CN215914462U - Recognition system and self-moving cleaning equipment with same - Google Patents

Abstract

The utility model discloses an identification system and self-moving cleaning equipment with the same, which are applied to the self-moving cleaning equipment and comprise: the distance measuring mechanism is arranged outside the top of the machine body of the self-moving cleaning equipment and has a first state of being exposed out of the machine body and a second state of being accommodated in the machine body; the lifting mechanism is arranged in the machine body and is supported below the distance measuring mechanism; the sensing unit is arranged on the machine body and connected with the lifting mechanism, and is configured to judge the height of an external obstacle so as to form a driving signal for controlling the lifting mechanism to lift; the lifting mechanism is used for driving the distance measuring mechanism to switch between a first state and a second state in response to a driving signal of the sensing unit. The utility model can adjust the height of the distance measuring mechanism on the machine body to adapt to different cleaning environments and improve the cleaning effect.

Description

Recognition system and self-moving cleaning equipment with same

Technical Field

The utility model relates to the technical field of cleaning equipment, in particular to an identification system and self-moving cleaning equipment with the same.

Background

With the development of science and technology and the progress of society, more and more families use self-moving cleaning equipment such as floor washers and floor mopping machines to replace the traditional mop for floor mopping work. In order to ensure that the self-moving cleaning equipment can cope with complex environments to be cleaned, a distance measuring mechanism is usually arranged on the machine body to measure and draw the distance between the self-moving cleaning equipment and a target place, so that an obstacle is prevented from being collided in the cleaning process; in addition, the ranging mechanism can also enable the self-moving cleaning equipment to draw a map of the field to be cleaned so as to plan the cleaning path.

However, in order to facilitate the ranging mechanism to measure the distance and avoid the shielding of the body, the ranging mechanism is usually arranged at the upper end of the body, so that the overall height of the equipment can be increased, and the equipment cannot conveniently enter a low space to be cleaned.

Accordingly, there is a need for improvements in the art that overcome the deficiencies in the prior art.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide an identification system and self-moving cleaning equipment with the same, which can adjust the height of a distance measuring mechanism on a machine body so as to adapt to different cleaning environments.

The purpose of the utility model is realized by the following technical scheme:

in a first aspect of the disclosure, an identification system is provided, which is applied to a self-moving cleaning device, and comprises: the distance measuring mechanism is arranged outside the top of the body of the self-moving cleaning equipment and has a first state of being exposed outside the body and a second state of being accommodated in the body; the lifting mechanism is arranged in the machine body and is supported below the distance measuring mechanism; the sensing unit is arranged on the machine body and connected with the lifting mechanism, and is configured to judge the height of an external obstacle so as to form a driving signal for controlling the lifting mechanism to lift; wherein the lifting mechanism is responsive to a driving signal of the sensing unit to drive the ranging mechanism to switch between the first state and the second state.

In one embodiment, the moving direction of the self-moving cleaning device is the front direction, the distance measuring mechanism is located at the rear part of the body, at least one sensing unit is arranged at the top part of the body, and when the distance measuring mechanism is in the first state, the distance measuring mechanism is higher than the sensing unit.

In one embodiment, the moving direction of the self-moving cleaning device is the front direction, and at least one sensing unit is distributed on the front side of the distance measuring mechanism.

In one embodiment, the sensing units are distributed on the front side, the left side and the right side of the distance measuring mechanism.

In one embodiment, the identification system further comprises: the first trigger mechanism is arranged between the distance measuring mechanism and the lifting mechanism and connected with the lifting mechanism, the distance measuring mechanism can be movably arranged above the lifting mechanism, and the first trigger mechanism is triggered in response to the collision between the distance measuring mechanism and an obstacle, so that the distance measuring mechanism is switched from the first state to the second state; and/or the second trigger mechanism is arranged at the front part of the machine body and is connected with the lifting mechanism, the front part of the machine body is provided with a collision plate body in a floating mode, and the second trigger mechanism is triggered in response to the collision between the collision plate body and an obstacle, so that the distance measuring mechanism is switched from the first state to the second state.

In one embodiment, the first trigger mechanism comprises a trigger switch and an elastic element, and the trigger switch is connected with the lifting mechanism; wherein the elastic element is configured to enable the distance measuring mechanism to be arranged above the lifting mechanism in a floating mode.

In one embodiment, in the case that the first triggering mechanism is arranged between the distance measuring mechanism and the lifting mechanism, a motion conversion structure is arranged between the distance measuring mechanism and the lifting mechanism, and the motion conversion structure is configured to enable a horizontal displacement component generated by the collision force applied to the distance measuring mechanism in the running direction to be at least partially converted into a vertical displacement component when the distance measuring mechanism collides in the running direction; wherein the horizontal displacement component is less than the vertical displacement component.

In one embodiment, the motion conversion structure comprises a guide groove and a limiting rod, one of the guide groove and the limiting rod is arranged at the bottom of the distance measuring mechanism, the other of the guide groove and the limiting rod is arranged at the top of the lifting mechanism, and two ends of the limiting rod penetrate through the guide groove; the guide groove is obliquely arranged relative to the horizontal plane, so that the distance measuring mechanism has downward and backward movement situations.

In one embodiment, a first transparent window is disposed on a side wall of the body close to the distance measuring mechanism, and the first transparent window is configured to facilitate the distance measuring mechanism to sense the external environment when the distance measuring mechanism is in the second state.

In a second aspect of the present disclosure, there is provided a self-moving cleaning device comprising: an identification system as described above; the fuselage, inside has the installing zone, the installing zone open-top sets up, identification system's ranging mechanism locates in the open-top.

The utility model has the following beneficial effects:

the recognition system and the self-moving cleaning equipment with the recognition system can adjust the height of the whole machine in time according to the information of peripheral obstacles, so that the floor washing machine can enter a low space to perform cleaning operation. When the floor cleaning machine encounters a low space, the sensing unit on the machine body sends a driving signal to the lifting mechanism to drive the distance measuring mechanism to retract into the machine body, and at the moment, the floor cleaning machine can smoothly enter the low space to perform cleaning operation. When the floor cleaning machine runs to the outside of a low space, the lifting mechanism drives the ranging mechanism to be lifted upwards under the action of the driving signal of the sensing unit, the switching is convenient, and the cleaning capacity is effectively improved.

Drawings

Fig. 1 is a perspective view of a self-moving cleaning apparatus according to the present invention.

Fig. 2 is a schematic view of the cosmetic cover of fig. 1 in an open state.

Fig. 3 is a schematic view of the self-moving cleaning device in a bottom view.

Figure 4 is an exploded view of the second cleaning element of figure 3 from the mounting chamber.

Fig. 5 is a schematic cross-sectional structure of fig. 1.

Fig. 6 is an enlarged schematic view of the region a in fig. 5.

Fig. 7 is an exploded view of the fuselage of fig. 1 and a distance measuring mechanism.

FIG. 8 is a schematic view of the circulation system of the present invention.

FIG. 9 is a schematic view of the striker plate assembly of the present invention.

Fig. 10 is an exploded schematic view of fig. 11.

Fig. 11 is a schematic view showing a connection relationship between the second cleaning member and the actuator in the present invention.

Fig. 12 is a sectional view schematically showing the structure of the second cleaning member in the present invention.

Fig. 13 is an enlarged schematic view of a region B in fig. 12.

Fig. 14 is a schematic view of the side draw end cap of fig. 13.

Fig. 15 is a schematic view of a position relationship between the side wall opening and the first connecting portion in fig. 13.

Fig. 16 is an enlarged schematic view of region C in fig. 15.

Fig. 17 is a schematic cross-sectional view between the first cleaning member and the dust box of fig. 1.

Fig. 18 is a schematic view of the positional relationship among the mount, the dust box, the first box and the second box in the present invention.

Fig. 19 is an exploded schematic view of fig. 18.

Fig. 20 is a perspective view of the dust box of the present invention.

Fig. 21 is a schematic view showing an opened state of an upper cover of the dust box in the present invention.

FIG. 22 is an exploded view of the filter unit of the present invention.

Figure 23 is a schematic cross-sectional view of a dust container according to the present invention.

Fig. 24 is a schematic view showing a positional relationship between the support structure and the fuselage in the present invention.

FIG. 25 is a schematic view of the positional relationship between the distance measuring mechanism and the sensing unit in the present invention.

FIG. 26 is an exploded view of the distance measuring mechanism and support structure of the present invention

FIG. 27 is a schematic view of the distance measuring mechanism and support structure of the present invention in a bottom view.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. It is to be understood that the following terms "upper," "lower," "left," "right," "longitudinal," "lateral," "inner," "outer," "vertical," "horizontal," "top," "bottom," and the like are used merely to indicate an orientation or positional relationship relative to one another as illustrated in the drawings, merely to facilitate describing and simplifying the utility model, and are not intended to indicate or imply that the device/component so referred to must have a particular orientation or be constructed and operated in a particular orientation, and therefore are not to be considered limiting of the utility model.

It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1 to 27, the present invention provides a self-moving cleaning apparatus, including: a machine body 100, the bottom of which is provided with a first dust suction port F and an installation cavity Z; the driving wheel set is arranged at the bottom of the machine body 100 and is used for driving the machine body 100 to move forwards or backwards; the universal wheel is rotatably arranged at the bottom of the machine body 100 and is used for assisting the machine body 100 to move forward or backward; the first cleaning piece 200 is rotatably arranged in the first dust suction port F and is used for cleaning the surface to be cleaned; a second cleaning member 300 rotatably disposed on the bottom of the main body 100 for wet-mopping a surface to be cleaned, the second cleaning member 300 being located rearward of the first cleaning member 200 in the advancing direction of the main body 100; and a dust collection box 400 disposed in the body 100, wherein the dust collection box 400 has a dust collection chamber communicated with the first dust suction port F, and collects the dirt cleaned by the first cleaning member 200 under the first suction force. The dust collecting box 400 is located behind the advancing direction of the machine body 100 compared with the first cleaning piece 200, the driving wheel set is located behind the advancing direction of the machine body 100 compared with the second cleaning piece 300, the universal wheel is located in front of the advancing direction of the machine body 100 compared with the first cleaning piece 200, the first cleaning piece 200 and the second cleaning piece 300 are in the shape of cleaning rollers, the outer circumferential surfaces of the first cleaning piece 200 and the second cleaning piece 300 are cleaning surfaces for cleaning surfaces to be cleaned, the cleaning surface of the first cleaning piece 200 is in contact with the surfaces to be cleaned to achieve the purpose of cleaning dust, and the cleaning surface of the second cleaning piece 300 is in contact with the surfaces to be cleaned to achieve the purpose of wet-cleaning.

In the present invention, the self-moving cleaning device is a floor cleaning robot having both floor sweeping and floor mopping functions, or a floor cleaning robot having a floor mopping function alone, and the sole floor mopping function is: the bottom of the body 100 is provided with only a rotating mop, and the floor is cleaned by the rotation of the mop, and the floor cleaning robot is hereinafter referred to as a floor cleaning machine.

In the present invention, the first cleaning member 200 is used for cleaning the surface to be cleaned, and the first cleaning member 200 can loosen dirt adhered to the surface to be cleaned during rotation and lift up dust on the surface to be cleaned to facilitate dust collection. When the floor cleaning machine is in operation, a first suction force is generated in the machine body 100, and dirt on the surface to be cleaned enters the dust collecting cavity of the dust collecting box 400 through the first dust suction port F under the action of the first suction force. The dust collection chamber comprises a dust inlet 410 for enabling dust gas to enter the dust collection chamber and an air outlet 420 for enabling clean air flow to flow out of the dust collection chamber, the dust inlet 410 is positioned above the first cleaning piece 200, a dust gas channel V for dust gas circulation is arranged between the first cleaning piece 200 and the dust inlet 410, the dust gas channel V is communicated with the first cleaning piece 200 and the dust inlet 410 of the dust collection chamber, and the dust gas channel V is arc-shaped or inclined straight line-shaped or any shape beneficial to dust gas flow. The top of the dust collecting chamber is detachably provided with a filtering unit 430, clean air generated after dust air sucked by the dust collecting chamber is filtered by the filtering unit 430 is discharged out of the dust collecting box 400 through the air outlet 420, and dust is collected in the dust collecting box 400. Considering that the dust collection box 400 on the floor cleaning machine needs to be cleaned in time after being filled with garbage, if the cleaning is not carried out in time, the cleaning effect of the floor cleaning machine is affected. Therefore, the bottom of the dust collection cavity is provided with an air guide unit H for being butted with external equipment to discharge dust.

In the present invention, the air guiding unit H includes an air inlet 460 for allowing the suction airflow generated by the external device to enter the dust collecting chamber and a dust outlet 470 for allowing the dirt in the dust collecting chamber to be discharged out of the dust collecting box 400, and both the air inlet 460 and the dust outlet 470 are communicated with the dust collecting chamber of the dust collecting box 400. The dust exhaust port 470 and the air intake port 460 are adapted to communicate with the first recovery tank of the external device after the scrubber is mated with the external device. The air inlet 460 and the dust outlet 470 are located behind the second cleaning member 300 in the forward direction of the main body 100; the air inlet 460 and the dust outlet 470 are both arranged on the bottom of the dust collecting box 400, and the bottom of the body 100 is provided with an air inlet interface 1123 corresponding to the air inlet 460 and a dust outlet interface 1124 corresponding to the dust outlet 470. When the dust exhaust interface 1124 and the air inlet interface 1123 of the floor washing machine are matched with external equipment, the dust collection cavity is forced to be communicated with the first recovery box. When the scrubber is mated with the external device, a second suction force generated by the external device causes a suction airflow to be created within the dirt collection bin 400 for transferring dirt within the dirt collection chamber into the first recovery tank. Therefore, the automatic dust discharging operation of the dust collecting box 400 can be realized through the air guide unit H of the dust collecting box 400, the manual dust discharging operation of a user is avoided, and the dust collecting box has the advantage of convenient use.

To prevent the dirt in the dust chamber from being scattered to the external environment through the air inlet 460 and the dust outlet 470 in a dust suction state. A first valve unit is arranged at the air inlet 460, and a second valve unit is arranged at the dust exhaust port 470; the first valve unit has a closed state closing the intake port 460 and an open state opening the intake port 460; the second valve unit has a closed state closing the dust discharge port 470 and an open state opening the dust discharge port 470. When the dust box 400 is docked with an external device, the first valve unit and the second valve unit respectively respond to the action of the suction air flow to switch the air inlet 460 and the dust outlet 470 from the closed state to the open state, so that the dust box 400 can be docked with the external device for automatic dust discharge. In the above process, the second suction force drives both the first valve unit and the second valve unit to open to communicate the dust collecting chamber with the first recovery tank.

Specifically, the first valve unit includes a first baffle 461, the first baffle 461 is located in the dust collecting chamber, and the first baffle 461 is made of an elastic material, preferably a rubber material. The top edge of the first baffle 461 is fixed on the wall of the dust collecting chamber, and the other edges of the first baffle 461 are free edges, wherein the free edges refer to: and the dust collecting cavity is not connected. Therefore, when the first baffle 461 is acted by the second suction force, the first baffle 461 can be opened towards the inner direction of the dust collection chamber, and the dirt in the dust collection chamber has a tendency of moving towards the inner side under the action of the first baffle 461, so that the dirt in the dust collection chamber can be prevented from being scattered to the external environment through the air inlet 460 when the first baffle 461 is in the open state. The second valve unit includes a second baffle 471, the second baffle 471 is pivoted to the dust outlet 470, and the pivot axis is located at the top of the second baffle 471. The second barrier 471 is located outside the dust collecting chamber, and the second barrier 471 is opened towards the outside of the dust collecting chamber under the action of the second suction force, and the purpose of setting is as follows: it is avoided that the second baffle 471 pulls the dirt in the dust collecting chamber out of the dust collecting chamber when being opened, and the dirt in the dust collecting chamber is also prevented from scattering to the external environment.

In order to avoid the collision between the body 100 and the obstacle, the second baffle 471 deviates from the dust outlet 470 under the action of external force, the dust outlet 470 is further provided with an adsorption structure, and the adsorption structure acts as: when the main body 100 is not engaged with an external device, the second blocking plate 471 is prevented from deviating from the dust discharge opening 470 by an external force to cause leakage of dirt. In one embodiment, the above-mentioned absorption structure includes a first magnetic member 472 and a second magnetic member 473, and the magnetic forces of the first magnetic member 472 and the second magnetic member 473 are opposite. The second magnetic member 473 is disposed at the bottom of the second baffle 471, and the first magnetic member 472 is disposed at the bottom of the dust collecting chamber. The second baffle 471 is tightly abutted against the dust outlet 470 under the magnetic action of the first magnetic member 472 and the second magnetic member 473, so that the dirt in the dust collecting cavity of the floor washing machine can be effectively prevented from leaking out during the cleaning task. It can be understood that the magnetic attraction force generated by the first magnetic member 472 and the second magnetic member 473 is smaller than the second suction force, so that the second shutter 471 can be smoothly opened by the second suction force during the dust discharging operation. Of course, the adsorption structure includes but is not limited to the above structure, and may also be other structures having an adsorption function, which is not described in detail herein.

Further, the filter unit 430 comprises a filter member 431 and a hard hollow member 432, and the hard hollow member 432 and the filter member 431 are fixedly arranged to form a whole; the hard hollow part 432 is located on one surface of the filtering unit 430 close to the inside of the dust collecting cavity, and the hard hollow part 432 is used for preventing sharp particles in dust in the dust collecting cavity from damaging the filtering piece 431. The filter 431 is HEPA, and the hard hollow part 432 is a steel wire mesh. It is understood that the filter 431 and the hard cutout 432 include, but are not limited to, the above-mentioned forms, and may be other members having the same function.

In order to facilitate replacement of the filter unit 430, an upper cover 440 is pivotally coupled to the top of the dust box 400, the upper cover 440 having an open state and a closed state; when the upper cover 440 is in the open state, the filter 431 is exposed at the top of the dust box 400; when the upper cover 440 is in a closed state, the filter 431 is sealed in the dust box 400. Be equipped with stopper 441 on the body of upper cover 440 near filtering piece 431 side, when upper cover 440 was in the closed condition, stopper 441 supported and locates the top of filtering piece 431, and stopper 441 has the spacing function of installation to filtering piece 431, avoids washing the ground machine when meetting the vibration, and filter unit 430 pine takes off, and from this, filter unit 430 has the advantage of connecting reliable and stable, the installation effect is good.

In the present invention, one end of the second cleaning member 300 is rotatably provided with the side cap unit 310, and the second cleaning member 300 is detachably coupled to the main body 100 through the side cap unit 310. The other end of the second cleaning member 300 is in transmission connection with a driver 900 provided in the main body 100 and is driven by the driver 900 to rotate. The second cleaning member 300 has a rotation axis, the second cleaning member 300 is detachably disposed in the mounting cavity Z along the rotation axis direction, and the rotation axis of the second cleaning member 300 is perpendicular to the advancing direction of the scrubber. Installation cavity Z is established on the outer wall of the bottom of fuselage 100, and installation cavity Z is the mounting groove of open mouth for bottom and lateral wall, and second cleaning member 300 is established in installation cavity Z from lateral wall open mouth 1125 detachably, and the lateral wall open mouth 1125 of installation cavity is located the lateral wall of fuselage 100.

Further, referring to fig. 11 to 16, the side cap unit 310 includes a side cap 311, the side cap 311 is rotatably disposed at one end of the second cleaning member 300 through a bearing 312 and a rotating shaft 313, and the second cleaning member 300 is detachably connected to the main body 100 through the side cap 311. The second cleaning member 300 includes a hollow cylindrical second cleaning member body 3001, a driven end cap 3002 and a driving end cap 3003, which are disposed at two opposite ends of the second cleaning member body 3001, the driven end cap 3002 is rotatably provided with a side draw end cap 311, and the driving end cap 3003 is in transmission connection with the driver 900. The bearing 312 is fixedly arranged in the driven end cover 3002, the rotating shaft 313 penetrates through the driven end cover 3002 along the rotating axis direction of the second cleaning piece 300, one end of the rotating shaft 313 is located on the outer side of the driven end cover 3002 and fixedly connected with the side draw end cover 311, and the other end of the rotating shaft 313 is located in the driven end cover 3002 and connected with the bearing 312. The output end 910 is connected to the driver 900, the active end cap 3003 of the second cleaning member 300 abuts against the output end 910, and the side draw end cap 311 and the output end 910 form an end support of the second cleaning member 300 after the second cleaning member 300 is mounted in the mounting cavity Z of the body 100. Therefore, the support device has the advantages of convenience in installation and stability and reliability in support.

Further, the side draw end cover 311 is matched with the side wall opening 1125, at least one first connecting portion 1126 is arranged at the side wall opening 1125, at least one second connecting portion 3111 matched with the first connecting portion 1126 is arranged on the side draw end cover 311, and the side draw end cover 310 is connected to the machine body 100 through the matching between the first connecting portion 1126 and the second connecting portion 3111. The connection manner between the first connection portion 1126 and the second connection portion 3111 includes, but is not limited to, the following: in one mode, the first connecting portion 1126 is a turnbuckle distributed along the circumferential direction of the second cleaning member 300, and the second connecting portion 3111 is a clamping block distributed along the circumferential direction of the second cleaning member 300; in another aspect, the first connecting portion 1126 is a first thread formed on the sidewall opening 1125 and the second connecting portion 311 is a second thread formed on the outer circumference of the side cap 310, wherein the first and second threads are engaged.

In order to prevent the side pumping end cover 311 from loosening during the operation of the scrubber, a circumferential limiting structure is arranged between the side pumping end cover 311 and the machine body 100. The circumferential limiting structure comprises a groove 3112 and a rib 1127 which are distributed along the direction of the rotation axis of the second cleaning piece 300, and the groove 3112 is clamped with the rib 1127; one of the second connecting portion 3111 and the body 100 is provided with a groove 3112, and the other is provided with a rib 1127.

In the present invention, the body 100 is further provided with a first case 500 and a second case 600, any one of the dust box 400, the first case 500 and the second case 600 is detachably provided in the body 100, and the first case 500 and the second case 600 are distributed outside the opposite sidewalls of the dust box 400. Preferably, the dust box 400, the first box 500 and the second box 600 are adapted to be detachably provided in the body 100. The body 100 is further provided with a mounting seat 130, the first box 500, the dust collecting box 400 and the second box 600 are respectively detachably arranged on the mounting seat 130, the first box 500 and the second box 600 are arranged at two sides of the dust collecting box 400 in an axisymmetric manner, and the mounting seat 130 is detachably arranged in the body 100. The mounting base 130 is provided with a first groove, a second groove and a third groove which are distributed in sequence and spaced; wherein, the first box 500, the dust collecting box 400 and the second box 600 are detachably disposed in the first groove, the second groove and the third groove, respectively. The first groove, the second groove and the third groove are formed on the top of the mounting seat 130, and the first box body 500, the dust collecting box 400 and the second box body 600 are respectively and detachably mounted in the respective grooves along the vertical direction. The bottom of the mounting seat 130 is also provided with an upwardly concave region X; the installation cavity Z corresponds to the depressed region X for the second cleaning member 300 to be installed.

In the present invention, a medium distributing mechanism 150 for distributing the cleaning solution to the second cleaning member 300 and a medium recovering mechanism 140 for collecting the contaminated water solution on the second cleaning member are further provided in the installation cavity Z of the body 100. The media dispensing mechanism 150 is coupled to the first cartridge 500, and the first cartridge 500 is used to deliver a cleaning solution to the media dispensing mechanism 150 to wet the second cleaning member in the mounting chamber Z. The medium recycle mechanism 140 is connected to a second cassette 600, and the second cassette 600 stores the sewage solution collected through the medium recycle mechanism 140. The second box 600 is further provided with a negative pressure generator, the negative pressure generator is used for generating negative pressure in the second box 600, and under the action of the negative pressure, the sewage solution on the second cleaning member 300 is sucked into the second box 600 through the medium recovery mechanism 140.

In order to identify whether the first box 500, the dust collection box 400 and the second box 600 are installed on the installation base 130, the installation base 130 is provided with a first assembly detection piece 131, and the dust collection box 400, the first box 500 and the second box 600 are respectively provided with a second assembly detection piece 132 matched with the first assembly detection piece 131; the first assembly detecting member 131 may be a hall sensor, the second assembly detecting member 132 may be a magnet, and the first assembly detecting member 131 and the second assembly detecting member 132 are disposed in a one-to-one correspondence. Accordingly, whether the first container 500, the dust collection container 400, and the second container 600 are mounted in place can be determined by the induction between the hall sensor and the magnet. It is understood that the first assembly detector 131 and the second assembly detector 132 include, but are not limited to, the above-mentioned structure, and may be other components that can mutually interact.

In the present invention, the body 100 includes a body 110 and a striking plate assembly floatingly disposed at the front of the body 110, the striking plate assembly includes: the striking plate body 120, the striking plate body 120 covers the front part of the machine body 110 of the floor washing machine in a step shape; the second trigger mechanism is connected with the external drive circuit and is configured to trigger and send a stop motion signal to the floor washing machine under the condition that the striking plate body 120 is collided and displaced; a cushion mechanism configured to elastically cushion the striker body 120 in a case where the striker body 120 is further displaced; and a restoring mechanism configured to elastically restore the displacement of the striker body 120 to a central portion of the front portion of the body 110 when the striker body 120 is displaced. Through the mode, the stepped collision plate body 120 can realize the collision triggering of the front part and the side part of the running direction of the floor washing machine, and the overall obstacle avoidance capacity of the floor washing machine is effectively improved. When hitting the board body 120 and colliding, hit and can produce the impact force because of colliding between board body 120 and the barrier, under the effect of impact force, the floor cleaning machine can produce vibration and noise, and buffer gear can carry out the elasticity buffering to hitting board body 120, reduces vibration and noise reduction effectively, has improved user's use comfort to the anti vibration performance of floor cleaning machine has been improved. In consideration of the fact that the striking plate body 120 generates the form and position deviation with the machine body 110 after multiple times of collision, the form and position deviation refers to the difference between the position and the shape of the striking plate body 120 and the machine body 110 compared with the factory state, the form and position deviation can cause the condition that the floor cleaning machine collides without triggering and also influences the appearance attractiveness, in the utility model, the form and position deviation can be reduced or eliminated through the restoring mechanism, so that the triggering sensitivity and the appearance attractiveness are ensured.

In the present invention, the body 110 includes a disc-shaped main body P and a front protrusion Q protruding in front of the main body P to form a front-rear circular shape; the front protrusion Q has a tip surface lower than that of the body P to form a stepped structure at the front of the body 110, and the striking plate body 120 covers the stepped structure. The striking plate body 120 includes a first striking plate 121 covering the outer peripheral surface of the front protrusion Q and a second striking plate 122 extending from the top of the first striking plate 121 to the top end surface of the body P, and the second striking plate 122 is arc-shaped and covers the body P.

The first striker plate 121 and the second striker plate 122 are provided in the following manner: in the first case, the first striker plate 121 and the second striker plate 122 are provided integrally; in the second case, the first striker plate 121 and the second striker plate 122 are provided separately from each other in the vertical direction. When the first collision plate 121 and the second collision plate 122 are arranged in a vertically split manner, an installation gap inevitably exists when the first collision plate 121 and the second collision plate 122 are installed, external dust and water vapor can enter the floor cleaning machine through the installation gap, in order to avoid the above situation, a rubber sealing member (not shown) is arranged at the joint of the first collision plate 121 and the second collision plate 122, and by arranging the rubber sealing member, the external dust and water vapor can be effectively reduced or prevented from entering the floor cleaning machine, so that the service life of the equipment can be prolonged to a certain extent.

In order to realize the omnibearing recognition of the obstacle in front of the body 110, the second triggering mechanism includes a plurality of triggering sensors 124, one end of the triggering sensor 124 abuts against the striking plate body 120, the triggering sensors 124 are distributed on the front side of the stepped structure and on the two sides of the stepped structure, and the two sides of the stepped structure are the left side and the right side of the advancing direction of the floor washing machine. Therefore, in the forward running process of the machine body 110, the front end and the left and right ends of the machine body can be triggered in a collision mode, the obstacles can be recognized in an all-round mode, and the running state of the floor washing machine can be adjusted in time.

Specifically, the plurality of trigger sensors 124 distributed on the front side surface of the stepped structure are divided into two sets, one set is disposed on the front side surface of the main body P corresponding to the second striking plate 122, and the other set is disposed on the front side surface of the front protrusion Q corresponding to the first striking plate 121. Therefore, the trigger sensor 124 can be triggered smoothly no matter whether the collision area between the striking plate body 120 and the obstacle is located at the top, the bottom or the middle of the striking plate body 120, and the trigger sensor has the advantage of high trigger sensitivity. The plurality of triggering sensors 124 are impact switches, but it is understood that the plurality of triggering sensors 124 include, but are not limited to, impact switches, and may be other devices and structures capable of triggering an impact.

Further, the cushion mechanism includes a plurality of first elastic cushion elements 125 provided on the front convex portion Q for collision cushion of the first striker plate 121 and a plurality of second elastic cushion elements 126 provided on the body P for collision cushion of the second striker plate 122. The first elastic buffer element 125 and the second elastic buffer element 126 are made of an elastic material, and the elastic material may be rubber, nylon, sponge, or the like. When the striking plate body 120 collides with an obstacle, the obstacle generates a reaction force on the striking plate body 120, the reaction force on the striking plate body 120 can drive the striking plate body 120 to move towards the machine body 110, the movement causes the striking plate body 120 to further displace, and the first elastic buffer element 125 and the second elastic buffer element 126 can absorb part of the impact force generated during the collision, so as to realize elastic buffer. The plurality of first elastic buffer elements 125 may be spaced apart from each other, or may be connected in sequence to form a continuous arrangement. Similarly, the plurality of second elastic buffer elements 126 may be distributed at intervals or continuously. In the present invention, the first elastic buffer member 125 and the second elastic buffer member 126 are preferably detachably provided on the body 110, thereby being easily replaceable.

Further, the restoring mechanism includes at least one elastic element 123, the striking plate body 120 is floatingly disposed at the front portion of the body 110 through the elastic element 123, and the elastic element 123 is disposed on the body 110 and connected to the striking plate body 120. The elastic element 123 is preferably a spring, one end of the elastic element 123 is clamped with the body 110, and the other end of the elastic element 123 is clamped with the striking plate body 120. In order to allow the striking plate body 120 to return to the position and to be held at the central position of the front of the body 110, the elastic elements 123 are provided on the body 110 in an axisymmetric manner, and the distance between the front end portions of any pair of the elastic elements 123 is smaller than the distance between the rear end portions of the pair of the elastic elements 123.

In the present invention, the body 110 includes a bottom cover 112 and a top cover 111, the bottom of the bottom cover 112 is provided with a first dust suction port F, a mounting cavity Z, a driving wheel set, a universal wheel, a first cleaning member 200 and a second cleaning member 300, and the top of the top cover 111 is pivoted with a decorative cover 113. The decoration cover 113 has a closed state covering the dust collection box 400, the first box 500 and the second box 600 to enclose the dust collection box 400, the first box 500 and the second box 600 in the body 110, and an open state of being turned upwards around the pivot axis to expose the dust collection box 400, the first box 500 and the second box 600 to the outside. Therefore, the dust collecting box 400, the first box body 500 and the second box body 600 can be conveniently detached, the HEPA on the dust collecting box 400 can be conveniently replaced, and the dust collecting box has the advantage of convenience in use.

In the present invention, the inside of the body 110 has an installation region M, the top opening of the installation region M is arranged, and the top opening of the installation region M is provided with an identification system, the identification system includes: the distance measuring mechanism 1111 is arranged outside the top of the body 100 of the self-moving cleaning device and positioned in the top opening of the mounting area M, and the distance measuring mechanism 1111 has a first state of being exposed outside the body 100 and a second state of being accommodated in the body 100; the supporting structure 700 is arranged in the body 100 and is supported below the distance measuring mechanism 1111; a sensing unit 1112, disposed on the body 100 and connected to the support structure 700, the sensing unit being configured to determine a height of an external obstacle to form a driving signal for controlling the lifting of the support structure 700; and a controller (not shown) connected to the sensing unit; wherein the supporting structure 700 drives the distance measuring mechanism 1111 to switch between the first state and the second state in response to the driving signal of the sensing unit 1112. The distance measuring mechanism 1111 is located at the rear of the body 100, and the distance measuring mechanism 1111 is located rearward of the second cleaning member 300 in the advancing direction of the body 100. When the distance measuring mechanism 1111 is in the first state, the distance measuring mechanism 1111 is higher than the sensing unit, the distance measuring mechanism 1111 may be an LDS lidar mechanism or other types of distance measuring devices, and although the name of the distance measuring mechanism 1111 is distance measuring, the distance measuring mechanism 1111 may also have functions of establishing a map, positioning, identifying obstacles, and the like.

Through the mode, the recognition system can adjust the height of the whole machine in time according to the information of peripheral obstacles, so that the floor washing machine can enter a low space to perform cleaning operation. The height of the whole machine is as follows: the sum of the heights of the body 100 and the distance measuring mechanism 1111 in the first state of the distance measuring mechanism 1111; the low space is a space region having a height higher than the height of the body 100 and lower than the height of the whole machine. When the floor washing machine encounters a low space, the sensing unit 1112 on the machine body 100 sends a driving signal to the supporting structure 700 to drive the distance measuring mechanism 1111 to retract into the machine body 100, and at this time, the floor washing machine can smoothly enter the low space to perform cleaning operation. When the scrubber moves to the outside of the low space, under the action of the driving signal of the sensing unit 1112, the supporting structure 700 drives the ranging mechanism 1111 to lift upwards, so that the switching is convenient, and the cleaning capability is effectively improved.

In order to enable the distance measuring mechanism 1111 to be normally used even when the distance measuring mechanism 1111 is retracted into the main body 100, in the present invention, a first transparent window 1114 is disposed on a side wall of the main body 100 close to the distance measuring mechanism 1111, and the first transparent window 1114 is configured to facilitate the distance measuring mechanism 1111 to sense the external environment when the distance measuring mechanism 1111 is in the second state, so as to facilitate the control of the floor washing machine to continue to work. From this, when ranging mechanism 1111 was in the second state, ranging mechanism 1111 can't carry out position identification, the pain point of location judgement, has effectively improved floor cleaning machine at the clean ability and the intelligent recognition ability in low space.

Further, a plurality of sensing units 1112 are disposed on the body 100, at least one sensing unit 1112 is disposed on the top of the body 100, and the at least one sensing unit 1112 is distributed on the front side of the distance measuring mechanism 1111. In one embodiment, the sensing unit 1112 is a TOF sensor, and the sensing units 1112 are distributed on the front, left, and right sides of the ranging mechanism 1111. Therefore, the height information of the obstacles around the ranging mechanism 1111 can be collected in an all-around manner, and the feedback can be made in time before the ranging mechanism 1111 collides with the obstacles, so that the position state of the ranging mechanism 1111 can be adjusted.

Specifically, as shown in fig. 7, the top of the main body 110 of the main body 100 is provided with a receiving slot for mounting the plurality of sensing units 1112, and the receiving slot is located in front of the distance measuring mechanism 1111 and is distributed near the distance measuring mechanism 1111. The top opening of the receiving groove, through which the sensing unit 1112 is installed into the receiving groove. The top opening of the receiving groove is further covered with a second transparent window 127, the second transparent window 127 is used for packaging the plurality of sensing units 1112 in the receiving groove, wherein the receiving groove is arc-shaped, and the plurality of sensing units 1112 are distributed in the receiving groove at intervals.

Considering that sensing unit 1112 may not be able to successfully identify a sharp obstacle, a first triggering mechanism is provided between ranging mechanism 1111 and support structure 700, which is triggered in response to collision of ranging mechanism 1111 with the obstacle, such that ranging mechanism 1111 switches from the first state to the second state. In this case, the distance measuring mechanism 1111 may be movably disposed above the supporting structure 700, and when the distance measuring mechanism 1111 collides with an obstacle, the distance measuring mechanism 1111 moves under the action of an external force to trigger the first triggering mechanism. The first triggering mechanism comprises a triggering switch 1113 and an elastic element 1117, the triggering switch 1113 is arranged on the moving path of the distance measuring mechanism 1111, so that when the distance measuring mechanism 1111 moves under the action of an external force, the triggering switch 1113 can be triggered, and the triggering switch 1113 is electrically connected with the supporting structure 700 to realize the transmission of a triggering signal. The resilient element 1117 is configured to cause the ranging mechanism 1111 to float above the support structure 700; when the distance measuring mechanism 1111 does not collide with the obstacle, the elastic element 1117 can keep a predetermined trigger distance between the bottom of the distance measuring mechanism 1111 and the trigger switch 1113; elastic element 1117 is used to actuate ranging mechanism 1111 to reset after ranging mechanism 1111 collides with an obstacle. The elastic element 1117 is preferably a spring, and specifically, the top end of the elastic element 1117 is engaged with the distance measuring mechanism 1111, and the bottom end of the elastic element 1117 is engaged with the supporting structure 700. Accordingly, the distance measuring mechanism 1111 receives the driving force of the collision force of the external obstacle to control the support structure 700 to perform the descending motion.

Further, a motion conversion structure is arranged between the distance measuring mechanism 1111 and the support structure 700, and the motion conversion structure is configured to enable a horizontal displacement component generated by the distance measuring mechanism 1111 under the collision force in the running direction to be at least partially converted into a vertical displacement component when the distance measuring mechanism 1111 collides in the running direction; wherein the horizontal displacement component is less than the vertical displacement component. The fact that the above-mentioned horizontal displacement component is smaller than the vertical displacement component means that: the amount of displacement of the distance measuring mechanism 1111 in the horizontal direction is smaller than the amount of displacement of the distance measuring mechanism 1111 in the vertical direction. Referring to fig. 26, the motion conversion structure includes a guiding slot 1115 and a limiting rod 1116, one of the guiding slot 1115 and the limiting rod 1116 is disposed at the bottom of the distance measuring mechanism 1111, the other one is disposed at the top of the supporting structure 700, and two ends of the limiting rod 1116 penetrate through the guiding slot 1115, wherein the guiding slot 1115 is inclined with respect to the horizontal plane, so that the distance measuring mechanism 1111 has a downward and backward motion state.

Further, referring to fig. 27, the supporting structure 700 includes a frame 710, a sliding seat 720, a driving mechanism 730, and a guiding unit 740, wherein the frame 710 is disposed in the mounting region M of the main body 110, the sliding seat 720 is supported at the bottom of the distance measuring mechanism 1111 and is driven by the driving mechanism 730 to be disposed on the frame 710 in a lifting manner, the driving mechanism 730 drives the sliding seat 720 to move up and down in response to a control signal of the controller, and the guiding unit 740 is used for guiding the sliding seat 720 to move up and down along the vertical direction.

Specifically, the driving mechanism 730 includes a driver 731 disposed on the frame 710 and connected to the controller for executing the control signal of the controller; and a transmission member 732 having a bottom fixed to the rotation shaft of the driver 731 and a top hinged to the bottom of the sliding seat 720. The guide unit 740 is further provided with a micro switch (not shown) for limiting the upper and lower movement limit positions of the sliding seat 720.

In the present invention, the second triggering mechanism of the striking plate assembly is connected to the driving mechanism 730 of the supporting structure 700, the second triggering mechanism is connected to the driving mechanism 730 through a wire, and the second triggering mechanism is triggered in response to the collision between the striking plate body 120 and the obstacle, so that the distance measuring mechanism 1111 is switched from the first state to the second state.

In the present invention, the line laser module 800 is disposed on the sidewall of the body 100, and the line laser module 800 is used to detect the distance between the outer sidewall of the body 100 and the cleaning boundary of the outside. Specifically, the line laser module 800 is disposed on the side wall of the machine body 110, and the line laser module 800 can accurately measure the distance between the machine body 100 and the external cleaning boundary during operation, so as to ensure that the machine body 100 is clean in the welt.

The above is only one embodiment of the present invention, and any other modifications based on the concept of the present invention are considered as the protection scope of the present invention.

Claims (10)

1. An identification system for use with a self-moving cleaning device, comprising:

the distance measuring mechanism is arranged outside the top of the body of the self-moving cleaning equipment and has a first state of being exposed outside the body and a second state of being accommodated in the body;

the lifting mechanism is arranged in the machine body and is supported below the distance measuring mechanism; and

the sensing unit is arranged on the machine body and connected with the lifting mechanism, and is configured to judge the height of an external obstacle so as to form a driving signal for controlling the lifting mechanism to lift;

wherein the lifting mechanism is responsive to a driving signal of the sensing unit to drive the ranging mechanism to switch between the first state and the second state.

2. The identification system of claim 1,

the mobile direction of the self-moving cleaning equipment is the front, the ranging mechanism is located at the rear part of the machine body, at least one sensing unit is arranged at the top of the machine body, and when the ranging mechanism is in the first state, the ranging mechanism is higher than the sensing unit.

3. The identification system of claim 2,

the moving direction of the self-moving cleaning equipment is the front direction, and at least one sensing unit is distributed on the front side of the distance measuring mechanism.

4. Identification system according to claim 2 or 3,

the plurality of sensing units are distributed on the front side, the left side and the right side of the distance measuring mechanism.

5. The identification system of claim 1, further comprising:

the first trigger mechanism is arranged between the distance measuring mechanism and the lifting mechanism and connected with the lifting mechanism, the distance measuring mechanism can be movably arranged above the lifting mechanism, and the first trigger mechanism is triggered in response to the collision between the distance measuring mechanism and an obstacle, so that the distance measuring mechanism is switched from the first state to the second state; and/or

The second trigger mechanism is arranged in the front of the machine body and connected with the lifting mechanism, the front of the machine body is provided with a collision plate body in a floating mode, and the second trigger mechanism is triggered in response to collision between the collision plate body and an obstacle, so that the distance measuring mechanism is switched from the first state to the second state.

6. The identification system of claim 5,

the first trigger mechanism comprises a trigger switch and an elastic element, and the trigger switch is connected with the lifting mechanism;

wherein the elastic element is configured to enable the distance measuring mechanism to be arranged above the lifting mechanism in a floating mode.

7. The identification system of claim 5,

under the condition that the first trigger mechanism is arranged between the distance measuring mechanism and the lifting mechanism, a motion conversion structure is arranged between the distance measuring mechanism and the lifting mechanism, and the motion conversion structure is configured to enable a horizontal displacement component generated by the collision force of the distance measuring mechanism in the running direction to be at least partially converted into a vertical displacement component when the distance measuring mechanism collides in the running direction;

wherein the horizontal displacement component is less than the vertical displacement component.

8. The identification system of claim 7,

the motion conversion structure comprises a guide groove and a limiting rod, one of the guide groove and the limiting rod is arranged at the bottom of the distance measuring mechanism, the other of the guide groove and the limiting rod is arranged at the top of the lifting mechanism, and two ends of the limiting rod penetrate through the guide groove;

the guide groove is obliquely arranged relative to the horizontal plane, so that the distance measuring mechanism has downward and backward movement situations.

9. The identification system of claim 1,

the fuselage is close to be equipped with first perspective window on the lateral wall of ranging mechanism, first perspective window is configured to be worked as when ranging mechanism is in the second state so that ranging mechanism sensing external environment.

10. A self-moving cleaning apparatus, comprising:

an identification system as claimed in any one of claims 1-9;

the fuselage, inside has the installing zone, the installing zone open-top sets up, identification system's ranging mechanism locates in the open-top.

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