Obstacle crossing device and sweeping robot

Abstract

The utility model relates to an obstacle crossing device and a sweeping robot. The device comprises a chassis, a walking module and a lifting assembly. The walking module comprises a walking wheel assembly and a wheel set support, the walking wheel assembly and the lifting assembly are installed on the wheel set support, the chassis is connected with the output end of the lifting assembly, the lifting assembly can drive the chassis to move up and down relative to the ground, and therefore the distance between the chassis and the ground is adjusted. The walking wheel assembly is connected with the wheel set support, the chassis can move up and down relative to the wheel set, and even if the lifting assembly drives the chassis to ascend and descend, walking of the walking wheel assembly on the ground is not affected. Various electronic devices such as the machine body of the sweeping robot can be installed on the chassis in the obstacle crossing device, when an obstacle appears in front, the chassis can be driven to ascend to the ground through the lifting assembly, the distance between the chassis and the ground is larger than the height of the obstacle, and therefore the machine body crosses the obstacle, and the obstacle crossing capacity of the sweeping robot is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of sweeping robots, in particular to an obstacle surmounting device and a sweeping robot. BACKGROUND

[0002] With the popularization of smart homes, sweeping robots have gradually become an important tool for household cleaning, and with the continuous improvement of intelligent level. Users have higher requirements for the autonomous navigation, cleaning ability and obstacle avoidance of sweeping robots in complex environments. There are various heights of obstacles in the home environment, such as furniture legs, doorsteps, step edges, etc. The sweeping robot needs to have the ability to detect and surmount these obstacle heights to ensure the smooth progress of the cleaning task.

[0003] When using the sweeping robot, the user hopes that it can autonomously complete the cleaning task and reduce manual intervention. Therefore, improving the ability of the sweeping robot to surmount obstacles is of great significance to improving the user experience.

[0004] The common obstacle surmounting scheme of the products on the market is as follows: increasing the diameters of the driving wheels and universal wheels, and increasing the height of the chassis from the ground. The disadvantage of this scheme is that it will increase the height of the whole machine, thereby affecting the sweeping robot's ability to enter many low scenes for cleaning, thereby affecting the cleaning area. CONTENT OF THE UTILITY MODEL

[0005] Therefore, it is necessary to provide an obstacle surmounting device and a sweeping robot for the existing sweeping robot in the presence of the above problems.

[0006] In a first aspect, the present application provides an obstacle surmounting device, which comprises a chassis, a walking module and a lifting assembly; the walking module comprises a walking wheel assembly and a wheel set support, the wheel set support is connected with the walking wheel assembly, and the chassis is movable up and down relative to the wheel set support; the lifting assembly is arranged on the wheel set support, and an output end of the lifting assembly is connected with the wheel set support to drive the chassis to lift relative to the ground.

[0007] In one of the embodiments, the lifting assembly comprises a lifting drive motor, a gear set and a lifting shaft, an input end of the gear set is in transmission connection with the lifting drive motor, an output end of the gear set is in transmission connection with the lifting shaft, and one end of the lifting shaft away from the gear set is connected with the chassis.

[0008] In one of the embodiments, the walking wheel assembly comprises a pulley set and a power assembly, the power assembly comprises a motor housing and a walking drive motor installed in the motor housing, the motor housing is connected with the wheel set support, and the walking drive motor is in transmission connection with the pulley set.

[0009] In one of the embodiments, the pulley set comprises a first pulley and a second pulley, the total number of the first pulley and the second pulley is not less than three, one of the first pulley and the second pulley is a universal wheel, and the other one is in transmission connection with the walking driving motor.

[0010] In one of the embodiments, the number of the first pulley is one and the first pulley is a universal wheel, the number of the second pulley is two, and the number of the power assembly is consistent with the number of the second pulley.

[0011] In one of the embodiments, the wheel set support is distributed above the chassis, the chassis is provided with an opening, and the motor shell penetrates through the opening and extends below the chassis.

[0012] In one of the embodiments, the shape of the wheel set support is triangular.

[0013] In the second aspect, the application provides a sweeping robot, comprising a body and the above-mentioned barrier crossing device, and the body is arranged on the chassis.

[0014] In one of the embodiments, the body is provided with a first height sensor and a second height sensor which are distributed at intervals along the height direction of the body, and the lifting assembly is in electrical connection with the first height sensor and the second height sensor respectively; the first height sensor is configured to detect a height value H1, the second height sensor is configured to detect a height value H2, the chassis has a first position and a second position, the distance between the chassis and the ground is H3 when the chassis is at the first position, the distance between the chassis and the ground is H4 when the chassis is at the second position, H2≥H4>H1≥H3, wherein H2 is associated with the barrier crossing height of the walking wheel assembly.

[0015] In one of the embodiments, the first height sensor and the second height sensor each comprise a laser emitter, a laser receiver and a signal processor, the laser emitter is configured to emit a light beam, the laser receiver is configured to receive the light beam, and when the laser receiver receives the light beam, the signal processor judges that there is an obstacle higher than or equal to the height value detected by the height sensor in front of the sweeping robot.

[0016] One of the above technical solutions has the following advantages and beneficial effects:

[0017] The above obstacle crossing device comprises a chassis, a walking module and a lifting assembly. The walking module comprises a walking wheel assembly and a wheel set support, and the walking wheel assembly and the lifting assembly are respectively installed on the wheel set support and connected with the output end of the lifting assembly through the chassis, so that the lifting assembly can drive the chassis to move up and down relative to the ground, thereby adjusting the distance between the chassis and the ground. The walking wheel assembly is connected with the wheel set support, and the chassis is movable up and down relative to the wheel set, so that even if the lifting assembly drives the chassis to lift, the walking of the walking wheel assembly on the ground will not be affected. Various electronic devices can be installed on the chassis of the obstacle crossing device in the application, such as the body of a sweeping robot. Specifically, when the body of the sweeping robot is installed on the chassis, when the body finds that an obstacle appears in front, the chassis can be driven to rise to the ground by the lifting assembly, so that the distance between the chassis and the ground is greater than the height of the obstacle, thereby enabling the body to cross the obstacle and improving the obstacle crossing ability of the sweeping robot. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 Structure diagram of the obstacle crossing device in one embodiment Figure 1 ;

[0019] Figure 2 Structure diagram of the obstacle crossing device in one embodiment Figure 2 ;

[0020] Figure 3 Structure diagram of the obstacle crossing device in one embodiment Figure 3 ;

[0021] Figure 4 Structure diagram of the sweeping robot in one embodiment

[0022] Figure 5 Principle diagram of the height sensor judging the height range of the obstacle in one embodiment

[0023] REFERENCE SIGNS:

[0024] 10 chassis, 101 opening

[0025] 20 walking module, 21 walking wheel assembly, 211 pulley set, 2111 first pulley, 2112 second pulley, 2121 motor housing, 22 wheel set support

[0026] 30 lifting assembly, 31 lifting drive motor, 32 gear set, 33 lifting shaft

[0027] 100 obstacle crossing device, 200 body, 210 main machine base, 220 main machine upper cover, 230 front anti-collision bumper, 310 first height sensor, 320 second height sensor, 3110 lamp set support, 3120 lens DETAILED DESCRIPTION

[0028] The technical solutions in the embodiments of the present application will be clearly and completely described with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application.

[0029] The components of the embodiments of the present application generally described and illustrated in the accompanying drawings can be arranged and designed in a variety of different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the scope of the present application.

[0030] Hereinafter, the terms "include", "have" and their synonymous words used in various embodiments of the present application are only intended to indicate that specific features, numbers, steps, operations, elements, components or combinations thereof are present and not to exclude the presence or addition of one or more other features, numbers, steps, operations, elements, components or combinations thereof.

[0031] If similar descriptions of "first\second\third" appear in the application file, the following description is added. In the following description, the terms "first\second\third" referred to are only to distinguish similar objects, and do not represent a specific order of the objects. Understandably, "first\second\third" can be interchanged in a specific order or sequence as allowed, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein.

[0032] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which various embodiments of the present application belong. Terms such as those defined in commonly used dictionaries will be interpreted as having a meaning that is the same as commonly used in the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless clearly defined in various embodiments of the present application.

[0033] In one embodiment, as shown in Figures 1 to 3 An obstacle crossing device is provided, which includes a chassis 10, a walking module 20 and a lifting assembly 30; the walking module 20 includes a walking wheel assembly 21 and a wheel set support 22, the wheel set support 22 is connected with the walking wheel assembly 21, and the chassis 10 is movable up and down relative to the wheel set support 22; the lifting assembly 30 is arranged on the wheel set support 22, and an output end of the lifting assembly 30 is connected with the wheel set support 22 to drive the chassis 10 to lift relative to the ground.

[0034] The walking module 20 can be used to drive the chassis 10 to move on the ground, and the chassis 10 keeps a certain distance from the ground. The walking module 20 can include a walking wheel assembly 21 and a wheel set support 22, and the walking wheel assembly 21 can walk on the ground. For example, the walking wheel assembly 21 can walk on the ground by driving the pulley to rotate through the motor; it should be noted that in other embodiments, the walking wheel assembly 21 can also walk on the ground by driving the track through the motor.

[0035] The wheel set support 22 can be used to fix the lifting assembly 30, and the lifting assembly 30 is fixedly installed on the wheel set support 22, and the output end of the lifting assembly 30 is connected with the chassis 10, and the wheel set support 22 is connected with the walking wheel assembly 21, when the walking wheel assembly 21 works, the chassis 10, the walking module 20 and the lifting assembly 30 can walk on the ground as a whole.

[0036] The lifting assembly 30 can drive the chassis 10 to move up and down relative to the ground to adjust the distance between the chassis 10 and the ground. Specifically, the lifting assembly 30 can drive the chassis 10 to move up and down relative to the ground by means of gear transmission, cycloidal limit wheel transmission, eccentric shaft transmission or toggle lever transmission, but not limited to. For example, the lifting assembly 30 can drive the gear set 32 to rotate through the motor, the gear set 32 drives the connecting rod to move up and down, and the connecting rod is connected with the chassis 10, when the gear set 32 drives the connecting rod to move up and down, the chassis 10 moves with the connecting rod and then lifts relative to the ground.

[0037] It should be noted that the present application can adjust the height of the chassis 10 relative to the ground based on the lifting assembly 30, when the height of the front obstacle is greater than the height of the chassis 10 relative to the ground, the chassis 10 can be lifted relative to the ground through the lifting assembly 30, so that the distance between the chassis 10 and the ground is greater than the height of the front obstacle, but the radius of the pulley in the walking wheel assembly 21 also needs to be considered, even if the chassis 10 is lifted to a height greater than the obstacle, but the radius of the pulley in the walking wheel assembly 21 is too small, the obstacle crossing device 100 still cannot cross the obstacle. For example, when the radius of the pulley in the walking wheel assembly 21 is 2CM, the pulley can cross the obstacle below 3CM.

[0038] In the above embodiments, the obstacle crossing device includes the chassis 10, the walking module 20 and the lifting assembly 30. The walking module 20 includes the walking wheel assembly 21 and the wheel set support 22, the walking wheel assembly 21 and the lifting assembly 30 are respectively installed on the wheel set support 22, and are connected with the output end of the lifting assembly 30 through the chassis 10, so that the lifting assembly 30 can drive the chassis 10 to move up and down relative to the ground, thereby adjusting the distance between the chassis 10 and the ground. Through the connection between the walking wheel assembly 21 and the wheel set support 22, and the up-and-down movement of the chassis 10 relative to the wheel set, even if the lifting assembly 30 drives the chassis 10 to lift, it will not affect the walking of the walking wheel assembly 21 on the ground. Various electronic devices can be installed on the chassis 10 in the obstacle crossing device 100 of the application, such as the body 200 of the sweeping robot. Specifically, when the body 200 of the sweeping robot is installed on the chassis 10, when the body 200 finds that an obstacle appears in front, the chassis 10 can be driven to rise above the ground by the lifting assembly 30, so that the distance between the chassis 10 and the ground is greater than the height of the obstacle, thereby enabling the body 200 to cross the obstacle, and improving the obstacle crossing ability of the sweeping robot.

[0039] In some embodiments, as shown in Figures 1 to 3 The lifting assembly 30 includes the lifting drive motor 31, the gear set 32 and the lifting shaft 33, the input end of the gear set 32 is in transmission connection with the lifting drive motor 31, the output end of the gear set 32 is in transmission connection with the lifting shaft 33, and the end of the lifting shaft 33 away from the gear set 32 is connected with the chassis 10.

[0040] In some embodiments, as shown in Figure 1 and Figure 2 The walking wheel assembly 21 includes the pulley set 211 and the power assembly, the power assembly includes the motor housing 2121 and the walking drive motor installed in the motor housing 2121, the motor housing 2121 is connected with the wheel set support 22, and the walking drive motor is in transmission connection with the pulley set 211.

[0041] In the above embodiments, the motor housing 2121 for mounting and fixing the walking drive motor is further limited to be connected with the wheel set support 22, so that the obstacle crossing device 100 of the application will not cause the walking drive motor to fail to drive the pulley set 211 to rotate due to the lifting operation of the chassis 10, and the pulley set 211, the wheel set support 22 and the power assembly form a relatively independent combined structure, and only the chassis 10 moves up and down relative to the ground when the lifting assembly 30 works.

[0042] The power assembly can be used to provide power to drive the pulley set 211 to rotate. The power assembly can include a motor housing 2121 and a walking driving motor, and the motor housing 2121 can be used to install and fix the walking driving motor. It should be noted that a speed reduction gear can also be configured between the walking driving motor and the pulley set 211, and the walking driving motor is in transmission connection with the pulley set 211 through the speed reduction gear.

[0043] In some embodiments, as shown in Figure 1 and Figure 2 , the pulley set 211 includes a first pulley 2111 and a second pulley 2112, and the total number of the first pulley 2111 and the second pulley 2112 is not less than three. One of the first pulley 2111 and the second pulley 2112 is a universal wheel, and the other is in transmission connection with the walking driving motor.

[0044] In the above embodiment, the bottom front end of the obstacle crossing device 100 is further limited to be designed with a universal wheel, so that the obstacle crossing device 100 of the present application is more flexible when moving, and can rotate in any direction, thereby enabling the obstacle crossing device 100 to move freely in a narrow space.

[0045] The total number of the first pulley 2111 and the second pulley 2112 can be not less than three. For example, the total number of the first pulley 2111 and the second pulley 2112 is three, one of which is a universal wheel, and the other two are driving wheels in transmission connection with the walking driving motor. It should be noted that in some embodiments, the total number of the first pulley 2111 and the second pulley 2112 can be four, and the number of the first pulley 2111 and the second pulley 2112 is two, two, two first pulleys 2111 are connected through a swing rod, and the swing rod is driven by a motor to realize synchronous steering of the two first pulleys 2111, and two second pulleys 2112 are in transmission connection with the walking driving motor.

[0046] In some embodiments, as shown in Figure 1 and Figure 2 , the number of the first pulley 2111 is one and the first pulley 2111 is a universal wheel, the number of the second pulley 2112 is two, and the number of the power assembly is consistent with the number of the second pulley 2112.

[0047] The number of power assemblies can be consistent with the number of the second pulleys 2112. When the number of the second pulleys 2112 is two, the number of the power assemblies is also two. The two motor housings 2121 are distributed at two ends of the wheel set support 22 and connected with the wheel set support 22 to fixedly install the walking driving motors. Each second pulley 2112 is driven by an independent walking driving motor. It should be noted that the first pulley 2111 and the two second pulleys 2112 are arranged in a triangular shape on the chassis 10. The first pulley 2111 is distributed in front of the advancing direction of the obstacle crossing device 100. The two second pulleys 2112 are symmetrically distributed behind the first pulley 2111.

[0048] In some embodiments, the wheel set support 22 is distributed above the chassis 10. The chassis 10 is provided with an opening 101. The motor housing 2121 penetrates the opening 101 and extends below the chassis 10.

[0049] In some embodiments, as shown in Figure 1 and Figure 2 , the shape of the wheel set support 22 is triangular.

[0050] The wheel set support 22 is further limited to be triangular in shape in the above embodiments. Based on the above design, the reliability of the support is ensured. The pulley set 211, the wheel set support 22 and the power assembly form a relatively independent combined structure. When the lifting assembly 30 works, only the chassis 10 moves up and down relative to the ground.

[0051] As shown in Figure 4 , the present application provides a sweeping robot, which comprises a body 200 and the obstacle crossing device 100 of any one of the above.

[0052] The sweeping robot provided in the second aspect of the present application is arranged on the chassis 10 of the obstacle crossing device 100 through the body 200. When the advancing direction of the sweeping robot encounters an obstacle, the chassis 10 can be lifted to a certain height by the lifting assembly 30, so that the height of the chassis 10 from the ground is greater than the ground clearance of the obstacle. The obstacle crossing device 100 can take the body 200 to cross the obstacle with a certain height, so that the sweeping robot of the present application has stronger obstacle crossing ability and can easily cross the threshold, steps and other obstacles, adapt to various complex home environments and ensure the comprehensiveness and delicacy of cleaning work.

[0053] The robotic vacuum cleaner's body 200 may include a housing assembly, a control module, a cleaning module, and a battery power supply module. The housing assembly includes a main unit base 210, a main unit cover 220, and a front anti-collision bumper 230. The control module, cleaning module, and battery power supply module are all mounted on the main unit base 210, and the cleaning module, such as brushes and suction ports, extends at least partially from the main unit base 210 to below the chassis 10. It should be noted that the control system can acquire data collected by sensors or receive user commands, and control the robotic vacuum cleaner based on this data, such as controlling the robot's movement, cleaning area, obstacle avoidance, and navigation to a designated location.

[0054] The cleaning module can consist of a brush and a vacuum cleaner. The brush can mop up trash and dust on the floor, while the vacuum cleaner sucks the dust and trash from the floor into a collection container.

[0055] In some embodiments, such as Figure 5 As shown, the body 200 is provided with a first height sensor 310 and a second height sensor 320 distributed at intervals along the height direction of the body 200, and the lifting assembly 30 is electrically connected to the first height sensor 310 and the second height sensor 320 respectively.

[0056] The first height sensor 310 is configured to detect a height value of H1, and the second height sensor 320 is configured to detect a height value of H2. The chassis 10 has a first position and a second position. The distance between the chassis 10 and the ground is H3 when the chassis 10 is in the first position and H4 when the chassis 10 is in the second position. H2 ≥ H4 > H1 ≥ H3, wherein H2 is associated with the obstacle-crossing height of the walking wheel assembly 21.

[0057] Both the first height sensor 310 and the second height sensor 320 can be used to determine the height of obstacles in front. Based on the different horizontal positions of the first height sensor 310 and the second height sensor 320 on the body 200, the height range of obstacles in front can be obtained through the first height sensor 310 and the second height sensor 320, thereby controlling whether the lifting assembly 30 operates. Specifically, the detected height value of the first height sensor 310 is H1, and the detected height of the second height sensor 320 is H2. The chassis 10 is initially in the first position, at which point the chassis 10 is at a height of H3 above the ground. After being driven by the lifting assembly 30, the chassis 10 rises to the second position, at which point the chassis 10 is at a height of H4 above the ground.

[0058] In addition, the following relationships are satisfied among H1, H2, H3, and H4: H2≥H4>H1≥H3; when the second height sensor 320 detects an obstacle, it indicates that the height of the obstacle is greater than or equal to H2, and it is determined that the robot chassis 10 cannot cross the obstacle, at which time the robot can be controlled to avoid; when the second height sensor 320 does not detect an obstacle, and the first height sensor 310 detects an obstacle, it indicates that the height of the obstacle is greater than or equal to H1 and less than H2, at which time the robot chassis 10 can be lifted to the second position and cross the obstacle; when neither the first height sensor 310 nor the second height sensor 320 detects an obstacle, it indicates that the height of the obstacle is less than H1, at which time the robot chassis 10 will not encounter the obstacle, at which time the robot chassis 10 can be controlled to remain in the first position and cross the obstacle.

[0059] The size of H1 can be 2 cm, and the height H3 of the robot chassis 10 from the ground can be 2 cm. Specifically, most of the robots on the market are designed to be able to cross obstacles of less than 2 cm, and when the first height detector 310 detects that the height of the obstacle is less than 2 cm, the robot chassis 10 does not need to be lifted and remains in the first position, and the robot can directly cross the obstacle.

[0060] The size of H2 can be associated with the obstacle-crossing height of the walking wheel assembly 21. Specifically, the larger the radius of the wheels in the walking wheel assembly 21, the greater the height of the robot chassis 10 from the ground when in the first position, and the higher the obstacle-crossing height of the walking wheel assembly 21. For example, when the robot chassis 10 is in the first position and the height from the ground is 2 cm, the corresponding obstacle-crossing height of the walking wheel assembly 21 is not higher than 3 cm, and when the height of the obstacle is greater than 3 cm, even if the height of the robot chassis 10 from the ground is lifted to be higher than the height of the obstacle, the walking wheel assembly 21 cannot cross the obstacle.

[0061] In some embodiments, as shown in FIG. 1, Figure 5 In some embodiments, as shown in FIG. 1,

[0062] In some embodiments, as shown in FIG. 1,

[0063] The laser transmitter and the laser receiver can be mounted on the lamp group support 3110, and the lamp group support 3110 can be mounted on the front bumper. Based on this, the first height sensor 310 and the second height sensor 320 can be used to detect the height range of the obstacle in the advancing direction of the robot in real time. Specifically, the signal processor determines the height range of the obstacle according to whether the laser receiver receives the light beam emitted by the laser transmitter. The detection height of the first height sensor 310 is H1, and the detection height of the second height sensor 320 is H2. When the laser receiver of the first height sensor 310 and the second height sensor 320 does not receive the light beam emitted by the laser transmitter, the height of the obstacle is less than H1. When the laser receiver of the first height sensor 310 receives the light beam, and the laser receiver of the second height sensor 320 does not receive the light beam, the height of the obstacle is greater than or equal to H1 and less than H2. When the laser receiver of the first height sensor 310 and the second height sensor 320 receives the light beam emitted by the laser transmitter, the height of the obstacle is greater than or equal to H2.

[0064] In some embodiments, as shown in FIG. 11, the lamp group support 3110 is further provided with a lens 3120. The lens 3120 ensures that only light with the same wavelength as the light beam emitted by the laser transmitter can enter, thereby suppressing non-coherent light sources, reducing noise, and preventing the sensor from being overexposed due to external light interference, which can cause the lifting assembly 30 to malfunction. Figure 5

[0065] It should be noted that the light beam emitted by the laser transmitter can be, but is not limited to, laser or infrared light.

[0066] Specifically, the second aspect of the present application discloses a method for controlling the robot, which can be performed by the following steps:

[0067] The height of the obstacle in front of the robot is obtained in real time, and the following actions are performed according to the judgment result. When the height range of the obstacle in front is less than H1, the chassis 10 of the robot is maintained or adjusted to a first position height H3, where H1≥H3. When the height range of the obstacle in front is greater than or equal to H1 and less than H2, the chassis 10 of the robot is maintained or adjusted to a second position height H4, where H2≥H4>H1. When the height range of the obstacle in front is greater than or equal to H2, the chassis 10 of the robot is adjusted to the first position height H3, and the robot is caused to perform an avoidance action.

[0068] ​The height of the front obstacle can be obtained by the sweeping robot through infrared sensors, ultrasonic sensors, visual recognition, touch sensors, and the like. For example, the first height sensor and the second height sensor are installed on the front anti-collision bumper of the sweeping robot. The specific description of the sweeping robot, the first height sensor, the second height sensor, and H1, H2, H3, and H4 can be referred to the above content, and will not be described here.

[0069] The sweeping robot provided in the present application can obtain the height of the front obstacle in real time, and control the obstacle crossing mode of the sweeping robot according to the height of the obstacle. Specifically, when the height of the obstacle encountered in front of the sweeping robot is less than H1, the chassis 10 of the sweeping robot is kept or adjusted to the first position, at this time, the height of the chassis 10 will not collide with the obstacle, and the sweeping robot directly crosses the obstacle; when the height of the obstacle encountered in front of the sweeping robot is greater than or equal to H1 and less than H2, the chassis 10 is controlled to keep or adjust to the second position, so that the ground clearance of the chassis 10 is greater than the height of the obstacle, and based on the size of the wheel radius of the sweeping robot, the sweeping robot can cross the obstacle; when the height of the obstacle encountered in front of the sweeping robot is greater than or equal to H2, even if the ground clearance of the chassis 10 is raised to the second position, the chassis 10 will still collide with the obstacle, and the sweeping robot cannot cross the obstacle. At this time, the sweeping robot adopts the avoidance strategy of stopping or turning. The sweeping robot is controlled in this way, thereby improving the obstacle crossing ability of the sweeping robot, enhancing the passability in various scenes, and further enhancing the cleaning efficiency.

[0070] The technical features of the above embodiments can be combined in any manner. To make the description concise, all possible combinations of the technical features in the above embodiments are not described, but as long as the combinations of the technical features do not exist, they should be considered as the scope of the present application.

[0071] The above embodiments only express several implementation manners of the present application, and the description is more specific and detailed, but it should not be understood as a limitation on the scope of the patent. It should be pointed out that for ordinary skilled in the art, without departing from the concept of the present application, some modifications and improvements can be made, which are all within the protection scope of the present application. Therefore, the protection scope of the present utility model patent should be subject to the appended claims.

Claims

1. An obstacle crossing device, characterized in that, The barrier crossing device (100) comprises a chassis (10), a walking module (20), and a lifting assembly (30). The walking module (20) comprises a walking wheel assembly (21) and a wheel set support (22), the wheel set support (22) is connected with the walking wheel assembly (21), and the chassis (10) is movable up and down relative to the wheel set support (22). The lifting assembly (30) is arranged on the wheel set support (22), and an output end of the lifting assembly (30) is connected with the wheel set support (22) to drive the chassis (10) to lift relative to the ground. The lifting assembly (30) comprises a lifting drive motor (31), a gear set (32), and a lifting shaft (33), an input end of the gear set (32) is in driving connection with the lifting drive motor (31), an output end of the gear set (32) is in driving connection with the lifting shaft (33), and one end of the lifting shaft (33) away from the gear set (32) is connected with the chassis (10).

2. The obstacle negotiating device of claim 1, wherein, The walking wheel assembly (21) comprises a pulley set (211) and a power assembly, the power assembly comprises a motor housing (2121) and a walking drive motor arranged in the motor housing (2121), the motor housing (2121) is connected with the wheel set support (22), and the walking drive motor is in driving connection with the pulley set (211).

3. The obstacle negotiating device of claim 1, wherein, The pulley set (211) comprises a first pulley (2111) and a second pulley (2112), the total number of the first pulley (2111) and the second pulley (2112) is not less than three, one of the first pulley (2111) and the second pulley (2112) is a universal wheel, and the other one is in driving connection with the walking drive motor.

4. The obstacle negotiating device of claim 3, wherein, The number of the first pulley (2111) is one, and the first pulley (2111) is a universal wheel, the number of the second pulley (2112) is two, and the number of the power assembly is consistent with the number of the second pulley (2112).

5. The obstacle negotiating device of claim 4, wherein, The wheel set support (22) is distributed above the chassis (10), the chassis (10) is provided with an opening (101), the motor housing (2121) penetrates through the opening (101) and extends to below the chassis (10).

6. The obstacle negotiating device of claim 3, wherein, The wheel set support (22) is in a triangular shape.

7. The obstacle negotiating device of claim 5, wherein, The barrier crossing device (100) comprises a machine body (200) and the barrier crossing device (100) according to any one of claims 1-7, and the machine body (200) is arranged on the chassis (10).

8. A robot vacuum cleaner characterized in that, 9. The robot of claim 8, wherein the machine body (200) is provided with a first height sensor (310) and a second height sensor (320) which are distributed at intervals along the height direction of the machine body (200), and the lifting assembly (30) is electrically connected with the first height sensor (310) and the second height sensor (320) respectively. ​ The first height sensor (310) is configured to detect a height value H1, the second height sensor (320) is configured to detect a height value H2, the chassis (10) has a first position and a second position, the distance between the chassis (10) and the ground is H3 when the chassis (10) is in the first position, the distance between the chassis (10) and the ground is H4 when the chassis (10) is in the second position, H2≥H4>H1≥H3, wherein H2 is associated with the obstacle climbing height of the walking wheel assembly (21).

10. The robotic vacuum cleaner of claim 9, wherein, The first height sensor (310) and the second height sensor (320) each include a laser emitter, a laser receiver and a signal processor, the laser emitter is configured to emit a light beam, the laser receiver is configured to receive the light beam, and when the laser receiver receives the light beam, the signal processor determines that there is an obstacle higher than or equal to the height value detected by the height sensor in front of the sweeping robot.

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