TWI689275B - Intelligent cleaning device - Google Patents

Abstract

This application provides an intelligent cleaning device. The cleaning device includes a main body, a location confirming device, and an antilocking device. The main body includes a main house, which includes a chamber. The location confirming device is rotatably installed in the main part, and at least a part of the location confirming device is capable of rolling into the container. The antilocking device may detect a location message delivered by the location confirming device, and control the intelligent cleaning device to execute an antilocking action according to the location message. The intelligent cleaning device may avoid being stuck and has a better adaptability.

Description

Smart cleaning equipment

The invention relates to the field of household appliance equipment, in particular to a smart cleaning equipment.

Smart cleaning equipment (or automatic cleaning equipment) is a kind of equipment that can automatically complete cleaning according to a set program. For example, sweeping robots.

FIG. 1 shows a schematic diagram of an automatic cleaning device tilted by an upper obstacle. In the following, with reference to FIG. 1, the relationship and principle between the tilt of the body of the automatic cleaning device and being stuck by the obstacle above will be described.

The position determining device 20 of the conventional automatic cleaning equipment can measure parameters such as the distance and size of surrounding objects. However, if there is an upper obstacle 100, and the height of the bottom gap of the upper obstacle 100 is very close to the height of the automatic cleaning device, then since the top of the protective cover of the position determining device 20 is above the sensing unit, this part is the measurement dead zone In addition, due to the existence of measurement errors and the like, the position determining device 20 cannot recognize the obstruction of the upper obstacle 100 to the automatic cleaning equipment, or the forward obstacle to the upper obstacle 100 may form a misjudgment.

For example, when the highest point of the automatic cleaning device is about 10cm, the distance between the cabinet, bed, sofa, etc. in the user's home is often about 10cm. Then these things may become an obstacle above the automatic cleaning device.

As the automatic cleaning device advances, if the convex structure corresponding to the position determining device 20 is indeed lower than the height of the bottom side of the upper obstacle 100, the automatic cleaning device can normally enter the bottom of the upper obstacle 100 and perform the corresponding automatic cleaning operating. If the convex structure corresponding to the position determining device 20 is indeed higher than the height of the bottom side of the upper obstacle 100, the convex structure will form a contact point with the upper obstacle 100.

Then, another contact point is formed between the driving wheel of the automatic cleaning device and the ground. So when When the automatic cleaning device is stuck at the point of contact with the upper obstacle 100 by the upper obstacle 100 during traveling, the automatic cleaning device is subjected to its downward gravity and the forward friction of the driving wheel rubbing on the ground In effect, the automatic cleaning device will rotate clockwise, that is, the head of the automatic cleaning device tilts upward, forming the tilted state shown in FIG. 1.

In this case, the automatic cleaning device is stuck and cannot be moved anymore, causing the setting to be stuck in the gap.

Embodiments of the present invention provide a smart cleaning device to solve the problem that the conventional cleaning robot easily gets stuck in a space with insufficient height.

According to one aspect of the present invention, there is provided a smart cleaning device, which includes: a machine main body including a main housing having a receiving cavity; a position determining device that is rotatably provided on the machine main body, and At least a part of the position determining device can be turned into the accommodating cavity of the main housing; the anti-seize device can detect the rotational position information of the position determining device, and control the smart cleaning device to perform the anti-seize action according to the detected rotational position information.

Optionally, the smart cleaning device includes a walking part, the walking part is connected to the machine body, and can drive the machine body to move, and the anti-seizure device includes: a detector, which is arranged in the accommodating cavity of the main housing and detects the position determining device The rotation position; the control part, which is connected to the detector and the walking part respectively. The anti-seize action includes: the control part controls the walking part to drive the main body of the machine to perform the avoidance action according to the position of the position determining device detected by the detector.

Optionally, the position determining device includes: a bracket, which is rotatably provided on the machine body, and the bracket carries the protective cover and the position determining element, and the position determining element is located in the protective cover.

Optionally, the smart cleaning device further includes a buffer element, and the buffer element is disposed in the main housing.

Optionally, the cushioning element includes a main cushioning member, and the main cushioning member is disposed on the position determining device and can move with the rotation of the position determining device.

Optionally, the buffer element further includes an auxiliary buffer, the auxiliary buffer is disposed in the main housing, and the main buffer is in contact with the auxiliary buffer during rotation of the position determining device.

Optionally, the detector is provided on the auxiliary buffer, and the main buffer is provided with The trigger, when the position determining device is turned into the accommodating cavity, causes the trigger of the main buffer to touch the detector.

Optionally, the main buffer member includes: a base body, the base body is connected to the position determining device; a buffer leg, the buffer leg is plural, and all are fixedly connected to the base body.

Optionally, an air duct partition is provided in the accommodating cavity of the main housing, and an auxiliary buffer member is provided on the air duct partition.

Optionally, the auxiliary buffer includes: a mounting seat, which is connected to the air duct partition; a buffer plate, the first end of the buffer plate is provided with a bending buffer section, and the buffer plate is connected to the mounting seat through the bending buffer section.

Optionally, the top edge of the protective cover is provided with a chamfered structure.

Optionally, the detector includes a micro switch, a laser detector, or an infrared detector.

To achieve the above object, the embodiments of the present invention provide the smart cleaning device of the embodiment of the present invention. By rotatably connecting the position determining device to the main housing, the anti-seize device can detect the rotational position information of the position determining device, and according to The rotation position information of the position determining device controls the smart cleaning device to perform anti-seize action, so that the position determining device can rotate when touching an obstacle, so that the anti-seize device controls the smart cleaning device to perform anti-seize action to prevent the smart cleaning device from jamming In a space with insufficient height, the adaptability of smart cleaning equipment is better.

10: main housing

11: forward part

12: backward part

13: Mounting plate

131: detector installation space

20: Position determining device

21: Protective cover

211: Rotating shaft mounting groove

30: horizontal axis

41: Detector

51: main buffer

511: substrate

512: cushioning legs

513: Trigger

52: auxiliary buffer

521: Mount

522: Buffer plate

523: Bending buffer section

60: Air duct partition

70: Walking Department

100: Obstacle

1 is a schematic structural view of a smart cleaning device in a conventional technology stuck in a gap with insufficient height; FIG. 2 is a schematic top structural view of a smart cleaning device according to an embodiment of the present invention; FIG. 3 is a wisdom of an embodiment of the present invention Figure 4 is a schematic diagram of the bottom view of the cleaning device; Figure 4 is a schematic diagram of the rear view of the smart cleaning device of the embodiment of the present invention; Figure 5 is a schematic structural view of the smart cleaning device of the embodiment of the present invention driving into the gap; Figure 6 is the present invention FIG. 7 is a schematic structural view of a smart cleaning device according to an embodiment of the invention when the position determining portion of the smart cleaning device touches an obstacle; 8 is a schematic diagram of a three-dimensional structure of the cooperation between the main casing of the smart cleaning device and the protective cover of the position determining portion of the embodiment of the present invention; FIG. 9 is a perspective view of the protective cover of the smart cleaning device and the horizontal axis of the embodiment of the present invention 10 is a schematic diagram of the three-dimensional structure of the protective cover of the smart cleaning device of the embodiment of the present invention; FIG. 11 is a three-dimensional structure of the main buffer of the smart cleaning device of the embodiment of the present invention; FIG. 13 is a three-dimensional structural schematic diagram of an auxiliary buffer of an intelligent cleaning device according to an embodiment; FIG. 13 is a three-dimensional structural schematic diagram of a mounting plate of a main casing of an intelligent cleaning device according to an embodiment of the present invention; FIG. 14 is a partial enlargement at A in FIG. Fig. 15 is a schematic diagram of a first chamfered structure of a smart cleaning device according to an embodiment of the invention; Fig. 16 is a schematic diagram of a second chamfered structure of a smart cleaning device according to an embodiment of the invention.

The smart cleaning device according to an embodiment of the present invention will be described in detail below with reference to the drawings. As shown in FIGS. 2 to 4, according to an embodiment of the present invention, there is provided a smart cleaning device including a machine main body, a position determining device 20 and an anti-seizure device. The machine main body includes a main housing 10 having a receiving cavity. The position determining device 20 is rotatably provided on the machine body, and at least a part of the position determining device 20 can be turned into the accommodating cavity of the main housing 10; the anti-seize device detects the rotational position information of the position determining device 20, and according to the detected Rotate the position information to control the smart cleaning equipment to perform anti-seize action. The position determining device 20 is rotatably provided on the main body of the machine, so that the position determining device 20 can rotate at least partly into the accommodating cavity of the main housing 10, and the anti-seize device controls the smart cleaning device to execute the prevention according to the position of the detected position determining device 20 The card action prevents the smart cleaning device from getting stuck in the gap, thereby improving the ability of the smart cleaning device to adapt to the narrow gap.

In this embodiment, the position determining device 20 is rotatably provided on the machine body via the horizontal axis 30. This way can effectively reduce the space occupied by the rotation.

The intelligent cleaning equipment may be intelligent robots such as sweeping robots and mopping robots. In addition to the machine main body and the position determining device 20, the smart cleaning device also includes: a perception system, a control system, a drive system, a cleaning system, an energy system, and a human-computer interaction system. Among them, the perception system is used to sense the surrounding environment and self information of smart cleaning equipment. The control system is used to receive information from each part and control it. The drive system is used to drive the movement of smart cleaning equipment. The cleaning system is used for cleaning. Energy systems are used to provide energy power. The human-computer interaction system is used to interact with the user, which is convenient for the user to control the smart cleaning equipment.

In addition to the main housing 10, the machine body also includes a forward portion 11 and a backward portion 12. The main body of the machine has an approximately circular shape (both front and back are circular), and may also have other shapes, including but not limited to an approximately D shape with a front and back circle. The forward portion 11 refers to a portion toward the forward direction when the smart cleaning equipment is cleaned. The backward portion 12 refers to a portion opposite to the forward portion 11. In this embodiment, the forward portion 11 and the backward portion 12 are both arc-shaped.

The sensing system includes a buffer located in the forward part 11 of the machine body, a cliff sensor and an ultrasonic sensor (not shown in the figure), an infrared sensor (not shown in the figure), and a magnetometer (not shown in the figure) Out), accelerometer (not shown in the figure), gyroscope (not shown in the figure), odometer (not shown in the figure) and other sensing devices. The perception system is used to provide various position information and motion status information of the intelligent cleaning equipment to the control system.

The position determining device 20 includes a bracket 25 and a position determining element. The bracket 25 is rotatably provided on the machine body. The bracket 25 carries the protective cover 21 and the position determining element. The position determining element is located in the protective cover 21. The protective cover 21 is carried by the bracket 25, and the position determining element is provided in the protective cover 21, and the position determining element can be reliably protected by the protective cover 21. The position determining elements of the position determining device 20 include but are not limited to cameras and laser distance measuring devices (LDS). The position determining device 20 is used to measure the distance between the smart cleaning device and the traveling path and surrounding obstacles to ensure that the smart cleaning device can work normally. In the following, the position determining device 20 includes a laser distance measuring device using a triangulation method as an example to explain how to determine the position. The basic principle of the triangulation distance measurement method is based on the proportional relationship of similar triangles, which will not be repeated here.

The laser distance measuring device includes a light emitting unit and a light receiving unit. The light emitting unit may include a light source that emits light, and the light source may include a light emitting element, such as an infrared or visible light emitting diode (LED) that emits infrared light or visible light. Preferably, the light source may be a light emitting element that emits a laser beam.

In this embodiment, a laser diode (LD) is used as an example of the light source. Specifically, due to the monochromatic, directional, and collimating characteristics of the laser beam, the use of a laser beam light source can make the measurement more accurate than other light sources. For example, compared to a laser beam, infrared light or visible light emitted by a light emitting diode (LED) is affected by surrounding environmental factors (such as the color or texture of an object), and the measurement accuracy may be reduced. The laser diode (LD) can be a point laser to measure the two-dimensional position information of the obstacle, or a line laser to measure the three-dimensional position information within a certain range of the obstacle.

The light receiving unit may include an image sensor, and a light spot reflected or scattered by an obstacle is formed on the image sensor. The image sensor can be a single row or a collection of multiple unit picture elements in multiple rows. These light-receiving elements can convert optical signals into electrical signals. The image sensor may be a complementary metal oxide semiconductor (CMOS) sensor or a charge coupled device (CCD) sensor. Due to cost advantages, the complementary metal oxide semiconductor (CMOS) sensor is preferred. Moreover, the light receiving unit may include a light receiving lens element. The light reflected or scattered by the obstacle can travel through the light-receiving lens element to form an image on the image sensor. The light-receiving lens element may include a single lens or a plurality of lenses.

The base may support the light-emitting unit and the light-receiving unit, and the light-emitting unit and the light-receiving unit are arranged on the base and spaced apart from each other by a certain distance. In order to measure the situation of obstacles in the 360° direction around the smart cleaning device, the base can be rotatably arranged on the machine body, or the base itself can be rotated without setting and rotating the emitted light and the received light by providing a rotating element. The rotation angular velocity of the rotating element can be obtained by setting the optocoupler element and the code wheel. The optocoupler element senses the tooth gap of the code wheel, and the transient angular speed can be obtained by dividing the slip time between the tooth gap and the distance between the tooth gap. The greater the density of the tooth gap on the code wheel, the higher the accuracy and accuracy of the measurement, but the more precise the structure and the higher the amount of calculation; conversely, the smaller the density of the tooth gap, the higher the accuracy and the measurement The corresponding accuracy is lower, but the structure can be relatively simple, and the amount of calculation is smaller, which can reduce some costs.

A data processing device connected to the light receiving unit, such as a DSP, records and transmits obstacle distance values at all angles with respect to the 0° angle direction of the smart cleaning device to the data processing unit in the control system, such as an application processor including a CPU (AP), the CPU runs a particle filtering-based positioning algorithm to obtain the current position of the smart cleaning device, and maps based on this position for navigation. The positioning algorithm preferably uses real-time positioning and map building (SLAM).

The laser distance measuring device based on the triangulation distance measurement method can measure a certain degree in principle The value of the distance at an infinite distance other than the distance, but in fact, it is very difficult to achieve long-distance measurement, such as 6 meters, mainly because the size of the picture element unit on the sensor of the light receiving unit is also limited by the sensor The photoelectric conversion speed, the data transmission speed between the sensor and the connected DSP, and the calculation speed of the DSP. The measurement value of the laser distance measuring device affected by the temperature will also change that the system cannot tolerate, mainly because the thermal expansion deformation of the structure between the light emitting unit and the light receiving unit causes the angle between the incident light and the outgoing light to change, the light emitting unit There is also a temperature drift problem with the light receiving unit itself. After the laser ranging device is used for a long time, the deformation caused by the accumulation of various factors such as temperature change and vibration will also seriously affect the measurement result. The accuracy of the measurement results directly determines the accuracy of the map, which is the basis for the smart cleaning equipment to further implement the strategy, which is particularly important.

The front part 11 of the machine body can carry a buffer. During the cleaning process, the drive system propels the smart cleaning device to walk on the ground. The buffer includes one or more sensors, such as an infrared sensor, to detect the travel path of the smart cleaning device One or more events (or objects), the smart cleaning device can control the drive system to make the smart cleaning device respond to the event (or object) through the event (or object) detected by the buffer, such as an obstacle, a wall Respond, such as staying away from obstacles.

The control system is installed on the circuit board in the machine body, including computing processors (such as central processing unit, application processor) that communicate with non-transitory memory (such as hard disk, flash memory, random access memory) ), the application processor uses a positioning algorithm (such as SLAM) to draw a real-time map of the environment where the smart cleaning equipment is located based on the obstacle information returned by the laser ranging device. And combined with the distance information and speed information returned by the sensor devices such as buffers, cliff sensors and ultrasonic sensors, infrared sensors, magnetometers, accelerometers, gyroscopes, odometers, etc. to comprehensively determine where the smart cleaning equipment is currently located Various working conditions, such as crossing the threshold, putting on the carpet, being located at the cliff, being stuck above or below, full of dust boxes, being picked up, etc., will also give specific next action strategies for different situations, making smart cleaning equipment The work is more in line with the master's requirements and has a better user experience. Furthermore, the control system can plan the most efficient and reasonable sweeping path and sweeping method based on SLAM drawing, even if the map information is the most efficient, which greatly improves the sweeping efficiency of smart cleaning equipment.

The energy system includes rechargeable batteries. Among them, rechargeable batteries may include nickel-metal hydride batteries and lithium batteries. The rechargeable battery can be connected with a charging control circuit, a battery pack charging temperature detection circuit and a battery undervoltage monitoring circuit, a charging control circuit, a battery pack charging temperature detection circuit, The pool undervoltage monitoring circuit is then connected to the single-chip microcomputer control circuit. The main unit is connected to the charging pile through the charging electrodes arranged on the side or below the fuselage for charging. If dust is attached to the exposed charging electrode, the plastic body around the electrode will melt and deform due to the cumulative effect of the charge during the charging process, and even the electrode itself will be deformed and normal charging cannot continue.

The driving system includes a walking part, which is used to drive the intelligent cleaning equipment to move. Specifically, the walking part is connected to the machine body and can drive the machine body to move.

As shown in FIGS. 5 to 7, when the smart cleaning device moves, if it enters a gap with insufficient height, the upper end of the position determining device 20 is in contact with an obstacle, causing the force of the machine body to change, so that the machine body presents FIG. 1 In the stuck state shown in the figure, the smart cleaning device cannot continue to work.

In order to avoid this situation, the position determining device 20 can rotate around the horizontal axis 30. When entering a gap with insufficient height or colliding with an obstacle during entering the gap, the position determining device 20 is forced to rotate into the main housing 10 to prevent When the card device detects that the position determining device 20 rotates into the main housing 10, the smart cleaning device is controlled to perform an anti-card evasion action, for example, to move the smart cleaning device backward.

Of course, in other embodiments, in order to avoid this situation, when the smart cleaning device enters a gap with insufficient height or collides with an obstacle while entering the gap, the position determining device 20 can be rotated around the horizontal axis 30 toward the main housing Rotate within 10 to prevent the smart cleaning equipment from jamming by reducing the overall height of the smart cleaning equipment.

Preferably, the control system includes the anti-seize device. The anti-seize device includes a detector 41 and a control unit (the control unit may be combined with the above-mentioned computing processor into one, or may be provided separately). The detector 41 is provided in the main housing 10 in the accommodating cavity, and the position of the positioning device 20 is detected. As shown in FIG. 6, when the position determining device 20 rotates into the accommodating cavity, the detector 41 can detect that the position determining device 20 is in the position of being turned into the accommodating cavity, indicating that the smart cleaning device is in a position with insufficient height or protection at this time The cover 21 collides with an obstacle. Specifically, the detector 41 may include a micro switch, a laser detector, an infrared detector, and the like.

The control unit is connected to the detector 41 and the walking unit respectively. The anti-seizure action includes the control unit controlling the walking unit to drive the machine body backward according to the position of the position determining device 20 detected by the detector 41. When the detector 41 detects that the position determining device 20 is in a space with insufficient height or collides with an obstacle, the control unit controls the walking unit to walk in the reverse direction, thereby moving away from the obstacle or escaping from the gap.

As shown in FIGS. 8 to 10, the bracket is provided with a shaft mounting groove 211. The bracket includes a protective cover 21 and is connected to the main housing 10 through a horizontal shaft 30. The leveling shaft 30 may be provided on the front side, the rear side, or both sides of the protective cover 21. As shown in FIG. 15 and FIG. 16, in order to avoid collision and damage of the protective cover 21 and obstacles, to disperse the impact force, and at the same time to make the protective cover 21 easier to escape from the gap, the top edge of the protective cover 21 is provided with a chamfered structure. Preferably, a chamfering structure is provided to the top edge before the protective cover 21. The chamfering structure can be arc chamfering or 45° chamfering.

Preferably, in order to improve durability and avoid damage to the detector due to excessive collision during rotation, the smart cleaning device further includes a buffer element, which is disposed in the main housing 10. The buffer element can reduce the impulsive force of the rotation of the bracket 25, prevent excessive physical impact force from damaging the detector, such as a micro switch, and increase the service life.

The structure of the buffer element can be various, and any structure that can reduce the impact force is acceptable. For example, a cushion rubber pad or the like is provided on the bracket 25.

Preferably, in this embodiment, the buffer element includes a main buffer 51, which is disposed on the protective cover 21 of the position determining device 20 and can move with the rotation of the protective cover 21. Specifically, as shown in FIG. 11, the main buffer 51 includes a base 511 and a buffer leg 512, the base 511 is connected to the protective cover 21, and the shape of the base 511 is rectangular, which is a frame structure, which can reduce weight and ensure strength. The buffer legs 512 are plural (two or more), and are all fixedly connected to the base 511. The buffer legs 512 are elongated leg structures, so that the impact force can be absorbed by the deformation of the elongated legs. The materials of the base 511 and the buffer legs 512 can be selected according to needs, for example, plastic, steel, etc.

Preferably, there are a plurality of buffer legs 512, and they are evenly distributed on the base 511 along the circumferential direction of the base 511.

Preferably, the buffer element further includes an auxiliary buffer 52, which is disposed in the main housing 10, and the main buffer 51 contacts the auxiliary buffer 52 during the rotation of the protective cover 21 of the position determining device 20. As shown in FIG. 9, the air duct partition 60 is provided in the accommodating cavity of the main housing 10, and the auxiliary buffer 52 is disposed on the air duct partition 60. Of course, in other embodiments, the auxiliary buffer 52 may be disposed on other structures, as long as the auxiliary buffer 52 can be installed and the auxiliary buffer 52 can buffer the protective cover 21.

Preferably, as shown in FIG. 12, the auxiliary buffer 52 includes a mounting base 521 and a buffer plate 522. The mounting base 521 is connected to the air duct partition 60. Structure and shape of mounting base 521 Can be adapted to the structure of the installation. In the present embodiment, the mounting base 521 includes a plurality of round holes, and the mounting base 521 is fixed to the upper column of the air duct partition 60 through the round holes. The first end of the buffer plate 522 is provided with a bending buffer section 523, and the buffer plate 522 is connected to the mounting base 521 through the bending buffer section 523. The bending buffer section 523 is U-shaped, and the buffer plate 522 and the mounting base 521 are combined to form a cantilever structure. When the protective cover 21 rotates into the main housing 10, the main buffer 51 moves with it, and the auxiliary buffer 52 is on its movement path. During the movement of the main cushioning member 51, the cushioning leg 512 is in contact with the cushioning plate 522 of the auxiliary cushioning member 52. Through the deformation of the cushioning leg 512 and the movement of the cushioning plate 522, the impact force can be absorbed to protect and cushion the protective cover 21 .

Preferably, in order to facilitate the detection of the position of the protective cover 21, the detector 41 (micro switch) is provided on the auxiliary buffer member 52, and the main buffer member 51 is provided with a trigger 513. When the position determining device 20 is turned into the accommodating cavity, The trigger 513 of the main buffer 51 touches the detector 41 (micro switch), at which time the detector 41 detects the position of the protective cover 21.

Preferably, as shown in FIG. 11, in order to further improve the buffering effect, the trigger 513 is a cylindrical protrusion, which is connected to the base 511 of the main buffer 51 through two elongated buffer bridges. In this way, during the contact between the trigger 513 and the detector 41, a part of the impact force can be absorbed by the deformation of the elongated buffer bridge, and a part of the impact force can be absorbed by the deformation of the buffer leg 512 of the main buffer member 51 to achieve multi-stage buffering.

As shown in FIGS. 13 and 14, a mounting plate 13 is provided in the main housing 10. The mounting plate 13 is provided with a detector mounting space 131. The mounting plate 13 is provided with a hole for the protrusion 513 to pass through, so that the protrusion 513 can pass through the hole to trigger the micro switch. The maximum stroke of the movable end of the protective cover 21 can be set according to needs. In this embodiment, it is 1.0 mm. This value mainly depends on the trigger stroke of an electronic device (such as a micro switch).

The position determining device 20 is set in a rotatable manner. When the smart cleaning equipment is blocked due to the obstruction above, the position determining device 20 pivots to trigger the micro switch, and the control unit receives the micro switch After the signal, the back command is called to prevent the smart cleaning device from continuing to move forward. This solves the problem that the protective cover is fixed on the machine casing in the prior art and gets stuck in some special occasions where the height is insufficient. And it is more reliable and accurate to get rid of difficulties through hardware triggering.

The smart cleaning device of the present invention has the following effects:

By making the protective cover and other structure of the position determination device in the protective cover can be turned It is dynamically installed on the main body of the machine and can notify the control department when the height is insufficient. After receiving the signal, the control department controls the smart cleaning equipment to retreat to prevent the protective cover from seriously colliding with the furniture (or other obstacles), and Prevent the smart cleaning equipment from being stuck.

The protective cover is set by pivoting, the degree of freedom is large, and the direction of rotation is toward the inside of the machine, and it will not be affected by foreign objects. The structure is easy to implement, the function implementation cost is low, and the functional requirements can be met.

The above are only specific embodiments of the present invention, but the scope of protection of the present invention is not limited to this. Any person skilled in the art can easily think of changes or replacements within the technical scope disclosed by the present invention. It should be covered by the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

20. Position determining device 30. Horizontal axis 41. Detector 51. Main buffer 52. Auxiliary buffer 60. Air duct partition

Claims (12)

A smart cleaning device, comprising: a machine main body including a main housing having a containing cavity; a position determining device, the position determining device is rotatably provided on the machine main body, And at least a part of the position determining device can be turned into the accommodating cavity of the main casing; an anti-seize device, the anti-seize device can detect the rotational position information of the position determining device, and according to the detected rotational position information Controlling the smart cleaning device to perform an anti-card action. The smart cleaning device as described in item 1 of the patent scope, wherein the smart cleaning device includes a walking part, the walking part is connected to the machine body, and can drive the machine body to move, and the anti-seizure device It includes: a detector, which is arranged in the accommodating cavity of the main housing, and detects the rotational position of the position determining device; a control part, the control part and the detector and the walking part, respectively In connection, the anti-seize action includes: the control part controls the walking part to drive the machine body to perform an evasion action according to the position of the position determining device detected by the detector. The smart cleaning device according to item 1 of the patent application scope, wherein the position determining device includes: a bracket rotatably provided on the machine body, the bracket carrying a protective cover and a position determining element , The position determining element is located inside the protective cover. The smart cleaning device according to item 1 of the patent application scope, wherein the smart cleaning device further includes a buffer element, and the buffer element is disposed in the main housing. The smart cleaning device according to item 4 of the patent application scope, wherein the buffer element includes a main buffer member, and the main buffer member is provided on the position determining device and can rotate with the rotation of the position determining device mobile. The smart cleaning device according to item 5 of the patent application scope, wherein the buffer element further includes an auxiliary buffer member, the auxiliary buffer member is disposed in the main housing, and the main buffer member is determined with the position The device is in contact with the auxiliary buffer during rotation. The smart cleaning device as described in item 6 of the patent application scope, wherein the detector is provided on the auxiliary buffer member, and the main buffer member is provided with a trigger, when the position determining device turns into the When contained in the cavity, the trigger of the main buffer member is triggered The detector. The smart cleaning device according to item 5 of the patent application scope, wherein the main buffer member includes: a base body, the base body is connected to the position determining device; a buffer leg, the buffer legs are plural, and Both are fixedly connected to the substrate. The smart cleaning device as described in item 6 of the patent application scope, wherein the accommodating cavity of the main housing is provided with an air duct partition, and the auxiliary buffer is provided on the air duct partition. The smart cleaning device according to item 9 of the patent application scope, wherein the auxiliary buffer member includes: a mounting base, the mounting base is connected to the air duct partition; a buffer plate, a first end of the buffer plate A bending buffer section is provided, and the buffer plate is connected to the mounting seat through the bending buffer section. The smart cleaning device as described in item 3 of the patent application scope, wherein the top edge of the protective cover is provided with a chamfering structure. The smart cleaning device according to any one of claims 2 to 10, wherein the detector includes a micro switch, a laser detector, or an infrared detector.

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