Autonomous mobile device

Abstract

The present disclosure provides an autonomous mobile device. The autonomous mobile device comprises the telescopic lifting mechanism, and the telescopic lifting mechanism can smoothly achieve telescopic and lifting of executed objects such as a dry cleaning piece and a wet cleaning piece relative to the main machine. Moreover, compared with the scheme that the executed object is stretched out, drawn back, lifted and descended through two independent mechanisms, the power source is used for driving the transmission part to do repeated linear motion, and then the executed object is driven to move back and forth through cooperation of the guide part of the transmission part and the track fixed to the executed object and the acting force of the reset assembly. The executed object can be driven to stretch out and draw back and can be lifted up and down at the same time, so that the structure of the whole autonomous mobile equipment is simplified, and the cost is reduced.

Description

Technical Field

[0001] The present disclosure relates to the structure of an autonomous mobile device. Background Art

[0002] An autonomous mobile device refers to an intelligent mobile device that autonomously executes preset tasks and can autonomously move on a traveling surface according to the results sensed by its sensing components. Currently, autonomous mobile devices generally include, but are not limited to, self-moving cleaning devices (such as intelligent sweepers, intelligent mopping machines, window cleaning robots), companion mobile robots (such as intelligent electronic pets, nanny robots), service mobile robots (such as reception robots in hotels, inns, meeting places), industrial inspection intelligent devices (such as power inspection robots, intelligent forklifts, etc.) and security robots (such as household or commercial intelligent guard robots).

[0003] For a self-moving cleaning device having a dry cleaning component and a wet cleaning component, it can perform dry cleaning operations and wet cleaning operations on a surface to be cleaned. On the one hand, due to the structural limitations of the main body of the self-moving cleaning device, it is difficult for the dry cleaning part (such as a main brush) of the dry cleaning component and the wet cleaning part (such as a rag, a mop or a roller brush) of the wet cleaning component to effectively clean the junction part (such as a corner) of the surface to be cleaned near a vertical surface such as a wall. Therefore, the dry cleaning part and the wet cleaning part need to be able to stretch relative to the main body. On the other hand, for the above-mentioned autonomous mobile device, in some scenarios, only dry cleaning or wet cleaning is required. Therefore, the dry cleaning part and the wet cleaning part need to be able to lift relative to the main body. Summary of the Utility Model

[0004] Based on the problems of the above-mentioned prior art, the purpose of the present disclosure is to provide an autonomous mobile device, which realizes the stretching and lifting of an object to be executed (such as a dry cleaning part and a wet cleaning part) relative to the main body with a relatively simple structure.

[0005] To achieve the above purpose, the present disclosure adopts the following technical solutions.

[0006] The present disclosure provides an autonomous mobile device as follows, which has a left-right direction, an up-down direction and a front-back direction, and includes a main body, a telescopic lifting mechanism and an object to be executed assembled together. The telescopic lifting mechanism and the object to be executed are installed on the main body. The telescopic lifting mechanism is configured to enable the object to be executed to stretch in the left-right direction and lift in the up-down direction relative to the main body. The telescopic lifting mechanism includes a power source, a transmission member, a track and a reset assembly assembled together.

[0007] The transmission member is in transmission connection with the power source and can be driven by the power source to perform reciprocating linear motion along the left - right direction. The transmission member includes a guiding portion. The track is fixed to the object to be actuated and has a guiding surface formed thereon. The guiding portion always abuts against the guiding surface. The guiding surface is configured such that the extending trajectory from one end to the other end thereof has an extending component in the up - down direction. Thus, the guiding portion is configured to cooperate with the guiding surface to realize the lifting of the object to be actuated.

[0008] The reset assembly is used to apply a force to the object to be actuated when the object to be actuated extends relative to the host. The force is used to make the object to be actuated return to the state of retracting relative to the host. The guiding portion is further configured to be able to drive the track to overcome the force, thereby realizing the extension of the object to be actuated relative to the host.

[0009] In an alternative embodiment, the power source includes only one motor.

[0010] In another alternative embodiment, the telescopic lifting mechanism includes a gear and a rack that are always engaged with each other. The gear is in transmission connection with the motor so as to be driven by the motor to rotate. The rack is fixed to the transmission member so as to be able to drive the transmission member to perform the reciprocating linear motion by using the rotation of the gear.

[0011] In another alternative embodiment, the telescopic lifting mechanism further includes a multi - stage gear pair. The multi - stage gear pair is installed on the host, and the motor is in transmission connection with the gear via the multi - stage gear pair.

[0012] In another alternative embodiment, the guiding surface includes a first planar section, an inclined section, and a second planar section that are connected to each other. Both the first planar section and the second planar section extend along the left - right direction. The first planar section is located above the second planar section in the up - down direction. The inclined section extends obliquely downward from the first planar section to the second planar section.

[0013] In another alternative embodiment, there are multiple guiding portions and multiple tracks. The guiding portions and the tracks are in one - to - one correspondence and cooperation, and the multiple tracks are arranged at intervals in the left - right direction.

[0014] In another alternative embodiment, the guiding portion is formed in a cylindrical shape, and the side surface of the guiding portion abuts against the guiding surface.

[0015] In another alternative solution, the reset component includes a tension spring. One end of the tension spring is connected to the object to be actuated, and the other end of the tension spring is connected to the host. Thus, when the object to be actuated extends relative to the host, a spring force can be applied to the object to be actuated to make it retract.

[0016] In another alternative solution, the reset component further includes a compression spring. One end of the compression spring abuts against the object to be actuated, and the other end of the compression spring abuts against the host. Thus, a spring force can be applied to the object to be actuated along the up and down direction.

[0017] In another alternative solution, the object to be actuated is a wet cleaning member and / or a dry cleaning member.

[0018] By adopting the above technical solution, the present disclosure provides an autonomous mobile device. The autonomous mobile device includes a host, a telescopic lifting mechanism, and an object to be actuated assembled together. The telescopic lifting mechanism and the object to be actuated are installed on the host. The telescopic lifting mechanism is configured such that the object to be actuated can be telescoped in the left and right directions and lifted and lowered in the up and down direction relative to the host. Further, the telescopic lifting mechanism includes a power source, a transmission member, a track, and a reset component assembled together. On the one hand, the transmission member is in transmission connection with the power source and can be driven by the power source to perform reciprocating linear motion in the left and right directions. The transmission member includes a guiding portion. The track is fixed to the object to be actuated and is formed with a guiding surface. The guiding portion always abuts against the guiding surface. The guiding surface is configured such that the extending trajectory from one end to the other end thereof has an extending component in the up and down direction. Thus, the guiding portion is configured to cooperate with the guiding surface to realize the lifting of the object to be actuated. On the other hand, the reset component is used to apply a force to the object to be actuated in a state where the object to be actuated extends relative to the host. The force is used to make the object to be actuated return to a state of retracting relative to the host. The guiding portion is further configured to be able to drive the track to overcome the force, thereby realizing the extension of the object to be actuated relative to the host.

[0019] In this way, the autonomous mobile device of the present disclosure includes a telescopic lifting mechanism, which can smoothly realize the telescoping and lifting of an object to be actuated, such as a dry cleaning member and a wet cleaning member, relative to the host. Moreover, compared with a solution that uses two sets of independent mechanisms to separately realize the telescoping and lifting of the object to be actuated, the present disclosure uses a power source to drive the transmission member to perform reciprocating linear motion, and then through the cooperation of the guiding portion of the transmission member and the track fixed to the object to be actuated and the force of the reset component, it can drive the object to be actuated to telescope while also enabling the object to be actuated to lift, thus simplifying the structure of the entire autonomous mobile device and reducing the cost. Description of the Drawings

[0020] Figure 1is a perspective view showing an autonomous mobile device according to an embodiment of the present disclosure, mainly showing the bottom structure of the autonomous mobile device.

[0021] Figure 2A and Figure 2B is a perspective view showing Figure 1 a partial structure of the autonomous mobile device in

[0022] Figure 2C is a perspective view showing Figure 2A and Figure 2B an assembled body perspective view of a partial structure in which the telescopic lifting mechanism and the object to be executed are assembled to the main body.

[0023] Figures 3A to 3C is for explaining Figure 2C different states of the gear rack assembly of the assembled body in

[0024] Figures 4A to 4E is for explaining Figure 2C the working process of the assembled body in

[0025] Description of Reference Numerals

[0026] 1—Main body;

[0027] 2—Telescopic lifting mechanism; 21—Motor; 22—Transmission member; 221—Guiding portion; 23—Track; 23s—Guiding surface; 23s1—First planar segment; 23s2—Inclined segment; 23s3—Second planar segment; 24—Tensile spring; 25—Compression spring; 26—Gear; 27—Rack;

[0028] 3—Wet cleaning member;

[0029] 4—Dry cleaning member;

[0030] 5—Wheel assembly;

[0031] D1—Left - right direction; D2—Up - down direction; D3—Front - back direction. Detailed Embodiment

[0032] The embodiments of the present disclosure will be described below with reference to the accompanying drawings. For ease of understanding, the elements shown in each drawing may include elements represented differently from the actual dimensions and scales, such as dimensions and scales.

[0033] In the present disclosure, unless otherwise specified, "front (front side)", "rear (rear side)", "left (left side)", "right (right side)", "upper (upper side)", and "lower (lower side)" are all relative to the normal operating state of the autonomous mobile device according to the present disclosure. Specifically, the autonomous mobile device has a positive direction of movement (i.e., positive direction) when in the normal operating state. The so-called "normal operating state" refers to the moving state of the autonomous mobile device when performing a task, which is distinguished from the non-normal operating state such as retreat and swing of the autonomous mobile device in the escape mode. "Front (front side)" and "rear (rear side)" refer to the front and rear sides of the autonomous mobile device in the positive forward direction when the autonomous mobile device according to the present disclosure is in a normal operating state on the traveling surface (e.g., the surface to be cleaned). "Left (left side)" and "right (right side)" refer to the left and right sides when viewed from the front side in the positive forward direction. "Up (upper side)" and "Down (lower side)" refer to the upper and lower sides in the height direction perpendicular to the traveling surface when the autonomous mobile device according to the present disclosure is in a normal operating state on the traveling surface.

[0034] In the present disclosure, the autonomous mobile device can move autonomously according to the control scheme preset in its processing unit. The traveling surface where the autonomous mobile device moves autonomously can be a plane or a curved surface with a large curvature radius, typically, for example, the floor of each room in a building. The processing unit in the present disclosure is a general term, and the type, quantity and form of the processing unit are not limited. Specifically, the processing unit can be one or more of MCU, DSP, FPGA, GPU, or other types of hardware chips, processors or software algorithms with data processing and computing capabilities. Further, the processing unit can be a unified and unique processor of the autonomous mobile device, or a collection of multiple processing units, and the connection mode, function and computing power distribution of multiple processing units can be adjusted as needed. For example, in an optional solution, a first processing unit and a second processing unit can be included. In this case, the first processing unit and the second processing unit as a whole realize the various functions of the above-mentioned processing units. In addition, the processing unit of the autonomous mobile device of the present disclosure can receive parameters from the sensing component, and can perform relevant control on the autonomous mobile device through a preset program stored in the storage unit. In the present disclosure, the data, information, and programs required by the processing unit during the processing process can be stored in the storage unit and obtained from the storage unit as needed. The processing unit can store the processed data, information, etc. in the storage unit again. The storage unit can be a RAM, ROM, etc., or a device and / or equipment with storage function such as a cloud / server / mobile terminal connected via a wired / wireless network.

[0035] In the present disclosure, unless otherwise specifically stated, "telescoping" means that an object to be executed, such as a dry cleaning member and a wet cleaning member, of an autonomous mobile device extends and retracts relative to the main body in the left - right direction; "lifting" means that an object to be executed, such as a dry cleaning member and a wet cleaning member, of an autonomous mobile device rises and falls relative to the main body in the up - down direction.

[0036] The following describes an autonomous mobile device according to an embodiment of the present disclosure with reference to the accompanying drawings of the specification.

[0037] The autonomous mobile device according to an embodiment of the present disclosure is a self - moving cleaning device having a dry cleaning assembly and a wet cleaning assembly. As Figures 1 to 2C shown, the autonomous mobile device includes a main body 1, a telescoping and lifting assembly, a dry cleaning assembly, a wet cleaning assembly, and a wheel assembly 5 assembled together. In this embodiment, taking the wet cleaning member 3 as the object to be executed, the telescoping and lifting assembly is used to realize the telescoping of the wet cleaning member 3 relative to the main body 1 in the left - right direction D1 and the lifting in the up - down direction D2.

[0038] In this embodiment, as Figure 1 shown, the main body 1 may include a housing having a generally square shape as a whole. The shape of the housing is not limited to this, and in alternative solutions, the housing may also have other shapes, such as circular, oval, D - shaped, etc. When the autonomous mobile device according to an embodiment of the present disclosure is in a normal operating state, the bottom surface of the housing faces the traveling surface (such as the surface to be cleaned), and the bottom surface of the housing is parallel to the traveling surface. Here, "parallel" not only includes the geometric parallel relationship between the bottom surface of the housing and the traveling surface, but also includes the case where the two are approximately parallel. The above "approximately" means that within the reasonable error range recognized by those skilled in the art, the parallel relationship between the two can be determined to be established. In addition, other components of the autonomous mobile device may be provided on the housing. For supporting and protecting other components, most of the structures of the autonomous mobile device are installed inside or on the surface of the housing, or have a connection relationship with the housing. The autonomous mobile device may also be provided with a processing unit and a sensing component in the housing. The processing unit can obtain environmental parameters through the sensing component, and based on the obtained environmental parameters, the processing unit can control the wheel assembly 5 to drive the entire autonomous mobile device to move autonomously on the traveling surface, and then clean the traveling surface through the dry cleaning assembly and / or the wet cleaning assembly during this process. In different working modes, the cleaning operation includes, but is not limited to, one or more of operations such as sweeping, mopping, and vacuuming.

[0039] In this embodiment, as Figures 2A to 2C shown, the telescoping and lifting mechanism 2 includes a motor 21, a transmission member 22, a track 23, a reset assembly (including a tension spring 24 and a compression spring 25), and a gear - rack assembly (including a gear 26 and a rack 27) assembled together.

[0040] In this embodiment, as Figure 2A and Figure 2C shown, only one motor 21 is provided as the power source. In cooperation with the motor 21, the telescopic lifting mechanism 2 further includes a multi-stage gear pair. The motor 21 has a motor shaft for outputting torque, and the motor shaft and the multi-stage gear pair can be modularly installed on the host 1 as a whole. The motor 21 is drivingly connected to the gear 26 of the gear-rack assembly via the multi-stage gear pair, so as to transmit the torque output by the motor 21 to the gear 26 of the gear-rack assembly after increasing the torque. In the gear-rack assembly, the gear 26 and the rack 27 are always engaged with each other. The gear 26 is drivingly connected to the motor 21 so as to be driven by the motor 21 to rotate, and the rack 27 is fixed to the transmission member 22 so as to drive the transmission member 22 to perform a reciprocating linear motion by using the rotation of the gear 26. The reciprocating linear motion of the transmission member 22 is realized by driving the gear-rack assembly by the motor 21. Compared with the mechanism realized by, for example, belt drive, the gear-rack assembly can save the occupied space and can realize the reciprocating linear motion in a stable and reliable manner. In addition, the gear transmission mechanism composed of the multi-stage gear pair can increase the torque from the motor 21, so that the transmission member 22 has sufficient power to move. In addition, it can be understood that only one motor 21 can simultaneously realize the telescopic and lifting of the object to be executed, thus further simplifying the structure of the autonomous mobile device and further reducing the cost.

[0041] In this embodiment, as Figures 2A to 2C shown, the transmission member 22 is formed in a long strip shape extending along the left-right direction D1, the rack 27 is fixedly arranged on the side of the transmission member 22, and the transmission member 22 is formed with a notch through which two tracks 23 are inserted. Refer to Figures 4A to 4E , the transmission member 22 has a guiding portion 221 that cooperates with each track 23, so that the guiding portion 221 and the track 23 are in one-to-one correspondence and cooperation. Moreover, the guiding portion 221 is formed in a cylindrical shape, and the side surface of the guiding portion 221 is always in contact with the guiding surface 23s of the track 23. The guiding portion 221 is formed in a cylindrical shape, which is beneficial to the sliding of the guiding portion 221 on the guiding surface 23s and reduces the risk of being stuck during the movement.

[0042] In this embodiment, as Figures 2A to 2C shown, the two tracks 23 are fixedly installed on the top of the object to be executed and are arranged at intervals in the left-right direction D1. The track 23 is formed with a guiding surface 23s that abuts against the above-mentioned guiding portion 221, and the guiding surface 23s is configured in a bent shape (step structure). Specifically, refer to Figures 4A to 4E, the guiding surface 23s includes a first planar segment 23s1, an inclined segment 23s2, and a second planar segment 23s3 that are connected to each other. Both the first planar segment 23s1 and the second planar segment 23s3 extend along the left - right direction D1. The first planar segment 23s1 is above the second planar segment 23s3 in the up - down direction D2. The inclined segment 23s2 extends obliquely downward from the first planar segment 23s1 to the second planar segment 23s3. The guiding surface 23s is formed in a bent shape. Thus, the guiding portion 221 is located on the upper first planar segment 23s1, such that the object to be executed is in a state of descending relative to the host 1; the guiding portion 221 is located on the lower second planar segment 23s3, such that the object to be executed is in a state of ascending relative to the host 1. Additionally, the inclined segment 23s2 can guide the guiding portion 221 to smoothly move from one planar segment to another on the guiding surface 23s. The structure of this solution is simple, operates reliably, and is easy to implement. Moreover, through the cooperation of two pairs of the guiding portion 221 and the track 23 with each other, the transmission member 22 can guide the object to be executed simultaneously, so as to reliably drive the object to be executed to perform telescopic and lifting movements, reducing the risk of being stuck and skewed during the movement process.

[0043] In this embodiment, as Figures 2A to 2C shown, the reset assembly includes a tension spring 24 and four compression springs 25. The tension spring 24 is a cylindrical helical spring. One end of the tension spring 24 is connected to the object to be executed, and the other end of the tension spring 24 is connected to the host 1, such that the tension spring 24 can apply a spring force to the object to be executed in a state where the object to be executed extends relative to the host 1. The four compression springs 25 are all cylindrical helical springs and are arranged in an array. One end of each compression spring 25 abuts against the object to be executed, and the other end of each compression spring 25 abuts against the host 1. Thus, the four compression springs 25 can apply a spring force along the up - down direction D2 to the object to be executed, such that the object to be executed tends to descend relative to the host 1, and the compression springs 25 can also make the guiding surface 23s of the track 23 always abut against the guiding portion 221 of the transmission member 22, thereby ensuring that the guiding surface 23s guides the guiding portion 221 more smoothly.

[0044] By adopting the above solution, on the one hand, the transmission member 22 is drivingly connected to the motor 21 and can be driven by the motor 21 to reciprocate linearly along the left-right direction D1. The guiding portion 221 of the transmission member 22 always abuts against the guiding surface 23s of the track 23. The guiding surface 23s is configured such that the extending trajectory from one end to the other end thereof has an extending component in the up-down direction D2. Thus, the guiding portion 221 is configured to cooperate with the guiding surface 23s to realize the lifting of the object to be executed. On the other hand, the tension spring 24 of the reset assembly is used to apply a spring force to the object to be executed in a state where the object to be executed extends relative to the host 1. This spring force is used to make the object to be executed return to a state of retracting relative to the host 1. The guiding portion 221 is further configured to be able to drive the track 23 to overcome this spring force, thereby realizing the extension of the object to be executed relative to the host 1.

[0045] In this embodiment, as Figure 1 shown, the wet cleaning assembly is provided on the host 1 and may include a water tank and wet cleaning members 3 such as a mop, a rag, or a rotary brush, etc. The dry cleaning assembly is provided on the host 1 and may include dry cleaning members 4 such as a main brush and side brushes (edge brushes) and a suction device, etc. In the front-rear direction D3, the dry cleaning member 4 is located in front of the wet cleaning member 3. Thus, when the self-propelled cleaning device travels on the surface to be cleaned, the surface to be cleaned can be cleaned by the dry cleaning assembly and / or the wet cleaning assembly. In different working modes, the cleaning operations achieved by the self-propelled cleaning device include, but are not limited to, one or more of operations such as sweeping the floor, mopping the floor, and vacuuming.

[0046] In this embodiment, as Figure 1 shown, in order to realize the autonomous movement of the self-propelled cleaning device, the self-propelled cleaning device according to the present disclosure includes a wheel assembly 5. The wheel assembly 5 can be mounted on the host 1 and protrude relative to the bottom surface of the host 1, and is used to drive the entire autonomous movement device to travel on the traveling surface under the control of the processing unit. By rotating the wheels (drive wheels) of the two wheel assemblies 5 at the same speed in the same direction (for example, rotating clockwise simultaneously or rotating counterclockwise simultaneously), the autonomous movement device can be driven to perform a linear movement along the forward movement direction; by rotating the drive wheels of the two wheel assemblies 5 at different speeds and / or in different directions (for example, one drive wheel rotates clockwise while the other drive wheel rotates counterclockwise), the autonomous movement device can be driven to perform a steering movement along a direction different from the forward movement direction. The autonomous movement device may further include a caster wheel provided on the host 1. Thus, no matter how the drive wheels roll on the traveling surface, the caster wheel can support the entire autonomous movement device.

[0047] The following refers to Figures 3A to 4E to illustrate the process of the object to be executed of the above autonomous movement device realizing telescoping and lifting.

[0048] As shown Figures 3A to 3C in the figure, driven by the motor 21, the rack and pinion assembly can be in the three states shown in the figure. As shown Figure 3A in the figure, the pinion 26 is located at the first end of the rack 27, and at this time the rack and pinion assembly is in the first limit state. As shown Figure 3C in the figure, the pinion 26 is located at the second end of the rack 27, and at this time the rack and pinion assembly is in the second limit state. As shown Figure 3B in the figure, the pinion 26 is located at a position between the first end and the second end of the rack 27, and at this time the rack and pinion assembly is in the intermediate state. Corresponding to the above three states of the rack and pinion assembly, through the cooperation of the guiding portion 221 and the track 23, and combined with the spring force of the tension spring 24, the object to be actuated can be telescoped and lifted relative to the main body 1.

[0049] As shown Figure 4A in the figure, the rack and pinion assembly is in the first limit state, and the guiding portion 221 is located at a position corresponding to the second plane segment 23s3 of the guiding surface 23s. At this time, the object to be actuated is limited to a state where it is completely within the main body 1 in the left - right direction D1, that is, the object to be actuated retracts relative to the main body 1. By the limitation of the guiding portion 221 and the second plane segment 23s3, the object to be actuated is limited to a state of rising relative to the main body 1 in the up - down direction D2. At the same time, the tension spring 24 of the reset assembly can be in the initial state without generating a spring force or generating a small spring force. In the state shown Figure 4A in the figure, the object to be actuated (such as the wet cleaning member 3 and / or the dry cleaning member 4) of the autonomous mobile device is in a state of retracting and rising relative to the main body 1, and the object to be actuated is not in contact with the traveling surface (such as the surface to be cleaned). Therefore, in this working mode, the autonomous mobile device has a high ability to cross obstacles and will not cause pollution to the traveling surface such as a carpet.

[0050] After the rack and pinion assembly is switched from the first limit state shown Figure 4A in the figure to the intermediate state shown Figure 4B in the figure, the guiding portion 221 is located at a position corresponding to the first plane segment 23s1 of the guiding surface 23s, but the object to be actuated is not driven by the guiding portion 221 to extend relative to the main body 1. At this time, the object to be actuated is still in a state of being completely within the main body 1 in the left - right direction D1, that is, the object to be actuated retracts relative to the main body 1. By the limitation of the guiding portion 221 and the first plane segment 23s1, the object to be actuated is limited to a state of descending relative to the main body 1 in the up - down direction D2. At the same time, the tension spring 24 of the reset assembly is still in the initial state. In the state shown Figure 4BIn the state shown, the objects to be executed of the autonomous mobile device (such as the wet cleaning member 3 and / or the dry cleaning member 4) are in a retracted and lowered state relative to the main body 1, and the objects to be executed are in contact with the traveling surface (such as the surface to be cleaned), whereby in this working mode, the autonomous mobile device can utilize the objects to be executed to perform dry cleaning and / or wet cleaning on the area of the traveling surface located below the main body 1 of the autonomous mobile device.

[0051] The rack and pinion assembly moves from Figure 4B the intermediate state shown to Figure 4C the second limit state shown. After that, the guiding portion 221 still remains at the position corresponding to the first planar section 23s1 of the guiding surface 23s. By pushing the track 23 with the guiding portion 221, the object to be executed has been driven by the guiding portion 221 to extend relative to the main body 1. At this time, the object to be executed is in a state of partially extending from the main body 1 in the left-right direction D1. With the limiting of the guiding portion 221 and the first planar section 23s1, the object to be executed is limited to a state of descending relative to the main body 1 in the up-down direction D2. At the same time, the tension spring 24 of the reset assembly is stretched, thereby applying a large spring force to the object to be executed. In Figure 4C the state shown, the objects to be executed of the autonomous mobile device (such as the wet cleaning member 3 and / or the dry cleaning member 4) are in an extended and lowered state relative to the main body 1, and the objects to be executed are in contact with the traveling surface (such as the surface to be cleaned), whereby in this working mode, the autonomous mobile device can utilize the objects to be executed to perform dry cleaning and / or wet cleaning on the areas of the traveling surface located below and on the sides of the main body 1 of the autonomous mobile device. This working mode is more conducive to effectively cleaning positions such as the corners of a wall.

[0052] The rack and pinion assembly moves from Figure 4C the second limit state shown to Figure 4D the intermediate state shown. After that, the guiding portion 221 still remains at the position corresponding to the first planar section 23s1 of the guiding surface 23s. By pulling with the tension spring 24, the object to be executed retracts relative to the main body 1. At this time, the object to be executed is in a state of being completely within the main body 1 in the left-right direction D1, that is, the object to be executed retracts relative to the main body 1. With the limiting of the guiding portion 221 and the first planar section 23s1, the object to be executed is limited to a state of descending relative to the main body 1 in the up-down direction D2. At the same time, the tension spring 24 of the reset assembly is still stretched, thereby applying a large spring force to the object to be executed. In Figure 4D the state shown, the objects to be executed of the autonomous mobile device (such as the wet cleaning member 3 and / or the dry cleaning member 4) are in a retracted and lowered state relative to the main body 1, and the working mode applicable to the autonomous mobile device in this state is the same as Figure 4B the working mode applicable to the autonomous mobile device in the state shown.

[0053] The rack and pinion assembly transitions from the Figure 4D intermediate state shown to the first extreme state as Figure 4E shown. After that, the guiding portion 221 is located at a position corresponding to the second planar segment 23s3 of the guiding surface 23s. At this time, the object to be actuated is in a state of being completely within the main body 1 in the left - right direction D1, that is to say, the object to be actuated retracts relative to the main body 1. By the limiting effect of the guiding portion 221 and the second planar segment 23s3, the object to be actuated is limited to a state of rising relative to the main body 1 in the up - down direction D2. At the same time, the tension spring 24 of the reset assembly returns to its initial state. In the state as Figure 4E shown, the object to be actuated (such as the wet cleaning member 3 and / or the dry cleaning member 4) of the autonomous mobile device is in a state of being retracted and rising relative to the main body 1. The working mode applicable to the autonomous mobile device in this state is the same as Figure 4A the working mode applicable to the autonomous mobile device in the state shown.

[0054] It should be understood that the above - mentioned embodiments are merely exemplary and are not used to limit the present disclosure. Those skilled in the art can make various modifications and changes to the above - mentioned embodiments under the teaching of the present disclosure without departing from the scope of the present disclosure. The following supplementary explanations are made for the technical solutions of the present disclosure.

[0055] i. It can be understood that in addition to the examples of the self - moving cleaning device described in the above - specific embodiments, the technical concept of the present disclosure can also be applied to other autonomous mobile devices and components that require lifting and telescoping. The above - mentioned autonomous mobile devices generally refer to intelligent mobile devices that autonomously execute preset tasks, including self - moving cleaning devices (such as intelligent floor sweepers, intelligent floor scrubbers, window - cleaning robots) that achieve similar functions to the self - moving cleaning device described in the above - embodiments, companion - type mobile robots (such as intelligent electronic pets, nanny robots), service - type mobile robots (such as reception robots in hotels, inns, meeting places), industrial inspection intelligent devices (such as power inspection robots, intelligent forklifts, etc.), security robots (such as household or commercial intelligent guard robots), etc., which are two - dimensional planar mobile robots with wheel sets or tracks as the driving units. Of course, the solution of the present disclosure can also be applied to other fields, and no exhaustive description will be given here.

[0056] ii. In the above - specific embodiments, the object to be actuated is the wet cleaning member 3 of the self - moving cleaning device, but the present disclosure is not limited thereto. For example, the object to be actuated can be the dry cleaning member 4 of the self - moving cleaning device, or the telescopic lifting mechanism 2 of the present disclosure can be applied to both the wet cleaning member 3 and the dry cleaning member 4 in the same self - moving cleaning device.

[0057] iii. It can be understood that the base station cooperating with the autonomous mobile device of the present disclosure can be fixedly arranged at any appropriate position on the traveling surface. By using the signal generator of the base station and the receiver arranged on the autonomous mobile device, the autonomous mobile device can dock with the base station according to a preset program to automatically disassemble and assemble the wet cleaning component, replenish the cleaning liquid, charge, etc. Typically, the base station can adopt a charging stand or a charging pile with a liquid supply system.

Claims

1. An autonomous mobile device having left-right direction, up-down direction and front-back direction, characterized in that: The invention comprises a main machine, a telescopic lifting mechanism and an object to be executed, the telescopic lifting mechanism and the object to be executed are installed on the main machine, the telescopic lifting mechanism is configured to enable the object to be executed to be telescopic in the left-right direction and to be lifted and lowered in the up-down direction relative to the main machine, the telescopic lifting mechanism comprises a power source, a transmission member, a track and a reset component assembled together, The transmission member is connected to the power source and can be driven by the power source to reciprocate in the left and right directions. The transmission member includes a guide portion. The track is fixed to the object to be executed and forms a guide surface. The guide portion always abuts against the guide surface. The guide surface is configured so that an extension track extending from one end to the other end thereof has an extension component in the up-down direction. Thus, the guide portion is configured to cooperate with the guide surface to realize the lifting and lowering of the object to be executed. The reset component is used to apply a force to the object to be executed when the object to be executed is in a state of being extended relative to the host, and the force is used to restore the object to be executed to a state of being retracted relative to the host. The guide portion is also configured to drive the track to overcome the force, thereby achieving the extension of the object to be executed relative to the host.

2. The autonomous mobile device according to claim 1, characterized in that The power source includes only one electric motor.

3. The autonomous mobile device according to claim 2, characterized in that The telescopic lifting mechanism includes a gear and a rack that are always meshed with each other. The gear is connected to the motor so that it can be driven to rotate by the motor. The rack is fixed to the transmission member so that the rotation of the gear can drive the transmission member to realize the reciprocating linear motion.

4. The autonomous mobile device according to claim 3, characterized in that: The telescopic lifting mechanism also includes a multi-stage gear pair, which is installed on the main machine, and the motor is connected to the gear transmission via the multi-stage gear pair.

5. The autonomous mobile device according to any one of claims 1 to 4, characterized in that: The guide surface includes a first plane segment, an inclined segment, and a second plane segment connected to each other, the first plane segment and the second plane segment both extend along the left-right direction, the first plane segment is located above the second plane segment in the up-down direction, and the inclined segment extends obliquely downward from the first plane segment to the second plane segment.

6. The autonomous mobile device according to claim 5, characterized in that: The invention comprises a plurality of guide parts and a plurality of tracks, wherein the guide parts are matched with the tracks in a one-to-one correspondence, and the plurality of tracks are arranged at intervals in the left-right direction.

7. The autonomous mobile device according to claim 5, characterized in that: The guide portion is formed in a cylindrical shape, and a side surface of the guide portion abuts against the guide surface.

8. The autonomous mobile device according to any one of claims 1 to 4, characterized in that: The reset component includes a tension spring, one end of which is connected to the executed object, and the other end of which is connected to the host, thereby being able to apply a spring force to the executed object to retract it when the executed object is extended relative to the host.

9. The autonomous mobile device according to claim 8, characterized in that: The reset component further comprises a compression spring, one end of which abuts against the executed object, and the other end of which abuts against the host, thereby applying a spring force in an up-and-down direction to the executed object.

10. The autonomous mobile device according to any one of claims 1 to 4, characterized in that: The executed object is a wet cleaning piece and / or a dry cleaning piece.

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