Cleaning robot and cleaning system

Abstract

The utility model provides a cleaning robot and a cleaning system.The cleaning robot comprises a robot body and a walking mechanism, and the walking mechanism comprises a main driving wheel assembly, a swing arm assembly and an auxiliary driving wheel; the walking state of the robot body can be switched between the state that the auxiliary driving wheel drives the cleaning robot to walk and the state that the main driving wheel assembly drives the cleaning robot to walk. When the cleaning robot is driven by the auxiliary driving wheel to walk, the front portion of the cleaning robot is lifted, the main driving wheel assembly is made to abut against the obstacle, and therefore the cleaning robot can cross the high obstacle under the action of friction force between the main driving wheel assembly and the obstacle and / or inertia of the robot body. The cleaning robot further comprises a driven wheel, elastic connection between the driven wheel and the robot body can provide buffering for the robot body, damage to the robot body structure caused by rigid contact between the driven wheel and the ground after the driven wheel leaves the obstacle is avoided, and the problem that the cleaning efficiency is low due to obstacle crossing difficulty of the cleaning robot is solved.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the intelligent house technical field especially, it relates to a cleaning robot and cleaning system. BACKGROUND

[0002] With the progress of economy and technology, the popularity of cleaning robots such as floor sweeping machines, floor mopping machines or sweeping and mopping integrated machines in families is higher and higher, which greatly simplifies daily cleaning work. However, cleaning robots may encounter various obstacles during operation, such as high thresholds, steps, etc., which may hinder their progress and affect cleaning efficiency.

[0003] The cleaning robot is easily stuck when encountering obstacles or large ground resistance due to the height of the action structure being non-adjustable, or generates a smashing impact force and jolt after completing the obstacle, which easily leads to damage of the cleaning robot and poor overall structural stability and safety. SUMMARY

[0004] In view of this, the utility model provides a cleaning robot and cleaning system to solve the problems of cleaning robots encountering obstacles during operation and being unable to continue cleaning work and low cleaning efficiency.

[0005] The utility model provides a cleaning robot in the first aspect, including body and walking mechanism, two walking mechanisms are equipped, one walking mechanism is arranged at the left side of body, and the other is arranged at the right side of body, two walking mechanisms can be controlled simultaneously, and also can be controlled independently, walking mechanism includes:

[0006] Main drive wheel assembly, swing arm assembly and auxiliary drive wheel.

[0007] The auxiliary drive wheel is rotatably arranged on the main drive wheel assembly through the swing arm assembly.

[0008] Wherein, under the action of the swing arm assembly, the running state of the body can be switched between the first state and the second state, the first state is that the body is driven by the main drive wheel assembly to run on the surface to be cleaned, and the second state is that the body is driven by the auxiliary drive wheel to run on the surface to be cleaned.

[0009] Optionally, in the second state, the angle between the swing arm assembly and the body forward horizontal line with the shaft center of the auxiliary drive wheel as the vertex is α, and α satisfies: 90°≤α≤120°.

[0010] Optionally, the running speed of the body driven by the auxiliary drive wheel is not lower than the minimum running speed of the body driven by the main drive wheel assembly.

[0011] Optionally, in the second state, the machine body forms an angle β with the surface to be cleaned, and the angle β satisfies 5°≤β≤35°; and / or, in the second state, the horizontal plane in which the axis of the main driving wheel is located is higher than the top surface of the obstacle.

[0012] Optionally, the tail of the machine body is provided with a support structure, which is used to support the machine body in the second state.

[0013] Optionally, the position of the axis of the auxiliary driving wheel is adjustable relative to the position of the axis of the main driving wheel assembly.

[0014] In the first state, the lowest position of the auxiliary driving wheel is higher than the lowest position of the main driving wheel assembly; in the second state, the lowest position of the auxiliary driving wheel is lower than the lowest position of the main driving wheel assembly.

[0015] Optionally, in the first state, the auxiliary driving wheel is located in front of the main driving wheel assembly.

[0016] Optionally, the main driving wheel assembly comprises a rotating member and a main driving wheel, and the rotating member and the main driving wheel are coaxially arranged; one end of the swing arm assembly is rotatably arranged on the rotating member.

[0017] Optionally, the rotating diameter of the rotating member is not less than the length of the whole composed of the swing arm assembly and the auxiliary driving wheel.

[0018] Optionally, the rotating member is provided with a first limiting structure, the swing arm assembly is provided with a second limiting structure, and a first elastic member is arranged between the first limiting structure and the second limiting structure, and the first elastic member is used to separate the auxiliary driving wheel and the surface to be cleaned when the swing arm assembly is not subjected to external force.

[0019] Optionally, the first limiting structure is used to limit the swing arm assembly when the running state of the machine body is switched from the first state to the second state.

[0020] Optionally, the main driving wheel and the auxiliary driving wheel can be independently controlled to rotate; or, the main driving wheel and the auxiliary driving wheel can be controlled to rotate in linkage.

[0021] Optionally, the walking mechanism further comprises a main driving motor; when the main driving wheel and the auxiliary driving wheel are controlled to rotate in linkage, the main driving motor drives the main driving wheel to rotate, and the main driving motor further drives the auxiliary driving wheel to rotate through an auxiliary driving wheel transmission assembly.

[0022] Optionally, the auxiliary drive wheel transmission assembly comprises a first transmission chain and a second transmission chain, the first transmission chain comprises at least a first transmission chain input wheel and a first transmission chain output wheel, and the second transmission chain comprises at least a second transmission chain input wheel and a second transmission chain output wheel;

[0023] The main drive motor is a hub motor, a first output portion is arranged on the outer periphery of the main drive motor, the first output portion is drivingly connected with the main drive wheel, a second output portion is arranged on the axial side of the main drive motor, and the second output portion is drivingly connected with the first transmission chain input wheel;

[0024] When the main drive motor operates, the first output portion drives the main drive wheel to rotate, the second output portion drives the first transmission chain input wheel to rotate, the first transmission chain output wheel drives the second transmission chain input wheel to rotate, and then the second transmission chain output wheel drives the auxiliary drive wheel to rotate.

[0025] Optionally, the walking mechanism further comprises a conversion transmission assembly and a conversion drive motor, the conversion transmission assembly comprises at least a rotatable conversion input wheel and a conversion output wheel, the conversion input wheel is drivingly connected with the conversion drive motor, the conversion output wheel is synchronously rotatable connected with the rotating member, and a plurality of conversion intermediate wheels are sequentially drivingly connected between the conversion input wheel and the conversion output wheel;

[0026] When the conversion drive motor operates, the conversion input wheel can transmit rotation to the conversion output wheel through the plurality of conversion intermediate wheels, and then the rotating member rotates.

[0027] Optionally, the machine body comprises:

[0028] a machine body and a support, an installation cavity is formed in the machine body, an installation cavity opening is formed in the bottom of the installation cavity, and the support is arranged in the installation cavity through the installation cavity opening;

[0029] The main drive wheel assembly and the swing arm assembly are rotatable arranged on the support.

[0030] Optionally, a third limiting structure is arranged on the support, and the third limiting structure is used for limiting the swing arm assembly in the first state.

[0031] Optionally, the cleaning robot further comprises a driven wheel assembly, the driven wheel assembly is arranged on the chassis of the machine body, and is used for providing shock absorption for the machine body when switching from the second state to the first state.

[0032] The driven wheel assembly comprises a driven wheel and an extensible mechanism, the extensible mechanism is connected between the chassis and the driven wheel, so that the distance between the driven wheel and the chassis is variable.

[0033] Optionally, the telescopic mechanism comprises an elastic mechanism; wherein, when the driven wheel is in a normal walking state in contact with the ground, the elastic mechanism is in a compressed state; when the driven wheel is in a suspended state away from the ground, the connection between the telescopic mechanism and the driven wheel is an elastic connection.

[0034] Optionally, when the body is lifted upward in the direction of travel with the walking mechanism as a support point, the telescopic mechanism of the driven wheel assembly is elongated; when the walking mechanism crosses an obstacle, the telescopic mechanism of the driven wheel assembly is shortened after the driven wheel assembly contacts the ground.

[0035] The utility model discloses a second aspect provides a kind of cleaning robot, the cleaning robot includes body and walking mechanism, the walking mechanism includes drive wheel walking unit, and the drive wheel walking unit is provided with two sets;One set of the drive wheel walking unit is arranged at the left side of the body, another set of the drive wheel walking unit is arranged at the right side of the body;Two sets of the drive wheel walking unit can be simultaneously controlled, and can also be independently controlled;The drive wheel walking unit includes:

[0036] support, which is provided on the body;

[0037] main drive wheel assembly, comprising a main drive wheel rotatably arranged on the support and a main drive wheel power mechanism for driving the main drive wheel relative to the support to rotate;

[0038] swing arm assembly, comprising a swing arm and a swing arm power mechanism drivingly connected to the power input end of the swing arm for swinging the swing arm;

[0039] auxiliary drive wheel assembly, comprising an auxiliary drive wheel rotatably arranged on the power output end of the swing arm and an auxiliary drive wheel power mechanism for driving the auxiliary drive wheel relative to the power output end of the swing arm to rotate;

[0040] The main drive wheel and the auxiliary drive wheel are oppositely arranged on the left and right sides of the support;

[0041] Wherein, the drive wheel walking unit is configured to: in the process of crossing obstacles, including converting the cleaning robot into a first driving mode and a second driving mode;In the first driving mode, the cleaning robot is driven to travel by the main drive wheel assembly;In the second driving mode, the cleaning robot is driven to travel by the auxiliary drive wheel assembly.

[0042] Optionally, the cleaning robot is provided with an obstacle-crossing mode, and when the cleaning robot is in the obstacle-crossing mode, the cleaning robot can be controlled to convert the first driving mode and the second driving mode according to obstacle information.

[0043] Optionally, the main drive wheel drives the body at a different speed than the auxiliary drive wheel.

[0044] Optionally, the main drive wheel and the auxiliary drive wheel can be controlled to adjust the speed at which the main drive wheel drives the body and the speed at which the auxiliary drive wheel drives the body according to the type of obstacle and / or the height of the obstacle and / or the distance between the body and the obstacle.

[0045] Optionally, the speed at which the auxiliary drive wheel drives the body when the cleaning robot is in the second driving mode is not lower than the speed at which the main drive wheel drives the body when the cleaning robot is in the first driving mode.

[0046] Optionally, the main drive wheel power mechanism includes a main drive wheel motor configured to provide driving force to the main drive wheel and to the auxiliary drive wheel power mechanism.

[0047] Preferably, the main drive wheel motor is a hub motor, the outer circumferential side of the main drive wheel motor is provided with a first power output end, the first power output end is drivingly connected with the main drive wheel, and an axial side of the main drive wheel motor is provided with a second power output end.

[0048] The auxiliary drive wheel power mechanism includes an auxiliary drive wheel first transmission chain and an auxiliary drive wheel second transmission chain, the power input end and the second power output end of the auxiliary drive wheel first transmission chain are drivingly connected, the power output end of the auxiliary drive wheel first transmission chain and the power input end of the auxiliary drive wheel second transmission chain are drivingly connected, and the power output end of the auxiliary drive wheel second transmission chain and the auxiliary drive wheel are drivingly connected.

[0049] When the main drive wheel motor is operating, the first power output end can drive the main drive wheel to rotate, and the second power output end can drive the auxiliary drive wheel to rotate through the auxiliary drive wheel first transmission chain and the auxiliary drive wheel second transmission chain.

[0050] Optionally, the swing arm power mechanism further includes a rotating member, a swing arm transmission chain, and a swing arm motor, the rotating member and the main drive wheel are coaxially arranged, and the rotating member is rotatably arranged on the support; the power input end of the rotating member is formed with a transmission tooth, the transmission tooth and a gear of the power output end of the swing arm transmission chain are drivingly connected, the power input end of the swing arm transmission chain and the swing arm motor are drivingly connected, and the swing arm motor is arranged on the support; the power output end of the rotating member is formed on the rotating member in a direction parallel to the axis of the rotating member, and the power input end of the swing arm and the power output end of the rotating member are relatively rotatably matched together.

[0051] H, L and r satisfy: H > L + r;

[0052] wherein, the H is the vertical distance between the axis of the power input end of the swing arm at the highest position and the horizontal plane where the lowest point of the main drive wheel is located, the L is the distance between the axis of the power input end of the swing arm and the axis of the power output end of the swing arm, and the r is the radius of the secondary drive wheel.

[0053] Optionally, the secondary drive wheel power mechanism comprises a rotating frame, a secondary drive wheel first transmission chain and a secondary drive wheel second transmission chain.

[0054] The rotating member comprises a rotating disc, and the outer circumferential side of the rotating disc is the power input end of the rotating member.

[0055] The rotating frame is fixedly arranged on the rotating disc and can rotate synchronously with the rotating disc.

[0056] The secondary drive wheel first transmission chain is arranged on the rotating frame, the power input end of the secondary drive wheel first transmission chain is coaxially arranged with the main drive wheel, and the power output shaft of the main drive wheel motor is drivingly connected with the power input end of the secondary drive wheel first transmission chain through the support.

[0057] The secondary drive wheel second transmission chain is arranged on the swing arm, the power input end of the secondary drive wheel second transmission chain is drivingly connected with the power output end of the secondary drive wheel first transmission chain, and the power output end of the secondary drive wheel second transmission chain is drivingly connected with the secondary drive wheel.

[0058] Optionally, the swing arm assembly further comprises a first elastic member arranged between the power output end of the rotating member and the power input end of the swing arm, and the first elastic member is configured to be compressed to store elastic potential energy when the power input end of the swing arm swings relative to the power output end of the rotating member in a first direction, and the first elastic member is stretched to release the elastic potential energy when the power input end of the swing arm swings relative to the power output end of the rotating member in a second direction.

[0059] wherein, the first direction is clockwise when viewed from the right side of the fuselage, and the second direction is counterclockwise when viewed from the right side of the fuselage.

[0060] Optionally, the swing arm is configured to swing the power input end of the swing arm relative to the power output end of the rotating member in the first direction when the side close to the power output end of the swing arm is subjected to the torque of the obstacle in the first direction.

[0061] When a side close to the power output end of the swing arm is not subjected to a moment in the first direction, the power input end of the swing arm swings relative to the power output end of the rotating member in the second direction.

[0062] Optionally, when the cleaning robot is in the second driving mode, the horizontal plane where the shaft center line of the main driving wheel is located is higher than the top surface of the obstacle.

[0063] Optionally, the driving wheel walking unit is further configured to: when the rotating member is controlled to rotate, the swing arm moves with the auxiliary driving wheel, and then the shaft center line position of the auxiliary driving wheel changes;

[0064] When the cleaning robot is in the first driving mode, the shaft center line of the auxiliary driving wheel is located in front of the shaft center line of the main driving wheel, and only the main driving wheel is in contact with the top surface of the obstacle or the surface to be cleaned;

[0065] When the cleaning robot is in the second driving mode, the shaft center line of the auxiliary driving wheel is located below the shaft center line of the main driving wheel, and only the auxiliary driving wheel is in contact with the surface to be cleaned; the swing arm and the auxiliary driving wheel can support the body and make the head of the body upwardly tilt.

[0066] Optionally, the bracket is provided with a third limiting structure; the driving wheel walking unit is further configured to: when the cleaning robot is in the first driving mode, the swing arm and the auxiliary driving wheel are fixed relative to the bracket under the action of the third limiting structure and the first elastic member;

[0067] The rotating member is provided with a first limiting structure, and the driving wheel walking unit is further configured to: when the cleaning robot is converted from the first driving mode to the second driving mode, the first limiting structure can make the swing arm rotate with the rotating member.

[0068] Optionally, the driving wheel walking unit is further configured to: when the cleaning robot is in the first driving mode, the projection of the shaft center line of the power input end of the swing arm on the center surface of the body is located in the first quadrant of the rectangular coordinate system of the body; and / or,

[0069] When the cleaning robot is in the second driving mode, the projection of the shaft center line of the power input end of the swing arm on the center surface of the body is located in the third quadrant and / or the fourth quadrant of the rectangular coordinate system of the body;

[0070] The center plane of the machine body is a center plane extending along the front-rear direction of the machine body; and the rectangular coordinate system of the machine body is a rectangular coordinate system established on the center plane of the machine body, with the projection of the axis of the rotating member on the center plane of the machine body as the origin, with an axis passing through the origin and parallel to the machine body and directed toward the head of the machine body as the horizontal axis, and with an axis passing through the origin and perpendicular to the machine body and directed toward the top of the machine body as the vertical axis.

[0071] Optionally, the cleaning robot is further provided with a third driving mode; when the cleaning robot is in the third driving mode, the auxiliary driving wheel and the main driving wheel simultaneously contact the top surface of the obstacle or the surface to be cleaned;

[0072] The obstacle-crossing process of the cleaning robot comprises an obstacle-crossing preparation stage, a first obstacle-crossing stage, a second obstacle-crossing stage, and a reset stage.

[0073] When the cleaning robot in normal walking judges that the obstacle is crossable, the cleaning robot enters the obstacle-crossing preparation stage.

[0074] In the obstacle-crossing preparation stage, the cleaning robot is switched from the first driving mode to the second driving mode, and the machine body is driven to move by the auxiliary driving wheel until the main driving wheel and / or the auxiliary driving wheel contact the obstacle, the obstacle-crossing preparation stage ends and the first obstacle-crossing stage begins.

[0075] In the first obstacle-crossing stage, the cleaning robot is switched from the second driving mode to the first driving mode, and the machine body is driven to cross the obstacle by the main driving wheel until the auxiliary driving wheel moves to contact the top surface of the obstacle with the movement of the swing arm, the first obstacle-crossing stage ends and the second obstacle-crossing stage begins.

[0076] In the second obstacle-crossing stage, the cleaning robot is switched from the first driving mode to the third driving mode, the main driving wheel and the auxiliary driving wheel both contact the obstacle, and the machine body is driven to move by the main driving wheel and the auxiliary driving wheel until the cleaning robot enters the reset stage.

[0077] In the reset stage, the cleaning robot is switched from the third driving mode to the first driving mode, and the machine body is driven to continue moving by the main driving wheel.

[0078] Optionally, the swing arm has a first movement state of moving with the rotating member rotating in the first direction.

[0079] In the obstacle preparation stage, the driving wheel walking unit is further configured to: the swing arm motor is controlled to operate, the rotating member rotates in the first direction under the action of the swing arm transmission chain; the swing arm is in the first movement state under the action of the power output end of the rotating member and the first elastic member, the secondary driving wheel moves downward, and then the secondary driving wheel contacts the surface to be cleaned and the lowest position of the secondary driving wheel is lower than the lowest position of the primary driving wheel, the primary driving wheel is separated from the surface to be cleaned, and the cleaning robot is converted from the first driving mode to the second driving mode.

[0080] Optionally, the swing arm further has a second movement state of swinging relative to the rotating member in the first direction, and a third movement state of rotating with the rotating member in the second direction.

[0081] In the first obstacle stage, the driving wheel walking unit is further configured to: the secondary driving wheel is subjected to resistance of the obstacle, so that the swing arm is in the second movement state, the secondary driving wheel moves upward, and then the secondary driving wheel is separated from the surface to be cleaned and the primary driving wheel contacts the top surface of the obstacle, so that the cleaning robot is converted from the second driving mode to the first driving mode.

[0082] In the second obstacle stage, the driving wheel walking unit is further configured to: the primary driving wheel drives the body to move forward, and the secondary driving wheel contacts the top surface of the obstacle; the swing arm motor is controlled to operate, the rotating member rotates in the second direction under the action of the swing arm transmission chain; the swing arm is in the third movement state under the action of the power output end of the rotating member and the first elastic member, the secondary driving wheel moves on the top surface of the obstacle, and then the cleaning robot is converted from the first driving mode to the third driving mode.

[0083] Optionally, the swing arm further has a fourth movement state of swinging relative to the rotating member in the second direction.

[0084] In the reset stage, the driving wheel walking unit is further configured to: the rotating member continues to rotate in the second direction, and the swing arm is in the fourth movement state and moves upward with the secondary driving wheel under the action of the first elastic member, and then the secondary driving wheel is separated from the top surface of the obstacle, so that the cleaning robot is converted from the third driving mode to the first driving mode.

[0085] Optionally, when the cleaning robot is in the second driving mode, an angle between the swing arm and a forward horizontal line of the body with the axis center of the secondary driving wheel as a vertex is α, and the α satisfies: 90°≤α≤120°; and / or,

[0086] In the second driving mode, the machine body and the surface to be cleaned form an angle β, and the angle β satisfies 5°≤β≤35°.

[0087] Optionally, an installation cavity is formed in the machine body, and an installation cavity opening is formed in the bottom of the installation cavity; the support is arranged in the installation cavity through the installation cavity opening.

[0088] Optionally, the cleaning robot further comprises a driven wheel assembly arranged on the chassis of the machine body, and configured to provide a cushioning for the machine body when the machine body is switched from the second state to the first state.

[0089] The driven wheel assembly comprises a driven wheel and an extensible mechanism connected between the chassis and the driven wheel, so that the distance between the driven wheel and the chassis is variable.

[0090] Optionally, the extensible mechanism comprises an elastic mechanism; when the driven wheel is in a normal walking state in contact with the ground, the elastic mechanism is in a compressed state; when the driven wheel is in a suspended state away from the ground, the connection between the extensible mechanism and the driven wheel is an elastic connection.

[0091] Optionally, when the machine body is lifted upward in the advancing direction with the walking mechanism as a support point, the extensible mechanism of the driven wheel assembly is elongated; when the walking mechanism crosses an obstacle, the extensible mechanism of the driven wheel assembly is shortened after the driven wheel assembly contacts the ground.

[0092] The third aspect of the utility model provides a cleaning system, the cleaning system comprises the cleaning robot of any one of the above and a cleaning base station cooperating with the cleaning robot.

[0093] The utility model has the advantages of:

[0094] When the advancing state of the machine body is in the first state, the main driven wheel assembly can drive the machine body to advance on the surface to be cleaned; when the advancing state of the machine body is in the second state, the auxiliary driven wheel can drive the machine body to advance on the surface to be cleaned, so that the machine body can cross the obstacle; the problem that the cleaning robot cannot continue cleaning work due to the obstruction of the obstacle in the running process is avoided, the cleaning robot can independently complete crossing of the obstacle, the working adaptability of the cleaning robot is improved; the cleaning robot can automatically complete cleaning work in various complex environments, and the full automation of the cleaning robot is greatly enhanced. BRIEF DESCRIPTION OF DRAWINGS

[0095] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the accompanying drawings required by the description of the embodiments or the prior art will be briefly introduced. Obviously, the accompanying drawings in the following description are only exemplary, and for those skilled in the art, other drawings can be derived from the provided drawings without creative labor.

[0096] The structures, proportions, sizes, etc. shown in the specification are only used to cooperate with the content disclosed in the specification, so that those skilled in the art can understand and read, and are not used to limit the implementation conditions of the present application, so they do not have technical significance. Any modification of structure, change of proportion relationship or adjustment of size, without affecting the effects and purposes that can be achieved by the present application, should still fall within the scope of the technical content disclosed by the present application.

[0097] Figure 1 is a perspective view of a cleaning device according to an embodiment of the present application;

[0098] Figure 2 is a front view of a cleaning device according to an embodiment of the present application;

[0099] Figure 3 is a bottom view of a cleaning device according to an embodiment of the present application;

[0100] Figure 4a and Figure 4b is an external structure diagram of a cleaning robot according to an embodiment of the present application;

[0101] Figure 4c is a perspective view of a cleaning robot according to an embodiment of the present application when the body is in a first state;

[0102] Figure 4d is a perspective view of a cleaning robot according to an embodiment of the present application when the body is in a second state;

[0103] Figure 5a is an assembly structure diagram of a walking mechanism located on the left side of the body according to an embodiment of the present application;

[0104] Figure 5b is an assembly structure diagram of a walking mechanism located on the right side of the body according to an embodiment of the present application;

[0105] Figure 6a and Figure 6b is an exploded structure diagram of a walking mechanism located on the left side of the body according to an embodiment of the present application;

[0106] Figure 7a andFigure 7b is an exploded structural view of the walking mechanism located at the right side of the machine body according to an embodiment of the present application;

[0107] Figures 8a to 8d is a structural view of the conversion piece, swing arm assembly, secondary drive wheel and secondary drive wheel transmission assembly in the walking mechanism according to an embodiment of the present application;

[0108] Figure 9a and Figure 9b is a structural view of the conversion piece in the walking mechanism according to an embodiment of the present application;

[0109] Figure 10a and Figure 10b is a structural view of the machine body according to an embodiment of the present application;

[0110] Figure 11a and Figure 11b is a structural view of the support according to an embodiment of the present application;

[0111] Figure 12a and Figure 12b is a side view of the cleaning robot when the machine body is in the first state according to an embodiment of the present application;

[0112] Figure 12c is Figure 12b is a schematic view of an alternative structure of the structure shown in the figure;

[0113] Figure 13a and Figure 13b is a side view of the cleaning robot when the machine body is in the second state according to an embodiment of the present application;

[0114] Figure 14a and Figure 14b is a side view of the cleaning robot when the machine body is in the second state according to an embodiment of the present application;

[0115] Figures 12a to 18b is a process schematic view of the cleaning robot crossing over the obstacle 82 according to an embodiment of the present application;

[0116] Figures 19 to 22 is a flow schematic view of a motion control method of a cleaning robot;

[0117] Figure 23 is a perspective view of part of the structure of a walking mechanism according to an embodiment of the present application;

[0118] Figure 24 is a perspective view of part of the structure of a walking mechanism according to an embodiment of the present application in another direction;

[0119] Figure 25is a front view of a walking mechanism according to an embodiment of the present application;

[0120] Figure 26-1 is a rear view of a walking mechanism after removing a first wheel assembly according to an embodiment of the present application;

[0121] Figure 26-2 is a perspective view of a walking mechanism after removing a first wheel assembly according to an embodiment of the present application;

[0122] Figure 27 is a top view of a walking mechanism according to an embodiment of the present application;

[0123] Figure 28 is Figure 27 is a sectional structure schematic view in A-A direction;

[0124] Figure 29 is Figure 28 is an enlarged structure schematic view of A area;

[0125] Figure 30 is a perspective view of another part structure of a walking mechanism according to an embodiment of the present application;

[0126] Figure 31 is a front view of a walking mechanism according to an embodiment of the present application;

[0127] Figure 32 is a rear view of a walking mechanism according to an embodiment of the present application;

[0128] Figure 33 is a top view of a walking mechanism according to an embodiment of the present application;

[0129] Figure 34 is Figure 33 is a sectional structure schematic view in B-B direction;

[0130] Figure 35 is a perspective view of an assembly relationship of a walking mechanism and a mounting seat according to an embodiment of the present application;

[0131] Figure 36 is a front view of a perspective view of an assembly relationship of a walking mechanism and a mounting seat according to an embodiment of the present application;

[0132] Figure 37 is a top view of a perspective view of an assembly relationship of a walking mechanism and a mounting seat according to an embodiment of the present application;

[0133] Figure 38 is a bottom view of a perspective view of an assembly relationship of a walking mechanism and a mounting seat according to an embodiment of the present application;

[0134] Figure 39 is a right view of the assembly relationship of the walking mechanism and the mounting seat according to the embodiment of the utility model;

[0135] Figure 40 is a left view of the assembly relationship of the walking mechanism and the mounting seat according to the embodiment of the utility model;

[0136] Figure 41 is a flowchart of a motion control method of a cleaning robot;

[0137] Figure 42 is a flowchart of a motion control method of a cleaning robot;

[0138] Figure 43 is a flowchart of a motion control method of a cleaning robot.

[0139] In the figure:

[0140] 11-main drive wheel; 12-main drive wheel motor; 121-first output part; 122-second output part;

[0141] 21-vice drive wheel;

[0142] 3-vice drive wheel transmission assembly; 31-first transmission chain; 311-first transmission chain input wheel; 312-first transmission chain output wheel; 313-first transmission chain intermediate wheel; 32-second transmission chain; 321-second transmission chain input wheel; 322-second transmission chain output wheel; 323-second transmission chain intermediate wheel; 33-positioning shaft;

[0143] 4-swing arm assembly; 41-rotating part; 411-first limiting surface; 412-second limiting surface; 413-connecting shaft; 4131-connecting shaft hole; 414-rotary frame; 4141-rotary frame groove; 42-swing arm; 421-cylindrical boss; 422-second limiting structure; 423-swing arm cavity; 43-first elastic part; 44-conversion transmission assembly; 441-conversion input wheel; 442-conversion output wheel; 443-conversion intermediate wheel;

[0144] 5-machine body; 51-chassis; 52-mounting cavity; 521-mounting cavity opening; 53-fourth limiting structure; 54-universal wheel; 55-supporting structure;

[0145] 6 - support; 61 - support box; 611 - support first left cavity; 6111 - circumferentially upper opening; 6112 - circumferentially lower opening; 6113 - first axial opening; 6114 - first support hole; 612 - support second left cavity; 6121 - second axial opening; 6122 - second support hole; 613 - support third right cavity; 62 - support cover; 621 - third limiting structure; 622 - mounting seat; 6221 - mounting hole; 623 - third support hole; 631 - support first right cavity; 632 - support second right cavity; 6321 - third axial opening; 64 - support column; 65 - support rotating shaft;

[0146] 71 - slider; 72 - second elastic member;

[0147] 81 - surface to be cleaned; 82 - obstacle.

[0148] 100 - cleaning robot; 110 - equipment body; 112 - upper cover; 120 - driving wheel module;

[0149] 200 - driven wheel assembly; 210 - driven wheel; 211 - first wheel carrier; 211a - guide portion; 212 - wheel; 220 - lifting mechanism; 221 - first shaft sleeve; 222 - second shaft sleeve; 222a - first guide hole; 222b - second guide hole; 222c - partition wall; 222d - communication hole; 223 - pull rod; 223a - head portion; 223b - rod portion; 224 - first limiting mechanism; 225 - second limiting mechanism;

[0150] 300 - first bearing;

[0151] 400 - second bearing;

[0152] 500 - first power mechanism; 510 - driving source; 520 - transmission mechanism; 521 - gear;

[0153] 700 - mounting seat. DETAILED DESCRIPTION

[0154] The embodiments of the present application will be described in detail by the specific embodiments, and the person skilled in the art can easily understand other advantages and effects of the present application from the content disclosed in the specification. Obviously, the described embodiments are part of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by the person skilled in the art without creative labor belong to the scope of protection of the present application.

[0155] The terminology used in the embodiments of this utility model is for the purpose of describing particular embodiments only and is not intended to limit the utility model. The singular forms “a,” “said,” and “the” used in the embodiments of this utility model and the appended claims are also intended to include the plural forms, unless the context clearly indicates otherwise; “multiple” generally includes at least two, but does not exclude the inclusion of at least one.

[0156] It should be understood that the term "and / or" used in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.

[0157] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a product or system comprising a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a product or system. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the product or system that includes said element.

[0158] Automated cleaning robots are becoming increasingly popular in households, greatly simplifying daily cleaning tasks. For example... Figure 1-3 As shown, the cleaning robot 100, such as a sweeping robot, a mopping robot, and a sweeping and mopping robot, can move automatically on the surface to be cleaned. The surface to be cleaned can be a floor, a tile surface, a carpet, etc., and the carpet may include short-pile carpets and long-pile carpets.

[0159] A cleaning robot 100 typically includes a main body 110, a sensing module, a controller, a drive module, a cleaning system, an energy system, and a human-machine interaction module. Among these, for example... Figure 1 As shown, the main body 110 includes a front portion and a rear portion, and has an approximately circular shape. It may also have other shapes, including but not limited to an approximately D-shaped shape with a front and rear circle, and a rectangular or square shape with a front and rear.

[0160] The perception module includes a position determining device on the main body 110, a collision sensor disposed on the front crash structure of the front portion of the main body 110, a wall sensor disposed on the side of the machine, a cliff sensor disposed on the lower portion of the main body 110, and a magnetometer, an accelerometer, a gyroscope, an odometer, and other sensing devices disposed inside the main body 110, for providing various position information and motion state information of the machine to the controller. In addition, the position determining device can also be used to determine the information of the obstacle 82, such as the height, width, and other size information of the obstacle 82, to determine whether the robot can cross. The position determining device includes but is not limited to a camera, a laser distance sensor (LDS). In some preferred implementations, the position determining device (such as a camera, a laser sensor, etc.) is located on the front side of the main body 110, that is, the frontmost end of the front portion, so as to more accurately sense the environment in front of the cleaning robot, and achieve accurate positioning.

[0161] As shown in Figure 1 , the front portion of the main body 110 can carry a front crash structure. When the drive wheel module propels the cleaning robot 100 to walk on the ground during the cleaning process, the front crash structure detects one or more events in the travel path of the cleaning robot 100 via the sensor system disposed thereon, such as a collision sensor or a proximity sensor (infrared sensor), and the cleaning robot 100 can control the drive module to make the cleaning robot 100 respond to the event, such as an obstacle 82, a wall, to perform an obstacle avoidance operation, etc.

[0162] The controller is disposed on the circuit board inside the main body 110, and includes a computing processor, such as a central processing unit, an application processor, in communication with a non-transitory memory, such as a hard disk, a flash memory, a random access memory. The application processor uses a positioning algorithm, such as simultaneous localization and mapping (SLAM), to draw an instant map of the environment in which the cleaning robot 100 is located, according to the obstacle 82 information fed back by the laser distance sensor. And combined with the distance information, speed information fed back by the sensors, magnetometer, accelerometer, gyroscope, odometer, etc. disposed on the front crash structure, cliff sensor, etc., the controller comprehensively judges the current working state of the cleaning robot 100, the location, and the current pose of the cleaning robot 100, such as crossing the threshold, being on the carpet, being at the cliff, being stuck above or below, the dust box being full, being picked up, etc. And gives specific next action strategy for different situations, so that the cleaning robot 100 has better cleaning performance and user experience.

[0163] As shown in Figure 2-3As shown, the drive module can maneuver the body 110 across the ground based on drive commands having distance and angle information. The drive module includes a drive wheel module 120, which can control left and right drive wheels, and optionally a left drive wheel module and a right drive wheel module, respectively, for more precise control of the robot's motion. The left and right drive wheel modules are disposed along a lateral axis defined by the body 110. To enable the cleaning robot 100 to move more stably or with more power on the ground, the cleaning robot 100 can include one or more driven wheel assemblies 200, including but not limited to a caster wheel. The drive wheel module includes a drive motor and control circuitry to control the drive motor, and can also be connected to circuitry to measure drive current and an odometer. The left and right drive wheels can also have a biased drop suspension system, movably secured, e.g., rotatably attached to the body 110, and receiving a spring bias to bias downward and away from the body 110. The spring bias allows the drive wheels to maintain contact and traction with the ground with a certain amount of ground force, while the cleaning elements of the cleaning robot 100 also contact the ground with a certain amount of pressure.

[0164] The cleaning system can be a dry cleaning system and / or a wet cleaning system. The dry cleaning system can include a roller brush, a dust box, a fan, and an air outlet. The roller brush interferes with the ground to sweep up the garbage on the ground and bring it to the front of the suction port between the roller brush and the dust box, and then the garbage is sucked into the dust box by the suction force of the air generated by the fan. The dry cleaning system can also include a side brush having a rotating shaft at an angle with respect to the ground for moving debris into the roller brush area of the cleaning system.

[0165] The wet cleaning system can include a cleaning head, a drive unit, a water delivery mechanism, a liquid storage tank, etc. The cleaning head can be arranged below the liquid storage tank, and the cleaning liquid inside the liquid storage tank is transmitted to the cleaning head by the water delivery mechanism to enable the cleaning head to perform wet cleaning on the surface to be cleaned. In some optional embodiments, the cleaning liquid inside the liquid storage tank can also be directly sprayed onto the surface to be cleaned, and the cleaning head achieves cleaning of the surface by uniformly applying the cleaning liquid.

[0166] The cleaning head is used to clean the surface to be cleaned, and the drive unit is used to drive the cleaning head to perform substantially reciprocating motion or rotational motion along the target surface, which is a part or all of the surface to be cleaned. The cleaning head performs reciprocating motion along the surface to be cleaned or rotational motion relative to the surface to be cleaned, and the contact surface of the cleaning head with the surface to be cleaned is provided with a mop. The mop is driven by the drive unit to perform reciprocating motion or rotational motion with the surface to be cleaned to generate high-frequency friction, thereby removing stains on the surface to be cleaned; or the mop is floatingly arranged and always in contact with the cleaning surface during the cleaning process without the need for the drive unit to drive it to perform reciprocating motion or rotational motion.

[0167] The driving unit can further include a driving platform connected to the bottom surface of the device body 110 for providing driving force, and a supporting platform detachably connected to the driving platform for supporting the cleaning head and capable of being lifted under the driving of the driving platform.

[0168] The wet cleaning system can be connected to the device body 110 through the active lifting module. When the wet cleaning system is temporarily not involved in work, for example, the cleaning robot 100 docks at the base station to clean the cleaning head of the wet cleaning system and to fill the liquid storage tank; or when the wet cleaning system encounters a surface to be cleaned that cannot be cleaned by the wet cleaning system, the wet cleaning system is lifted by the active lifting module.

[0169] The energy system includes a rechargeable battery, such as a nickel-hydrogen battery and a lithium battery. The rechargeable battery can be connected with a charging control circuit, a battery pack charging temperature detection circuit and a battery undervoltage monitoring circuit, and the charging control circuit, the battery pack charging temperature detection circuit and the battery undervoltage monitoring circuit are connected with the single-chip microcomputer control circuit. The host is connected with the charging pile through the charging electrode arranged on the side or the lower side of the machine body for charging.

[0170] The man-machine interaction module includes keys on the host panel, which are used for function selection by the user; it can also include a display screen and / or an indicator light and / or a loudspeaker, which show the current mode of the machine or the function selection item to the user; and it can also include a mobile phone client program. For the path navigation type automatic cleaning robot 100, the mobile phone client can show the user a map of the environment where the device is located, and the position of the machine, and can provide the user with more rich and personalized function items. Specifically, the cleaning robot has multiple modes, such as a working mode and a self-cleaning mode. The working mode refers to the mode in which the cleaning robot performs automatic cleaning work, and the self-cleaning mode refers to the mode in which the cleaning robot removes dirt on the roller brush and the side brush on the base, and automatically collects the dirt, and / or automatically washes and dries the mop.

[0171] During the daily cleaning process, the cleaning robot 100 can encounter a higher obstacle 82 such as a threshold. In the related art, the cleaning robot can be blocked outside the higher threshold, step and other obstacles 82 due to insufficient obstacle climbing ability of the cleaning robot, thereby causing low cleaning efficiency.

[0172]

First Description of the Cleaning Robot

[0173] Therefore, the embodiment of the present application aims to provide a cleaning robot which can switch between the state of being driven to walk by the main driving wheel assembly and the state of being driven to walk by the auxiliary driving wheel 21 through the swing arm assembly 4 and the auxiliary driving wheel 21, so that the front end of the robot is lifted to exceed the height of the obstacle 82, and the robot is further driven to move on the surface to be cleaned to the obstacle 82 by the auxiliary driving wheel 21, and the main driving wheel assembly can overcome the obstacle 82 by the friction between the main driving wheel assembly and the obstacle 82 and / or the inertia of the movement of the body after the main driving wheel assembly contacts the obstacle 82.

[0174] The embodiments of the present application will be described in detail below with reference to specific drawings.

[0175] As shown in Figures 4a to 5b , the embodiment of the present application provides a cleaning robot for overcoming higher obstacles 82 (for example, the height of the obstacle 82 is about 4 cm), which can travel on a surface to be cleaned. The cleaning robot comprises a body 5 and a walking mechanism; wherein the walking mechanism comprises a main driving wheel assembly, a swing arm assembly 4 and an auxiliary driving wheel 21; the auxiliary driving wheel 21 is rotatably arranged on the body through the swing arm assembly 4. Under the action of the swing arm assembly 4, the state of the body traveling can be switched between a first state and a second state; wherein the first state is that the body is driven to travel on the surface to be cleaned by the main driving wheel assembly, and the second state is that the body is driven to travel on the surface to be cleaned by the auxiliary driving wheel 21.

[0176] It should be noted that in the foregoing description, the walking mechanism of the cleaning robot is generally provided with two, one is arranged on the left side of the body, and the other is arranged on the right side of the body, and the two walking mechanisms are symmetrically arranged; the two walking mechanisms can be controlled simultaneously or independently; for the sake of simplicity of description, only one walking mechanism is taken as an example for description in the present application.

[0177] As shown in Figures 5a-5b , the walking mechanism further comprises a main driving wheel motor 12, and the main driving wheel motor 12 is drivingly connected with the main driving wheel 11; the main driving wheel 11 rotates under the action of the main driving wheel motor 12. In an optional embodiment, the main driving wheel motor 12 is of a ring structure, and the main driving wheel motor 12 can be a hub motor arranged in the main driving wheel assembly, so that the occupied space of the main driving wheel motor is reduced, and the structure of the cleaning robot is more compact.

[0178] In the exemplary embodiments, the main drive wheel 11 and the auxiliary drive wheel 21 can be controlled to rotate in linkage, that is, when the main drive wheel 11 rotates, the auxiliary drive wheel 21 rotates simultaneously, which can save the motor for independently controlling the auxiliary drive wheel; in the first state or the second state, the rotation speeds of the main drive wheel 11 and the auxiliary drive wheel 21 have a certain proportional relationship. Alternatively, in other embodiments, the main drive wheel 11 and the auxiliary drive wheel 21 are controlled to rotate independently, that is, the auxiliary drive wheel 21 is driven by the auxiliary drive motor alone, that is, the rotation of the main drive wheel 11 and the rotation of the auxiliary drive wheel 21 do not affect each other, so that the auxiliary drive wheel 21 can be stopped from rotating without the need to rotate, thereby saving energy.

[0179] Specifically, (1) when the main drive wheel 11 and the auxiliary drive wheel 21 are controlled to rotate in linkage, the main drive wheel motor 12 drives the main drive wheel 11 to rotate; in addition, the main drive wheel motor 12 also drives the auxiliary drive wheel 21 to rotate through the auxiliary drive wheel transmission assembly 3, so as to realize that when the main drive wheel motor 12 operates, the main drive wheel 11 rotates, and under the action of the drive wheel transmission assembly 3, the auxiliary drive wheel 21 rotates.

[0180] (2) when the main drive wheel 11 and the auxiliary drive wheel 21 are controlled to rotate independently, the main drive wheel motor 12 drives the main drive wheel 11 to rotate, and the auxiliary drive wheel 21 is driven to rotate by another drive motor; that is, the travel speed of the main drive wheel 11 and the travel speed of the auxiliary drive wheel 21 can be adjusted according to actual needs.

[0181] When the cleaning robot cleans the surface to be cleaned, the travel state of the machine body is in the first state; when the cleaning robot needs to cross the obstacle 82 on the surface to be cleaned, the travel state of the machine body is switched to the second state; when the cleaning robot crosses to the top surface of the obstacle 82 or passes through the obstacle 82, the travel state of the machine body is switched to the first state again.

[0182] Whether the cleaning robot can successfully cross to the top surface of the obstacle 82 is related to the height of the obstacle 82. When the height of the obstacle 82 is within a preset interval, the second state in which the machine body is driven by the auxiliary drive wheel 21 to travel can be switched to the first travel state in which the machine body is driven by the main drive wheel assembly to travel. In optional embodiments, the preset height of the obstacle 82 can be 2-4 cm.

[0183] ​When the height value of the obstacle 82 is lower than the minimum threshold of the preset interval, at this time, the running state of the machine body is in the second state, the distance between the lowest position of the main driving wheel assembly and the top surface of the obstacle 82 is large, and the main driving wheel assembly cannot contact the top surface of the obstacle 82. At this time, the machine body can move forward by relying on its own inertia when the sub-driving wheel 21 is resisted by the obstacle 82, and then the machine body can move forward relative to the swing arm assembly 4, so that the main driving wheel assembly can contact the top surface of the obstacle 82, thereby enabling the cleaning robot to smoothly cross the obstacle 82. Optionally, the running speed of the machine body driven by the sub-driving wheel 21 is not lower than the minimum running speed of the machine body driven by the main driving wheel assembly. Exemplarily, the machine body has a speed-up process in the second state.

[0184] It should be noted that for obstacles 82 with a lower height (such as 1 cm or less), the machine body can be directly driven forward by the main driving wheel assembly or the angle of the cleaning robot crossing the obstacle 82 can be adjusted to overcome the obstacle 82, without having to switch to the mode of driving the machine body to walk by the sub-driving wheel 21. In this way, the obstacle-crossing action of the cleaning robot can be simplified, the number of actions of the sub-driving wheel can be reduced, and the service life of the cleaning robot can be improved.

[0185] When the cleaning robot crosses the obstacle 82, the head of the machine body needs to be lifted, and the lifting height needs to be greater than the height of the obstacle 82. Therefore, the position of the axis of the sub-driving wheel 21 can be adjusted relative to the position of the axis of the main driving wheel assembly under the driving of the swing arm assembly 4, that is, the axis of the sub-driving wheel 21 can have a first position and a second position. Relative to the surface to be cleaned, when the sub-driving wheel 21 is in the first position, the lowest position of the sub-driving wheel 21 is higher than the lowest position of the main driving wheel assembly; and when the sub-driving wheel 21 is in the second position, the lowest position of the sub-driving wheel 21 is lower than the lowest position of the main driving wheel assembly.

[0186] That is, when the machine body is in the first state, the sub-driving wheel 21 is in the first position, the sub-driving wheel 21 is away from the surface to be cleaned, the main driving wheel assembly contacts the surface to be cleaned, and the machine body can run under the driving of the main driving wheel assembly; when the machine body is in the second state, the sub-driving wheel 21 is in the second position, the sub-driving wheel 21 contacts the surface to be cleaned, and the main driving wheel assembly is away from the surface to be cleaned, and the machine body can run under the driving of the sub-driving wheel 21;

[0187] Optionally, when the machine body is in the second state, the chassis 51 of the machine body is in a front-end lifting state.

[0188] When the cleaning robot encounters the obstacle 82, the head of the body needs to be lifted first, and then the body can pass the obstacle 82 smoothly, so in some embodiments, the body travels on the surface to be cleaned in the first state, and when the sensing system detects the obstacle 82 and determines that the obstacle can be crossed, the traveling state of the body can be switched to the second state; for example, when the sensing system of the cleaning robot detects that the height of the obstacle 82 is about 4 cm, the traveling state of the body is switched from the first state to the second state, the chassis 51 of the body is lifted, and then the head of the cleaning robot is away from the surface to be cleaned and is higher than the obstacle 82, the body continues to travel in the second state until the main drive wheel assembly and / or the auxiliary drive wheel 21 is resisted by the obstacle 82, at this time, the head of the body is above the obstacle 82, and the traveling state of the body is switched to the first state again, so that the cleaning robot can pass the obstacle smoothly.

[0189] Whether the cleaning robot can pass the obstacle 82 in time also relates to the inclination angle of the chassis 51 when the body is lifted, so in some embodiments, the body is designed to be in the second state, and when the chassis 51 is lifted, the angle between the chassis 51 and the surface to be cleaned is β, and β satisfies: 5°≤β≤35°; and / or in the second state, the horizontal plane where the axis of the main drive wheel is located is higher than the top surface of the obstacle; when the angle between the chassis 51 and the surface to be cleaned is too small, the head of the body will directly hit the obstacle 82, which causes the cleaning robot to fail to pass the obstacle 82 smoothly; when the angle between the chassis 51 and the surface to be cleaned is too large, the center of gravity of the body is too high, which causes the cleaning robot to be unstable and easy to fall backward; it should be noted that the angle between the chassis 51 and the surface to be cleaned can be adjusted according to the actual height of the obstacle 82. In addition, the height of the chassis 51 can be lifted by controlling any one walking mechanism or simultaneously controlling two walking mechanisms.

[0190] The switching of the traveling state of the body is accompanied by the change of the position of the axis of the auxiliary drive wheel 21; the specific way of changing the position of the axis of the auxiliary drive wheel 21 by the action of the swing arm assembly 4 is further given below; as shown in Figure 5a and Figure 5b The swing arm assembly 4 includes a rotating piece 41 and a swing arm 42, the rotating piece 41 and the main drive wheel 11 are coaxially arranged, and the rotation of the rotating piece 41 and the rotation of the main drive wheel 11 do not affect each other; one end of the swing arm 42 is rotatably arranged on the rotating piece 41, and the other end of the swing arm 42 is provided with the rotatable auxiliary drive wheel 21.

[0191] When the rotating member 41 is controlled to rotate, the swing arm 42 moves with the secondary drive wheel 21, and the position of the axis of the secondary drive wheel 21 changes. Specifically, when the rotating member 41 is controlled to rotate, the secondary drive wheel 21 moves with the swing arm 42, and the secondary drive wheel 21 can be switched between a first position and a second position. It can be understood that the secondary drive wheel 21 can also be in the first position, the second position, or any position between the first position and the second position.

[0192] Specifically, in the first state, the secondary drive wheel 21 is in the first position, i.e., the secondary drive wheel 21 is located in front of the primary drive wheel assembly; in the second state, the secondary drive wheel 21 is in the second position, i.e., in contact with the surface to be cleaned. At this time, the swing arm 42 and the secondary drive wheel 21 can support the body of the cleaning robot, causing the head of the body to be raised upward; the cleaning robot is driven to walk by the secondary drive wheel 21, so as to facilitate obstacle crossing 82.

[0193] When the body crosses the obstacle 82, the state of the body needs to be switched from the second state to the first state, and correspondingly, the secondary drive wheel 21 needs to be switched from the second position to the first position. Whether the secondary drive wheel 21 can be smoothly switched from the second position to the first position is at least related to the turning diameter of the rotating member 41, the radius of the secondary drive wheel 21, and the effective length of the swing arm 42 connecting the rotating member 41 and the secondary drive wheel 21. Therefore, the turning diameter of the rotating member 41 is designed to be not less than the overall length of the swing arm 42 and the secondary drive wheel 21; that is, the turning diameter of the rotating member 41 is not less than the sum of the effective length of the swing arm 42 and the radius of the secondary drive wheel 21.

[0194] It should be noted that the turning diameter of the rotating member 41 is the diameter of the largest circle projected by the motion track of the rotating member 41 when the rotating member 41 does the circular motion; and the effective length of the swing arm 42 is the length excluding the part overlapping the swing arm 42 and the secondary drive wheel 21.

[0195] When the secondary drive wheel 21 moves from the second position to the first position, the swing arm 42 needs to move relative to the rotating member 41. Therefore, as shown in Figures 5a-5b the embodiment, the rotating member 41 is provided with a first limiting structure, the swing arm 42 is provided with a second limiting structure 422, and a first elastic member 43 is arranged between the first limiting structure and the second limiting structure 422. The first elastic member 43 is used to separate the secondary drive wheel 21 from the top surface of the obstacle 82 or the surface to be cleaned when the swing arm 42 is not subjected to external force; that is, under the action of the first elastic member 43, the swing arm 42 moves relative to the rotating member 41, so that the secondary drive wheel 21 is separated from the top surface of the obstacle 82 or the surface to be cleaned, and moves to the first position.

[0196] In some embodiments, one end of the first elastic member 43 can be arranged on the first limiting structure of the rotating member 41, and the other end of the first elastic member 43 can be arranged on the second limiting structure of the swing arm 42; the first elastic member 43 is configured to:

[0197] When the machine body is in the first state, the first elastic member 43 overcomes the gravity of the swing arm 42 and the secondary driving wheel 21, so that the swing arm 42 is static relative to the machine body, and the secondary driving wheel 21 is always in the first position.

[0198] When the machine body is switched from the first state to the second state, the rotating member 41 rotates towards the surface to be cleaned (e.g. in the clockwise direction), and the swing arm 42 moves the secondary driving wheel towards the surface to be cleaned, so that the secondary driving wheel 21 is switched from the first position to the second position, and the relative position between the rotating member 41 and the swing arm 42 does not change during the switching process, and the first elastic member 43 is always in the first elastic state.

[0199] When the machine body is in the second state, the secondary driving wheel 21 is in the second position; after the primary driving wheel 11 contacts the obstacle 82, at least the primary driving wheel 11 is driven (the secondary driving wheel 21 can also be driven at the same time to generate friction with the surface to be cleaned) to generate friction with the obstacle 82, so that the secondary driving wheel 21 is separated from the surface to be cleaned, the primary driving wheel 11 is in contact with the surface of the obstacle 82, and under the blocking action of the obstacle 82, the swing arm 42 continues to rotate clockwise relative to the rotating member 41, and the secondary driving wheel 21 moves from the front of the primary driving wheel 11 to the rear of the primary driving wheel 11, so as not to affect the obstacle crossing process, and the running state of the machine body is switched to the first state; or further, after the primary driving wheel 11 contacts the obstacle 82, the rotating member 41 is driven to continue to drive the swing arm 42 and the secondary driving wheel 21 to move clockwise to further lift the machine body, and at the same time, the primary driving wheel 11 is driven (the secondary driving wheel 21 can also be driven at the same time to generate friction with the surface to be cleaned) to generate friction with the obstacle 82, so that the secondary driving wheel 21 is separated from the surface to be cleaned, the primary driving wheel 11 is in contact with the surface of the obstacle 82, and under the blocking action of the obstacle 82, the swing arm 42 continues to rotate clockwise relative to the rotating member 41, and the secondary driving wheel 21 moves from the front of the primary driving wheel 11 to the rear of the primary driving wheel 11, so as not to affect the obstacle crossing process, and the running state of the machine body is switched to the first state; due to the rotation of the swing arm 42 relative to the rotating member 41, the first elastic member 43 is compressed, and is switched from the first elastic state to the second elastic state (the second elastic force of the first elastic member 43 in the second elastic state is greater than the first elastic force in the first elastic state); with further running of the machine body, the secondary driving wheel crosses the obstacle 82 until it contacts the top surface of the obstacle 82.

[0200] Subsequently, the rotating member 41 rotates towards the direction away from the surface to be cleaned (e.g. counterclockwise), the secondary driving wheel 21 is always in contact with the top surface of the obstacle 82, the resistance provided by the top surface of the obstacle 82 to the secondary driving wheel 21 makes the first elastic member 43 further compressed, until the secondary driving wheel 21 leaves the top surface of the obstacle 82, at this time, under the elastic force of the first elastic member 43, the swing arm 42 rotates counterclockwise relative to the rotating member 41, driving the secondary driving wheel 21 to return to the first position, at this time, the first elastic member 43 is in the first elastic state again.

[0201] In the exemplary embodiments, in the second state, the angle between the swing arm assembly 4 and the horizontal line in front of the body with the secondary driving wheel 21 as the vertex is α, and α satisfies: 90°≤α≤120°; specifically, the angle between the extension direction of the swing arm and the horizontal line in front of the body is α. Based on the foregoing description, in the second state, the swing arm assembly 4 and the secondary driving wheel 21 can drive the cleaning robot to move to the obstacle 82, so that the primary driving wheel assembly contacts the obstacle 82, and in the process of the movement, the swing arm assembly 4 and the secondary driving wheel 21 need to provide stable support force to the body. However, due to the existence of the first elastic member 43, when the angle between the swing arm assembly 4 and the horizontal line in front of the body with the secondary driving wheel 21 as the vertex is less than 90 degrees, the first elastic member 43 is compressed and deformed under the resistance of the surface to be cleaned to the secondary driving wheel and the gravity of the body, at this time, the front end of the cleaning robot will fall to make the body gradually return to the horizontal state, in this case, the primary driving wheel 11 has not contacted the obstacle 82 to generate the friction force required for obstacle crossing, or the front end of the cleaning robot is lower than the height of the obstacle 82, thereby resulting in failure of the obstacle crossing. In other words, the first elastic member 43 is compressed before the primary driving wheel 11 contacts the obstacle 82, therefore, the angle between the swing arm assembly 4 and the horizontal line in front of the body cannot be less than 90°. In addition, in order to make the front end of the cleaning robot high enough (which needs to be higher than the height of the obstacle 82), and also give the primary driving wheel 11 space so that the primary driving wheel 11 can contact the obstacle 82, the angle between the swing arm assembly 4 and the horizontal line in front of the body cannot exceed 120°, otherwise, the secondary driving wheel 21 abuts against the obstacle 82, so that the primary driving wheel 11 cannot contact the obstacle 82, and the obstacle crossing cannot be realized.

[0202] More specifically, as shown in FIG. 6, the angle between the swing arm assembly 4 and the horizontal line in front of the body with the secondary driving wheel 21 as the vertex is α, and α satisfies: 90°≤α≤120°. Figures 7a-8dAs shown, the connecting position of the swing arm 42 and the rotating member 41 is provided with a cylindrical boss 421, which is coaxially arranged with the rotating axis of the swing arm 42; the first elastic member 43 can be a torsion spring, which is sleeved on the cylindrical boss 421; the first limiting structure of the rotating member 41 comprises a first limiting surface 411; one end of the torsion spring is connected with the first limiting surface 411, and the other end of the torsion spring is connected with a second limiting structure 422; when the secondary driving wheel 21 is switched from the first position to the second position, the relative position between the first limiting surface 411 and the second limiting structure 422 does not change, and the first elastic member 43 is always in the first elastic state.

[0203] The first limiting surface 411 can also be used for limiting the swing arm 42 when the secondary driving wheel 21 is converted from the first position to the second position, that is, the first limiting surface 411 abuts against the swing arm 42, so that the swing arm 42 rotates integrally with the rotating member 41 until the secondary driving wheel 21 contacts the surface to be cleaned, and then, when the secondary driving wheel 21 and the primary driving wheel 11 both contact the obstacle 82, the swing arm 42 rotates clockwise relative to the rotating member 41 under the action of the obstacle; the relative position between the first limiting surface 411 and the second limiting structure 422 changes, and the first elastic member is switched from the first elastic state to the second elastic state.

[0204] In some embodiments, as shown in the accompanying drawings, Figures 4a-4d The body of the cleaning robot comprises a machine body 5 and a support 6, the bottom of the machine body 5 is provided with a chassis 51, and the support 6 is arranged on the chassis 51; or the inside of the machine body 5 is formed with a mounting cavity 52, and the bottom of the mounting cavity 52 is formed with a mounting cavity opening 521; the support 6 is arranged in the mounting cavity 52 through the mounting cavity opening 521;

[0205] In the related art, one end of the support 6 is rotatably connected with the body, when the running state of the body is in the first state, the support 6 and the walking mechanism are relatively fixed with the body under the action of the gravity of the cleaning robot; but when the running state of the body is in the second state, the front part of the body is lifted, at this time, the support 6 and the walking mechanism rotate relative to the body and are in the falling mode, but this falling will change the gravity center position of the whole cleaning robot, and further cause the body to run unstably. Therefore, as shown in the accompanying drawings, Figures 4c-4d , Figures 7a-7b , Figures 10a-10b The machine body 5 is provided with a fourth limiting structure 53; one end of the support 6 is rotatably arranged on the machine body 5, and the other end of the support 6 is provided with a sliding member 71; the sliding member 71 and the fourth limiting structure 53 have a separated state and a matched state;

[0206] When the sliding member 71 and the fourth limiting structure 53 are in the separated state, the sliding member 71 is away from the fourth limiting structure 53, and the support 6 can rotate relative to the machine body 5;

[0207] When the sliding piece 71 and the fourth limiting structure 53 are in the matched state, the sliding piece 71 and the fourth limiting structure 53 are connected together, and the support 6 cannot rotate relative to the body 5.

[0208] Further, the fourth limiting structure 53 is arranged at the top of the mounting cavity 52; as shown in Figures 7a-7b 、 Figures 11a-11b the other end of the support 6 is provided with a mounting seat 622, and an installation hole 6221 is formed in the inside of the mounting seat 622; a sliding groove is formed in the side wall of the mounting hole 6221 close to the swing arm 42, and the sliding groove and the installation hole 6221 are communicated;

[0209] The sliding piece 71 is arranged in the installation hole 6221, and a second elastic piece 72 is arranged between the sliding piece 71 and the side wall of the installation hole 6221, and the second elastic piece 72 is used to control the cooperation between the sliding piece 71 and the fourth limiting structure 53; the sliding piece 71 can cooperate with the fourth limiting structure 53 and can be slidingly matched with the sliding groove;

[0210] As shown in Figures 8a to 9b , the first limiting structure of the rotating piece 41 further comprises a second limiting surface 412, and the second limiting surface 412 is configured as:

[0211] When the sub-driving wheel 21 is in the first position, the second limiting surface 412 of the rotating piece abuts against the sliding piece 71, the second elastic piece 72 is in the compressed state, and the sliding piece 71 and the fourth limiting structure 53 are in the separated state;

[0212] When the sub-driving wheel 21 is away from the first position, the second limiting surface 412 of the rotating piece is separated from the sliding piece 71, the second elastic piece 72 restores the deformation, and the sliding piece 71 and the fourth limiting structure 53 are in the matched state.

[0213] Optionally, the first limiting surface 411 and the second limiting surface 412 of the first limiting structure are integrally formed, and the first limiting structure can be a V-shaped structure, and the opening of the V-shaped structure faces the radial outside of the rotating piece 41.

[0214] As described above, when the rotating piece 41 rotates, the swing arm 42 can drive the sub-driving wheel 21 to switch between the first position and the second position; the following describes how the rotating piece 41 realizes rotation, as shown in Figures 6a-7b and Figure 9bAs shown, the walking mechanism further comprises a conversion transmission assembly 44 and a conversion driving motor, the rotating member 41 and the conversion driving motor being connected through the conversion transmission assembly 44. The conversion transmission assembly 44 at least comprises a conversion input wheel 441 and a conversion output wheel 442, both of which are rotatable, and the axis of the conversion input wheel 441 and the axis of the conversion output wheel 442 are fixedly arranged; the output shaft of the conversion driving motor is drivingly connected with the conversion input wheel 441, and when the conversion driving motor operates, the conversion input wheel 441 can transmit rotation to the conversion output wheel 442.

[0215] Optionally, the rotating member 41 is a rotating disc, the rotating disc being arranged at one end of the axis of the conversion output wheel 442 and being rotatable synchronously with the conversion output wheel 442; a connecting shaft 413 and a first limiting structure are arranged on the side of the rotating disc away from the conversion output wheel 442, and the connecting shaft 413 is arranged in the axis of the rotating disc; one end of the swing arm 42 is rotatably arranged on the connecting shaft 413.

[0216] When the conversion input wheel 441 is driven to rotate, the conversion output wheel 442 can rotate with the rotating disc, and in turn the secondary driving wheel 21 can be switched between the first position and the second position.

[0217] Specifically, the conversion transmission assembly 44 further comprises a plurality of conversion intermediate wheels 443, the plurality of conversion intermediate wheels 443 being sequentially drivingly connected between the conversion input wheel 441 and the conversion output wheel 442; the conversion input wheel 441, the conversion output wheel 442 and the plurality of conversion intermediate wheels 443 are rotatably arranged; the conversion input wheel 441 can transmit rotation to the conversion output wheel 442 through the plurality of conversion intermediate wheels 443; the connecting shaft 413 is arranged close to the outer edge of the rotating disc.

[0218] As described above, when the primary driving wheel 11 and the secondary driving wheel 21 are controlled to rotate in linkage, the primary driving wheel motor 12 drives the secondary driving wheel 21 to rotate through the secondary driving wheel transmission assembly 3; the specific structure of the secondary driving wheel transmission assembly will be described as follows, Figures 6a to 9b As shown, the side of the rotating disc close to the conversion output wheel 442 is provided with a rotating frame 414, the rotating frame 414 extending along the radial direction of the rotating disc; the position of the connecting shaft 413 corresponds to the position of the radial outer end of the rotating frame 414, and a connecting shaft hole 4131 is formed between the rotating disc and the connecting shaft 413; the interior of the swing arm 42 is formed with a swing arm assembly cavity 423, the swing arm assembly cavity 423 being communicated with the connecting shaft hole 4131; the side of the rotating frame 414 close to the swing arm is provided with a positioning shaft 33, the positioning shaft 33 being fixedly connected with the rotating frame 414;

[0219] The auxiliary drive wheel transmission assembly 3 comprises a first transmission chain 31 and a second transmission chain 32. The first transmission chain 31 comprises at least a first transmission chain input wheel 311 and a first transmission chain output wheel 312, and the first transmission chain input wheel 311 and the first transmission chain output wheel 312 are both rotatably arranged on the rotating frame 414. The second transmission chain 32 comprises at least a second transmission chain input wheel 321 and a second transmission chain output wheel 322, and the second transmission chain input wheel 321 and the second transmission chain output wheel 322 are both rotatably arranged in the swing arm cavity 423. The first transmission chain output wheel 312 and the second transmission chain input wheel 321 are integrally formed or constitute an entirety (here, the "constitute an entirety" means that the first transmission chain output wheel 312 and the second transmission chain input wheel 321 are two different parts of the same component, and the two can be fixedly connected in the existing manner), and the first transmission chain output wheel 312 and the second transmission chain input wheel 321 are coaxially arranged. The first transmission chain output wheel 312 and the second transmission chain input wheel 321 are both arranged on the positioning shaft 33, so that the first transmission chain output wheel 312 and the second transmission chain input wheel 321 can rotate relative to the positioning shaft 33. The second transmission chain output wheel 322 and the auxiliary drive wheel 21 are coaxially arranged and can synchronously rotate. Specifically, the rotating frame 414 is formed with a rotating frame groove 4141, and the first transmission chain input wheel 311 and the first transmission chain output wheel 312 are both rotatably arranged in the rotating frame groove 4141.

[0220] When the first transmission chain input wheel 311 is driven to rotate, the first transmission chain output wheel 312 can rotate with the second transmission chain input wheel 321, and then the second transmission chain output wheel 322 can rotate with the auxiliary drive wheel 21.

[0221] Specifically, as shown in Figures 6a to 6b the first transmission chain 31 further comprises a plurality of first transmission chain intermediate wheels 313, and the plurality of first transmission chain intermediate wheels 313 are rotatably arranged on the rotating frame 414 and are sequentially transmissionally connected between the first transmission chain input wheel 311 and the first transmission chain output wheel 312. The first transmission chain input wheel 311 can transmit to the first transmission chain output wheel 312 through the plurality of first transmission chain intermediate wheels 313.

[0222] The second transmission chain 32 further comprises a plurality of second transmission chain intermediate wheels 323, and the plurality of second transmission chain intermediate wheels 323 are rotatably arranged in the swing arm cavity 423 and are sequentially transmissionally connected between the second transmission chain input wheel 321 and the second transmission chain output wheel 322. The second transmission chain input wheel 321 can transmit to the second transmission chain output wheel 322 through the plurality of second transmission chain intermediate wheels 323.

[0223] Furthermore, when the main drive wheel 11 and the auxiliary drive wheel 21 are controlled to rotate in conjunction, the conversion output wheel 442 and the main drive wheel 11 are coaxially arranged, and the conversion output wheel 442 and the main drive wheel 11 rotate independently; the main drive wheel motor 12 includes a first output part 121 and a second output part 122; the first output part 121 is driven connected to the main drive wheel 11, and the second output part 122 is driven connected to the first transmission chain input wheel 311;

[0224] When the main drive wheel motor 12 is running, the first output end can drive the main drive wheel 11 to rotate, and the second output end can drive the first transmission chain input wheel 311 to rotate.

[0225] The previous section explained the specific method by which the fuselage switches between the first and second states when the swing arm assembly moves. The following section further explains the connection method between the walking mechanism and the fuselage.

[0226] like Figures 7a-11b As shown, in some embodiments, the cleaning robot's body includes a body 5 and a support 6. The main drive wheel 11 is rotatably mounted on the support 6, and the rotating part 41, the conversion input wheel 441, the conversion intermediate wheel, and the conversion output wheel 442 of the swing arm assembly 4 are all rotatably mounted on the support 6.

[0227] As mentioned above, under the elastic force of the first elastic element 43, the swing arm 42 rotates relative to the rotating element 41. When the auxiliary drive wheel 21 switches from the second position to the first position, it is prone to overtravel during this process. Therefore, this embodiment proposes that, Figures 11a-11b As shown, the bracket 6 is provided with a third limiting structure 621. The third limiting structure 621 is used to limit the swing arm 42 when the auxiliary drive wheel 21 switches from the second position to the first position, so that the auxiliary drive wheel 21 is in the first position and the auxiliary drive wheel 21 is prevented from overtravel.

[0228] As mentioned above, the walking mechanism is mounted on the body via brackets. There are two brackets 6 and two walking mechanisms. The two brackets 6 are positioned opposite each other on the left and right sides of the body 5. The two walking mechanisms and the two brackets 6 are arranged in a one-to-one correspondence.

[0229] In the corresponding traveling mechanism and support 6, the main drive wheel assembly of the traveling mechanism is located on one side of the support 6, and the secondary drive wheel 21, the secondary drive wheel transmission assembly 3 and the swing arm assembly 4 of the traveling mechanism are located on the other side of the support 6.

[0230] When the traveling mechanism is mounted on a support frame, the arrangement of its various components directly affects the space occupied by the traveling mechanism, the compactness of the structure, and the stability of the fuselage during travel. Therefore, if... Figure 11a and Figure 11bAs shown, the embodiment proposes that the support 6 comprises a support box 61 and a support cover 62, the left side of the support box 61 is formed with a support first left cavity 611 and a support second left cavity 612, the support first left cavity 611 and the support second left cavity 612 are communicated, and the support first left cavity 611 is located at the rear of the support second left cavity 612; the right side of the support box 61 is formed with a support third right cavity 613, the support cover 62 is arranged on the right side of the support box 61, and the support cover 62 and the support box 61 are formed with a support first right cavity 631 and a support second right cavity 632, the support first right cavity 631 and the support second right cavity 632 are communicated, and the support first right cavity 631 is located at the rear of the support second right cavity 632; the position of the support third right cavity 613 corresponds to the position of the support second right cavity 632; the support first left cavity 611 and the support first right cavity 631 are both columnar structures.

[0231] The circumferential side wall of the support first left cavity 611 is formed with a circumferential upper opening 6111 and a circumferential lower opening 6112 arranged oppositely in the up-down direction, the opening area of the circumferential upper opening 6111 is smaller than the opening area of the circumferential lower opening 6112; the axial one end of the support first left cavity 611 is formed with a first axial opening 6113, and the axial other end of the support first left cavity 611 is formed with a first support hole 6114, the first support hole 6114 communicates the support first left cavity 611 and the support first right cavity 631; the axial one end of the support second left cavity 612 is formed with a second axial opening 6121, and the axial other end of the support second left cavity 612 is formed with a second support hole 6122, the second support hole 6122 communicates the support second left cavity 612 and the support second right cavity 632; the axial one end of the support second right cavity 632 is formed with a third axial opening 6321, the third axial opening 6321 communicates the support second right cavity 632 and the support third right cavity 613.

[0232] The main drive wheel 11 and the main drive wheel motor 12 are arranged in the support first left cavity 611 through the first axial opening 6113, the main drive wheel 11 is provided with two, and each main drive wheel 11 is annular structure; the outer circumferential side of the main drive wheel motor 12 is provided with a first output part 121, and the two main drive wheels 11 are arranged outside the first output part 121; the upper end of the main drive wheel 11 protrudes through the circumferential upper opening 6111, and the lower end of the main drive wheel 11 protrudes through the circumferential lower opening 6112 and contacts the ground 81; the conversion output wheel 442 and the rotating disc are arranged in the support first right cavity 631, the conversion output wheel 442 is annular structure, and the axial one end of the rotating disc is arranged in the inside of the conversion output wheel 442; the axial one side of the main drive wheel motor 12 is provided with a second output part 122, the second output part 122 passes through the first support hole 6114 to enter the support first right cavity 631 and is drivingly connected with the first transmission chain input wheel 311.

[0233] The conversion input wheel 441 and the conversion intermediate wheel 443 are arranged in the second right cavity 632 of the bracket, the conversion drive motor is arranged in the second left cavity 612 of the bracket, and the output shaft of the conversion drive motor passes through the second bracket hole 6122 into the second right cavity 632 of the bracket and is in driving connection with the conversion input wheel 441.

[0234] The bracket cover 62 is formed with a third bracket hole 623, the other axial end of the rotating disc passes through the third bracket hole 623 and is located on the side of the bracket cover 62 away from the bracket box 61; the swing arm 42 and the auxiliary drive wheel 21 are both located on the side of the bracket cover 62 away from the bracket box 61, and the swing arm 42 is rotatably arranged on the rotating disc through the connecting shaft 413.

[0235] The side of the bracket cover 62 away from the bracket box 61 is formed with a third limiting structure 621, and the swing arm 42 and the third limiting structure 621 are located on the same side of the rotating disc when the auxiliary drive wheel 21 is in the first position; the third limiting structure 621 is a reverse L-shaped structure.

[0236] The bracket box 61 is formed with a bracket column 64 near the second left cavity 612 of the bracket, the bracket column 64 is formed with a bracket shaft hole; the top of the mounting cavity 52 is formed with a bracket rotating shaft 65, the bracket rotating shaft 65 passes through the bracket shaft hole, so that the bracket and the body are rotatably arranged together; the side of the bracket cover 62 away from the bracket box 61 and away from the bracket shaft hole 64 is provided with a mounting seat 622;

[0237] The structure is compact, the cavity formed by the bracket box and the bracket cover is fully utilized, the main drive wheel, the conversion transmission assembly and the first transmission chain are arranged, so that the various components do not interfere with each other and reliably move, the transmission efficiency is improved, and the stable movement of the body is ensured.

[0238] In addition, in an optional embodiment, as shown in Figures 10a-10b The cleaning robot further comprises a support structure 55 arranged at the rear end of the chassis 51; the support structure 55 is used to support the tail of the robot after the front end of the robot is lifted. For example, the support structure 55 can be a roller, which can reduce the friction between the tail of the robot and the surface to be cleaned when the robot overcomes the obstacle, and assists the robot in overcoming the obstacle. It can be understood that the support structure 55 can also take other forms, which are not specifically limited in the present application.

[0239] When the sensor of the cleaning robot detects that there is an obstacle 82 in front that can be crossed, the walking state of the cleaning robot is switched from the first state to the second state, and the main drive wheel 11 of the cleaning robot is caused to contact the obstacle 82 and cross the obstacle 82. The cleaning robot can collect the height of the obstacle 82 through the sensor mounted on the body, and determine whether it needs to be switched to the second state according to whether the height of the obstacle 82 exceeds a preset height threshold, so as to reduce the switching times between the first state and the second state, improve the operation efficiency and the service life of the equipment.

[0240] Specifically, the sensor can be at least one of a line laser sensor, a laser radar, a structured light sensor, or a camera, which has the ability to collect the height of the obstacle 82. The present application is not limited to the above-mentioned sensors.

[0241] The cleaning robot may encounter various obstacles such as doorsteps, power cords, and carpet edges when cleaning. When encountering obstacles 82, it is easy to get stuck and unable to complete the obstacle or produce a jolt after completing the obstacle, which will cause impact to the cleaning robot, possibly damaging internal components, reducing the service life of the equipment, and even affecting the cleaning effect. In view of the above problems existing in the prior art, the cleaning robot needs to maintain its stability after the obstacle, reduce the impact after the obstacle, protect the internal components, prolong the service life, and ensure the stability and efficiency of the cleaning effect.

[0242] The embodiments are applicable to a cleaning robot 100 as shown in Figure 1-3 The cleaning robot is a robot that can automatically travel on the ground, such as a sweeping robot, a sweeping and mopping robot, etc. The ground can be a floor surface, a tile surface, a carpet, and the carpet includes a short-pile carpet and a long-pile carpet, etc. The cleaning robot 100 includes a body 110 and a driven wheel assembly 200 (such as a universal wheel).

[0243] As shown in Figure 23 The driven wheel assembly 200 includes a driven wheel 210 and a telescopic mechanism. The driven wheel assembly is placed on the chassis 51 of the body, and is used to provide shock absorption for the body of the cleaning robot when switching from the second state to the first state as described in the above embodiments. The telescopic mechanism is connected between the chassis 51 and the driven wheel 210, so that the distance of the driven wheel 210 relative to the chassis 51 is variable.

[0244] The driven wheel assembly 200 of the optional embodiment can change the distance of the driven wheel 210 relative to the chassis 51, i.e. change the relative height between the driven wheel 210 and the chassis 51, through the telescopic assembly. When the telescopic mechanism is extended, the distance of the driven wheel 210 relative to the chassis 51 is lengthened, i.e. the height of the chassis 51 relative to the driven wheel 210 is increased. When the telescopic mechanism is shortened, the distance of the driven wheel 210 relative to the chassis 51 is shortened, i.e. the height of the chassis 51 relative to the driven wheel 210 is decreased. Through the optional embodiment, when the cleaning robot encounters an obstacle during travel and determines that it can be crossed, the cleaning robot lifts part of the body containing the driven wheel 210 to cross the obstacle. During the process of lowering the lifted body back to the ground to restore to the normal driving state, in order to avoid a large impact force when the body falls to the ground, the telescopic mechanism is controlled to extend to move the driven wheel 210 away from the chassis 51, increasing the height of the chassis 51 relative to the driven wheel 210, i.e. the driven wheel 210 is closer to the ground relative to the chassis 51. When the lifted body falls, the driven wheel 210 first contacts the ground, providing sufficient cushioning for the falling body through the extended telescopic mechanism, thereby reducing the impact and jolt generated when crossing the obstacle, effectively improving the obstacle crossing ability of the cleaning robot, reducing the impact after crossing the obstacle, protecting the internal components, prolonging the service life, and ensuring the stability and efficiency of the cleaning effect.

[0245] There are many ways to achieve the above-mentioned implementation of changing the distance of the driven wheel 210 relative to the chassis 51 through the telescopic mechanism connected between the chassis 51 and the driven wheel 210. In one optional embodiment, the telescopic mechanism can change the distance of the driven wheel 210 relative to the chassis 51 through a screw lifting mechanism. This implementation converts the rotational motion of the screw into linear motion, thereby changing the distance of the driven wheel 210 relative to the chassis 51.

[0246] The telescopic mechanism in this embodiment is a mechanical device that can expand or contract in space. In one optional embodiment, the telescopic mechanism can include a spring mechanism. When the driven wheel 210 is in the normal walking state of contacting the ground during the execution of the cleaning task by the self-cleaning robot, the spring mechanism is in a compressed state, and the connection between the telescopic mechanism and the driven wheel 210 is a hard connection. When the driven wheel 210 is in a suspended state away from the ground, the spring mechanism is in an extended state, and the connection between the telescopic mechanism and the driven wheel 210 is a flexible connection. The use of a spring mechanism can simplify the mechanical structure of the telescopic mechanism, reduce the number of parts, and reduce manufacturing costs and maintenance difficulty. The spring mechanism can also absorb energy when subjected to external impact or vibration, reducing damage to the overall structure and maintaining the stability and reliability of the mechanism. At the same time, the spring mechanism can effectively reduce the noise generated by mechanical collisions during movement.

[0247] As Figures 28-34In an optional embodiment, the elastic mechanism can include a third elastic member arranged between the lifting mechanism 220 and the driven wheel 210. The third elastic member can realize the conversion between the hard connection and the elastic connection between the driven wheel 210 and the lifting mechanism 220. Specifically, when the driven wheel 210 is in the normal walking state in contact with the ground, the third elastic member is in the compressed state, and the connection between the lifting mechanism 220 and the driven wheel 210 is hard connection. When the driven wheel 210 is in the suspended state away from the ground, the third elastic member is in the elongated state, and the connection between the lifting mechanism 220 and the driven wheel 210 is elastic connection. The third elastic member of the optional embodiment realizes the conversion between the elastic connection and the hard connection between the driven wheel 210 and the lifting mechanism 220. When the driven wheel 210 is in the normal walking state, it is in the hard connection mode, and the body can walk stably. When it falls in the suspended state during the obstacle crossing process, it is in the elastic connection, thereby realizing good damping effect and buffering function.

[0248] In another optional embodiment, the telescopic assembly can include a fourth elastic member arranged between the driven wheel 210 and the chassis 51. The fourth elastic member can be, for example, a spring, and the number of springs is at least one. When the driven wheel 210 is in the normal walking state in contact with the ground, the fourth elastic member is in the compressed state. When the driven wheel 210 is in the suspended state away from the ground, the fourth elastic member is in the elongated state. Specifically, the compression deformation amount of the fourth elastic member in the compressed state when the driven wheel 210 is in the normal walking state in contact with the ground can be the maximum compression deformation threshold. The elongation deformation amount of the fourth elastic member in the elongated state when the driven wheel 210 is in the suspended state away from the ground can be the maximum elongation deformation threshold.

[0249] It should be noted that the elastic force provided by the third elastic member or the fourth elastic member meets certain conditions. During the obstacle crossing process of the cleaning robot, the part of the body containing the driven wheel 210 is lifted and then falls to the ground. The elastic force provided by the third elastic member or the fourth elastic member to protect the robot can ensure the stability of the cleaning robot.

[0250] The third elastic member arranged between the lifting mechanism 220 and the driven wheel 210 will be described in detail below.

[0251] In an optional embodiment, the third elastic member includes a lifting mechanism 220 and a first power mechanism 500,

[0252] The lifting mechanism 220 is telescopically connected to the driven wheel 210 at the power output end to lift the driven wheel 210. The first power mechanism 500 is connected to the power input end of the lifting mechanism 220 at the power output end to drive the lifting mechanism 220 to telescope to lift the driven wheel 210 and adjust the distance between the driven wheel 210 and the chassis 51.

[0253] By the optional embodiment, by controlling the extension and shortening of the lifting mechanism 220, the distance of the driven wheel 210 relative to the chassis 51 can be changed, i.e. the relative height between the driven wheel 210 and the chassis 51 is changed. When the lifting mechanism 220 is controlled to extend, the distance of the driven wheel 210 relative to the chassis 51 is lengthened, i.e. the height of the chassis 51 relative to the driven wheel 210 is increased, and when the lifting mechanism 220 is controlled to shorten, the distance of the driven wheel 210 relative to the chassis 51 is shortened, i.e. the height of the chassis 51 relative to the driven wheel 210 is decreased.

[0254] In an optional embodiment, the lifting mechanism 220 described above is configured to be actively extended or shortened by the driving of the first power mechanism, and to be passively adaptively extended under the action of gravity of the driven wheel 210 or when the driven wheel 210 is subjected to external force. For example, when the driven wheel 210 is in a state of being off the ground and hanging in the air, the lifting mechanism can be passively adaptively extended under the action of gravity of the driven wheel 210, and for another example, when the driven wheel 210 is subjected to external force with upward component force in movement, the lifting mechanism 220 can be passively adaptively extended. Here, the active extension or shortening refers to the extension or shortening under the driving action of the first power mechanism, and the passive adaptive extension refers to the extension without the driving action of the first power mechanism. This setting can well balance the two aspects of requirements that the automatic cleaning robot can adjust the lifting mechanism as needed and can automatically extend the lifting mechanism when crossing obstacles, so as to reduce the falling height of the driven wheel 210 and avoid causing ground impact.

[0255] Specifically, as shown in Figure 28 The driven wheel 210 includes a wheel frame 211 and a wheel 212, and the wheel 212 is pivotally connected to the wheel frame 211 and can be steered. The driven wheel 210 of the embodiment is a universal wheel.

[0256] As shown in Figure 28 The lifting mechanism 220 includes a first shaft sleeve 221 and a second shaft sleeve 222, and the second shaft sleeve 222 is embedded in the first shaft sleeve 221. The outer peripheral surface of the first shaft sleeve 221 is transmissionally connected to the power output end of the first power mechanism 500 as the power input end of the lifting mechanism 220. The inner peripheral surface of the first shaft sleeve 221 and the outer peripheral surface of the second shaft sleeve 222 form a threaded transmission relationship.

[0257] In combination with the accompanying Figure 23When the first shaft sleeve 221 rotates under the action of the first power mechanism 500, the second shaft sleeve 222 can produce up-and-down movement, when the second shaft sleeve 222 moves downward, the lifting mechanism 220 is elongated, so that the distance between the universal wheel and the chassis 51 becomes longer, when the second shaft sleeve 222 moves upward, the lifting mechanism 220 is shortened, so that the distance between the universal wheel and the chassis 51 becomes shorter. The lifting mechanism provided in the embodiment, the first shaft sleeve 221 and the second shaft sleeve 222 are both rigid structures, the lifting mechanism is converted from input rotary motion to output linear motion through the threaded cooperation between the rigid structures, so that the lifting mechanism controls the universal wheel to extend and retract through threaded cooperation. When the second shaft sleeve 222 rotates in the direction of approaching the first shaft sleeve 221 (the second shaft sleeve moves upward), the lifting mechanism is shortened; when the second shaft sleeve 222 rotates out of the direction of approaching the first shaft sleeve 221 (the second shaft sleeve moves downward), the lifting mechanism is elongated.

[0258] In an optional embodiment, the inner circumferential surface of the second shaft sleeve 222 and the wheel frame 211 can be relatively up-and-down movable and cooperated together, when the first power mechanism 500 does not provide driving action to the lifting mechanism, the driven wheel 210 can move downward relative to the second shaft sleeve 222 under preset conditions; for example, the preset conditions include but are not limited to one of the following situations: the driven wheel 210 is in a state of off the ground and suspended, the body is subjected to external force with upward component force.

[0259] As shown in Figure 28 , 29 , the wheel frame 211 upwardly forms a guide portion 211a with a cylindrical outer circumferential surface; the second shaft sleeve 222 forms a first guide hole 222a extending along the axial direction of the second shaft sleeve 222 on the side facing the guide portion 211a, and the guide portion 211a extends into the first guide hole 222a from bottom to top and is slidably cooperated with the inner wall surface of the first guide hole 222a. This design makes the lifting mechanism 220 better passively adaptively elongate under the action of gravity of the driven wheel 210 when the driven wheel 210 is in a suspended state.

[0260] As shown in Figure 28 , 29 , 34, the lifting mechanism 220 further includes a pull rod 223 and a second limiting mechanism 225; the second shaft sleeve 222 forms a second guide hole 222b above the first guide hole 222a;

[0261] The pull rod 223 comprises a head 223a and a rod part 223b; the lower end of the rod part 223b is connected with the guide part 211a; the head 223a is located in the second guide hole 222b and can move along the second guide hole 222b, a partition wall 222c is arranged between the second guide hole 222b and the first guide hole 222a, the partition wall 222c is provided with a communication hole 222d which communicates between the second guide hole 222b and the first guide hole 222a, the rod body penetrates out of the communication hole 222d and extends into the first guide hole 222a, and the communication hole 222d makes the head 223a unable to be pulled out downwardly;

[0262] The partition wall 222c is arranged at a position for limiting the maximum downward position of the pull rod 223; and the second limiting mechanism 225 is arranged at a position for limiting the maximum upward position of the pull rod 223.

[0263] Through the optional embodiment, the guiding effect of the second shaft sleeve and the wheel carrier during movement is well realized, and the distance limiting of upward and downward movement is realized through the cooperation of the partition wall and the second limiting mechanism, so that the mechanical structure control and adaptation with the obstacle height of the cleaning device can be realized.

[0264] As shown in Figure 34 , the bottom of the second shaft sleeve 222 is sleeved with the first limiting mechanism 224, and the first limiting mechanism 224 is used for limiting the rotation of the second shaft sleeve 222 with the first shaft sleeve 221.

[0265] Further combining Figure 34 , as an optional assembly embodiment of the above structure, the machine body 110 further comprises an upper cover 112, the upper cover 112 and the bottom disc 51 are buckled together to form an installation cavity 11a, the bottom disc 51 is provided with a through hole which is communicated with the installation cavity 11a; the lifting mechanism 220 is embedded in the installation cavity 11a; the first limiting mechanism 224 is fixed between the inner wall surface of the through hole of the bottom disc 51 and the outer peripheral surface of the second shaft sleeve 222; the second limiting mechanism 225 is fixed on the upper cover 112 and the end thereof which faces the second guide hole 222b is inserted into the second guide hole 222b to limit the maximum upward position of the pull rod 223;

[0266] Optionally, combining the accompanying Figures 30-34 , the first power mechanism 500 of the embodiment comprises a driving source 510 and a transmission mechanism 520, the transmission mechanism 520 is arranged in the installation cavity 11a of the machine body 110, the transmission mechanism 520 can be selected as a gear transmission set, and the power output end is provided with a gear 521 which is sleeved on the outer periphery of the first shaft sleeve and forms a transmission connection relationship with the first shaft sleeve.

[0267] Optionally, as shown in Figures 23-27 , the gear set has a total of five gears, the first gear is a driving gear which is fixed together with the output shaft of the driving source (such as a motor).

[0268] Optionally, the gear set comprises a driving gear, a first-stage transmission gear, a second-stage transmission gear, a third-stage transmission gear and a driven gear. The driving gear is sleeved on the output shaft of the driving source 510 to be driven to rotate by the driving source 510. The first-stage transmission gear comprises coaxially arranged first transmission end (lower part) and second transmission end (upper part), the number of teeth of the first transmission end is greater than that of the second transmission end. The first transmission end is in meshing transmission connection with the driving gear. The second-stage transmission gear comprises coaxially arranged third transmission end (lower part) and fourth transmission end (upper part), the number of teeth of the third transmission end is less than that of the fourth transmission end. The third transmission end is in meshing transmission connection with the second transmission end of the first-stage transmission gear, and the fourth transmission end is in meshing transmission connection with the third-stage transmission gear. The side of the third-stage transmission gear away from the second-stage transmission gear is also in meshing transmission connection with the driven gear. The central region of the driven gear is provided with a rotating hole, and the outer circumferential surface of the top end of the first shaft sleeve 221 is provided with a rotating hole platform which is adaptively connected with the rotating hole. The cross-sectional shape of the rotating hole can include but is not limited to a square shape.

[0269] Through the meshing transmission connection between the driving gear, the first-stage transmission gear, the second-stage transmission gear, the third-stage transmission gear and the driven gear, the first shaft sleeve and the driving source have a suitable transmission ratio, so as to flexibly control the lifting speed of the lifting mechanism.

[0270] Further, in combination with Figure 23 、 24 , 26-1, 26-2, the upper and lower ends of the first shaft sleeve 221 of the embodiment are provided with a first bearing 300 and a second bearing 400, and the first shaft sleeve 221 is rotationally axially limited between the first bearing 300 and the second bearing 400. The first bearing 300 is arranged on the upper cover 112, and the second bearing 400 is arranged on the bottom shell.

[0271] The above improvements realize dynamic and static cooperation and stable positioning during transmission, with low noise and high transmission efficiency. At the same time, the above assembly makes the walking mechanism of the application more compact and reasonable in overall structure, making the machine more compact.

[0272] As shown in Figure 28 、 29 , 31, the walking mechanism further comprises a third elastic member arranged between the lifting mechanism 220 and the driven wheel 210. The third elastic member is an elastic member. The top wall surface and the peripheral wall surface of the inner wall surface of the first guide hole 222a surround an elastic member accommodating cavity with the top surface of the guide portion 211a. The elastic member is arranged in the elastic member accommodating cavity. When the driven wheel 210 moves downward, the axial length of the elastic member accommodating cavity becomes longer, and the elastic member is elongated.

[0273] Optionally, the driven wheel 210 is provided with one or more.

[0274] The main driving wheel 11 and the driven wheel 210 are arranged to have the following working relationship: when the machine body is lifted upward in the advancing direction with the walking mechanism as the supporting point, the telescopic mechanism of the driven wheel assembly 200 is elongated; when the walking mechanism crosses an obstacle, the telescopic mechanism of the driven wheel assembly 200 is shortened after the driven wheel assembly 200 contacts the ground.

[0275] Optionally, the cleaning robot embodiment further comprises a detection unit and a control unit;

[0276] The detection unit is configured to detect the movement information of the movement mechanism in the target area;

[0277] The control unit is configured to control the first power mechanism 500 to drive the lifting mechanism 220 to extend or retract according to the movement resistance information detected by the detection unit, so as to adjust the height of the driven wheel 210 relative to the chassis 51. Optionally, the movement resistance information includes obstacle information (such as obstacle properties, obstacle height, etc.), when the control unit determines that the cleaning robot can cross the obstacle according to the obstacle information, and needs to land to the normal state after the part of the machine body containing the universal wheel is lifted, the control unit controls the lifting mechanism 220 to extend, so that the height of the chassis 51 relative to the driven wheel 210 is higher; in another case, when the control unit determines that the walking mechanism has completed the crossing of the obstacle, the control unit controls the lifting mechanism 220 to shorten, so that the height of the chassis 51 relative to the driven wheel 210 returns to the preset relative height for normal walking after the walking mechanism has completed the crossing of the obstacle.

[0278] Through the above design, the problem that the cleaning robot is damaged and the overall structural stability and safety are poor when the universal wheel suddenly lands when the machine body needs to be adjusted to the normal state after the cleaning robot encounters an obstacle during operation in the prior art is well solved.

[0279] Optionally, a cleaning robot is also provided, which can include the walking mechanism (refer to the description of any one of the embodiments of the walking mechanism as described above) and the driven wheel 210 (refer to the description of any one of the embodiments of the driven wheel 210 as described above). Figures 4a-18b Figures 23-40 Optionally, in the present embodiment, the cleaning robot has a first attitude and a second attitude. In the first attitude, the machine body of the cleaning robot is in the second state (as shown in FIG. 2B), and the driven wheel 210 is in a third position (not shown). In the second attitude, the machine body of the cleaning robot is in the second state (as shown in FIG. 2B), and the driven wheel 210 is in a fourth position (not shown). The fourth position is different in height from the third position, for example, the fourth position is lower than the third position.

[0280] Optionally, in the present embodiment, the cleaning robot has a first attitude and a second attitude. In the first attitude, the machine body of the cleaning robot is in the second state (as shown in FIG. 2B), and the driven wheel 210 is in a third position (not shown). In the second attitude, the machine body of the cleaning robot is in the second state (as shown in FIG. 2B), and the driven wheel 210 is in a fourth position (not shown). The fourth position is different in height from the third position, for example, the fourth position is lower than the third position. Figure 13a Figure 13a Optionally, in the present embodiment, the cleaning robot has a first attitude and a second attitude. In the first attitude, the machine body of the cleaning robot is in the second state (as shown in FIG. 2B), and the driven wheel 210 is in a third position (not shown). In the second attitude, the machine body of the cleaning robot is in the second state (as shown in FIG. 2B), and the driven wheel 210 is in a fourth position (not shown). The fourth position is different in height from the third position, for example, the fourth position is lower than the third position. ​​

[0281] Optionally, in the embodiment, the position adjustment or switching of the driven wheel 210 between the third position and the fourth position is realized by the lifting mechanism 220, or the driven wheel 210 is adjusted to any position between the third position and the fourth position by the lifting mechanism 220.

[0282] Optionally, in one obstacle avoidance scenario of the embodiment, as shown in Figure 13a After detecting that there is an obstacle in front and the body running state is switched to the second state, the cleaning robot is controlled to run to a position where the vertical projection of the driven wheel 210 falls above the obstacle (for example, refer to Figure 14a ), and then the lifting mechanism 220 is controlled to be elongated to reduce the distance between the driven wheel 210 and the obstacle 82. In this way, the distance of the head of the body falling or falling during obstacle crossing can be reduced, thereby reducing the damage and influence on the body caused by the vibration of the body.

[0283] The cleaning robot according to the present application is described in detail above. In one embodiment of the present application, a cleaning system is also provided, wherein the cleaning system comprises a cleaning robot and a cleaning base station, the cleaning robot is mainly used for cleaning and absorbing debris on the ground and carpet, after the absorption is completed, the cleaning robot is moved to the cleaning base station by the driving assembly of the cleaning robot, the cleaning base station is used for sucking the debris collected by the cleaning robot and charging the cleaning robot. Exemplarily, the cleaning base station in the cleaning system at least comprises: a pile seat, a charging port, a dust collecting port, and a pile returning signal emitting device.

[0284]

Second Description of the Cleaning Robot

[0285] In this part, the cleaning robot provided by the embodiment of the present application is described in a different description manner from the "First Description of the Cleaning Robot".

[0286] As shown in Figures 4a to 5b , the embodiment provides a cleaning robot, which comprises a body 5 and a walking mechanism, the walking mechanism comprises a driving wheel walking unit, the driving wheel walking unit comprises:

[0287] a support 6 arranged on the body 5; the connection mode of the support 6 and the body 5 can include two kinds, when the support 6 and the body 5 are connected by the first connection mode, the support 6 is fixed relative to the body 5 in any state of the cleaning robot; when the support 6 and the body 5 are connected by the second connection mode, the support 6 can move relative to the body 5 when the cleaning robot normally runs; the support 6 is fixed relative to the body 5 when the cleaning robot crosses obstacles;

[0288] a main drive wheel assembly comprising a main drive wheel 11 rotatably arranged on the support 6 and a main drive wheel driving mechanism for driving the main drive wheel 11 to rotate relative to the support 6;

[0289] an arm swing assembly 4 comprising an arm 42 and an arm driving mechanism drivingly connected to a power input end of the arm 42 for swinging the arm 42;

[0290] a secondary drive wheel assembly 3 comprising a secondary drive wheel 21 rotatably arranged on a power output end of the arm 42 and a secondary drive wheel driving mechanism for driving the secondary drive wheel 21 to rotate relative to the power output end of the arm 42;

[0291] The main drive wheel 11 and the secondary drive wheel 21 are arranged on the left and right sides of the support 6 respectively; the main drive wheel 11 is in contact with the surface 81 to be cleaned and can drive the body 5 to move when the main drive wheel 11 rotates relative to the support 6; the secondary drive wheel 21 is in contact with the surface 81 to be cleaned and can drive the body 5 to move when the secondary drive wheel 21 rotates relative to the arm 42;

[0292] In the obstacle crossing process, the drive wheel walking unit is configured to include the conversion of the cleaning robot between the first driving mode and the second driving mode; in the first driving mode, the cleaning robot is driven to move by the main drive wheel assembly; in the second driving mode, the cleaning robot is driven to move by the secondary drive wheel assembly 3.

[0293] Further, the drive wheel walking unit is provided with two sets, one set of drive wheel walking unit is arranged on the left side of the body 5, and the other set of drive wheel walking unit is arranged on the right side of the body 5; the two sets of drive wheel walking units can be controlled together, and the two sets of drive wheel walking units drive the body 5 to move forward or cross obstacles together; the two sets of drive wheel walking units can also be controlled independently, and the two sets of drive wheel walking units drive the body 5 to turn or one side of the left and right sides of the body 5 to cross obstacles.

[0294] According to whether the cleaning robot crosses obstacles, the cleaning robot is provided with a normal moving mode and an obstacle crossing mode; when the cleaning robot is in the normal moving mode, the cleaning robot moves on the surface 81 to be cleaned in the first driving mode; the cleaning robot automatically detects whether there is a crossable obstacle 82 in the moving direction, and if there is, the cleaning robot can automatically enter the obstacle crossing mode; when the cleaning robot is in the obstacle crossing mode, the cleaning robot can be controlled to convert between the first driving mode and the second driving mode according to the obstacle information; specifically, when there is a crossable obstacle 82 in the moving direction, the cleaning robot is controlled to be in the second driving mode, so that the head of the body 5 is lifted and exceeds the height of the obstacle 82, and further the secondary drive wheel 21 drives the body 5 to move on the surface 81 to be cleaned to the obstacle 82; after the cleaning robot crosses to the top surface of the obstacle 82, the cleaning robot is controlled to be in the first driving mode.

[0295] The main drive wheel power mechanism drives the main drive wheel 11 to rotate, and the auxiliary drive wheel power mechanism drives the auxiliary drive wheel 21 to rotate, so that the rotation speed of the main drive wheel 11 and the rotation speed of the auxiliary drive wheel 21 can have various control modes, and four control modes are listed below:

[0296] 1. The traveling speed of the main drive wheel 11 and the traveling speed of the auxiliary drive wheel 21 are different; the cleaning robot has different traveling speeds in different driving modes;

[0297] 2. The main drive wheel 11 and the auxiliary drive wheel 21 can be controlled to adjust the traveling speed of the main drive wheel 11 and the auxiliary drive wheel 21 according to the type of the obstacle 82 and / or the height of the obstacle 82 and / or the distance between the body 5 and the obstacle 82, so as to adjust the crossing speed and crossing mode of the body 5;

[0298] 3. When the cleaning robot is in the second driving mode, the traveling speed of the auxiliary drive wheel 21 is not lower than the traveling speed of the main drive wheel 11 when the cleaning robot is in the first driving mode, so as to better overcome the obstacle; specifically, when the cleaning robot is in the second driving mode, the auxiliary drive wheel 21 is resisted by the obstacle 82, and the body 5 relies on its own inertia to move forward, so that the body 5 can move forward relative to the swing arm 42, and then the main drive wheel 11 can contact the top surface of the obstacle 82, so that the cleaning robot can smoothly cross the obstacle 82;

[0299] 4. The main drive wheel power mechanism includes a differential, and the differential is in transmission connection with the main drive wheel 11 and the auxiliary drive wheel 21; the differential is configured such that the rotation speed of the auxiliary drive wheel 21 when the cleaning robot is in the second driving mode is greater than or equal to the rotation speed of the main drive wheel 11 when the cleaning robot is in the first driving mode.

[0300] The main drive wheel 11 and the auxiliary drive wheel 21 can be driven to rotate in linkage or independently, and the driving modes of the main drive wheel 11 and the auxiliary drive wheel 21 are further described below; as shown in Figure 6a and Figure 6b The main drive wheel power mechanism includes a main drive wheel motor 12, and the main drive wheel motor 12 is configured to be able to provide driving force for the main drive wheel 11 and the auxiliary drive wheel power mechanism; that is, the main drive wheel 11 and the auxiliary drive wheel 21 can be driven to rotate synchronously or asynchronously by the main drive wheel motor 12, and there is no need to set a motor for driving the auxiliary drive wheel 21 to rotate; or,

[0301] The main drive wheel 11 and the auxiliary drive wheel 21 can be driven separately. The main drive wheel power mechanism includes a main drive wheel motor 12, which is driven by the main drive wheel 11. The auxiliary drive wheel power mechanism includes an auxiliary drive wheel motor, which is driven by the auxiliary drive wheel 21. The rotation of the main drive wheel 11 and the rotation of the auxiliary drive wheel 21 do not affect each other. This arrangement allows the auxiliary drive wheel 21 to stop rotating when it is not needed, thereby saving energy.

[0302] The structure of the swing arm power mechanism is quite important, directly affecting whether the cleaning robot can smoothly switch between the first and second drive modes. The specific structure of the swing arm power mechanism is further explained below; for example... Figure 7a and Figure 7b As shown, the swing arm power mechanism also includes a rotating component 41, a swing arm transmission chain 44, and a swing arm motor. The rotating component 41 and the main drive wheel 11 are arranged coaxially, and the rotating component 41 is rotatably mounted on the bracket 6. The power input end of the rotating component 41 has a transmission tooth, which is connected to the gear transmission at the power output end of the swing arm transmission chain 44. The power input end of the swing arm transmission chain 44 is connected to the swing arm motor, and the swing arm motor is mounted on the bracket 6. The rotating component 41 has a power output end in a direction parallel to its axis. The power input end of the swing arm 42 and the power output end of the rotating component 41 are rotatably engaged with each other. Thus, the movement of the swing arm motor can be transmitted to the swing arm 42 through the swing arm transmission chain 44 and the rotating component 41. When the swing arm motor is running, the rotating component 41 can move the swing arm 42.

[0303] H, L, and r satisfy: H > L + r; thus, when the cleaning robot overcomes obstacles, it can smoothly switch from the second drive mode to the first drive mode.

[0304] Among them, such as Figure 17c As shown, H is the vertical distance between the axis of the power input end of the swing arm 42 at its highest position and the horizontal plane where the lowest point of the main drive wheel 11 is located; L is the distance between the axis of the power input end of the swing arm 42 and the axis of the power output end of the swing arm 42; and r is the radius of the auxiliary drive wheel 21.

[0305] The phrase "the highest position of the power input end of the swing arm 42" refers to the highest position that the power input end of the swing arm 42 can reach as it rotates with the rotating member 41. In other words, this highest position is limited by the rotation range of the rotating member 41. For example, refer to... Figure 5b , Figure 11b and Figure 12b As shown, the highest position of the power input end of the swing arm 42 is the position when the swing arm 42 abuts or contacts the third limiting structure 621.

[0306] The power mechanism of the auxiliary driving wheel 21 is related to both the power mechanism of the main driving wheel and the swing arm assembly 4, and will be further described below in terms of the specific structure of the power mechanism of the auxiliary driving wheel 21; as shown in Figures 6a to 8d The power mechanism of the auxiliary driving wheel includes a rotating frame 414, an auxiliary driving wheel first transmission chain 31, and an auxiliary driving wheel second transmission chain 32.

[0307] The rotating member 41 includes a rotating disc, and the outer circumferential side of the rotating disc is the power input end of the rotating member 41, i.e., the outer circumferential side of the rotating disc is provided with a transmission gear;

[0308] The rotating frame 414 is fixedly arranged on the rotating disc and can rotate synchronously with the rotating disc.

[0309] The auxiliary driving wheel first transmission chain 31 is arranged on the rotating frame 414, and the power input end of the auxiliary driving wheel first transmission chain 31 is coaxial with the main driving wheel 11, and the power output shaft of the main driving wheel motor 12 is drivingly connected to the power input end of the auxiliary driving wheel first transmission chain 31; specifically, the main driving wheel motor 12 is a hub motor, the outer circumferential side of the main driving wheel motor 12 is the first power output end of the main driving wheel motor 12, the shaft center of the main driving wheel motor 12 is the second power output end of the main driving wheel motor 12, and the second power output end is provided with a power output shaft; the main driving wheel 11 has a ring structure, and the main driving wheel 11 is arranged on the outer circumferential side of the main driving wheel motor 12.

[0310] The auxiliary driving wheel second transmission chain 32 is arranged on the swing arm 42, and the power input end of the auxiliary driving wheel second transmission chain 32 is drivingly connected to the power output end of the auxiliary driving wheel first transmission chain 31; the power output end of the auxiliary driving wheel second transmission chain 32 is drivingly connected to the auxiliary driving wheel 21; when the main driving wheel motor 12 operates, it can drive the main driving wheel 11 to rotate, and at the same time, the rotation can be transmitted to the auxiliary driving wheel 21 through the auxiliary driving wheel second transmission chain 32 and the auxiliary driving wheel first transmission chain 31.

[0311] From the overall layout, the auxiliary driving wheel first transmission chain 31 is located on one axial side of the rotating disc, the auxiliary driving wheel second transmission chain 32 is located on the other axial side of the rotating disc, and the swing arm transmission chain 44 is located on the outer circumferential side of the rotating disc; in this way, the structure is compact, the three transmission chains do not interfere with each other, and the movement of the main driving wheel 11, the swing arm 42, and the auxiliary driving wheel 21 is accurate and stable.

[0312] As described above, the power input end of the swing arm 42 and the power output end of the rotating member 41 can be relatively rotatably matched together, and the connection structure of the swing arm 42 and the rotating member 41 will be further described below; as shown in Figure 9a and Figure 9bAs shown, the rotating member 41 is formed with a boss 421, the boss 421 constitutes a power output end of the rotating member 41, the boss 421 is in a cylindrical shape and the boss 421 is formed with a shaft hole; the power input end of the swing arm 42 is formed with a shaft sleeve, the shaft sleeve is rotatably sleeved on the boss 421; that is, the swing arm 42 can rotate relative to the boss 421;

[0313] The shaft hole is provided with a positioning shaft 33, one end of the positioning shaft 33 is in transmission connection with the power output end of the secondary drive wheel first transmission chain 31, and the other end of the positioning shaft 33 is in transmission connection with the power input end of the secondary drive wheel second transmission chain 32; in this way, the rotation of the power output end of the secondary drive wheel first transmission chain 31 can be transmitted to the power input end of the secondary drive wheel second transmission chain 32 through the positioning shaft 33.

[0314] In some other embodiments, the rotating member 41 comprises a rotating disc, the rotating disc comprises a rotating gear and a rotating shell, the rotating shell is covered on the outside of the rotating gear and is fixedly connected with the rotating gear;

[0315] The rotating frame 414 is fixedly arranged on one side of the rotating gear close to the rotating shell and is fixedly connected with the rotating shell, and the rotating frame 414 can rotate synchronously with the rotating gear and the rotating shell;

[0316] The secondary drive wheel first transmission chain is arranged on the rotating frame 414, the power input end of the secondary drive wheel first transmission chain is coaxially arranged with the main drive wheel 11, and the power output shaft of the main drive wheel motor 12 is in driving connection with the power input end of the secondary drive wheel first transmission chain through the support 6;

[0317] The secondary drive wheel second transmission chain is arranged on the swing arm 42, the power input end of the secondary drive wheel second transmission chain is in transmission connection with the power output end of the secondary drive wheel first transmission chain, and the power output end of the secondary drive wheel second transmission chain is in transmission connection with the secondary drive wheel.

[0318] Specifically, the rotating shell comprises a shell main body and a boss, the shell main body is covered on the outside of the rotating gear; the shell main body is in a substantially semicircular cross section and has a cross-sectional area larger than that of the semicircle, and the outer peripheral wall of the shell main body comprises a circular-arc side wall and a planar side wall; the circular-arc side wall is coaxially arranged with the main drive wheel, and the planar side wall is connected with the circular-arc side wall;

[0319] The boss is formed on the planar side wall and is away from the circular-arc side wall; in the axial direction of the shell main body, the thickness of the boss is smaller than that of the shell main body; and the boss constitutes a power output end of the rotating member;

[0320] On one side of the shell main body close to the rotating gear, the rotating frame is extended to the boss from the shell main body, and the rotating frame is provided with the positioning shaft 33 at a position corresponding to the power output end of the secondary drive wheel first transmission chain, and the positioning shaft 33 is rotatably connected with the power output end of the secondary drive wheel first transmission chain and the power input end of the secondary drive wheel second transmission chain;

[0321] The power input end of the swing arm 42 is arranged on the boss, and the power input end of the swing arm 42 is formed with a swing arm shaft hole; the end of the positioning shaft 33 away from the rotating frame 414 penetrates through the swing arm shaft hole and is provided with a clamping piece, which enables the power input end of the swing arm, the boss and the positioning shaft to be rotatably matched;

[0322] The side of the shell body away from the rotating tooth is provided with a limiting piece, which limits the swing arm 42 in the axial direction of the shell body.

[0323] It should be noted that the swing arm transmission chain 44, the first transmission chain 31 of the secondary drive wheel and the second transmission chain 32 of the secondary drive wheel in the embodiment are all formed by a plurality of gears in sequence.

[0324] When the cleaning robot is converted between the first driving mode and the second driving mode, the swing arm 42 needs to meet the following conditions: it can rotate synchronously with the rotating piece 41, and it can also swing relative to the rotating piece 41; the following will further describe the structure required to achieve this process; the swing arm assembly 4 is further provided with a first elastic piece 43 between the power output end of the rotating piece 41 and the power input end of the swing arm 42, and the first elastic piece 43 is configured to: when the power input end of the swing arm 42 swings relative to the power output end of the rotating piece 41 in a first direction, the first elastic piece 43 is compressed to store elastic potential energy; when the power input end of the swing arm 42 swings relative to the power output end of the rotating piece 41 in a second direction, the first elastic piece 43 is stretched to release the elastic potential energy.

[0325] The first direction is clockwise when viewed from the right side of the machine body 5, and the second direction is counterclockwise when viewed from the right side of the machine body 5.

[0326] Specifically, the first axial side is provided with a first limiting structure, and the first limiting structure includes a first limiting surface 411; the swing arm 42 is provided with a second limiting structure 422; and the first elastic piece 43 is limited between the first limiting surface 411 and the second limiting structure 422.

[0327] Further, the swing arm 42 is configured such that when the side close to the power output end of the swing arm 42 is subjected to a torque in the first direction by the obstacle 82, the power input end of the swing arm 42 swings relative to the power output end of the rotating piece 41 in the first direction.

[0328] When the side close to the power output end of the swing arm 42 is not subjected to a torque in the first direction, the power input end of the swing arm 42 swings relative to the power output end of the rotating piece 41 in the second direction under the action of the first elastic piece 43.

[0329] When the cleaning robot is over the obstacle, the following two situations may occur:

[0330] When the auxiliary driving wheel 21 contacts the side surface of the obstacle 82, the main driving wheel 11 does not contact the top surface of the obstacle 82, at this time, the main body 5 can move forward with the main driving wheel 11 under the action of inertia, and then the main driving wheel 11 contacts the top surface of the obstacle 82, and the cleaning robot is in the first driving mode; in this process, the swing arm 42 swings passively, and the main body 5 first rises and then falls.

[0331] When the auxiliary driving wheel 21 contacts the side surface of the obstacle 82, the main driving wheel 11 contacts the top surface of the obstacle 82, in this case, the movement of the main body 5 is relatively stable; the driving wheel walking unit is configured such that when the cleaning robot is in the second driving mode, the horizontal plane where the axis of the main driving wheel 11 is located is higher than the top surface of the obstacle.

[0332] When the cleaning robot switches between the first driving mode and the second driving mode, the axis position of the auxiliary driving wheel 21 is mainly adjusted, which will be described in detail below; the driving wheel walking unit is further configured such that when the rotating part 41 is controlled to rotate, the swing arm 42 moves with the auxiliary driving wheel 21, and then the axis position of the auxiliary driving wheel 21 changes;

[0333] When the cleaning robot is in the first driving mode, the axis of the auxiliary driving wheel 21 is located in front of the axis of the main driving wheel 11, and only the main driving wheel 11 contacts the top surface of the obstacle 82 or the cleaning surface 81.

[0334] When the cleaning robot is in the second driving mode, the axis of the auxiliary driving wheel 21 is located below the axis of the main driving wheel 11, and only the auxiliary driving wheel 21 contacts the top surface of the obstacle 82 or the cleaning surface 81; the swing arm 42 and the auxiliary driving wheel 21 can support the main body 5 and make the head of the main body 5 tilt upward.

[0335] When the cleaning robot is in the first driving mode, in order to avoid the swing arm 42 relative to the rotating disc, noise or influence the movement of the main body 5, two ways are proposed in this embodiment:

[0336] ①As shown in Figure 12b , a third limiting structure 621 is arranged on the support 6; the driving wheel walking unit is further configured such that when the cleaning robot is in the first driving mode, the swing arm 42 and the auxiliary driving wheel 21 are fixed relative to the support 6 under the action of the third limiting structure 621 and the first elastic member 43; preferably, when the cleaning robot is in the first driving mode, the swing arm 42 extends in the front-rear direction of the main body 5.

[0337] ②As shown in Figure 12cAs shown, the first limiting surface 411 and the swing arm 42 are in contact. When the cleaning robot is in the first driving mode, the swing arm 42 and the auxiliary drive wheel 21 are fixed relative to the bracket 6 under the action of the first limiting surface 411 and the first elastic member 43. When the cleaning robot switches from the first driving mode to the second driving mode, the first limiting surface 411 can make the swing arm 42 rotate with the rotating member 41.

[0338] and Figure 12b Compared to the V-shaped first limiting structure in the middle. Figure 12c The first limiting structure serves two purposes: it abuts against the upper edge of the swing arm 42 when the rotating component 41 rotates in the first direction, allowing the swing arm 42 to move in tandem with the rotating component 41; it also limits the swing arm 42 during the reset phase of the cleaning robot or when the cleaning robot is in the first drive mode. In other words, Figure 12c The first limiting structure in the middle can omit the third limiting structure 621.

[0339] Furthermore, the drive wheel walking unit is also configured such that, when the cleaning robot is in the first drive mode, the projection of the axis of the power input end of the swing arm 42 onto the center plane of the body 5 lies within the first quadrant of the Cartesian coordinate system of the body 5; and / or,

[0340] When the cleaning robot is in the second drive mode, the projection of the axis of the power input end of the swing arm 42 onto the center plane of the body 5 is located in the third and / or fourth quadrant of the rectangular coordinate system of the body 5.

[0341] Among them, the fuselage center plane is the center plane that extends along the front and rear direction of the fuselage 5; the rectangular coordinate system of the fuselage 5 is a rectangular coordinate system established on the fuselage center plane with the projection of the axis of rotation of component 41 on the fuselage center plane as the origin, the axis passing through the origin, parallel to the fuselage 5 and pointing towards the head of the fuselage 5 as the horizontal axis (X-axis), and the axis passing through the origin, perpendicular to the fuselage 5 and pointing towards the top of the fuselage 5 as the vertical axis (Y-axis).

[0342] In this way, it is ensured that when the cleaning robot is in the first drive mode, the secondary drive wheel 21 does not interfere with the main drive wheel 11, and the main drive wheel 11 can carry the body 5 to move stably; when the cleaning robot is in the second drive mode, the main drive wheel 11 does not interfere with the secondary drive wheel 21, and the secondary drive wheel 21 can carry the body 5 to move stably.

[0343] Depending on the different motion patterns of the swing arm 42, the obstacle-crossing process of the cleaning robot is divided into multiple stages. The obstacle-crossing process of the cleaning robot is further explained below; for example... Figures 12a to 18b As shown, the cleaning robot also has a third drive mode; when the cleaning robot is in the third drive mode, the auxiliary drive wheel 21 and the main drive wheel 11 simultaneously contact the top surface of the surface to be cleaned 81 or the obstacle 82.

[0344] The obstacle-crossing process of the cleaning robot is provided with an obstacle-crossing preparation stage, a first obstacle-crossing stage, a second obstacle-crossing stage and a reset stage which are sequentially operated in time sequence;

[0345] When the cleaning robot in normal walking judges that the obstacle 82 is crossable, the cleaning robot enters the obstacle-crossing preparation stage;

[0346] In the obstacle-crossing preparation stage, the cleaning robot is converted from the first driving mode to the second driving mode, the swing arm 42 and the auxiliary driving wheel 21 support the body 5 and make the head of the body 5 upwardly tilt; the body 5 is driven by the auxiliary driving wheel 21 to move until the cleaning robot moves to the main driving wheel 11 and / or the auxiliary driving wheel 21 contact with the obstacle 82, the obstacle-crossing preparation stage ends and the first obstacle-crossing stage is entered;

[0347] In the first obstacle-crossing stage, the cleaning robot is converted from the second driving mode to the first driving mode, the body 5 is driven by the main driving wheel 11 to cross the obstacle until the swing arm 42 moves to contact with the top surface of the obstacle 82, the first obstacle-crossing stage ends and the second obstacle-crossing stage is entered;

[0348] In the second obstacle-crossing stage, the cleaning robot is converted from the first driving mode to the third driving mode, the main driving wheel 11 and the auxiliary driving wheel 21 both contact with the obstacle 82, the body 5 is driven by the main driving wheel 11 and the auxiliary driving wheel 21 to move until the cleaning robot enters the reset stage;

[0349] In the reset stage, the cleaning robot is converted from the third driving mode to the first driving mode, the body 5 is driven by the main driving wheel 11 to continue to move.

[0350] The movement form of the swing arm 42 in the obstacle-crossing process of the cleaning robot is further described below, the swing arm 42 has a first movement state, a second movement state, a third movement state and a fourth movement state, the first movement state is that the swing arm 42 rotates with the rotating member 41 along a first direction, the second movement state is that the swing arm 42 swings relative to the rotating member 41 along the first direction, the third movement state is that the swing arm 42 rotates with the rotating member 41 along a second direction, and the fourth movement state is that the swing arm 42 swings relative to the rotating member 41 along the second direction;

[0351] In the obstacle preparation stage, the driving wheel walking unit is further configured to: the swing arm motor is controlled to operate, the rotating piece 41 rotates in the first direction under the action of the swing arm transmission chain 44; the swing arm 42 is in the first motion state under the action of the power output end of the rotating piece 41 and the first elastic piece 43, the auxiliary driving wheel 21 moves downward, and then the auxiliary driving wheel 21 is in surface contact with the to-be-cleaned surface 81 and the lowest position of the auxiliary driving wheel 21 is lower than the lowest position of the main driving wheel 11, the main driving wheel 11 is separated from the to-be-cleaned surface 81, and the cleaning robot is converted from the first driving mode to the second driving mode and is driven to move by the auxiliary driving wheel 21.

[0352] In the first obstacle crossing stage, the driving wheel walking unit is further configured to: the auxiliary driving is resisted by the resistance of the obstacle 82, the swing arm 42 is in the second motion state, the auxiliary driving wheel 21 moves upward, and then the auxiliary driving wheel 21 is separated from the to-be-cleaned surface 81 and the main driving wheel 11 is in surface contact with the top surface of the obstacle 82, the cleaning robot is converted from the second driving mode to the first driving mode and is driven to move by the main driving wheel 11.

[0353] In the second obstacle crossing stage, the driving wheel walking unit is further configured to: the main driving wheel 11 drives the robot body 5 to move, and the auxiliary driving wheel 21 is in surface contact with the top surface of the obstacle 82; the swing arm motor is controlled to operate, the rotating piece 41 rotates in the second direction under the action of the swing arm transmission chain 44; the swing arm 42 is in the third motion state under the action of the power output end of the rotating piece 41 and the first elastic piece 43, the auxiliary driving wheel 21 moves on the top surface of the obstacle 82, and then the cleaning robot is converted from the first driving mode to the third driving mode.

[0354] In the reset stage, the driving wheel walking unit is further configured to: the rotating piece 41 continues to rotate in the second direction, the swing arm 42 is in the fourth motion state and moves upward with the auxiliary driving wheel 21 under the action of the first elastic piece 43, and then the auxiliary driving wheel 21 is separated from the top surface of the obstacle 82, the cleaning robot is converted from the third driving mode to the first driving mode and is driven to move by the main driving wheel 11.

[0355] Whether the cleaning robot can successfully cross the obstacle is related to the inclination angle of the chassis 51 of the robot body 5 when the head of the robot body 5 is lifted, which is further explained as follows: in the second driving mode, the auxiliary driving wheel 21 is taken as the vertex, and the angle between the swing arm 42 and the forward horizontal line of the robot body 5 is α, which satisfies 90°≤α≤120° (see Figure 13a ); and / or, in the second driving mode, the angle between the chassis 51 of the robot body 5 and the to-be-cleaned surface 81 is β, which satisfies 5°≤β≤35° (see Figure 13a ); and / or, in the second state, the horizontal plane where the axis of the main driving wheel is located is higher than the top surface of the obstacle.

[0356] As mentioned earlier, when the support 6 and the body 5 are connected by the second connection method, the support 6 can move relative to the body 5 when the cleaning robot is moving normally; when the cleaning robot is crossing obstacles, the support 6 is fixed relative to the body 5. The second connection method between the support 6 and the body 5 will be further explained below.

[0357] like Figure 10a and Figure 10b As shown, the body 5 is provided with a fourth limiting structure 53; one end of the bracket 6 is rotatably mounted on the body 5, and the other end of the bracket 6 is provided with a sliding member 71; the sliding member 71 and the fourth limiting structure 53 have a separated state and a connected state.

[0358] When the slider 71 and the fourth limiting structure 53 are separated, the slider 71 moves away from the fourth limiting structure 53, and the bracket 6 can rotate relative to the body 5.

[0359] When the slider 71 and the fourth limiting structure 53 are in the connected state, the slider 71 and the fourth limiting structure 53 are connected together, and the bracket 6 is restricted from rotating relative to the body 5, that is, the bracket 6 is fixed relative to the body 5.

[0360] Furthermore, the sliding member 71 is disposed on the mounting base 622 at one end of the bracket 6. The mounting base 622 is provided with a sliding groove, and a second elastic member 72 is disposed between the sliding member 71 and the mounting base 622. The sliding member 71 includes a limiting part and a sliding part disposed opposite to each other. The limiting part can cooperate with the fourth limiting structure 53, and the sliding part can slide with the sliding groove. The first limiting structure also includes a second limiting surface 412.

[0361] When the cleaning robot is in the first drive mode, the second limiting surface 412 of the rotating part 41 can separate the limiting part and the fourth limiting structure 53, that is, the bracket 6 can rotate relative to the body 5.

[0362] When the cleaning robot is in the second drive mode, the limiting part and the fourth limiting structure 53 are in a connected state, that is, the bracket 6 is fixed relative to the body 5.

[0363] Optionally, the first limiting surface 411 and the second limiting surface 412 of the first limiting structure are integrally formed. The first limiting structure can be a V-shaped structure, with the opening of the V-shaped structure facing the radial outer side of the rotating part 41.

[0364] The connection position between the bracket 6 and the body 5 is further explained below; the bracket 6 is mounted on the chassis 51 of the body 5, or...

[0365] The body 5 has an internal mounting cavity 52, and the bottom of the mounting cavity 52 has an opening; the bracket 6 is installed in the mounting cavity 52 through the opening.

[0366] The swing arm transmission chain 44 is further described as follows. As shown in Figures 6a to 9b The swing arm transmission chain 44 at least includes a conversion input wheel 441 and a conversion output wheel 442, both of which are rotatable, and the shaft center of the conversion input wheel 441 and the shaft center of the conversion output wheel 442 are fixedly arranged. The output shaft of the swing arm motor is drivingly connected with the conversion input wheel 441, and the conversion output wheel 442 is in meshing transmission with the transmission teeth of the rotating member 41. When the swing arm motor operates, the conversion input wheel 441 can transmit rotation to the conversion output wheel 442, and then the swing arm 42 can rotate with the rotating disc.

[0367] The swing arm transmission chain 44 further includes a plurality of conversion intermediate wheels 443, which are sequentially drivingly connected between the conversion input wheel 441 and the conversion output wheel 442. The conversion input wheel 441 can transmit rotation to the conversion output wheel 442 through the plurality of conversion intermediate wheels 443.

[0368] The first transmission chain 31 and the second transmission chain 32 of the secondary drive wheel are further described as follows. As shown in Figures 6a to 9b The first transmission chain 31 at least includes a first transmission chain input wheel 311 and a first transmission chain output wheel 312, both of which are rotatably arranged on the rotating frame 414. The second transmission chain 32 at least includes a second transmission chain input wheel 321 and a second transmission chain output wheel 322, both of which are rotatably arranged on the swing arm 42. One end of the positioning shaft 33 is connected with the first transmission chain output wheel 312, and the other end of the positioning shaft 33 is connected with the second transmission chain input wheel 321. The second transmission chain output wheel 322 and the secondary drive wheel 21 are coaxially arranged and can synchronously rotate.

[0369] When the first transmission chain input wheel 311 is driven to rotate, the first transmission chain output wheel 312 can rotate with the second transmission chain input wheel 321, and then the second transmission chain output wheel 322 can rotate with the secondary drive wheel 21.

[0370] Specifically, as shown in Figures 6a to 6b The first transmission chain 31 further includes a plurality of first transmission chain intermediate wheels 313, each of which is rotatably arranged on the rotating frame 414, and the plurality of first transmission chain intermediate wheels 313 are sequentially drivingly connected between the first transmission chain input wheel 311 and the first transmission chain output wheel 312. The first transmission chain input wheel 311 can transmit rotation to the first transmission chain output wheel 312 through the plurality of first transmission chain intermediate wheels 313.

[0371] The second transmission chain 32 of the auxiliary driving wheel further comprises a plurality of second transmission chain intermediate wheels 323, each of which is rotatably arranged on the swing arm 42 and sequentially connected between the second transmission chain input wheel 321 and the second transmission chain output wheel 322; the second transmission chain input wheel 321 can transmit power to the second transmission chain output wheel 322 through the plurality of second transmission chain intermediate wheels 323.

[0372] The positions of the main driving wheel assembly, the swing arm assembly 4 and the auxiliary driving wheel assembly 3 on the support 6 are further described as follows: Figure 11a and Figure 11b As shown in the drawings, the support 6 comprises a support box 61 and a support cover 62, one side of the support box 61 is formed with a support first left cavity 611 and a support second left cavity 612, the main driving wheel assembly is arranged in the support first left cavity 611, and the swing arm motor is arranged in the support second left cavity 612.

[0373] The support cover 62 is arranged on the other side of the support box 61, and the support cover 62 and the support box 61 form a support first right cavity 631 and a support second right cavity 632; the support first right cavity 631 and the support first left cavity 611 are oppositely arranged and are communicated through a first support hole 6114; the support second right cavity 632 and the support second left cavity 612 are oppositely arranged and are communicated through a second support hole 6122; the rotating member 41 is arranged in the support first right cavity 631, and the rotating shaft of the rotating member 41 is rotatably arranged on the support cover 62; the swing arm transmission chain 44 is arranged in the support second right cavity 632, and the swing arm motor is arranged in the support second left cavity 612.

[0374] The output shaft of the main driving wheel motor 12 is drivingly connected with the power input end of the first transmission chain 31 of the auxiliary driving wheel through the first support hole 6114, and the output shaft of the swing arm motor is drivingly connected with the power input end of the swing arm transmission chain 44 through the second support hole 6122.

[0375] The structure is compact, the occupied space of the driving wheel walking unit is reduced, the movements of the main driving wheel 11, the swing arm 42 and the auxiliary driving wheel 21 do not interfere with each other, and the stable movement of the cleaning robot is ensured.

[0376] Specifically, the circumferential side wall of the first left cavity 611 of the bracket is formed with a circumferential upper opening 6111 and a circumferential lower opening 6112 arranged opposite to each other, the opening area of the circumferential upper opening 6111 is smaller than that of the circumferential lower opening 6112; the axial one end of the first left cavity 611 of the bracket is formed with a first axial opening 6113, and the axial other end of the first left cavity 611 of the bracket is formed with a first bracket hole 6114, the first bracket hole 6114 communicates the first left cavity 611 of the bracket and the first right cavity 631 of the bracket; the axial one end of the second left cavity 612 of the bracket is formed with a second axial opening 6121, and the axial other end of the second left cavity 612 of the bracket is formed with a second bracket hole 6122, the second bracket hole 6122 communicates the second left cavity 612 of the bracket and the second right cavity 632 of the bracket; the axial one end of the second right cavity 632 of the bracket is formed with a third axial opening 6321, the third axial opening 6321 communicates the second right cavity 632 of the bracket;

[0377] The main drive wheel 11 and the main drive wheel motor 12 are arranged in the first left cavity 611 of the bracket through the first axial opening 6113, the upper end of the main drive wheel 11 protrudes through the circumferential upper opening 6111, and the lower end of the main drive wheel 11 protrudes through the circumferential lower opening 6112 and is in contact with the surface to be cleaned 81; the conversion output wheel 442 and the rotating disc are arranged in the first right cavity 631 of the bracket, the conversion output wheel 442 is in an annular structure, and the axial one end of the rotating disc is arranged on the inside of the conversion output wheel 442; the output shaft of the main drive wheel motor 12 passes through the first bracket hole 6114 into the first right cavity 631 of the bracket and is drivingly connected with the first transmission chain input wheel 311;

[0378] The conversion input wheel 441 and the conversion intermediate wheel 443 are arranged in the second right cavity 632 of the bracket, and the swing arm motor is arranged in the second left cavity 612 of the bracket, the output shaft of the swing arm motor passes through the second bracket hole 6122 into the second right cavity 632 of the bracket and is drivingly connected with the conversion input wheel 441.

[0379] The bracket cover 62 is formed with a third bracket hole 623, the axial other end of the rotating disc is arranged in the third bracket hole 623 and located on the side of the bracket cover 62 away from the bracket box 61; the swing arm 42 and the secondary drive wheel 21 are both located on the side of the bracket cover 62 away from the bracket box 61.

[0380] The side of the bracket cover 62 away from the bracket box 61 is formed with a fourth limiting structure 53, when the secondary drive wheel 21 is in the first position, the swing arm 42 and the fourth limiting structure 53 are located on the same side of the rotating disc; the fourth limiting structure 53 is in an inverted L-shaped structure;

[0381] The support box 61 is formed with a support column 64 near one end of the second left cavity 612 of the support, the support column 64 is formed with a support shaft hole; the top of the mounting cavity 52 is formed with a support rotating shaft 65, the support rotating shaft 65 passes through the support shaft hole, so that the support 6 and the fuselage 5 are rotatably arranged together; the support cover 62 is provided with a mounting seat 622 on the side away from the support box 61 and the end away from the support shaft hole.

[0382] During the obstacle crossing process of the cleaning robot, the head of the fuselage 5 is converted from the horizontal state to the upwardly inclined state, and then to the horizontal state; in order to ensure the stability of the fuselage 5 as a whole, a damping mechanism needs to be arranged, and the damping mechanism of the cleaning robot will be further described below. The cleaning robot further comprises a driven wheel assembly, and the driven wheel assembly is arranged at least at the head of the fuselage 5. Preferably, the driven wheel assembly is also arranged at the tail of the fuselage 5.

[0383] When the cleaning robot is in the second driving mode, the head of the fuselage 5 is in the upwardly inclined state, and the maximum height at which the head is lifted by the auxiliary driving wheel 21 and the vertical height difference between the driven wheel assembly and the ground in this state are less than 10 cm, so that the cleaning robot can smoothly and stably cross the obstacle 82;

[0384] The driving wheel walking unit further comprises:

[0385] A detection module is arranged to obtain obstacle information in front of the fuselage;

[0386] A control module is arranged to determine whether the obstacle is a crossable obstacle according to the obstacle information. When the obstacle is a crossable obstacle, the control module automatically adjusts the rotation speed of the main driving wheel 11 and / or the auxiliary driving wheel 21 and / or the rotation speed ratio of the main driving wheel 11 and the auxiliary driving wheel 21 according to the obstacle information and the crossing stage, so as to cross the obstacle.

[0387] Preferably, when the obstacle is a crossable obstacle, the main driving wheel 11 and the auxiliary driving wheel 21 are synchronously preliminarily accelerated, for example, the main driving wheel 11 is increased from the first main driving rotation speed to the second main driving rotation speed, and the auxiliary driving wheel 21 is increased from the first auxiliary driving rotation speed to the second auxiliary driving rotation speed. During the obstacle crossing process, the rotation speed of the main driving wheel 11 and the auxiliary driving wheel 21 is dynamically adjusted according to the obstacle information and the crossing stage.

[0388] Further, when the detection module detects that the fuselage is suspended or slips, the control module controls the main driving wheel 11 to increase the rotation speed and the auxiliary driving wheel 21 to decrease the rotation speed, for example, the control module controls the main driving wheel 11 to increase the rotation speed to the third main driving rotation speed and controls the auxiliary driving wheel 21 to decrease the rotation speed to the third auxiliary driving rotation speed.

[0389] Further, if the detection module detects that the body successfully crosses the obstacle, the control module controls the main drive wheel 11 and the auxiliary drive wheel 21 to gradually decelerate, for example, the main drive wheel 11 is reduced from the third main drive speed to the first main drive speed, and the auxiliary drive wheel 21 is reduced from the third auxiliary drive speed to the first auxiliary drive speed; wherein the first main drive speed is 50 RPM, the second main drive speed is 100 RPM, the third main drive speed is 120 RPM, the first auxiliary drive speed is 50 RPM, the second auxiliary drive speed is 90 RPM, and the third auxiliary drive speed is 80 RPM;

[0390] Further, when the main drive wheel 11 provides main power, the auxiliary drive wheel 21 can be fine-tuned according to the obstacle information and the crossing stage to maintain overall stability.

[0391] In addition, at least the driven wheel assembly provided at the head is used to provide shock absorption to the body 5 when the second drive mode is converted to the first drive mode.

[0392] The driven wheel assembly at the head includes a driven wheel and a telescopic mechanism, the telescopic mechanism is connected between the chassis 51 of the body 5 and the driven wheel, so that the distance between the driven wheel and the chassis 51 is variable; Specifically, the telescopic mechanism realizes the variable distance between the driven wheel and the chassis 51 through the screw lifting mechanism.

[0393] The telescopic mechanism not only includes the stability of the body 5 as a whole when the cleaning robot is normally running, but also plays a role in shock absorption when crossing obstacles. The following is a further description of the telescopic mechanism. The telescopic mechanism includes a resilient mechanism; wherein, when the driven wheel is in a normal walking state of contacting the ground, the resilient mechanism is in a compressed state, and the connection between the telescopic mechanism and the driven wheel is a hard connection; when the driven wheel is in a suspended state away from the ground, the resilient mechanism is in an elongated state, and the connection between the telescopic mechanism and the driven wheel is an elastic connection.

[0394] Specifically, the telescopic mechanism is configured to: when the body 5 is lifted upward in the direction of travel with the walking mechanism as the support point, the telescopic mechanism is elongated; when the walking mechanism crosses the obstacle, the telescopic mechanism is shortened after the driven wheel assembly contacts the ground.

[0395]

Description of the motion control method of the cleaning robot

[0396] The above describes the structural embodiments provided by the embodiments of the present application, and the motion control method of the cleaning robot provided by the embodiments of the present application is described below with reference to the accompanying drawings.

[0397] Figure 19 is a flowchart of a motion control method of a cleaning robot according to an embodiment of the present application.

[0398] In the embodiments of the present application, the cleaning robot can be a first cleaning robot, the first cleaning robot comprising a machine body and a walking mechanism, the walking mechanism comprising a main drive wheel assembly, an oscillating arm assembly and a secondary drive wheel 21, the main drive wheel assembly comprising a main drive wheel 11, the oscillating arm assembly comprising an oscillating arm 42, the secondary drive wheel 21 being rotatably arranged on the main drive wheel assembly through the oscillating arm assembly, and under the action of the oscillating arm assembly, the advancing state of the machine body can be switched from a first state to a second state (or switched between the first state and the second state). In addition, optionally, two walking mechanisms are provided, one walking mechanism is arranged on the left side of the machine body, and the other walking mechanism is arranged on the right side of the machine body; the two walking mechanisms can be controlled simultaneously or independently. For detailed description of the structure of the first cleaning robot, please refer to the first description of the cleaning robot in the foregoing, which will not be repeated here.

[0399] In the embodiments of the present application, the cleaning robot can be a second cleaning robot, the second cleaning robot comprising a machine body and a walking mechanism, the walking mechanism comprising a drive wheel walking unit, the drive wheel walking unit comprising: a bracket 6 arranged on the machine body; a main drive wheel assembly comprising a main drive wheel 11 rotatably arranged on the bracket 6 and a main drive wheel power mechanism for driving the main drive wheel 11 to rotate relative to the bracket 6; an oscillating arm assembly comprising an oscillating arm 42 and an oscillating arm power mechanism drivingly connected to the power input end of the oscillating arm 42 for oscillating the oscillating arm 42; a secondary drive wheel assembly comprising a secondary drive wheel 21 rotatably arranged on the power output end of the oscillating arm 42 and a secondary drive wheel power mechanism for driving the secondary drive wheel 21 to rotate relative to the power output end of the oscillating arm 42, and under the action of the oscillating arm assembly, the advancing state of the machine body can be switched from a first state to a second state (or switched between the first state and the second state). In addition, optionally, two walking mechanisms are provided, one walking mechanism is arranged on the left side of the machine body, and the other walking mechanism is arranged on the right side of the machine body; the two walking mechanisms can be controlled simultaneously or independently. For detailed description of the structure of the second cleaning robot, please refer to the second description of the cleaning robot in the foregoing, which will not be repeated here.

[0400] That is to say, unless the first cleaning robot and the second cleaning robot are intentionally distinguished in the following, the motion control method provided in the embodiments is universal for the first cleaning robot and the second cleaning robot.

[0401] Referring to Figure 19 , the motion control method comprises the following processing.

[0402] S100: Control the cleaning robot to work in a first state.

[0403] In the first state, the cleaning robot advances the machine body on a first support surface (for example, a to-be-cleaned surface 81 in Figure 12a based on the main drive wheel 11.

[0404] S120: Switching the cleaning robot from the first state to the second state under the target working environment.

[0405] In the second state, the cleaning robot travels on the first support surface based on the auxiliary driving wheel 21 driving the body, and the main driving wheel 11 is not in contact with the first support surface.

[0406] Alternatively, as an alternative to S120, it comprises: in response to the obstacle crossing instruction, controlling the cleaning robot to switch from the first state to the second state. In the second state, the cleaning robot travels on the surface to be cleaned 81 (for example, the first support surface) based on the auxiliary driving wheel 21 driving the body.

[0407] By using the motion control method provided in this embodiment, the cleaning robot can be controlled to switch between the first state and the second state, thereby meeting different working environment requirements.

[0408] In the case where the position of the auxiliary driving wheel 21 in the second state is set to be lower than the position of the main driving wheel 11 in the first state, by using the method provided in this embodiment, the front part of the chassis 51 of the cleaning robot can be lifted in the second state during cleaning, thereby providing space for crossing the obstacle 82.

[0409] Optionally, in an implementation manner of this embodiment, the number of main driving wheels 11 is 2, and correspondingly, the number of auxiliary driving wheels 21 is also 2. In the motion control method, in the first state, all auxiliary driving wheels 21 are not in contact with the first support surface; in the second state, according to the scene requirement, one or more auxiliary driving wheels 21 can be controlled to provide driving force for the travel of the cleaning robot.

[0410] Figure 20 is a flowchart of a motion control method of a cleaning robot according to an embodiment of the present application. Referring to Figure 20 , the method comprises the following processing procedures.

[0411] S100: Controlling the cleaning robot to work in the first state.

[0412] S220: Under the target working environment, controlling the cleaning robot to switch from the first state to the second state, so as to lift the front part of the chassis of the cleaning robot.

[0413] In this embodiment, the "target working environment" is a working environment that can trigger the cleaning robot to switch from the first state to the second state. Exemplarily, the target working environment can be an environment that needs to cross the obstacle 82, for example, crossing the steps.

[0414] In one specific application of the embodiment, the user can operate to indicate whether the cleaning robot is in the target working environment, or the cleaning robot can self-detect to determine whether it is in the target working environment, and the process of S220 is triggered in response to a signal indicating that the target working environment is detected.

[0415] Alternatively, as an alternative to S220, it includes: in response to the obstacle crossing instruction, controlling the cleaning robot to switch from the first state to the second state, so that the head of the chassis 51 of the body is lifted. For example, in response to an instruction (i.e., an obstacle crossing instruction) indicating that the cleaning robot is detected to be a set distance from an obstacle, the cleaning robot is controlled to switch from the first state to the second state; or, in response to an instruction (i.e., an obstacle crossing instruction) issued by the user to the cleaning robot through a remote controller or a button on the body, the cleaning robot is controlled to switch from the first state to the second state.

[0416] With the method provided by the embodiment, the front part of the chassis 51 of the cleaning robot is lifted by controlling the cleaning robot to switch from the first state to the second state. Due to the lifting of the front part of the chassis 51, and due to the driving action of the auxiliary drive wheel 21, the cleaning robot can meet the needs of various scenarios. For example, the chassis 51 provides space for crossing the obstacle 82 in the working environment of crossing the obstacle 82, etc.

[0417] Optionally, in some specific implementations of the embodiment, one or more of the following conditions are met.

[0418] In the second state, the most forward position of the auxiliary drive wheel 21 is behind the most forward position of the main drive wheel 11 in the direction of travel of the cleaning robot. In this way, it can be avoided as much as possible that the cleaning robot cannot cross the obstacle because the auxiliary drive wheel 21 contacts the obstacle before the main drive wheel 11. Or, in the first state and the second state, the axis of the auxiliary drive wheel 21 is in front of the axis of the main drive wheel 11. Or, in the second state, the angle between the swing arm 42 and the forward horizontal line of the body is controlled to be 90°-120° with the axis of the auxiliary drive wheel 21 as the vertex. Or, in the second state, the angle between the body and the surface to be cleaned 81 is controlled to be 5°-35°. Or, in the second state, the support structure provided at the tail of the body and the auxiliary drive wheel 21 together support the body. Or, in the first state, the lowest position of the auxiliary drive wheel 21 is higher than the lowest position of the main drive wheel 11, and in the second state, the lowest position of the auxiliary drive wheel 21 is lower than the lowest position of the main drive wheel 11. Or, in the second state, the speed of the body driven by the auxiliary drive wheel 21 is not lower than the minimum travel speed of the body driven by the main drive wheel assembly. Or, in the second state, the horizontal plane where the axis of the main drive wheel is located is higher than the top surface of the obstacle. At least some of the above conditions will be described below in conjunction with the drawings.

[0419] The first state and the second state according to the embodiment of the application are described below with reference to the accompanying drawings. As shown in Figure 12a and Figure 12b is a state diagram showing the cleaning robot in the first state, Figure 13a and Figure 13b is a state diagram showing the cleaning robot in the second state.

[0420] Optionally, in an implementation of the embodiment, referring to Figures 12a-13b , the cleaning robot comprises a main drive wheel assembly (including the main drive wheel 11 and the rotating member 41), a sub drive wheel 21, a universal wheel 54 and a support structure 55, and the support structure 55 is located behind the main drive wheel 11 and the sub drive wheel 21 in the advancing direction of the cleaning robot. In the first state, the main drive wheel 11 supports the cleaning robot together with the universal wheel 54; in the second state, the sub drive wheel 21 supports the cleaning robot together with the support structure 55. Such a structure makes the cleaning robot work in a relatively stable state in both the first state and the second state.

[0421] Optionally, in an implementation of the embodiment, the inclination degree of the cleaning robot relative to the first support surface in the first state is smaller than the inclination degree of the cleaning robot relative to the first support surface in the second state. Referring to 12a and Figure 12b , in the first state, the cleaning robot is parallel or nearly parallel (the inclination degree is very small or the inclination angle is 0) to the first support surface, and in the second state, the cleaning robot has a certain inclination angle relative to the first support surface. If the inclination angle is upward in the advancing direction, it is convenient to cross the obstacle 82.

[0422] Optionally, in an implementation of the embodiment, referring to Figure 12a and Figure 12b , the height of the front part of the chassis 51 of the cleaning robot in the first state is smaller than the height of the front part of the chassis 51 of the cleaning robot in the second state. In this way, the front part of the cleaning robot can be located above the obstacle when crossing the obstacle 82, and the main drive wheel 11 can be conveniently stepped onto the obstacle.

[0423] A mode switching method according to the embodiment of the application is described below. The mode switching method refers to a method for controlling the cleaning robot to switch from the first state to the second state.

[0424] Optionally, in an implementation of the embodiment, referring to Figure 19 and Figure 20 , the mode switching method is implemented in the following way: the sub drive wheel 21 is switched from the non-working state (referring to Figure 12a , 12b), switch to an intermediate state (refer to Figure 13a , 13b ) in which the first support surface is contacted by both the main driving wheel 11 and the auxiliary driving wheel 21, and then switch to a working state (refer to

[0425] Optionally, in combination with the embodiments shown in Figure 19 and Figure 20 , in an implementation of the present embodiment, the mode switching method is implemented in the following way: switch the auxiliary driving wheel 21 from a non-working state (refer to Figure 12a , 12b ) in which the first support surface is not contacted, to an intermediate state in which the first support surface is contacted by both the main driving wheel 11 and the auxiliary driving wheel 21, and then switch to a working state (refer to Figure 13a , 13b ) in which the first support surface is contacted only by the auxiliary driving wheel 21.

[0426] Further, in an implementation, the chassis 51 can further adjust the relative position relationship between the auxiliary driving wheel 21 and the main driving wheel 11, so that the most forward position of the auxiliary driving wheel 21 is behind the most forward position of the main driving wheel 11 in the direction of travel of the cleaning robot (refer to Figure 13a , 13b ). In this way, it is beneficial to ensure that the main driving wheel 11 contacts the obstacle 82 to be climbed over first during the process of climbing over the obstacle, thereby generating an upward climbing or climbing action.

[0427] Alternatively, further, in an implementation, if in the first state, the auxiliary driving wheel 21 is located in front of the main driving wheel 11 (refer to Figure 12a , 12b ), the mode switching method further comprises: adjusting the relative position relationship between the auxiliary driving wheel 21 and the main driving wheel 11, so that the axis of the auxiliary driving wheel 21 is in front of the axis of the main driving wheel 11. In other words, even after mode switching, the axis of the auxiliary driving wheel 21 always remains in front of the axis of the main driving wheel 11, thereby ensuring the stability of the support of the cleaning robot.

[0428] Optionally, in combination with the embodiments shown in Figure 19 and Figure 20 , in an implementation of the present embodiment, the mode switching method comprises: adjusting the relative position relationship between the auxiliary driving wheel 21 and the main driving wheel 11, so that in the second state, the head position of the cleaning robot is raised to a target height, or the head position of the cleaning robot is raised to a target inclination angle. In an implementation, the target height and the target inclination angle can be determined according to the height of the detected obstacle 82. Thus, it is ensured that there is sufficient space between the head position of the cleaning robot and the first support surface in the second state to complete the climbing over the obstacle 82.

[0429] In an implementation, both the target height and the target tilt angle of the head position of the cleaning robot are adjustable, so that the cleaning robot can flexibly cope with situations with different obstacles 82 in the cleaning scene.

[0430] Optionally, in the above implementation, the relative position relationship between the auxiliary driving wheel 21 and the main driving wheel 11 is adjusted in any of the following situations. Figures 12a-13b

[0431] Situation one: the relative position relationship between the auxiliary driving wheel 21 and the main driving wheel 11 is adjusted during the continuous advancement of the cleaning robot. In this way, the continuity of the cleaning work is guaranteed, and the cleaning efficiency is improved.

[0432] Situation two: the relative position relationship between the auxiliary driving wheel 21 and the main driving wheel 11 is adjusted during the continuous rotation of the main driving wheel 11. In this way, the working state of the main driving wheel 11 is not interrupted due to mode switching, and the driving force of the main driving wheel 11 can be directly used for climbing and crossing when crossing the obstacle 82 afterwards.

[0433] Situation three: the relative position relationship between the auxiliary driving wheel 21 and the main driving wheel 11 is adjusted in the state that the cleaning robot stops advancing. In this way, the stability of the cleaning robot as a whole during mode switching is guaranteed.

[0434] Situation four: the relative position relationship between the auxiliary driving wheel 21 and the main driving wheel 11 is adjusted in the state that the main driving wheel 11 stops rotating. In this way, the stability of the cleaning robot as a whole during mode switching is guaranteed.

[0435] Optionally, in the above implementation, referring to the description in the foregoing structural embodiment, the auxiliary driving wheel 21 is rotatably fixed to one end of the swing arm 42, the other end of the swing arm 42 is positioned on the rotating member 41, and the swing arm 42 has a first swing arm state of rotating with the rotating member 41. In this case, the relative position relationship between the auxiliary driving wheel 21 and the main driving wheel 11 can be adjusted in the following way: the rotating member 41 is rotated along the advancement direction of the body in the case that the swing arm 42 is in the first swing arm state, so that the swing arm 42 and the auxiliary driving wheel 21 on the swing arm 42 rotate with the rotation of the rotating member 41.

[0436] Figure 21 is a flowchart of a motion control method of a cleaning robot according to an embodiment of the present application. The method comprises processes S100 and S220 (see Figure 19 ), and S340: after switching the cleaning robot from the first state to the second state, controlling the cleaning robot to travel to the target working environment.

[0437] ​In an example, the disengaging from the target working environment includes: in a case where the target working environment is an environment in which the obstacle 82 needs to be crossed, completing crossing of the obstacle 82 or determining that the obstacle 82 can be crossed.

[0438] By using the method provided in the embodiment, the cleaning robot can be controlled to disengage from the target working environment.

[0439] Optionally, in an implementation manner of the embodiment, in a case where the target working environment is an environment in which the obstacle 82 needs to be crossed, the controlling the cleaning robot to move to disengage from the target working environment in the processing S340 includes the following cases.

[0440] Case one: controlling the cleaning robot to move to the first intermediate motion state;

[0441] Case two: controlling the cleaning robot to move to the first intermediate motion state and move for a target motion time in the first intermediate motion state. At this time, the target motion time is used to further ensure that the cleaning robot is in a balanced state of stable movement (for example, parallel to the support surface)

[0442] In the first intermediate motion state, as shown in Figure 16a , the main drive wheel 11 and the auxiliary drive wheel 21 are in contact with the upper surface (including the corner) of the obstacle 82, and the second support surface has a height difference with the first support surface. Figure 16a

[0443] Or, in the first intermediate motion state, as shown in Figure 16a , the cleaning robot is in a balanced state relative to the second support surface.

[0444] Or, the first intermediate motion state is a state in which the position of the head of the cleaning robot changes from high to low (which can determine that the cleaning robot can or will complete crossing of the obstacle 82).

[0445] Further optionally, in a specific structure, as shown in Figures 5a-5b , the auxiliary drive wheel 21 is rotatably fixed to one end of the swing arm 42, the other end of the swing arm 42 is positioned on the rotating member 41, and the swing arm 42 has a first swing arm state (refer to the state change in Figures 12a-14b ) of rotating with the rotating member 41 and a second swing arm state of rotating relative to the rotating member 41 under the action of an external force. The external force can be the force of the obstacle 82 on the swing arm 42, including the force of the obstacle 82 resisting the movement trend of the swing arm 42. In addition, the external force can also be the tension of the elastic member arranged between the swing arm 42 and the rotating member 41, which will be described below.

[0446] ​In the second state, the swing arm 42 is in the first swing arm state. In this case, the cleaning robot can be controlled to travel to the first intermediate motion state in the following manner: the cleaning robot is controlled to travel from the second state to the first intermediate state and then to the first intermediate motion state in sequence. Referring to Figure 14a As shown, the first intermediate state comprises: the swing arm 42 is in the first swing arm state and the main drive wheel 11 is in contact with the second support surface.

[0447] In other words, in this case, the cleaning robot travels based on the second state ( Figure 13a ), and then in time sequence experiences the first intermediate state ( Figure 14a ) and the first intermediate motion state ( Figure 16a ) in sequence. In Figure 14a In the process of entering Figure 16a the state shown, the contact of the main drive wheel 11 with the second support surface provides a force for climbing over the obstacle 82, thereby achieving the overrunning of the obstacle 82.

[0448] Further optionally, between the first intermediate state and the first intermediate motion state, there is also a second intermediate state.

[0449] In one case, the second intermediate state, as shown in Figure 15a , is that the swing arm 42 is in the second swing arm state, the main drive wheel 11 is in contact with the second support surface, and the swing arm 42 is in contact with the second support surface.

[0450] In another case, the second intermediate state, as shown, is that the swing arm 42 is in the second swing arm state, the main drive wheel 11 is in contact with the second support surface, and the auxiliary drive wheel 21 is in contact with the second support surface. This case is particularly likely to occur when the swing arm 42 is short and the main drive wheel 11 and the auxiliary drive wheel 21 are small in distance.

[0451] In other words, in the above two cases, the cleaning robot travels based on the second state ( Figure 13a ), and then in time sequence experiences the first intermediate state ( Figure 14a ), the second intermediate state ( Figure 15a ), and the first intermediate motion state ( Figure 16a ) in sequence, thereby achieving the overrunning of the obstacle 82. Among them, the first intermediate state can be understood as the last state of the aforementioned obstacle overrunning preparation phase or the initial state of the first obstacle overrunning phase, the second intermediate state can be understood as a state that may exist in the first obstacle overrunning phase, and the first intermediate motion state can be understood as a state that exists in the aforementioned second obstacle overrunning phase.

[0452] Optionally, in an implementation of the embodiment, in the processing S340, in the case that the target working environment is an environment in which the obstacle 82 needs to be crossed, the following manner is adopted to control the cleaning robot to move out of the target working environment: the cleaning robot is controlled to move to a second intermediate motion state. The second intermediate state is a state in which the cleaning robot is in a balanced state relative to the second support surface, or the second intermediate state is a state in which the position of the head of the cleaning robot changes from high to low.

[0453] Figure 22 is a flowchart of a motion control method of a cleaning robot according to an embodiment of the present application. Referring to Figure 22 , the motion control method includes the processing S100, S220, S340 (see the related description in the embodiment shown in Figure 21 ) and S460: controlling the cleaning robot to switch from the current wheel motion state to the first state. With this implementation, the reset of the swing arm 42 can be realized, and thus the preparation for the next time of crossing the obstacle 82 is made.

[0454] Optionally, in an implementation of the embodiment, as shown in Figure 16a , the current wheel motion state includes a first wheel motion state in which the main drive wheel 11 and the auxiliary drive wheel 21 are both in contact with the second support surface, and the second support surface has a height difference with the first support surface, and the second support surface is higher than the first support surface.

[0455] Optionally, in an implementation of the embodiment, the current wheel motion state includes a second wheel motion state in which the main drive wheel 11 is in contact with the second support surface and the auxiliary drive wheel 21 is not in contact with the second support surface. The second support surface has a height difference with the first support surface, and the second support surface is higher than the first support surface. In this implementation, the axis of the auxiliary drive wheel 21 is located behind the axis of the main drive wheel 11, so that in the case that the main drive wheel 11 is in contact with the second support surface, the auxiliary drive wheel 21 is not in contact with the second support surface.

[0456] Optionally, in an implementation of the embodiment, the processing S460 is implemented in the following manner:

[0457] The relative position relationship between the auxiliary drive wheel 21 and the main drive wheel 11 is adjusted, so that the auxiliary drive wheel 21 is moved from the current position to a second target position. For example, as shown in Figure 18a , in the second target position, the auxiliary drive wheel 21 can be hidden inside the body shell. In comparison with Figure 18a and Figure 16a , the lowest position of the auxiliary drive wheel 21 in the first intermediate motion state ( Figure 16a ) is lower than the lowest position of the auxiliary drive wheel 21 in the second target position ( Figure 18a ), and the lowest position of the auxiliary drive wheel 21 in the second target position is higher than the lowest position of the main drive wheel 11 ( Figure 16a). With this implementation, the resetting of the swing arm 42 can be achieved by adjusting the relative position relationship between the sub-driving wheel 21 and the main driving wheel 11.

[0458] It should be noted that the following description is made with reference to Figures 16a-18a During the resetting of the swing arm 42, in the case where a torsion spring or similar structure is provided between the swing arm 42 and the rotating member 41, there can be a case where the sub-driving wheel 21 continuously contacts the second support surface for a certain period of time.

[0459] Optionally, in the present implementation, in the case where the current state is the first current wheel driving state, the axis of the sub-driving wheel 21 is located behind the axis of the main driving wheel 11. At this time, the relative position relationship between the sub-driving wheel 21 and the main driving wheel 11 is adjusted by adjusting the position of the sub-driving wheel 21 relative to the main driving wheel 11, so that the axis of the sub-driving wheel 21 is in front of the axis of the main driving wheel 11. Specifically, with reference to Figure 16a , the axis of the sub-driving wheel 21 is behind the axis of the main driving wheel 11, and after Figure 18a , the axis of the sub-driving wheel 21 is in front of the axis of the main driving wheel 11. In this way, the resetting of the swing arm 42 is achieved.

[0460] More specifically, in one specific structure, with reference to Figures 8a-8d , the sub-driving wheel 21 is rotatably fixed to one end of the swing arm 42, the other end of the swing arm 42 is positioned on the rotating member 41, and the swing arm 42 has a first swing arm state (see the state change of Figures 12a-14b ) that rotates with the rotation of the rotating member 41 and a second swing arm state (see the state change of Figure 15a and Figure 16a ) that rotates relative to the rotating member 41 under the action of an external force. In this structure, by rotating the rotating member 41 in the backward direction of the cleaning robot, the swing arm 42 is caused to enter the first swing arm state from the second swing arm state. With reference to Figure 16a , Figure 17a and Figure 18a , by rotating the rotating member 41 in the backward direction of the cleaning robot, the swing arm 42 is caused to move and in turn change the position of the sub-driving wheel 21 under the action of the rotating member 41.

[0461] For example, in the process of the swing arm 42 entering the first swing arm state from the second swing arm state, the swing arm 42 includes a first stage of not rotating with the rotating member 41 (for example, in the case of connecting a torsion spring between the swing arm 42 and the rotating member 41, the torsion spring is deformed to generate the first stage), a second stage of the swing arm 42 rotating in the same direction as the rotating member 41 and the rotating speed of the former being greater than that of the latter (for example, in the case of connecting a torsion spring between the swing arm 42 and the rotating member 41, when the torsion spring is deformed enough, under the joint action of the rotation of the rotating member 41 and the deformation of the torsion spring, the swing arm 42 is separated from the second supporting surface and rotates upward quickly), and a third stage of the swing arm 42 rotating with the rotating member 41 (in the case of no frictional resistance of the second supporting surface to the auxiliary driving wheel 21, the torsion spring can realize the limiting action between the rotating member 41 and the swing arm 42 in the natural state, so that the swing arm 42 rotates with the rotating member 41). Of course, other possibilities also exist, for example, when the swing arm 42 is just separated from the friction of the second supporting surface when the rotating member 41 rotates to the limit position, then there is no third stage at this time, or the third stage in this case is understood as a state reached instantaneously.

[0462] While adjusting the rotation of the rotating member 41, control actions associated with other components can be performed. For example, in a specific structure, referring to Figures 4c-4d 、 Figures 5a-5b 、 Figures 10a-11b , the cleaning robot is provided with a slide 71 that is slidable on the support 6 of the main driving wheel assembly, and is provided with a fourth limiting structure 53 on the body 5 of the cleaning robot for engaging with the slide 71, and is provided with a second limiting surface 412 on the rotating member 41 for abutting with the slide 71. At this time, adjusting the rotation angle of the rotating member 41 includes: adjusting the rotating member 41 to a target angle, at which the second limiting surface 412 abuts with the slide 71 to make the slide 71 in a separated state of not being engaged by the fourth limiting structure 53, and in the case that the second limiting surface 412 does not abut with the slide 71, the slide 71 is in a matched state of being engaged by the fourth limiting structure 53.

[0463] In this way, the slide 71 can be controlled to achieve the effects mentioned in the foregoing structural embodiments while controlling the swing arm 42 to reset, which will not be described here.

[0464] The embodiment of the application further provides a motion control method of a cleaning robot, wherein the cleaning robot can be a first cleaning robot, the first cleaning robot comprises a machine body and a walking mechanism, the walking mechanism comprises a main driving wheel assembly, a swing arm assembly and a secondary driving wheel 21, the main driving wheel assembly comprises a main driving wheel 11, the swing arm assembly comprises a swing arm 42, and the secondary driving wheel 21 is rotatably arranged on the main driving wheel assembly through the swing arm assembly; under the action of the swing arm assembly, the advancing state of the machine body can be switched from a first state to a second state (or switched between the first state and the second state). In addition, optionally, two walking mechanisms are arranged, one walking mechanism is arranged on the left side of the machine body, and the other walking mechanism is arranged on the right side of the machine body; the two walking mechanisms can be controlled simultaneously or independently. For the detailed description of the structure of the first cleaning robot, refer to the first description of the cleaning robot in the foregoing, and details are not described herein.

[0465] In the embodiment of the motion control method provided by the application, the cleaning robot can be a second cleaning robot, the second cleaning robot comprises a machine body and a walking mechanism, the walking mechanism comprises a driving wheel walking unit, the driving wheel walking unit comprises: a support 6 arranged on the machine body; a main driving wheel assembly comprising a main driving wheel 11 rotatably arranged on the support 6 and a main driving wheel power mechanism for driving the main driving wheel 11 to rotate relative to the support 6; a swing arm assembly comprising a swing arm 42 and a swing arm power mechanism drivingly connected to the power input end of the swing arm 42 for swinging the swing arm 42; and a secondary driving wheel assembly comprising a secondary driving wheel 21 rotatably arranged on the power output end of the swing arm 42 and a secondary driving wheel power mechanism for driving the secondary driving wheel 21 to rotate relative to the power output end of the swing arm 42, under the action of the swing arm assembly, the advancing state of the machine body can be switched from a first state to a second state (or switched between the first state and the second state). In addition, optionally, two walking mechanisms are arranged, one walking mechanism is arranged on the left side of the machine body, and the other walking mechanism is arranged on the right side of the machine body; the two walking mechanisms can be controlled simultaneously or independently. For the detailed description of the structure of the second cleaning robot, refer to the second description of the cleaning robot in the foregoing, and details are not described herein.

[0466] That is to say, unless the first cleaning robot and the second cleaning robot are intentionally distinguished, the motion control method provided by the embodiment is universal for the first cleaning robot and the second cleaning robot.

[0467] In the embodiment, as shown by the solid line box in the figure, Figure 42 the motion control method comprises:

[0468] S500: Control the cleaning robot to work in a first state. In the first state, the cleaning robot drives the machine body to advance on a surface to be cleaned based on the main driving wheel.

[0469] S520: In response to the obstacle-crossing instruction, the cleaning robot is controlled to switch from the first state to the second state, so that the head of the chassis of the robot body is lifted. In the second state, the cleaning robot drives the robot body to travel on the surface to be cleaned based on the auxiliary drive wheel.

[0470] With the embodiment, the front part of the chassis 51 of the cleaning robot is lifted by switching the cleaning robot from the first state to the second state. Due to the lifting of the front part of the chassis 51 and the driving effect of the auxiliary drive wheel 21, the cleaning robot can meet the needs of various scenes. For example, the chassis 51 provides space for crossing the obstacle 82 in the working environment of crossing the obstacle 82, etc.

[0471] It should be noted that S520 in the embodiment can be understood as an alternative or equivalent way of S100 in the foregoing embodiment, and S502 can be understood as an alternative or equivalent way of S120 and S220 in the foregoing embodiment. Therefore, the understanding of the implementation mode, beneficial effects, etc. of S500 and S520 in the embodiment can also be correspondingly referred to the description of S100 and S120 and S220 in the foregoing embodiment.

[0472] Optionally, in an implementation mode of the embodiment, the first state and / or the second state meet at least one of the following conditions.

[0473] In the second state, the most forward position of the auxiliary drive wheel 21 is controlled to be behind the most forward position of the main drive wheel 11 in the traveling direction of the cleaning robot. In this way, the situation that the cleaning robot cannot cross the obstacle because the auxiliary drive wheel 21 contacts the obstacle first can be avoided as much as possible. Or, in the first state and the second state, the axis of the auxiliary drive wheel 21 is controlled to be in front of the axis of the main drive wheel 11. Or, in the second state, the angle between the swing arm 42 and the forward horizontal line of the robot body is controlled to be 90°-120° with the axis of the auxiliary drive wheel 21 as the vertex. Or, in the second state, the angle between the robot body and the surface to be cleaned 81 is controlled to be 5°-35°. Or, in the second state, the support structure arranged at the tail of the robot body is controlled to support the robot body together with the auxiliary drive wheel 21. Or, in the first state, the lowest position of the auxiliary drive wheel 21 is controlled to be higher than the lowest position of the main drive wheel 11, and in the second state, the lowest position of the auxiliary drive wheel 21 is controlled to be lower than the lowest position of the main drive wheel 11. Or, in the second state, the traveling speed of the robot body driven by the auxiliary drive wheel 21 is controlled to be not lower than the minimum traveling speed of the robot body driven by the main drive wheel assembly. Or, in the second state, the horizontal plane where the axis of the main drive wheel is located is higher than the top surface of the obstacle.

[0474] Optionally, in one implementation of the embodiment, in S520, the cleaning robot is controlled to switch from the first state to the second state in response to an instruction (i.e., the obstacle crossing instruction) indicating that the cleaning robot is detected to be at the set distance from the obstacle in the direction of travel of the cleaning robot, or in response to an instruction (i.e., the obstacle crossing instruction) issued by the user to the cleaning robot through the remote controller or the button on the body, or in response to an instruction (i.e., the obstacle crossing instruction) indicating that the cleaning robot is detected to be at the set distance from the obstacle in the direction of travel of the cleaning robot and the height of the obstacle is less than the set height.

[0475] Optionally, in one implementation of the embodiment, in S520, the cleaning robot is controlled to switch from the first state to the second state, including: controlling the swing arm 42 to swing downward of the body to adjust the relative position relationship between the auxiliary drive wheel 21 and the main drive wheel 11, so that in the second state, the head position of the cleaning robot is raised to a target height or a target inclination angle, the target height and the target inclination angle being a set value (e.g., a determined value set according to experimental values or according to empirical values), or being related to the height of the obstacle in the target working environment. In addition, the target height and the target inclination angle can have multiple set values, and the multiple set values correspond to different obstacle crossing states of the cleaning robot respectively. For example, the first target height / first target inclination angle can be used when preparing to cross the obstacle, and the second target height / second target inclination angle can be used when attempting to cross the obstacle for the second time after the first obstacle crossing fails. Exemplarily, the first target height / first target inclination angle is greater than the second target height / second target inclination angle.

[0476] Optionally, in one implementation of the embodiment, in S520, in response to the obstacle crossing instruction, the swing arm 42 is controlled to swing downward of the body during the process of controlling the cleaning robot to continue advancing, so that the cleaning robot is switched from the first state to the second state. Or, in response to the obstacle crossing instruction, the cleaning robot is controlled to stop advancing, and the swing arm 42 is controlled to swing downward of the body, so that the cleaning robot is switched from the first state to the second state.

[0477] In one embodiment of the present application, as shown by the dashed box in Figure 42 S520, it further includes S540: in the second state, performing obstacle crossing pre-control processing in response to the obstacle crossing blocked instruction, the obstacle crossing pre-control processing at least including controlling the swing arm to swing to change the posture of the swing arm. Wherein, the posture of the swing arm can be understood as the inclination degree of the swing arm relative to the surface to be cleaned.

[0478] Wherein, the swing of the swing arm 42 can adjust the distance between the auxiliary drive wheel 21 and the chassis 51 of the body, and further adjust the head lifting degree of the chassis 51 of the body, or the swing of the swing arm 42 can adjust the included angle between the swing arm 42 and the forward horizontal line of the body.

[0479] Specifically, the obstacle-avoidance-pre-control processing in response to the obstacle-avoidance-obstruction instruction includes at least one of the following cases.

[0480] Case one: in response to the first obstacle-avoidance-obstruction instruction indicating that the head of the machine body is blocked by the obstacle, the swing arm 42 is controlled to swing downward of the machine body to increase the head-lifting degree of the chassis of the machine body. For example, in the process of traveling based on the second state, if a collision is detected by the collision sensor on the head of the machine body (front collision structure), the swing arm 42 can be controlled to swing downward of the machine body to increase the head-lifting degree of the chassis of the machine body. Of course, before swinging, the height of the obstacle can be compared with the obstacle-avoidance height of the cleaning robot (i.e., the maximum height of the obstacle that can be climbed), and if it is determined that the former is less than the latter and thus it is determined that it can be climbed, the swing processing is performed. In the case of determining that it cannot be climbed, a reminder (in the form of sound, light, electricity, etc. without limitation) can be issued to attract the attention of the user, or the work can be paused, or the travel route can be changed.

[0481] Case two: in response to the second obstacle-avoidance-obstruction instruction indicating that the auxiliary drive wheel 21 contacts the obstacle while the main drive wheel 11 does not contact the obstacle, the swing arm 42 is controlled to swing upward of the machine body to reduce the head-lifting degree of the chassis of the machine body. For example, the auxiliary drive wheel 21 is detected by the camera to contact the obstacle while the main drive wheel 11 does not contact the obstacle, and the swing arm 42 is controlled to swing upward of the machine body. In this way, the head of the chassis of the machine body is lowered to facilitate the contact of the main drive wheel 11 with the obstacle to complete the climbing. Of course, there can be a case where the swing arm 42 is controlled to swing multiple times and still cannot make the main drive wheel 11 contact the obstacle, in which case, reference can be made to case three, or the cleaning robot can issue a reminder (in the form of sound, light, electricity, etc. without limitation) to attract the attention of the user, or pause the work, or change the travel route.

[0482] In addition, in response to the second obstacle-avoidance-obstruction instruction, the swing arm 42 can also be controlled to continuously swing downward of the machine body to move the machine body forward, so that on the one hand, the main drive wheel 11 moves forward as the machine body moves forward, improving the possibility of the main drive wheel 11 removing the obstacle; on the other hand, if the swing arm 42 is continuously controlled to swing after the swing arm 42 swings to the limit position (perpendicular to the surface to be cleaned), the swing arm 42 will be bent backward, and in some scenarios, the main drive wheel 11 can contact the obstacle as the machine body falls downward.

[0483] In the third case, in response to the third obstacle-surmounting blocked instruction indicating that the lowest position of the main driving wheel 11 cannot contact the obstacle, the swing arm 42 is controlled to swing downward relative to the machine body, so that the angle between the swing arm 42 and the forward horizontal line of the machine body is 90-95 degrees or 91-94 degrees with the axis of the auxiliary driving wheel 21 as the vertex. In this way, in the case where it is determined that the lowest position of the main driving wheel 11 cannot contact the obstacle, the swing arm 42 can be controlled to maintain the cleaning robot in the second state, while making the swing arm 42 as close as possible to the state of being perpendicular to the cleaning surface 81. In this way, at a certain speed (which can be a set speed obtained through pre-experiment), the swing arm 42 can be relatively easily bent backward relative to the rotating member 41 due to the obstruction of the obstacle, and then the main driving wheel 11 falls on the surface of the obstacle.

[0484] In the third case, for example, according to experimental data or according to the specifications of the swing arm 42, the main driving wheel 11 and the auxiliary driving wheel 21, etc., it can be determined in advance which heights are heights at which the cleaning robot cannot make the main driving wheel 11 contact the obstacle before the auxiliary driving wheel 21 in the second state, and these heights are pre-stored as non-contact heights. In this way, in the second state, the cleaning robot can determine that the height of the obstacle belongs to the non-contact height, and then control the angle between the swing arm 42 and the forward horizontal line of the machine body to be 90-95 degrees (with the axis of the auxiliary driving wheel 21 as the vertex).

[0485] In addition, in addition to the above three cases, the swing arm can also be adjusted step by step in response to the obstacle-surmounting blocked instruction, and the obstacle is surmounted after each step of swing adjustment, until the obstacle cannot be surmounted after a certain number of swing adjustments, or until the obstacle is successfully surmounted within a certain number of times. In this way, the success rate of obstacle surmounting can be improved. The amplitude of each step of swing adjustment can be determined according to experimental data, which is not limited here.

[0486] The step-by-step swing adjustment can be step-by-step adjustment along a first direction (e.g., clockwise), and then step-by-step adjustment along a second direction different from the first direction (e.g., counterclockwise); or it can be step-by-step adjustment along the first direction to a target position (e.g., a position close to making the swing arm perpendicular to the cleaning surface, or a position close to making the main driving wheel abut against the cleaning surface), and then step-by-step adjustment along the second direction.

[0487] In this embodiment, in S540, the obstacle-surmounting pre-control process further includes: before controlling the swing arm to swing, controlling the cleaning robot to move backward (e.g., a set distance or a set time at a set speed); and after controlling the swing arm to swing, controlling the cleaning robot to move forward. In this way, space can be created for controlling the swing arm 42 to swing, and interference of the obstacle with the swing arm 42 due to the cleaning robot being too close to the obstacle can be avoided.

[0488] In one embodiment of the present application, as Figure 42 As shown in the dashed box, after S520, or after S540, S560 is further included: in response to the obstacle-crossing completion instruction, the cleaning robot is controlled to switch to the first state. That is, the cleaning robot is controlled to switch from the state after completing the obstacle-crossing to the first state.

[0489] The obstacle-crossing completion instruction is used to indicate that the obstacle-crossing has been completed, for example, the stair climbing or stair descending has been completed, etc.

[0490] For example, in response to the instruction indicating that the robot body is in a balanced state relative to the to-be-cleaned surface 81 detected after the obstacle-crossing instruction, the cleaning robot is controlled to switch to the first state. Wherein, the robot body being in a balanced state relative to the to-be-cleaned surface 81 belongs to the conventional understanding in the art, for example, in some scenarios, the attitude of the cleaning robot can be detected according to the built-in sensors (such as accelerometer, gyroscope, etc.), and whether the cleaning robot is in a balanced state relative to the to-be-cleaned surface 81 is determined according to whether the attitude of the cleaning robot is maintained stable within a set time; in some scenarios, whether the cleaning robot is in a balanced state can also be determined according to whether the robot body (for example, the chassis of the robot body or the upper surface of the robot body) and the to-be-cleaned surface 81 are parallel or close to parallel within a set time.

[0491] By adopting the present embodiment, the cleaning robot can be controlled to switch to the first state after the obstacle-crossing, so as to restore the normal traveling state and prepare for the next obstacle-crossing.

[0492] Optionally, in one implementation manner of the present embodiment, in S560, the cleaning robot can be controlled to switch to the first state in the following manner.

[0493] The swing arm 42 is controlled to swing upwards relative to the robot body, so that the cleaning robot is switched from the first intermediate motion state to the first state, in the first intermediate motion state, the main drive wheel 11 and the auxiliary drive wheel 21 are both in contact with the to-be-cleaned surface 81 (refer to Figure 16a Here, the to-be-cleaned surface 81 can be the surface of the obstacle, or the to-be-cleaned surface newly arrived after passing through the obstacle). That is, after the obstacle-crossing, the cleaning robot can be in the first intermediate motion state.

[0494] Or, the swing arm 42 is controlled to swing upwards relative to the robot body, so that the auxiliary drive wheel 21 is out of contact with the to-be-cleaned surface 81, thereby making the cleaning robot switch to the first state (refer to Figures 17a-18a ).

[0495] Or, the swing arm 42 is controlled to swing upwards relative to the robot body to a target position, thereby making the cleaning robot switch to the first state (refer to Figure 18a), the auxiliary driving wheel 21 does not contact the surface 81 to be cleaned at the target position. The target position can be a preset initial position of the swing arm 42. After each time the obstacle is crossed, the swing arm 42 is reset to the initial position.

[0496] In response to the obstacle-crossing completion instruction, the swing arm 42 can be controlled to swing upward relative to the body during the process of controlling the cleaning robot to continue advancing, or the cleaning robot can be controlled to stop advancing and the swing arm 42 can be controlled to swing upward relative to the body to reset the swing arm 42.

[0497] It should be noted that the swing arm 42 is controlled to swing downward relative to the body in S520 and S540 mentioned above, and the swing arm 42 is controlled to swing upward relative to the body in S560. The control process is described in detail below in combination with specific structures.

[0498] In the first cleaning robot and the second cleaning robot mentioned above, the swing arm 42 has a first movement state of synchronously rotating with the clockwise rotation of the rotating member 41.

[0499] In S520 and S540, whether it is the first cleaning robot or the second cleaning robot, the swing arm 42 is controlled to swing downward relative to the body in the following manner: the rotating member 41 is controlled to rotate clockwise to drive the swing arm 42 to rotate clockwise in the first movement state (as shown in Figure 12a 、 Figure 13a ). The rotating member 41 has an inner side portion facing the inner side of the body and an outer side portion facing the outer side of the body. The clockwise and counterclockwise mentioned in the embodiments of the present application refer to the clockwise and counterclockwise when the rotating member 41 is observed from a position opposite to the outer side portion of the rotating member 41 relative to the outer side of the body. The clockwise rotation of the rotating member 41 refers to the clockwise rotation of the rotating member 41 observed from the right side of the body, and the counterclockwise rotation of the rotating member 41 refers to the counterclockwise rotation of the rotating member 41 observed from the right side of the body.

[0500] In addition, in the first cleaning robot and the second cleaning robot, the swing arm 42 has a third motion state of rotating with the counterclockwise rotation of the rotating member 41 and a fourth motion state of swinging forward relative to the rotating member 41. At this time, in S560, whether it is the first cleaning robot or the second cleaning robot, the swing arm 42 is controlled to swing upward of the machine body in the following manner: the rotating member 41 is controlled to rotate counterclockwise, so that the swing arm 42 sequentially experiences the third motion state in which the auxiliary driving wheel 21 is in contact with the to-be-cleaned surface 81 and the fourth motion state in which the auxiliary driving wheel 21 moves away from the to-be-cleaned surface 81. At this time, in S540, whether it is the first cleaning robot or the second cleaning robot, the swing arm 42 can be controlled to swing upward of the machine body in the following manner while maintaining the second state: the rotating member 41 is controlled to rotate counterclockwise, so that the swing arm 42 swings upward of the machine body relative to the machine body under the action of gravity.

[0501] In an embodiment of the present application, as shown in Figure 43 S520 or S540, further comprising:

[0502] S562: Control the cleaning robot to move to a first intermediate motion state. In addition, the cleaning robot can also be controlled to move to the first intermediate motion state and move in the first intermediate motion state for a target time. In the first intermediate motion state, the main driving wheel 11 and the auxiliary driving wheel 21 are in contact with the to-be-cleaned surface 81 or the upper surface of the obstacle, or in the first intermediate motion state, the cleaning robot is in a balanced state relative to the to-be-cleaned surface 81 or the upper surface of the obstacle, or in the first intermediate motion state, the position of the head of the cleaning robot changes from high to low. Those skilled in the art should understand that when the obstacle is a relatively narrow threshold, the cleaning robot cleans the to-be-cleaned surface after crossing the threshold, at this time, the main driving wheel 11 and the auxiliary driving wheel 21 are in contact with the to-be-cleaned surface 81. When the obstacle is an indoor staggered floor, the upper surface of the obstacle is also the to-be-cleaned surface.

[0503] In which the cleaning robot can be controlled to move to the first intermediate motion state in the following manner: control the cleaning robot to sequentially move to a first intermediate state and the first intermediate motion state; in the first intermediate state, the main driving wheel 11 is in contact with the upper surface of the obstacle, and the auxiliary driving wheel 21 is in contact with the to-be-cleaned surface (see Figure 14a ).

[0504] Or, the cleaning robot can be controlled to move to the first intermediate motion state in the following manner: control the cleaning robot to sequentially move to a first intermediate state, a second intermediate state, and the first intermediate motion state; in the first intermediate state, the main driving wheel 11 is in contact with the upper surface of the obstacle, and the auxiliary driving wheel 21 is in contact with the to-be-cleaned surface (see Figure 14a); in the second intermediate state, the main driving wheel 11 is in contact with the upper surface of the obstacle and the swing arm 42 is in contact with the upper surface of the obstacle (see Figure 15a ) in the first intermediate state.

[0505] The first intermediate state can be understood as the last state of the aforementioned obstacle-crossing preparation phase or the initial state of the first obstacle-crossing phase, the second intermediate state can be understood as a state that can exist in the first obstacle-crossing phase, and the first intermediate motion state can be understood as a state that exists in the aforementioned second obstacle-crossing phase.

[0506] In this embodiment, based on the first cleaning robot and the second cleaning robot described above, the swing arm 42 further has a second motion state in which the swing arm 42 swings backward relative to the rotating member 41. The control of the cleaning robot to sequentially move to the first intermediate state, the second intermediate state, and the first intermediate motion state includes: controlling the cleaning robot to continuously move and controlling the rotating member 41 not to rotate, so that the cleaning robot sequentially moves to the first intermediate state, the second intermediate state, and the first intermediate motion state; in the second intermediate state, the swing arm 42 is in the second motion state.

[0507] In this embodiment, further, after S562, S564 is further included: control the swing arm to swing upward relative to the body, so that the cleaning robot switches from the first intermediate motion state to the first state. That is, the aforementioned reset phase is completed. For details of S564, please refer to the description of S560, which will not be repeated here. In addition, those skilled in the art should understand that S562 can also be used as a preceding step of S560. Figure 42

[0508] In this embodiment, for more detailed descriptions of the first motion state, the second motion state, the third motion state, and the fourth motion state, please refer to the descriptions in the structural embodiment described above, which will not be repeated here.

[0509] In an embodiment of the present application, at least one of the first main rotation speed of the main driving wheel in the first state, the second rotation speed of the auxiliary driving wheel in the second state, the third rotation speed of the main driving wheel in the first intermediate state, and the fourth rotation speed of the main driving wheel in the first intermediate motion state can be determined according to environmental parameters. The environmental parameters include at least one of obstacle type, obstacle height, surface to be cleaned, and room attribute. The obstacle type can include stairs, blocks, garbage, etc.; the obstacle height can include multiple height levels, different levels corresponding to different height intervals; the type of surface to be cleaned can be a blanket, a floor, etc.; and the room attribute can be a bedroom, a living room, etc. For example, the obstacle type can be detected by a camera, the obstacle height can be detected by a radar, the type of surface to be cleaned can be determined by a camera or friction detection, and the room attribute can be determined according to the current position of the robot and a pre-stored indoor map. ​

[0510] In the embodiment, one or more of the following processes can be performed: in the first state, the main drive wheel is controlled to rotate at a first rotating speed; in the second state, the auxiliary drive wheel is controlled to rotate at a second rotating speed; in the case where the cleaning robot travels to the first intermediate state based on the second state, the main drive wheel is controlled to rotate at a third rotating speed; in the case where the cleaning robot travels to the first intermediate motion state, the main drive wheel is controlled to rotate at a fourth rotating speed; after the cleaning robot resumes the first state again, the rotating speed of the main drive wheel at this time is determined again according to the environmental parameter. The control of the rotating speed of each wheel can be realized by controlling the output shaft rotating speed of the main drive motor 12. Exemplarily, in order to ensure the stability of obstacle crossing, the third rotating speed can be controlled to be ≥ the second rotating speed > the first rotating speed, and the third rotating speed > the fourth rotating speed.

[0511] In the embodiment, the cleaning robot can store, exemplarily, a first correspondence relationship between the environmental parameter and the rotating speed of the main drive wheel in the first state, a second correspondence relationship between the environmental parameter and the rotating speed of the auxiliary drive wheel in the second state, a third correspondence relationship between the environmental parameter and the rotating speed of the main drive wheel in the first intermediate state, and a fourth correspondence relationship between the environmental parameter and the rotating speed of the main drive wheel in the first intermediate motion state. In this way, the rotating speed of the auxiliary drive wheel 21 and the rotating speed of the main drive wheel 11 in different stages or different states can be determined according to the detected environmental parameter.

[0512] In the embodiment, the first correspondence relationship, the second correspondence relationship, the third correspondence relationship and the fourth correspondence relationship corresponding to a single environmental parameter or a combination of at least two environmental parameters can be determined by experimental data. And the second correspondence relationship and the third correspondence relationship can change due to the difference in the purpose of obstacle crossing. Among them, the purpose of obstacle crossing can be at least one or a combination of more than one of the following: to ensure the success rate of crossing obstacles, to ensure the speed of crossing obstacles (for example, high-speed crossing to improve cleaning efficiency), to ensure the safety of the robot body when crossing obstacles (for example, to minimize the possible damage to the robot body), etc.

[0513] The specific content of the first to fourth correspondence relationships can be obtained according to experimental data, which is not specifically limited in the embodiment. By using the embodiment, the success rate, speed or safety of the robot body when crossing obstacles can be correspondingly improved.

[0514] Those skilled in the art should understand that the first to fourth correspondence relationships in the embodiment can be a predetermined mapping relationship, a predetermined function relationship, or carried by a pre-trained machine learning model, neural network model or deep learning model, etc. These relationships can be obtained according to experiments as described above.

[0515] By means of the embodiment, the cleaning robot can flexibly adjust the rotation speeds of the main driving wheel and the auxiliary driving wheel in different environments, for example, when facing different heights and types of obstacles, so as to realize efficient and stable obstacle crossing actions, and improve the obstacle crossing capability.

[0516] Exemplarily, in an implementation manner of the embodiment, the rotation speed of the auxiliary driving wheel in the second state is controlled to be greater than the rotation speed of the auxiliary driving wheel in the first state, so as to improve the traveling speed of the cleaning robot in the second state, and even control the traveling speed of the cleaning robot in the second state to be greater than the traveling speed in the first state. Alternatively, the rotation speed of the main driving wheel in the first intermediate state is controlled to be greater than the rotation speed of the main driving wheel in the first state, or greater than the rotation speed of the main driving wheel in the second state, so as to improve the obstacle crossing success rate. In the first intermediate motion state, the rotation speed of the main driving wheel is controlled to be less than the rotation speed of the main driving wheel in the first intermediate state, so as to facilitate the reset processing of the swing arm mentioned in the foregoing.

[0517] The embodiment of the present application also provides a motion control method of a cleaning robot. As mentioned before, the cleaning robot is the first cleaning robot or the second cleaning robot. In addition, both of them include the driven wheel assembly 200 mentioned in the foregoing, which is arranged on the chassis 51 of the body, and includes the driven wheel 210 and the telescopic mechanism. The telescopic mechanism is connected between the chassis 51 and the driven wheel 210, and the telescopic mechanism can change the distance between the driven wheel and the chassis through the screw lifting mechanism 220.

[0518] In the embodiment, the motion control method can further include the following processing in addition to the processing of Figure 42 and Figure 43 .

[0519] After S520, in the second state, the cleaning robot is controlled to travel to a position where the vertical projection of the driven wheel falls above the obstacle, and the lifting mechanism is controlled to increase the distance between the driven wheel and the chassis. And / or, after the cleaning robot crosses the obstacle (for example, after the obstacle crossing completion instruction), the lifting mechanism is controlled to restore the distance between the driven wheel and the chassis to the initial interval.

[0520] In the embodiment, for the detailed description of the related structure, effect and working process, reference can be made to the description of the telescopic mechanism and its effect and working process in the foregoing embodiment, which will not be repeated here.

[0521] As shown in Figure 41 , it is a flowchart of a motion control method of a cleaning robot according to an embodiment of the present application. The cleaning robot has Figures 23-40 any one of the embodiments. Referring to Figure 41 , the motion control method includes the following processing:

[0522] S1000: controlling the cleaning robot to work in a first motion mode.

[0523] S1200: controlling the cleaning robot to switch from the first motion mode to a second motion mode under a preset target situation.

[0524] wherein a distance between the chassis 51 and the driven wheel 210 (e.g. a universal wheel) is different between the second motion mode and the first motion mode.

[0525] Optionally, the preset target situation includes a process of the cleaning robot crossing an obstacle. The above target working environment and target working state can be determined by a camera, different types of sensors, working data of the cleaning robot, etc. For example, whether the cleaning robot is in an environment requiring crossing an obstacle can be detected by a camera or radar; whether the distance between the cleaning robot and the obstacle meets a condition can be determined by a distance sensor, so as to determine whether the cleaning robot is in a target working state before crossing the obstacle; whether the cleaning robot is in a target working state after crossing the obstacle can be determined according to a pose of the cleaning robot determined by a gyroscope. No further examples are given.

[0526] Optionally, in a specific operation process, 1) the cleaning robot includes a walking mechanism, the walking mechanism includes a main drive wheel, a swing arm structure, and a secondary drive wheel, the secondary drive wheel is rotatably arranged on the main drive wheel through the swing arm structure; a body advancing state can be switched between a first state and a second state, the first state is that the body is driven by the main drive wheel to advance on a to-be-cleaned surface, and the second state is that the body is driven by the secondary drive wheel to advance on the to-be-cleaned surface. Before the cleaning robot crosses the obstacle, the secondary drive wheel is swung to contact the ground through the swing arm structure, so that the front end of the cleaning robot is lifted up, and the main drive wheel is lifted up off the ground, the cleaning robot is driven by the secondary drive wheel to advance to the front of the obstacle, and is ready to cross the obstacle. 2) In the process of the cleaning robot crossing the obstacle, in a case where a vertical projection of the driven wheel 210 falls above the obstacle, the driven wheel is controlled to move away from the chassis 51, so as to increase the distance between the chassis 51 and the driven wheel. The vertical projection refers to a projection perpendicular to an upper surface of the obstacle. For example, in a case where the cleaning robot normally crosses the obstacle, when the head of the cleaning robot is lifted up and the driven wheel is located above the obstacle, the distance between the chassis 51 and the driven wheel 210 can be increased to reduce the distance of the driven wheel 210 descending, so as to reduce the vibration and influence on the body. 3) After the cleaning robot crosses the obstacle, the distance between the chassis 51 and the driven wheel 210 is controlled to the initial distance, and a reset operation of the chassis 51 and the driven wheel 210 is performed. 4) The secondary drive wheel is reversely swung to the initial position through the swing arm structure.

[0527] In an implementation form of the embodiment, referring to Figure 32 and Figure 34 The cleaning robot comprises a lifting mechanism 220 which is extendable and retractable, and has a fixed end and a free end connected with the driven wheel 210. Switching the cleaning robot from the first movement mode to the second movement mode comprises controlling the lifting mechanism 220 to extend or retract.

[0528] The embodiments of the present application further provide an electronic device comprising a memory and a processor, the memory storing one or more computer instructions; the processor being configured to invoke and execute the computer instructions to implement the movement control method mentioned in the embodiments of the present application. The electronic device can be an integrated chip, or a circuit board, a data processing device, etc. containing the integrated chip.

[0529] In addition, the embodiments of the present application further provide a cleaning robot comprising the above-mentioned electronic device.

[0530] In addition, the embodiments of the present application further provide a computer readable storage medium, wherein computer instructions or computer program products are stored, and the instructions or computer program products are executed to implement the movement control method mentioned in the present application.

[0531] In addition, the embodiments of the present application further provide a computer program product, which is executed to implement the movement control method mentioned in the present application.

[0532] Those skilled in the art should understand that the sequence numbers or introductions of the embodiments of the present application are only for description, and do not represent the advantages or disadvantages of the embodiments. And the above embodiments are only optional implementation manners of the present application. It should be pointed out that, for those skilled in the art, without departing from the principles of the present application, a number of improvements and refinements can be made, which should be regarded as the protection scope of the present application.

[0533] Those skilled in the art should further understand that the above-mentioned apparatus embodiments are only schematic, and the units shown as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, i.e. they can be located in one place, or distributed on multiple network units. According to actual needs, part or all of the modules can be selected to achieve the purpose of the present embodiment. Those skilled in the art can understand and implement without creative labor.

Claims

1. A cleaning robot, comprising a body and a walking mechanism; characterized in that, There are two walking mechanisms, one of which is located on the left side of the machine body and the other on the right side of the machine body; The two walking mechanisms can be controlled simultaneously or independently; the walking mechanism includes: Main drive wheel assembly, swing arm assembly, and auxiliary drive wheel; The secondary drive wheel is rotatably mounted on the main drive wheel assembly via the swing arm assembly; Under the action of the swing arm assembly, the traveling state of the machine body can switch between a first state and a second state. The first state is that the main drive wheel assembly drives the machine body to travel on the surface to be cleaned, and the second state is that the auxiliary drive wheel drives the machine body to travel on the surface to be cleaned.

2. The cleaning robot according to claim 1, characterized in that, In the second state, with the axis of the secondary drive wheel as the vertex, the angle between the swing arm assembly and the forward horizontal line of the fuselage is α, and α satisfies: 90°≤α≤120°.

3. The cleaning robot according to claim 1, characterized in that, The secondary drive wheel drives the fuselage at a speed not lower than the minimum speed at which the main drive wheel assembly drives the fuselage.

4. The cleaning robot according to claim 1, characterized in that, In the second state, the angle between the machine body and the surface to be cleaned is β, where β satisfies: 5° ≤ β ≤ 35°; and / or, In the second state, the horizontal plane containing the axis of the main drive wheel is higher than the top surface of the obstacle.

5. The cleaning robot according to claim 1, characterized in that, The tail of the fuselage is provided with a support structure, which is used to support the fuselage in the second state.

6. The cleaning robot according to claim 1, characterized in that, The axis position of the auxiliary drive wheel can be adjusted relative to the axis position of the main drive wheel assembly; In the first state, the lowest position of the secondary drive wheel is higher than the lowest position of the primary drive wheel assembly; in the second state, the lowest position of the secondary drive wheel is lower than the lowest position of the primary drive wheel assembly.

7. The cleaning robot according to claim 1, characterized in that, In the first state, the secondary drive wheel is located in front of the primary drive wheel assembly.

8. The cleaning robot according to claim 1, characterized in that, The main drive wheel assembly includes a rotating component and a main drive wheel, which are coaxially arranged; one end of the swing arm assembly is rotatably mounted on the rotating component.

9. The cleaning robot according to claim 8, characterized in that, The rotation diameter of the rotating component is not less than the overall length of the swing arm assembly and the auxiliary drive wheel.

10. The cleaning robot according to claim 8, characterized in that, The rotating component is provided with a first limiting structure, the swing arm assembly is provided with a second limiting structure, and a first elastic element is provided between the first limiting structure and the second limiting structure. The first elastic element is used to separate the auxiliary drive wheel and the surface to be cleaned when the swing arm assembly is not subjected to external force.

11. The cleaning robot according to claim 10, characterized in that, The first limiting structure is used to limit the swing arm assembly when the traveling state of the fuselage switches from the first state to the second state.

12. The cleaning robot according to claim 8, characterized in that, Both the main drive wheel and the auxiliary drive wheel can be controlled to rotate independently; or, the main drive wheel and the auxiliary drive wheel can be controlled to rotate in conjunction.

13. The cleaning robot according to claim 12, characterized in that, The walking mechanism also includes a main drive motor; when the main drive wheel and the auxiliary drive wheel are controlled to rotate in conjunction, the main drive motor drives the main drive wheel to rotate, and the main drive motor also drives the auxiliary drive wheel to rotate through the auxiliary drive wheel transmission assembly.

14. The cleaning robot according to claim 13, characterized in that, The secondary drive wheel transmission assembly includes a first transmission chain and a second transmission chain. The first transmission chain includes at least a first transmission chain input wheel and a first transmission chain output wheel, and the second transmission chain includes at least a second transmission chain input wheel and a second transmission chain output wheel. The main drive motor is a hub motor. The outer peripheral side of the main drive motor is provided with a first output section, which is driven and connected to the main drive wheel. The axial side of the main drive motor is provided with a second output section, which is driven and connected to the first transmission chain input wheel. When the main drive motor is running, the first output unit drives the main drive wheel to rotate, the second output unit drives the first transmission chain input wheel to rotate, the first transmission chain output wheel drives the second transmission chain input wheel to rotate, and then the second transmission chain output wheel drives the auxiliary drive wheel to rotate.

15. The cleaning robot according to claim 8, characterized in that, The walking mechanism also includes a conversion transmission assembly and a conversion drive motor. The conversion transmission assembly includes at least a rotatable conversion input wheel and a conversion output wheel. The conversion input wheel and the conversion drive motor are driven together. The conversion output wheel and the rotating component are synchronously rotatably connected. A plurality of intermediate conversion wheels are sequentially connected between the conversion input wheel and the conversion output wheel. When the conversion drive motor is running, the conversion input wheel can transmit rotation to the conversion output wheel through multiple conversion intermediate wheels, thereby causing the rotating component to rotate.

16. The cleaning robot according to claim 8, characterized in that, The fuselage includes: The machine body and the bracket are provided. The machine body has an internal mounting cavity, and the bottom of the mounting cavity has an opening. The bracket is disposed in the mounting cavity through the opening. Both the main drive wheel assembly and the swing arm assembly are rotatably mounted on the bracket.

17. The cleaning robot according to claim 16, characterized in that, The bracket is provided with a third limiting structure, which is used to limit the swing arm assembly in the first state.

18. The cleaning robot according to any one of claims 1-17, characterized in that, The cleaning robot also includes a driven wheel assembly, which is disposed on the chassis of the robot body and is used to provide shock absorption for the robot body when switching from the second state to the first state; The driven wheel assembly includes a driven wheel and a telescopic mechanism connected between the chassis and the driven wheel, such that the distance between the driven wheel and the chassis is variable.

19. The cleaning robot according to claim 18, characterized in that, The retractable mechanism includes an elastic mechanism; wherein, when the driven wheel is in a normal walking state in contact with the ground, the elastic mechanism is in a compressed state; when the driven wheel is in a suspended state away from the ground, the connection between the retractable mechanism and the driven wheel is an elastic connection.

20. The cleaning robot according to claim 18, characterized in that, When the fuselage is lifted upward in the direction of travel using the walking mechanism as a support point, the telescopic mechanism of the driven wheel assembly extends; when the walking mechanism crosses an obstacle, the telescopic mechanism of the driven wheel assembly shortens after the driven wheel assembly contacts the ground.

21. A cleaning robot, characterized in that, The cleaning robot includes a body and a walking mechanism. The walking mechanism includes two sets of drive wheel walking units. One set of drive wheel walking units is located on the left side of the body, and the other set is located on the right side of the body. The two sets of drive wheel walking units can be controlled simultaneously or independently. The drive wheel travel unit includes: A bracket, which is mounted on the machine body; A main drive wheel assembly, comprising a main drive wheel rotatably mounted on the bracket and a main drive wheel power mechanism capable of driving the main drive wheel to rotate relative to the bracket; A swing arm assembly, comprising a swing arm and a swing arm power mechanism drivenly connected to the power input end of the swing arm for oscillating the swing arm; A secondary drive wheel assembly includes a secondary drive wheel rotatably disposed at the power output end of the swing arm and a secondary drive wheel power mechanism for driving the secondary drive wheel to rotate relative to the power output end of the swing arm. The main drive wheel and the auxiliary drive wheel are arranged opposite to each other on the left and right sides of the bracket; The drive wheel walking unit is configured to, during obstacle crossing, switch the cleaning robot between a first drive mode and a second drive mode; in the first drive mode, the cleaning robot is driven by the main drive wheel assembly; in the second drive mode, the cleaning robot is driven by the auxiliary drive wheel assembly.

22. The cleaning robot according to claim 21, characterized in that, The cleaning robot is equipped with an obstacle-crossing mode. When the cleaning robot is in the obstacle-crossing mode, it can switch between the first driving mode and the second driving mode according to the obstacle information.

23. The cleaning robot according to claim 21, characterized in that, The main drive wheel drives the fuselage at a different speed than the auxiliary drive wheel drives it.

24. The cleaning robot according to claim 21, characterized in that, The main drive wheel and the auxiliary drive wheel can be controlled to adjust the speed at which the main drive wheel drives the fuselage and the speed at which the auxiliary drive wheel drives the fuselage, based on the type of obstacle and / or the height of the obstacle and / or the distance between the fuselage and the obstacle.

25. The cleaning robot according to claim 23, characterized in that, When the cleaning robot is in the second drive mode, the speed at which the secondary drive wheel drives the robot body is not lower than the speed at which the primary drive wheel drives the robot body when the cleaning robot is in the first drive mode.

26. The cleaning robot according to claim 21, characterized in that, The main drive wheel power mechanism includes a main drive wheel motor, which is configured to provide driving force to both the main drive wheel and the auxiliary drive wheel power mechanism.

27. The cleaning robot according to claim 26, characterized in that, The main drive wheel motor is a hub motor, and a first power output end is provided on the outer periphery of the main drive wheel motor, which is drivenly connected to the main drive wheel; a second power output end is provided on one axial side of the main drive wheel motor. The auxiliary drive wheel power mechanism includes a first transmission chain and a second transmission chain for the auxiliary drive wheel. The power input end and the second power output end of the first transmission chain for the auxiliary drive wheel are drivenly connected. The power output end of the first transmission chain for the auxiliary drive wheel and the power input end of the second transmission chain for the auxiliary drive wheel are connected in transmission. The power output end of the second transmission chain for the auxiliary drive wheel is connected in transmission to the auxiliary drive wheel. When the main drive wheel motor is running, the first power output end can drive the main drive wheel to rotate, and the second power output end can drive the auxiliary drive wheel to rotate via the first transmission chain and the second transmission chain of the auxiliary drive wheel.

28. The cleaning robot according to claim 26, characterized in that, The swing arm power mechanism further includes a rotating component, a swing arm transmission chain, and a swing arm motor. The rotating component and the main drive wheel are coaxially aligned, and the rotating component is rotatably mounted on the bracket. The power input end of the rotating component has a transmission tooth, which is connected to the gear at the power output end of the swing arm transmission chain. The power input end of the swing arm transmission chain is driven by the swing arm motor, and the swing arm motor is mounted on the bracket. The rotating component has a power output end in a direction parallel to its axis, and the power input end of the swing arm and the power output end of the rotating component are rotatably coupled together. H, L, and r satisfy: H > L + r; Wherein, H is the vertical distance between the axis of the power input end of the swing arm at its highest position and the horizontal plane where the lowest point of the main drive wheel is located; L is the distance between the axis of the power input end of the swing arm and the axis of the power output end of the swing arm; and r is the radius of the auxiliary drive wheel.

29. The cleaning robot according to claim 28, characterized in that, The secondary drive wheel power mechanism includes a rotating frame, a first transmission chain for the secondary drive wheel, and a second transmission chain for the secondary drive wheel. The rotating component includes a turntable, and the outer periphery of the turntable is the power input end of the rotating component; The rotating frame is fixedly mounted on the turntable and can rotate synchronously with the turntable; The first transmission chain of the auxiliary drive wheel is mounted on the rotating frame. The power input end of the first transmission chain of the auxiliary drive wheel is coaxial with the center line of the main drive wheel. The power output shaft of the main drive wheel motor passes through the bracket and is driven to connect with the power input end of the first transmission chain of the auxiliary drive wheel. The second transmission chain of the auxiliary drive wheel is mounted on the swing arm, and the power input end of the second transmission chain of the auxiliary drive wheel is connected to the power output end of the first transmission chain of the auxiliary drive wheel; the power output end of the second transmission chain of the auxiliary drive wheel is connected to the auxiliary drive wheel.

30. The cleaning robot according to claim 28, characterized in that, The swing arm assembly is further provided with a first elastic element between the power output end of the rotating member and the power input end of the swing arm. The first elastic element is configured such that: when the power input end of the swing arm swings relative to the power output end of the rotating member in a first direction, the first elastic element is compressed to store elastic potential energy; when the power input end of the swing arm swings relative to the power output end of the rotating member in a second direction, the first elastic element is stretched to release elastic potential energy. The first direction is clockwise when viewed from the right side of the fuselage, and the second direction is counterclockwise when viewed from the right side of the fuselage.

31. The cleaning robot according to claim 30, characterized in that, The swing arm is configured such that when the side near the power output end of the swing arm is subjected to a torque from an obstacle along the first direction, the power input end of the swing arm swings relative to the power output end of the rotating member along the first direction. When the side near the power output end of the swing arm is not subjected to torque along the first direction, the power input end of the swing arm swings relative to the power output end of the rotating member along the second direction.

32. The cleaning robot according to claim 28, characterized in that, When the cleaning robot is in the second drive mode, the horizontal plane of the axis of the main drive wheel is higher than the top surface of the obstacle.

33. The cleaning robot according to claim 28, characterized in that, The drive wheel walking unit is further configured such that when the rotating component is controlled to rotate, the swing arm carries the auxiliary drive wheel to move, thereby changing the position of the axis of the auxiliary drive wheel; When the cleaning robot is in the first driving mode, the axis of the auxiliary drive wheel is located in front of the axis of the main drive wheel, and only the main drive wheel is in contact with the top surface of the surface to be cleaned or the obstacle. When the cleaning robot is in the second drive mode, the axis of the auxiliary drive wheel is located below the axis of the main drive wheel, and only the auxiliary drive wheel is in contact with the surface to be cleaned. The swing arm and secondary drive wheel can support the fuselage and tilt the front of the fuselage upwards.

34. The cleaning robot according to claim 30, characterized in that, The bracket is provided with a third limiting structure; the drive wheel walking unit is further configured such that when the cleaning robot is in the first driving mode, the swing arm and the auxiliary drive wheel are fixed relative to the bracket under the action of the third limiting structure and the first elastic element. The rotating component is provided with a first limiting structure, and the drive wheel walking unit is further configured such that when the cleaning robot switches from the first driving mode to the second driving mode, the first limiting structure allows the swing arm to rotate with the rotating component.

35. The cleaning robot according to claim 28, characterized in that, The drive wheel walking unit is further configured such that, when the cleaning robot is in the first drive mode, the projection of the axis of the power input end of the swing arm onto the center plane of the body is located in the first quadrant of the rectangular coordinate system of the body. And / or, When the cleaning robot is in the second drive mode, the projection of the axis of the power input end of the swing arm onto the center plane of the body is located in the third and / or fourth quadrant of the rectangular coordinate system of the body. Wherein, the central plane of the fuselage is a central plane extending along the front-rear direction of the fuselage; the rectangular coordinate system of the fuselage is a rectangular coordinate system established on the central plane of the fuselage, with the projection of the axis of the rotating component on the central plane of the fuselage as the origin, with an axis passing through the origin, parallel to the fuselage and oriented towards the head of the fuselage as the horizontal axis, and an axis passing through the origin, perpendicular to the fuselage and oriented towards the top of the fuselage as the vertical axis.

36. The cleaning robot according to claim 30, characterized in that, The cleaning robot is also equipped with a third driving mode; when the cleaning robot is in the third driving mode, the auxiliary driving wheel and the main driving wheel simultaneously contact the top surface of the obstacle or the surface to be cleaned. The obstacle-crossing process of the cleaning robot includes an obstacle-crossing preparation stage, a first obstacle-crossing stage, a second obstacle-crossing stage, and a reset stage. When a normally walking cleaning robot determines that an obstacle is traversable, the cleaning robot enters the obstacle-crossing preparation stage; During the obstacle crossing preparation phase, the cleaning robot switches from the first driving mode to the second driving mode and is driven by the auxiliary drive wheel to move forward until the main drive wheel and / or the auxiliary drive wheel contact the obstacle, thus ending the obstacle crossing preparation phase and entering the first obstacle crossing phase. In the first obstacle-crossing phase, the cleaning robot switches from the second driving mode to the first driving mode, and the main driving wheel drives the body to cross the obstacle until the auxiliary driving wheel moves with the swing arm to contact the top surface of the obstacle, thus ending the first obstacle-crossing phase and entering the second obstacle-crossing phase. In the second obstacle-crossing phase, the cleaning robot switches from the first driving mode to the third driving mode. Both the main drive wheel and the auxiliary drive wheel contact the obstacle, and the main drive wheel and the auxiliary drive wheel work together to drive the robot body forward until the cleaning robot enters the reset phase. During the reset phase, the cleaning robot switches from the third drive mode to the first drive mode, and the main drive wheel drives the robot body to continue moving.

37. The cleaning robot according to claim 36, characterized in that, The swing arm has a first motion state that rotates along the first direction with the rotating component; During the obstacle crossing preparation phase, the drive wheel walking unit is further configured such that: the swing arm motor is controlled to operate, and under the action of the swing arm transmission chain, the rotating component rotates along the first direction; under the action of the power output end of the rotating component and the first elastic element, the swing arm is in the first motion state, the auxiliary drive wheel moves downward, and then the auxiliary drive wheel contacts the surface to be cleaned and the lowest position of the auxiliary drive wheel is lower than the lowest position of the main drive wheel, the main drive wheel separates from the surface to be cleaned, so that the cleaning robot changes from the first drive mode to the second drive mode.

38. The cleaning robot according to claim 36, characterized in that, The swing arm also has a second motion state in which it swings relative to the rotating member along the first direction, and a third motion state in which it rotates with the rotating member along the second direction; During the first obstacle-crossing phase, the drive wheel walking unit is further configured such that: the secondary drive wheel is subjected to the resistance of the obstacle, causing the swing arm to be in the second motion state, the secondary drive wheel moves upward, and then the secondary drive wheel separates from the surface to be cleaned and the main drive wheel contacts the top surface of the obstacle, so that the cleaning robot switches from the second drive mode to the first drive mode. In the second obstacle-crossing phase, the drive wheel walking unit is further configured such that the main drive wheel drives the fuselage to move forward, and the auxiliary drive wheel contacts the top surface of the obstacle; The swing arm motor is controlled to operate, and under the action of the swing arm transmission chain, the rotating component rotates along the second direction; under the action of the power output end of the rotating component and the first elastic component, the swing arm is in the third motion state, and the auxiliary drive wheel travels on the top surface of the obstacle, thereby causing the cleaning robot to switch from the first drive mode to the third drive mode.

39. The cleaning robot according to claim 36, characterized in that, The swing arm also has a fourth motion state in which it swings relative to the rotating member in the second direction; During the reset phase, the drive wheel walking unit is further configured such that the rotating member continues to rotate in the second direction, and under the action of the first elastic member, the swing arm is in the fourth motion state and moves upward with the auxiliary drive wheel, thereby separating the auxiliary drive wheel from the top surface of the obstacle, so that the cleaning robot switches from the third drive mode to the first drive mode.

40. The cleaning robot according to claim 21, characterized in that, When the cleaning robot is in the second drive mode, with the axis of the auxiliary drive wheel as the vertex, the angle between the swing arm and the forward horizontal line of the robot body is α, where α satisfies: 90°≤α≤120°; and / or, In the second driving mode, the angle between the machine body and the surface to be cleaned is β, where β satisfies: 5°≤β≤35°.

41. The cleaning robot according to claim 21, characterized in that, The interior of the fuselage has a mounting cavity, and the bottom of the mounting cavity has a mounting cavity opening; the bracket is disposed in the mounting cavity through the mounting cavity opening.

42. The cleaning robot according to any one of claims 21-41, characterized in that, The cleaning robot also includes a driven wheel assembly, which is disposed on the chassis of the robot body and is used to provide shock absorption for the robot body when switching from the second drive mode to the first drive mode; The driven wheel assembly includes a driven wheel and a telescopic mechanism connected between the chassis and the driven wheel, such that the distance between the driven wheel and the chassis is variable.

43. The cleaning robot according to claim 42, characterized in that, The retractable mechanism includes an elastic mechanism; wherein, when the driven wheel is in a normal walking state in contact with the ground, the elastic mechanism is in a compressed state; when the driven wheel is in a suspended state away from the ground, the connection between the retractable mechanism and the driven wheel is an elastic connection.

44. The cleaning robot according to claim 42, characterized in that, When the fuselage is lifted upward in the direction of travel using the walking mechanism as a support point, the telescopic mechanism of the driven wheel assembly extends; when the walking mechanism crosses an obstacle, the telescopic mechanism of the driven wheel assembly shortens after the driven wheel assembly contacts the ground.

45. A cleaning system, characterized in that, The cleaning system includes a cleaning robot as described in any one of claims 1-44 and a cleaning base station that cooperates with the cleaning robot.

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