Chassis structure, cleaning equipment, cleaning system and control method of chassis structure

Abstract

The invention provides a chassis structure, cleaning equipment, a cleaning system and a control method of the chassis structure, and relates to the technical field of cleaning. The universal wheel mechanism is located in the front side area of the chassis body, and the first driving assembly drives the universal wheel assembly to descend or ascend relative to the front side area of the chassis body so that the front side area of the chassis body can ascend and descend relative to the ground. The driving wheel mechanism is located in the edge area of the chassis body in the width direction, and the second driving assembly drives the driving wheel assembly to descend or ascend relative to the edge area of the chassis body so that the edge area of the chassis body can ascend and descend relative to the ground. The first control assembly controls the first driving assembly to drive the universal wheel assembly to move, and the second control assembly controls the second driving assembly to drive the driving wheel assembly to move. The first control assembly and the second control assembly are mutually independent so that lifting movement of the front side area of the chassis body and lifting movement of the edge area of the chassis body can be mutually independent. The chassis structure can solve the problem that the single posture of the chassis is difficult to meet different cleaning environments.

Description

Technical Field

[0001] The present application relates to the field of cleaning technology, and in particular to a chassis structure, a cleaning device, a cleaning system, and a control method for the chassis structure. Background Art

[0002] Cleaning equipment (such as sweeping robots, automatic sweepers, etc.) is a common intelligent cleaning appliance, which is mainly used to clean the ground (including floors, tiles, carpets, etc.). The cleaning equipment can automatically complete the cleaning of the ground to save the user's time for cleaning the ground.

[0003] During the operation of the cleaning equipment, the distance between the chassis and the ground is usually small to ensure effective suction, but the small distance between the chassis and the ground will prevent the cleaning equipment from passing smoothly when encountering obstacles, which will affect the cleaning efficiency. In the related art, the height of the chassis is adjusted by adjusting the movement of the universal wheel or the driving wheel to achieve the obstacle crossing function.

[0004] However, the cleaning equipment in the related art can only stay in the highest state and the lowest state. When used in different cleaning environments, cleaning can only be performed in the lowest state of the chassis, which is difficult to adapt to different application scenarios. In addition, during the obstacle crossing process, obstacles can only be crossed in the highest state of the chassis, which easily leads to energy loss and affects the battery life of the cleaning equipment. Summary of the invention

[0005] The present application provides a chassis structure, a cleaning device, a cleaning system and a control method for the chassis structure, which can solve the problem that the single chassis posture cannot meet the requirements of different cleaning environments.

[0006] In a first aspect, the present application provides a chassis structure, which includes:

[0007] Chassis body;

[0008] A universal wheel mechanism, which is arranged at the front area of ​​the chassis body along the traveling direction of the chassis body, and comprises a first driving assembly and a universal wheel assembly, wherein the first driving assembly is connected to the universal wheel assembly, and the first driving assembly drives the universal wheel assembly to descend or ascend relative to the front area of ​​the chassis body, so that the front area of ​​the chassis body ascends or descends relative to the ground;

[0009] A driving wheel mechanism, the driving wheel mechanism is arranged at an edge area of ​​the chassis body along the width direction, the driving wheel mechanism comprises a second driving assembly and a driving wheel assembly, the second driving assembly is connected to the driving wheel assembly, the second driving assembly drives the driving wheel assembly to descend or ascend relative to the edge area of ​​the chassis body, so that the edge area of ​​the chassis body ascends or descends relative to the ground;

[0010] The control mechanism includes a first control component and a second control component, wherein the first control component is disposed on the universal wheel mechanism, and the first control component is used to control the first drive component to drive the universal wheel component to move, and the second control component is disposed on the drive wheel component, and the second control component is used to control the second drive component to drive the drive wheel component to move;

[0011] The first control component and the second control component are independent of each other, so that the rising or falling movement of the front area of ​​the chassis body and the rising or falling movement of the edge area of ​​the chassis body are independent of each other.

[0012] The chassis structure provided by the present application can make the movements of the universal wheel mechanism and the driving wheel mechanism independent of each other through the mutual independence of the first control component and the second control component, so that the rising or falling movement of the front area of ​​the chassis body and the rising or falling movement of the edge area of ​​the chassis body do not affect each other. Therefore, by controlling the universal wheel mechanism and the driving wheel mechanism in different states through the first control component and the second control component, a chassis body with multiple postures can be formed, thereby meeting different cleaning environments.

[0013] Specifically, the rising or falling movement of the front area of ​​the chassis body and the rising or falling movement of the edge area are independent of each other, which means that when the front area of ​​the chassis body rises relative to the ground, the edge area of ​​the chassis body can rise, remain, or fall relative to the ground. Alternatively, when the front area of ​​the chassis body falls relative to the ground, the edge area of ​​the chassis body can rise, remain, or fall relative to the ground. Moreover, the front area and the edge area of ​​the chassis body can move relative to the ground simultaneously or one after another. Therefore, the chassis body can have a variety of different postures.

[0014] In the obstacle crossing scenario, the posture of the chassis body can be: the front area of ​​the chassis body rises relative to the ground, and the edge area of ​​the chassis body maintains a clean height relative to the ground. When the traveling direction of the chassis body encounters an obstacle, the universal wheel assembly can be controlled by the first control assembly to move so that the front area of ​​the chassis body rises. At this time, the height of the edge area of ​​the chassis body can remain unchanged. In other words, the height of the front area of ​​the chassis body can be higher than the height of the edge area, and the front area of ​​the chassis body can cross the obstacle first.

[0015] After the front area of ​​the chassis body passes over the obstacle, the posture of the chassis body can be: the front area of ​​the chassis body rises relative to the ground, and the edge area of ​​the chassis body also rises relative to the ground. In other words, the height of the front area of ​​the chassis body can remain unchanged. The second control component controls the movement of the driving wheel assembly to make the edge area of ​​the chassis body rise. At this time, the height of the edge area of ​​the chassis body can be higher than the height of the front area, so that the edge area of ​​the chassis body can pass over the obstacle.

[0016] Alternatively, after the front area of ​​the chassis body passes over the obstacle, the posture of the chassis body may also be: the front area of ​​the chassis body maintains a clean height relative to the ground, and the edge area of ​​the chassis body rises relative to the ground. The second control component controls the movement of the driving wheel assembly to make the edge area of ​​the chassis body rise relative to the ground, and the first control component controls the movement of the universal wheel assembly to make the front area of ​​the chassis body return to the clean height. In this state, the edge area of ​​the chassis body can also pass over the obstacle.

[0017] In addition, along the traveling direction of the chassis body, the chassis body has a rear area away from the front area. The front area and the rear area are respectively located on both sides of the driving wheel assembly. During the obstacle surmounting process of the chassis body, if the rear area is stuck by an obstacle, the universal wheel assembly can be controlled to move by the first control assembly to lower the height of the front area of ​​the chassis body, so that the rear area of ​​the chassis body can be tilted relative to the front area, thereby achieving obstacle surmounting of the rear area of ​​the chassis body.

[0018] In the embodiment of the present application, the first control component and the second control component independently control the different heights of the front area and the edge area of ​​the chassis body relative to the ground, so that the chassis body can have a variety of different postures.

[0019] In addition, the cleaning modules such as the roller brush, the side brush, and the rag are all arranged on the chassis body. The roller brush, the side brush, and the rag are located in different areas of the chassis body. Therefore, by adjusting the height of the front area and the edge area of ​​the chassis body relative to the ground, the height between the above cleaning modules and the ground can be adjusted, so that under different ground conditions, the cleaning modules can maintain a good contact depth with the ground to improve the cleaning effect.

[0020] In addition, after long-term use of the cleaning device, the cleaning module will wear out, and the contact depth between the cleaning module and the ground will decrease, thereby affecting the cleaning effect. In the embodiment of the present application, the height of the cleaning module corresponding to the worn position on the chassis body can be lowered so that the contact depth between the cleaning module and the ground can maintain the best cleaning effect.

[0021] According to one embodiment of the present application, the first control component is signal-connected to the first drive component, and the control mechanism further includes a main controller;

[0022] The first control component is connected to the main controller to transmit the signal of the first drive component to the main controller, and the main controller is used to control the first drive component to drive the universal wheel component to rise or fall relative to the front area of ​​the chassis body through the first control component, so as to control the rise or fall of the front area of ​​the chassis body relative to the ground.

[0023] In the embodiment of the present application, the main controller is connected to the first control component, and signals can be transmitted between the first control component and the first drive component, so that the first drive component can drive the movement of the universal wheel component more accurately, thereby improving the accuracy of the rising or falling travel of the front area of ​​the chassis body relative to the ground.

[0024] When the chassis body is in an obstacle-crossing scenario, the main controller can control the universal wheel assembly to descend relative to the front area of ​​the chassis body, so that the front area of ​​the chassis body rises relative to the ground. When the distance the chassis body rises relative to the ground exceeds the height of the obstacle and meets the obstacle-crossing conditions, the main controller can issue a stop command to the first drive assembly through the first control assembly. The first drive assembly can stop running to stop the universal wheel assembly from moving, and the height of the front area of ​​the chassis body remains at a height that can cross the obstacle.

[0025] According to an embodiment of the present application, the first control component includes a first signaler and a first detector, the first signaler is connected to the first driving component, and the first detector transmits signals with the first signaler to detect signal variables of the first signaler;

[0026] The main controller controls the universal wheel assembly to stop at any position in the ascending or descending stroke through the first control assembly, so as to control the front area of ​​the chassis body to stop at a corresponding position.

[0027] In the embodiment of the present application, the front area of ​​the chassis body can stop at any position between the movement strokes of the front area of ​​the chassis body. Therefore, the front area of ​​the chassis body is not limited to the highest point of the rise or the lowest point of the descent, so that the chassis body can present more tilt angles to cope with different application environments.

[0028] Specifically, since the main controller can achieve precise control of the movement of the front area of ​​the chassis body through the first detector and the first signal device, the main controller can make the front area of ​​the chassis body not limited to stop at the extreme position of rising or falling, and the front area of ​​the chassis body can stop at any position between the two extreme positions. Therefore, when the front area of ​​the chassis body meets the obstacle clearance height, the front area of ​​the chassis body can be controlled to stop, which is conducive to reducing energy loss and improving the endurance of the cleaning equipment.

[0029] Among them, by detecting the signal variable of the first signaler through the first detector, the main controller can accurately obtain the movement stroke of the universal wheel assembly, and by accurately confirming the movement stroke of the universal wheel assembly, issue precise instructions to the first drive assembly, so that the front area of ​​the chassis body can accurately stop at the position required for obstacle crossing or cleaning.

[0030] Specifically, the first signal device is connected to the first driving component, and the signal of the first signal device can change during the process of the first driving component providing driving force to the universal wheel component. The first signal device can transmit the signal variable to the first detector, and transmit it to the main controller through the first detector, so that the main controller can obtain the movement direction and movement stroke of the universal wheel component, and then the main controller can accurately control the movement direction and movement stroke of the universal wheel component to improve the movement accuracy of the front area of ​​the chassis body.

[0031] In an obstacle crossing scenario, the main controller can issue instructions to the first drive component according to the size (such as height) of the obstacle. The first drive component drives the universal wheel component to descend relative to the front area of ​​the chassis body, so that the front area of ​​the chassis body rises relative to the ground. The signal of the first signaler on the first drive component changes. When the front area of ​​the chassis body rises to the first target position, the first detector can detect the signal variable of the first signaler and transmit it to the main controller. The main controller can determine whether the front area of ​​the chassis body has reached the first target position through the signal variable of the first signaler to verify the rising position of the front area of ​​the chassis body, thereby improving the accuracy of the chassis body's obstacle crossing and reducing the possibility of the chassis body colliding with the obstacle and causing damage to the chassis body.

[0032] In the cleaning mode, the main controller can issue instructions to the first driving assembly to make the front area of ​​the chassis body stay at any position between the extreme positions, so the front area of ​​the chassis body is not limited to stay at the two extreme positions. Therefore, in different cleaning scenarios, the cleaning module can be tightly fitted to the ground.

[0033] According to an embodiment of the present application, the first driving assembly includes a first motor, a first screw and a first lifting block, the first motor is drivingly connected to the first screw, the first lifting block is located on the first screw, and the first lifting block is connected to the universal wheel assembly;

[0034] The first signal device is connected to the first motor, the first detector is close to the first signal device, and the first signal device is used to determine the rotation position and speed of the first motor;

[0035] The first motor drives the first screw rod to rotate forward or reversely so that the first lifting block drives the universal wheel assembly to rise or fall.

[0036] In the embodiment of the present application, the main controller can send a signal to the first motor so that the first motor drives the first screw to rotate, so that the first lifting block drives the universal wheel assembly to rise or fall relative to the front area of ​​the chassis body. Through the coordinated movement of the first screw and the first lifting block, the first lifting block can move along the extension direction of the first screw, so that the front area of ​​the chassis body rises or falls relative to the ground along the height direction of the chassis body. The first screw can have a guiding effect on the first lifting block to maintain the stability of the rising or falling movement of the front area of ​​the chassis body.

[0037] According to one embodiment of the present application, the second control component is signal-connected to the second drive component, and the control mechanism further includes a main controller;

[0038] The second control component is connected to the main controller to transmit the signal of the second drive component to the main controller, and the main controller is used to control the flipping stroke of the drive wheel assembly driven by the second drive component through the second control component to control the rising or falling stroke of the edge area of ​​the chassis body relative to the ground.

[0039] In the embodiment of the present application, the main controller is connected to the second control component, and signals can be transmitted between the second control component and the second drive component, so that the second drive component can drive the movement of the drive wheel component more accurately, thereby improving the accuracy of the rise or fall of the edge area of ​​the chassis body relative to the ground.

[0040] The driving wheel assembly can be turned over relative to the edge area of ​​the chassis body through the rotating shaft. When the driving wheel assembly is turned downward relative to the edge area of ​​the chassis body, the driving wheel assembly can push the edge area of ​​the chassis body to rise. When the driving wheel assembly is turned upward relative to the edge area of ​​the chassis body, the edge area of ​​the chassis body can descend under the action of the weight of the chassis body itself.

[0041] In the obstacle crossing scenario, the main controller can control the driving wheel assembly to flip downward relative to the edge area of ​​the chassis body, so that the edge area of ​​the chassis body rises relative to the ground. When the distance the chassis body rises relative to the ground exceeds the height of the obstacle and meets the obstacle crossing conditions, the main controller can issue a stop command to the second driving assembly through the second control assembly. The second driving assembly can stop running to stop the driving wheel assembly, and the height of the edge area of ​​the chassis body is maintained at a height that can cross the obstacle.

[0042] According to one embodiment of the present application, the second control component includes a second signal device and a second detector, the second signal device is connected to the second driving component, and the second detector transmits signals with the second signal device to detect the signal variable of the second signal device;

[0043] The main controller controls the driving wheel assembly to stop at any position in the forward or reverse flipping stroke through the second control assembly, so as to control the edge area of ​​the chassis body to stop at a corresponding position.

[0044] In the embodiment of the present application, the edge area of ​​the chassis body can stop at any position between the movement strokes of the edge area of ​​the chassis body. Therefore, the edge area of ​​the chassis body is not limited to the highest point of the rise or the lowest point of the descent, so that the chassis body can present more tilt angles to cope with different application environments.

[0045] By detecting the signal variable of the second signaler through the second detector, the main controller can accurately obtain the flipping stroke of the driving wheel assembly, and by accurately confirming the flipping stroke of the driving wheel assembly, issue precise instructions to the second driving assembly, so that the edge area of ​​the chassis body can accurately stop at the position required for obstacle crossing or cleaning.

[0046] Specifically, the edge area of ​​the chassis body has an extreme position when rising or falling relative to the ground. Since the main controller can achieve precise control of the movement of the edge area of ​​the chassis body through the second detector and the second signal device, the main controller can make the edge area of ​​the chassis body not limited to stop at the extreme position of rising or falling, and the edge area of ​​the chassis body can stop at any position between the two extreme positions. Therefore, when the edge area of ​​the chassis body meets the obstacle clearance height, the edge area of ​​the chassis body can be controlled to stop moving, which is conducive to reducing energy loss and improving the endurance of the cleaning equipment.

[0047] The second signal device is connected to the second driving assembly, and the signal of the second signal device can change during the process of the second driving assembly providing driving force to the driving wheel assembly. The second signal device can transmit the signal variable to the second detector, and transmit it to the main controller through the second detector, so that the main controller can obtain the movement direction and movement stroke of the driving wheel assembly, and then the main controller can accurately control the movement direction and movement stroke of the driving wheel assembly to improve the movement accuracy of the edge area of ​​the chassis body.

[0048] Therefore, the front area of ​​the chassis body can also stop at any position between its own extreme positions, and the edge area of ​​the chassis body can also stop at any position between its own extreme positions. The height of the front area of ​​the chassis body and the height of the edge area of ​​the chassis body can be freely combined, so that the chassis body can have an infinite number of postures.

[0049] Therefore, in the obstacle crossing scenario, the main controller can independently control the front area and edge area of ​​the chassis body to have different lifting heights through the first control component and the second control component, so that the chassis body can cross obstacles of different sizes through one or more postures. In the cleaning scenario, the main controller can control the chassis body through one or more postures so that the cleaning modules located in different areas of the bottom of the chassis body have different distances from the ground to adapt to different cleaning scenarios. In addition, in the recharging scenario, when the cleaning equipment returns to the base station, due to the inclined surface at the entrance of the base station, the charging port of the base station and the receiving unit on the chassis body are prone to angle deviations, resulting in charging failure. The main controller can control the chassis body to be in a posture corresponding to the receiving unit and the charging port of the base station to improve the reliability of charging of the cleaning equipment.

[0050] According to one embodiment of the present application, the second driving assembly includes a second motor, a second screw and a second lifting block, the second motor is drivingly connected to the second screw, the second lifting block is located on the second screw, and the second lifting block is connected to the driving wheel assembly;

[0051] The second signal device is connected to the second motor, the second detector is close to the second signal device, and the second signal device is used to determine the rotation position and speed of the second motor;

[0052] The second motor drives the second screw rod to rotate forward or reversely so that the second lifting block drives the driving wheel assembly to flip downward or upward, and the edge area of ​​the chassis body rises or falls.

[0053] In the embodiment of the present application, the main controller can send a signal to the second motor so that the second motor drives the second screw to rotate, so that the second lifting block drives the driving wheel assembly to rise or fall relative to the edge area of ​​the chassis body. Through the coordinated movement of the second screw and the second lifting block, the second lifting block can move along the extension direction of the second screw, so that the edge area of ​​the chassis body rises or falls relative to the ground. The second screw can have a guiding effect on the second lifting block to maintain the stability of the rising or falling movement of the edge area of ​​the chassis body.

[0054] According to an embodiment of the present application, the number of the driving wheel mechanisms is two, and the two driving wheel mechanisms are respectively located at two edge areas in the width direction of the chassis body;

[0055] Wherein, the second control components of each of the two driving wheel mechanisms are independent of each other, so that the rising or falling movements of the two edge areas of the chassis body relative to the ground are independent of each other.

[0056] In the embodiment of the present application, the two driving wheel mechanisms are respectively provided with a second control assembly connected to the main controller. The two second control assemblies can independently control the corresponding second driving assemblies to drive the two driving wheel assemblies to flip the same or different strokes relative to the two edge areas of the chassis body. Therefore, the movement of the two edge areas of the chassis body relative to the ground can not affect each other.

[0057] In some examples, along the traveling direction of the chassis body, the two edge regions in the width direction of the chassis body may refer to a left edge region and a right edge region. When the left edge region rises relative to the ground, the right edge region may rise, maintain a height, or fall relative to the ground. Therefore, the heights of the two edge regions in the width direction of the chassis body may be the same or different. Since the main controller may control the two edge regions of the chassis body to stop at any position within their respective travels through the two second control components, the chassis body may have a variety of postures.

[0058] In a second aspect, the present application provides a cleaning device comprising the chassis structure of any of the above embodiments.

[0059] In a third aspect, the present application provides a cleaning system, comprising a base station and a cleaning device, wherein the cleaning device can be placed on the base station.

[0060] In a fourth aspect, the present application provides a control method for a chassis structure, which is applied to a control mechanism of the chassis structure. A first drive component includes a first motor and a first screw, and the control mechanism includes a main controller, and the main controller is connected to the first motor through the first control component;

[0061] The method comprises:

[0062] Acquire a first target position and a first current position of the front area of ​​the chassis body;

[0063] According to the first target position and the first current position, the first motor is controlled to operate to drive the first screw rod and the universal wheel assembly to move, so as to move the front area of ​​the chassis body from the first current position to the first target position.

[0064] In the embodiment of the present application, in environments such as obstacle crossing, cleaning, and recharging, the main controller can preset the front area of ​​the chassis body to rise to the first target position. The main controller controls the operation of the first motor through the first control component. The first motor drives the first screw to rotate so that the universal wheel assembly descends relative to the front area of ​​the chassis body, thereby realizing the front area of ​​the chassis body moving from the first current position to the first target position.

[0065] According to one embodiment of the present application, the first control component includes a first signaler and a first detector;

[0066] After the front area of ​​the chassis body is moved from the first current position to the first target position,

[0067] Acquire a first signal of the first signal device detected by the first detector;

[0068] According to the first signal, it is determined whether the front area of ​​the chassis body moves to the first target position.

[0069] In the embodiment of the present application, the main controller can verify whether the front area of ​​the chassis body moves to the first target position to improve the accuracy of the rising or falling movement of the front area of ​​the chassis body relative to the ground.

[0070] Specifically, the first signaler is connected to the first motor. The parameters such as the rotation speed and the rotation direction of the first motor can make the first signal of the first signaler produce a variable, so that the first signaler can transmit the signal variable of the first signal to the main controller, and the main controller can determine whether the front area of ​​the chassis body moves to the first target position.

[0071] According to an embodiment of the present application, if the front area of ​​the chassis body reaches the first target position, the first motor is controlled to stop so that the first screw rod and the universal wheel assembly stop moving, so that the chassis body stops at the first target position;

[0072] If the front area of ​​the chassis body does not reach the first target position, the first motor is controlled to operate to continue driving the first screw rod and the universal wheel assembly to move until the front area of ​​the chassis body moves to the first target position.

[0073] Therefore, the movement stroke of the front area of ​​the chassis body can be controlled and verified by the main controller to achieve precise control of the movement of the front area of ​​the chassis body.

[0074] According to one embodiment of the present application, the second driving assembly includes a second motor and a second screw, and the main controller is connected to the second motor through the second control assembly;

[0075] The method comprises:

[0076] Acquire a second target position and a second current position of the edge area of ​​the chassis body;

[0077] According to the second target position and the second current position, the second motor is controlled to operate to drive the second screw rod and the driving wheel assembly to move, so as to move the edge area of ​​the chassis body from the second current position to the second target position.

[0078] In the embodiment of the present application, in environments such as obstacle crossing, cleaning, and recharging, the main controller can preset the edge area of ​​the chassis body to rise to the second target position. The main controller controls the operation of the second motor through the second control component. The second motor drives the second screw to rotate so that the driving wheel assembly descends relative to the edge area of ​​the chassis body, thereby realizing the movement of the edge area of ​​the chassis body from the second current position to the second target position.

[0079] It should be noted that the control of the first control component and the control of the second control component by the main controller can be performed simultaneously or sequentially. In other words, the lifting and lowering movement of the front area of ​​the chassis body relative to the ground and the lifting and lowering movement of the edge area of ​​the chassis body relative to the ground can be performed synchronously or sequentially, which is not limited in the embodiments of the present application. The sequential operation can be that the front area of ​​the chassis body moves first or the edge area of ​​the chassis body moves first, which is not limited in the embodiments of the present application.

[0080] According to one embodiment of the present application, the second control component includes a second signaler and a second detector;

[0081] After the edge area of ​​the chassis body is moved from the second current position to the second target position,

[0082] Acquire a second signal of the second signal device detected by the second detector;

[0083] According to the second signal, it is determined whether the edge area of ​​the chassis body moves to the second target position.

[0084] In the embodiment of the present application, the main controller can verify whether the edge area of ​​the chassis body moves to the second target position to improve the accuracy of the rising or falling movement of the edge area of ​​the chassis body relative to the ground.

[0085] Specifically, the second signaler is connected to the second motor. The speed, rotation direction and other parameters of the second motor can cause the second signal of the second signaler to generate a variable, so that the second signaler can transmit the signal variable of the second signal to the main controller, and the main controller can determine whether the edge area of ​​the chassis body moves to the first target position.

[0086] According to an embodiment of the present application, if the edge area of ​​the chassis body reaches the second target position, the second motor is controlled to stop so that the second screw rod and the driving wheel assembly stop moving, so that the chassis body stops at the second target position;

[0087] If the edge area of ​​the chassis body does not reach the second target position, the second motor is controlled to operate to continue driving the second screw rod and the driving wheel assembly to move until the edge area of ​​the chassis body moves to the first target position.

[0088] Therefore, the movement stroke of the edge area of ​​the chassis body can be controlled and verified by the main controller to achieve precise control of the movement of the edge area of ​​the chassis body.

[0089] The chassis structure provided by the present application has the following beneficial effects: the chassis body can have a variety of tilting postures, including: the chassis body can have a variety of tilting postures along the traveling direction, and the chassis body can also have a variety of tilting postures along the width direction of the chassis body.

[0090] First, the chassis body can have a good obstacle crossing function. The front area and edge area of ​​the chassis body can rise, maintain, and descend at different heights relative to the ground to meet the obstacle crossing requirements of obstacles of different sizes and shapes.

[0091] Secondly, the chassis body can be applied to a variety of application scenarios. When the cleaning equipment is cleaning hard surfaces such as floors and tiles and when it is cleaning soft surfaces such as carpets, the amount of contact between the chassis body and the ground is different. Therefore, in different cleaning environments, different gaps between the chassis body and the ground can be controlled to maintain cleaning suction.

[0092] Furthermore, when cleaning an inclined or uneven ground, the chassis body can be adjusted to have different inclined postures to ensure effective contact between each cleaning module on the chassis body and the ground, thereby ensuring a cleaning effect.

[0093] Thirdly, when the cleaning equipment is used for a long time and the cleaning module is worn, the contact depth between the cleaning module and the ground is reduced, which easily affects the cleaning effect. By adjusting the area on the chassis body corresponding to the cleaning module to be lowered a certain distance relative to the ground, the contact depth between the cleaning module and the ground can be maintained, thereby increasing the service life of the cleaning module while ensuring the cleaning effect.

[0094] Fourthly, when the cleaning equipment returns to the base station for charging, the tilt posture of the chassis body can be adjusted. After passing the inclined surface at the entrance of the base station, the receiving unit on the chassis body can correspond to the charging port of the base station to improve the reliability of charging of the cleaning equipment.

[0095] In addition to the technical problems solved by the embodiments of the present invention described above, the technical features that constitute the technical solutions, and the beneficial effects brought about by the technical features of the technical solutions, other technical problems that can be solved by the chassis structure, cleaning equipment, cleaning system and control method of the chassis structure provided by the embodiments of the present invention, other technical features included in the technical solutions, and the beneficial effects brought about by these technical features will be further described in detail in the specific implementation methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0096] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0097] Figure 1 This is a schematic diagram of the three-dimensional structure of a chassis structure according to an embodiment of the present application;

[0098] Figure 2 A schematic side view of a chassis structure according to an embodiment of the present application;

[0099] Figure 3 It is a schematic side view of the chassis structure of another embodiment of the present application;

[0100] Figure 4 A schematic side view of a chassis structure according to another embodiment of the present application;

[0101] Figure 5 A schematic side view of a chassis structure of another embodiment of the present application;

[0102] Figure 6 for Figure 1 The enlarged schematic diagram of point A in the middle;

[0103] Figure 7 This is a cross-sectional three-dimensional structural schematic diagram of a universal wheel assembly according to an embodiment of the present application;

[0104] Figure 8 A schematic diagram of a three-dimensional structure of a chassis structure of an embodiment of the present application from another perspective;

[0105] Fig. 9 for Figure 8 The enlarged schematic diagram of point B in the middle;

[0106] Fig.10 for Figure 1 The enlarged schematic diagram of the center C;

[0107] Fig.11 A schematic diagram of a side view of a chassis structure of an embodiment of the present application from another perspective;

[0108] Fig.12 A schematic diagram of a side view of a chassis structure of another embodiment of the present application from another perspective;

[0109] Fig.13 A flow chart of a control method of a control mechanism according to an embodiment of the present application;

[0110] Fig.14 A flow chart of a control method of a control mechanism according to another embodiment of the present application;

[0111] Fig.15 This is a flow chart of a control method of a control mechanism according to another embodiment of the present application.

[0112] Description of reference numerals:

[0113] 100-chassis structure;

[0114] 110- chassis body; 110a- front area; 110b- edge area; 110c- rear area;

[0115] 120-universal wheel mechanism;

[0116] 121-first driving assembly; 1211-first motor; 1212-first screw rod; 1213-first lifting block;

[0117] 122-universal wheel assembly; 1221-lifting bracket; 12211-upper shell; 12212-lower shell; 1222-universal wheel; 1223-elastic shock absorbing member; 1224-first trigger;

[0118] 123- first photoreceptor;

[0119] 130- driving wheel mechanism;

[0120] 131-second driving assembly; 1311-second motor; 1312-second screw rod; 1313-second lifting block;

[0121] 132-driving wheel assembly; 1321-rotating shaft; 1322-lifting column; 1323-second trigger;

[0122] 133- second photoreceptor;

[0123] 141-first control component; 1411-first signaler; 1412-first detector;

[0124] 142-second control component; 1421-second signaler; 1422-second detector;

[0125] 150 - training wheels;

[0126] X-travel direction; Y-width direction.

[0127] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0128] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementation methods described in the following exemplary embodiments do not represent all implementation methods consistent with the present application. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the attached claims. Obviously, the described embodiments are part of the embodiments of the present application, not 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.

[0129] A cleaning device provided in an embodiment of the present application may be a sweeper. A sweeper is a device for cleaning the ground. The cleaning function of the sweeper is mainly achieved by the high-speed rotation of the motor. The high-speed rotation of the motor can form a vacuum in the body, so that dust, hair and other dirt on the ground can be sucked into the body from the suction port by using the high-speed airflow. The dirt can be accumulated in the bag machine or the dust box to facilitate regular cleaning by the user.

[0130] Among them, some sweeping machines can also be equipped with a rag and a water tank for mopping the floor after sweeping the floor, thereby further improving the cleaning effect. Among them, the cleaning device of the embodiment of the present application can only have the sweeping function, or can have the combined function of sweeping and mopping, which is not limited in the embodiment of the present application.

[0131] In the related art, when the cleaning device encounters an obstacle, the height of the chassis is adjusted by adjusting the movement of the universal wheel or the driving wheel to achieve the obstacle crossing function. However, the chassis can only stay in the highest state and the lowest state. When applied to different cleaning environments, cleaning can only be performed through the lowest state of the chassis, so it is difficult to adapt to different application scenarios. Moreover, during the obstacle crossing process, obstacles can only be crossed through the highest state of the chassis, which easily leads to energy loss and affects the battery life of the cleaning device.

[0132] Based on the above technical problems, the applicant has improved the existing chassis structure. In the embodiment of the present application, the universal wheel mechanism can be controlled to descend or rise relative to the chassis body through the first control component, so that the front area of ​​the chassis body can rise or fall relative to the ground. The driving wheel mechanism can be controlled to descend or rise relative to the edge area of ​​the chassis body through the second control component, so that the edge area of ​​the chassis body can rise or fall relative to the ground. Moreover, the first control component and the second control component are independent of each other. In other words, the first control component controls the rising or falling action of the front area of ​​the chassis body, and the second control component controls the rising or falling action of the edge area of ​​the chassis body. Therefore, the front area and the edge area of ​​the chassis body can be controlled to be in different states through the first control component and the second control component, so that the chassis body can have different postures, so that it can adapt to different cleaning environments and deal with obstacles of different sizes.

[0133] The chassis structure 100, cleaning equipment, cleaning system and control method of the chassis structure 100 provided in the present application are described below with reference to the accompanying drawings and in combination with specific embodiments.

[0134] See also Figure 1 As shown, the chassis structure 100 of the embodiment of the present application includes a chassis body 110, a universal wheel mechanism 120, a driving wheel mechanism 130 and a control mechanism.

[0135] Along the traveling direction X of the chassis body 110, the universal wheel mechanism 120 is disposed at the front area 110a of the chassis body 110. The universal wheel mechanism 120 includes a first driving assembly 121 and a universal wheel assembly 122. The first driving assembly 121 is connected to the universal wheel assembly 122. The first driving assembly 121 drives the universal wheel assembly 122 to descend or ascend relative to the chassis body 110, so that the front area 110a of the chassis body 110 ascends or descends relative to the ground.

[0136] The driving wheel mechanism 130 is arranged at the edge area 110b of the chassis body 110 along the width direction Y. The width direction Y may be perpendicular to the travel direction X. The driving wheel mechanism 130 includes a second driving assembly 131 and a driving wheel assembly 132. The second driving assembly 131 is connected to the driving wheel assembly 132. The second driving assembly 131 drives the driving wheel assembly 132 to descend or ascend relative to the chassis body 110, so that the edge area 110b of the chassis body 110 ascends or descends relative to the ground. The driving wheel assembly 132 may descend or ascend relative to the chassis body 110, but is not limited to, flipping.

[0137] In some examples, the number of the driving wheel mechanisms 130 may be two. The driving wheel mechanisms 130 may be respectively provided at the two edge regions 110b of the chassis body 110 along the width direction Y. The driving wheel mechanisms 130 may be located in the middle region of the chassis body 110 along the travel direction X of the chassis body 110 to provide uniform support to the chassis body 110.

[0138] The control mechanism includes a first control component 141 and a second control component 142. The first control component 141 is disposed on the universal wheel mechanism 120. The first control component 141 is used to control the first drive component 121 to drive the universal wheel component 122 to move. The second control component 142 is disposed on the drive wheel component 132. The second control component 142 is used to control the second drive component 131 to drive the drive wheel component 132 to move.

[0139] The first control assembly 141 and the second control assembly 142 are independent of each other, so that the rising or falling movement of the front area 110 a of the chassis body 110 and the rising or falling movement of the edge area 110 b of the chassis body 110 are independent of each other.

[0140] In the embodiment of the present application, the first control component 141 and the second control component 142 are independent of each other, so that the movements of the universal wheel mechanism 120 and the driving wheel mechanism 130 are independent of each other, so that the rising or falling movement of the front area 110a of the chassis body 110 does not affect the rising or falling movement of the edge area 110b of the chassis body 110. Therefore, by controlling the universal wheel mechanism 120 and the driving wheel mechanism 130 in different states through the first control component 141 and the second control component 142, a variety of postures of the chassis body 110 can be formed, thereby meeting different cleaning environments.

[0141] Since the cleaning device is mainly used to clean the floor, for the convenience of description, the front area 110a and the edge area 110b of the chassis body 110 are in the initial state when the cleaning posture of the chassis body 110 is defined. It should be noted that when the front area 110a and the edge area 110b of the chassis body 110 are both in the initial state, the distance between the chassis body 110 and the floor is not limited to the minimum distance.

[0142] Specifically, the rising or falling movement of the front area 110a of the chassis body 110 and the rising or falling movement of the edge area 110b are independent of each other, which means that when the front area 110a of the chassis body 110 rises relative to the ground, the edge area 110b of the chassis body 110 can rise, remain, or fall relative to the ground. Alternatively, when the front area 110a of the chassis body 110 falls relative to the ground, the edge area 110b of the chassis body 110 can rise, remain, or fall relative to the ground. Moreover, the front area 110a and the edge area 110b of the chassis body 110 can move relative to the ground at the same time or one after another. Therefore, the chassis body 110 can have a variety of different postures.

[0143] For example, Figure 2 This is the cleaning posture of the chassis structure 100 when cleaning the ground. There is a small gap between the front area 110a and the edge area 110b of the chassis body 110 and the ground to ensure effective suction to the ground.

[0144] The chassis body 110 is in an obstacle crossing scenario, see Figures 3 to 5 As shown, Figure 3 is a posture of the chassis body 110. Among them, the front area 110a of the chassis body 110 rises relative to the ground, and the edge area 110b of the chassis body 110 maintains a clean height relative to the ground. When the traveling direction X of the chassis body 110 encounters an obstacle, the universal wheel assembly 122 can be controlled by the first control assembly 141 to move, so that the front area 110a of the chassis body 110 rises. At this time, the height of the edge area 110b of the chassis body 110 can remain unchanged. In other words, the height of the front area 110a of the chassis body 110 can be higher than the height of the edge area 110b, and the front area 110a of the chassis body 110 can cross the obstacle first.

[0145] Figure 4Another posture of the chassis body 110, wherein the front area 110a of the chassis body 110 rises relative to the ground, and the edge area 110b of the chassis body 110 also rises relative to the ground. After the front area 110a of the chassis body 110 passes over the obstacle, the height of the front area 110a can be kept unchanged. The second control component 142 controls the movement of the driving wheel component 132 to make the edge area 110b of the chassis body 110 rise. At this time, the height of the edge area 110b of the chassis body 110 can be higher than the height of the front area 110a, so that the edge area 110b of the chassis body 110 can pass over the obstacle.

[0146] or, Figure 5 This is another posture of the chassis body 110. The front area 110a of the chassis body 110 maintains a clean height relative to the ground, and the edge area 110b of the chassis body 110 rises relative to the ground. After the front area 110a of the chassis body 110 passes over an obstacle, the second control component 142 can be used to control the movement of the driving wheel assembly 132 so that the edge area 110b of the chassis body 110 rises relative to the ground, and the first control component 141 can be used to control the movement of the universal wheel assembly 122 so that the front area 110a of the chassis body 110 returns to a clean height. In this state, the edge area 110b of the chassis body 110 can also pass over obstacles. And, combined with Figure 4 and Figure 5 , the chassis body 110 is Figure 5 The tilt angle in the state is greater than that of the chassis body 110 in the Figure 4 The tilt angle in the state.

[0147] In addition, along the traveling direction X of the chassis body 110, the chassis body 110 has a rear area 110c away from the front area 110a. The front area 110a and the rear area 110c are respectively located on both sides of the driving wheel assembly 132. During the obstacle surmounting process of the chassis body 110, if the rear area 110c is stuck by an obstacle, the universal wheel assembly 122 can be controlled to move by the first control assembly 141, so that the height of the front area 110a of the chassis body 110 is lowered, so that the rear area 110c of the chassis body 110 can be tilted relative to the front area 110a, thereby achieving obstacle surmounting of the rear area 110c of the chassis body 110.

[0148] It should be noted that, during the obstacle traversal process of the rear area 110c of the chassis body 110, whether the driving wheel assembly 132 moves and the movement distance can be set according to the size of the obstacle, which is not limited in this embodiment.

[0149] See also Figures 2 to 5As shown, in the embodiment of the present application, the first control component 141 and the second control component 142 independently control the different heights of the front area 110a and the edge area 110b of the chassis body 110 relative to the ground, so that the chassis body 110 can have a variety of different postures.

[0150] It should be noted that the various postures formed by the chassis body 110 in the embodiment of the present application are not limited to Figures 2 to 5 The posture shown.

[0151] In addition, the cleaning modules such as the roller brush, the side brush, and the rag are all arranged on the chassis body 110. The roller brush, the side brush, and the rag are located in different areas of the chassis body 110. Therefore, by adjusting the height of the front area 110a and the edge area 110b of the chassis body 110 relative to the ground, the height between the above-mentioned cleaning modules and the ground can be adjusted, so that under different ground conditions, the cleaning modules can maintain a good contact depth with the ground to improve the cleaning effect.

[0152] In some examples, by having the front area 110a and the edge area 110b of the chassis body 110 at different heights relative to the ground, the chassis body 110 can be tilted at different angles, thereby achieving the lifting and lowering of cleaning modules such as roller brushes, side brushes, rags, drums, and tracks.

[0153] For example, taking the roller brush as an example, the roller brush is usually located between the two driving wheel mechanisms 130. When cleaning the carpet, since hair, dust and other dirt easily penetrate into the interior of the carpet, the two driving wheel assemblies 132 can be controlled to flip relative to the chassis body 110, so that the edge area 110b of the chassis body 110 can be lowered relative to the ground to reduce the distance between the roller brush and the carpet, and the roller brush can perform deep cleaning on the carpet to improve the cleaning effect of the carpet.

[0154] In another example, after the cleaning device is used for a long time, the cleaning module will be worn, and the contact depth between the cleaning module and the ground will be reduced, thereby affecting the cleaning effect. In the embodiment of the present application, the height of the cleaning module corresponding to the worn position on the chassis body 110 can be reduced so that the contact depth between the cleaning module and the ground can maintain the best cleaning effect.

[0155] For example, when a worn cleaning module is located in the front area 110 a of the chassis body 110 , the front area 110 a of the chassis body 110 may be controlled to drop a certain distance to maintain the contact depth between the cleaning module and the ground.

[0156] It should be noted that the rising or falling stroke of the front area 110 a of the chassis body 110 and the rising or falling stroke of the edge area 110 b may be the same or different, which is not limited in the present embodiment.

[0157] In some possible implementations, see Figure 1 , Figure 6 and Figure 7 As shown, the first control component 141 of the embodiment of the present application is connected to the first driving component 121 by signal. The control mechanism also includes a main controller.

[0158] The first control component 141 is connected to the main controller to transmit the signal of the first drive component 121 to the main controller. The main controller is used to control the first drive component 121 to drive the universal wheel component 122 to rise or fall relative to the front area 110a of the chassis body 110 through the first control component 141, so as to control the rise or fall of the front area 110a of the chassis body 110 relative to the ground.

[0159] In the embodiment of the present application, the main controller is connected to the first control component 141, and signals can be transmitted between the first control component 141 and the first drive component 121, so that the first drive component 121 can drive the movement of the universal wheel component 122 more accurately, thereby improving the accuracy of the rising or falling travel of the front area 110a of the chassis body 110 relative to the ground.

[0160] In the obstacle crossing scenario, the main controller can control the universal wheel assembly 122 to descend relative to the front area 110a of the chassis body 110, so that the front area 110a of the chassis body 110 rises relative to the ground. When the distance that the chassis body 110 rises relative to the ground exceeds the height of the obstacle and meets the obstacle crossing condition, the main controller can issue a stop command to the first drive assembly 121 through the first control assembly 141. The first drive assembly 121 can stop running to stop the universal wheel assembly 122, and the height of the front area 110a of the chassis body 110 is maintained at a height that can cross the obstacle.

[0161] In some examples, the main controller and the first control component 141 and the second control component 142 may be connected via a wire harness. Correspondingly, the chassis body 110 may be provided with a wiring groove for accommodating the fixing of the wire harness.

[0162] In some possible implementations, see Figure 6 As shown, the first control component 141 of the embodiment of the present application includes a first signal generator 1411 and a first detector 1412. The first signal generator 1411 is connected to the first driving component 121. The first detector 1412 transmits signals to the first signal generator 1411 to detect the signal variable of the first signal generator 1411.

[0163] The main controller can control the universal wheel assembly 122 to stop at any position in the ascending or descending stroke through the first control assembly 141, so as to control the front area 110a of the chassis body 110 to stop at the corresponding position.

[0164] In the embodiment of the present application, the front area 110a of the chassis body 110 can stop at any position between the movement strokes of the front area 110a of the chassis body 110. Therefore, the front area 110a of the chassis body 110 is not limited to the highest point of the rise or the lowest point of the descent, so that the chassis body 110 can present more tilt angles to cope with different application environments.

[0165] Specifically, since the main controller can achieve precise control of the movement of the front area 110a of the chassis body 110 through the first detector 1412 and the first signal device 1411, the main controller can make the front area 110a of the chassis body 110 not limited to stop at the extreme position of rising or falling, and the front area 110a of the chassis body 110 can stop at any position between the two extreme positions. Therefore, when the front area 110a of the chassis body 110 meets the obstacle clearance height, the front area 110a of the chassis body 110 can be controlled to stop, which is conducive to reducing energy loss and improving the endurance of the cleaning equipment.

[0166] Among them, by detecting the signal variable of the first signaler 1411 through the first detector 1412, the main controller can accurately obtain the movement stroke of the universal wheel assembly 122, and by accurately confirming the movement stroke of the universal wheel assembly 122, issue precise instructions to the first drive assembly 121, so that the front area 110a of the chassis body 110 can accurately stop at the position required for obstacle crossing or cleaning.

[0167] Specifically, the first signal device 1411 is connected to the first driving component 121, and the signal of the first signal device 1411 may change during the process that the first driving component 121 provides driving force to the universal wheel component 122. The first signal device 1411 may transmit the signal variable to the first detector 1412, and transmit it to the main controller through the first detector 1412, so that the main controller can obtain the movement direction and movement stroke of the universal wheel component 122, and then the main controller can accurately control the movement direction and movement stroke of the universal wheel component 122, so as to improve the movement accuracy of the front area 110a of the chassis body 110.

[0168] In the obstacle crossing scenario, the main controller can issue instructions to the first drive component 121 according to the size (e.g., height) of the obstacle, and the first drive component 121 drives the universal wheel component 122 to descend relative to the front area 110a of the chassis body 110, so that the front area 110a of the chassis body 110 rises relative to the ground. The signal of the first signaler 1411 on the first drive component 121 changes. When the front area 110a of the chassis body 110 rises to the first target position, the first detector 1412 can detect the signal variable of the first signaler 1411 and transmit it to the main controller. The main controller can determine whether the front area 110a of the chassis body 110 has reached the first target position through the signal variable of the first signaler 1411, so as to verify the rising position of the front area 110a of the chassis body 110, thereby improving the accuracy of the chassis body 110 crossing the obstacle and reducing the possibility of the chassis body 110 colliding with the obstacle and causing damage to the chassis body 110.

[0169] In the cleaning mode, the main controller can issue instructions to the first driving assembly 121 to make the front area 110a of the chassis body 110 stay at any position between the extreme positions, and the front area 110a of the chassis body 110 is not limited to stay at the two extreme positions. Therefore, in different cleaning scenarios, the cleaning module can be tightly fitted to the ground.

[0170] For example, the side brush is usually located in the front area 110a of the chassis body 110. When the chassis body 110 is walking on an inclined ground or an uneven ground environment, the main controller can issue instructions to the first drive assembly 121 multiple times, so that when cleaning the inclined ground or the uneven ground, the chassis body 110 can present postures with different inclination angles, so that the side brush can maintain a good fit with the ground to ensure the cleaning effect.

[0171] In some examples, the first detector 1412 of the embodiment of the present application may be, but is not limited to, a Hall sensor. The first signaler 1411 may be, but is not limited to, a magnetic part. The operation of the first drive component 121 may change the magnetic field around the magnetic part. The Hall sensor may sense the change in the magnetic field and transmit the change in the magnetic field to the main controller. The main controller may determine whether the first drive component 121 drives the universal wheel component 122 to move to the preset first target position by the change in the magnetic field.

[0172] In some possible implementations, see Figure 6 As shown, the first driving assembly 121 of the embodiment of the present application includes a first motor 1211, a first screw rod 1212 and a first lifting block 1213. The first motor 1211 is in transmission connection with the first screw rod 1212. The first lifting block 1213 is located on the first screw rod 1212. The first lifting block 1213 is connected to the universal wheel assembly 122.

[0173] The first signal device 1411 is connected to the first motor 1211. The first detector 1412 is close to the first signal device 1411, and the first signal device 1411 is used to determine the rotation position and speed of the first motor 1211. The first motor 1211 drives the first screw rod 1212 to rotate forward or reverse so that the first lifting block 1213 drives the universal wheel assembly 122 to rise or fall.

[0174] In the embodiment of the present application, the main controller can send a signal to the first motor 1211, so that the first motor 1211 drives the first screw 1212 to rotate, so that the first lifting block 1213 drives the universal wheel assembly 122 to rise or fall relative to the front area 110a of the chassis body 110. Through the coordinated movement of the first screw 1212 and the first lifting block 1213, the first lifting block 1213 can move along the extension direction of the first screw 1212, so that the front area 110a of the chassis body 110 rises or falls relative to the ground along the height direction of the chassis body 110. The first screw 1212 can have a guiding effect on the first lifting block 1213 to maintain the stability of the rising or falling movement of the front area 110a of the chassis body 110.

[0175] It should be noted that when the first screw rod 1212 rotates forward, the first lifting block 1213 can drive the universal wheel assembly 122 to rise relative to the front area 110a of the chassis body 110. Alternatively, when the first screw rod 1212 rotates forward, the first lifting block 1213 can drive the universal wheel assembly 122 to descend relative to the front area 110a of the chassis body 110, which is not specifically limited in the embodiment of the present application.

[0176] In some examples, a groove may be provided on the first lifting block 1213. The universal wheel assembly 122 may be provided with a protrusion that cooperates with the groove. Along the movement direction of the first lifting block 1213, the protrusion is located in the groove, so that when the first lifting block 1213 rises or falls, the universal wheel assembly 122 can be driven to rise or fall relative to the front area 110a of the chassis body 110.

[0177] Specifically, the cooperation principle of the first detector 1412, the first signal device 1411, the first motor 1211, and the first screw 1212 can be as follows, wherein the parameters can be set according to requirements and are not limited in the embodiment of the present application.

[0178] The no-load speed of the first motor 1211 is A (in RPM). The first motor 1211 drives the first screw 1212 to rotate through a reducer. The reduction ratio of the reducer is B:1. The first signal device 1411 may include C pairs of poles (i.e., C N poles and C S poles). The pitch of the first screw 1212 is D (in mm). Therefore, the frequency of signal transmission is A*B*C / 60 (HZ), and the corresponding lifting stroke of 1mm is 1 / D*B*C signal cycle.

[0179] In some possible implementations, see Figure 6 and Figure 7 As shown, the universal wheel mechanism 120 may further include a first limiting mechanism. The first limiting mechanism is disposed on the chassis body 110. The first limiting mechanism cooperates with the universal wheel assembly 122 so that the front area 110a of the chassis body 110 has two extreme positions. When the universal wheel assembly 122 cooperates with the first limiting mechanism, the universal wheel assembly 122 reaches the extreme position of descending. Alternatively, when the universal wheel assembly 122 cooperates with the first limiting mechanism, the universal wheel assembly 122 reaches the extreme position of ascending.

[0180] In the embodiment of the present application, the first limiting mechanism can be used to constrain the extreme movement range of the first lifting block 1213, so that the universal wheel assembly 122 has an extreme movement range relative to the front side area 110a of the chassis body 110, so that the rise or fall of the front side area 110a of the chassis body 110 will not move infinitely.

[0181] The embodiment of the present application does not limit the structure of the first limiting mechanism. For example, the first limiting mechanism and the universal wheel assembly 122 may be physically contact-type limiting or inductive contact-type limiting.

[0182] Exemplarily, when limiting by inductive contact, the first limiting mechanism may include a first photo sensor 123. The first photo sensor 123 is arranged on the chassis body 110. The universal wheel assembly 122 may be provided with a first trigger 1224 for triggering the first photo sensor 123. During the process of the universal wheel assembly 122 rising or falling relative to the front area 110a of the chassis body 110, the first trigger member moves relative to the first photo sensor 123. When the first trigger member is located in the sensing area of ​​the first photo sensor 123, the first photo sensor 123 may transmit a signal to the main controller. The first driving assembly 121 stops running. The front area 110a of the chassis body 110 reaches the limit position.

[0183] In some possible implementations, see Figure 7As shown, the universal wheel assembly 122 of the embodiment of the present application may include a connected lifting bracket 1221 and a universal wheel 1222. The lifting bracket 1221 is connected to the first lifting block 1213. The chassis body 110 has a lifting channel that can accommodate at least part of the lifting bracket 1221. The lifting bracket 1221 rises or falls in the lifting channel.

[0184] The lifting channel may have a guiding function so that the lifting bracket 1221 can rise or fall along the height direction of the chassis body 110 to maintain the movement stability of the front area 110 a of the chassis body 110 .

[0185] In some possible implementations, see Figure 7 As shown, the universal wheel assembly 122 of the embodiment of the present application also includes an elastic shock absorbing member 1223. The lifting bracket 1221 includes an upper shell 12211 and a lower shell 12212. The upper shell 12211 and the lower shell 12212 form a space that can accommodate the elastic shock absorbing member 1223. The lower shell 12212 is connected to the universal wheel 1222. The lower shell 12212 can slide up and down relative to the upper shell 12211. The two ends of the elastic shock absorbing member 1223 are respectively abutted against the inner walls of the upper shell 12211 and the lower shell 12212.

[0186] In the embodiment of the present application, when the universal wheel 1222 touches obstacles such as small particles, the elastic member can produce a compression effect. Since the two ends of the elastic member are respectively in contact with the upper shell 12211 and the lower shell 12212, the elastic member can absorb and buffer the force applied to the upper shell 12211, thereby buffering the force applied to the front area 110a of the chassis body 110, thereby improving the stability of the chassis body 110 during operation.

[0187] In some possible implementations, see Figures 8 to 10 As shown, the second control component 142 of the embodiment of the present application is connected to the second driving component 131 by signal. The control mechanism also includes a main controller.

[0188] The second control component 142 is connected to the main controller to transmit the signal of the second drive component 131 to the main controller. The main controller is used to control the second drive component 131 to drive the turning stroke of the driving wheel component 132 through the second control component 142 to control the rising or falling stroke of the edge area 110b of the chassis body 110 relative to the ground.

[0189] In the embodiment of the present application, the main controller is connected to the second control component 142, and signals can be transmitted between the second control component 142 and the second drive component 131, so that the second drive component 131 can drive the movement of the drive wheel component 132 more accurately, thereby improving the accuracy of the rising or falling travel of the edge area 110b of the chassis body 110 relative to the ground.

[0190] The driving wheel assembly 132 can be turned over relative to the edge area 110b of the chassis body 110 through the rotating shaft 1321. When the driving wheel assembly 132 is turned downward relative to the edge area 110b of the chassis body 110, the driving wheel assembly 132 can push the edge area 110b of the chassis body 110 to rise. When the driving wheel assembly 132 is turned upward relative to the edge area of ​​the chassis body 110, the edge area 110b of the chassis body 110 can descend under the action of the weight of the chassis body 110 itself.

[0191] In the obstacle crossing scenario, the main controller can control the driving wheel assembly 132 to flip downward relative to the edge area 110b of the chassis body 110, so that the edge area 110b of the chassis body 110 rises relative to the ground. When the distance that the chassis body 110 rises relative to the ground exceeds the height of the obstacle and meets the obstacle crossing condition, the main controller can issue a stop operation instruction to the second driving assembly 131 through the second control assembly 142. The second driving assembly 131 can stop running to stop the driving wheel assembly 132, and the height of the edge area 110b of the chassis body 110 is maintained at a height that can cross the obstacle.

[0192] In some examples, the driving wheel assembly 132 may include a shock absorbing spring. One end of the shock absorbing spring may be connected to the chassis body 110, and the other end of the shock absorbing spring may be connected to the driving wheel assembly 132. When the driving wheel assembly 132 touches obstacles such as small particles, the shock absorbing spring can buffer the vibration of the obstacles to the chassis body 110, so as to improve the running stability of the edge area 110b of the chassis body 110. In addition, the shock absorbing spring can provide traction tension to provide a force for the driving wheel assembly 132 to stay away from the ground.

[0193] In some possible implementations, see Fig. 9 and Fig.10 As shown, the second control component 142 of the embodiment of the present application includes a second signal generator 1421 and a second detector 1422. The second signal generator 1421 is connected to the second driving component 131. The second detector 1422 transmits signals to the second signal generator 1421 to detect the signal variable of the second signal generator 1421.

[0194] The main controller controls the driving wheel assembly 132 to stop at any position in the forward or reverse flipping stroke through the second control assembly 142, so as to control the edge area 110b of the chassis body 110 to stop at the corresponding position.

[0195] In the embodiment of the present application, the edge area 110b of the chassis body 110 can stop at any position between the movement strokes of the edge area 110b of the chassis body 110. Therefore, the edge area 110b of the chassis body 110 is not limited to the highest point of the rise or the lowest point of the descent, so that the chassis body 110 can present more tilt angles to cope with different application environments.

[0196] By detecting the signal variable of the second signaler 1421 through the second detector 1422, the main controller can accurately obtain the flipping stroke of the driving wheel assembly 132, and by accurately confirming the flipping stroke of the driving wheel assembly 132, issue precise instructions to the second driving assembly 131, so that the edge area 110b of the chassis body 110 can accurately stop at the position required for obstacle crossing or cleaning.

[0197] Specifically, the edge area 110b of the chassis body 110 has an extreme position when rising or falling relative to the ground. Since the main controller can achieve precise control of the movement of the edge area 110b of the chassis body 110 through the second detector 1422 and the second signal device 1421, the main controller can make the edge area 110b of the chassis body 110 not limited to stop at the extreme position of rising or falling, and the edge area 110b of the chassis body 110 can stop at any position between the two extreme positions. Therefore, when the edge area 110b of the chassis body 110 meets the obstacle clearance height, the edge area 110b of the chassis body 110 can be controlled to stop moving, which is conducive to reducing energy loss and improving the endurance of the cleaning equipment.

[0198] The second signaler 1421 is connected to the second driving assembly 131, and the signal of the second signaler 1421 may change during the process of the second driving assembly 131 providing driving force to the driving wheel assembly 132. The second signaler 1421 may transmit the signal variable to the second detector 1422, and transmit it to the main controller through the second detector 1422, so that the main controller can obtain the movement direction and movement stroke of the driving wheel assembly 132, and then the main controller can accurately control the movement direction and movement stroke of the driving wheel assembly 132 to improve the movement accuracy of the edge area 110b of the chassis body 110.

[0199] Therefore, the front area 110a of the chassis body 110 can also stop at any position between its own limit positions, and the edge area 110b of the chassis body 110 can also stop at any position between its own limit positions. The height of the front area 110a of the chassis body 110 and the height of the edge area 110b of the chassis body 110 can be freely combined, so that the chassis body 110 can have an infinite number of postures.

[0200] For example, the chassis body 110 may stop at Figure 2 The posture shown is transformed to Figure 3 Any position in the posture shown can also be stopped at Figure 3 The posture shown is transformed to Figure 4 Any position in the posture shown can also be stopped at Figure 4 The posture shown is transformed to Figure 5 At any position in the posture shown.

[0201] Therefore, in the obstacle crossing scenario, the main controller can independently control the front area 110a and the edge area 110b of the chassis body 110 to have different lifting heights through the first control component 141 and the second control component 142, so that the chassis body 110 can cross obstacles of different sizes through one or more postures. In the cleaning scenario, the main controller can control the chassis body 110 through one or more postures so that the cleaning modules located in different areas at the bottom of the chassis body 110 have different distances from the ground to adapt to different cleaning scenarios. In addition, in the recharging scenario, when the cleaning equipment returns to the base station, due to the inclined surface at the entrance of the base station, the charging port of the base station and the receiving unit on the chassis body 110 are prone to angle deviations, resulting in charging failure. The main controller can control the chassis body 110 to be in a posture where the receiving unit corresponds to the charging port of the base station to improve the reliability of charging of the cleaning equipment.

[0202] In some examples, the second detector 1422 of the embodiment of the present application may be, but is not limited to, a Hall sensor. The second signaler 1421 may be, but is not limited to, a magnetic part. The operation of the second drive component 131 may change the magnetic field around the magnetic part. The Hall sensor may sense the change of the magnetic field and transmit the change of the magnetic field to the main controller.

[0203] For some examples, see Fig. 9 As shown, the driving wheel assembly 132 may be provided with a lifting column 1322. The second lifting block 1313 and the lifting column 1322 may move in coordination. When the second lifting block 1313 moves downward, a downward force may be applied to the lifting column 1322, so that the driving wheel assembly 132 may be turned downward relative to the edge area 110b of the chassis body 110 through the rotating shaft 1321. The driving wheel assembly 132 may push the edge area 110b of the chassis body 110 to rise. When the second lifting block 1313 moves upward, the downward force of the second lifting block 1313 on the lifting column 1322 is canceled. At this time, the edge area 110b of the chassis body 110 may be lowered under the action of its own gravity.

[0204] In some possible implementations, see Fig. 9 and Fig.10As shown, the second driving assembly 131 includes a second motor 1311, a second screw rod 1312 and a second lifting block 1313. The second motor 1311 is in driving connection with the second screw rod 1312. The second lifting block 1313 is located on the second screw rod 1312, and the second lifting block 1313 is connected to the driving wheel assembly 132.

[0205] The second signal device 1421 is connected to the second motor 1311. The second detector 1422 is close to the second signal device 1421. The second signal device 1421 is used to determine the rotation position and speed of the second motor 1311. The second motor 1311 drives the second screw rod 1312 to rotate forward or reversely so that the second lifting block 1313 drives the driving wheel assembly 132 to flip downward or upward relative to the edge area 110b of the chassis body 110, and the edge area 110b of the chassis body 110 rises or falls.

[0206] In the embodiment of the present application, the main controller can send a signal to the second motor 1311 so that the second motor 1311 drives the second screw 1312 to rotate, so that the second lifting block 1313 drives the driving wheel assembly 132 to rise or fall relative to the edge area 110b of the chassis body 110. Through the coordinated movement of the second screw 1312 and the second lifting block 1313, the second lifting block 1313 can move along the extension direction of the second screw 1312, so that the edge area 110b of the chassis body 110 rises or falls relative to the ground. The second screw 1312 can have a guiding effect on the second lifting block 1313 to maintain the stability of the rising or falling movement of the edge area 110b of the chassis body 110.

[0207] It should be noted that when the second screw rod 1312 rotates forward, the second lifting block 1313 can drive the driving wheel assembly 132 to flip upward relative to the edge area 110b of the chassis body 110. Alternatively, when the second screw rod 1312 rotates forward, the second lifting block 1313 can drive the driving wheel assembly 132 to flip downward relative to the edge area 110b of the chassis body 110, which is not specifically limited in the embodiment of the present application.

[0208] The cooperation principle among the second detector 1422 , the second signal device 1421 , the second motor 1311 , and the second screw 1312 may be the same as that of the first control component 141 and the first drive component 121 , and will not be described in detail herein.

[0209] In some possible implementations, see Fig. 9 and Fig.10As shown, the second driving assembly 131 may further include a second limiting mechanism. The second limiting mechanism is disposed on the chassis body 110. The second limiting mechanism cooperates with the second lifting block 1313 so that the edge area 110b of the chassis body 110 has two extreme positions. When the driving wheel assembly 132 cooperates with the second limiting mechanism, the driving wheel assembly 132 can flip downward to one of the extreme positions. Alternatively, when the driving wheel assembly 132 cooperates with the second limiting mechanism, the driving wheel assembly 132 can flip upward to the other extreme position.

[0210] In the embodiment of the present application, the second limiting mechanism can be used to constrain the extreme movement range of the second lifting block 1313, so that the driving wheel assembly 132 has an extreme movement range relative to the edge area 110b of the chassis body 110, so that the rise or fall of the edge area 110b of the chassis body 110 will not move infinitely.

[0211] The embodiment of the present application does not limit the structure of the second limiting mechanism. For example, the second limiting mechanism and the driving wheel assembly 132 may be limited by physical contact or by inductive contact.

[0212] Exemplarily, when limiting by inductive contact, the second limiting mechanism may include a second photo sensor 133. The second photo sensor 133 is arranged on the chassis body 110. A second trigger 1323 for triggering the second photo sensor 133 may be provided on the driving wheel assembly 132. During the process of the driving wheel assembly 132 flipping upward or downward relative to the edge area 110b of the chassis body 110, the second trigger moves relative to the second photo sensor 133. When the second trigger is located in the sensing area of ​​the second photo sensor 133, the second photo sensor 133 may transmit a signal to the main controller. The second driving assembly 131 stops running. The edge area 110b of the chassis body 110 reaches the limit position.

[0213] In some possible implementations, see Figure 1 , Fig.11 and Fig.12 As shown, there are two driving wheel mechanisms 130. The two driving wheel mechanisms 130 are respectively located at two edge regions 110b of the chassis body 110 in the width direction Y. The second control components 142 of the two driving wheel mechanisms 130 are independent of each other, so that the rising or falling movements of the two edge regions 110b of the chassis body 110 are independent of each other.

[0214] In the embodiment of the present application, the two driving wheel mechanisms 130 are respectively provided with a second control assembly 142 connected to the main controller. The two second control assemblies 142 can independently control the corresponding second driving assembly 131 to drive the two driving wheel assemblies 132 to flip the same or different strokes relative to the two edge areas 110b of the chassis body 110. Therefore, the movement of the two edge areas 110b of the chassis body 110 relative to the ground can not affect each other.

[0215] For some examples, see Fig.11 and Fig.12 As shown, along the traveling direction X of the chassis body 110, the two edge regions 110b in the width direction Y of the chassis body 110 may refer to the left edge region 110b and the right edge region 110b. When the left edge region 110b rises relative to the ground, the right edge region 110b may rise, maintain a height, or fall relative to the ground. Therefore, the heights of the two edge regions 110b in the width direction Y of the chassis body 110 may be the same or different. Since the main controller can control the two edge regions 110b of the chassis body 110 to stop at any position within their respective travels through the two second control components 142, the chassis body 110 can have a variety of postures.

[0216] For example, when there is one side brush, the side brush is usually close to one of the edge regions 110b along the width direction Y of the chassis body 110. Therefore, when the cleaning environment is a sloped or uneven ground, the movement strokes or movement directions of the two driving wheel assemblies 132 can be controlled to be different, so that the heights of the two edge regions 110b of the chassis body 110 relative to the horizontal ground are different, so that the contact depth of the side brush with the inclined ground or the uneven ground can meet the best cleaning effect.

[0217] Alternatively, when the side brush is worn, the edge area 110b of the chassis body 110 corresponding to the side brush can be controlled to drop a certain distance relative to the ground, so that the optimal cleaning contact depth can be maintained between the chassis body 110 and the ground.

[0218] For some examples, see Figures 2 to 5 As shown, the chassis structure 100 may further include auxiliary wheels 150. The auxiliary wheels 150 may be disposed at the rear area 110c of the chassis body 110. When the front area 110a of the chassis body 110 rises relative to the ground, the auxiliary wheels 150 may support the rear area 110c of the chassis body 110 to avoid friction between the rear area 110c of the chassis body 110 and the ground, thereby preventing the chassis body 110 from being worn.

[0219] In some examples, the auxiliary wheel 150 may have a lifting function relative to the rear area 110c of the chassis body 110, so that the rear area 110c of the chassis body 110 can rise or fall relative to the ground. The lifting or falling stroke of the auxiliary wheel 150 relative to the rear area 110c of the chassis body 110 can be achieved by connecting the third control component to the main controller. The working principle of the third control component can be the same as the working principle of the first control component 141 and the second control component 142.

[0220] An embodiment of the present application provides a cleaning device, which may include the chassis structure 100 in any of the above embodiments.

[0221] In the embodiment of the present application, the chassis body 110 can have a variety of tilting postures, including: along the travel direction X, the chassis body 110 can have a variety of tilting postures, and along the width direction Y of the chassis body 110, the chassis body 110 can also have a variety of tilting postures.

[0222] First, the chassis body 110 can have a good obstacle crossing function. The front area 110a and the edge area 110b of the chassis body 110 can rise, maintain, and descend at different heights relative to the ground to meet the obstacle crossing requirements of obstacles of different sizes and shapes.

[0223] Secondly, the chassis body 110 can be applied to a variety of application scenarios. When the cleaning device is cleaning hard surfaces such as floors and tiles and when it is cleaning soft surfaces such as carpets, the amount of contact between the chassis body 110 and the ground is different. Therefore, in different cleaning environments, the gap between the chassis body 110 and the ground can be controlled to be different to maintain the cleaning suction.

[0224] Furthermore, when cleaning an inclined or uneven ground, the chassis body 110 can be adjusted to have different inclined postures to ensure effective contact between each cleaning module on the chassis body 110 and the ground, thereby ensuring a cleaning effect.

[0225] Thirdly, when the cleaning device is used for a long time and the cleaning module is worn, the contact depth between the cleaning module and the ground is reduced, which easily affects the cleaning effect. By adjusting the area on the chassis body 110 corresponding to the cleaning module to be lowered a certain distance relative to the ground, the contact depth between the cleaning module and the ground can be maintained, thereby increasing the service life of the cleaning module while ensuring the cleaning effect.

[0226] Fourthly, when the cleaning equipment returns to the base station for charging, the tilt posture of the chassis body 110 can be adjusted. After passing the inclined surface at the entrance of the base station, the receiving unit on the chassis body 110 can correspond to the charging port of the base station to improve the reliability of charging of the cleaning equipment.

[0227] The embodiment of the present application provides a cleaning system, which may include a base station and a cleaning device. The cleaning device may be placed on the base station.

[0228] The base station may have a charging function. When the cleaning device is placed on the base station, the base station may charge the cleaning device.

[0229] The base station may also have a cleaning function. When a cleaning device is placed on the base station, cleaning modules such as a roller brush, a rag, and a side brush on the cleaning device may be cleaned.

[0230] The embodiment of the present application provides a control method of a chassis structure 100 , which can be applied to a control mechanism of the chassis structure 100 .

[0231] The first driving assembly 121 includes a first motor 1211 and a first screw 1212. The control mechanism includes a main controller. The main controller is connected to the first motor 1211 through the first control assembly 141.

[0232] See also Fig.13 and Fig.14 As shown, the control method of the chassis structure 100 includes:

[0233] S101 : Acquire a first target position and a first current position of a front area 110 a of a chassis body 110 .

[0234] S102, according to the first target position and the first current position, controlling the first motor 1211 to operate, so as to drive the first screw rod 1212 and the universal wheel assembly 122 to move, so as to move the front area 110a of the chassis body 110 from the first current position to the first target position.

[0235] In the embodiment of the present application, in environments such as obstacle crossing, cleaning, and recharging, the main controller can preset the front area 110a of the chassis body 110 to rise to the first target position. The main controller controls the operation of the first motor 1211 through the first control component 141. The first motor 1211 drives the first screw 1212 to rotate so that the universal wheel assembly 122 descends relative to the front area 110a of the chassis body 110, thereby realizing the front area 110a of the chassis body 110 moving from the first current position to the first target position.

[0236] In some achievable embodiments, the first control component 141 includes a first signaler 1411 and a first detector 1412 .

[0237] After S102, it also includes:

[0238] S103 , obtaining a first signal from the first signal transmitter 1411 detected by the first detector 1412 .

[0239] S104 , judging whether the front area 110 a of the chassis body 110 moves to the first target position according to the first signal.

[0240] In the embodiment of the present application, the main controller can verify whether the front area 110a of the chassis body 110 moves to the first target position to improve the accuracy of the rising or falling movement of the front area 110a of the chassis body 110 relative to the ground.

[0241] Specifically, the first signal device 1411 is connected to the first motor 1211. The parameters such as the rotation speed and the rotation direction of the first motor 1211 can make the first signal of the first signal device 1411 generate a variable, so that the first signal device 1411 can transmit the signal variable of the first signal to the main controller, and the main controller can determine whether the front area 110a of the chassis body 110 moves to the first target position.

[0242] If the front area 110a of the chassis body 110 reaches the first target position, the first motor 1211 is controlled to stop, so that the first screw rod 1212 and the universal wheel assembly 122 stop moving, and the chassis body 110 stops at the first target position.

[0243] If the front area 110a of the chassis body 110 has not reached the first target position, the first motor 1211 is controlled to operate to continue driving the first screw rod 1212 and the universal wheel assembly 122 to move until the front area 110a of the chassis body 110 moves to the first target position.

[0244] In some examples, when the front area 110a of the chassis body 110 does not reach the first target position, the current position of the front area 110a of the chassis body 110 can be acquired again. In other words, steps S101-S104 can be performed again until the front area 110a of the chassis body 110 moves to the first target position.

[0245] Therefore, the movement stroke of the front area 110 a of the chassis body 110 can be controlled and verified by the main controller, so as to achieve precise control of the movement of the front area 110 a of the chassis body 110 .

[0246] In some achievable embodiments, the second driving assembly 131 includes a second motor 1311 and a second screw 1312 , and the main controller is connected to the second motor 1311 via the second control assembly 142 .

[0247] See also Fig.15 As shown, the control method also includes:

[0248] S201 : Acquire a second target position and a second current position of the edge area 110 b of the chassis body 110 .

[0249] S202, according to the second target position and the second current position, control the second motor 1311 to operate to drive the second screw rod 1312 and the driving wheel assembly 132 to move, so as to move the edge area 110b of the chassis body 110 from the second current position to the second target position.

[0250] In the embodiment of the present application, in environments such as obstacle crossing, cleaning, and recharging, the main controller can preset the edge area 110b of the chassis body 110 to rise to the second target position. The main controller controls the operation of the second motor 1311 through the second control component 142. The second motor 1311 drives the second screw 1312 to rotate so that the driving wheel assembly 132 descends relative to the edge area 110b of the chassis body 110, thereby realizing the movement of the edge area 110b of the chassis body 110 from the second current position to the second target position.

[0251] It should be noted that the control of the first control component 141 and the control of the second control component 142 by the main controller can be performed simultaneously or sequentially. In other words, the lifting and lowering movement of the front area 110a of the chassis body 110 relative to the ground and the lifting and lowering movement of the edge area 110b of the chassis body 110 relative to the ground can be performed synchronously or sequentially, which is not limited in the embodiment of the present application. The sequential operation can be that the front area 110a of the chassis body 110 moves first, or that the edge area 110b of the chassis body 110 moves first, which is not limited in the embodiment of the present application.

[0252] In some conceivable embodiments, the second control component 142 includes a second signaler 1421 and a second detector 1422 .

[0253] After S202, it also includes:

[0254] S203 , obtaining a second signal from the second signal detector 1421 detected by the second detector 1422 .

[0255] S204 , judging whether the edge area 110 b of the chassis body 110 moves to the second target position according to the second signal.

[0256] In the embodiment of the present application, the main controller can verify whether the edge area 110b of the chassis body 110 moves to the second target position to improve the accuracy of the rising or falling movement of the edge area 110b of the chassis body 110 relative to the ground.

[0257] Specifically, the second signaler 1421 is connected to the second motor 1311. The speed, rotation direction and other parameters of the second motor 1311 can make the second signal of the second signaler 1421 produce a variable, so that the second signaler 1421 can transmit the signal variable of the second signal to the main controller, and the main controller can determine whether the edge area 110b of the chassis body 110 moves to the first target position.

[0258] If the edge area 110b of the chassis body 110 reaches the second target position, the second motor 1311 is controlled to stop, so that the second screw rod 1312 and the driving wheel assembly 132 stop moving, and the chassis body 110 stops at the second target position.

[0259] If the edge area 110b of the chassis body 110 has not reached the second target position, the second motor 1311 is controlled to operate to continue driving the second screw rod 1312 and the driving wheel assembly 132 to move until the edge area 110b of the chassis body 110 moves to the second target position.

[0260] In some examples, when the edge area 110b of the chassis body 110 does not reach the second target position, the current position of the edge area 110b of the chassis body 110 can be acquired again. In other words, steps S201-S204 can be performed again until the edge area 110b of the chassis body 110 moves to the second target position.

[0261] Therefore, the movement stroke of the edge area 110 b of the chassis body 110 can be controlled and verified by the main controller, so as to achieve precise control of the movement of the edge area 110 b of the chassis body 110 .

[0262] It should be noted here that the numerical values ​​and numerical ranges involved in this application are approximate values. Due to the influence of the manufacturing process, there may be a certain range of errors, which can be considered negligible by those skilled in the art.

[0263] In the description of the embodiments of the present application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, or it can be an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present application can be understood according to specific circumstances.

[0264] In the description of the present application, it should be understood that the terms used, such as “center”, “length”, “width”, “thickness”, “top”, “bottom”, “up”, “down”, “left”, “right”, “front”, “back”, “vertical”, “horizontal”, “inside”, “outside”, “axial”, “circumferential”, etc., to indicate directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the position or component referred to must have a specific direction, a specific structure and operation, and therefore should not be understood as a limitation on the present invention.

[0265] In the embodiments of the present application, the devices or elements referred to or implied must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the embodiments of the present application. In the description of the embodiments of the present application, the meaning of "multiple" is two or more, unless otherwise precisely and specifically specified.

[0266] The terms "first", "second", "third", "fourth", etc. (if any) in the description and claims of the embodiments of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present application described herein, for example, can be implemented in an order other than those illustrated or described herein.

[0267] In addition, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus that includes a series of steps or elements is not necessarily limited to those steps or elements explicitly listed, but may include other steps or elements not explicitly listed or inherent to such process, method, product, or apparatus.

[0268] The term "plurality" in this article refers to two or more than two. The term "and / or" in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the previous and next associated objects are in an "or" relationship; in a formula, the character " / " indicates that the previous and next associated objects are in a "division" relationship.

[0269] It should be understood that the various numerical numbers involved in the embodiments of the present application are only used for the convenience of description and are not used to limit the scope of the embodiments of the present application.

[0270] It can be understood that in the embodiments of the present application, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

Claims

1. A chassis structure (100), characterized in that: include: Chassis body (110); A universal wheel mechanism (120), arranged at a front area (110a) of the chassis body (110) along a travel direction (X) of the chassis body (110), the universal wheel mechanism (120) comprising a first driving assembly (121) and a universal wheel assembly (122), the first driving assembly (121) and the universal wheel assembly (122) being connected, the first driving assembly (121) driving the universal wheel assembly (122) to descend or ascend relative to the front area (110a) of the chassis body (110), so that the front area (110a) of the chassis body (110) ascends or descends relative to the ground; a driving wheel mechanism (130), the driving wheel mechanism (130) being arranged at an edge region (110b) of the chassis body (110) along a width direction (Y), the driving wheel mechanism (130) comprising a second driving assembly (131) and a driving wheel assembly (132), the second driving assembly (131) being connected to the driving wheel assembly (132), the second driving assembly (131) driving the driving wheel assembly (132) to descend or ascend relative to the edge region (110b) of the chassis body (110), so that the edge region (110b) of the chassis body (110) ascends or descends relative to the ground; The control mechanism comprises a first control component (141) and a second control component (142), wherein the first control component (141) is arranged on the universal wheel mechanism (120), and the first control component (141) is used to control the first drive component (121) to drive the universal wheel component (122) to move, and the second control component (142) is arranged on the drive wheel component (132), and the second control component (142) is used to control the second drive component (131) to drive the drive wheel component (132) to move; The first control component (141) and the second control component (142) are independent of each other, so that the rising or falling movement of the front area (110a) of the chassis body (110) and the rising or falling movement of the edge area (110b) of the chassis body (110) are independent of each other.

2. The chassis structure (100) according to claim 1, characterized in that: The first control component (141) is connected to the first drive component (121) by signal, and the control mechanism further comprises a main controller; The first control component (141) is connected to the main controller to transmit the signal of the first drive component (121) to the main controller, and the main controller is used to control the first drive component (121) to drive the universal wheel component (122) to rise or fall relative to the front area (110a) of the chassis body (110) through the first control component (141), so as to control the rise or fall of the front area (110a) of the chassis body (110) relative to the ground.

3. The chassis structure (100) according to claim 2, characterized in that: The first control component (141) comprises a first signal device (1411) and a first detector (1412); the first signal device (1411) is connected to the first driving component (121); the first detector (1412) transmits signals to the first signal device (1411) to detect a signal variable of the first signal device (1411); The main controller controls the universal wheel assembly (122) to stop at any position in the ascending or descending stroke through the first control assembly (141), so as to control the front area (110a) of the chassis body (110) to stop at a corresponding position.

4. The chassis structure (100) according to claim 3, characterized in that: The first driving assembly (121) comprises a first motor (1211), a first screw rod (1212) and a first lifting block (1213); the first motor (1211) is transmission-connected to the first screw rod (1212); the first lifting block (1213) is located on the first screw rod (1212); and the first lifting block (1213) is connected to the universal wheel assembly (122); The first signal device (1411) is connected to the first motor (1211), the first detector (1412) is close to the first signal device (1411), and the first signal device (1411) is used to determine the rotation position and rotation speed of the first motor (1211); The first motor (1211) drives the first screw rod (1212) to rotate forward or reversely so that the first lifting block (1213) drives the universal wheel assembly (122) to rise or fall.

5. The chassis structure (100) according to any one of claims 1 to 4, characterized in that: The second control component (142) is connected to the second drive component (131) by signal, and the control mechanism further comprises a main controller; The second control component (142) is connected to the main controller to transmit the signal of the second drive component (131) to the main controller, and the main controller is used to control the second drive component (131) to drive the turning stroke of the drive wheel component (132) through the second control component (142), so as to control the rising or falling stroke of the edge area (110b) of the chassis body (110) relative to the ground.

6. The chassis structure (100) according to claim 5, characterized in that: The second control component (142) comprises a second signal device (1421) and a second detector (1422), the second signal device (1421) is connected to the second driving component (131), and the second detector (1422) transmits signals to the second signal device (1421) to detect the signal variable of the second signal device (1421); The main controller controls the driving wheel assembly (132) to stop at any position in the forward or reverse flipping stroke through the second control assembly (142), so as to control the edge area (110b) of the chassis body (110) to stop at a corresponding position.

7. The chassis structure (100) according to claim 6, characterized in that: The second driving assembly (131) comprises a second motor (1311), a second screw rod (1312) and a second lifting block (1313); the second motor (1311) is drivingly connected to the second screw rod (1312); the second lifting block (1313) is located on the second screw rod (1312); and the second lifting block (1313) is connected to the driving wheel assembly (132); The second signal device (1421) is connected to the second motor (1311), the second detector (1422) is close to the second signal device (1421), and the second signal device (1421) is used to determine the rotation position and rotation speed of the second motor (1311); The second motor (1311) drives the second screw rod (1312) to rotate forward or reversely so that the second lifting block (1313) drives the driving wheel assembly (132) to flip downward or upward, and the edge area (110b) of the chassis body (110) rises or falls.

8. The chassis structure (100) according to claim 5, characterized in that: The number of the driving wheel mechanisms (130) is two, and the two driving wheel mechanisms (130) are respectively located at two edge areas (110b) of the chassis body (110) in the width direction (Y); The second control components (142) of the two driving wheel mechanisms (130) are independent of each other, so that the rising or falling movements of the two edge areas (110b) of the chassis body (110) relative to the ground are independent of each other.

9. A cleaning device, characterized in that: It comprises the chassis structure (100) according to any one of claims 1 to 8.

10. A cleaning system, characterized in that: include: Base station; And the cleaning device as claimed in claim 9, which can be placed on the base station.

11. A method for controlling a chassis structure, characterized in that: The control mechanism applied to the chassis structure according to any one of claims 1 to 8, wherein the first drive assembly comprises a first motor and a first screw, and the control mechanism comprises a main controller, and the main controller is connected to the first motor through the first control assembly; The method comprises: Acquire a first target position and a first current position of the front area of ​​the chassis body; According to the first target position and the first current position, the first motor is controlled to operate to drive the first screw rod and the universal wheel assembly to move, so as to move the front area of ​​the chassis body from the first current position to the first target position.

12. The control method according to claim 11, characterized in that: The first control assembly includes a first signaler and a first detector; After the front area of ​​the chassis body is moved from the first current position to the first target position, Acquire a first signal of the first signal device detected by the first detector; According to the first signal, it is determined whether the front area of ​​the chassis body moves to the first target position.

13. The control method according to claim 12, characterized in that: If the front area of ​​the chassis body reaches the first target position, the first motor is controlled to stop so that the first screw rod and the universal wheel assembly stop moving, so that the chassis body stops at the first target position; If the front area of ​​the chassis body does not reach the first target position, the first motor is controlled to operate to continue driving the first screw rod and the universal wheel assembly to move until the front area of ​​the chassis body moves to the first target position.

14. The control method according to claim 11, characterized in that: The second driving assembly includes a second motor and a second screw, and the main controller is connected to the second motor through the second control assembly; The method comprises: Acquire a second target position and a second current position of the edge area of ​​the chassis body; According to the second target position and the second current position, the second motor is controlled to operate to drive the second screw rod and the driving wheel assembly to move, so as to move the edge area of ​​the chassis body from the second current position to the second target position.

15. The control method according to claim 14, characterized in that: The second control assembly includes a second signaler and a second detector; After the edge area of ​​the chassis body is moved from the second current position to the second target position, Acquire a second signal of the second signal device detected by the second detector; According to the second signal, it is determined whether the edge area of ​​the chassis body moves to the second target position.

16. The control method according to claim 15, characterized in that: If the edge area of ​​the chassis body reaches the second target position, the second motor is controlled to stop, so that the second screw rod and the driving wheel assembly stop moving, so that the chassis body stops at the second target position; If the edge area of ​​the chassis body does not reach the second target position, the second motor is controlled to operate to continue driving the second screw rod and the driving wheel assembly to move until the edge area of ​​the chassis body moves to the first target position.

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