CN113729543A

CN113729543A - Cleaning device with edge and omnidirectional obstacle detection

Info

Publication number: CN113729543A
Application number: CN202110999535.4A
Authority: CN
Inventors: 江莉华
Original assignee: Shenzhen Aidi Technology Co ltd
Current assignee: Shenzhen Aidi Technology Co ltd
Priority date: 2021-08-29
Filing date: 2021-08-29
Publication date: 2021-12-03

Abstract

A cleaning device with edge and omnidirectional obstacle detection comprises a machine shell, wherein a negative pressure part is arranged on the inner bottom surface of the machine shell, two symmetrical edges of the negative pressure part are respectively provided with a moving unit, the other two symmetrical edges of the negative pressure part are respectively provided with a cleaning unit used for cleaning dirt solidified on the surface of a flat object, the machine shell is provided with an edge and omnidirectional obstacle detection unit at two diagonal positions, the edge and omnidirectional obstacle detection unit is used for judging whether the current displacement direction, the whole machine position or the whole periphery reaches the edge of the surface of the flat object or has obstacles, the edge and omnidirectional obstacle detection unit, the moving unit and the cleaning unit are respectively and electrically connected with a main control unit, and the outer bottom surface of the machine shell is provided with a cleaning part. The noise interference to the living and living of the user when the user is in indoor cleaning work can be effectively reduced.

Description

Cleaning device with edge and omnidirectional obstacle detection

Technical Field

The invention relates to the technical field of cleaning devices, in particular to a cleaning device with edge and omnidirectional obstacle detection.

Background

In modern high-rise forests, glass on windows is required to be cleaned in order to clean the windows of the high-rise buildings, but glass cleaners are required to suspend from the building downwards by some equipment for carrying out high-altitude operation in order to clean the outer surfaces of the glass on the high-rise buildings, and the high-altitude operation is dangerous and inefficient for the glass cleaners.

With the development of science and technology, a window cleaning robot (also called an automatic window cleaning machine, a glass cleaning robot, an intelligent window cleaning machine, an intelligent window cleaner and the like) appears, the labor intensity and the danger of manually cleaning glass are greatly reduced, the window cleaning robot is one of intelligent household appliances, can be firmly adsorbed on the glass by virtue of a vacuum pump or a fan device at the bottom of the window, then automatically detects the corner distance of the window and plans a window cleaning path by virtue of certain artificial intelligence, and meanwhile, the cleaning cloth at the bottom of a machine body can be driven to wipe off dirt on the glass by utilizing the force of the window cleaning robot adsorbed on the glass; however, the existing window cleaning robot only has a simple function of detecting no frame or detecting running state obstacle, the frame detection is not sensitive, if an infrared sensor is used, the problem of the frame detection is not sensitive to a certain extent, but the module cost is high, and the traveling wheel module of the existing window cleaning robot only has a first driving wheel and a second driving wheel to transmit the motion of the transmission belt, the contact area of the transmission belt and the glass is small, under the condition of a certain friction coefficient, the friction force between the traveling wheel module and the glass is small, the loadable force is small, so that the machine traveling slipping phenomenon occurs, if a sliding friction support structure is added in the middle, the sliding friction support structure can wear the transmission belt for a long time, the service life is reduced, in addition, the machine above the market adopts a dry cleaning mode that the machine travels to drive the cleaning cloth, the cleaning is directly performed by using the sliding friction between the cleaning cloth and the glass, this cleaning mode requires a high friction and poor cleaning results, and the solidified dirt on the glass is difficult to clean.

Disclosure of Invention

The invention aims to overcome the defects in the prior art and provide a cleaning device with edge and omnidirectional obstacle detection, which increases edge and omnidirectional obstacle detection, can effectively prevent the cleaning device from running out of a to-be-cleaned area to cause negative pressure failure, so that the cleaning device falls off from the surface of a flat object, and simultaneously avoids the cleaning device directly colliding with an obstacle, so that the cleaning device can accurately perform cleaning operation in the to-be-cleaned area, the detection reaction is rapid and sensitive, and the cleaning effect on the surface of the flat object is greatly improved; the guide wheel between the first driving wheel and the second driving wheel of the moving unit can be matched with the first driving wheel and the second driving wheel to drive the transmission belt, and simultaneously, the guide wheel can support the transmission belt part contacted with the surface of the flat object, so that the transmission belt part contacted with the surface of the flat object can be better attached to the surface of the flat object, the friction force between the transmission belt and the surface of the flat object is enhanced, and the power received by the transmission belt is more effectively converted into the power of the cleaning device; and the cleaning device is stable in movement and not easy to slip, and can also effectively reduce the noise interference on living of users when cleaning work is carried out indoors.

In order to achieve the purpose, the invention adopts the following technical scheme:

a cleaning device with edge and omnidirectional obstacle detection comprises a machine shell, wherein a negative pressure part is arranged on the inner bottom surface of the machine shell and used for adsorbing the machine shell on the surface of a flat object, two symmetrical sides of the negative pressure part are respectively provided with a moving unit which is used for driving the machine shell to move on the surface of the flat object, two other symmetrical sides of the negative pressure part are respectively provided with a cleaning unit which is used for cleaning dirt solidified on the surface of the flat object, the machine shell is provided with an edge and omnidirectional obstacle detection unit at two diagonal positions, the edge and omnidirectional obstacle detection unit is used for judging whether the current displacement direction, the position of the whole machine or the whole periphery of the whole machine reaches the edge of the surface of the flat object or has an obstacle, and the edge and omnidirectional obstacle detection unit, the moving unit and the cleaning unit are respectively and electrically connected with a main control unit, the outer bottom surface of the casing is provided with a wiping part which is used for cleaning dirt on the surface of a flat object which is easy to clean.

The cleaning device comprises a casing, a negative pressure part, a moving unit, a cleaning unit and a main control unit, wherein the casing is composed of a base and an upper cover buckled on the base, the upper cover is used for protecting all electrical elements of the cleaning device, the negative pressure part is arranged in the middle of the base, and the moving unit, the cleaning unit and the main control unit are respectively arranged on the base.

The moving unit comprises a first shell, a second shell buckled with one side of the first shell, a first driving wheel arranged at one end between the first shell and the second shell, a second driving wheel connected with the first driving wheel through a driving belt, a guide wheel arranged between the first driving wheel and the second driving wheel, a power driven wheel connected with the first driving wheel through a planetary gear and a driving motor connected with the power driven wheel through a power transmission part, wherein the guide wheel is used for matching the first driving wheel and the second driving wheel to enable the driving belt to contact the surface of a flat object to form a flat surface.

The cleaning unit consists of a cleaning brush and a cleaning motor connected to one end of the cleaning brush, the cleaning brush is used for cleaning solidified dirt on the surface of the flat object, and the cleaning motor is used for driving the cleaning brush to rotate.

Edge and omnidirectional obstacle detecting element include an edge lift portion, the collision piece of cover in edge lift portion is established, locate reset spring between edge lift portion and the collision piece, locate edge response piece and obstacle response piece on the collision piece in order, locate the edge response portion of edge response piece wherein one end and the obstacle response portion that corresponds obstacle response piece and set up, this collision piece is used for driving obstacle response piece and triggering corresponding obstacle response portion when cleaning device wherein meets the obstacle on one side, this edge response portion is used for cooperating reset spring and edge response piece to judge whether current displacement direction is in unsettled state and feed back the signal of telecommunication to main control unit, this obstacle response portion is used for cooperating the collision piece, reset spring and obstacle response piece judge whether current displacement direction has the obstacle to feed back the signal of telecommunication to main control unit.

One side of the collision block is provided with at least one front collision part in an outward protruding mode, the other side of the collision block is provided with at least one side collision part in an outward protruding mode, the front collision part is provided with at least one front linkage part, the side collision part is provided with at least one side linkage part, and at least one oblique angle linkage part is arranged between the front linkage part and the side linkage part.

A limiting plate is arranged between the collision block and the base, elastic arms are respectively arranged on the limiting plate corresponding to the front collision part and the side collision part, and the elastic arms are used for providing the force for resetting the collision block after encountering an obstacle.

Or, the edge and omnidirectional obstacle detection unit comprises an edge lifting part penetrating through the base, a reset spring sleeved on the edge lifting part, an edge sensing block fixed on the edge lifting part, an edge sensing part arranged on at least one side of the edge sensing block, a collision block sleeved on the bottom surface of the edge of the base, an obstacle sensing block connected on the collision block, at least two obstacle sensing parts arranged on one side of the obstacle sensing block and a limit elastic block arranged on the other side of the obstacle sensing block, wherein the collision block is used for driving the obstacle sensing block to rotate, the limit elastic block is used for resetting the rotating obstacle sensing block, collision bulges are respectively arranged at two sides of the collision block in an outward protruding way, the collision bulges are used for driving the collision block to rotate towards the opposite direction of the obstacle when one side of the cleaning device encounters the obstacle, one side of each collision bulge is provided with a front linkage part, the other collision bulge is provided with a side linkage part at one time, and an oblique angle linkage part is also arranged between the front linkage part and the side linkage part.

At least one side of the edge induction block extends outwards to form a touch arm, and the touch arm is used for triggering the edge induction part when the cleaning device is displaced to the edge of the surface of the plane object.

The collision piece epirelief is equipped with two at least fixed columns, and each this fixed column wears to locate the base of casing, and respectively with obstacle response piece fixed connection, is equipped with an at least trigger arm towards obstacle response portion on this obstacle response piece, should trigger the arm and be used for triggering obstacle response portion when cleaning device meets the barrier, and this obstacle response piece corresponds spacing bullet piece and is equipped with a spacing arm, and this spacing arm is used for coordinating spacing bullet piece and resets pivoted obstacle response piece.

The edge and omnidirectional obstacle detection unit consists of an edge lifting part penetrating through the base, a reset spring sleeved on the edge lifting part, an edge sensing block fixed on the edge lifting part, an edge sensing part arranged on at least one side of the edge sensing block, an impact block arranged on at least one side of the bottom surface of the corner of the base, an obstacle sensing block connected to the impact block, an obstacle sensing part arranged on one side of the obstacle sensing block and a limit spring arranged on the other side of the obstacle sensing block, the collision block is used for driving the obstacle induction block to rotate, the limit spring is used for resetting the rotating obstacle induction block, one side of the collision block is provided with a collision part which is protruded outwards and is used for driving the collision block to rotate towards the direction opposite to the obstacle when the cleaning device encounters the obstacle at one side, one side of the collision part is provided with a detection linkage part, and one side of the detection linkage part is provided with an oblique angle linkage part.

The collision piece epirelief is equipped with the fixed column, this fixed column wears to locate the base of casing, and with obstacle response piece fixed connection, be equipped with at least one trigger arm towards obstacle response portion on this obstacle response piece, this trigger arm is used for triggering obstacle response portion when cleaning device meets the obstacle, this obstacle response piece corresponds spacing spring and is equipped with a spacing arm, this spacing arm is used for cooperating spacing spring with pivoted obstacle response piece reseing, wherein, the corner bottom surface of this base has and only has wherein to be equipped with the collision piece on one side, this collision piece has and only has to be connected with an obstacle response piece, or, the both sides of the corner bottom surface of base have the collision piece, these two collision pieces set up about the corner symmetry, these two collision pieces correspond respectively and an obstacle response piece fixed connection.

The bottom surface of the machine shell is provided with a floating bottom plate, and the wiping part is arranged on the floating bottom plate.

The main control unit is internally provided with a multi-axis induction part which is used for matching with the main control unit to judge and adjust the running speed of the displacement cleaning unit.

The invention has the beneficial effects that: in the working process, the edge lifting part is under the action of the negative pressure part and receives the reverse acting force of the surface of the flat object, the reset spring in the edge lifting part is in a stressed state to form elastic deformation, the edge sensing block and the edge lifting part are kept in a rising state together, one side of the edge sensing block is far away from the edge sensing part, when the cleaning device moves to the edge of the surface of the flat object, the acting force of the surface of the flat object on the edge lifting part disappears, the reset spring pushes the edge lifting part down under the action of the elastic stress, the edge sensing block descends along with the edge lifting part and acts on the edge sensing part, the edge sensing part converts a trigger signal into an electric signal to be fed back to the main control unit, the main control unit gives a reversing or original path returning instruction, the edge detection is accurate and timely, the cleaning device is prevented from being adsorbed on the surface of the flat object, and the cleaning device is ensured to be stable and effectively used for cleaning the surface of the flat object, the situation that the cleaning device falls off from the surface of the flat object due to negative pressure failure caused by the fact that the cleaning device is moved out of the surface of the flat object in a transition mode is avoided; when the collision block encounters an obstacle, a reaction force is applied by the obstacle to rotate, at the moment, the collision block drives the obstacle sensing block to rotate, the trigger arm of the obstacle sensing block acts on the corresponding obstacle sensing part, the obstacle sensing part converts the trigger signal into an electric signal and feeds the electric signal back to the main control unit, the main control unit issues a reversing or original path returning instruction, the obstacle detection is accurate, the feedback is timely, the case of the cleaning device is prevented from directly colliding with the obstacle to be damaged, the displacement of the cleaning device in an effective area is ensured, and therefore the cleaning device can accurately perform cleaning operation in the area to be cleaned; the limiting plate or the limiting elastic block is arranged to ensure that the collision block and the obstacle induction block are reset in a linkage manner after the obstacle induction block triggers the obstacle induction part; the cleaning unit is arranged on the base while the bottom surface of the machine shell is provided with the cleaning part for cleaning common dirt on the surface of a flat object, the cleaning motor of the cleaning unit drives the cleaning brush to rotate, so that the solid dirt on the surface of the flat object is cleaned, the solidified dirt can be further cleaned while the cleaning device is ensured to normally clean the dirt, and the cleaning effect of the cleaning device on the surface of the flat object is greatly improved; the guide wheel between the first driving wheel and the second driving wheel of the moving unit can be matched with the first driving wheel and the second driving wheel to drive the transmission belt, and can also play a role in supporting the transmission belt part contacted with the surface of the flat object, so that the transmission belt part contacted with the surface of the flat object can be better attached to the surface of the flat object, and the friction force between the transmission belt and the surface of the flat object is enhanced, the power received by the transmission belt is more effectively converted into the power of the cleaning device and is not easy to slip; the first driving wheel, the second driving wheel and the transmission belt are matched by a belt wheel and a synchronous belt, so that the moving stability of the cleaning device can be effectively ensured, and the cleaning device can move more stably on the surface of a flat object; the power driven wheel and the power transmission part adopt the matching mode of a worm and gear, which is equivalent to spiral transmission and multi-tooth meshing transmission, so that the transmission is stable, the noise is very low, the mechanism transmission of the cleaning device is stable, the noise of the cleaning device during working can be effectively reduced, and the noise interference of the cleaning device during indoor working on living of a user is reduced.

Drawings

Fig. 1 is a schematic perspective view of the present invention.

Fig. 2 is a schematic bottom view of the present invention.

Fig. 3 is a schematic perspective view of the present invention without the upper cover.

Fig. 4 is an exploded view of the mobile unit of the present invention.

Fig. 5 is a schematic diagram of an exploded structure of an embodiment 1 of the edge and omnidirectional obstacle detection unit of the present invention.

Fig. 6 is a schematic structural diagram of an obstacle sensing block according to embodiment 1 of the present invention.

FIG. 7 is a schematic structural diagram of a cleaning unit according to the present invention.

Fig. 8 is a schematic diagram of an exploded structure of the base and floating floor of the present invention.

Fig. 9 is an exploded view of an embodiment 2 of the edge and omnidirectional obstacle detection unit of the present invention.

Fig. 10 is a bottom view of the edge sensing block of embodiments 2 and 3 of the edge and omnidirectional obstacle detection unit of the invention.

Fig. 11 is a schematic diagram of an exploded structure of an embodiment 3 of the edge and omnidirectional obstacle detection unit of the present invention.

The reference numbers illustrate:

1-a machine shell; 11-a base; 111-cleaning the fixing groove; 112-a negative pressure tank; 113-negative pressure holes; 114-a stopper; 12-upper cover; 121-power interface; 122-power indicator light; 123-power key; 2-a negative pressure part; 3-a mobile unit; 31-a first housing; 311-mounting grooves; 312-a slot cover; 32-a second housing; 33-a first driving wheel; 34-a transmission belt; 35-a second driving wheel; 36-a guide wheel; 37-a planetary gear; 38-power driven wheels; 39-a power transmission member; 3 a-a drive motor; 3 b-ball bearings; 3 c-axle; 3 d-a first bearing; 3 e-a second bearing; 4-a cleaning unit; 41-cleaning brush; 42-a sweeping motor; 5-edge and omnidirectional obstacle detection unit; 51-an edge lifting part; 511-built-in groove; 512-mounting posts; 52-an impact mass; 521-a front impact portion; 522-connecting column; 523-linkage concave position; 524-card slot; 525-limit spring; 526-fixed column; 527-bump; 52 a-side impact portion; 52 b-front linkage; 52 c-side linkage; 52 d-bevel linkage; 52 e-detecting linkage; 52 f-single impact portion; 53-a return spring; 54-edge sensing block; 541-a touch arm; 542-a bump; 55-obstacle sensing block; 551-trigger arm; 552-a linkage groove; 553-a linkage projection; 554-perforating; 555-a limit arm; 56-edge sensing part; 57-obstacle sensing section; 58-limiting plate; 581-elastic arm; 59-test circuit board; 5 a-a limit spring block; 6-a main control unit; 61-a multi-axis induction section; 7-a wiping section; 71-third via; 72-a fourth via; 8-floating bottom plate; 81-suction hole; 82-a first via; 83-second via.

Detailed Description

The invention will be further described with reference to the following detailed description and the accompanying drawings in which:

specific example 1:

as shown in FIGS. 1-11, the present invention relates to a cleaning device with edge and omnidirectional obstacle detection, comprising a housing 1, a negative pressure portion 2 is disposed on the inner bottom surface of the housing 1, the negative pressure portion 2 is used to adsorb the housing 1 on the surface of a flat object, two symmetrical sides of the negative pressure portion 2 are respectively disposed with a moving unit 3, the moving unit 3 is used to drive the housing 1 to move on the surface of the flat object, two other symmetrical sides of the negative pressure portion 2 are respectively disposed with a cleaning unit 4, the cleaning unit 4 is used to clean the dirt solidified on the surface of the flat object, the housing 1 is at least disposed with an edge and omnidirectional obstacle detection unit 5 at two corners, the edge and omnidirectional obstacle detection unit 5 is used to determine whether the current displacement direction, the position of the whole machine or the whole periphery has reached the edge of the surface of the flat object or an obstacle exists, the edge and omnidirectional obstacle detection unit 5, The moving unit 3 and the cleaning unit 4 are respectively electrically connected with a main control unit 6, the outer bottom surface of the casing 1 is provided with a wiping part 7, the wiping part 7 is used for cleaning dirt which is easy to clean on the surface of a flat object, wherein the negative pressure part 2 is an air suction type fan, when the cleaning device works, the negative pressure part 2 sucks external air inwards to form negative pressure with the outside, so that the cleaning device can be adsorbed on the vertical surface of the flat object; the wiping part 7 is formed by sequentially arranging at least one flannelette layer (not shown), at least one sealing layer (not shown) and at least one cleaning surface layer (not shown), the flannelette layer, the sealing layer and the cleaning surface layer are connected into a whole by composite treatment or cloth hemming treatment at the edge, the wiping part 7 preferably adopts a magic tape to connect one surface of the flannelette layer with the bottom surface of the machine shell 1, the sealing layer is a waterproof film, sponge and/or EVA, or can select a structural layer made of other conventional materials with waterproof sealing, the material selection of the sealing layer can be determined according to the purchasing convenience of the materials and the material cost control, and is not self-limited; the wiping part 7 can limit the area of the cleaning device under the action of negative pressure to a certain extent below the bottom surface of the whole machine shell 1, enhance the negative pressure effect of the negative pressure part 2, ensure that the cleaning device can stably work on the surface of a flat object, and enhance the cleaning effect of the invention.

As shown in fig. 1-3, the casing 1 comprises a base 11 and an upper cover 12 fastened on the base 11, the upper cover 12 is used for protecting each electrical component of the cleaning device, the negative pressure part 2 is arranged in the middle of the base 11, and the moving unit 3, the cleaning unit 4 and the main control unit 6 are respectively installed on the base 11; the edge and omnidirectional obstacle detection unit 5 can be arranged on the base 11 and/or the upper cover 12, and the actual arrangement position of the edge and omnidirectional obstacle detection unit 5 can be determined according to the design requirement of the product structure, and is not limited herein; wherein, the upper cover 12 is provided with a power interface 121, the power interface 121 is connected with a power line (not shown) with an access port, and the other end of the power line is provided with a plug (not shown) for accessing a socket to realize power-on; the upper cover 12 is further provided with at least one power indicator lamp 122 and a power button 123, the power indicator lamp 122 is electrically connected with the main control unit 6, a power switch (not shown) is arranged below the power button 123, the power switch is electrically connected with the main control unit 6, the power switch is mainly used for powering on and powering off the cleaning device, the main control unit 6 is a PCB, and the main control unit 6 is installed on the base 11; the main control unit 6 is further electrically connected to a battery (not shown), which is preferably disposed on the base 11, and the battery is disposed to ensure that the cleaning device can still be attached to the surface of the flat object when the external power is cut off, thereby effectively preventing the cleaning device from being damaged due to the random falling of the cleaning device from the surface of the flat object when the power is cut off due to misoperation.

As shown in fig. 2 and 4, the moving unit 3 includes a first housing 31, a second housing 32 engaged with one side of the first housing 31, a first driving wheel 33 disposed between the first housing 31 and the second housing 32, a second driving wheel 35 connected to the first driving wheel 33 via a driving belt 34, a guide wheel 36 disposed between the first driving wheel 33 and the second driving wheel 35, a driven power wheel 38 connected to the first driving wheel 33 via a planetary gear 37, and a driving motor 3a connected to the driven power wheel 38 via a driving force transmission member 39, wherein the guide wheel 36 is used to cooperate with the first driving wheel 33 and the second driving wheel 35 to make the driving belt 34 contact with the surface of the flat object to form a flat surface, thereby increasing the contact area between the driving belt 34 and the surface of the flat object, increasing the friction force between the driving belt and the surface of the flat object, and further stabilizing the displacement of the cleaning device; preferably, the first driving wheel 33 and the second driving wheel 35 are respectively a driving wheel, the driving belt 34 is a synchronous belt, the first driving wheel 33 and the second driving wheel 35 are matched to realize tensioning and transmission of the driving belt 34 and provide power for displacement of the cleaning device on the surface of the planar object, and meanwhile, a guide wheel 36 is arranged between the first driving wheel 33 and the second driving wheel 35 to assist in supporting/tensioning the part of the driving belt 34 which is not supported between the first driving wheel 33 and the second driving wheel 35, so that the whole contact surface of the driving belt 34 which is in contact with the surface of the planar object is more attached to the surface of the planar object, the utilization rate of the transmission power of the moving unit 3 is improved, and the driving force of the moving unit 3 for displacement of the cleaning device is enhanced; wherein the power driven wheel 38 is preferably a turbine, the power transmission element 39 is preferably a worm, the power driven wheel 38 and the power transmission element 39 cooperate with each other to transmit the power of the driving motor 3a to the first driving wheel 33 via the planetary gear 37, the power of the first driving wheel 33 drives the second driving wheel 35 to rotate together via the driving belt 34, at this time, the driving belt 34 performing the driving action forms a friction assisting force with the surface of the flat object to move the cleaning device, when the cleaning device is required to move linearly, the two sets of moving units 3 are driven in the same direction to ensure that the cleaning device moves linearly forward, when the cleaning device is required to turn (for example, the cleaning device encounters an obstacle or moves to the edge of the surface of the flat object), only one set of moving units 3 is required to be driven temporarily, and the other set of moving units 3 keeps the driving state, so that the cleaning device can turn around the moving unit 3 which is driven temporarily to another area to be cleaned, after the cleaning device rotates to a required angle, the suspended moving unit 3 is restarted, and can move continuously towards the rotating direction, it should be noted that the first driving wheel 33, the second driving wheel 35 and the transmission belt 34 adopt a matching mode of a belt wheel and a synchronous belt, so that the moving stability of the cleaning device can be effectively ensured, the cleaning device can move more stably on the surface of a flat object and is not easy to slip, the guide wheel 36 is preferably a gear to match with the transmission of the transmission belt 34, the transmission belt 34 can effectively transmit and reduce the abrasion, the normal service life of the transmission belt 34 is ensured, and the type of the guide wheel 36 can match with the rotation of the type of the transmission belt 34, and is not self-limited; however, the choice of the types of the first driving wheel 33, the second driving wheel 35 and the driving belt 34 can be configured to follow the structural requirements of the product design, and is not limited herein; the power driven wheel 38 and the power transmission part 39 adopt a worm gear and worm matching mode, which is equivalent to spiral transmission and is multi-tooth meshing transmission, so that the transmission is stable, the noise is low, the noise of the cleaning device during working can be effectively reduced while the mechanism transmission of the cleaning device is ensured to be stable, and the noise interference of the cleaning device during indoor working on the living of a user is reduced; furthermore, two symmetrical sides of the negative pressure part 2 on the base 11 are respectively provided with a movable mounting hole, each movable mounting hole is respectively fixedly connected with the first shell 31 and the second shell 32 of the corresponding movable unit 3, and the transmission belt 34 is convexly arranged below the base 11 so as to drive the cleaning device to move; in addition, a ball bearing 3b is provided at the connecting end of the planetary gear 37 and the first driving wheel 33, the ball bearing 3b is used for supporting the planetary gear 37, a first bearing 3d is provided at the end of the planetary gear 37 connected to the power driven wheel 38, and the first bearing 3d is used for supporting the planetary gear 37 in a matching manner; the end of the driving motor 3a connected to the power transmission member 39 is further provided with a second bearing 3e, and the second bearing 3e is used to support the driving motor 3 a; a mounting groove 311 is protruded on the first housing 31, the ball bearing 3b, the planetary gear 37 and the power driven wheel 38 are sequentially disposed in the mounting groove 311, the driving motor 3a is inserted into one side of the mounting groove 311, one end of the power transmission element is erected in the mounting groove 311 through the first bearing 3d, the power transmission element 39 is arranged in the mounting groove 311, the mounting groove 311 is provided with a groove cover 312, and the groove cover 312 protects the ball bearing 3b, the planetary gear 37, the power driven wheel 38, the power transmission member 39 and the second bearing 3e, and at the same time, the slot cover 312 is matched with the mounting slot 311 to limit the position of the second bearing 3e, one end of the planetary gear 37 connected with the ball bearing 3b is penetrated through the mounting slot 311 and is connected with the first driving wheel 33, the planetary gear 37 is mainly characterized by small volume, large bearing capacity and stable work, and can effectively ensure the transmission stability of the moving unit 3 of the cleaning device; further, the first housing 31 has a first connecting portion extending downward, the second housing 32 has a second connecting portion extending downward, a wheel axle 3c is disposed between the first connecting portion and the second connecting portion, and the guide wheel 36 is disposed on the wheel axle 3 c.

As shown in fig. 2 and 7, the sweeping unit 4 comprises a cleaning brush 41 and a sweeping motor 42 connected to one end of the cleaning brush 41, the cleaning brush 41 is used for cleaning solidified dirt on the surface of the flat object, and the sweeping motor 42 is used for driving the cleaning brush 41 to rotate; wherein, the other symmetrical two sides of the negative pressure part 2 of the base 11 are respectively provided with a cleaning fixing groove 111 inwards in a concave manner, the two ends of the cleaning brush 41 are erected in the cleaning fixing grooves 111, and one end of each cleaning brush 41 extends out of the cleaning fixing groove 111 to be connected with the cleaning motor 42; the use of the cleaning brush 41 can effectively clean the solidified dirt on the surface of the flat object, and the cleaning effect of the cleaning device on the surface of the flat object is improved.

As shown in fig. 1-3, 5, and 6, the edge and omnidirectional obstacle detection unit 5 includes an edge lifting portion 51, an impact block 52 sleeved on the edge lifting portion 51, a return spring 53 disposed between the edge lifting portion 51 and the impact block 52, an edge sensing block 54 and an obstacle sensing block 55 sequentially disposed on the impact block 52, an edge sensing portion 56 disposed at one end of the edge sensing block 54, and an obstacle sensing portion 57 disposed corresponding to the obstacle sensing block 55, wherein the impact block 52 is configured to drive the obstacle sensing block 55 to trigger the corresponding obstacle sensing portion 57 when an obstacle is encountered at one side of the cleaning apparatus, the edge sensing portion 56 is configured to cooperate with the return spring 53 and the edge sensing block 54 to determine whether the current displacement direction is in a suspended state and feed back an electrical signal to the main control unit 6, and the obstacle sensing portion 57 is configured to cooperate with the impact block 52, the return spring 53, and the obstacle sensing block 55 to determine whether an obstacle exists in the current displacement direction and feed back the electrical signal to the main control unit 6; wherein, one side of the edge lifting part 51 forms an internal groove 511, a mounting column 512 is convexly arranged in the internal groove 511, a return spring 53 is sleeved on the mounting column 512 and is arranged in the internal groove 511, the edge sensing block 54, the obstacle sensing block 55 and the collision block 52 are respectively and sequentially connected on the mounting column 512, and the mounting column 512 is matched with screws to lock the edge sensing block 54, the obstacle sensing block 55 and the collision block 52 on the mounting column 512; the impact block 52 is disposed on the bottom surface of the base 11, the mounting post 512 passes through the base 11 via the edge lifting portion 51, the obstacle sensor block 55 and the edge sensor block 54 are sequentially sleeved on the mounting post 512 and locked by screws, and at this time, the base 11 is clamped between the impact block 52 and the obstacle sensor block 55.

Further, as shown in fig. 1-3, 5, and 6, one side of the impact block 52 is provided with at least one front impact portion 521 protruding outwards, the other side of the impact block 52 is provided with at least one side impact portion 52a protruding outwards, the front impact portion 521 is provided with at least one front linkage portion 52b, the side impact portion 52a is provided with at least one side linkage portion 52c, and at least one oblique linkage portion 52d is provided between the front linkage portion 52b and the side linkage portion 52 c; specifically, the front collision portion 521 and the side collision portion 52a can be used alone, the front collision portion 521 and the front linkage portion 52b can be used in combination, the side collision portion 52a and the side linkage portion 52c can be used in combination, the front collision portion 521, the side collision portion 52a, the front linkage portion 52b, the side linkage portion 52c and the bevel linkage portion 52d can be used in combination, etc., the front collision portion 521, the side collision portion 52a, the front linkage portion 52b, the side linkage portion 52c and the bevel linkage portion 52d can be arranged, and an obstacle trigger detection structure is formed among the front collision portion 521, the side collision portion 52a, the front linkage portion 52b, the side linkage portion 52c and the bevel linkage portion 52d, when the cleaning device encounters an obstacle, the obstacle trigger detection structure can make the collision block rotate reversely relative to the obstacle and drive the obstacle sensing block to trigger the obstacle sensing portion, and at this time, the obstacle sensing portion can send an electric signal to the control unit when the obstacle is encountered, the control unit receives an obstacle electric signal and sends an instruction to the moving unit to turn the cleaning device or return the cleaning device to the original path, and the front collision part 521, the side collision part 52a, the front linkage part 52b, the side linkage part 52c and the bevel linkage part 52d are arranged, so that the obstacle detection effect of the whole corner of the cleaning device is greatly improved; it should be noted that the front linkage part 52b, the side linkage part 52c and the bevel linkage part 52d form a linkage integrated structure, a gap is formed between the linkage integrated structure and the base, when the base 11 encounters an obstacle, the obstacle detection effect of the corner position can be supplemented, the corner of the base 11 can be effectively prevented from directly colliding with the obstacle, the obstacle detection effect of the whole corner of the cleaning device is greatly improved, and the corner of the base 11 can be protected.

Further, as shown in fig. 5, a stopper plate 58 is disposed between the impact mass 52 and the base 11, the stopper plate 58 is provided with elastic arms 581 corresponding to the front impact portion 521 and the side impact portion 52a, respectively, each elastic arm 581 is used for providing a force for returning the impact mass 52 when encountering an obstacle, wherein the front impact portion 521 and the side impact portion 52a are respectively provided with a slot 524 in a concave manner, and each slot 524 is connected with the corresponding elastic arm 581; when the cleaning device is used, when the front collision part 521, the side collision part 52a, the front collision part 521, the front interlocking part 52b, the side collision part 52a and the side interlocking part 52c, or the front collision part 521, the side collision part 52a, the front interlocking part 52b, the side interlocking part 52c and the bevel interlocking part 52d meet an obstacle, one of the elastic arms 581 is pressed to elastically deform the pressed elastic arm 581, and when the cleaning device turns or returns to the original path, the pressing force on the elastic arm 581 is cancelled, and the elastic arm 581 returns to the original state due to the elastic stress, so that the collision block 52 is reset.

Furthermore, the impact mass 52 is further provided with a connecting post 522, the outer surface of the connecting post 522 is provided with at least one linkage concave 523, the obstacle sensor 55 is provided with a linkage groove 552, the linkage groove 552 is internally provided with at least one linkage protrusion 553, the linkage protrusion 553 is correspondingly connected to the linkage concave 523, the bottom surface of the linkage groove 552 is further provided with a through hole 554, and the mounting post 512 of the edge lifting part 51 penetrates through the through hole 554 and is connected with the edge sensor block 54.

Further, as shown in fig. 3 and 5, the edge sensing portion 56 and the obstacle sensing portion 57 are electrically connected to a detection circuit board 59, the detection circuit board 59 is mounted on the base 11, the edge sensing portion 56 preferably employs an optical coupler sensor, when the cleaning device is operated, the edge lifting portion 51 is subjected to a reverse acting force of the surface of the flat object due to the action of the negative pressure portion 2, the return spring 53 is pressed towards the base 11, the return spring 53 is elastically deformed, when the cleaning device moves to the edge of the surface of the flat object, the edge lifting portion 51 does not have the reverse acting force of the flat object, the return spring 53 sinks the edge lifting portion 51 under the action of the elastic stress, at this time, the edge sensing block 54 sinks along with the edge lifting portion 51, the edge sensing portion 56 is acted, for example, light in the edge sensing portion 56 is shielded, the edge sensing portion 56 converts the shielded signal into an electrical signal, the feedback is to the main control unit 6, the main control unit 6 receives the signal that is sheltered from, assign the instruction immediately and let cleaning device turn to or return on the way, and opto-coupler sensor response time is short, can in time feed back the signal that is sheltered from, and it is sensitive rapidly to detect the reaction, make cleaning device can in time change the direction, avoid cleaning device to walk out the zone of waiting to clean of level and smooth object surface, it needs to explain, the contact sensor (if dabbing switch etc.) and the non-contact sensor (if photoelectric switch etc.) can be selected to edge response portion 56, can all-round put (putting, put upside down, the side is put etc.), the type selection of edge response portion 56, can dispose according to the concrete demand that detects precision and signal feedback time, do not self-limit here.

When the cleaning machine is used, the negative pressure part 2 sucks air into the machine shell 1 to generate negative pressure, the cleaning machine is adsorbed on the surface of a flat object, such as window glass, an outdoor liquid crystal advertising screen, a high-rise outer wall and the like, the driving motor 3a of the moving unit 3 provides power for the moving unit 3, and the driving motor 33 and the second driving wheel 35 are in transmission fit with each other, so that the driving belt 34 acts on the surface of the flat object to generate power for driving the cleaning machine to walk on the surface of the flat object, the cleaning machine is displaced on the surface of the flat object, at the moment, the main control unit 6 starts the cleaning motor 42, the cleaning motor 42 drives the cleaning brush 41 to rotate to clean dirt on the surface of the flat object, particularly solidified dirt, and the moving cleaning machine also drives the cleaning part 7 to perform cleaning operation on the surface of the flat object to clean the dirt on the surface of the flat object; it should be noted that, in the cleaning operation process of the present invention, due to the action of the negative pressure part 2, the edge lifting part 51 is subjected to the reverse acting force of the surface of the flat object, the return spring 53 is pressed towards the base 11, the return spring 53 is elastically deformed, when the cleaning device moves to the edge of the surface of the flat object, the surface of the flat object cannot continue to act on the edge lifting part 51, the pressure on the edge lifting part 51 is temporarily removed, the return spring 53 recovers to the original state under the action of the elastic stress, so that the edge lifting part 51 sinks, at this time, the edge sensing block 54 sinks along with the edge lifting part 51, acts on the edge sensing part 56, for example, light in the edge sensing part 56 is shielded, the edge sensing part 56 converts the shielded signal into an electrical signal and feeds back to the main control unit 6, and the main control unit 6 receives the shielded signal and immediately issues an instruction to turn or return the cleaning device to the original path, therefore, the phenomenon that the edge lifting part 51 moves out of the area to be cleaned in the working process of the invention is effectively avoided, the invention is ensured to only carry out cleaning operation in the area to be cleaned, and when the edge lifting part 51 returns to the surface of a flat object, the edge lifting part 51 presses the reset elasticity again under the action of the negative pressure part 2.

When the front collision part 521, the side collision part 52a, the front collision part 521 and the front linkage part 52b, the side collision part 52a and the side linkage part 52c, or the front collision part 521, the side collision part 52a, the front linkage part 52b, the side linkage part 52c and the bevel linkage part 52d contact with an obstacle, the front collision part 521, the side collision part 52a, the front collision part 521 and the front linkage part 52b, the side collision part 52a and the side linkage part 52c, or the front collision part 521, the side collision part 52a, the front linkage part 52b, the side linkage part 52c and the bevel linkage part 52d are subjected to a reverse force applied by the obstacle, so that one of the collision blocks 52 rotates in the reverse direction of the displacement of the cleaning device, the collision block 52 acts on the linkage protrusion through the linkage concave 523 to drive the obstacle sensing block 55 to rotate, and one of the trigger arms 551 of the obstacle sensing block 55 triggers the obstacle sensing part 57 arranged on the same side 553, at this time, the obstacle sensing part 57 feeds back the trigger signal to the main control unit 6 through the detection circuit board 59, and after receiving the trigger signal, the main control unit 6 issues an instruction to the mobile unit 3 to change the displacement direction or return of the cleaning device, thereby effectively preventing the casing 1 of the cleaning device from directly colliding with the obstacle, effectively protecting the cleaning device, and ensuring the normal use of the cleaning device; it should be noted that the obstacle sensing portion 57 can be a contact sensor (such as a tact switch) and/or a non-contact sensor (such as a photoelectric switch), and can be placed in all directions (forward, backward, sideways, etc.), and the type of the obstacle sensing portion 57 can be selected and configured according to the specific requirements of the detection precision and the signal feedback time, which is not limited herein; when the front collision portion 521, the side collision portion 52a, the front collision portion 521, the front interlocking portion 52b, the side collision portion 52a, the side interlocking portion 52c, or the front collision portion 521, the side collision portion 52a, the front interlocking portion 52b, the side interlocking portion 52c, and the bevel interlocking portion 52d come into contact with an obstacle, one of the elastic arms 581 is pressed to elastically deform the pressed elastic arm 581, and when the cleaning apparatus is turned or returned, the pressing force on the elastic arm 581 is canceled, and the elastic arm 581 returns to its original state due to the elastic stress, thereby returning the collision block 52.

As shown in fig. 2 and 8, a floating bottom plate 8 is disposed on the bottom surface of the casing 1, and the wiping part 7 is disposed on the floating bottom plate 8; wherein, the bottom surface of the machine shell 1 is inwards concavely provided with a negative pressure groove 112, a negative pressure hole 113 is formed on the negative pressure groove 112, and the negative pressure hole 113 is connected with the negative pressure part 2; the floating bottom plate 8 is provided with more than two air suction holes 81 corresponding to the negative pressure groove 112, and each air suction hole 81 provides an airflow channel for the suction of the negative pressure part 2, so that the suction of the negative pressure part 2 is smoother; at least one first through hole 81 is formed in the middle of the floating bottom plate 8, the first through hole 81 provides a space avoiding position for each moving unit 3, so that each moving unit 3 can protrude out of the base 11, the floating bottom plate 8 is respectively provided with a second through hole 83 corresponding to each cleaning unit 4, each second through hole 83 provides a space avoiding position for the cleaning brush 41 of each cleaning unit 4, and each cleaning brush 41 protrudes out of the bottom plate to clean solidified dirt on the surface of a flat object; the floating bottom plate 8 and the base 11 are connected by a compressible sealing member (not shown) and are locked by screws, so that the floating bottom plate 8 and the base 11 are in a sealing connection state, the sealing member is preferably made of flexible, air-impermeable and compressible material, such as sealing sponge, etc., and the type of the sealing member can be comprehensively selected according to the actual sealing requirement of the product and the production cost, without being limited thereto, the wiping part 7 is opened with at least one third through hole 71 corresponding to the first through hole 81, the third through holes 71 provide space avoidance positions for the moving units 3 and the air suction holes 81, so that the moving units 3 can protrude out of the base 11, the wiping part 7 is provided with fourth through holes 72 corresponding to the second through holes 83, and the fourth through holes 72 provide space avoidance positions for the cleaning brushes 41 of the cleaning units 4, so that the cleaning brushes 41 protrude out of the bottom plate to clean solidified dirt on the surface of the flat object.

As shown in fig. 3, a multi-axis sensing part 61 is provided in the main control unit 6, and the multi-axis sensing part 61 is used to determine and adjust the operation speed of the displacement cleaning unit in cooperation with the main control unit 6 to adjust the walking posture of the cleaning device, wherein the multi-axis sensing part 61 preferably adopts a multi-axis acceleration sensor, and the multi-axis sensing part 61 determines and adjusts the rotation speed of the driving motor 3a of the displacement cleaning unit to adjust the walking posture of the cleaning device.

Specific example 2:

as shown in fig. 9-10, the present invention discloses a cleaning device with edge and omnidirectional obstacle detection, wherein the edge and omnidirectional obstacle detection unit 5 comprises an edge lifting portion 51 penetrating through the base 11, a return spring 53 sleeved on the edge lifting portion 51, an edge sensing block 54 fixed on the edge lifting portion 51, an edge sensing portion 56 disposed on at least one side of the edge sensing block 54, an impact block 52 sleeved on the bottom surface of the corner of the base 11, an obstacle sensing block 55 connected to the impact block 52, at least two obstacle sensing portions 57 disposed on one side of the obstacle sensing block 55, and a limit elastic block 5a disposed on the other side of the obstacle sensing block 55, wherein the impact block 52 is used for driving the obstacle sensing block 55 to rotate, the limit elastic block 5a is used for returning the rotated obstacle sensing block 55, two sides of the impact block 52 are respectively provided with an impact protrusion 527 protruding outwards, the collision protrusions 527 are used for driving the collision blocks 52 to rotate towards the opposite direction of an obstacle when one side of the cleaning device meets the obstacle, one side of one collision protrusion 527 is provided with a front linkage part 52b, the other collision protrusion 527 is provided with a side linkage part 52c at one time, and an oblique angle linkage part 52d is further arranged between the front linkage part 52b and the side linkage part 52 c; specifically, each collision protrusion 527 can be used independently, one collision protrusion 527 and the front linkage portion 52b are used in combination, the other collision protrusion 527 and the side linkage portion 52c are used in combination, the front linkage portion 52b, the side linkage portion 52c, the bevel linkage portion 52d and each collision protrusion 527 are used together, and the like, the front linkage portion 52b, the side linkage portion 52c, the bevel linkage portion 52d and each collision protrusion 527 can be arranged and used in combination, the front linkage portion 52b, the side linkage portion 52c, the bevel linkage portion 52d and each collision protrusion 527 form an obstacle trigger detection structure, when the cleaning device encounters an obstacle, the obstacle trigger detection structure can make the collision block rotate reversely relative to the obstacle and drive the obstacle sensing block to trigger the obstacle sensing portion, at this time, the obstacle sensing portion can send an electric signal of encountering the obstacle to the control unit, the control unit receives the electric signal of encountering the obstacle, the arrangement of the collision protrusions 527, the front linkage part 52b, the side linkage part 52c and the bevel linkage part 52d greatly improves the obstacle detection effect of the whole corner of the cleaning device.

As shown in fig. 9, an inner groove 511 is formed on one side of the edge lifting portion 51, a mounting post 512 is protruded from the inner groove 511, and the return spring 53 is sleeved on the mounting post 512 and is disposed in the inner groove 511; each corner of the base 11 is provided with a movable sleeve (not shown), each edge lifting part 51 is respectively arranged in the movable sleeve in a penetrating way, and each collision block 52 is respectively sleeved on the movable sleeve; the edge sensing part 56 and the obstacle sensing part 57 are respectively mounted on the same detection circuit board, the detection circuit board is fixedly connected with the base 11, the edge sensing part 56 and the obstacle sensing part 57 respectively preferably adopt photoelectric switches, the edge sensing part 56 and the obstacle sensing part 57 respectively block light beams of the edge sensing part 56 and the obstacle sensing part 57 through the edge sensing block 54 and the obstacle sensing block 55, the edge sensing part 56 or the obstacle sensing part 57 is triggered, the edge sensing part 56 and the obstacle sensing part 57 can convert a trigger signal into an electric signal and feed the electric signal back to the main control unit 6, the main control unit 6 judges that the cleaning device is at the edge or encounters an obstacle according to the received electric signal and gives a command of reversing or returning to the cleaning device, it should be noted that the edge sensing part 56 and the obstacle sensing part 57 can also use other common contact sensors and non-contact sensors, such as a tact switch, the types of sensors used in the edge sensing part 56 and the obstacle sensing part 57 can be selected according to the actual design requirements of the product structure, and are not limited herein.

As shown in fig. 9-10, at least one side of the edge sensor block 54 is provided with a touch arm 541 extending outward, the touch arm 541 is used to trigger the edge sensor 56 when the cleaning device is moved to the edge of the surface of the planar object, the touch arm 541 is laterally disposed, so as to effectively avoid interference with the obstacle sensor block 55 during operation, and ensure normal operation of edge detection and obstacle detection; a bump 542 is further disposed between the touch arm 541 and the edge sensing block 54, and the bump 542 can effectively prevent the touch arm 541 and the obstacle sensing block 55 from interfering with each other, so as to ensure effective edge detection and obstacle detection.

As shown in fig. 9-10, the collision block 52 is provided with at least two fixing posts 526 in a protruding manner, each fixing post 526 penetrates through the base 11 of the housing 1 and is fixedly connected to the obstacle sensing block 55, the obstacle sensing block 55 is provided with at least one triggering arm 551 facing the obstacle sensing portion 57, the triggering arm 551 is used for triggering the obstacle sensing portion 57 when the cleaning device encounters an obstacle, the obstacle sensing block 55 is provided with a limiting arm 555 corresponding to the limiting elastic block 5a, the limiting arm 555 is used for resetting the rotating obstacle sensing block 55 in cooperation with the limiting elastic block 5a, two ends of the limiting elastic block 5a extend to the same side, and the two extending portions are folded to form a limiting opening (not shown), the limiting arm 555 extends into the limiting opening, and two ends of the limiting elastic block 5a are fastened to the limiting arm 555; at least one movable hole (not shown) is formed in the base 11 corresponding to the fixed pillar 526, and the movable hole provides sufficient rotation space for the fixed pillar 526 when the impact mass 52 rotates.

When the cleaning device moves to the edge of the surface of the flat object, the surface of the flat object cannot continuously act on the edge lifting part 51, the pressure on the edge lifting part 51 is temporarily removed, the return spring 53 restores the original state under the action of elastic stress, so that the edge lifting part 51 sinks, at the moment, the edge sensing block 54 sinks along with the edge lifting part 51, the edge sensing part 56 acts on the edge sensing part 56, for example, the touch arm 541 of the edge sensing block 54 shields the light in the edge sensing part 56, the edge sensing part 56 converts the shielded signal into an electric signal and feeds the electric signal back to the main control unit 6, the main control unit 6 receives the shielded signal and immediately sends an instruction to turn or return the cleaning device, thereby effectively avoiding the situation that the cleaning device leaves the area to be cleaned in the working process, ensuring that the cleaning device only performs cleaning operation in the area to be cleaned, and when the edge lifting part 51 returns to the surface of the flat object, the edge lifting part 51 again presses the return elasticity by the negative pressure part 2.

When the collision bumps 527 of the collision blocks 52, one collision bump 527 and the front linkage part 52b, the other collision bump 527 and the side linkage part 52c, or the front linkage part 52b, the side linkage part 52c, the bevel linkage part 52d and the collision bumps 527 are used together to touch an obstacle, the collision blocks 52 can be subjected to a reverse acting force exerted by the obstacle, so that the collision blocks 52 rotate in the reverse direction of the displacement direction of the cleaning device, the collision blocks 52 drive the obstacle sensing blocks 55 to rotate through the fixed columns 526, so that one trigger arm 551 of the obstacle sensing blocks 55 triggers the obstacle sensing parts 57 arranged on the same side, at this time, the obstacle sensing parts 57 can feed back a trigger signal to the main control unit 6 through the detection circuit board 59, after receiving the trigger signal, the main control unit 6 gives an instruction to the moving unit 3 to change the displacement direction or return to the original path of the cleaning device, thereby effectively preventing the machine case 1 of the cleaning device from directly colliding with the obstacle, the cleaning device is effectively protected, and the normal use of the cleaning device is ensured; when the protruding 527 of collision receives the reverse acting force of barrier, spacing arm 555 can be to spacing bullet piece 5a application of force, makes spacing bullet piece 5a take place elastic deformation, when cleaning device turned to when leaving the barrier, the reverse acting force that the protruding 527 of collision received disappears, and at this moment, spacing arm 555 resumes original state under spacing bullet piece 5a elastic stress effect, resets collision piece 52, and trigger arm 551 leaves barrier response portion 57 this moment.

It should be noted that technical features that are not explained in this embodiment are explained by using the technical features of embodiment 1, and are not described herein again.

Specific example 3:

as shown in fig. 10-11, the present invention discloses a cleaning device with edge and omnidirectional obstacle detection, wherein the edge and omnidirectional obstacle detection unit 5 comprises an edge lifting part 51 penetrating through the base, a return spring 53 sleeved on the edge lifting part 51, an edge sensing block 54 fixed on the edge lifting part 51, an edge sensing part 56 arranged on at least one side of the edge sensing block 54, an impact block 52 arranged on at least one side of the bottom surface of the corner of the base, an obstacle sensing block 55 connected to the impact block 52, an obstacle sensing part 57 arranged on one side of the obstacle sensing block 55, and a limit spring 525 arranged on the other side of the obstacle sensing block 55, wherein the impact block 52 is used for driving the obstacle sensing block 55 to rotate, the limit spring 525 is used for returning the rotating obstacle sensing block 55, one side of the impact block 52 is outwardly protruded with a single impact part 52f, the single collision part 52f is used for driving the collision block 52 to rotate towards the opposite direction of the obstacle when one side of the cleaning device meets the obstacle, one side of the single collision part 52f is provided with a detection linkage part 52e, and one side of the detection linkage part 52e is provided with an oblique angle linkage part 52 d; specifically, the single collision portion 52f may be used alone, or may be used in combination with the single collision portion 52f of the detection linkage portion 52e, or the single collision portion 52f, the detection linkage portion 52e, and the bevel linkage portion 52d, and the like, and the single collision portion 52f, the detection linkage portion 52e, and the bevel linkage portion 52d may be used in combination in an array, thereby forming an obstacle triggering detection structure, such that when the cleaning apparatus encounters an obstacle, the obstacle triggering detection structure causes the collision block 52 to rotate in the opposite direction with respect to the obstacle, and drives the obstacle sensing block 55 to trigger the obstacle sensing portion 57, and at this time, the obstacle sensing portion 57 sends an electric signal of encountering the obstacle to the main control unit 6, and the main control unit 6 receives the electric signal of encountering the obstacle and sends a command to the moving unit to turn or return the cleaning apparatus to the original route, and the single collision portion 52f, the detection linkage portion 52e, and the bevel linkage portion 52d are provided, the obstacle detection effect of the whole corner of the cleaning device is greatly improved.

As shown in fig. 11, an inner groove 511 is formed on one side of the edge lifting portion 51, a mounting post 512 is protruded from the inner groove 511, and the return spring 53 is sleeved on the mounting post 512 and is disposed in the inner groove 511; each corner of the base 11 is provided with a movable sleeve (not shown), each edge lifting part 51 is respectively arranged in the movable sleeve in a penetrating way, and each collision block 52 is respectively arranged on one side of the movable sleeve; the edge sensing part 56 and the obstacle sensing part 57 are respectively mounted on the same detection circuit board (not shown), the detection circuit board is fixedly connected with the base 11, the edge sensing part 56 and the obstacle sensing part 57 respectively preferably adopt photoelectric switches, the edge sensing block 54 and the obstacle sensing block 55 respectively block the light beams of the edge sensing part 56 and the obstacle sensing part 57 to trigger the edge sensing part 56 or the obstacle sensing part 57, the edge sensing part 56 and the obstacle sensing part 57 can convert the trigger signal into an electric signal and feed the electric signal back to the main control unit 6, the main control unit 6 judges that the cleaning device is at the edge or encounters an obstacle according to the received electric signal, and gives an instruction of reversing or returning to the cleaning device, it should be noted that the edge sensing part 56 and the obstacle sensing part 57 can also use other common contact sensors and non-contact sensors, the types of the sensors used in the edge sensing part 56 and the obstacle sensing part 57, such as the tact switch, can be selected according to the actual design requirement of the product structure, and are not limited herein.

As shown in fig. 10-11, at least one side of the edge sensor block 54 is extended outward to form a touch arm 541, and the touch arm 541 is used to trigger the edge sensor 56 when the cleaning device is moved to the edge of the surface of the planar object; the lateral arrangement of the touch arm 541 can effectively avoid the mutual interference with the obstacle sensing block 55 during operation, thereby ensuring the normal operation of edge detection and obstacle detection; a bump 542 is further disposed between the touch arm 541 and the edge sensing block 54, and the bump 542 can effectively prevent the touch arm 541 and the obstacle sensing block 55 from interfering with each other, so as to ensure effective edge detection and obstacle detection.

As shown in fig. 10-11, the impact mass 52 is provided with a fixing post 526 protruding upward, the fixing post 526 is inserted through the base of the housing and fixedly connected to the obstacle sensor 55, the obstacle sensor 55 is provided with at least one triggering arm 551 facing the obstacle sensor 57, the triggering arm 551 is used for triggering the obstacle sensor 57 when the cleaning device encounters an obstacle, the obstacle sensor 55 is provided with a limit arm 555 corresponding to the limit spring 525, the limit arm 555 is used for cooperating with the limit spring 525 to reset the rotating obstacle sensor 55, wherein, the bottom surface of the corner of the base has only one side provided with an impact block 52, the impact block 52 has only one side connected with an obstacle sensing block 55, or, the bottom surface of the corner of the base has two sides provided with impact blocks 52, the two impact blocks 52 are symmetrically arranged about the corners, and the two impact blocks 52 are respectively and fixedly connected with an obstacle sensing block 55; at least one movable hole (not shown) is formed in the base corresponding to the fixed post 526, and the movable hole provides sufficient rotating space for the fixed post 526 when the impact mass 52 rotates; a limit block 114 is arranged on the base corresponding to the limit spring 525, and the limit spring 525 is arranged between the limit block 114 and the limit arm 555.

It should be noted that the obstacle sensor 55 is normally in a state of triggering the obstacle sensor 57, when the single collision portion 52f of the collision block 52, or the single collision portion 52f and the detection linkage portion 52e, or the single collision portion 52f, the detection linkage portion 52e and the oblique linkage portion 52d contact an obstacle, the collision block 52 receives a reverse force applied by the obstacle, so that the collision block 52 rotates in a reverse direction to the displacement direction of the cleaning device, the collision block 52 drives the obstacle sensor 55 to rotate via the fixed post 526, so that one trigger arm 551 of the obstacle sensor 55 is away from the obstacle sensor 57 disposed on the same side, at this time, the obstacle sensor 57 feeds back a signal that is not triggered to the main control unit 6 via the detection circuit board, after the main control unit 6 receives the signal that is not triggered, the main control unit sends an instruction to the moving unit to change the displacement direction of the cleaning device or return the original path, thereby effectively preventing the machine shell of the cleaning device from directly colliding with the barrier, effectively protecting the cleaning device and ensuring the normal use of the cleaning device; when single collision portion 52f received the counter force of barrier, spacing arm 555 can cooperate and correspond stopper 114 to spacing spring 525 application of force, makes spacing spring 525 take place elastic deformation, and when cleaning device left the barrier, the counter force that single collision portion 52f received disappeared, and at this moment, spacing arm 555 resumes original state under spacing spring 525 elastic stress, resets collision piece 52, and at this moment, trigger arm 551 gets back to on the barrier response portion 57.

It should be noted that in the description of the present invention, the terms "upper", "lower", "inner", "outer", "front", "rear", "both ends", "one end", "the other end", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be configured in a specific orientation, and operate, and thus, should not be construed as limiting the present invention; furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance; unless expressly stated or limited otherwise, the terms "mounted," "provided," "connected," and the like are to be construed broadly, such as "connected," and may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; the two components can be directly connected or indirectly connected through an intermediate medium, and the two components can be communicated with each other, so that the specific meaning of the terms in the invention can be understood by those skilled in the art; in addition, standard parts used in the invention can be purchased from the market, for example, special-shaped parts can be customized according to the description of the specification and the accompanying drawings, the specific connection mode of each part adopts conventional means such as mature screws/bolts, rivets, welding and the like in the prior art, and machines, parts and equipment adopt conventional models in the prior art, and are not described again.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the scope of the present invention, so that the equivalent changes or modifications of the structure, features and principles of the present invention by those skilled in the art should fall within the protection scope of the present invention.

Claims

1. The utility model provides a cleaning device that utensil edge and omnidirectional obstacle detected, includes the casing, and the bottom surface is equipped with a negative pressure portion in this casing, and this negative pressure portion is used for adsorbing the casing on level and smooth object surface, its characterized in that: the machine shell is provided with an edge and omnidirectional obstacle detection unit at least two diagonal positions, the edge and omnidirectional obstacle detection unit is used for judging whether the edge of the surface of the flat object or an obstacle exists at the current displacement direction, the position of the whole machine or the whole periphery, the edge and omnidirectional obstacle detection unit, the moving unit and the cleaning unit are respectively electrically connected with a main control unit, the outer bottom surface of the machine shell is provided with a cleaning part, and the cleaning part is used for cleaning the easy-to-clean dirt on the surface of the flat object.

2. The cleaning device with edge and omnidirectional obstacle detection of claim 1, wherein: the cleaning device comprises a casing, a negative pressure part, a moving unit, a cleaning unit and a main control unit, wherein the casing is composed of a base and an upper cover buckled on the base, the upper cover is used for protecting all electrical elements of the cleaning device, the negative pressure part is arranged in the middle of the base, the moving unit, the cleaning unit and the main control unit are respectively installed on the base, a multi-axis induction part is arranged in the main control unit and used for being matched with the main control unit to judge and adjust the operation speed of the displacement cleaning unit, a floating bottom plate is arranged on the bottom surface of the casing, and the cleaning part is arranged on the floating bottom plate.

3. The cleaning device with edge and omnidirectional obstacle detection of claim 2, wherein: the moving unit comprises a first shell, a second shell buckled with one side of the first shell, a first driving wheel arranged at one end between the first shell and the second shell, a second driving wheel connected with the first driving wheel through a driving belt, a guide wheel arranged between the first driving wheel and the second driving wheel, a power driven wheel connected with the first driving wheel through a planetary gear and a driving motor connected with the power driven wheel through a power transmission part, wherein the guide wheel is used for matching the first driving wheel and the second driving wheel to enable the driving belt to contact the surface of a flat object to form a flat surface.

4. The cleaning device with edge and omnidirectional obstacle detection of claim 2, wherein: the cleaning unit consists of a cleaning brush and a cleaning motor connected to one end of the cleaning brush, the cleaning brush is used for cleaning solidified dirt on the surface of the flat object, and the cleaning motor is used for driving the cleaning brush to rotate.

5. The cleaning device with edge and omnidirectional obstacle detection of claim 2, wherein: edge and omnidirectional obstacle detecting element include an edge lift portion, the collision piece of cover in edge lift portion is established, locate reset spring between edge lift portion and the collision piece, locate edge response piece and obstacle response piece on the collision piece in order, locate the edge response portion of edge response piece wherein one end and the obstacle response portion that corresponds obstacle response piece and set up, this collision piece is used for driving obstacle response piece and triggering corresponding obstacle response portion when cleaning device wherein meets the obstacle on one side, this edge response portion is used for cooperating reset spring and edge response piece to judge whether current displacement direction is in unsettled state and feed back the signal of telecommunication to main control unit, this obstacle response portion is used for cooperating the collision piece, reset spring and obstacle response piece judge whether current displacement direction has the obstacle to feed back the signal of telecommunication to main control unit.

6. The cleaning device with edge and omnidirectional obstacle detection of claim 5, wherein: one side of the collision block is provided with at least one front collision part in an outward protruding mode, the other side of the collision block is provided with at least one side collision part in an outward protruding mode, the front collision part is provided with at least one front linkage part, the side collision part is provided with at least one side linkage part, and at least one oblique angle linkage part is arranged between the front linkage part and the side linkage part.

7. The cleaning device with edge and omnidirectional obstacle detection of claim 5, wherein: a limiting plate is arranged between the collision block and the base, elastic arms are respectively arranged on the limiting plate corresponding to the front collision part and the side collision part, and the elastic arms are used for providing the force for resetting the collision block after encountering an obstacle.

8. The cleaning device with edge and omnidirectional obstacle detection of claim 2, wherein: the edge and omnidirectional obstacle detection unit comprises an edge lifting part penetrating through the base, a reset spring sleeved on the edge lifting part, an edge sensing block fixed on the edge lifting part, an edge sensing part arranged on at least one side of the edge sensing block, a collision block sleeved on the bottom surface of the corner of the base, an obstacle sensing block connected on the collision block, at least two obstacle sensing parts arranged on one side of the obstacle sensing block and a limit elastic block arranged on the other side of the obstacle sensing block, wherein the collision block is used for driving the obstacle sensing block to rotate, the limit elastic block is used for resetting the rotating obstacle sensing block, collision bulges are respectively arranged on two sides of the collision block in an outward protruding mode, the collision bulges are used for driving the collision block to rotate in the opposite direction of the obstacle when one side of the cleaning device encounters the obstacle, a front linkage part is arranged on one side of one of the collision bulges, and a side linkage part is arranged on the other collision bulge at one time, an oblique angle linkage part is also arranged between the front linkage part and the side linkage part.

9. The rim and omnidirectional obstacle-detecting cleaning apparatus of claim 8, wherein: at least one side of the edge induction block extends outwards to form a touch arm, and the touch arm is used for triggering the edge induction part when the cleaning device is displaced to the edge of the surface of the plane object.

10. The rim and omnidirectional obstacle-detecting cleaning apparatus of claim 8, wherein: the collision piece epirelief is equipped with two at least fixed columns, and each this fixed column wears to locate the base of casing, and respectively with obstacle response piece fixed connection, is equipped with an at least trigger arm towards obstacle response portion on this obstacle response piece, should trigger the arm and be used for triggering obstacle response portion when cleaning device meets the barrier, and this obstacle response piece corresponds spacing bullet piece and is equipped with a spacing arm, and this spacing arm is used for coordinating spacing bullet piece and resets pivoted obstacle response piece.

11. The cleaning device with edge and omnidirectional obstacle detection of claim 2, wherein: the edge and omnidirectional obstacle detection unit consists of an edge lifting part penetrating through the base, a reset spring sleeved on the edge lifting part, an edge sensing block fixed on the edge lifting part, an edge sensing part arranged on at least one side of the edge sensing block, an impact block arranged on at least one side of the bottom surface of the corner of the base, an obstacle sensing block connected to the impact block, an obstacle sensing part arranged on one side of the obstacle sensing block and a limit spring arranged on the other side of the obstacle sensing block, the collision block is used for driving the obstacle induction block to rotate, the limit spring is used for resetting the rotating obstacle induction block, one side of the collision block is provided with a collision part which is protruded outwards and is used for driving the collision block to rotate towards the direction opposite to the obstacle when the cleaning device encounters the obstacle at one side, one side of the collision part is provided with a detection linkage part, and one side of the detection linkage part is provided with an oblique angle linkage part.

12. The rim and omnidirectional obstacle-detecting cleaning apparatus of claim 11, wherein: at least one side of the edge induction block extends outwards to form a touch arm, and the touch arm is used for triggering the edge induction part when the cleaning device is displaced to the edge of the surface of the plane object.

13. The rim and omnidirectional obstacle-detecting cleaning apparatus of claim 11, wherein: the collision piece epirelief is equipped with the fixed column, this fixed column wears to locate the base of casing, and with obstacle response piece fixed connection, be equipped with at least one trigger arm towards obstacle response portion on this obstacle response piece, this trigger arm is used for triggering obstacle response portion when cleaning device meets the obstacle, this obstacle response piece corresponds spacing spring and is equipped with a spacing arm, this spacing arm is used for cooperating spacing spring with pivoted obstacle response piece reseing, wherein, the corner bottom surface of this base has and only has wherein to be equipped with the collision piece on one side, this collision piece has and only has to be connected with an obstacle response piece, or, the both sides of the corner bottom surface of base have the collision piece, these two collision pieces set up about the corner symmetry, these two collision pieces correspond respectively and an obstacle response piece fixed connection.