Self-moving robot and walking method thereof

Abstract

The embodiment of the present application provides a kind of self-moving robot and its walking method, the self-moving robot includes body, drive wheel component and barrier crossing component;The drive wheel component is rotatably arranged on the body by first rotating shaft;The drive wheel component includes drive wheel;The barrier crossing component includes force application part, and the drive wheel component is provided with force receiving part;The force application part is arranged on the body;The force receiving part is located between the force application part and the first rotating shaft;The force application part exerts force on the force receiving part, so that the drive wheel component moves relative to the body.In the technical scheme provided by the present application, the force receiving part is located between the force application part and the first rotating shaft, and the efficiency of the force application part is high, which helps to improve the barrier crossing ability of the self-moving robot.

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] This application relates to the field of electronic equipment technology, and in particular to a self-moving robot and its walking method. Background Technology

[0003] With the continuous development of science and technology, home appliances are becoming increasingly intelligent. Smart home appliances bring great convenience to users' work, life, and study; self-moving robots are one such example. Self-moving robots can automatically clean floors in a room using a certain level of artificial intelligence.

[0004] Currently, some self-propelled robots have drive wheels that can float and adjust according to changes in ground conditions, thereby improving the robot's obstacle-crossing ability. However, existing floating obstacle-crossing structures can only provide relatively small driving forces to the drive wheels, limiting the robot's ability to overcome only small obstacles. Summary of the Invention

[0005] In view of the above problems, this application is made in order to solve the above problems or at least partially solve the above problems. It is a self-moving robot and a walking method thereof.

[0006] Therefore, in one embodiment of this application, a self-moving robot is provided. The self-moving robot includes: a body, a drive wheel assembly, and an obstacle-crossing assembly; the drive wheel assembly is rotatably mounted on the body via a first rotation axis; the drive wheel assembly includes a drive wheel; during the process of the drive wheel moving relative to the body from a first position to a second position, the obstacle-crossing assembly applies force to the drive wheel assembly, and the change in normal pressure between the drive wheel and the traveling surface is less than or equal to a set threshold.

[0007] In another embodiment of this application, a self-moving robot is provided. The self-moving robot includes: a body, a drive wheel assembly, and an obstacle-crossing assembly; wherein the drive wheel assembly is rotatably mounted on the body via a first rotation axis; the drive wheel assembly includes drive wheels; the obstacle-crossing assembly includes a force-applying part and a force-receiving part mounted on the drive wheel assembly; the force-applying part includes a power component and a pressure plate rotatably mounted on the body via a second rotation axis; the force-receiving part is located between the first rotation axis and the second rotation axis; during the process of the drive wheel moving relative to the body from a first position to a second position, the pressure plate abuts against the force-receiving part under the action of the power component to apply force to the drive wheel assembly.

[0008] In another embodiment of this application, a self-moving robot is also provided. The self-moving robot includes: a body, a drive wheel assembly, and an obstacle-crossing assembly; wherein the drive wheel assembly is rotatably mounted on the body via a first rotation axis; the drive wheel assembly includes a drive wheel; the obstacle-crossing assembly includes a force-applying part and a force-receiving part disposed on the drive wheel assembly; the force-applying part 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-receiving part has a curved surface structure; during the process of the drive wheel moving from a first position to a second position, the roller assembly abuts against the curved surface structure under the action of the elastic body to apply force to the drive wheel assembly.

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

[0010] The method includes:

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

[0012] During the process of the drive wheel moving from the first position to the second position, the obstacle-crossing component applies force to the drive wheel assembly, and the change in normal pressure between the drive wheel and the travel surface is less than or equal to a set threshold.

[0013] In one embodiment of the self-moving robot provided in this application, when the self-moving robot encounters an obstacle and is lifted up or walks to a pit, the drive wheel assembly is subjected to the force applied by the obstacle-crossing assembly in addition to its own weight. Under the combined action of these forces, the change in normal pressure between the drive wheel and the traveling surface is less than or equal to a set threshold, which helps to increase the friction between the drive wheel and the traveling surface and improve the obstacle-crossing ability of the self-moving robot.

[0014] In another embodiment of the self-moving robot provided in this application, a pressure plate rotatably mounted on the body via a second rotating axis is used. Under the action of a power component, the pressure plate interacts with the force-bearing part of the drive wheel assembly, causing the drive wheel assembly to be 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 drive wheel assembly, so that the positive pressure variation between the drive wheel and the traveling surface is controlled within a small range, and the friction between the drive wheel and the traveling surface is also relatively stable, which helps to improve the obstacle-crossing ability of the self-moving robot.

[0015] In another embodiment of the self-moving robot provided in this application, an elastic body disposed on the body applies a continuous force to the drive wheel assembly through a curved structure under the action of its own elastic force. By selecting the spring and / or changing the curved shape of the curved structure, the continuous force applied to the drive wheel assembly can be easily controlled, so that the positive pressure change between the drive wheel and the traveling surface is controlled within a small range, and the friction between the drive wheel and the traveling surface is also relatively stable, which helps to improve the obstacle-crossing ability of the self-moving robot.

[0016] In an embodiment of a self-moving robot's walking method provided in this application, when an obstacle is encountered, during the process of the drive wheel moving from a first position to a second position, the obstacle-crossing component continuously applies force to the drive wheel assembly. The change in normal pressure between the drive wheel and the traveling surface is less than or equal to a set threshold, thereby increasing the friction between the drive wheel and the traveling surface and enhancing the obstacle-crossing ability of the self-moving robot. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the drive wheel assembly according to Embodiment 1 of this application;

[0019] Figure 2 This is a schematic diagram of the drive wheel assembly at the first position of the drive wheel in Embodiment 1 of this application;

[0020] Figure 3 This is a schematic diagram of the drive wheel assembly at the second position of the drive wheel in Embodiment 1 of this application;

[0021] Figure 4 This is a schematic diagram of the drive wheel assembly at the first position of the drive wheel in Embodiment 2 of this application;

[0022] Figure 5 This is a schematic diagram of the drive wheel assembly at the second position of the drive wheel in Embodiment 2 of this application;

[0023] Figure 6 This is a schematic diagram of the torque acting on the drive wheel assembly during the extension of the drive wheel in Embodiment 2 of this application;

[0024] Figure 7 This is a schematic diagram of the drive wheel assembly in Embodiment 3 of this application;

[0025] Figure 8This is a schematic diagram of the drive wheel assembly at the first position of the drive wheel in Embodiment 3 of this application;

[0026] Figure 9 This is a schematic diagram of the drive wheel assembly at the second position of the drive wheel in Embodiment 3 of this application;

[0027] Figure 10 This is a schematic diagram of the drive wheel assembly in Embodiment 4 of this application;

[0028] Figure 11 A graph comparing the variation of the driving wheel pressure on the ground in the prior art with the variation of the driving wheel pressure on the ground in the technical solution provided in the embodiments of this application is shown.

[0029] Figure 12 This is a flowchart illustrating a walking method for a self-moving robot provided in an embodiment of this application. Detailed Implementation

[0030] When a self-propelled robot is working, its drive wheels need to float and adjust according to changes in ground conditions to increase its obstacle-crossing ability. This floating obstacle-crossing mechanism is typically achieved through the action of a tension spring. For example, a cantilever drive wheel mechanism in the prior art mounts the drive wheel to the cleaning robot's chassis via a cantilever. A tension spring between the cantilever and the robot chassis deflects the drive wheel to a position away from the chassis. During cleaning, the self-propelled robot uses gravity to overcome the spring force and deflect the wheel to the other position. However, when this mechanism is used, if the self-propelled robot encounters a step or obstacle, the chassis is raised, and the drive wheel deflects to a position away from the chassis under the action of the tension spring. During this process, the tension spring releases a certain amount of spring force, thus minimizing the driving force provided by the drive wheel when crossing obstacles, thereby reducing the robot's obstacle-crossing ability. In particular, when using spring force to raise and lower the drive wheel, the force on the drive wheel changes significantly, which can easily lead to the robot getting stuck or slipping when crossing obstacles, reducing its climbing ability.

[0031] This application provides a self-moving robot, which includes a body, a drive wheel assembly, and an obstacle-crossing assembly. The drive wheel assembly is rotatably mounted on the body via a first rotation axis; the drive wheel assembly includes drive wheels; during the movement of the drive wheels relative to the body from a first position to a second position, the obstacle-crossing assembly applies force to the drive wheel assembly, and the change in normal pressure between the drive wheels and the travel surface is less than or equal to a set threshold.

[0032] For details, see Figure 1 , Figure 2 and Figure 3As shown, the robot body has a base 10 and a drive wheel assembly mounted on the base 10. The drive wheel assembly includes a housing 100, one end of which is rotatably mounted on the base 10 of the self-moving robot via a first rotation axis 110. The other end of the housing 100 is also provided with a drive wheel 200, which is used to drive the self-moving robot to walk. The drive wheel 200 can rotate around the first rotation axis 110. Specifically, when the self-moving robot walks on a plane, the drive wheel assembly is in a first position (high position) relative to the base 10 due to the weight of the self-moving robot and the limiting effect of the base 10; while when the self-moving robot body is picked up or the drive wheel 200 is suspended in the air without contacting the ground, the drive wheel 200 is subjected to its own weight and rotates downwards around the first rotation axis 110 to a second position (low position). It should be noted that the aforementioned second position may vary. For example, the second position that the drive wheels can reach when the robot is lifted (without the drive wheels touching the ground) is usually lower than the second position that the drive wheels can reach when the self-moving robot is on a carpet or climbing a slope. This height is based on the distance between the drive wheels and the robot's base; the greater the distance from the self-moving robot's base, the lower the position of the drive wheels.

[0033] In specific implementation, the set threshold in the embodiments of this application can be a value from 0 to 25%, such as 20% or 16%, etc.

[0034] During the movement of the drive wheel relative to the body from the first position to the second position, the force exerted by the obstacle-crossing component on the drive wheel assembly changes, causing the normal pressure between the drive wheel and the traveling surface to also change. For example, the normal pressure may first increase and then decrease, or remain essentially constant. The determination of the "normal pressure change range" mentioned in the embodiments of this application will be explained through the following specific examples. Assume that during the movement of the drive wheel from the first position to the second position, the normal pressure is as shown in Table 1 below:

[0035] Table 1. Table of Positive Pressure Changes

[0036]

[0037] Based on the above positive pressure data, the maximum change in positive pressure during the process of the drive wheel moving from the first position (corresponding to stroke 0) to the second position (corresponding to stroke 30) can be calculated to be 10.2-8.6=1.6; correspondingly, the change in positive pressure is: 1.6 / 10.2=15.7%.

[0038] In specific implementation, a suitable structural design can be selected to realize the process of the drive wheel moving from the first position to the second position, wherein the change in normal force between the drive wheel and the traveling surface is less than or equal to a set threshold. Controlling this change in normal force within a certain range helps to increase the friction between the drive wheel and the traveling surface, thereby enhancing the obstacle-crossing ability of the self-moving robot. The specific structural design used will be explained in detail later in this paper.

[0039] The product of the force and the lever arm is the torque. Therefore, the technical solution provided in this application embodiment can also be specifically described as follows: the self-moving robot is further provided with an obstacle-crossing component, which is configured to provide an increased or substantially unchanged torque to the drive wheel assembly when the drive wheel 200 switches from the first position to the second position. That is, after the drive wheel assembly extends downward, the torque provided by the obstacle-crossing component to the drive wheel assembly increases or remains substantially unchanged. It should be noted that "substantially unchanged" is used here instead of "unchanged" because even if those skilled in the art design the product to provide a constant torque, due to the gap between theory and practice, errors are inevitable during product production and assembly, and the product will wear out during use. The actual product cannot accurately guarantee that the torque provided by the obstacle-crossing component to the drive wheel assembly remains unchanged when the drive wheel 200 switches from the first position to the second position. Specifically, "basically unchanged" means that the change in torque provided by the obstacle-crossing assembly when the drive wheel 200 is in the second position is ≤ 10% of the change in torque provided by the obstacle-crossing assembly when the drive wheel 200 is in the first position. Therefore, the above "basically unchanged" can also be expressed as: the obstacle-crossing assembly provides the drive wheel assembly with a torque that is stable within a set error range.

[0040] It should be added that when the drive wheel 200 switches from the first position to the second position, the obstacle-crossing component can provide a basically constant torque to the drive wheel assembly in various ways. For example, the torque provided by the obstacle-crossing component may remain basically constant during the switch from the first position to the second position; or the torque provided by the obstacle-crossing component may first decrease and then increase; or the torque provided by the obstacle-crossing component may first increase and then decrease; or the magnitude of the torque provided by the obstacle-crossing component may fluctuate. Similarly, when the drive wheel 200 switches from the first position to the second position, the obstacle-crossing component can also provide an increasing torque to the drive wheel assembly in various ways. For example, the torque provided by the obstacle-crossing component may continuously increase during the switch from the first position to the second position; or the torque provided by the obstacle-crossing component may first decrease and then increase; or the torque provided by the obstacle-crossing component may first increase and then decrease; or the magnitude of the torque provided by the obstacle-crossing component may fluctuate. In other words, during the process of the drive wheel 200 switching from the first position to the second position, there is at least a partial movement phase. During this phase, the obstacle-crossing component provides the drive wheel assembly with an increased or essentially constant torque, thereby ensuring that the drive wheel 200 provides the drive wheel assembly with an increased or essentially constant torque when switching from the first position to the second position.

[0041] Those skilled in the art can select appropriate methods to achieve an increased or substantially constant torque provided by the obstacle-crossing component to the drive wheel assembly, based on actual needs. Furthermore, when the drive wheel 200 switches from the first position to the second position, this application does not limit the torque provided by the obstacle-crossing component to the drive wheel assembly to increase or remain substantially constant. Even if the torque provided by the obstacle-crossing component in the second position is less than the torque provided by the obstacle-crossing component in the first position, as long as there is at least a partial movement phase during the switching process from the first position to the second position, the obstacle-crossing component can provide an increased or substantially constant torque to the drive wheel assembly.

[0042] To achieve the goal of the normal pressure variation between the drive wheel and the traveling surface being less than or equal to a set threshold, as provided in this embodiment, the obstacle-crossing component includes a force-receiving part disposed on the housing 100 and a force-applying part disposed on the base 10. When the self-moving robot is stationary on a flat surface or walking normally on a plane, the drive wheel assembly is in a first position due to the gravity of the self-moving robot and the limiting effect of the base 10. At this time, the force applied by the force-applying part to the force-receiving part is directed through the first rotation axis 110, that is, the torque generated by the force-applying part is zero. Although the force-applying part exerts a force on the force-receiving part, this force is much smaller than the weight of the self-moving robot itself, so the drive wheel 200 is in the first position. When the self-moving robot is lifted or the drive wheel 200 moves to a depression, the drive wheel 200 is subjected to its own weight and rotates around the first rotation axis 110, causing a change in the relative position of the force-receiving part and the force-applying part. The force exerted by the force-applying part on the force-receiving part deviates downward, generating an effective torque. Thus, in addition to its own weight, the drive wheel assembly is also subjected to the effective torque of the force exerted by the force-applying part. This force increases the friction between the drive wheel 200 and the ground, which is beneficial for it to overcome obstacles. The magnitude and torque of the force exerted by the force-applying part on the force-receiving part can be adjusted by changing the shape of the force-applying part and the force-receiving part.

[0043] It should be added 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 a flat ground or walking normally on a plane, the direction of the force applied by the force-applying part to the force-receiving part does not pass through the first rotation axis 110. That is, at this time, the force-applying part has already applied an effective torque of downward force to the force-receiving part. However, due to the gravity of the self-moving robot, the drive wheel 200 is still in the first position. When the self-moving robot body is lifted up or the drive wheel 200 walks to the pit, the drive wheel 200 is subjected to 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 various embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application. In addition, it should be noted that the descriptions such as "first" and "second" in this document are used to distinguish different structures, components, etc., and do not represent the order of priority, nor do they limit "first" and "second" to different types.

[0045] Figure 1 This is a schematic diagram of the drive wheel assembly according to Embodiment 1 of this application; Figure 2This is a schematic diagram of the drive wheel assembly at the first position of the drive wheel in Embodiment 1 of this application; Figure 3 This is a schematic diagram of the drive wheel assembly at the second position of the drive wheel in Embodiment 1 of this application. Figures 1 to 3 As shown, in this embodiment, the force-applying part includes a pressure plate 320 and a power component. The pressure plate 320 is rotatably mounted on the base 10 via a second rotating shaft 300. The force-receiving part is located between the second rotating shaft 300 and the first rotating shaft 110. Under the action of the power component, the pressure plate 320 abuts against the force-receiving part to apply force to the drive wheel assembly. To reduce friction between the force-receiving part and the force-applying part, the force-receiving part can be a first roller 330 or a cylinder, etc. The power component can be a torsion spring 310 sleeved on the second rotating shaft 300, with one end of the torsion spring 310 abutting against the pressure plate. The side of the pressure plate 320 that abuts against the force-receiving part includes an arc-shaped pressure section. Its shape can be adjusted according to the initial torque of the torsion spring 310 and the relative positions of the first rotating shaft 110, the second rotating shaft 300, and the force-receiving part, thereby enabling the obstacle-crossing component to provide a larger torque to the drive wheel assembly when the drive wheel 200 switches from the first position to the second position. The pressure plate 320 contacts the first roller 330 under the torque provided by the torsion spring 310, and the first roller 330 applies a force to the drive wheel assembly. In this embodiment, as the walking environment of the self-moving robot changes, the relative position between the force-applying part and the force-receiving part also changes, and under the force of the torsion spring 310, the force-applying part and the force-receiving part always remain in contact.

[0046] From the perspective of force, the working principle of the self-moving robot provided in Embodiment 1 above is as follows: When the self-moving robot is working normally (i.e., working on a flat surface), the drive wheel assembly rotates around the first rotation axis 110 to the maximum limit angle under the action of the robot's weight (as shown in the attached figure). Figure 2 (As shown). At this time, the compression angle of the torsion spring 310 is at its maximum, that is, the stored torque is at its maximum. However, the angle between the normal direction of the contact point between the pressure plate 320 and the first roller 330 and the center line between the first roller 330 and the first rotating shaft 110 is 0 degrees. Therefore, 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 a step or obstacle, the base 10 of the robot body is lifted. The drive wheel assembly generates a certain torque on the first rotating shaft 110 through 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. The angle between the normal direction of the contact point between the pressure plate 320 and the first roller 330 and the center line between the first roller 330 and the first rotating shaft 110 is constantly increasing. When the drive wheel assembly rotates around the first rotating shaft 110 to the minimum limit angle (as shown in the attached figure), Figure 3As shown), the angle between the normal direction of the contact point between the pressure plate 320 and the first roller 330 and the center line between the first roller 330 and the first rotating shaft 110 is as follows: Figure 3 At the angle shown (e.g., 90 degrees), the pressure of the pressure plate 320 on the first roller 330 is completely converted into the normal pressure of the drive wheel 200 on the travel surface, which maximizes the friction force generated by the drive wheel 200 on the travel surface, thereby maximizing the driving force and obstacle-crossing ability of the self-moving robot.

[0047] From the perspective of torque, the working principle of the self-moving robot provided in Embodiment 1 is as follows: When the self-moving robot is stationary on a flat surface or walking normally on a plane, the drive wheel assembly, due to the gravity of the self-moving robot and the limiting effect of the base 10, has the drive wheel 200 in the first position. At this time, the torque stored in the torsion spring 310 causes the pressure plate 320 to rotate about the second rotation axis 300 towards the first roller 330, thereby applying a force to the first roller 330. In this embodiment, as... Figure 2 As shown, the direction of the aforementioned force passes through the first rotation axis 110, and the torque is zero, meaning that the aforementioned force does not provide effective power for the rotation and extension of the drive wheel assembly. However, when the self-moving robot body is lifted (for example, when climbing a slope, the front of the body is lifted, or when walking on a carpet, the body is lifted by the carpet fibers) or when the drive wheel 200 walks to a depression, the drive wheel 200 is subjected to its own weight, causing the drive wheel assembly to rotate and extend around the first rotation axis 110. The direction of the force exerted by the pressure plate 320 on the first roller 330 changes. When the drive wheel assembly rotates, the first roller 330 rolls along the surface of the pressure plate 320. The angle between the normal direction of the contact point between the pressure plate 320 and the first roller 330 and the center line between the first roller 330 and the first rotation axis 110 continuously increases, generating an increasing torque. In addition to its own weight, the drive wheel assembly is also subjected to the torque of the torsion spring 310. In other words, when the self-moving robot body is lifted up or the drive wheel 200 moves to the pit, when the drive wheel 200 switches from the first position to the second position, the torque of the drive wheel assembly increases, which helps it to overcome obstacles.

[0048] Figure 4 This is a schematic diagram of the drive wheel assembly at the first position of the drive wheel in Embodiment 2 of this application; Figure 5 This is a schematic diagram of the drive wheel assembly at the second position of the drive wheel in Embodiment 2 of this application; Figure 6 This is a schematic diagram showing the torque acting on the drive wheel assembly during the extension of the drive wheel in Embodiment 2 of this application. Figures 4 to 6As shown, compared with Embodiment 1, the relative positions of the force-applying part and the force-receiving part change in this embodiment. When the drive wheel 200 is in the first position, the line connecting the first roller 330 and the first rotating shaft 110 forms an angle α with the direction in which the pressure plate 320 applies force to the first roller 330. Preferably, the range of angle α is 0° < α ≤ 90°. In this embodiment, α is 30°, and the torsion angle of the torsion spring 310 is 90°. When the drive wheel 200 is in the second position, the angle α between the line connecting the first roller 330 and the first rotating shaft 110 and the direction of the force exerted by the pressure plate 320 on the first roller 330 is 90°, and the torsion angle of the torsion spring 310 is 45°. When the drive wheel 200 changes from its normal walking state to its obstacle-crossing state, the torque of the pressure plate torsion spring 310 is halved, but the lever arm from the point of application of the pressure plate 320 to the second rotating shaft doubles. Therefore, this obstacle-crossing assembly can maintain or substantially maintain the torque experienced by the drive wheel 200 in both the second and first positions. Figure 6 , Figure 6 The vertical axis represents the torque M applied to the drive wheel assembly by the force-applying part with the first rotating axis 110 as the rotation axis, and the horizontal axis represents the distance L that the drive wheel assembly extends outwards during rotation. Figure 6 It can be seen that during the rotation and extension of the drive wheel assembly, the torque applied to the drive wheel assembly by the force-applying part remains constant at M1. In other words, when the self-propelled robot body is lifted (for example, when climbing a slope, the front of the body is lifted, or when walking on a carpet, the body is lifted by the carpet fibers) or when the drive wheel 200 moves to a depression, the drive wheel 200 switches from the first position to the second position, and the torque of the drive wheel assembly rotating and extending remains constant, which is beneficial for it to overcome obstacles.

[0049] It should be noted that this 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 according to actual needs.

[0050] Figure 7 This is a schematic diagram of the drive wheel assembly in Embodiment 3 of this application; Figure 8 This is a schematic diagram of the drive wheel assembly at the first position of the drive wheel in Embodiment 3 of this application; Figure 9 This is a schematic diagram of the drive wheel assembly at the second position of the drive wheel in Embodiment 3 of this application. Figures 7 to 9As shown, in this embodiment, unlike the previous embodiment, the pressure plate includes a force-applying end 410 that abuts against the force-receiving part and a power end 420 that generates power. The second rotating shaft 300 is disposed between the force-applying end and the power end. The power component includes a first magnet 430 and a second magnet 440. The first magnet 430 is disposed on the power end, and the second magnet 440 is disposed 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-receiving part is a 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 the same pole (e.g., the N pole of the third magnet 450 faces the S pole of the first magnet 430), while the opposing surfaces of the second magnet 440 and the first magnet 430 are the same pole (e.g., 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. Due to the lever effect, the force-applying end 410 is subjected to a downward rotational force, thereby applying a rotational extension force to the drive wheel assembly through the first roller 330.

[0051] From the perspective of force, the working principle of the self-moving robot provided in Embodiment 3 above is as follows: When the self-moving robot is working normally (working on a flat ground), the drive wheel assembly rotates around the first rotation axis 110 to the maximum limit angle under the action of the robot's weight (as shown in the attached figure). Figure 2 As shown in the diagram, at this time, the repulsive force of magnet 3 on magnet 2 is at its maximum, and the attractive force of the first magnet 430 on the third magnet 450 is at its minimum. When the self-moving robot encounters a step or obstacle, the robot's base 10 is lifted, and the repulsive force of the second magnet 440 on the first magnet 430 causes the pressure plate's force-applying end 410 to rotate counterclockwise around the second rotation axis 300. During the rotation, 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 drive wheel assembly rotates around the first rotation axis 110 to the minimum limit angle (as shown in the attached diagram), Figure 3 As shown, 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 during the floating process of the drive wheel 200, that is, the pressure of the pressure plate on the drive wheel assembly is equal, thereby keeping the driving force of the self-moving robot constant when crossing obstacles.

[0052] From the perspective of torque, the working principle of the self-moving robot provided in the above embodiment 3 is as follows: When the self-moving robot is stationary on a flat ground or walking normally on a plane, the drive 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 subjected to the magnetic force of the second magnet 440 and the third magnet 450, the torque is zero because the force applied by the force-applying end 410 to the first roller 330 passes through the first rotating shaft 110. That is, the force-applying part does not provide an effective force for the rotation and extension of the drive wheel assembly. When the self-propelled robot body is lifted (e.g., when climbing a slope, the front of the body is lifted, or when walking on a carpet, the body is lifted by the carpet fibers) or when the drive wheel 200 moves to a depression, the drive wheel 200 is subjected to its own weight, causing the drive wheel assembly to rotate and extend around the first rotation axis 110. The direction of the force exerted by the force-applying end 410 on the first roller 330 changes. As the drive wheel assembly rotates, the first roller 330 rolls along the surface of the force-applying end 410. The angle between the normal direction of the contact point between the force-applying end 410 and the first roller 330 and the center line between the first roller 330 and the first rotation axis 110 continuously increases, generating an increasing torque. In addition to its own weight, the drive wheel assembly is also subjected to magnetic force. In other words, when the self-propelled robot body is lifted or the drive wheel 200 moves to a depression, the drive wheel 200 switches from the first position to the second position, and the torque of the extended drive wheel assembly increases, which is beneficial for it to overcome obstacles.

[0053] Figure 10 This is a schematic diagram of the drive wheel assembly according to Embodiment 4 of this application. The force-applying part includes an elastic body; along the deformation direction, one end of the elastic body is fixed to the machine body, and the other end is provided with a roller assembly; the force-receiving part has a curved surface structure; the roller assembly abuts against the curved surface structure, thereby applying force to the drive wheel assembly. The elastic body can be a spring or a soft rubber material with deformation, etc., and this embodiment of the application does not specifically limit this. Specifically, such as... Figure 10 As shown, in this embodiment, the force-applying part includes a vertically arranged spring 500 and a roller assembly 510 at the bottom of the spring 500. The upper end of the spring 500 is fixed to 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 rotatably mounts the second roller on the roller bracket via a second roller shaft. The force-receiving part includes a curved surface structure 520 fixed to the housing 100 and abutting against the second roller. Under the elastic force stored in the spring 500, the roller assembly 510 applies a force to the drive wheel assembly through the curved surface structure 520.

[0054] Specifically, when the self-moving robot is stationary on a flat surface or walking normally on a plane, the drive wheel assembly is in the first position due to the weight of the self-moving robot and the limiting effect of the base 10. At this time, the roller assembly 510 applies a force to the drive wheel assembly through the curved surface structure 520 under the elastic force stored in the spring 500. In this embodiment, the direction of the above-mentioned force is through the first rotation axis 110, and the torque is zero, that is, at this time the above-mentioned force does not provide effective power for the rotation and extension of the drive wheel 200 assembly. When the self-propelled robot body is lifted (e.g., when climbing a slope, the front of the body is lifted, or when walking on a carpet, the body is lifted by the carpet fibers) or when the drive wheel 200 moves to a depression, the drive wheel 200 is subjected to its own weight, causing the drive wheel assembly to rotate and extend around the first rotation axis 110. The direction of the force exerted by the roller assembly 510 on the curved surface structure 520 changes. As the drive wheel assembly rotates, the second roller rolls along the surface of the curved surface structure 520. The angle between the normal direction of the contact point between the second roller and the curved surface structure 520 and the center line between the second roller and the first rotation axis 110 continuously increases, generating an increasing torque. In addition to its own weight, the drive wheel assembly is also subjected to the elastic force of the spring 500. In other words, when the self-propelled robot body is lifted or the drive wheel 200 moves to a depression, the drive wheel 200 switches from the first position to the second position, and the torque of the extended drive wheel assembly increases, which is beneficial for it to overcome obstacles.

[0055] The technical solution provided in the above embodiments can control the continuous force applied to the opposing drive wheel assembly by selecting the spring and changing the surface shape of the curved structure. This controls the positive pressure variation between the drive wheel and the traveling surface to a small range, and the friction between the drive wheel and the traveling surface is also relatively stable, which helps to improve the obstacle-crossing ability of the self-moving robot.

[0056] The implementation structures of the obstacle-crossing components provided in the above embodiments result in minimal variation in the force exerted on the drive wheel. Experiments show that in the embodiments provided in this application, the pressure range of the drive wheel on the travel surface is 8.6-10.2, with a variation of approximately 20%, indicating strong obstacle-crossing capability. In contrast, in the prior art using a tension spring rotary arm lifting mechanism, the pressure range of the drive wheel on the ground is 6.1-10.5, with a variation of approximately 40%, indicating weaker obstacle-crossing capability. Figure 11 The diagram shows a comparison of the pressure changes of the drive wheel on the ground in the prior art and the technical solutions provided in the embodiments of this application. Table 2 below is a comparison table of the positive pressure generated on the drive wheel in the prior art and the technical solutions provided in the embodiments of this application.

[0057] Table 2 Comparison of Normal Force Generated by Drive Wheels

[0058]

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

[0060] Figure 12 A flowchart illustrating a walking method for a self-moving robot according to an embodiment of this application is shown. Figure 12 As shown, it includes:

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

[0062] S02. During the process of the drive wheel moving from the first position to the second position, the obstacle-crossing component applies force to the drive wheel assembly, and the change in normal pressure between the drive wheel and the travel surface is less than or equal to a set threshold.

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

[0064] The above-mentioned threshold is set at 0-25%.

[0065] S02 above can also be specifically defined as: the obstacle-crossing component provides an increased torque to the drive wheel assembly; or the obstacle-crossing component provides a torque to the drive wheel assembly that is stable within a set error range.

[0066] In specific implementation, the obstacle-crossing component provides the drive wheel assembly with an increased torque or a torque that is stabilized within a set error range. This can be the entire movement phase of the drive wheel moving from the first position to the second position, or it can be a partial movement phase.

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

[0068] In the embodiments provided in this application, when an obstacle is encountered, during the process of the drive wheel moving from the first position to the second position, the obstacle-crossing component applies a continuous force to the drive wheel, so that the change in normal pressure between the drive wheel and the traveling surface is less than or equal to a set threshold, thereby increasing the friction between the drive wheel and the traveling surface and enhancing the obstacle-crossing ability of the self-moving robot.

[0069] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A self-moving robot, characterized in that, include: Body, drive wheel assembly and obstacle crossing assembly; The drive wheel assembly is rotatably mounted on the body via a first rotating shaft; The drive wheel assembly includes drive wheels; The obstacle-crossing component includes a force-applying part, and the drive wheel assembly is provided with a force-receiving part; The force-applying part is disposed 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, causing the drive wheel assembly to move relative to the machine body; When the self-moving robot is stationary on a flat surface or walking normally on a plane, the direction of the force applied by the force-applying part to the force-receiving part passes through the first rotation axis.

2. The self-moving robot according to claim 1, characterized in that, The force-applying component includes a pressure plate and a power component; The pressure plate is rotatably mounted on the machine body via a second rotating shaft; The power component drives the pressure plate to rotate; The force-bearing part is located between the first rotating shaft and the second rotating shaft.

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

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

5. The self-moving robot according to claim 2, characterized in that, When the drive wheel is in the first position, the line connecting the force-bearing part and the first rotating shaft forms an angle α with the direction line of the force exerted by the pressure plate on the force-bearing part.

6. The self-moving robot according to claim 2, characterized in that, The power component is a torsion spring sleeved on the second rotating shaft, with one end of the torsion spring abutting 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-generating end; The second rotating shaft is disposed between the force-applying end and the power end; The power component includes a first magnet and a second magnet, with the first magnet disposed on the power end and the second magnet disposed 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 also includes a third magnet disposed on the body, the third magnet being located above the first magnet, and there is an attractive force between the third magnet and the first magnet.

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

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

11. A self-moving robot, characterized in that, include: The main body, drive wheel assembly, and obstacle-crossing assembly; among which, The drive wheel assembly is rotatably mounted on the body via a first rotating shaft; The drive wheel assembly includes drive wheels; The obstacle-crossing component includes a force-applying part and a force-receiving part disposed on the drive wheel assembly; The force-applying part includes a power component and a pressure plate rotatably mounted on the machine body via a second rotating shaft; The side of the pressure plate that abuts against the force-bearing part includes an arc-shaped pressure section; As the drive wheel moves relative to the body from the first position to the second position, the force-bearing part abuts against different positions of the pressure section, thereby enabling the obstacle-crossing component to provide a larger torque to the drive wheel assembly.

12. A walking method for a self-moving robot, characterized in that, The self-moving robot is the self-moving robot according to any one of claims 1 to 11, and the method includes: When the mobile robot walks on a plane, the drive wheel of the drive wheel assembly is in a first position relative to the body; the torque generated by the force applied by the force-applying part on the obstacle-crossing assembly to the force-receiving part on the drive wheel assembly is a first set value; When encountering an obstacle, the force-applying part applies force to the force-receiving part, causing the drive wheel to move relative to the machine body from a first position to a second position; during the process of moving to the second position, the torque generated by the force-applying part on the force-receiving part increases.

13. The method according to claim 12, characterized in that, The first setting value is zero.

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