Sweeper and lifting device and working method thereof

Abstract

The invention relates to the technical field of sweeping machines, and discloses a sweeping machine and a lifting device and a working method thereof, the working method comprises a climbing method: detecting the distance between the sweeping machine and a to-be-climbed object, and when the distance reaches a first preset distance range, controlling a universal wheel located at the front end of the sweeping machine in the advancing direction to perform lifting motion, the distance between the base of the sweeper located above the universal wheels and the ground is increased, and the sweeper is moved to an object to be climbed. When the sweeper moves to the to-be-climbed object, the height of the highest point of the sweeper is higher than the height of the whole base of the sweeper lifted in the vertical direction in the prior art, so that the lowest point of the base of the sweeper can be higher than the to-be-climbed object, and the base is prevented from colliding with the to-be-climbed object; therefore, by means of the working method of the sweeper, the sweeper can cross higher objects, the probability of manually carrying the sweeper is reduced, and the sweeper is convenient to use.

Description

Technical Field

[0001] This invention relates to the field of sweeping machine technology, specifically to a sweeping machine and its lifting device and working method. Background Technology

[0002] With the continuous development of technology, robotic vacuum cleaners have become widely used in households because they are more time-saving and labor-saving than traditional manual cleaning, greatly freeing up people's hands. Since robotic vacuum cleaners operate on surfaces such as steps, long-pile carpets, and base stations that are higher than the ground, they are generally equipped with obstacle-crossing capabilities. Currently, the obstacle-crossing method involves lifting the drive wheels vertically to overcome obstacles. However, due to the height limitation of the front bumper, this method limits the obstacle-crossing height, making it unable to overcome objects higher than 22mm above the ground. This necessitates manual handling of the robotic vacuum cleaner, which is quite inconvenient. Summary of the Invention

[0003] The purpose of this invention is to overcome the problem that existing sweepers cannot overcome objects that are too tall, and to provide a sweeper, its lifting device, and its working method. This working method changes the traditional obstacle-crossing method of sweepers, enabling sweepers to overcome taller objects.

[0004] To achieve the above objectives, the first aspect of the present invention provides a method for operating a sweeping machine, including a climbing method, specifically comprising the following steps: SA1. Identify objects above the ground and detect the height of the object above the ground. If the height is within a predetermined range, the object is determined to be an object to be climbed. SA2. Detect the distance between the sweeper and the object to be climbed, and record it as the first distance; SA3. When the first distance reaches the first predetermined distance range, control the omnidirectional wheel located at the front end of the sweeper's forward direction to lift it, so as to increase the distance between the base of the sweeper above the omnidirectional wheel and the ground. SA4. Move the sweeper to the object to be lifted.

[0005] Preferably, the object to be climbed includes steps or a base station, and the working method of the sweeper also includes a descent method, specifically including the following steps: SB1. Identify the edge of the object to be climbed; SB2, Control the casters to pass over the edge of the object to be climbed; SB3. Detect the distance between the base of the sweeper and the ground, and record it as the second distance; SB4. When the second distance is less than the second predetermined distance, control the caster to lift so that the caster contacts the ground in advance; SB5, The mobile sweeper moves from the object to be lifted to the ground.

[0006] A second aspect of the present invention provides a method for operating a sweeping machine, including a climbing method, specifically comprising the following steps: SC1. Identify the surface to be cleaned on the sweeper's travel path and detect the material of the surface to be cleaned. If the material of the surface to be cleaned falls within a predetermined range, then determine that the surface to be cleaned is a high-risk surface to be cleaned. SC2. Detect the distance between the sweeper and the high-risk entanglement surface to be cleaned, and record it as the third distance; SC3. When the third distance reaches the third predetermined distance range, control the omnidirectional wheel located at the front end of the sweeper in the forward direction to lift it, so as to increase the distance between the base of the sweeper located above the omnidirectional wheel and the working surface below the omnidirectional wheel; SC4. Move the sweeper to the surface with a high risk of entanglement to be cleaned.

[0007] Preferably, the surface to be cleaned with a high risk of entanglement includes long-pile carpets, and the working method of the sweeper also includes a lowering method, specifically including the following steps: SD1: Identify the edges of surfaces to be cleaned that have a high risk of entanglement; SD2. Control the casters to move over the edges of surfaces with a high risk of entanglement; SD3: Control the omnidirectional wheels to descend, thereby reducing the distance between the base of the sweeper above the omnidirectional wheels and the working surface below the omnidirectional wheels.

[0008] A third aspect of the present invention provides a lifting device for performing the above-described method of working a sweeper.

[0009] Preferably, the lifting device is located at the front side of the sweeper's travel direction, and includes a caster wheel assembly, a base bracket located above the caster wheel assembly, and a drive assembly for driving the base bracket to rise and fall relative to the caster wheel assembly.

[0010] Preferably, the caster assembly includes casters, a caster frame, and a guide section arranged and connected sequentially from bottom to top. The guide section extends vertically. The drive assembly includes a nut connected to the top of the guide section and a screw threaded to the nut. The screw is rotatably arranged relative to the base bracket to drive the base bracket to rise and fall.

[0011] Preferably, the base support includes a cover and a guide sleeve extending vertically along the cover. The cover partially covers the upper part and outer periphery of the caster assembly. The guide sleeve is fitted around the outer periphery of the guide portion and is movably disposed relative to the guide portion. A clearance hole extending vertically is formed on the side wall of the guide sleeve. A connector that passes through the clearance hole and connects to a nut is formed on the guide portion. When the base support is raised or lowered relative to the caster assembly, the connector moves relative to the clearance hole and along the extension direction of the clearance hole.

[0012] Preferably, the lifting device further includes a guide post, a guide hole is formed on the nut for the guide post to pass through, the guide post is movably disposed relative to the guide hole, one side of the nut is connected to the guide part, and the other side forms the guide hole.

[0013] A fourth aspect of the present invention provides a sweeping machine, including a base and the aforementioned lifting device, wherein the lifting device is disposed on the front side of the base along the walking direction of the sweeping machine.

[0014] Through the above technical solution, when the sweeper moves to the object to be climbed, the omnidirectional wheels at the front of the sweeper are raised, increasing the distance between the base of the sweeper above the omnidirectional wheels and the ground. The height of its highest point is higher than the height of the sweeper base raised vertically in the prior art. Therefore, the lowest point of the sweeper base can be higher than the object to be climbed, avoiding collision between the base and the object. This also allows the omnidirectional wheels below the base to move onto the object to be climbed. In other words, the sweeper working method of this application enables the sweeper to cross higher objects, reduces the probability of manual handling of the sweeper, and is convenient to use. Attached Figure Description

[0015] Figure 1 This is a perspective view of the lifting device of the present invention; Figure 2 yes Figure 1 A three-dimensional view of the lifting device from another angle; Figure 3 yes Figure 1 Plan view of the lifting device in its unlifted state; Figure 4 yes Figure 3 Longitudinal cross-section of the lifting device; Figure 5 yes Figure 1 A plan view of the lifting device in the lifting state; Figure 6 yes Figure 5 Longitudinal cross-section of the lifting device; Figure 7 yes Figure 1 A perspective view of the caster wheel assembly of the lifting device; Figure 8 yes Figure 7 Longitudinal cross-sectional view of the caster wheel assembly; Figure 9 yes Figure 1 A perspective view of the base support of the lifting device; Figure 10 yes Figure 1 A perspective view of the drive assembly of the lifting device.

[0016] Explanation of reference numerals in the attached figures 10-Swivel wheel assembly; 11-Swivel wheel; 12-Wheel frame; 13-Guide section; 131-Connector; 14-Wheel axle; 15-Busset; 16-Second buffer pad; 17-Snap ring; 18-Buffer spring; 20-Base bracket; 21-Cover; 22-Guide sleeve; 221-Allowing hole; 23-First mounting bracket; 231-Screw hole; 24-Second mounting bracket; 30-Drive assembly; 31-Nut; 311-Guide hole; 312-Slot; 32-Screw; 33-Guide post; 34-First buffer pad; 35-Motor; 36-Support plate; 37-Screw; 40-Detector. Detailed Implementation

[0017] In this invention, unless otherwise stated, directional terms such as "up," "down," "left," and "right" generally refer to the orientation of the corresponding figures. "Inner" and "outer" refer to the inner and outer contours of the corresponding components.

[0018] It should be noted that the numbers in the following steps do not represent the order.

[0019] This invention provides a method for operating a sweeping machine, including a climbing method, specifically comprising the following steps: SA1. Identify objects above the ground and detect the height of the object above the ground. If the height is within a predetermined range, the object is determined to be an object to be climbed. SA2. Detect the distance between the sweeper and the object to be climbed, and record it as the first distance; SA3. When the first distance reaches the first predetermined distance range, control the omnidirectional wheel located at the front end of the sweeper's forward direction to lift it, so as to increase the distance between the base of the sweeper above the omnidirectional wheel and the ground. SA4. Move the sweeper to the object to be lifted.

[0020] When the robot vacuum is working, it continuously identifies objects in front of it in its direction of travel. If the object is higher than the ground but outside a predetermined height range, there are two scenarios: First, if the object is below the predetermined height range, the robot vacuum's base is already at a certain height above the ground, so it doesn't need to perform any operation and can continue walking towards the object without its chassis touching it. Second, if the object is above the predetermined height range, the robot vacuum can move to the object and bypass it. This method is a common obstacle avoidance mechanism in existing robot vacuums and will not be detailed here. If the object is within the predetermined height range, the robot vacuum raises its base in front of the object in its direction of travel, ensuring that the front of the base is higher than the highest point of the object to be climbed. This prevents the base from colliding with the object and allows the robot vacuum to move smoothly onto it.

[0021] In step SA1, the lower limit of the predetermined height range can be the height of the robot vacuum's base from the ground, and the upper limit can be the maximum height of the raised base from the ground. When the object's height from the ground is below the predetermined height range, it means that the object is lower than the height of the base when it is not raised, and the robot vacuum can walk on the object without raising it. When the object is within the predetermined height range, it means that the object is higher than the height of the base when it is not raised, and the robot vacuum can only walk on the object after it is raised. When the object's height from the ground is above the predetermined height range, it means that even if the base is raised, it will collide with the object and cannot move on the object; it can only move by going around obstacles.

[0022] In step SA2, when the distance between the sweeper and the object to be climbed is the first distance, the base is raised. After the base is raised, the sweeper can accelerate to move onto the object, ensuring the reliability of the sweeper's climbing. The first distance can be calculated and determined based on the ground clearance of the sweeper's base and / or the maximum liftable height of the casters, such as 3cm, 4cm, 5cm, 6cm, etc.

[0023] In step SA3, the sweeper base is raised by tilting it upwards towards the object to be climbed. Compared to raising the base vertically, this tilted lifting method raises the base higher off the ground, allowing the sweeper to climb to higher objects. The predetermined angle is 15 to 45 degrees, preferably 20 to 30 degrees.

[0024] The object to be climbed includes steps or base stations. The working method of the sweeping robot also includes a descent method, which specifically includes the following steps: SB1. Identify the edge of the object to be climbed; SB2, Control the casters to pass over the edge of the object to be climbed; SB3. Detect the distance between the base of the sweeper and the ground, and record it as the second distance; SB4. When the second distance is less than the second predetermined distance, control the caster to lift so that the caster contacts the ground in advance, which can play a buffering role and prevent the sweeper from falling and being damaged. SB5, The mobile sweeper moves from the object to be lifted to the ground.

[0025] When the sweeper leaves the object to be climbed, it needs to be lifted first and then lowered from the object. During the descent, the sweeper's caster wheel 11 falls from a height to the ground, which will generate an impact force and cause the base to sink. Lifting the base in advance can prevent the base from sinking under force and hitting the edge of the object to be climbed, thus protecting the base.

[0026] In step SB3, when the distance between the base of the sweeper and the edge of the object to be climbed is less than the second distance, the casters will lift. After the casters lift, the sweeper can decelerate and move to descend from the object, reducing the impact force generated during descent and increasing the stability of the sweeper when leaving the object. The second distance can be calculated and determined based on the ground clearance of the sweeper's base and / or the maximum liftable height of the casters, such as 3cm, 4cm, 5cm, 6cm, etc.

[0027] It should be noted that the base station needs to have water inside and a steep slope, so tilting the sweeper's base makes it easier to climb onto the base.

[0028] When the object to be climbed is a step or a base station, steps SA1, SA2, SB1 and SB2 are all implemented by a vision sensor installed on the sweeping machine.

[0029] The vision sensor can detect the actual height of the step or base, thereby determining the lifting height of the sweeper's base. Based on this determined lifting height, the sweeper's base is then raised to ensure it can smoothly climb onto the step or base. The aforementioned vision sensor and ultrasonic sensor are specifically... Figure 1 and Figure 2 The detector 40 of the lifting device (described in detail later) is mounted on the base bracket 20 (described in detail later), and its detection position is located directly in front of the sweeper's walking direction.

[0030] Of course, multiple detectors 40 of different types can be set to identify different types of objects, ensuring accurate and efficient identification. The operation of the sweeper can be achieved through a controller. The detectors 40 are electrically connected to the controller, which then controls the timing and height of the base lifting based on the detection results of the detectors 40. Specifically, this is achieved by controlling the motor 35 (described in detail later) of the drive assembly 30 of the lifting device.

[0031] The present invention also provides a method for operating a sweeping machine, including a climbing method, specifically including the following steps: SC1. Identify the surface to be cleaned on the sweeper's travel path and detect the material of the surface to be cleaned. If the material of the surface to be cleaned falls within a predetermined range, then determine that the surface to be cleaned is a high-risk surface to be cleaned. SC2. Detect the distance between the sweeper and the high-risk entanglement surface to be cleaned, and record it as the third distance; SC3. When the third distance reaches the third predetermined distance range, control the omnidirectional wheel located at the front end of the sweeper in the forward direction to lift it, so as to increase the distance between the base of the sweeper located above the omnidirectional wheel and the working surface below the omnidirectional wheel; SC4. Move the sweeper to the surface with a high risk of entanglement to be cleaned.

[0032] Surfaces with a high risk of tangling include long-pile carpets. The sweeper's operating method also includes a descent method, specifically comprising the following steps: SD1: Identify the edges of surfaces to be cleaned that have a high risk of entanglement; SD2. Control the casters to move over the edges of surfaces with a high risk of entanglement; SD3: Control the omnidirectional wheels to descend, thereby reducing the distance between the base of the sweeper above the omnidirectional wheels and the working surface below the omnidirectional wheels.

[0033] When the surface to be cleaned with a high risk of tangling is a long-pile carpet, steps SC1 and SD1 are both implemented using an ultrasonic sensor.

[0034] The present invention also provides a lifting device for performing the above-described sweeping machine operating method.

[0035] Please refer to Figures 1 to 10 The lifting device is located on the front side of the sweeper's walking direction, and includes a caster wheel assembly 10, a base bracket 20 located above the caster wheel assembly 10, and a drive assembly 30 for driving the base bracket 20 to rise and fall relative to the caster wheel assembly 10.

[0036] The lifting device is located at the front side below the base of the sweeper in the above working method. The base bracket 20 is connected to the base of the sweeper, or the base bracket 20 is formed as part of the base of the sweeper. The drive component 30 drives the base bracket 20 to rise and fall, thereby driving the front side of the sweeper base to rise and fall, so as to realize the tilting of the sweeper base.

[0037] Reference Figure 4 , Figures 6 to 8 , Figure 10The caster assembly 10 includes a caster wheel 11, a wheel frame 12, and a guide part 13 arranged and connected sequentially from bottom to top. The guide part 13 extends in a vertical direction. The drive assembly 30 includes a nut 31 connected to the top of the guide part 13 and a screw 32 threaded to the nut 31. The screw 32 is rotatably arranged relative to the base bracket 20 to drive the base bracket 20 to rise and fall.

[0038] Nut 31 is connected to guide part 13 and the two are fixed relative to each other. When screw 32 rotates, it moves up and down relative to nut 31, which drives base bracket 20 to move up and down relative to universal wheel assembly 10, thereby realizing the lifting and lowering of base bracket 20.

[0039] When the omnidirectional wheel assembly 10 is applied to a sweeper, it can be an omnidirectional wheel located on the front side of the sweeper's walking direction. For example... Figure 8As shown, the omnidirectional wheel assembly 10 also includes a wheel axle 14, a bushing 15, a second buffer pad 16, a retaining ring 17, and a buffer spring 18. The omnidirectional wheel 11 is rotatably connected to the wheel frame 12 so as to rotate axially relative to the wheel frame 12. A cavity is formed at the center of the guide portion 13, and a bushing 15 is fixed in the cavity. The bushing 15 is sleeved on the outer periphery of the wheel axle 14, and the two are rotatably engaged. The lower end of the bushing 15 protrudes from the lower end face of the guide portion 13, and the lower end of the wheel axle 14 protrudes from the lower end face of the bushing 15. The lower end of the wheel axle 14 is rotatably connected to the top center of the wheel frame 12 so as to rotate axially relative to the wheel frame 12. The axial direction of the omnidirectional wheel 11 is horizontal, and the axial direction of the wheel axle 14 is vertical. The two are perpendicular. The different rotation directions of the omnidirectional wheel 11 and the wheel axle 14 cooperate to realize the function of the omnidirectional wheel. The upper end of the axle 14 protrudes beyond the upper end face of the bushing 15, and an annular groove is formed circumferentially on the protruding part of the axle 14. A retaining spring 17 is provided between the annular groove and the upper end face of the bushing 15. The retaining spring 17 is partially embedded in the annular groove and protrudes circumferentially beyond the upper outer periphery of the bushing 15. A second buffer pad 16 is fixed on the top cavity wall of the cavity. Annular chambers communicating with the cavity are formed on both sides of the cavity. A buffer spring 18 is provided in each of the two annular chambers. The top of the buffer spring 18 is connected to the top cavity wall of the annular chamber. A connecting ring extends circumferentially from the bushing 15. The connecting ring is connected to the bottom of the buffer spring 18. The cavity and the annular chambers provide a margin for the connecting ring to move vertically, allowing the connecting ring to move vertically relative to the guide part 13. The retaining spring 17, the second buffer pad 16, and the buffer... The elastic deformation direction of spring 18 is always vertical. When the sweeper climbs onto or descends from an object, it will generate a vertical impact force on the caster wheel assembly 10. At this time, the distance between the upper end of the axle 14 and the upper end face of the bushing 15 decreases, compressing the retaining spring 17. The distance between the upper end face of the axle 14 and the top cavity wall of the cavity also decreases. The upper end face of the axle 14 will impact and compress the second buffer pad 16. The connecting ring of the bushing 15 moves upward, compressing the buffer spring 18. The retaining spring 17, the second buffer pad 16, and the buffer spring 18 work together to offset most or all of the vertical impact force when the sweeper climbs onto or descends from an object, thus protecting the caster wheel assembly 10 and protecting the base of the sweeper from damage due to large impact forces.

[0040] Reference Figures 3 to 6 as well as Figure 9The base support 20 includes a cover 21 and a guide sleeve 22 extending vertically along the cover 21. The cover 21 partially covers the upper part and outer periphery of the caster assembly 10. The guide sleeve 22 is fitted around the outer periphery of the guide portion 13 and is movably disposed relative to the guide portion 13. A clearance hole 221 extending vertically is formed on the side wall of the guide sleeve 22. A connector 131 is formed on the guide portion 13, passing through the clearance hole 221 and connecting to the nut 31. When the base support 20 is raised or lowered relative to the caster assembly 10, the connector 131 moves relative to the clearance hole 221 and along the extending direction of the clearance hole 221.

[0041] The cover 21 protects the upper part and outer periphery of the caster wheel 11 and the wheel frame 12, while preventing external impurities from entering the caster wheel 11 and affecting its rolling. The guide sleeve 22 slides with the guide part 13, allowing the drive assembly 30 to drive the guide sleeve 22 to slide up and down relative to the guide part 13, thereby realizing the raising and lowering of the base bracket 20 relative to the caster wheel assembly 10. The connector 131 protrudes horizontally from the clearance hole 221 of the guide sleeve 22 to be fixedly connected to the nut 31 outside the guide sleeve 22. The nut 31 has a horizontal "U"-shaped groove 312 on the side facing the guide sleeve 22. The connector 131 is partially inserted into the groove 312 to increase the contact area between the connector 131 and the nut 31, thereby increasing the stability of the connection. The part of the connector 131 inserted into the groove 312 is also fitted with an annular first buffer pad 34. When the lead screw 32 moves up and down relative to the nut 31, the lead screw 32 exerts a vertical force on the nut 31, including tension and pressure, which will cause the nut 31 to tend to move up and down. At this time, the first buffer pad 34 is compressed by the nut 31. Its elastic force can offset the force from the lead screw 32 on the nut 31, ensuring that the nut 31 is fixed relative to the guide part 13. In addition, the compression of the first buffer pad 34 can also offset the pressure of the nut 31 on the connector 131, avoiding wear caused by a hard connection between the two, and protecting both.

[0042] Reference Figure 1 , Figure 2 and Figure 10 The lifting device also includes a guide post 33. A guide hole 311 is formed on the nut 31 for the guide post 33 to pass through. The guide post 33 is movably arranged relative to the guide hole 311. One side of the nut 31 is connected to the guide part 13, and the other side forms the guide hole 311.

[0043] The guide post 33 moves up and down synchronously with the lead screw 32. One side of the nut 31 is guided vertically through the cooperation of the guide part 13 and the guide sleeve 22, and the other side is guided vertically through the cooperation of the guide hole 311 and the guide post 33. In other words, the opposite sides of the nut 31 have guiding components to achieve force balance, ensure that the nut 31 can be kept horizontal, and prevent the lead screw 32 from deviating in the direction of movement, that is, ensure that the lead screw 32 can move in the vertical direction.

[0044] Reference Figures 1 to 3 as well as Figure 9 The drive assembly 30 also includes a motor 35 connected to the lead screw 32, a support plate 36 and a screw 37 that fix the motor 35 to the base bracket 20. When the motor 35 starts, it drives the lead screw 32 to rotate. The number of rotations of the motor 35 determines the distance the lead screw 32 moves in the vertical direction relative to the nut 31. The lifting height of the base bracket 20 is set by different rotations of the motor 35, thereby setting the lifting angle of the sweeper's base. The number of rotations of the motor 35 can be achieved by the controller. The screw 32 moves vertically through the cooperation of the screw 32 and the nut 31. The cover 21 of the base bracket 20 is also provided with a first mounting bracket 23 and a second mounting bracket 24. The first mounting bracket 23 has a screw hole 231 in the vertical direction. The support plate 36 also has a first mounting hole coaxial with the screw hole 231. The screw 37 passes through the first mounting hole from top to bottom and is screwed into the screw hole 231 to fix the support plate 36 on the first mounting bracket 23. The first mounting hole, the screw hole 231 and the screw 37 are each set to two, and each first mounting hole, each screw hole 231 and each screw 37 corresponds to each other, which increases the connection stability between the support plate 36 and the first mounting bracket 23. The support plate 36 also has a second mounting hole, and the motor 35 is inserted into the second mounting hole and fixedly connected to the support plate 36. The shape of the second mounting bracket 24 is adapted to the shape of the detector 40 to maximize the contact area between the second mounting bracket 24 and the detector 40, thereby increasing the stability of the connection between the detector 40 and the second mounting bracket 24. Figure 9 Described in the orientation shown, the first mounting bracket 23 is located on the left front side of the guide sleeve 22 so that the drive assembly 30 can be located on the front side of the guide sleeve 22, and the second mounting bracket 24 is located on the right side of the guide sleeve 22 so that the detector 40 can be located on the right side of the guide sleeve 22. This arrangement can make the most of the space on the upper part of the cover 21 and increase the compactness of the overall structure.

[0045] The present invention also provides a sweeping machine, including a base and the above-mentioned lifting device, wherein the lifting device is disposed on the front side of the base along the walking direction of the sweeping machine.

[0046] The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings; however, the present invention is not limited thereto. Within the scope of the inventive concept, various simple modifications can be made to the technical solutions of the present invention, including combinations of various specific technical features in any suitable manner. To avoid unnecessary repetition, the present invention will not describe the various possible combinations separately. However, these simple modifications and combinations should also be considered as the content disclosed in the present invention and are all within the protection scope of the present invention.

Claims

1. A method for operating a sweeping machine, characterized in that, This includes the climbing method, specifically the following steps: SA1. Identify objects above the ground and detect the height of the object above the ground. If the height is within a predetermined range, the object is determined to be an object to be climbed. SA2. Detect the distance between the sweeper and the object to be climbed, and record it as the first distance; SA3. When the first distance reaches the first predetermined distance range, control the omnidirectional wheel located at the front end of the sweeper in the forward direction to lift it, so as to increase the distance between the base of the sweeper located above the omnidirectional wheel and the ground. SA4. Move the sweeper onto the object to be climbed.

2. The working method of the sweeper according to claim 1, characterized in that, The object to be climbed includes a step, and the sweeper's working method also includes a descent method, specifically comprising the following steps: SB1. Identify the edge of the object to be climbed; SB2, Control the casters to pass over the edge of the object to be climbed; SB3. Detect the distance between the base of the sweeper and the ground, and record it as the second distance; SB4. When the second distance is less than the second predetermined distance, control the caster to lift so that the caster contacts the ground in advance; SB5. Move the sweeper from the object to be lifted to the ground.

3. A method for operating a sweeping machine, characterized in that, This includes the climbing method, specifically the following steps: SC1. Identify the surface to be cleaned on the sweeper's travel path and detect the material of the surface to be cleaned. If the material of the surface to be cleaned falls within a predetermined range, then determine that the surface to be cleaned is a high-risk surface to be cleaned. SC2. Detect the distance between the sweeper and the high-risk entanglement surface to be cleaned, and record it as the third distance; SC3. When the third distance reaches the third predetermined distance range, control the omnidirectional wheel located at the front end of the sweeper in the forward direction to lift it, so as to increase the distance between the base of the sweeper located above the omnidirectional wheel and the working surface below the omnidirectional wheel; SC4. Move the sweeper to the surface with a high risk of entanglement to be cleaned.

4. The working method of the sweeper according to claim 3, characterized in that, The high-risk entanglement surface to be cleaned includes long-pile carpets, and the sweeper's operating method further includes a lowering method, specifically comprising the following steps: SD1. Identify the edges of the high-risk entanglement surfaces to be cleaned; SD2, control the caster to pass over the edge of the high-risk entanglement surface to be cleaned; SD3. Control the omnidirectional wheel to descend, so as to reduce the distance between the base of the sweeper located above the omnidirectional wheel and the working surface below the omnidirectional wheel.

5. A lifting device, characterized in that, The lifting device is used to perform the working method of the sweeper according to any one of claims 1 to 4.

6. The lifting device according to claim 5, characterized in that, The lifting device is located on the front side of the sweeper in the direction of travel, and includes a caster wheel assembly (10), a base bracket (20) located above the caster wheel assembly (10), and a drive assembly (30) for driving the base bracket (20) to rise and fall relative to the caster wheel assembly (10).

7. The lifting device according to claim 6, characterized in that, The universal wheel assembly (10) includes universal wheels (11), wheel frames (12) and guide parts (13) arranged and connected sequentially from bottom to top. The guide parts (13) extend in a vertical direction. The drive assembly (30) includes a nut (31) connected to the top of the guide parts (13) and a screw (32) threaded to the nut (31). The screw (32) is rotatably arranged relative to the base bracket (20) to drive the base bracket (20) to rise and fall.

8. The lifting device according to claim 7, characterized in that, The base bracket (20) includes a cover (21) and a guide sleeve (22) extending vertically along the cover (21). The cover (21) partially covers the upper part and outer periphery of the caster assembly (10). The guide sleeve (22) is fitted around the outer periphery of the guide portion (13) and is movably disposed relative to the guide portion (13). A clearance hole (221) extending vertically is formed on the side wall of the guide sleeve (22). A connector (131) is formed on the guide portion (13) that passes through the clearance hole (221) and connects to the nut (31). When the base bracket (20) is raised or lowered relative to the caster assembly (10), the connector (131) moves relative to the clearance hole (221) and along the extending direction of the clearance hole (221).

9. The lifting device according to claim 8, characterized in that, The drive assembly (30) also includes a guide post (33), and a guide hole (311) is formed on the nut (31) for the guide post (33) to pass through. The guide post (33) is movably disposed relative to the guide hole (311). One side of the nut (31) is connected to the guide portion (13), and the other side forms the guide hole (311).

10. A sweeping machine, comprising a base and a lifting device according to any one of claims 5 to 9, characterized in that, Along the walking direction of the sweeper, the lifting device is located on the front side of the base.

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