Cleaning apparatus and method of obstacle crossing thereof

Abstract

This application provides a cleaning device and its obstacle-crossing method. The obstacle-crossing method includes: acquiring obstacle information during the cleaning device's movement along a first direction; controlling a drive device to drive a drive wheel forward and away from the device body in the first direction, so that the center of the drive wheel is located in front of the device body's center of gravity in the first direction, causing the device body to tilt backward; controlling the drive wheel to drive the device body in the first direction, so that the drive wheel approaches the obstacle; controlling the drive device to drive the drive wheel backward in the first direction, so that the center of the drive wheel is located behind the device body's center of gravity in the first direction, causing the device body to tilt forward, with the bottom surface of the front end of the device body contacting the top surface of the obstacle; and controlling the drive device to drive the drive wheel closer to the device body and forward along the first direction, so that the drive wheel contacts the top surface of the obstacle. This application solves the problems of existing cleaning devices causing significant noise that affects user experience and reducing the lifespan of the cleaning device when crossing obstacles.

Description

Technical Field

[0001] This application relates to the field of cleaning equipment technology, and in particular to a cleaning device and its obstacle-crossing method. Background Technology

[0002] With the development of technology, cleaning equipment such as sweeping machines and scrubbing machines are becoming increasingly automated and intelligent. Most cleaning equipment is equipped with cleaning parts for contact with the surface to be cleaned, so as to realize the collection and cleaning of dirt stains on the dirty surface, which greatly frees up the user's hands. In order to ensure the cleaning effect, the cleaning parts need to fit in close to the surface to be cleaned. However, when encountering steps, the cleaning equipment is not easy to get over the steps, resulting in large areas of missed sweeping and mopping, reducing the cleaning coverage.

[0003] The traditional way to overcome obstacles is to install auxiliary swing arms or passive claws on the cleaning equipment. When the omnidirectional wheels at the front of the cleaning equipment rush onto the obstacle step, the rear drive wheels rely on the auxiliary swing arms or passive claws to climb over the step. After the step is climbed, the distance between the front of the machine and the surface of the step is relatively large. Due to the change in the center of gravity of the machine relative to the step, the front of the machine will naturally fall and hit the ground. This not only causes a lot of noise that affects the user experience, but also reduces the service life of the cleaning equipment. Summary of the Invention

[0004] This application provides a cleaning device and its obstacle-crossing method, which solves the problems that existing cleaning devices cause significant noise when crossing obstacles, affecting user experience and reducing the lifespan of the cleaning device.

[0005] This application is implemented as follows: a cleaning device includes a body and a drive mechanism. The body includes a base; the drive mechanism includes a drive device and a drive wheel. The drive device is disposed on the base, and the drive wheel is connected to the drive device. The drive wheel is used to drive the body forward along a first direction on the surface to be cleaned. The drive device is used to drive the drive wheel to move relative to the body in the first direction to adjust the relative position of the center of the drive wheel and the center of gravity of the body, and to drive the drive wheel closer to or away from the body in the direction of gravity of the body. When the drive device drives the drive wheel to move forward relative to the fuselage in the first direction and away from the fuselage in the direction of gravity, the center of the drive wheel is located in front of the center of gravity of the fuselage, and the fuselage is tilted in the first direction with the front higher than the rear; when the drive device drives the drive wheel to move backward relative to the fuselage in the first direction and closer to the fuselage in the direction of gravity, the center of the drive wheel is located behind the center of gravity of the fuselage, and the fuselage is in a horizontal state in the first direction.

[0006] In some embodiments, the driving device includes a first driving member, a second driving member, a first swing arm, and a second swing arm; The first driving component is mounted on the base, and the first swing arm is connected to the first driving component in a transmission manner; One end of the second swing arm is connected to the second driving member for transmission, and the driving wheel is connected to the other end of the second swing arm. The second swing arm is rotatably connected to the first swing arm.

[0007] In some embodiments, the first swing arm includes a housing having a mounting port and a support arm disposed on a side surface of the housing opposite to the mounting port; The support arm has a receiving cavity. The second swing arm includes a swing arm and a connecting rod. The connecting rod is placed in the receiving cavity. One end of the connecting rod is connected to the output end of the second drive member, and the other end is rotatably connected to the first end of the swing arm. The drive wheel is connected to the second end of the swing arm, and the swing arm is rotatably connected to the first swing arm.

[0008] In some embodiments, the position where the swing arm is connected to the first swing arm is located between the first end of the swing arm and the second end of the swing arm.

[0009] In some embodiments, the second drive member is embedded in the housing from the mounting port, and the output shaft of the second drive member extends into the receiving cavity from the housing. The central axis of the second driving member is parallel to the central axis of the first driving member.

[0010] In some embodiments, the first drive unit is connected to a first gearbox, the output end of the first gearbox is connected to a connecting plate, and the connecting plate is connected to the mounting port; The second drive member is connected to the connecting plate, the second drive member is located outside the housing, and the output shaft of the second drive member extends into the housing and the receiving cavity.

[0011] In some embodiments, two drive mechanisms are provided, and the two drive mechanisms are respectively located on both sides of the base along the second direction; The first direction, the second direction, and the height direction of the fuselage are all perpendicular to each other.

[0012] In some embodiments, the cleaning device further includes a cleaning component disposed on the base, and the cleaning component is located on the front and / or rear side of the drive mechanism along the first direction.

[0013] This application also provides an obstacle-crossing method for a cleaning device, applied to the cleaning device as described in any of the above embodiments, including: Obstacle information is obtained during the process of the cleaning equipment moving in a first direction, and the motion state of the cleaning equipment is determined based on the obstacle information, wherein the motion state refers to moving forward or backward in the first direction; When the cleaning equipment is moving in a first direction, the control drive device drives the drive wheel to move forward relative to the body in the first direction and away from the body in the direction of gravity of the body, so that the center of the drive wheel is located in front of the center of gravity of the body in the first direction, and the body tilts backward. The drive wheels are controlled to drive the body to move in the first direction, so that the drive wheels approach the obstacle; The drive device is controlled to drive the drive wheel to move backward relative to the fuselage in the first direction, so that the center of the drive wheel is located behind the center of gravity of the fuselage in the first direction, causing the fuselage to tilt forward and the bottom surface of the front end of the fuselage to contact the top surface of the obstacle; The drive device is controlled to drive the drive wheel to approach the fuselage in the direction of gravity of the fuselage and move forward relative to the fuselage in the first direction, so that the drive wheel contacts the top surface of the obstacle.

[0014] In some embodiments, controlling the drive device to drive the drive wheel to move relative to the fuselage in the first direction, and controlling the drive device to drive the drive wheel away from or towards the fuselage in the direction of gravity of the fuselage, includes: The first driving component drives the first swing arm to rotate, and the second driving component drives the second swing arm to rotate relative to the first swing arm, so that the second swing arm drives the drive wheel to move relative to the fuselage in a first direction, and the second swing arm drives the drive wheel to move closer to or away from the fuselage in the direction of gravity of the fuselage.

[0015] In some embodiments, after the driving device is controlled to drive the drive wheel to approach the fuselage in the direction of gravity of the fuselage and move forward along the first direction, so that the drive wheel contacts the top surface of the obstacle, the obstacle-crossing method further includes: The drive device is controlled to drive the drive wheel to move along the first direction to the initial position of the drive wheel relative to the fuselage.

[0016] This application also provides an obstacle-crossing method for a cleaning device, applied to the cleaning device as described in any of the above embodiments, including: Obstacle information is acquired during the process of the cleaning equipment moving forward on the ground along a first direction, and the motion state of the cleaning equipment is determined based on the obstacle information, wherein the motion state refers to moving forward or backward along the first direction; When the cleaning equipment is moving backward in the first direction, the machine body is controlled to turn its direction so that the machine body moves backward in the first direction. The control drive device drives the drive wheel to move backward relative to the fuselage in the first direction so that the fuselage contacts the ground; The control drive device drives the drive wheel away from the fuselage in the direction of gravity of the fuselage, so that the drive wheel contacts the top surface of the obstacle; Control the drive wheel to drive the machine body to move a first preset distance along the first direction; The drive device is controlled to drive the drive wheel to move forward relative to the fuselage in the first direction, so that the center of the drive wheel is located in front of the center of gravity of the fuselage in the first direction, causing the fuselage to tilt backward; Control the drive wheel to drive the machine body to move a second preset distance along the first direction; The drive device is controlled to drive the drive wheel to move closer to the fuselage in the direction of gravity of the fuselage and move backward relative to the fuselage in the first direction, so that the center of the drive wheel is located behind the center of gravity of the fuselage in the first direction, and the bottom surface of the front end of the fuselage contacts the top surface of the obstacle.

[0017] In some embodiments, controlling the drive device to drive the drive wheel to move relative to the fuselage in the first direction, and controlling the drive device to drive the drive wheel away from or towards the fuselage in the direction of gravity of the fuselage, includes: The first driving component drives the first swing arm to rotate, and the second driving component drives the second swing arm to rotate relative to the first swing arm, so that the second swing arm drives the drive wheel to move relative to the fuselage in a first direction, and the second swing arm drives the drive wheel to move closer to or away from the fuselage in the direction of gravity of the fuselage.

[0018] The beneficial effects of the cleaning equipment and obstacle-crossing method provided in this application are as follows: Compared with the prior art, this application provides a drive mechanism on the machine body. The drive mechanism includes a drive device and a drive wheel connected to the drive device. The drive device can drive the drive wheel to move in the direction of movement of the machine body and to move closer to or away from the machine body, thereby adjusting the relative position of the center of the drive wheel and the center of gravity of the machine body. In the direction of movement of the machine body, when the center of the drive wheel is located behind the center of gravity of the machine body, the machine body is in a horizontal state; when the center of the drive wheel is located in front of the center of gravity of the machine body, the machine body is in a tilted state. This allows the machine body to switch between a tilted state and a horizontal state, achieving the effect of obstacle crossing. Since this application achieves the change of the state of the machine body by adjusting the relative position of the center of gravity of the machine body and the center of the drive wheel, and the state of the machine body is tilted first and then horizontal during obstacle crossing, the distance between the machine body and the obstacle is short when the machine body changes from a tilted state to a horizontal state. Even if the front or rear end of the machine body hits the ground during obstacle crossing, it will not produce much noise that would affect the user experience and will not reduce the service life of the cleaning equipment. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the structure of the cleaning equipment provided in the embodiments of this application; Figure 2 This is a partial internal structure diagram of the cleaning equipment provided in the embodiments of this application; Figure 3 This is a schematic diagram of the drive mechanism of the cleaning equipment provided in the embodiments of this application. Figure 1 ; Figure 4 This is a simplified perspective view of the connection between the first and second swing arms of the drive mechanism in an embodiment of this application. Figure 1 ; Figure 5 This is a schematic diagram of the drive mechanism of the cleaning equipment provided in the embodiments of this application. Figure 2 ; Figure 6 This is a simplified perspective view of the connection between the first and second swing arms of the drive mechanism in an embodiment of this application. Figure 2 ; Figure 7 This is a schematic diagram of the bottom surface of the cleaning equipment provided in the embodiments of this application; Figure 8 This is a flowchart illustrating a method for a cleaning device to overcome obstacles, as provided in an embodiment of this application. Figure 9 This is a schematic diagram of the cleaning equipment provided in this application moving along a first direction; Figure 10 yes Figure 8 Status diagram of the cleaning equipment after step S102 is performed; Figure 11 yes Figure 8 Status diagram of the cleaning equipment after step S103 is performed; Figure 12 yes Figure 8 Status diagram of the cleaning equipment after step S104 is performed; Figure 13 yes Figure 8 Status diagram of cleaning equipment during step S105 Figure 14 yes Figure 8 Status diagram of the cleaning equipment after step S105 is performed; Figure 15 yes Figure 8 Status diagram of the cleaning equipment after step S106 is performed; Figure 16 This is a flowchart illustrating another obstacle-crossing method for cleaning equipment provided in an embodiment of this application; Figure 17 yes Figure 16 Status diagram of the cleaning equipment after step S202 is performed; Figure 18 yes Figure 16 Status diagram of the cleaning equipment after step S204 is performed; Figure 19 yes Figure 16 Status diagram of the cleaning equipment after step S205 is performed; Figure 20 yes Figure 16 Status diagram of the cleaning equipment after step S206 is performed; Figure 21 yes Figure 16 Status diagram of the cleaning equipment after step S207 is performed; Figure 22 yes Figure 16 Status diagram of the cleaning equipment after step S208 is performed.

[0020] Reference numerals: 10, body; 11, base; 20, drive mechanism; 21, drive device; 211, first drive component; 2111, first gearbox; 2112, connecting plate; 212, second drive component; 2121, eccentric turntable; 213, first swing arm; 2131, outer shell; 21310, mounting port; 2132, support arm; 21320, receiving cavity; 214, second swing arm; 2141, swing arm; 21411, first end; 21412, second end; 2142, connecting rod; 22, drive wheel; 30, support wheel; 40, cleaning assembly. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0022] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0023] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They 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. Therefore, they should not be construed as limitations on this application.

[0024] Furthermore, the terms "first" and "second" are used 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 as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0025] It should also be noted that in the embodiments of this application, the same reference numerals are used to represent the same component or part. For the same part in the embodiments of this application, the reference numerals may only be used to mark one part or component as an example. It should be understood that the reference numerals are also applicable to other identical parts or components.

[0026] In related technologies, when cleaning equipment such as sweeping machines and floor scrubbers clean floors in the home, the cleaning components of the equipment need to fit closely to the surface to be cleaned to ensure cleaning effectiveness. However, the floors in a home environment often have obstacles such as steps in sunken bathrooms or raised steps in living rooms. This requires the cleaning equipment to overcome obstacles to clean different areas of the home. Because these steps are quite high, the cleaning equipment's own driving force is not enough to overcome the obstacles, and it needs to be equipped with relevant obstacle-crossing devices. Traditional obstacle-crossing cleaning equipment is equipped with auxiliary swing arms or passive claws. When the omnidirectional wheels at the front of the cleaning equipment push up the obstacle step, the rear drive wheels rely on the auxiliary swing arms or passive claws to cross the step. After crossing the step, the front of the entire machine will naturally fall to the ground due to the change in the center of gravity relative to the step. This not only produces a lot of noise, affecting the user experience, but also reduces the lifespan of the cleaning equipment.

[0027] Based on this, the present application provides a cleaning device and its obstacle-crossing method, which solves the problems that the existing cleaning devices have a lot of noise that affects the user experience and also reduces the service life of the cleaning devices.

[0028] refer to Figure 1 and Figure 2 The cleaning device provided in this application embodiment includes a body 10 and a drive mechanism 20. The body 10 includes a base 11; the drive mechanism 20 includes a drive device 21 and a drive wheel 22. The drive device 21 is disposed on the base 11, and the drive wheel 22 is connected to the drive device 21. The drive wheel 22 is used to drive the body 10 to move forward along a first direction on the surface to be cleaned. The drive device 21 is used to drive the drive wheel 22 to move relative to the body 10 in the first direction, so as to adjust the relative position of the center of the drive wheel 22 and the center of gravity of the body 10, and to drive the drive wheel 22 on the weight of the body 10. When the drive device 21 drives the drive wheel 22 to move forward relative to the fuselage 10 in the first direction and away from the fuselage 10 in the direction of gravity, the center of the drive wheel 22 is located in front of the center of gravity of the fuselage 10, and the fuselage 10 is tilted in the first direction with the front higher than the rear; when the drive device 21 drives the drive wheel 22 to move backward relative to the fuselage 10 in the first direction and closer to the fuselage 10 in the direction of gravity, the center of the drive wheel 22 is located in the rear of the center of gravity of the fuselage 10, and the fuselage 10 is in a horizontal state in the first direction.

[0029] The body 10 moves forward along a first direction on the surface to be cleaned. The first direction is the forward direction of the body 10. The end of the body 10 located at the front side in the first direction is the front end, and the end located at the rear side is the rear end.

[0030] It is understood that the cleaning equipment in this application can be a sweeper, in which case the cleaning component of the cleaning equipment is the sweeping brush. The cleaning component of the cleaning equipment can be set on the front side of the base 11 of the machine body 10, for reference. Figure 7 The cleaning device also includes support wheels 30, which are located on the bottom surface of the base 11. The support wheels 30 and drive wheels 22 enable the cleaning device to move. The height of the sweeping brush in the center of gravity direction of the body 10 is greater than the height of the support wheels in the center of gravity direction of the body 10. When the support wheels and drive wheels move on the ground, the sweeping brush contacts the ground with interference. To improve the cleaning effect, the cleaning components of the cleaning device need to be in close contact with the ground when moving on the ground. Therefore, the center of gravity of the body 10 of the cleaning device is located in front of the drive mechanism 20. Under the weight of the body 10 itself, the front of the base 11 of the body 10 will press downwards, and the cleaning components will be located in front of the base 11 of the body 10, thus ensuring that the cleaning components of the cleaning device are in close contact with the ground. It should be noted that the body 10 in this embodiment also includes other functional modules of the cleaning device besides the drive mechanism 20.

[0031] refer to Figure 9 and Figure 10 When the fuselage 10 is horizontal, the drive device 21 can drive the drive wheel 22 to move forward relative to the fuselage 10 in the first direction and downward away from the fuselage 10 in the direction of gravity. This shifts the center of the drive wheel 22 from behind the center of gravity of the fuselage 10 to in front of it. This change in the relative position of the fuselage 10's center of gravity, combined with the fuselage 10 being suspended in the air relative to the drive wheel 22, causes the fuselage 10 to tilt in a forward-high, backward-low position. Similarly, refer to... Figure 11 and Figure 12 When the fuselage 10 is tilted, the drive device 21 can drive the drive wheel 22 to move backward relative to the fuselage 10 in the first direction. In this way, the center of the drive wheel 22 will move back from the front side of the center of gravity of the fuselage 10 to the rear side of the center of gravity of the fuselage 10. The change in the relative position of the center of gravity of the fuselage 10 will cause the front side of the fuselage 10 to tilt downward under the action of the weight of the fuselage 10, so that the fuselage 10 is in a horizontal state.

[0032] The horizontal state of the machine body 10 means that the machine body 10 is roughly parallel to the surface to be cleaned, and the machine body 10 is in a horizontal state when the cleaning equipment is working.

[0033] The cleaning device in this application embodiment can cross obstacles (such as steps) by going up or down steps during its movement. That is, when the obstacle is a step that protrudes from the ground, the cleaning device can jump up the step that is higher than the ground. When the obstacle is a pit that is lower than the ground, the cleaning device can also jump down the pit that is lower than the ground. In this case, the ground is a step relative to the pit.

[0034] This application embodiment uses the example of a cleaning device climbing a step to illustrate obstacle crossing. When the cleaning device encounters a raised obstacle during its movement, the drive device 21 first drives the drive wheel 22 to change the relative position of the center of gravity of the machine body 10, causing the machine body 10 to tilt in a forward-high, backward-lower state. Then, the drive wheel 22 drives the machine body 10 forward, so that the front end of the machine body 10 is above the obstacle. Then, the drive device 21 drives the drive wheel 22 to move backward relative to the machine body 10, changing the relative position of the center of gravity of the machine body 10. Under the weight of gravity, the machine body 10 tilts downward to contact the higher surface of the obstacle and becomes horizontal. Finally, the drive device 21 drives the drive wheel 22 to retract and move it to the surface of the obstacle, thereby allowing the entire cleaning device to cross the obstacle and achieve the obstacle crossing purpose.

[0035] During the obstacle-crossing process, by adjusting the relative position of the center of gravity of the machine body 10, the state of the machine body 10 can be tilted first and then leveled. For example, if the machine body 10 needs to go up a step, it can be tilted first. At this time, the rear end of the machine body 10 will hit the ground. However, since the distance between the machine body 10 and the ground is small, even if the rear end of the machine body 10 hits the ground, it will not produce much noise that will affect the user experience. When the machine body 10 goes up a step, the front end of the machine body 10 tilts down and the front end of the machine body 10 will hit the top surface of the obstacle. However, since the machine body 10 is still below the step, the distance between the front end of the machine body 10 and the top surface of the obstacle is small. When the front end of the machine body 10 hits the ground, it will not produce much noise that will affect the user experience. In other words, the distance between the front end or rear end of the machine body 10 hitting the ground during obstacle crossing is smaller than that of existing technology. Therefore, the front end or rear end of the machine body 10 hitting the ground during obstacle crossing will not produce much noise that will affect the user experience, and it will not affect the service life of the cleaning equipment.

[0036] It is understood that when the cleaning device of this application moves on the surface to be cleaned, the drive wheel 22 can provide driving force to the body 10 as a wheel structure to drive the body 10 to move. When the cleaning device encounters an obstacle, the drive wheel 22 will act as a foot structure to make the body 10 jump onto the obstacle. This not only enhances the practicality of the drive wheel 22, but also, compared with the existing cleaning device, which requires a separate obstacle-crossing foot to achieve obstacle crossing, the drive wheel 22 is only used to drive the body 10 to move, which easily increases costs and occupies the installation space of the base 11. The drive wheel 22 of this application can both drive the body to move and be used as an obstacle-crossing foot, without the need to set up an additional obstacle-crossing foot or drive wheel 22, which greatly reduces costs and does not occupy too much installation space on the base 11, and will not affect the layout of the cleaning components of the cleaning device, thus improving the diversity of cleaning device manufacturing.

[0037] In some embodiments, reference Figure 3 and Figure 5The driving device 21 includes a first driving member 211, a second driving member 212, a first swing arm 213, and a second swing arm 214. The first driving member 211 is mounted on the base 11, and the first swing arm 213 is connected to the first driving member 211 in a transmission connection. One end of the second swing arm 214 is connected to the second driving member 212 in a transmission connection, and the driving wheel 22 is connected to the other end of the second swing arm 214. The second swing arm 214 is rotatably connected to the first swing arm 213.

[0038] It is understood that both the first drive member 211 and the second drive member 212 can be drive motors. The first swing arm 213 is connected to the output shaft of the first drive member 211. The rotation of the output shaft of the first drive member 211 will drive the first swing arm 213 to rotate. The second swing arm 214 is connected to the output shaft of the second drive member 212. The second swing arm 214 is rotatably connected to the first swing arm 213. The rotation of the output shaft of the second drive member 212 will drive the second swing arm 214 to rotate relative to the first swing arm 213, thereby driving the drive wheel 22 to move in the first direction and driving the drive wheel 22 to move closer to or away from the body 10.

[0039] It should be noted that, in combination Figure 4 , 9 and Figure 10 When the cleaning equipment encounters a protruding obstacle during its movement, the first drive unit 211 drives the first swing arm 213 to rotate clockwise, and the second swing arm 214 rotates with the first swing arm 213. The end of the second swing arm 214 connected to the drive wheel 22 moves forward, so the drive wheel 22 connected to the second swing arm 214 moves forward in the first direction until the center of the drive wheel 22 is located in front of the center of gravity of the body 10. The first drive unit 211 continues to drive the first swing arm 213 to rotate clockwise, while the second drive unit 212 drives the second swing arm 214 to rotate counterclockwise relative to the first swing arm 213. At this time, the drive wheel 22 moves away from the body 10, thereby supporting the body 10 and causing the body 10 to tilt backward based on the change in the relative position of its center of gravity, presenting a tilted state with the front higher and the back lower.

[0040] Furthermore, in combination Figure 11 and Figure 12 Drive wheel 22 drives fuselage 10 forward in the first direction until drive wheel 22 contacts the vertical wall of obstacle. At this time, the front end of fuselage 10 is above obstacle. Then, first drive member 211 drives first swing arm 213 to rotate counterclockwise. At the same time, second drive member 212 drives second swing arm 214 to rotate clockwise relative to first swing arm 213. As a result, drive wheel 22 connected to second swing arm 214 moves backward in the first direction until the center of drive wheel 22 is located behind the center of gravity of fuselage 10. At this time, fuselage 10 tilts forward based on the change in the relative position of its center of gravity. As a result, the front end of fuselage 10 contacts the top surface of obstacle, and fuselage 10 is in a horizontal state.

[0041] Further reference Figure 13 The first drive unit 211 will continue to drive the first swing arm 213 to rotate counterclockwise, while the second drive unit 212 will drive the second swing arm 214 to rotate clockwise relative to the first swing arm 213. This causes the drive wheel 22 connected to the second swing arm 214 to move backward along the first direction and closer to the fuselage 10, until the drive wheel 22 is above the top surface of the obstacle. Then, refer to... Figure 14 The first drive unit 211 drives the first swing arm 213 to rotate clockwise, while the second drive unit 212 drives the second swing arm 214 to rotate clockwise relative to the first swing arm 213, so that the drive wheel 22 crosses the obstacle and contacts the top surface of the obstacle. Then the drive wheel 22 drives the machine body 10 to move forward in the first direction, completing the obstacle crossing of the cleaning equipment.

[0042] Optionally, the second swing arm 214 is hinged to the first swing arm 213. When the first swing arm 213 remains stationary, the rotation of the output shaft of the second drive member 212 can drive the second swing arm 214 to rotate around the first swing arm 213, thereby moving the drive wheel 22 connected to the first swing arm 213 in the first direction. When it is necessary to move the drive wheel 22 closer to or further away from the fuselage 10, the first drive member 211 can simultaneously drive the first swing arm 213 to rotate. In this way, the counterclockwise rotation of the first swing arm 213 will raise the hinge point between the first swing arm 213 and the second swing arm 214, thereby increasing the space for the second swing arm 214 to rotate around the first swing arm 213. This allows the second swing arm 214 to move the drive wheel 22 closer to or further away from the fuselage 10. When the drive wheel 22 moves away from the fuselage 10, the fuselage 10 will be raised, which is beneficial for the fuselage 10 to cross obstacles with greater height.

[0043] For example, the cleaning device of this application embodiment is able to cross obstacles with a height of about 55 mm.

[0044] In some embodiments, reference Figure 3 and Figure 4 The first swing arm 213 includes a housing 2131 with a mounting port 21310 and a support arm 2132 disposed on the side surface of the housing 2131 facing away from the mounting port 21310; the support arm 2132 is provided with a receiving cavity 21320. The second swing arm 214 includes a swing arm 2141 and a connecting rod 2142. The connecting rod 2142 is placed in the receiving cavity 21320. One end of the connecting rod 2142 is connected to the output end of the second driving member 212, and the other end is rotatably connected to the first end 21411 of the swing arm 2141. The driving wheel 22 is connected to the second end 21412 of the swing arm 2141. The swing arm 2141 is rotatably connected to the first swing arm 213.

[0045] It is understood that the transmission connection between the first driving member 211 and the first swing arm 213 is specifically achieved by extending a flange outward from the output shaft of the first driving member 211, and connecting the flange to the outer casing 2131 with bolts. Thus, when the output shaft of the first driving member 211 rotates, it will drive the first swing arm 213 to rotate. Since the second driving member 212 is embedded in the outer casing 2131, the output shaft of the second driving member 212 will extend from the outer casing 2131 into the receiving cavity 21320. The specific implementation of the connection between the output shaft of the second driving member 212 and the connecting rod 2142 is as follows: the output shaft of the second driving member 212 is connected to the eccentric turntable 2121, and the connecting rod 2142 is connected to the eccentric turntable 2121. When the output shaft of the second driving member 212 rotates, it drives the eccentric turntable 2121 to rotate, thereby the connecting rod 2142 will drive the swing arm 2141 to rotate relative to the first swing arm 213 around the hinge point.

[0046] Optionally, the shape of the support arm 2132 is not specifically limited, but the size of the receiving cavity 21320 provided in the support arm 2132 should meet the requirement that when the first swing arm 213 is not rotating, the second driving member 212 drives the connecting rod 2142 to drive the swing arm 2141 to rotate relative to the first swing arm 213.

[0047] In some embodiments, reference Figure 4 The connection point between the swing arm 2141 and the first swing arm 213 is located between the first end 21411 and the second end 21412 of the swing arm 2141. In this way, the connecting rod 2142 is connected to the first end 21411 of the swing arm 2141. The second driving member 212 only needs to apply a small driving force to the connecting rod 2142 to make the connecting rod 2142 drive the first end 21411 of the swing arm 2141 to rotate around the hinge point between the swing arm 2141 and the first swing arm 213.

[0048] In some embodiments, reference Figure 3 The second drive member 212 is embedded in the housing 2131 through the mounting port 21310. The output shaft of the second drive member 212 extends into the receiving cavity 21320 from the housing 2131. The central axis of the second drive member 212 is parallel to the central axis of the first drive member 211.

[0049] It should be noted that by embedding the second drive component 212 into the housing 2131 of the first swing arm 213, the second drive component 212 can be connected to the first swing arm 213, and the second drive component 212 and the housing 2131 can overlap in the axial direction of the output shaft of the first drive component 211. This shortens the length of the second drive component 212, the housing 2131 and the first drive component 211 in the axial direction of the output shaft of the first drive component 211, which helps to reduce the space occupied by the drive mechanism 20 on the base 11. It will not affect the size of the functional modules (such as cleaning components) set on the body 10 of the cleaning equipment, and will not affect the cleaning function of the cleaning equipment.

[0050] In some embodiments, reference Figure 5 and Figure 6 The first drive unit 211 is connected to the first gearbox 2111, the output end of the first gearbox 2111 is connected to the connecting plate 2112, and the connecting plate 2112 is connected to the mounting port 21310; the second drive unit 212 is connected to the connecting plate 2112, the second drive unit 212 is located outside the housing 2131, and the output shaft of the second drive unit 212 extends into the housing 2131 and the receiving cavity 21320. The rotation of the output end of the first gearbox 2111 will drive the first swing arm 213 and the connecting plate 2112 to rotate, thereby driving the second drive member 212 to rotate. The output shaft of the second drive member 212 extends into the housing 2131 and the receiving cavity 21320 of the support arm 2132 of the first swing arm 213. One end of the connecting rod 2142 is connected to the output shaft of the second drive member 212, and the other end is rotatably connected to the first end 21411 of the swing arm 2141. By rotating the second drive member 212, the connecting rod 2142 can drive the swing arm 2141 to rotate relative to the first swing arm 213.

[0051] In some embodiments, reference Figure 7 There are two drive mechanisms 20, which are respectively located on both sides of the base 11 along the second direction; Among them, the first direction, the second direction, and the height direction of the fuselage 10 are perpendicular to each other. The first direction is direction X, the second direction is direction Y, and the height direction of the fuselage 10 is direction Z.

[0052] It should be noted that by placing the two drive mechanisms 20 on both sides of the base 11 along the second direction, the two drive wheels 22 can evenly bear the weight of the body 10, which is beneficial for the drive wheels 22 to drive the body 10 to move smoothly in the first direction. When the cleaning equipment overcomes obstacles, the two drive devices 21 can simultaneously drive the two drive wheels 22 to move, making the obstacle-crossing effect of the cleaning equipment better.

[0053] In some embodiments, the drive wheel 22 may optionally use a hub motor, and the rotation of the hub motor can drive the drive wheel 22 to rotate and move.

[0054] Hub motors are a type of motor technology that integrates the power system, transmission device, and braking function inside the wheel. In this embodiment, a hub motor is used as the drive wheel 22, which can drive the drive wheel 22 itself and drive the body 10 to move in the first direction, thereby improving transmission efficiency and simplifying the overall structure of the cleaning equipment. Moreover, hub motors are low in cost and easy to maintain, which helps to reduce the manufacturing and maintenance costs of the cleaning equipment.

[0055] In some embodiments, reference Figure 7 The cleaning equipment includes a support wheel 30 located on the bottom surface of the base 11. The support wheel 30 is located in front of the drive mechanism 20, so that the support wheel 30 and the two drive mechanisms 20 form a triangle, thereby more evenly and stably supporting the body 10, making the body 10 move more stably in the first direction.

[0056] In some embodiments, the cleaning device further includes a pulley, which is disposed on the bottom surface of the base 11 and located behind the drive mechanism 20. When the machine body 10 tilts backward during the process of going up or down a step, the rear end of the machine body 10 will touch the ground. If the machine body 10 is moved at this time, the rear end of the machine body 10 will scrape against the ground, causing wear to the rear end of the machine body 10. By setting the pulley, when the machine body 10 tilts backward, there will be a certain distance between the rear end of the machine body 10 and the ground. In this way, the machine body 10 will not scrape against the ground when moving in the tilted state, and the rear end of the machine body 10 will not be worn.

[0057] In some embodiments, reference Figure 7 The cleaning device also includes a cleaning component 40, which is disposed on the base 11 and located in the front and / or rear of the drive mechanism 20 along the first direction.

[0058] It is understood that when the cleaning device in this application embodiment is a sweeping machine, the cleaning component 40 includes a sweeping brush, which is mounted on the base 11 and located in front of the drive mechanism 20. In this way, the space occupied by the drive mechanism 20 on the base 11 will not affect the normal setting of the sweeping brush. Furthermore, the cleaning component 40 also includes a mopping brush, which is mounted on the base 11 and located in front of the drive mechanism 20. In this way, the placement of the drive mechanism 20 on the base 11 will not affect the normal layout of the mopping brush at the rear of the body 10.

[0059] When the cleaning equipment in this application embodiment is a floor scrubber, the cleaning component 40 includes a mopping brush, which is set on the base 11. The mopping brush can be located in front of or behind the drive mechanism 20. Setting the drive mechanism 20 on the base 11 will not affect the normal layout of the mopping brush and will not affect the diversity of cleaning equipment production.

[0060] refer to Figure 8 This application provides an obstacle-crossing method for a cleaning device, applicable to any of the cleaning devices described in the above embodiments, comprising the following steps: S101. Obtain obstacle information during the process of the cleaning equipment moving in the first direction, and determine the motion state of the cleaning equipment based on the obstacle information, wherein the motion state refers to moving forward or backward in the first direction.

[0061] refer to Figure 9 , Figure 9 This is a schematic diagram of the cleaning equipment moving in the first direction; The obstacle information refers to the height and shape of the obstacle. For example, the obstacle information could be a raised step or a depression below the ground. In this embodiment, the obstacle information refers to a raised step, meaning that the obstacle-crossing method of the cleaning equipment in this embodiment is to enable the cleaning equipment to step over the raised step during its forward movement. In other words, obstacle crossing by the cleaning equipment is equivalent to climbing over a step.

[0062] It should be noted that a detection device can be installed at the front end of the cleaning equipment to detect whether there are obstacles in the direction the cleaning equipment is moving, and the shape of the obstacles. When the detection device detects an obstacle in the direction the cleaning equipment is moving, the cleaning equipment will stop moving.

[0063] S102. When the cleaning equipment is moving forward in the first direction, the control drive device 21 drives the drive wheel 22 to move forward relative to the body 10 in the first direction and away from the body 10 in the direction of gravity of the body 10, so that the center of the drive wheel 22 is located in front of the center of gravity of the body 10 in the first direction, and the body 10 tilts backward.

[0064] refer to Figure 10 , Figure 10 This is a state diagram of the cleaning equipment after step S102 above has been performed.

[0065] It should be noted that when the cleaning equipment is performing cleaning work while moving forward, the drive wheel 22 drives the body 10 to move. The center of gravity of the body 10 is located in front of the center of the drive wheel 22. Through the execution of the above step S102, the drive wheel 22 moves forward in the first direction and away from the body 10, causing the center of the drive wheel 22 to move to the front of the center of gravity of the body 10. Furthermore, the drive wheel 22 moving away from the body 10 also lifts the front end of the body 10. Based on the relative positional change of the body 10's gravity, and in conjunction with the body 10 being in an upward and suspended state relative to the drive wheel 22, the body 10 will tilt backward, that is, present a tilted state with the front higher than the back, preparing the body 10 to climb steps. When the drive wheel 22 moves away from the body 10, the body 10 will be raised, making the tilt angle of the body 10 larger, which is beneficial for the body 10 to cross obstacles with greater height.

[0066] Understandably, when the cleaning equipment is performing cleaning work while moving forward, the center of gravity of the machine body 10 is located in front of the center of the drive wheel 22. The distance between the center of gravity of the machine body 10 and the center of the drive wheel 22 in the first direction only needs to meet the following condition: the forward movement of the drive wheel 22 in the first direction allows the center of the drive wheel 22 to be located in front of the center of gravity of the machine body 10, thus achieving the purpose of tilting the machine body 10 backward. Optionally, the center of gravity of the machine body 10 is approximately located 10 millimeters in front of the center of the drive wheel 22.

[0067] In step S102 above, when the body 10 is tilted, the rear end of the body 10 will hit the ground. However, since the distance between the body 10 and the ground is small, even if the rear end of the body 10 hits the ground, it will not produce much noise that will affect the user's experience, and it will not affect the service life of the cleaning equipment.

[0068] Furthermore, since the obstacle-crossing method of this application embodiment is applied to the cleaning equipment of the above embodiment, based on the structure of the cleaning equipment of the above embodiment, the control drive device 21 drives the drive wheel 22 to move forward in the first direction and away from the body 10. The specific implementation can be: control the first drive member 211 to drive the first swing arm 213 to rotate clockwise, the second swing arm 214 will rotate with the first swing arm 213, and the end of the second swing arm 214 connected to the drive wheel 22 will move forward, so that the second swing arm 214 drives the drive wheel 22 to move forward in the first direction until the center of the drive wheel 22 is located in front of the center of gravity of the body 10. Control the first drive member 211 to continue to drive the first swing arm 213 to rotate clockwise, and the second drive member 212 drives the second swing arm 214 to rotate counterclockwise relative to the first swing arm 213. At this time, the drive wheel 22 will move away from the body 10.

[0069] S103, control the drive wheel 22 to drive the body 10 to move in the first direction so that the drive wheel 22 is close to the obstacle.

[0070] refer to Figure 11 , Figure 11 This is a state diagram of the cleaning equipment after step S103 above has been performed.

[0071] It should be noted that after step S102, the fuselage 10 tilts backward. In order for the fuselage 10 to successfully jump onto the obstacle, the front end of the tilted fuselage 10 needs to be above the obstacle. Therefore, step S103 can drive the tilted fuselage 10 to continue moving forward in the first direction until the drive wheel 22 touches the vertical wall of the obstacle. This ensures that the front end of the fuselage 10 is above the obstacle, which facilitates the subsequent successful jump of the fuselage 10 onto the obstacle.

[0072] Optionally, the drive wheel 22 can be a hub motor. The rotation of the hub motor drives the drive wheel 22 to rotate and move. In this way, the drive wheel 22 can autonomously drive the body 10 to move in the first direction without the need for additional drive components to drive the body 10. This not only reduces costs but also simplifies the overall structure of the cleaning equipment.

[0073] S104. The control drive device 21 drives the drive wheel 22 to move backward relative to the fuselage 10 in the first direction, so that the center of the drive wheel 22 is located behind the center of gravity of the fuselage 10 in the first direction, causing the fuselage 10 to tilt forward and the bottom surface of the front end of the fuselage 10 to contact the top surface of the obstacle.

[0074] refer to Figure 12 , Figure 12 This is a state diagram of the cleaning equipment after step S104 above has been performed.

[0075] It should be noted that after step S103, the front end of the body 10 is positioned above the obstacle. Through the execution of step S104, the drive wheel 22 moves backward in the first direction, causing its center to move to the rear of the body 10's center of gravity. Based on this change in the relative position of the body 10's weight, the body 10 tilts forward under gravity, causing its front end to fall downward until it contacts the top surface of the obstacle. At this point, the body 10 is in a horizontal state. Furthermore, since the drive wheel 22 moves backward in the first direction in step S104, it can be controlled to drive the body 10 forward in the first direction until it contacts the obstacle. At this point, the center of the drive wheel 22 is located behind the body 10's center of gravity, meaning the orthographic projection of the body 10's center of gravity onto the surface to be cleaned is located on the top surface of the obstacle. Therefore, when the drive wheel 22 is retracted near the body 10, the body 10 remains horizontal and does not tilt.

[0076] In step S104 above, when the front end of the body 10 tilts down, the front end of the body 10 will hit the top surface of the obstacle. However, since the body 10 is still below the step at this time, the distance between the front end of the body 10 and the top surface of the obstacle is small. When the front end of the body 10 hits the ground, it will not generate a lot of noise that will affect the user's experience, and it will not affect the service life of the cleaning equipment.

[0077] Furthermore, since the obstacle-crossing method of this application embodiment is applied to the cleaning device of the above embodiment, based on the structure of the cleaning device of the above embodiment, the drive wheel 22 moves backward in the first direction. The specific implementation can be: the first drive member 211 drives the first swing arm 213 to rotate counterclockwise, and the second drive member 212 drives the second swing arm 214 to rotate clockwise relative to the first swing arm 213, so that the drive wheel 22 connected to the second swing arm 214 will move backward in the first direction until the center of the drive wheel 22 is located behind the center of gravity of the body 10.

[0078] S105, the control drive device 21 drives the drive wheel 22 to approach the fuselage 10 in the direction of gravity of the fuselage 10 and move forward relative to the fuselage 10 in the first direction so that the drive wheel 22 contacts the top surface of the obstacle.

[0079] refer to Figure 13 and Figure 14 , Figure 13 This is a status diagram of the cleaning equipment during step S105 above. Figure 14 This is a state diagram of the cleaning equipment after step S105 above has been performed.

[0080] It should be noted that after step S104 is executed, the machine body 10 can jump onto the obstacle. However, the drive wheel 22 also needs to jump onto the obstacle in order to complete the obstacle crossing of the cleaning equipment. Therefore, through the execution of step S105, the drive wheel 22 approaches the machine body 10 and moves forward in the first direction until the drive wheel 22 contacts the top surface of the obstacle, so that the drive wheel 22 also jumps onto the obstacle, thereby completing the obstacle crossing of the cleaning equipment.

[0081] Furthermore, since the obstacle-crossing method of this application embodiment is applied to the cleaning equipment of the above embodiment, based on the structure of the cleaning equipment of the above embodiment, the drive wheel 22 approaches the body 10 and moves forward in the first direction so that the drive wheel 22 contacts the surface of the obstacle. The specific implementation can be: the first drive member 211 drives the first swing arm 213 to rotate counterclockwise, while the second drive member 212 drives the second swing arm 214 to rotate clockwise relative to the first swing arm 213, so that the drive wheel 22 connected to the second swing arm 214 will move backward in the first direction and approach the body 10. Then, the first drive member 211 will drive the first swing arm 213 to rotate clockwise, while the second drive member 212 will drive the second swing arm 214 to rotate clockwise relative to the first swing arm 213, so that the drive wheel 22 crosses the obstacle and contacts the top surface of the obstacle.

[0082] The above process involves moving the drive wheel 22 closer to the fuselage 10 in the direction of gravity of the fuselage 10 in step S105, and moving the drive wheel 22 forward relative to the fuselage 10 in the first direction. Of course, the process can also be carried out simultaneously by moving the drive wheel 22 closer to the fuselage 10 in the direction of gravity of the fuselage 10 and moving the drive wheel 22 forward relative to the fuselage 10 in the first direction.

[0083] S106, The control drive device 21 drives the drive wheel 22 to move along the first direction to the initial position of the drive wheel 22 relative to the fuselage 10.

[0084] refer to Figure 15 , Figure 15 This is a state diagram of the cleaning equipment after step S106 above has been performed.

[0085] It should be noted that after step S105 is executed, the drive wheel 22 can cross the obstacle and contact its top surface. However, the drive wheel 22 needs to return to its initial position to ensure that the relative positional relationship between the center of gravity of the machine body 10 and the center of the drive wheel 22 is restored to its initial state, so that the cleaning function of the cleaning equipment can be successfully realized. The initial position here refers to the position of the drive wheel 22 relative to the machine body 10 before the cleaning equipment crosses the obstacle. Therefore, step S106 can move the drive wheel 22 to its initial position, thereby driving the machine body 10 to move more stably.

[0086] The obstacle-crossing method of the cleaning equipment in this embodiment can be understood as a method of cleaning equipment climbing stairs. When the cleaning equipment encounters a raised step during the cleaning process, the drive device 21 can be controlled to drive the drive wheel 22 to move, so that the body 10 tilts. Then, the drive device 21 is controlled to drive the drive wheel 22 to move, so that the front end of the body 10 contacts the top surface of the obstacle, and the body 10 is in a horizontal state. Then, the drive device 21 is controlled to drive the drive wheel 22 to move again to contact the top surface of the obstacle, thus completing the obstacle crossing of the cleaning equipment. In the entire obstacle crossing process, the body 10 tilts first and then becomes horizontal, which can optimize the obstacle crossing posture of the cleaning equipment and improve the success rate of obstacle crossing on the first attempt.

[0087] refer to Figure 16 This application provides an obstacle-crossing method for a cleaning device, applicable to a cleaning device as described in any of the above embodiments, comprising: S201. Obtain obstacle information during the process of the cleaning equipment moving forward on the ground along the first direction, and determine the motion state of the cleaning equipment based on the obstacle information, wherein the motion state refers to moving forward or backward along the first direction.

[0088] In this application embodiment, the obstacle information refers to the obstacle being a pit lower than the ground. In other words, the obstacle-crossing method of the cleaning equipment in this application embodiment is to make the cleaning equipment go down the pit during the forward movement. It can also be said that the obstacle-crossing of the cleaning equipment is going down a step.

[0089] S202. When the cleaning equipment is moving backward in the first direction, control the machine body 10 to turn its direction so that the machine body 10 moves backward in the first direction.

[0090] refer to Figure 17 , Figure 17 for Figure 16 Status diagram of the cleaning equipment after step S202 is performed.

[0091] It should be noted that the obstacle-crossing method of the cleaning equipment in this application embodiment is to make the cleaning equipment go down the steps in reverse. Therefore, before the cleaning equipment crosses the obstacle, the front and rear ends of the machine body 10 need to be swapped through the operation of step S202. That is, along the first direction, the rear end of the machine body 10 is in front and the front end is behind, and the rear end of the machine body 10 goes down the steps first.

[0092] In step S202, the fuselage 10 needs to retreat along the first direction until the drive wheel 22 is close to the edge of the obstacle. It's important to note that at this point, the drive wheel 22 must maintain a certain distance from the obstacle edge to prepare for the subsequent step S203. This prevents the drive wheel 22 from contacting the obstacle edge, which would cause it to become suspended in the air when moving forward relative to the fuselage 10 in the first direction, resulting in the fuselage 10 crashing directly to the ground. The maximum distance between the drive wheel 22 and the obstacle edge must meet the following requirement: when the drive wheel 22 has moved forward to its maximum distance relative to the fuselage 10 in the first direction, its projection onto the ground must be located on the top surface of the obstacle.

[0093] S203, the control drive device 21 drives the drive wheel 22 to move backward relative to the fuselage 10 in a first direction so that the fuselage 10 contacts the ground.

[0094] It should be noted that when the machine body moves backward in the first direction, the forward and backward movement of the drive wheel 22 relative to the machine body 10 in the first direction is based on the head and tail of the machine body 10. Specifically, the head of the machine body 10, that is, the side facing forward in the forward state, is regarded as the front side, and the tail of the machine body 10, that is, the side facing backward in the forward state, is regarded as the rear side. The forward movement of the drive wheel 22 relative to the machine body 10 in the first direction means that the drive wheel 22 moves towards the head side of the machine body 10 in the first direction, and the backward movement of the drive wheel 22 relative to the machine body 10 in the first direction means that the drive wheel 22 moves towards the tail side of the machine body 10 in the first direction.

[0095] S204. The control drive device 21 drives the drive wheel 22 away from the fuselage 10 in the direction of gravity of the fuselage 10, so that the drive wheel 22 contacts the top surface of the obstacle.

[0096] refer to Figure 18 , Figure 18 for Figure 16 Status diagram of the cleaning equipment after step S204 is performed.

[0097] It should be noted that when the cleaning equipment goes down the step, the obstacle-crossing strategy adopted by the obstacle-crossing method in this embodiment is to first let the drive wheel 22 go down the step, and then let the body 10 go down the step. Before crossing the obstacle, since the front and rear ends of the body 10 have been reversed, the center of gravity of the body 10 is located behind the center of the drive wheel 22 in the first direction. In step S203, the drive wheel 22 moves forward in the first direction and away from the body 10, that is, the center of the drive wheel 22 is away from the center of gravity of the body 10. The center of gravity of the body 10 is still located behind the center of the drive wheel 22. Even if the drive wheel 22 jumps down the step, the body 10 still remains in a horizontal state.

[0098] Furthermore, since the obstacle-crossing method of this application embodiment is applied to the cleaning equipment of the above embodiment, based on the structure of the cleaning equipment of the above embodiment, the drive wheel 22 moves forward and away from the body 10 in the first direction so that the drive wheel 22 contacts the surface of the obstacle. The specific implementation can be: the first drive member 211 drives the first swing arm 213 to rotate counterclockwise, and at the same time the second drive member 212 drives the second swing arm 214 to rotate counterclockwise relative to the first swing arm 213, so that the drive wheel 22 moves forward in the first direction. Then the first drive member 211 drives the first swing arm 213 to rotate clockwise, and the second drive member 212 drives the second swing arm 214 to rotate clockwise relative to the first swing arm 213. At this time, the drive wheel 22 will move away from the body 10 until it contacts the surface of the obstacle, that is, the surface of the pit.

[0099] S205, control the drive wheel 22 to drive the body 10 to move a first preset distance along the first direction.

[0100] refer to Figure 19 , Figure 19 for Figure 16 Status diagram of the cleaning equipment after step S205 is performed.

[0101] It should be noted that after step S203, the machine body 10 is in a horizontal state, and the orthographic projection of the center of gravity of the machine body 10 on the surface to be cleaned is not located on the obstacle, i.e., the pit surface. Therefore, in order to adjust the relative position of the center of gravity of the machine body 10 to adjust the machine body 10 from a horizontal state to a tilted state and achieve the purpose of going down the step, it is necessary to use step S204 to drive the drive wheel 22 to drive the machine body 10 to move a first preset distance in the first direction, so as to provide sufficient space for the drive wheel 22 to move to the rear of the center of gravity of the machine body 10 in the first direction, which provides a good foundation for the execution of the subsequent step S205.

[0102] Understandably, the first preset distance needs to be greater than or equal to the distance that the drive wheel 22 moves in the first direction to the rear of the fuselage 10's center of gravity. This ensures that the drive wheel 22 can move in the first direction to the rear of the fuselage 10's center of gravity.

[0103] S206. The control drive device 21 drives the drive wheel 22 to move forward relative to the fuselage 10 in a first direction, so that the center of the drive wheel 22 is located in front of the center of gravity of the fuselage 10 in the first direction, causing the fuselage 10 to tilt backward.

[0104] refer to Figure 20 , Figure 20 for Figure 16 Status diagram of the cleaning equipment after step S206 is performed.

[0105] It should be noted that the drive wheel 22 moves forward in the first direction until its center is located in front of the center of gravity of the fuselage 10. Based on the change in the relative position of the fuselage 10's gravity, the fuselage 10 will tilt backward. This backward tilt refers to the tilted state where the front end of the fuselage 10 is higher and the rear end is lower, and the rear end of the fuselage 10 will descend the step first. When step S205 is executed, the drive wheel 22 is away from the fuselage 10, so the backward tilt of the fuselage 10 on this basis can make the angle of tilt of the fuselage 10 greater, which is conducive to the fuselage 10 jumping down a deeper pit.

[0106] It is understandable that when the machine body 10 tilts backward, the rear end of the machine body 10 will hit the ground. However, since the distance between the machine body 10 and the ground is small, even if the rear end of the machine body 10 hits the ground, it will not produce much noise that will affect the user experience, and it will not affect the service life of the cleaning equipment.

[0107] Furthermore, since the obstacle-crossing method of this application embodiment is applied to the cleaning equipment of the above embodiment, based on the structure of the cleaning equipment of the above embodiment, the control drive device 21 drives the drive wheel 22 to move forward in the first direction. The specific implementation can be: control the first drive member 211 to drive the first swing arm 213 to rotate clockwise, and the second drive member 212 to drive the second swing arm 214 to rotate clockwise relative to the first swing arm 213, so that the second swing arm 214 drives the drive wheel 22 to move forward in the first direction until the center of the drive wheel 22 is located in front of the center of gravity of the body 10.

[0108] S207, control the drive wheel 22 to drive the body 10 to move a second preset distance along the first direction.

[0109] refer to Figure 21 , Figure 21 for Figure 16 Status diagram of the cleaning equipment after step S207 is performed.

[0110] It should be noted that after step S205, although the rear end of the machine body 10 has descended the step, the front end of the machine body 10 has not yet descended the step. Step S206 can make the machine body 10 move a second preset distance in the first direction, that is, the machine body 10 moves forward a second preset distance in the second direction, so that the orthographic projection of the front end of the machine body 10 on the surface to be cleaned is located on the obstacle, i.e., the pit surface. This ensures that after the subsequent step S207 is executed, the front end of the machine body 10 can contact the obstacle, i.e., the pit surface, so that the entire cleaning equipment descends the step and completes obstacle crossing.

[0111] It is understandable that the second preset distance needs to be greater than or equal to the difference between the length of the orthographic projection of the body 10 on the surface to be cleaned in the first direction and the length of the orthographic projection of the body 10 on the obstacle surface in the first direction, so as to ensure that after step S207 is executed, the front end of the body 10 can contact the obstacle, i.e., the pit surface.

[0112] S208, the control drive device 21 drives the drive wheel 22 to approach the fuselage 10 in the direction of gravity and move it backward relative to the fuselage 10 in the first direction, so that the center of the drive wheel 22 is located behind the center of gravity of the fuselage 10 in the first direction, and the bottom surface of the front end of the fuselage 10 contacts the top surface of the obstacle.

[0113] refer to Figure 22 , Figure 22 for Figure 16 Status diagram of the cleaning equipment after step S208 is performed.

[0114] It should be noted that when the drive wheel 22 moves close to the fuselage 10 and moves backward in the first direction, the center of the drive wheel 22 can be moved to the rear of the center of gravity of the fuselage 10. In this way, based on the change in the relative position of the weight of the fuselage 10, the fuselage 10 will tilt forward, and the front end of the fuselage 10 will fall downward. However, since the drive wheel 22 will be close to the fuselage 10, the distance between the fuselage 10 and the surface of the obstacle will be reduced, so that the fuselage 10 will contact the surface of the obstacle, i.e., the pit. At this time, the fuselage 10 is in a horizontal state.

[0115] Furthermore, the drive wheel 22 moves close to the body 10 and moves backward in the first direction. It can be configured to move the drive wheel 22 to the initial position, and then turn the front and rear ends of the body 10 again so that the body 10 can move forward in the first direction. Thus, the drive wheel 22 can drive the body 10 to move on the surface of the obstacle to clean the surface of the obstacle.

[0116] In step S208 above, since the drive wheel 22 will move closer to the body 10 in the direction of gravity, thereby shortening the distance between the front end of the body 10 and the surface of the obstacle, when the body 10 tilts forward, the distance between the front end of the body 10 and the top surface of the obstacle is small, which will not generate much noise and affect the user's experience, nor will it affect the service life of the cleaning equipment.

[0117] Furthermore, since the obstacle-crossing method of this application embodiment is applied to the cleaning device of the above embodiment, based on the structure of the cleaning device of the above embodiment, the drive wheel 22 moves backward close to the body 10 in the first direction. The specific implementation can be as follows: the first drive member 211 drives the first swing arm 213 to rotate clockwise, and the second drive member 212 drives the second swing arm 214 to rotate clockwise relative to the first swing arm 213, so that the drive wheel 22 connected to the second swing arm 214 will move closer to the body 10. Then, the first drive member 211 drives the first swing arm 213 to rotate counterclockwise, and the second drive member 212 drives the second swing arm 214 to rotate counterclockwise relative to the first swing arm 213, so that the drive wheel 22 connected to the second swing arm 214 will move backward in the first direction until the center of the drive wheel 22 is located behind the center of gravity of the body 10.

[0118] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A cleaning device, characterized in that, include: The body (10) includes the base (11); The drive mechanism (20) includes a drive device (21) and a drive wheel (22). The drive device (21) is mounted on the base (11), and the drive wheel (22) is connected to the drive device (21). The drive wheel (22) is used to drive the body (10) forward along a first direction on the surface to be cleaned, and the drive device (21) is used to drive the drive wheel (22) to move relative to the body (10) in the first direction, so as to adjust the relative position of the center of the drive wheel (22) and the center of gravity of the body (10), and to drive the drive wheel (22) to move closer to or away from the body (10) in the direction of gravity of the body (10). When the drive device (21) drives the drive wheel (22) to move forward relative to the fuselage (10) in the first direction and away from the fuselage (10) in the direction of gravity, the center of the drive wheel (22) is located in front of the center of gravity of the fuselage (10), and the fuselage (10) is tilted in the first direction with the front higher than the back; when the drive device (21) drives the drive wheel (22) to move backward relative to the fuselage (10) in the first direction and closer to the fuselage (10) in the direction of gravity, the center of the drive wheel (22) is located behind the center of gravity of the fuselage (10), and the fuselage (10) is horizontal in the first direction.

2. The cleaning equipment according to claim 1, characterized in that, The drive device (21) includes a first drive member (211), a second drive member (212), a first swing arm (213), and a second swing arm (214). The first driving member (211) is disposed on the base (11), and the first swing arm (213) is connected to the first driving member (211) in a transmission manner; One end of the second swing arm (214) is connected to the second drive member (212) for transmission, and the drive wheel (22) is connected to the other end of the second swing arm (214). The second swing arm (214) is rotatably connected to the first swing arm (213).

3. The cleaning equipment according to claim 2, characterized in that, The first swing arm (213) includes a housing (2131) having a mounting port (21310) and a support arm (2132) disposed on a side surface of the housing (2131) facing away from the mounting port (21310). The support arm (2132) is provided with a receiving cavity (21320). The second swing arm (214) includes a swing arm (2141) and a connecting rod (2142). The connecting rod (2142) is placed in the receiving cavity (21320). One end of the connecting rod (2142) is connected to the output end of the second drive member (212), and the other end is rotatably connected to the first end (21411) of the swing arm (2141). The drive wheel (22) is connected to the second end (21412) of the swing arm (2141). The swing arm (2141) is rotatably connected to the first swing arm (213).

4. The cleaning equipment according to claim 3, characterized in that, The position where the swing arm (2141) is connected to the first swing arm (213) is located between the first end (21411) and the second end (21412) of the swing arm (2141).

5. The cleaning equipment according to claim 3 or 4, characterized in that, The second drive member (212) is embedded in the housing (2131) from the mounting port (21310), and the output shaft of the second drive member (212) extends from the housing (2131) into the receiving cavity (21320). The central axis of the second drive member (212) is parallel to the central axis of the first drive member (211).

6. The cleaning equipment according to claim 3 or 4, characterized in that, The first driving component (211) is connected to the first gearbox (2111), the output end of the first gearbox (2111) is connected to the connecting plate (2112), and the connecting plate (2112) is connected to the mounting port (21310). The second drive member (212) is connected to the connecting plate (2112). The second drive member (212) is located outside the housing (2131). The output shaft of the second drive member (212) extends into the housing (2131) and the receiving cavity (21320).

7. The cleaning equipment according to any one of claims 1-6, characterized in that, There are two drive mechanisms (20), and the two drive mechanisms (20) are respectively located on both sides of the base (11) along the second direction; The first direction, the second direction, and the height direction of the fuselage (10) are all perpendicular to each other.

8. The cleaning equipment according to any one of claims 1-7, characterized in that, Also includes: A cleaning component (40) is disposed on the base (11) along the first direction, and the cleaning component (40) is located on the front and / or rear side of the drive mechanism (20).

9. A method for obstacle crossing of a cleaning device, characterized in that, Applied to the cleaning equipment as described in any one of claims 1-8, comprising: Obstacle information is obtained during the process of the cleaning equipment moving in a first direction, and the motion state of the cleaning equipment is determined based on the obstacle information, wherein the motion state refers to moving forward or backward in the first direction; When the cleaning equipment is moving in the first direction, the control drive device (21) drives the drive wheel (22) to move forward relative to the body (10) in the first direction and away from the body (10) in the direction of gravity, so that the center of the drive wheel (22) is located in front of the center of gravity of the body (10) in the first direction, and the body (10) tilts backward; Control the drive wheel (22) to drive the body (10) to move in the first direction so that the drive wheel (22) approaches the obstacle; Control the drive device (21) to drive the drive wheel (22) to move backward relative to the fuselage (10) in the first direction, so that the center of the drive wheel (22) is located behind the center of gravity of the fuselage (10) in the first direction, so that the fuselage (10) tilts forward and the bottom surface of the front end of the fuselage (10) contacts the top surface of the obstacle; The drive device (21) is controlled to drive the drive wheel (22) to move closer to the fuselage (10) in the direction of gravity of the fuselage (10) and forward relative to the fuselage (10) in the first direction, so that the drive wheel (22) contacts the top surface of the obstacle.

10. The obstacle-crossing method according to claim 9, characterized in that, Controlling the drive device (21) to drive the drive wheel (22) to move relative to the fuselage (10) in the first direction, and controlling the drive device (21) to drive the drive wheel (22) to move away from or closer to the fuselage (10) in the direction of gravity of the fuselage (10), includes: The first drive unit (211) drives the first swing arm (213) to rotate, and the second drive unit (212) drives the second swing arm (214) to rotate relative to the first swing arm (213), so that the second swing arm (214) drives the drive wheel (22) to move relative to the fuselage (10) in a first direction, and the second swing arm (214) drives the drive wheel (22) to move closer to or away from the fuselage (10) in the direction of gravity of the fuselage (10).

11. The obstacle-crossing method according to claim 9 or 10, characterized in that, The method of controlling the drive device (21) to drive the drive wheel (22) to move closer to the fuselage (10) in the direction of gravity and forward along the first direction, so that the drive wheel (22) contacts the top surface of the obstacle, further includes: The drive device (21) is controlled to drive the drive wheel (22) to move along the first direction to the initial position of the drive wheel (22) relative to the fuselage (10).

12. A method for overcoming obstacles with cleaning equipment, characterized in that, Applied to the cleaning equipment as described in any one of claims 1-8, comprising: Obstacle information is acquired during the process of the cleaning equipment moving forward on the ground along a first direction, and the motion state of the cleaning equipment is determined based on the obstacle information, wherein the motion state refers to moving forward or backward along the first direction; When the cleaning equipment is in a backward motion in the first direction, the machine body (10) is controlled to turn its direction so that the machine body (10) moves backward in the first direction; The control drive device (21) drives the drive wheel (22) to move backward relative to the fuselage (10) in the first direction so that the fuselage (10) contacts the ground; The control drive device (21) drives the drive wheel (22) away from the fuselage (10) in the direction of gravity of the fuselage (10) so that the drive wheel (22) contacts the top surface of the obstacle; Control the drive wheel (22) to drive the body (10) to move a first preset distance along the first direction; Control the drive device (21) to drive the drive wheel (22) to move forward relative to the fuselage (10) in the first direction, so that the center of the drive wheel (22) is located in front of the center of gravity of the fuselage (10) in the first direction, so that the fuselage (10) tilts backward; Control the drive wheel (22) to drive the body (10) to move a second preset distance along the first direction; The drive device (21) is controlled to drive the drive wheel (22) to move closer to the fuselage (10) in the direction of gravity and to move backward relative to the fuselage (10) in the first direction, so that the center of the drive wheel (22) is located behind the center of gravity of the fuselage (10) in the first direction, so that the bottom surface of the front end of the fuselage (10) contacts the top surface of the obstacle.

13. The obstacle-crossing method according to claim 12, characterized in that, Controlling the drive device (21) to drive the drive wheel (22) to move relative to the fuselage (10) in the first direction, and controlling the drive device (21) to drive the drive wheel (22) to move away from or closer to the fuselage (10) in the direction of gravity of the fuselage (10), includes: The first drive unit (211) drives the first swing arm (213) to rotate, and the second drive unit (212) drives the second swing arm (214) to rotate relative to the first swing arm (213), so that the second swing arm (214) drives the drive wheel (22) to move relative to the fuselage (10) in a first direction, and the second swing arm (214) drives the drive wheel (22) to move closer to or away from the fuselage (10) in the direction of gravity of the fuselage (10).

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