the outer edge 331 of the obstacle clearing component 334 and the outer edge of the machine body 1. This can expand the obstacle clearing range of the obstacle clearing component 334. Alternatively, when the auxiliary component 343 is rotated to a certain angle, the distance between the bottom of the auxiliary component 343 and the working surface can be smaller than the bottom of the obstacle clearing component 334. For example, when there are low obstacles on the working surface, these obstacles are relatively small in height. The bottom of the auxiliary component 343 is closer to the working surface. By moving the obstacles through the auxiliary component 343, the obstacle clearing effect of the obstacle clearing component 33 can be effectively enhanced.

[0291] Referring to Figures 28, 31, 37 and 39, according to some embodiments of this application, the auxiliary component 343 is rotatably connected to the obstacle clearing component 334. The obstacle clearing range of the obstacle clearing component 33 can be expanded by adjusting the position of the auxiliary component 343 relative to the obstacle clearing component 334, thereby improving the obstacle clearing efficiency and effect.

[0292] For example, the bottom of the auxiliary component 343 can be made lower than the bottom of the obstacle clearing component 334, so that the distance between the obstacle clearing component 33 and the working surface is smaller, which helps to move low obstacles better; or, for another example, the distance between the outer edge 331 of the auxiliary component 343 and the outer edge of the body 1 can be greater than the distance between the outer edge 331 of the obstacle clearing component 334 and the outer edge of the body 1, so as to expand the obstacle clearing range of the obstacle clearing component 33, which can reduce repetitive work and improve obstacle clearing efficiency.

[0293] Referring to Figures 38, 40, and 41, according to some embodiments of this application, the auxiliary member 343 can be flipped downwards or moved relative to the obstacle clearing member 334. By allowing the auxiliary member 343 to be flipped downwards or moved downwards relative to the obstacle clearing member 334, at least a portion of the auxiliary member 343 can be lower than the bottom of the obstacle clearing member 334, thereby reducing the distance between the obstacle clearing member 33 and the working surface, which helps to move low obstacles more effectively.

[0294] Referring to Figures 27-31, according to some embodiments of this application, the auxiliary member 343 is movable between a first position and a second position. In the first position, at least a portion of the auxiliary member 343 is located above or below the obstacle clearing member 334, and the auxiliary member 343 is adapted to contact the obstacle. In the second position, the auxiliary member 343 is housed within the obstacle clearing member 334. The location of at least a portion of the auxiliary member 343 above or below the obstacle clearing member 334 can include the following: for example, a portion of the auxiliary member 343 may be located above or below the obstacle clearing member 334; or, for another example, the entire auxiliary member 343 may be located above or below the obstacle clearing member 334.

[0295] For example, when the auxiliary component 343 is in the first position, at least a portion of the auxiliary component 343 is located below the obstacle clearing component 334, which can reduce the distance between the bottom of the obstacle clearing component 33 and the working surface. This helps to move obstacles better, especially low obstacles, thereby enhancing the obstacle clearing effect and effectively reducing obstacle clearing dead spots and missed areas. When the auxiliary component 343 is in the second position, the auxiliary component 343 is housed in the obstacle clearing component 334, which can reduce the occupation of the external space of the obstacle clearing component 334, making the overall structure of the auxiliary component 343 and the obstacle clearing component 334 more compact. This is conducive to the miniaturization of the cleaning device 100 and facilitates the handling and storage of the cleaning device 100.

[0296] Referring to Figures 31 and 41, according to some embodiments of this application, when the auxiliary component 343 is in the first position, the lowest position of the auxiliary component 343 is lower than the lowest position of the obstacle clearing component 334. When the auxiliary component 343 is in the first position, the lower position of the auxiliary component 343 is lower than the lowest position of the obstacle clearing component 334. This reduces the distance between the bottom of the obstacle clearing component 33 and the working surface, facilitating better movement of obstacles, especially low obstacles, thereby enhancing the obstacle clearing effect and effectively reducing blind spots and missed areas.

[0297] Referring to Figures 37-39, according to some embodiments of this application, the clearing member 334 is provided with a storage opening 3341. When the auxiliary member 343 is in the second position, at least a portion of the auxiliary member 343 is stored in the storage opening 3341. The storage of at least a portion of the auxiliary member 343 in the storage opening 3341 can include the following situations: for example, a portion of the auxiliary member 343 may be stored in the storage opening 3341; or, for another example, the entire auxiliary member 343 may be stored in the storage opening 3341.

[0298] When the auxiliary component 343 is in the second position, at least a portion of the auxiliary component 343 is stored in the storage opening 3341, which can reduce the occupation of the external space of the clearing component 334, making the overall structure of the clearing component 334 and the auxiliary component 343 more compact, which is conducive to the miniaturization of the cleaning device 100 and facilitates the handling and storage of the cleaning device 100.

[0299] Referring to Figures 27, 30, 37, and 39, according to some embodiments of this application, the obstacle clearing component 334 includes a connecting mechanism 335 and an obstacle clearing push rod 3342. The connecting mechanism 335 is connected between the obstacle clearing push rod 3342 and the body 1. The output end 3122 of the drive mechanism 31 is directly connected to the connecting mechanism 335 or connected through the outward swing mechanism 32 to drive the obstacle clearing component 33 to move between the storage position and the obstacle clearing position. The auxiliary component 343 is rotatably connected to the obstacle clearing push rod 3342. One end of the elastic drive component 344 is connected to the auxiliary component 343, and the other end of the elastic drive component 344 is connected to the obstacle clearing push rod 3342. One of the elastic drive component 344 and the connecting mechanism 335 is used to drive the auxiliary component 343 to move from the first position to the second position, and the other of the elastic drive component 344 and the connecting mechanism 335 is used to drive the auxiliary component 343 to move from the second position to the first position.

[0300] The connecting mechanism 335 can drive the auxiliary component 343 to move under the driving force of the driving mechanism 31, thereby driving the auxiliary component 343 to move from the first position to the second position or from the second position to the first position. By providing an elastic driving component 344, the elastic driving component 344 provides driving force to drive the auxiliary component 343 to move, thereby driving the auxiliary component 343 to move from the first position to the second position or from the second position to the first position. This allows the elastic driving component 344 to work with the connecting mechanism 335 to control the movement of the auxiliary component 343 between the first and second positions, so that the obstacle clearing component 33 can expand the obstacle clearing range.

[0301] For example, under the driving force of the driving mechanism 31, the connecting mechanism 335 can drive the auxiliary component 343 to move, and the driving force on the auxiliary component 343 can overcome the elastic force of the elastic driving component 344 to drive the auxiliary component 343 to move from the first position to the second position. The elastic driving component 344, under its own elastic restoring force, can drive the auxiliary component 343 to move from the second position to the first position via the obstacle clearing push rod 3342.

[0302] Correspondingly, the auxiliary component 343 can move from the first position to the second position under the driving action of the elastic force of the elastic drive component 344, while the connecting mechanism 335 drives the auxiliary component 343 to move under the driving action of the drive mechanism 31, and the driving force on the auxiliary component 343 can overcome the elastic force of the elastic drive component 344, so that the auxiliary component 343 moves from the second position to the first position.

[0303] Referring to Figures 33, 35, and 38, according to some embodiments of this application, the auxiliary component 343 is provided with a rotating shaft 3431, and the obstacle-clearing push rod 3342 is provided with a rotating hole 3343. The rotating shaft 3431 is rotatably inserted through the rotating hole 3343, and the elastic drive member 344 is a torsion spring and is sleeved on the outer periphery of the rotating shaft 3431. By making the elastic drive member 344 a torsion spring and sleeved on the outer periphery of the rotating shaft 3431, the torsion spring and the rotating shaft 3431 can be coaxially arranged, and the overall structure of the torsion spring and the rotating shaft 3431 can be compact. Furthermore, the driving force provided by the other end of the torsion spring to the auxiliary component 343 can stably and efficiently drive the auxiliary component 343 to move.

[0304] Referring to Figures 27 and 30, according to some embodiments of this application, during the process of the drive mechanism 31 driving the obstacle clearing component 33 to move to the obstacle clearing position, the connecting mechanism 335 is adapted to interact with the auxiliary component 343 to drive the auxiliary component 343 from the second position to the first position, and the elastic drive component 344 is used to drive the auxiliary component 343 from the first position to the second position. Under the driving force of the drive mechanism 31, the connecting mechanism 335 can drive the obstacle clearing push rod 3342 to move, and the driving force applied by the connecting mechanism 335 to the auxiliary component 343 can overcome the elastic force of the elastic drive component 344 to drive the auxiliary component 343 from the second position to the first position, while the elastic drive component 344, under its own elastic force, can drive the auxiliary component 343 from the first position to the second position.

[0305] While the drive mechanism 31 drives the obstacle clearing component 33 to the obstacle clearing position via the connecting mechanism 335, the connecting mechanism 335 can also drive the auxiliary component 343 to move from the second position to the first position. This can reduce the number of parts and simplify the overall structure of the cleaning device 100, which is conducive to the layout optimization of the cleaning device 100 and also helps to reduce the manufacturing cost of the cleaning device 100.

[0306] Referring to Figures 27, 30, and 36, according to some embodiments of this application, the connecting mechanism 335 is provided with a push-open protrusion 3377. During the process of the obstacle clearing component 33 moving to the obstacle clearing position, the push-open protrusion 3377 contacts the auxiliary component 343 to push the auxiliary component 343 to move to the first position. The push-open protrusion 3377 can improve the overall structural strength of the connecting mechanism 335 to a certain extent. By providing the push-open protrusion 3377 on the connecting mechanism 335 and having the push-open protrusion 3377 contact the auxiliary component 343 to push the auxiliary component 343 to move, the distance between the connecting mechanism 335 and the auxiliary component 343 can be reduced, so that the connecting mechanism 335 can drive the auxiliary component 343 more quickly to move the auxiliary component 343 to the first position, thereby improving the obstacle clearing efficiency.

[0307] Optionally, during the process of the obstacle clearing component 33 moving from the storage position to the obstacle clearing position, the protrusion 3377 can be pushed open and gradually approach and contact the auxiliary component 343. Under the driving force of the connecting mechanism 335, the protrusion 3377 can overcome the elastic force of the elastic drive component 344, so as to push the auxiliary component 343 to move to the first position.

[0308] Accordingly, during the process of the obstacle clearing component 33 moving from the obstacle clearing position to the storage position, the protrusion 3377 can be pushed away from the auxiliary component 343 to gradually remove the driving force on the auxiliary component 343. Under the driving action of the elastic force of the elastic drive component 344, the auxiliary component 343 moves from the first position to the second position.

[0309] Referring to Figures 27, 30 and 36, according to some embodiments of this application, the connecting mechanism 335 includes a plurality of connecting rods 336 that are rotatably connected to each other. One of the plurality of connecting rods 336 is a driving rod. The output end 3122 of the driving mechanism 31 is directly connected to the driving rod or connected through the swing mechanism 32. The connecting rod 336 that is rotatably connected to the obstacle clearing push rod 3342 is provided with a push-opening protrusion 3377.

[0310] Multiple rotatably connected connecting rods 336 can form a linkage mechanism. Under the driving force of the driving mechanism 31, the angle and length between the multiple rotatably connected connecting rods 336 will change, which can realize the deformation of the connecting mechanism 335, thereby changing the distance between the push-open protrusion 3377 and the auxiliary component 343, so as to realize the process of the push-open protrusion 3377 driving the auxiliary component 343 to move.

[0311] For example, during the process of the drive mechanism 31 driving the obstacle clearing component 33 to the obstacle clearing position via the connecting mechanism 335, the deformation of the connecting mechanism 335 can make the push-open protrusion 3377 gradually approach the auxiliary component 343, and eventually make the push-open protrusion 3377 contact the auxiliary component 343, thereby realizing the process of driving the auxiliary component 343 to move from the second position to the first position.

[0312] Referring to Figures 27, 30, and 36, according to some embodiments of this application, a plurality of connecting rods 336 include a first connecting rod 3361, a second connecting rod 3362, a third connecting rod 3363, and a fourth connecting rod 3364, wherein the third connecting rod 3363 constitutes a drive rod, one end of the first connecting rod 3361 is rotatably connected to the body 1, the other end of the first connecting rod 3361 is rotatably connected to one end of the second connecting rod 3362, the other end of the second connecting rod 3362 is rotatably connected to the obstacle clearing component 334, the second connecting rod 3362 and the third connecting rod 3363 intersect and are rotatably connected, one end of the fourth connecting rod 3364 is rotatably connected to the end of the third connecting rod 3363, and the other end of the fourth connecting rod 3364 is rotatably connected to the obstacle clearing component 334.

[0313] The first rotational connection point 3371 is the rotational connection point between the third connecting rod 3363 and the second connecting rod 3362, and the second rotational connection point 3372 is the rotational connection point between the third connecting rod 3363 and the fourth connecting rod 3364. The connection point between the output end 3122 of the drive mechanism 31 and the third connecting rod 3363 is the drive connection point. The first rotational connection point 3371 is located between the second rotational connection point 3372 and the drive connection point. The push-open protrusion 3377 is provided on the fourth connecting rod 3364 and is located on the side of the fourth connecting rod 3364 near the auxiliary member 343.

[0314] The first connecting rod 3361, the second connecting rod 3362, the third connecting rod 3363, and the fourth connecting rod 3364 can form a four-bar linkage mechanism, and the movement of the obstacle clearing component 334 can be achieved by changing the length and angle of the four-bar linkage mechanism. The third connecting rod 3363 is connected to the output end 3122 of the drive mechanism 31. Under the driving force of the drive mechanism 31, the third connecting rod 3363 rotates around the drive connection point. The third connecting rod 3363 can drive the second connecting rod 3362 to rotate around the first rotation connection point 3371, and the third connecting rod 3363 can drive the fourth connecting rod 3364 to rotate around the second rotation connection point 3372. One end of the first connecting rod 3361 is rotatably connected to the body 1, and the other end of the first connecting rod 3361 is rotatably connected to the second connecting rod 3362. The rotation of the second connecting rod 3362 can also drive the first connecting rod 3361 to rotate relative to the body 1. Through the overall deformation of the four-bar linkage, under the joint drive of the second connecting rod 3362 and the fourth connecting rod 3364, the obstacle clearing component 334 can be driven to move. Thus, the process of the drive mechanism 31 driving the obstacle clearing component 334 to move between the storage position and the obstacle clearing position via the connecting mechanism 335 can be realized.

[0315] Furthermore, during the process of the drive mechanism 31 driving the obstacle clearing member 334 to the obstacle clearing position via the connecting mechanism 335, the pushing protrusion on the fourth connecting rod 3364 can also drive the auxiliary member 343 to move from the second position to the first position.

[0316] In this way, by pushing open the protrusion 3377 on the side of the fourth connecting rod 3364 near the auxiliary component 343, the distance between the protrusion 3377 and the auxiliary component 343 can be reduced, so that the protrusion 3377 can move the drive auxiliary component 343 to the first position more quickly, thereby improving the obstacle clearing efficiency.

[0317] For example, when the third connecting rod 3363 rotates in the forward direction, the second connecting rod 3362 rotates in the forward direction around the first rotating connection point 3371 under the driving force of the third connecting rod 3363, thus causing the first connecting rod 3361 to rotate in the forward direction as well. The fourth connecting rod 3364 rotates in the forward direction around the second rotating connection point 3372 under the driving force of the third connecting rod 3363. By changing the included angle between each connecting rod 336, the relative positions between each connecting rod 336 also change accordingly, thus realizing the entire four-bar linkage. As the mechanism extends, the second connecting rod 3362 and the fourth connecting rod 3364 can move the obstacle clearing component 334 away from the outer edge of the body 1. This enables the drive mechanism 31 to move the obstacle clearing component 334 from the storage position to the obstacle clearing position via the connecting mechanism 335. Furthermore, as the fourth connecting rod 3364 moves toward the outer edge of the body 1, the pushing protrusion on the fourth connecting rod 3364 can gradually approach the auxiliary component 343 and eventually contact it, thereby driving the auxiliary component 343 to move to the first position.

[0318] For example, when the third connecting rod 3363 rotates in the opposite direction, the second connecting rod 3362, driven by the driving force of the third connecting rod 3363, rotates in the opposite direction around the first rotating connection point 3371, thus causing the first connecting rod 3361 to rotate in the opposite direction. The fourth connecting rod 3364, driven by the driving force of the third connecting rod 3363, rotates in the opposite direction around the second rotating connection point 3372. Through the change in the included angle between each connecting rod 336, the relative positions between each connecting rod 336 also change, enabling the retraction of the entire four-bar linkage. The second connecting rod 336... 2 and the fourth connecting rod 3364 can drive the obstacle clearing component 334 closer to the body 1 and accommodate it at the bottom of the body 1, so as to realize the process of the drive mechanism 31 driving the obstacle clearing component 334 from the obstacle clearing position to the storage position via the connecting mechanism 335; and, during the reverse movement of the fourth connecting rod 3364, the push protrusion provided on the fourth connecting rod 3364 can release the contact with the auxiliary component 343 and gradually move away from the auxiliary component 343, so as to gradually remove the driving force on the auxiliary component 343, and the auxiliary component 343 moves to the second position under the driving action of the elastic force of the elastic drive component 344.

[0319] Referring to Figures 37-41, according to some embodiments of this application, during the process of the drive mechanism 31 driving the obstacle clearing component 33 to the obstacle clearing position, the connecting mechanism 335 is adapted to interact with the auxiliary component 343 to drive the auxiliary component 343 from the first position to the second position; the elastic drive component 344 is used to drive the auxiliary component 343 from the second position to the first position. Under the driving force of the drive mechanism 31, the connecting mechanism 335 can drive the obstacle clearing push rod 3342 to move, and the driving force applied by the connecting mechanism 335 to the auxiliary component 343 can overcome the elastic force of the elastic drive component 344 to drive the auxiliary component 343 from the first position to the second position, while the elastic drive component 344, under its own elastic force, can drive the auxiliary component 343 from the second position to the first position.

[0320] While the drive mechanism 31 drives the obstacle clearing component 33 to the obstacle clearing position via the connecting mechanism 335, the connecting mechanism 335 can also drive the auxiliary component 343 from the first position to the second position. This can reduce the number of parts and simplify the overall structure of the cleaning device 100, which is conducive to the layout optimization of the cleaning device 100 and also helps to reduce the manufacturing cost of the cleaning device 100.

[0321] Referring to Figures 38, 39, 40, and 43, according to some embodiments of this application, the connecting mechanism 335 includes a plurality of mutually rotatably connected connecting rods 336. One of the plurality of connecting rods 336 is a driving rod. The output end 3122 of the driving mechanism 31 is directly connected to the driving rod or connected through the outward swing mechanism 32. The connecting rod 336 rotatably connected to the obstacle clearing push rod 3342 is provided with an anti-reverse protrusion 3378. When the auxiliary member 343 is in the first position, the anti-reverse protrusion 3378 abuts against the outer surface of the auxiliary member 343 to limit the auxiliary member 343 to the first position. During the process of the obstacle clearing member 334 moving from the obstacle clearing position to the storage position, the anti-reverse protrusion 3378 disengages from the auxiliary member 343.

[0322] The anti-return protrusion 3378 can enhance the overall structural strength of the connecting mechanism 335 to a certain extent. By providing the anti-return protrusion 3378 on the connecting rod 336 that is rotatably connected to the obstacle clearing push rod 3342, and the anti-return protrusion 3378 can abut against the outer surface of the auxiliary component 343, the anti-return protrusion 3378 can overcome the elastic force of the elastic drive component 344 under the driving force of the driving mechanism 31, so as to limit the auxiliary component 343 and keep the auxiliary component 343 stably in the first position. When the obstacle clearing component 334 moves from the obstacle clearing position to the retraction position, the anti-return protrusion 3378 disengages from the auxiliary component 343, thereby releasing the limiting effect on the auxiliary component 343.

[0323] Optionally, during the process of the obstacle clearing component 33 moving from the storage position to the obstacle clearing position, the auxiliary component 343 moves from the second position to the first position under the driving action of the elastic force of the elastic drive component 344, and the anti-return protrusion 3378 gradually approaches and abuts against the outer surface of the auxiliary component 343 to limit the auxiliary component 343 to the first position.

[0324] Referring to Figures 38, 39, 40, and 43, according to some embodiments of this application, a plurality of connecting rods 336 include a first connecting rod 3361, a second connecting rod 3362, a third connecting rod 3363, and a fourth connecting rod 3364, wherein the third connecting rod 3363 constitutes a drive rod, one end of the first connecting rod 3361 is rotatably connected to the body 1, the other end of the first connecting rod 3361 is rotatably connected to one end of the second connecting rod 3362, the other end of the second connecting rod 3362 is rotatably connected to the obstacle clearing component 334, the second connecting rod 3362 and the third connecting rod 3363 intersect and are rotatably connected, one end of the fourth connecting rod 3364 is rotatably connected to the end of the third connecting rod 3363, and the other end of the fourth connecting rod 3364 is rotatably connected to the obstacle clearing component 334.

[0325] The first rotating connection point 3371 is the rotating connection point between the third connecting rod 3363 and the second connecting rod 3362, and the second rotating connection point 3372 is the rotating connection point between the third connecting rod 3363 and the fourth connecting rod 3364. The connection point between the output end 3122 of the drive mechanism 31 and the third connecting rod 3363 is the drive connection point. The first rotating connection point 3371 is located between the second rotating connection point 3372 and the drive connection point. The anti-reverse protrusion 3378 is provided on the fourth connecting rod 3364 and is located on the side of the fourth connecting rod 3364 near the auxiliary member 343.

[0326] The first connecting rod 3361, the second connecting rod 3362, the third connecting rod 3363, and the fourth connecting rod 3364 can form a four-bar linkage mechanism, and the movement of the obstacle clearing component 334 can be achieved by changing the length and angle of the four-bar linkage mechanism. The third connecting rod 3363 is connected to the output end 3122 of the drive mechanism 31. Under the driving force of the drive mechanism 31, the third connecting rod 3363 rotates around the drive connection point. The third connecting rod 3363 can drive the second connecting rod 3362 to rotate around the first rotation connection point 3371, and the third connecting rod 3363 can drive the fourth connecting rod 3364 to rotate around the second rotation connection point 3372. One end of the first connecting rod 3361 is rotatably connected to the body 1, and the other end of the first connecting rod 3361 is rotatably connected to the second connecting rod 3362. The rotation of the second connecting rod 3362 can also drive the first connecting rod 3361 to rotate relative to the body 1. Through the overall deformation of the four-bar linkage, under the joint drive of the second connecting rod 3362 and the fourth connecting rod 3364, the obstacle clearing component 334 can be driven to move. Thus, the process of the drive mechanism 31 driving the obstacle clearing component 334 to move between the storage position and the obstacle clearing position via the connecting mechanism 335 can be realized.

[0327] Furthermore, during the process of the drive mechanism 31 driving the obstacle clearing component 334 to the obstacle clearing position via the connecting mechanism 335, the anti-return protrusion 3378 on the fourth connecting rod 3364 can gradually approach the auxiliary component 343 and eventually abut against the outer surface of the auxiliary component 343 to limit the auxiliary component 343, thereby keeping the auxiliary component 343 stably in the first position.

[0328] By positioning the anti-return protrusion 3378 on the side of the fourth connecting rod 3364 closer to the auxiliary component 343, the distance between the anti-return protrusion 3378 and the auxiliary component 343 can be made closer, so that the anti-return protrusion 3378 can contact the auxiliary component 343 more quickly, thereby restricting the auxiliary component 343 to the first position, which is beneficial to improving obstacle clearing efficiency.

[0329] For example, when the third connecting rod 3363 rotates in the forward direction, the second connecting rod 3362 rotates in the forward direction around the first rotating connection point 3371 under the driving force of the third connecting rod 3363, thus causing the first connecting rod 3361 to rotate in the forward direction. The fourth connecting rod 3364 rotates in the forward direction around the second rotating connection point 3372 under the driving force of the third connecting rod 3363. By changing the angle between each connecting rod 336, the relative positions of each connecting rod 336 also change, allowing the extension of the entire four-bar linkage to be achieved. 3362 and the fourth connecting rod 3364 can drive the obstacle clearing component 334 away from the outer edge of the body 1, so that the drive mechanism 31 can drive the obstacle clearing component 334 from the storage position to the obstacle clearing position via the connecting mechanism 335; and, under the driving action of the elastic force of the elastic drive component 344, the auxiliary component 343 moves from the second position to the first position, and the anti-return protrusion 3378 provided on the fourth connecting rod 3364 can also gradually approach the outer surface of the auxiliary component 343 and finally contact the auxiliary component 343 to limit the auxiliary component 343 to the first position.

[0330] For example, when the third connecting rod 3363 rotates in the opposite direction, the second connecting rod 3362, driven by the driving force of the third connecting rod 3363, rotates in the opposite direction around the first rotating connection point 3371, thus causing the first connecting rod 3361 to rotate in the opposite direction. The fourth connecting rod 3364, driven by the driving force of the third connecting rod 3363, rotates in the opposite direction around the second rotating connection point 3372. Through the change in the included angle between each connecting rod 336, the relative positions between each connecting rod 336 also change accordingly. To achieve the retraction of the entire four-bar linkage, the second connecting rod 3362 and the fourth connecting rod 3364 can drive the obstacle clearing component 334 closer to the body 1 and accommodate it at the bottom of the body 1, so as to realize the process of the drive mechanism 31 driving the obstacle clearing component 334 from the obstacle clearing position to the storage position via the connecting mechanism 335; and, during the reverse movement of the fourth connecting rod 3364, the anti-reverse protrusion 3378 provided on the fourth connecting rod 3364 can disengage from the auxiliary component 343 to remove the limiting effect on the auxiliary component 343.

[0331] Referring to Figures 38, 39, 40, and 43, according to some embodiments of this application, the connecting mechanism 335 includes a plurality of connecting rods 336 rotatably connected to each other. One of the plurality of connecting rods 336 is a driving rod. The output end 3122 of the driving mechanism 31 is directly connected to the driving rod or connected through the swing mechanism 32. The connecting rod 336 rotatably connected to the obstacle clearing push rod 3342 is provided with a reset protrusion 3379. During the process of the obstacle clearing component 33 moving from the obstacle clearing position to the storage position, the reset protrusion 3379 contacts the auxiliary component 343 to drive the auxiliary component 343 to move to the second position.

[0332] The reset protrusion 3379 can enhance the overall structural strength of the connecting mechanism 335 to a certain extent. By providing a reset protrusion 3379 on the connecting rod 336 that is rotatably connected to the clearing push rod 3342, and the reset protrusion 3379 can abut against the auxiliary component 343, during the process of the clearing component 33 moving from the clearing position to the storage position, the reset protrusion 3379 can gradually approach the auxiliary component 343 and finally abut against the auxiliary component 343. Under the driving force of the driving mechanism 31, the driving force applied by the reset protrusion 3379 to the auxiliary component 343 can overcome the elastic force of the elastic driving component 344, so as to drive the auxiliary component 343 to move to the second position, reduce the occupation of the external space of the clearing component 33, and thus facilitate the overall handling and storage of the cleaning device 100.

[0333] Referring to Figures 38, 39, 40, and 43, according to some embodiments of this application, the inner surface of the auxiliary component 343 is provided with a mating protrusion 3432. During the process of the clearing component 334 moving from the clearing position to the storage position, the reset protrusion 3379 contacts the mating protrusion 3432 to drive the auxiliary component 343 to move to the second position. The mating protrusion 3432 can enhance the overall structural strength of the auxiliary component 343 to a certain extent. During the process of the clearing component 334 moving from the clearing position to the storage position, the contact between the reset protrusion 3379 and the mating protrusion 3432 can shorten the distance between the reset protrusion 3379 and the auxiliary component 343 to a certain extent, so that the reset protrusion 3379 can drive the auxiliary component 343 to move to the second position more quickly.

[0334] Referring to Figures 37-40, according to some embodiments of this application, a plurality of connecting rods 336 include a first connecting rod 3361, a second connecting rod 3362, a third connecting rod 3363, and a fourth connecting rod 3364. The third connecting rod 3363 constitutes a drive rod. One end of the first connecting rod 3361 is rotatably connected to the body 1. The other end of the first connecting rod 3361 is rotatably connected to one end of the second connecting rod 3362. The other end of the second connecting rod 3362 is rotatably connected to the obstacle clearing component 334. The second connecting rod 3362 and the third connecting rod 3363 intersect and are rotatably connected. One end of the fourth connecting rod 3364 is rotatably connected to the end of the third connecting rod 3363, and the other end of the fourth connecting rod 3364 is rotatably connected to the obstacle clearing component 334.

[0335] The first rotational connection point 3371 is the rotational connection point between the third connecting rod 3363 and the second connecting rod 3362, and the second rotational connection point 3372 is the rotational connection point between the third connecting rod 3363 and the fourth connecting rod 3364. The connection point between the output end 3122 of the drive mechanism 31 and the third connecting rod 3363 is the drive connection point. The first rotational connection point 3371 is located between the second rotational connection point 3372 and the drive connection point, and the reset protrusion 3379 is provided on the fourth connecting rod 3364.

[0336] The first connecting rod 3361, the second connecting rod 3362, the third connecting rod 3363, and the fourth connecting rod 3364 can form a four-bar linkage mechanism, and the movement of the obstacle clearing component 334 can be achieved by changing the length and angle of the four-bar linkage mechanism. The third connecting rod 3363 is connected to the output end 3122 of the drive mechanism 31. Under the driving force of the drive mechanism 31, the third connecting rod 3363 rotates around the drive connection point. The third connecting rod 3363 can drive the second connecting rod 3362 to rotate around the first rotation connection point 3371, and the third connecting rod 3363 can drive the fourth connecting rod 3364 to rotate around the second rotation connection point 3372. One end of the first connecting rod 3361 is rotatably connected to the body 1, and the other end of the first connecting rod 3361 is rotatably connected to the second connecting rod 3362. The rotation of the second connecting rod 3362 can also drive the first connecting rod 3361 to rotate relative to the body 1. Through the overall deformation of the four-bar linkage, under the joint drive of the second connecting rod 3362 and the fourth connecting rod 3364, the obstacle clearing component 334 can be driven to move. Thus, the process of the drive mechanism 31 driving the obstacle clearing component 334 to move between the storage position and the obstacle clearing position via the connecting mechanism 335 can be realized.

[0337] Furthermore, during the process of the drive mechanism 31 driving the obstacle clearing component 334 to move from the obstacle clearing position to the storage position via the connecting mechanism 335, the reset protrusion 3379 on the fourth connecting rod 3364 gradually approaches the auxiliary component 343 and eventually contacts the auxiliary component 343, thereby driving the auxiliary component 343 to move from the first position to the second position.

[0338] Furthermore, the fourth connecting rod 3364 is also provided with an anti-reverse protrusion 3378. The reset protrusion 3379 and the anti-reverse protrusion 3378 are located on opposite sides of the connection point between the fourth connecting rod 3364 and the obstacle clearing member 334, respectively. When the auxiliary member 343 is in the first position, the anti-reverse protrusion 3378 abuts against the outer surface of the auxiliary member 343 to limit the auxiliary member 343 to the first position. During the process of the obstacle clearing member 334 moving from the obstacle clearing position to the storage position, the anti-reverse protrusion 3378 disengages from the auxiliary member 343.

[0339] For example, when the third connecting rod 3363 rotates in the forward direction, the second connecting rod 3362 rotates in the forward direction around the first rotating connection point 3371 under the driving force of the third connecting rod 3363, thus driving the first connecting rod 3361 to rotate in the forward direction. The fourth connecting rod 3364 rotates in the forward direction around the second rotating connection point 3372 under the driving force of the third connecting rod 3363. By changing the included angle between each connecting rod 336, the relative positions between each connecting rod 336 also change, which can realize the extension of the entire four-bar linkage. The second connecting rod 3362 and the fourth connecting rod 3364 can drive the obstacle clearing component 334 away from the outer side of the fuselage 1. The edge allows the drive mechanism 31 to drive the obstacle clearing component 334 from the storage position to the obstacle clearing position via the connecting mechanism 335. Furthermore, as the fourth connecting rod 3364 moves toward the outer edge of the body 1, the reset protrusion 3379 gradually moves away from the auxiliary component 343 to gradually remove the driving force on the auxiliary component 343. Under the driving action of the elastic force of the elastic drive component 344, the auxiliary component 343 moves from the second position to the first position. The anti-return protrusion 3378 provided on the fourth connecting rod 3364 can also gradually approach the outer surface of the auxiliary component 343 and eventually contact the auxiliary component 343 to limit the auxiliary component 343 to the first position.

[0340] For example, when the third connecting rod 3363 rotates in the opposite direction, the second connecting rod 3362, driven by the driving force of the third connecting rod 3363, rotates in the opposite direction around the first rotating connection point 3371, thus causing the first connecting rod 3361 to rotate in the opposite direction. The fourth connecting rod 3364, driven by the driving force of the third connecting rod 3363, rotates in the opposite direction around the second rotating connection point 3372. Through the change in the included angle between each connecting rod 336, the relative positions between each connecting rod 336 also change, enabling the retraction of the entire four-bar linkage. The second connecting rod 3362 and the fourth connecting rod... The connecting rod 3364 can drive the obstacle clearing component 334 closer to the body 1 and house it at the bottom of the body 1, so as to realize the process of the drive mechanism 31 driving the obstacle clearing component 334 from the obstacle clearing position to the storage position via the connecting mechanism 335; and, during the reverse movement of the fourth connecting rod 3364, the anti-return protrusion 3378 provided on the fourth connecting rod 3364 can disengage from the auxiliary component 343 to remove the limiting effect on the auxiliary component 343, and the reset protrusion 3379 gradually approaches the auxiliary component 343 and finally contacts the auxiliary component 343, so as to drive the auxiliary component 343 to move from the first position to the second position.

[0341] Referring to Figures 41, 42, 44, and 45, according to some embodiments of this application, the inner side of the auxiliary component 343 is provided with a limiting protrusion 3433. When the auxiliary component 343 is in the first position, the limiting protrusion 3433 abuts against the obstacle clearing push rod 3342 to limit the auxiliary component 343. When the elastic drive member 344 drives the auxiliary component 343 to open to the first position, the limiting protrusion 3433 abuts against the obstacle clearing push rod 3342, which can limit the auxiliary component 343. This can prevent the opening angle of the auxiliary component 343 from being too large, so that the auxiliary component 343 can be opened to a preset angle position.

[0342] Referring to Figures 41, 44 and 45, according to some embodiments of this application, the auxiliary component 343 includes a connecting portion 3434 and a clearing portion 3435. The connecting portion 3434 is movably connected to the clearing component 334. The clearing portion 3435 is connected below the connecting portion 3434 and is adapted to interact with obstacles. In the circumferential direction of the fuselage 1, the length of the clearing portion 3435 is greater than the length of the connecting portion 3434. For example, when the auxiliary component 343 is in the first position, the obstacle clearing part 3435 is connected to the lower part of the connecting part 3434, which can further reduce the distance between the bottom of the auxiliary component 343 and the working surface. This allows for more effective movement of obstacles on the working surface, especially low obstacles, effectively reducing obstacle clearing blind spots and missed areas. Furthermore, by making the length of the obstacle clearing part 3435 greater than the length of the connecting part 3434 in the circumferential direction of the machine body 1, the auxiliary component 343 can cover a larger area in the circumferential direction of the machine body 1, thereby effectively expanding the overall obstacle clearing range of the obstacle clearing component 33 and improving the overall obstacle clearing effect of the obstacle clearing component 33.

[0343] Referring to Figures 31 and 34, according to some embodiments of this application, the auxiliary member 343 is provided with a flexible layer for contacting the obstacle. When the auxiliary member 343 moves the obstacle, the flexible layer on the auxiliary member 343, due to its softness, can buffer the force exerted by the auxiliary member 343 on the obstacle, and can protect the obstacle to a certain extent, thereby reducing or avoiding friction and wear between the auxiliary member 343 and the obstacle.

[0344] Referring to Figures 44 and 45, according to some embodiments of this application, the auxiliary component 343 has a cleaning structure 342 for cleaning the work surface and / or obstacles. For example, the cleaning structure 342 can be a brush, scraper, wiping cloth, etc. By providing the cleaning structure 342 on the auxiliary component 343, while the auxiliary component 343 assists the obstacle removal component 334 in removing obstacles on the work surface, the cleaning structure 342 can clean the work surface, thereby enhancing the overall cleaning effect of the cleaning device 100.

[0345] Referring to Figures 11-13, according to some embodiments of this application, the body 1 is provided with a limiting structure 13. In the storage position, the limiting structure 13 is located on the side of the obstacle clearing component 33 away from the obstacle clearing position, so as to limit the obstacle clearing component 33 in the direction from the obstacle clearing position to the storage position. During the process of the obstacle clearing component 33 moving from the obstacle clearing position to the storage position, the limiting structure 13 on the body 1 can limit the obstacle clearing component 33, thus preventing the obstacle clearing component 33 from retracting at an excessively large angle, thereby allowing the obstacle clearing component 33 to retract to a preset angle position.

[0346] Referring to Figures 22-24, according to some embodiments of this application, the drive mechanism 31 includes a drive motor and a transmission mechanism. The transmission mechanism is connected to the obstacle-clearing component 33. The transmission mechanism includes a gear mechanism. The motor shaft of the drive motor is connected to the gear mechanism to drive the gear mechanism to move. The gear mechanism includes an output gear 3121, which has an output end 3122. The output end 3122 is directly connected to the obstacle-clearing component 33 or connected through an external swing mechanism 32. The gear mechanism is driveably connected to the motor shaft of the drive motor, and the output end 3122 of the output gear 3121 is directly driveably connected to the obstacle-clearing component 33 or driveably connected to the obstacle-clearing component 33 through the external swing mechanism 32. When the drive motor is working, the rotation of the motor shaft can drive the gear mechanism to rotate. The rotation of the output gear 3121 in the gear mechanism can directly drive the obstacle-clearing component 33 to rotate or drive the obstacle-clearing component 33 to rotate through the external swing mechanism 32, thereby realizing the process of the drive motor driving the obstacle-clearing component 33 to move between the obstacle-clearing position and the storage position via the gear mechanism.

[0347] Referring to Figures 22-24, according to some embodiments of this application, the obstacle clearing component 33 or the external swing mechanism 32 is provided with a first mounting hole 324. The output end 3122 is inserted into the first mounting hole 324. The cross-sections of the output end 3122 and the first mounting hole 324 are both non-circular. Compared with the cross-sections of the output end 3122 and the first mounting hole 324 being circular, the non-circular cross-sections allow the output end 3122 and the first mounting hole 324 to have a more singular direction and angle. When the output gear 3121 is assembled with the obstacle clearing component 33 or the external swing mechanism 32, the singular direction and angle can guide the assembly of the output end 3122 with the obstacle clearing component 33 or the external swing mechanism 32, so that the output end 3122 is assembled with the obstacle clearing component 33 or the external swing mechanism 32 according to a preset direction and angle, thereby improving the accuracy of power transmission between the drive mechanism 31 and the obstacle clearing component 33.

[0348] Referring to Figures 22, 24, and 25, according to some embodiments of this application, the rotation axis of the output gear 3121 extends in the vertical direction, and the lower end of the output gear 3121 constitutes the output end 3122. The lower end of the output gear 3121 has the output end 3122, and the output end 3122 is connected to the obstacle clearing component 33 or the external swing mechanism 32, thereby enabling the output gear 3121 to drive the obstacle clearing component 33.

[0349] Referring to Figures 22, 24, and 25, according to some embodiments of this application, the output gear 3121 includes a gear body 3124 and a gear shaft 3125. The gear shaft 3125 includes a second shaft portion 3127, which is coaxially connected to the gear body 3124. The lower end of the gear body 3124 has an output end 3122. The gear body 3124 can serve as a carrier for the gear shaft 3125. The coaxial connection between the second shaft portion 3127 and the gear body 3124 allows for smoother rotation of the gear body 3124 and the second shaft portion 3127. Furthermore, the output end 3122 at the lower end of the gear body 3124, which is connected to the obstacle clearing component 33 or the external swing mechanism 32, enables the output gear 3121 to drive the obstacle clearing component 33.

[0350] Referring to Figures 22 and 25, according to some embodiments of this application, the second shaft portion 3127 has a "D"-shaped cross-section, and the gear body 3124 is provided with a second connecting hole. The second shaft portion 3127 is accommodated in the second connecting hole, and the cross-section of the second connecting hole is also "D"-shaped. Compared to the fact that the cross-sections of the second shaft portion 3127 and the second connecting hole are both circular, the "D"-shaped cross-section allows the second shaft portion 3127 and the second connecting hole to have a more singular direction and angle. When the second shaft portion 3127 is assembled with the gear body 3124, this singular direction and angle can guide the assembly of the second shaft portion 3127 and the gear body 3124, so that the second shaft portion 3127 and the gear body 3124 are assembled according to a preset direction and angle, thereby improving the accuracy of power transmission between the second shaft portion 3127 and the gear body 3124.

[0351] Referring to Figures 22-24, according to some embodiments of this application, a mis-detection notch 3241 is formed on the inner peripheral wall of the first mounting hole 324, and a mis-detection protrusion 3123 is provided on the outer peripheral wall of the output end 3122. The mis-detection protrusion 3123 is accommodated within the mis-detection notch 3241. The cooperation between the mis-detection notch 3241 and the mis-detection protrusion 3123 makes the assembly between the output end 3122 of the output gear 3121 and the obstacle clearing component 33 or the external swing mechanism 32 more convenient, and makes the overall structure of the output gear 3121 and the obstacle clearing component 33 or the external swing mechanism 32 more compact. By having the mis-detection protrusion 3123 accommodated within the mis-detection notch 3241, the accurate assembly position and direction between the output end 3122 and the obstacle clearing component 33 or the external swing mechanism 32 can be ensured, avoiding installation errors caused by misoperation.

[0352] Referring to Figures 20-22, according to some embodiments of this application, a detection component 4 is also included. The detection component 4 is used to detect the position of the obstacle-clearing component 33. Both the detection component 4 and the drive mechanism 31 are electrically connected to the control module of the cleaning device 100. The control module is used to control the drive mechanism 31 based on the position information detected by the detection component 4. The detection component 4 can promptly transmit the measured position information of the obstacle-clearing component 33 to the control module, so that the control module can control the drive mechanism 31 based on the position information of the obstacle-clearing component 33 to drive the obstacle-clearing component 33 to the obstacle-clearing position or the storage position. The detection component 4 can be a camera, an ultrasonic detector, etc.

[0353] For example, when the detection component 4 detects that the obstacle clearing component 33 has moved to the obstacle clearing position, the control module will control the drive mechanism 31 to stop driving the obstacle clearing component 33 to move, so that the obstacle clearing component 33 is stably kept in the obstacle clearing position; correspondingly, when the detection component 4 detects that the obstacle clearing component 33 has moved to the storage position, such as when the obstacle clearing component 33 abuts against the limiting structure 13, the position information of the obstacle clearing component 33 can be transmitted to the control component in a timely manner, and the control component will control the drive mechanism 31 to stop driving the obstacle clearing component 33 to move.

[0354] Referring to Figures 20-22, according to some embodiments of this application, the detection component 4 includes a detection circuit board 41, a first optocoupler 42, a second optocoupler 43, and an optocoupler detection element 44. The optocoupler detection element 44 is connected to the output end 3122 of the drive mechanism 31 to rotate synchronously with the output end 3122 of the drive mechanism 31. The detection circuit board 41 is fixed relative to the body 1. The first optocoupler 42 and the second optocoupler 43 are both disposed on the detection circuit board 41 and are spaced apart along the rotation direction of the obstacle clearing component 33. Specifically, when the obstacle clearing component 33 is in the storage position, the optocoupler detection element 44 is opposite to the first optocoupler 42; when the obstacle clearing component 33 is in the obstacle clearing position, the optocoupler detection element 44 is opposite to the second optocoupler 43.

[0355] The detection circuit board 41 can serve as a carrier for the first optocoupler 42, the second optocoupler 43, and the optocoupler detection element 44. The detection circuit board 41 can be an integral structure or a combination structure formed by the cooperation of multiple components. The detection circuit board 41 plays a role in information and energy transmission for other components of the detection assembly 4. These other components include, but are not limited to, the first optocoupler 42, the second optocoupler 43, and the optocoupler detection element 44.

[0356] When the drive mechanism 31 drives the obstacle clearing component 33 to move between the storage position and the obstacle clearing position, it can simultaneously drive the optical coupler detection element 44 to rotate. Since the first optical coupler 42 and the second optical coupler 43 are both mounted on the detection circuit board 41 and are spaced apart along the rotation direction of the obstacle clearing component 33, when the obstacle clearing component 33 is in the obstacle clearing position, the drive mechanism 31 can simultaneously drive the optical coupler detection element 44 to rotate to a position opposite to the second optical coupler 43. For example, the optical coupler detection element 44 can block or change the propagation path of the light emitted from the second optical coupler 43, which can trigger a change in the signal generated by the second optical coupler 43. When the obstacle clearing component 33 is in the storage position, the drive mechanism 31 can simultaneously drive the optical coupler detection element 44 to rotate to a position opposite to the first optical coupler 42. For example, the optical coupler detection element 44 can block or change the propagation path of the light emitted from the first optical coupler 42, which can trigger a change in the signal generated by the first optical coupler 42, thereby enabling the detection component 4 to identify the position information of the obstacle clearing component 33.

[0357] Through the cooperation between the optical coupler detection element 44 and the first optical coupler 42 and the second optical coupler 43, the position information of the obstacle clearing component 33 can be perceived, and then the corresponding position information is fed back to the detection circuit board 41 so that the control module can control the drive mechanism 31 in a timely manner according to the position information of the obstacle clearing component 33 measured by the detection component 4, thereby realizing the intelligent control of the obstacle clearing component 33 by the cleaning device 100.

[0358] Referring to Figures 20-22, according to some embodiments of this application, the first optocoupler 42 includes a first optocoupler base 421 and a first optocoupler 42 device. A first detection groove is formed on the first optocoupler base 421, and the first detection groove passes through the first optocoupler base 421 along the rotation direction of the output end 3122. The first optocoupler 42 device is mounted on the first optocoupler base 421 and is located on the bottom wall of the first detection groove. The second optocoupler 43 includes a second optocoupler base 431 and a second optocoupler 43 device. A first detection groove is formed on the second optocoupler base 431. There is a second detection groove 4311, and the second optocoupler 43 is mounted on the second optocoupler seat 431 and the second optocoupler 43 is located on the bottom wall of the second detection groove 4311. The second detection groove 4311 passes through the second optocoupler seat 431 along the rotation direction of the output end 3122. The optocoupler detection component 44 is provided with a detection protrusion 441. When the obstacle clearing component 33 is in the storage position, the detection protrusion 441 is accommodated in the first detection groove. When the obstacle clearing component 33 is in the obstacle clearing position, the detection protrusion 441 is accommodated in the second detection groove 4311.

[0359] The first and second detection grooves 4311 facilitate the placement of the detection protrusion 441. When the clearing component 33 is in the storage or clearing position, the detection protrusion 441 is located in the first or second detection groove 4311, respectively. The first optocoupler 42 or the second optocoupler 43 can promptly capture the position information of the detection protrusion 441 and transmit it to the control module. The control module then controls the drive mechanism 31 to achieve intelligent control of the cleaning device 100. Furthermore, when the clearing component 33 rotates between the storage and clearing positions, the detection grooves on both the first and second optocoupler seats 421 and 431 facilitate the smooth entry and exit of the detection protrusion 441 from the first or second detection groove 4311, reducing jamming or interference between the detection protrusion 441 and the first or second optocoupler seat 421 or the second optocoupler seat 431 during rotation.

[0360] Referring to Figures 20-22, according to some embodiments of this application, the housing 1 is provided with a mounting box 14, the drive mechanism 31 is disposed inside the mounting box 14, and the detection circuit board 41 is mounted on the mounting box 14. The first optocoupler 42, the second optocoupler 43, and the optocoupler detection element 44 are all located on the side of the detection circuit board 41 opposite to the drive mechanism 31. The mounting box 14 can support and protect the drive mechanism 31, reduce the impact of external impacts or external impurities on the drive mechanism 31, and help extend the service life of the drive mechanism 31.

[0361] The mounting box 14 can also serve as a carrier for the detection component 4. The detection circuit board 41 is mounted on the mounting box 14, and the first optocoupler 42, the second optocoupler 43, and the optocoupler detection element 44 are all located on the side of the detection circuit board 41 away from the driving mechanism 31. The detection circuit board 41 can separate the first optocoupler 42, the second optocoupler 43, and the optocoupler detection element 44 from the driving mechanism 31. While enabling the driving mechanism 31 to drive the optocoupler detection element 44, interference between the first optocoupler 42, the second optocoupler 43, and the optocoupler detection element 44 and the driving mechanism 31 can be avoided.

[0362] Referring to Figures 20-22, according to some embodiments of this application, a receiving groove 141 is formed on one side of the mounting box 14. The detection circuit board 41 is housed in the receiving groove 141. The first optocoupler 42, the second optocoupler 43, and the optocoupler detection element 44 are all located on the open side of the detection circuit board 41 facing the receiving groove 141. The detection assembly 4 is housed in the receiving groove 141, which makes the overall structure of the detection assembly 4, the drive mechanism 31, and the mounting box 14 compact. By having the first optocoupler 42, the second optocoupler 43, and the optocoupler detection element 44 all located on the open side of the detection circuit board 41 facing the receiving groove 141, a certain amount of space is provided for the rotation of the optocoupler detection element 44, so that the rotation of the optocoupler detection element 44 is smoother, thereby facilitating the detection of the position information of the obstacle clearing component 33. It also provides a larger operating space, which makes it easier for operators to directly maintain and troubleshoot the detection assembly 4 from the open side later.

[0363] Referring to Figures 20-22, according to some embodiments of this application, the mounting box 14 is also provided with a cover plate 142, which covers the open side of the receiving groove 141. This allows the outer surface of the mounting box 14 to form a relatively complete sealed structure, which can separate other wire harnesses in the cleaning device 100 from the components in the receiving groove 141, preventing other wire harnesses of the cleaning device 100 from entering the receiving groove 141 and interfering with the components in the receiving groove 141. For example, when the optocoupler detection element 44 rotates, it can make the optocoupler detection element 44 rotate more smoothly, preventing other wire harnesses from getting tangled with the optocoupler detection element 44, causing the optocoupler detection element 44 to jam or even become stuck.

[0364] Referring to Figures 20-22, according to some embodiments of this application, the detection circuit board 41 is disposed on the top of the mounting box 14. This avoids limiting the space occupied by the drive mechanism 31 inside the mounting box 14 due to the installation of the detection component 4, thereby effectively utilizing the space inside the mounting box 14. As a result, the height of the drive mechanism 31 in the vertical direction can be close to the overall vertical height of the mounting box 14, making the size of the drive mechanism 31 in the vertical direction larger. Furthermore, the transmission path between the drive mechanism 31 and the detection component 4 can be made shorter, so that the detection component 4 can rotate synchronously with the drive mechanism 31, thereby improving the accuracy of the detection component 4 in detecting the position information of the obstacle clearing component 33.

[0365] Referring to Figures 20-22, according to some embodiments of this application, the drive mechanism 31 includes a drive motor and a transmission mechanism. The transmission mechanism is connected to the obstacle clearing component 33. The transmission mechanism includes a gear mechanism. The motor shaft of the drive motor is connected to the gear mechanism to drive the gear mechanism to move. The gear mechanism includes an output gear 3121. The rotation axis of the output gear 3121 extends in the vertical direction. The detection circuit board 41 is provided with a clearance hole. The upper end of the output gear 3121 passes through the clearance hole and is connected to the optocoupler detection component 44. The lower end of the output gear 3121 constitutes the output end 3122. The clearance hole facilitates the output gear 3121 to pass through, so that the output gear 3121 can be directly connected to the optocoupler detection component 44. This enables the drive mechanism 31 to synchronously drive the obstacle clearing component 33 and the optocoupler detection component 44, facilitating the subsequent identification of the position information of the obstacle clearing component 33 by the detection component 4.

[0366] Referring to Figures 22, 24, 25, and 26, according to some embodiments of this application, the output gear 3121 includes a gear body 3124 and a gear shaft 3125. The gear shaft 3125 includes a first shaft portion 3126 and a second shaft portion 3127. The first shaft portion 3126 is connected to the upper side of the second shaft portion 3127 and is connected to the optocoupler detection element 44. The second shaft portion 3127 is coaxially connected to the gear body 3124. The lower end of the gear body 3124 has an output end 3122. The gear body 3124 can serve as a carrier for the gear shaft 3125. The first shaft portion 3126 is connected to the optocoupler detection element 44, and the second shaft portion 3127 is coaxially connected to the gear body 3124, which makes the rotation of the gear body 3124 and the second shaft portion 3127 smoother. Furthermore, since the lower end of the gear body 3124 has an output end 3122, and the output end 3122 is connected to the obstacle clearing component 33 or the external swing mechanism 32, synchronous driving of the obstacle clearing component 33 and the optocoupler detection element 44 can be realized, thereby realizing the detection component 4's detection of the position information of the obstacle clearing component 33.

[0367] Referring to Figures 20, 22, and 25, according to some embodiments of this application, the first shaft portion 3126 has a "D"-shaped cross-section, and the optocoupler detection element 44 is provided with a first connecting hole 442. The first shaft portion 3126 is accommodated in the first connecting hole 442, and the first connecting hole 442 has a "D"-shaped cross-section. Compared to the circular cross-sections of the first shaft portion 3126 and the first connecting hole 442, the "D"-shaped cross-section allows the first shaft portion 3126 and the first connecting hole 442 to have a more singular direction and angle. When the first shaft portion 3126 is assembled with the optocoupler detection element 44, the singular direction and angle can guide the assembly of the first shaft portion 3126 and the optocoupler detection element 44, so that the first shaft portion 3126 and the optocoupler detection element 44 are assembled according to a preset direction and angle, thereby improving the accuracy of power transmission between the output gear 3121 and the optocoupler detection element 44.

[0368] Referring to Figures 20, 22, and 25, according to some embodiments of this application, the second shaft portion 3127 has a "D"-shaped cross-section, and the gear body 3124 is provided with a second connecting hole. The second shaft portion 3127 is accommodated in the second connecting hole, and the cross-section of the second connecting hole is also "D"-shaped. Compared to the fact that the cross-sections of the second shaft portion 3127 and the second connecting hole are both circular, the "D"-shaped cross-section allows the second shaft portion 3127 and the second connecting hole to have a more singular direction and angle. When the second shaft portion 3127 is assembled with the gear body 3124, this singular direction and angle can guide the assembly of the second shaft portion 3127 and the gear body 3124, so that the second shaft portion 3127 and the gear body 3124 are assembled according to a preset direction and angle, thereby improving the accuracy of power transmission between the second shaft portion 3127 and the gear body 3124.

[0369] Referring to Figures 20-22, according to some embodiments of this application, the detection circuit board 41 is provided with lead terminals 412, and the lead terminals 412 are connected to an optocoupler harness, which is connected to a control module. The lead terminals 412 are connected to the control module via the optocoupler harness, which indirectly enables electrical connection between the lead terminals 412 and the control module, thereby facilitating energy and information transfer between the control module and the detection circuit board 41.

[0370] Referring to Figures 20-22, according to some embodiments of this application, in the rotation direction of the output terminal 3122, the first optocoupler 42 and the second optocoupler 43 are both located on the same side of the lead terminal 412, so that the wire bundle between the lead terminal 412 and the first optocoupler 42 and the second optocoupler can be routed in a more concentrated area, and the length of the wire bundle between the lead terminal 412 and the first optocoupler 42 and the second optocoupler 43 can be shortened, reducing or avoiding the tangling of wire bundles or interference with other components (such as when the optocoupler detection element 44 rotates) caused by messy wiring, which is beneficial to optimizing the wiring layout on the detection circuit board 41.

[0371] Referring to Figures 20-22, according to some embodiments of this application, the housing 1 is provided with a mounting box 14, and the drive mechanism 31 is disposed inside the mounting box 14. A receiving groove 141 is formed on one side of the mounting box 14, and the detection circuit board 41 is accommodated in the receiving groove 141. The first optocoupler 42, the second optocoupler 43, and the optocoupler detection element 44 are all located on the open side of the detection circuit board 41 facing the receiving groove 141. A wire outlet 143 is formed on the mounting box 14 for the optocoupler wire harness to exit. The wire outlet 143 facilitates the exit of the optocoupler wire harness from the mounting box 14, so that the lead terminal 412 can be electrically connected to the control module via the optocoupler wire harness.

[0372] In some embodiments, a sealing element is provided on the outer periphery of the optocoupler harness. The sealing element is fixed to the outlet 143 and is used to seal the gap between the outer periphery of the optocoupler harness and the inner wall of the outlet 143. This can enhance the sealing effect at the outlet 143 and seal the gap between the outer periphery of the optocoupler harness and the inner wall of the outlet 143. This can prevent external impurities (such as dust and moisture) from entering the mounting box 14 through the gap between the outer periphery of the optocoupler harness and the inner wall of the outlet 143, thereby protecting the detection component 4 inside the mounting box 14 and extending the service life of the detection component 4.

[0373] Referring to Figures 20-22, according to some embodiments of this application, the lead terminal 412 is arranged opposite to the outlet 143. This arrangement allows for a shorter length of the optocoupler harness between the lead terminal 412 and the control module, resulting in more orderly wiring within the mounting box 14, preventing the optocoupler harness from occupying excessive space, and facilitating layout optimization on the test circuit board 41.

[0374] Referring to Figures 11-13, some embodiments of this application include an obstacle recognition module, which is disposed in the body 1 and used to identify obstacles. For example, the obstacle recognition module is adapted to cooperate with the control module of the cleaning device 100. The obstacle recognition module is used to identify whether there are obstacles on the working surface. When the obstacle recognition module detects that there are obstacles on the working surface, it can transmit the information to the control module. The control module drives the obstacle removal module 3 to move the obstacle so that the obstacle leaves its original position according to the received information. When the obstacle recognition module detects that there are no obstacles on the working surface, the control module can control the obstacle removal module 3 to remain stationary or retract into the body 1 according to the received information.

[0375] In some embodiments, the obstacle recognition module may be an LDS (Laser Distance Sensor) module. The LDS module includes a light emitter and receiver. The light emitter and receiver include a transmitter and a receiver. The transmitter emits light, which is emitted back after hitting an obstacle and is received by the receiver. This allows the system to determine whether there is an obstacle on the work surface and further determine the distance between the obstacle and the cleaning device 100.

[0376] In other embodiments, the obstacle module may include a line laser, which includes a laser emitting component that emits laser light in a predetermined direction. After the emitted laser light hits an obstacle, it is reflected back and received by the laser emitting component, thereby determining whether there is an obstacle on the working surface.

[0377] Referring to Figures 11-13, some embodiments of this application include an obstacle image acquisition module, which is disposed on the body 1 and is used to acquire images of obstacles. By acquiring images of obstacles, the size, shape, etc., of the obstacles can be determined.

[0378] For example, an obstacle image acquisition module includes a camera and an image sensor. An optical lens focuses the light reflected from the obstacle onto the image sensor, which processes the optical signals and converts them into electrical signals to form an image of the obstacle, thus allowing the determination of the obstacle's size or shape. The image sensor can also be an ultrasonic sensor.

[0379] The cleaning apparatus 100 according to some embodiments of the present application is described below with reference to Figures 1-48.

[0380] Referring to Figures 14-17, in this embodiment, the cleaning device 100 includes a body 1, a cleaning component, a clearing module 3, a downward-looking sensor, a detection component 4, an obstacle recognition module, and an obstacle image acquisition module. The cleaning component is located on the body 1 and is used to clean the working surface. The clearing module 3 is located on the body 1 and is used to move obstacles to move them away from their original positions. The clearing module 3 is located at the left or right front end 11 of the body 1, along the outer edge of the body 1, and at the bottom of the body 1. The downward-looking sensor is located at the bottom of the body 1, and the clearing module 3 has a clearance part 332 for avoiding the downward-looking sensor. The detection component 4 is used to detect the position of the clearing component 33. The detection component 4 and the drive mechanism 31 are electrically connected to the control module of the cleaning device 100. The control module controls the drive mechanism 31 according to the position information detected by the detection component 4. The obstacle recognition module is located on the body 1 and is used to identify obstacles. The obstacle image acquisition module is located on the body 1 and is used to acquire images of obstacles.

[0381] The obstacle removal module 3 includes a drive mechanism 31 and an obstacle removal component 33. The drive mechanism 31 is mounted on the body 1 and connected to the obstacle removal component 33 for driving the obstacle removal component 33 to move. The obstacle removal component 33 is movable between an obstacle removal position and a storage position. When the obstacle removal component 33 is in the storage position, at least a portion of the obstacle removal component 33 is stored in the body 1. When the obstacle removal component 33 is in the obstacle removal position, at least a portion of the obstacle removal component 33 is located outside the outer edge of the body 1 for interacting with obstacles. The obstacle removal component 33 pushes or clamps the obstacle to make the obstacle leave its original position.

[0382] The fuselage 1 includes a bottom shell 12, on which a clearing module 3 is mounted. A receiving notch 121 is formed along the outer edge of the bottom shell 12. When the clearing component 33 is in the retracted position, at least a portion of the clearing component 33 is located within the receiving notch 121. When the clearing component 33 is in the retracted position, a clearance portion 332 is located below the downward-facing sensor and is positioned opposite the downward-facing sensor in the vertical direction. The fuselage 1 is provided with a limiting structure 13. In the retracted position, the limiting structure 13 is located on the side of the clearing component 33 away from the clearing position, thereby limiting the clearing component 33 in the direction from the clearing position to the retracted position.

[0383] When the obstacle clearing component 33 is in the storage position, the overlapping area of ​​the projections of the obstacle clearing component 33 and the fuselage 1 on the horizontal plane is the first overlapping area. When the obstacle clearing component 33 is in the obstacle clearing position, the overlapping area of ​​the projections of the obstacle clearing component 33 and the fuselage 1 on the horizontal plane is the second overlapping area, and the first overlapping area is larger than the second overlapping area. When the obstacle clearing component 33 is in the storage position, the projection of the obstacle clearing component 33 on the horizontal plane is located within the projection of the fuselage 1 on the horizontal plane. When the obstacle clearing component 33 is in the storage position, the side of the obstacle clearing component 33 closest to the outer edge of the fuselage 1 is the outer edge 331, and the outline of the outer edge 331 is consistent with the outline of the outer edge of the fuselage 1.

[0384] The output end 3122 of the drive mechanism 31 is directly connected to the obstacle clearing component 33. The mechanism that drives the obstacle clearing component 33 to move between the obstacle clearing position and the storage position is the same mechanism that drives the obstacle clearing component 33 to move the obstacle.

[0385] The drive mechanism 31 includes a drive motor and a transmission mechanism. The transmission mechanism is connected to the obstacle clearing component 33. The transmission mechanism includes a gear mechanism. The motor shaft of the drive motor is connected to the gear mechanism to drive the gear mechanism to move. The gear mechanism includes an output gear 3121. One axial end of the output gear 3121 has an output end 3122. The output end 3122 is directly connected to the obstacle clearing component 33 or connected through an external swing mechanism 32. The obstacle clearing component 33 is provided with a first mounting hole 324. The output end 3122 is inserted into the first mounting hole 324. The cross-section of both the output end 3122 and the cross-section of the first mounting hole 324 are non-circular. A foolproof notch 3241 is formed on the inner peripheral wall of the first mounting hole 324. A foolproof protrusion 3123 is provided on the outer peripheral wall of the output end 3122. The foolproof protrusion 3123 is accommodated within the foolproof notch 3241.

[0386] The obstacle clearing module 3 is located at at least one end of the fuselage 1 along the left and right direction. When the obstacle clearing component 33 is in the obstacle clearing position, the angle between the drive rod and the preset direction is β, which is greater than 90°. The preset direction is parallel to the left and right direction, and in the left and right direction, the preset direction points from the end where the obstacle clearing module 3 is located to the other end of the fuselage 1.

[0387] The obstacle clearing module 3 is located at at least one end of the body 1 along the left and right direction. When the obstacle clearing component 33 is in the storage position, the angle between the drive rod and the preset direction is γ, and the range of γ is 20° to 45°. The preset direction is parallel to the left and right direction, and in the left and right direction, the preset direction points from the end where the obstacle clearing module 3 is located to the other end of the body 1.

[0388] The obstacle clearing component 33 includes a connecting mechanism 335 and an obstacle clearing component 334. The connecting mechanism 335 is connected between the obstacle clearing component 334 and the body 1. The output end 3122 of the drive mechanism 31 is directly connected to the connecting mechanism 335 or connected through the outward swing mechanism 32. The obstacle clearing component 334 is adapted to act on the obstacle so that the obstacle moves and leaves its original position.

[0389] The connecting mechanism 335 includes multiple connecting rods 336 that are rotatably connected to each other. One of the multiple connecting rods 336 is a driving rod. The output end 3122 of the driving mechanism 31 is directly connected to the driving rod or connected through the swing mechanism 32. The driving rod is rotatably connected to the body 1. A groove 333 extending along the extension direction of the driving rod is formed on the driving rod. The swing mechanism 32 includes a turntable 321 and a slider 322. The turntable 321 is rotatably mounted on the output end 3122 of the driving mechanism 31. The slider 322 is disposed on the turntable 321 and spaced apart from the rotation center of the turntable 321. The slider 322 is accommodated in the groove 333 and can slide along the extension direction of the groove 333. The slider 322 is used to drive the obstacle clearing component 33 to move.

[0390] The multiple connecting rods 336 include a first connecting rod 3361, a second connecting rod 3362, a third connecting rod 3363, and a fourth connecting rod 3364. The third connecting rod 3363 constitutes a drive rod. One end of the first connecting rod 3361 is rotatably connected to the body 1. The other end of the first connecting rod 3361 is rotatably connected to one end of the second connecting rod 3362. The other end of the second connecting rod 3362 is rotatably connected to the obstacle clearing component 334. The second connecting rod 3362 and the third connecting rod 3363 intersect and are rotatably connected. One end of the fourth connecting rod 3364 is rotatably connected to the end of the third connecting rod 3363, and the other end of the fourth connecting rod 3364 is rotatably connected to the obstacle clearing component 334.

[0391] The rotational connection point between the third connecting rod 3363 and the second connecting rod 3362 is the first rotational connection point 3371, the rotational connection point between the third connecting rod 3363 and the fourth connecting rod 3364 is the second rotational connection point 3372, the connection point between the output end 3122 of the drive mechanism 31 and the third connecting rod 3363 is the drive connection point, and the first rotational connection point 3371 is located between the second rotational connection point 3372 and the drive connection point.

[0392] The rotatable connecting rods 336 are connected by a connector 340. In the direction of the rotation axis of the rotatable connecting rods 336, the connector 340 does not protrude from the outer surface of the connecting rods 336. The connector 340 includes a connecting post 3401 and a limiting cap 3402. The connecting post 3401 passes through the two rotatably connected connecting rods 336. At least one connecting rod 336 has a recess 3376 formed on it, and the limiting cap 3402 is accommodated within the recess 3376.

[0393] The obstacle removal component 33 includes a contact portion adapted to contact the obstacle. The contact portion is arc-shaped, and at least a portion of the obstacle removal component 33 constitutes the front impact plate of the cleaning device 100. The obstacle removal component 33 is provided with a flexible layer for contacting the obstacle. The flexible layer is a rubber layer or a silicone layer. The flexible layer is bonded and fixed to the obstacle removal component 33, or the flexible layer is integrally formed on the obstacle removal component 33.

[0394] The obstacle removal component 33 is provided with a cleaning structure 342, which is used to clean the working surface and / or obstacles. The cleaning structure 342 is located at the bottom of the obstacle removal component 33 and is either adhered to or detachably provided on the obstacle removal component 33. The cleaning structure 342 includes at least one of a cleaning brush, a cleaning cloth, and a cleaning squeegee.

[0395] The detection component 4 includes a detection circuit board 41, a first optocoupler 42, a second optocoupler 43, and an optocoupler detection element 44. The optocoupler detection element 44 is connected to the output end 3122 of the drive mechanism 31 so as to rotate synchronously with the output end 3122 of the drive mechanism 31. The detection circuit board 41 is fixed relative to the body 1. The first optocoupler 42 and the second optocoupler 43 are both disposed on the detection circuit board 41 and are spaced apart along the rotation direction of the obstacle clearing component 33. When the obstacle clearing component 33 is in the storage position, the optocoupler detection element 44 is opposite to the first optocoupler 42. When the obstacle clearing component 33 is in the obstacle clearing position, the optocoupler detection element 44 is opposite to the second optocoupler 43.

[0396] The first optocoupler 42 includes a first optocoupler base 421 and a first optocoupler 42 device. A first detection groove is formed on the first optocoupler base 421. The first detection groove passes through the first optocoupler base 421 along the rotation direction of the output end 3122. The first optocoupler 42 device is installed on the first optocoupler base 421 and located on the bottom wall of the first detection groove. The second optocoupler 43 includes a second optocoupler base 431 and a second optocoupler 43 device. A second detection groove 4311 is formed on the second optocoupler base 431. The second optocoupler 43 device is installed on the second optocoupler base 431 and located on the bottom wall of the second detection groove 4311. The second detection groove 4311 passes through the second optocoupler base 431 along the rotation direction of the output end 3122. The optocoupler detection component 44 is provided with a detection protrusion 441. When the obstacle clearing component 33 is in the storage position, the detection protrusion 441 is accommodated in the first detection groove. When the obstacle clearing component 33 is in the obstacle clearing position, the detection protrusion 441 is accommodated in the second detection groove 4311.

[0397] The main body 1 is provided with a mounting box 14, the drive mechanism 31 is located inside the mounting box 14, the detection circuit board 41 is mounted on the mounting box 14, and the first optocoupler 42, the second optocoupler 43 and the optocoupler detection element 44 are all located on the side of the detection circuit board 41 away from the drive mechanism 31.

[0398] A receiving groove 141 is formed on one side of the mounting box 14, and the detection circuit board 41 is housed in the receiving groove 141. The first optocoupler 42, the second optocoupler 43, and the optocoupler detection element 44 are all located on the side of the detection circuit board 41 facing the open side of the receiving groove 141. The mounting box 14 is also provided with a cover plate 142, which covers the open side of the receiving groove 141.

[0399] The drive mechanism 31 includes a drive motor and a transmission mechanism. The transmission mechanism includes a gear mechanism. The motor shaft of the drive motor is connected to the gear mechanism to drive the gear mechanism to move. The gear mechanism includes an output gear 3121. The rotation axis of the output gear 3121 extends in the vertical direction. The detection circuit board 41 is provided with a clearance hole. The upper end of the output gear 3121 passes through the clearance hole and is connected to the optocoupler detection element 44. The lower end of the output gear 3121 forms the output end 3122. The output gear 3121 includes a gear body 3124 and a gear shaft 3125. The gear shaft 3125 includes a first shaft portion 3126 and a second shaft portion 3127. The first shaft portion 3126 is connected to the upper side of the second shaft portion 3127 and is connected to the optocoupler detection element 44. The second shaft portion 3127 is coaxially connected to the gear body 3124. The lower end of the gear body 3124 has the output end 3122.

[0400] The first shaft portion 3126 has a "D" shaped cross-section, and the optocoupler detection element 44 is provided with a first connecting hole 442. The first shaft portion 3126 is accommodated in the first connecting hole 442, and the cross-section of the first connecting hole 442 is "D" shaped; and / or, the second shaft portion 3127 has a "D" shaped cross-section, and the gear body 3124 is provided with a second connecting hole. The second shaft portion 3127 is accommodated in the second connecting hole, and the cross-section of the second connecting hole is "D" shaped.

[0401] The detection circuit board 41 is provided with lead terminals 412, which are connected to an optocoupler harness, which is connected to the control module. In the rotation direction of the output terminal 3122, the first optocoupler 42 and the second optocoupler 43 are both located on the same side of the lead terminals 412. The mounting box 14 has a cable outlet 143 for the optocoupler harness to exit.

[0402] Next, the cleaning apparatus 100 of some other embodiments of this application will be described with reference to Figures 11-13. In this embodiment, the parts that are the same as those in the above embodiments will not be described again, and the differences from the above embodiments will be mainly described with reference to the above embodiments.

[0403] The output end 3122 of the drive mechanism 31 is connected to the obstacle clearing component 33 via an external swing mechanism 32. The obstacle clearing component 33 is rotatably connected to the body 1. The external swing mechanism 32 includes a turntable 321 and a slider 322. The turntable 321 is rotatably mounted on the output end 3122 of the drive mechanism 31. The slider 322 is disposed on the turntable 321 and spaced apart from the rotation center of the turntable 321. A groove 333 is formed on the obstacle clearing component 33. The slider 322 is accommodated in the groove 333 and can slide along the extension direction of the groove 333. The slider 322 is used to drive the obstacle clearing component 33 to move. The groove 333 extends radially along the rotation axis of the obstacle clearing component 33. During the process of the drive mechanism 31 driving the obstacle clearing component 33 to move, the size of the obstacle clearing component 33 can be changed.

[0404] The output end 3122 of the drive mechanism 31 is connected to the obstacle clearing component 33 through the external swing mechanism 32. The transmission point between the external swing mechanism 32 and the obstacle clearing component 33 is the obstacle clearing transmission point. The force exerted by the obstacle clearing component 33 on the external swing mechanism 32 at the obstacle clearing transmission point is the reaction force. The speed of the external swing mechanism 32 under the reaction force at the obstacle clearing transmission point is the reaction speed. When the obstacle clearing component 33 is in the obstacle clearing position, the angle between the reaction speed and the reaction force is φ, and φ is greater than or equal to 90°.

[0405] The obstacle clearing module 3 is located at at least one end of the fuselage 1 along the left and right direction. When the obstacle clearing component 33 is in the obstacle clearing position, the angle between the drive rod and the preset direction is α, which is greater than 90°. The preset direction is parallel to the left and right direction, and in the left and right direction, the preset direction points from the end where the obstacle clearing module 3 is located to the other end of the fuselage 1.

[0406] The obstacle clearing module 3 is located at at least one end of the body 1 along the left and right direction. When the obstacle clearing component 33 is in the storage position, the angle between the drive rod and the preset direction is γ, and the range of γ is 20° to 45°. The preset direction is parallel to the left and right direction, and in the left and right direction, the preset direction points from the end where the obstacle clearing module 3 is located to the other end of the body 1.

[0407] Next, a cleaning apparatus 100 according to some embodiments of this application will be described with reference to Figures 6-9. In this embodiment, the parts that are the same as those in the above embodiments will not be described again, and the differences from the above embodiments will be mainly described with reference to the above embodiments.

[0408] The obstacle clearing component 33 includes a connecting mechanism 335 and an obstacle clearing component 334. The connecting mechanism 335 is connected between the obstacle clearing component 334 and the body 1. The output end 3122 of the drive mechanism 31 is directly connected to the connecting mechanism 335 or connected through the outward swing mechanism 32. The obstacle clearing component 334 is adapted to act on the obstacle so that the obstacle moves and leaves its original position.

[0409] The connecting mechanism 335 includes multiple connecting rods 336 that are rotatably connected to each other. One of the multiple connecting rods 336 is a driving rod. The output end 3122 of the driving mechanism 31 is directly connected to the driving rod or connected through the swing mechanism 32. The driving rod is rotatably connected to the body 1. A groove 333 extending along the extension direction of the driving rod is formed on the driving rod. The swing mechanism 32 includes a turntable 321 and a slider 322. The turntable 321 is rotatably mounted on the output end 3122 of the driving mechanism 31. The slider 322 is disposed on the turntable 321 and spaced apart from the rotation center of the turntable 321. The slider 322 is accommodated in the groove 333 and can slide along the extension direction of the groove 333. The slider 322 is used to drive the obstacle clearing component 33 to move.

[0410] The multiple connecting rods 336 include a first connecting rod 3361, a second connecting rod 3362, a third connecting rod 3363, and a fourth connecting rod 3364. The third connecting rod 3363 constitutes a drive rod. One end of the first connecting rod 3361 is rotatably connected to the body 1. The other end of the first connecting rod 3361 is rotatably connected to one end of the second connecting rod 3362. The other end of the second connecting rod 3362 is rotatably connected to the obstacle clearing component 334. The second connecting rod 3362 and the third connecting rod 3363 intersect and are rotatably connected. One end of the fourth connecting rod 3364 is rotatably connected to the end of the third connecting rod 3363, and the other end of the fourth connecting rod 3364 is rotatably connected to the obstacle clearing component 334.

[0411] The rotational connection point between the third connecting rod 3363 and the second connecting rod 3362 is the first rotational connection point 3371, and the rotational connection point between the third connecting rod 3363 and the fourth connecting rod 3364 is the second rotational connection point 3372. The third connecting rod 3363 is rotatably connected to the fuselage 1, and the rotational connection point between the third connecting rod 3363 and the fuselage 1 is the third rotational connection point 3373. A groove 333 extending along the extension direction of the third connecting rod 3363 is formed on the third connecting rod 3363. Located between the third rotation connection point 3373 and the first rotation connection point 3371, the outward swing mechanism 32 includes a turntable 321 and a slider 322. The turntable 321 is rotatably mounted on the output end 3122 of the drive mechanism 31. The slider 322 is disposed on the turntable 321 and spaced apart from the rotation center of the turntable 321. The slider 322 is accommodated in the slide groove 333 and can slide along the extension direction of the slide groove 333. The slider 322 is used to drive the obstacle clearing component 33 to move. The position of the slider 322 constitutes the drive connection point.

[0412] Next, a cleaning apparatus 100 according to some embodiments of the present application will be described with reference to FIG19. In this embodiment, the parts that are the same as those in the above embodiments will not be described again, and the differences from the above embodiments will be mainly described with reference to the above embodiments.

[0413] Multiple connecting rods 336 include a fifth connecting rod 3365, a sixth connecting rod 3366, a seventh connecting rod 3367, an eighth connecting rod 3368, a ninth connecting rod 3369, and a tenth connecting rod 3370. The eighth connecting rod 3368 constitutes a drive rod. One end of the fifth connecting rod 3365 is rotatably connected to the machine body 1, and the other end of the fifth connecting rod 3365 is rotatably connected to one end of the sixth connecting rod 3366. The other end of the sixth connecting rod 3366 is rotatably connected to one end of the seventh connecting rod 3367. The seventh connecting rod 3365... The other end of 67 is rotatably connected to the obstacle clearing component 334. The output end 3122 of the drive mechanism 31 is connected to the eighth connecting rod 3368. One end of the tenth connecting rod 3370, the end of the eighth connecting rod 3368, and one end of the ninth connecting rod 3369 are rotatably connected to the same point. The other end of the tenth connecting rod 3370 is rotatably connected to the obstacle clearing component 334. The tenth connecting rod 3370 intersects with the sixth connecting rod 3366 and is rotatably connected. The other end of the ninth connecting rod 3369 is rotatably connected to the fifth connecting rod 3365.

[0414] Among them, the rotatable connection point between the fifth connecting rod 3365 and the fuselage 1 is the fourth rotating connection point 3374, the rotatable connection point between the fifth connecting rod 3365 and the sixth connecting rod 3366 is the fifth rotating connection point 3375, the rotatable connection point between the ninth connecting rod 3369 and the fifth connecting rod 3365 is the sixth rotating connection point, and the sixth rotating connection point is located between the fourth rotating connection point 3374 and the fifth rotating connection point 3375.

[0415] Next, a cleaning apparatus 100 according to some embodiments of the present application will be described with reference to Figures 27-30. In this embodiment, the parts that are the same as those in the above embodiments will not be described again, and the differences from the above embodiments will be mainly described with reference to the above embodiments.

[0416] The obstacle removal component 33 includes an obstacle removal component 334 and an auxiliary component 343. The auxiliary component 343 is movably disposed on the obstacle removal component 334. The output end 3122 of the drive mechanism 31 is directly connected to the obstacle removal component 334 or connected through the outward swing mechanism 32 to drive the obstacle removal component 33 to move. At least one of the obstacle removal component 334 and the auxiliary component 343 can interact with the obstacle to make the obstacle move and leave its original position.

[0417] The auxiliary component 343 is rotatably connected to the obstacle clearing component 334, and the auxiliary component 343 can be flipped downward or moved relative to the obstacle clearing component 334. The auxiliary component 343 is movable between a first position and a second position. In the first position, at least a portion of the auxiliary component 343 is located above or below the obstacle clearing component 334, and the auxiliary component 343 is adapted to contact the obstacle. In the second position, the auxiliary component 343 is housed within the obstacle clearing component 334.

[0418] When the auxiliary component 343 is in the first position, the lowest position of the auxiliary component 343 is lower than the lowest position of the clearing component 334. The clearing component 334 is provided with a storage opening 3341. When the auxiliary component 343 is in the second position, at least a portion of the auxiliary component 343 is stored in the storage opening 3341.

[0419] The obstacle clearing component 334 includes a connecting mechanism 335 and an obstacle clearing push rod 3342. The connecting mechanism 335 is connected between the obstacle clearing push rod 3342 and the body 1. The output end 3122 of the drive mechanism 31 is directly connected to the connecting mechanism 335 or connected through the outward swing mechanism 32 to drive the obstacle clearing component 33 to move between the storage position and the obstacle clearing position. The auxiliary component 343 is rotatably connected to the obstacle clearing push rod 3342. One end of the elastic drive component 344 is connected to the auxiliary component 343, and the other end of the elastic drive component 344 is connected to the obstacle clearing push rod 3342. Among them, one of the elastic drive component 344 and the connecting mechanism 335 is used to drive the auxiliary component 343 to move from the first position to the second position, and the other of the elastic drive component 344 and the connecting mechanism 335 is used to drive the auxiliary component 343 to move from the second position to the first position.

[0420] The auxiliary component 343 is provided with a rotating shaft 3431, and the obstacle clearing push rod 3342 is provided with a rotating hole 3343. The rotating shaft 3431 is rotatably inserted through the rotating hole 3343, and the elastic drive component 344 is a torsion spring and is sleeved on the outer periphery of the rotating shaft 3431.

[0421] During the process of the drive mechanism 31 driving the obstacle clearing component 33 to move to the obstacle clearing position, the connecting mechanism 335 is adapted to work with the auxiliary component 343 to drive the auxiliary component 343 from the second position to the first position, and the elastic drive component 344 is used to drive the auxiliary component 343 from the first position to the second position.

[0422] The multiple connecting rods 336 include a first connecting rod 3361, a second connecting rod 3362, a third connecting rod 3363, and a fourth connecting rod 3364. The third connecting rod 3363 constitutes a drive rod. One end of the first connecting rod 3361 is rotatably connected to the body 1. The other end of the first connecting rod 3361 is rotatably connected to one end of the second connecting rod 3362. The other end of the second connecting rod 3362 is rotatably connected to the obstacle clearing component 334. The second connecting rod 3362 and the third connecting rod 3363 intersect and are rotatably connected. One end of the fourth connecting rod 3364 is rotatably connected to the end of the third connecting rod 3363, and the other end of the fourth connecting rod 3364 is rotatably connected to the obstacle clearing component 334.

[0423] The first rotational connection point 3371 is the rotational connection point between the third connecting rod 3363 and the second connecting rod 3362, and the second rotational connection point 3372 is the rotational connection point between the third connecting rod 3363 and the fourth connecting rod 3364. The connection point between the output end 3122 of the drive mechanism 31 and the third connecting rod 3363 is the drive connection point. The first rotational connection point 3371 is located between the second rotational connection point 3372 and the drive connection point. The push-open protrusion 3377 is located on the fourth connecting rod 3364 and is located on the side of the fourth connecting rod 3364 closest to the auxiliary member 343. During the process of the obstacle clearing component 33 moving to the obstacle clearing position, the push-open protrusion 3377 contacts the auxiliary member 343 to push the auxiliary member 343 to the first position.

[0424] The auxiliary component 343 includes a connecting portion 3434 and a clearing portion 3435. The connecting portion 3434 is movably connected to the clearing component 3434. The clearing portion 3435 is connected below the connecting portion 3434 and is adapted to interact with obstacles. In the circumferential direction of the body 1, the length of the clearing portion 3435 is greater than the length of the connecting portion 3434. The auxiliary component 343 is provided with a flexible layer for contacting obstacles. The auxiliary component 343 has a cleaning structure 342 for cleaning the work surface and / or obstacles.

[0425] The cleaning apparatus 100 according to some embodiments of the present application will be described with reference to Figures 37-40. In this embodiment, the parts that are the same as those in the above embodiments will not be described again, and the differences from the above embodiments will be mainly described.

[0426] During the process of the drive mechanism 31 driving the obstacle clearing component 33 to move to the obstacle clearing position, the connecting mechanism 335 is adapted to work with the auxiliary component 343 to drive the auxiliary component 343 from the first position to the second position, and the elastic drive component 344 is used to drive the auxiliary component 343 from the second position to the first position.

[0427] The multiple connecting rods 336 include a first connecting rod 3361, a second connecting rod 3362, a third connecting rod 3363, and a fourth connecting rod 3364. The third connecting rod 3363 constitutes a drive rod. One end of the first connecting rod 3361 is rotatably connected to the body 1. The other end of the first connecting rod 3361 is rotatably connected to one end of the second connecting rod 3362. The other end of the second connecting rod 3362 is rotatably connected to the obstacle clearing component 334. The second connecting rod 3362 and the third connecting rod 3363 intersect and are rotatably connected. One end of the fourth connecting rod 3364 is rotatably connected to the end of the third connecting rod 3363, and the other end of the fourth connecting rod 3364 is rotatably connected to the obstacle clearing component 334.

[0428] The first rotational connection point 3371 is the rotational connection point between the third connecting rod 3363 and the second connecting rod 3362, and the second rotational connection point 3372 is the rotational connection point between the third connecting rod 3363 and the fourth connecting rod 3364. The connection point between the output end 3122 of the drive mechanism 31 and the third connecting rod 3363 is the drive connection point. The first rotational connection point 3371 is located between the second rotational connection point 3372 and the drive connection point. The anti-return protrusion 3378 and the reset protrusion 3379 are located on the fourth connecting rod 3364. When the auxiliary component 343 is in the first position, the anti-return protrusion 3378 abuts against the outer surface of the auxiliary component 343 to limit the auxiliary component 343 to the first position. During the process of the clearing component 334 moving from the clearing position to the storage position, the anti-return protrusion 3378 disengages from the auxiliary component 343. During the process of the obstacle clearing component 33 moving from the obstacle clearing position to the storage position, the reset protrusion 3379 contacts the auxiliary component 343 to drive the auxiliary component 343 to move to the second position.

[0429] The inner surface of the auxiliary component 343 is provided with a mating protrusion 3432 and a limiting protrusion 3433. During the process of the clearing component 334 moving from the clearing position to the storage position, the reset protrusion 3379 contacts the mating protrusion 3432 to drive the auxiliary component 343 to move to the second position. When the auxiliary component 343 is in the first position, the limiting protrusion 3433 abuts against the clearing push rod 3342 to limit the auxiliary component 343.

[0430] Referring to Figures 6 and 7, according to the control method of the cleaning device 100 of the second aspect embodiment of this application, the cleaning device 100 includes a body 1, a cleaning component and a clearing module 3. The cleaning component is disposed on the body 1 and is used to clean the working surface. The clearing module 3 is disposed on the body 1 and is used to move obstacles so that the obstacles leave their original positions. The control method of the cleaning device 100 includes: confirming that there is an obstacle in front of the cleaning device 100 and confirming that the distance between the obstacle and the cleaning device 100 is less than a first preset distance.

[0431] When the distance between the obstacle and the cleaning device 100 is less than the first preset distance, it indicates that the distance between the obstacle and the cleaning device 100 is small. The obstacle will affect the cleaning effect of the cleaning device 100. By confirming that the distance between the obstacle and the cleaning device 100 is less than the first preset distance, the obstacles existing on the working surface in the working area of ​​the cleaning device 100 can be identified in time, and the obstacle removal module 3 can be driven to move the obstacle away from its original position in time, so that the cleaning component can clean it. This can reduce cleaning dead corners and missed areas, and improve the overall cleaning effect of the cleaning component on the working surface.

[0432] For example, the first preset distance can be in the range of 10cm to 20cm, which can reserve a certain amount of time for the control module of the cleaning device 100 to control the movement of the obstacle removal module 3 to move the obstacle, and can also reserve a certain amount of space for the obstacle removal module 3 to extend; and can avoid frequent control of the movement of the obstacle removal component 33 due to the first preset distance being too long, thus ensuring the cleaning efficiency of the cleaning device 100.

[0433] In some embodiments, the cleaning device 100 includes an obstacle recognition module, which is adapted to cooperate with the control module of the cleaning device 100. The obstacle recognition module is used to identify whether there is an obstacle on the working surface. When the obstacle recognition module detects that there is an obstacle on the working surface, the obstacle recognition module can transmit the information to the control module. The control module drives the obstacle removal module 3 to move the obstacle according to the received information so that the obstacle leaves its original position. When the obstacle recognition module detects that there is no obstacle on the working surface, the control module can control the obstacle removal module 3 to remain stationary or retract into the body 1 according to the received information.

[0434] The cleaning device 100 is controlled to move toward the obstacle, and the obstacle removal module 3 is controlled to move the obstacle and remove it from its original position. For example, the obstacle removal module 3 is located on the outer edge of the body 1. The obstacle removal module 3 includes a drive mechanism 31 and an obstacle removal component 33. The drive mechanism 31 is mounted on the body 1 and connected to the obstacle removal component 33 to drive the obstacle removal component 33 to move between the storage position and the obstacle removal position. Controlling the cleaning device 100 to move toward the obstacle brings the obstacle removal component 33 closer to the obstacle, making it easier for the obstacle removal component 33 to move the obstacle. By controlling the drive mechanism 31 to drive the obstacle removal component 33 from the storage position to the obstacle removal position, the obstacle can be removed from its original position, thereby facilitating the cleaning components of the cleaning device 100 to clean the area where the obstacle was originally located.

[0435] In some embodiments, the bottom of the obstacle removal component 33 is provided with a cleaning structure 342, which is used to clean the working surface and / or obstacles. After the obstacle removal component 33 moves the obstacle away from its original position, the cleaning structure 342 at the bottom of the obstacle removal component 33 can also clean the area where the obstacle was originally located, which can help improve the overall cleaning efficiency of the cleaning device 100.

[0436] Clean the area where the obstacle was originally located, and control the obstacle clearing module 3 to stop working and reset.

[0437] After the obstacle removal component 33 removes the obstacle from its original position, the cleaning component is controlled to clean the area where the obstacle was originally located. The obstacle removal component 33 is then controlled to stop working, and the drive mechanism 31 is controlled to drive the obstacle removal component 33 from the obstacle removal position to the storage position, so that the drive mechanism 31 can drive the obstacle removal component 33 from the storage position to the obstacle removal position the next time.

[0438] The above steps enable the cleaning device 100 to identify obstacles and remove them from their original positions, so that the cleaning components can clean the area corresponding to the original position of the obstacle. This reduces cleaning dead spots and missed areas, thereby improving the overall cleaning effect of the cleaning device 100 and increasing cleaning efficiency, which is beneficial to improving the user experience.

[0439] According to the control method of this application embodiment, by providing a clearing module 3 on the body 1 of the cleaning device 100, when there is an obstacle on the working surface, the clearing module 3 automatically identifies the obstacle and moves the obstacle away from its original position, so that the working surface corresponding to the original position of the obstacle can be exposed, so that the cleaning component can clean the working surface corresponding to the original position of the obstacle and its surrounding area, effectively reducing cleaning dead corners and missed areas. This can enhance the overall cleaning effect of the working surface, reduce the dependence on manual labor, and improve the user experience.

[0440] Referring to Figures 6 and 7, according to some embodiments of this application, the method further includes: determining whether the obstacle is a movable obstacle; if the obstacle is confirmed to be a movable obstacle, controlling the cleaning device 100 to move towards the obstacle; and if the obstacle is confirmed not to be a movable obstacle, controlling the cleaning device 100 to avoid the obstacle. By determining whether the obstacle is a movable obstacle, and promptly controlling the drive mechanism 31 to drive the obstacle-clearing module 3 to avoid the obstacle when it is confirmed not to be a movable obstacle, the wear or even damage caused by the collision between the obstacle-clearing component 33 and the obstacle can be reduced or avoided.

[0441] Referring to Figures 6 and 7, according to some embodiments of this application, determining whether an obstacle is a movable obstacle includes: acquiring an image of the obstacle; for example, the cleaning device 100 may include an obstacle image acquisition module, which is used to acquire images of the obstacle.

[0442] Based on the collected images of obstacles, it can be determined whether an obstacle is movable. Using these images allows for a more accurate determination of whether an obstacle is movable, thus reducing the possibility of misjudgment.

[0443] Referring to Figures 6 and 7, according to some embodiments of this application, determining whether an obstacle is a movable obstacle based on the acquired image of the obstacle includes:

[0444] Based on the collected images of the obstacles, their size and shape are determined to determine whether they are movable obstacles.

[0445] For example, the cleaning device 100 may include an obstacle image acquisition module, which is adapted to cooperate with the control module of the cleaning device 100. The obstacle image acquisition module acquires images of obstacles to determine the size, shape, etc. of the obstacles. For example, by acquiring images of obstacles, it determines that the size or shape of the obstacles is within a set range, confirms that the obstacles are movable obstacles, controls the cleaning device 100 to move toward the obstacles, and controls the drive mechanism 31 to drive the obstacle clearing component 33 from the storage position to the obstacle clearing position, so that the obstacles can leave their original positions, thereby facilitating the cleaning components of the cleaning device 100 to clean the area where the obstacles were originally located.

[0446] For example, by collecting images of obstacles, if the size or shape of an obstacle exceeds the set range, it is confirmed that the obstacle is not a movable obstacle. The drive mechanism 31 is then controlled to drive the obstacle clearing component 33 toward the storage position to avoid the obstacle and reduce or avoid the possibility of the obstacle clearing component 33 colliding with the obstacle and being worn or even damaged.

[0447] In some embodiments, the cleaning device 100 further includes a prompting component. If the obstacle image acquisition module detects that the size of an obstacle exceeds a set range, the prompting component issues a prompt message to remind the user to move the obstacle. The prompting component can be a display screen, LED light, speaker, vibrator, etc., and the prompt message can be text or images output by the display screen; light or flashing emitted by the LED light; sound played by the speaker; vibration generated by the vibrator, etc. The obstacle image acquisition module can be a camera, ultrasonic detector, etc.

[0448] By using the above control logic and determining the size and shape of the obstacle based on the collected images, it is possible to accurately determine whether the obstacle is a movable obstacle.

[0449] Referring to Figures 6 and 7, according to some embodiments of this application, controlling the cleaning device 100 to move toward an obstacle, and controlling the obstacle clearing module 3 to operate to move the obstacle and cause the obstacle to leave its original position, includes:

[0450] The cleaning device 100 is controlled to move toward the obstacle until the distance between the cleaning device 100 and the obstacle is less than a second preset distance, and the second preset distance is less than a first preset distance;

[0451] The obstacle removal module 3 is controlled to move obstacles and remove them from their original positions.

[0452] The control drive mechanism 31 drives the obstacle clearing component 33 to the obstacle clearing position, which can shorten the distance between the cleaning component and the obstacle. When the distance between the obstacle and the cleaning device 100 is less than the second preset distance, the control drive mechanism 31 drives the obstacle clearing component 33 to the obstacle clearing position to remove the obstacle from its original position, ensuring that the obstacle clearing component 33 can effectively move the obstacle. This can improve the obstacle clearing efficiency of the obstacle clearing component 33 and avoid affecting the obstacle clearing efficiency of the obstacle clearing module 3 due to the excessive distance between the obstacle clearing module 3 and the obstacle.

[0453] For example, the second preset distance can be in the range of 2cm to 10cm, which can leave a certain gap between the cleaning device 100 and the obstacle, so that the obstacle clearing component 33 can move towards the outside of the body 1; and ensure that the obstacle clearing component 33 can effectively move the obstacle.

[0454] For example, the obstacle removal component 33 includes a clamping part. When the obstacle removal component 33 clamps the obstacle to make the obstacle leave its original position, the range of the second preset distance can be 2cm to 10cm. This allows the cleaning device 100 to leave a certain space between itself and the obstacle, so that the clamping part can move from inside the body 1 to the outside and effectively grab the obstacle, thereby improving the obstacle removal efficiency of the obstacle removal component 33.

[0455] Referring to Figures 6 and 7, according to some embodiments of this application, controlling the obstacle removal module 3 to move the obstacle and remove it from its original position includes:

[0456] The output power of the obstacle removal module 3 is controlled to be the initial power, and the obstacle removal module 3 is controlled to contact the obstacle.

[0457] After the obstacle clearing module 3 has been working for a first preset time, it is determined whether the obstacle has moved. If the obstacle has not moved, the output power of the obstacle clearing module 3 is increased.

[0458] First, the output power of the obstacle removal module 3 is controlled to the initial power. The obstacle removal module 3 is then controlled to contact the obstacle so that the obstacle moves away from its original position. After the obstacle removal module 33 has been working for a first preset time, it is determined whether the obstacle has moved. If the obstacle has not moved, it indicates that the driving force of the obstacle removal module 3 on the obstacle is too small and cannot effectively push the obstacle. At this time, by increasing the output power of the obstacle removal module 3, the driving force on the obstacle can be increased, thereby increasing the possibility of the obstacle removal module 3 moving the obstacle.

[0459] The first preset duration can be in the range of 3s to 10s, which can keep the output power of the obstacle clearing module 3 in a relatively stable state for a short period of time, reduce the fluctuation of the obstacle clearing module 3, and improve the stability of the control system of the cleaning device 100; and ensure that the obstacle clearing module 3 can adjust its output power in a timely manner according to the latest situation, thereby improving the obstacle clearing efficiency of the obstacle clearing module 3.

[0460] For example, the obstacle clearing module 3 includes a drive mechanism 31 and an obstacle clearing component 33. The drive mechanism 31 is mounted on the body 1 and connected to the obstacle clearing component 33 for driving the obstacle clearing component 33 to move. The drive mechanism 31 includes a drive motor with an output end 3122. The output end 3122 is directly connected to the obstacle clearing component 33 or connected through an external swing mechanism 32.

[0461] First, the output power of the drive motor is controlled to the initial power, and the drive motor is controlled to directly drive or drive the obstacle clearing component 33 through the external swing mechanism 32 to move to the obstacle clearing position so that the obstacle clearing component 33 contacts the obstacle, thereby moving the obstacle away from its original position. After the obstacle clearing component 33 has been working for a first preset time, it is determined whether the obstacle has moved. If the obstacle has not moved, it indicates that the driving force applied by the drive motor to the obstacle clearing component 33 is too small and cannot effectively push the obstacle. At this time, by increasing the output power of the drive motor, the driving force applied by the drive mechanism 31 to the obstacle clearing component 33 can be made greater, thereby increasing the possibility of the obstacle clearing component 33 moving the obstacle. If the obstacle moves, the cleaning component is controlled to clean the area where the obstacle was originally located, and the obstacle clearing component 33 is controlled to stop working and the drive mechanism 31 is controlled to drive the obstacle clearing component 33 from the obstacle clearing position to the storage position, so that the drive mechanism 31 can drive the obstacle clearing component 33 from the storage position to the obstacle clearing position again next time.

[0462] Referring to Figures 6 and 7, according to some embodiments of this application, increasing the output power of the obstacle clearing module 3 when the obstacle is not moved includes:

[0463] If the obstacle does not move when the output power of the obstacle clearing module 3 increases to the preset output power, it is determined that the obstacle is an unpushable obstacle, and the obstacle clearing module 3 is controlled to stop working and reset. If the obstacle still does not move when the output power of the obstacle clearing module 3 increases to the preset output power, it indicates that the obstacle is an unpushable obstacle. By controlling the obstacle clearing module 3 to stop working and reset, excessive energy consumption due to prolonged operation of the drive motor of the obstacle clearing module 3 can be avoided.

[0464] Referring to Figures 6 and 7, according to some embodiments of this application, determining whether an obstacle has moved includes:

[0465] Detect whether the distance between the aircraft body 1 and the obstacle has increased;

[0466] If the distance between fuselage 1 and the obstacle is detected to increase, it is determined that the obstacle has moved;

[0467] If the distance between the fuselage 1 and the obstacle remains unchanged, it is determined that the obstacle has not moved.

[0468] If the obstacle removal module 3 can move the obstacle under the current driving force, the distance between the fuselage 1 and the obstacle will increase. If the obstacle removal module 3 cannot move the obstacle under the current driving force, the distance between the fuselage 1 and the obstacle will remain unchanged. By judging the change in the distance between the fuselage 1 and the obstacle, it is possible to more accurately determine whether the obstacle is a movable obstacle.

[0469] It should be explained that when the obstacle clearing module 3 comes into contact with and pushes the obstacle, the fuselage 1 does not move on the working surface.

[0470] Referring to Figures 6 and 7, according to some embodiments of this application, determining whether an obstacle has moved includes:

[0471] Detect the current change of the obstacle clearing module 3;

[0472] If the current of the obstacle clearing module 3 is detected to remain within a preset range, it is determined that the obstacle has moved;

[0473] If a sudden increase in the current of the obstacle clearing module 3 is detected, it is determined that the obstacle has not moved.

[0474] If the obstacle removal module 3 can move the obstacle under the current driving force, the current of the obstacle removal module 3 will be relatively stable and remain within a preset range. If the obstacle removal module 3 cannot move the obstacle under the current driving force, causing the obstacle removal module 3 to be in a stalled state, the current of the obstacle removal module 3 becomes the stall current. Since the stall current is greater than the normal current, the current of the obstacle removal module 3 will suddenly increase. By observing the changes in the current of the obstacle removal module 3, it is possible to directly and accurately determine whether the obstacle is a movable obstacle, reducing the possibility of misjudgment by the control system of the cleaning device 100.

[0475] For example, the obstacle clearing module 3 includes a drive mechanism 31 and an obstacle clearing component 33. The drive mechanism 31 is mounted on the body 1 and connected to the obstacle clearing component 33 for driving the obstacle clearing component 33 to move. The drive mechanism 31 includes a drive motor with an output end 3122. The output end 3122 is directly connected to the obstacle clearing component 33 or connected through an external swing mechanism 32.

[0476] First, control the output current of the drive motor to be the initial current and within the preset range, and control the drive motor to directly drive or drive the obstacle clearing component 33 to the obstacle clearing position via the external swing mechanism 32 so that the obstacle clearing component 33 contacts the obstacle, thereby moving the obstacle away from its original position. After the obstacle clearing component 33 has been working for a first preset time, determine whether the obstacle has moved.

[0477] If the current of the drive motor is still within the preset range, it is determined that the obstacle has moved. The cleaning component is controlled to clean the area where the obstacle was originally located. The obstacle clearing component 33 is stopped and the drive mechanism 31 is controlled to drive the obstacle clearing component 33 from the obstacle clearing position to the storage position, so that the drive mechanism 31 can drive the obstacle clearing component 33 from the storage position to the obstacle clearing position next time.

[0478] If a sudden increase in the current of the drive motor is detected, it indicates that the obstacle has not moved. At this time, by increasing the output current of the drive motor, the driving force output by the drive motor to the obstacle clearing component 33 can be made greater, thereby increasing the possibility that the obstacle clearing component 33 will move the obstacle.

[0479] By analyzing the current changes of the drive motor in the obstacle clearing module 3, it is possible to directly and accurately determine whether an obstacle is a movable obstacle, thereby reducing the possibility of misjudgment by the control system of the cleaning device 100.

[0480] Referring to Figures 6 and 7, according to some embodiments of this application, the obstacle clearing module 3 includes a drive mechanism 31 and an obstacle clearing component 33. The drive mechanism 31 is disposed on the body 1 and is connected to the obstacle clearing component 33 to drive the obstacle clearing component 33 to move.

[0481] The operation of the obstacle removal module 3 to move obstacles includes: controlling the drive mechanism 31 to drive the obstacle component to move so that at least a portion of the obstacle removal component 33 is extended outside the fuselage 1; the operation of the obstacle removal module 3 to stop and reset includes: controlling the drive mechanism 31 to drive the obstacle removal component 33 back to the fuselage 1.

[0482] The fact that at least a portion of the obstacle clearing component 33 extends outside the fuselage 1 can include the following situations: for example, a portion of the obstacle clearing component 33 may extend outside the fuselage 1; or, for another example, the entire obstacle clearing component 33 may extend outside the fuselage 1.

[0483] The control drive mechanism 31 drives the obstacle clearing component 33 to move so that at least part of the obstacle clearing component 33 swings out of the fuselage 1, which can expand the obstacle clearing range of the obstacle clearing component 33. During the process of the obstacle clearing component 33 swinging out of the fuselage 1, for example, the outer side 331 of the obstacle clearing component 33 contacts the obstacle and can apply a certain pushing force to the obstacle to push the obstacle away from its original position, thereby realizing the process of the obstacle clearing module 3 moving the obstacle.

[0484] The control drive mechanism 31 drives the obstacle clearing component 33 to retract to the body 1, so that the obstacle clearing component 33 moves to the storage position. This can realize the process of controlling the obstacle clearing module 3 to stop working and reset. This can reduce the occupation of the external space of the cleaning device 100, which is conducive to the overall miniaturization of the cleaning device 100 and facilitates the storage and transportation of the cleaning device 100. Controlling the obstacle clearing module 3 to stop working and reset can also facilitate the next time the control drive mechanism 31 drives the obstacle clearing component 33 to move from the storage position to the obstacle clearing position.

[0485] Referring to Figures 6 and 7, according to some embodiments of this application, the obstacle clearing component 33 is provided with a cleaning structure 342, wherein cleaning the original location area of ​​the obstacle includes: controlling the obstacle clearing component 33 to move in the original location area of ​​the obstacle so that the cleaning structure 342 cleans the original location area of ​​the obstacle; for example, the cleaning structure 342 includes at least one of a cleaning brush, a cleaning cloth, and a cleaning squeegee. By providing the cleaning structure 342 on the obstacle clearing component 33 and controlling the movement of the obstacle clearing component 33 in the original location area of ​​the obstacle, the original location area of ​​the obstacle can be cleaned, which can increase the cleaning range of the cleaning device 100 and help enhance the overall cleaning efficiency of the cleaning device 100.

[0486] Alternatively, the body 1 of the cleaning device 100 can be moved to the area where the obstacle was originally located, and the cleaning components can be controlled to clean the area where the obstacle was originally located.

[0487] After the obstacle removal component 33 removes the obstacle from its original position, the body 1 of the cleaning device 100 is moved to the area where the obstacle was originally located, and the cleaning component is cleaned in the area where the obstacle was originally located. This can effectively reduce cleaning dead corners and missed areas, thereby enhancing the overall cleaning effect of the cleaning device 100.

[0488] Referring to Figures 6 and 7, according to some embodiments of this application, it further includes:

[0489] If it is confirmed that the downward-facing sensor of the cleaning device 100 is blocked, for example, if the downward-facing sensor cannot receive light or the received light is less than a preset threshold, it can be determined that the downward-facing sensor is blocked.

[0490] If the obstacle removal module 3 stops working, and if it is confirmed that the obstacle removal module 3 has stopped workin...

Claims

1. A cleaning device, wherein, include: body; A cleaning component is provided on the machine body and is used to clean the working surface; The obstacle removal module is located on the fuselage and is used to move obstacles so that they leave their original positions.

2. The cleaning device of claim 1, wherein, The obstacle clearing module is located at the front of the fuselage.

3. The cleaning device of claim 2, wherein, The obstacle clearing module is located at the front left or front right of the fuselage.

4. The cleaning device of claim 1, wherein, The obstacle clearing module is located on the outer edge of the fuselage.

5. The cleaning device according to claim 1, wherein, At least a portion of the obstacle clearing module is located at the bottom of the fuselage.

6. The cleaning apparatus according to claim 5, wherein, The device includes a downward-facing sensor located at the bottom of the body, and the obstacle clearing module has a clearance section for avoiding the downward-facing sensor.

7. The cleaning apparatus according to claim 1, wherein, The obstacle removal module includes a drive mechanism and an obstacle removal component. The drive mechanism is mounted on the body and connected to the obstacle removal component to drive the obstacle removal component to move.

8. The cleaning device of claim 7, wherein, The obstacle removal component moves the obstacle away from its original position by pushing or clamping it.

9. The cleaning device of claim 7, wherein, The obstacle clearing component can move between the obstacle clearing position and the storage position; When the obstacle clearing component is in the storage position, at least a portion of the obstacle clearing component is stored within the fuselage; When the obstacle clearing component is in the obstacle clearing position, at least a portion of the obstacle clearing component is located outside the outer edge of the fuselage to interact with the obstacle so as to move the obstacle away from its original position.

10. The cleaning apparatus according to claim 9, wherein, When the obstacle clearing component is located in the storage position, the overlapping area of ​​the projection of the obstacle clearing component and the fuselage on the horizontal plane is the first overlapping area; When the obstacle clearing component is located at the obstacle clearing position, the overlapping area of ​​the projection of the obstacle clearing component and the fuselage on the horizontal plane is the second overlapping area; Wherein, the first overlapping area is larger than the second overlapping area.

11. The cleaning apparatus according to claim 10, wherein, When the obstacle clearing component is in the storage position, the projection of the obstacle clearing component on the horizontal plane is located within the projection of the fuselage on the horizontal plane.

12. The cleaning apparatus according to claim 11, wherein, When the obstacle clearing component is in the storage position, the side of the obstacle clearing component near the outer edge of the body is the outer side, and the outline of the outer side is consistent with the outline of the outer edge of the body.

13. The cleaning apparatus according to claim 9, wherein, The body includes a bottom shell, the obstacle clearing module is installed on the bottom shell, and the outer edge of the bottom shell has a receiving notch. When the obstacle clearing component is in the storage position, at least a portion of the obstacle clearing component is located in the receiving notch.

14. The cleaning apparatus according to claim 9, wherein, It includes a downward-looking sensor, which is located at the bottom of the body. The obstacle clearing component is provided with a clearance part for avoiding the downward-looking sensor. The clearance part is a clearance opening or a transparent part. When the obstacle clearing component is in the storage position, the avoidance part is located below the downward-looking sensor and is arranged opposite to the downward-looking sensor in the vertical direction.

15. The cleaning apparatus according to claim 9, wherein, The device body is provided with a limiting structure. In the storage position, the limiting structure is located on the side of the obstacle clearing component away from the obstacle clearing position, so as to limit the obstacle clearing component in the direction from the obstacle clearing position to the storage position.

16. The cleaning apparatus according to claim 9, wherein, The mechanism that drives the obstacle-clearing component to move between the obstacle-clearing position and the storage position is the same mechanism that drives the obstacle-clearing component to move the obstacle.

17. The cleaning apparatus according to claim 9, wherein, include: A detection component is used to detect the position of the obstacle clearing component. The detection component and the drive mechanism are both electrically connected to the control module of the cleaning device. The control module is used to control the drive mechanism according to the position information detected by the detection component.

18. The cleaning apparatus according to claim 17, wherein, The detection component includes a detection circuit board, a first optocoupler, a second optocoupler, and an optocoupler detection element. The optocoupler detection element is connected to the output end of the drive mechanism to rotate synchronously with the output end of the drive mechanism. The detection circuit board is fixed relative to the body. The first optocoupler and the second optocoupler are both disposed on the detection circuit board and are spaced apart along the rotation direction of the obstacle clearing component. Wherein, when the obstacle clearing component is located in the storage position, the optical coupler detection element is opposite to the first optical coupler; when the obstacle clearing component is located in the obstacle clearing position, the optical coupler detection element is opposite to the second optical coupler.

19. The cleaning apparatus according to claim 18, wherein, The first optocoupler includes a first optocoupler base and a first optocoupler device. A first detection groove is formed on the first optocoupler base. The first detection groove passes through the first optocoupler base along the rotation direction of the output end. The first optocoupler device is mounted on the first optocoupler base and located on the bottom wall of the first detection groove. The second optocoupler includes a second optocoupler base and a second optocoupler device. A second detection groove is formed on the second optocoupler base. The second optocoupler device is mounted on the second optocoupler base and located on the bottom wall of the second detection groove. The second detection groove passes through the second optocoupler base along the rotation direction of the output end. The optocoupler detection component is provided with a detection protrusion. When the obstacle clearing component is located in the storage position, the detection protrusion is accommodated in the first detection groove. When the obstacle clearing component is located in the obstacle clearing position, the detection protrusion is accommodated in the second detection groove.

20. The cleaning apparatus according to claim 18, wherein, The machine body is provided with a mounting box, the drive mechanism is located inside the mounting box, the detection circuit board is mounted on the mounting box, and the first optocoupler, the second optocoupler and the optocoupler detection device are all located on the side of the detection circuit board away from the drive mechanism.

21. The cleaning apparatus according to claim 20, wherein, A receiving groove is formed on one side of the mounting box, and the detection circuit board is housed in the receiving groove. The first optocoupler, the second optocoupler, and the optocoupler detection device are all located on the open side of the detection circuit board facing the receiving groove.

22. The cleaning apparatus according to claim 21, wherein, The mounting box is also provided with a cover plate, which covers the open side of the receiving slot.

23. The cleaning apparatus according to claim 20, wherein, The detection circuit board is located on the top of the mounting box.

24. The cleaning apparatus according to claim 23, wherein, The driving mechanism includes a drive motor and a gear mechanism. The motor shaft of the drive motor is connected to the gear mechanism to drive the gear mechanism to move. The gear mechanism includes an output gear. The rotation axis of the output gear extends in the vertical direction. The detection circuit board is provided with a clearance hole. The upper end of the output gear passes through the clearance hole and is connected to the optocoupler detection element. The lower end of the output gear constitutes the output end.

25. The cleaning apparatus according to claim 24, wherein, The output gear includes a gear body and a gear shaft. The gear shaft includes a first shaft portion and a second shaft portion. The first shaft portion is connected to the upper side of the second shaft portion and is connected to the optocoupler detection element. The second shaft portion is coaxially connected to the gear body. The lower end of the gear body has the output end.

26. The cleaning apparatus according to claim 25, wherein, The first shaft portion has a "D" shaped cross-section, the optocoupler detection element is provided with a first connecting hole, the first shaft portion is accommodated in the first connecting hole, and the first connecting hole has a "D" shaped cross-section; and / or, the second shaft portion has a "D" shaped cross-section, the gear body is provided with a second connecting hole, the second shaft portion is accommodated in the second connecting hole, and the second connecting hole has a "D" shaped cross-section.

27. The cleaning apparatus according to claim 18, wherein, The detection circuit board is provided with lead terminals, and the lead terminals are connected to an optocoupler bundle, which is connected to the control module.

28. The cleaning apparatus according to claim 27, wherein, In the rotation direction of the output terminal, both the first optocoupler and the second optocoupler are located on the same side of the lead terminal.

29. The cleaning apparatus according to claim 27, wherein, The housing is provided with a mounting box, the drive mechanism is located inside the mounting box, a receiving groove is formed on one side of the mounting box, the detection circuit board is housed in the receiving groove, the first optocoupler, the second optocoupler and the optocoupler detection device are all located on the open side of the detection circuit board facing the receiving groove, and a wire outlet is formed on the mounting box for the optocoupler wire harness to exit.

30. The cleaning apparatus according to claim 29, wherein, The lead terminal is positioned opposite to the outlet.

31. The cleaning apparatus according to claim 7, wherein, The output end of the drive mechanism is directly connected to the obstacle clearing component, or the output end of the drive mechanism is connected to the obstacle clearing component through an external swing mechanism.

32. The cleaning apparatus according to claim 31, wherein, The obstacle removal component includes a connecting mechanism and an obstacle removal component. The connecting mechanism is connected between the obstacle removal component and the machine body. The output end of the drive mechanism is connected to the connecting mechanism. The obstacle removal component is adapted to cooperate with an obstacle to move the obstacle away from its original position. During the process of the drive mechanism driving the obstacle clearing component to move, the connecting mechanism is deformable.

33. The cleaning apparatus according to claim 32, wherein, The connecting mechanism includes multiple connecting rods that are rotatably connected to each other, one of which is a driving rod, and the output end of the driving mechanism is connected to the driving rod.

34. The cleaning apparatus according to claim 33, wherein, The plurality of connecting rods includes a first connecting rod, a second connecting rod, a third connecting rod, and a fourth connecting rod, wherein the third connecting rod constitutes the driving rod, and wherein, when the driving rod moves, the relative positions between the first connecting rod, the second connecting rod, the third connecting rod, and / or the fourth connecting rod are variable.

35. The cleaning apparatus according to claim 34, wherein, One end of the first connecting rod is rotatably connected to the machine body, the other end of the first connecting rod is rotatably connected to one end of the second connecting rod, the other end of the second connecting rod is rotatably connected to the obstacle clearing component, the second connecting rod and the third connecting rod intersect and are rotatably connected, one end of the fourth connecting rod is rotatably connected to the end of the third connecting rod, and the other end of the fourth connecting rod is rotatably connected to the obstacle clearing component.

36. The cleaning apparatus according to claim 34, wherein, The rotational connection point between the third connecting rod and the second connecting rod is the first rotational connection point, the rotational connection point between the third connecting rod and the fourth connecting rod is the second rotational connection point, the connection point between the output end of the driving mechanism and the third connecting rod is the driving connection point, and the first rotational connection point is located between the second rotational connection point and the driving connection point.

37. The cleaning apparatus according to claim 33, wherein, The plurality of connecting rods includes a fifth connecting rod, a sixth connecting rod, a seventh connecting rod, an eighth connecting rod, a ninth connecting rod, and a tenth connecting rod, wherein the eighth connecting rod constitutes the drive rod; one end of the fifth connecting rod is rotatably connected to the body; the other end of the fifth connecting rod is rotatably connected to one end of the sixth connecting rod; the other end of the sixth connecting rod is rotatably connected to one end of the seventh connecting rod; the other end of the seventh connecting rod is rotatably connected to the obstacle clearing component; the output end of the drive mechanism is connected to the eighth connecting rod; one end of the tenth connecting rod, the end of the eighth connecting rod, and one end of the ninth connecting rod are rotatably connected to the same point; the other end of the tenth connecting rod is rotatably connected to the obstacle clearing component; and the tenth connecting rod intersects with and is rotatably connected to the sixth connecting rod; the other end of the ninth connecting rod is rotatably connected to the fifth connecting rod. The rotatable connection point between the fifth connecting rod and the body is the fourth rotatable connection point; the rotatable connection point between the fifth connecting rod and the sixth connecting rod is the fifth rotatable connection point; the rotatable connection point between the ninth connecting rod and the fifth connecting rod is the sixth rotatable connection point; and the sixth rotatable connection point is located between the fourth rotatable connection point and the fifth rotatable connection point.

38. The cleaning apparatus according to claim 33, wherein, The rotatably connected connecting rod is connected by a connector, and the connector does not protrude from the outer surface of the connecting rod in the direction of the rotation axis of the rotatably connected connecting rod.

39. The cleaning apparatus according to claim 38, wherein, The connector includes a connecting post and a limiting cap. The connecting post passes through two rotatably connected connecting rods. At least one of the connecting rods has a groove formed on it, and the limiting cap is accommodated in the groove.

40. The cleaning apparatus according to claim 32, wherein, The obstacle clearing component is deformable.

41. The cleaning apparatus according to claim 32, wherein, The size of the obstacle clearing component is variable.

42. The cleaning apparatus according to claim 41, wherein, The length of the obstacle clearing component is variable.

43. The cleaning apparatus according to claim 42, wherein, The size of the obstacle clearing component in the storage position is smaller than the size of the obstacle clearing component in the obstacle clearing position.

44. The cleaning apparatus according to claim 33, wherein, The output end of the drive mechanism is directly connected to the drive rod, and the obstacle clearing component can move between the obstacle clearing position and the storage position. When the obstacle clearing component is in the storage position, at least a portion of the obstacle clearing component is stored within the fuselage; When the obstacle clearing component is in the obstacle clearing position, at least a portion of the obstacle clearing component is located outside the outer edge of the fuselage to interact with the obstacle so as to move the obstacle away from its original position.

45. The cleaning apparatus according to claim 44, wherein, The obstacle clearing module is located at at least one end of the fuselage along the left-right direction. When the obstacle clearing component is located in the obstacle clearing position, the angle between the drive rod and the preset direction is β, where β is greater than 90°. The preset direction is parallel to the left-right direction, and in the left-right direction, the preset direction points from the end where the obstacle clearing module is located to the other end of the fuselage.

46. ​​The cleaning apparatus according to claim 45, wherein, When the obstacle clearing component is located in the obstacle clearing position, β ranges from 100° to 135°.

47. The cleaning apparatus according to claim 44, wherein, The obstacle clearing module is located at at least one end of the body along the left-right direction. When the obstacle clearing component is in the storage position, the angle between the drive rod and the preset direction is γ, and the range of γ is 20° to 45°. The preset direction is parallel to the left-right direction, and in the left-right direction, the preset direction points from the end where the obstacle clearing module is located to the other end of the body.

48. The cleaning apparatus according to claim 44, wherein, The obstacle clearing module is located at at least one end of the fuselage along the left-right direction. When the obstacle clearing component is located in the obstacle clearing position, the angle between the drive rod and the preset direction is α, where α is greater than 90°. The preset direction is parallel to the left-right direction, and in the left-right direction, the preset direction points from the end where the obstacle clearing module is located to the other end of the fuselage.

49. The cleaning apparatus according to claim 48, wherein, When the obstacle clearing component is located in the obstacle clearing position, the range of α is 100° to 135°.

50. The cleaning apparatus according to claim 31, wherein, The obstacle clearing component is rotatably connected to the body. The outward swing mechanism includes a turntable and a slider. The turntable is rotatably mounted on the output end of the drive mechanism. The slider is disposed on the turntable and spaced apart from the rotation center of the turntable. A groove is formed on the obstacle clearing component. The slider is accommodated in the groove and can slide along the extension direction of the groove. The slider is used to drive the obstacle clearing component to move.

51. The cleaning apparatus according to claim 50, wherein, The chute extends radially along the rotation axis of the obstacle clearing component.

52. The cleaning apparatus according to claim 31, wherein, The output end of the drive mechanism is connected to the obstacle clearing component via an external swing mechanism. The obstacle clearing component includes a connecting mechanism and an obstacle clearing member. The connecting mechanism is connected between the obstacle clearing member and the body. The output end of the drive mechanism is connected to the connecting mechanism via the external swing mechanism.

53. The cleaning apparatus according to claim 52, wherein, The outward swing mechanism includes a turntable and a slider. The turntable is rotatably mounted on the output end of the drive mechanism. The slider is disposed on the turntable and spaced apart from the rotation center of the turntable. The slider is movably connected to the connecting mechanism.

54. The cleaning apparatus according to claim 53, wherein, The connecting mechanism is provided with a sliding groove, the slider is accommodated in the sliding groove and can slide along the extension direction of the sliding groove, and the slider is used to drive the obstacle clearing component to move.

55. The cleaning apparatus according to claim 52, wherein, The connecting mechanism includes multiple connecting rods that are rotatably connected to each other, one of which is a driving rod, and the output end of the driving mechanism is connected to the driving rod through the external swing mechanism.

56. The cleaning apparatus according to claim 55, wherein, The drive rod is rotatably connected to the body, and a groove extending along the extension direction of the drive rod is formed on the drive rod. The outward swing mechanism includes a turntable and a slider. The turntable is rotatably mounted on the output end of the drive mechanism. The slider is disposed on the turntable and spaced apart from the rotation center of the turntable. The slider is accommodated in the groove and can slide along the extension direction of the groove. The slider is used to drive the obstacle clearing component to move.

57. The cleaning apparatus according to claim 56, wherein, The plurality of connecting rods includes a first connecting rod, a second connecting rod, a third connecting rod, and a fourth connecting rod, wherein the third connecting rod constitutes the driving rod, and wherein, when the driving rod moves, the relative positions between the first connecting rod, the second connecting rod, the third connecting rod, and / or the fourth connecting rod are variable.

58. The cleaning apparatus according to claim 57, wherein, One end of the first connecting rod is rotatably connected to the machine body, the other end of the first connecting rod is rotatably connected to one end of the second connecting rod, the other end of the second connecting rod is rotatably connected to the obstacle clearing component, the third connecting rod is rotatably connected to the machine body, the second connecting rod and the third connecting rod intersect and are rotatably connected, one end of the fourth connecting rod is rotatably connected to the end of the third connecting rod, and the other end of the fourth connecting rod is rotatably connected to the obstacle clearing component.

59. The cleaning apparatus according to claim 57, wherein, The rotational connection point between the third connecting rod and the second connecting rod is the first rotational connection point; the rotational connection point between the third connecting rod and the fourth connecting rod is the second rotational connection point; the connection point between the output end of the drive mechanism and the third connecting rod is the drive connection point; the first rotational connection point is located between the second rotational connection point and the drive connection point; the rotational connection point between the third connecting rod and the machine body is the third rotational connection point; the slide is located between the third rotational connection point and the first rotational connection point; and the position of the slider constitutes the drive connection point.

60. The cleaning apparatus according to claim 31, wherein, The output end of the drive mechanism is connected to the obstacle clearing component through an external swing mechanism. The transmission point between the external swing mechanism and the obstacle clearing component is the obstacle clearing transmission point. The force exerted by the obstacle clearing component on the external swing mechanism at the obstacle clearing transmission point is a reaction force. The speed of the external swing mechanism under the reaction force at the obstacle clearing transmission point is the reaction speed. Wherein, when the obstacle clearing component is located at the obstacle clearing position, the angle between the reaction velocity and the reaction force is φ, and φ is greater than or equal to 90°.

61. The cleaning apparatus according to claim 60, wherein, The obstacle clearing component is rotatably connected to the body. The outward swing mechanism includes a turntable and a slider. The turntable is rotatably mounted on the output end of the drive mechanism. The slider is disposed on the turntable and spaced apart from the rotation center of the turntable. A groove is formed on the obstacle clearing component. The slider is accommodated in the groove and can slide along the extension direction of the groove. The slider is used to drive the obstacle clearing component to move. The transmission point between the slider and the inner wall of the groove is the obstacle clearing transmission point.

62. The cleaning apparatus according to claim 60, wherein, The obstacle clearing component includes a connecting mechanism and an obstacle clearing component. The connecting mechanism is connected between the obstacle clearing component and the machine body. The output end of the drive mechanism is connected to the connecting mechanism through the outward swing mechanism. The connecting mechanism includes a plurality of mutually rotatably connected connecting rods. One of the plurality of connecting rods is a drive rod. The drive rod is rotatably connected to the machine body and is connected to the outward swing mechanism.

63. The cleaning apparatus according to claim 62, wherein, The swing mechanism includes a turntable and a slider. The turntable is rotatably mounted on the output end of the drive mechanism. The slider is disposed on the turntable and spaced apart from the rotation center of the turntable. A groove is formed on the drive rod. The slider is accommodated in the groove and can slide along the extension direction of the groove. The slider is used to drive the drive rod to move. The transmission point between the slider and the inner wall of the groove is the obstacle clearing transmission point.

64. The cleaning apparatus according to claim 63, wherein, The plurality of connecting rods includes a first connecting rod, a second connecting rod, a third connecting rod, and a fourth connecting rod, wherein the third connecting rod constitutes the drive rod, one end of the first connecting rod is rotatably connected to the machine body, the other end of the first connecting rod is rotatably connected to one end of the second connecting rod, the other end of the second connecting rod is rotatably connected to the obstacle clearing component, the second connecting rod and the third connecting rod intersect and are rotatably connected, the third connecting rod is rotatably connected to the machine body, one end of the fourth connecting rod is rotatably connected to the end of the third connecting rod, and the other end of the fourth connecting rod is rotatably connected to the obstacle clearing component; Wherein, the rotational connection point between the third connecting rod and the second connecting rod is the first rotational connection point, the rotational connection point between the third connecting rod and the fourth connecting rod is the second rotational connection point, the rotational connection point between the third connecting rod and the machine body is the third rotational connection point, the connection point between the output end of the drive mechanism and the third connecting rod is the drive connection point, the first rotational connection point is located between the second rotational connection point and the slide groove, and the slide groove is located between the third rotational connection point and the first rotational connection point.

65. The cleaning apparatus according to claim 7, wherein, The obstacle removal component includes an obstacle removal component and an auxiliary component. The auxiliary component is disposed on the obstacle removal component. The output end of the drive mechanism is connected to the obstacle removal component to drive the obstacle removal component to move. At least one of the obstacle removal component and the auxiliary component can interact with the obstacle to move the obstacle away from its original position.

66. The cleaning apparatus according to claim 65, wherein, The auxiliary component is rotatably connected to the obstacle clearing component.

67. The cleaning apparatus according to claim 66, wherein, The auxiliary component is provided with a rotating shaft, and the obstacle clearing push rod is provided with a rotating hole. The rotating shaft is rotatably inserted through the rotating hole, and an elastic driving component, which is a torsion spring, is sleeved on the outer periphery of the rotating shaft.

68. The cleaning apparatus according to claim 65, wherein, The auxiliary component can be flipped downwards or moved relative to the obstacle clearing component.

69. The cleaning apparatus according to claim 65, wherein, The auxiliary component is movable between a first position and a second position; When the auxiliary component is located in the first position, at least a portion of the auxiliary component is located above or below the obstacle clearing component, and the auxiliary component is adapted to contact the obstacle; When the auxiliary component is in the second position, the auxiliary component is housed within the obstacle clearing component.

70. The cleaning apparatus according to claim 69, wherein, When the auxiliary component is located in the first position, the lowest position of the auxiliary component is lower than the lowest position of the obstacle clearing component.

71. The cleaning apparatus according to claim 69, wherein, The obstacle clearing component has a storage opening, and when the auxiliary component is located in the second position, at least a portion of the auxiliary component is stored in the storage opening.

72. The cleaning apparatus according to claim 69, wherein, The obstacle clearing component includes a connecting mechanism, an obstacle clearing push rod, and an elastic drive component. The connecting mechanism is connected between the obstacle clearing push rod and the body. The output end of the drive mechanism is directly connected to the connecting mechanism or connected through an external swing mechanism to drive the obstacle clearing component to move between a storage position and an obstacle clearing position. The auxiliary component is rotatably connected to the obstacle clearing push rod. One end of the elastic drive component is connected to the auxiliary component, and the other end of the elastic drive component is connected to the obstacle clearing push rod. Wherein, one of the elastic drive member and the connecting mechanism is used to drive the auxiliary member to move from the first position to the second position, and the other of the elastic drive member and the connecting mechanism is used to drive the auxiliary member to move from the second position to the first position.

73. The cleaning apparatus according to claim 72, wherein, During the process of the drive mechanism driving the obstacle clearing component to the obstacle clearing position, the connecting mechanism is adapted to interact with the auxiliary component to drive the auxiliary component to move from the second position to the first position; The elastic drive member is used to drive the auxiliary member to move from the first position to the second position.

74. The cleaning apparatus according to claim 73, wherein, The connecting mechanism is provided with a push-open protrusion. During the process of the obstacle clearing component moving to the obstacle clearing position, the push-open protrusion contacts the auxiliary component to push the auxiliary component to move to the first position.

75. The cleaning apparatus according to claim 74, wherein, The connecting mechanism includes multiple connecting rods that are rotatably connected to each other. One of the multiple connecting rods is a driving rod. The output end of the driving mechanism is directly connected to the driving rod or connected through an external swing mechanism. The connecting rod that is rotatably connected to the obstacle clearing push rod is provided with the push-open protrusion.

76. The cleaning apparatus according to claim 75, wherein, The plurality of connecting rods includes a first connecting rod, a second connecting rod, a third connecting rod, and a fourth connecting rod, wherein the third connecting rod constitutes the drive rod, one end of the first connecting rod is rotatably connected to the machine body, the other end of the first connecting rod is rotatably connected to one end of the second connecting rod, the other end of the second connecting rod is rotatably connected to the obstacle clearing component, the second connecting rod and the third connecting rod intersect and are rotatably connected, one end of the fourth connecting rod is rotatably connected to the end of the third connecting rod, and the other end of the fourth connecting rod is rotatably connected to the obstacle clearing component; Wherein, the rotational connection point between the third connecting rod and the second connecting rod is the first rotational connection point, the rotational connection point between the third connecting rod and the fourth connecting rod is the second rotational connection point, the connection point between the output end of the driving mechanism and the third connecting rod is the driving connection point, the first rotational connection point is located between the second rotational connection point and the driving connection point, and the push-open protrusion is provided on the fourth connecting rod and located on the side of the fourth connecting rod closer to the auxiliary component.

77. The cleaning apparatus according to claim 72, wherein, During the process of the drive mechanism driving the obstacle clearing component to the storage position, the connecting mechanism is adapted to interact with the auxiliary component to drive the auxiliary component from the first position to the second position; The elastic drive member is used to drive the auxiliary member to move from the second position to the first position.

78. The cleaning apparatus according to claim 77, wherein, The connecting mechanism includes multiple connecting rods that are rotatably connected to each other. One of the multiple connecting rods is a driving rod. The output end of the driving mechanism is directly connected to the driving rod or connected through an external swing mechanism. The connecting rod that is rotatably connected to the obstacle clearing push rod is provided with an anti-reverse protrusion. When the auxiliary component is in the first position, the anti-backflow protrusion abuts against the outer surface of the auxiliary component to limit the auxiliary component to the first position; During the process of the obstacle clearing component moving from the obstacle clearing position to the storage position, the anti-return protrusion detaches from the auxiliary component.

79. The cleaning apparatus according to claim 78, wherein, The plurality of connecting rods includes a first connecting rod, a second connecting rod, a third connecting rod, and a fourth connecting rod, wherein the third connecting rod constitutes the drive rod, one end of the first connecting rod is rotatably connected to the machine body, the other end of the first connecting rod is rotatably connected to one end of the second connecting rod, the other end of the second connecting rod is rotatably connected to the obstacle clearing component, the second connecting rod and the third connecting rod intersect and are rotatably connected, one end of the fourth connecting rod is rotatably connected to the end of the third connecting rod, and the other end of the fourth connecting rod is rotatably connected to the obstacle clearing component; Wherein, the rotational connection point between the third connecting rod and the second connecting rod is the first rotational connection point, the rotational connection point between the third connecting rod and the fourth connecting rod is the second rotational connection point, the connection point between the output end of the driving mechanism and the third connecting rod is the driving connection point, the first rotational connection point is located between the second rotational connection point and the driving connection point, and the anti-reverse protrusion is provided on the fourth connecting rod and located on the side of the fourth connecting rod closer to the auxiliary component.

80. The cleaning apparatus according to claim 77, wherein, The connecting mechanism includes multiple connecting rods that are rotatably connected to each other. One of the multiple connecting rods is a driving rod. The output end of the driving mechanism is directly connected to the driving rod or connected through an external swing mechanism. The connecting rod that is rotatably connected to the obstacle clearing push rod is provided with a reset protrusion. During the process of the obstacle clearing component moving from the obstacle clearing position to the storage position, the reset protrusion contacts the auxiliary component to drive the auxiliary component to move to the second position.

81. The cleaning apparatus according to claim 80, wherein, The inner side of the auxiliary component is provided with a mating protrusion. During the process of the obstacle clearing component moving from the obstacle clearing position to the storage position, the reset protrusion contacts the mating protrusion to drive the auxiliary component to move to the second position.

82. The cleaning apparatus according to claim 80, wherein, The plurality of connecting rods includes a first connecting rod, a second connecting rod, a third connecting rod, and a fourth connecting rod, wherein the third connecting rod constitutes the drive rod, one end of the first connecting rod is rotatably connected to the machine body, the other end of the first connecting rod is rotatably connected to one end of the second connecting rod, the other end of the second connecting rod is rotatably connected to the obstacle clearing component, the second connecting rod and the third connecting rod intersect and are rotatably connected, one end of the fourth connecting rod is rotatably connected to the end of the third connecting rod, and the other end of the fourth connecting rod is rotatably connected to the obstacle clearing component; Wherein, the rotational connection point between the third connecting rod and the second connecting rod is the first rotational connection point, the rotational connection point between the third connecting rod and the fourth connecting rod is the second rotational connection point, the connection point between the output end of the driving mechanism and the third connecting rod is the driving connection point, the first rotational connection point is located between the second rotational connection point and the driving connection point, and the reset protrusion is provided on the fourth connecting rod.

83. The cleaning apparatus according to claim 77, wherein, The auxiliary component has a limiting protrusion on its inner side. When the auxiliary component is in the first position, the limiting protrusion abuts against the obstacle clearing push rod to limit the auxiliary component.

84. The cleaning apparatus according to claim 65, wherein, The auxiliary component includes a connecting part and a clearing part. The connecting part is movably connected to the clearing part. The clearing part is connected below the connecting part and is adapted to interact with obstacles. In the circumferential direction of the fuselage, the length of the clearing part is greater than the length of the connecting part.

85. The cleaning apparatus according to claim 7, wherein, The obstacle removal component is equipped with a cleaning structure, which is used to clean the work surface and / or obstacles.

86. The cleaning apparatus according to claim 85, wherein, The cleaning structure is located at the bottom of the obstacle removal component.

87. The cleaning apparatus according to claim 85, wherein, The cleaning structure is bonded to the obstacle removal component or detachably disposed on the obstacle removal component.

88. The cleaning apparatus according to claim 85, wherein, The cleaning structure includes at least one of a cleaning brush, a cleaning cloth, and a cleaning squeegee.

89. The cleaning apparatus according to claim 7, wherein, The obstacle removal component has a flexible layer for contacting the obstacle.

90. The cleaning apparatus according to claim 89, wherein, The flexible layer is a rubber layer or a silicone layer.

91. The cleaning apparatus according to claim 89, wherein, The flexible layer is bonded and fixed to the obstacle removal component, or the flexible layer is integrally formed on the obstacle removal component.

92. The cleaning apparatus according to claim 89, wherein, The obstacle removal component is provided with a cleaning structure, which is used to clean the working surface and / or obstacles, and at least a portion of the cleaning structure constitutes the flexible layer.

93. The cleaning apparatus according to claim 7, wherein, The obstacle clearing component includes a contact portion adapted to contact the obstacle, the contact portion being arc-shaped.

94. The cleaning apparatus according to claim 7, wherein, At least a portion of the obstacle-clearing component constitutes the front impact plate of the cleaning device.

95. The cleaning apparatus according to claim 7, wherein, The drive mechanism includes a drive motor and a transmission mechanism, and the transmission mechanism is connected to the obstacle removal component.

96. The cleaning apparatus according to claim 95, wherein, The transmission mechanism includes a gear mechanism, and the motor shaft of the drive motor is connected to the gear mechanism to drive the gear mechanism to move. The gear mechanism includes an output gear with an output end, which is directly connected to the obstacle clearing component or connected through an external swing mechanism.

97. The cleaning apparatus according to claim 96, wherein, The rotation axis of the output gear extends in the vertical direction, and the lower end of the output gear constitutes the output end.

98. The cleaning apparatus according to claim 97, wherein, The output gear includes a gear body and a gear shaft. The gear shaft includes a second shaft portion, which is coaxially connected to the gear body. The lower end of the gear body has the output end.

99. The cleaning apparatus according to claim 98, wherein, The second shaft portion has a "D" shaped cross-section, and the gear body is provided with a second connecting hole. The second shaft portion is accommodated in the second connecting hole, and the cross-section of the second connecting hole is "D" shaped.

100. The cleaning apparatus according to claim 96, wherein, The obstacle clearing component or the outward swing mechanism is provided with a first mounting hole, and the output end is inserted into the first mounting hole.

101. The cleaning apparatus according to claim 100, wherein, The cross-section of the output terminal and the cross-section of the first mounting hole are both non-circular.

102. The cleaning apparatus according to claim 100, wherein, A foolproof notch is formed on the inner peripheral wall of the first mounting hole, and a foolproof protrusion is provided on the outer peripheral wall of the output end, the foolproof protrusion being accommodated within the foolproof notch.

103. The cleaning apparatus according to claim 96, wherein, The obstacle clearing component includes a connecting mechanism and an obstacle clearing member. The connecting mechanism is connected between the obstacle clearing member and the body. The output end is directly connected to the connecting mechanism or connected through the outward swing mechanism. The obstacle clearing member is adapted to act on the obstacle to move the obstacle away from its original position.

104. The cleaning apparatus according to claim 103, wherein, The connecting mechanism includes multiple connecting rods that are rotatably connected to each other. One of the multiple connecting rods is a driving rod. The output end of the driving mechanism is directly connected to the driving rod or connected through the swing mechanism.

105. The cleaning apparatus according to claim 104, wherein, The output end of the drive mechanism is directly connected to the drive rod, and the drive rod is provided with a first mounting hole, into which the output end is inserted.

106. The cleaning apparatus according to any one of claims 1-105, wherein, include: An obstacle recognition module is located on the fuselage and is used to recognize obstacles.

107. The cleaning apparatus according to claim 106, wherein, include: An obstacle image acquisition module is provided on the body and is used to acquire images of the obstacles.

108. A cleaning system, wherein, include: The cleaning apparatus according to any one of claims 1-107; A cleaning base station, wherein the cleaning device is detachably coupled to the cleaning base station, and the cleaning base station is used to clean and / or charge the cleaning device.

109. A method for controlling a cleaning device, wherein, The cleaning device is the cleaning device according to any one of claims 1-107, and the control method of the cleaning device includes: Confirm that there is an obstacle in front of the cleaning device and confirm that the distance between the obstacle and the cleaning device is less than a first preset distance; Control the cleaning device to move toward the obstacle, and control the obstacle clearing module to move the obstacle and move it away from its original position; Clean the area where the obstacle was originally located, and control the obstacle removal module to stop working and reset.

110. The control method for the cleaning apparatus according to claim 109, wherein, Also includes: The system determines whether the obstacle is a movable obstacle. If the obstacle is confirmed to be a movable obstacle, the system controls the cleaning device to move toward the obstacle. If the obstacle is confirmed not to be a movable obstacle, the system controls the cleaning device to avoid the obstacle.

111. The control method for the cleaning apparatus according to claim 110, wherein, Determining whether the obstacle is a movable obstacle includes: Acquire images of the obstacles; Based on the collected images of the obstacles, determine whether the obstacles belong to the movable obstacles.

112. The control method for the cleaning apparatus according to claim 111, wherein, Based on the acquired image of the obstacle, determine whether the obstacle belongs to the movable obstacle, including: Based on the collected images of the obstacle, the size and shape of the obstacle are determined to determine whether the obstacle belongs to the movable obstacle.

113. The control method for the cleaning device according to claim 109, wherein, Controlling the cleaning device to move toward the obstacle, and controlling the obstacle-clearing module to move the obstacle and remove it from its original position, includes: The cleaning device is controlled to move toward the obstacle until the distance between the cleaning device and the obstacle is less than a second preset distance, and the second preset distance is less than the first preset distance; The obstacle removal module is controlled to move the obstacle and remove it from its original position.

114. The control method for the cleaning device according to claim 113, wherein, Controlling the obstacle removal module to move the obstacle and remove it from its original position includes: The output power of the obstacle removal module is controlled to the initial power, and the obstacle removal module is controlled to contact the obstacle. After the obstacle clearing module has been working for a first preset period of time, it is determined whether the obstacle has moved. If the obstacle has not moved, the output power of the obstacle clearing module is increased.

115. The control method for the cleaning apparatus according to claim 114, wherein, When the obstacle is not moved, increase the output power of the obstacle removal module, including: If the obstacle does not move when the output power of the obstacle clearing module increases to the preset output power, the obstacle is determined to be an unpullable obstacle, and the obstacle clearing module is controlled to stop working and reset.

116. The control method for the cleaning apparatus according to claim 114, wherein, Determining whether the obstacle has moved includes: Detect whether the distance between the fuselage and the obstacle has increased; If an increase in the distance between the fuselage and the obstacle is detected, it is determined that the obstacle has moved; If the distance between the fuselage and the obstacle remains unchanged, it is determined that the obstacle has not moved.

117. The control method for the cleaning apparatus according to claim 114, wherein, Determining whether the obstacle has moved includes: Detect the current change of the obstacle clearing module; If the current of the obstacle clearing module is detected to remain within a preset range, it is determined that the obstacle has moved; If a sudden increase in the current of the obstacle clearing module is detected, it is determined that the obstacle has not moved.

118. The control method for the cleaning apparatus according to claim 109, wherein, The obstacle removal module includes a drive mechanism and an obstacle removal component. The drive mechanism is located on the body and connected to the obstacle removal component to drive the obstacle removal component to move. The control of the obstacle removal module to move the obstacle includes: controlling the drive mechanism to drive the obstacle component to move so that at least a portion of the obstacle removal component swings out of the fuselage; the control of the obstacle removal module to stop working and reset includes: controlling the drive mechanism to drive the obstacle removal component back to the fuselage.

119. The control method for the cleaning apparatus according to claim 118, wherein, The obstacle removal component is provided with a cleaning structure; wherein, cleaning the area where the obstacle was originally located includes: controlling the obstacle removal component to move in the area where the obstacle was originally located, so that the cleaning structure cleans the area where the obstacle was originally located; Alternatively, the body of the cleaning device can be controlled to move to the original location of the obstacle, and the cleaning components can be controlled to clean the original location of the obstacle.

120. The control method for the cleaning apparatus according to claim 118, wherein, Also includes: It was confirmed that the downward-facing sensor of the cleaning device was blocked; If the obstacle removal module stops working, and if it is confirmed that the obstacle removal module has stopped working, then it is confirmed that the obstacle removal component is in the storage position. If it is confirmed that the obstacle removal component is not in the storage position, then the obstacle removal component is retracted to the storage position. If it is confirmed that the obstacle removal module is working, then it is determined that the cleaning device has a risk of falling.

121. The control method for the cleaning apparatus according to claim 120, wherein, When it is confirmed that the obstacle clearing component is not in the storage position, retracting the obstacle clearing component to the storage position includes: When it is confirmed that the obstacle clearing component is not in the storage position, the drive mechanism is controlled to drive the obstacle clearing component to move toward the storage position.

122. The control method for the cleaning apparatus according to claim 121, wherein, After controlling the drive mechanism to drive the obstacle clearing component toward the storage position, it is determined whether the downward-looking sensor is blocked; When it is confirmed that the downward-facing sensor is obstructed, the cleaning device will report a fault and prompt the user to manually retract the cleaning component to the storage position.

Images