CN216317332U

CN216317332U - Disc type cleaning device with edge and obstacle detection function

Info

Publication number: CN216317332U
Application number: CN202121703974.8U
Authority: CN
Inventors: 彭金华
Original assignee: Shenzhen Aidi Technology Co ltd
Current assignee: Shenzhen Aidi Technology Co ltd
Priority date: 2021-07-26
Filing date: 2021-07-26
Publication date: 2022-04-19
Anticipated expiration: 2031-07-26

Abstract

A disc type cleaning device with edge and obstacle detection comprises a casing, the casing is connected with at least one negative pressure part through at least one air channel, the negative pressure part is used for absorbing the casing on the surface of a flat object, the bottom surface of the air channel is provided with at least one displacement cleaning unit, the displacement cleaning unit is used for providing power for the displacement of the cleaning device and cleaning the surface of the flat object, the bottom surface of the casing is provided with edge detection units at the edges less than the symmetrical edges respectively, the edge detection units are used for judging whether an obstacle exists in the current displacement direction or not, the negative pressure part, the displacement cleaning unit, the edge detection unit and the obstacle detection unit are respectively and electrically connected with a main control unit, the disc type cleaning device can effectively avoid the flat object surface from being taken out during working, the stability of adsorption during operation has been ensured, has strengthened barrier and edge detection precision, has promoted clean effect.

Description

Disc type cleaning device with edge and obstacle detection function

Technical Field

The utility model relates to the technical field of cleaning devices, in particular to a disc type cleaning device with edge and obstacle detection.

Background

In order to clean the window of a high-rise building, the glass on the window is required to be cleaned, but in order to clean the outer surface of the glass of the high-rise building, a glass cleaning worker is required to suspend the glass from the building downwards for high-altitude operation by means of some equipment, such as simple equipment and advanced equipment, so that the high-altitude operation is dangerous and inefficient for the glass cleaning worker.

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 cleaning robot, and can drive a cleaning cloth at the bottom of a machine body to wipe off dirt on the glass by utilizing the force of the cleaning cloth adsorbed on the glass; at present, when a double-disc or multi-disc window cleaning robot in the market is used, if an obstacle is encountered, the movement of a machine body is blocked, the current of a motor is increased, and when software detects that the current is increased, the window cleaning robot is controlled to change the displacement direction, however, in actual life, the obstacle encountered by the window cleaning robot is not necessarily the frame of an area to be cleaned, and may be solidified dirt adhered to the area to be cleaned, so that the window cleaning robot is easy to misjudge, and a part of the area to be cleaned cannot be effectively cleaned; moreover, when the window cleaning robot is used, the window cleaning robot is easy to directly collide with a frame or an obstacle, the window cleaning robot is easy to leak air at a negative pressure position due to rigid collision, and if an inclined plane or a vertical plane does not exist in an area to be cleaned, the window cleaning robot is easy to fall and damage from the area to be cleaned due to air leakage, so that the normal use of the window cleaning robot is influenced.

Disclosure of Invention

The utility model aims to overcome the defects in the prior art and provide the disc type cleaning device with the edge and obstacle detection function.

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

a disc type cleaning device with edge and obstacle detection comprises a casing, wherein the casing is connected with at least one negative pressure part through at least one air channel, the negative pressure part is used for adsorbing the casing on the surface of a flat object, at least one displacement cleaning unit is arranged on the bottom surface of the air channel and used for providing power for the displacement of the cleaning device and cleaning the surface of the flat object, edge detection units are respectively arranged at the bottom surface of the casing and at the edges less than the symmetry, the edge detection units are used for judging whether the edge of the surface of the flat object is reached in the current displacement direction, obstacle detection units are arranged at the two sides less than the symmetry of the casing and used for judging whether obstacles exist in the current displacement direction, and the negative pressure part, the displacement cleaning unit, the edge detection units and the obstacle detection units are respectively and electrically connected with a main control unit.

The casing comprises a base and an upper cover buckled on the base, the upper cover is used for protecting all electrical elements of the cleaning device, at least one first mounting hole is formed in one surface, facing the upper cover, of the air channel, the first mounting hole is connected with the negative pressure part, a second mounting hole is formed in the bottom surface of the base corresponding to the displacement cleaning unit, at least one air suction hole is formed in the outer side of the second mounting hole, and the air suction hole is communicated with the air channel.

The displacement cleaning unit and the main control unit are respectively arranged on the base, and the upper cover is provided with a power supply interface which is connected with a power line with an access port.

The displacement cleaning unit consists of a planetary gear arranged on the base, a connecting disc connected to one end of the planetary gear, a cleaning part arranged on the connecting disc, a driven wheel connected to the other end of the planetary gear and a driving motor connected with the driven wheel through a driving wheel, wherein the planetary gear is connected with the corresponding second mounting hole.

The edge detection unit comprises a lifting column penetrating through the base, a lifting spring sleeved on the lifting column, an edge induction block connected with the upper end of the lifting column and an edge induction part, and the lifting spring is used for being matched with the lifting column to carry out lifting control on the edge induction block.

The obstacle detection unit is composed of a collision part sleeved on the shell, at least one reset spring arranged at the rear end of the collision part and at least one obstacle induction part arranged in the upper cover, the collision part is used for triggering the obstacle induction part, the reset spring is used for being matched with the collision part to trigger the obstacle induction part and then reset, and a trigger block is arranged on the inner side of each collision part corresponding to the obstacle induction part.

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

The utility model has the beneficial effects that: the edge detection unit is arranged at the edge of the shell, the lifting column is driven by the lifting spring to descend by matching the lifting spring with the edge induction block when the cleaning device is displaced to the edge of the surface of the flat object, the edge induction block triggers the edge induction part, and a trigger signal is fed back to the main control unit in time, so that the displacement direction of the cleaning device can be changed at the first time when the cleaning device is displaced to the edge of the surface of the flat object, the purpose of accurately detecting the edge is achieved, and the cleaning device is effectively prevented from moving out of the surface of the flat object; the cleaning device comprises an obstacle detection unit arranged on the side face of a machine shell, a reset spring can form buffering when a collision part contacts an obstacle, the cleaning device is effectively prevented from directly colliding with the obstacle, meanwhile, a corresponding obstacle induction part is triggered through a trigger block of the collision part, and then a signal of encountering the obstacle is timely fed back to a main control unit by the obstacle induction part, so that the cleaning device can change the displacement direction in time, the direct rigid collision between the machine shell and the obstacle can be effectively avoided, the stability of the cleaning device adsorbed on the surface of an object to be cleaned during working is ensured, the obstacle detection precision of the cleaning device is greatly improved, the misjudgment of the obstacle is avoided, the collision damage of the cleaning device is avoided to the maximum extent, and the normal use of the cleaning device is effectively ensured; the design of the disc-type cleaning part is adopted, so that the whole surface of the cleaning part of the cleaning device can be better in close contact with the surface of a flat article when in work, and the surface of the flat article rotates and displaces, and generates friction with the surface of the flat article when in displacement so as to clean dirt on the surface of the flat article, thereby not only improving the contact area between the cleaning part of the cleaning device and the surface of the flat article, but also more effectively removing stubborn dirt on the surface of the flat article through the rotation of the cleaning part; the air duct design of the cleaning device is characterized in that the air suction hole is arranged at the position of the displacement cleaning unit, the negative pressure part sucks air from the air suction hole through the air duct, negative pressure is formed at the position of the displacement cleaning unit, the friction force between the cleaning part and the surface of a flat object is increased to a certain extent, and the negative pressure hole design on the connecting disc can enable the inner side of the connecting disc to form certain negative pressure, so that the cleaning part can be tightly attached to the surface of the flat object through the negative pressure, the friction force between the whole surface of the cleaning part and the surface of the flat object is further increased, the detergency of the cleaning device is stronger, stubborn dirt on the surface of the flat object can be removed more effectively, and the cleaning effect of the cleaning device is greatly improved.

Drawings

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

Fig. 2 is a schematic perspective view of the second embodiment of the present invention.

Fig. 3 is a schematic perspective view of the present invention without the upper cover and one of the collision parts.

FIG. 4 is a schematic diagram of an edge detecting unit according to the present invention.

FIG. 5 is a schematic perspective view of a displacement cleaning unit according to the present invention.

FIG. 6 is a schematic structural diagram of a base according to the present invention.

FIG. 7 is a second schematic structural diagram of the base of the present invention.

FIG. 8 is a schematic view of the structure of the collision part of the present invention.

The reference numbers illustrate:

1-a machine shell; 11-a base; 111-mounting grooves; 112-a first via; 113-a connecting trough; 114-a second via; 12-upper cover; 13-an air duct; 131-a first mounting hole; 132-a second mounting hole; 133-suction holes; 134-perforation; 2-a negative pressure part; 3-displacement of the cleaning unit; 31-a planetary gear; 32-a connecting disc; 321-negative pressure holes; 33-a cleaning section; 34-a driven wheel; 35-a transmission wheel; 36-a drive motor; 4-an edge detection unit; 41-lifting column; 411-collet; 42-a lifting spring; 43-edge sensing block; 44-an edge sensing portion; 5-an obstacle detection unit; 51-a collision portion; 511-trigger block; 512-connecting column; 52-a return spring; 53-obstacle sensing section; 6-a main control unit; 61-multiaxial induction.

Detailed Description

The utility model is further described below with reference to the accompanying drawings:

as shown in fig. 1-8, the present invention relates to a disc type cleaning device with edge and obstacle detection, which comprises a housing 1, the housing 1 is connected with at least one negative pressure part 2 through at least one air duct 13, the negative pressure part 2 is used to absorb the machine shell on the surface of the flat object, the bottom of the air duct 13 is provided with at least one displacement cleaning unit 3, the displacement cleaning unit 3 is used for providing power for the displacement of the cleaning device and cleaning the surface of the flat object, at least the symmetrical edges of the bottom surface of the casing 1 are respectively provided with an edge detection unit 4, the edge detection unit 4 is used for judging whether the current displacement direction reaches the edge of the surface of the flat object, at least two symmetrical sides of the housing 1 are provided with obstacle detection units 5, the obstacle detection units 5 are used for judging whether an obstacle exists in the current displacement direction, the negative pressure part 2, the displacement cleaning unit 3, the edge detection unit 4 and the obstacle detection unit 5 are respectively electrically connected with a main control unit 6; 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 surface of a vertical flat object.

As shown in fig. 1-3, 6 and 7, the housing 1 comprises a base 11 and an upper cover 12 fastened on the base 11, the upper cover 12 is used to protect each electrical component of the cleaning device, the base 11 and the air duct 13 are integrally formed, or the air duct 13 is fixedly connected to the base 11 by screws or glue, etc., the connection mode between the base 11 and the air duct 13 can be selected according to the actual production requirement of the product structure, and is not limited herein; one surface of the air duct 13 facing the upper cover 12 is provided with at least one first mounting hole 131, the first mounting hole 131 is connected with the negative pressure part 2, the bottom surface of the base 11 is provided with a second mounting hole 132 corresponding to the displacement cleaning unit 3, the outer side of the second mounting hole 132 is provided with at least one air suction hole 133, and the air suction hole 133 is communicated with the air duct 12; it should be noted that, when the negative pressure portion 2 works, the air duct 1 is used for sucking air from the air suction hole 133, so that the negative pressure is formed at the installation position of the second installation hole 132, and the adhesion degree between the displacement cleaning unit 3 and the surface of the flat object is greatly improved.

As shown in fig. 1-3, the negative pressure portion 2 is disposed in the middle of the base 11, the displacement cleaning unit 3 and the main control unit 6 are respectively mounted on the base 11, the edge detection unit 4 or the obstacle detection unit 5 can be disposed on the base 11 and/or the upper cover 12, and the actual installation position of the edge detection unit 4 or the obstacle detection unit 5 can be determined according to the design requirement of the product structure, and is not limited herein; the upper cover 12 is provided with a power interface (not shown) connected to a power line (not shown) with an access port (not shown), and a plug (not shown) is provided at the other end of the power line for accessing a socket (not shown) to realize power-on; the upper cover 12 is further provided with at least one power indicator (not shown) and a power button (not shown), the power indicator is electrically connected with the main control unit 6, a power switch (not shown) is arranged below the power button, the power switch is electrically connected with the main control unit 6, the power switch is mainly used for power on and off of the cleaning device, the main control unit 6 is a PCB, and the main control unit 6 is installed on the base 11.

As shown in fig. 2, 3, 5-7, the displacement cleaning unit 3 is composed of a planetary gear 31 provided on the base 11, a connection plate 32 connected to one end of the planetary gear 31, a cleaning part 33 provided on the connection plate 32, a driven wheel 34 connected to the other end of the planetary gear 31, and a driving motor 36 connected to the driven wheel 34 through a driving wheel 35; the air duct 13 is provided with a through hole 134 corresponding to the driving motor 36, the driving motor 36 is arranged in the through hole 134 and extends into the air duct 13, the planetary gear 31 is connected with the corresponding second mounting hole 133, and the planetary gear 31 is mainly characterized by small volume, large bearing capacity and stable work, and can effectively ensure the transmission stability of the displacement cleaning unit 3 of the cleaning device; further, when the cleaning device is opened, the negative pressure part 2 sucks air into the machine shell 1, the driving motor 36 drives the driving wheel 35 to rotate, the driving wheel 35 transmits power to the planetary gear 31 through the driven wheel 34, the planetary gear 31 rotates together, the rotating planetary gear 31 drives the connecting disc 32 provided with the cleaning part 33 to rotate together, at the moment, the whole surface of the disc-type cleaning part 33 is in close contact with the surface of the flat object, and the whole surface of the disc-type cleaning part 33 rotates and displaces, and simultaneously rubs the surface of the flat object to clean dirt on the surface of the flat object, so that the contact area between the cleaning part 33 of the cleaning device and the surface of the flat object is increased, stubborn dirt on the surface of the flat object can be effectively removed through the rotation of the cleaning part 33, and the cleaning effect of the cleaning device is improved; in addition, at least one negative pressure hole 321 is formed in the connecting disc 32, when the negative pressure part 2 works, air is sucked from the air suction hole 133, and meanwhile, air at the position of the negative pressure hole 321 is sucked, so that a certain negative pressure is formed on the inner side of the connecting disc 32, the negative pressure can enable the cleaning part 33 to be tightly attached to the surface of a flat object, and further the friction force between the whole surface of the cleaning part 33 and the surface of the flat object is increased, and the cleaning effect of the cleaning device is improved.

As shown in fig. 2 and 4, the edge detecting unit 4 includes a lifting column 41 penetrating through the base 11, a lifting spring 42 sleeved on the lifting column 41, an edge sensing block 43 connected to the upper end of the lifting column 41, and an edge sensing portion 44, wherein the lifting spring 42 is used for performing lifting control on the edge sensing block 43 in cooperation with the lifting column 41; wherein, when the cleaning device is placed on the surface of a flat object to be cleaned, the lifting column 41 is acted by the reverse acting force of the surface of the flat object under the action of the negative pressure part 2 to lift the cleaning device, at the moment, the lifting spring 42 is applied with pressure by matching with the base 11 to make the lifting spring 42 generate elastic deformation, when one side of the cleaning device moves to the edge of the surface of the flat object, because each lifting column 41 at the side of the cleaning unit has no reverse acting force of the surface of the flat object, the lifting column 41 descends under the elastic stress of the lifting spring 42, the edge sensing block 43 descends along with the lifting column 41 to trigger the edge sensing part 44, at this time, the edge sensing part 44 feeds back the trigger signal to the main control unit 6, and after the main control unit 6 receives the trigger signal, an instruction is issued immediately to change the displacement direction of the cleaning device, so that the cleaning device is effectively prevented from moving out of the surface of the flat object; in addition, the bottom surface of the lifting column 41 is provided with a bottom support 411, the bottom support 411 can limit the lifting spring 42 on the lifting column 41, further, the bottom surface of the bottom support 411 is preferably an arc surface, the arc surface design can not only effectively prevent the cleaning device from scraping the surface of a flat object during cleaning operation, but also enable the suspended edge detection unit 4 to more easily and smoothly return to the surface of the flat object to be cleaned when one end of the cleaning device is in a suspended state, namely at least one edge detection unit 4 is suspended; when the cleaning device works, the main control unit 6 will read timely whether the edge sensing part 44 of the edge detection unit 4 in the same direction as the moving direction is triggered, if it is read that the edge sensing part 44 is triggered, it indicates that the edge is reached currently, the displacement cleaning unit 3 stops working, or rotates reversely, or the displacement cleaning unit 3 controls the cleaning device to change the displacement direction.

As shown in fig. 2, 3 and 8, the obstacle detecting unit 5 comprises an impact portion 51 sleeved on the housing 1, at least one return spring 52 disposed at the rear end of the impact portion 51, and at least one obstacle sensing portion 53 disposed in the upper cover 12, the impact portion 51 is used to trigger the obstacle sensing portion 53, the return spring 52 is used to cooperate with the impact portion 51 to trigger the obstacle sensing portion 53 and then return, wherein a trigger block 511 is disposed inside each impact portion 51 corresponding to the obstacle sensing portion 53; specifically, the edge of the upper surface of the base 11 is provided with mounting grooves 111 which are recessed inwards corresponding to the return springs 52, the mounting grooves 111 are used for mounting the return springs 52, the bottom surfaces of the mounting grooves 111 are provided with connecting screw holes (not shown), the collision parts 51 are provided with connecting columns 512 which are protruded inwards corresponding to the mounting grooves 111, the connecting columns 512 are provided with internal screw holes (not shown), the base 11 is respectively penetrated through the connecting screw holes through screws and connected with the corresponding internal screw holes, so that the collision parts 51 are movably sleeved on the outer side of the casing 1, and the return springs 52 are sleeved on the corresponding connecting columns 512; under a normal state, the collision parts 51 are respectively pushed outwards by the reset spring 52, so that gaps are formed between the collision parts 51 and the machine shell 11, and the distance between each trigger block 511 and each corresponding obstacle sensing part 53 is kept, when the cleaning device encounters an obstacle in front of displacement, the collision parts 51 receive the reverse acting force of the obstacle and generate pressure on the reset spring 52, so that the reset spring 52 is pressed between the installation groove 111 and the collision parts 51 to generate elastic deformation, at the moment, the trigger blocks 511 trigger the corresponding obstacle sensing parts 53, the pressed obstacle sensing parts 53 feed back trigger signals to the main control unit 6, and the main control unit 6 immediately gives instructions after receiving the trigger signals to change the displacement direction of the cleaning device, so that the cleaning device is effectively ensured to normally carry out cleaning operation; among them, the obstacle sensing part 53 preferably employs a tact switch.

As shown in fig. 3, a multi-axis sensing part 61 is provided in the main control unit 6, and the multi-axis sensing part 61 is used to determine and adjust the operation speed of the displacement cleaning unit 3 in cooperation with the main control unit 6 to adjust the walking posture of the cleaning device, wherein the multi-axis sensing part 61 preferably uses a multi-axis sensor to determine and adjust the rotation speed of the driving motor 36 of the displacement cleaning unit 3 through the multi-axis sensing part 61 to adjust the walking posture of the cleaning device.

Before use, the access port of the power line is connected with the power interface, the plug at the other end of the power line is electrically connected with the socket to realize the conduction of the power supply, when in use, the power switch is touched by a power button to start the cleaning device, the negative pressure part 2 sucks air into the shell 1 through the air suction hole 133 of the air duct 13 to form negative pressure, so that the cleaning device is adsorbed on the surface of a flat object (such as glass, liquid crystal display screen and the like), at the moment, the negative pressure is generated at the setting position of the displacement cleaning unit 3 under the action of the air duct 13 to increase the friction force between the cleaning part 33 and the surface of the flat object to a certain extent, the negative pressure hole 321 is arranged on the connecting disc 32 to form a certain negative pressure on the inner side of the connecting disc 32, the negative pressure can enable the cleaning part 33 to be tightly attached to the surface of the flat object, and further increase the friction force between the whole surface of the cleaning part 33 and the surface of the flat object, thereby greatly improving the cleaning effect of the cleaning device; meanwhile, the driving motor 36 of the displacement cleaning unit 3 transmits power to the driven wheel 34 through the transmission wheel 35, so that the driven wheel 34 rotates, the rotating driven wheel 34 transmits power to the connecting disc 32 provided with the cleaning part 33 through the planetary gear 31, so that the connecting disc 32 drives the cleaning part 33 to rotate, and the rotating cleaning part 33 is directly attached to the surface of the flat object, so that friction is generated between the rotating cleaning part 33 and the surface of the flat object during rotation, so as to drive the cleaning device to displace; meanwhile, the surface of the flat object is cleaned through friction with the surface of the flat object; when the cleaning device is displaced to the edge of the surface of the flat object, the lifting column 41 descends under the action of the lifting spring 42, so that the edge sensing block 43 descends together, the edge sensing part 44 is triggered, the edge sensing part 44 feeds back a trigger signal to the main control unit 6, the main control unit 6 gives an instruction according to the received trigger signal, one displacement cleaning unit 3 stops rotating and serves as a turning point, the other displacement cleaning unit 3 continues to work to realize the turning of the cleaning device, after the turning is finished, the stopped displacement cleaning unit 3 continues to work, the cleaning unit continues to displace towards the adjusting direction to clean the surface of the flat object, at the moment, the lifting column 41 on the surface of the flat object returns to be reset and lifted, so that the edge sensing block 43 is kept away from the edge sensing part 44, and meanwhile, the lifting spring 42 is in a pressed state again, elastic deformation occurs, and thus, one edge detection operation is completed; when the cleaning device meets an obstacle, the collision part 51 slides towards the machine shell 1, the trigger block 511 of the collision part 51 triggers the obstacle sensing part 53, meanwhile, the collision part 51 is matched with the mounting groove 111 to apply pressure to the return spring 52, so that the return spring 52 generates elastic deformation, at the moment, the obstacle sensing part 53 feeds back a trigger signal to the main control unit 6, the main control unit 6 gives an instruction according to the received trigger signal, so that one displacement cleaning unit 3 stops rotating and serves as a turning point, the other displacement cleaning unit 3 continues to work to realize the turning of the cleaning device, after the turning is finished, the stopped displacement cleaning unit 3 continues to work, the cleaning unit continues to move towards the adjusting direction to clean the surface of the flat object, the cleaning device changes the direction, because the collision part 51 does not have the force applied by the obstacle, the cleaning device resets under the elastic stress action of the return spring 52, the trigger block 511 leaves the obstacle sensing part 53, so that an obstacle detection operation is completed; the cleaning device is reciprocated to clean the surface of the flat object.

In addition, when the present invention is provided with two sets of displacement cleaning units 3, during the working process, the two sets of displacement cleaning units 3 can work simultaneously, so that when the present invention is displaced, the two ends of the present invention simultaneously displace towards the same direction, and the rotation speeds of the driving motors 36 of the two sets of displacement cleaning units 3 are coordinated through the cooperation of the multi-axis induction parts 61; or, the two sets of displacement cleaning units 3 work alternately, so that the two ends of the utility model displace alternately towards one direction when the utility model displaces.

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 utility model can be understood by those skilled in the art; in addition, standard parts used in the utility model can be purchased from the market, for example, special-shaped parts can be customized according to the description of the specification and the accompanying drawings, the specific connection mode of each part adopts conventional means such as mature screws/bolts, rivets, welding and the like in the prior art, and machines, parts and equipment adopt conventional models in the prior art, and are not described again.

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

Claims

1. The utility model provides a disc cleaning device that utensil edge and obstacle detected, includes the casing, and this casing is connected with at least one negative pressure portion through at least one wind channel, and this negative pressure portion is used for adsorbing the casing on level object surface, its characterized in that: the air duct bottom surface is provided with at least one displacement cleaning unit, the displacement cleaning unit is used for providing power for displacement of the cleaning device and cleaning and flattening the surface of an object, the bottom surface of the casing is provided with edge detection units at edges which are less than symmetrical, the edge detection units are used for judging whether the current displacement direction reaches the edge of the surface of the object, the casing is provided with obstacle detection units at two edges which are less than symmetrical, the obstacle detection units are used for judging whether an obstacle exists in the current displacement direction, and the negative pressure part, the displacement cleaning unit, the edge detection units and the obstacle detection units are respectively electrically connected with a main control unit.

2. A disc cleaning apparatus with edge and obstacle detection as set forth in claim 1, wherein: the casing comprises a base and an upper cover buckled on the base, the upper cover is used for protecting all electrical elements of the cleaning device, at least one first mounting hole is formed in one surface, facing the upper cover, of the air channel, the first mounting hole is connected with the negative pressure part, a second mounting hole is formed in the bottom surface of the base corresponding to the displacement cleaning unit, at least one air suction hole is formed in the outer side of the second mounting hole, and the air suction hole is communicated with the air channel.

3. A disc cleaning apparatus with edge and obstacle detection as set forth in claim 2, wherein: the displacement cleaning unit and the main control unit are respectively arranged on the base, and the upper cover is provided with a power supply interface which is connected with a power line with an access port.

4. A disc cleaning apparatus with edge and obstacle detection as set forth in claim 2, wherein: the displacement cleaning unit consists of a planetary gear arranged on the base, a connecting disc connected to one end of the planetary gear, a cleaning part arranged on the connecting disc, a driven wheel connected to the other end of the planetary gear and a driving motor connected with the driven wheel through a driving wheel, wherein the planetary gear is connected with the corresponding second mounting hole.

5. A disc cleaning apparatus with edge and obstacle detection as set forth in claim 2, wherein: the edge detection unit comprises a lifting column penetrating through the base, a lifting spring sleeved on the lifting column, an edge induction block connected with the upper end of the lifting column and an edge induction part, and the lifting spring is used for being matched with the lifting column to carry out lifting control on the edge induction block.

6. A disc cleaning apparatus with edge and obstacle detection as set forth in claim 2, wherein: the obstacle detection unit is composed of a collision part sleeved on the shell, at least one reset spring arranged at the rear end of the collision part and at least one obstacle induction part arranged in the upper cover, the collision part is used for triggering the obstacle induction part, the reset spring is used for being matched with the collision part to trigger the obstacle induction part and then reset, and a trigger block is arranged on the inner side of each collision part corresponding to the obstacle induction part.

7. A disc cleaning apparatus with edge and obstacle detection as set forth in claim 1, wherein: the main control unit is internally provided with a multi-axis induction part which is used for matching with the main control unit to judge and adjust the running speed of the displacement cleaning unit.