Cleaning equipment and cleaning systems

Abstract

This disclosure provides a cleaning device having a traveling assembly including a main drive wheel and an obstacle-crossing device. The obstacle-crossing device has an extension mechanism and a track assembly arranged in front of the main drive wheel along the traveling direction of the cleaning device. The track assembly has a first end near the main drive wheel and a second end away from the main drive wheel. The second end is fixedly hinged relative to the cleaning device. The extension mechanism enables the track assembly to move between an extended position and a retracted position. In the retracted position, the track assembly is spaced apart from the surface to be cleaned. When moving from the retracted position to the extended position, the track assembly pivots about the first end in a direction toward the surface to be cleaned. In the extended position, the track assembly contacts the surface to be cleaned. The width direction of the track assembly is along the lateral orientation of the cleaning device. This disclosure also provides a cleaning system.

Description

Technical Field

[0001] This disclosure relates to a cleaning device, particularly a cleaning device with an obstacle-crossing device, and also to a cleaning system including the cleaning device. Background Technology

[0002] Cleaning equipment, such as robotic vacuum cleaners, is widely used for floor cleaning in homes and offices. Home floors often contain obstacles such as thresholds, low steps, and cables, requiring robotic vacuum cleaners to have excellent obstacle-crossing capabilities to achieve thorough cleaning of the entire house.

[0003] Currently, the obstacle-crossing solutions available for robotic vacuum cleaners on the market can be mainly divided into several categories, including mechanical leg type, auxiliary wheel type, and chassis lifting type.

[0004] Mechanical leg-based obstacle-crossing solutions utilize bionic leg structures added to the main drive wheels. When encountering an obstacle, the bionic legs swing downwards, lifting the front end of the sweeper to overcome it. Auxiliary wheel-based obstacle-crossing solutions typically add hook-type auxiliary wheels to the sides or rear of the main drive wheels. When encountering an obstacle, the hooks grab the edge of the obstacle, using their shape to "hook" the entire machine onto it. Chassis-lifting solutions add independent power units to the main drive wheels and / or casters, allowing for active lifting and lowering in a direction perpendicular to the surface to be cleaned. When obstacle crossing is needed, the power unit activates, lifting the machine's chassis upwards, thus elevating the entire machine.

[0005] The above solutions are costly and may damage the surface to be cleaned, and they are particularly ineffective at overcoming large or irregular obstacles. Summary of the Invention

[0006] The technical problem to be solved by this disclosure is to overcome, at least partially, the aforementioned defects in the prior art.

[0007] One aspect of this disclosure provides a cleaning device having a traveling assembly including a main drive wheel and an obstacle-crossing device having an extension device and a track assembly.

[0008] The width direction of the track assembly is along the lateral orientation of the cleaning device, and the track assembly has a first end near the main drive wheel and a second end away from the main drive wheel. The second end is arranged in front of the first end along the travel direction of the cleaning device, and the second end is fixedly hinged relative to the position of the cleaning device. The track assembly can be moved between an extended position and a retracted position by the extension device. In the retracted position, the track assembly is arranged at a distance from the surface to be cleaned. When moving from the retracted position to the extended position, the track assembly pivots about the first end toward the surface to be cleaned. In the extended position, the track assembly is in contact with the surface to be cleaned.

[0009] In one or more embodiments, the extension device includes a lead screw mechanism and a connecting rod. The lead screw mechanism includes a lead screw shaft, a lead screw nut, and a lead screw seat. The lead screw seat is fixedly arranged relative to the cleaning device. The lead screw shaft is rotatably supported in the lead screw seat about its longitudinal axis and coupled to a first motor capable of driving the lead screw shaft to rotate about its longitudinal axis, wherein the longitudinal axis of the lead screw shaft is oriented along the travel direction of the cleaning device. The connecting rod is hinged to the lead screw nut at a first connecting rod end and to the track assembly at a second connecting rod end.

[0010] In one or more embodiments, the effective length of the lead screw shaft is defined by a first end position and a second end position, the first end position being located behind the second end position along the travel direction of the cleaning equipment, the track assembly being in a retracted position when the lead screw nut is in the first end position, and the track assembly being in an extended position when the lead screw nut is in the second end position.

[0011] In one or more embodiments, the track assembly has a drive wheel, a first driven wheel, a second driven wheel, and a track surrounding the drive wheel, the first driven wheel, and the second driven wheel, wherein the drive wheel is disposed at a second end of the track assembly, the first driven wheel is disposed at a first end of the track assembly, and the second driven wheel is disposed between the first end and the second end.

[0012] In one or more embodiments, the main drive wheel of the cleaning device and the track assembly are driven by a common second motor.

[0013] In one or more embodiments, the connecting rod is hinged to the second driven wheel at the end of the second connecting rod.

[0014] In one or more embodiments, the second end of the track assembly is connected to a lead screw seat via a connecting assembly, wherein the connecting assembly includes a bushing and a connecting plate, the bushing being disposed on the axle of the drive wheel, and the connecting plate being fixedly connected to the bushing at one end and fixedly connected to the lead screw seat at the other end.

[0015] In one or more embodiments, the link has a damping component.

[0016] In one or more embodiments, the damping assembly has a helical spring and at least one damper, wherein the helical spring is sleeved on the axially outer side of the link, and the damper is arranged in the region of the end of the first link and / or the end of the second link.

[0017] In one or more embodiments, the first motor is fixedly mounted on the lead screw seat.

[0018] In one or more embodiments, when the track assembly is in the retracted position, when viewed laterally, the outline of the main drive wheel partially coincides with the outline of the track assembly, wherein the track assembly is arranged laterally outside the main drive wheel.

[0019] In one or more embodiments, the extension device is configured as an electric actuator, the housing of which is hinged to the housing of the cleaning equipment, and the telescopic end of which is hinged to the track assembly.

[0020] In one or more embodiments, the extension device is configured as a hydraulic or pneumatic cylinder system, wherein the cylinder body of the hydraulic or pneumatic cylinder is hinged to the housing, and the piston rod end is hinged to the track assembly.

[0021] A second aspect of this disclosure provides a cleaning system comprising a base station and cleaning equipment according to this disclosure. Attached Figure Description

[0022] Figure 1 A perspective view of an obstacle-crossing device according to the present disclosure is shown, wherein the track assembly is in the retracted position;

[0023] Figure 2 A perspective view of an obstacle-crossing device according to the present disclosure is shown, wherein the track assembly is in an intermediate position between a retracted position and an extended position;

[0024] Figure 3 A perspective view of an obstacle-crossing device according to the present disclosure is shown, wherein the track assembly is in the extended position;

[0025] Figure 4a The first state of the cleaning equipment according to this disclosure during obstacle crossing operation is schematically shown in the side view;

[0026] Figure 4b The second state of the cleaning equipment according to this disclosure during obstacle crossing operation is schematically shown in the side view;

[0027] Figure 4c The third state of the cleaning equipment according to this disclosure during obstacle crossing operation is schematically shown in the side view;

[0028] Figure 4d The fourth state of the cleaning equipment according to this disclosure during obstacle crossing operation is schematically shown in the side view;

[0029] Figure 5 The cleaning system according to this application is shown in a schematic perspective view.

[0030] List of reference numerals

[0031] 1-Screw mechanism; 2-Connecting rod; 11-Screw shaft; 12-Screw nut; 13-Screw seat; 14-First motor; 15-Busset; 16-Connecting plate; 23-First hinge; 24-Second hinge; 3-Track assembly; 31-Track; 32-Drive wheel; 33-First driven wheel; 34-Second driven wheel; 35-Track motor; 36-Track side plate; 41-Helical spring; 42-Damper; W-Main drive wheel; G-Ground; B-Obstacle; C-Universal wheel; 100-Cleaning equipment; 200-Base station. Detailed Implementation

[0032] To make the objectives, technical solutions, and advantages of this disclosure clearer, the technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. The same reference numerals in the drawings represent the same components. It should be noted that the described embodiments are only some, not all, of the embodiments of this disclosure. All other embodiments obtained by those skilled in the art based on the described embodiments of this disclosure without creative effort are within the scope of protection of this disclosure.

[0033] Compared to the embodiments shown in the accompanying drawings, feasible embodiments within the scope of this disclosure may have fewer components, other components not shown in the drawings, different components, components arranged differently, or components with different connections, etc. Furthermore, two or more components in the drawings may be implemented in a single component, or a single component shown in the drawings may be implemented as multiple separate components.

[0034] Unless otherwise defined, the technical or scientific terms used herein shall have the ordinary meaning understood by one of ordinary skill in the art to which this disclosure pertains. The terms “first,” “second,” and similar terms used in this patent application specification and claims do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Similarly, the terms “an” or “a” and similar terms do not necessarily indicate a quantity limitation. The terms “comprising” or “including” and similar terms mean that the element or object preceding the word encompasses the elements or objects listed following the word and their equivalents, without excluding other elements or objects. The terms “connected” or “linked” and similar terms are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. The terms “upper,” “lower,” “left,” and “right” are used only to indicate relative positional relationships, which may change accordingly when the absolute position of the described object changes.

[0035] In this disclosure, "direction of travel" refers to the direction in which the cleaning equipment moves along a straight line, and "lateral" refers to the direction in the horizontal plane that is perpendicular to the direction of travel of the cleaning equipment.

[0036] Existing solutions often require additional metal gear sets to ensure sufficient driving force and structural strength, resulting in higher costs. Furthermore, the mechanical feet may make hard contact with the ground during obstacle crossing, easily scratching the floor surface over time. Adding hooks lacks a cushioning structure; the hooks generate significant impact when gripping and pressing down on the ground, potentially leaving dents on the floor after prolonged use. Chassis-lifting solutions are highly dependent on obstacle shape; they are ineffective at crossing curved or irregularly shaped obstacles. This solution requires multiple motors and complex transmission mechanisms, significantly modifying the existing robot vacuum, leading to a substantial increase in cost and occupying valuable internal space, hindering the design of a slim and lightweight product.

[0037] A cleaning device, such as a smart robotic vacuum cleaner, is disclosed. The surface to be cleaned can be, for example, floor tiles, wood flooring, carpet, etc. The cleaning device includes a housing, cleaning components arranged in the housing, such as a roller brush, a suction port, a dust box, etc., and a drive component, such as an electric motor and a corresponding transmission mechanism, and also includes a travel component according to the present disclosure.

[0038] Figure 1 A perspective view of an obstacle-crossing device according to the present disclosure is shown, the device having an extension mechanism and a main drive wheel W arranged along the direction of travel of the cleaning equipment (see [reference]). Figure 4a The front track assembly 3, in Figure 1In the middle, the track assembly 3 is in the retracted position. In the retracted position, the track assembly 3 is arranged at a distance from the surface to be cleaned. The lower surface of the track assembly 3 can be parallel to or at a certain angle to the surface to be cleaned. The width direction of the track assembly 3 is along the lateral orientation of the cleaning equipment, so that the running direction of the track is consistent with the travel direction of the cleaning equipment.

[0039] Combination Figure 1 and Figure 4a It is understood that the width of the track assembly 3 is aligned with the lateral orientation of the cleaning device to ensure that the running direction of the track assembly 3 is consistent with the traveling direction of the cleaning device. The track assembly 3 has a first end near the main drive wheel W and a second end away from the main drive wheel W, and the second end is arranged in front of the first end along the traveling direction of the cleaning device. In one or more embodiments, the second end is fixedly hinged relative to the position of the cleaning device, thereby enabling the track assembly 3 to pivot about the hinge of the second end in a plane perpendicular to the surface to be cleaned. This one-end fixed hinge simplifies the kinematic model, making control simpler and more reliable.

[0040] In one or more embodiments, the track assembly 3 is movable between an extended position and a retracted position by means of an extension device. When moving from the retracted position to the extended position, the track assembly 3 pivots about the first end toward the surface to be cleaned. In the extended position, the track assembly 3 contacts the surface to be cleaned and lifts the cleaning device from the surface, causing the main drive wheel W to disengage from the surface to be cleaned.

[0041] By incorporating a track assembly 3 that can actively deploy / retract, the track assembly 3 can be lowered and make contact with the ground G or obstacle B when encountering an obstacle. The large contact area of ​​the track and the toothed structure of the track provide adhesion and traction far exceeding that of ordinary rollers. Combined with the stable support provided by the extension device, this allows the cleaning equipment to easily climb higher obstacles such as thresholds.

[0042] In one or more preferred embodiments of this disclosure, the extension device is specifically configured as a combination of a lead screw mechanism 1 and a connecting rod 2, wherein the lead screw mechanism 1 includes a lead screw shaft 11 and a lead screw nut 12 that meshes with the lead screw shaft 11, and wherein the connecting rod 2 is hinged to the lead screw nut 12. However, this disclosure is not limited to this implementation.

[0043] In an alternative embodiment, the extension device can be configured as an electric actuator. An electric actuator is a device that converts the rotary motion of an electric motor into the linear motion of a actuator, typically including an electric motor, a reduction gear set, and a screw-nut pair or a worm gear-worm pair. In this embodiment, the housing of the electric actuator is hinged to the housing of the cleaning equipment, while the telescopic rod end of the electric actuator is hinged to the track assembly 3. When the electric actuator's motor rotates forward, the telescopic rod extends outward, pushing the track assembly 3 downward to the extended position; when the motor rotates in reverse, the telescopic rod retracts inward, pulling the track assembly 3 upward to the retracted position.

[0044] In another alternative embodiment, the extension device can be configured as a hydraulic or pneumatic cylinder system. A miniature hydraulic or pneumatic cylinder has its cylinder body hinged to the housing, and its piston rod end hinged to the track assembly 3. Pressurized fluid is injected into or discharged into the cylinder via a control valve assembly, driving the piston rod to extend or retract, thereby enabling the track assembly 3 to deploy and retract.

[0045] All the above-listed implementations of the extension device can achieve the basic function of moving the track assembly 3 between the retracted and extended positions. Those skilled in the art can select the most suitable implementation based on specific cost, space, driving force, and control precision requirements.

[0046] To reduce complexity, save space, achieve a compact layout, and utilize the self-locking capability of the screw mechanism, the extension device of this disclosure is preferably designed as a screw mechanism 1 and a connecting rod 2, with the connecting rod 2 hinged to the screw mechanism 1 and the track assembly 3 respectively, thereby enabling the extension and retraction of the track assembly 3 within the stroke range of the screw nut 12.

[0047] Figure 2 A perspective view of an obstacle-crossing device according to the present disclosure is shown, wherein the track assembly 3 is in an intermediate position between a retracted position and an extended position, and is formed by... Figure 2 The various components of the lead screw mechanism 1, connecting rod 2, and track assembly 3 can be clearly seen. The lead screw mechanism 1 includes a lead screw shaft 11, a lead screw nut 12 that meshes with the lead screw shaft 11, and a lead screw seat 13. In one or more embodiments, the lead screw seat 13 is fixedly arranged relative to the cleaning equipment, for example, by means of threaded connections or snap-fit ​​structures, and is fixedly disposed in the housing of the cleaning equipment or on other fixed components disposed in the housing.

[0048] The lead screw shaft 11 is rotatably supported in the lead screw holder 13 about its longitudinal axis. Specifically, both ends of the lead screw shaft 11 can be connected to the lead screw holder 13 via rolling bearings or sliding bearings. One end of the lead screw shaft 11 is coupled to the output shaft of the first motor 14 via a coupling, gear set, or direct connection. The first motor 14 can drive the lead screw shaft 11 to rotate about its longitudinal axis. The first motor 14 is preferably a stepper motor or a brushless DC motor to facilitate precise control of the rotation angle and speed.

[0049] According to one or more embodiments, the longitudinal axis of the lead screw 11 is oriented along the travel direction of the cleaning equipment, thereby ensuring that the plane of movement of the connecting rod 2 and, consequently, the pivot plane of the track assembly 3 is parallel to the travel direction of the cleaning equipment. The connecting rod 2 is a rigid connecting rod with hinge holes at both ends. The connecting rod 2 has hinge holes at its first connecting rod end (i.e.... Figure 2 The left end of the connecting rod 2 is hinged to the lead screw nut 12 via a first hinge 23, such as a combination of a pin and a snap ring, allowing the connecting rod 2 to move relative to the lead screw nut 12 in a plane parallel to the direction of travel. Figure 2 The right end of the track assembly 14 is hinged to the track assembly 3 via a second hinge 24. This motion conversion mechanism converts the rotational motion of the first motor 14 into the linear motion of the lead screw nut 12, which is then converted into the pivoting motion of the track assembly 3 via the connecting rod 2 (see [link]). Figure 3 (arrow).

[0050] In one or more embodiments, the effective length of the lead screw 11 is defined by a first end position and a second end position, the first end position being located behind the second end position along the travel direction of the cleaning device, when the lead screw nut 12 is in the first end position (e.g. Figure 1 As shown), link 2 is pulled backward, thereby pulling track assembly 3 upward to its highest retracted position. When screw nut 12 is in the second end position (as shown), Figure 3 As shown), link 2 is pushed forward, thereby pressing track assembly 3 downward to its lowest fully extended position. This positional relationship effectively utilizes the entire effective length of lead screw 11, aligning it with the travel of track assembly 3. While achieving the same travel of track assembly 3, the length of lead screw 11 can be minimized, and the lead screw can be positioned as high as possible above track assembly 3, reducing the longitudinal dimensions of the obstacle-crossing device and improving its compactness compared to other arrangements.

[0051] A significant additional technical advantage of the lead screw mechanism 1 is its self-locking characteristic. When the first motor 14 stops supplying power, the lead screw shaft 11 cannot be reversed and rotated by the axial force on the lead screw nut 12. In other words, when the track assembly 3 is in the extended position and experiences a reaction force from the ground G, this reaction force is transmitted to the lead screw nut 12 through the connecting rod 2, creating a tendency to push the lead screw nut 12 backward. However, due to the self-locking characteristic of the lead screw, the lead screw nut 12 cannot move, thus stably maintaining the extended posture without the need for continuous power consumption. This results in significant advantages in saving equipment power and improving the reliability of obstacle-crossing processes.

[0052] Continue to refer to Figures 1 to 3In one or more embodiments, the track assembly 3 has a drive wheel 32, a first driven wheel 33, a second driven wheel 34, and a track 31 surrounding the drive wheel 32, the first driven wheel 33, and the second driven wheel 34. The track 31 is preferably made of rubber or a composite polymer material, and its outer surface is provided with a plurality of teeth or patterns evenly distributed along the length of the track to enhance grip with the ground G and obstacles B. The drive wheel 32 is arranged at a fixed second end of the track assembly 3. The first driven wheel 33 is arranged at a first end of the track assembly 3 away from the second end. The second driven wheel 34 is arranged between the first and second ends, serving to support and guide the track 31. Figure 3 As shown, in one or more embodiments, the end face of the track assembly 3 may be provided with a track side plate 36 to prevent dust and the like from entering the interior of the track assembly 3.

[0053] This track layout allows the drive wheel 32 to be stably and fixedly positioned relative to the cleaning equipment, making the transmission structure simple and stable. On the other hand, the second driven wheel 34 provides a support point on the inner side of the track 31, preventing the track from sinking during obstacle crossing and ensuring a more uniform pressure distribution between the track and obstacle B, thus improving stability during obstacle crossing.

[0054] In one or more embodiments according to this disclosure, the lead screw mechanism 1 is driven solely by a first motor 14, while the main drive wheel W of the cleaning device and the track assembly 3 are jointly driven by a second motor. In this technical solution, the first motor 14 is only used to drive the lead screw shaft 11 to rotate, thereby controlling the linear motion of the lead screw nut 12 and realizing the switching of the track assembly 3 between the retracted position and the extended position. The first motor 14 is preferably a stepper motor or a DC geared motor, whose control logic is simple, only needing to start forward or reverse rotation when an obstacle B is detected or passed, without the need for complex speed closed-loop control.

[0055] The second motor is the main drive source for providing propulsion. The output shaft of the second motor distributes torque simultaneously to the axle of the main drive wheel W and the drive wheel 32 of the track assembly 3 via a transfer gearbox or transmission distribution mechanism, thereby reducing the number of parts and lowering manufacturing and assembly costs. By rationally configuring the reduction ratios of the two transmission paths, when the track assembly 3 is in the extended position and in contact with the ground G, the linear velocity of the track 31 is essentially the same as the linear velocity of the outer edge of the main drive wheel W, thus ensuring that they work together rather than dragging each other.

[0056] This completely decouples the extension and travel movements in terms of control logic. There is no need to set up a separate electronic control algorithm for the track assembly 3 to synchronize with the speed of the main drive wheel W, nor is there a need to coordinate power distribution between the screw drive and the track drive. The first motor 14 only requires simple on / off or position control, while the second motor operates according to a conventional travel speed control strategy, greatly simplifying the control system. If necessary, in one or more embodiments, a separate track motor 35 can also be provided for the track assembly 3.

[0057] In one or more embodiments, the connecting rod 2 is hinged to the second driven wheel 34 at the end of the second connecting rod. This allows for a greater range of motion in the track assembly 3 while maintaining a fixed effective length of the lead screw shaft 11 and the length of the connecting rod 2. Furthermore, it brings the point of action of the connecting rod 2 closer to the center of the track assembly 3, resulting in a smaller bending moment on the connecting rod 2 upon impact, which is beneficial for improving the strength and lifespan of the connecting rod 2. In addition, this arrangement ensures that the connecting rod 2 does not interfere with the main drive wheel W.

[0058] According to one or more embodiments, a connecting component is provided to achieve a stable hinge at the second end of the track assembly 3. For example... Figure 2 As shown, the connecting assembly includes a bushing 15 and a connecting plate 16. The bushing 15 is fixedly fitted onto the axle of the drive wheel 32. The connecting plate 16 is fixedly connected at one end to the outer circumferential surface of the bushing 15 and at the other end to the lead screw seat 13. Since the lead screw seat 13 itself is fixedly set relative to the cleaning equipment, the axle of the drive wheel 32 is indirectly and positionally fixedly connected to the equipment through the bushing 15, the connecting plate 16, and the lead screw seat 13. At the same time, the axle of the drive wheel 32 serves as the rotation center of the track assembly 3, allowing the entire track assembly 3 to pivot freely around the axle.

[0059] This arrangement allows the lead screw mechanism 1, connecting rod 2, and track assembly 3 to be integrated into a single, independently pre-assembled module. During production line assembly, the entire obstacle-crossing device can be assembled as a whole before being installed into the equipment housing, significantly improving production efficiency and assembly accuracy.

[0060] In one or more embodiments, a shock-absorbing component is integrated in the motion transmission path, particularly in link 2, to reduce the impact on link 2 when crossing obstacles, thereby avoiding bumps during obstacle crossing, preventing damage to internal precision components, and preventing impact damage to the user's floor.

[0061] like Figures 1 to 3As shown, the damping assembly has a helical spring 41 and at least one damper 42, which is disposed in the region at the end of the first link and / or the end of the second link. In one or more embodiments, the link 2 can serve as a guide mandrel, with the helical spring 41 sleeved on the axially outer side of the link 2, providing precise sliding guidance for the spring damping assembly via the link 2. The damper 42 disposed at the end of the link 2 is capable of converting impact energy into heat dissipation. The damper 42 can be, for example, a friction damper, i.e., multiple layers of friction plates are provided at at least one end of the link 2. Hydraulic or viscous damping can also be used.

[0062] In one or more embodiments, the first motor 14 is fixedly mounted on the lead screw seat 13, thereby shortening the transmission path of the first motor 14 to the lead screw shaft 11 and further improving the integration of the obstacle crossing device.

[0063] In one or more embodiments, when the track assembly 3 is in the retracted position, viewed laterally along the cleaning device, the outline of the main drive wheel W partially overlaps with the outline of the track assembly 3. Furthermore, the track assembly 3 is arranged laterally outside the main drive wheel W. In other words, viewed from the side, there is an overlapping area between the main drive wheel W and the track assembly 3 in the retracted position, rather than them being completely offset. This arrangement effectively utilizes the space in the width direction of the device, avoiding the need to increase the longitudinal length of the device in the direction of travel to accommodate the obstacle-crossing device, thus contributing to a slimmer and more compact design. Positioning the track assembly 3 outside the main drive wheel W, closer to the side edge of the device, also provides a greater lateral support range, reducing lateral tilting of the entire machine during obstacle crossing.

[0064] Figures 4a to 4d The process of obstacle-crossing operation of the cleaning device 100 according to this disclosure is illustrated, with four operational states shown exemplarily. The direction of travel of the cleaning device 100 is from left to right.

[0065] The cleaning equipment 100 travels on the surface to be cleaned, such as the ground G, with its obstacle-crossing device's track assembly 3 in a retracted position, spaced a certain distance from the ground G. The equipment's movement is entirely driven by the rotation of the main drive wheel W. At this time, the casters C in the front area of ​​the equipment are in contact with the ground G, serving to assist in steering and support.

[0066] like Figure 4aAs shown, when sensors located at the front or bottom of the equipment, such as infrared sensors or ultrasonic sensors, detect an obstacle B whose height exceeds the obstacle-crossing capability of a single main drive wheel W, the control system initiates the obstacle-crossing procedure. The first motor 14 starts, driving the lead screw shaft 11 to rotate. The lead screw nut 12 moves horizontally forward along the lead screw seat 13 as the lead screw shaft 11 rotates. The forward movement of the lead screw nut 12 pushes the connecting rod 2, which is hinged to it, and the connecting rod 2 in turn pushes the track assembly 3 downward, causing it to gradually unfold.

[0067] When the track assembly 3 extends to contact the ground G, the ground G exerts a supporting force Fn on the track assembly 3. This supporting force Fn lifts the front area of ​​the cleaning device 100, preparing it to cross the obstacle B. At this time, the obstacle B begins to contact the track 31. The impact force F generated when the two come into contact can be effectively absorbed by the shock absorption assembly 4, preventing the mechanism from being damaged due to excessive force.

[0068] Figure 4b An initial obstacle-crossing state is illustrated exemplarily. In this state, the second motor or, if necessary, the track motor 35 drives the drive wheel 32 to rotate, which in turn drives the track 31 to rotate. The recesses or teeth on the surface of the track 31 engage with the edges and corners of the obstacle B to generate a strong gripping force.

[0069] At this point, the supporting force at the front of the equipment is no longer provided by the supporting force Fn of the ground G, but is transformed into the supporting force F1 of the obstacle B on the track assembly 3. The forward driving force is provided by the resultant force F2 of the friction between the track 31 and the obstacle B and the limiting force of the track 31 (this limiting force is provided by the drive wheel 32, the first driven wheel 33, and the second driven wheel 34). Under the action of this resultant force, the cleaning equipment 100 is lifted upward and continues to move forward. During this process, the shock absorption assembly 4 continuously absorbs the vibrations generated by the collision between the track and the obstacle B.

[0070] Figure 4c An exemplary intermediate obstacle-crossing state is shown. In this state, the cleaning device 100 is subjected to the thrust and traction of the track assembly 3, and the main body is crossing the obstacle B. The track 31 continues to rotate, and its surface maintains reliable contact with the top of the obstacle B, providing a stable upward and forward force.

[0071] When the equipment reaches the end of obstacle B, the track 31 begins to separate from obstacle B. At this time, the main drive wheel W gradually contacts the upper surface of obstacle B and begins to assume the driving task, further propelling the equipment forward. During this stage, the track assembly 3 and the main drive wheel W provide driving force sequentially, ensuring the continuity of the obstacle-crossing process.

[0072] like Figure 4dAs shown, driven by the main drive wheel W, the cleaning equipment 100 continues to move forward. Due to the force of gravity, the front end of the equipment begins to fall after passing the highest point of obstacle B, and finally the omnidirectional wheel C in the front area comes into contact with the ground G.

[0073] At this point, the main drive wheel W continues to rotate until it is completely detached from obstacle B. Once the machine has fully returned to normal ground, the control system reverses the first motor 14, causing the lead screw nut 12 to move backward. This pulls the track assembly 3 upward via the connecting rod 2, retracting it back to its initial position above the main drive wheel W. The equipment then resumes its normal cleaning and travel mode, completing the entire obstacle-crossing process.

[0074] This disclosure also relates to a cleaning system including a cleaning device 100 and a base station. Figure 5 An exemplary cleaning system comprising a cleaning device 100 and a base station 200 is illustrated. In this cleaning system, the cleaning device 100 is capable of performing cleaning tasks, such as sweeping and / or mopping on surfaces of different materials. Correspondingly, the base station is capable of providing docking functions for the cleaning device 100, such as charging the cleaning device 100, transferring dry waste collected by the cleaning device 100 to a dust collection box in the base station, and performing a cleaning process on the mop of the cleaning device 100. Specific structural details of the cleaning device 100 are well known to those skilled in the art and will not be described further here.

[0075] The exemplary implementation of the solution proposed in this disclosure has been described in detail above with reference to preferred embodiments. However, those skilled in the art will understand that various modifications and alterations can be made to the above specific embodiments without departing from the spirit of this disclosure, and various combinations can be made to the various technical features and structures proposed in this disclosure without exceeding the protection scope of this disclosure, which is determined by the appended claims.

Claims

1. A cleaning device, characterized in that, The cleaning equipment has a traveling assembly, which includes a main drive wheel (W) and an obstacle-crossing device, the obstacle-crossing device having an extension device and a track assembly (3). The width direction of the track assembly (3) is along the lateral orientation of the cleaning device, and the track assembly (3) has a first end near the main drive wheel (W) and a second end away from the main drive wheel (W). The second end is arranged in front of the first end along the travel direction of the cleaning device, and the second end is fixedly hinged relative to the position of the cleaning device. The track assembly (3) can be moved between an extended position and a retracted position by the extension device. In the retracted position, the track assembly (3) is arranged at a distance from the surface to be cleaned. When moving from the retracted position to the extended position, the track assembly (3) pivots about the first end toward the surface to be cleaned. In the extended position, the track assembly (3) is in contact with the surface to be cleaned.

2. The cleaning equipment according to claim 1, characterized in that, The extension device includes a lead screw mechanism (1) and a connecting rod (2). The lead screw mechanism (1) includes a lead screw shaft (11), a lead screw nut (12), and a lead screw seat (13). The lead screw seat (13) is fixedly arranged relative to the cleaning equipment. The lead screw shaft (11) is rotatably supported in the lead screw seat (13) about its longitudinal axis. The lead screw shaft (11) is coupled to a first motor (14) which can drive the lead screw shaft (11) to rotate about its longitudinal axis. The longitudinal axis of the lead screw shaft (11) is oriented along the travel direction of the cleaning equipment. The connecting rod (2) is hinged to the lead screw nut (12) at the end of the first connecting rod and to the track assembly (3) at the end of the second connecting rod.

3. The cleaning equipment according to claim 2, characterized in that, The effective length of the lead screw shaft (11) is defined by a first end position and a second end position. The first end position is located behind the second end position along the travel direction of the cleaning equipment. When the lead screw nut (12) is in the first end position, the track assembly (3) is in the retracted position. When the lead screw nut (12) is in the second end position, the track assembly (3) is in the extended position.

4. The cleaning equipment according to claim 2, characterized in that, The track assembly (3) has a drive wheel (32), a first driven wheel (33), a second driven wheel (34), and a track (31) surrounding the drive wheel (32), the first driven wheel (33), and the second driven wheel (34), wherein the drive wheel (32) is disposed at the second end of the track assembly (3), the first driven wheel (33) is disposed at the first end of the track assembly (3), and the second driven wheel (34) is disposed between the first end and the second end.

5. The cleaning equipment according to claim 4, characterized in that, The main drive wheel (W) of the cleaning equipment and the track assembly (3) are driven by a common second motor.

6. The cleaning equipment according to claim 4, characterized in that, The connecting rod (2) is hinged to the second driven wheel (34) at the end of the second connecting rod.

7. The cleaning equipment according to claim 4, characterized in that, The second end of the track assembly (3) is connected to the lead screw seat (13) via a connecting assembly, wherein the connecting assembly includes a bushing (15) and a connecting plate (16), the bushing (15) is disposed on the axle of the drive wheel (32), the connecting plate (16) is fixedly connected to the bushing (15) at one end and fixedly connected to the lead screw seat (13) at the other end.

8. The cleaning equipment according to claim 2, characterized in that, The connecting rod (2) has a shock-absorbing component.

9. The cleaning equipment according to claim 8, characterized in that, The damping assembly has a helical spring (41) and at least one damper (42), wherein the helical spring (41) is sleeved on the axial outside of the connecting rod (2), and the damper (42) is arranged in the region of the end of the first connecting rod and / or the end of the second connecting rod.

10. The cleaning equipment according to claim 2, characterized in that, The first motor (14) is fixedly mounted on the lead screw seat (13).

11. The cleaning equipment according to claim 1, characterized in that, When the track assembly (3) is in the retracted position, when viewed laterally, the outline of the main drive wheel (W) partially coincides with the outline of the track assembly (3), wherein the track assembly (3) is arranged laterally outside the main drive wheel (W).

12. The cleaning equipment according to claim 1, characterized in that, The extension device is constructed as an electric push rod, the housing of which is hinged to the housing of the cleaning equipment, and the telescopic rod end of which is hinged to the track assembly (3).

13. The cleaning equipment according to claim 1, characterized in that, The extension device is constructed as a hydraulic or pneumatic cylinder system, wherein the cylinder body of the hydraulic or pneumatic cylinder is hinged to the housing, and the end of the piston rod is hinged to the track assembly (3).

14. A cleaning system comprising: Base station; The cleaning equipment according to any one of claims 1 to 13.

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