Cleaning equipment

Abstract

The utility model provides cleaning equipment. The cleaning equipment comprises a main machine body, driving wheels and obstacle crossing wheel devices. The driving wheels are arranged on the main machine body and used for driving the main machine body to move; the obstacle crossing wheel device comprises a driving mechanism and an obstacle crossing wheel, the driving mechanism is used for driving the obstacle crossing wheel to rotate, the obstacle crossing wheel is located in front of the gravity center of the cleaning equipment, the obstacle crossing wheel comprises an obstacle crossing state and an avoiding state, and in the obstacle crossing state, the obstacle crossing wheel rotates to be supported on the ground; and in the avoiding state, the obstacle crossing wheels are separated from the ground. The obstacle crossing of the cleaning equipment can be realized under the pushing of the driving wheel only by driving the obstacle crossing wheel through the driving mechanism, the number of types of parts for realizing the obstacle crossing function is small, the structure is simple, and the operation stability of the cleaning equipment is favorably improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of cleaning, in particular to a cleaning device. BACKGROUND

[0002] Taking a sweeping robot as an example, in the related art, the sweeping robot is provided with a driving wheel and a universal wheel, the driving wheel drives the sweeping robot to move, and the universal wheel assists the sweeping robot to turn, so that the sweeping robot travels according to a predetermined route. However, in the current sweeping robot, the sweeping robot is difficult to overcome when encountering a higher obstacle, and some ground areas cannot be cleaned, the cleaning ability is not strong, and the user experience is affected. CONTENT OF THE UTILITY MODEL

[0003] Therefore, the embodiments of the present application expect to provide a cleaning device, which improves the obstacle crossing ability of the cleaning device through an obstacle crossing wheel device, and improves the user experience.

[0004] In a first aspect, the embodiments of the present application provide a cleaning device, comprising:

[0005] a main body;

[0006] a driving wheel, disposed on the main body, for driving the main body to move;

[0007] an obstacle crossing wheel device, comprising a driving mechanism and an obstacle crossing wheel, the driving mechanism being used to drive the obstacle crossing wheel to rotate, and the obstacle crossing wheel being located in front of the center of gravity of the cleaning device;

[0008] the obstacle crossing wheel comprises an obstacle crossing state and an avoidance state, in the obstacle crossing state, the obstacle crossing wheel is rotated to support the ground, and in the avoidance state, the obstacle crossing wheel is separated from the ground.

[0009] In some embodiments, the position of the rotation center line of the obstacle crossing wheel remains unchanged relative to the main body.

[0010] In some embodiments, the rotation center line of the obstacle crossing wheel is parallel to the rotation center line of the driving wheel.

[0011] In some embodiments, the obstacle crossing wheel comprises a wheel body and a rolling piece, the rolling piece is rollably disposed on the wheel body, at least a part of the rolling piece protrudes radially from the outer edge of the wheel body, and the wheel body is supported on the ground through the rolling piece.

[0012] In some embodiments, the driving mechanism comprises a motor with a power output shaft, the power output shaft of the motor is used to drive the wheel body to rotate in a forward rotation direction or a backward rotation direction.

[0013] In some embodiments, the power output shaft is coaxially arranged with the wheel body.

[0014] In some embodiments, the outer edge of the wheel body comprises a wheel surface and an escape notch, and the rolling member is located at a first end of the wheel surface along a backward rotation direction;

[0015] When the wheel body rotates from the escape state along the backward rotation direction, the rolling member is in contact with the ground before the wheel surface; when the wheel body rotates from the escape state along a forward rotation direction, the wheel surface is in contact with the ground and drags the cleaning device to move forward.

[0016] In some embodiments, the obstacle wheel device comprises a friction member arranged on the wheel surface.

[0017] In some embodiments, the wheel surface corresponds to a central angle of 150°-210°.

[0018] In some embodiments, the driving mechanism comprises a motor, a cam and a reset member, the motor is used to drive the cam to rotate forward or reverse, the cam is peripherally and separably abutted with the wheel body, the motor drives the wheel body to rotate along a forward rotation direction through the cam, so that the obstacle wheel rotates from the escape state to the obstacle state, and the reset member provides a reset force to the wheel body to rotate in a backward rotation direction.

[0019] In some embodiments, the bottom of the main body has a receiving groove for accommodating the obstacle wheel in the escape state.

[0020] In some embodiments, the cleaning device further comprises an auxiliary wheel arranged at the rear end of the main body, and the auxiliary wheel is used to support the ground when the obstacle wheel is in the obstacle state.

[0021] In some embodiments, the main body comprises a bottom surface, a peripheral surface and a slope surface, the slope surface is located at the front end of the main body and connects the bottom surface and the peripheral surface.

[0022] In some embodiments, the slope surface forms an angle of 30°-45° with a horizontal plane.

[0023] In a second aspect, the embodiments of the present application provide a control method of a cleaning device, the cleaning device being the cleaning device of any of the above embodiments, and the control method comprising:

[0024] responding to an obstacle passing instruction of the cleaning device;

[0025] controlling the obstacle wheel to rotate in a first direction, so that the obstacle wheel switches from the escape state to the obstacle state.

[0026] In some embodiments, after the controlling the obstacle wheel to rotate in the first direction, the control method comprises:

[0027] In response to the obstacle wheel avoiding instruction, controlling the obstacle wheel to rotate in a second direction to switch the obstacle wheel from the obstacle crossing state to an avoiding state.

[0028] In some embodiments, the first direction is a backward rotation direction, and the control method further comprises:

[0029] After the obstacle wheel crosses the obstacle, controlling the obstacle wheel to rotate in a forward rotation direction in the avoiding state to make the outer edge of the obstacle wheel contact the ground and assist in traction of the cleaning device to move forward during relative ground movement.

[0030] The cleaning device provided by the embodiments of the present application adjusts the ground clearance of the front side of the cleaning device by using the contact or disengagement of the obstacle wheel with the ground during rotation. When the cleaning device encounters a ground obstacle, the driving mechanism drives the obstacle wheel to rotate to contact the ground, thereby lifting the ground clearance of the front side of the cleaning device. The main body can cross the obstacle, and under the driving of the driving wheel, the main body can cross the obstacle, thereby enabling the cleaning device to have better obstacle crossing capability. After crossing the obstacle, the driving mechanism drives the obstacle wheel to rotate to disengage from the ground, thereby restoring the ground clearance of the front side of the cleaning device, facilitating the cleaning device to shuttle between furniture and the ground to clean the ground. In addition, the cleaning device in the embodiments of the present application only needs to be driven by the driving mechanism to drive the obstacle wheel, so that the cleaning device can cross the obstacle under the pushing of the driving wheel, the number of types of components for realizing the obstacle crossing function is less, the structure is simple, and the running stability of the cleaning device is improved. BRIEF DESCRIPTION OF DRAWINGS

[0031] Figure 1 It is a schematic view of the cleaning device on the ground in an embodiment of the present application;

[0032] Figure 2 It is a schematic view of the cleaning device on the ground in an embodiment of the present application; Figure 1 Another perspective view, in which the obstacle wheel is in a storage position;

[0033] Figure 3 It is a schematic view of the cleaning device in which the front side is lifted in an embodiment of the present application;

[0034] Figure 4 It is a schematic view of the cleaning device in which the front side crosses the obstacle in an embodiment of the present application;

[0035] Figure 5 It is a schematic view of the cleaning device in which the front side crosses the obstacle in an embodiment of the present application; Figure 4 Another perspective view of

[0036] Figure 6 It is a schematic view of the cleaning device in which the front side crosses the obstacle in an embodiment of the present application; Figure 5An enlarged schematic view of the middle A;

[0037] Figure 7 A structural schematic view of a cleaning device in an embodiment of the present application;

[0038] Figure 8 A structural schematic view of an obstacle wheel of a cleaning device in an embodiment of the present application;

[0039] Figure 9 A schematic view of a front side of a cleaning device being lifted up in another embodiment of the present application;

[0040] Figure 10 A schematic view of a front side of a cleaning device crossing over an obstacle in another embodiment of the present application;

[0041] Figure 11 A structural schematic view of an obstacle wheel of a cleaning device in another embodiment of the present application, when the obstacle wheel is in a retreat state;

[0042] Figure 12 A structural schematic view of an obstacle wheel of a cleaning device in another embodiment of the present application, when the cam pushes the wheel body to rotate in a forward direction;

[0043] Figure 13 A structural schematic view of an obstacle wheel of a cleaning device in another embodiment of the present application, when the obstacle wheel is in an obstacle-crossing state;

[0044] Figure 14 An exploded schematic view of an obstacle wheel of a cleaning device in another embodiment of the present application;

[0045] Figure 15 A flow chart of a control method in an embodiment of the present application.

[0046] Explanation of reference numerals

[0047] 100, cleaning device; 10, main body; 10a, bottom surface; 10A, receiving groove; 10b, circumferential surface; 10c, slope surface; 20, driving wheel; 30, universal wheel; 40, obstacle wheel device; 41, driving mechanism; 411, motor; 412, cam; 413, reset member; 42, obstacle wheel; 421, wheel body; 421a, wheel surface; 421b, retreat gap; 421c, bearing portion; 422, rolling member; 44, friction member; 50, auxiliary wheel. DETAILED DESCRIPTION

[0048] The embodiments of the present application will be described in further detail below with reference to the accompanying drawings and embodiments. The following embodiments are used to illustrate the present application, but cannot be used to limit the scope of the present application.

[0049] In the description of the embodiments of the present application, it should be noted that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the embodiments of the present application. In addition, the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0050] In the description of the embodiments of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "connected", "connected" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium. 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.

[0051] The cleaning device 100 provided by the embodiments of the present application, please refer to Figure 1 and Figure 2 , including a main body 10, a drive wheel 20 and an obstacle wheel device 40.

[0052] It can be understood that the main body 10 as the appearance part of the cleaning device 100 has a certain structural strength, which can support the installation of the drive wheel 20 and the obstacle wheel device 40, and can also protect the electrical elements inside the main body 10.

[0053] It should be noted that the specific shape of the main body 10 is not limited.

[0054] The specific form of the cleaning device 100 of the embodiments of the present application is not limited, which can be a sweeping robot, a mopping robot, a washing robot, etc.

[0055] Please refer to Figure 2 , the drive wheel 20 is arranged on the main body 10, which is used to drive the main body 10 to move. It can be understood that in the process of rotating, the outer edge of the drive wheel 20 can be in contact with the ground, and the interaction force between the outer edge of the drive wheel 20 and the ground can drive the main body 10 to move.

[0056] It should be noted that the number of drive wheels 20 is not limited, which can be one or more.

[0057] Exemplarily, the number of the driving wheels 20 is two, and the two driving wheels 20 are coaxially arranged on the main body 10. When the rotation speed of one of the driving wheels 20 is greater than that of the other, the main body 10 can perform corresponding steering action, thereby improving the steering capability of the cleaning device 100.

[0058] Please refer to Figure 2 , Figure 3 , Figure 5 , Figure 6 and Figure 8 The obstacle wheel device 40 comprises a driving mechanism 41 and an obstacle wheel 42. The driving mechanism 41 is configured to drive the obstacle wheel 42 to rotate. The obstacle wheel 42 is located in front of the gravity center of the cleaning device 100. It can be understood that the obstacle wheel 42 can rotate relative to the main body 10.

[0059] The obstacle wheel 42 comprises an obstacle state and an avoidance state. In the obstacle state, please refer to Figure 3 The obstacle wheel 42 is rotated to support the ground. In the avoidance state, the obstacle wheel 42 is separated from the ground.

[0060] It should be noted that the front of the gravity center of the cleaning device 100 refers to the side of the gravity center of the cleaning device 100 towards the advancing direction, i.e. the front end of the cleaning device 100.

[0061] It can be understood that the driving mechanism 41 can drive the obstacle wheel 42 to rotate, so that the obstacle wheel 42 can be switched between the obstacle state and the avoidance state. In the obstacle state, the driving mechanism 41 drives the obstacle wheel 42 to rotate to support the ground. The contact between the obstacle wheel 42 and the ground generates an interaction force, which can lift the ground clearance of the front end of the cleaning device 100. In this way, the ground clearance of the front end of the chassis of the cleaning device 100 is large, which can cross obstacles such as doorsteps, steps and the like, and is beneficial to improve the obstacle crossing capability of the cleaning device 100. When the cleaning device 100 does not need to cross obstacles, the obstacle wheel 42 is in the avoidance state, and the driving mechanism 41 drives the obstacle wheel 42 to rotate to be separated from the ground, so as to restore the normal chassis of the cleaning device 100, and restore the normal total height of the cleaning device 100, thereby facilitating the cleaning device 100 to pass through relatively low spaces.

[0062] It should be noted that in the obstacle state, the vertical distance between the bottom surface 10a of the main body 10 and the outer edge of the obstacle wheel 42 contacting the ground is greater than the vertical distance between the bottom surface 10a of the main body 10 and the outer edge of the driving wheel 20 contacting the ground, so as to lift the front end of the cleaning device 100.

[0063] It should be noted that the ground in the embodiment of the present application refers to a plane capable of providing support force for the cleaning device 100, which can be a cement ground, a ceramic tile surface, a wooden floor surface, etc.

[0064] It should be noted that the number of the obstacle wheel 42 can be one or more, for example, the number of the obstacle wheel 42 is two, and the two obstacle wheels 42 are coaxially arranged on the main body 10.

[0065] The cleaning device 100 provided by the embodiment of the present application adjusts the ground clearance of the front end of the cleaning device 100 by the contact or disengagement of the obstacle wheel 42 with the ground during rotation. When the cleaning device 100 encounters an obstacle, the driving mechanism 41 drives the obstacle wheel 42 to rotate to support the ground, thereby lifting the ground clearance of the front end of the cleaning device 100. Under the driving of the driving wheel 20, the main body 10 can cross the obstacle, and the main body 10 can cross the obstacle, thereby enabling the cleaning device 100 to have better obstacle crossing ability. After crossing the obstacle, the driving mechanism 41 drives the obstacle wheel 42 to rotate to disengage from the ground, so that the chassis of the cleaning device 100 returns to normal.

[0066] The cleaning device 100 in the embodiment of the present application can switch between the obstacle crossing state and the avoidance state only by driving the obstacle wheel 42 to rotate by the driving mechanism 41, and has a simple structure, which is conducive to improving the running stability of the cleaning device 100.

[0067] In some embodiments, please refer to Figure 2 The cleaning device 100 further comprises a universal wheel 30, which can be arranged at the front end of the main body 10 and used to drive the main body 10 to turn. It can be understood that the universal wheel 30 can be deflected relative to the main body 10, so that the main body 10 is deflected in the direction of the universal wheel 30 under the driving of the driving wheel 20. In other embodiments, the universal wheel 30 can also be arranged at the rear end of the main body 10, and the present application does not limit this.

[0068] In some embodiments, please refer to Figure 5 and Figure 6 The position of the rotation center line of the obstacle wheel 42 remains unchanged relative to the main body 10. That is, the obstacle wheel 42 does not perform lifting motion in the height direction. It can be understood that, by switching the cooperation relationship between the obstacle wheel 42 and the ground during rotation of the obstacle wheel 42, the ground clearance of the cleaning device 100 can be lifted, so that the position of the rotation center line of the obstacle wheel 42 can remain unchanged relative to the main body 10. In this way, without setting a lifting mechanism for adjusting the obstacle wheel 42 and the main body, the cleaning device 100 has a simple structure, which is conducive to improving the design flexibility.

[0069] Exemplarily, please refer to Figure 8The obstacle wheel 42 comprises a bearing portion 421c, and the obstacle wheel 42 is rotatably connected to the main body 10 through the bearing portion 421c to improve the smoothness of rotation of the obstacle wheel 42. It can be understood that, during rotation of the obstacle wheel 42, the obstacle wheel 42 rotates around the center line of the bearing portion 421c, and the center line of the bearing portion 421c is the rotation center line of the obstacle wheel 42.

[0070] In some embodiments, the rotation center line of the obstacle wheel 42 is parallel to the rotation center line of the driving wheel 20. It can be understood that, when the obstacle wheel 42 rotates to be in contact with the ground, the direction of the friction force of the ground on the obstacle wheel 42 is the same as the direction of the friction force of the ground on the driving wheel 20, both of which are toward the backward direction, which is conducive to movement of the main body 10 along the intended route under the driving of the driving wheel 20.

[0071] In some embodiments, please refer to Figure 2 , Figure 5 and Figure 6 The bottom of the main body 10 has a receiving groove 10A for accommodating the obstacle wheel 42 in the avoiding state. It can be understood that, when the cleaning device 100 does not need to perform obstacle crossing, the obstacle wheel 42 is in the avoiding state, so that the obstacle wheel 42 is accommodated in the receiving groove 10A, which can reduce the influence of the obstacle wheel 42 on movement of the cleaning device 100, so as to reduce the influence of the obstacle wheel 42 on cleaning operation of the cleaning device 100 as much as possible.

[0072] In some embodiments, please refer to Figure 3 and Figure 4 The cleaning device 100 further comprises an auxiliary wheel 50 arranged at the rear end of the main body 10, and the auxiliary wheel 50 is used to support the ground when the obstacle wheel 42 is in the obstacle crossing state. It can be understood that the auxiliary wheel 50 can reduce the possibility of the rear end of the cleaning device 100 directly contacting the ground, can reduce the possibility of the bottom of the cleaning device 100 being damaged by friction during movement, and is conducive to prolonging the service life of the cleaning device 100.

[0073] It should be noted that the specific structure of the obstacle wheel 42 is not limited.

[0074] In some embodiments, please refer to Figure 8 , Figures 11 to 14The obstacle wheel 42 comprises a wheel body 421 and a rolling member 422, the rolling member 422 is rollably arranged on the wheel body 421, at least a part of the rolling member 422 protrudes radially from the outer edge of the wheel body 421, and the obstacle wheel 42 is supported on the ground by the rolling member 422. It can be understood that when the obstacle wheel 42 rotates to the obstacle state, the rolling member 422 is in contact with the ground, the rolling member 422 can rotate relative to the wheel body 421, which can reduce the friction between the wheel body 421 of the obstacle wheel 42 and the ground in the obstacle state, on the one hand, facilitating the driving wheel 20 to drive the cleaning device 100 to continue to move forward; on the other hand, reducing the scratches of the wheel body 421 on the ground during the movement of the cleaning device 100.

[0075] It should be noted that the specific number of the rolling member 422 is not limited; the specific size of the rolling member 422 is not limited.

[0076] In some embodiments, please refer to Figure 3 and Figure 8 The outer edge of the wheel body 421 comprises a wheel surface 421a and an avoiding gap 421b, and the rolling member 422 is located at the first end of the wheel surface 421a along the retreat rotation direction. When the wheel body 421 rotates from the avoiding state along the retreat rotation direction, the rolling member 422 is in contact with the ground before the wheel surface 421a; when the wheel body 421 rotates from the avoiding state along the forward rotation direction, the wheel surface 421a is in contact with the ground and drags the cleaning device 100 to move forward.

[0077] It can be understood that when the cleaning device 100 approaches the obstacle, the driving mechanism 41 drives the obstacle wheel 42 to rotate towards the retreat direction by an angle, so that the rolling member 422 is in contact with the ground to lift the front end of the cleaning device 100 off the ground, and in addition, the rolling member 422 can rotate relative to the obstacle wheel 42 under the friction of the rolling member 422 and the ground, which facilitates the driving wheel 20 to drive the cleaning device 100 to continue to move forward, and facilitates the cleaning device 100 to cross the obstacle.

[0078] It should be noted that the retreat rotation direction refers to the direction indicated by the arrow as shown in Figure 3 When the driving wheel 20 rotates towards the retreat rotation direction, the driving wheel 20 drives the main body 10 to move rearward.

[0079] It should be noted that in this embodiment, after the rolling member 422 is in contact with the ground, the driving mechanism 41 can apply a force to the obstacle wheel 42 to prevent the obstacle wheel 42 from rotating, so as to ensure that the rolling member 422 is in continuous contact with the ground.

[0080] It can be understood that when the driving mechanism 41 drives the wheel body 421 to rotate from the avoiding state in the advancing rotation direction, the wheel surface 421a is in contact with the ground, and a traction force is generated on the main body 10 through the friction between the wheel surface 421a and the ground, so that the main body 10 can overcome the obstacle under the joint traction of the driving wheel 20 and the wheel body 421, and the obstacle-crossing ability of the cleaning device 100 is improved.

[0081] In some embodiments, referring to Figure 2 and Figure 3 , the driving mechanism 41 in the obstacle wheel device 40 first drives the wheel body of the driving wheel 20 to rotate in the retreating rotation direction, so that the rolling member 422 is in contact with the ground, and the ground clearance of the front side of the main body 10 is increased. In this way, the approach angle of the cleaning device 100 can be further increased, so that the front side of the main body 10 can easily cross the obstacle. Referring to Figure 4 , under the driving action of the driving wheel 20, the wheel body 421 abuts against the edge of the obstacle, the wheel body 421 rotates in the advancing rotation direction, and switches to the avoiding state, so as to facilitate the obstacle wheel 42 to cross the obstacle. After the obstacle wheel 42 crosses the obstacle, the driving mechanism 41 drives the wheel body of the driving wheel 20 to rotate in the advancing rotation direction again, so that the wheel surface 421a is in contact with the ground, and a traction force is generated through the interaction between the wheel surface 421a and the ground, thereby helping the driving wheel 20 to cross the obstacle, and further enabling the cleaning device 100 to cross the obstacle.

[0082] It should be noted that the advancing rotation direction refers to the direction indicated by the arrow as shown in Figure 8 , when the driving wheel 20 rotates towards the advancing rotation direction, the driving wheel 20 drives the main body 10 to move forward.

[0083] It should be noted that the specific shape of the wheel body 421 is not limited.

[0084] In some embodiments, referring to Figure 8 , the central angle β corresponding to the wheel surface 421a is 150°-210°, i.e. 150°≤β≤210°, for example, the central angle β is 150°, 160°, 170°, 180°, 190°, 200° or 210°. It can be understood that the range of the central angle β corresponding to the wheel surface 421a is reasonable, so that the wheel surface 421a can walk a relatively long distance on the ground in some cases.

[0085] In the embodiment with the universal wheel 30, when the wheel surface 421a contacts the ground, the maximum distance between the bottom surface 10a of the main body 10 and the wheel surface 421a is greater than the maximum distance between the bottom surface 10a of the main body 10 and the outer edge of the universal wheel 30, so as to lift the universal wheel 30 off the ground; when the avoiding gap 421b faces the ground, the maximum distance between the bottom surface 10a of the main body 10 and the avoiding gap 421b is less than the distance between the bottom surface 10a of the main body 10 and the outer edge of the universal wheel 30, so that when the wheel surface 421a is disengaged from the ground, the universal wheel 30 can touch the ground.

[0086] It should be noted that the size of the wheel body 421 is not limited, as long as the wheel surface 421a can contact the ground, lift the universal wheel 30 off the ground, disengage the wheel surface 421a from the ground, and make the universal wheel 30 touch the ground.

[0087] In some embodiments, referring to Figure 8 The obstacle wheel device 40 includes a friction member 44 arranged on the wheel surface 421a. It can be understood that the friction member 44 can increase the friction coefficient of the wheel surface 421a, thereby increasing the friction force generated when the wheel surface 421a contacts the ground, so that when the driving mechanism 41 drives the obstacle wheel 42 to rotate in the forward direction, a larger traction force can be generated to drive the cleaning equipment 100 to move, thereby improving the obstacle crossing ability of the cleaning equipment 100.

[0088] It should be noted that the specific type of the friction member 44 is not limited, as long as it can increase the friction coefficient of the wheel surface 421a, for example, it can be a friction wheel cover wrapped on the wheel surface 421a, or a plurality of friction strips arranged on the wheel surface 421a.

[0089] It should be noted that the specific structure of the driving mechanism 41 is not limited.

[0090] In some embodiments, the driving mechanism 41 includes a motor 411 with a power output shaft, and the power output shaft of the motor 411 is used to drive the wheel body 421 to rotate in the forward rotation direction or in the backward rotation direction. In this way, the wheel body 421 can be conveniently rotated relative to the main body 10, and the obstacle wheel 42 can be conveniently switched between the obstacle crossing state and the avoiding state, thereby improving the obstacle crossing efficiency of the cleaning equipment 100.

[0091] In some embodiments, the power output shaft is coaxially arranged with the wheel body 421. In this way, the power output shaft can directly drive the wheel body 421 to rotate, thereby improving the driving efficiency of the driving mechanism 41.

[0092] In some embodiments, referring to Figures 9 to 14The drive mechanism 41 includes a motor 411, a cam 412, and a reset member 413. The motor 411 drives the cam 412 to rotate forward or backward. The cam 412 is circumferentially separable from the wheel body 421. The motor 411 pushes the wheel body 421 to rotate in the forward rotation direction through the cam 412, so that the obstacle-crossing wheel 42 rotates from the avoidance state to the obstacle-crossing state. The reset member 413 provides a reset force to the wheel body 421 to rotate in the backward rotation direction.

[0093] For example, when the motor 411 drives the cam 412 to rotate in reverse, it abuts against the wheel body 421 in the circumferential direction, pushing the wheel body 421 to rotate in the forward rotation direction, causing the rolling element 422 to contact the ground, thereby switching the obstacle-crossing wheel 42 from the avoidance state to the obstacle-crossing state. When the motor 411 drives the cam 412 to rotate forward, the cam 412 disengages from the wheel body 421, and under the reset force of the reset element 413, the wheel body 421 rotates in the backward rotation direction, causing the rolling element 422 to disengage from the ground, thereby switching the obstacle-crossing wheel 42 from the obstacle-crossing state to the avoidance state.

[0094] Thus, by using the interaction force between the cam 412 and the wheel body 421 to drive the rotation of the obstacle-crossing wheel 42, the driving force required by the motor 411 can be reduced, thereby reducing the load on the motor 411 and extending the service life of the motor 411.

[0095] It should be noted that the specific structure of the reset element 413 is not limited; for example, the reset element 413 can be a torsion spring.

[0096] It should be noted that the forward rotation of cam 412 can be Figure 11 The forward rotation direction is, and the reverse rotation is Figure 11 The direction of backward rotation in the middle.

[0097] For example, please refer to Figure 7 The main body 10 of the cleaning device 100 includes a bottom surface 10a, a circumferential surface 10b and a slope 10c. The slope 10c is located on the front side of the main body 10 and connects the bottom surface 10a and the circumferential surface 10b.

[0098] The aforementioned slope 10c refers to a surface with a certain slope. That is to say, the slope 10c is inclined relative to the horizontal plane, forming a certain size of oblique angle structure on the front side of the main body 10. Thus, when the cleaning equipment 100 encounters obstacles during operation, it includes the following two situations.

[0099] In the first case, the main body 10 of the cleaning device 100 can pass over the obstacle without abutting against the obstacle. The angle between the tangent line drawn from the frontmost end point on the main body 10 to the front wheel of the cleaning device 100 and the horizontal plane is defined as the approach angle of the cleaning device 100, and the angle between the tangent line drawn from the rearmost end point on the main body 10 to the rear wheel of the cleaning device 100 and the horizontal plane is defined as the departure angle of the cleaning device 100. The slope surface 10c can certainly increase the approach angle of the cleaning device 100. Exemplarily, when the cleaning device 100 passes over the obstacles such as slopes, pits or protrusions, the main body 10 of the cleaning device 100 is hardly lifted by the obstacles to make the driving wheel 20 suspended, and the cleaning device 100 can easily pass over the obstacles.

[0100] In the second case, the slope surface 10c of the cleaning device 100 abuts against the obstacle. Exemplarily, when the cleaning device 100 passes over the obstacles such as steps or thresholds, the slope surface 10c abuts against the edge of the obstacle, so that the obstacle exerts a resistance on the cleaning device 100 in the oblique upward direction. Under the action of the driving wheel 20, the front side of the main body 10 is lifted, the main body 10 is tilted forward over the obstacle, and then the cleaning device 100 can move over the obstacle. Thus, the slope surface 10c can guide the main body 10 to pass over the obstacle, thereby improving the obstacle passing ability of the cleaning device 100.

[0101] In some embodiments, referring to Figure 7 , the height H1 of the intersection line between the top edge of the slope surface 10c and the circumferential surface 10b from the ground is not less than 30 mm, i.e., H1≥30 mm. The value of H1 includes but is not limited to 30 mm, 33 mm, 35 mm, 40 mm, 45 mm, etc. Correspondingly, the cleaning device 100 can pass over obstacles with a greater height, thereby improving the obstacle passing ability.

[0102] In the embodiment in which the cleaning device 100 is a robot, the working environment thereof is usually a room such as a bedroom, a kitchen or a study. The common obstacles in such an environment include but are not limited to the ground rail of a sliding door, a dry-wet separation partition and a wood floor edge. The height of these obstacles is generally less than 30 mm. Therefore, the cleaning device 100 can pass over these obstacles to move in different ground areas, have a larger moving area and clean the room more thoroughly and effectively.

[0103] The angle between the slope surface 10c and the horizontal plane is not limited.

[0104] In some embodiments, referring to Figure 7The angle a between the slope surface 10c and the horizontal plane is 30°-45°, that is, 30°≤a≤45°, and the value of a includes but is not limited to 30°, 35°, 40°, 45°, etc. In this angle range, the internal space of the main body 10 can be reduced, and the main body 10 can be guided to pass over the obstacle.

[0105] In some embodiments, the cleaning device 100 further includes a plurality of sensors, at least part of the sensors are arranged on the slope surface 10c, so that the large surface area of the slope surface 10c is utilized, and the sensors can easily obtain information. In addition, the sensors are arranged on the slope surface 10c, the demand for the internal space of the main body 10 is reduced, and the design flexibility is improved.

[0106] It can be understood that the sensors include but are not limited to cameras, laser radars, or infrared transceivers, etc., which can be used to obtain information of the surrounding environment of the cleaning device 100, including but not limited to room map information, obstacle position and distance, etc. The sensors can feed back the collected information to the control module, so as to plan the moving path of the cleaning device 100 and complete the cleaning work.

[0107] In some embodiments, the cleaning device 100 further includes a lighting lamp, and the lighting lamp is arranged on the slope surface 10c. The lighting lamp can be used to provide light in a dark environment, so that the sensors can normally obtain information.

[0108] It should be noted that the sensors or the lighting lamp will not be arranged on the area of the slope surface 10c which first contacts the obstacle, so as to reduce the probability of damaging the sensors or the lighting lamp.

[0109] In a second aspect, the embodiments of the present application provide a control method of a cleaning device 100. The cleaning device 100 is the cleaning device 100 of the above-mentioned embodiments. That is, the control method can be used for the cleaning device 100 in the above-mentioned embodiments.

[0110] The control method includes the following steps:

[0111] S1, in response to the obstacle passing instruction of the cleaning device 100. For example, the sensor of the cleaning device 100 detects the obstacle and generates the obstacle passing instruction.

[0112] S2, control the obstacle passing wheel 42 to rotate in the first direction, so that the obstacle passing wheel 42 is switched from the avoidance state to the obstacle passing state.

[0113] It should be noted that in the embodiment in which the wheel body 421 of the obstacle passing wheel 42 has the wheel surface 421a and the avoidance gap 421b, the first direction refers to the retreat rotation direction of the wheel body 421; in the embodiment in which the wheel body 421 and the cam 412, the first direction refers to the advance rotation direction of the wheel body 421.

[0114] Specifically, when the sensor detects that there is an obstacle in front of the cleaning device 100, the driving mechanism 41 drives the obstacle wheel 42 to rotate in the first direction, so that the outer edge of the obstacle wheel 42 supports the ground, and lifts the ground clearance of the front end of the cleaning device 100.

[0115] The control method of the embodiment of the application only needs to control the driving mechanism 41 to drive the obstacle wheel 42 to rotate, so as to switch between the obstacle crossing state and the avoidance state, the method is simple, and is beneficial to improve the stability of the cleaning device 100 in obstacle crossing.

[0116] Exemplarily, after the obstacle wheel 42 rotates in the first direction to the position where the rolling piece 422 contacts the ground, the rotation is stopped, that is, the obstacle wheel 42 is kept at the position where the rolling piece 422 contacts the ground.

[0117] Exemplarily, after controlling the obstacle wheel 42 to rotate in the first direction, the control method comprises:

[0118] S3, in response to the obstacle wheel 42 avoidance instruction, controlling the obstacle wheel 42 to rotate in the second direction, and switching the obstacle wheel 42 from the obstacle crossing state to the avoidance state.

[0119] It should be noted that, in the embodiment in which the wheel body 421 of the obstacle wheel 42 has the wheel surface 421a and the avoidance gap 421b, the second direction refers to the forward rotation direction of the wheel body 421; in the embodiment in which the wheel body 421 and the cam 412, the second direction refers to the backward rotation direction of the wheel body 421.

[0120] For example, after the sensor detects that the front end of the cleaning device 100 steps on the obstacle, the driving mechanism 41 drives the obstacle wheel 42 to rotate in the second direction, so that the obstacle wheel 42 enters the avoidance state, which is convenient for the obstacle wheel 42 to cross the obstacle and reduces the possibility of interference between the obstacle wheel 42 and the obstacle. Of course, the switching time of the obstacle wheel 42 can also be used as a control basis, for example, starting from the moment when the obstacle wheel 42 switches to the obstacle crossing state, and after experiencing the first preset time length, it is considered that the obstacle wheel 42 needs to be avoided.

[0121] Exemplarily, the first direction is the backward rotation direction, and the control method further comprises:

[0122] S4, after the obstacle wheel 42 crosses the obstacle, controlling the obstacle wheel 42 to rotate in the avoidance state in the forward rotation direction, so that the outer edge of the obstacle wheel 42 contacts the ground and assists in pulling the cleaning device 100 forward in the process of moving relative to the ground.

[0123] For example, after the sensor detects that the obstacle wheel 42 has passed over the obstacle, the driving mechanism 41 drives the obstacle wheel 42 to rotate in the forward rotation direction, so that the wheel surface 421a is in contact with the ground. The traction force generated by the wheel surface 421a in contact with the ground and the driving force of the driving wheel 20 jointly pull the driving wheel 20 over the obstacle, thereby enabling the cleaning device 100 to pass over the obstacle. Of course, the time when the obstacle wheel 42 switches from the obstacle passing state to the obstacle avoiding state can also be used as a control basis. For example, when the obstacle wheel 42 switches from the obstacle passing state to the obstacle avoiding state, the second preset time period is elapsed, and it is considered that the obstacle wheel 42 has passed over the obstacle.

[0124] In the embodiments of the present application, unless specifically defined and limited otherwise, a first feature is "on", "under", "above", or "below" a second feature can mean that the first feature is in direct contact with the second feature, or the first feature is indirectly in contact with the second feature through an intermediate medium. Moreover, the first feature can be directly above or obliquely above the second feature, or only means that the first feature is higher in height than the second feature. The first feature can be directly below or obliquely below the second feature, or only means that the first feature is lower in height than the second feature.

[0125] In the description of the present application, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present application, the illustrative description of the above terms does not necessarily refer to the same embodiment or example.

[0126] The various embodiments / implementation modes provided by the present application can be combined with each other without producing contradictions, if possible.

[0127] The above only describes the preferred embodiments of the present application and is not intended to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A cleaning apparatus, characterized by, The application relates to a cleaning device, comprising: a main body; a driving wheel arranged on the main body and used for driving the main body to move; an obstacle wheel device comprising a driving mechanism and an obstacle wheel, wherein the driving mechanism is used for driving the obstacle wheel to rotate, and the obstacle wheel is located in front of the center of gravity of the cleaning device; the obstacle wheel comprises an obstacle state and an avoiding state, in the obstacle state, the obstacle wheel is rotated to support the ground, and in the avoiding state, the obstacle wheel is separated from the ground. The position of the rotation center line of the obstacle wheel remains unchanged relative to the main body.

2. The cleaning apparatus of claim 1, wherein, The rotation center line of the obstacle wheel is parallel to the rotation center line of the driving wheel.

3. The cleaning apparatus of claim 2, wherein, The obstacle wheel comprises a wheel body and a rolling piece, the rolling piece is arranged on the wheel body in a rolling mode, at least a part of the rolling piece is protruded from the outer edge of the wheel body in the radial direction of the wheel body, and the obstacle wheel supports the ground through the rolling piece.

4. The cleaning apparatus of claim 1, wherein, The driving mechanism comprises a motor with a power output shaft, the power output shaft of the motor is used for driving the wheel body to rotate in the forward rotation direction or the backward rotation direction.

5. The cleaning apparatus of claim 4, wherein, The power output shaft is coaxially arranged with the wheel body.

6. The cleaning apparatus of claim 5, wherein, The outer edge of the wheel body comprises a wheel surface and an avoiding gap, the rolling piece is located at the first end of the wheel surface in the backward rotation direction; 7. The cleaning apparatus of claim 4, wherein, when the wheel body rotates from the avoiding state in the backward rotation direction, the rolling piece is in contact with the ground earlier than the wheel surface; and when the wheel body rotates from the avoiding state in the forward rotation direction, the wheel surface is in contact with the ground and drags the cleaning device to move forward. The obstacle wheel device comprises a friction piece arranged on the wheel surface.

8. The cleaning apparatus of claim 7, wherein, The corresponding central angle of the wheel surface is 150-210 degrees.

9. The cleaning apparatus of claim 7, wherein, The driving mechanism comprises a motor, a cam and a reset piece, the motor is used for driving the cam to rotate forward or reversely, the cam is peripherally and separably abutted with the wheel body, the motor drives the wheel body to rotate in the forward rotation direction through the cam, so that the obstacle wheel rotates from the avoiding state to the obstacle state, and the reset piece provides a reset force for the wheel body to rotate in the backward rotation direction.

10. The cleaning apparatus of claim 4, wherein, The bottom of the main body is provided with a receiving groove for accommodating the obstacle wheel in the avoiding state.

11. The cleaning apparatus of claim 1, wherein, The cleaning device further comprises an auxiliary wheel arranged at the rear end of the main body, and the auxiliary wheel is used for supporting the ground when the obstacle wheel is in the obstacle state.

12. The cleaning apparatus of claim 1, wherein, The main body comprises a bottom surface, a peripheral surface and a slope surface, the slope surface is located at the front end of the main body and connects the bottom surface and the peripheral surface; 13. The cleaning apparatus of claim 1, wherein, wherein the angle between the slope surface and the horizontal plane is 30-45 degrees. ​

Images