Cleaning method, cleaning apparatus, and storage medium

Abstract

This application discloses a cleaning method, cleaning equipment, and storage medium. The cleaning method is used with the cleaning equipment, which includes a chassis and a drive component. The drive component is disposed on the chassis. The method includes: acquiring identification information of a target object in the current scene, the identification information including at least one of the target object's type and height; and controlling the drive component to raise or lower based on the identification information to avoid the target object or enhance the cleaning intensity on the target object. By controlling the drive component to raise or lower to avoid the target object (e.g., raising the drive component to avoid collisions with the cleaning equipment, or lowering the drive component to allow the cleaning equipment to pass through low-ceilinged spaces) or to enhance the cleaning intensity on the target object (e.g., lowering the drive component to lower the chassis of the cleaning equipment, thereby enhancing the cleaning intensity), not only can the obstacle avoidance ability and low-ceilinged space passage ability of the cleaning equipment be improved, but the cleaning effect can also be improved without reducing cleaning efficiency.

Description

Technical Field

[0001] This application relates to the field of cleaning technology, and more specifically, to a cleaning method, cleaning equipment, and computer-readable storage medium. Background Technology

[0002] Currently, with the development of technology, service robots are becoming increasingly ubiquitous in all aspects of life, especially cleaning robots (such as robot vacuum cleaners), which are becoming more and more popular. Robot vacuum cleaners intelligently clean dirt and grime from all over the room and complete the cleaning work.

[0003] Current robotic vacuum cleaners typically clean the same spot multiple times during the cleaning process. This repeated cleaning not only has limited cleaning effect but also easily leads to low cleaning efficiency. Summary of the Invention

[0004] This application provides a cleaning method, cleaning equipment, and computer-readable storage medium that can ensure cleaning effectiveness while avoiding a reduction in cleaning efficiency.

[0005] One embodiment of this application discloses a cleaning method applied to a cleaning device, the cleaning device including a chassis and a drive assembly, the drive assembly being disposed on the chassis, the method comprising: acquiring identification information of a target object in a current scene, the identification information including at least one of the type and height of the target object; and, based on the identification information, controlling the drive assembly to rise and fall to avoid the target object or enhance the cleaning intensity of the target object.

[0006] In some embodiments, the target object includes dirt, the cleaning device further includes a cleaning component disposed on the chassis, the drive component includes casters and drive wheels, the casters, drive wheels and the cleaning component are arranged sequentially along the forward direction of the cleaning device, and the step of controlling the lifting and lowering of the drive component based on the identification information to enhance the cleaning intensity of the target object includes: when the type of dirt is liquid dirt, controlling the casters to lower the height, the drive wheels to raise the height, the casters to lower the height and the drive wheels to raise the height, or both the casters and drive wheels to lower the height.

[0007] In some implementations, when the swivel wheels are lowered, the drive wheels are raised, the swivel wheels are lowered and the drive wheels are raised, or both the swivel wheels and drive wheels are lowered, the adjusted height of the cleaning component is lower than a preset height. When the cleaning component is at the preset height, the cleaning component is in contact with the ground.

[0008] In some implementations, the height difference between the adjusted height and the preset height is determined based on at least one of the liquid type of the liquid contaminant and the degree of solidification of the liquid contaminant.

[0009] In some embodiments, the cleaning components include at least one of a mop, a water outlet device, and a mid-sweeper. The method further includes, when the type of dirt is liquid dirt, adjusting the cleaning parameters of the cleaning equipment to enhance the cleaning intensity on the target object. The cleaning parameters include at least one of the rotation speed of the mop, the water output of the water outlet device, and the rotation speed of the mid-sweeper.

[0010] In some implementations, the target object includes an obstacle, and controlling the lifting and lowering of the drive component based on the identification information to avoid the target object includes: controlling the drive component to rise based on the height of the obstacle so that the chassis is higher than the obstacle; and / or controlling the drive component to lower based on the passable space of the obstacle so that the height of the cleaning equipment is less than the height of the passable space.

[0011] In some embodiments, the cleaning device further includes a scene recognition component, which includes at least one of a camera and a radar, and is used to identify the target object in the current scene and generate the recognition information.

[0012] In some implementations, the target object includes dirt and obstacles, and the method further includes: after cleaning the dirt or avoiding the obstacles, controlling the drive assembly to return to the height before lifting.

[0013] The cleaning device according to the embodiments of this application includes a chassis, a drive assembly, a processor, a memory, and a computer program. The drive assembly is disposed on the chassis, the computer program is stored in the memory and executed by the processor, and the computer program includes instructions for performing the cleaning method of any of the above embodiments.

[0014] The computer-readable storage medium of the embodiments of this application includes a computer program that, when executed by a processor, causes the processor to perform the cleaning method of any of the above embodiments.

[0015] The cleaning method, cleaning equipment, and computer-readable storage medium of this application, by acquiring identification information of a target object in the current scene, including at least one of the target object's type and height, and then controlling the lifting and lowering of a drive component based on the identification information, can either avoid the target object (e.g., the drive component can be raised based on the identification information to raise the chassis of the cleaning equipment, avoiding collisions or obstruction of the cleaning process, or the drive component can be lowered to allow the cleaning equipment to pass through low-ceilinged spaces) or enhance the cleaning intensity on the target object (e.g., the drive component can be lowered based on the identification information to lower the chassis of the cleaning equipment, increasing the ground interference during cleaning and thus enhancing the cleaning intensity). This not only improves the cleaning equipment's obstacle avoidance and low-ceilinged space traversal capabilities but also enhances the cleaning effect without reducing cleaning efficiency.

[0016] Additional aspects and advantages of embodiments of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of embodiments of this application. Attached Figure Description

[0017] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, wherein:

[0018] Figure 1 This is a schematic diagram illustrating an application scenario of the cleaning method according to certain embodiments of this application;

[0019] Figure 2 This is a schematic diagram of a cleaning method according to certain embodiments of this application;

[0020] Figure 3 This is a flowchart illustrating a cleaning method according to certain embodiments of this application;

[0021] Figure 4 This is a flowchart illustrating a cleaning method according to certain embodiments of this application;

[0022] Figure 5 This is a schematic diagram of the structure of a cleaning device according to certain embodiments of this application;

[0023] Figure 6 This is a schematic diagram of a cleaning method according to certain embodiments of this application;

[0024] Figure 7 This is a flowchart illustrating a cleaning method according to certain embodiments of this application;

[0025] Figure 8 This is a flowchart illustrating a cleaning method according to certain embodiments of this application;

[0026] Figure 9This is a schematic diagram of a cleaning method according to certain embodiments of this application;

[0027] Figure 10 This is a schematic diagram of a cleaning method according to certain embodiments of this application;

[0028] Figure 11 This is a schematic diagram of a cleaning method according to certain embodiments of this application;

[0029] Figure 12 This is a flowchart illustrating a cleaning method according to certain embodiments of this application;

[0030] Figure 13 This is a schematic diagram of the structure of a cleaning device according to certain embodiments of this application;

[0031] Figure 14 This is a schematic diagram of the structure of a cleaning device according to certain embodiments of this application;

[0032] Figure 15 This is a schematic diagram of the structure of a cleaning device according to certain embodiments of this application;

[0033] Figure 16 This is a schematic diagram of the structure of a cleaning device according to certain embodiments of this application;

[0034] Figure 17 This is a schematic diagram of the cleaning apparatus according to certain embodiments of this application;

[0035] Figure 18 This is a schematic diagram illustrating the connection state of a non-volatile computer-readable storage medium and a processor in certain embodiments of this application. Detailed Implementation

[0036] The embodiments of this application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the embodiments of this application, and should not be construed as limiting the embodiments of this application.

[0037] To facilitate understanding of this application, the following explanations are provided for the terms used in this application:

[0038] Self-moving robots: Machine devices that perform tasks automatically. They can be commanded by humans, run pre-programmed procedures, or act according to principles established using artificial intelligence technology.

[0039] A robotic vacuum cleaner is a type of self-moving robot. Also known as an automatic cleaning robot, smart vacuum cleaner, or robotic vacuum cleaner, it's a type of smart home appliance that uses artificial intelligence to automatically clean floors in a room. It typically uses a combination of brushing and vacuuming to collect debris into its own dustbin, thus completing the cleaning process. Generally, robots that perform sweeping, vacuuming, and mopping are collectively classified as robotic vacuum cleaners.

[0040] The cleaning robot of this application can be a self-moving robot or a device containing a self-moving robot. The self-moving robot can be a sweeping robot, an autonomous mobile robot (AMR), etc. For the sake of simplicity, this application uses a sweeping robot as an example to illustrate the self-moving robot. The principle of other types of self-moving robots is similar and will not be described in detail here.

[0041] When cleaning robots are performing cleaning tasks on areas with stubborn dirt (such as dried soy sauce, beverages, etc.), they typically clean the dirty area repeatedly to ensure cleaning effectiveness.

[0042] However, repeated cleaning not only has limited cleaning effect, but also easily leads to low cleaning efficiency.

[0043] To address the aforementioned technical problems, embodiments of this application provide a cleaning method and a cleaning device.

[0044] The application scenarios of the technical solution of this application will be introduced below. The cleaning method of the cleaning robot 100 provided by this application can be applied to, for example... Figure 1 In the application scenario shown.

[0045] In one embodiment, the cleaning equipment of this application may include only the cleaning robot 100, or only the base station 600; or the cleaning equipment may include a system consisting of the cleaning robot 100 and the base station 600 (or dust collection station).

[0046] In one embodiment, the cleaning device 100 includes a chassis 10, a drive assembly 20, a processor 30, and a memory 40, wherein the drive assembly 20 is disposed on the chassis 10.

[0047] Optionally, the cleaning device 100 also includes a cleaning component 50 disposed on the chassis 10, and the drive component 20 includes casters 21 and drive wheels 22, with the casters 21, drive wheels 22 and cleaning component 50 arranged sequentially along the forward direction of the cleaning device 100.

[0048] Among them, the caster wheel 21 is used to control the steering of the cleaning equipment 100, and the drive wheel 22 is used to drive the cleaning equipment 100 to move.

[0049] The cleaning component 50 is used to scrub the area to be cleaned during the cleaning process performed by the cleaning device 100.

[0050] Optionally, the cleaning component 50 may include dry cleaning components (such as center sweepers, side sweepers, etc.) and wet cleaning components (such as mops, including roller mops, flat mops, rotary mops, etc.). For example, when performing a cleaning task, the cleaning device 100 may first use the dry cleaning components to sweep and then use the wet cleaning components to mop.

[0051] Optionally, the cleaning component 50 includes at least one of a mop, a water outlet, and a sweeper.

[0052] The water outlet device can be a container for spraying clean water onto the area to be cleaned during the cleaning process of the cleaning equipment.

[0053] In one embodiment, the cleaning device 100 includes a scene recognition component, which includes at least one of a camera and radar.

[0054] Among them, the cleaning equipment 100, based on the recognition module 60, can also realize scene recognition (such as recognizing dirt in the scene), positioning and navigation.

[0055] Optionally, the recognition module 60 includes a camera 61 and a radar 62, which can be used to recognize the current scene.

[0056] The cleaning method described in this application will be explained in detail below:

[0057] Please see Figure 2 and Figure 3 This application provides a cleaning method, which will be described using a cleaning device as an example. The cleaning device includes a chassis and a drive assembly, with the drive assembly located on the chassis. The cleaning method includes:

[0058] Step 011: Obtain the identification information of the target object in the current scene. The identification information includes at least one of the target object's type and height.

[0059] Optionally, the drive unit can be located at the front of the cleaning equipment in the direction of travel, so that the cleaning equipment can be raised when the drive unit is lowered relative to the chassis of the cleaning equipment; it can also be located at the rear of the cleaning equipment in the direction of travel, so that the rear of the cleaning equipment can be brought close to the ground when the drive unit is raised relative to the chassis of the cleaning equipment.

[0060] Optionally, the cleaning equipment also includes a scene recognition component, which includes at least one of a camera and radar. The scene recognition component is used to identify target objects in the current scene and generate recognition information.

[0061] Among them, the camera can be used to acquire scene images. The camera can include visible light camera (Red-Green-Blue, RGB), visible light depth camera (Red-Green-Blue-Depth, RGBD), infrared camera, thermal imaging camera, depth camera, etc. RGB camera and RGBD camera can acquire visible light images of the scene, infrared camera can acquire infrared images of the scene, thermal imaging camera can acquire thermal imaging images of the scene, and depth camera can acquire depth images.

[0062] Radar can be used to collect point cloud information of objects in a scene. Radar can be Laser Direct Structuring (LDS), such as TOF radar based on the Time of Flight (TOF) principle, or structured light radar based on the structured light principle.

[0063] The scene recognition component is used to identify target objects in the current scene. For example, taking liquid dirt as an example, the cleaning equipment can capture scene images of the current scene through a camera, identify images containing dirt, and, based on artificial intelligence (AI) algorithms, preset image detection algorithms, or preset neural network models for dirt detection, identify dirt in the scene image to determine whether the dirt in the current scene includes liquid dirt. After identifying dirt in the scene image (such as liquid dirt), the image coordinates of the liquid dirt in the scene image can be determined. Since liquid dirt generally occupies an area, the image coordinates corresponding to the liquid dirt form an image coordinate range.

[0064] After determining the image coordinate range corresponding to the liquid contamination, since the relative positions of the LiDAR and the camera are fixed, the intrinsic parameters of the camera can be calibrated in advance, and then the extrinsic parameters between the LiDAR and the camera can be calibrated, thereby determining the preset calibration relationship between the camera and the LiDAR.

[0065] By using the camera's intrinsic parameters, the image coordinates can be converted into three-dimensional coordinates in the camera coordinate system (i.e., the camera's coordinate system). Then, based on the extrinsic parameters between the LiDAR and the camera, the three-dimensional coordinates in the camera coordinate system are converted back to the LiDAR coordinate system. Thus, the three-dimensional coordinate range of the liquid contaminant in the LiDAR coordinate system can be determined based on the image coordinate range corresponding to the liquid contaminant.

[0066] Finally, the three-dimensional point set located within the three-dimensional coordinate range of the liquid contaminant in the lidar's coordinate system, from the point cloud information collected by the lidar, is the collection of all the location points of the liquid contaminant. These location points are defined by their three-dimensional coordinates in the lidar's coordinate system. Based on this three-dimensional point set, the actual location of the liquid contaminant in the current scene (specifically, its three-dimensional coordinates in the coordinate system of the cleaning equipment) can be determined, i.e., the location of the contaminant. In this way, the scene recognition module can identify target objects in the current scene.

[0067] The current scenario refers to the scene to be cleaned when the cleaning equipment performs a cleaning task. For example, it could be a bedroom, living room, or kitchen in a home environment, or a production workshop or warehouse in a factory environment.

[0068] The target object can be an obstacle in the current scene, and / or dirt in the current scene (e.g., location of dirt, type of dirt, size of dirt, etc.).

[0069] The identification information includes at least one of the type and height of the target object. For example, if the target object includes dirt, the identification information may include the type of dirt. As another example, if the target object includes an obstacle, the identification information may include the height of the obstacle (the height the chassis needs to be raised when the cleaning equipment passes over the obstacle) or the height of the obstacle that the cleaning equipment can pass through (for example, if the obstacle includes a chair, the identification information may be the height of the low space under the chair that the cleaning equipment can pass through).

[0070] Specifically, please refer to Figure 2 The cleaning equipment includes a chassis and a drive assembly. The drive assembly is located on the chassis and allows the cleaning equipment to move to different positions and change the height of its base relative to the ground. The drive assembly may consist of ground-contact wheels, which can contact the ground or other objects on the ground (such as carpets) to support the cleaning equipment's movement. The cleaning equipment can identify target objects in the current scene and generate identification information (including at least one of the target object's type and height) to enable subsequent control of the cleaning equipment based on this information.

[0071] Step 012: Based on the identification information, control the lifting and lowering of the drive component to avoid the target object or enhance the cleaning intensity of the target object.

[0072] Specifically, the lifting of the drive component can drive the chassis to lift. The cleaning equipment can control the drive component to lift based on the identification information to cope with different usage scenarios. For example, taking the identification information including a first height threshold for the chassis to be raised when the cleaning equipment crosses an obstacle as an example, the height of the chassis can be raised by controlling the drive component to lower, so that the distance between the chassis and the ground is greater than (or equal to) the first height threshold, thereby avoiding the target object. As another example, taking the obstacle including a chair, and the identification information including a second height threshold for the cleaning equipment to pass through the low space under the chair as an example, the height of the chassis can be lowered by controlling the drive component to raise, so that the distance between the chassis and the ground is less than (or equal to) the second height threshold, thereby allowing the cleaning equipment to pass through the low space under the chair and avoid the target object. As yet another example, taking the identification information including dirt information as an example, the height of the chassis can be lowered by controlling the drive component to raise. Then, when the cleaning components of the cleaning equipment (e.g., the mop) are cleaning, the reduced chassis height increases the interference between the mop and the ground (in other words, by lowering the chassis, the chassis presses the mop against the ground), thereby increasing the cleaning intensity of the target object.

[0073] Thus, the cleaning method of this application is used for cleaning equipment, which includes a chassis and a drive component. The drive component is located on the chassis and can not only provide power for the movement of the cleaning equipment, but also adjust the height of the chassis. By acquiring the identification information of the target object in the current scene, the identification information includes at least one of the target object's type and height; and then, based on the identification information, controlling the drive component to rise or fall to avoid the target object (for example, the drive component can be raised based on the identification information to raise the chassis of the cleaning equipment to avoid collisions or obstruction of the cleaning process, or the drive component can be lowered to pass through low spaces, etc.) or to enhance the cleaning intensity of the target object (for example, the drive component can be lowered based on the identification information to lower the chassis of the cleaning equipment to increase the ground interference of the cleaning equipment during cleaning, thereby enhancing the cleaning intensity). This not only improves the obstacle avoidance ability and low space passage ability of the cleaning equipment, but also improves the cleaning effect without reducing cleaning efficiency.

[0074] Please see Figure 4 In some embodiments, the target object includes dirt, and the cleaning equipment also includes a cleaning component mounted on the chassis. The drive component includes casters and drive wheels, which are arranged sequentially along the forward direction of the cleaning equipment. Step 012: Based on the identification information, control the lifting and lowering of the drive component to enhance the cleaning intensity of the target object, including:

[0075] Step 0121: When the type of dirt is liquid dirt, control the swivel wheels to lower the height, the drive wheels to raise the height, the swivel wheels to lower the height and the drive wheels to raise the height, or both the swivel wheels and the drive wheels to lower the height.

[0076] The casters are used to control the steering of the cleaning equipment, while the drive wheels are used to move the cleaning equipment.

[0077] The cleaning component is used to scrub the area to be cleaned in the current scene during the cleaning process of the cleaning equipment.

[0078] The cleaning components can be tools used by cleaning equipment to perform cleaning tasks, such as roller mops, side sweepers, center sweepers, and blowers. Cleaning components can include wet cleaning parts, which are cleaning parts that perform cleaning in wet conditions or are used to clean dirt containing liquid, such as mops. Mops can include roller mops, flat mops, and rotary mops.

[0079] Optionally, when controlling the swivel wheels to lower their height, the drive wheels to raise their height, the swivel wheels to lower their height and the drive wheels to raise their height, or both the swivel wheels and the drive wheels to lower their height, the height of the cleaning component after adjustment is lower than the preset height. When the cleaning component is at the preset height, the cleaning component contacts the ground.

[0080] It is understandable that the cleaning component (taking the mop as an example) is mounted on the chassis. When the cleaning device performs a cleaning task, the mop comes into contact with the ground. At this time, the height of the mop is a preset height h0 (for example, it could be 3 cm, 4 cm, 5 cm, etc.). As the height of the mop decreases, the mop (by the chassis) is pressed against the ground. When the mop can move relative to the ground, the cleaning intensity of the mop on the ground is positively correlated with the pressure between the mop and the ground. In other words, as the height of the mop decreases, the pressure between the mop and the ground increases, and the cleaning intensity of the mop on the ground increases accordingly.

[0081] For example, please see Figure 5 , Figure 5 An example is given as a cross-sectional view of the cleaning equipment, such as Figure 5 As shown, the cleaning device 100 may include casters 21, drive wheels 22, and cleaning components 50. The casters 21, drive wheels 22, and cleaning components 50 are arranged sequentially along the forward direction of the cleaning device 100. By controlling the casters 21 to lower their height and the drive wheels 22 to raise their height, or by controlling the casters 21 to lower their height and the drive wheels 22 to raise their height, the cleaning components of the cleaning device 100 can be pressed against the ground. By controlling both the casters 21 and the drive wheels 22 to lower their height, the height of the cleaning components 50 can be reduced, increasing the pressure between the cleaning components 50 and the ground, thereby enhancing the cleaning effect.

[0082] For example, please continue reading Figure 5 To further illustrate, taking the control of the lifting and lowering of the caster wheel 21 as an example, the cleaning equipment 100 includes a lifting assembly 70, which includes the caster wheel 21, a drive component 73, and a transmission assembly. The transmission assembly includes a first transmission component 71 and a second transmission component 72, which are connected by threads. The drive component 73 is connected to the drive wheel 21 in sequence through the first transmission component 71 and the second transmission component 72. The drive component 73 is configured to drive the first transmission component 71 to rotate, and the second transmission component 72 is configured to convert the rotational motion of the first transmission component 71 into the lifting and lowering motion of the caster wheel 21.

[0083] For example, taking the control of the lifting of the drive wheel as an example for further explanation, a motor, a lifting unit, and a drive wheel can be set up. The lifting unit has multiple steps of different heights. The drive wheel abuts against the step surfaces. The output shaft of the battery is connected to a gear, which can mesh with the lifting unit. The output shaft of the motor rotates to drive the gear to rotate. Based on the meshing connection between the gear and the lifting unit, the lifting unit is driven to move relative to the drive wheel, so that the drive wheel abuts against any step surface. The height of the step surface abutted by the drive wheel is negatively correlated with the height of the chassis 10 of the cleaning equipment.

[0084] Optionally, the height difference between the adjusted height and the preset height is determined based on at least one of the liquid type of the liquid contaminant and the degree of solidification of the liquid contaminant.

[0085] Liquid dirt can be dirt containing liquid (e.g., mud or sand containing water). Types of liquid dirt can include water, beverages, condiments (such as soy sauce, vinegar, sauces, etc.), oils (such as cooking oil, engine oil, etc.), urine, etc.

[0086] The degree of solidification of liquid contaminants can be the degree to which a liquid containing contaminants and impurities becomes a solid state. For example, if the liquid contaminant includes soy sauce, the degree of solidification of the liquid contaminant can include the degree of drying of the soy sauce.

[0087] The height difference between the adjusted height of the cleaning component and the preset height can be determined based on the type of liquid contaminant; for example, the height difference between the adjusted height of the cleaning component and the preset height can be determined based on the degree of solidification of the liquid contaminant; for example, the height difference between the adjusted height of the cleaning component and the preset height can be determined based on both the type of liquid contaminant and the degree of solidification of the liquid contaminant.

[0088] It's understandable that different types of liquid dirt vary in difficulty to clean, and therefore require different cleaning intensities. For example, water-based liquid dirt and oil-based liquid dirt require different cleaning intensities; oil requires a higher level of cleaning intensity (e.g., a higher mop speed when cleaning oil). Liquid dirt with different degrees of solidification (dryness) also varies in difficulty to clean, meaning different cleaning intensities are required. For example, freshly poured soy sauce and dried, solidified soy sauce require different cleaning intensities; the more solidified soy sauce requires a higher level of cleaning intensity (e.g., a higher mop speed when cleaning oil).

[0089] Generally speaking, the greater the height difference between the adjusted height and the preset height, the greater the cleaning intensity of the cleaning equipment. Therefore, the adjusted height can be determined based on at least one of the liquid type and the degree of solidification of the liquid dirt (the greater the required cleaning intensity, the greater the height difference).

[0090] Specifically, the cleaning equipment also includes a cleaning component mounted on the chassis, and a drive component including casters and drive wheels. The casters, drive wheels, and cleaning component are arranged sequentially along the forward direction of the cleaning equipment. When the target object is dirt, and the type of dirt is liquid dirt, the front of the cleaning equipment can be raised and the rear lowered by controlling the casters to decrease in height (i.e., controlling the casters to lower relative to the chassis of the cleaning equipment). This makes the height of the cleaning component lower than a preset height, thereby increasing the pressure of the cleaning component located at the rear of the cleaning equipment on the ground, and thus increasing the cleaning intensity of the cleaning equipment. Similarly, the height of the cleaning component can be increased by controlling the drive wheels to rise (i.e., controlling the drive wheels to rise relative to the chassis of the cleaning equipment), thereby increasing the pressure of the cleaning component on the ground and improving the cleaning intensity of the cleaning equipment. Furthermore, the distance between the chassis (or the rear of the chassis) equipped with the cleaning components and the ground can be reduced by controlling the swivel wheels to lower the height and the drive wheels to raise the height, or by controlling both the swivel wheels and the drive wheels to lower the height. This reduces the height of the cleaning components to below the preset height, increases the pressure of the cleaning components on the ground, and improves the cleaning intensity of the cleaning equipment on dirt.

[0091] For example, please see Figure 2 and Figure 6 To illustrate this, we will take controlling both the swivel wheels and drive wheels to lower their height as an example. The implementation principles of controlling the swivel wheels to lower their height, the drive wheels to raise their height, and the swivel wheels to lower their height while the drive wheels raise their height are similar and will not be repeated here.

[0092] like Figure 2As shown, it is assumed that the basic height of the chassis relative to the ground includes L0 (at the height of L0, the cleaning component is at the preset height h0). After controlling both the universal wheels and the driving wheels to lower the height, the height of the chassis relative to the ground can become L1 (as Figure 6 shown). The height of the adjusted cleaning component includes h1, and h1 < h0, achieving an increase in the pressure of the cleaning component on the ground and improving the cleaning intensity of the cleaning device for dirt.

[0093] Please refer to Figure 7 , in some embodiments, the cleaning component includes at least one of a mop, a water outlet device, and a middle sweeper. The method further includes:

[0094] Step 013: When the type of dirt is liquid dirt, adjust the cleaning parameters of the cleaning device to enhance the cleaning intensity for the target object. The cleaning parameters include at least one of the rotation speed of the mop, the water output of the water outlet device, and the rotation speed of the middle sweeper.

[0095] Among them, the cleaning component includes at least one of a mop, a water outlet device, and a middle sweeper. In addition, the cleaning component can also include a blower, etc.

[0096] Among them, the cleaning parameters can be the working parameters of the cleaning component when the cleaning device performs the cleaning task.

[0097] For example, the cleaning parameters can include cleaning gears, etc. The cleaning gears can include parameters such as the rotation speed gear of the mop (such as a roller mop), the suction gear of the blower, the rotation speed gear of the middle sweeper, the water output gear of the water outlet device, etc. Adjusting the cleaning parameters of the cleaning component can be to adjust the rotation speed gear of the roller mop of the cleaning device, the suction gear of the blower, the rotation speed gear of the side sweeper, the water output gear, etc.

[0098] Optionally, the cleaning gear is positively correlated with the cleaning intensity. For example, continuing the previous example, the higher the rotation speed gear of the roller mop, the faster the rotation speed of the roller mop, and the higher the cleaning intensity. Another example, the higher the suction gear of the blower, the stronger the suction of the blower, and the higher the cleaning intensity. Another example, the higher the rotation speed gear of the side sweeper, the faster the rotation speed of the side sweeper, and the higher the cleaning intensity. Another example, the higher the water output gear of the water outlet device, the greater the water output of the water outlet device, and the higher the cleaning intensity.

[0099] Specifically, when the type of dirt includes liquid dirt, the cleaning parameters of the cleaning equipment can be adjusted. For example, when cleaning solidified soy sauce, the scrubbing intensity can be increased by increasing the mop speed, the speed of the intermediate sweeper, and the water output of the water outlet, thereby enhancing the cleaning strength. Conversely, when cleaning water that has not yet begun to solidify, the mop speed can be reduced to prolong the time the mop stays on the liquid dirt, preventing splashing and improving the cleaning effect, thus increasing the cleaning intensity.

[0100] Please see Figure 8 In some implementations, the target object includes an obstacle. Step 012: Based on the identification information, control the lifting and lowering of the drive component to avoid the target object, including:

[0101] Step 0122: Based on the height of the obstacle, control the drive assembly to rise so that the chassis is higher than the obstacle; and / or

[0102] Step 0123: Based on the passable space of the obstacle, control the drive component to lower so that the height of the cleaning equipment is less than the height of the passable space.

[0103] Obstacles can be objects in the current scene that hinder the movement of cleaning equipment or its cleaning tasks, requiring the cleaning equipment to avoid them. For example, they can include clothing (such as shoes) and toys (such as building blocks).

[0104] The passable space can be an obstacle that allows cleaning equipment to pass through and clean (e.g., under a bed).

[0105] Specifically, current cleaning equipment typically incorporates either lifting or concealed radar. When the cleaning equipment encounters obstacles that need to be avoided, its height is controlled based on this radar to facilitate obstacle clearance. For cleaning scenarios where the equipment needs to overcome obstacles (such as magazines), the lifting and lowering of the equipment is generally controlled by lifting or concealed radar, or the overall height of the equipment is reduced (while the base height remains constant) to ensure cleaning in low-ceilinged spaces. Both of these solutions increase the cost of the cleaning equipment.

[0106] This application controls the rise of the drive components based on the height of the obstacle, so that the chassis is higher than the obstacle, thereby enabling the cleaning equipment to overcome obstacles. For example, please refer to... Figure 2 , Figure 9 and Figure 10, taking the drive assembly 20 of the cleaning device 100 including the casters 21 and the drive wheels 22 as an example for illustration. Assuming the height of the obstacle is h2 and the base height of the chassis 10 relative to the ground is L0, by controlling both the casters 21 and the drive wheels 22 to rise, the height of the adjusted chassis 10 relative to the ground is L2 (L2 > h2 > L0), thereby enabling the cleaning device to cross the obstacle. The structure is simple and the cost is relatively low.

[0107] Similarly, in the case where the cleaning device needs to pass through a passable low space, based on the height available for the cleaning device to pass through in this passable space, the drive assembly is controlled to lower so that the height of the cleaning device is less than the height of the passable space. For example, please refer to Figure 2 , Figure 6 and Figure 11 , taking the drive assembly 20 of the cleaning device 100 including the casters 21 and the drive wheels 22 as an example for illustration. Assuming that when the cleaning device 100 is cleaning a chair, the height of the low space under the chair is h3 and the base height of the chassis 10 relative to the ground is L0, by controlling both the casters 21 and the drive wheels 22 to lower, the height of the adjusted chassis 10 relative to the ground is L1 and the height of the whole cleaning device 100 is L3 (L3 < h3), so that the cleaning device can pass through the low space.

[0108] Please refer to Figure 12 , in some embodiments, the target object includes dirt and obstacles, and the method further includes:

[0109] Step 014: After completing the cleaning of the dirt or avoiding the obstacle, control the drive assembly to restore the height before lifting and lowering.

[0110] Specifically, after completing the cleaning of the dirt or avoiding the obstacle, the drive assembly can be controlled to restore the height before lifting and lowering to ensure the stable operation of the cleaning device and continue to perform the cleaning task (or perform the moving task, etc.).

[0111] Next, the structure for the cleaning device of the present application to achieve lifting will be further described.

[0112] Please refer to Figures 13 to 15 , the cleaning device may include a first lifting assembly 200.

[0113] The first lifting assembly 200 includes a lifting member 12, a driving member 73, and a transmission assembly 70. The transmission assembly 70 includes a first transmission member 71 and a second transmission member 72. The first transmission member 71 and the second transmission member 72 are connected by a thread. The driving member 73 is sequentially connected to the lifting member 12 through the first transmission member 71 and the second transmission member 72. The driving member 73 is configured to drive the first transmission member 71 to rotate, and the second transmission member 72 is configured to convert the rotational movement of the first transmission member 71 into the ascending and descending movement of the lifting member 12.

[0114] In the first lifting assembly 200 described above, the first transmission component 71 and the second transmission component 72 are connected by threads. The driving component 73 causes the lifting component 12 to rise and fall through the threaded connection between the first transmission component 71 and the second transmission component 72. This allows the cleaning equipment 100 equipped with the first lifting assembly 200 to control the lifting component 12 to rise and fall, thereby expanding the application range of the lifting component 12 and facilitating the use of the cleaning equipment 100.

[0115] Specifically, the first lifting component 200 can be applied to the cleaning equipment 100, which includes, but is not limited to, floor scrubbers, sweeping robots, mopping robots, and other equipment with cleaning functions. Please refer to... Figures 13 to 15 The cleaning equipment 100 includes a body 80, a first lifting assembly 200 mounted on the body 80, and a lifting member 12 located at the bottom of the body 80. The lifting member 12 can be a ground-contact wheel, allowing it to contact the ground or other objects on the ground (such as carpets) and support the cleaning equipment 100 in its movement. Optionally, the lifting member 12 can be positioned at the front of the cleaning equipment 100 in its direction of travel, so that when the lifting member 12 descends relative to the body 80, the cleaning equipment 100 can be raised.

[0116] The cleaning device 100 of this invention is equipped with a first lifting assembly 200, which can drive the lifting member 12 to rise and fall, thereby raising and lowering the height of the machine body 80. In one embodiment, when the cleaning device 100 needs to overcome an obstacle, the first lifting assembly 200 can drive the lifting member 12 to fall from the machine body 80, thereby raising the height of the machine body 80, enabling the machine body 80 to overcome higher obstacles and improving the obstacle-crossing capability of the cleaning device 100. As an example, when the lifting member 12 is in the raised position, such as... Figure 5 As shown, the obstacle-crossing height of the cleaning device 100 is approximately 20mm. When the lifting component 12 is in the descending position, as... Figure 15 As shown, the obstacle-crossing height of the cleaning device 100 is approximately 30mm.

[0117] In one embodiment, the lifting component 12 may include casters, and the cleaning device 100 may also include a liftable drive wheel assembly. The first lifting component 200 drives the lifting component 12 to descend from the body 80, which, in conjunction with the drive wheel assembly, lowers the entire device. Conversely, the first lifting component 200 drives the lifting component 12 to rise from the body 80, which, in conjunction with the drive wheel assembly, lowers the entire device. This reduces the distance between the body 80 and the ground, increases the pressure of the cleaning components on the ground, and thus enhances the cleaning and dust-collecting capabilities.

[0118] In one embodiment, the lifting member 12 may be located at the front of the cleaning device 100 in the direction of travel. The cleaning device 100 includes a cleaning component 50 (such as a mopping component or a sweeping component), which is located at the rear of the cleaning device 100 in the direction of travel. When the first lifting component 200 drives the lifting member 12 to descend relative to the body 80, the cleaning device 100 can be raised, increasing the pressure of the rear cleaning component 50 on the ground, thereby improving the cleaning effect on stains.

[0119] The drive unit 73 can provide the power for the lifting member 12 to move up and down. This power can be transmitted to the trigger wheel assembly in sequence through the first transmission member 71 and the second transmission member 72. In one embodiment, the drive unit 73 may include a motor, and the rotational power output by the motor can be converted into the lifting and lowering power of the lifting member 12 through the transmission of the first transmission member 71 and the second transmission member 72.

[0120] The first transmission member 71 and the second transmission member 72 are connected by threads. Optionally, in one embodiment, the first transmission member 71 has an internal thread and the second transmission member 72 has an external thread; alternatively, in one embodiment, the first transmission member 71 has an external thread and the second transmission member 72 has an internal thread, and the first transmission member 71 and the second transmission member 72 are connected by the internal and external threads. Alternatively, in one embodiment, the first transmission member 71 has an external thread and the second transmission member 72 has an external thread, and the first transmission member 71 and the second transmission member 72 are connected by the external thread. The threaded connection between the first transmission member 71 and the second transmission member 72 can save costs and structural space.

[0121] The first transmission component 71 can be connected to the driving component 73, which can drive the first transmission component 71 to rotate. The second transmission component 72 can convert the rotational motion of the first transmission component 71 into the rising and falling motion of the lifting component 12, and can control whether the lifting component 12 rises or falls by the rotation direction of the driving component 73.

[0122] In some implementations, please refer to Figure 13 The first transmission component 71 is provided with a first through hole 26, and the inner wall of the first through hole 26 is provided with an internal thread. The outer circumferential surface of the second transmission component 72 is provided with an external thread. The second transmission component 72 passes through the first through hole 26, and the internal thread is connected to the external thread.

[0123] Thus, a compact first lifting assembly 200 can be achieved through the connection of internal and external threads.

[0124] Specifically, the second transmission component 72 passes through the first through hole 26, and the first transmission component 71 and the second transmission component 72 are connected by internal and external threads. The connection between the first transmission component 71 and the second transmission component 72 is relatively compact, which can reduce the space occupied when the first transmission component 71 and the second transmission component 72 are connected, thus realizing the first lifting assembly 200 with a compact structure.

[0125] When the first transmission member 71 rotates, it can transmit power to the second transmission member 72 through the connection of the internal and external threads. The second transmission member 72 can drive the lifting member 12 to rise and fall along the first through hole 26. Optionally, the second transmission member 72 may include a screw.

[0126] In some embodiments, the second transmission member 72 is provided with a second through hole 28, and the lifting member 12 includes a rotating shaft 81 and a bracket 32. The rotating shaft 81 is rotatably passed through the second through hole 28, and the bracket 32 ​​is connected to one end of the rotating shaft 81.

[0127] This allows for the realization of a compact first lifting assembly 200.

[0128] Specifically, the second transmission component 72 has a second through hole 28, and the rotating shaft 81 passes through the second through hole 28. The connection between the rotating shaft 81 and the second transmission component 72 is relatively compact, which can reduce the space occupied when the rotating shaft 81 is connected to the second transmission component 72, thus realizing the first lifting assembly 200 with a compact structure.

[0129] When the first transmission member 71 rotates, it can transmit power to the second transmission member 72, causing the second transmission member 72 to rise and fall. The rising and falling movement of the second transmission member 72 can drive the rotating shaft 81 to rise and fall, thereby driving the lifting member 12 to rise and fall. The rotating shaft 81 is rotatably passed through the second through hole 28, so that the lifting member 12 can also rotate relative to the second transmission member 72 when it is driven to rise and fall by the second transmission member 72.

[0130] The lifting component 12 includes casters 21, which are rotatably mounted on the bracket 32.

[0131] Thus, the casters 21 can come into contact with the ground, allowing the cleaning equipment 100 to be supported and moved.

[0132] Specifically, when the cleaning equipment 100 is in use, the casters 21 can contact the ground, allowing the cleaning equipment 100 to move on the ground. The first lifting assembly 200 can drive the casters 21 to rise and fall, thereby enabling the cleaning equipment 100 to adapt to more usage scenarios.

[0133] In some embodiments, the first lifting assembly 200 includes a retaining ring 36, and the first end of the rotating shaft 81 away from the bracket 32 ​​protrudes from the second transmission member 72. The outer peripheral surface of the first end is provided with a retaining groove 38, and the retaining ring 36 is embedded in the retaining groove 38 so that the second transmission member 72 can drive the rotating shaft 81 to rise, thereby driving the lifting member 12 to rise. When the second transmission member 72 descends, it can abut against the bracket 32, thereby driving the lifting member 12 to descend.

[0134] Therefore, the second transmission component 72 can drive the rotating shaft 81 to rise and fall through the cooperation between the retaining ring 36 and the rotating shaft 81, as well as the cooperation between the second transmission component 72 and the bracket 32.

[0135] Specifically, the rotating shaft 81 includes a first end and a second end, with the second end positioned opposite to the first end. Figure 13 and Figure 13 In this configuration, the first end is the upper end of the rotating shaft 81, and the second end is the lower end of the rotating shaft 81. The second end of the rotating shaft 81 can be fixedly connected to the bracket 32, so that the bracket 32 ​​and the rotating shaft 81 can rotate relative to the second transmission member 72. The retaining ring 36, through its engagement with the retaining groove 38, can lock the first end of the rotating shaft 81 into the end of the second transmission member 72 to prevent the second transmission member 72 from moving up and down. At the same time, the engagement of the retaining ring 36 and the retaining groove 38 will not hinder the rotation of the rotating shaft 81 relative to the second transmission member 72.

[0136] When the second transmission component 72 descends, it abuts against the bracket 32, thereby driving the lifting component 12 to descend. When the second transmission component 72 rises, it abuts against the retaining ring 36, thereby driving the lifting component 12 to rise. Thus, the second transmission component 72 can drive the lifting component 12 to rise and fall by cooperating with the retaining ring 36 and the bracket 32, respectively.

[0137] In some embodiments, the first lifting assembly 200 includes an end cap 82, the end cap 82 has a receiving cavity 42, the side wall of the receiving cavity 42 has a first limiting portion, the outer peripheral surface of the second transmission member 72 has a second limiting portion, and the first limiting portion and the second limiting portion are connected to limit the rotation of the second transmission member 72.

[0138] Therefore, the end cap 82 can restrict the rotation of the second transmission member 72, thereby converting the rotational motion of the first transmission member 71 into the upward and downward motion of the second transmission member 72.

[0139] Specifically, in one embodiment, the second transmission member 72 includes a screw, and the second transmission member 72 is provided with an external thread. The first transmission member 71 has a first through hole 26, and the wall of the first through hole 26 is provided with an internal thread. The second transmission member 72 passes through the first through hole 26, and the first transmission member 71 and the second transmission member 72 are connected by the external thread and the internal thread.

[0140] When the first transmission member 71 rotates, the friction force of the external thread and the internal thread can drive the second transmission member 72 to rotate. Since the first limiting part and the second limiting part are connected to restrict the rotation of the second transmission member 72, the friction force can drive the second transmission member 72 to move in the up and down direction.

[0141] Optionally, please combine Figure 13 The retaining ring 36 and the second transmission member 72 are disposed in the receiving cavity 42, thereby protecting the retaining ring 36 and the second transmission member 72.

[0142] In some implementations, please refer to Figure 13 and Figure 15 One of the first limiting part and the second limiting part is provided with a limiting notch 44, and the other is provided with a limiting rib 46, which is accommodated in the limiting notch 44.

[0143] Therefore, the structure for restricting the rotation of the second transmission component 72 is simple and low in cost.

[0144] Specifically, in Figure 13 and Figure 15 In the illustrated embodiment, the first limiting portion is provided with a limiting rib 46, and the second limiting portion is provided with a limiting notch 44. The limiting rib 46 can extend along the axial direction of the rotation shaft 81. Optionally, there can be multiple limiting ribs 46 and limiting notches 44, and one limiting rib 46 can be accommodated in a corresponding limiting notch 44.

[0145] The cooperation between the limiting rib 46 and the limiting notch 44 can, on the one hand, restrict the rotation of the second transmission member 72 under the drive of the first transmission member 71, so that the second transmission member 72 can move up and down along the axial direction of the rotation shaft 81. On the other hand, the cooperation between the limiting rib 46 and the limiting notch 44 can also guide the up and down movement of the second transmission member 72, thereby improving the stability of the movement of the second transmission member 72 to a certain extent.

[0146] In other embodiments, the first limiting part is provided with a limiting notch 44, and the second limiting part is provided with a limiting rib 46.

[0147] In some embodiments, the transmission assembly 70 includes a drive gear 48 connected to the output shaft of the drive member 73, and the outer peripheral surface of the first transmission member 71 is provided with a gear portion 83, and the drive gear 48 meshes with the gear portion 83.

[0148] Therefore, the drive component 73 can transmit power to the first transmission component 71 through gear meshing.

[0149] Specifically, the drive gear 48 can be connected to the output shaft of the drive member 73 via other gears, or the drive gear 48 can be directly sleeved on the output shaft of the drive member 73. When the drive member 73 is running, it can drive the drive gear 48 to rotate. The drive gear 48 meshes with the gear section 83, which can transmit the rotation of the drive gear 48 to the gear section 83, thereby driving the first transmission member 71 to rotate. The meshing method can reliably transmit power, which improves the reliability of the first lifting assembly 200 to a certain extent.

[0150] Optionally, in Figure 13 In this configuration, the drive gear 48 is housed within the receiving cavity 42, thereby protecting the drive gear 48.

[0151] Furthermore, the drive component 73 is connected to the outer peripheral surface of the first transmission component 71 via the drive gear 48, allowing the drive component 73 and the lifting component 12 to be arranged side by side. When the caster wheel 21 is subjected to impact force, it does not affect the normal operation of the drive component 73, thus improving the overall reliability of the first lifting assembly 200.

[0152] In some embodiments, the upper and lower ends of the first transmission member 71 are respectively fitted with bearings 52, and the gear part 83 is located between the upper and lower ends.

[0153] This can improve the stability of the rotation of the first transmission component 71 to a certain extent.

[0154] Specifically, the drive gear 48, driven by the drive member 73, can drive the first transmission member 71 to rotate. The gear part 83 is located in the middle position of the first transmission member 71. The first transmission member 71 can be supported at its upper and lower ends by two bearings 52 respectively. Thus, when the drive gear 48 drives the first transmission member 71 to rotate through the gear part 83, the two bearings 52 can support the first transmission member 71 at its upper and lower ends, effectively supporting the first transmission member 71 at its rotational points and improving the stability of the rotation of the first transmission member 71 to a certain extent.

[0155] Optionally, in Figure 13 In this configuration, two bearings 52 and a first transmission component 71 are housed within a receiving cavity 42, thereby protecting the two bearings 52 and the first transmission component 71. The outer ring of the bearing 52 can be fixed within the receiving cavity 42, while the inner ring is fixedly connected to the first transmission component 71.

[0156] In some embodiments, the lifting component 12 includes at least one of a caster wheel, a drive wheel, a lidar, a rag, a side brush, a roller brush, a camera, and an auxiliary wheel.

[0157] This makes the first lifting component 200 more versatile.

[0158] Specifically, in one embodiment, the lifting component 12 includes casters, and the cleaning device 100 includes a drive wheel assembly and a cleaning component 50. The drive wheel assembly can be located in the middle or rear of the cleaning device 100, the cleaning component 50 can be located at the rear of the cleaning device 100, and the casters can be located at the front of the cleaning device 100. The drive wheel assembly and the casters can effectively support the cleaning device 100. The drive wheel assembly can drive the cleaning device 100 to move, and the casters can be adapted to the direction of travel of the cleaning device 100, allowing the cleaning device 100 to move in the desired direction. When the caster assembly rises, it can raise the cleaning device 100, which helps to increase the obstacle-crossing height of the cleaning device 100 and, to some extent, avoids problems such as carpet wetting and carpet edge curling when the cleaning device 100 is placed on carpet.

[0159] Please combine Figure 13 and Figure 13 The caster wheel assembly includes a rotating shaft 81, a bracket 32, and casters (casters 21). The rotating shaft 81 is fixedly connected to the bracket 32, and the rotating shaft 81 rotatably passes through a second through hole 28. The casters are rotatably connected to the bracket 32. When the caster wheel assembly is mounted on the machine body 80, the caster wheel assembly can rotate as a whole relative to the machine body 80, and the casters can rotate relative to the bracket 32, thereby guiding the travel direction of the cleaning equipment 100. The cleaning component 50 can perform operations on the floor, including but not limited to mopping and sweeping.

[0160] In one embodiment, the lifting component 12 includes a drive wheel, and the first lifting assembly 200 can drive the drive wheel to lift and lower, thereby increasing the obstacle-crossing height and obstacle-crossing ability of the cleaning equipment 100, and enabling the cleaning equipment 100 to adapt to more cleaning environments.

[0161] In one embodiment, the lifting component 12 includes a laser direct structural (LDS) radar. The first lifting assembly 200 can drive the LDS radar to move up and down, reducing obstruction from obstacles and thereby improving the LDS radar's ability to detect environmental conditions at different heights of the cleaning equipment 100, allowing the cleaning equipment 100 to adapt to more cleaning environments. When the LDS radar is not in use, it can be lowered into the body 80 for protection; when in use, it rises again.

[0162] In some embodiments, the lifting component 12 includes at least one of a rag, a side brush, and a roller brush. The first lifting assembly 200 can drive the rag, side brush, and roller brush to move up and down. On the one hand, during the process of the cleaning equipment 100 returning to the base station, the rag, side brush, and roller brush can be raised to reduce contamination of the ground. On the other hand, it can also reduce the friction between the cleaning equipment 100 and the ground, allowing the cleaning equipment 100 to return to the base station faster and operate more energy-efficiently. In use, the first lifting assembly 200 can drive the rag, side brush, and roller brush to descend, so that the rag, side brush, and roller brush provide greater friction to the ground, carpet, or rug, thereby improving the cleaning effect.

[0163] In one embodiment, the lifting component 12 includes a camera. The first lifting assembly 200 can drive the camera to move up and down, reducing obstruction from obstacles and thereby improving the camera's ability to capture environmental images of the cleaning equipment 100 at different heights, allowing the cleaning equipment 100 to adapt to more cleaning environments. When the camera is not in use, it can be lowered into the body 80 for protection; when in use, the camera is raised again.

[0164] In one embodiment, the lifting component 12 includes auxiliary wheels, which are additional wheels used for obstacle crossing and other purposes. The first lifting assembly 200 can drive the auxiliary wheels to lift, thereby increasing the obstacle crossing height and obstacle crossing ability of the cleaning equipment 100, enabling the cleaning equipment 100 to adapt to more cleaning environments.

[0165] Please combine Figures 13 to 15 A cleaning device 100 according to an embodiment of the present invention includes a control unit, a body, and a first lifting assembly 200 according to any of the above embodiments. The control unit is used to control the first lifting assembly 200 to raise or lower the lifting member 12 relative to a reference feature 22 on the body.

[0166] In the cleaning equipment 100 described above, the first transmission component 71 and the second transmission component 72 are connected by threads. The driving component 73 causes the lifting component 12 to rise and fall through the threaded connection between the first transmission component 71 and the second transmission component 72. This allows the cleaning equipment 100 equipped with the first lifting component 200 to control the lifting component 12 to rise and fall, thereby expanding the application range of the lifting component 12 and facilitating the use of the cleaning equipment 100.

[0167] Specifically, the cleaning equipment 100 includes, but is not limited to, floor scrubbers, robotic vacuum cleaners, robotic mops, and other devices with cleaning functions. Optionally, in one embodiment, when the first lifting component 200 is located at the front of the body 80, when the lifting component 12 descends relative to the body 80, it can cause the cleaning equipment 100 to tilt upwards, such as... Figure 15 As shown, this improves obstacle-crossing height and cleaning effectiveness.

[0168] The reference features 22 on the fuselage include, but are not limited to, the fuselage center point, center of gravity, central axis, chassis plane, top cover plane, and horizontal center plane.

[0169] In one embodiment, when the cleaning device 100 detects an obstacle that is higher than a first threshold height but lower than a second threshold height (the second threshold height is greater than the first threshold height), the controller can lower the casters and raise the body 80 to overcome the obstacle. The second threshold height and the first threshold height can be specifically set according to requirements, and this invention does not limit them.

[0170] Please see Figure 16 Furthermore, the cleaning equipment may also include a second lifting assembly 300, which includes a motor 301 and a lifting part 302. The output shaft gear 211 of the motor 301 is connected to the lifting part 302. The lifting part 302 includes or is connected to a lifting guide surface 221 (the lifting guide surface includes a curved surface and / or a stepped surface. For example, the lifting guide surface may be a curved surface; or, the lifting guide surface may be a stepped surface; or, the lifting guide surface may be both a curved surface and a stepped surface. For ease of description, the lifting guide surface including a stepped surface is used as an example for illustration).

[0171] The second drive wheel assembly 303 includes a mounting member 304 and a second drive wheel 22, which is mounted on the mounting member 304.

[0172] The motor 301 is used to drive the lifting part 302 to move relative to the mounting part 304, so that the mounting part 304 abuts against any step surface 221, and the height of the step surface 221 abutted by the mounting part 304 is negatively correlated with the height of the chassis 10.

[0173] It is understandable that the height of the chassis 10 of the cleaning equipment 100 can also be determined by reference features on the machine body, which include, but are not limited to, the center point of the machine body, the center of gravity, the central axis, the chassis plane, the top cover plane, and the horizontal center plane.

[0174] Specifically, in current cleaning equipment 100, lifting radar or concealed radar is typically installed. Taking a cleaning scenario where the cleaning equipment 100 needs to overcome obstacles (such as magazines) as an example, when the cleaning equipment 100 encounters an obstacle that needs to be avoided, it typically uses lifting or concealed radar to control the lifting and lowering of the cleaning equipment 100 to overcome the obstacle. Alternatively, the overall height of the cleaning equipment 100 can be reduced (the height of the base plate from the ground is usually constant) to ensure cleaning of obstacle-crossing scenarios. Both of these solutions increase the cost of the cleaning equipment 100.

[0175] Please see Figure 16The cleaning equipment 100 includes a chassis 10, a second lifting assembly 300, and a second drive wheel assembly 303. The second lifting assembly 300 includes a motor 301 and a lifting part 302. The output shaft 212 of the motor 301 is connected to the lifting part 302. The lifting part 302 includes or is connected to a lifting guide surface 221. The second drive wheel assembly 303 includes a mounting member 304 and a drive wheel. The drive wheel is installed in the mounting member 304. The mounting member 304 of the second drive wheel assembly 303 is located below the lifting part 302. The mounting member 304 and the step surface 221 of the lifting part 302 abut against each other. The motor 301 can drive the lifting part 302 to move to the left or right relative to the mounting member 304 to change the step surface 221 that the mounting member 304 abuts against, thereby changing the height of the chassis 10. The lifting component is located on the chassis 10, and the second drive wheel assembly 303 is located at the bottom of the chassis 10. The drive wheel of the second drive wheel assembly 303 can be a ground-contact wheel. The drive wheel can contact the ground or other objects on the ground (such as carpets) and support the cleaning equipment 100 to move.

[0176] Furthermore, the mounting element 304 includes curved surfaces and / or stepped surfaces.

[0177] The lifting guide surface and the mounting component 304 are in contact. Either the lifting guide surface or the mounting component 304 can be a curved surface or a stepped surface, and the other can be a contact surface (e.g., a plane). Alternatively, the other can also be a curved surface or a stepped surface that mates with the curved surface or the stepped surface.

[0178] One end of the second drive wheel assembly 303 (the mounting part 304 of the second drive wheel assembly 303) abuts against the step surface 221 of the second lifting assembly 300, and the other end (the drive wheel of the second drive wheel assembly 303) contacts the ground. When the mounting part 304 abuts against the step surface 221 of different heights, it will apply a certain pressure to the ground through the drive wheel. The ground changes the extension length of the drive wheel relative to the chassis 10 in the vertical direction based on the reaction force of the drive wheel, that is, the height of the chassis 10.

[0179] Please see Figure 16The drive wheels of the second drive wheel assembly 303 provide support for the chassis 10. The height of the chassis 10 can be changed by altering the distance difference between the top of the chassis 10 and the top of the drive wheels. Specifically, the height of the step surface 221 that contacts the second drive wheel assembly 303 can be changed to increase or decrease the distance difference between the chassis 10 and the drive wheels, thereby raising or lowering the height of the chassis 10. For example, when the cleaning equipment 100 needs to overcome obstacles, the height of the chassis 10 can be raised by controlling the change of the step surface 221 that contacts the drive wheels of the second drive wheel assembly 303, enabling the cleaning equipment 100 to overcome higher obstacles and preventing the cleaning equipment 100 from wetting or curling carpet edges; or, the height of the chassis 10 can be lowered, allowing the cleaning equipment 100 to pass through low spaces (such as under chairs or beds), improving the obstacle-crossing ability of the cleaning equipment 100.

[0180] Please see Figure 16 The height of the step surface 221 that the mounting member 304 contacts (i.e., the vertical distance between the step surface 221 and the lifting part 302) is negatively correlated with the height of the chassis 10. For example, the height of the second step surface 221B is less than the height of the first step surface 221A. As the height of the step surface 221 that contacts the mounting member 304 decreases, the length of the step surface 221 that contacts the second lifting assembly 300 and the second drive wheel assembly 303 in the height direction increases, and the height of the chassis 10 increases accordingly.

[0181] Thus, by providing a chassis 10, a second lifting assembly 300, and a second drive wheel assembly 303 for the cleaning equipment 100, the second lifting assembly 300 includes a motor 301 and a lifting section 302. The output shaft 212 of the motor 301 is connected to the lifting section 302, which includes or is connected to a lifting guide surface 221. The second drive wheel assembly 303 includes a mounting member 304 and a drive wheel. The drive wheel can provide support for the chassis 10 and is mounted on the mounting member 304. The motor 301 drives the lifting section 302 to move relative to the mounting member 304, so that the mounting member 304 abuts against any step surface 221. That is, one end of the second drive wheel assembly 303 (the mounting member 304 of the second drive wheel assembly 303) abuts against the step surface 221 of the second lifting assembly 300, and the other end (the drive wheel of the second drive wheel assembly 303) abuts against... When the mounting component 304 contacts the step surface 221 at different heights, it applies pressure to the ground through the drive wheel. The ground, based on the reaction force of the drive wheel, changes the vertical extension length of the drive wheel relative to the chassis 10, i.e., the height of the chassis 10. The height of the step surface 221 contacted by the mounting component 304 is negatively correlated with the height of the chassis 10. As the height of the step surface 221 in contact with the mounting component 304 decreases, the length of the step surface 221 in contact with the second lifting component 300 and the second drive wheel component 303 in the height direction increases, and the height of the chassis 10 increases accordingly. Therefore, by changing the height of the step surface 221 in contact with the second drive wheel component 303, the distance difference between the chassis 10 and the drive wheel can be increased or decreased, thereby raising or lowering the height of the chassis 10 and providing the cleaning equipment 100 with obstacle avoidance and obstacle crossing capabilities.

[0182] It is understood that the height of the lifting guide surface 221 that the mounting component 304 contacts is negatively correlated with the height of the chassis 10. As the height of the lifting guide surface 221 that contacts the mounting component 304 decreases, the length of the lifting guide surface 221 that contacts the second lifting assembly 300 and the second drive wheel assembly 303 in the height direction increases, and the height of the chassis 10 increases accordingly. Therefore, by changing the height of the lifting guide surface 221 that contacts the second drive wheel assembly 303, the distance difference between the chassis 10 and the drive wheel can be increased or decreased, thereby raising or lowering the height of the chassis 10 and thus providing the cleaning equipment 100 with obstacle avoidance and obstacle crossing capabilities.

[0183] Optionally, the output shaft 212 is rotatable, and the motor 21 also includes a gear 211, with the output shaft 212 and the gear 211 connected to drive the gear 211 to rotate.

[0184] Optionally, the lifting unit 302 is also provided with multiple sawtooth blocks, and the output shaft 212 meshes with the sawtooth blocks. When the output shaft 212 rotates, it drives the lifting unit 302 to move relative to the mounting member 304.

[0185] Specifically, the motor 21 includes a rotatable output shaft 212 and a gear 211. The gear 211 is connected to the output shaft 212. When the output shaft 212 of the motor 21 rotates, it can drive the gear 211 to rotate as well. The gear 211 is connected to the lifting part 22. The lifting part 22 is provided with multiple sawtooth blocks. The sawtooth blocks can mesh with the gear 211. When the output shaft 212 drives the gear 211 to rotate, the power of the motor 21 rotation can be transmitted to the lifting part 22 through the meshing between the sawtooth blocks and the gear 211, so as to drive the lifting part 22 to move relative to the mounting part 304.

[0186] Optionally, the lifting guide surface 221 includes multiple lifting guide surfaces 221 with different heights.

[0187] Taking the lifting guide surface 221 including the step surface 221 as an example, the multiple step surfaces 221 include three, namely the first step surface 221A (first lifting guide surface 221A), the second step surface 221B (second lifting guide surface 221B), and the third step surface 221C (third lifting guide surface 221C).

[0188] An inclined surface 222 is provided between adjacent stepped surfaces 221. (See also...) Figure 16 A first inclined surface 222A is provided between the first step surface 221A and the second step surface 221B, and a second inclined surface 222B is provided between the second step surface 221B and the third step surface 221C. By providing the inclined surface 222, when the mounting member 304 and the lifting part 302 move relative to each other, the mounting member 304 can smoothly transition between two adjacent step surfaces 221, reducing the impact or collision generated when the step surface 221 against which the mounting member 304 is contacted changes; furthermore, providing the inclined surface 222 can also improve the smoothness and stability when switching step surfaces 221; in addition, compared with the method of directly jumping to change the step surface 221 against which the mounting member 304 is contacted, providing the inclined surface 222 can also reduce the power required for switching.

[0189] Optionally, when the mounting member 304 and the first step surface 221A are in contact, the height of the chassis 10 includes a first preset threshold (passing through a low space), and when the mounting member 304 and the third step surface 221C are in contact, the height of the chassis 10 includes a second preset threshold (overcoming obstacles).

[0190] The height of the chassis 10 of the cleaning equipment 100 can be between a first preset threshold and a second preset threshold.

[0191] Specifically, when the mounting component 304 is in contact with the first step surface 221A, the height of the chassis 10 is less than or equal to a first preset threshold, so that the cleaning equipment 100 can pass through low spaces and achieve obstacle avoidance; when the mounting component 304 is in contact with the third step surface 221C, the height of the chassis 10 is greater than or equal to a second preset threshold, so that the cleaning equipment 100 can overcome obstacles and achieve obstacle crossing. The second preset height and the first preset height can be specifically set according to needs, and the present invention does not limit them.

[0192] Please see Figure 2 Optionally, the cleaning device 100 also includes a cleaning component 50, which may be disposed at the rear of the cleaning device 100.

[0193] The cleaning component 50 can be a wet cleaning component (such as a mop) or a dry cleaning component (such as a side sweeper or a center sweeper). The cleaning component 50 can sweep and mop the floor to clean it.

[0194] The second drive wheel assembly 303 can be located in the middle of the cleaning device 100. When the step surface that the second drive wheel assembly 303 contacts changes, the chassis 10 of the cleaning device 100 can be raised or lowered as a whole. For example, when the chassis 10 of the cleaning device 100 is lowered as a whole, the distance between the chassis 10 and the ground is reduced, thereby increasing the pressure of the cleaning component 50 on the ground, thereby increasing the cleaning ability of stains and the dust suction ability.

[0195] The second drive wheel assembly 303 can be located at the front or rear of the cleaning device 100 in the direction of travel. For example, if the second drive wheel assembly 303 is located at the front of the cleaning device 100 in the direction of travel, the height of the chassis 10 at the front of the cleaning device 100 can be raised by lowering the height of the step surface against which the mounting member 304 abuts, thereby causing the cleaning device 100 to tilt upwards. Similarly, if the second drive wheel assembly 303 is located at the rear of the cleaning device 100 in the direction of travel, the height of the step surface against which the mounting member 304 abuts can also be raised, thus causing the cleaning device 100 to tilt upwards. The cleaning component 50 is located at the rear of the cleaning device 100. When the chassis 10 of the cleaning device 100 is lowered or the cleaning device 100 tilts upwards, the cleaning component 50 can be pressed against the ground (increasing the force between it and the ground), thereby improving the cleaning effect on stains.

[0196] Optionally, the second drive wheel assembly 303 may also include at least one of a caster wheel, a drive wheel, and an auxiliary wheel to improve the versatility of the cleaning device 100 and enable the cleaning device 100 to be adapted to more application scenarios.

[0197] Both casters and drive wheels can effectively support the cleaning device 100. Casters can be adapted to the direction of travel of the cleaning device 100, allowing it to move in the desired direction, while drive wheels propel the cleaning device 100 forward. For example, when the second drive wheel assembly 303 includes both casters and drive wheels, the cleaning device 100 can determine its direction of travel via the casters and reach the target position via the drive wheels. Auxiliary wheels are additional wheels used for obstacle crossing and escaping difficulties. The second drive wheel assembly 303 may include auxiliary wheels; by controlling the step surface contacted by the auxiliary wheels, the obstacle-crossing height and ability of the cleaning device 100 can be increased, allowing the cleaning device 100 to adapt to more cleaning environments.

[0198] Please see Figure 17 To facilitate better implementation of the cleaning method described in this application, this application also provides a cleaning device 400. The cleaning device 400 is applied to a cleaning equipment, which includes a chassis and a drive assembly. The drive assembly is located on the chassis. The cleaning device 400 includes an acquisition module 401 and a control module 402. The acquisition module 401 is used to acquire identification information of a target object in the current scene. The identification information includes at least one of the target object's type and height. The control module 402 is used to control the lifting and lowering of the drive assembly based on the identification information to avoid the target object or enhance the cleaning intensity of the target object.

[0199] In some embodiments, the target object includes dirt, the cleaning equipment also includes a cleaning component mounted on the chassis, the drive component includes casters and drive wheels, the casters, drive wheels and cleaning component are arranged sequentially along the forward direction of the cleaning equipment, and the control module 402 is specifically used to control the casters to lower the height, the drive wheels to raise the height, the casters to lower the height and the drive wheels to raise the height, or both the casters and drive wheels to lower the height when the type of dirt is liquid dirt.

[0200] In some embodiments, the cleaning components include at least one of a mop, a water outlet device, and a mid-sweeper. The cleaning device 400 also includes an adjustment module 403, which is used to adjust the cleaning parameters of the cleaning device to enhance the cleaning intensity on the target object when the type of dirt is liquid dirt. The cleaning parameters include at least one of the following: the rotation speed of the mop, the water output of the water outlet device, and the rotation speed of the mid-sweeper.

[0201] In some implementations, the target object includes an obstacle, and the control module 402 controls the drive assembly to rise based on the height of the obstacle so that the chassis is higher than the obstacle.

[0202] In some implementations, the target objects include dirt and obstacles, and the cleaning device 400 also includes a recovery module 404, which controls the drive assembly to return to the height before lifting after the dirt has been cleaned or the obstacle has been avoided.

[0203] The apparatus has been described above from the perspective of functional modules in conjunction with the accompanying drawings. These functional modules can be implemented in hardware, in software instructions, or in a combination of hardware and software modules. Specifically, the steps of the method implementation in this application can be completed by the integrated logic circuits in the processor's hardware and / or by software instructions. The steps of the method disclosed in this application can be directly manifested as being executed by a hardware encoding processor, or by a combination of hardware and software modules in the encoding processor. Optionally, the software module can be located in a mature storage medium in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, or registers. This storage medium is located in memory, and the processor reads the information in the memory and, in conjunction with its hardware, completes the steps in the above method implementation.

[0204] Please see Figure 1 and Figure 2 The cleaning device 100 of this application includes a chassis 10, a drive assembly 20 disposed on the chassis 10, a processor 30, a memory 40, and a computer program 41, wherein the computer program 41 is stored in the memory 40 and executed by the processor 30, and the computer program 41 includes instructions for performing the cleaning method of any of the above embodiments.

[0205] like Figure 1 As shown, the cleaning equipment may include only the cleaning robot 100, or only the base station 600; or the cleaning equipment may include both the cleaning robot 100 and the base station 600 (or a dust collection station).

[0206] Please see Figure 14 This application also provides a computer-readable storage medium 500 storing a computer program 510. When the computer program 510 is executed by the processor 520, it implements the steps of the cleaning method of any of the above embodiments. For the sake of brevity, these steps will not be repeated here.

[0207] In the description of this specification, the references to terms such as "some embodiments," "in one example," "exemplarily," etc., indicate that a specific feature, structure, material, or characteristic described in connection with an embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0208] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing a particular logical function or process, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the function involved, as will be understood by those skilled in the art to which embodiments of this application pertain.

[0209] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A cleaning method, characterized in that, A cleaning device, the cleaning device including a chassis and a drive assembly, the drive assembly being disposed on the chassis, the method comprising: Obtain the identification information of a target object in the current scene, wherein the identification information includes at least one of the target object's type and height; Based on the identification information, the drive component is controlled to rise and fall to avoid the target object or enhance the cleaning intensity of the target object.

2. The cleaning method according to claim 1, characterized in that, The target object includes dirt, and the cleaning equipment further includes a cleaning component mounted on the chassis. The drive component includes casters and drive wheels, and the casters, drive wheels, and cleaning component are arranged sequentially along the forward direction of the cleaning equipment. The step of controlling the lifting and lowering of the drive component based on the identification information to enhance the cleaning intensity of the target object includes: When the type of dirt is liquid dirt, control the swivel wheel to lower its height, the drive wheel to raise its height, the swivel wheel to lower its height and the drive wheel to raise its height, or both the swivel wheel and the drive wheel to lower their heights.

3. The cleaning method according to claim 2, characterized in that, When the height of the omnidirectional wheel is lowered, the height of the drive wheel is raised, the height of the omnidirectional wheel is lowered and the height of the drive wheel is raised, or the height of both the omnidirectional wheel and the drive wheel is lowered, the height of the cleaning component after adjustment is lower than the preset height. When the cleaning component is at the preset height, the cleaning component is in contact with the ground.

4. The cleaning method according to claim 3, characterized in that, The height difference between the adjusted height and the preset height is determined based on at least one of the liquid type of the liquid contaminant and the degree of solidification of the liquid contaminant.

5. The cleaning method according to claim 2, characterized in that, The cleaning components include at least one of a mop, a water outlet device, and a mid-sweeper; the method further includes: When the type of dirt is liquid dirt, the cleaning parameters of the cleaning equipment are adjusted to enhance the cleaning intensity on the target object. The cleaning parameters include at least one of the following: the rotation speed of the mop, the water output of the water outlet device, and the rotation speed of the intermediate sweeper.

6. The cleaning method according to claim 1, characterized in that, The target object includes obstacles, and the step of controlling the lifting and lowering of the drive component based on the recognition information to avoid the target object includes: Based on the height of the obstacle, control the drive assembly to rise so that the chassis is higher than the obstacle; and / or Based on the passable space of the obstacle, the drive assembly is controlled to lower so that the height of the cleaning equipment is less than the height of the passable space.

7. The cleaning method according to claim 1, characterized in that, The cleaning equipment also includes a scene recognition component, which includes at least one of a camera and a radar. The scene recognition component is used to identify the target object in the current scene and generate the recognition information.

8. The cleaning method according to claim 1, characterized in that, The target objects include dirt and obstacles, and the method further includes: Once the dirt has been cleaned or the obstacle has been avoided, the drive assembly is controlled to return to its original height before lifting.

9. A cleaning device, characterized in that, include: Chassis; A drive assembly, wherein the drive assembly is disposed on the chassis; Processor, memory; and A computer program, wherein the computer program is stored in the memory and executed by the processor, the computer program comprising instructions for performing the cleaning method according to any one of claims 1 to 8.

10. A non-volatile computer-readable storage medium containing a computer program, characterized in that, When the computer program is executed by a processor, the processor performs the cleaning method according to any one of claims 1-9.

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