Chassis structure, cleaning equipment and cleaning system

Abstract

The utility model provides a chassis structure, cleaning equipment and a cleaning system, and relates to the technical field of cleaning. The universal wheel mechanism is located in the front side area of the chassis body, and the first driving assembly drives the universal wheel assembly to descend or ascend relative to the front side area of the chassis body so that the front side area of the chassis body can ascend and descend relative to the ground. The driving wheel mechanism is located in the edge area of the chassis body in the width direction, and the second driving assembly drives the driving wheel assembly to descend or ascend relative to the edge area of the chassis body so that the edge area of the chassis body can ascend and descend relative to the ground. The first control assembly is used for controlling the first driving assembly to drive the universal wheel assembly to move, and the second control assembly is used for controlling the second driving assembly to drive the driving wheel assembly to move. The first control assembly and the second control assembly are mutually independent so that lifting movement of the front side area of the chassis body and lifting movement of the edge area of the chassis body can be mutually independent. The chassis structure can solve the problem that the single posture of the chassis is difficult to meet different cleaning environments.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of cleaning, in particular to a chassis structure, a cleaning device and a cleaning system. BACKGROUND

[0002] A cleaning device (such as a robot vacuum cleaner, an automatic sweeper, etc.) is a common intelligent cleaning appliance, which is mainly used for cleaning the ground (including floors, tiles, carpets, etc.). The cleaning device can automatically complete the cleaning of the ground to save the time of the user for cleaning the ground.

[0003] During the operation of the cleaning device, the distance between the chassis and the ground is usually small to ensure effective suction, but the small distance between the chassis and the ground cannot smoothly pass through when the cleaning device encounters an obstacle, which affects the cleaning efficiency. In the related art, the height of the chassis is adjusted by adjusting the movement of the universal wheel or the driving wheel to realize the obstacle crossing function.

[0004] However, in the related art, the chassis of the cleaning device can only stay in the highest state and the lowest state. When applied to different cleaning environments, the cleaning can only be performed through the lowest state of the chassis, which is difficult to adapt to different application scenarios. Moreover, during the obstacle crossing process, the obstacle crossing can only be performed through the highest state of the chassis, which is easy to cause energy loss and affect the endurance time of the cleaning device. CONTENT OF THE UTILITY MODEL

[0005] The present application provides a chassis structure, a cleaning device and a cleaning system, which can solve the problem that the single posture of the chassis cannot meet different cleaning environments.

[0006] In a first aspect, the present application provides a chassis structure, comprising:

[0007] a chassis body;

[0008] a universal wheel mechanism, which is arranged at a front side region of the chassis body along the direction of travel of the chassis body, the universal wheel mechanism comprising a first driving assembly and a universal wheel assembly, the first driving assembly being connected to the universal wheel assembly, the first driving assembly driving the universal wheel assembly to descend or ascend relative to the front side region of the chassis body, so that the front side region of the chassis body ascends or descends relative to the ground;

[0009] a driving wheel mechanism, which is arranged at an edge region of the chassis body along the width direction, the driving wheel mechanism comprising a second driving assembly and a driving wheel assembly, the second driving assembly being connected to the driving wheel assembly, the second driving assembly driving the driving wheel assembly to descend or ascend relative to the edge region of the chassis body, so that the edge region of the chassis body ascends or descends relative to the ground;

[0010] The control mechanism comprises a first control assembly and a second control assembly, the first control assembly is arranged on the universal wheel mechanism, and the first control assembly is used for controlling the first driving assembly to drive the universal wheel assembly to move, the second control assembly is arranged on the driving wheel assembly, and the second control assembly is used for controlling the second driving assembly to drive the driving wheel assembly to move.

[0011] The first control assembly and the second control assembly are independent of each other, so that the front side region of the chassis body is raised or lowered independently of the edge region of the chassis body.

[0012] The chassis structure provided in the application can make the movement of the universal wheel mechanism and the driving wheel mechanism independent of each other through the independent first control assembly and the independent second control assembly, so that the front side region of the chassis body is raised or lowered independently of the edge region of the chassis body. Therefore, the first control assembly and the second control assembly can be used to control the universal wheel mechanism and the driving wheel mechanism to be in different states, so that the chassis body can form multiple postures, thereby meeting different cleaning environments.

[0013] Specifically, when the front side region of the chassis body is raised relative to the ground, the edge region of the chassis body can be raised, maintained or lowered relative to the ground. Alternatively, when the front side region of the chassis body is lowered relative to the ground, the edge region of the chassis body can be raised, maintained or lowered relative to the ground. In addition, the front side region and the edge region of the chassis body can move simultaneously or successively relative to the ground. Therefore, the chassis body can have multiple different postures.

[0014] In the obstacle crossing scene, the posture of the chassis body can be that the front side region of the chassis body is raised relative to the ground, and the edge region of the chassis body is maintained at a cleaning height relative to the ground. When the direction of travel of the chassis body encounters an obstacle, the first control assembly can be used to control the universal wheel assembly to move, so that the front side region of the chassis body is raised. At this time, the height of the edge region of the chassis body can be maintained unchanged. In other words, the height of the front side region of the chassis body can be higher than the height of the edge region, and the front side region of the chassis body can cross the obstacle first.

[0015] When the front side region of the chassis body passes over the obstacle, the posture of the chassis body can be that the front side region of the chassis body is raised relative to the ground, and the edge region of the chassis body is also raised relative to the ground. In other words, the height of the front side region of the chassis body can remain unchanged. The driving wheel assembly is controlled to move by the second control assembly, so that the edge region of the chassis body is raised. At this time, the height of the edge region of the chassis body can be higher than the height of the front side region, so that the edge region of the chassis body can pass over the obstacle.

[0016] Alternatively, when the front side region of the chassis body passes over the obstacle, the posture of the chassis body can also be that the front side region of the chassis body remains at a cleaning height relative to the ground, and the edge region of the chassis body is raised relative to the ground. The driving wheel assembly is controlled to move by the second control assembly, so that the edge region of the chassis body is raised relative to the ground, and the universal wheel assembly is controlled to move by the first control assembly, so that the front side region of the chassis body returns to the cleaning height. In this state, the edge region of the chassis body can also pass over the obstacle.

[0017] In addition, along the direction of travel of the chassis body, the chassis body has a rear side region away from the front side region. The front side region and the rear side region are respectively located on both sides of the driving wheel assembly. During the obstacle passing process of the chassis body, if the rear side region is stuck by the obstacle, the universal wheel assembly can be controlled to move by the first control assembly, so that the height of the front side region of the chassis body is lowered, so that the rear side region of the chassis body can be raised relative to the front side region, thereby realizing the obstacle passing of the rear side region of the chassis body.

[0018] In the embodiments of the present application, the first control assembly and the second control assembly are respectively used to independently control the different heights of the front side region and the edge region of the chassis body relative to the ground, so that the chassis body can have a plurality of different postures.

[0019] In addition, the cleaning modules such as the roller brush, the edge brush and the mop cloth are arranged on the chassis body. The roller brush, the edge brush and the mop cloth are located in different regions of the chassis body. Therefore, by adjusting the heights of the front side region and the edge region of the chassis body relative to the ground, the height between the cleaning modules and the ground can be adjusted, so that the cleaning modules and the ground can maintain a good contact depth under different ground conditions, thereby improving the cleaning effect.

[0020] In addition, after the cleaning device is used for a long time, the cleaning modules will be worn out, and the contact depth between the cleaning modules and the ground will be reduced, thereby affecting the cleaning effect. In the embodiments of the present application, the height of the position corresponding to the worn cleaning module on the chassis body can be reduced, so that the cleaning module and the ground can maintain the contact depth for the best cleaning effect.

[0021] According to one embodiment of the present application, the first control assembly is connected with the first driving assembly, and the control mechanism further comprises a master controller;

[0022] The first control assembly is connected with the master controller to transmit the signal of the first driving assembly to the master controller, and the master controller is configured to control the first driving assembly to drive the universal wheel assembly to ascend or descend relative to the front side region of the chassis body, so as to control the universal wheel assembly to ascend or descend relative to the ground.

[0023] In the embodiment of the present application, the master controller is connected with the first control assembly, and the first control assembly and the first driving assembly can transmit signals, so that the first driving assembly can drive the universal wheel assembly to move more accurately, thereby improving the accuracy of the universal wheel assembly to ascend or descend relative to the ground.

[0024] In the obstacle crossing scenario, the master controller can control the universal wheel assembly to descend relative to the front side region of the chassis body, so that the front side region of the chassis body ascends relative to the ground. When the distance of the chassis body ascending relative to the ground exceeds the height of the obstacle and the obstacle crossing condition is met, the master controller can issue a stop running instruction to the first driving assembly through the first control assembly. The first driving assembly can stop running, so that the universal wheel assembly stops moving, and the height of the front side region of the chassis body is maintained at a height that can cross the obstacle.

[0025] According to one embodiment of the present application, the first control assembly comprises a first signaler and a first detector, the first signaler is connected with the first driving assembly, and the first detector is connected with the first signaler for signal transmission to detect the signal variable of the first signaler.

[0026] The master controller controls the universal wheel assembly to stop at any position in the ascending or descending stroke through the first control assembly, so as to control the front side region of the chassis body to stop at the corresponding position.

[0027] In the embodiment of the present application, the front side region of the chassis body can stop at any position between the movement strokes of the front side region of the chassis body. Therefore, the front side region of the chassis body can not be limited to the highest position of the ascent or the lowest position of the descent, so that the chassis body can present more inclined postures to cope with different application environments.

[0028] Specifically, since the main controller can achieve precise control of the movement of the front side area of the chassis body through the first detector and the first signaler, the main controller can make the front side area of the chassis body stop at any position between the two limit positions instead of stopping at the limit position of rising or falling. Therefore, when the front side area of the chassis body meets the obstacle height, the front side area of the chassis body can be controlled to stop, thereby reducing energy loss and improving the endurance of the cleaning device.

[0029] Wherein, the main controller can accurately obtain the movement stroke of the universal wheel assembly by detecting the signal variable of the first signaler through the first detector, and accurately confirm the movement stroke of the universal wheel assembly to issue accurate instructions to the first driving assembly, so that the front side area of the chassis body can be accurately stopped at the position required for obstacle crossing or cleaning.

[0030] Specifically, the first signaler is connected with the first driving assembly, and the first signaler can change the signal in the process of the first driving assembly providing driving force to the universal wheel assembly. The first signaler can transmit the signal variable to the first detector and then to the main controller through the first detector, so that the main controller can obtain the movement direction and stroke of the universal wheel assembly, and then the main controller can accurately control the movement direction and stroke of the universal wheel assembly to improve the movement accuracy of the front side area of the chassis body.

[0031] In the obstacle crossing scene, the main controller can issue instructions to the first driving assembly according to the size (such as height) of the obstacle, and the first driving assembly drives the universal wheel assembly to descend relative to the front side area of the chassis body, so that the front side area of the chassis body rises relative to the ground. The signal of the first signaler on the first driving assembly changes. When the front side area of the chassis body rises to the first target position, the first detector can detect the signal variable of the first signaler and transmit it to the main controller. The main controller can determine whether the front side area of the chassis body reaches the first target position through the signal variable of the first signaler to verify the rising position of the front side area of the chassis body, thereby improving the accuracy of the chassis body crossing the obstacle and reducing the possibility of the chassis body colliding with the obstacle and being damaged.

[0032] In the cleaning mode, since the main controller can issue instructions to the first driving assembly to make the front side area of the chassis body stop at any position between the limit positions, the front side area of the chassis body is not limited to stop at the two limit positions. Therefore, in different cleaning scenes, the close contact between the cleaning module and the ground can be achieved.

[0033] According to one embodiment of the present application, the first driving assembly comprises a first motor, a first screw rod and a first lifting block, the first motor is in transmission connection with the first screw rod, and the first lifting block is located on the first screw rod and connected with the universal wheel assembly;

[0034] The first signal indicator is connected with the first motor, and the first detector is close to the first signal indicator, and the first signal indicator is used to determine the rotating position and rotating speed of the first motor;

[0035] The first motor drives the first screw rod to rotate forward or reversely to drive the first lifting block to drive the universal wheel assembly to ascend or descend.

[0036] In the embodiment of the present application, the main controller can send a signal to the first motor to drive the first screw rod to rotate, so that the first lifting block drives the universal wheel assembly to ascend or descend relative to the front side area of the chassis body. Through the cooperative movement of the first screw rod and the first lifting block, the first lifting block can move along the extension direction of the first screw rod, so that the front side area of the chassis body ascends or descends relative to the ground along the height direction of the chassis body. The first screw rod can guide the first lifting block to maintain the stability of the ascending or descending movement of the front side area of the chassis body.

[0037] According to one embodiment of the present application, the second control assembly is in signal connection with the second driving assembly, and the control mechanism further comprises a main controller;

[0038] The second control assembly is connected with the main controller to transmit the signal of the second driving assembly to the main controller, and the main controller is used to control the second driving assembly to drive the flipping stroke of the driving wheel assembly through the second control assembly, so as to control the ascending or descending stroke of the edge area of the chassis body relative to the ground.

[0039] In the embodiment of the present application, the main controller is connected with the second control assembly, and the second control assembly and the second driving assembly can transmit signals, so that the movement of the second driving assembly driving the driving wheel assembly is more accurate, thereby improving the accuracy of the ascending or descending stroke of the edge area of the chassis body relative to the ground.

[0040] The driving wheel assembly can flip relative to the edge area of the chassis body through the rotating shaft. When the driving wheel assembly flips downward relative to the edge area of the chassis body, the driving wheel assembly can push the edge area of the chassis body to ascend. When the driving wheel assembly flips upward relative to the edge area of the chassis body, the edge area of the chassis body can descend under the action of the gravity of the chassis body itself.

[0041] In the obstacle-crossing scenario, the main controller can control the driving wheel assembly to flip down relative to the edge region of the chassis body, so that the edge region of the chassis body rises relative to the ground. When the distance by which the chassis body rises relative to the ground exceeds the height of the obstacle and the obstacle-crossing condition is met, the main controller can issue a stop running instruction to the second driving assembly through the second control assembly. The second driving assembly can stop running, so that the driving wheel assembly stops moving, and the height of the edge region of the chassis body is maintained at a height that can cross the obstacle.

[0042] According to an embodiment of the present application, the second control assembly comprises a second signaler and a second detector, the second signaler is connected with the second driving assembly, and the second detector is in signal transmission with the second signaler to detect a signal variable of the second signaler.

[0043] The main controller controls the driving wheel assembly to stop at any position in the forward or reverse flipping stroke through the second control assembly, so as to control the edge region of the chassis body to stop at a corresponding position.

[0044] In the embodiment of the present application, the edge region of the chassis body can stop at any position between the movement strokes of the edge region of the chassis body. Therefore, the edge region of the chassis body can not be limited to the highest position of rising or the lowest position of falling, so that the chassis body can present more inclined postures to cope with different application environments.

[0045] By detecting the signal variable of the second signaler through the second detector, the main controller can accurately obtain the flipping stroke of the driving wheel assembly, and accurately confirm the flipping stroke of the driving wheel assembly to accurately issue an instruction to the second driving assembly, so that the edge region of the chassis body can accurately stop at a position required for obstacle-crossing or cleaning.

[0046] Specifically, the edge region of the chassis body has a limit position when rising or falling relative to the ground. Since the main controller can accurately control the movement of the edge region of the chassis body through the second detector and the second signaler, the main controller can make the edge region of the chassis body not be limited to stopping at the limit position of rising or falling, and the edge region of the chassis body can stop at any position between the two limit positions. Therefore, when the edge region of the chassis body meets the obstacle-crossing height, the edge region of the chassis body can be controlled to stop moving, thereby reducing energy consumption and improving the endurance of the cleaning device.

[0047] The second signal indicator is connected with the second driving assembly, and the second signal indicator can change the signal in the process that the second driving assembly provides driving force to the driving wheel assembly. The second signal indicator can transmit the signal variable to the second detector, and then to the main controller through the second detector, so that the main controller can obtain the movement direction and movement stroke of the driving wheel assembly, and then the main controller can accurately control the movement direction and movement stroke of the driving wheel assembly, so as to improve the movement accuracy of the edge region of the chassis body.

[0048] Therefore, the front region of the chassis body can also stop at any position between the self-limiting positions, and the edge region of the chassis body can also stop at any position between the self-limiting positions. The height of the front region of the chassis body and the height of the edge region of the chassis body can be freely combined, so that the chassis body can have infinite postures.

[0049] Therefore, in the obstacle crossing scene, the main controller can control the front region and the edge region of the chassis body to have different lifting heights through the first control assembly and the second control assembly respectively, so that the chassis body can cross obstacles of different sizes through one or more postures. In the cleaning scene, the main controller can control the chassis body to pass through one or more postures, so that the cleaning modules located in different regions of the bottom of the chassis body have different distances from the ground, so as to adapt to different cleaning scenes. In addition, in the recharging scene, when the cleaning device returns to the base station, because the base station has an inclined surface at the entrance, the charging port of the base station and the receiving unit on the chassis body are easy to have an angle deviation, which causes charging failure. The main controller can control the chassis body to be in a posture corresponding to the receiving unit and the charging port of the base station, so as to improve the reliability of the charging of the cleaning device.

[0050] According to an embodiment of the present application, the second driving assembly comprises a second motor, a second screw rod and a second lifting block, the second motor is in transmission connection with the second screw rod, and the second lifting block is located on the second screw rod and connected with the driving wheel assembly.

[0051] The second signal indicator is connected with the second motor, and the second detector is close to the second signal indicator. The second signal indicator is used to determine the rotation position and rotation speed of the second motor.

[0052] The second motor drives the second screw rod to rotate forward or reversely, so that the second lifting block drives the driving wheel assembly to overturn downward or upward, and the edge region of the chassis body rises or falls.

[0053] In the embodiments of the present application, the main controller can issue a signal to the second motor, so that the second motor drives the second screw to rotate, and the second lifting block drives the driving wheel assembly to rise or fall relative to the edge region of the chassis body. Through the coordinated movement of the second screw and the second lifting block, the second lifting block can move along the extension direction of the second screw, so that the edge region of the chassis body rises or falls relative to the ground. The second screw can have a guiding effect on the second lifting block, so as to maintain the stability of the rising or falling movement of the edge region of the chassis body.

[0054] According to an embodiment of the present application, the number of driving wheel mechanisms is two, and the two driving wheel mechanisms are respectively located at the two edge regions of the chassis body in the width direction of the chassis body.

[0055] The second control assemblies of the two driving wheel mechanisms are independent of each other, so that the rising or falling movement of the two edge regions of the chassis body relative to the ground is independent of each other.

[0056] In the embodiments of the present application, the two driving wheel mechanisms are respectively provided with a second control assembly connected to the main controller. The two second control assemblies can respectively and independently control the corresponding second driving assemblies to drive the two driving wheel assemblies to respectively flip the same or different strokes relative to the two edge regions of the chassis body. Therefore, the movement of the two edge regions of the chassis body relative to the ground can not affect each other.

[0057] In some examples, along the traveling direction of the chassis body, the two edge regions in the width direction of the chassis body can be referred to as the left edge region and the right edge region. When the left edge region rises relative to the ground, the right edge region can rise, maintain the height, or fall relative to the ground. Therefore, the heights of the two edge regions in the width direction of the chassis body can be the same or different. Since the main controller can control the two edge regions of the chassis body to stop at any position within the respective strokes through the two second control assemblies, the chassis body can have multiple postures.

[0058] In a second aspect, the present application provides a cleaning device comprising the chassis structure of any of the above embodiments.

[0059] In a third aspect, the present application provides a cleaning system comprising a base station and a cleaning device, and the cleaning device can be placed on the base station.

[0060] The chassis structure provided by the present application has the beneficial effect that the chassis body can have multiple inclined postures. This includes that along the traveling direction, the chassis body can have multiple inclined postures, and along the width direction of the chassis body, the chassis body can also have multiple inclined postures.

[0061] In a first aspect, the chassis body can have good obstacle crossing function. The front side region and the edge region of the chassis body can be raised, maintained and lowered relative to the ground to meet the obstacle crossing requirements for obstacles of different sizes and shapes.

[0062] In a second aspect, the chassis body can be suitable for various application scenarios. When the cleaning device cleans hard surfaces such as floors and tiles, and cleans flexible surfaces such as carpets, the amount of contact between the chassis body and the ground is different. Therefore, in different cleaning environments, different gaps between the chassis body and the ground can be controlled to maintain the cleaning suction force.

[0063] In addition, when cleaning on inclined or uneven ground, the chassis body can be adjusted to have different inclined postures to ensure effective contact between each cleaning module on the chassis body and the ground and to ensure the cleaning effect.

[0064] In a third aspect, when the cleaning device is used for a long time, the cleaning module is worn and the contact depth between the cleaning module and the ground is reduced, which can easily affect the cleaning effect. By adjusting the region on the chassis body corresponding to the cleaning module to be lowered by a certain distance relative to the ground, the contact depth between the cleaning module and the ground can be maintained, thereby improving the service life of the cleaning module while ensuring the cleaning effect.

[0065] In a fourth aspect, when the cleaning device returns to the base station for charging, the inclined posture of the chassis body can be adjusted to pass through the inclined surface at the entrance of the base station, and the receiving unit on the chassis body can correspond to the charging port of the base station to improve the reliability of the charging of the cleaning device.

[0066] In addition to the technical problems solved by the above-described embodiments of the present application, the technical features constituting the technical solutions and the beneficial effects brought by these technical features, other technical problems solved by the chassis structure, the cleaning device and the cleaning system provided by the embodiments of the present application, and the beneficial effects brought by these technical features will be further described in detail in the specific embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0067] The accompanying drawings, which are incorporated into and form part of the specification, illustrate embodiments consistent with the present application and, together with the specification, serve to explain the principles of the application.

[0068] Figure 1 FIG. 1 is a perspective view of a chassis structure according to an embodiment of the present application;

[0069] Figure 2 FIG. 2 is a side view of the chassis structure according to an embodiment of the present application;

[0070] Figure 3 A side view structural schematic diagram of a chassis structure according to another embodiment of the present application;

[0071] Figure 4 A side view structural schematic diagram of a chassis structure according to yet another embodiment of the present application;

[0072] Figure 5 A side view structural schematic diagram of a chassis structure according to still another embodiment of the present application;

[0073] Figure 6 A side view structural schematic diagram of a chassis structure according to still another embodiment of the present application; Figure 1 An enlarged schematic diagram of A in FIG. 15;

[0074] Figure 7 A sectional view structural schematic diagram of a universal wheel assembly according to an embodiment of the present application;

[0075] Figure 8 A three-dimensional structural schematic diagram of a chassis structure according to another view of an embodiment of the present application;

[0076] Figure 9 A three-dimensional structural schematic diagram of a chassis structure according to another view of an embodiment of the present application; Figure 8 An enlarged schematic diagram of B in FIG. 16;

[0077] Figure 10 A three-dimensional structural schematic diagram of a chassis structure according to another view of an embodiment of the present application; Figure 1 An enlarged schematic diagram of C in FIG. 17;

[0078] Figure 11 A side view structural schematic diagram of a chassis structure according to another view of an embodiment of the present application;

[0079] Figure 12 A side view structural schematic diagram of a chassis structure according to another view of another embodiment of the present application;

[0080] Figure 13 A control method flowchart of a control mechanism according to an embodiment of the present application;

[0081] Figure 14 A control method flowchart of a control mechanism according to another embodiment of the present application;

[0082] Figure 15 A control method flowchart of a control mechanism according to yet another embodiment of the present application.

[0083] BRIEF DESCRIPTION OF REFERENCE NUMERALS:

[0084] 100 - chassis structure;

[0085] 110 - chassis body; 110a - front side region; 110b - edge region; 110c - rear side region;

[0086] 120 - universal wheel mechanism;

[0087] 121 - first driving assembly; 1211 - first motor; 1212 - first screw rod; 1213 - first lifting block;

[0088] 122 - universal wheel assembly; 1221 - lifting support; 12211 - upper shell; 12212 - lower shell; 1222 - universal wheel; 1223 - elastic damping member; 1224 - first trigger;

[0089] 123 - first light sensor;

[0090] 130 - driving wheel mechanism;

[0091] 131 - second driving assembly; 1311 - second motor; 1312 - second screw rod; 1313 - second lifting block;

[0092] 132 - driving wheel assembly; 1321 - rotating shaft; 1322 - lifting column; 1323 - second trigger;

[0093] 133 - second light sensor;

[0094] 141 - first control assembly; 1411 - first signaler; 1412 - first detector;

[0095] 142 - second control assembly; 1421 - second signaler; 1422 - second detector;

[0096] 150 - auxiliary wheel;

[0097] X - advancing direction; Y - width direction.

[0098] The specific embodiments have been shown and described in the above-described drawings and the following description. These drawings and description are not meant to constrain the scope of the present application in any way, but to illustrate the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0099] The exemplary embodiments will be described in detail herein with reference to the attached drawings. The following description is made with reference to the accompanying drawings in which like reference numerals refer to like elements, and the term "exemplary" is used herein to mean "serving as an example, instance, or illustration." The following description is not meant to limit the application in any way. Rather, the following description is meant to provide an example or examples for the application, as well as to provide no more than a general understanding of the application. The application will be more fully understood by reference to the following description taken in conjunction with the accompanying drawings.

[0100] The cleaning device provided in the embodiments of the present application can be a sweeping robot. The sweeping robot is a device for cleaning the ground. The cleaning function of the sweeping robot is mainly realized through high-speed rotation of the motor. The high-speed rotation of the motor can form a vacuum in the body to use high-speed airflow to suck dirt such as dust and hair on the ground into the body through the suction port. The dirt can be accumulated in the cloth bag or dust box to facilitate regular cleaning by the user.

[0101] Some sweeping robots can also be equipped with a cloth and a water tank for mopping the ground after sweeping the ground, thereby further improving the cleaning effect. The cleaning device provided in the embodiments of the present application can have only a sweeping function or a combination of sweeping and mopping functions, which is not limited in the embodiments of the present application.

[0102] In the related art, when the cleaning device encounters an obstacle, the height of the chassis is adjusted by adjusting the movement of the universal wheel or the driving wheel to realize the obstacle crossing function. However, the chassis can only stay in the highest state and the lowest state. When applied to different cleaning environments, only the lowest state of the chassis can be used for cleaning, so it is difficult to adapt to different application scenarios. Moreover, during the obstacle crossing process, only the highest state of the chassis can be used for obstacle crossing, which is easy to cause energy loss and affect the endurance time of the cleaning device.

[0103] Based on the above technical problems, the applicant improves the existing chassis structure. In the embodiments of the present application, the first control assembly can control the universal wheel mechanism to descend or ascend relative to the chassis body, so that the front side area of the chassis body can ascend or descend relative to the ground. The second control assembly can control the driving wheel mechanism to descend or ascend relative to the edge area of the chassis body, so that the edge area of the chassis body can ascend or descend relative to the ground. Moreover, the first control assembly and the second control assembly are independent of each other. In other words, the first control assembly controls the ascending or descending action of the front side area of the chassis body, which is independent of the ascending or descending action of the edge area of the chassis body controlled by the second control assembly. Therefore, the first control assembly and the second control assembly can be used to control the front side area and the edge area of the chassis body to be in different states, so that the chassis body can have different postures, thereby adapting to different cleaning environments and dealing with obstacles of different sizes.

[0104] The chassis structure 100, the cleaning device and the cleaning system provided in the present application will be described below with reference to the accompanying drawings and in combination with specific embodiments.

[0105] Referring to Figure 1 The chassis structure 100 provided in the embodiments of the present application includes a chassis body 110, a universal wheel mechanism 120, a driving wheel mechanism 130 and a control mechanism.

[0106] In the traveling direction X of the chassis body 110, the universal wheel mechanism 120 is arranged at the front side region 110a of the chassis body 110. The universal wheel mechanism 120 comprises a first driving assembly 121 and a universal wheel assembly 122. The first driving assembly 121 is connected with the universal wheel assembly 122. The first driving assembly 121 drives the universal wheel assembly 122 to descend or ascend relative to the chassis body 110, so as to ascend or descend the front side region 110a of the chassis body 110 relative to the ground.

[0107] The driving wheel mechanism 130 is arranged at the edge region 110b of the chassis body 110 along the width direction Y. The width direction Y can be perpendicular to the traveling direction X. The driving wheel mechanism 130 comprises a second driving assembly 131 and a driving wheel assembly 132. The second driving assembly 131 is connected with the driving wheel assembly 132. The second driving assembly 131 drives the driving wheel assembly 132 to descend or ascend relative to the chassis body 110, so as to ascend or descend the edge region 110b of the chassis body 110 relative to the ground. The descending or ascending manner of the driving wheel assembly 132 relative to the chassis body 110 can be, but is not limited to, overturning.

[0108] In some examples, the number of the driving wheel mechanism 130 can be two. The two edge regions 110b of the chassis body 110 along the width direction Y can be respectively provided with the driving wheel mechanism 130. In the traveling direction X of the chassis body 110, the driving wheel mechanism 130 can be located at the middle region of the chassis body 110, so as to provide uniform support for the chassis body 110.

[0109] The control mechanism comprises a first control assembly 141 and a second control assembly 142. The first control assembly 141 is arranged at the universal wheel mechanism 120. The first control assembly 141 is used to control the first driving assembly 121 to drive the universal wheel assembly 122 to move. The second control assembly 142 is arranged at the driving wheel assembly 132. The second control assembly 142 is used to control the second driving assembly 131 to drive the driving wheel assembly 132 to move.

[0110] The first control assembly 141 and the second control assembly 142 are independent of each other, so that the ascending or descending movement of the front side region 110a of the chassis body 110 is independent of the ascending or descending movement of the edge region 110b of the chassis body 110.

[0111] In the embodiments of the present application, the first control assembly 141 and the second control assembly 142 are independent of each other, so that the movement of the universal wheel mechanism 120 and the driving wheel mechanism 130 is independent of each other, thereby the lifting or lowering movement of the front side region 110a of the chassis body 110 does not affect the lifting or lowering movement of the edge region 110b of the chassis body 110. Therefore, by controlling the first control assembly 141 and the second control assembly 142 to control the universal wheel mechanism 120 and the driving wheel mechanism 130 to be in different states respectively, the chassis body 110 in multiple postures can be formed, so that different cleaning environments can be met.

[0112] Since the cleaning device is mainly used for cleaning the ground, in order to facilitate description, it is defined that the front side region 110a and the edge region 110b of the chassis body 110 are in the initial state when the cleaning posture of the chassis body 110 is defined. It should be noted that when the front side region 110a and the edge region 110b of the chassis body 110 are both in the initial state, the distance between the chassis body 110 and the ground is not limited to be the minimum distance.

[0113] Specifically, the lifting or lowering movement of the front side region 110a of the chassis body 110 is independent of the lifting or lowering movement of the edge region 110b can mean that when the front side region 110a of the chassis body 110 rises relative to the ground, the edge region 110b of the chassis body 110 can rise, remain or lower relative to the ground. Or, when the front side region 110a of the chassis body 110 lowers relative to the ground, the edge region 110b of the chassis body 110 can rise, remain or lower relative to the ground. In addition, the front side region 110a and the edge region 110b of the chassis body 110 can move relative to the ground at the same time or in sequence. Therefore, the chassis body 110 can have multiple different postures.

[0114] Exemplarily, Figure 2 The cleaning posture of the chassis structure 100 when cleaning the ground. The front side region 110a and the edge region 110b of the chassis body 110 have a small gap from the ground to ensure effective suction force on the ground.

[0115] The chassis body 110 in the obstacle crossing scene, referring to Figures 3 to 5 shown, Figure 3is another posture of the chassis body 110. In this posture, the front side area 110a of the chassis body 110 is raised relative to the ground, and the edge area 110b of the chassis body 110 is also raised relative to the ground. After the front side area 110a of the chassis body 110 has passed over the obstacle, the height of the front side area 110a can be kept unchanged. The drive wheel assembly 132 is controlled to move by the second control assembly 142, so that the edge area 110b of the chassis body 110 is raised. At this time, the height of the edge area 110b of the chassis body 110 can be higher than the height of the front side area 110a, so that the edge area 110b of the chassis body 110 can pass over the obstacle.

[0116] Figure 4 is another posture of the chassis body 110. In this posture, the front side area 110a of the chassis body 110 is raised relative to the ground, and the edge area 110b of the chassis body 110 is also raised relative to the ground. After the front side area 110a of the chassis body 110 has passed over the obstacle, the height of the front side area 110a can be kept unchanged. The drive wheel assembly 132 is controlled to move by the second control assembly 142, so that the edge area 110b of the chassis body 110 is raised. At this time, the height of the edge area 110b of the chassis body 110 can be higher than the height of the front side area 110a, so that the edge area 110b of the chassis body 110 can pass over the obstacle.

[0117] or Figure 5 is another posture of the chassis body 110. In this posture, the front side area 110a of the chassis body 110 is raised relative to the ground, and the edge area 110b of the chassis body 110 is also raised relative to the ground. After the front side area 110a of the chassis body 110 has passed over the obstacle, the height of the front side area 110a can be kept unchanged. The drive wheel assembly 132 is controlled to move by the second control assembly 142, so that the edge area 110b of the chassis body 110 is raised. At this time, the height of the edge area 110b of the chassis body 110 can be higher than the height of the front side area 110a, so that the edge area 110b of the chassis body 110 can pass over the obstacle. Figure 4 and Figure 5 the inclination angle of the chassis body 110 in the Figure 5 state is greater than the inclination angle of the chassis body 110 in the Figure 4 state.

[0118] In addition, along the traveling direction X of the chassis body 110, the chassis body 110 has a rear side region 110c away from the front side region 110a. The front side region 110a and the rear side region 110c are respectively located on both sides of the driving wheel assembly 132. During the process of the chassis body 110 crossing the obstacle, if the rear side region 110c is stuck by the obstacle, the first control assembly 141 can be controlled to move the universal wheel assembly 122, so that the height of the front side region 110a of the chassis body 110 is lowered, so that the rear side region 110c of the chassis body 110 can be raised relative to the front side region 110a, thereby realizing the obstacle crossing of the rear side region 110c of the chassis body 110.

[0119] It should be noted that during the process of the rear side region 110c of the chassis body 110 crossing the obstacle, whether the driving wheel assembly 132 moves and the moving distance can be set according to the size of the obstacle, which is not limited in the embodiment.

[0120] Referring to Figures 2 to 5 In the embodiment of the present application, the first control assembly 141 and the second control assembly 142 are respectively used to independently control the different heights of the front side region 110a and the edge region 110b of the chassis body 110 relative to the ground, so that the chassis body 110 can have multiple different postures.

[0121] It should be noted that the multiple different postures of the chassis body 110 formed by the embodiment of the present application are not limited to Figures 2 to 5 the postures shown in the figure.

[0122] In addition, the cleaning modules such as the roller brush, the edge brush, and the mop cloth are arranged on the chassis body 110. The roller brush, the edge brush, and the mop cloth are located in different regions of the chassis body 110. Therefore, by adjusting the different heights of the front side region 110a and the edge region 110b of the chassis body 110 relative to the ground, the height between the cleaning modules and the ground can be adjusted, so that the cleaning modules and the ground can maintain a good contact depth under different ground conditions, thereby improving the cleaning effect.

[0123] In some examples, by the different heights of the front side region 110a and the edge region 110b of the chassis body 110 relative to the ground, the chassis body 110 can present postures with different inclination angles, thereby realizing the lifting of the cleaning modules such as the roller brush, the edge brush, the mop cloth, the roller, and the track.

[0124] For example, the rolling brush is usually located between the two driving wheel mechanisms 130. When cleaning the carpet, since dirt such as hair and dust can easily penetrate into the interior of the carpet, the two driving wheel assemblies 132 can be controlled to overturn relative to the chassis body 110, so that the edge region 110b of the chassis body 110 can be lowered relative to the ground, so as to reduce the distance between the rolling brush and the carpet, and the rolling brush can clean the carpet in depth, so as to improve the cleaning effect on the carpet.

[0125] In another example, after the cleaning device is used for a long time, the cleaning module is worn, the contact depth between the cleaning module and the ground is reduced, and the cleaning effect is affected. In the embodiment of the application, the height of the position of the cleaning module corresponding to the wear on the chassis body 110 can be lowered, so that the cleaning module and the ground can maintain the contact depth for the best cleaning effect.

[0126] For example, when the worn cleaning module is located at the front side region 110a of the chassis body 110, the front side region 110a of the chassis body 110 can be controlled to be lowered by a certain distance, so as to maintain the contact depth of the cleaning module and the ground.

[0127] It should be noted that the stroke of the front side region 110a of the chassis body 110 rising or lowering can be the same as or different from the stroke of the edge region 110b rising or lowering, which is not limited in the embodiment.

[0128] In some possible manners, as shown in Figure 1 , Figure 6 and Figure 7 , the first control assembly 141 of the embodiment of the application is in signal connection with the first driving assembly 121. The control mechanism further includes a master controller.

[0129] The first control assembly 141 is connected with the master controller, so as to transmit the signal of the first driving assembly 121 to the master controller. The master controller is configured to control the first driving assembly 121 to drive the universal wheel assembly 122 to rise or lower relative to the stroke of the front side region 110a of the chassis body 110, so as to control the stroke of the front side region 110a of the chassis body 110 rising or lowering relative to the ground.

[0130] In the embodiment of the application, the master controller is connected with the first control assembly 141, and the first control assembly 141 and the first driving assembly 121 can transmit signals, so that the movement of the first driving assembly 121 driving the universal wheel assembly 122 is more accurate, and thus the accuracy of the stroke of the front side region 110a of the chassis body 110 rising or lowering relative to the ground can be improved.

[0131] In the obstacle surmounting scenario, the main controller can control the universal wheel assembly 122 to descend relative to the front side region 110a of the chassis body 110, so that the front side region 110a of the chassis body 110 rises relative to the ground. When the distance by which the chassis body 110 rises relative to the ground exceeds the height of the obstacle and the obstacle surmounting condition is met, the main controller can issue a stop running instruction to the first driving assembly 121 through the first control assembly 141. The first driving assembly 121 can stop running, so that the universal wheel assembly 122 stops moving, and the height of the front side region 110a of the chassis body 110 is kept at a height that can surmount the obstacle.

[0132] In some examples, the main controller and the first control assembly 141 and the second control assembly 142 can be connected through a wire harness. Correspondingly, a wiring slot that can accommodate the wire harness can be arranged on the chassis body 110.

[0133] In some implementable manners, referring to FIG. 1, Figure 6 As shown in the figure, the first control assembly 141 of the embodiment of the present application includes a first signaler 1411 and a first detector 1412. The first signaler 1411 is connected with the first driving assembly 121. The first detector 1412 is in signal transmission with the first signaler 1411 to detect the signal variable of the first signaler 1411.

[0134] The main controller can control the universal wheel assembly 122 to stop at any position in the rising or descending stroke through the first control assembly 141, so as to control the front side region 110a of the chassis body 110 to stop at the corresponding position.

[0135] In the embodiment of the present application, the front side region 110a of the chassis body 110 can stop at any position between the movement strokes of the front side region 110a of the chassis body 110. Therefore, the front side region 110a of the chassis body 110 can not be limited to the highest position in the rising stroke or the lowest position in the descending stroke, so that the chassis body 110 can present more inclined postures to cope with different application environments.

[0136] Specifically, since the main controller can realize precise control of the movement of the front side region 110a of the chassis body 110 through the first detector 1412 and the first signaler 1411, the main controller can make the front side region 110a of the chassis body 110 not be limited to stop at the extreme position in the rising or descending stroke, but can stop at any position between the two extreme positions. Therefore, when the front side region 110a of the chassis body 110 meets the obstacle surmounting height, the front side region 110a of the chassis body 110 can be controlled to stop, thereby being beneficial to reduce energy consumption and improve the endurance of the cleaning device.

[0137] The first detector 1412 detects the signal variable of the first signaler 1411, and the host controller can accurately obtain the movement stroke of the universal wheel assembly 122. The host controller can accurately confirm the movement stroke of the universal wheel assembly 122 and accurately instruct the first driving assembly 121, so that the front side area 110a of the chassis body 110 can be accurately stopped at a position required for obstacle crossing or cleaning.

[0138] Specifically, the first signaler 1411 is connected with the first driving assembly 121. The first signaler 1411 can change the signal in the process that the first driving assembly 121 provides driving force for the universal wheel assembly 122. The first signaler 1411 can transmit the signal variable to the first detector 1412, and the first detector 1412 can transmit the signal variable to the host controller. Thus, the host controller can obtain the movement direction and the movement stroke of the universal wheel assembly 122. The host controller can accurately control the movement direction and the movement stroke of the universal wheel assembly 122 to improve the movement accuracy of the front side area 110a of the chassis body 110.

[0139] In the obstacle crossing scenario, the host controller can instruct the first driving assembly 121 according to the size (e.g., height) of the obstacle. The first driving assembly 121 drives the universal wheel assembly 122 to descend relative to the front side area 110a of the chassis body 110, so that the front side area 110a of the chassis body 110 rises relative to the ground. The signal of the first signaler 1411 on the first driving assembly 121 changes. When the front side area 110a of the chassis body 110 rises to a first target position, the first detector 1412 can detect the signal variable of the first signaler 1411 and transmit the signal variable to the host controller. The host controller can determine whether the front side area 110a of the chassis body 110 reaches the first target position according to the signal variable of the first signaler 1411, so as to verify the rising position of the front side area 110a of the chassis body 110. Thus, the accuracy of the chassis body 110 crossing the obstacle is improved, and the possibility of the chassis body 110 colliding with the obstacle and being damaged is reduced.

[0140] In the cleaning mode, the host controller can instruct the first driving assembly 121 to make the front side area 110a of the chassis body 110 stay at any position between the two limit positions. Thus, the cleaning module can closely adhere to the ground in different cleaning scenarios.

[0141] For example, the side brush is usually located at the front side area 110a of the chassis body 110. When the chassis body 110 walks on an inclined ground or a bumpy ground environment, the main control unit can issue a plurality of instructions to the first driving assembly 121, so that the chassis body 110 can present different inclined angles when cleaning the inclined ground or the bumpy ground, so as to make the side brush better adhere to the ground, thereby ensuring the cleaning effect.

[0142] In some examples, the first detector 1412 of the embodiment of the present application can be, but is not limited to, a Hall sensor. The first signaler 1411 can be, but is not limited to, a magnetic piece. The operation of the first driving assembly 121 can change the magnetic field around the magnetic piece. The Hall sensor can sense the change of the magnetic field and transmit the change of the magnetic field to the main control unit. The main control unit can determine whether the first driving assembly 121 drives the universal wheel assembly 122 to move to the preset first target position through the change of the magnetic field.

[0143] In some realizable ways, referring to Figure 6 As shown, the first driving assembly 121 of the embodiment of the present application includes a first motor 1211, a first screw rod 1212, and a first lifting block 1213. The first motor 1211 is in transmission connection with the first screw rod 1212. The first lifting block 1213 is located on the first screw rod 1212. The first lifting block 1213 is connected with the universal wheel assembly 122.

[0144] The first signaler 1411 is connected with the first motor 1211. The first detector 1412 is close to the first signaler 1411, and the first signaler 1411 is used to determine the rotating position and rotating speed of the first motor 1211. The first motor 1211 drives the first screw rod 1212 to rotate forward or reversely to make the first lifting block 1213 drive the universal wheel assembly 122 to ascend or descend.

[0145] In the embodiment of the present application, the main control unit can issue a signal to the first motor 1211, so that the first motor 1211 drives the first screw rod 1212 to rotate, so that the first lifting block 1213 drives the universal wheel assembly 122 to ascend or descend relative to the front side area 110a of the chassis body 110. Through the cooperative movement of the first screw rod 1212 and the first lifting block 1213, the first lifting block 1213 can move along the extension direction of the first screw rod 1212, so that the front side area 110a of the chassis body 110 ascends or descends relative to the ground along the height direction of the chassis body 110. The first screw rod 1212 can have a guiding effect on the first lifting block 1213, so as to keep the stability of the ascending or descending movement of the front side area 110a of the chassis body 110.

[0146] It should be noted that when the first screw 1212 rotates in the positive direction, the first lifting block 1213 can drive the universal wheel assembly 122 to ascend relative to the front side area 110a of the chassis body 110. Alternatively, when the first screw 1212 rotates in the positive direction, the first lifting block 1213 can drive the universal wheel assembly 122 to descend relative to the front side area 110a of the chassis body 110, which is not specifically limited in the embodiment of the present application.

[0147] In some examples, the first lifting block 1213 can be provided with a groove. The universal wheel assembly 122 can be provided with a protrusion that cooperates with the groove. Along the movement direction of the first lifting block 1213, the protrusion is located in the groove, so that when the first lifting block 1213 ascends or descends, the universal wheel assembly 122 can be driven to ascend or descend relative to the front side area 110a of the chassis body 110.

[0148] Specifically, the mutual cooperation principle of the first detector 1412, the first signaler 1411, the first motor 1211 and the first screw 1212 can be as follows, wherein the parameters can be set according to requirements, which are not limited in the embodiment of the present application.

[0149] The no-load speed of the first motor 1211 is A (unit: RPM). The first motor 1211 drives the first screw 1212 to rotate through a reducer. The speed reduction ratio of the reducer is B: 1. The first signaler 1411 can include C pairs of poles (i.e. C N poles and C S poles). The pitch of the first screw 1212 is D (unit: mm). Therefore, the frequency of signal transmission is A*B*C / 60 (HZ), and the stroke of 1 mm of lifting corresponds to 1 / D*B*C signal periods.

[0150] In some realizable ways, referring to FIGS. Figure 6 and Figure 7 The universal wheel mechanism 120 can further include a first limiting mechanism. The first limiting mechanism is arranged on the chassis body 110. The first limiting mechanism cooperates with the universal wheel assembly 122 to make the front side area 110a of the chassis body 110 have two limit positions. When the universal wheel assembly 122 cooperates with the first limiting mechanism, the universal wheel assembly 122 reaches the limit position of descending. Alternatively, when the universal wheel assembly 122 cooperates with the first limiting mechanism, the universal wheel assembly 122 reaches the limit position of ascending.

[0151] In the embodiment of the present application, the first limiting mechanism can be used to constrain the limit movement stroke of the first lifting block 1213, so that the universal wheel assembly 122 has a limit movement stroke relative to the front side area 110a of the chassis body 110, so that the ascending or descending of the front side area 110a of the chassis body 110 will not be infinite movement.

[0152] In the embodiment, the first limiting mechanism is not limited in structure. For example, the first limiting mechanism and the universal wheel assembly 122 can be in physical contact or in inductive contact.

[0153] For example, when the first limiting mechanism is in inductive contact, the first limiting mechanism can include a first light sensor 123. The first light sensor 123 is arranged on the base body 110. The universal wheel assembly 122 can be provided with a first trigger 1224 for triggering the first light sensor 123. During the process of the universal wheel assembly 122 rising or falling relative to the front side area 110a of the base body 110, the first trigger moves relative to the first light sensor 123. When the first trigger is located in the sensing area of the first light sensor 123, the first light sensor 123 can transmit a signal to the main controller. The first driving assembly 121 stops running. The front side area 110a of the base body 110 reaches the limit position.

[0154] In some possible implementation manners, referring to Figure 7 As shown in the figure, the universal wheel assembly 122 of the embodiment can include a connected lifting support 1221 and a universal wheel 1222. The lifting support 1221 is connected with the first lifting block 1213. The base body 110 has a lifting channel capable of accommodating at least part of the lifting support 1221. The lifting support 1221 rises or falls in the lifting channel.

[0155] The lifting channel can have a guiding effect, so that the lifting support 1221 rises or falls along the height direction of the base body 110, to maintain the movement stability of the front side area 110a of the base body 110.

[0156] In some possible implementation manners, referring to Figure 7 As shown in the figure, the universal wheel assembly 122 of the embodiment further includes an elastic damping member 1223. The lifting support 1221 includes an upper shell 12211 and a lower shell 12212. The upper shell 12211 and the lower shell 12212 form a space capable of accommodating the elastic damping member 1223. The lower shell 12212 is connected with the universal wheel 1222. The lower shell 12212 can slide up and down relative to the upper shell 12211. The two ends of the elastic damping member 1223 abut against the inner walls of the upper shell 12211 and the lower shell 12212 respectively.

[0157] In the embodiment, when the universal wheel 1222 touches small particles or other obstacles, the elastic member can generate a compression effect. Since the two ends of the elastic member abut against the inner walls of the upper shell 12211 and the lower shell 12212 respectively, the elastic member can absorb and buffer the force acting on the upper shell 12211, so as to buffer the force acting on the front side area 110a of the base body 110, and improve the stability of the base body 110 during operation.

[0158] In some possible implementation manners, referring to Figures 8 to 10 The second control assembly 142 is in signal connection with the second driving assembly 131. The control mechanism further includes a master controller.

[0159] The second control assembly 142 is connected to the master controller to transmit the signal of the second driving assembly 131 to the master controller. The master controller is configured to control the second driving assembly 131 to drive the overturning stroke of the driving wheel assembly 132 through the second control assembly 142, so as to control the stroke of the edge region 110b of the chassis body 110 rising or falling relative to the ground.

[0160] In the embodiment of the application, the master controller is connected to the second control assembly 142, and the second control assembly 142 and the second driving assembly 131 can transmit signals, so that the movement of the second driving assembly 131 driving the driving wheel assembly 132 is more accurate, thereby improving the accuracy of the stroke of the edge region 110b of the chassis body 110 rising or falling relative to the ground.

[0161] The driving wheel assembly 132 can overturn relative to the edge region 110b of the chassis body 110 through the rotating shaft 1321. When the driving wheel assembly 132 overturns downward relative to the edge region 110b of the chassis body 110, the driving wheel assembly 132 can push the edge region 110b of the chassis body 110 to rise. When the driving wheel assembly 132 overturns upward relative to the edge region 110b of the chassis body 110, the edge region 110b of the chassis body 110 can fall under the action of the gravity of the chassis body 110 itself.

[0162] In the obstacle crossing scenario, the master controller can control the driving wheel assembly 132 to overturn downward relative to the edge region 110b of the chassis body 110, so that the edge region 110b of the chassis body 110 rises relative to the ground. When the distance of the chassis body 110 rising relative to the ground exceeds the height of the obstacle and the obstacle crossing condition is met, the master controller can issue an instruction of stopping running to the second driving assembly 131 through the second control assembly 142. The second driving assembly 131 can stop running, so that the driving wheel assembly 132 stops moving, and the height of the edge region 110b of the chassis body 110 is kept at a height that can cross the obstacle.

[0163] In some examples, the drive wheel assembly 132 may include a damping spring. One end of the damping spring may be connected to the chassis body 110, and the other end may be connected to the drive wheel assembly 132. The damping spring can buffer the vibrations felt by obstacles such as small particles when the drive wheel assembly 132 comes into contact with them, thereby improving the operational stability of the edge region 110b of the chassis body 110. Furthermore, the damping spring can provide traction force to provide a force away from the ground for the drive wheel assembly 132.

[0164] See also some of the possible implementation methods. Figure 9 and Figure 10 As shown, the second control component 142 in this embodiment includes a second signaler 1421 and a second detector 1422. The second signaler 1421 is connected to the second drive component 131. The second detector 1422 transmits signals with the second signaler 1421 to detect the signal variable of the second signaler 1421.

[0165] The main controller controls the drive wheel assembly 132 to stop at any position during the forward or reverse rollover stroke via the second control component 142, thereby controlling the edge region 110b of the chassis body 110 to stop at the corresponding position.

[0166] In this embodiment, the edge region 110b of the chassis body 110 can stop at any position during its movement stroke. Therefore, the edge region 110b of the chassis body 110 is not limited to the highest point of ascent or the lowest point of descent, thus allowing the chassis body 110 to adopt attitudes with more tilt angles to cope with different application environments.

[0167] By detecting the signal variable of the second signaler 1421 through the second detector 1422, the main controller can accurately obtain the rotation stroke of the drive wheel assembly 132, and by accurately confirming the rotation stroke of the drive wheel assembly 132, issue precise commands to the second drive assembly 131, so that the edge area 110b of the chassis body 110 can accurately stop at the position required for obstacle crossing or cleaning.

[0168] Specifically, the edge region 110b of the chassis body 110 has a limit position of rising or falling relative to the ground. Since the host can achieve accurate control of the movement of the edge region 110b of the chassis body 110 through the second detector 1422 and the second signal 1421, the host can make the edge region 110b of the chassis body 110 not limited to stop at the limit position of rising or falling, and the edge region 110b of the chassis body 110 can stop at any position between the two limit positions. Therefore, when the edge region 110b of the chassis body 110 meets the obstacle height, the movement of the edge region 110b of the chassis body 110 can be controlled to stop, thereby facilitating the reduction of energy loss and the improvement of the endurance of the cleaning device.

[0169] The second signal 1421 is connected with the second driving assembly 131, and the second signal 1421 can change the signal in the process of the second driving assembly 131 providing driving force to the driving wheel assembly 132. The second signal 1421 can transmit the signal variable to the second detector 1422, and then to the host through the second detector 1422, so that the host can obtain the movement direction and movement stroke of the driving wheel assembly 132, and then the host can accurately control the movement direction and movement stroke of the driving wheel assembly 132 to improve the movement accuracy of the edge region 110b of the chassis body 110.

[0170] Therefore, the front region 110a of the chassis body 110 can also stop at any position between its own limit positions, and the edge region 110b of the chassis body 110 can also stop at any position between its own limit positions. The height of the front region 110a of the chassis body 110 and the height of the edge region 110b of the chassis body 110 can be freely combined, so that the chassis body 110 can have infinite postures.

[0171] For example, the chassis body 110 can stop at any position in the posture conversion from Figure 2 to Figure 3 , can stop at any position in the posture conversion from Figure 3 to Figure 4 , can stop at any position in the posture conversion from Figure 4 to Figure 5 .

[0172] Therefore, in the obstacle crossing scenario, the main controller can control the front side area 110a and the edge area 110b of the chassis body 110 to have different lifting heights through the first control assembly 141 and the second control assembly 142 respectively, so that the chassis body 110 crosses obstacles of different sizes through one or more postures. In the cleaning scenario, the main controller can control the chassis body 110 to pass through one or more postures, so that the cleaning modules located at different areas of the bottom of the chassis body 110 have different distances from the ground, to adapt to different cleaning scenarios. In addition, in the recharging scenario, when the cleaning device returns to the base station, due to the inclined surface at the entrance of the base station, there is an angle deviation between the charging port of the base station and the receiving unit on the chassis body 110, which causes charging failure. The main controller can control the chassis body 110 to be in a posture corresponding to the receiving unit and the charging port of the base station, so as to improve the reliability of the charging of the cleaning device.

[0173] In some examples, the second detector 1422 of the embodiment of the present application can be but is not limited to a Hall sensor. The second signaler 1421 can be but is not limited to a magnetic piece. The operation of the second driving assembly 131 can change the magnetic field around the magnetic piece. The Hall sensor can sense the change of the magnetic field and transmit the change of the magnetic field to the main controller.

[0174] In some examples, referring to Figure 9 As shown, the driving wheel assembly 132 can be provided with a lifting column 1322. The second lifting block 1313 can cooperate with the lifting column 1322 to move. When the second lifting block 1313 moves downward, a downward force can be applied to the lifting column 1322, so that the driving wheel assembly 132 can be flipped downward relative to the edge area 110b of the chassis body 110 through the rotating shaft 1321. The driving wheel assembly 132 can push the edge area 110b of the chassis body 110 upward. When the second lifting block 1313 moves upward, the downward force of the second lifting block 1313 on the lifting column 1322 is cancelled. At this time, the edge area 110b of the chassis body 110 can be lowered under the action of its own gravity, so that the edge area 110b of the chassis body 110 is lowered.

[0175] In some realizable ways, referring to Figure 9 and Figure 10 As shown, the second driving assembly 131 includes a second motor 1311, a second screw rod 1312 and a second lifting block 1313. The second motor 1311 is in transmission connection with the second screw rod 1312. The second lifting block 1313 is located on the second screw rod 1312, and the second lifting block 1313 is connected with the driving wheel assembly 132.

[0176] The second signal generator 1421 is connected with the second motor 1311. The second detector 1422 is close to the second signal generator 1421. The second signal generator 1421 is used to determine the rotating position and rotating speed of the second motor 1311. The second motor 1311 drives the second screw rod 1312 to rotate forward or reversely, so that the second lifting block 1313 drives the driving wheel assembly 132 to overturn downward or upward relative to the edge area 110b of the chassis body 110, and the edge area 110b of the chassis body 110 rises or falls.

[0177] In the embodiment of the present application, the main controller can issue a signal to the second motor 1311, so that the second motor 1311 drives the second screw rod 1312 to rotate, so that the second lifting block 1313 drives the driving wheel assembly 132 to rise or fall relative to the edge area 110b of the chassis body 110. Through the cooperative movement of the second screw rod 1312 and the second lifting block 1313, the second lifting block 1313 can move along the extension direction of the second screw rod 1312, so that the edge area 110b of the chassis body 110 rises or falls relative to the ground. The second screw rod 1312 can have a guiding effect on the second lifting block 1313, so as to keep the stability of the rising or falling movement of the edge area 110b of the chassis body 110.

[0178] It should be noted that when the second screw rod 1312 rotates forward, the second lifting block 1313 can drive the driving wheel assembly 132 to overturn upward relative to the edge area 110b of the chassis body 110. Alternatively, when the second screw rod 1312 rotates forward, the second lifting block 1313 can drive the driving wheel assembly 132 to overturn downward relative to the edge area 110b of the chassis body 110, which is not limited in the embodiment of the present application.

[0179] The mutual cooperation principle of the second detector 1422, the second signal generator 1421, the second motor 1311 and the second screw rod 1312 can be the same as that of the first control assembly 141 and the first driving assembly 121, which will not be repeated here.

[0180] In some implementable ways, referring to FIGS. 1, 2 and 3, Figure 9 and Figure 10 The second driving assembly 131 can further include a second limiting mechanism. The second limiting mechanism is arranged on the chassis body 110. The second limiting mechanism cooperates with the second lifting block 1313, so that the edge area 110b of the chassis body 110 has two limit positions. When the driving wheel assembly 132 cooperates with the second limiting mechanism, the driving wheel assembly 132 can overturn downward to one of the limit positions. Alternatively, when the driving wheel assembly 132 cooperates with the second limiting mechanism, the driving wheel assembly 132 can overturn upward to the other limit position.

[0181] In the embodiments of the present application, the second limiting mechanism can be used to constrain the limit motion stroke of the second lifting block 1313, so that the driving wheel assembly 132 has a limit motion stroke relative to the edge region 110b of the chassis body 110, so that the rising or falling of the edge region 110b of the chassis body 110 will not be infinite motion.

[0182] In the embodiments of the present application, the structure of the second limiting mechanism is not limited. For example, the second limiting mechanism and the driving wheel assembly 132 can be physically contacted and limited, or inductively contacted and limited.

[0183] For example, when limited by inductive contact, the second limiting mechanism can include a second light sensor 133. The second light sensor 133 is arranged on the chassis body 110. The driving wheel assembly 132 can be provided with a second trigger 1323 for triggering the second light sensor 133. During the upward or downward overturning of the driving wheel assembly 132 relative to the edge region 110b of the chassis body 110, the second trigger moves relative to the second light sensor 133. When the second trigger is located in the sensing area of the second light sensor 133, the second light sensor 133 can transmit a signal to the host. The second driving assembly 131 stops running. The edge region 110b of the chassis body 110 reaches the limit position.

[0184] In some realizable ways, referring to Figure 1 、 Figure 11 and Figure 12 , the number of driving wheel mechanisms 130 is two. The two driving wheel mechanisms 130 are respectively located at the two edge regions 110b in the width direction Y of the chassis body 110. Among them, the second control assemblies 142 of the two driving wheel mechanisms 130 are independent of each other, so that the rising or falling motion of the two edge regions 110b of the chassis body 110 is independent of each other.

[0185] In the embodiments of the present application, the two driving wheel mechanisms 130 are respectively provided with the second control assemblies 142 connected with the host. The two second control assemblies 142 can respectively and independently control the corresponding second driving assemblies 131, so as to drive the two driving wheel assemblies 132 to overturn the same or different strokes relative to the two edge regions 110b of the chassis body 110. Therefore, the motion of the two edge regions 110b of the chassis body 110 relative to the ground can not affect each other.

[0186] In some examples, referring to Figure 11 and Figure 12As shown, along the traveling direction X of the chassis body 110, the two edge regions 110b of the chassis body 110 in the width direction Y can refer to the left edge region 110b and the right edge region 110b. When the left edge region 110b rises relative to the ground, the right edge region 110b can rise, remain at a height, or descend relative to the ground. Therefore, the heights of the two edge regions 110b of the chassis body 110 in the width direction Y can be the same or different. Since the master controller can control the two edge regions 110b of the chassis body 110 to stop at any position within the respective stroke through the two second control assemblies 142 respectively, the chassis body 110 can have multiple postures.

[0187] Exemplarily, when the number of side brushes is one, along the width direction Y of the chassis body 110, the side brush is usually close to one of the edge regions 110b. Therefore, when the cleaning environment is a ground with slope or unevenness, the motion stroke or motion direction of the two drive wheel assemblies 132 can be controlled to be different, so that the heights of the two edge regions 110b of the chassis body 110 relative to the ground are different, so that the contact depth of the side brush with the inclined ground or uneven ground can meet the optimal cleaning effect.

[0188] Alternatively, when the side brush is worn, the edge region 110b of the chassis body 110 corresponding to the side brush can be controlled to descend relative to the ground by a certain distance, so that the optimal cleaning contact depth between the changed ground can be maintained.

[0189] In some examples, referring to Figures 2 to 5 As shown, the chassis structure 100 can further include an auxiliary wheel 150. The auxiliary wheel 150 can be arranged at the rear side region 110c of the chassis body 110. When the front side region 110a of the chassis body 110 rises relative to the ground, the auxiliary wheel 150 can support the rear side region 110c of the chassis body 110 to avoid friction between the rear side region 110c of the chassis body 110 and the ground, causing the chassis body 110 to wear.

[0190] In some examples, the auxiliary wheel 150 can have a lifting function relative to the rear side region 110c of the chassis body 110, so that the rear side region 110c of the chassis body 110 can rise or descend relative to the ground. The stroke of the auxiliary wheel 150 rising or descending relative to the rear side region 110c of the chassis body 110 can be realized through a third control assembly connected to the master controller. The working principle of the third control assembly can be the same as that of the first control assembly 141 and the second control assembly 142.

[0191] The embodiment of the present application provides a cleaning device, which can include the chassis structure 100 in any of the above embodiments.

[0192] In the embodiments of the present application, the chassis body 110 can have multiple inclined postures. This includes: along the direction of travel X, the chassis body 110 can have multiple inclined postures, and along the width direction Y of the chassis body 110, the chassis body 110 can also have multiple inclined postures.

[0193] In the first aspect, the chassis body 110 can have good obstacle crossing function. The relative height of the front side area 110a and the edge area 110b of the chassis body 110 can be raised, maintained, and lowered to meet the obstacle crossing requirements of obstacles of different sizes and shapes.

[0194] In the second aspect, the chassis body 110 can be suitable for multiple application scenarios. When the cleaning device cleans hard surfaces such as floors and tiles, and cleans flexible surfaces such as carpets, the amount of contact between the chassis body 110 and the ground is different. Therefore, in different cleaning environments, the gap between the chassis body 110 and the ground can be controlled to maintain the cleaning suction force.

[0195] In addition, when cleaning on inclined or uneven ground, the chassis body 110 can be adjusted to have different inclined postures to ensure effective contact between each cleaning module on the chassis body 110 and the ground, and to ensure cleaning effect.

[0196] In the third aspect, when the cleaning device is used for a long time, the cleaning module is worn and the contact depth between the cleaning module and the ground is reduced, which can easily affect the cleaning effect. By adjusting the area on the chassis body 110 corresponding to the cleaning module to be lowered by a certain distance relative to the ground, the contact depth between the cleaning module and the ground can be maintained, thereby improving the service life of the cleaning module while ensuring the cleaning effect.

[0197] In the fourth aspect, when the cleaning device returns to the base station for charging, the inclined posture of the chassis body 110 can be adjusted to pass through the inclined surface of the base station entrance, and the receiving unit on the chassis body 110 can correspond to the charging port of the base station to improve the reliability of the cleaning device charging.

[0198] The embodiments of the present application provide a cleaning system, which can include a base station and a cleaning device. The cleaning device can be placed on the base station.

[0199] The base station can have a charging function. When the cleaning device is placed on the base station, the base station can charge the cleaning device.

[0200] The base station can also have a cleaning function. When the cleaning device is placed on the base station, the cleaning module such as the roller brush, the cloth, and the edge brush on the cleaning device can be cleaned.

[0201] The embodiment of the present application provides a control method of a chassis structure 100, which can be applied to a control mechanism of the chassis structure 100.

[0202] The first driving assembly 121 comprises a first motor 1211 and a first screw rod 1212. The control mechanism comprises a master controller. The master controller is connected with the first motor 1211 through a first control assembly 141.

[0203] Referring to FIGS. 1 to 4, Figure 13 and Figure 14 The control method of the chassis structure 100 comprises the following steps.

[0204] S101, acquiring a first target position and a first current position of a front side area 110a of a chassis body 110.

[0205] S102, controlling the first motor 1211 to operate according to the first target position and the first current position, so as to drive the first screw rod 1212 and the universal wheel assembly 122 to move, and realize that the front side area 110a of the chassis body 110 moves from the first current position to the first target position.

[0206] In the embodiment of the present application, when the robot 100 is in the environment of obstacle crossing, cleaning or recharging, the master controller can preset that the front side area 110a of the chassis body 110 rises to the first target position. The master controller controls the first motor 1211 to operate through the first control assembly 141. The first motor 1211 drives the first screw rod 1212 to rotate, so that the universal wheel assembly 122 descends relative to the front side area 110a of the chassis body 110, thereby realizing that the front side area 110a of the chassis body 110 moves from the first current position to the first target position.

[0207] In some implementable manners, the first control assembly 141 comprises a first signaler 1411 and a first detector 1412.

[0208] The control method of the chassis structure 100 further comprises the following steps after S102.

[0209] S103, acquiring a first signal of the first signaler 1411 detected by the first detector 1412.

[0210] S104, judging whether the front side area 110a of the chassis body 110 moves to the first target position according to the first signal.

[0211] In the embodiment of the present application, the master controller can verify whether the front side area 110a of the chassis body 110 moves to the first target position, so as to improve the precision of the ascending or descending movement of the front side area 110a of the chassis body 110 relative to the ground.

[0212] Specifically, the first signal indicator 1411 is connected with the first motor 1211. The rotation speed, rotation direction and other parameters of the first motor 1211 can make the first signal of the first signal indicator 1411 produce a variable, so that the first signal indicator 1411 can transmit the signal variable of the first signal to the host controller, and the host controller can determine whether the front side area 110a of the chassis body 110 moves to the first target position.

[0213] If the front side area 110a of the chassis body 110 reaches the first target position, the first motor 1211 is controlled to stop, so that the first screw rod 1212 and the universal wheel assembly 122 stop moving, and the chassis body 110 stops at the first target position.

[0214] If the front side area 110a of the chassis body 110 does not reach the first target position, the first motor 1211 is controlled to operate to continue to drive the first screw rod 1212 and the universal wheel assembly 122 to move, until the front side area 110a of the chassis body 110 moves to the first target position.

[0215] In some examples, when the front side area 110a of the chassis body 110 does not reach the first target position, the current position of the front side area 110a of the chassis body 110 can be acquired again. In other words, the steps of S101-S104 can be executed again until the front side area 110a of the chassis body 110 moves to the first target position.

[0216] Therefore, through the host controller, the movement stroke of the front side area 110a of the chassis body 110 can be controlled and verified, so as to realize precise control of the movement of the front side area 110a of the chassis body 110.

[0217] In some realizable ways, the second driving assembly 131 includes a second motor 1311 and a second screw rod 1312, and the host controller is connected with the second motor 1311 through a second control assembly 142.

[0218] Referring to Figure 15 The control method further includes:

[0219] S201, acquiring a second target position and a second current position of an edge area 110b of the chassis body 110.

[0220] S202, according to the second target position and the second current position, the second motor 1311 is controlled to operate to drive the second screw rod 1312 and the driving wheel assembly 132 to move, so that the edge area 110b of the chassis body 110 moves from the second current position to the second target position.

[0221] In the embodiments of the present application, when the robot is in the environment of obstacle crossing, cleaning, recharging, etc., the main controller can preset the edge area 110b of the chassis body 110 to rise to a second target position. The main controller controls the second motor 1311 to run through the second control assembly 142. The second motor 1311 drives the second screw rod 1312 to rotate to make the driving wheel assembly 132 descend relative to the edge area 110b of the chassis body 110, so as to realize the movement of the edge area 110b of the chassis body 110 from the second current position to the second target position.

[0222] It should be noted that the control of the main controller on the first control assembly 141 and the control of the main controller on the second control assembly 142 can be performed simultaneously or sequentially, in other words, the lifting movement of the front side area 110a of the chassis body 110 relative to the ground and the lifting movement of the edge area 110b of the chassis body 110 relative to the ground can be run synchronously or sequentially, which is not limited in the embodiments of the present application. Wherein, the sequential running can be that the front side area 110a of the chassis body 110 moves first, or the edge area 110b of the chassis body 110 moves first, which is also not limited in the embodiments of the present application.

[0223] In some implementable manners, the second control assembly 142 includes a second signaler 1421 and a second detector 1422.

[0224] After S202, it further includes:

[0225] S203, acquiring a second signal of the second signaler 1421 detected by the second detector 1422.

[0226] S204, judging whether the edge area 110b of the chassis body 110 moves to the second target position according to the second signal.

[0227] In the embodiments of the present application, the main controller can check whether the edge area 110b of the chassis body 110 moves to the second target position, so as to improve the accuracy of the lifting or descending movement of the edge area 110b of the chassis body 110 relative to the ground.

[0228] Specifically, the second signaler 1421 is connected with the second motor 1311. The rotation speed, rotation direction and other parameters of the second motor 1311 can make the second signal of the second signaler 1421 have a variable, so that the second signaler 1421 can transmit the signal variable of the second signal to the main controller, and the main controller can judge whether the edge area 110b of the chassis body 110 moves to the second target position.

[0229] If the edge region 110b of the chassis body 110 reaches the second target position, the second motor 1311 is controlled to stop, so as to stop the movement of the second screw rod 1312 and the driving wheel assembly 132, and the chassis body 110 is stopped at the second target position.

[0230] If the edge region 110b of the chassis body 110 does not reach the second target position, the second motor 1311 is controlled to continue driving the movement of the second screw rod 1312 and the driving wheel assembly 132, until the edge region 110b of the chassis body 110 moves to the first target position.

[0231] In some examples, when the edge region 110b of the chassis body 110 does not reach the second target position, the current position of the edge region 110b of the chassis body 110 can be acquired again. In other words, the steps of S201-S204 can be performed again until the edge region 110b of the chassis body 110 moves to the second target position.

[0232] Therefore, the movement stroke of the edge region 110b of the chassis body 110 can be controlled and verified by the host controller, so as to realize accurate control of the movement of the edge region 110b of the chassis body 110.

[0233] It should be noted that the values and value ranges involved in the present application are approximate values, and there may be a certain range of errors due to the manufacturing process, which can be considered negligible by those skilled in the art.

[0234] In the description of the embodiments of the present application, it should be noted that, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection" should be understood in a broad sense, for example, it can be fixedly connected, or indirectly connected through an intermediate medium, or the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0235] In the description of the present application, it should be understood that the terms "center", "length", "width", "thickness", "top end", "bottom end", "upper", "lower", "left", "right", "front", "back", "vertical", "horizontal", "inner", "outer", "axial", "circumferential" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only used to facilitate the description of the present application and simplify the description, and do not indicate or imply that the indicated position or element must have a particular orientation, a particular configuration and operation, and therefore cannot be understood as a limitation on the present application.

[0236] In the embodiments of the present application or the devices or elements implied by the present application must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the embodiments of the present application. In the description of the embodiments of the present application, the meaning of "a plurality of" is two or more, unless otherwise specified.

[0237] The terms "first", "second", "third", "fourth" and the like in the description of the embodiments of the present application and the above-mentioned drawings (if any) are used to distinguish similar objects, and do not necessarily have to describe a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein, for example, can be implemented in an order other than those illustrated or described herein.

[0238] In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device containing a series of steps or units does not have to be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0239] The term "a plurality of" herein refers to two or more. The term "and / or" herein is only a description of the association relationship between the associated objects, which means that there can be three relationships, for example, A and / or B can represent the three cases of A alone, A and B together, and B alone. In addition, the character " / " herein generally represents that the associated objects before and after it are in an "or" relationship; in the formula, the character " / " represents that the associated objects before and after it are in a "division" relationship.

[0240] It can be understood that the various numbers involved in the embodiments of the present application are only for the convenience of differentiation in the description, and do not limit the scope of the embodiments of the present application.

[0241] It can be understood that in the embodiments of the present application, the size of the serial number of each process does not mean the order of execution, and the execution order of each process should be determined by its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

Claims

1. A chassis structure (100), characterized in that, The utility model relates to a kind of chassis, comprising: Chassis body (110); Universal wheel mechanism (120), along the travel direction (X) of the chassis body (110), the universal wheel mechanism (120) is arranged in the front side area (110a) of the chassis body (110), the universal wheel mechanism (120) includes first drive assembly (121) and universal wheel assembly (122), the first drive assembly (121) and the universal wheel assembly (122) are connected, the first drive assembly (121) drives the universal wheel assembly (122) to descend or ascend relative to the front side area (110a) of the chassis body (110), so that the front side area (110a) of the chassis body (110) is raised or lowered relative to ground; Driving wheel mechanism (130), the driving wheel mechanism (130) is arranged in the edge area (110b) of the chassis body (110) along width direction (Y), the driving wheel mechanism (130) includes second drive assembly (131) and driving wheel assembly (132), the second drive assembly (131) is connected with the driving wheel assembly (132), and the second drive assembly (131) drives the driving wheel assembly (132) to descend or ascend relative to the edge area (110b) of the chassis body (110), so that the edge area (110b) of the chassis body (110) is raised or lowered relative to ground; Control mechanism, including first control assembly (141) and second control assembly (142), the first control assembly (141) is arranged in the universal wheel mechanism (120), and the first control assembly (141) is used to control the first drive assembly (121) drive the universal wheel assembly (122) movement, and the second control assembly (142) is arranged in the driving wheel assembly (132), and the second control assembly (142) is used to control the second drive assembly (131) drive the driving wheel assembly (132) movement; Wherein, the first control assembly (141) and the second control assembly (142) are independent of each other, so that the front side area (110a) of the chassis body (110) is raised or lowered movement and the edge area (110b) of the chassis body (110) is raised or lowered movement are independent of each other.

2. The base pan structure (100) according to claim 1, characterized in that The first control assembly (141) is signal connected with the first drive assembly (121), and the control mechanism further includes master controller; The first control assembly (141) is connected with the master controller, to pass the signal of the first drive assembly (121) to the master controller, and the master controller is used to control the first drive assembly (121) drive the universal wheel assembly (122) to ascend or descend the stroke relative to the front side area (110a) of the chassis body (110) by the first control assembly (141), to control the front side area (110a) of the chassis body (110) to ascend or descend the stroke relative to ground.

3. The base pan structure (100) according to claim 2, characterized in that The first control assembly (141) comprises a first signaler (1411) and a first detector (1412), the first signaler (1411) is connected with the first driving assembly (121), and the first detector (1412) is in signal transmission with the first signaler (1411) to detect a signal variable of the first signaler (1411); The main controller controls the omnidirectional wheel assembly (122) to stop at any position in the ascending or descending stroke through the first control assembly (141), so as to control the front side area (110a) of the chassis body (110) to stop at a corresponding position.

4. The base pan structure (100) according to claim 3, characterized in that The first driving assembly (121) comprises a first motor (1211), a first screw rod (1212) and a first lifting block (1213), the first motor (1211) is in driving connection with the first screw rod (1212), the first lifting block (1213) is located on the first screw rod (1212), and the first lifting block (1213) is connected with the omnidirectional wheel assembly (122); The first signaler (1411) is connected with the first motor (1211), the first detector (1412) is close to the first signaler (1411), and the first signaler (1411) is used for determining a rotating position and a rotating speed of the first motor (1211); The first motor (1211) drives the first screw rod (1212) to rotate forward or reversely, so that the first lifting block (1213) drives the omnidirectional wheel assembly (122) to ascend or descend.

5. The chassis structure (100) according to any one of claims 1 to 4, characterized in that The second control assembly (142) is in signal connection with the second driving assembly (131), and the control mechanism further comprises a main controller; The second control assembly (142) is connected with the main controller, so as to transmit a signal of the second driving assembly (131) to the main controller, and the main controller is used for controlling the second driving assembly (131) to drive the reversing stroke of the driving wheel assembly (132) through the second control assembly (142), so as to control the edge area (110b) of the chassis body (110) to ascend or descend relative to the ground.

6. The base pan structure (100) according to claim 5, characterized in that The second control assembly (142) comprises a second signaler (1421) and a second detector (1422), the second signaler (1421) is connected with the second driving assembly (131), and the second detector (1422) is in signal transmission with the second signaler (1421) to detect a signal variable of the second signaler (1421); The main controller controls the driving wheel assembly (132) to stop at any position in the forward or reverse reversing stroke through the second control assembly (142), so as to control the edge area (110b) of the chassis body (110) to stop at a corresponding position.

7. The chassis structure (100) according to claim 6, characterized in that The second driving assembly (131) comprises a second motor (1311), a second screw rod (1312) and a second lifting block (1313), the second motor (1311) is in driving connection with the second screw rod (1312), and the second lifting block (1313) is located on the second screw rod (1312) and connected with the driving wheel assembly (132); The second signal device (1421) is connected with the second motor (1311), and the second detector (1422) is close to the second signal device (1421), and the second signal device (1421) is used for determining the rotating position and rotating speed of the second motor (1311); The second motor (1311) drives the second screw rod (1312) to rotate forward or reversely to drive the driving wheel assembly (132) to overturn downward or upward, and the edge area (110b) of the chassis body (110) rises or falls.

8. The chassis structure (100) according to claim 5, characterized in that The number of the driving wheel mechanisms (130) is two, and the two driving wheel mechanisms (130) are respectively located at the two edge areas (110b) of the chassis body (110) in the width direction (Y); Wherein, the second control assemblies (142) of the two driving wheel mechanisms (130) are independent of each other, so that the rising or falling movements of the two edge areas (110b) of the chassis body (110) relative to the ground are independent of each other.

9. A cleaning apparatus, characterized by The chassis structure (100) comprises the chassis structure (100) according to any one of claims 1 to 8.

10. A cleaning system characterized by, The cleaning device comprises: a base station; and the cleaning device can be placed on the base station.

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