Obstacle surmounting device and cleaning robot

Abstract

The application discloses an obstacle surmounting device and a cleaning robot. The obstacle surmounting device comprises a first obstacle surmounting component, a second obstacle surmounting component and a controller. The first obstacle surmounting component is used for lifting the cleaning robot; the second obstacle surmounting component is used for hanging on an obstacle during obstacle surmounting; the controller is configured to control the obstacle surmounting device to switch between a first obstacle surmounting mode and a second obstacle surmounting mode; wherein, in the first obstacle surmounting mode, only the first obstacle surmounting component works; in the second obstacle surmounting mode, the first obstacle surmounting component and the second obstacle surmounting component work simultaneously. According to the obstacle surmounting device, the controller controls the obstacle surmounting device to switch between the first obstacle surmounting mode and the second obstacle surmounting mode, and the lifting function of the first obstacle surmounting component and the hanging function of the second obstacle surmounting component are combined, so that the obstacle surmounting device can adaptively adjust a more appropriate obstacle surmounting mode in different environments, the passing capacity of the obstacle surmounting device in complex road conditions is improved, and the versatility and adaptability of the cleaning robot adopting the obstacle surmounting device are improved.

Description

Technical Field

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

[0002] In related technologies, to enable cleaning robots to cross obstacles such as thresholds and steps, a dual-wheel segmented obstacle-crossing design or a liftable obstacle-crossing wheel design is typically used to further increase the obstacle-crossing height. However, existing obstacle-crossing devices often only have a fixed, single obstacle-crossing mode and cannot adaptively switch according to the obstacle height or the complexity of the obstacle surface, resulting in limitations in the versatility and adaptability of cleaning robots. Summary of the Invention

[0003] The present invention aims to at least solve one of the technical problems existing in the prior art. Therefore, one objective of the present invention is to provide an obstacle-crossing device that allows the device to adaptively adjust to a more suitable obstacle-crossing method in different obstacle environments, thereby improving the device's ability to navigate complex road conditions.

[0004] Another object of the present invention is to provide a cleaning robot.

[0005] An obstacle-crossing device according to a first aspect of the present invention includes: a first obstacle-crossing component for lifting a cleaning robot; a second obstacle-crossing component for attaching to an obstacle during obstacle crossing; and a controller configured to control the obstacle-crossing device to switch between a first obstacle-crossing mode and a second obstacle-crossing mode; wherein, in the first obstacle-crossing mode, only the first obstacle-crossing component operates; and in the second obstacle-crossing mode, both the first obstacle-crossing component and the second obstacle-crossing component operate simultaneously.

[0006] According to the obstacle-crossing device of the present invention, the controller controls the obstacle-crossing device to switch between a first obstacle-crossing mode and a second obstacle-crossing mode. By combining the lifting function of the first obstacle-crossing component and the hooking function of the second obstacle-crossing component, the obstacle-crossing device can adaptively adjust to a more suitable obstacle-crossing method in different obstacle environments, thereby improving the obstacle-crossing device's ability to pass through complex road conditions and thus improving the versatility and adaptability of the cleaning robot using the above-mentioned obstacle-crossing device.

[0007] According to some embodiments of the present invention, the obstacle-crossing device further includes: a sensor for detecting feature information of an obstacle, the sensor being communicatively connected to the controller; the controller is configured to: acquire feature information of the obstacle from the sensor; and automatically control the obstacle-crossing device to a first obstacle-crossing mode or a second obstacle-crossing mode based on the feature information.

[0008] According to some embodiments of the present invention, the feature information includes the height of the obstacle and / or the surface material of the obstacle.

[0009] According to some embodiments of the present invention, when the height of the obstacle is less than a height threshold, the controller controls the obstacle-crossing device to select the first obstacle-crossing mode; or, when the height of the obstacle is greater than or equal to the height threshold, the controller controls the obstacle-crossing device to select the second obstacle-crossing mode.

[0010] According to some embodiments of the present invention, when the surface material of the obstacle is a smooth material, the controller controls the obstacle-crossing device to select the second obstacle-crossing mode.

[0011] According to some embodiments of the present invention, the controller is configured to: respond to a user instruction and control the obstacle-crossing device to a first obstacle-crossing mode or a second obstacle-crossing mode according to the user instruction.

[0012] According to some embodiments of the present invention, in the first obstacle-crossing mode, the second obstacle-crossing component is in a stowage position or an idle position.

[0013] According to some embodiments of the present invention, the obstacle-crossing device further includes: a first driving member disposed on the body of the cleaning robot; a first transmission member rotatably connected to the second obstacle-crossing component via the first transmission member, the second obstacle-crossing component being switchable between an extended state and a retracted state; in the extended state, the second obstacle-crossing component extends outward and / or at least partially extends outward from the body of the cleaning robot in the direction of travel; in the retracted state, the second obstacle-crossing component is retracted into the body of the cleaning robot.

[0014] According to some embodiments of the present invention, the obstacle-crossing device further includes: a second transmission member, wherein the first obstacle-crossing component is connected to the first driving member via the second transmission member, and the first driving member drives the second obstacle-crossing component and the first obstacle-crossing component to rotate synchronously via the first transmission member and the second transmission member, respectively.

[0015] According to some embodiments of the present invention, the first transmission member and the second transmission member each include at least one transmission gear set, the transmission gear set being transmittedly connected to the first driving member, and the first driving member being transmittedly connected to the first obstacle-crossing component and the second obstacle-crossing component respectively through the transmission gear set, so as to drive the rotation of the first obstacle-crossing component and the second obstacle-crossing component.

[0016] According to some embodiments of the present invention, the first driving member includes: a driving motor; a driving gear set, the driving gear set including a first gear and a second gear arranged coaxially, the driving motor being connected to the first transmission member via the first gear, and the driving motor being connected to the second transmission member via the second gear.

[0017] According to some embodiments of the present invention, the obstacle-crossing device further includes: a second driving member disposed on the body of the cleaning robot; and a third transmission member, wherein the second driving member is rotatably connected to the first obstacle-crossing component through the third transmission member, and the first obstacle-crossing component is switchable between a storage position and an obstacle-crossing position, wherein in the obstacle-crossing position, the first obstacle-crossing component lifts the cleaning robot.

[0018] According to some embodiments of the present invention, the second obstacle-crossing component includes: a connecting shaft; a plurality of hook-up portions, wherein the plurality of hook-up portions are all disposed at the same end of the axial direction of the connecting shaft, and the plurality of hook-up portions are spaced apart circumferentially along the connecting shaft, and the width of each hook-up portion gradually decreases in a direction away from the connecting shaft.

[0019] According to some embodiments of the present invention, the first obstacle-crossing assembly includes obstacle-crossing legs, wherein the obstacle-crossing legs are retractable, swingable, or elevable relative to the body of the cleaning robot to support the cleaning robot on the ground and lift the cleaning robot.

[0020] According to a second aspect of the present invention, a cleaning robot includes an obstacle-crossing device according to the first aspect of the present invention described above.

[0021] Additional aspects and advantages of the invention 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 the invention. Attached Figure Description

[0022] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 This is a schematic diagram of an obstacle-crossing device according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the obstacle-crossing device according to an embodiment of the present invention from another angle; Figure 3 This is a schematic diagram of the obstacle-crossing device according to an embodiment of the present invention from another angle, wherein some components are not shown.

[0023] Figure label: 100. Obstacle crossing device; 1. First obstacle crossing assembly; 11. Obstacle crossing leg; 111. First connecting arm; 112. Second connecting arm; 113. Obstacle crossing wheel; 2. Second obstacle crossing assembly; 21. Connecting shaft; 22. Hook-on part; 3. First driving component; 31. Drive motor; 32. Drive gear set; 321. First gear; 322. Second gear; 4. First transmission component; 41. Transmission gear set; 5. Second transmission component; 6. Second driving component; 7. Third transmission component; 8. Rotating component; 9. Traveling wheel. Detailed Implementation

[0024] The following is for reference. Figures 1-3 An obstacle-crossing device 100 according to an embodiment of the first aspect of the present invention is described.

[0025] like Figures 1-3 As shown, the obstacle crossing device 100 according to a first aspect embodiment of the present invention includes a first obstacle crossing component 1, a second obstacle crossing component 2 and a controller (not shown).

[0026] Specifically, the first obstacle-crossing component 1 is used to lift the cleaning robot. The second obstacle-crossing component 2 is used to attach to obstacles during obstacle crossing. The controller is configured to control the obstacle-crossing device 100 to switch between a first obstacle-crossing mode and a second obstacle-crossing mode. In the first obstacle-crossing mode, only the first obstacle-crossing component 1 operates. In the second obstacle-crossing mode, the first obstacle-crossing component 1 and the second obstacle-crossing component 2 operate simultaneously.

[0027] For example, in Figures 1-3 In the example, when the cleaning robot encounters an obstacle, the first obstacle-crossing component 1 can be used to raise the robot's body to avoid scratching or colliding with the obstacle. The second obstacle-crossing component 2 can hook onto or grip the edge and surface of the obstacle, thus forming a mechanical engagement between the second obstacle-crossing component 2 and the obstacle, providing additional traction for the obstacle-crossing process. During obstacle crossing, the second obstacle-crossing component 2 can cooperate with the first obstacle-crossing component 1 to adjust the lifting height of the cleaning robot or increase its traction, reduce slippage, improve obstacle-crossing ability in complex terrain, and ensure continuous and stable movement of the cleaning robot.

[0028] The controller can switch the obstacle-crossing device 100 between a first obstacle-crossing mode and a second obstacle-crossing mode to adapt to different road conditions and obstacle types. By controlling the obstacle-crossing device 100 to switch between the first and second obstacle-crossing modes, combined with the lifting function of the first obstacle-crossing component 1 and the hooking function of the second obstacle-crossing component 2, the controller facilitates the obstacle-crossing device 100 to adaptively adjust to a more suitable obstacle-crossing method in different obstacle environments, improving the obstacle-crossing device 100's ability to pass through complex road conditions, thereby enhancing the versatility and adaptability of the cleaning robot using the obstacle-crossing device 100.

[0029] When the controller switches the obstacle-crossing device 100 to the first obstacle-crossing mode (normal obstacle-crossing mode), only the first obstacle-crossing component 1 operates. The first obstacle-crossing component 1 raises the entire cleaning robot and crosses obstacles. This mode is suitable for low obstacles (such as carpet edges, thresholds less than 5cm).

[0030] When the controller switches the obstacle-crossing device 100 to the second obstacle-crossing mode (high obstacle-crossing mode), the first obstacle-crossing component 1 and the second obstacle-crossing component 2 work together. The first obstacle-crossing component 1 lifts the cleaning robot body, while the second obstacle-crossing component 2 forms a stable grip and contacts the obstacle through a hooking action, providing auxiliary traction for the cleaning robot. Thus, in the second obstacle-crossing mode, the supporting and lifting action of the first obstacle-crossing component 1 and the gripping and traction action of the second obstacle-crossing component 2 cooperate and reinforce each other, increasing the obstacle-crossing height of the obstacle-crossing device 100, enabling smooth crossing of higher obstacles, and improving the bonding force between the obstacle-crossing device 100 and the obstacle, effectively solving the problem of slippage when crossing obstacles in complex scenarios such as smooth surfaces. This mode is suitable for high steps (such as thresholds of 5cm or more) and smooth obstacles (such as metal thresholds and polished stone).

[0031] Therefore, the obstacle-crossing device 100 has two modes: (1) Mode 1: Normal obstacle crossing mode (first obstacle crossing mode) Applicable to: low obstacles (such as carpet edges, thresholds less than 5cm), and everyday obstacle crossing scenarios; Operating mode: Only the first obstacle-crossing component 1 is working, while the second obstacle-crossing component 2 is not working (or is in the retractable state or idle position of the second obstacle-crossing component 2). Obstacle crossing principle: The first obstacle crossing component 1 lifts the fuselage, and the obstacle crossing wheel 113 of the first obstacle crossing component 1 crosses the obstacle by friction. Advantages: Low energy consumption, minimal wear and tear, and fast response.

[0032] (2) Mode 2: High obstacle crossing mode (second obstacle crossing mode) Applicable to: high steps (such as thresholds of 5cm and above) and smooth obstacles (such as metal thresholds and polished stone). Operating mode: The first obstacle crossing component 1 and the second obstacle crossing component 2 operate simultaneously; Obstacle crossing principle: The first obstacle crossing component 1 lifts the fuselage, and the second obstacle crossing component 2 attaches to the obstacle to provide auxiliary traction. Together, they form a compound driving force. Advantages: Strong obstacle-crossing ability, suitable for complex scenarios.

[0033] According to the obstacle-crossing device 100 of the present invention, the controller controls the obstacle-crossing device 100 to switch between a first obstacle-crossing mode and a second obstacle-crossing mode. By combining the lifting function of the first obstacle-crossing component 1 and the hanging function of the second obstacle-crossing component 2, the obstacle-crossing device 100 can adaptively adjust to a more suitable obstacle-crossing method in different obstacle environments, thereby improving the passage ability of the obstacle-crossing device 100 in complex road conditions and thus improving the versatility and adaptability of the cleaning robot using the obstacle-crossing device 100.

[0034] According to some embodiments of the present invention, the obstacle-crossing device 100 further includes a sensor. The sensor is used to detect the feature information of the obstacle, and the sensor is communicatively connected to the controller. The controller is configured to acquire the feature information of the obstacle from the sensor. Based on the feature information, the obstacle-crossing device 100 is automatically controlled to either a first obstacle-crossing mode or a second obstacle-crossing mode. During the movement of the cleaning robot, the sensor identifies and collects the feature information of obstacles on the path in real time, providing the controller with accurate obstacle information, and realizing intelligent judgment and automatic switching between the first and second obstacle-crossing modes. By detecting the feature information of obstacles in advance through sensor detection, the obstacle-crossing device 100 can complete mode adjustment before contacting the obstacle, effectively avoiding collisions, jamming, and scratching of the body, while making the obstacle-crossing action smooth and improving the adaptive obstacle-crossing capability of the obstacle-crossing device 100 in complex ground environments.

[0035] For example, the sensor can be at least one of LiDAR, TOF sensor, vision camera, and infrared sensor. No specific limitation is made here.

[0036] Furthermore, the feature information includes the height of the obstacle and / or the surface material of the obstacle. The height and / or surface material of the obstacle are used by the controller to switch between the first obstacle-crossing mode and the second obstacle-crossing mode, avoiding scraping, collisions, or slippage of the robot body, improving the stability of the obstacle-crossing device 100 on different materials such as smooth or rough surfaces, achieving precise mode switching, and enabling the cleaning robot to adaptively complete obstacle-crossing actions in complex terrain. At the same time, it avoids unnecessary power consumption, extends battery life, and reduces energy consumption, making the cleaning robot operate efficiently and energy-saving.

[0037] For example, the height of an obstacle can be measured by a ranging sensor; the material of an obstacle can be determined by visual recognition or an optical sensor, such as metal, stone, wood, etc.; and the surface characteristics of an obstacle can be determined by reflectivity, texture, etc.

[0038] Specifically, when the height of the obstacle is less than a height threshold, the controller controls the obstacle-crossing device 100 to select the first obstacle-crossing mode. When the height of the obstacle is less than a preset height threshold, the controller determines that the obstacle height is too low and controls the obstacle-crossing device 100 to switch to the first obstacle-crossing mode. The first obstacle-crossing component 1 then operates, ensuring that the obstacle-crossing device 100 passes smoothly while reducing power output, energy consumption, and component wear.

[0039] When the height of an obstacle is greater than or equal to a height threshold, the controller controls the obstacle-crossing device 100 to select the second obstacle-crossing mode. When the height of an obstacle is greater than or equal to a preset height threshold, the controller determines that the obstacle is too high and controls the obstacle-crossing device 100 to switch to the second obstacle-crossing mode. The first obstacle-crossing component 1 and the second obstacle-crossing component 2 work simultaneously to ensure that the cleaning robot body is fully raised and hooked onto the obstacle through the second obstacle-crossing component 2, ensuring reliable passage in complex obstacle environments.

[0040] According to other specific embodiments of the present invention, when the surface material of the obstacle is smooth, the controller controls the obstacle-crossing device 100 to select the second obstacle-crossing mode. When the surface material of the obstacle is detected to be smooth, the road surface friction coefficient is low, and the obstacle-crossing device 100 is prone to slipping and spinning. At this time, the controller controls the obstacle-crossing device 100 to switch to the second obstacle-crossing mode, through the operation of the first obstacle-crossing component 1 and the second obstacle-crossing component 2, to improve the stability and grip of the obstacle-crossing device 100, reduce the risk of slipping, and ensure that the cleaning robot can pass smoothly on the smooth obstacle surface.

[0041] According to some embodiments of the present invention, the controller is configured to: respond to user instructions and control the obstacle-crossing device 100 to either a first obstacle-crossing mode or a second obstacle-crossing mode according to the user instructions. The controller can also actively control the obstacle-crossing device 100 to switch to the first obstacle-crossing mode or the second obstacle-crossing mode according to received user instructions, thereby meeting the user's manual operation needs in different scenarios, realizing a combination of automatic and manual control, and improving the flexibility and scenario adaptability of the cleaning robot.

[0042] Therefore, the switching method between the first obstacle-crossing mode and the second obstacle-crossing mode can be as follows: (1) Automatic switching (based on sensor detection) The obstacle crossing device 100 detects the characteristic information of obstacles in front of it through sensors and selects the obstacle crossing mode.

[0043] The controller automatically selects the obstacle-crossing mode based on the feature information detected by the sensors:

[0044] (2) Manual switching (based on user instructions) Users can manually select the obstacle-crossing mode via a mobile app, remote control, or buttons on the cleaning robot: Suitable for scenarios where the user knows there are high steps in the cleaning area; Users can switch to high obstacle-crossing mode in advance before the cleaning robot enters a specific room; You can also switch back to normal obstacle-crossing mode after the cleaning robot has finished cleaning high areas.

[0045] (3) Adaptive switching based on obstacle crossing success rate The controller records the success / failure result of each obstacle crossing; If the obstacle crossing fails consecutively in the first obstacle crossing mode, it will automatically switch to the second obstacle crossing mode; If the second obstacle-crossing mode is used frequently, but the actual obstacles are low, it can automatically downgrade to the first obstacle-crossing mode to save energy.

[0046] The priority and logic for switching between the first obstacle-crossing mode and the second obstacle-crossing mode of the obstacle-crossing device 100:

[0047] According to some embodiments of the present invention, in the first obstacle-crossing mode, the second obstacle-crossing component 2 is in a retracted position or an idle position. When the obstacle-crossing device 100 is in the first obstacle-crossing mode, the second obstacle-crossing component 2 can be in a retracted position (retracted into the body), reducing the space occupied by the obstacle-crossing device 100, reducing walking resistance, avoiding unnecessary wear and vibration, thereby reducing component wear, further reducing power consumption, and extending the service life of the obstacle-crossing device 100. The second obstacle-crossing component 2 can also be in an idle position (not in contact with obstacles), not participating in lifting and obstacle-crossing actions, but passively operating with the cleaning robot, without generating additional load, avoiding unnecessary power consumption.

[0048] According to some embodiments of the present invention, with reference to Figure 3 The obstacle-crossing device 100 also includes a first driving member 3 and a first transmission member 4. The first driving member 3 is mounted on the body of the cleaning robot. The first driving member 3 is rotatably connected to the second obstacle-crossing component 2 via the first transmission member 4. The second obstacle-crossing component 2 can switch between an extended state and a retracted state. In the extended state, the second obstacle-crossing component 2 extends out of the body of the cleaning robot in the direction of travel and / or at least partially extends out; in the retracted state, the second obstacle-crossing component 2 is retracted into the body of the cleaning robot. The first transmission member 4 can transmit the power output by the first driving member 3 to the second obstacle-crossing component 2, realizing the switching between the extended state and the retracted state of the second obstacle-crossing component 2.

[0049] When the second obstacle-crossing component 2 is in the extended state, the first drive component 3 drives the second obstacle-crossing component 2 to move (e.g., rotate) through the first transmission component 4, so that the second obstacle-crossing component 2 extends out or at least partially extends out of the body of the cleaning robot, so as to attach to obstacles and provide auxiliary traction and positioning support for the obstacle-crossing process, and cooperate with the first obstacle-crossing component 1 to achieve the crossing of higher and / or smoother obstacles.

[0050] When the second obstacle-crossing component 2 is in the retracted state, the first drive member 3 drives the second obstacle-crossing component 2 to move (e.g., rotate) via the first transmission member 4, causing the second obstacle-crossing component 2 to retract and be stored inside the body. This avoids interference, collisions, or unnecessary wear on the second obstacle-crossing component 2 during normal driving, improving the smoothness and structural safety of the device when driving on flat roads. Simultaneously, when the second obstacle-crossing component 2 is in the retracted state, the energy consumption of the obstacle-crossing device 100 is reduced. Since the second obstacle-crossing component 2 does not contact the ground or obstacles, it significantly reduces structural wear caused by friction and collisions, extending its service life. When obstacle crossing is required, the first drive member 3 can quickly drive the second obstacle-crossing component 2 to switch to the extended state via the first transmission member 4. The action response is rapid and does not affect the obstacle-crossing timing or working efficiency.

[0051] Furthermore, referring to Figure 3 The obstacle-crossing device 100 also includes a second transmission member 5. The first obstacle-crossing component 1 is connected to the first driving component 3 via the second transmission member 5. The first driving component 3 drives the second obstacle-crossing component 2 and the first obstacle-crossing component 1 to rotate synchronously via the first transmission member 4 and the second transmission member 5, respectively. The second transmission member 5 can transmit the power output by the first driving component 3 to the first obstacle-crossing component 1. At the same time, the first transmission member 4 can transmit the power output by the first driving component 3 to the second obstacle-crossing component 2, thereby enabling the first driving component 3 to drive the first obstacle-crossing component 1 and the second obstacle-crossing component 2 to rotate synchronously. Thus, by setting the first driving component 3, the first transmission member 4, and the second transmission member 5, the first transmission member 4 and the second transmission member 5 respectively transmit the power output by the first driving component 3 to the second obstacle-crossing component 2 and the first obstacle-crossing component 1, thereby facilitating the synchronous rotation of the first obstacle-crossing component 1 and the second obstacle-crossing component 2, effectively simplifying the structure of the obstacle-crossing device 100, achieving efficient and synchronous power transmission, facilitating the cleaning robot to cross obstacles smoothly, and improving the reliability of the obstacle-crossing device 100.

[0052] According to some embodiments of the present invention, with reference to Figure 3The first transmission component 4 and the second transmission component 5 each include at least one transmission gear set 41. The transmission gear set 41 is connected to the first driving component 3. The first driving component 3 is connected to the first obstacle-crossing component 1 and the second obstacle-crossing component 2 via the transmission gear set 41, thereby driving the rotation of the first obstacle-crossing component 1 and the second obstacle-crossing component 2. The transmission gear set 41 in the first transmission component 4 and the second transmission component 5 are respectively connected to the first driving component 3. The transmission gear set 41 in the first transmission component 4 transmits the power output from the first driving component 3 to the second obstacle-crossing component 2. At the same time, the transmission gear set 41 in the second transmission component 5 transmits the power output from the first driving component 3 to the first obstacle-crossing component 1, thereby driving the first obstacle-crossing component 1 and the second obstacle-crossing component 2 to rotate synchronously. Therefore, by setting the transmission gear set 41, the transmission accuracy and transmission efficiency can be improved, thereby ensuring that the first obstacle-crossing component 1 and the second obstacle-crossing component 2 can rotate synchronously, making the power distribution of the first obstacle-crossing component 1 and the second obstacle-crossing component 2 uniform and the force balanced, effectively avoiding the problem of excessive load on one side, and improving the operational stability and service life of the obstacle-crossing device 100.

[0053] According to some embodiments of the present invention, with reference to Figure 3 The first driving component 3 includes a drive motor 31 and a drive gear set 32. The drive gear set 32 ​​includes a first gear 321 and a second gear 322 coaxially arranged. The drive motor 31 is connected to the first transmission component 4 via the first gear 321, and the drive motor 31 is connected to the second transmission component 5 via the second gear 322. That is, the power output by the drive motor 31 is transmitted to the coaxially arranged first gear 321 and second gear 322, causing the first gear 321 and second gear 322 to rotate synchronously. Subsequently, the first gear 321 transmits power to the second obstacle-crossing component 2 via the transmission gear set 41 in the first transmission component 4, and the second gear 322 transmits power to the first obstacle-crossing component 1 via the transmission gear set 41 in the second transmission component 5, thereby causing the first driving component 3 to drive the first obstacle-crossing component 1 and the second obstacle-crossing component 2 to rotate synchronously. Therefore, by setting up a drive motor 31 and a drive gear set 32, and the drive gear set 32 ​​includes a first gear 321 and a second gear 322 arranged coaxially, the rotation speeds of the first gear 321 and the second gear 322 are completely consistent, which improves the transmission synchronization of the first gear 321 and the second gear 322, reduces transmission losses, and enables the first obstacle crossing component 1 and the second obstacle crossing component 2 to rotate synchronously without the need for additional drive components. This improves the operational stability of the obstacle crossing device 100, extends the service life of the obstacle crossing device 100, and at the same time improves the compactness of the first drive component 3, reduces the space occupied by the obstacle crossing device 100, and improves the reliability of the obstacle crossing device 100.

[0054] According to some embodiments of the present invention, with reference to Figure 3The obstacle-crossing device 100 further includes a second drive member 6 and a third transmission member 7. The second drive member 6 is mounted on the body of the cleaning robot. The second drive member 6 is rotatably connected to the first obstacle-crossing component 1 via the third transmission member 7. The first obstacle-crossing component 1 can switch between a storage position and an obstacle-crossing position. In the obstacle-crossing position, the first obstacle-crossing component 1 lifts the cleaning robot. When the cleaning robot needs to cross a higher obstacle, the second drive member 6 transmits power to the first obstacle-crossing component 1 via the third transmission member 7. The first obstacle-crossing component 1 rotates counterclockwise. After the first obstacle-crossing component 1 contacts the ground, it serves as a fulcrum, supporting the body of the cleaning robot and lifting it to facilitate crossing the obstacle. At this time, the first obstacle-crossing component 1 switches from the storage position to the obstacle-crossing position.

[0055] Therefore, the first obstacle crossing component 1 and the second obstacle crossing component 2 are driven by different driving components and transmission components, which facilitates the timing control of the movement of the obstacle crossing device 100 and improves the adaptability of the obstacle crossing device 100 to scenarios with higher requirements for the obstacle crossing process.

[0056] Optionally, the obstacle-crossing device 100 further includes a rotating member 8, and the third transmission member 7 can be a lifting gear set. The second driving member 6 can cause the first obstacle-crossing assembly 1 to rotate clockwise or counterclockwise via the third transmission member 7. The second driving member 6 forms a transmission connection with the lifting gear set, and the lifting gear set is transmissionally connected to the rotating member 8, thereby driving the first obstacle-crossing assembly 1 to lift the fuselage.

[0057] The control method for the second obstacle-crossing component 2 is as follows: (1) First obstacle crossing mode: Second obstacle crossing component 2 is not working. Specifically, it can be: The second obstacle-crossing component 2 remains in its retracted position (retracted into the fuselage) and rotates freely (without contacting the obstacle). The second obstacle-crossing component 2 may not rotate with the first obstacle-crossing component 1.

[0058] (2) Second obstacle crossing mode: The second obstacle crossing component 2 is operational. Specifically, it can be: The second obstacle-crossing component 2 rotates synchronously with the first obstacle-crossing component 1; or the second obstacle-crossing component 2 can be driven to rotate independently.

[0059] Therefore, the second obstacle-crossing component 2 is activated as follows:

[0060] According to some embodiments of the present invention, with reference to Figure 2The second obstacle-crossing component 2 includes a connecting shaft 21 and multiple hook-up parts 22. The multiple hook-up parts 22 are all located at the same end along the axial direction of the connecting shaft 21, and are spaced apart circumferentially along the connecting shaft 21. The width of each hook-up part 22 gradually decreases in the direction away from the connecting shaft 21. This gradual decrease in width improves the sharpness and guidance of the end, allowing the hook-up part 22 to grip obstacles. The wider end of each hook-up part 22 adjacent to the connecting shaft 21 ensures the connection strength at the root (i.e., the end of the hook-up part 22 adjacent to the connecting shaft 21), preventing bending or breakage. The circumferentially spaced distribution allows the second obstacle-crossing component 2 to continuously engage with obstacles during rotation, improving obstacle-crossing stability. For example, when the obstacle crossing device 100 travels to a higher step, the hooking part 22 of the second obstacle crossing component 2 can extend below the edge of the obstacle and form a mechanical engagement with the obstacle by hooking. During the rotation, a hooking effect is formed, providing a reliable force support point for the obstacle crossing device 100.

[0061] According to some embodiments of the present invention, with reference to Figure 1 The first obstacle-crossing component 1 includes obstacle-crossing legs 11, which, relative to the body of the cleaning robot, are extendable, swingable, or height-raised to support the cleaning robot on the ground and lift it. When the cleaning robot needs to cross a higher obstacle, the obstacle-crossing legs 11 support the ground through extension, swinging, or height-raising movements, and lift the entire cleaning robot using the first obstacle-crossing component 1 as a fulcrum, thereby increasing the clearance between the body and the ground, allowing the cleaning robot to smoothly cross the obstacle and avoid scraping against the ground or the obstacle.

[0062] Optionally, the obstacle-crossing outrigger 11 integrates a second transmission component 5. The obstacle-crossing outrigger 11 includes an obstacle-crossing wheel 113, and also includes a first connecting arm 111 and a second connecting arm 112 that are hinged together. The end of the first connecting arm 111 away from the second connecting arm 112 is connected to a rotating component 8, so that the first connecting arm 111 can be rotated by the rotating component 8, and then the second connecting arm 112 can be rotated by the first connecting arm 111. The second connecting arm 112 can swing relative to the first connecting arm 111.

[0063] During obstacle crossing operations, the second drive unit 6 drives the rotating unit 8 to rotate clockwise or counterclockwise, which in turn drives the first connecting arm 111 to rotate clockwise or counterclockwise. The first connecting arm 111 then drives the second connecting arm 112 to move, and the obstacle crossing outrigger 11 contacts the ground. As the first connecting arm 111 rotates, the position of the second connecting arm 112 remains unchanged (i.e., the obstacle crossing wheel 113 on the second connecting arm 112 is always in contact with the ground), only the angle between the second connecting arm 112 and the first connecting arm 111 changes. When the angle between the second connecting arm 112 and the first connecting arm 111 is restricted and cannot be changed further (wherein, the limitation of the rotation range of the first connecting arm 111 and the second connecting arm 112 can be achieved by a limiting plate, and this limiting method is a conventional technology, which is not described in detail here), as the first connecting arm 111 rotates, the first connecting arm 111 will continue to drive the second connecting arm 112 to rotate, so as to lift the cleaning robot. At this time, the walking wheel 9 of the cleaning robot will leave the ground, and the second obstacle-crossing component 2 will play the role of driving the cleaning robot to walk. When the walking wheel 9 moves to the top of the obstacle, the second drive component 6 continues to drive the rotating component 8 to rotate in a clockwise or counterclockwise direction until the height of the second obstacle-crossing component 2 is above the walking wheel 9. Then, the walking wheel 9 continues to drive the cleaning robot to move, so that the cleaning robot can cross the obstacle and complete the obstacle-crossing process of the cleaning robot.

[0064] The obstacle-crossing legs 11 designed in this way have a simple structure and do not affect the normal use of the cleaning robot when not crossing obstacles.

[0065] The first obstacle-crossing component 1 can also be an obstacle-crossing member consisting of a first drive wheel and a second drive wheel. Therefore, the first obstacle-crossing component 1 can provide segmented obstacle crossing. The second obstacle-crossing component 2 can be coaxially arranged with the first drive wheel or the second drive wheel, or can be installed separately. By controlling the activation / deactivation of the second obstacle-crossing component 2, an auxiliary traction mode is added to the original segmented obstacle crossing (first drive wheel and second drive wheel).

[0066] According to a second aspect of the present invention, a cleaning robot includes an obstacle-crossing device 100 according to the first aspect of the present invention described above.

[0067] According to the embodiments of the present invention, the cleaning robot, by adopting the obstacle-crossing device 100 described above, improves the terrain adaptability and passage reliability of the cleaning robot, thereby enabling the cleaning robot to meet the driving and obstacle-crossing requirements under complex road conditions.

[0068] Example 1 Scene 1: Low carpet edge (First obstacle crossing mode) The cleaning robot detects the edge of the carpet in front of it, approximately 1.5cm high (below the threshold of 5cm). The controller determines this to be a low obstacle and selects the first obstacle-crossing mode. At this time, the first drive component 3 drives the first obstacle-crossing component 1 to move, raising the robot body by approximately 1.5cm. The obstacle-crossing wheel 113 contacts the edge of the carpet and crosses it using friction. The second obstacle-crossing component 2 is not active (it idles or is in a retracted state). After obstacle crossing is complete, the first obstacle-crossing component 1 resets. The first obstacle-crossing mode has low energy consumption and minimal wear.

[0069] Example 2 Scenario 2: High Steps (High Obstacle Course Mode) The cleaning robot detects a step ahead, approximately 6cm high (above the 5cm threshold). The controller determines this to be a high obstacle and selects the second obstacle-crossing mode. The first drive unit 3 drives the first obstacle-crossing component 1 to lift the robot body. The second obstacle-crossing component 2 is activated (either rotating or extended). The obstacle-crossing wheel 113 contacts the step, providing the first traction force. The second obstacle-crossing component 2 rotates, and its hook 22 catches the edge of the step, providing the second traction force. The combined driving force pulls the robot body up the step. Obstacle crossing is complete, and the first obstacle-crossing component 1 and the second obstacle-crossing component 2 return to their original positions.

[0070] Example 3 Smooth metal threshold (high obstacle crossing mode) The cleaning robot detects a metal threshold in front of it, approximately 3cm high (typical height, but smooth surface). The sensor determines it's a smooth surface (based on reflectivity or visual identification). The controller determines it's prone to slipping and selects the second obstacle-crossing mode (even if the height is below the threshold). The first drive unit 3 drives the first obstacle-crossing component 1, raising the robot's body. The second obstacle-crossing component 2 is activated, its hooking part 22 gripping the edge of the threshold. Although the obstacle-crossing wheels 113 slip, the second obstacle-crossing component 2 provides mechanical traction. The combined driving force pulls the robot over the threshold, completing the obstacle crossing.

[0071] Other components and operations of the obstacle-crossing device 100 and the cleaning robot according to embodiments of the present invention are known to those skilled in the art and will not be described in detail here.

[0072] In the description of this invention, it should be understood that the terms "center", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", "radial", "circumferential", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0073] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0074] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example.

[0075] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. An obstacle-crossing device, characterized in that, include: The first obstacle-crossing component is used to lift the cleaning robot; The second obstacle-crossing component is used to attach to obstacles during the obstacle-crossing process; A controller configured to control the obstacle-crossing device to switch between a first obstacle-crossing mode and a second obstacle-crossing mode; In the first obstacle-crossing mode, only the first obstacle-crossing component works; in the second obstacle-crossing mode, both the first obstacle-crossing component and the second obstacle-crossing component work simultaneously.

2. The obstacle-crossing device according to claim 1, characterized in that, Also includes: A sensor is used to detect feature information of obstacles, and the sensor is communicatively connected to the controller; The controller is configured as follows: The sensor acquires feature information about the obstacle; Based on the aforementioned feature information, the obstacle-crossing device is automatically controlled to either a first obstacle-crossing mode or a second obstacle-crossing mode.

3. The obstacle-crossing device according to claim 2, characterized in that, The feature information includes the height of the obstacle and / or the surface material of the obstacle.

4. The obstacle-crossing device according to claim 3, characterized in that, When the height of the obstacle is less than a height threshold, the controller controls the obstacle-crossing device to select the first obstacle-crossing mode; or... When the height of the obstacle is greater than or equal to the height threshold, the controller controls the obstacle-crossing device to select the second obstacle-crossing mode.

5. The obstacle-crossing device according to claim 3, characterized in that, When the surface material of the obstacle is smooth, the controller controls the obstacle-crossing device to select the second obstacle-crossing mode.

6. The obstacle-crossing device according to claim 1, characterized in that, The controller is configured as follows: In response to a user instruction, the obstacle-crossing device is controlled to either a first obstacle-crossing mode or a second obstacle-crossing mode according to the user instruction.

7. The obstacle-crossing device according to any one of claims 1-6, characterized in that, In the first obstacle-crossing mode, the second obstacle-crossing component is in the storage position or the idle position.

8. The obstacle-crossing device according to claim 7, characterized in that, Also includes: A first driving component is disposed on the body of the cleaning robot; A first transmission component is connected to a first driving component via the first transmission component, and the second obstacle-crossing component is switchable between an extended state and a retracted state. In the extended state, the second obstacle-crossing component extends out of the body of the cleaning robot in the direction of travel and / or at least partially extends out of the body of the robot. In the stored state, the second obstacle-crossing component is stored inside the body of the cleaning robot.

9. The obstacle-crossing device according to claim 8, characterized in that, Also includes: The second transmission component connects the first obstacle-crossing component to the first driving component. The first driving component drives the second obstacle-crossing component and the first obstacle-crossing component to rotate synchronously through the first transmission component and the second transmission component, respectively.

10. The obstacle-crossing device according to claim 9, characterized in that, The first transmission member and the second transmission member each include at least one transmission gear set. The transmission gear set is connected to the first driving member. The first driving member is connected to the first obstacle-crossing component and the second obstacle-crossing component through the transmission gear set, so as to drive the rotation of the first obstacle-crossing component and the second obstacle-crossing component.

11. The obstacle-crossing device according to claim 9, characterized in that, The first driving element includes: Drive motor; The drive gear set includes a first gear and a second gear arranged coaxially. The drive motor is connected to the first transmission component via the first gear, and the drive motor is connected to the second transmission component via the second gear.

12. The obstacle-crossing device according to claim 8, characterized in that, Also includes: A second driving component is disposed on the body of the cleaning robot; The third transmission component is used to rotatably connect the second driving component to the first obstacle-crossing component. The first obstacle-crossing component can switch between a storage position and an obstacle-crossing position. In the obstacle-crossing position, the first obstacle-crossing component lifts the cleaning robot.

13. The obstacle-crossing device according to any one of claims 1-6, characterized in that, The second obstacle-crossing component includes: Connecting shaft; Multiple hanging parts are provided at the same end of the axial direction of the connecting shaft, and the multiple hanging parts are spaced apart circumferentially along the connecting shaft. The width of each hanging part gradually decreases in the direction away from the connecting shaft.

14. The obstacle-crossing device according to claim 1, characterized in that, The first obstacle-crossing component includes obstacle-crossing legs, wherein, relative to the body of the cleaning robot, the obstacle-crossing legs are extendable, swingable, or raised and lowered to support the cleaning robot on the ground and lift it.

15. A cleaning robot, characterized in that, Includes the obstacle crossing device according to any one of claims 1-14.

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