Self-moving robot and walking method thereof

Abstract

The embodiment of the invention provides a self-moving robot and a walking method thereof. The self-moving robot comprises a robot body, a driving wheel assembly and an obstacle crossing assembly. The driving wheel assembly is rotatably arranged on the machine body through a first rotating shaft; the driving wheel assembly comprises a driving wheel; the obstacle crossing assembly comprises a force application part, and a stress part is arranged on the driving wheel assembly; the force application part is arranged on the machine body; the stress part is positioned between the force application part and the first rotating shaft; the force application part applies force to the force bearing part, so that the driving wheel assembly moves relative to the machine body. According to the technical scheme, the stress part is located between the force application part and the first rotating shaft, the action efficiency of the force application part is high, and the obstacle crossing ability of the self-moving robot can be improved.

Description

[0001] This application is a divisional application of Chinese patent application No. 201910093765.7, filed on January 30, 2019, entitled “Self-moving robot and walking method thereof”. Technical Field

[0002] The present application relates to the technical field of electronic equipment, and in particular to a self-moving robot and a walking method thereof. Background Art

[0003] With the continuous development of science and technology, household appliances are becoming more and more intelligent. Smart home appliances have brought great convenience to users' work, life and study. Self-moving robots are one of them. Self-moving robots can automatically complete floor cleaning work in the room with a certain degree of artificial intelligence.

[0004] At present, the driving wheels of some self-propelled robots can float and adjust according to the changes in the ground conditions to improve the robot's obstacle crossing ability. However, the existing floating obstacle crossing structure can provide a small driving force to the driving wheels, and the robot can only cross small obstacles, and the obstacle crossing ability is very limited. Summary of the invention

[0005] In view of the above problems, the present application is proposed to provide a self-moving robot and a walking method thereof that solve the above problems or at least partially solve the above problems.

[0006] Therefore, in one embodiment of the present application, a self-propelled robot is provided. The self-propelled robot comprises: a body, a driving wheel assembly and an obstacle surmounting assembly; the driving wheel assembly is rotatably arranged on the body via a first rotating shaft; the driving wheel assembly comprises a driving wheel; during the process of the driving wheel moving from a first position to a second position relative to the body, the obstacle surmounting assembly applies force to the driving wheel assembly, and the amplitude of the positive pressure change between the driving wheel and the traveling surface is less than or equal to a set threshold.

[0007] In another embodiment of the present application, a self-propelled robot is provided. The self-propelled robot comprises: a body, a driving wheel assembly and an obstacle-crossing assembly; wherein the driving wheel assembly is rotatably arranged on the body via a first rotating shaft; the driving wheel assembly comprises a driving wheel; the obstacle-crossing assembly comprises a force-applying portion and a force-receiving portion arranged on the driving wheel assembly; the force-applying portion comprises a power member and a pressure plate rotatably arranged on the body via a second rotating shaft; the force-receiving portion is located between the first rotating shaft and the second rotating shaft; during the process of the driving wheel moving from a first position to a second position relative to the body, the pressure plate is pressed against the force-receiving portion under the action of the power member to apply force to the driving wheel assembly.

[0008] In another embodiment of the present application, a self-moving robot is also provided. The self-moving robot comprises: a body, a driving wheel assembly and an obstacle crossing assembly; wherein the driving wheel assembly is rotatably arranged on the body through a first rotating shaft; the driving wheel assembly comprises a driving wheel; the obstacle crossing assembly comprises a force-applying portion and a force-receiving portion arranged on the driving wheel assembly; the force-applying portion is included in an elastic body; along the deformation direction, one end of the elastic body is fixed to the body, and the other end is provided with a roller assembly; the force-receiving portion has a curved surface structure; during the movement of the driving wheel from the first position to the second position, the roller assembly is pressed against the curved surface structure under the action of the elastic body to apply force to the driving wheel assembly.

[0009] In yet another embodiment of the present application, a walking method for a self-moving robot is also provided.

[0010] The method includes:

[0011] When encountering an obstacle, the driving wheel of the driving wheel assembly moves from a first position to a second position relative to the machine body;

[0012] During the movement of the driving wheel from the first position to the second position, the obstacle crossing assembly applies force to the driving wheel assembly, and the amplitude of the positive pressure change between the driving wheel and the traveling surface is less than or equal to a set threshold.

[0013] In an embodiment of a self-moving robot provided in an embodiment of the present application, when the self-moving robot encounters an obstacle and its body is lifted up or walks to a pit, the driving wheel assembly is subjected to the force exerted by the obstacle crossing assembly in addition to its own gravity; under the joint action of these forces, the amplitude of the positive pressure change between the driving wheel and the traveling surface is less than or equal to the set threshold, which helps to increase the friction between the driving wheel and the traveling surface and improve the obstacle crossing ability of the self-moving robot.

[0014] In another self-propelled robot embodiment provided by the embodiment of the present application, a pressure plate is rotatably arranged on the body through a second rotating axis. Under the action of the power component, the pressure plate engages with the force-bearing part on the driving wheel assembly, so that the driving wheel assembly is subjected to a continuous force. In addition, with this structure, it is very easy to control the magnitude of the continuous force applied to the driving wheel assembly, so that the amplitude of the positive pressure change between the driving wheel and the traveling surface is controlled within a smaller range, and the friction between the driving wheel and the traveling surface is also relatively stable, which helps to improve the obstacle surmounting ability of the self-propelled robot.

[0015] In another self-propelled robot embodiment provided in the embodiments of the present application, an elastomer arranged on the body applies a continuous force to a driving wheel assembly through a curved surface structure under the action of its own elastic force; the structure can easily achieve control of the continuous force applied to the driving wheel assembly by selecting a spring and / or changing the curved surface shape of the curved surface structure, so that the amplitude of the positive pressure change between the driving wheel and the traveling surface is controlled within a smaller range, and the friction between the driving wheel and the traveling surface is also relatively stable, which helps to improve the obstacle surmounting ability of the self-propelled robot.

[0016] In an embodiment of a walking method for a self-moving robot provided in an embodiment of the present application, when encountering an obstacle, during the process of the driving wheel moving from a first position to a second position, the obstacle crossing component continuously applies force to the driving wheel component, and the amplitude of the positive pressure change between the driving wheel and the traveling surface is less than or equal to a set threshold, thereby increasing the friction between the driving wheel and the traveling surface and enhancing the obstacle crossing capability of the self-moving robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0018] Figure 1 This is a schematic diagram of the structure of a driving wheel assembly according to Embodiment 1 of the present application;

[0019] Figure 2 This is a schematic diagram of the structure of a driving wheel assembly in a first driving wheel position according to an embodiment of the present application;

[0020] Figure 3 This is a schematic diagram of the structure of the driving wheel assembly in the second position of the driving wheel in the first embodiment of the present application;

[0021] Figure 4 This is a schematic diagram of the structure of the driving wheel assembly in the first position of the driving wheel in the second embodiment of the present application;

[0022] Figure 5 This is a schematic diagram of the structure of the driving wheel assembly in the second position of the driving wheel in the second embodiment of the present application;

[0023] Figure 6 A schematic diagram of the torque exerted on the driving wheel assembly during the driving wheel extension process in the second embodiment of the present application;

[0024] Figure 7 This is a schematic diagram of the structure of a driving wheel assembly according to Embodiment 3 of the present application;

[0025] Figure 8This is a schematic diagram of the structure of the driving wheel assembly in the first position of the driving wheel in the third embodiment of the present application;

[0026] Fig. 9 This is a schematic diagram of the structure of the driving wheel assembly in the second position of the driving wheel in the third embodiment of the present application;

[0027] Fig.10 This is a schematic structural diagram of a drive wheel assembly according to a fourth embodiment of the present application;

[0028] Fig.11 A curve comparison diagram showing the pressure change of the driving wheel on the ground in the prior art and the pressure change of the driving wheel on the ground in the technical solution provided in the embodiment of the present application is shown;

[0029] Fig.12 A schematic flow chart of a walking method for a self-moving robot provided in one embodiment of the present application. DETAILED DESCRIPTION

[0030] When the self-moving robot is working, the driving wheel should be adjusted according to the change of the ground conditions to increase the robot's obstacle crossing ability. Usually, the floating obstacle crossing mechanism is realized by the action of a tension spring. For example, the prior art provides a cantilever driving wheel mechanism, which installs the driving wheel on the cleaning robot chassis through a cantilever, and uses a tension spring between the cantilever and the robot chassis to deflect the driving wheel to a position away from the robot chassis. When cleaning, the self-moving robot deflects the wheel to another position by overcoming the spring force of the tension spring through gravity. When the self-moving robot encounters a step or obstacle, the chassis is lifted up, and the driving wheel is deflected to a position away from the robot chassis under the action of the tension spring. In this process, the tension spring will release a certain spring force, so that the driving force that the driving wheel can provide when the self-moving robot crosses the obstacle is minimized, thereby reducing the obstacle crossing ability of the self-moving robot. In particular, when the spring force is used to raise and lower the driving wheel, the force of the driving wheel will cause a large change, which is easy to cause the robot to get stuck or slip when crossing obstacles, and the climbing ability is reduced.

[0031] The present application provides a self-propelled robot, which includes a body, a driving wheel assembly and an obstacle surmounting assembly. The driving wheel assembly is rotatably arranged on the body via a first rotating shaft; the driving wheel assembly includes a driving wheel; when the driving wheel moves from a first position to a second position relative to the body, the obstacle surmounting assembly applies force to the driving wheel assembly, and the amplitude of the positive pressure change between the driving wheel and the traveling surface is less than or equal to a set threshold.

[0032] For details, see Figure 1 , Figure 2 and Figure 3As shown, the body has a base 10; a driving wheel assembly is arranged on the body base 10. The driving wheel assembly includes a shell 100, one end of the shell 100 is rotatably arranged on the base 10 of the self-moving robot through a first rotating shaft 110, and the other end of the shell 100 is also provided with a driving wheel 200, and the driving wheel 200 is used to drive the self-moving robot to walk. The driving wheel 200 can rotate around the first rotating shaft 110. Specifically, when the self-moving robot walks on a plane, the driving wheel assembly is in a first position (high position) relative to the body base 10 due to the gravity of the self-moving robot and the limiting effect of the base 10; and when the self-moving robot body is picked up or the driving wheel 200 does not touch the ground and remains suspended, the driving wheel 200 is affected by its own gravity and rotates downward to a second position (low position) around the first rotating shaft 110 as the center. It should be noted that the second position may vary. For example, the second position that the driving wheel can reach when the robot body is lifted (the driving wheel does not touch the ground) is usually lower than the second position that the driving wheel can reach when the robot is on a carpet or climbing a slope. The height here is based on the distance between the driving wheel and the robot base. The greater the distance from the robot base, the lower the position of the driving wheel.

[0033] In specific implementation, the set threshold in the embodiment of the present application may be specifically a value between 0 and 25%, for example, the set threshold may be selected as 20%, or 16%, etc.

[0034] During the process of the driving wheel moving from the first position to the second position relative to the body, the force applied by the obstacle crossing assembly to the driving wheel assembly changes, causing the positive pressure between the driving wheel and the traveling surface to also change. For example, the positive pressure increases first and then decreases, or remains basically unchanged, etc. The determination of the "positive pressure change amplitude" mentioned in the embodiments of the present application is explained through the following specific examples. Assume that during the process of the driving wheel moving from the first position to the second position, the positive pressure is as shown in Table 1:

[0035] Table 1. Positive pressure change table

[0036]

[0037] Based on the above positive pressure data, it can be calculated that when the driving wheel moves from the first position (corresponding to stroke 0) to the second position (corresponding to stroke 30), the maximum positive pressure change is 10.2-8.6=1.6; accordingly, the positive pressure change amplitude is: 1.6 / 10.2=15.7%.

[0038] In a specific implementation, a suitable structural design can be selected to realize the process of the driving wheel moving from the first position to the second position, and the positive pressure change amplitude between the driving wheel and the traveling surface is less than or equal to the set threshold. This positive pressure change amplitude is controlled within a certain range, which helps to increase the friction between the driving wheel and the traveling surface, thereby enhancing the obstacle crossing ability of the self-propelled robot. The subsequent content of this article will explain the specific structural design adopted.

[0039] The product of the applied force and the lever arm is the torque. Therefore, the technical solution provided in the embodiment of the present application can also be specifically as follows: the self-propelled robot is also provided with an obstacle crossing component, and the obstacle crossing component is configured to provide a torque that increases or remains essentially unchanged for the driving wheel component when the driving wheel 200 switches from the first position to the second position, that is, after the driving wheel component extends downward, the torque provided by the obstacle crossing component to the driving wheel component becomes larger or remains essentially unchanged. It should be noted that the term "essentially unchanged" is used here instead of "unchanged" because even if the technicians in this field design the product so that the torque provided remains unchanged during design, due to the gap between theory and practice, errors are unavoidable during the production and assembly of the product, and the product will wear out during use. The actual product cannot accurately guarantee that when the driving wheel 200 switches from the first position to the second position, the torque of the driving wheel component provided by the obstacle crossing component remains unchanged. In particular, the meaning of "substantially unchanged" is that the torque provided by the obstacle overcoming component when the driving wheel 200 is in the second position is less than or equal to 10% of the torque provided by the obstacle overcoming component when the driving wheel 200 is in the first position. Therefore, the above "substantially unchanged" can also be expressed as: the obstacle overcoming component provides the driving wheel component with a torque that is stable within a set error range.

[0040] It should be added that when the driving wheel 200 switches from the first position to the second position, the obstacle crossing component provides a substantially constant torque to the driving wheel component, which can be achieved in a variety of ways, such as during the process of the driving wheel 200 switching from the first position to the second position, the torque provided by the obstacle crossing component remains substantially constant; or the torque provided by the obstacle crossing component first decreases and then increases; or the torque provided by the obstacle crossing component first increases and then decreases; or the magnitude of the torque provided by the obstacle crossing component fluctuates up and down. Similarly, when the driving wheel 200 switches from the first position to the second position, the obstacle crossing component provides a torque that increases for the driving wheel component, which can be achieved in a variety of ways, such as during the process of the driving wheel 200 switching from the first position to the second position, the torque provided by the obstacle crossing component continues to increase; or the torque provided by the obstacle crossing component first decreases and then increases; or the torque provided by the obstacle crossing component first increases and then decreases; or the magnitude of the torque provided by the obstacle crossing component fluctuates up and down. In other words, there is at least a partial movement stage in the process of switching the driving wheel 200 from the first position to the second position, during which the obstacle crossing assembly provides the driving wheel assembly with an increased or substantially unchanged torque, thereby ensuring that when the driving wheel 200 switches from the first position to the second position, an increased or substantially unchanged torque is provided to the driving wheel assembly.

[0041] Those skilled in the art can select a suitable method according to actual needs to realize that the obstacle overcoming component provides the driving wheel component with an increased or substantially unchanged torque. Further, when the driving wheel 200 switches from the first position to the second position, the present application does not limit the torque provided by the obstacle overcoming component to the driving wheel component to increase or remain substantially unchanged, even if the torque provided by the obstacle overcoming component when the driving wheel 200 is in the second position is less than the torque provided by the obstacle overcoming component when the driving wheel 200 is in the first position, as long as there is at least a partial movement stage during the process of switching the driving wheel 200 from the first position to the second position, the obstacle overcoming component can provide the driving wheel component with an increased or substantially unchanged torque.

[0042] In order to achieve the purpose of ensuring that the amplitude of the positive pressure change between the driving wheel and the traveling surface provided in the embodiment of the present application is less than or equal to the set threshold, the obstacle crossing assembly includes a force-bearing portion provided on the housing 100 and a force-applying portion provided on the base 10. When the self-propelled robot is stationary on a flat ground or walking normally on a plane, the driving wheel assembly is in the first position due to the gravity of the self-propelled robot and the limiting effect of the base 10. At this time, the direction of the force applied by the force-applying portion to the force-bearing portion passes through the first rotation axis 110, that is, the torque generated by the force-applying portion is zero. Although the force-applying part applies a force to the force-receiving part, the force is much smaller than the gravity of the self-moving robot body, so the driving wheel 200 is in the first position; when the self-moving robot body is lifted up or the driving wheel 200 walks to the pit, the driving wheel 200 is subjected to its own gravity and rotates and extends around the first rotation axis 110, so that the relative position of the force-receiving part and the force-applying part changes, and the direction of the force applied by the force-applying part to the force-receiving part deviates downward, generating an effective torque, so that the driving wheel assembly is subjected to the effective torque of the force applied by the force-applying part in addition to its own gravity, which enhances the friction between the driving wheel 200 and the ground, which is conducive to its crossing obstacles. The magnitude and torque of the force applied by the force-applying part to the force-receiving part can be adjusted by changing the shapes of the force-applying part and the force-receiving part.

[0043] It should be supplemented that the relative position of the force-applying part to the force-receiving part can also be changed, so that when the self-moving robot is stationary on flat ground or walking normally on a plane, the direction of the force applied by the force-applying part on the force-receiving part does not pass through the first rotation axis 110, that is, at this time the force-applying part has applied an effective torque of downward force to the force-receiving part, but due to the gravity of the self-moving robot, the driving wheel 200 is still in the first position. When the body of the self-moving robot is lifted up or the driving wheel 200 walks to a pit, the driving wheel 200 is affected by its own gravity and the force applied by the force-applying part, and rotates around the first rotation axis 110 and extends downward.

[0044] The technical solutions of the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present application. In addition, it should be noted that the descriptions of "first", "second", etc. in this article are used to distinguish different structures, components, etc., do not represent the order of precedence, and do not limit the "first" and "second" to different types.

[0045] Figure 1 This is a schematic diagram of the structure of a driving wheel assembly according to Embodiment 1 of the present application; Figure 2This is a schematic diagram of the structure of a driving wheel assembly in a first driving wheel position according to an embodiment of the present application; Figure 3 Schematic diagram of the structure of the driving wheel assembly in the second position of the driving wheel in the first embodiment of the present application. Figures 1 to 3 As shown, in this embodiment, the force-applying part includes a pressure plate 320 and a power member, the pressure plate 320 is rotatably arranged on the base 10 through the second rotating shaft 300, the force-bearing part is located between the second rotating shaft 300 and the first rotating shaft 110, and the pressure plate 320 is pressed against the force-bearing part under the action of the power member to apply force to the driving wheel assembly. In order to reduce the friction between the force-bearing part and the force-applying part, the force-bearing part can adopt a first roller 330 or a cylinder, etc. The power member can be a torsion spring 310 sleeved on the second rotating shaft 300, and one end of the torsion spring 310 is pressed against the pressure plate. The side of the pressure plate 320 pressing against the force-bearing part includes an arc-shaped pressure section, and its shape can be adjusted according to the initial torsion of the torsion spring 310 and the relative positions of the first rotating shaft 110, the second rotating shaft 300 and the force-bearing part, so as to achieve that when the driving wheel 200 switches from the first position to the second position, the obstacle surmounting assembly provides a larger torque for the driving wheel assembly. The pressure plate 320 contacts the first roller 330 under the torsion force provided by the torsion spring 310, and applies force to the driving wheel assembly through the first roller 330. In this embodiment, as the walking environment of the self-propelled robot changes, the relative position between the force-applying part and the force-receiving part will also change, and under the force of the torsion spring 310, the force-applying part and the force-receiving part always maintain contact.

[0046] From the perspective of the force, the working principle of the self-propelled robot provided in the first embodiment is as follows: when the self-propelled robot is working normally (i.e., working on a flat base), the driving wheel assembly rotates around the first rotation axis 110 to the maximum limit angle (such as the attached Figure 2 As shown). At this time, the compression angle of the torsion spring 310 is the largest, that is, the stored torque is the largest, but the normal direction of the contact point between the pressure plate 320 and the first roller 330 and the angle between the first roller 330 and the center line of the first rotating shaft 110 are 0 degrees, so at this time the pressure plate 320 only generates pressure on the drive wheel assembly through the axis of the first rotating shaft 110. When the self-moving robot encounters steps or obstacles, the base 10 of the body is lifted up, and the drive wheel assembly generates a certain torque on the first rotating shaft 110 through the action of its own gravity. At this time, the drive wheel assembly rotates counterclockwise around the first rotating shaft 110. When the drive wheel assembly rotates, the first roller 330 rolls along the surface of the pressure plate 320, and the angle between the normal direction of the contact point between the pressure plate 320 and the first roller 330 and the center line of the first roller 330 and the first rotating shaft 110 is constantly increasing. When the drive wheel assembly rotates to the minimum limit angle around the first rotating shaft 110 (as shown in the attached Figure 3As shown in FIG. 1 , the normal direction of the contact point between the pressure plate 320 and the first roller 330 and the angle between the center line of the first roller 330 and the first rotating shaft 110 are as follows: Figure 3 At the angle shown (such as 90 degrees), the pressure of the pressure plate 320 on the first roller 330 is completely converted into the normal pressure of the driving wheel 200 on the traveling surface, so that the friction force generated by the driving wheel 200 on the traveling surface is maximized, thereby maximizing the driving force and obstacle surmounting ability of the self-moving robot.

[0047] From the perspective of torque, the working principle of the self-propelled robot provided in the first embodiment is as follows: when the self-propelled robot is stationary on a flat ground or walking normally on a plane, the driving wheel assembly is in the first position due to the gravity of the self-propelled robot and the limiting effect of the base 10. At this time, the torque stored in the torsion spring 310 causes the pressure plate 320 to rotate toward the first roller 330 with the second rotation axis 300 as the center, thereby applying a force to the first roller 330. In this embodiment, Figure 2 As shown, the direction of the above-mentioned force passes through the first rotating shaft 110, and the torque is zero, that is, at this time, the above-mentioned force does not provide effective power for the driving wheel assembly to rotate and extend. When the self-moving robot body is lifted up (for example, when climbing a slope, the front section of the body is lifted up, or when walking on a carpet, the body is lifted up by the carpet hair) or the driving wheel 200 walks to a pit, the driving wheel 200 is subject to its own gravity, driving the driving wheel assembly to rotate and extend around the first rotating shaft 110 as the center, and the direction of the force applied by the pressing plate 320 to the first roller 330 changes. When the driving wheel assembly rotates, the first roller 330 rolls along the surface of the pressing plate 320, and the angle between the normal direction of the contact point between the pressing plate 320 and the first roller 330 and the center line of the first roller 330 and the first rotating shaft 110 is continuously increasing, generating an increasing torque. In addition to its own gravity, the driving wheel assembly is also subjected to the torsion of the torsion spring 310. In other words, when the self-mobile robot body is lifted up or the driving wheel 200 moves to a pit, when the driving wheel 200 switches from the first position to the second position, the torque of the driving wheel assembly rotating and extending increases, which helps it to overcome obstacles.

[0048] Figure 4 This is a schematic diagram of the structure of the driving wheel assembly in the first position of the driving wheel in the second embodiment of the present application; Figure 5 This is a schematic diagram of the structure of the driving wheel assembly in the second position of the driving wheel in the second embodiment of the present application; Figure 6 Schematic diagram of the torque on the drive wheel assembly during the extension of the drive wheel in the second embodiment of the present application. Figures 4 to 6As shown, compared with the first embodiment, the relative positions of the force-applying part and the force-receiving part of this embodiment are changed, so that when the driving wheel 200 is in the first position, there is an angle a between the line connecting the first roller 330 and the first rotating shaft 110 and the direction in which the pressure plate 320 applies the force to the first roller 330, and the preferred range of the angle a is 0°<a≤90°. In this embodiment, a is 30°, and the torsion angle of the torsion spring 310 is 90°. When the driving wheel 200 is in the second position, the angle a between the line connecting the first roller 330 and the first rotating shaft 110 and the direction in which the pressure plate 320 applies force to the first roller 330 is 90°, and the torsion angle of the torsion spring 310 is 45°. When the driving wheel 200 changes from the normal walking state to the obstacle crossing state, the torsion force of the pressure plate torsion spring 310 is reduced by half, but the force arm from the action point of the pressure plate 320 to the second rotating shaft is doubled, so the obstacle crossing assembly can keep the torque of the driving wheel 200 unchanged or substantially unchanged in the second position and the first position. Figure 6 , Figure 6 The vertical coordinate is the moment M applied by the force-applying part to the driving wheel assembly with the first rotating axis 110 as the rotating axis, and the horizontal coordinate is the distance L of the driving wheel assembly rotating out. Figure 6 It can be seen that during the process of the driving wheel assembly rotating and extending, the torque applied by the force-applying part to the driving wheel assembly remains unchanged and is always M1. In other words, when the self-moving robot body is lifted up (for example, when climbing a slope, the front section of the body is lifted up, or when walking on a carpet, the body is lifted up by the carpet hair) or the driving wheel 200 walks to a pit, the driving wheel 200 switches from the first position to the second position, and the torque of the driving wheel assembly rotating and extending remains unchanged, which is conducive to its crossing obstacles.

[0049] It should be noted that the present application does not limit the above-mentioned angle a and the torsion angle of the torsion spring 310, and those skilled in the art can design it according to actual needs.

[0050] Figure 7 This is a schematic diagram of the structure of a driving wheel assembly according to Embodiment 3 of the present application; Figure 8 This is a schematic diagram of the structure of the driving wheel assembly in the first position of the driving wheel in the third embodiment of the present application; Fig. 9 This is a schematic diagram of the structure of the drive wheel assembly in the second position of the drive wheel in the third embodiment of the present application. Figures 7 to 9As shown, in this embodiment, different from the above-mentioned embodiment, the pressure plate includes a force-applying end 410 that abuts against the force-bearing part and a power end 420 that generates power. The second rotating shaft 300 is arranged between the force-applying end and the power end, and the power member includes a first magnet 430 and a second magnet 440, the first magnet 430 is arranged on the power end, the second magnet 440 is arranged on the base, the second magnet 440 is located below the first magnet 430, and there is a repulsive force between the second magnet and the first magnet. Similarly, the force-bearing part is the first roller 330 fixed between the force-applying part and the first rotating shaft 110. Furthermore, a third magnet 450 can also be provided on the base 10, the third magnet is located above the first magnet 430, and there is an attractive force between the third magnet and the first magnet. That is, the opposing surfaces of the third magnet 450 and the first magnet 430 are not of the same pole (such as the N pole of the third magnet 450 faces the S pole of the first magnet 430), and the opposing surfaces of the second magnet 440 and the first magnet 430 are of the same pole (such as the N pole of the second magnet 440 faces the N pole of the first magnet 430). Through the magnetic force between the first magnet 430, the second magnet 440 and the third magnet 450, the power end 420 is subjected to an upward rotational force under the action of the magnetic force, and due to the lever action, the force-applying end 410 is subjected to a downward rotational force, thereby applying a rotational extension force to the driving wheel assembly through the first roller 330.

[0051] From the perspective of the force, the working principle of the self-propelled robot provided in the above-mentioned embodiment 3 is as follows: when the self-propelled robot is working normally (working on a flat ground), the driving wheel assembly rotates around the first rotation axis 110 to the maximum limit angle (such as the attached Figure 2 As shown), at this time, the repulsive force of magnet 3 on magnet 2 is the largest, and the attractive force of the first magnet 430 on the third magnet 450 is the smallest. When the self-propelled robot encounters steps or obstacles, the body base 10 of the self-propelled robot is lifted up, and the repulsive force of the second magnet 440 on the first magnet 430 causes the force-applying end 410 of the pressure plate to rotate counterclockwise around the second rotation axis 300. During the rotation of the force-applying end 410 of the pressure plate, the repulsive force of the second magnet 440 on the first magnet 430 gradually decreases, while the attractive force of the third magnet 450 on the first magnet 430 gradually increases. When the driving wheel assembly rotates around the first rotation axis 110 to the minimum limit angle (as shown in the attached figure), the repulsive force of the second magnet 440 on the first magnet 430 gradually decreases, while the attractive force of the third magnet 450 on the first magnet 430 gradually increases. Figure 3 As shown in FIG. 1 , the repulsive force of the second magnet 440 on the first magnet 430 is the smallest, while the attractive force of the third magnet 450 on the first magnet 430 is the largest. This ensures that the forces exerted by the third magnet 450 and the second magnet 440 on the first magnet 430 are equal in magnitude during the floating process of the driving wheel 200, that is, the pressure of the pressure plate on the driving wheel assembly is equal, so that the driving force of the self-propelled robot remains constant when crossing obstacles.

[0052] From the perspective of torque, the working principle of the self-moving robot provided in the above-mentioned embodiment three is as follows: when the self-moving robot is stationary on flat ground or walking normally on a plane, the driving wheel assembly is in the first position due to the gravity of the self-moving robot and the limiting effect of the base 10. At this time, although the first magnet 430 is subject to the magnetic force of the second magnet 440 and the third magnet 450, the force applied by the force-applying end 410 to the first roller 330 passes through the first rotating shaft 110, and the torque is zero, that is, the force-applying part does not provide an effective force for the driving wheel assembly to rotate and extend. When the self-moving robot body is lifted up (for example, when climbing a slope, the front section of the body is lifted up, or when walking on a carpet, the body is lifted up by the carpet hair) or the driving wheel 200 walks to a pit, the driving wheel 200 is subjected to its own gravity, driving the driving wheel assembly to rotate and extend around the first rotating shaft 110, and the direction of the force applied by the force-applying end 410 to the first roller 330 changes. When the driving wheel assembly rotates, the first roller 330 rolls along the surface of the force-applying end 410, and the normal direction of the contact point between the force-applying end 410 and the first roller 330 and the angle between the first roller 330 and the center line of the first rotating shaft 110 are constantly increasing, generating an increasing torque. In addition to being subjected to its own gravity, the driving wheel assembly is also subjected to magnetic force. In other words, when the self-moving robot body is lifted up or the driving wheel 200 walks to a pit, the driving wheel 200 switches from the first position to the second position, and the torque of the driving wheel assembly rotating and extending increases, which is conducive to its crossing over obstacles.

[0053] Fig.10 This is a schematic diagram of the structure of the driving wheel assembly in the fourth embodiment of the present application. The force-applying portion includes an elastic body; along the deformation direction, one end of the elastic body is fixed to the body, and the other end is provided with a roller assembly; the force-bearing portion has a curved surface structure; the roller assembly abuts against the curved surface structure, thereby applying force to the driving wheel assembly. The elastic body may be a spring or a soft rubber material with a deformation amount, etc., and this embodiment of the present application does not specifically limit this. Specifically, as Fig.10 As shown, in this embodiment, the force-applying part includes a spring 500 arranged vertically and a roller assembly 510 at the bottom of the spring 500. The upper end of the spring 500 is fixed on the base 10. The roller assembly 510 includes a roller bracket and a second roller. The upper end of the roller bracket is fixed to the bottom of the spring 500, and the lower end is rotatably arranged on the roller bracket through the second roller shaft. The force-bearing part includes a curved surface structure 520 fixed on the housing 100 and abutting against the second roller. The roller assembly 510 applies a force to the driving wheel assembly through the curved surface structure 520 under the action of the elastic force stored in the spring 500.

[0054] Specifically, when the self-propelled robot is stationary on a flat ground or walking normally on a plane, the driving wheel assembly is in the first position due to the gravity of the self-propelled robot and the limiting effect of the base 10. At this time, the roller assembly 510 applies a force to the driving wheel assembly through the curved surface structure 520 under the action of the elastic force stored in the spring 500. In this embodiment, the direction of the above-mentioned force passes through the first rotating shaft 110, and the torque is zero, that is, at this time, the above-mentioned force does not provide effective power for the driving wheel 200 assembly to rotate and extend. When the self-moving robot body is lifted up (for example, when climbing a slope, the front section of the body is lifted up, or when walking on a carpet, the body is lifted up by the carpet hair) or the driving wheel 200 walks to a pit, the driving wheel 200 is subjected to its own gravity, driving the driving wheel assembly to rotate and extend around the first rotating shaft 110, and the direction of the force applied by the roller assembly 510 to the curved structure 520 changes. When the driving wheel assembly rotates, the second roller rolls along the surface of the curved structure 520, and the normal direction of the contact point between the second roller and the curved structure 520 and the angle between the second roller and the center line of the first rotating shaft 110 are constantly increasing, generating an increasing torque. In addition to its own gravity, the driving wheel assembly is also subjected to the elastic force of the spring 500. In other words, when the self-moving robot body is lifted up or the driving wheel 200 walks to a pit, the driving wheel 200 switches from the first position to the second position, and the torque of the driving wheel assembly rotating and extending increases, which is conducive to its crossing over obstacles.

[0055] The technical solution provided in the above embodiment can realize the control of the continuous force applied to the driving wheel assembly by selecting the spring and changing the curved surface shape of the curved surface structure, so that the amplitude of the positive pressure change between the driving wheel and the traveling surface is controlled within a smaller range, and the friction between the driving wheel and the traveling surface is also relatively stable, which helps to improve the obstacle surmounting ability of the self-propelled robot.

[0056] The implementation structure of each obstacle-crossing component provided in the above-mentioned embodiments makes the force applied to the driving wheel change less. Through experiments, it is found that in the embodiments provided in the embodiments of the present application, the pressure range of the driving wheel on the travel surface is 8.6-10.2, with a variation of about 20%, and the obstacle-crossing ability is strong; while in the prior art, the pressure range of the driving wheel on the ground is 6.1-10.5, with a variation of about 40%, and the obstacle-crossing ability is weak. Fig.11 The following table 2 is a comparison table of the positive pressure generated on the driving wheel in the prior art and the technical solution provided by the embodiment of the present application.

[0057] Table 2 Comparison of positive pressure generated by driving wheels

[0058]

[0059] The pressure range of the driving wheel on the traveling surface of the technical solution provided in this application is 8.6-10.2N, with a variation range of about 20%. The driving wheel is not easy to get stuck, and the pressure of the driving wheel on the ground is relatively large. The greater the friction provided, the stronger the obstacle crossing ability.

[0060] Fig.12 FIG. 1 is a flow chart of a walking method of a self-moving robot provided in an embodiment of the present application. Fig.12 As shown, including:

[0061] S01. When encountering an obstacle, the driving wheel of the driving wheel assembly moves from a first position to a second position relative to the machine body.

[0062] S02: When the driving wheel moves from the first position to the second position, the obstacle crossing assembly applies force to the driving wheel assembly, and the amplitude of the positive pressure change between the driving wheel and the traveling surface is less than or equal to a set threshold.

[0063] It should be noted here that the specific implementation of the structural features involved in this embodiment and the connection relationship between the various structural features can refer to the corresponding contents in the above embodiments, which will not be repeated here.

[0064] The above-mentioned threshold value is set to be 0 to 25%.

[0065] The above S02 may also be specifically: the obstacle surmounting component provides the driving wheel component with an increasing torque; or the obstacle surmounting component provides the driving wheel component with a torque that is stable within a set error range.

[0066] In specific implementation, the obstacle crossing component provides the driving wheel component with a larger torque or a torque that is stable within a set error range, which may be the entire movement stage of the driving wheel moving from the first position to the second position or a partial movement stage.

[0067] That is, there is at least a partial movement stage during the movement of the driving wheel from the first position to the second position, and the obstacle crossing component provides the driving wheel component with an increased torque or a torque that is stable within a set error range.

[0068] In the embodiment provided in the embodiment of the present application, when encountering an obstacle, during the process of the driving wheel moving from a first position to a second position, the obstacle crossing component applies a continuous force to the driving wheel so that the amplitude of the positive pressure change between the driving wheel and the traveling surface is less than or equal to a set threshold, thereby increasing the friction between the driving wheel and the traveling surface and enhancing the obstacle crossing capability of the self-propelled robot.

[0069] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A self-propelled robot, characterized in that: include: Airframe, driving wheel assembly and obstacle crossing assembly; The driving wheel assembly is rotatably arranged on the machine body via a first rotating shaft; The driving wheel assembly comprises a driving wheel; The obstacle crossing assembly includes a force applying portion, and the driving wheel assembly is provided with a force receiving portion; The force-applying part is arranged on the machine body; the force-receiving part is located between the force-applying part and the first rotating shaft; the force-applying part applies force to the force-receiving part, so that the driving wheel assembly moves relative to the machine body.

2. The self-moving robot according to claim 1, characterized in that: The force applying part includes a pressure plate and a power member; The pressing plate is rotatably arranged on the machine body via a second rotating shaft; The power member drives the pressing plate to rotate; The force receiving portion is located between the first rotation axis and the second rotation axis.

3. The self-moving robot according to claim 2, characterized in that: The side of the pressure plate abutting against the force-bearing part comprises an arc-shaped pressure section.

4. The self-moving robot according to claim 2, characterized in that: When the driving wheel is in the first position, the direction line of the force applied by the pressure plate to the force-bearing part passes through the first rotation axis.

5. The self-moving robot according to claim 2, characterized in that: When the driving wheel is in the first position, an angle a is formed between a line connecting the force-bearing portion and the first rotating axis and a direction line of a force applied by the pressure plate to the force-bearing portion.

6. The self-moving robot according to claim 2, characterized in that: The power member is a torsion spring sleeved on the second rotating shaft, and one end of the torsion spring abuts against the pressure plate.

7. The self-moving robot according to claim 2, characterized in that: The pressure plate includes a force-applying end that abuts against the force-bearing part and a power end that generates power; The second rotating shaft is arranged between the force applying end and the power end; The power member comprises a first magnet and a second magnet, the first magnet is arranged on the power end, and the second magnet is arranged on the body; The second magnet is located below the first magnet, and there is a repulsive force between the second magnet and the first magnet.

8. The self-moving robot according to claim 7, characterized in that: The power component further includes a third magnet disposed on the body, the third magnet is located above the first magnet, and there is an attraction force between the third magnet and the first magnet.

9. The self-moving robot according to claim 1, characterized in that: The force applying portion includes an elastic body; Along the deformation direction, one end of the elastic body is fixed to the body, and the other end is provided with a roller assembly; The force-bearing portion has a curved surface structure; The roller assembly abuts against the curved surface structure, thereby exerting force on the driving wheel assembly.

10. The self-moving robot according to claim 9, characterized in that: The roller assembly comprises a roller bracket and a second roller; The upper end of the roller bracket is arranged on the elastic body; The second roller is rotatably arranged at the lower end of the roller bracket via a roller shaft.

11. A self-propelled robot, characterized in that: include: body, driving wheel assembly and obstacle crossing assembly; wherein, The driving wheel assembly is rotatably arranged on the machine body via a first rotating shaft; The driving wheel assembly comprises a driving wheel; The obstacle crossing assembly includes a force applying portion and a force receiving portion arranged on the driving wheel assembly; The force applying part includes a power member and a pressure plate rotatably arranged on the machine body via a second rotating shaft; The side of the pressure plate abutting against the force-bearing part comprises an arc-shaped pressure section; When the driving wheel moves from the first position to the second position relative to the machine body, the force-bearing portion abuts against different positions of the pressure section, so that the obstacle-crossing assembly provides a larger torque for the driving wheel assembly.

12. A self-propelled robot, characterized in that: include: A machine body, a driving wheel assembly and an obstacle-crossing assembly; the driving wheel assembly is rotatably arranged on the machine body via a first rotating shaft; The obstacle crossing assembly drives the driving wheel assembly to rotate so that the driving wheel moves from a first position toward a second position relative to the machine body.

13. A walking method for a self-propelled robot, characterized in that: include: When the self-propelled robot walks on a plane, the driving wheel of the driving wheel assembly is located at a first position relative to the body; the torque generated by the force applied by the force-applying part of the obstacle-crossing assembly to the force-receiving part of the driving wheel assembly is a first set value; When encountering an obstacle, the force-applying part applies force to the force-receiving part, so that the driving wheel moves from the first position to the second position relative to the body; during the process of moving toward the second position, the torque generated by the force-applying part exerting force on the force-receiving part increases.

14. The method according to claim 13, characterized in that The first set value is zero.

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