WO2019232731A1

WO2019232731A1 - Smart cleaning device

Info

Publication number: WO2019232731A1
Application number: PCT/CN2018/090169
Authority: WO
Inventors: 李行; 王子涛; 米长; 李智军; 乔亮
Original assignee: 深圳洛克时代科技有限公司
Priority date: 2018-06-06
Filing date: 2018-06-06
Publication date: 2019-12-12

Abstract

A smart cleaning device, comprising: a machine body, the machine body comprising a main housing (10), the main housing (10) having an accommodating cavity; a position determining apparatus (20), the position determining apparatus (20) being rotatably disposed in the machine body, and at least one portion of the position determining apparatus (20) may enter into the accommodating cavity of the main housing (10); and an anti-jamming apparatus, wherein the anti-jamming apparatus may detect rotating position information of the position determining apparatus (20), and controls the smart cleaning device to execute an anti-jamming operation according to the detected rotating position information. The described smart cleaning device may prevent jamming and has better suitability.

Description

Smart cleaning equipment

Technical field

The invention relates to the field of household appliance equipment, in particular to an intelligent cleaning equipment.

Background technique

Intelligent cleaning equipment (also known as automatic cleaning equipment) is a device that can automatically perform cleaning according to a set program. For example, sweeping robots.

FIG. 1 is a schematic diagram of an automatic cleaning device tilting under the action of an obstacle above. The following describes the relationship and principle between the tilting of the body of the automatic cleaning device and being stuck by an obstacle above with reference to FIG. 1.

The position determination device 20 of an existing automatic cleaning device can measure parameters such as the distance and size of surrounding objects. However, if there is an upper obstacle 100, and the height of the bottom gap of the upper obstacle 100 is very close to the height of the automatic cleaning device, since the top of the protective cover of the position determination device 20 is located above the sensing unit, this part is a measurement blind zone. In addition, due to measurement errors and other reasons, the position determining device 20 cannot recognize the obstacle of the upper obstacle 100 to the automatic cleaning device, or the obstacle of the advance of the obstacle 100 may form a wrong judgment.

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

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

Then, another contact point is formed between the driving wheel of the automatic cleaning device and the ground. Then, when the automatic cleaning device is caught by the upper obstacle 100 at its contact point with the upper obstacle 100 during the traveling process, the automatic cleaning device is subject to its own downward gravity and the forward friction that the driving wheel rubs on the ground. With the effect of the force, the automatic cleaning device will rotate clockwise, that is, the head of the automatic cleaning device will tilt upward to form a tilted state as shown in FIG. 1.

In this case, the automatic cleaning device is stuck and cannot be moved, resulting in the setting being stuck in the gap.

Summary of the Invention

An embodiment of the present invention provides an intelligent cleaning device to solve the problem that an existing cleaning robot is liable to get stuck when entering a space with insufficient height.

According to an aspect of the present invention, there is provided an intelligent cleaning device including a machine body including a main casing having a receiving cavity, a position determining device, and the position determining device is rotatably disposed on the machine main body, And at least a part of the position determination device can be turned into the accommodation cavity of the main casing; the anti-card device, the anti-card device can detect the rotational position information of the position determination device, and control the intelligent cleaning device to perform an anti-card operation based on the detected rotational position information .

Optionally, the intelligent cleaning device includes a walking part, which is connected to the machine body and can move the machine body. The anti-card device includes: a detector, the detector is disposed in the accommodation cavity of the main casing, and detects a position determination device The control part, the control part is connected with the detector and the walking part respectively, and the anti-card operation includes: the control part controls the walking part to drive the machine body to perform the avoidance action according to the position of the position determining device detected by the detector.

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

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

Optionally, the buffer assembly includes a main buffer, and the main buffer is disposed on the position determining device and can move with the rotation of the position determining device.

Optionally, the buffer assembly further includes an auxiliary buffer member, the auxiliary buffer member is disposed in the main housing, and the main buffer member contacts the auxiliary buffer member during the rotation of the position determining device.

Optionally, the detector is provided on the auxiliary buffer member, and a trigger is provided on the main buffer member. When the position determining device is turned into the accommodation cavity, the trigger on the main buffer member triggers the detector.

Optionally, the main buffer member includes: a base body, which is connected to the position determining device; a plurality of buffer legs, each of which is fixedly connected to the base body.

Optionally, an air passage partition is provided in the receiving cavity of the main casing, and an auxiliary buffer is provided on the air passage partition.

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

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

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

In order to achieve the above object, the embodiment of the present invention provides the intelligent cleaning device of the embodiment of the present invention. By rotatably connecting the position determination device to the main casing, the anti-card device can detect the rotational position information of the position determination device, and The rotation position information of the position determining device controls the smart cleaning device to perform an anti-card action, so that the position determining device can rotate when it touches an obstacle, so that the anti-card device controls the smart cleaning device to perform an anti-card operation, preventing the smart cleaning device from being stuck in In a space with insufficient height, the adaptability of smart cleaning equipment is better.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a schematic structural diagram of a smart cleaning device stuck in a gap with insufficient height in the prior art;

2 is a schematic plan view of a smart cleaning device according to an embodiment of the present invention;

FIG. 3 is a schematic bottom view structure diagram of an intelligent cleaning device according to an embodiment of the present invention; FIG.

4 is a schematic rear structural view of an intelligent cleaning device according to an embodiment of the present invention;

5 is a schematic structural diagram of an intelligent cleaning device driving into a gap according to an embodiment of the present invention;

FIG. 6 is a schematic structural diagram of a position determining unit of the smart cleaning device according to an embodiment of the present invention when it touches an obstacle; FIG.

7 is a schematic structural diagram of an intelligent cleaning device driving out of a gap according to an embodiment of the present invention;

8 is a schematic three-dimensional structure diagram of a main housing of a smart cleaning device according to an embodiment of the present invention mating with a protective cover of a position determining section;

FIG. 9 is a perspective structural schematic view of a protective cover and a horizontal axis of an intelligent cleaning device according to an embodiment of the present invention; FIG.

FIG. 10 is a schematic perspective structural diagram of a protective cover of a smart cleaning device according to an embodiment of the present invention; FIG.

FIG. 11 is a perspective view of the main structure of the main buffer of the intelligent cleaning device according to the embodiment of the present invention; FIG.

FIG. 12 is a schematic perspective structural diagram of an auxiliary buffer of an intelligent cleaning device according to an embodiment of the present invention; FIG.

FIG. 13 is a schematic perspective structural diagram of a mounting plate of a main casing of a smart cleaning device according to an embodiment of the present invention; FIG.

FIG. 14 is a partially enlarged view at A in FIG. 13; FIG.

15 is a schematic structural diagram of a first type of a smart cleaning device with a chamfer according to an embodiment of the present invention;

FIG. 16 is a schematic diagram of a second type of chamfered structure of a smart cleaning device according to an embodiment of the present invention.

Reference sign description:

10. Main casing; 11. Forward part; 12. Backward part; 13. Mounting plate; 131; Detector installation space; 20. Position determination device; 21. Protective cover; 211; Rotary shaft installation groove; 30. Horizontal Axis, 41, detector, 51, main buffer, 511, base body, 512, buffer leg, 513, trigger, 52, auxiliary buffer, 521, mount, 522, buffer plate, 523, bending buffer section ; 60, air duct partition; 70, walking section; 100, obstacles.

Detailed ways

The intelligent cleaning device according to the embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

As shown in FIG. 2 to FIG. 4, according to an embodiment of the present invention, an intelligent cleaning device is provided, which includes a machine body, a position determination device 20, and an anti-seize device. The machine body includes a main housing 10, and the main housing 10 has a receiving cavity. . The position determination device 20 is rotatably disposed on the machine body, and at least a part of the position determination device 20 can be turned into the accommodation cavity of the main casing 10; the anti-card device detects the rotational position information of the position determination device 20, and according to the detected Rotate the position information to control the smart cleaning device to perform anti-card action. The position determination device 20 is rotatably disposed on the machine body, so that the position determination device 20 can be rotated at least partially into the accommodation cavity of the main casing 10, and the anti-card device controls the intelligent cleaning device to perform the anti-sag according to the detected position of the position determination device 20 The card operation prevents the smart cleaning device from being stuck in the gap, thereby improving the ability of the smart cleaning device to adapt to the narrow gap.

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

Intelligent cleaning equipment can be intelligent robots such as sweeping robots and mopping robots. In addition to the machine body and the position determining device 20, the intelligent cleaning device also includes a sensing system, a control system, a driving system, a cleaning system, an energy system, and a human-computer interaction system. Among them, the sensing system is used to sense the surrounding environment of the smart cleaning device and its own information. The control system is used to receive and control the information of each part. The drive system is used to drive the movement of the intelligent cleaning equipment. The cleaning system is used for cleaning. The energy system is used to provide energy power. The human-computer interaction system is used to interact with the user, which is convenient for the user to control the intelligent cleaning device.

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

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

The position determining device 20 includes a bracket 25 and a position determining component. The bracket 25 is rotatably disposed on the machine body. The bracket 25 carries a protective cover 21 and a position determining component. The position determining component is located in the protective cover 21. The protective cover 21 is carried by the bracket 25, and the position determining component is disposed in the protective cover 21. The position determining component can be reliably protected by the protective cover 21. The position determining component of the position determining device 20 includes, but is not limited to, a camera and a laser ranging device (LDS). The position determining device 20 is used to measure the distance between the intelligent cleaning device and the travel path and surrounding obstacles, so as to ensure that the intelligent cleaning device can work normally. The following uses the position determination device 20 to include a laser ranging device using a triangular ranging method as an example to explain how to perform position determination. The basic principle of the triangle ranging method is based on the equivalence relationship between similar triangles, which will not be repeated here.

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

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

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

The base may support the light emitting unit and the light receiving unit, and the light emitting unit and the light receiving unit are arranged on the base and are spaced apart from each other by a specific distance. In order to measure the obstacle in the 360 ° direction around the smart cleaning device, the base can be rotatably arranged on the machine body, or the base can be rotated without transmitting the light by rotating the element. The rotational angular velocity of the rotating element can be obtained by setting an optical coupling element and a code disc. The optical coupling element senses the tooth gap on the code disc. The instantaneous angular velocity can be obtained by dividing the gap passing time of the tooth gap and the distance between the tooth gaps. The greater the density of tooth defects on the code disc, the higher the accuracy and accuracy of the measurement, but the more precise the structure and the higher the amount of calculation; on the contrary, the smaller the density of tooth defects, the more accurate and accurate the measurement. The corresponding accuracy is lower, but the structure can be relatively simple, the calculation amount is smaller, and some costs can be reduced.

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

Although the laser ranging device based on the triangular ranging method can in principle measure the distance value at an infinite distance beyond a certain distance, in fact, the long-distance measurement, for example, more than 6 meters, is very difficult to implement, mainly because The size of the pixel unit on the sensor of the light unit is also limited by the photoelectric conversion speed of the sensor, the data transmission speed between the sensor and the connected DSP, and the calculation speed of the DSP. The measurement value of the laser ranging device affected by temperature will also undergo system intolerable changes, mainly because the thermal expansion and deformation of the structure between the light-emitting unit and the light-receiving unit causes the angle change between the incident light and the emitted light. The light-emitting unit And the light receiving unit itself also has a temperature drift problem. After the laser ranging device is used for a long time, the deformation caused by the accumulation of various factors such as temperature changes and vibration will also seriously affect the measurement results. The accuracy of the measurement results directly determines the accuracy of the map drawing, which is the basis for the further implementation of the strategy by the intelligent cleaning equipment, which is especially important.

The forward part 11 of the main body of the machine can carry a buffer. When the cleaning system drives the intelligent cleaning device during the cleaning process, the buffer includes one or more sensors, such as infrared sensors, to detect one of the travel paths of the intelligent cleaning device. Or multiple events (or objects), the smart cleaning device can respond to the event (or object) by controlling and driving the smart cleaning device through events (or objects) detected by the buffer, such as obstacles, walls , Such as staying away from obstacles.

The control system is arranged on the circuit board in the main body of the machine, and includes a computing processor (such as a central processing unit, an application processor) and an application processor that communicate with non-transitory memories (such as a hard disk, a flash memory, and a random access memory). According to the obstacle information fed back by the laser ranging device, a positioning algorithm (such as SLAM) is used to draw an instant map of the environment where the smart cleaning device is located. And combined with the distance information and speed information fed back by buffer devices, cliff sensors and ultrasonic sensors, infrared sensors, magnetometers, accelerometers, gyroscopes, odometers and other sensing devices to comprehensively determine the current working state of smart cleaning equipment, such as Thresholds, carpets, are located on cliffs, are stuck above or below, dust boxes are full, are picked up, etc. It will also give specific next action strategies for different situations, making the work of intelligent cleaning equipment more in line with the owner's Requires a better user experience. Further, the control system can plan the most efficient and reasonable cleaning path and cleaning method based on the map information drawn by SLAM, greatly improving the cleaning efficiency of intelligent cleaning equipment.

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

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

As shown in Figs. 5 to 7, when the smart cleaning device moves, if it enters the gap with insufficient height, the upper end of the position determination device 20 contacts the obstacle, causing the force of the machine body to change, so that the machine body presents Fig. 1 In the stuck state shown in the figure, the smart cleaning device cannot continue to work.

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

Of course, in other embodiments, in order to avoid such a situation, when the smart cleaning device enters the gap with insufficient height or collides with an obstacle during the process of entering the gap, the position determination device 20 may be rotated around the horizontal axis 30 toward the main housing. Rotate within 10 to prevent the smart cleaning device from getting stuck by reducing the overall height of the smart cleaning device.

Preferably, the control system includes the card prevention device. The card prevention device includes a detector 41 and a control unit (the control unit may be combined with the above-mentioned computing processor into one, or may be separately provided), and the detector 41 is provided in the main housing. 10 inside the receiving cavity, and the position of the position determining device 20 is detected. As shown in FIG. 6, when the position determination device 20 is rotated into the accommodation cavity, the detector 41 can detect that the position determination device 20 is in the position transferred into the accommodation cavity, indicating that the smart cleaning device is in a insufficiently high position or protected at this time. The cover 21 hits an obstacle. Specifically, the detector 41 may include a micro switch, a laser detector, an infrared detector, and the like.

The control part is respectively connected to the detector 41 and the walking part. The anti-card operation includes the control part controlling the walking part to drive the machine body back according to the position of the position determining device 20 detected by the detector 41. When the detector 41 detects that the position determining device 20 is in a space with insufficient height or collides with an obstacle, the control section controls the walking section to walk backwards, thereby being away from the obstacle or detaching from the gap.

As shown in FIGS. 8 to 10, the bracket is provided with a shaft mounting groove 211. The bracket includes a protective cover 21 and is connected to the main casing 10 through a horizontal shaft 30. The horizontal shaft 30 may be disposed on the front side, the rear side, or the left and right sides of the protective cover 21. As shown in FIGS. 15 and 16, in order to prevent the protective cover 21 from colliding with obstacles and disperse the impact force, and at the same time make the protective cover 21 more easily come out of the gap, the top edge of the protective cover 21 is provided with a chamfered structure. Preferably, a chamfered structure is provided on the front top edge of the protective cover 21. The chamfering structure may be a circular arc chamfer or a 45 ° chamfer.

Preferably, in order to improve the durability and avoid the detector from being damaged due to excessive collision impact during the rotation, the smart cleaning device further includes a buffer component, and the buffer component is disposed in the main casing 10. The buffer component can reduce the impulse of rotation of the bracket 25, prevent excessive physical impact force from damaging the detector, such as a micro-switch, and improve the service life.

The structure of the buffer component may be various, and any structure capable of reducing impact force may be used. For example, a cushion rubber pad or the like is provided on the bracket 25.

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

Preferably, the buffer legs 512 are multiple, and are evenly distributed on the base body 511 along the circumferential direction of the base body 511.

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

Preferably, as shown in FIG. 12, the auxiliary buffer member 52 includes a mounting seat 521 and a buffer plate 522. The mounting seat 521 is connected to the air duct partition 60. The structure and shape of the mounting base 521 can be adapted to the structural setting of the object to be mounted. In this embodiment, the mounting base 521 includes a plurality of circular holes, and the mounting base 521 is fixed on a cylinder on the upper part of the air duct partition 60 through the circular holes. The first end of the buffer plate 522 is provided with a bending buffer section 523, and the buffer plate 522 is connected to the mounting base 521 through the bending buffer section 523. The bending buffer section 523 is U-shaped, and the buffer plate 522 and the mounting seat 521 are combined to form a cantilever structure. When the protective cover 21 is rotated into the main casing 10, the main buffer member 51 moves accordingly, and the auxiliary buffer member 52 is on its movement path. During the movement of the main buffer member 51, the buffer leg 512 is in contact with the buffer plate 522 of the auxiliary buffer member 52. The deformation of the buffer leg 512 and the movement of the buffer plate 522 can absorb the impulse and achieve the purpose of protecting and buffering the protective cover 21. .

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

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

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

The position determining device 20 is set in a rotatable manner. When the smart cleaning device gets stuck due to obstacles from above, the position determining device 20 pivots, thereby triggering a micro-switch, and the control unit receives the micro-motion. After the signal of the switch, the back command is called to prevent the smart cleaning device from moving forward. This solves the problem that the protective cover is fixed on the machine casing in the prior art and is stuck in special occasions with insufficient height. And it is more reliable and accurate through the hardware triggering method.

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

By making the protective cover and other structures of the position determination device inside the protective cover rotatably provided on the machine body, the control section can be notified when the height is insufficient, and the control section controls the intelligent cleaning equipment to retreat after receiving a signal. Prevent the protective cover from severe collision with furniture (or other obstacles), and prevent the smart cleaning device from getting stuck.

The protective cover is provided by a pivoting method, which has a large degree of freedom, and the direction of rotation is directed to the inside of the machine, and is not affected by foreign objects.

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

Claims

An intelligent cleaning device, comprising:

A machine body comprising a main casing (10) having a receiving cavity;

A position determining device (20), the position determining device (20) is rotatably provided on the machine body, and at least a part of the position determining device (20) can be turned into the main housing (10); Accommodation cavity

A card prevention device capable of detecting rotational position information of the position determining device (20), and controlling the smart cleaning device to perform a card prevention action based on the detected rotational position information.
The intelligent cleaning device according to claim 1, wherein the intelligent cleaning device comprises a walking part, the walking part is connected to the machine body and can drive the machine body to move, and the anti-card device comprises :

A detector (41), the detector (41) is disposed in the receiving cavity of the main casing (10), and detects a rotation position of the position determining device (20);

A control unit, which is respectively connected to the detector (41) and the walking unit, and the anti-card operation includes: the control unit determines the position determining device ( 20) The position control of the walking part drives the machine body to perform an avoidance action.
The intelligent cleaning device according to claim 1 or 2, wherein the position determining device (20) comprises:

A bracket (25), which is rotatably disposed on the machine body, the bracket (25) carries a protective cover (21) and a position determining component, and the position determining component is located on the protective cover (21) Within.
The intelligent cleaning device according to claim 1 or 2, characterized in that the intelligent cleaning device further comprises a buffer component, and the buffer component is disposed in the main casing (10).
The intelligent cleaning device according to claim 4, characterized in that the buffer assembly comprises a main buffer (51), the main buffer (51) is disposed on the position determining device (20), and can be provided with The position determining device (20) is rotated to move.
The intelligent cleaning device according to claim 5, wherein the buffer assembly further comprises an auxiliary buffer member (52), the auxiliary buffer member (52) is disposed in the main casing (10), and The main buffer member (51) is in contact with the auxiliary buffer member (52) during the rotation of the position determining device (20).
The intelligent cleaning device according to claim 6, characterized in that the detector (41) is provided on the auxiliary buffer member (52), and the main buffer member (51) is provided with a trigger (513) When the position determining device (20) is turned into the accommodating cavity, a trigger (513) on the main buffer (51) is caused to trigger the detector (41).
The intelligent cleaning device according to claim 5, characterized in that the main buffer (51) comprises:

A base body (511), which is connected to the position determining device (20);

The buffer legs (512) are multiple, and are all fixedly connected to the base body (511).
The intelligent cleaning device according to claim 6, characterized in that an air channel partition (60) is provided in the accommodating cavity of the main casing (10), and the auxiliary buffer member (52) is provided in the wind On the road partition (60).
The intelligent cleaning device according to claim 9, characterized in that the auxiliary buffer (52) comprises:

A mounting seat (521), which is connected to the air duct partition (60);

A buffer plate (522), a first end of the buffer plate (522) is provided with a bending buffer section (523), and the buffer plate (522) passes through the bending buffer section (523) and the mounting seat ( 521) Connect.
The smart cleaning device according to claim 3, wherein a chamfered structure is provided on a top edge of the protective cover.
The intelligent cleaning device according to any one of claims 2 to 10, wherein the detector comprises a micro switch, a laser detector or an infrared detector.