Method for changing posture of cleaning robot, suspension device and cleaning robot

Abstract

The invention relates to the technical field of cleaning robots, in particular to a method for changing the posture of a cleaning robot, a suspension device and the cleaning robot. The cleaning robot comprises a robot body, an obstacle crossing mechanism and a trigger mechanism, the robot body comprises a first side and a second side which are distributed front and back in the advancing direction of the cleaning robot, the obstacle crossing mechanism is in driving connection with the first side, and the trigger mechanism is connected with the robot body; the triggering mechanism is used for enabling the second side to move reversely when the first side moves in the height direction of the cleaning robot; the method comprises the following steps that target posture parameters, needing to be adjusted, of a first side are obtained, and the target posture parameters comprise the target height of the first side in the height direction of the cleaning robot and / or the target dip angle between the first side and a to-be-cleaned face; and controlling the obstacle crossing mechanism to drive the first side to move to the target attitude parameter. The first side is lifted, the second side drives the cleaning mechanism to descend through the triggering mechanism, the to-be-cleaned face can be pressurized, and the cleaning effect is improved.

Description

Technical Field

[0001] This application relates to the field of cleaning robot technology, and in particular to a method for changing the posture of a cleaning robot, a suspension device, and a cleaning robot. Background Technology

[0002] A cleaning robot is a smart home appliance that integrates environmental perception, path planning, and autonomous movement. Its core function is to perform daily floor cleaning through automated operations such as sweeping, vacuuming, and mopping, effectively removing dust, hair, and debris. However, cleaning robots with this technology are less effective at cleaning stubborn stains, requiring repeated cleaning sessions, which affects cleaning efficiency and quality.

[0003] The information disclosed in this background section is intended only to enhance the understanding of the overall background of the invention and should not be construed as an admission or in any way implying that the information constitutes prior art known to those skilled in the art. Summary of the Invention

[0004] Therefore, it is necessary to provide a method for changing the posture of a cleaning robot, a suspension device, and a cleaning robot to address the problem that cleaning robots of related technologies have poor cleaning power for stubborn stains, requiring repeated cleaning and affecting cleaning efficiency and quality.

[0005] Firstly, a method for altering the posture of a cleaning robot includes:

[0006] The cleaning robot includes a main body, an obstacle-crossing mechanism, and a triggering mechanism. The main body includes a first side and a second side distributed front to back along the direction of travel of the cleaning robot. The obstacle-crossing mechanism is driven and connected to the first side. The triggering mechanism is connected to the main body and is used to cause the second side to move in the opposite direction when the first side moves along the height direction of the cleaning robot.

[0007] The method includes the following steps:

[0008] Obtain the target posture parameters to be adjusted for the first side, the target posture parameters including the target height of the first side along the height direction of the cleaning robot, and / or the target tilt angle between the first side and the surface to be cleaned;

[0009] The obstacle-crossing mechanism is controlled to drive the first side to move to the target posture parameters.

[0010] In one embodiment, the step of obtaining the target attitude parameters to be adjusted on the first side includes:

[0011] The environmental perception unit of the cleaning robot is controlled to acquire cleaning scene information;

[0012] The target attitude parameters are generated based on the cleaning scene information.

[0013] In one embodiment, the step of generating the target pose parameters based on the cleaning scene information includes:

[0014] Obtain first stain information, and generate first target pose parameters based on the first stain information;

[0015] Obtain second stain information, and generate second target attitude parameters based on the second stain information;

[0016] The second stain is more difficult to clean than the first stain, and the second target attitude parameter is greater than the first target attitude parameter.

[0017] In one embodiment, the obstacle-crossing mechanism includes a drive assembly and a rotating component, the drive assembly being drivenly connected to the rotating component, and the rotating component being drivenly connected to the first side of the fuselage body;

[0018] The steps of controlling the obstacle-crossing mechanism to drive the first side to move to the target attitude parameters include:

[0019] Based on the target attitude parameters, the target rotation angle of the rotating component is obtained;

[0020] The drive assembly is controlled according to the target rotation angle to drive the rotating component to rotate along the first direction by the target rotation angle, so as to drive the first side to rise or fall along the height direction of the cleaning robot to the target posture parameter.

[0021] In one embodiment, the obstacle-crossing mechanism further includes a transmission component disposed on the main body of the machine body, the rotating component includes a cam, the cam is drivenly connected to the drive assembly, the outer peripheral surface of the cam has a first position and a second position, and the transmission component drives and abuts against the outer peripheral surface of the cam located between the first position and the second position;

[0022] The step of controlling the drive assembly to drive the rotating component to rotate the target rotation angle along the first direction includes:

[0023] Based on the target attitude parameters, the target rotation angle of the cam is obtained;

[0024] Based on the target rotation angle, the drive assembly is controlled to drive the cam to rotate along the first direction by the target rotation angle, and the transmission component is driven to move toward the first position or the second position, thereby causing the first side to rise or fall along the height direction of the cleaning robot to the target posture parameter.

[0025] In one embodiment, the method further includes:

[0026] When the first position detection unit of the cleaning robot detects that the transmission component has reached the first position, it controls the drive assembly to stop driving the cam to rotate in the first direction;

[0027] Alternatively, when the second position detection unit of the cleaning robot detects that the transmission component has reached the second position, the control unit controls the drive assembly to stop driving the cam to rotate in the first direction.

[0028] In a second aspect, a suspension device is provided for mounting on the main body of a cleaning robot, the cleaning robot including a first side and a second side along a forward direction, the suspension device comprising:

[0029] An obstacle-crossing mechanism, wherein the obstacle-crossing mechanism is driven and connected to the first side;

[0030] A triggering mechanism is connected to the main body of the fuselage, and the triggering mechanism is used to cause the second side to move in the opposite direction when the first side moves.

[0031] In one embodiment, the triggering mechanism includes a fixed member and a movable member. The fixed member is connected to the obstacle-crossing mechanism, and the movable member is movably connected to the fixed member and connected to the fuselage body. The movable member raises the first side while lowering the second side.

[0032] In one embodiment, the triggering mechanism further includes an elastic element connected to the fixed element and the movable element.

[0033] In one embodiment, the fixing member has a groove, the movable member is at least partially located in the groove, and the outer periphery of the movable member is in clearance fit with the groove, the elastic member is located in the groove, and the elastic member is sleeved on the outer periphery of the movable member.

[0034] In one embodiment, the obstacle-crossing mechanism includes:

[0035] Rotating component;

[0036] A drive assembly is driven and connected to the rotating member, which is driven and connected to the first side of the main body of the machine body. The drive assembly drives the rotating member to rotate in a first direction, so that the rotating member drives the first side to rise or fall.

[0037] In one embodiment, the obstacle-crossing mechanism further includes a transmission component disposed on the main body of the machine. The rotating component includes a cam, which is drivenly connected to the drive assembly. The outer peripheral surface of the cam has a first position and a second position. The transmission component abuts against the outer peripheral surface of the cam located between the first position and the second position. The drive assembly drives the cam to rotate along the first direction to drive the transmission component to move toward the first position or toward the second position, thereby causing the first side to rise or fall.

[0038] In one embodiment, the suspension device further includes a first position detection unit disposed on the cam, the first position detection unit being used to detect whether the transmission component has reached the first position;

[0039] And / or, the suspension device further includes a second position detection unit, which is disposed on the cam and is used to detect whether the transmission component has reached the second position.

[0040] Thirdly, a cleaning robot includes a suspension device and a main body, the suspension device being connected to the main body, and the suspension device being the suspension device described in the second aspect.

[0041] The second side of the aforementioned main body can be equipped with cleaning mechanisms such as a mop, roller brush, or side brush. The obstacle-crossing mechanism drives the first side of the main body to rise and / or tilt away from the surface to be cleaned along the height direction of the cleaning robot. This triggers a triggering mechanism to lower and / or tilt the second side of the main body towards the surface to be cleaned. The second side of the main body then applies downward pressure to the cleaning mechanism, allowing it to adhere more closely to the ground and generate greater friction, effectively scraping away stubborn stains. This pressurization reduces the number of times the cleaning robot repeatedly wipes the same area, saving cleaning time and reducing ineffective path planning. Furthermore, this method allows the second side to float up or down, enabling the cleaning mechanism to better adapt to the unevenness of the surface to be cleaned, improving its ability to maintain stable pressure under different terrains and enhancing its cleaning effect. Attached Figure Description

[0042] To more clearly illustrate the technical solutions in the embodiments of this application or the conventional technology, the drawings used in the description of the embodiments or the conventional technology will be briefly introduced below. Obviously, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on the disclosed drawings without creative effort.

[0043] Figure 1This is an assembly diagram of a suspension device and a fuselage body provided in an embodiment of this application.

[0044] Figure 2 This is a perspective view of a suspension device provided in an embodiment of this application.

[0045] Figure 3 This is a three-dimensional schematic diagram of a triggering mechanism provided in an embodiment of this application.

[0046] Figure 4 This is a perspective view of a portion of the structure of a suspension device provided in an embodiment of this application.

[0047] Figure 5 This is a perspective view of another part of the structure of a suspension device provided in an embodiment of this application.

[0048] Figure 6 This is a schematic diagram illustrating the steps of a method for changing the posture of a cleaning robot, as provided in an embodiment of this application.

[0049] Explanation of reference numerals in the attached drawings: 10. Suspension device; 1. Obstacle crossing mechanism; 11. Drive assembly; 111. First drive component; 1111. Drive motor; 1121. Worm gear; 1122. Worm wheel; 1123. First lifting gear; 1124. Second lifting gear; 1125. Second lifting synchronizing gear; 1126. Third lifting gear; 1127. Third lifting synchronizing gear; 1128. Fourth lifting gear; 1129. Fifth lifting gear; 1130. Sixth lifting gear; 1131. Sixth lifting synchronizing gear; 12. Rotating component; 121. Cam; 122. First position; 123. 1. Second position; 2. Triggering mechanism; 21. Fixing component; 211. Groove; 22. Movable component; 23. Elastic component; 5. Obstacle crossing leg; 51. First support arm; 52. Second support arm; 53. Obstacle crossing wheel; 541. First obstacle crossing gear; 542. Second obstacle crossing gear; 543. Third obstacle crossing gear; 544. Fourth obstacle crossing gear; 545. Fourth synchronous obstacle crossing gear; 546. Fifth obstacle crossing gear; 547. Sixth obstacle crossing gear; 548. Seventh obstacle crossing gear; 6. Walking frame; 61. Walking wheel; 20. Main body; 201. First side; 202. Second side; 30. Surface to be cleaned. Detailed Implementation

[0050] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0051] A cleaning robot is a smart home appliance that integrates environmental perception, path planning, and autonomous movement. Its core function is to perform daily floor cleaning through automated operations such as sweeping, vacuuming, and mopping, effectively removing dust, hair, and debris. However, cleaning robots with this technology are less effective at cleaning stubborn stains, requiring repeated cleaning sessions, which affects cleaning efficiency and quality.

[0052] Please see Figure 1 Based on the above problems, in a first aspect, embodiments of this application provide a method for changing the posture of a cleaning robot. The cleaning robot includes a main body 20, an obstacle-crossing mechanism 1, and a triggering mechanism 2. The main body 20 includes a first side 201 and a second side 202 distributed front-to-back along the robot's direction of travel. The obstacle-crossing mechanism 1 is driven and connected to the first side 201, and the triggering mechanism 2 is connected to the main body 20. The triggering mechanism 2 is used to cause the second side 202 to move in the opposite direction when the first side 201 moves along the height direction of the cleaning robot.

[0053] In this embodiment, the reverse movement can be understood as follows: when the first side 201 rises along the height direction of the cleaning robot, the second side 202 descends; or when the first side 201 descends along the height direction of the cleaning robot, the second side 202 rises. Alternatively, when the first side 201 tilts away from the surface 30 to be cleaned, the second side 202 tilts towards the surface 30 to be cleaned; or when the first side 201 tilts towards the surface 30 to be cleaned, the second side 202 tilts away from the surface 30 to be cleaned.

[0054] Please see Figure 6 The above method includes the following steps: obtaining the target posture parameters to be adjusted for the first side 201, the target posture parameters including the target height of the first side 201 along the height direction of the cleaning robot, and / or the target tilt angle between the first side 201 and the surface to be cleaned 30; controlling the obstacle crossing mechanism 1 to drive the first side 201 to move to the target posture parameters.

[0055] It should be noted that, since the triggering mechanism 2 can cause the second side 202 to move in the opposite direction when the first side 201 of the main body 20 moves, this method can correspondingly change the height and / or tilt angle of the second side 202 when the first side 201 is adjusted to a target height and / or target tilt angle along the height direction of the cleaning robot. The target height of the first side 201 can refer to the height by which the first side 201 rises or falls relative to its initial position along the height direction of the cleaning robot. The target tilt angle of the first side 201 can refer to the angle at which the first side 201 tilts towards the surface to be cleaned 30 or away from the surface to be cleaned 30.

[0056] In optional embodiments, the target attitude parameter may be only the target height of the first side 201 along the height direction of the cleaning robot, or it may be only the target tilt angle between the first side 201 and the surface to be cleaned 30, or the target attitude parameter may include both the target height and the target tilt angle.

[0057] Please see Figure 1 The second side 202 of the main body 20 can be equipped with cleaning mechanisms such as a mop, roller brush, or side brush. The obstacle-crossing mechanism 1 drives the first side 201 of the main body 20 to rise and / or tilt in the direction away from the surface 30 to be cleaned along the height direction of the cleaning robot. This triggers the triggering mechanism 2 to lower and / or tilt the second side 202 of the main body 20 towards the surface 30 to be cleaned. Consequently, the second side 202 of the main body 20 can apply downward pressure to the cleaning mechanism, allowing it to adhere more closely to the ground and generate greater friction, thus effectively scraping away stubborn stains. After pressurization, the number of times the cleaning robot repeatedly wipes the same area back and forth can be reduced, saving cleaning time and reducing ineffective path planning by the cleaning robot. Furthermore, this method allows the second side 202 to float up or down, enabling the cleaning mechanism to better adapt to the undulations of the surface 30 to be cleaned, improving its ability to maintain stable pressure under different terrains and enhancing its cleaning effect.

[0058] In an optional implementation, the step of obtaining the target posture parameters to be adjusted on the first side 201 includes: controlling the environmental perception unit of the cleaning robot to obtain cleaning scene information; and generating target posture parameters based on the cleaning scene information. Obtaining cleaning scene information through the environmental perception unit of the cleaning robot can improve the robot's adaptability to complex working environments.

[0059] In optional implementations, the cleaning scene information may include ground material, terrain undulation, obstacle distribution, stain status, or gap depth, etc.

[0060] In some embodiments, the step of generating target posture parameters based on cleaning scene information includes: acquiring first stain information, generating first target posture parameters based on the first stain information; acquiring second stain information, generating second target posture parameters based on the second stain information; wherein the cleaning difficulty of the second stain is greater than that of the first stain, and the second target posture parameters are greater than those of the first target posture parameters. Cleaning difficulty refers to the cleaning pressure required to remove a stain during the same cleaning process. The cleaning difficulty of the second stain is greater than that of the first stain, meaning the cleaning pressure required to remove the second stain is greater than that required to remove the first stain.

[0061] For example, the second stain may be a stain with high adhesion such as oil stain, mildew, or yellow stain, while the first stain may be a stain with low adhesion such as dust, paper scraps, or hair.

[0062] For example, please refer to Figure 1 The fact that the second target posture parameter is greater than the first target posture parameter can be understood as follows: the height at which the first side 201 is raised away from the surface 30 to be cleaned along the height direction of the cleaning robot is greater when cleaning the second stain than when cleaning the first stain. This allows the second side 202 to be lowered closer to the surface 30 to be cleaned at a greater height when cleaning the second stain than when cleaning the first stain, thus providing greater pressure and a better cleaning effect. Alternatively, it can be understood as follows: the angle at which the first side 201 is tilted away from the surface 30 to be cleaned is greater when cleaning the second stain than when cleaning the first stain. This allows the second side 202 to be tilted closer to the surface 30 to be cleaned at a greater angle when cleaning the second stain than when cleaning the first stain, thus providing greater pressure and improving the cleaning effect. Therefore, based on different cleaning scenario information, the second side 202 can apply different pressures to the surface 30 to be cleaned to improve the cleaning effect.

[0063] In this embodiment of the application, the first direction is direction A, and the second direction is direction B.

[0064] Please see Figure 2 In some embodiments, the obstacle-crossing mechanism 1 includes a drive assembly 11 and a rotating component 12. The drive assembly 11 is driven and connected to the rotating component 12, and the rotating component 12 is driven and connected to the first side 201 of the fuselage body 20. The step of controlling the obstacle-crossing mechanism 1 to drive the first side 201 to move to the target attitude parameters includes: obtaining the target rotation angle of the rotating component 12 according to the target attitude parameters; controlling the drive assembly 11 to drive the rotating component 12 along a first direction (e.g., according to the target rotation angle) according to the target rotation angle. Figure 2 The target rotation angle (as shown in direction A) is rotated to drive the first side 201 to rise or fall along the height direction of the cleaning robot to the target posture parameters. Achieving the target posture parameters through the target rotation angle of the rotating component 12 improves adjustment accuracy. The rotational motion of the rotating component 12 has higher stability compared to linear drive. During the transmission process of the rotating component 12, force transmission is more uniform, reducing local stress concentration and component wear. It is understood that... (Please refer to...) Figure 2 and Figure 1 The drive assembly 11 drives the rotating component 12 to rotate along a first direction. The rotating component 12 drives the first side 201 to rise along the height direction of the cleaning robot to achieve the target height or target tilt angle of the first side 201. This triggers the trigger mechanism 2 to drive the second side 202 to descend, which can apply pressure to the cleaning mechanism set on the second side 202, thereby improving the cleaning effect. Figure 2(As shown in direction B) Reverse reset, the rotating component 12 drives the first side 201 to descend along the height direction of the cleaning robot, and under the action of the triggering mechanism 2, the second side 202 is raised, which can reset the first side 201 and the second side 202.

[0065] In some embodiments, the obstacle-crossing mechanism 1 further includes a transmission component ( Figure 2 (Not shown in the diagram) The transmission component is located on the main body 20. The rotating component 12 includes a cam 121, which is drivenly connected to the drive assembly 11. The outer peripheral surface of the cam 121 has a first position 122 and a second position 123. The transmission component abuts against the outer peripheral surface of the cam 121 located between the first position 122 and the second position 123. The step of controlling the drive assembly 11 to drive the rotating component 12 to rotate along the first direction by a target rotation angle includes: obtaining the target rotation angle of the cam 121 according to the target posture parameters; controlling the drive assembly 11 to drive the cam 121 to rotate along the first direction by the target rotation angle according to the target rotation angle, and driving the transmission component to move towards the first position 122 or the second position 123, thereby causing the first side 201 to rise or fall along the first direction to the target posture parameters. The first position 122 is the maximum height that the transmission component can rise along the height direction of the cleaning robot, corresponding to the maximum height that the first side 201 of the main body 20 can rise, and corresponding to the minimum height that the second side 202 of the main body 20 can fall. The second position 123 represents the lowest height of the transmission component along the height direction of the cleaning robot, corresponding to the lowest height that the first side 201 of the main body 20 can be lowered, and the maximum height that the second side 202 of the main body 20 can be raised. The control drive assembly 11 drives the cam 121 to rotate by a target rotation angle in the positive direction of the first direction. The cam 121 drives the transmission component to move towards the first position 122, causing the first side 201 to rise along the height direction of the cleaning robot, triggering the trigger mechanism 2 to lower the second side 202 of the main body 20. The control drive assembly 11 also drives the cam 121 to rotate by a target rotation angle in the negative direction of the first direction. The cam 121 drives the transmission component to move towards the second position 123, causing the first side 201 to fall along the height direction of the cleaning robot, triggering the trigger mechanism 2 to raise the second side 202 of the main body 20. The cam 121 and the transmission component are rigidly connected, allowing for more direct transmission of the driving force of the drive assembly 11 and improving driving efficiency.

[0066] In some embodiments, the method for changing the posture of the cleaning robot further includes: detecting the first position of the cleaning robot (…). Figure 2 When the control unit detects that the transmission component has reached the first position 122, it controls the drive assembly 11 to stop driving the cam 121 to rotate in the first direction; or, the control unit detects the second position of the cleaning robot (not shown). Figure 2When the transmission component (not shown) is detected to have reached the second position 123, the control drive assembly 11 stops driving the cam 121 to rotate in the first direction. The first position detection unit 3 and the second position detection unit 4 can reduce the over-rotation of the cam 121, thereby reducing excessive lifting or lowering of the second side 202 of the main body 20.

[0067] Therefore, the method for changing the posture of a cleaning robot provided in this application embodiment can change the posture of the cleaning robot itself by controlling the obstacle-crossing mechanism 1 and the linkage triggering mechanism 2, so that the second side 202 of the main body 20 of the cleaning robot can tilt, lower or raise. The cleaning mechanism provided on the second side 202 of the main body 20 can apply pressure to the surface to be cleaned 30 when the second side 202 is lowered, thereby improving the cleaning effect of the cleaning structure.

[0068] Secondly, please refer to Figure 1 This application also provides a suspension device 10 for mounting on the main body 20 of a cleaning robot. The cleaning robot includes a first side 201 and a second side 202 along the forward direction. The suspension device 10 includes an obstacle-crossing mechanism 1 and a triggering mechanism 2. The obstacle-crossing mechanism 1 is driven and connected to the first side 201, and the triggering mechanism 2 is connected to the main body 20. The triggering mechanism 2 is used to cause the second side 202 to move in the opposite direction when the first side 201 moves. Thus, the obstacle-crossing mechanism 1, in conjunction with the triggering mechanism 2, can change the posture of the main body 20. The obstacle-crossing mechanism 1 drives the first side 201 to rise, and under the action of the triggering mechanism 2, causes the second side 202 to descend in conjunction, thereby enabling the cleaning mechanism mounted on the second side 202 to apply pressure to the surface 30 to be cleaned, thereby improving the cleaning effect of the cleaning mechanism.

[0069] First, let's introduce the specific structure of trigger mechanism 2:

[0070] Please see Figure 3 In some embodiments, the triggering mechanism 2 includes a fixed member 21 and a movable member 22. The fixed member 21 is connected to the obstacle-crossing mechanism 1, and the movable member 22 is movably connected to the fixed member 21 and connected to the fuselage body 20. The movable member 22 raises the first side 201 while lowering the second side 202. The fuselage body 20 is movably connected to the obstacle-crossing mechanism 1 through the movable member 22. When the obstacle-crossing mechanism 1 drives the first side 201 of the fuselage body 20 to rise, it drives the movable member 22 to lower the second side 202 of the fuselage body 20. When the obstacle-crossing mechanism 1 drives the first side 201 of the fuselage body 20 to lower, it drives the movable member 22 to raise the second side 202 of the fuselage body 20.

[0071] In optional embodiments, the movable component 22 may be rotatably connected to the fixed component 21 along the height direction of the cleaning robot, or the movable component 22 and the fixed component 21 may be elastically connected, or the movable component 22 and the fixed component 21 may be clearance-fitted. This application does not limit the specific connection method between the movable component 22 and the fixed component 21; any connection method that allows the movable component 22 to move the second side 202 up or down simultaneously with the first side 201 is within the protection scope of this application.

[0072] Please see Figure 3 In some embodiments, the triggering mechanism 2 further includes an elastic element 23, which is connected to the fixed element 21 and the movable element 22. The elastic element 23 enables the movable element 22 to move more flexibly, thereby allowing the movable element 22 to better drive the second side 202 of the fuselage body 20 to move while moving with the first side 201 of the fuselage body 20.

[0073] Please see Figure 3 In some embodiments, the fixing member 21 has a groove 211, the movable member 22 is at least partially located in the groove 211, and the outer periphery of the movable member 22 is in clearance fit with the groove 211. The elastic member 23 is located in the groove 211 and is sleeved on the outer periphery of the movable member 22. In this way, the groove 211 of the fixing member 21 provides movement space for the movable member 22. The clearance fit between the outer periphery of the movable member 22 and the groove 211 allows the movable member 22 to move along with the first side 201 of the fuselage body 20 after being triggered by the obstacle-crossing mechanism 1, thereby driving the second side 202 of the fuselage body 20 to move and realize the change of the attitude of the fuselage body 20. On the other hand, the groove 211 of the fixing member 21 can limit the excessive movement of the movable member 22 and improve the movement stability of the movable member 22.

[0074] In an optional implementation, the movable part 22 can be connected to the main body 20 by fasteners such as screws or bolts.

[0075] The specific structure of obstacle-crossing mechanism 1 will be described below:

[0076] Please see Figure 2 In some embodiments, the obstacle-crossing mechanism 1 includes a rotating member 12 and a drive assembly 11. The drive assembly 11 is drivenly connected to the rotating member 12, and the rotating member 12 is drivenly connected to a first side 201 of the fuselage body 20. The drive assembly 11 drives the rotating member 12 along a first direction (e.g., Figure 2 The rotating component 12 rotates in direction A to raise or lower the first side 201. Raising or lowering the first side 201 by rotating the rotating component 12 improves adjustment accuracy. Compared to linear drive, the rotational motion of the rotating component 12 is more stable. During the transmission process of the rotating component 12, the force transmission is more uniform, reducing local stress concentration and component wear.

[0077] Please see Figure 2 In some embodiments, the obstacle-crossing mechanism 1 further includes a transmission component ( Figure 2 (Not shown in the diagram) A transmission component is located on the main body 20. The rotating component 12 includes a cam 121, which is drivenly connected to the drive assembly 11. The outer peripheral surface of the cam 121 has a first position 122 and a second position 123. The transmission component abuts against the outer peripheral surface of the cam 121 located between the first position 122 and the second position 123. The drive assembly 11 drives the cam 121 to rotate in a first direction, thereby driving the transmission component to move towards the first position 122 or towards the second position 123, and thus causing the first side 201 to rise or fall. The first position 122 is the maximum height that the transmission component can rise along the height direction of the cleaning robot, corresponding to the maximum height that the first side 201 of the main body 20 can rise, and the minimum height that the second side 202 of the main body 20 can fall. The second position 123 is the minimum height that the transmission component can fall along the height direction of the cleaning robot, corresponding to the minimum height that the first side 201 of the main body 20 can fall, and the maximum height that the second side 202 of the main body 20 can rise. The drive assembly 11 drives the cam 121 to rotate in the positive direction of the first direction. The cam 121 drives the transmission component to move towards the first position 122, causing the first side 201 to rise along the height direction of the cleaning robot. This triggers the trigger mechanism 2, causing the second side 202 of the main body 20 to fall. Alternatively, the drive assembly 11 drives the cam 121 to rotate in the negative direction of the first direction. The cam 121 drives the transmission component to move towards the second position 123, causing the first side 201 to fall along the height direction of the cleaning robot. This triggers the trigger mechanism 2, causing the second side 202 of the main body 20 to rise. The cam 121 and the transmission component have a rigid transmission, which can more directly transmit the driving force of the drive assembly 11 and improve driving efficiency.

[0078] Please see Figure 2 In an optional embodiment, the cam 121 includes a rotating wheel and a protrusion disposed on the outer periphery of the rotating wheel. The outer periphery of the protrusion forms a first position 122, and the junction of the protrusion and the rotating wheel forms a second position 123. A recess is formed between the rotating wheel and the protrusion, and the second position 123 is located in the recess. This arrangement facilitates the cam 121 to rotate in the first direction, and the recess acts as abutment and limit for the transmission component, improving the accuracy of the transmission component's reset.

[0079] In an optional embodiment, there is an arc transition between the protrusion and the wheel. This increases the smoothness of the movement of the transmission component in the first position 122 and the second position 123, making it smoother for the cam 121 to drive the transmission component to raise or lower the first side 201 of the main body 20, and thus making the lowering, pressurizing or raising action of the second side 202 of the main body 20 smoother.

[0080] In some embodiments, the suspension device 10 further includes a first position detection unit ( Figure 2 (Not shown in the image), a first position detection unit is disposed on the cam 121, and the first position detection unit is used to detect whether the transmission component has reached the first position 122. And / or, the suspension device 10 also includes a second position detection unit ( Figure 2 (Not shown in the image) The second position detection unit is disposed on the cam 121. The second position detection unit is used to detect whether the transmission component has reached the second position 123. The first position detection unit and the second position detection unit can reduce the over-rotation of the cam 121, thereby reducing the over-rotation of the cam 121 from causing the transmission component to exceed the first position 122 or the second position 123, thereby reducing the excessive lifting or lowering of the first side 201 of the fuselage body 20, and thus reducing the excessive lowering or lifting of the second side 202 of the fuselage body 20.

[0081] Please see Figure 4 In an optional embodiment, the drive assembly 11 includes a first drive member 111 and a first transmission assembly, wherein the first drive member 111 can drive the rotating member 12 to rotate through the first transmission assembly.

[0082] Please see Figure 4 In an optional embodiment, the first driving component 111 includes a drive motor 1111, and the first transmission assembly includes a worm 1121, a worm wheel 1122, and a first gear set. The output shaft of the drive motor 1111 is drivenly connected to the worm 1121, the worm 1121 is drivenly connected to the worm wheel 1122, the worm wheel 1122 is drivenly connected to the first gear set, and the first gear set is drivenly connected to the rotating component 12. The use of the worm 1121 and worm wheel 1122 in cooperation can improve the transmission efficiency of the first gear set.

[0083] Please see Figure 4In an optional embodiment, the first gear set includes a first lifting gear 1123, a second lifting gear 1124, a second lifting synchronizing gear 1125, a third lifting gear 1126, a third lifting synchronizing gear 1127, a fourth lifting gear 1128, a fifth lifting gear 1129, a sixth lifting gear 1130, and a sixth lifting synchronizing gear 1131. The first lifting gear 1123 meshes with the worm gear 1122, and a second lifting synchronizing gear 1125 is coaxially mounted on the second lifting gear 1124. The second lifting synchronizing gear 1125 and the second lifting gear 1124 can rotate synchronously, and the diameter of the second lifting synchronizing gear 1125 is smaller than the diameter of the second lifting gear 1124. The third lifting gear 1126 meshes with the second lifting synchronizing gear 1125, and a third lifting synchronizing gear 1127 is coaxially mounted on the third lifting gear 1126. The third lifting synchronizing gear 1127 and the third lifting synchronizing gear 1126 can rotate synchronously, and the third lifting synchronizing gear 1127... The diameter of the first gear set is smaller than that of the third lifting gear 1126. The fourth lifting gear 1128 meshes with the third lifting synchronous gear 1127, the fifth lifting gear 1129 meshes with the fourth lifting gear 1128, and the sixth lifting gear 1130 meshes with the fifth lifting gear 1129. A sixth lifting synchronous gear 1131 is coaxially mounted on the sixth lifting gear 1130. The sixth lifting synchronous gear 1131 and the sixth lifting gear 1130 can rotate synchronously, and the diameter of the sixth lifting synchronous gear 1131 is smaller than that of the sixth lifting gear 1130. The sixth lifting synchronous gear 1131 meshes with the rotating component 12. In this way, the first gear set can transmit power, enabling the drive motor 1111 to drive the rotating component 12 to rotate.

[0084] The embodiments of this application do not limit the specific arrangement of the drive assembly 11 driving the rotating member 12 to rotate. All implementations that enable the drive assembly 11 to drive the rotating member 12 to rotate are within the protection scope of this application. The above embodiments only illustrate one implementation of the first gear set. The structure of the first gear set can be improved according to actual needs, as long as it is ensured that the drive motor 1111 can drive the rotating member 12 to rotate through the first gear set.

[0085] The following will introduce the other functions of obstacle crossing mechanism 1:

[0086] In related technologies, the chassis of the cleaning robot body 20 is low, and it is easy to get stuck on high steps and be unable to move forward.

[0087] Please see Figure 2 In an optional embodiment, the rotating member 12 is provided with obstacle-crossing legs 5, and the drive assembly 11 drives the rotating member 12 along a second direction (e.g., Figure 2The first direction (B direction) is rotated to drive the obstacle-crossing legs 5 to rotate, thereby supporting the main body 20 and allowing it to move. The second direction is opposite to the first direction. By setting the obstacle-crossing legs 5, the main body 20 can traverse cleaning scenarios with greater heights. When the drive assembly 11 drives the rotating member 12 to rotate in the second direction, it can drive the obstacle-crossing legs 5 to rotate, thereby supporting the main body 20 and allowing it to move. When the drive assembly 11 drives the rotating member 12 to rotate back, the rotating member 12 rotates in the first direction, and the rotating member 12 gradually drives the obstacle-crossing legs 5 to rotate back, thereby releasing the support of the main body 20.

[0088] Please see Figure 2 In some embodiments, the obstacle-crossing outrigger 5 includes a first arm 51 and a second arm 52 hinged together. The end of the first arm 51 away from the second arm 52 is connected to a rotating member 12. The second arm 52 can swing relative to the first arm 51 within a certain range. An obstacle-crossing wheel 53 is rotatably mounted on the end of the second arm 52 away from the first arm 51. The suspension device 10 also includes a walking frame 6, which is connected to the main body 20. A walking wheel 61 is rotatably mounted on the walking frame 6. The walking wheel 61 has a drive structure inside for rotating it. This drive method of the walking wheel 61 is conventional technology and is not described in detail here. The drive component 11 of the obstacle-crossing mechanism 1 is located on one side of the walking frame 6, and the rotating member 12 of the obstacle-crossing mechanism 1 is rotatably connected to the walking frame 6.

[0089] In this design, during obstacle crossing operations, the drive assembly 11 drives the rotating component 12 along the second direction (e.g., Figure 2 The first arm 51 rotates along the second direction (as shown in direction B), and the rotating component 12 drives the first arm 51 to rotate along the second direction. The first arm 51 drives the second arm 52 to rotate along the second direction. At this time, when the obstacle-crossing wheel 53 on the second arm 52 contacts the ground, the position of the second arm 52 remains unchanged as the first arm 51 rotates, gradually changing the angle between the second arm 52 and the first arm 51. When the angle between the second arm 52 and the first arm 51 is restricted and cannot be changed further (wherein, the restriction of the rotation range of the first arm 51 and the second arm 52 can be achieved by a limiting plate, and this restriction method is a conventional technology, which is not described in detail here), as the first arm 51 rotates, the first arm 51 will continue to drive the second arm 52 to rotate to support the walking device. At this time, the walking wheel 61 will leave the ground, and the obstacle-crossing wheel 53 will play the role of driving the main body 20 to move. When the walking wheel 61 moves to the top of obstacles such as steps, the drive component 11 continues to drive the rotating component 12 along the second direction (as shown in direction B). Figure 2 Rotate in direction B as shown until the height of the obstacle-crossing wheel 53 is above the height of the walking wheel 61. Then, the walking wheel 61 continues to drive the main body 20 to move so that the walking device can cross the obstacle and complete the obstacle-crossing process of the walking device.

[0090] In some embodiments, the obstacle-crossing outrigger 5 further includes a second drive member (not shown) and a second transmission assembly. The second transmission assembly is disposed within the first arm 51 and the second arm 52. The second drive member can drive the obstacle-crossing wheel 53 to rotate via the second transmission assembly, and the traveling wheel 61 is connected to the obstacle-crossing wheel 53 via the second transmission assembly. This design, using a second drive member and a second transmission assembly, facilitates the placement of the second drive member, resulting in a more compact overall structure. For example, the second drive member can be located on the outside or inside of the obstacle-crossing outrigger 5, and drive the obstacle-crossing wheel 53 to rotate via the second transmission assembly; alternatively, the second drive member can be the drive structure for the traveling wheel 61, thereby driving both the traveling wheel 61 and the obstacle-crossing wheel 53 to rotate, reducing the cost of the drive structure.

[0091] Please see Figure 5 In some embodiments, the second transmission assembly includes a first obstacle-crossing gear 541, a second obstacle-crossing gear 542, a third obstacle-crossing gear 543, a fourth obstacle-crossing gear 544, a fourth synchronous obstacle-crossing gear 545, a fifth obstacle-crossing gear 546, a sixth obstacle-crossing gear 547, and a seventh obstacle-crossing gear 548. The shaft of the traveling wheel 61 extends into the first support arm 51 and connects to the first obstacle-crossing gear 541 to drive the first obstacle-crossing gear 541 to rotate. The first obstacle-crossing gear 541 meshes with the second obstacle-crossing gear 542, and the second obstacle-crossing gear 542 meshes with the third obstacle-crossing gear 543. The first obstacle-crossing gear 541, the second obstacle-crossing gear 542, and the third obstacle-crossing gear 543 are all disposed within the first support arm 51. The fourth obstacle-crossing gear 544 is located at the hinge between the first arm 51 and the second arm 52, and a fourth synchronous obstacle-crossing gear 545 is coaxially mounted on the fourth obstacle-crossing gear 544. The fourth synchronous obstacle-crossing gear 545 rotates synchronously with the fourth synchronous gear. The third obstacle-crossing gear 543 meshes with the fourth obstacle-crossing gear 544. The fifth obstacle-crossing gear 546 and the sixth obstacle-crossing gear 547 are both located within the second arm 52. The fifth obstacle-crossing gear 546 meshes with the fourth synchronous obstacle-crossing gear 545, and the sixth obstacle-crossing gear 547 meshes with the fifth obstacle-crossing gear 546. The sixth obstacle-crossing gear 547 meshes with the seventh obstacle-crossing gear 548, and the seventh obstacle-crossing gear 548 is fixedly connected to the obstacle-crossing wheel 53. This design enables the second transmission assembly to transmit power, ensuring that the drive wheel can drive the obstacle-crossing wheel 53 to rotate, thus reducing the cost of the drive structure.

[0092] It is understood that the above implementation is only one embodiment of the second transmission component. The structure of the second transmission component can be improved according to actual needs, as long as it is ensured that the drive wheel can drive the obstacle-crossing wheel 53 to rotate through the second transmission component.

[0093] In short, the obstacle-crossing outrigger 5 supports and drives the main body 20 to cross the steps in the following steps:

[0094] The first stage is the triggering and extension phase. When the cleaning robot encounters a step while moving forward, the drive component 11 drives the rotating component 12 to rotate in the second direction. Simultaneously, the rotating component 12 drives the first arm 51 of the obstacle-crossing leg 5 to rotate, and the second arm 52 extends downwards along with the first arm 51 to cover the walking range of the walking wheel 61. At this time, since the second arm 52 is hinged to the first arm 51, the second arm 52 can swing slightly relative to the first arm 51 to ensure that the obstacle-crossing wheel 53 makes smooth contact with the ground below the step first.

[0095] Next comes the support and driving phase: As the rotating component 12 continues to rotate, the obstacle-crossing wheel 53 generates support force after contacting the ground. The angle between the first support arm 51 and the second support arm 52 gradually fixes, thereby slightly lifting the main body 20 and causing the walking wheels 61 of the main body 20 to leave the ground (or only slightly contact it). At this time, the obstacle-crossing wheel 53 is linked to the driving structure of the walking wheel 61 through the second transmission component. The power of the walking wheel 61 drives the obstacle-crossing wheel 53 to rotate, actively driving the main body 20 to move towards the steps, realizing the climbing of the steps with the obstacle-crossing wheel 53 as the support point.

[0096] Then comes the wheel drop and reset phase: when the robot's walking wheel 61 moves to the top of the step and contacts the ground above the step, the rotating component 12 continues to rotate in the second direction, causing the obstacle crossing leg 5 to retract upwards (the obstacle crossing wheel 53 is higher than the walking wheel 61), and the center of gravity of the main body 20 is transferred to the walking wheel 61; then the drive component 11 drives the rotating component 12 to reverse in the first direction, and the obstacle crossing leg 5 folds and resets, waiting for the next obstacle crossing.

[0097] Therefore, the suspension device 10 provided in this application embodiment can realize the linkage of obstacle crossing, chassis lifting and second side 202 pressurized cleaning, which can not only improve the scene adaptability of the cleaning robot, but also improve the cleaning effect of the cleaning robot.

[0098] Thirdly, this application provides a cleaning robot, which includes a suspension device 10 and a main body. The suspension device 10 is connected to the main body, and the suspension device 10 is the same as the suspension device 10 described in the second aspect. This cleaning robot has all the technical effects of the suspension device 10, which will not be repeated here.

[0099] In optional implementations, the cleaning robot may be a sweeping robot, a sweeping and mopping robot, a floor cleaning robot, a window cleaning robot, etc.

[0100] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0101] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0102] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0103] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0104] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0105] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0106] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A method for changing the posture of a cleaning robot, characterized in that, The cleaning robot includes a main body, an obstacle-crossing mechanism, and a triggering mechanism. The main body includes a first side and a second side distributed front to back along the direction of travel of the cleaning robot. The obstacle-crossing mechanism is driven and connected to the first side. The triggering mechanism is connected to the main body and is used to cause the second side to move in the opposite direction when the first side moves along the height direction of the cleaning robot. The method includes the following steps: Obtain the target posture parameters to be adjusted for the first side, the target posture parameters including the target height of the first side along the height direction of the cleaning robot, and / or the target tilt angle between the first side and the surface to be cleaned; The obstacle-crossing mechanism is controlled to drive the first side to move to the target posture parameters.

2. The method for changing the posture of a cleaning robot according to claim 1, characterized in that, The steps for obtaining the target attitude parameters to be adjusted on the first side include: The environmental perception unit of the cleaning robot is controlled to acquire cleaning scene information; The target attitude parameters are generated based on the cleaning scene information.

3. The method for changing the posture of a cleaning robot according to claim 2, characterized in that, The steps for generating the target pose parameters based on the cleaning scene information include: Obtain first stain information, and generate first target pose parameters based on the first stain information; Obtain second stain information, and generate second target attitude parameters based on the second stain information; The second stain is more difficult to clean than the first stain, and the second target attitude parameter is greater than the first target attitude parameter.

4. The method for changing the posture of a cleaning robot according to claim 1, characterized in that, The obstacle-crossing mechanism includes a drive assembly and a rotating component. The drive assembly is driven and connected to the rotating component, and the rotating component is driven and connected to the first side of the main body of the fuselage. The steps of controlling the obstacle-crossing mechanism to drive the first side to move to the target attitude parameters include: Based on the target attitude parameters, the target rotation angle of the rotating component is obtained; The drive assembly is controlled according to the target rotation angle to drive the rotating component to rotate along the first direction by the target rotation angle, so as to drive the first side to rise or fall along the height direction of the cleaning robot to the target posture parameter.

5. The method for changing the posture of a cleaning robot according to claim 4, characterized in that, The obstacle-crossing mechanism also includes a transmission component, which is disposed on the main body of the machine. The rotating component includes a cam, which is drivenly connected to the drive assembly. The outer peripheral surface of the cam has a first position and a second position. The transmission component drives and abuts against the outer peripheral surface of the cam located between the first position and the second position. The step of controlling the drive assembly to drive the rotating component to rotate the target rotation angle along the first direction includes: Based on the target attitude parameters, the target rotation angle of the cam is obtained; Based on the target rotation angle, the drive assembly is controlled to drive the cam to rotate along the first direction by the target rotation angle, and the transmission component is driven to move toward the first position or the second position, thereby causing the first side to rise or fall along the height direction of the cleaning robot to the target posture parameter.

6. The method for changing the posture of a cleaning robot according to claim 5, characterized in that, The method further includes: When the first position detection unit of the cleaning robot detects that the transmission component has reached the first position, it controls the drive assembly to stop driving the cam to rotate in the first direction; Alternatively, when the second position detection unit of the cleaning robot detects that the transmission component has reached the second position, the control unit controls the drive assembly to stop driving the cam to rotate in the first direction.

7. A suspension device, characterized in that, For mounting on the main body of a cleaning robot, the cleaning robot including a first side and a second side distributed front to back along the direction of travel, the suspension device includes: An obstacle-crossing mechanism, wherein the obstacle-crossing mechanism is driven and connected to the first side; A triggering mechanism is connected to the main body of the robot. The triggering mechanism is used to cause the second side to move in the opposite direction when the first side moves along the height direction of the cleaning robot.

8. The suspension device according to claim 7, characterized in that, The triggering mechanism includes a fixed component and a movable component. The fixed component is connected to the obstacle-crossing mechanism, and the movable component is movably connected to the fixed component. The movable component is connected to the main body of the fuselage, and the movable component raises the first side while lowering the second side.

9. The suspension device according to claim 8, characterized in that, The triggering mechanism further includes an elastic element, which is connected to the fixed element and the movable element.

10. The suspension device according to claim 9, characterized in that, The fixing member has a groove, the movable member is at least partially located in the groove, and the outer periphery of the movable member is in clearance fit with the groove. The elastic member is located in the groove and is sleeved on the outer periphery of the movable member.

11. The suspension device according to claim 7, characterized in that, The obstacle-crossing mechanism includes: Rotating component; A drive assembly is driven and connected to the rotating member, which is driven and connected to the first side of the main body of the machine body. The drive assembly drives the rotating member to rotate in a first direction, so that the rotating member drives the first side to rise or fall.

12. The suspension device according to claim 11, characterized in that, The obstacle-crossing mechanism further includes a transmission component, which is disposed on the main body of the machine. The rotating component includes a cam, which is drivenly connected to the drive assembly. The outer peripheral surface of the cam has a first position and a second position. The transmission component abuts against the outer peripheral surface of the cam located between the first position and the second position. The drive assembly drives the cam to rotate along the first direction, thereby driving the transmission component to move toward the first position or toward the second position, and thus causing the first side to rise or fall.

13. The suspension device according to claim 12, characterized in that, The suspension device further includes a first position detection unit, which is disposed on the cam and is used to detect whether the transmission component has reached the first position. And / or, the suspension device further includes a second position detection unit, which is disposed on the cam and is used to detect whether the transmission component has reached the second position.

14. A cleaning robot, characterized in that, The cleaning robot includes a suspension device and a main body, the suspension device being connected to the main body, and the suspension device being the suspension device as described in any one of claims 7 to 13.

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