Walking mechanism of sweeper and obstacle crossing method

Abstract

The invention relates to walking mechanisms of a sweeper and an obstacle crossing method, two walking mechanisms are symmetrically arranged on a chassis of the sweeper, one walking mechanism comprises a driving shell, a driving motor, a transmission system, a tachometer disc and two driving wheels, the driving motor and the transmission system are mounted on the driving shell, a first spring suspension is arranged between the chassis and the driving shell, and the driving wheels are mounted on the driving shell. An output shaft of the driving motor extends out of the front side and the rear side of the driving motor respectively, the output shaft on the front side of the driving motor is in transmission connection with the two driving wheels through a transmission system so that the two driving wheels can synchronously rotate in the same direction, and the output shaft on the rear side of the driving motor is connected with the tachometer disc. The tachometer disc measures the rotating speed of the driving motor, whether the sweeper needs to be subjected to obstacle crossing operation or not is judged according to the rotating speed measured by the tachometer disc of the sweeper, and the obstacle crossing operation is to change the output power of the driving motor. The walking mechanism of the sweeper is improved, so that the stable obstacle crossing ability of the sweeper is improved.

Description

Technical Field

[0001] The invention relates to the field of sweeping machines, and in particular to a walking mechanism and an obstacle-crossing method of a sweeping machine. Background Art

[0002] With the rapid development of smart home technology, sweeping robots have become an important tool for modern household cleaning. One of its core functions is to achieve efficient cleaning of household floors through automatic walking and intelligent navigation. The walking and mobility of sweeping robots depends largely on the design and performance of their drive wheel components. Generally speaking, the drive wheels of sweeping robots drive the rollers to rotate through built-in motors to achieve the movement of the machine. A good drive wheel design can not only effectively reduce the bumps of the machine during walking, but also significantly improve the cleaning efficiency and floor coverage.

[0003] However, the driving wheel assembly of the existing sweeping robot has significant deficiencies in the passability when facing complex terrain, especially for the following typical scenarios:

[0004] Steep slopes: When a sweeping robot encounters a steep slope, the friction between the drive wheels and the ground is reduced, as well as the influence of the machine's own gravity, which can easily cause the drive wheels to slip or the machine to become unstable, thus affecting the normal operation and cleaning effect of the machine.

[0005] Potholes on the road: Uneven roads, such as potholes and bumps, place higher demands on the walking mechanism of the sweeping robot. Existing drive wheels often have difficulty adapting to such terrain changes, and are prone to jamming, bumping, or even jamming, which seriously affects the continuity and efficiency of cleaning operations.

[0006] Objects on the road: Although many sweeping robots are equipped with advanced object recognition algorithms that can identify and avoid obstacles on the road, they may not be able to flexibly bypass or climb some low or irregularly shaped objects due to the design limitations of the drive wheels, limiting the working range of the machine.

[0007] To address the above issues, most sweeping robots on the market currently adopt software-level optimization, such as enhancing algorithm recognition capabilities and planning obstacle avoidance paths in advance to avoid these complex terrains as much as possible. However, this strategy can only alleviate the problem to a certain extent, and there is still a lack of fundamental solutions to physical limitations such as potholes and steep slopes. Summary of the invention

[0008] The purpose of the present invention is to solve the above-mentioned technical problems and to provide a walking mechanism and obstacle-crossing method of a sweeping machine. The present application is to improve the walking mechanism of the sweeping machine, thereby improving the smooth obstacle-crossing capability of the sweeping machine.

[0009] A walking mechanism of a sweeping machine, wherein two walking mechanisms are symmetrically arranged on the chassis of the sweeping machine, one of the walking mechanisms comprises a driving housing, a driving motor, a transmission system, a speed measuring disc and two driving wheels, the driving motor and the transmission system are mounted on the driving housing, a first spring suspension is arranged between the chassis and the driving housing, the output shaft of the driving motor extends from the front and rear sides of the driving motor respectively, the output shaft on the front side of the driving motor is connected to the two driving wheels through the transmission system, so that the two driving wheels rotate synchronously in the same direction, the output shaft on the rear side of the driving motor is connected to the speed measuring disc, the driving motor is controlled to drive the driving wheels to rotate when the sweeping machine is working, the speed measuring disc measures the rotation speed of the driving motor, and the rotation speed measured by the speed measuring disc of the sweeping machine determines whether the sweeping machine needs to perform an obstacle operation, and the obstacle operation is to change the output power of the driving motor.

[0010] According to the walking mechanism of the sweeping machine of the present application, by improving the walking mechanism, two driving wheels rotating synchronously in the same direction are provided in one walking mechanism, which significantly increases the obstacle-crossing ability of the sweeping machine. Slopes with a slope less than 45 degrees and smaller potholes with a size smaller than the wheel spacing of the two driving wheels can be easily and smoothly crossed, and a spring suspension is provided to avoid hard contact between the driving wheels and the ground, thereby reducing bumps when the sweeping machine is walking, and the sweeping machine can work more smoothly, thereby achieving a better cleaning effect; changing the output power of the drive motor includes controlling the speed and direction of the drive motor. When the walking mechanism is stuck by an overly large pothole or a slope with a large slope, the speed and direction of the drive motor are adjusted to enable the sweeping machine to overcome the obstacle.

[0011] Furthermore, the chassis also includes a mounting shell, the walking mechanism is mounted in the mounting shell, and hooks for mounting a first spring suspension are provided on the mounting shell and the driving shell, and the first spring suspension provides elastic suspension for the driving shell.

[0012] Furthermore, the two driving wheels include a front wheel and a rear driving wheel, the rear driving wheel is far from the first spring suspension relative to the front driving wheel, the transmission system includes a rear driving shaft connected to the rear driving wheel, a second spring suspension is also provided between the chassis and the driving housing, a suspension groove is provided on the driving housing, the rear driving shaft can be slidably accommodated in the suspension groove, and the second spring suspension is connected to the rear driving shaft, so that the second spring suspension provides elastic suspension for the rear driving wheel. Since each walking mechanism of the present application adds a driving wheel, it is impossible to provide elastic suspension for both driving wheels at the same time by relying solely on the first spring suspension. If the rear driving wheel is directly mounted on the driving housing, there will be a problem that the rear driving wheel far from the first spring suspension is prone to hanging, resulting in the possibility that the sweeper may have insufficient grip when crossing an obstacle. Therefore, the present application adds a second spring suspension to the rear driving wheel alone to maintain the grip of the rear driving wheel.

[0013] Furthermore, the transmission system also includes a reduction gear unit, a synchronous gear unit and a driving gear unit. Two driving gear units are provided and are respectively connected to the two driving wheels through shafts. One end of the reduction gear unit is connected to the output shaft on the front side of the driving motor, and the other end of the reduction gear unit is meshed with a driving gear unit. The synchronous gear unit is arranged between the two driving gear units so that the two driving gear units rotate synchronously in the same direction. The hanging groove is an arc-shaped hanging groove, and the center of the hanging groove coincides with the center of the synchronous gear unit. The reduction gear unit is used to reduce speed and increase torque, so as to facilitate driving the driving gear unit, thereby driving the two driving wheels to rotate synchronously in the same direction at the same time under the transmission of the synchronous gear unit.

[0014] Furthermore, the speed measuring disc includes a mounting plate, a photoelectric sensor and a gap disc, the mounting plate is fixed to the rear side of the drive motor, the photoelectric sensor is mounted on the mounting plate, the gap disc is mounted on the output shaft at the rear side of the drive motor, and the gap portion of the gap disc cooperates with the photoelectric sensor to measure the speed. The gap disc and the photoelectric sensor facilitate the sweeper to detect the speed of the drive motor, thereby facilitating the control of the synchronous operation of the two walking mechanisms.

[0015] Furthermore, the sweeping machine includes a main control circuit board, which is electrically connected to the speed measuring disk. When the sweeping machine is moving normally, the main control circuit board controls the drive motor to rotate the drive wheel with a first working power. When the speed of the drive motor tends to zero or has returned to zero, it is determined that the obstacle crossing operation needs to be performed, and the main control circuit board controls the drive motor to rotate the drive wheel with a second working power.

[0016] Furthermore, when the speed of the drive motor approaches zero or has reached zero, the main control circuit board simultaneously controls the drive motors of the two walking mechanisms to drive the drive wheels to rotate at a second working power, wherein the second working power is greater than the first working power and less than or equal to the maximum working power. By increasing the working power of the drive motor, the drive motor can output greater power, so that the drive wheel can climb a steeper slope or cross a larger pothole.

[0017] Furthermore, when the speed of the driving motor approaches zero or has reached zero, the main control circuit board controls the driving motors of the two walking mechanisms to drive the corresponding two driving wheels in opposite directions, or the main control circuit board controls the driving motor of one walking mechanism to stop working, and the driving motor of the other walking mechanism drives the corresponding two driving wheels in the backward direction. By controlling the forward direction of the driving wheels, the sweeper can more easily pass obstacles.

[0018] A method for overcoming obstacles, comprising the walking mechanism of the sweeper, and also comprising a ramp accessory, wherein the ramp accessory is installed on the lower side with a height difference on the ground, and the slope of the ramp accessory is 30 to 45 degrees; the method for overcoming obstacles comprises the following steps:

[0019] After the sweeping machine senses the slope accessory, the sweeping machine body is straightened and the sweeping machine faces away from the slope accessory;

[0020] The sweeper starts the walking mechanism on one side and stops the walking mechanism on the other side, so that the two driving wheels on the started side move backward along the ramp accessory to the higher side of the ground;

[0021] The traveling mechanism on the starting side stops moving, and the two driving wheels of the traveling mechanism on the other side move backward along the ramp accessories to the higher side of the ground and then stop, and then the traveling mechanism on the starting side is started, so that the two driving wheels on the starting side also move to the higher side of the ground;

[0022] After the two traveling mechanisms are parallel, the two traveling mechanisms are started synchronously to make the front side of the sweeper move onto the higher side of the ground.

[0023] Since the present application improves the walking mechanism, a walking mechanism has two driving wheels, which significantly increases the obstacle crossing performance of the sweeper, especially the climbing ability, so that the walking mechanism can easily climb up the ground with a height difference through the ramp accessories. According to the obstacle crossing method of the present application, the sweeper can cooperate with the ramp accessories to easily cross the thresholds and other ground with height differences that are common in some households, making it convenient for some households with thresholds to clean the entire house at one time without the need for manual transportation of the sweeper.

[0024] Furthermore, a passive sensing device is provided in the slope accessory, so that the sweeper can sense the slope accessory through the passive sensing device. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a three-dimensional diagram of the sweeping machine of the present invention.

[0026] Figure 2 It is a three-dimensional diagram of the walking mechanism of the sweeping machine of the present invention.

[0027] Figure 3 It is an exploded view of the walking mechanism of the sweeping machine of the present invention.

[0028] Figure 4 This is an exploded view of the walking mechanism of the sweeping machine of the present invention from another angle.

[0029] Figure 5 It is a three-dimensional diagram of another embodiment of the walking mechanism of the sweeping machine of the present invention. DETAILED DESCRIPTION

[0030] The walking mechanism and obstacle-crossing method of a sweeping machine of the present invention are described in conjunction with the accompanying drawings.

[0031] like Figures 1 to 4 The walking mechanism of a sweeping machine shown in the figure, the chassis 1 of the sweeping machine is symmetrically provided with two walking mechanisms 2, the two walking mechanisms 2 are arranged on the rear side of the sweeping machine chassis 1, the walking mechanism 2 drives the sweeping machine to walk on the ground through the driving wheel 24, so that the sweeping machine can clean the dirt on the ground, the present application improves the walking mechanism 2 of the sweeping machine, and the walking mechanism 2 of the present application includes a driving motor 21, a transmission system 22, a speed measuring disc 23 and two driving wheels 24, as shown in FIG. Figure 1 The two driving wheels 24 are arranged front and back, and are arranged side by side and parallel to the two driving wheels 24 of the walking mechanism 2 on the other side. For normal ground, the additional driving wheels 24 can make the sweeper walk on the ground more smoothly, thereby achieving a better cleaning effect. The output shafts of the driving motor 21 extend from the front and rear sides of the driving motor 21 respectively, and the output shaft on the front side of the driving motor 21 is connected to the two driving wheels 24 through the transmission system 22, so that the two driving wheels 24 rotate synchronously in the same direction, and the output shaft on the rear side of the driving motor 21 is connected to the speed measuring disk 23. When the sweeper is working, the driving motor 21 is controlled to drive the driving wheel 24 to rotate, and the speed measuring disk 23 measures the rotation speed of the driving motor 21. The speed measured by the speed measuring disk 23 of the sweeper determines whether the sweeper needs to be operated. Obstacle operation, the obstacle operation is to change the output power of the drive motor 21; since two drive wheels 24 rotating synchronously and in the same direction are provided in a walking mechanism 2 of the present application, the obstacle-overcoming ability of the sweeper is significantly increased, and slopes with a slope less than 45 degrees and smaller potholes can be easily and smoothly overcome. For example, when the size of the pothole is smaller than the wheel spacing of the two drive wheels 24, the sweeper can easily and smoothly pass through, which can reduce bumps when the sweeper is walking, and the sweeper can work more smoothly, thereby achieving a better cleaning effect; changing the output power of the drive motor 21 includes controlling the speed and direction of the drive motor 21. When the walking mechanism 2 is stuck by a pothole that is too large or a slope with a large slope, the speed and direction of the drive motor 21 are adjusted to enable the sweeper to overcome the obstacle.

[0032] The sweeping machine includes a main control circuit board, which is electrically connected to the speed measuring disk 23. When the sweeping machine is moving normally, the main control circuit board controls the drive motor 21 to drive the drive wheel 24 to rotate with a first working power. When the speed of the drive motor 21 tends to return to zero or has returned to zero, it is determined that the obstacle-passing operation needs to be performed, and the main control circuit board controls the drive motor 21 to drive the drive wheel 24 to rotate with a second working power.

[0033] The speed measuring disc 23 includes a mounting plate 231, a photoelectric sensor 232 and a gap disc 233. The mounting plate 231 is fixed to the rear side of the driving motor 21, the photoelectric sensor 232 is mounted on the mounting plate 231, and the gap disc 233 is mounted on the output shaft at the rear side of the driving motor 21. The gap portion of the gap disc 233 cooperates with the photoelectric sensor 232 to measure the speed. Figure 2 and Figure 4 As shown, a through hole is provided in the middle of the mounting plate 231, and the output shaft on the rear side of the driving motor 21 passes through the through hole and is connected to the gap disk 233, so that the gap disk 233 can rotate synchronously with the output shaft of the driving motor 21. The gap part on the gap disk 233 passes through the photoelectric sensor 232 when rotating, so that the photoelectric sensor 232 can measure the rotation speed of the output shaft. An external socket is provided on the mounting plate 231 to facilitate the external line to connect to the main control circuit board.

[0034] In addition, a fixing ear is provided on the rear side of the driving motor 21, and a mounting groove is provided on the mounting plate 231. When installing the mounting plate 231, the fixing ear is passed through the mounting groove and then folded, so that the mounting plate 231 is installed on the rear side of the driving motor 21. The photoelectric sensor 232 is welded on the mounting plate 231, and the socket is connected through the circuit on the mounting plate 231, so as to be electrically connected to the main control circuit board.

[0035] like Figure 3 As shown, the transmission system 22 includes a reduction gear portion 221, a synchronization gear portion 223 and a driving gear portion 222. Two driving gear portions 222 are provided and are respectively connected to the two driving wheels 24 through shafts. One end of the reduction gear portion 221 is connected to the output shaft on the front side of the driving motor 21, and the other end of the reduction gear portion 221 is meshed with a driving gear portion 222. The synchronization gear portion 223 is arranged between the two driving gear portions 222, so that the two driving gear portions 222 rotate synchronously in the same direction.

[0036] like Figures 2 to 4 As shown, the chassis 1 also includes a mounting shell 25, and the walking mechanism also includes a drive shell 26. A first spring suspension 27 is provided between the chassis 1 and the drive shell 26. The walking mechanism 2 is installed in the mounting shell 25, and the drive motor 21 and the transmission system 22 are installed on the drive shell 26. The first spring suspension 27 of the present application is arranged between the mounting shell 25 and the drive shell 26. The mounting shell 25 and the drive shell 26 are provided with hooks (251, 261) for installing the first spring suspension 27. The first spring suspension 27 provides elastic support for the drive shell 26. The first spring suspension 27 can pull the drive shell 26 from one side of the mounting shell 25 to provide elastic shock absorption for the drive wheel 24 as a whole, so that the drive wheel 24 can walk more smoothly.

[0037] like Figure 5 As shown, a preferred embodiment of the present application, the two driving wheels 24 include a front wheel driving wheel and a rear driving wheel, the rear driving wheel is far from the first spring suspension 27 relative to the front driving wheel, the transmission system 22 also includes a rear driving shaft connected to the rear driving wheel, and a second spring suspension 28 is further provided between the chassis 1 and the driving housing 26, the driving housing 26 is provided with a suspension groove 262, the rear driving shaft can be slidably accommodated in the suspension groove 262, the second spring suspension 28 is connected to the rear driving shaft, so that the second spring suspension 28 provides elastic suspension for the rear driving wheel. Since each walking mechanism 2 of the present application adds a driving wheel, it is impossible to provide elastic suspension for the two driving wheels 24 at the same time by relying solely on the first spring suspension 27. If the rear driving wheel is directly mounted on the driving housing 26, there will be a problem that the rear driving wheel far from the first spring suspension 27 is prone to suspension, resulting in the possibility that the sweeper may have insufficient grip when crossing an obstacle. Therefore, the present application adds a second spring suspension 28 to the rear driving wheel separately to maintain the grip of the rear driving wheel.

[0038] When the rotation speed of the drive motor 21 tends to return to zero or has returned to zero, the main control circuit board simultaneously controls the drive motors 21 of the two walking mechanisms 2 to drive the drive wheels 24 to rotate with a second working power, wherein the second working power is greater than the first working power and less than or equal to the maximum working power. By increasing the working power of the drive motor 21, the drive motor 21 can output greater power, thereby enabling the drive wheel 24 to climb a slope with a greater slope or cross a larger pothole.

[0039] When the rotation speed of the driving motor 21 tends to return to zero or has returned to zero, the main control circuit board controls the driving motors 21 of the two walking mechanisms 2 to drive the corresponding two driving wheels 24 in opposite directions, or the main control circuit board controls the driving motor 21 of one walking mechanism 2 to stop working, and the driving motor 21 of the other walking mechanism 2 drives the corresponding two driving wheels 24 in the backward direction. By controlling the forward direction of the driving wheels 24, the sweeper can more easily overcome obstacles. If increasing the working power of the driving motor 21 cannot overcome the obstacle, you can try to overcome the obstacle by adjusting the driving direction.

[0040] A method for overcoming obstacles, comprising the walking mechanism 2 of the sweeping machine described above, and also comprising a ramp accessory, wherein the ramp accessory is installed on the lower side of the ground with a height difference, such as a ground with a threshold or a ground with a height difference, and the slope of the ramp accessory is 30 to 45 degrees, which can prevent the ramp accessory from being too long and affecting the daily life of the user. The slope of the ramp accessory is set to 30 to 45 degrees, so that the user can have a senseless experience of entering the life, and the sweeping machine can easily climb the ramp accessory with the walking mechanism 2 with two driving wheels 24 of the present application; the method for overcoming obstacles comprises the following steps:

[0041] After the sweeping machine senses the slope accessory, the sweeping machine body is straightened and the sweeping machine faces away from the slope accessory;

[0042] The sweeper starts the walking mechanism 2 on one side and stops the walking mechanism 2 on the other side, so that the two driving wheels 24 on the started side move backward along the ramp accessory to the higher side of the ground. The installation position of the walking mechanism 2 is at the rear side of the chassis 1. The backward movement can make the sweeper climb up the ramp accessory better.

[0043] The traveling mechanism 2 on the start side stops moving, and the two driving wheels 24 of the traveling mechanism 2 on the other side move backward along the ramp accessory to the higher side of the ground and then stop, and then the traveling mechanism 2 on the start side is started, so that the two driving wheels 24 on the start side also move to the higher side of the ground;

[0044] After the two traveling mechanisms 2 are parallel, the two traveling mechanisms 2 are started synchronously to make the front side of the sweeping machine pass over the higher side of the ground.

[0045] Since the present application improves the walking mechanism 2, a walking mechanism 2 has two driving wheels 24, which significantly increases the obstacle-crossing performance of the sweeper, especially the climbing ability, so that the sweeper can easily climb up a slope accessory with a slope of 30 to 45 degrees, so that the walking mechanism 2 can easily climb up the higher side of the ground through the slope accessory, and then through the obstacle-crossing method, the sweeper can easily cross the road surface with a height difference. According to the obstacle-crossing method of the present application, by making the two walking mechanisms 2 on both sides successively drive up to the higher side of the ground through the slope accessory twice, it is avoided that the ground or the slope accessory and the chassis 1 of the sweeper are stuck to each other, so that the sweeper can easily cross the threshold and other common floors with height differences in home decorations with the slope accessory, which is convenient for some households with thresholds to clean the whole house without the need for manual transportation of the sweeper.

[0046] The slope accessory is provided with a passive sensing device, so that the sweeper can sense the slope accessory through the passive sensing device. The passive sensing device can avoid setting batteries or other power sources in the slope accessory, reducing the customer's maintenance cost. After the slope accessory is installed, there is no need to disassemble and replace the battery. The passive sensing device can be an RFID or other passive sensor.

[0047] According to the disclosure and teaching of the above description, those skilled in the art to which the present invention belongs may also make changes and modifications to the above embodiments. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and some modifications and changes to the present invention should also fall within the scope of protection of the claims of the present invention. In addition, although some specific terms are used in this specification, these terms are only for the convenience of description and do not constitute any limitation to the present invention.

Claims

1. A walking mechanism of a sweeping machine, characterized in that: The chassis of the sweeper is symmetrically provided with two walking mechanisms, one of which includes a driving housing, a driving motor, a transmission system, a speed measuring disc and two driving wheels, the driving motor and the transmission system are installed on the driving housing, and a first spring suspension is provided between the chassis and the driving housing, the output shaft of the driving motor extends from the front and rear sides of the driving motor respectively, the output shaft on the front side of the driving motor is connected to the two driving wheels through the transmission system, so that the two driving wheels rotate synchronously in the same direction, the output shaft on the rear side of the driving motor is connected to the speed measuring disc, and the driving motor is controlled to drive the driving wheels to rotate when the sweeper is working, and the speed measuring disc measures the speed of the driving motor. The speed measured by the speed measuring disc of the sweeper determines whether the sweeper needs to perform an obstacle operation, and the obstacle operation is to change the output power of the driving motor.

2. The walking mechanism of the sweeping machine according to claim 1, characterized in that: The chassis also includes a mounting shell, the walking mechanism is mounted in the mounting shell, and hooks for mounting a first spring suspension are provided on the mounting shell and the driving shell. The first spring suspension provides elastic suspension for the driving shell.

3. The walking mechanism of the sweeping machine according to claim 1 or 2, characterized in that: The two driving wheels include a front driving wheel and a rear driving wheel, the rear driving wheel is relatively far from the first spring suspension, the transmission system includes a rear driving shaft connected to the rear driving wheel, a second spring suspension is also provided between the chassis and the driving housing, a suspension groove is provided on the driving housing, the rear driving shaft can be slidably accommodated in the suspension groove, the second spring suspension is connected to the rear driving shaft, so that the second spring suspension provides elastic suspension for the rear driving wheel.

4. The walking mechanism of the sweeping machine according to claim 3, characterized in that: 。 5. The walking mechanism of the sweeping machine according to claim 1, characterized in that: The speed measuring disc includes a mounting plate, a photoelectric sensor and a gap disc. The mounting plate is fixed on the rear side of the drive motor, the photoelectric sensor is mounted on the mounting plate, the gap disc is mounted on the output shaft on the rear side of the drive motor, and the gap part of the gap disc cooperates with the photoelectric sensor to measure speed.

6. The walking mechanism of the sweeping machine according to claim 1, characterized in that: The sweeping machine includes a main control circuit board, which is electrically connected to the speed measuring disk. When the sweeping machine is moving normally, the main control circuit board controls the drive motor to rotate the drive wheel with a first working power. When the speed of the drive motor tends to return to zero or has returned to zero, it is determined that the obstacle crossing operation needs to be performed, and the main control circuit board controls the drive motor to rotate the drive wheel with a second working power.

7. The walking mechanism of the sweeping machine according to claim 6, characterized in that: When the speed of the drive motor tends to zero or has reached zero, the main control circuit board simultaneously controls the drive motors of the two walking mechanisms to rotate the drive wheels with a second working power, wherein the second working power is greater than the first working power and less than or equal to the maximum working power.

8. The walking mechanism of the sweeping machine according to claim 6, characterized in that: When the rotation speed of the driving motor tends to return to zero or has returned to zero, the main control circuit board controls the driving motors of the two walking mechanisms to drive the corresponding two driving wheels in opposite directions, or the main control circuit board controls the driving motor of one walking mechanism to stop working, and the driving motor of the other walking mechanism drives the corresponding two driving wheels in the backward direction.

9. A method for overcoming obstacles, characterized in that: The walking mechanism of the sweeping machine according to any one of claims 1 to 8 further comprises a ramp accessory, wherein the ramp accessory is installed on the lower side with a height difference on the ground, and the slope of the ramp accessory is 30 to 45 degrees; the obstacle-passing method comprises the following steps: After the sweeping machine senses the slope accessory, the sweeping machine body is straightened and the sweeping machine faces away from the slope accessory; The sweeper starts the walking mechanism on one side and stops the walking mechanism on the other side, so that the two driving wheels on the started side move backward along the ramp accessory to the higher side of the ground; The traveling mechanism on the starting side stops moving, and the two driving wheels of the traveling mechanism on the other side move backward along the ramp accessories to the higher side of the ground and then stop, and then the traveling mechanism on the starting side is started, so that the two driving wheels on the starting side also move to the higher side of the ground; After the two traveling mechanisms are parallel, the two traveling mechanisms are started synchronously to make the front side of the sweeper move onto the higher side of the ground.

10. The obstacle-passing method according to claim 9, characterized in that: The slope accessory is provided with a passive sensing device, so that the sweeper senses the slope accessory through the passive sensing device.

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