CN220109642U - Self-moving cleaning device - Google Patents

Abstract

The present disclosure relates to a self-moving cleaning apparatus including a body, a travel assembly, a cleaning assembly, and a detection sensor; the running assembly is arranged on the machine body and is configured to drive the self-moving cleaning equipment to move on the working surface; the cleaning component is arranged on the machine body and is configured to clean the working surface in the process of moving the self-moving cleaning equipment on the working surface; the detection sensor is configured to trigger after the cleaning assembly is impacted. In the in-process that the self-moving cleaning equipment of this disclosure removed on the working face, when the collision takes place between clean subassembly and the less barrier of height, detection sensor can in time trigger to be convenient for from moving cleaning equipment and can dodge the operation to the less barrier of this height, guarantee to move cleaning equipment certainly and can normally work.

Description

Self-moving cleaning device

Technical Field

The present disclosure relates to the field of cleaning machinery, and more particularly, to a self-moving cleaning apparatus.

Background

With the continuous development of science and technology, many cleaning robots having different functions, such as a floor sweeping robot, a floor mopping robot, a window cleaning robot, etc., have appeared. The window cleaning robot is also called an automatic window cleaning machine, a glass cleaning robot, an intelligent window cleaner and the like, and is one of intelligent household appliances.

The bottom of the window cleaning robot is provided with a vacuum cavity, and in the working process, the window cleaning robot can generate negative pressure in the vacuum cavity by virtue of a vacuum pump or a fan device at the bottom of the window cleaning robot, so that the window cleaning robot can be firmly adsorbed on a working surface such as glass, and cleaning pieces such as rags are tightly pressed on the working surface, so that the working surface is cleaned by the cleaning pieces, and the working surface can be not only a horizontal surface, but also a window surface arranged along the vertical direction.

In addition, many conventional window cleaning robots are provided with collision detection elements, and the collision detection elements can detect obstacles with higher heights on the working surface. When the window cleaning robot encounters an obstacle with higher height on the glass, the obstacle can be detected so as to avoid in time, and collision with the obstacle is avoided.

However, existing window cleaning robots cannot detect relatively low obstructions. When the window cleaning robot passes over a relatively low obstacle in the working process, air leakage can occur in the vacuum cavity, so that the adsorption force of the window cleaning robot is reduced, even the window cleaning robot can directly fall off glass, the machine body is damaged, and the use experience of a user is affected.

Disclosure of Invention

The present disclosure provides a self-moving cleaning apparatus in order to solve the problems existing in the prior art.

According to a first aspect of the present disclosure there is provided a self-moving cleaning apparatus comprising:

a body;

the running assembly is arranged on the machine body and is configured to drive the self-moving cleaning equipment to move on a working surface;

a cleaning assembly disposed on the machine body and configured to clean a work surface during movement of the self-moving cleaning apparatus over the work surface;

a detection sensor configured to trigger upon the cleaning assembly being impacted.

In one embodiment of the present disclosure, the cleaning assembly is fixedly connected to the body; the cleaning assembly is configured to deform upon impact to trigger the detection sensor.

In one embodiment of the disclosure, the detection sensor is disposed on the machine body, and the cleaning assembly deforms and triggers the detection sensor to force greater than the friction force between the cleaning assembly and the working surface.

In one embodiment of the present disclosure, the cleaning assembly is movably coupled to the body and is configured to move relative to the body upon impact to trigger the detection sensor.

In one embodiment of the disclosure, a resilient device is provided between the body and the cleaning assembly, the resilient device being configured to allow the cleaning assembly to return, the cleaning assembly being configured to move relative to the body against the resilient force of the resilient device upon impact to trigger the detection sensor;

wherein the elastic force of the elastic device is larger than the friction force between the cleaning component and the working surface.

In one embodiment of the present disclosure, the detection sensor is configured to trigger the detection sensor in case the cleaning assembly is displaced into a set stroke by a collision.

In one embodiment of the disclosure, the cleaning assembly includes a cleaning support and a cleaning member, the cleaning support being disposed on a side of the machine body adjacent to the working surface; the cleaning piece is arranged on the cleaning support; the cleaning support is configured to trigger the detection sensor after being impacted.

In one embodiment of the disclosure, the edge of the cleaning support is provided with a flange, the cleaning piece is a cleaning cloth, and the cleaning cloth is sleeved on the flange of the cleaning support.

In one embodiment of the disclosure, a collision detection assembly is arranged on a side wall of the machine body in the motion direction of the self-moving cleaning device, and the collision detection assembly is configured to trigger a collision signal when impacted; the collision detection assembly is configured to have a gap with a working surface, and is located on a front side of the cleaning assembly in a movement direction of the self-moving cleaning apparatus.

In one embodiment of the disclosure, the traveling assembly is configured to drive the self-moving cleaning apparatus to move in a first direction and a second direction;

the detection sensor comprises a first sensor and a second sensor; the first sensor is configured to be triggered if the self-moving cleaning device is directed in the first direction and subject to a collision; the second sensor is configured to be triggered in the event that the self-moving cleaning device is directed in the second direction and is subject to a collision.

In one embodiment of the present disclosure, the self-moving cleaning apparatus is a window cleaning robot comprising:

and the vacuum assembly is arranged on the machine body and is configured to generate an adsorption force for enabling the window cleaning robot to be adsorbed on a working surface.

In one embodiment of the present disclosure, further comprising:

and the control unit is configured to control the self-moving cleaning device to avoid based on the electric signal triggered by the detection sensor.

In the process of cleaning the working surface by the self-moving cleaning equipment, the cleaning assembly can be attached to the working surface, so that the aim of cleaning the working surface is fulfilled. And in the in-process that removes on the working face from mobile cleaning device, when the collision takes place between clean subassembly and the less barrier of height, detection sensor can in time trigger to be convenient for from mobile cleaning device can dodge the operation to the less barrier of this height, guarantee to move cleaning device certainly and can normally work.

Further, under the circumstances that the self-moving cleaning device of this disclosure is window cleaning robot, window cleaning robot is when meetting low frame, rubber coating or hasp etc. highly less barrier, can in time dodge highly less barrier to prevent window cleaning robot and advance and appear the condition of vacuum chamber gas leakage after highly less barrier top, and then avoid window cleaning robot to fall from the window because of vacuum chamber atmospheric pressure is not enough, guarantee window cleaning robot can normally carry out cleaning work.

Other features of the present disclosure and its advantages will become apparent from the following detailed description of exemplary embodiments of the disclosure, which proceeds with reference to the accompanying drawings.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description, serve to explain the principles of the disclosure.

FIG. 1 is a schematic perspective view of a self-moving cleaning apparatus provided by an embodiment of the present disclosure;

FIG. 2 is a schematic bottom view of a self-moving cleaning apparatus provided by an embodiment of the present disclosure;

FIG. 3 is a further schematic bottom view of a self-moving cleaning apparatus provided by an embodiment of the present disclosure;

FIG. 4 is a schematic cross-sectional view of a self-moving cleaning apparatus provided by an embodiment of the present disclosure;

FIG. 5 is a schematic cross-sectional view of yet another self-moving cleaning apparatus provided by an embodiment of the present disclosure;

fig. 6 is a schematic cross-sectional view of yet another self-moving cleaning apparatus provided by an embodiment of the present disclosure.

The correspondence between the component names and the reference numerals in fig. 1 to 6 is as follows:

1. a body; 2. a travel assembly; 21. a first runner; 22. a second walking member; 3. a cleaning assembly; 31. a cleaning support; 311. flanging; 32. a cleaning member; 4. a vacuum assembly; 41. a vacuum chamber; 5. a detection sensor; 51. a first sensor; 52. a second sensor; 6. an elastic device; 7. and a collision detection assembly.

Detailed Description

Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present disclosure unless it is specifically stated otherwise.

The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the disclosure, its application, or uses.

Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate.

It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.

Specific embodiments of the present disclosure are described below with reference to the accompanying drawings.

In this document, "upper", "lower", "front", "rear", "left", "right", and the like are used merely to indicate relative positional relationships between the relevant portions, and do not limit the absolute positions of the relevant portions.

Herein, "first", "second", etc. are used only for distinguishing one another, and do not denote any order or importance, but rather denote a prerequisite of presence.

Herein, "equal," "same," etc. are not strictly mathematical and/or geometric limitations, but also include deviations that may be appreciated by those skilled in the art and allowed by fabrication or use, etc.

The present disclosure provides a self-moving cleaning apparatus, in particular, the self-moving cleaning apparatus includes a body, a traveling assembly, a cleaning assembly, and a detection sensor. The driving assembly is arranged on the machine body and is used for driving the self-moving cleaning equipment to move on the working surface; the cleaning component is arranged on the machine body and is used for cleaning the working surface in the process that the self-moving cleaning equipment moves on the working surface; the detection sensor is configured to trigger after the cleaning assembly is impacted.

It can be seen that in the process of cleaning a work surface with the self-moving cleaning apparatus of the present disclosure, the cleaning assembly can remain in engagement with the work surface, thereby achieving the objective of cleaning the work surface. And in the in-process that removes on the working face from mobile cleaning device, when the collision takes place between clean subassembly and the less barrier of height, detection sensor can in time trigger to be convenient for from mobile cleaning device can dodge the operation to the less barrier of this height, guarantee to move cleaning device certainly and can normally work.

Further, under the circumstances that the self-moving cleaning device of this disclosure is window cleaning robot, window cleaning robot is when meetting low frame, rubber coating or hasp etc. highly less barrier, can in time dodge highly less barrier to prevent window cleaning robot and advance and appear the condition of vacuum chamber gas leakage after highly less barrier top, and then avoid window cleaning robot to fall from the window because of vacuum chamber atmospheric pressure is not enough, guarantee window cleaning robot can normally carry out cleaning work.

For ease of understanding, the specific structure of the self-moving cleaning apparatus of the present disclosure and its principle of operation will be described in detail below in connection with one embodiment with reference to fig. 1 to 6.

As shown in fig. 1 and 2, the present disclosure provides a self-moving cleaning apparatus, which may be a self-moving cleaning apparatus for cleaning a floor, such as a floor sweeping robot, a floor mopping robot, a floor sweeping and mopping robot, or a self-moving cleaning apparatus for cleaning a window or a glass curtain wall, such as a window cleaning robot.

Specifically, the self-moving cleaning apparatus may include a body 1, a traveling assembly 2, a cleaning assembly 3, and a detection sensor 5. The machine body 1 is used for mounting the various components of the self-moving cleaning device. The self-moving cleaning device disclosed by the disclosure is provided on a machine body 1, and is configured to drive the self-moving cleaning device to move on a working surface. The traveling assembly 2 not only can drive the self-moving cleaning equipment to translate on the working surface, but also can drive the self-moving cleaning equipment to turn on the working surface, so that the self-moving cleaning equipment can move to all parts of the working surface, and then the whole working surface is cleaned.

Specifically, as shown in fig. 2 and 3, in one embodiment of the present disclosure, the traveling assembly includes a first traveling member 21 and a second traveling member 22 respectively disposed at both sides of the machine body 1, and the self-moving cleaning apparatus may be driven to translate or steer on the working surface by controlling the rotation directions and rotation speeds of the first traveling member 21 and the second traveling member 22.

Namely, the rotation direction and the rotation speed of the first travelling member 21 and the second travelling member 22 are the same, and the self-moving cleaning device can be driven to translate on the working surface; when the rotation directions or rotation speeds of the first travelling member 21 and the second travelling member 22 are different, the self-moving cleaning device can be driven to move along a curve on the working surface; in particular, when the rotational speeds of the first traveling member 21 and the second traveling member 22 are the same and the rotational directions are opposite, the self-moving cleaning apparatus can be driven to turn in place on the working surface.

In yet another embodiment of the present disclosure, the rotating assembly may include a steering wheel for controlling a traveling direction of the self-moving cleaning apparatus and a traveling wheel for driving the self-moving cleaning apparatus forward, and the specific setting position and number of the rotating assembly are not limited in the present disclosure.

The cleaning assembly 3 is provided on the machine body 1 and is configured to clean a work surface during movement of the self-moving cleaning apparatus over the work surface. It will be appreciated that when the self-moving cleaning apparatus of the present disclosure is a floor sweeping robot, a mopping robot or a sweeping and mopping all-in-one robot, the work surface may be the floor; when the self-moving cleaning apparatus of the present disclosure is a window cleaning robot, the work surface may be a surface of a window or wall or the like. In the process of moving the self-moving cleaning device on the working surface, the cleaning assembly 3 moves relative to the working surface, so that the purposes of removing dirt on the working surface and cleaning the working surface are achieved.

As shown in fig. 4, in one embodiment of the present disclosure, the cleaning assembly 3 may include a cleaning support 31 and a cleaning member 32, wherein the cleaning member 32 is used to directly clean a working surface, and the cleaning support 31 is used to mount the cleaning member 32 so that the cleaning support 31 is disposed on a side of the machine body 1 adjacent to the working surface; the cleaning member 32 is provided on the cleaning support 31. The cleaning member 32 may be a rag or a brush, so that the cleaning member 32 may carry some cleaning liquid to clean the working surface more thoroughly.

Further, as shown in fig. 5, in one embodiment of the present disclosure, in the case where the cleaning member 32 is a cloth, the edge of the cleaning support 31 is provided with a flange 311, and the cloth is sleeved on the flange 311 of the cleaning support 31. By providing the flange 311, it is possible to facilitate the fixing of the cleaning cloth to the cleaning support 31, preventing the cleaning cloth from being removed from the cleaning support 31 during operation of the self-moving cleaning apparatus. Of course, the cleaning elements 32 of the present disclosure may also be adhered, sleeved or otherwise secured to the cleaning support 31 by means well known to those skilled in the art, particularly in relation to the structure and shape of the cleaning support 31 and the cleaning elements 32, and the disclosure will not be described in detail herein.

The obstacle may appear on the working surface, and the height of the obstacle is high or low. Existing strike plates or other strike detection assemblies may detect when the height of the obstruction is high. However, existing strike plates or other collision detection assemblies are unable to detect low-height obstructions, which may be obstructions below 5mm in height, depending on the type of self-moving cleaning apparatus.

Therefore, the self-moving cleaning apparatus of the present disclosure is provided with a detection sensor 5, which detection sensor 5 is configured to trigger after the cleaning assembly 3 is impacted. Since the cleaning assembly 3 is always in contact with the work surface during the cleaning of the work surface by the self-moving cleaning apparatus of the present disclosure, when there is a low obstacle on the work surface, the cleaning assembly 3 collides with the obstacle, thereby triggering the detection sensor 5 in time.

After the detection sensor 5 is triggered, the self-moving cleaning device can perform subsequent operations according to the signal triggered by the detection sensor 5 in time. Specifically, in one embodiment of the present disclosure, the self-moving cleaning apparatus of the present disclosure further includes a control unit configured to control the self-moving cleaning apparatus to avoid based on the electric signal triggered by the detection sensor 5. Namely, after the cleaning assembly 3 is triggered after being collided, the detection sensor 5 can send an electric signal to the control unit, and then the control unit can timely control the self-moving cleaning equipment to avoid based on the electric signal sent by the detection sensor 5. Wherein, avoidance can include steering, reversing or stopping movement, and the specific steps can be selected according to the needs, and are not limited herein.

It can be seen that during cleaning of a work surface by the self-moving cleaning apparatus of the present disclosure, the cleaning assembly 3 is able to remain in engagement with the work surface for the purpose of cleaning the work surface. And in the process that the self-moving cleaning equipment moves on the working surface, when collision occurs between the cleaning assembly 3 and the obstacle with smaller height, the detection sensor 5 can be triggered in time, so that the self-moving cleaning equipment can conveniently avoid the obstacle with smaller height, and the self-moving cleaning equipment can work normally.

Further, it will be appreciated that where the self-moving cleaning apparatus of the present disclosure is a window cleaning robot, the self-moving cleaning apparatus of the present disclosure further includes a vacuum assembly 4, the vacuum assembly 4 being disposed on the machine body 1 and configured to generate an adsorption force for the window cleaning robot to adsorb on a work surface. I.e. the vacuum assembly 4 is capable of making the air pressure in the vacuum chamber 41 less than the ambient air pressure, thereby adsorbing the window cleaning robot to the working surface under the effect of the ambient air pressure. In this way, the window cleaning robot can be conveniently adsorbed on a window or a wall, so that the window or the wall is cleaned.

The window cleaning robot disclosed by the disclosure can timely avoid the obstacle with smaller height when encountering the obstacle with smaller height such as a short frame, a rubber coating or a lock catch, so that the window cleaning robot is prevented from moving to the position above the obstacle with smaller height and then from falling from a window due to insufficient air pressure in the vacuum cavity 41, and cleaning work can be normally performed.

Specifically, in actual test, when the height of the obstacle is lower than 2mm, the detection sensor 5 can also trigger timely, so that the window cleaning robot disclosed by the utility model can avoid timely when encountering the obstacle such as a low frame, rubber coating or lock catch which is lower than 2mm, thereby ensuring that the window cleaning robot can not travel to the upper part of the obstacle with smaller height, and further avoiding the condition that the window cleaning robot leaks air in the vacuum cavity 41.

There are various ways of connecting the cleaning assembly 3 to the body 1. As shown in fig. 5, in one embodiment of the present disclosure, the cleaning assembly 3 is fixedly connected to the body 1, and the cleaning assembly 3 is configured to deform upon receiving an impact force to trigger the detection sensor 5. That is, during the movement of the self-moving cleaning apparatus, after the cleaning member 3 collides with an obstacle, the cleaning member 3 is deformed, and after the cleaning member 3 is deformed, the detection sensor 5 is triggered. Under the condition that the cleaning component 3 is fixedly connected with the machine body 1, whether the cleaning component 3 collides with an obstacle or not is judged by detecting the deformation of the cleaning component 3, and the principle is simple and is more convenient.

It will be appreciated that during movement of the self-moving cleaning apparatus of the present disclosure over a work surface, frictional forces may be generated between the cleaning assembly 3 and the work surface, and that under the influence of such frictional forces, the cleaning assembly 3 may also experience Xu Xingbian.

In order to avoid that the deformation of the cleaning assembly 3 caused by the friction force causes the detection sensor 5 to be triggered by mistake, in one embodiment of the present disclosure, the detection sensor 5 is disposed on the machine body 1, and the force of the cleaning assembly 3 to deform and trigger the detection sensor 5 is greater than the friction force between the cleaning assembly 3 and the working surface. Since the cleaning assembly 3 is always kept in contact with the work surface, there is a friction between the cleaning assembly 3 and the work surface. In order to avoid deformation of the cleaning assembly 3 due to friction and triggering of the detection sensor 5 during movement of the self-moving cleaning device, it is necessary to ensure that the force of deformation of the cleaning assembly 3 and triggering of the detection sensor 5 is greater than the friction between the cleaning assembly 3 and the working surface at the time of design. This allows the self-moving cleaning device to operate normally without the cleaning assembly 3 triggering the detection sensor due to friction. Only when the cleaning member 3 collides with an obstacle during movement, the cleaning member 3 deforms upon receiving a large collision force and triggers the detection sensor 5.

The force with which the cleaning member 3 deforms varies depending on the material and structure. For example, during normal operation of the self-moving cleaning device, the cleaning assembly 3 may undergo a slight deformation due to friction, provided that the deformation is insufficient to trigger the detection sensor 5.

In particular, in one embodiment of the present disclosure, the detection sensor 5 may be a pressure sensor, the measuring end of which is in contact with the cleaning assembly 3; in the normal moving process of the self-moving cleaning equipment, the acting force born by the pressure sensor is the friction force of the working surface acting on the cleaning component 3; in this case, the pressure sensor does not trigger. When collision occurs between the cleaning component 3 and the obstacle, the acting force applied by the pressure sensor is the sum of the friction force of the working surface acting on the cleaning component 3 and the collision force between the cleaning component 3 and the obstacle; in this case, the pressure sensor will trigger.

In yet another embodiment of the present disclosure, as shown in fig. 6, the cleaning assembly 3 is movably coupled to the body 1 and configured to move relative to the body 1 upon impact to trigger the detection sensor 5. Namely, in the moving process of the self-moving cleaning equipment, the machine body 1 can drive the cleaning component 3 to move on the working surface; when the cleaning component 3 collides with an obstacle, the cleaning component 3 moves relative to the machine body 1, so as to trigger the detection sensor 5. Under the condition that the cleaning component 3 is movably connected with the machine body 1, whether the cleaning component 3 collides with an obstacle or not is judged by detecting the movement condition of the cleaning component 3, and the principle is simple and is more convenient.

Further, as shown in fig. 6, in one embodiment of the present disclosure, an elastic device 6 is provided between the machine body 1 and the cleaning assembly 3, the elastic device 6 is configured to reset the cleaning assembly 3, and the cleaning assembly 3 is configured to move relative to the machine body 1 against the elastic force of the elastic device 6 when impacted so as to trigger the detection sensor 5; wherein the elastic force of the elastic means 6 is greater than the friction force between the cleaning assembly 3 and the work surface.

Specifically, during the movement of the self-moving cleaning device, the machine body 1 can drive the cleaning assembly 3 to move on the working surface. Under the effect of friction between the cleaning assembly 3 and the working surface, the elastic means 6 are also deformed to some extent by the friction. Since the elastic force of the elastic device 6 is greater than the friction force between the cleaning component 3 and the working surface, after the cleaning component 3 collides with an obstacle, the cleaning component 3 can overcome the elastic force of the elastic device 6 to move backwards relative to the machine body 1, so as to trigger the detection sensor 5. The elastic means 6 are again able to allow the cleaning assembly 3 to be reset after the self-moving cleaning device has moved backwards or turned, i.e. has been detached from the obstacle. Specifically, the elastic device 6 may be various elastic structures such as a spring and an elastic band, and is not limited herein.

As mentioned before, the elastic means 6 will lengthen a distance under the effect of friction between the cleaning assembly 3 and the work surface; in order to avoid false triggering of the detection sensor 5 during normal movement of the self-moving cleaning device, the detection sensor 5 is configured to trigger the detection sensor 5 in case the cleaning assembly 3 is displaced into a set stroke by a collision. That is, the normal moving process of the self-moving cleaning device, the movement range of the cleaning assembly 3 relative to the machine body 1 cannot enter the set stroke, and the cleaning assembly can enter the set stroke only after being collided, so as to trigger the detection sensor 5, thereby ensuring that the cleaning assembly 3 cannot trigger the detection sensor 5 by mistake in the normal working process of the self-moving cleaning device.

In particular, in one embodiment of the present disclosure, the detection sensor 5 may be a micro-switch or a photo-sensor, each configured to trigger if the cleaning assembly 3 is displaced into a set stroke by a collision.

It will be appreciated that in one embodiment of the present disclosure, as shown in fig. 4 and 6, the cleaning support 31 is configured to trigger the detection sensor 5 upon impact. That is, whether the cleaning assembly 3 is fixedly connected to the machine body 1 or movably connected to the machine body 1, the detection sensor 5 can be matched with the cleaning support 31 in the cleaning assembly 3, so that the detection sensor 5 is triggered by the cleaning support 31.

It will be appreciated that the self-moving cleaning apparatus of the present disclosure may be provided with other forms of collision detection assembly 7 in addition to the detection sensor 5 described above. Therefore, as shown in fig. 3, in one embodiment of the present disclosure, a collision detection assembly 7 is provided on a side wall of the machine body 1 located in a movement direction of the self-moving cleaning apparatus, the collision detection assembly 7 being configured to trigger a collision signal when impacted; the collision detection assembly 7 is arranged with a gap from the working surface and the collision detection assembly 7 is located on the front side of the cleaning assembly 3 in the direction of motion of the self-moving cleaning device.

It will be appreciated that since the collision detecting assembly 7 is provided on the side wall of the machine body 1 in the direction of movement of the self-moving cleaning device, there is a gap between the collision detecting assembly 7 and the working surface; in this way, the collision detecting unit 7 can detect an obstacle having a height higher than the gap, and friction is not generated between the collision detecting unit 7 and the working surface.

Since the collision detecting unit 7 is located at the front side of the cleaning unit 3 in the movement direction of the self-moving cleaning device, the collision detecting unit 7 can be preferentially triggered when the self-moving cleaning device collides with an obstacle having a height higher than the gap; only obstacles having a height below the gap will collide with the cleaning assembly 3, triggering the detection sensor 5. Specifically, the collision detecting unit 7 may be an existing collision detecting mechanism such as a striker plate, and is not limited thereto.

As mentioned above, the traveling assembly 2 may drive the self-moving cleaning apparatus to move in different directions. Thus, as shown in fig. 3, in one embodiment of the present disclosure, the travel assembly 2 is configured to move the self-moving cleaning apparatus in a first direction, a second direction; the detection sensor 5 includes a first sensor 51, a second sensor 52; the first sensor 51 is configured to be triggered in case of collision from the mobile cleaning device to the first direction; the second sensor 52 is configured to be triggered in the event of a collision from the mobile cleaning device in a second direction.

Through setting up first sensor 51 and second sensor 52, can make the subassembly 2 that traveles no matter drive from moving cleaning device to first direction or second direction removal, when cleaning device 3 bump with the barrier that the height is lower, can both trigger detection sensor 5, and then be convenient for dodge the operation from moving cleaning device.

Further, as shown in fig. 3, under the condition that the traveling assembly 2 can drive the self-moving cleaning device to move in the first direction and the second direction, the collision detection assemblies 7 can be disposed on two side walls of the machine body 1, which are located in the first direction and the second direction of the self-moving cleaning device, so that the traveling assembly 2 can trigger the collision detection assemblies 7 no matter the traveling assembly 2 drives the self-moving cleaning device to move in the first direction or the second direction, and when the cleaning assembly 3 collides with an obstacle with a higher height.

Application scenario

The present disclosure provides a window cleaning robot. Specifically, the window cleaning robot may include a body 1, a traveling assembly 2, a cleaning assembly 3, a detection sensor 5, a vacuum assembly 4, and a control unit. The machine body 1 is used for installing various components of the window cleaning robot. The driving assembly 2 is disposed on the machine body 1 and configured to drive the window cleaning robot to move on the working surface.

The cleaning assembly 3 is provided on the machine body 1 and is configured to clean a work surface, which may be a surface of a window or a wall, during movement of the window cleaning robot over the work surface. In the process that the window cleaning robot moves on the working surface, the cleaning component 3 moves relative to the working surface, so that the purposes of removing dirt on the working surface and cleaning the working surface are achieved.

The vacuum assembly 4 is provided on the machine body 1 and is configured to generate an adsorption force for the window cleaning robot to adsorb on the working surface. Thus, the window cleaning robot can be conveniently adsorbed on a window or a glass curtain wall, so that the window or the glass curtain wall is cleaned.

The obstacle may appear on the working surface, and the height of the obstacle is high or low. Existing strike plates or other strike detection assemblies may detect when the height of the obstruction is high. However, existing striker plates or other collision detection assemblies are unable to detect low-height obstructions, which are obstructions below 5mm in height.

Therefore, the window cleaning robot of the present disclosure is provided with a detection sensor 5, which detection sensor 5 is configured to trigger after the cleaning assembly 3 is impacted. Since the cleaning assembly 3 is always attached to the working surface during cleaning of the working surface by the window cleaning robot of the present disclosure, when there is a low obstacle on the working surface, the cleaning assembly 3 collides with the obstacle, thereby triggering the detection sensor 5 in time.

After the detection sensor 5 is triggered, the window cleaning robot disclosed by the disclosure can perform subsequent operations according to the signal triggered by the detection sensor 5 in time. Specifically, the control unit can control the window cleaning robot to avoid based on the electric signal triggered by the detection sensor 5. Avoidance may include steering, reversing, or stopping movement, among other operations.

Like this, when encountering low frame, rubber coating or hasp etc. highly less barrier of window cleaning robot of this disclosure, can in time dodge highly less barrier to prevent window cleaning robot march and appear the condition of vacuum cavity 41 gas leakage after highly less barrier top, and then avoid window cleaning robot to fall from the window because of vacuum cavity 41 atmospheric pressure is not enough, guarantee window cleaning robot can normally carry out cleaning work.

The foregoing description of the embodiments of the present disclosure has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the various embodiments described. The terminology used herein was chosen in order to best explain the principles of the embodiments, the practical application, or the technical improvements in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein. The scope of the present disclosure is defined by the appended claims.

Claims (12)

1. A self-moving cleaning apparatus, comprising:

a machine body (1);

a traveling assembly (2), wherein the traveling assembly (2) is arranged on the machine body (1) and is configured to drive the self-moving cleaning equipment to move on a working surface;

a cleaning assembly (3), the cleaning assembly (3) being provided on the machine body (1) and being configured to clean a work surface during movement of the self-moving cleaning apparatus over the work surface;

-a detection sensor (5), the detection sensor (5) being configured to trigger after the cleaning assembly (3) is subjected to a collision.

2. A self-moving cleaning device according to claim 1, characterized in that the cleaning assembly (3) is fixedly connected to the machine body (1); the cleaning assembly (3) is configured to deform upon receiving an impact force to trigger the detection sensor (5).

3. Self-moving cleaning device according to claim 2, characterized in that the detection sensor (5) is arranged on the machine body (1), the cleaning assembly (3) being deformed and the force triggering the detection sensor (5) being greater than the friction between the cleaning assembly (3) and the working surface.

4. A self-moving cleaning device according to claim 1, characterized in that the cleaning assembly (3) is movably connected to the machine body (1) and is configured to move relative to the machine body (1) upon impact to trigger the detection sensor (5).

5. Self-moving cleaning device according to claim 4, characterized in that between the machine body (1) and the cleaning assembly (3) elastic means (6) are provided, the elastic means (6) being configured to allow the cleaning assembly (3) to return, the cleaning assembly (3) being configured to move relative to the machine body (1) against the elastic force of the elastic means (6) upon impact, to trigger the detection sensor (5);

wherein the elastic force of the elastic device (6) is larger than the friction force between the cleaning assembly (3) and the working surface.

6. A self-moving cleaning device according to claim 5, characterized in that the detection sensor (5) is configured to trigger the detection sensor (5) in case the cleaning assembly (3) is displaced into a set stroke by a collision.

7. A self-moving cleaning apparatus according to claim 1, wherein the cleaning assembly (3) comprises a cleaning support (31) and a cleaning member (32), the cleaning support (31) being arranged on a side of the machine body (1) adjacent to the working surface; the cleaning member (32) is provided on the cleaning support (31); the cleaning support (31) is configured to trigger the detection sensor (5) after being impacted.

8. The self-moving cleaning apparatus according to claim 7, wherein the edge of the cleaning support (31) is provided with a flange (311), the cleaning member (32) is a wipe, and the wipe is sleeved on the flange (311) of the cleaning support (31).

9. A self-moving cleaning device according to claim 1, characterized in that a collision detection assembly (7) is provided on the side wall of the machine body (1) in the direction of movement of the self-moving cleaning device, the collision detection assembly (7) being configured to trigger a collision signal when impacted; the collision detection assembly (7) is configured with a gap from the working surface, and the collision detection assembly (7) is located on the front side of the cleaning assembly (3) in the movement direction of the self-moving cleaning device.

10. The self-moving cleaning device according to claim 1, characterized in that the travelling assembly (2) is configured to bring the self-moving cleaning device to move in a first direction, a second direction;

the detection sensor (5) comprises a first sensor (51) and a second sensor (52); the first sensor (51) is configured to be triggered in case the self-moving cleaning device is directed in the first direction and subjected to a collision; the second sensor (52) is configured to be triggered in the event that the self-moving cleaning device is directed in the second direction and subject to a collision.

11. The self-moving cleaning apparatus according to any one of claims 1 to 10, wherein the self-moving cleaning apparatus is a window cleaning robot comprising:

a vacuum assembly (4), the vacuum assembly (4) being arranged on the machine body (1) and configured to generate an adsorption force for the window cleaning robot to adsorb on a working surface.

12. The self-moving cleaning apparatus of claim 11, further comprising:

and the control unit is configured to control the self-moving cleaning device to avoid based on an electric signal triggered by the detection sensor (5).