CN113729544A

CN113729544A - Detection device for detecting edge and omnidirectional obstacles of cleaning equipment

Info

Publication number: CN113729544A
Application number: CN202110999536.9A
Authority: CN
Inventors: 彭金华
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

The invention discloses a detection device for detecting edge and omnidirectional obstacles of cleaning equipment, which is internally provided with a main control unit, and comprises an edge lifting part, an impact block arranged below the edge lifting part, a reset spring sleeved on the edge lifting part, an edge sensing block arranged at the upper end of the edge lifting part, an edge sensing part arranged at one end of the edge sensing block, an obstacle sensing block connected with the impact block and an obstacle sensing part arranged corresponding to the obstacle sensing block, wherein the impact block is used for driving the obstacle sensing block to trigger the corresponding obstacle sensing part when one side of the cleaning equipment encounters an obstacle.

Description

Detection device for detecting edge and omnidirectional obstacles of cleaning equipment

Technical Field

The invention relates to the technical field of cleaning equipment, in particular to a detection device for detecting edge and omnidirectional obstacles of the cleaning equipment.

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 frameless detection or running state obstacle detection function, the frame detection is insensitive, and if an infrared frameless detection sensor is adopted, the problem of insensitive frame detection can be solved to a certain extent, but the module cost is high.

Disclosure of Invention

The invention aims to overcome the defects in the prior art and provide a detection device for detecting the edge and the omnidirectional obstacle of cleaning equipment, the detection device has quick and sensitive detection response, and timely feeds back an electric signal at the edge or encountering the obstacle when moving to the edge of the surface of a flat object or encountering the obstacle, so that a main control part can timely give a steering instruction, and the cleaning equipment is ensured to accurately perform cleaning operation in an area to be cleaned.

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

a detection device for detecting edge and omnidirectional obstacles of cleaning equipment is provided, the cleaning equipment is internally provided with a main control unit, the detection device comprises an edge lifting part, an impact block arranged below the edge lifting part, a reset spring sleeved on the edge lifting part, an edge sensing block arranged at the upper end of the edge lifting part, an edge sensing part arranged at one end of the edge sensing block, an obstacle sensing block connected with the impact block and an obstacle sensing part arranged corresponding to the obstacle sensing block, wherein the impact block is used for driving the obstacle sensing block to trigger the corresponding obstacle sensing part when an obstacle is encountered at one side of the cleaning equipment, the edge sensing part is used for matching the reset spring and the edge sensing block to judge whether the current displacement direction, the position of the whole machine or the whole periphery is in a suspension state and feeding back an electric signal to the main control unit, and the obstacle sensing part is used for matching the impact block, The reset spring and the obstacle sensing block judge whether obstacles exist in the current displacement direction, the position of the whole machine or the periphery of the whole machine or not and feed back the electric signal to the main control unit.

Wherein one side of the collision block is provided with at least one front collision part in an outward protruding manner, the other side of the collision block is provided with at least one side collision part in an outward protruding manner, 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, at least one oblique angle linkage part is arranged between the front linkage part and the side linkage part, and the edge lifting part is arranged on the collision block in a penetrating manner.

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.

The cleaning device is characterized in that collision bulges are arranged on two sides of each collision block in a protruding mode and used for driving the collision blocks to rotate in the opposite direction of the barrier when one side of the cleaning device encounters the barrier, a front linkage part is arranged on one side of one collision bulge, a side linkage part is arranged on the other collision bulge at one time, and an oblique linkage part is further 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 collision block is at least arranged on one side of the bottom edge of the corner of the cleaning equipment, the collision block is convexly provided with a fixing column, the fixing column penetrates through the base of the machine shell and is fixedly connected with the obstacle sensing block, at least one trigger arm is arranged on the obstacle sensing block towards the obstacle sensing part and is used for triggering the obstacle sensing part when the cleaning device encounters an obstacle, the obstacle sensing block is provided with a limiting arm corresponding to a limiting spring and is used for matching the limiting spring to reset the rotating obstacle sensing block, wherein the collision block is arranged on one side of the bottom surface of the corner of the base and is only connected with one obstacle sensing block, or the collision blocks are arranged on two sides of the bottom surface of the corner of the base and are symmetrically arranged relative to the corner, and the two collision blocks are respectively and correspondingly and fixedly connected with one obstacle sensing block.

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 equipment 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 feedback is prevented from being adsorbed on the surface of the flat object, and the cleaning equipment is ensured to be stably and effectively used for cleaning the surface of the flat object, the situation that the cleaning equipment falls off from the surface of the flat object due to negative pressure failure caused by the fact that the cleaning equipment is moved out of the surface of the flat object in a transition mode is avoided; when the collision arm of the collision block meets an obstacle, a reaction force is applied by the obstacle to rotate, at the moment, due to the interaction of the linkage concave position and the linkage convex position, the obstacle sensing block rotates along with the obstacle sensing block, one trigger arm of the obstacle sensing block leaves (does not trigger) or acts on a corresponding obstacle sensing part, the obstacle sensing part converts a signal leaving (does not trigger) or acting into an electric signal to be fed 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 equipment is prevented from directly colliding with the obstacle and being damaged, the displacement of the cleaning equipment in an effective area is ensured, and the cleaning equipment can accurately perform cleaning operation in the area to be cleaned.

Drawings

Fig. 1 is an exploded view of an embodiment 1 of the present invention.

Fig. 2 is a schematic structural diagram of an obstacle sensing block according to embodiment 1 of the present invention.

Fig. 3 is an exploded view of embodiment 2 of the present invention.

Fig. 4 is a bottom view of an edge sensing block according to embodiments 2 and 3 of the present invention.

Fig. 5 is an exploded view of embodiment 3 of the present invention.

Fig. 6 is a schematic perspective view of the cleaning device according to the present invention.

FIG. 7 is a schematic bottom view of the cleaning device of the present invention.

FIG. 8 is a perspective view of the cleaning device of the present invention without the upper cover.

Fig. 9 is an exploded view of the moving unit of the cleaning device of the present invention.

FIG. 10 is a schematic view of the structure of the sweeping unit of the cleaning device of the present invention.

Figure 11 is an exploded view of the base and floating floor of the cleaning device of the present invention.

The reference numbers illustrate:

1-a detection device; 11-an edge lifting section; 111-built-in groove; 112-mounting posts; 12-an impactor; 1521-front impact portion; 122-connecting column; 123-linkage concave position; 124-card slot; 125-a limit spring; 126-fixed column; 127-bump bumps; 12 a-side impact portion; 12 b-a front linkage; 12 c-side linkage part; 12 d-bevel linkage; 12 e-a detection linkage part; 12 f-single impact portion; 13-a return spring; 14-edge sensing block; 141-a touch arm; 142-a bump; 15-obstacle sensing block; 151-trigger arm; 152-a linkage groove; 153-linkage protrusions; 154-perforation; 155-a spacing arm; 16-an edge sensing part; 17-an obstacle sensing portion; 18-a limiting plate; 181-a resilient arm; 19-detecting the circuit board; 1 a-a limit bullet block; 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-a machine shell; 51-a base; 511-cleaning the fixing groove; 512-negative pressure groove; 513-negative pressure holes; 514-a limiting block; 52-upper cover; 521-a power interface; 522-power indicator light; 523-power key; 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 fig. 1 to 11, the present invention relates to a detection device 1 for detecting an edge and omnidirectional obstacle of a cleaning apparatus, the cleaning apparatus having a main control unit 6, the detection device 1 includes an edge lifting portion 11, an impact block 12 disposed below the edge lifting portion 11, a return spring 13 sleeved on the edge lifting portion 11, an edge sensing block 14 disposed at an upper end of the edge lifting portion 11, an edge sensing portion 16 disposed at one end of the edge sensing block 14, an obstacle sensing block 15 connected to the impact block 12, and an obstacle sensing portion 17 disposed corresponding to the obstacle sensing block 15, the impact block 12 is configured to drive the obstacle sensing block 15 to trigger the corresponding obstacle sensing portion 17 when an obstacle is encountered at one side of the cleaning apparatus, the edge sensing portion 16 is configured to cooperate with the return spring 13 and the edge sensing block 14 to determine whether a current displacement direction, a complete machine position, or a whole periphery is in a suspended state and to feed back an electric signal to the main control unit 6, the obstacle sensing part 17 is used for matching with the collision block 12, the return spring 13 and the obstacle sensing block 15 to judge whether the current displacement direction, the complete machine position or the whole periphery has obstacles or not and feeding back an electric signal to the main control unit 6.

As shown in fig. 6, 7, 8 and 11, the cleaning apparatus includes a housing 5, and the detecting device 1 is disposed at least two corners of the housing 5, the detecting device 1 is used for determining a current displacement direction, a complete machine position or a complete periphery; the chassis 5 is composed of a base 51 and an upper cover 52 buckled on the base 51, the upper cover 52 is used for protecting each electrical element of the cleaning device, the middle of the base 51 is provided with at least one negative pressure part 2, two symmetrical edges of the negative pressure part 2 are respectively provided with a moving unit 3, the moving unit 3 is used for driving the chassis 5 to move on the surface of the flat object, the other two symmetrical edges of the negative pressure part 2 are respectively provided with a cleaning unit 4, and the cleaning unit 4 is used for cleaning the dirt solidified on the surface of the flat object; the detection device 1, the moving unit 3 and the cleaning unit 4 are respectively electrically connected with a main control unit 6, a cleaning part 7 is arranged on the outer bottom surface of the casing 5, the cleaning part 7 is used for cleaning dirt which is easy to clean on the surface of a flat object, 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 5, 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 5, 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.

Further, a power interface 521 is disposed on the upper cover 52, the power interface 521 is connected to a power line (not shown) with an access port, and a plug (not shown) is disposed at the other end of the power line and is used for connecting to a socket to realize power-on; the upper cover 52 is further provided with at least one power indicator 522 and a power button 523, the power indicator 522 is electrically connected with the main control unit 6, a power switch (not shown) is arranged below the power button 523, the power switch is electrically connected with the main control unit 6, the power switch is mainly used for powering on and off the cleaning device, the main control unit 6 is a PCB board, and the main control unit 6 is installed on the base 51; the main control unit 6 is further electrically connected to a battery (not shown), which is preferably disposed on the base 51, 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. 1, 6, 7 and 8, one side of the impact block 12 is provided with at least one front impact portion 121 protruding outwards, the other side of the impact block 12 is provided with at least one side impact portion 12a protruding outwards, the front impact portion 121 is provided with at least one front linkage portion 12b, the side impact portion 12a is provided with at least one side linkage portion 12c, and at least one bevel linkage portion 12d is arranged between the front linkage portion 12b and the side linkage portion 12 c; specifically, the front collision portion 121 and the side collision portion 12a may be used alone, the front collision portion 121 and the front interlocking portion 12b may be used in combination, the side collision portion 12a and the side interlocking portion 12c may be used in combination, the front collision portion 121, the side collision portion 12a, the front interlocking portion 12b, the side interlocking portion 12c and the bevel interlocking portion 12d may be arranged, the front collision portion 121, the side collision portion 12a, the front interlocking portion 12b, the side interlocking portion 12c and the bevel interlocking portion 12d may form an obstacle trigger detecting structure, when the cleaning apparatus encounters an obstacle, the obstacle trigger detecting structure may reversely rotate the collision block with respect to the obstacle and drive the obstacle sensing block to trigger the obstacle sensing portion, and at this time, the obstacle sensing portion may 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 121, the side collision part 12a, the front linkage part 12b, the side linkage part 12c and the bevel linkage part 12d 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 12b, the side linkage part 12c and the bevel linkage part 12d form a linked integral structure, a gap is formed between the linked integral structure and the base, when the base 51 encounters an obstacle, the obstacle detection effect of the corner position can be supplemented, the corner of the base 51 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 51 can be protected.

Furthermore, as shown in fig. 1, a limiting plate 18 is disposed between the impact mass 12 and the base 51, the limiting plate 18 is provided with elastic arms 181 corresponding to the front impact portion 121 and the side impact portion 12a, respectively, each elastic arm 181 is used for providing a force for the impact mass 12 to return after encountering an obstacle, wherein the front impact portion 121 and the side impact portion 12a are respectively provided with a slot 124 in a concave manner, and each slot 124 is connected with the corresponding elastic arm 181; when the cleaning device is used, when the front collision part 121, the side collision part 12a, the front collision part 121 and the front linkage part 12b, the side collision part 12a and the side linkage part 12c, or the front collision part 121, the side collision part 12a, the front linkage part 12b, the side linkage part 12c and the bevel linkage part 12d meet an obstacle together, one of the elastic arms 181 is pressed, so that the pressed elastic arm 181 is elastically deformed, and when the cleaning device turns or returns to the original path, the pressing force to the elastic arm 181 is cancelled, and the elastic arm 181 restores to the original state due to the action of the elastic stress, so that the collision block 12 is driven to reset.

Further, as shown in fig. 1, the impact mass 12 is further provided with a connecting post 122, the outer surface of the connecting post 122 is provided with at least one linkage concave 123, the obstacle sensor 15 is provided with a linkage groove 152, the linkage groove 152 is provided with at least one linkage protrusion 153, the linkage protrusion 153 is correspondingly connected to the linkage concave 123, the bottom surface of the linkage groove 152 is further provided with a through hole 154, and the mounting post 112 of the edge lifting part 11 is inserted into the through hole 154 and connected to the edge sensor 14.

Further, as shown in fig. 1 and 8, the edge sensing portion 16 and the obstacle sensing portion 17 are electrically connected to a detection circuit board 19, the detection circuit board 19 is mounted on a base 51, the edge sensing portion 16 preferably employs an optical coupler sensor, when the cleaning device is operated, the edge lifting portion 11 receives a reverse acting force of the surface of the flat object due to the action of the negative pressure portion 2, the base 51 presses the return spring 13, the return spring 13 elastically deforms, when the cleaning device moves to the edge of the surface of the flat object, the edge lifting portion 11 does not have the reverse acting force of the flat object, the return spring 13 makes the edge lifting portion 11 sink under the action of the elastic stress, at this time, the edge sensing block 14 sinks along with the edge lifting portion 11, the edge sensing portion 16 is acted, for example, light in the edge sensing portion 16 is shielded, the edge sensing portion 16 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 to the original 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 the marginal response portion 16, can all-round put (putting, put upside down, put on one's side etc.), the type of marginal response portion 16 is selected, can dispose according to the concrete demand that detects precision and signal feedback time, do not self-limit here.

As shown in fig. 7-9, 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 51 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 51 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. 7, 8 and 10, 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 51 are respectively provided with a cleaning fixing groove 511 inwards in a concave manner, the two ends of the cleaning brush 41 are erected in the cleaning fixing grooves 511, and one end of each cleaning brush 41 extends out of the cleaning fixing groove 511 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.

When the cleaning device is used, the negative pressure part 2 sucks air into the shell 5 to generate negative pressure, so that the cleaning device 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, the driving motor 33 and the second driving wheel 35 are in transmission fit, so that the driving belt 34 acts on the surface of the flat object to generate power for pushing the cleaning device to walk on the surface of the flat object, the cleaning device displaces 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 device 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 11 receives the reverse acting force of the surface of the flat object, and presses the return spring 13 towards the base 51, the return spring 13 elastically deforms, 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 11, the pressure on the edge lifting part 11 is temporarily removed, the return spring 13 recovers to the original state under the action of the elastic stress, so that the edge lifting part 11 sinks, at this time, the edge sensing block 14 sinks along with the edge lifting part 11, acts on the edge sensing part 16, for example, light in the edge sensing part 16 is shielded, the edge sensing part 16 converts the shielded signal into an electrical signal and feeds back the electrical signal to the main control unit 6, the main control unit 6 receives the shielded signal immediately, issues an instruction to turn or return the cleaning device to the original path, therefore, the phenomenon that the edge lifting part 11 moves out of the area to be cleaned in the working process is effectively avoided, the cleaning operation is only carried out in the area to be cleaned, and when the edge lifting part 11 returns to the surface of a flat object, the edge lifting part 11 presses the reset elasticity again under the action of the negative pressure part 2.

When the front collision part 121, the side collision part 12a, the front collision part 121 and the front linkage part 12b, the side collision part 12a and the side linkage part 12c, or the front collision part 121, the side collision part 12a, the front linkage part 12b, the side linkage part 12c and the bevel linkage part 12d contact with an obstacle, the front collision part 121, the side collision part 12a, the front collision part 121 and the front linkage part 12b, the side collision part 12a and the side linkage part 12c, or the front collision part 121, the side collision part 12a, the front linkage part 12b, the side linkage part 12c and the bevel linkage part 12d are subjected to a reverse acting force applied by the obstacle, so that one of the collision blocks 12 rotates in the reverse direction of the displacement direction of the cleaning device, the collision block 12 acts on the linkage protrusion 153 through the linkage concave 123 to drive the obstacle sensing block 15 to rotate, and one of the trigger arms 151 of the obstacle sensing block 15 triggers the obstacle sensing part 17, at this time, the obstacle sensing part 17 feeds back the trigger signal to the main control unit 6 through the detection circuit board 19, and after receiving the trigger signal, the main control unit 6 sends an instruction to the mobile unit 3 to change the displacement direction or return of the cleaning device, thereby effectively preventing the casing 5 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 17 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 17 can be selected and configured according to the specific requirements of detection precision and signal feedback time, which is not limited herein; when the front collision part 121, the side collision part 12a, the front collision part 121 and the front linkage part 12b, the side collision part 12a and the side linkage part 12c, or the front collision part 121, the side collision part 12a, the front linkage part 12b, the side linkage part 12c and the bevel linkage part 12d meet an obstacle together, one of the elastic arms 181 is pressed to elastically deform the pressed elastic arm 181, and the pressing force to the elastic arm 181 is cancelled until the cleaning apparatus turns or returns to its original position, so that the elastic arm 181 is restored to its original position due to the action of the elastic stress, and the collision block 12 is driven to be restored.

Specific example 2:

as shown in FIGS. 3 and 4, the present invention discloses a detection device for detecting edge and omnidirectional obstacle of a cleaning device, wherein two sides of an impact block 12 are respectively provided with an impact protrusion 127, the impact protrusions 127 are used for driving the impact block 12 to rotate towards the opposite direction of the obstacle when one side of the cleaning device encounters the obstacle, one side of one impact protrusion 127 is provided with a front linkage portion 12b, the other impact protrusion 127 is provided with a side linkage portion 12c, and an oblique linkage portion 12d is further arranged between the front linkage portion 12b and the side linkage portion 12 c; specifically, each collision protrusion 127 can be used individually, one collision protrusion 127 and the front linkage portion 12b are used in combination, the other collision protrusion 127 and the side linkage portion 12c are used in combination, the front linkage portion 12b, the side linkage portion 12c, the bevel linkage portion 12d and each collision protrusion 127 are used together, etc., the front linkage portion 12b, the side linkage portion 12c, the bevel linkage portion 12d and each collision protrusion 127 can be arranged and combined, the front linkage portion 12b, the side linkage portion 12c, the bevel linkage portion 12d and each collision protrusion 127 form an obstacle triggering detection structure, when the cleaning device encounters an obstacle, the obstacle triggering 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 will send an electric signal of encountering the obstacle to the control unit, the control unit receives the electric signal of encountering the obstacle, and an instruction is sent to the moving unit to enable the cleaning device to turn or return to the original path, and the arrangement of each collision protrusion 127, the front linkage part 12b, the side linkage part 12c and the bevel linkage part 12d greatly improves the obstacle detection effect of the whole corner of the cleaning device.

As shown in fig. 3, an inner groove 111 is formed on one surface of the edge lifting portion 11, a mounting post 112 is protruded from the inner groove 111, and the return spring 13 is sleeved on the mounting post 112 and is disposed in the inner groove 111; each corner of the base 51 is provided with a movable sleeve (not shown), each edge lifting part 11 is respectively arranged in the movable sleeve in a penetrating way, and each collision block 12 is respectively sleeved on the movable sleeve; the edge sensing part 16 and the obstacle sensing part 17 are respectively installed on the same detection circuit board, the detection circuit board is fixedly connected with the base 51, the edge sensing part 16 and the obstacle sensing part 17 respectively preferably adopt photoelectric switches, the edge sensing part 16 and the obstacle sensing part 17 respectively block light beams of the edge sensing part 16 and the obstacle sensing part 17 through the edge sensing block 14 and the obstacle sensing block 15, the edge sensing part 16 or the obstacle sensing part 17 is triggered, the edge sensing part 16 and the obstacle sensing part 17 can convert trigger signals into electric signals and feed the electric signals 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 signals, and gives a command of reversing or returning to the cleaning device, it should be noted that the edge sensing part 16 and the obstacle sensing part 17 at the position 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 16 and the obstacle sensing part 17 can be selected according to the actual design requirements of the product structure, and are not limited herein.

As shown in fig. 3 and 4, the edge sensor block 14 is provided with a touch arm 141 extending outward from at least one side thereof, the touch arm 141 is used to trigger the edge sensor 16 when the cleaning device is moved to the edge of the surface of the planar object, the touch arm 141 is laterally arranged, so as to effectively avoid interference with the obstacle sensor block 15 during operation, and ensure normal operation of edge detection and obstacle detection; a bump 142 is further disposed between the touch arm 141 and the edge sensing block 14, and the bump 142 can effectively prevent the touch arm 141 and the obstacle sensing block 15 from interfering with each other, thereby ensuring effective edge detection and obstacle detection.

As shown in fig. 3, the collision block 12 is provided with at least two fixing posts 126 protruding upward, each fixing post 126 penetrates through the base 51 of the housing 5 and is fixedly connected to the obstacle sensing block 15, the obstacle sensing block 15 is provided with at least one triggering arm 151 facing the obstacle sensing portion 17, the triggering arm 151 is used for triggering the obstacle sensing portion 17 when the cleaning device encounters an obstacle, the obstacle sensing block 15 is provided with a limiting arm 155 corresponding to the limiting elastic block 1a, the limiting arm 155 is used for resetting the rotating obstacle sensing block 15 in cooperation with the limiting elastic block 1a, two ends of the limiting elastic block 1a extend to the same side, and the two extending sections are folded to form a limiting opening (not shown), the limiting arm 155 extends into the limiting opening, and two ends of the limiting elastic block 1a are fastened to the limiting arm 155; at least one movable hole (not shown) is formed in the base 51 corresponding to the fixed pillar 126, and the movable hole provides sufficient rotation space for the fixed pillar 126 when the impact mass 12 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 11, the pressure on the edge lifting part 11 is temporarily removed, the reset spring 13 restores the original state under the action of elastic stress, so that the edge lifting part 11 sinks, at this time, the edge sensing block 14 sinks along with the edge lifting part 11, the edge sensing part 16 acts on the edge sensing part 16, for example, the touch arm 141 of the edge sensing block 14 shields the light in the edge sensing part 16, the edge sensing part 16 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 gives 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 11 returns to the surface of the flat object, the edge lifting part 11 presses the restoring elasticity again under the action of the negative pressure part 2.

When the collision protrusions 127 of the collision block 12, one of the collision protrusions 127 and the front linkage portion 12b, the other collision protrusion 127 and the side linkage portion 12c, or the front linkage portion 12b, the side linkage portion 12c, the bevel linkage portion 12d and the collision protrusions 127 are used together to touch an obstacle, the collision block 12 is subjected to a reverse acting force exerted by the obstacle, so that the collision block 12 rotates in a reverse direction to the displacement direction of the cleaning apparatus, the collision block 12 drives the obstacle sensor 15 to rotate through the fixing post 126, so that one of the trigger arms 151 of the obstacle sensor 15 triggers the obstacle sensor 17 disposed at the same side, at this time, the obstacle sensor 17 feeds back a trigger signal to the main control unit 6 through the detection circuit board 19, the main control unit 6 receives the trigger signal and then gives an instruction to the moving unit 3 to change the displacement direction of the cleaning apparatus or return the collision path, thereby effectively preventing the housing 5 of the cleaning apparatus from directly reaching the obstacle, the cleaning device is effectively protected, and the normal use of the cleaning device is ensured; when the collision protrusion 127 receives the reverse acting force of the obstacle, the limiting arm 155 applies force to the limiting elastic block 1a to enable the limiting elastic block 1a to be elastically deformed, when the cleaning device turns to leave the obstacle, the reverse acting force received by the collision protrusion 127 disappears, at this time, the limiting arm 155 restores the original state under the elastic stress action of the limiting elastic block 1a to reset the collision block 12, and at this time, the trigger arm 151 leaves the obstacle sensing portion 17.

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. 4 and 5, the present invention discloses a detection device for detecting edge and omnidirectional obstacle of a cleaning device, wherein an inner slot 111 is formed on one surface of an edge lifting portion 11, a mounting post 112 is convexly disposed in the inner slot 111, and a return spring 13 is sleeved on the mounting post 112 and is disposed in the inner slot 111; each corner of the base 51 is respectively provided with a movable sleeve (not shown), each edge lifting part 11 is respectively arranged in the movable sleeve in a penetrating way, and each collision block 12 is respectively arranged on one side of the movable sleeve; the edge sensing part 16 and the obstacle sensing part 17 are respectively installed on the same detection circuit board (not shown), the detection circuit board is fixedly connected with the base 51, the edge sensing part 16 and the obstacle sensing part 17 respectively preferably adopt photoelectric switches, the edge sensing block 14 and the obstacle sensing block 15 respectively block light beams of the edge sensing part 16 and the obstacle sensing part 17 to trigger the edge sensing part 16 or the obstacle sensing part 17, the edge sensing part 16 and the obstacle sensing part 17 can convert trigger signals into electric signals and feed the electric signals 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 signals, and gives an instruction of reversing or returning to the cleaning device, and it should be noted that other commonly used contact sensors and non-contact sensors can also be used for the edge sensing part 16 and the obstacle sensing part 17, the types of the sensors used in the edge sensing part 16 and the obstacle sensing part 17, 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. 4, at least one side of the edge sensing block 14 is extended outward to form a touch arm 141, and the touch arm 141 is used to trigger the edge sensing portion 16 when the cleaning device is moved to the edge of the surface of the planar object; the lateral arrangement of the touch arm 141 can effectively avoid the mutual interference with the obstacle sensing block 15 during operation, and ensure the normal operation of edge detection and obstacle detection; a bump 142 is further disposed between the touch arm 141 and the edge sensing block 14, and the bump 142 can effectively prevent the touch arm 141 and the obstacle sensing block 15 from interfering with each other, thereby ensuring effective edge detection and obstacle detection.

As shown in fig. 5, the impact block 12 is at least arranged on one side of the bottom edge of the corner of the cleaning device, the impact block 12 is convexly provided with a fixing column 126, the fixing post 126 is inserted through the base of the housing and is fixedly connected to the obstacle sensing block 15, at least one triggering arm 151 is disposed on the obstacle sensing block 15 toward the obstacle sensing portion 17, the trigger arm 151 is used to trigger the obstacle sensor 17 when the cleaning device encounters an obstacle, the obstacle sensor 15 has a limit arm 155 corresponding to the limit spring 125, the position limiting arm 155 is used to cooperate with the position limiting spring 125 to reset the rotating obstacle sensor 15, wherein, the bottom surface of the corner of the base has only one side provided with an impact block 12, the impact block 12 has only one side connected with an obstacle sensing block 15, or, the two sides of the bottom surface of the corner of the base have impact blocks 12, the two collision blocks 12 are symmetrically arranged around corners, and the two collision blocks 12 are respectively and correspondingly fixedly connected with an obstacle induction block 15; wherein, the base is opened with at least one movable hole (not shown) corresponding to the fixed pillar 126, and the movable hole provides enough rotating space for the fixed pillar 126 when the impact mass 12 rotates; a limit block 514 is arranged on the base corresponding to the limit spring 125, and the limit spring 125 is arranged between the limit block 514 and the limit arm 155.

It should be noted that the obstacle sensor 15 is normally in a state of triggering the obstacle sensor 17, when the single collision portion 12f of the collision block 12, or the single collision portion 12f and the detection linkage portion 12e, or the single collision portion 12f, the detection linkage portion 12e and the bevel linkage portion 12d contact an obstacle, the collision block 12 will receive a reverse force applied by the obstacle, so that the collision block 12 rotates in a reverse direction to the displacement direction of the cleaning device, the collision block 12 drives the obstacle sensor 15 to rotate through the fixed post 126, so that one of the trigger arms 151 of the obstacle sensor 15 leaves the obstacle sensor 17 disposed on the same side, at this time, the obstacle sensor 17 will feed back a signal that is not triggered to the main control unit 6 through 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 to 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 the single collision part 12f receives the reverse acting force of the obstacle, the limit arm 155 cooperates with the corresponding limit block 514 to apply force to the limit spring 125, so that the limit spring 125 is elastically deformed, when the cleaning device leaves the obstacle, the reverse acting force received by the single collision part 12f disappears, at this moment, the limit arm 155 is restored to the original state under the elastic stress action of the limit spring 125, the collision block 12 is reset, and at this moment, the trigger arm 151 returns to the obstacle sensing part 17.

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. A detection device for detecting edge and omnidirectional obstacles of a cleaning device, which is internally provided with a main control unit, is characterized in that: the detection device comprises an edge lifting part, an impact block arranged below the edge lifting part, a reset spring sleeved on the edge lifting part, an edge sensing block arranged at the upper end of the edge lifting part, an edge sensing part arranged at one end of the edge sensing block, an obstacle sensing block connected with the impact block and an obstacle sensing part arranged corresponding to the obstacle sensing block, the collision block is used for driving the obstacle sensing block to trigger the corresponding obstacle sensing part when one side of the cleaning device meets an obstacle, the edge induction part is used for matching with the reset spring and the edge induction block to judge whether the current displacement direction, the complete machine position or the whole periphery is in a suspension state or not and feeding back an electric signal to the main control unit, the obstacle sensing part is used for matching with the collision block, the reset spring and the obstacle sensing block to judge whether obstacles exist in the current displacement direction, the position of the whole machine or the periphery of the whole machine or not and feeding back an electric signal to the main control unit.

2. The detection apparatus for rim and omni-directional obstacle detection of a cleaning device as set forth in claim 1, wherein: the cleaning equipment comprises a casing, the detection device is arranged at least two corners of the casing, the casing is composed of a base and an upper cover buckled on the base, the upper cover is used for protecting each electrical element of the cleaning device, at least one negative pressure part is arranged in the middle of the base, moving units are respectively arranged on two symmetrical sides of the negative pressure part, the moving units are used for driving the casing to move on the surface of a flat object, cleaning units are respectively arranged on two other symmetrical sides of the negative pressure part, and the cleaning units are used for cleaning dirt solidified on the surface of the flat object.

3. The detection apparatus for rim and omni-directional obstacle detection of a cleaning device according to claim 2, wherein: wherein one side of the collision block is provided with at least one front collision part in an outward protruding manner, the other side of the collision block is provided with at least one side collision part in an outward protruding manner, 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, at least one oblique angle linkage part is arranged between the front linkage part and the side linkage part, and the edge lifting part is arranged on the collision block in a penetrating manner.

4. The detection apparatus for rim and omni-directional obstacle detection of a cleaning device according to claim 2, 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.

5. The detection apparatus for rim and omni-directional obstacle detection of a cleaning device according to claim 2, wherein: the cleaning device is characterized in that collision bulges are arranged on two sides of each collision block in a protruding mode and used for driving the collision blocks to rotate in the opposite direction of the barrier when one side of the cleaning device encounters the barrier, a front linkage part is arranged on one side of one collision bulge, a side linkage part is arranged on the other collision bulge at one time, and an oblique linkage part is further arranged between the front linkage part and the side linkage part.

6. The detection apparatus for rim and omni-directional obstacle detection of a cleaning device according to claim 2, 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.

7. The detection apparatus for rim and omni-directional obstacle detection of a cleaning device according to claim 2, 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.

8. The detection apparatus for rim and omni-directional obstacle detection of a cleaning device according to claim 2, 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.

9. The detection apparatus for rim and omni-directional obstacle detection of a cleaning device according to claim 2, wherein: the collision block is at least arranged on one side of the bottom edge of the corner of the cleaning equipment, the collision block is convexly provided with a fixing column, the fixing column penetrates through the base of the machine shell and is fixedly connected with the obstacle sensing block, at least one trigger arm is arranged on the obstacle sensing block towards the obstacle sensing part and is used for triggering the obstacle sensing part when the cleaning device encounters an obstacle, the obstacle sensing block is provided with a limiting arm corresponding to a limiting spring and is used for matching the limiting spring to reset the rotating obstacle sensing block, wherein the collision block is arranged on one side of the bottom surface of the corner of the base and is only connected with one obstacle sensing block, or the collision blocks are arranged on two sides of the bottom surface of the corner of the base and are symmetrically arranged relative to the corner, and the two collision blocks are respectively and correspondingly and fixedly connected with one obstacle sensing block.