Cleaning equipment and lifting obstacle crossing method thereof

Abstract

The invention relates to the technical field of cleaning equipment, in particular to cleaning equipment and a lifting obstacle crossing method thereof.The cleaning equipment comprises a machine body, and a bottom shell is arranged at the bottom of the machine body; the driving assembly is used for driving the machine body to move and floatably arranged at the bottom of the machine body; the universal assembly comprises a universal wheel and a bracket; the driving lifting assembly acts on the support so as to drive the universal wheels to move by a first preset height in the vertical direction relative to the machine body; in the advancing direction of the machine body, the bottom shell comprises a driving front end and a driving rear end corresponding to the driving assembly, and the bottom shell can move by a second preset height and a third preset height in the vertical direction. The second preset height is between the first preset height and the third preset height, so that the machine body is in an inclined state with high front and low rear in the advancing direction; the invention further provides a lifting obstacle crossing method. The obstacle crossing robot can achieve efficient, stable and rapid obstacle crossing of cleaning equipment, and has the advantages of being high in maximum obstacle crossing height, high in obstacle passing rate, high in obstacle crossing stability, small in damage to a machine body in the obstacle crossing process, low in cost and the like.

Description

Technical Field

[0001] The present disclosure relates to the technical field of cleaning equipment, and in particular to a cleaning equipment and a method for lifting and overcoming obstacles thereof. Background Art

[0002] With the development of science and technology, cleaning robots, floor scrubbers and other cleaning equipment are becoming more and more automated and intelligent. Most cleaning equipment is equipped with cleaning parts for contacting the surface to be cleaned, so as to recover and clean the stains on the dirty surface, which largely frees the user's hands. However, since the bottom shell of most cleaning equipment is about 20mm above the ground when walking, it can only climb over obstacles of about 20mm in height during the cleaning process. For obstacles exceeding this height value, such as the threshold of a family room, indoor steps or thick floor mats, the cleaning equipment cannot cross them, resulting in large-scale missed sweeping and mopping, and even the machine will get stuck and crash. Therefore, the above problems have become the main pain points for users at this stage.

[0003] In response to this, some existing technologies have made some attempts to improve. For example, the utility model patent with announcement number CN212438473U (prior art 1) discloses that multiple electric telescopic rods are arranged at the chassis of the sweeping robot, and obstacles can be climbed over by controlling the extension and retraction of different electric telescopic rods in a linked manner. However, this solution has the following major problems: 1. If multiple electric telescopic rods are driven by multiple motors respectively, on the one hand, the cost of use is greatly increased, and on the other hand, the complexity of the linked control is increased; 2. In the case of limited bottom space of the cleaning equipment, multiple motors and corresponding multiple electric telescopic rods are arranged, which greatly compresses the remaining available space in both the horizontal and vertical spaces.

[0004] In addition, the invention patent application with publication number CN116195928A (prior art 2) discloses that an elastic member is arranged between the universal wheel and the bottom shell, and the distance between the lowest point of the universal wheel and the bottom shell is changed through the deformation and reset state of the elastic member, so as to smoothly cross the obstacle. Specifically, when encountering a higher obstacle, after the driving wheel is suspended in the air, the center of gravity of the robot is transferred to the universal wheel as a support, and the universal wheel is retracted to the inside of the bottom shell under the action of the elastic member, so that the overall center of gravity of the robot moves downward, and the driving wheel can land again to continue to move forward, so that the robot can cross higher obstacles, improving the robot's obstacle crossing ability. This situation usually occurs when the robot is in the process of overcoming obstacles, and the elastic part is passively compressed or reset. The compression and reset distance is limited by the elastic force of the elastic part and the offset of the robot's center of gravity. The actual robot is a whole. In the tilted state, the component of the center of gravity relative to the tilt angle is not particularly large, which makes it difficult to control the setting accuracy of the elastic part and unable to accurately match the obstacle height. In addition, the elastic part will cause the universal wheel to be bumpy when walking, affecting the accuracy of the ranging, positioning and other sensors on the robot during normal cleaning.

[0005] Therefore, how to overcome the above-mentioned defects is a technical problem that those skilled in the art need to solve urgently. Summary of the invention

[0006] The purpose of the present invention is to provide a cleaning device and a method for lifting and surmounting obstacles thereof, so as to solve the problem of how the cleaning device can surmount obstacles efficiently, stably and quickly. The cleaning device has the characteristics of high maximum obstacle surmounting height, high obstacle passing rate, high obstacle surmounting stability, strong controllability, little damage to the fuselage during the obstacle surmounting process, and low overall cost.

[0007] To achieve the above object, the present invention provides a cleaning device, comprising:

[0008] A fuselage, wherein a bottom shell is provided at the bottom of the fuselage;

[0009] A driving assembly, used for driving the fuselage to move, and arranged at the bottom of the fuselage in a floating manner;

[0010] A universal assembly, disposed at the bottom of the fuselage, and comprising a universal wheel and a bracket;

[0011] It also includes an active lifting component, which acts on the bracket to drive the universal wheel to move a first preset height in the vertical direction relative to the fuselage;

[0012] In the forward direction of the fuselage, the bottom shell corresponds to the driving assembly position including a driving front end and a driving rear end, the driving front end can be moved in the vertical direction to a second preset height, and the driving rear end can be moved in the vertical direction to a third preset height;

[0013] The second preset height is between the first preset height and the third preset height, so that the fuselage is in an inclined state with the front higher and the rear lower in the forward direction.

[0014] Preferably, in the vertical direction, a vertical axial plane is formed through the rotation center axis of the drive assembly, the drive front end is formed at a preset distance from the front end of the bottom shell of the vertical axial plane in the forward direction, and the drive rear end is formed at a preset distance from the rear end of the bottom shell of the vertical axial plane in the forward direction.

[0015] Preferably, the fuselage includes a support assembly located at the rear of the fuselage and can be used to contact the ground. The support assembly includes a support wheel and a support shaft, the support shaft is inserted into the center of the support wheel so that the support wheel can rotate freely with the support shaft as the rotation center, and the support shaft is fixedly connected to the fuselage.

[0016] Preferably, the driving component includes a driving component body and an elastic component. The driving component body can be movably mounted on the fuselage in a direction perpendicular to the working surface. The elastic component is arranged on the driving component body to provide an elastic force for the driving component body toward the working surface in a compressed state, and to provide an elastic force for the driving component body away from the working surface in a stretched state.

[0017] Among them, when the drive assembly is installed and applied to the cleaning equipment, the drive assembly can realize elastic floating in the direction perpendicular to the working surface, provide obstacle buffer, and can easily adjust the state by itself to adapt to different cleaning environment surfaces, ensuring the stable walking of the cleaning equipment including in obstacle environments.

[0018] When the fuselage is moving normally on the working surface, the elastic component is deformed and compressed to provide an elastic force for the driving component body toward the working surface (and at the same time provide an elastic force for the fuselage to move away from the working surface in the vertical direction due to resisting the gravity of the fuselage); when the universal component rises to a first preset height relative to the fuselage in the vertical direction, the universal component is located in front of the driving component due to the inclination of the fuselage and in the forward direction of the fuselage, so the deformation of the elastic component is reduced, and the elastic force generated by the compression is also adaptively reduced. At this time, the height of the fuselage bottom shell at the driving component from the ground increases, thereby generating the second preset height and the third preset height.

[0019] Preferably, it also includes an active lifting component, which includes at least a driving motor and a transmission member, and the transmission member is actuated by the driving motor to move the universal wheel to the first preset height in the vertical direction relative to the fuselage; when the universal assembly moves to the first preset height in the vertical direction relative to the fuselage, the driving front end or the driving rear end follows the second preset height or the third preset height in the vertical direction, respectively.

[0020] Preferably, the universal joint assembly includes a bracket, a universal wheel rotatably arranged on the bracket, and a bracket shaft arranged on the bracket, and the bracket can rotate relative to the fuselage through the bracket shaft.

[0021] Among them, the active lifting component includes a driving motor and a transmission member, and the transmission member abuts against at least a portion of the universal joint component, for example, abuts against the bracket shown, so that when the driving motor drives the transmission member to move, the transmission member presses downward on the universal joint component, thereby pushing the fuselage in the vertical direction in the reverse direction to lift a first preset height.

[0022] Preferably, the transmission member may be a screw, a rack or a connecting rod, etc., which is transmission-connected to the drive motor.

[0023] When the transmission member is a rack, the drive motor meshes with the gear teeth on the rack through a gear structure, thereby enabling the rack to move in a vertical direction relative to the fuselage, thereby correspondingly pushing the fuselage to rise or fall relative to the ground.

[0024] When the transmission member is a screw, the drive motor also engages with the thread on the screw through a gear structure / turbine structure, thereby enabling the screw to move in a vertical direction relative to the fuselage, thereby correspondingly pushing the fuselage to rise or fall relative to the ground.

[0025] Preferably, the first preset height includes at least a first preset height A and a first preset height B; the second preset height includes at least a second preset height A and a second preset height B; the third preset height includes at least a third preset height A and a third preset height B;

[0026] When the universal assembly moves a first preset height A in the vertical direction relative to the fuselage, the driving front end moves / rises / descends a second preset height A in the vertical direction, and the driving rear end moves / rises / descends a third preset height A in the vertical direction;

[0027] Alternatively, when the universal joint assembly moves / rises / descends a first preset height B in the vertical direction relative to the fuselage, the driving front end moves / rises / descends a second preset height B in the vertical direction, and the driving rear end moves / rises / descends a third preset height B in the vertical direction.

[0028] Preferably, it also includes a locking assembly, which is fixedly mounted on the fuselage and is used to fix the driving assembly in the vertical direction so that the driving front end or the driving rear end maintains a second preset height or a third preset height in the vertical direction, respectively.

[0029] Preferably, the locking assembly comprises a single motor, a transmission assembly and a latch;

[0030] The single motor rotates forward to drive the transmission assembly to move, so that the transmission assembly drives the latch to move toward the driving assembly to lock the driving assembly;

[0031] And / or, the single motor reverses to drive the transmission assembly to move, so that the transmission assembly drives the latch to move away from the drive assembly to unlock the drive assembly.

[0032] Wherein, the transmission component is preferably a rack or screw structure, and the pin is located at the end of the rack or screw away from the single motor, so that under the drive of the single motor, the rack can move telescopically to achieve the locking and unlocking actions.

[0033] Preferably, the transmission assembly is fixedly mounted on the bottom shell of the fuselage, and the transmission assembly includes a transmission part and a plug-in part, wherein the transmission part includes gear teeth, which mesh with the single motor for transmission; the plug-in part is connected to the latch, so that when the single motor rotates forward or reversely, the single motor can be engaged with the transmission part of the transmission assembly to drive the plug-in part to reciprocate, thereby realizing the fixing and loosening of the drive assembly in the vertical direction through the latch.

[0034] The transmission assembly can be respectively connected to the single motor in different directions, for example, from the single motor to the different directions of the drive assembly on the left and right sides of the fuselage. The single motor drives the transmission assemblies in different directions to move synchronously, thereby realizing the synchronous locking and unlocking of the drive assembly by the latch in different directions.

[0035] Preferably, the driving assembly is in two groups, and is respectively located on the left and right sides of the forward direction of the fuselage, wherein the driving assembly comprises a driving wheel and a gearbox connected to each other, and the driving wheel is farther away from the vertical central axis plane of the forward direction of the fuselage relative to the gearbox;

[0036] The gearbox comprises a housing shell, and the housing shell comprises at least one fixing hole facing the vertical central axis plane, and the fixing hole can be matched and connected with the locking assembly.

[0037] The working principle of the present invention specifically includes: as the front legs (chassis at the universal wheels) are lifted, the rear legs (chassis at the driving wheels) are lifted synchronously or with a delay, and after the rear legs are locked in the vertical direction, the front legs are lowered to a certain height so that they are roughly parallel to the ground. Finally, the entire robot body rises to a preset height in the vertical direction. After walking forward and completing the obstacle crossing, the front legs continue to be lifted, the rear legs are unlocked and then lowered synchronously or with a delay, and finally the front legs are lowered, so that the entire robot body is lowered to a preset height in the vertical direction so that it is roughly parallel to the ground to return to the initial state.

[0038] Preferably, since the distance between the rotation center of the universal wheel and the rotation center line of the driving wheels of the two sets of driving assemblies on the central axis plane in the forward direction of the fuselage is 120-130 mm, when the first preset height is in the interval of (0, 14) mm, correspondingly, the second preset height or the third preset height is in the interval of (0, 7) mm;

[0039] Alternatively, when the first preset height is in the interval (14, 28) mm, correspondingly, the second preset height or the third preset height is in the interval (7, 14) mm;

[0040] Alternatively, when the first preset height is in the interval (28, 42) mm, correspondingly, the second preset height or the third preset height is in the interval (14, 22) mm.

[0041] The present invention also provides a method for lifting and overcoming obstacles of a cleaning device, wherein the cleaning device comprises a fuselage, a bottom shell is provided at the bottom of the fuselage, a universal assembly provided at the bottom of the fuselage, and a driving assembly for driving the fuselage to move, wherein the driving assembly can be floatingly provided at the bottom of the fuselage;

[0042] Wherein, the method comprises:

[0043] Obtaining obstacle information in the forward direction of the cleaning device;

[0044] According to the obstacle information, the universal assembly is controlled to rise to a first preset height in the vertical direction relative to the fuselage, and the driving assembly is controlled to be fixed in the vertical direction;

[0045] The driving assembly is controlled to enable the fuselage to move forward and overcome obstacles.

[0046] Preferably, the obstacle information includes at least information about the obstacle's height from the ground, information about the distance between the obstacle and the fuselage, and the like.

[0047] Preferably, after controlling the driving assembly to be fixed in the vertical direction, the method further comprises: controlling the universal assembly to descend in the vertical direction relative to the fuselage.

[0048] The height to which the universal joint assembly descends relative to the fuselage in the vertical direction may be the first preset height, so that the fuselage bottom shell is substantially parallel to the ground.

[0049] Preferably, the maximum diameter of the driving wheel is greater than 80 mm, preferably greater than 85 mm; and / or the maximum diameter of the universal wheel is greater than 25 mm, preferably greater than 30 mm.

[0050] Preferably, the first preset height includes at least a first preset height A and a first preset height B;

[0051] When the universal assembly moves a first preset height A in the vertical direction relative to the fuselage, the driving assembly is controlled to enable the fuselage to move forward and overcome obstacles;

[0052] If the obstacle crossing fails, firstly control the universal assembly to move a first preset height B in the vertical direction relative to the fuselage, and then control the driving assembly to make the fuselage move forward to cross the obstacle;

[0053] Wherein, the first preset height A is smaller than the first preset height B.

[0054] Preferably, before controlling the driving assembly to move the fuselage forward to overcome obstacles, the method further includes: controlling the universal assembly to descend in a vertical direction relative to the fuselage.

[0055] The technical solution of the present invention has the following advantages:

[0056] 1. The universal wheel can move in the vertical direction relative to the machine body, thereby lifting the bottom shell of the machine body at the universal wheel, increasing the maximum height of the obstacles that the cleaning equipment can climb over and increasing the passing rate of obstacles.

[0057] 2. The active lifting components can be raised and lowered in stages, so that the fuselage can adaptively control the different heights of its bottom shell lifting according to different obstacle heights, greatly improving the adaptability to different obstacles in the environment.

[0058] 3. When the driving wheel is lifted to a certain height relative to the fuselage in the vertical direction or the driving wheel is suspended on the ground, the driving assembly is locked so that it has no freedom of movement in the vertical direction and cannot move freely under the action of the fuselage gravity. Once the driving wheel touches the ground, the height of the chassis at the driving wheel relative to the ground will remain at the height when it is locked, thereby increasing the probability of successfully overcoming high obstacles.

[0059] 4. The gearbox is arranged on the inner side of the fuselage relative to the drive assembly, and the fixing hole is directly arranged on the box shell, so that the pin directly cooperates with the fixing hole to realize the vertical fixation of the drive assembly. The structure is simpler and the problem of having to open a hole at the inner end of the drive assembly due to the prior art of arranging the drive assembly on the inner side is avoided.

[0060] 5. By locking the drive assembly and lowering the height of the bottom shell of the universal assembly relative to the ground, the fuselage is basically parallel to the ground, avoiding the problem of collision and interference between the fuselage and the ground caused by the fuselage crossing obstacles in an inclined state. On the one hand, the tail of the fuselage will not be damaged by hitting the ground, and on the other hand, the forward resistance will not increase due to the direct collision between the middle of the fuselage and the ground or obstacles. In addition, crossing obstacles in an inclined state with a high front and a low back will cause the center of gravity of the fuselage to be high, thereby causing a rollover accident. This solution can improve walking stability and reduce the probability of rollover. Passing obstacles in a parallel state can also increase the vibration amplitude of the fuselage in the vertical direction during obstacle crossing, and greatly reduce the fatigue and failure rate of the universal assembly caused by instantaneous excessive impulse.

[0061] 6. Locking the drive assembly After the drive assembly is lifted, the drive assembly can be fixed in the vertical direction to prevent the friction of the drive wheel relative to the ground from being reduced due to the lifting of the bottom shell at the universal assembly in front of the fuselage, thus ensuring sufficient friction of the fuselage when crossing obstacles. In addition, after the drive assembly, the universal wheel is lifted by the active lifting assembly, which greatly facilitates all the components in front of the fuselage, including the bottom shell and the universal wheel, to climb over higher obstacles.

[0062] 7. By controlling the transmission assembly connected to the single motor, the left and right drive assemblies can be synchronously locked and unlocked in the vertical direction. Only one power device is required to achieve two symmetrical locking actions. The structure and control logic are simpler, more stable, and the cost is lower. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0064] Figure 1 It is an axonometric view of the bottom structure of the cleaning device provided in the embodiment of the present invention.

[0065] FIG. 2 is a structural side view of the cleaning device provided in an embodiment of the present invention before overcoming an obstacle.

[0066] FIG2(a) is a schematic diagram of the structure of the universal assembly before it moves to a first preset height in the vertical direction relative to the fuselage before overcoming the obstacle;

[0067] FIG. 2( b ) is a schematic diagram of the structure of the universal assembly after it moves to a first preset height in the vertical direction relative to the fuselage before overcoming the obstacle.

[0068] 3 is a structural side view of the cleaning equipment provided in an embodiment of the present invention during the obstacle surmounting process.

[0069] FIG3( a ) is a schematic diagram of the structure of the universal assembly after it moves in the vertical direction to a first preset height relative to the fuselage during the obstacle crossing process;

[0070] FIG3( b ) is a schematic diagram of the structure of the universal assembly after it moves in the vertical direction relative to the fuselage in the opposite direction to the original direction by a preset height during the obstacle crossing process.

[0071] Figure 4 It is a schematic structural diagram of a cleaning device universal assembly provided in an embodiment of the present invention moving a first preset height in a vertical direction relative to a machine body.

[0072] Figure 5 It is a schematic diagram of the structure of the active lifting assembly provided in an embodiment of the present invention.

[0073] Figure 6 It is a schematic diagram of the fuselage structure with the drive assembly in a locked state provided in an embodiment of the present invention.

[0074] Figure 7 It is a schematic structural diagram of a locking assembly provided in an embodiment of the present invention.

[0075] Figure 8 It is a schematic diagram of the structure of a driving component provided in an embodiment of the present invention.

[0076] Fig. 9 It is a partial schematic diagram of the driving component structure provided in an embodiment of the present invention.

[0077] Fig.10 It is a schematic diagram of the structure of a universal joint assembly provided in an embodiment of the present invention.

[0078] Fig.11 It is a schematic diagram of the structure of the support assembly provided in an embodiment of the present invention.

[0079] Fig.12 for Fig.11 A view in the direction of support assembly A provided in an embodiment of the present invention.

[0080] Fig.13 A step diagram of the lifting and obstacle crossing method provided in an embodiment of the present invention.

[0081] Explanation of the accompanying drawings: 001, cleaning equipment; 002, obstacle; 100, fuselage; 101, bottom shell; 102, driving front end; 103, driving rear end; 104, supporting assembly; 1041, supporting wheel; 1042, supporting shaft; 105, battery compartment; 106, dust box compartment; 200, driving assembly; 201, driving wheel; 202, gearbox; 2021, box shell; 2022, fixing hole; 203, elastic assembly; 204, driving assembly body; 300, universal assembly; 301, active lifting assembly; 3011, driving motor; 3012, transmission member; 302, bracket; 303, universal wheel; 304, bracket shaft; 400, locking assembly; 401, single motor; 402, transmission assembly; 403, latch; 500, vertical center axis plane. DETAILED DESCRIPTION

[0082] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0083] In the description of the present application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0084] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, if the term "plurality" appears, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0085] In this application, unless otherwise clearly specified and limited, if the terms "installed", "connected", "connected", "fixed" and the like appear, these terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0086] In the present application, unless otherwise clearly specified and limited, if there is a description that a first feature is "above" or "below" a second feature, etc., or similar descriptions appear, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0087] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only implementation method. The units of the parameters listed in the specification and its drawings are all mm.

[0088] The cleaning device 001 of the present invention may be a cleaning robot, a cleaning scrubber, a lawn mower, etc. The present invention does not limit the specific implementation subject.

[0089] Taking a cleaning robot as an example, as one of the specific embodiments of the present invention, Figure 1 FIG. 2 is an axonometric view of the bottom structure of a cleaning device provided in an embodiment of the present invention, and FIG. 3 is a side view of the structure of a cleaning device provided in an embodiment of the present invention before crossing an obstacle.

[0090] The cleaning device 001 comprises: a body 100, wherein a bottom shell 101 is provided at the bottom of the body;

[0091] A driving assembly 200, used for driving the body 100 to move, and the driving assembly 200 can be floatingly disposed at the bottom of the body 100;

[0092] The universal assembly 300 is arranged at the bottom of the fuselage 100 and includes a universal wheel 303 and a bracket 302; the active lifting assembly 301 acts on the bracket 302 so that the universal assembly 300 can move a first preset height in the vertical direction relative to the fuselage 100. FIG2(a) is a schematic diagram of the structure of the universal assembly before the obstacle is crossed and before the first preset height is moved in the vertical direction relative to the fuselage; FIG2(b) is a schematic diagram of the structure of the universal assembly after the first preset height is moved in the vertical direction relative to the fuselage before the obstacle is crossed. As can be seen from FIG2(b), before crossing the obstacle, the universal assembly 300 can automatically extend a preset length relative to the fuselage 100, and of course, it can also retract a preset length or other length along the original path to the state shown in FIG2(a). As can be seen from FIG. 2( b ), when the universal assembly 300 is extended to a preset length relative to the fuselage 100 and the universal assembly 300 is still in contact with the ground, the bottom shell 101 of the fuselage 100 is lifted relative to the ground, so that the entire fuselage 100 is tilted with the front higher and the back lower.

[0093] The body 100 also includes a battery compartment 105 for storing batteries, a dust box compartment 106 for storing dust boxes, and a sweeper and mop (not shown) located at the bottom of the body 100. The cleaning device 001 can sweep and mop the ground while walking.

[0094] The first preset height is preferably (0, 14) mm, specifically 13 mm or 14 mm, that is, the universal assembly 300 moves out to a height of 13 mm or 14 mm relative to the fuselage 100.

[0095] In the forward direction of the fuselage 100, the bottom shell 101 includes a driving front end 102 and a driving rear end 103 corresponding to the position of the driving assembly 200. The driving front end 102 can be moved to a second preset height in the vertical direction, and the driving rear end 103 can be moved to a third preset height in the vertical direction. Since the distance between the rotation center of the universal joint assembly 300 and the rotation center line of the driving wheel of the driving assembly 200 on the vertical central axis plane in the forward direction of the fuselage 100 is 120-130 mm, based on the range value of the above-mentioned first preset height, the second and third preset heights are preferably (0, 7) mm, specifically a height of 6 mm or 7 mm. Since in the forward direction of the fuselage, the positions of the first, second and third preset heights are from the front to the rear of the fuselage in sequence, therefore, the second preset height is located between the first preset height and the third preset height, so that the fuselage 100 is in an inclined state with the front higher and the rear lower in the forward direction.

[0096] Wherein, in the vertical direction, a vertical axis plane is formed through the rotation center axis of the driving assembly 200, the driving front end 102 is formed at a preset distance from the front end of the bottom shell 101 of the vertical axis plane in the forward direction, and the driving rear end 103 is formed at a preset distance from the rear end of the bottom shell 101 of the vertical axis plane in the forward direction. In the plane of the bottom shell 101 of the fuselage 100, the driving front end 102 is preferably 1-3 mm away from the vertical axis plane in the direction close to the universal assembly 300, and the driving rear end 103 is preferably 1-3 mm away from the vertical axis plane in the direction away from the universal assembly 300.

[0097] The lifting height value shown in FIG. 2 is the preset height value in this specific implementation manner, which will not be described in detail here.

[0098] As another specific embodiment of the present invention, FIG3 is a structural side view of the cleaning equipment provided in the embodiment of the present invention during the obstacle crossing process. Among them, FIG3 (a) is a structural schematic diagram of the universal assembly relative to the fuselage in the obstacle crossing process after the first preset height is moved in the vertical direction; FIG3 (b) is a structural schematic diagram of the universal assembly relative to the fuselage in the obstacle crossing process after the preset height is moved in the vertical direction in the original direction in the reverse direction. As can be seen from FIG3 (a), before crossing the obstacle, by locking the drive assembly 200 and lowering the height of the bottom shell 101 at the universal assembly 300 relative to the ground, the fuselage 100 is basically parallel to the ground, avoiding the problem of collision and interference between the fuselage 100 and the ground caused by the fuselage 100 crossing the obstacle in an inclined state, so that on the one hand, the tail of the fuselage 100 will not be damaged by hitting the ground, and on the other hand, the forward resistance will not increase due to the direct collision between the middle part of the fuselage 100 and the ground or obstacles. Moreover, when crossing obstacles in a tilted state with the front higher and the back lower, the center of gravity of the fuselage 100 will be too high, thus causing a rollover accident. As can be seen from FIG3(b), this solution can improve walking stability and reduce the probability of rollover. Passing obstacles in a parallel state can also increase the vibration amplitude of the fuselage 100 in the vertical direction during obstacle crossing, greatly reducing the fatigue degree and failure rate of the universal assembly 300 caused by instantaneous excessive impulse.

[0099] As another specific embodiment of the present invention, Figure 4As shown, it is a schematic diagram of the structure of the universal assembly of the cleaning equipment provided in the embodiment of the present invention moving the first preset height in the vertical direction relative to the fuselage. As can be seen from the figure, one end of the active lifting assembly 301 is connected to the fuselage 100, and the other end is connected to the bracket 302 of the universal assembly 300, which is used to move the universal assembly 300 to the first preset height in the vertical direction relative to the fuselage 100; when the universal assembly 300 moves the first preset height in the vertical direction relative to the fuselage 100, the driving front end 102 or the driving rear end 103 follows the second preset height or the third preset height in the vertical direction respectively. Among them, the first preset height is 14mm as shown in the figure. Therefore, if in the original state, the height of the bottom shell of the fuselage relative to the ground is 20mm, then the height of the bottom shell of the fuselage relative to the ground is 34mm at this time.

[0100] like Figure 4 The lifting height value shown is the preset height value under this specific implementation mode, which will not be repeated here.

[0101] As another specific embodiment of the present invention, Figure 5 FIG. 1 is a schematic diagram of the structure of the active lifting assembly provided in an embodiment of the present invention, and FIG. Fig.10 The figure shows a schematic diagram of the structure of a universal assembly provided in an embodiment of the present invention. As can be seen from the figure, the universal assembly 300 includes a bracket 302, a universal wheel 303 rotatably arranged on the bracket 302, and a bracket shaft 304 arranged on the bracket 302, and the bracket 302 can rotate relative to the fuselage 100 through the bracket shaft 304.

[0102] The active lifting component 301 includes a driving motor 3011 and a transmission member 3012. The transmission member 3012 abuts against at least a portion of the universal joint component 300, for example, abuts against or is connected to the bracket 302, so that when the driving motor 3011 drives the transmission member 3012 to move, the transmission member 3012 presses downward on the universal wheel 303, thereby driving the fuselage 100 in reverse to lift the first preset height in the vertical direction.

[0103] The transmission member 3012 may be a screw, a rack or a connecting rod that is transmission-connected to the driving motor 3011, or may be an elastic member, such as a compression spring, etc. The transmission member 3012 of this embodiment specifically provides an implementation of a rack structure.

[0104] As another specific embodiment of the present invention, Figure 6 , 7, which are respectively a schematic diagram of the fuselage structure in the locked state of the driving assembly provided in an embodiment of the present invention, and a schematic diagram of the structure of the locking assembly provided in an embodiment of the present invention. As can be seen from the figure, the cleaning device 001 also includes a locking assembly 400, which is fixedly mounted on the fuselage 100 and is used to fix the driving assembly 200 in the vertical direction so that the driving front end 102 or the driving rear end 103 respectively maintains the second preset height or the third preset height in the vertical direction.

[0105] Specifically, the locking assembly 400 includes a single motor 401, a transmission assembly 402 and a latch 403; and the single motor 401 can rotate forward or reverse to enable the transmission assembly 402 to move in different directions.

[0106] The single motor 401 rotates forward to drive the transmission assembly 402 to move, so that the transmission assembly 402 drives the latch 403 to move toward the driving assembly 200 to lock the driving assembly 200;

[0107] And / or, the single motor 401 is reversed to drive the transmission assembly 402 to move, so that the transmission assembly 402 drives the latch 403 to move away from the drive assembly 200 to unlock the drive assembly 200 .

[0108] The transmission assembly 402 may be a rack or screw structure, such as Figure 6 , 7 The rack is shown, and the latch 403 is located at the end of the rack away from the single motor 401, so that under the drive of the single motor 401, the rack can be telescopically moved to achieve the locking and unlocking actions.

[0109] In addition, the transmission component 402 is fixedly installed on the bottom shell 101 of the fuselage 100, and the transmission component 402 includes a transmission part 4021 and a plug-in part 4022, wherein the transmission part 4021 includes gear teeth, which are engaged with the single motor 401 for transmission; the plug-in part 4022 is connected to the latch 403, so that when the single motor 401 rotates forward or reverse, the single motor 401 can be engaged with the transmission part 4021 of the transmission component 402 to drive the plug-in part 4022 to reciprocate, thereby realizing the fixing and loosening of the drive component 200 in the vertical direction through the latch 403.

[0110] Specifically, the transmission assembly 402 can be respectively connected to the single motor 401 in different directions, for example, from the single motor 401 to the driving assembly 200 in different directions on the left and right sides of the fuselage 100. The transmission assembly 402 in different directions is driven by the single motor 401 to synchronously move, so that the latch 403 can synchronously lock and unlock the driving assembly 200 in different directions. Figure 6 This is the locked state mentioned above.

[0111] As another specific embodiment of the present invention, Figure 8 , 9 As shown, among which, Figure 8 The figure shows a schematic diagram of the structure of the driving assembly provided in the embodiment of the present invention. As can be seen from the figure, the driving assembly 200 includes a driving assembly body 204 and an elastic assembly 203, the driving assembly body 204 can be movably mounted on the fuselage 100 along a direction perpendicular to the working surface, and the elastic assembly 203 is arranged on the driving assembly body 204, and is used to provide an elastic force in the direction of the driving assembly body toward the working surface / ground in a compressed state, and to provide an elastic force in the direction of the driving assembly body 204 away from the working surface in a stretched state. The driving assembly body 204 includes a driving wheel 201 and a gearbox 202, wherein one end of the gearbox 202 is fixedly connected to the driving wheel 201, and the other end is fixedly connected to the bottom shell 101, so that the driving wheel 201 can rotate around the gearbox 202; at the same time, one end of the elastic assembly 203 is fixedly connected to the bottom shell 101, and the other end is fixedly connected to the driving wheel 201 of the driving assembly body 204, so that the rotation stroke of the driving wheel 201 can be limited.

[0112] Then by Figure 8 As shown, the drive assembly 200 is divided into two groups and are respectively located on the left and right sides of the forward direction of the fuselage 100, wherein the drive assembly 200 includes a drive wheel 201 and a gearbox 202 that are connected to each other, and the drive wheel 201 is farther away from the vertical central axis plane of the forward direction of the fuselage 100 relative to the gearbox 202; the gearbox 202 includes a box shell 2021, and the box shell 2021 includes at least one fixing hole 2022 facing the vertical central axis plane, so as to lock and fix the drive assembly 200 shown.

[0113] Among them, when the driving component 200 is installed and applied to the cleaning equipment 001, the driving component 200 can realize elastic floating in the direction perpendicular to the working surface / ground, and then can adjust its state by itself to adapt to different cleaning environment surfaces, ensuring the stable walking of the cleaning equipment 001 in environments including obstacle crossing.

[0114] The floating principle of the driving component 200 is as follows: when the fuselage 100 moves normally on the working surface, the elastic component 203 is deformed and compressed to provide an elastic force for the driving component body 204 toward the working surface (and at the same time provide an elastic force for the fuselage 100 to move away from the working surface in the vertical direction due to the resistance to the gravity of the fuselage 100); when the universal assembly 300 rises to a first preset height relative to the fuselage 100 in the vertical direction, due to the inclination of the fuselage and in the forward direction of the fuselage 100, the universal assembly 300 is located in front of the driving component 200, so the deformation of the elastic component 203 is reduced, and the elastic force generated by the compression is also adaptively reduced. At this time, the height of the fuselage bottom shell 101 at the driving component 200 from the ground increases, thereby generating the second preset height and the third preset height.

[0115] As another specific embodiment of the present invention, the first preset height includes at least a first preset height A and a first preset height B; the second preset height includes at least a second preset height A and a second preset height B; the third preset height includes at least a third preset height A and a third preset height B.

[0116] When the universal assembly 300 moves a first preset height A in the vertical direction relative to the fuselage 100, the driving front end 102 moves / rises / descends a second preset height A in the vertical direction, and the driving rear end 103 moves / rises / descends a third preset height A in the vertical direction;

[0117] Alternatively, when the universal joint assembly 300 moves / rises / descends a first preset height B in the vertical direction relative to the fuselage 100, the driving front end 102 moves / rises / descends a second preset height B in the vertical direction, and the driving rear end 103 moves / rises / descends a third preset height B in the vertical direction.

[0118] like Fig. 9 The figure shows a partial schematic diagram of the drive assembly structure provided in an embodiment of the present invention. Based on this structure, the above-mentioned changes in the second and third preset heights are realized. As can be seen from the figure, the housing shell 2021 of the gearbox 202 is provided with a plurality of fixing holes 2022, and the fixing holes 2022 are specifically 3, which are respectively located in the vertical central axis plane direction of the housing shell 2021 of the gearbox 202 of the drive assemblies 200 on both sides toward the forward direction of the fuselage, and are symmetrically distributed on the left and right groups of drive assemblies 200; the 3 fixing holes 2022 are located on an arc line with the swing center of the drive wheel 201 as the center, and are preferably located on a circumferential line with an angle of 5° between each other. When the active lifting assembly 301 is extended to different lengths, the corresponding latch 403 can be inserted into the above-mentioned different fixing holes 2022 to achieve the locking of the drive assembly 200 in the vertical direction.

[0119] As another specific embodiment of the present invention, Fig.11 FIG. 1 is a schematic diagram of the structure of a support assembly provided in an embodiment of the present invention. Fig.12 for Fig.11 The support assembly A direction view provided in the embodiment of the present invention is shown in the figure. It can be seen from the figure that the fuselage 100 includes a support assembly 104, which is located at the tail of the fuselage and can be used to contact the ground. Among them, the support assembly 104 includes a support wheel 1041 and a support shaft 1042, and the support shaft 1042 is inserted into the center of the support wheel 1041 so that the support wheel 1041 can rotate freely with the support shaft 1042 as the rotation center, and the support shaft 1042 is fixedly connected to the fuselage 100. Since the robot may be bumped due to uneven ground or obstacle crossing during walking, the support assembly is set at the tail of the fuselage 100, which can play a certain buffering and supporting role on the bottom shell 101 when the fuselage 100 is bumpy, so as to avoid collision and damage to the bottom shell of the fuselage 100.

[0120] As another specific embodiment of the present invention, when the fuselage 100 is walking on the normal ground, its bottom shell 101 is substantially parallel to the flat ground, and on the central axis plane in the forward direction of the fuselage 100, the distance between the rotation center of the universal wheel 303 and the rotation center line of the driving wheels 201 of the two sets of driving assemblies 200 is 120-130 mm, so when the first preset height is in the interval of (0, 14) mm, correspondingly, the second preset height or the third preset height is in the interval of (0, 7) mm;

[0121] Alternatively, when the first preset height is in the interval (14, 28) mm, correspondingly, the second preset height or the third preset height is in the interval (7, 14) mm;

[0122] Alternatively, when the first preset height is in the interval (28, 42) mm, correspondingly, the second preset height or the third preset height is in the interval (14, 22) mm.

[0123] By lifting the obstacles in stages, the height of the obstacles that can be climbed is greatly increased, and the passability of the obstacles is improved.

[0124] As another specific embodiment of the present invention, the present invention also provides a method for lifting and overcoming obstacles of a cleaning device, wherein the cleaning device 001 comprises a body 100, a bottom shell 101 is provided at the bottom of the body 100, and a universal assembly 300 provided at the bottom of the body 100 and a driving assembly 200 for driving the body to move, wherein the driving assembly 200 can be provided at the bottom of the body 100 in a floating manner;

[0125] like Fig.13As shown, the method includes:

[0126] Obtaining obstacle information in the forward direction of the cleaning device 001;

[0127] According to the obstacle information, the universal assembly 300 is controlled to rise to a first preset height in the vertical direction relative to the fuselage 100, and the driving assembly 200 is controlled to be fixed in the vertical direction;

[0128] The driving assembly 200 is controlled to enable the fuselage 100 to move forward and overcome obstacles.

[0129] Preferably, the obstacle information at least includes information about the height of the obstacle from the ground, information about the distance between the obstacle and the fuselage 100, and the like.

[0130] Preferably, after controlling the driving assembly 200 to be fixed in the vertical direction, the method further includes: controlling the universal assembly 300 to descend in the vertical direction relative to the fuselage 100 .

[0131] The height to which the universal assembly 300 descends in the vertical direction relative to the fuselage 100 may be the first preset height, so that the bottom shell 101 of the fuselage 100 is substantially parallel to the ground.

[0132] The maximum diameter of the driving wheel 201 is greater than 80 mm, preferably greater than 85 mm; and / or the maximum diameter of the universal wheel 303 is greater than 25 mm, preferably greater than 30 mm. Increasing the diameters of the driving wheel 201 and the universal wheel 303 greatly improves the direct obstacle crossing success rate when the universal assembly 300 is not lifted.

[0133] The first preset height includes at least a first preset height A and a first preset height B;

[0134] When the universal assembly 300 moves to a first preset height A in the vertical direction relative to the fuselage 100, the universal assembly 300 is controlled to descend in the vertical direction relative to the fuselage 100, and the driving assembly 200 is controlled to make the fuselage move forward and overcome obstacles;

[0135] If the obstacle crossing fails, the universal assembly 300 is first controlled to move a first preset height B in the vertical direction relative to the fuselage, and the universal assembly 300 is controlled to descend in the vertical direction relative to the fuselage 100, and then the driving assembly 200 is controlled to move the fuselage forward to cross the obstacle;

[0136] Wherein, the first preset height A is smaller than the first preset height B.

[0137] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0138] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. A cleaning device comprising: A fuselage, wherein a bottom shell is provided at the bottom of the fuselage; A driving assembly, used for driving the fuselage to move, and arranged at the bottom of the fuselage in a floating manner; A universal assembly, disposed at the bottom of the fuselage, and comprising a universal wheel and a bracket; The invention is characterized in that: it also includes an active lifting component, which acts on the bracket to drive the universal wheel to move a first preset height in the vertical direction relative to the fuselage; In the forward direction of the fuselage, the bottom shell corresponds to the driving assembly position including a driving front end and a driving rear end, the driving front end can be moved in the vertical direction to a second preset height, and the driving rear end can be moved in the vertical direction to a third preset height; The second preset height is between the first preset height and the third preset height, so that the fuselage is in an inclined state with the front higher and the back lower in the forward direction.

2. The cleaning device according to claim 1, characterized in that: The active lifting assembly at least comprises a driving motor and a transmission member, and the transmission member is actuated by the driving motor to move the universal wheel to the first preset height in the vertical direction relative to the fuselage; When the universal joint assembly moves to a first preset height in the vertical direction relative to the fuselage, the driving front end or the driving rear end respectively follows the second preset height or the third preset height in the vertical direction.

3. The cleaning device according to claim 1, characterized in that: The first preset height includes at least a first preset height A and a first preset height B; The second preset height includes at least a second preset height A and a second preset height B; The third preset height at least includes a third preset height A and a third preset height B; When the universal assembly moves a first preset height A in the vertical direction relative to the fuselage, the driving front end moves a second preset height A in the vertical direction, and the driving rear end moves a third preset height A in the vertical direction; Alternatively, when the universal assembly moves a first preset height B in the vertical direction relative to the fuselage, the driving front end moves a second preset height B in the vertical direction, and the driving rear end moves a third preset height B in the vertical direction.

4. The cleaning device according to claim 1, characterized in that: It also includes a locking component, which is fixedly mounted on the fuselage and is used to fix the driving component in the vertical direction so that the driving front end or the driving rear end respectively maintains a second preset height or a third preset height in the vertical direction.

5. The cleaning device according to claim 4, characterized in that: The locking assembly includes a single motor, a transmission assembly and a latch; The single motor rotates forward to drive the transmission assembly to move, so that the transmission assembly drives the latch to move toward the driving assembly to lock the driving assembly; And / or, the single motor reverses to drive the transmission assembly to move, so that the transmission assembly drives the latch to move away from the drive assembly to unlock the drive assembly.

6. The cleaning device according to claim 4, characterized in that: The driving assembly is divided into two groups, and is respectively located on the left and right sides of the forward direction of the fuselage, wherein the driving assembly includes a driving wheel and a gearbox connected to each other, and the driving wheel is farther away from the vertical central axis plane of the forward direction of the fuselage relative to the gearbox; The gearbox comprises a housing shell, and the housing shell comprises at least one fixing hole facing the vertical central axis plane, and the fixing hole can be matched and connected with the locking assembly.

7. The cleaning device according to claim 1, characterized in that: When the first preset height is in the interval (0, 14) mm, correspondingly, the second preset height or the third preset height is in the interval (0, 7) mm; Alternatively, when the first preset height is in the interval (14, 28) mm, correspondingly, the second preset height or the third preset height is in the interval (7, 14) mm; Alternatively, when the first preset height is in the interval (28, 42) mm, correspondingly, the second preset height or the third preset height is in the interval (14, 22) mm.

8. A method for lifting and overcoming obstacles of a cleaning device, the cleaning device comprising a body, a bottom shell provided at the bottom of the body, a universal assembly provided at the bottom of the body and a driving assembly for driving the body to move, wherein: The driving assembly can be floatingly arranged at the bottom of the fuselage; Characterized in that the method comprises: Obtaining obstacle information in the forward direction of the cleaning device; According to the obstacle information, the universal assembly is controlled to rise to a first preset height in the vertical direction relative to the fuselage, and the driving assembly is controlled to be fixed in the vertical direction; The driving assembly is controlled to enable the fuselage to move forward and overcome obstacles.

9. The method according to claim 8, characterized in that: After controlling the driving assembly to be fixed in the vertical direction, the method further includes: controlling the universal assembly to descend in the vertical direction relative to the fuselage.

10. The method according to claim 8 or 9, characterized in that: The first preset height includes at least a first preset height A and a first preset height B; When the universal assembly moves a first preset height A in the vertical direction relative to the fuselage, the driving assembly is controlled to enable the fuselage to move forward and overcome obstacles; If the obstacle crossing fails, firstly control the universal assembly to move a first preset height B in the vertical direction relative to the fuselage, and then control the driving assembly to make the fuselage move forward to cross the obstacle; Wherein, the first preset height A is smaller than the first preset height B.

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