Cleaning device

Abstract

The utility model discloses a cleaning device. The cleaning apparatus includes an apparatus body and a wheel assembly. The equipment body comprises a blocking piece, and the wheel assembly comprises a main wheel and a rotating piece. The rotating piece is connected with the main wheel and can rotate relative to the main wheel. The rotating part can abut against the blocking part in the rotating process, and when the rotating part abuts against the blocking part and rotates, the rotating part adjusts the distance of the equipment body relative to the main wheel, so that the distance of the equipment body relative to the main wheel is adjusted, and the obstacle crossing effect of the cleaning equipment can be improved.

Description

Technical Field

[0001] This application belongs to the field of cleaning equipment technology, and in particular relates to a cleaning device. Background Technology

[0002] Cleaning equipment is a common type of intelligent cleaning appliance, such as robotic vacuum cleaners and automatic sweeping machines. The ability of cleaning equipment to overcome obstacles during automatic operation is crucial; the obstacle-crossing height limits the working range and operational reliability of the cleaning equipment.

[0003] In related technologies, the ability of cleaning equipment to overcome higher obstacles such as thresholds and steps needs to be further improved. Utility Model Content

[0004] This application aims to address at least one of the technical problems existing in the prior art. To this end, this application proposes a cleaning device that can increase the vertical distance between the chassis and the main wheels to improve the obstacle-crossing performance of the cleaning device.

[0005] In a first aspect of this application, a cleaning device is provided, comprising a device body and a wheel assembly, wherein the device body includes a blocking member. The wheel assembly is connected to the device body and guides the movement of the device body. The wheel assembly includes a main wheel and a rotating member. The main wheel guides the movement of the device body, and the rotating member is rotatably connected to the main wheel. When the rotating member rotates against the blocking member, the rotating member adjusts the distance between the device body and the main wheel.

[0006] In a second aspect of this application, a cleaning device is provided, comprising a device body and a wheel assembly, wherein the wheel assembly is connected to the device body and guides the device body to move. The wheel assembly includes a main wheel and a rotating member, the main wheel guiding the movement of the device body, the rotating member being rotatably connected to the main wheel, and adjusting the distance between the main wheel and at least a portion of the device body relative to the operating surface when the rotating member rotates and abuts against an operating surface.

[0007] A cleaning device according to one or more embodiments of this application includes a device body and a wheel assembly. The device body includes a blocking member, and the wheel assembly includes a main wheel and a rotating member. The rotating member is rotatably connected to the main wheel and is capable of rotating relative to the main wheel. During rotation, the rotating member can contact the blocking member. When the rotating member contacts the blocking member and continues to rotate, the rotating member adjusts the distance between the device body and the main wheel, causing the entire device body to rise relative to the main wheel. This increases the ground clearance of the device body's chassis, thereby enabling it to overcome higher obstacles and improving the obstacle-crossing effect of the cleaning device. Attached Figure Description

[0008] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0009] Figure 1 The present application illustrates the structural schematics of the cleaning equipment in one or more embodiments. Figure 1 .

[0010] Figure 2 It shows Figure 1 A bottom view of the cleaning equipment.

[0011] Figure 3 It shows Figure 1 The assembly structure diagram of the main body and wheel assembly of the cleaning equipment.

[0012] Figure 4A , Figure 4B and Figure 4C The diagrams show the structure of the cleaning device according to one or more embodiments of this application when the rotating member is rotated to different positions in a clockwise direction.

[0013] Figure 5 It shows Figure 4A , Figure 4B and Figure 4C A schematic diagram of a rotating component abutting against a blocking component in a cleaning device.

[0014] Figure 6A , Figure 6B and Figure 6C The diagrams show the structure of the cleaning device according to one or more embodiments of this application when the rotating member is rotated to different positions in a counterclockwise direction.

[0015] Figure 7A and Figure 7B A schematic diagram of a rotating member abutting a blocking member in a cleaning device according to one embodiment of this application is shown.

[0016] Figure 8A and Figure 8B A schematic diagram of a rotating member abutting a blocking member in a cleaning device according to another embodiment of this application is shown.

[0017] Figure 9 A schematic diagram of the chassis of the cleaning equipment in one or more embodiments of this application is shown.

[0018] Figure 10 The present application illustrates the structural schematics of the cleaning equipment in one or more embodiments. Figure 2 .

[0019] Figure 11 This diagram illustrates the assembly structure of the main body and wheel assembly in a cleaning device according to one or more embodiments of this application. To facilitate the display of the relative positional relationship between the blocking member, the rotating member, and the auxiliary wheel, the wheel assembly on one side is omitted.

[0020] Figure 11A It shows Figure 11 A magnified view of a portion of the image.

[0021] Figure 12 It shows Figure 10 A schematic diagram of the wheel assembly in the cleaning equipment.

[0022] Figure 13 It shows Figure 12 Internal structure diagram of the wheel assembly.

[0023] Figure 14 It shows Figure 12 A schematic diagram of the rotating arm of the rotating component in the wheel assembly.

[0024] Figure 15 It shows Figure 12 A schematic diagram of the output section in the wheel assembly.

[0025] Figure 16 It shows Figure 12 The assembly structure diagram of the output section and the transmission section in the wheel assembly.

[0026] Figure 17 It shows Figure 12 Exploded view of the wheel assembly.

[0027] Figure 18 The present application illustrates the structural schematics of the cleaning equipment in one or more embodiments. Figure 3 .

[0028] Figure 19 A schematic diagram of the cleaning device in one or more embodiments of this application is shown in Figure 4.

[0029] Figure 20 The present application illustrates the structural schematics of the cleaning equipment in one or more embodiments. Figure 5 .

[0030] Figure 21 A flowchart illustrating a control method for a cleaning device according to one or more embodiments of this application is shown. Figure 1 .

[0031] Figures 21A to 21B It shows Figure 21 A schematic diagram of the control method for the cleaning equipment.

[0032] Figure 22A flowchart illustrating a control method for a cleaning device according to one or more embodiments of this application is shown. Figure 2 .

[0033] Figures 22A to 22E It shows Figure 21 A schematic diagram of the control method for the cleaning equipment.

[0034] Figure 23 A flowchart illustrating step 106 of a control method for a cleaning device according to one or more embodiments of this application is shown.

[0035] Figures 23A to 23F It shows Figure 23 A schematic diagram of the control method for the cleaning equipment.

[0036] Figure 24 A flowchart illustrating step 105 of a control method for a cleaning device according to one or more embodiments of this application is shown.

[0037] Figures 24A to 24C It shows Figure 24 A schematic diagram of the control method for the cleaning equipment.

[0038] Figure 25 A flowchart illustrating a control method for a cleaning device according to one or more embodiments of this application is shown. Figure 3 .

[0039] Figures 25A to 25E It shows Figure 25 A schematic diagram of the control method for the cleaning equipment.

[0040] Figure 26 A flowchart illustrating a control method for a cleaning device according to one or more embodiments of this application is shown. Figure 3 .

[0041] Figures 26A to 26C It shows Figure 26 A schematic diagram of the control method for the cleaning equipment.

[0042] Figure 27 A schematic diagram of the state of a control method for a cleaning device in one or more embodiments of the application is shown.

[0043] Explanation of reference numerals in the attached drawings: 100-cleaning equipment; 101-wheel assembly; 110-equipment body; 111-chassis; 112-top cover; 113-blocking component; 1131-blocking surface; 120-walking component; 121-main wheel; 122-first drive component; 123-first transmission component; 124-housing; 1241-first base; 1242-first top cover; 1243-second top cover; 125-second drive component; 126-second transmission component; 1261-output section; 126... 11-Protrusion, 127-Position detection component; 130-Rotating component, 131-Rotating arm, 1311-Second base, 13111-Groove, 1312-Third top cover, 132-Auxiliary wheel, 133-Third transmission component, 1331-Transmission unit; 140-Driven wheel, 141-Wheel frame; 150-Support wheel; 160-Cleaning component, 161-Roll brush module, 162-Side brush module, 163-Mopping module; 180-Obstacle detection component; M-Obstacle, N-Operating surface. Detailed Implementation

[0044] To enable those skilled in the art to more clearly understand this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0045] Furthermore, reference numerals and / or reference letters may be repeated in different examples in this application. Such repetition is for simplification and clarity purposes and does not in itself indicate a relationship between the various embodiments and / or settings discussed. In addition, this application provides examples of various specific processes and materials; however, those skilled in the art will recognize the application of other processes and / or the use of other materials.

[0046] When cleaning equipment encounters obstacles during autonomous operation, it needs to avoid or overcome them. The obstacle-crossing height limits the working range and operational reliability of the cleaning equipment. In related technologies, the cleaning equipment typically tilts the entire machine backward when crossing obstacles, causing the front end of the machine to rise. The obstacle-crossing function is achieved by adjusting the angle and speed at which the cleaning equipment approaches the obstacle. However, this solution is limited in effectiveness due to physical limitations such as the height of the cleaning equipment off the ground.

[0047] To improve the obstacle-crossing capability of cleaning equipment from a physical perspective, one or more embodiments of this application provide a cleaning device that increases the ground clearance of the chassis by actively raising the main body of the device, so that the components below the main body of the device are higher than the obstacle. During the obstacle-crossing process, there is no part of the cleaning device that interferes with the obstacle, thereby achieving the effect of increasing the obstacle-crossing height.

[0048] The specific technical solutions of this application will be described in detail below with reference to the accompanying drawings, which are not necessarily drawn to scale. Similar or identical reference numerals may be used to designate the same or similar parts in different drawings. The use of similar or identical reference numerals in different drawings does not mean that all drawings including similar or identical reference numerals constitute a single or the same embodiment. The accompanying drawings illustrate the various embodiments discussed in this application in a generalized manner, by way of example and not limitation.

[0049] Please see Figure 1 and Figure 2 According to a first aspect of this application, a cleaning device 100 is provided, which may be a sweeping robot, a mopping robot, or a sweeping and mopping robot. The cleaning device 100 includes at least a main body 110, a wheel assembly 101, and cleaning components 160 necessary for cleaning operations, such as a roller brush module 161, a side brush module 162, and a mopping module 163. The main body 110 serves as the mounting base for the wheel assembly 101 and the cleaning components 160, and also defines the appearance of the cleaning device 100. Therefore, the main body 110 includes at least a top cover 112 and a chassis 111. The top cover 112 at least defines the top surface of the cleaning device 100, and the chassis 111 mainly serves a load-bearing function, used to mount the wheel assembly 101 and the cleaning components 160. Therefore, the top cover 112 and the chassis 111 can be configured as an integral structure containing only one component, or as a split structure composed of multiple components, depending on actual needs.

[0050] The cleaning equipment 100 typically includes a controller and several obstacle detection devices 180. These devices can be distance sensors or machine vision systems, detecting the distance between obstacles and the main body 110, as well as the size of the obstacles. For fixed structures such as steps and thresholds, the position and size information of each fixed obstacle can be marked on the cleaning map constructed by the cleaning equipment 100. For obstacles with variable positions, such as stools, toys, trash cans, and books, the cleaning equipment 100 needs to automatically detect them during operation.

[0051] The wheel assembly 101 guides the movement of the main body 110 of the equipment. During the cleaning process performed by the cleaning equipment 100, the wheel assembly 101 can move forward, backward, or rotate according to instructions, enabling the cleaning equipment 100 to move forward, backward, or turn, thereby reaching various positions in the area to be cleaned. Typically, two wheel assemblies 101 are provided, symmetrically distributed on both sides of the main body of the equipment, with the axis of symmetry parallel to the direction of travel of the cleaning equipment 100.

[0052] In some embodiments, the wheel assembly 101 can also move up and down relative to the main body 110 according to instructions, thereby changing the ground clearance of the main body 110 and improving the obstacle-crossing ability and passability of the cleaning equipment 100. In this case, the wheel assembly 101 needs to be rotatably connected to the main body 110, allowing relative rotation between them. For example, a cable and a cable drive can be provided in the main body 110. The cable acts on the wheel assembly 101; when pulled, it causes the wheel assembly 101 to rotate relative to the main body 110, thus adjusting the vertical distance between the main body 110 and the main wheel 121. More detailed information about the wheel assembly 101 will be provided later.

[0053] It should be noted that, for ease of understanding, the following description is based on the horizontally positioned operating surface N. When describing the operating surface N, adjusting the vertical distance between the main body 110 and the main wheel 121 can be understood as adjusting the height at which the main body 110 is raised relative to the main wheel 121. However, those skilled in the art will understand that the operating surface is the physical surface on which the cleaning equipment 100 is currently traveling, which can be the ground, a tabletop, the surface of a raised platform, etc. For example, if the cleaning equipment 100 is currently traveling on the ground, then the ground is the operating surface N; similarly, if the cleaning equipment 100 is currently traveling on a step, then the step surface is the operating surface N. The operating surface N can also be a slope, an incline, an uneven curved surface, etc. This application does not limit the shape or orientation of the operating surface N.

[0054] also, Figure 3 The diagram shows a side view of the cleaning device 100 in motion. For ease of understanding, the following description will be based on the wheel assembly 101 on the side of the device body 110 along the direction of travel, unless otherwise stated. The description of the wheel assembly 101 is also applicable to the wheel assembly on the other side of the device body 110 along the direction of travel.

[0055] Please see Figure 3In some embodiments, the wheel assembly 101 includes a traveling member 120 and a rotating member 130. The traveling member 120 guides the movement of the device body 110. Specifically, the traveling member 120 includes a main wheel 121, which serves as a drive wheel. The traveling member 120 drives the entire cleaning device 100 through the main wheel 121. The rotating member 130 is rotatably connected to the wheel assembly 101 and is capable of rotating relative to the main wheel 121. The rotation of the rotating member 130 and the rotation of the main wheel 121 can be driven by the same drive member or by different drive members respectively; this application does not impose any limitations.

[0056] Please see Figure 3 In some embodiments, the device body 110 includes a blocking member 113, which moves together with the device body 110. As one implementation, the blocking member 113 can be a separate component fixedly mounted on the device body 110. For example, the blocking member 113 can be a component independent of the top cover 112 and the chassis 111, and can be connected to at least one of the top cover 112 and the chassis 111. As another implementation, the blocking member 113 can also be part of the device body 110; for example, the blocking member 113 can be part of the chassis 111. This application does not limit the structure of the blocking member 113. More detailed information about the blocking member 113 will be described later.

[0057] Please see Figure 3 During rotation, the rotating component 130 will contact the blocking component 113. When the rotating component 130 abuts against the blocking component 113 and rotates, the rotating component 130 pushes the blocking component 113 to adjust the vertical distance between the main body 110 and the main wheel 121.

[0058] Figures 4A to 4C The diagram illustrates the change in the relative position of the rotating member 130 and the blocking member 113 during rotation in some embodiments. Please refer to... Figures 4A to 4C When the rotating component 130 abuts against the blocking component 113 and rotates, the blocking component 113 is pushed by the rotating component 130 to adjust its distance relative to the main wheel 121, thereby increasing or decreasing the distance of the entire equipment body 110 relative to the main wheel 121. At this time, the ground clearance h of the chassis 111 of the equipment body 110 increases, thereby enabling it to overcome higher obstacles and improving the obstacle-crossing effect of the cleaning equipment 100.

[0059] Depend on Figures 4A to 4CIt can be seen that the blocking member 113 can be adjusted in distance relative to the main wheel 121 by being pushed by the rotating member 130. That is, when the rotating member 130 moves in the first direction, for example upward, the distance between the device body 110 and the main wheel 121 (for example, relative to the center of the main wheel 121) increases. In other words, if the main wheel 121 is on the operating surface N, the lifting height of the device body 110 relative to the bottom of the main wheel 121 (i.e., the operating surface N in contact with the main wheel 121) increases. For example, when the cleaning device 100 is located on the operating surface N, this can be manifested as an increase in the distance h of the chassis 111 of the device body 110 from the operating surface N, i.e., the height h above the surface, such that h3 > h2 > h1, where h1 is the height h of the chassis 111 of the device body 110 above the surface when the rotating member 130 of the cleaning device 100 does not contact the blocking member 113. Similarly, when the cleaning device 100 is located on the operating surface N, the blocking member 113 can also be pushed down relative to the main wheel 121 by the rotating member 130. That is, when the rotating member 130 moves to its highest point in the first direction and then moves in the second direction, such as downward, the vertical distance between the device body 110 and the main wheel 121 (e.g., relative to the center of the main wheel 121) decreases. The first direction and the second direction are opposite to each other; that is, clockwise and counterclockwise directions are opposite to each other; during rotation in the clockwise or counterclockwise direction, rotation upward and rotation downward are also opposite to each other.

[0060] In some embodiments, the rotating member 130 abuts against the blocking member 113. This can be understood as the blocking member 113 being located above the rotating member 130, such that the force exerted by the rotating member 130 on the blocking member 113 has a component perpendicular to the operating surface (e.g., perpendicular to the operating surface N upwards). This causes the blocking member 113 to adjust its distance relative to the main wheel 121 as the rotating member 130 rotates and abuts against the blocking member 113. If the rotating member 130 and the blocking member 113 merely contact each other without exerting any force, or if the rotating member 130 exerts a force on the blocking member 113 but this force has no component perpendicular to the operating surface, these situations do not fall within the scope of the rotating member 130 abutting against the blocking member 113 described in this application.

[0061] like Figures 4A to 4B As shown, with the radius of rotation of the rotating component 130 as R, if the rotating component 130 rises to... Figure 4B When the blocking part 1131 is at the position shown, relative to Figure 4A In the state where the distance change value (h2-h1) of the blocking member 113 in the first direction is the difference of the vertical component of the distance of the axis rotation radius R at the corresponding point of the blocking part 1131.

[0062] Figure 5 for Figures 4A to 4CThe diagram shows the rotating part 130 of the cleaning device 100 abutting against the blocking part 113 to adjust the distance between the device body 110 and the main wheel 121. Figure 5 As shown, the portion of the blocking member 113 that rotates and abuts against the rotating member 130 is the blocking part 1131. The increase in vertical distance of the blocking member 113 relative to the main wheel 121 is related to the range and position of the blocking part 1131. When the blocking member 113 is not rotated and abutted by the rotating member 130, with the rotation radius of the rotating member 130 as R and the vertical component of the distance of the rotating member 130 to the corresponding position of the blocking part 1131 as L, the difference between R and L, Δh (Δh=RL), is the change in distance of the blocking member 113 in the second direction when the rotating member 130 falls back to the corresponding position.

[0063] The lifting efficiency of the blocking member 113 is related to the range and smoothness of the blocking portion 1131. If there are protruding points on the blocking portion 1131, the rotating member 130 may need to pass over the protrusions when rotating, and when passing over the protrusions, the device body 110 may exhibit an upward jumping posture. To maintain the lifted state of the device body 110, the rotating member 130 can be kept at a certain position abutting against the blocking member 113, so that the rotating member 130 and the blocking member 113 are relatively stationary. In addition, if the lifting time of the device body 110 is to be extended, the contact path between the rotating member 130 and the blocking member 113 can be extended by increasing the length or area of ​​the blocking portion 1131, thereby increasing the contact time between the rotating member 130 and the blocking member 113.

[0064] Please see Figure 5 The blocking part 1131 is located within the rotation radius above the rotating member 130. That is, when the blocking member 113 is not rotated and abutted by the rotating member 130, the rotation range Q of the blocking part 1131 and the rotating member 130 overlap. This overlapping area is at least partially located within the range covered by the rotation radius of the rotating member 130, i.e., within the upper semicircle of the rotation range Q. When the rotating member 130 abuts against the blocking part 1131 and continues to rotate, the blocking part 1131 remains in contact with the rotating member 130. The blocking part 113 is held in a raised state by the continuous abutment of the rotating member 130. However, those skilled in the art will understand that this raised state refers to a situation where, during the continuous contact and rotation of the blocking part 1131 and the rotating member 130, the distance between the main body 110 and the main wheel 121 is greater than the distance when the blocking part 1131 and the rotating member 130 are not in contact. Furthermore, the raised state can continuously change or be maintained at a fixed height. Continuous changes include, for example, continuous increases, continuous decreases, or oscillating curve changes.

[0065] In some embodiments, during the rotation of the rotating member 130 from the position abutting against the blocking part 1131 to the position disengaging from the blocking part 1131, the chassis 111 of the device body 110 may first rise and then fall relative to the wheel assembly 101. That is, as the rotating member 130 switches from rising to abutting against the blocking part 1131 to falling back to abutting against the blocking part 1131, the chassis 111 of the device body 110 first rises relative to the main wheel 121 and then falls back from the highest point along the same path, where the highest point refers to the point with the longest vertical distance from the center of the main wheel reached during the rising process. As one implementation, when the rotating member 130 rotates from the position abutting against the blocking part 113 to the highest point, the chassis 111 of the device body 110 rises from the initial position to the highest position relative to the wheel assembly 101; when the rotating member 130 rotates back from the highest point to the position disengaging from the blocking part 113, the chassis 111 of the device body 110 falls back from the highest position to the initial position relative to the wheel assembly 101.

[0066] Figures 6A to 6C The diagram illustrates the change in the relative position of the rotating member 130 and the blocking member 113 during counterclockwise rotation in some embodiments. Figures 6A to 6C It can be seen that the blocking member 113 is lifted by the abutment of the rotating member 130, and the lifting height first increases and then decreases. Externally, this is manifested as the height h of the chassis 111 of the main body 110 relative to the operating surface N first increasing and then decreasing, i.e., h2 > h1 and h2 > h3. Here, h1 is the height of the chassis 111 of the main body 110 above the surface when the cleaning equipment 100 is in its normal driving posture, at which time the chassis 111 of the main body 110 is in its initial position. h2 is the height of the chassis 111 of the main body 110 above the surface when it is in its highest lifted position. h3 is the height of the chassis 111 of the main body 110 above the surface during the process of the rotating member 130 rotating back from its highest rotation position. When the rotating member 130 disengages from the blocking member 1131, h3 = h1. It is understandable that during the clockwise rotation of the rotating part 130, the height of the chassis 111 of the main body 110 above the surface also increases first and then decreases. At this time, the change in the height of the chassis 111 above the surface is the reverse process when the rotating part 130 rotates counterclockwise.

[0067] The lifting and lowering rates of the chassis 111 relative to the wheel assembly 101 can be set according to actual needs. For example, if the rotating component 130 is set to rotate counterclockwise, requiring the rotating component 130 to quickly lift the chassis 111 to the highest lifting position and hold it at that position for a certain period of time, and then slowly lower the chassis 111, then the blocking surface 1132 can be set as follows: Figure 7A and Figure 7BThe configuration shown includes three segments: the first segment a is a lifting segment, where the lifting amount Δh increases along the rotation direction of the rotating member 130. When the rotating member 130 rotates to contact the first segment a, it gradually lifts the chassis 111 to the highest lifting position, where the lifting amount Δh is Δhmax. The second segment b is a holding segment, where the lifting amount Δh = Δhmax. When the rotating member 130 rotates to contact the second segment b, it holds the chassis 111 at the highest lifting position. The third segment c is a falling segment, where the falling amount Δh decreases along the rotation direction of the rotating member 130. When the rotating member 130 rotates to contact the third segment c, it gradually falls back to the initial position, where the lifting amount Δh is zero. Further structural configurations of the blocking part 1131 are not exhaustively listed here.

[0068] Please see Figure 8A and Figure 8B In some embodiments, the blocking surface 1132 is a plane, which can be set to be parallel to the operating surface N where the cleaning device 100 is located, or it can be set to have a certain angle with the operating surface N. It can be understood that this plane is located above the rotation center of the rotating member 130. Since the blocking part 1131 is a plane, the plane can be divided into two segments: the first segment a1 is a lifting segment, and the Δh corresponding to the lifting segment increases along the rotation direction of the rotating member 130. When the rotating member 130 rotates to contact the first segment a1, it gradually rises to the highest lifting position against the chassis 111, and the lifting amount Δh at the highest lifting position is Δhmax; the second segment b1 is a falling segment, and the Δh corresponding to the falling segment decreases along the rotation direction of the rotating member 130. When the rotating member 130 rotates to contact the second segment b1, it gradually falls back to the initial position against the chassis 111, and the lifting amount Δh at the initial position is zero.

[0069] In some embodiments, the distance from the ground to the bottom of the chassis 111 during its entire rise and fall is infinitely variable, and the rise distance of the chassis 111 can be detected by setting a position detection device. Details of the position detection device will be described in detail below and will not be elaborated here.

[0070] In some embodiments, the planar blocking portion 1131 is symmetrically arranged with respect to the rotation axis of the rotating member 130 and parallel to the operating surface N where the cleaning device 100 is located, such as... Figure 8A As shown. Figure 8AThe axis of symmetry C passes through the rotation center of the rotating component 130, and the planar blocking part 1131 is symmetrically arranged with respect to the axis of symmetry C. That is, the first segment a1 and the second segment b1 have the same dimensions, and the lifting and lowering rates of the chassis 111 are also symmetrical with respect to the rotation axis of the rotating component 130. This ensures that the change in lifting amount produced by the blocking part 113 when the rotating component 130 rotates clockwise or counterclockwise is the same. Since the lifting amount of the blocking part 113 changes in only one way, the rotation algorithm control of the rotating component 130 is relatively simple, and the action execution is relatively more precise.

[0071] Please see Figure 8A and Figure 8B In some embodiments, along the travel direction of the cleaning device 100, the rotation center of the rotating member 130 and the rotation center O of the main wheel 121 of the wheel assembly 101 have a positional difference 'a'. This can be because the projection of the rotation center O of the main wheel 121 on the horizontal plane is located in front of the projection of the rotation center of the rotating member 130 on the horizontal plane, thereby enabling the rotating member 130 to rotate and move relative to the main wheel 121, further improving the obstacle-crossing ability of the cleaning device 100.

[0072] Please see Figure 9 In some embodiments, the blocking member 113 is a cover provided on the chassis 111, with the side of the chassis 111 recessed to form the cover. The position of the cover corresponds to the position of the wheel assembly 101, and the cover is fastened to the wheel end of the wheel assembly 101 (i.e., the position of the main wheel 121). The wheel end of the wheel assembly 101 has a large installation area, which facilitates the installation of the rotating member 130 and provides space for the rotating member 130 to rotate.

[0073] Please see Figure 10 The image shows a side view of a cleaning device 100 in some embodiments. The cleaning device 100 can be a sweeping robot, a mopping robot, a sweeping and mopping robot, etc. The cleaning device 100 includes at least a main body 110 and a wheel assembly 101. During the cleaning process, the wheel assembly 101 can move forward, backward, or rotate according to instructions, enabling the cleaning device 100 to move forward, backward, or turn, thus allowing it to travel to various positions in the area to be cleaned. Please refer to... Figure 10 The wheel assembly 101 includes a main wheel 121 and a rotating member 130. The rotating member 130 is rotatably connected to the main wheel 121 and is capable of rotating relative to the main wheel 121.

[0074] Please see Figure 10When the rotating component 130 rotates to a position at least partially below the main wheel 121, the rotating component 130 pushes at least a portion of the equipment body 110 and the main wheel 121 to rise relative to the operating surface N. That is, the rotation radius of the rotating component 130 is greater than the distance between the rotation center of the rotating component 130 and the lowest point of the main wheel 121. Therefore, the rotating component 130 can rotate to a position at least partially below the main wheel 121 to rotatably abut against the main wheel 121 and the equipment body 110. It can be understood that the lifting of at least a portion of the equipment body 110 relative to the operating surface N by the rotating component 130 can be an increase in the overall height of the equipment body 110 above the ground, or an increase in the height of a specific part of the equipment body 110 above the ground, such as the front end of the equipment body 110 being raised. When the rotating component 130 pushes the main wheel 121 to rise relative to the operating surface N, the main wheel 121 completely disengages from the operating surface N.

[0075] Because the rotating component 130 can push the main wheel 121 and at least part of the equipment body 110 to rise relative to the operating surface N, when the main wheel 121 is completely disengaged from the operating surface N and at least part of the equipment body 110 is raised off the ground, the cleaning equipment 100 can overcome higher obstacles, thereby improving the obstacle-crossing effect of the cleaning equipment 100.

[0076] Please see Figure 10 In some embodiments, the rotating member 130 may include a rotating arm 131 and an auxiliary wheel 132. The rotating arm 131 is rotatably connected to the main wheel 121, and the auxiliary wheel 132 is rotatably connected to the rotating arm 131. As one implementation, the first end of the rotating arm 131 is connected to the main wheel 121, and the auxiliary wheel 132 is mounted on the second end of the rotating arm 131, which is also the free end of the rotating arm 131. The rotation of the rotating member 130 and the rotation of the main wheel 121 can be driven by the same driving member or by different driving members; this application does not impose any limitations. Of course, in some embodiments, the rotating member 130 may only include the rotating arm 131.

[0077] In some embodiments where the main body 110 of the device also includes a blocking member 113, the rotating member 130 pushes the blocking member 113 to lift. Specifically, the rotating arm 131 pushes the blocking member 113 to lift, and the auxiliary wheel 132 does not contact the blocking member 113; or although the auxiliary wheel 132 contacts the blocking member 113, the auxiliary wheel 132 does not abut against the blocking member 113. In this case, the blocking member 113 can avoid wear on the auxiliary wheel 132.

[0078] The rotating member 130 pushes the blocking member 113 to rise, or the auxiliary wheel 132 pushes the blocking member 113 to rise, with the rotating arm 131 not in contact with the blocking member 113; or although the rotating arm 131 is in contact with the blocking member 113, the rotating arm 131 does not abut against the blocking member 113. Since the auxiliary wheel 132 can rotate relative to the rotating arm 131, the stability of the auxiliary wheel 132 during the process of pushing the blocking member 113 to rise is relatively poor. Therefore, in some embodiments, the cleaning device 130 may further include a locking member (not shown in the figure), which locks the auxiliary wheel 132 during the process of the auxiliary wheel 132 pushing the blocking member 113 to rise, restricting the rotation of the auxiliary wheel 132 relative to the rotating arm 131. The locking member can be a buckle, a locking pin, or other parts; the specific structure is not limited in this application.

[0079] In other embodiments, the rotating member 130 pushes the blocking member 113 to rise, or the rotating arm 131 and the auxiliary wheel 132 can simultaneously push the blocking member 113 to rise. Since the auxiliary wheel 132 can rotate relative to the rotating arm 131, there is rolling friction between the auxiliary wheel 132 and the blocking member 113, resulting in low frictional resistance.

[0080] In some embodiments, at least a portion of the auxiliary wheel 132 is located outside the rotating arm 131 along the radial direction of the rotation axis of the rotating member 130. That is, the auxiliary wheel 132 and the rotating arm 131 have a radial difference along the radial direction of the rotation axis of the rotating member 130. Correspondingly, rotating the rotating member 130 to a position where at least a portion is below the main wheel 121 can be understood as rotating the rotating member 130 to a position where at least a portion of the auxiliary wheel 132 is below the main wheel 121.

[0081] In some embodiments, the cleaning device 130 simultaneously possesses both ultra-high obstacle-crossing capability and chassis-lifting capability. However, the drive devices corresponding to the components implementing these two functions differ. For example, a cable and a cable drive are provided in the main body 110. When the cable is pulled by the cable drive, it drives the wheel assembly 101 to rotate relative to the main body 110, thereby raising the main body 110 relative to the operating surface N, thus achieving the chassis-lifting function. In conjunction with the rotating component 130 in the above embodiments, the rotating component 130 pushes the main wheel 121 and at least a portion of the main body 110 to rise relative to the operating surface N, achieving the ultra-high obstacle-crossing capability. However, because the drive devices corresponding to the components implementing these two functions differ, the cost is high. Furthermore, the two drive devices are installed in different locations on the cleaning device, occupying a significant amount of internal space within the main body, which is detrimental to the miniaturization of the entire machine.

[0082] Therefore, in some embodiments of this application, a cleaning device 100 is disclosed that utilizes a rotating member 130 to simultaneously achieve chassis 111 lifting and ultra-high obstacle crossing functions. The following will be discussed in conjunction with the accompanying drawings. Figure 10 To be continued Figure 20The cleaning equipment 10 of these embodiments will be described in detail.

[0083] Please see Figure 10 The rotating member 130 rotates to a position at least partially below the main wheel 121, thereby pushing the main wheel 121 to rise relative to the operating surface N. The rotating member 130 being below the main wheel 121 of the wheel assembly 120 can be understood as the contact point between the rotating member 130 and the operating surface N being below the lowest point of the main wheel 121. At this point, the rotating member 130 contacts the operating surface N, supporting the main wheel 121 and the equipment body 110. When the rotating member 130 rotates and abuts against the operating surface N, it adjusts the distance between the main wheel 121 and at least a portion of the equipment body 110 relative to the operating surface N. In other words, when the rotating member 130 rotates to the upper semicircle of its rotation range, it abuts against the blocking member 113, causing the chassis 111 of the equipment body 110 to rise relative to the main wheel 121 and the operating surface N, thus achieving the chassis 111 lifting function. When the rotating component 130 rotates to the lower semicircular portion of its rotation range, it can abut against the operating surface N, causing the main wheel 121 and at least a portion of the equipment body 110 to rise relative to the operating surface N, such as... Figure 10 As shown. Since the main wheel 121 and at least part of the main body 110 are raised relative to the operating surface N, the main wheel 121 can overcome obstacles such as steps and thresholds that exceed the radius size, thus achieving the function of ultra-high obstacle crossing.

[0084] The rotating component 130 simultaneously achieves chassis lifting and obstacle-crossing functions, saving equipment costs. Furthermore, since the rotating component 130 is mounted on the main wheel 121, which is at least partially exposed outside the main body 110, the mounting position of the rotating component 130 can also be set on the outside of the main body 110. When rotating, the rotating component 130 can either partially extend into the interior of the main body 110 or remain permanently on the outside, thereby reducing the space occupied by the rotating component 130.

[0085] Please see Figure 10 and Figure 11 In some embodiments, the rotating component 130 includes a rotating arm 131 and an auxiliary wheel 132, with the auxiliary wheel 132 rotatably connected to the rotating arm 131. When the auxiliary wheel 132 is driven by the rotating arm 131 to a position lower than the main wheel 121, it contacts the operating surface N, driving the cleaning device 100 to move. That is, even when the main wheel 121 is suspended and not in contact with the obstacle M, the entire cleaning device 100 can still be driven by the auxiliary wheel 132. The auxiliary wheel 132 can drive the cleaning device 100 at least to a position where the main wheel 121 contacts the obstacle M. After the main wheel 121 contacts the obstacle M, the main wheel 121 acts as the primary drive, driving the cleaning device 100 to continue moving. While the main wheel 121 is driving the cleaning device 100, the auxiliary wheel 132 can continue to rotate to provide auxiliary driving force, or it can stop rotating.

[0086] It should be noted that when the rotating member 130 rotates to the position abutting the blocking member 113, the component of the rotating member 130 that contacts the blocking member 113 can be either the rotating arm 131 or the auxiliary wheel 132. Considering that the auxiliary wheel 132 itself rotates, in some embodiments, in order to improve the motion accuracy of the chassis 111 lifting process, when the rotating member 130 rotates to the position abutting the blocking member 113, only the rotating arm 131 contacts the blocking member 113, and sliding friction is generated between the rotating member 130 and the blocking member 113. The auxiliary wheel 132 can be located on the outside of the blocking member 113, that is, the projections of the auxiliary wheel 132 and the blocking part 1131 on the horizontal plane do not coincide, such as... Figure 11 As shown. Therefore, when the rotating member 130 rotates to the position abutting the blocking member 113, the auxiliary wheel 132 does not contact the blocking part 1131, as... Figure 11A As shown.

[0087] In summary, when the rotating component 130 rotates in the upper half of its rotation range and abuts against the blocking component 113, the rotating arm 131 abuts against the blocking component 113; when the rotating component 130 rotates in the lower half of its rotation range and is at least partially below the main wheel 121, the auxiliary wheel 132 contacts the operating surface N, driving the cleaning equipment 100 to continue moving, while the rotating arm 131 is a certain distance away from the operating surface N to avoid contact with the operating surface N and thus avoid wear and tear, and to avoid generating resistance that hinders the movement of the cleaning equipment 100.

[0088] Figure 10 The image shown is a side view of the cleaning device 100 in motion; Figure 11 The image shown is a bottom view of the cleaning device 100's main body 110 and wheel assembly 101 in their assembled state. However, to clearly show the blocking part 1131, [the image is cut off here]. Figure 11 The wheel component on the right side is hidden. For ease of understanding, the following text will combine... Figures 12 to 17 Exemplarily based on cleaning device 100 in Figure 11 The wheel assembly 101 shown on the left is described herein. Unless otherwise stated, the description of the wheel assembly 101 is also suitable for use with the cleaning device 100. Figure 11 The wheel assembly shown on the right (hidden in the image).

[0089] Please see Figure 12 and Figure 13The wheel assembly 101 includes a traveling member 120 and a rotating member 130. The traveling member 120 includes at least a main wheel 121 and a first driving member 122 for driving the main wheel 121 to rotate. The main wheel 121 serves as the first driving wheel and main drive wheel of the cleaning device 100. In some embodiments, the wheel assembly 120 further includes a first transmission member 123 for power transmission, which transmits the torque output by the first driving member 122 to the main wheel 121. The first transmission member 123 can also perform functions such as deceleration and power reversal during torque transmission. For example, Figure 13 In the illustrated embodiment, the main wheel 121 is a motor, and the first transmission component 123 includes a plurality of first transmission gears meshing sequentially. The transmission ratio of the plurality of first transmission gears is greater than 1, thereby achieving the effect of deceleration and torque increase during transmission.

[0090] The rotating component 130 includes at least a rotating arm 131 and an auxiliary wheel 132. The rotating arm 131 is rotatably connected to the main wheel 121, and the auxiliary wheel 132 is rotatably connected to the rotating arm 131. In some embodiments, a separate driving component can be provided to drive the auxiliary wheel 132 to rotate; in other embodiments, the auxiliary wheel 132 can also be driven by the first driving component 122. Based on this, the auxiliary wheel 132 serves as the second driving wheel of the cleaning device 100, and is also an auxiliary driving wheel.

[0091] In some embodiments, the main wheel 121 and the auxiliary wheel 132 are respectively poweredly coupled to the first driving member 122, meaning that both the main wheel 121 and the auxiliary wheel 132 are driven by the first driving member 122. When the first driving member 122 outputs power, the main wheel 121 and the auxiliary wheel 132 can rotate simultaneously. In some embodiments, a clutch can also be provided to allow the power output by the first driving member 122 to be operably transmitted to either the main wheel 121 or the auxiliary wheel 132.

[0092] Please see Figure 13 In some embodiments, the rotating member 130 further includes a third transmission member 133, which transmits the torque output by the first driving member 122 to the auxiliary wheel 132. In some embodiments, the rotating arm 131 includes a first end and a second end. The rotating member 130 is rotatably connected to the main wheel 121 through the first end of the rotating arm 131, and the auxiliary wheel 132 is connected to the second end of the rotating arm 131, which is also the free end of the rotating arm 131. In some embodiments, the auxiliary wheel 132 is connected to the second end of the rotating arm 131 through a rotating shaft. The third transmission member 133 is internally disposed within the rotating arm 131 to transmit the torque output by the first driving member 122 to the auxiliary wheel 132. The third transmission member 133 can also perform functions such as deceleration and power reversal during torque transmission. The specific structure of the third transmission member 133 will not be described in detail here.

[0093] The power for the rotation of the rotating component 130 can also come from the first driving component 122. In some embodiments, the torque output by the first driving component 122 can be transmitted to the rotating component 130 by providing a transmission component in the wheel assembly 101. Considering that in some usage scenarios only the rotating component 130 needs to rotate and the cleaning equipment 100 does not need to move (the main wheel 121 and / or the auxiliary wheel 132 rotate), a clutch can also be provided to operably transmit the power output by the first driving component 122 to the main wheel 121, the auxiliary wheel 132, or the rotating component 130. The clutch can be a mechanical clutch, an electromagnetic clutch, etc. Different structural forms of clutches have been disclosed in the prior art, so the specific structure of the clutch will not be described here.

[0094] Please see Figure 13 In some embodiments, the wheel assembly 101 further includes a second drive member 125, which is dynamically coupled to the rotating member 130, driving the rotating member 130 to rotate. Further, the wheel assembly 101 may also include a second transmission member 126, which transmits the torque output by the second drive member 125 to the rotating member 130. The specific structure of the second transmission member 126 can be referenced to the first transmission member 123 and the third transmission member 133, and will not be described again here. Based on the rotating member 130 being rotatably mounted on the main wheel 121 of the walking member 120, the second drive member 125 and the second transmission member 126 can also be disposed on the walking member 120, so that the walking member 120, the rotating member 130, the second drive member 125, the second transmission member 126, and the third transmission member 133 together form a modular wheel assembly 101, resulting in a higher degree of integration of the cleaning device 100.

[0095] Please see Figure 13 , Figure 14 and Figure 15 In some embodiments, the wheel assembly 101 further includes an output section 1261 for outputting power to the second drive member 125. The output section 1261 is power-coupled with the rotating member 130, transmitting the power of the second drive member 125 to the rotating member 130 and driving the rotating member 130 to rotate. In embodiments where the wheel assembly 101 may also include a second transmission member 126, the output gear of the second transmission member 126 may serve as the output section 1261. In some embodiments, the output section 1261 abuts against the rotating member 130 along the rotation direction of the rotating member 130, thereby causing the output section 1261 to drive the rotating member 130 to complete a 360° rotation.

[0096] Please combine Figure 14 and Figure 15In one embodiment, one of the output section 1261 and the rotating arm 131 is provided with a protrusion 12611, and the other is provided with a groove 13111 into which the protrusion 12611 extends. The protrusion 12611 or the groove 13111 can be specifically disposed on the rotating arm 131. Along the rotation direction of the rotating member 130, the protrusion 12611 and the groove 13111 abut against each other. The protrusion 12611 and the groove 13111 are dynamically coupled in the rotation direction of the rotating member 130, thereby driving the rotating member 130 to complete a 360° rotation. The number of protrusions 12611 and grooves 13111 can be one or more, and this application does not impose any limitation.

[0097] In the rotating member 130, both the rotating arm 131 and the auxiliary wheel 132 perform a 360° fixed-axis rotation. Furthermore, the auxiliary wheel 132, mounted on the free end of the rotating arm 131, also performs a 360° rotation. Therefore, the power transmission components of the rotating arm 131 and the auxiliary wheel 132 should be able to achieve power separation. In some embodiments, the wheel assembly 101 further includes a transmission unit 1331, which transmits the power output from the first driving member 122 to the auxiliary wheel 132. In embodiments where the wheel assembly 101 may also include a third transmission member 133, one of the transmission gears of the third transmission member 133 can serve as the transmission unit 1331. It is understood that the transmission unit 1331 is specifically the transmission gear located at the rotation center of the rotating member 130 in the third transmission member 133, and the transmission unit 1331 corresponds in position to the output unit 1261.

[0098] Please see Figure 16 The diagram illustrates the assembly structure of the transmission part 1331 and the output part 1261 in some embodiments. The transmission part 1331 and the output part 1261 are rotatably coupled, but no torque is transmitted between them. Specifically, the output part 1261 may have a central hole through which the transmission part 1331 passes and extends into the rotating member 130. A clearance exists between the transmission part 1331 and the wall of the central hole, ensuring that the rotation of the transmission part 1331 and the output part 1261 does not interfere with each other.

[0099] Figure 17 An exploded view of the wheel assembly 120 and the rotating member 130 in a specific embodiment is shown below. Please refer to... Figure 17In some embodiments, the wheel assembly 120 includes a first base 1241, a first upper cover 1242, and a second upper cover 1243. The first upper cover 1242 covers the first base 1241, and the second upper cover 1243 also covers the first base 1241. The first upper cover 1242 and the second upper cover 1243 may have overlapping areas to facilitate the connection of the first base 1241, the first upper cover 1242, and the second upper cover 1243. The first base 1241, the first upper cover 1242, and the second upper cover 1243 together enclose the housing 124 of the walking component 120, and the first transmission component 123, the second drive component 125, and the second transmission component 126 are all located in the housing 124. Specifically, the first transmission member 123 can be located in the cavity enclosed by the first base 1241 and the first upper cover 1242, while the second drive member 125 and the second transmission member 126 can both be located in the cavity enclosed by the first base 1241 and the second upper cover 1243, thus physically separating the first transmission member 123 from the second drive member 125 and the second transmission member 126. A portion of the third transmission member 133 is located in the housing 124, and the remaining portion is located in the rotating arm 131. In some embodiments, the third transmission member 133 may also be entirely located in the rotating arm 131.

[0100] To facilitate the installation of the third transmission component 133, please refer to... Figure 17 The rotating arm 131 includes a second base 1311 and a third upper cover 1312. After the second base 1311 and the third upper cover 1312 are fastened together, a rotating arm 131 with an internal mounting cavity is formed. Most of the parts of the third transmission member 133 are disposed in the mounting cavity of the rotating arm 131. Only the parts of the third transmission member 133 that are poweredly coupled to the first transmission member 123 (such as the transmission part 1331) are located outside the rotating arm 131. The second base 1311 is closer to the wheel assembly 120 than the third upper cover 1312, and protrusions 12611 or grooves 13111 can be provided on the second base 1311.

[0101] As an optional implementation plan, please combine with Figure 17 The second driving component 125 and the second transmission component 126 can be driven by a worm gear mechanism. On the one hand, the worm gear mechanism, as a reversing transmission mechanism, can change the direction of power transmission, which facilitates the arrangement of the second driving component 125 and the second transmission component 126 in the housing 124 and improves the compactness of the wheel assembly 101. On the other hand, the self-locking force of the worm gear mechanism can be used to precisely control the rotation position of the rotating component 130.

[0102] In some embodiments, the wheel assembly 101 further includes several detection elements, which can detect the rotational position, rotational angle, etc. of the rotating member 130; and / or, the detection elements can be rotation detection elements that acquire the rotational parameters of the second driving member 125. These detection elements can be optocouplers, microswitches, encoders, Hall sensors (e.g., Hall position reference sensors, Hall zero-position sensors, Hall travel sensors, Hall gear sensors, Hall proximity switches, etc.), etc., and the specific types are not limited in this application.

[0103] Please see Figure 17 In some embodiments, the wheel assembly 101 may be configured with at least one position detection element 127, which is located within the rotation range of the rotating member 130. For example, the position detection element 127 may be located on the main wheel 121 or on the housing 124. When the rotating member 130 rotates to the position of the position detection element 127, the position detection element 127 is triggered. The position detection elements 127 may be distributed at key locations within the rotation range of the rotating member 130. For example, the blocking part 1131 is a plane parallel to the operating surface N. During the process of the rotating member 130 rotating from the position of touching the blocking part 113 to the position of disengaging from the blocking part 113, the chassis 111 of the device body 110 gradually rises to the highest point relative to the wheel assembly 120, and then gradually falls back down. A position detection element 127 can be installed at the following locations: the position where the rotating member 130 just touches the blocking part 1131 (corresponding to the first position where the lifting amount is zero), the position where the rotating member 130 just leaves the blocking part 1131 (corresponding to the second position where the lifting amount is zero), and the position where the distance between the contact surface and the rotation center of the rotating member 130 is the largest (corresponding to the position where the lifting amount is the largest). The position detection element 127 can be used to determine whether the rotating member 130 has rotated to the position of the position detection element 127. The position detection element 127 can be an optocoupler, a microswitch, a Hall sensor, etc., and the specific type is not limited in this application.

[0104] In other embodiments, the wheel assembly 101 may also be configured with a rotation detection element (not shown in the figure). The rotation detection element is located on the second drive member 125 and acquires the rotation parameters of the second drive member 125. For example, the rotation detection element can detect the rotation angle or the number of rotations of the second drive member 125, thereby accurately obtaining the rotation angle of the rotating member 130. The rotation detection element may be an encoder, a Hall sensor, a resolver, etc., and the specific type is not limited in this application. In still some embodiments, the wheel assembly 101 may be configured with both a position detection element 127 and a rotation detection element. More implementations are not exhaustively described here.

[0105] Please see Figure 18This diagram illustrates the structure of a cleaning device 100 according to other embodiments of this application. The cleaning device 100 also includes a driven wheel 140, which is connected to the device body 110 and located at the front of the device body 110. In some embodiments, the driven wheel 140 is rotatably connected to the bottom of the device body 110, located at the front of the device body 110 and in front of the wheel assembly 101 (with the direction of travel of the cleaning device 100 as the front). The driven wheel 140 is at least located at the front of the wheel assembly 101, forming a triangular support with the two wheel assemblies 101, thus ensuring stable travel of the cleaning device 100. Alternatively, in some embodiments, the driven wheel 140 may be located at the rear of the device body 110, or both at the front and rear of the device body 110. The driven wheel 140 may be configured as a swivel wheel, making the forward, backward, and turning movements of the cleaning device 100 more stable and smooth.

[0106] Please see Figure 19 This diagram illustrates the structure of a cleaning device 100 according to another embodiment of this application. The cleaning device 100 further includes a support wheel 150, which is connected to the device body 110 and located at the rear of the device body 110. In some embodiments, the support wheel 150 is rotatably connected to the bottom of the device body 110, located at the rear of the device body 110 and behind the wheel assembly 101 (with the rear of the cleaning device 100 in the direction of travel defined as rear). The support wheel 150 is located behind the wheel assembly 101, and it contacts the operating surface N at least when the cleaning device 100 travels in an inclined posture with the front end of the device body 110 raised. The support wheel 150 and the two wheel assemblies 101 form a triangular support, ensuring stable travel of the cleaning device 100 and preventing the rear end of the device body 110 from contacting the operating surface N and causing scraping. When the cleaning equipment 100 is in normal operating condition (the main body of the equipment is not tilted or raised), the support wheel 150 can be set at a certain height from the operating surface N so as not to interfere with non-cleaning objects (such as slippers, toys, etc.) on the operating surface N.

[0107] In some embodiments, the cleaning device 100 may further include a drive member for driving the driven wheel 140 and the support wheel 150 to extend from the device body 110. As an optional implementation, the driven wheel 140 is at least partially exposed at the bottom of the device body 110 and contacts the operating surface N. The support wheel 150 is normally retracted into the device body 110, and upon receiving a command to extend the support wheel 150, the corresponding drive member drives the support wheel 150 to extend outside the device body 110.

[0108] As an alternative implementation, the driven wheel 140 is at least partially exposed at the bottom of the equipment body 110, contacting the operating surface N. The support wheel 150 always extends beyond the equipment body 110, but is positioned at a certain height above the operating surface N. See also... Figure 20 In some embodiments, the cleaning device 100 further includes a third drive member (not shown in the figure), which connects the device body 110 and the driven wheel 140. The third drive member drives the driven wheel 140 to adjust its distance relative to the device body 110, causing the driven wheel 140 to rise and fall relative to the device body 110. Upon receiving a command to extend the driven wheel 140, the third drive member drives the driven wheel 140 to extend completely outside the device body 110.

[0109] In some embodiments, the driven wheel 140 is connected to the device body 110 via a wheel frame 141, such as... Figure 20 As shown, the wheel frame 141 connects the device body 110 and the driven wheel 140. In some embodiments, the wheel frame 141 is initially hidden within the device body 110. When a command to extend the driven wheel is received, the third drive unit drives the wheel frame 141 to swing outward and downward, causing the driven wheel 140 to abut against the operating surface N. This pushes the front end of the device body 110 through the wheel frame 141, lifting the front end of the device body 110 and causing the device body 110 to exhibit a backward tilted posture with the front end raised and the rear end lowered. Figure 20 As shown. In this posture, the support wheel 150 is also in contact with the operating surface N. At this time, the driven wheel 140, the support wheel 150, and the two wheel assemblies 101 (the main wheel 121 or the auxiliary wheel 132 abutting against the operating surface N) form a quadrilateral support, stabilizing the driving posture of the cleaning equipment 100.

[0110] It is understood that the first drive unit 122, the second drive unit 125, the third drive unit, the position detection unit 127, the rotation detection unit, and the obstacle detection unit 180 are all electrically connected to the controller. The first drive unit 122, the second drive unit 125, and the third drive unit perform corresponding functions under the control commands of the controller, and the position detection unit 127, the rotation detection unit, and the obstacle detection unit 180 send detection signals to the controller.

[0111] A second aspect of this application provides a control method for a cleaning device 100. This control method primarily limits the machine behavior of the cleaning device 100 when it encounters obstacles such as thresholds or steps that are higher than the radius of the main wheels 121 and that the device cannot bypass. The method does not restrict the normal cleaning actions of the cleaning device 100, nor its subsequent actions when it fails to overcome an obstacle.

[0112] The following will combine Figures 21 to 27 The control method of cleaning equipment 100 is described in detail.

[0113] It should be noted that the following embodiments are illustrated by taking the application of the control method to a cleaning device 100 in any embodiment of the first aspect of this application as an example. For instance, the control method can be applied to the controller in the cleaning device 100 of the above embodiments of this application. The control method can also be applied to the cleaning device 100 disclosed in the prior art. In other embodiments, the control method can also be executed by other devices that communicate data with the cleaning device 100, such as remotely controlling the cleaning device 100 through devices such as mobile phones, computers, and tablets. This application does not limit the implementation methods of other devices or the execution entities of each embodiment.

[0114] Please combine Figure 21 as well as Figures 21A to 21B The control method for the cleaning equipment 100 includes the following steps:

[0115] Step 105: Control the rotating component 130 of the cleaning device 100 until the auxiliary wheel 132 of the rotating component 130 abuts against the operating surface N. Adjust the distance between the main wheel 121 of the cleaning device 100 and at least part of the device body 110 of the cleaning device 100 and the operating surface N through the auxiliary wheel 132. Figure 21A As shown.

[0116] Before performing step 105, the cleaning equipment 100 has detected a high obstacle M ahead. The main wheel 121 alone cannot overcome the obstacle M. Therefore, the rotating component 130 is needed to lift the main wheel 121 and the equipment body 110. The rotating component 130 rotates until at least a portion of the auxiliary wheel 132 is below the main wheel 121, thus pushing the main wheel 121 relative to the operating surface N. This causes the main wheel 121 to detach from the operating surface N and be positioned at a certain height above it. The increased height of the main wheel 121 relative to the obstacle M facilitates its easy ascent to the obstacle M in subsequent steps, or allows the main wheel 121 to be higher than the obstacle M, thereby completing obstacle crossing. With the main wheel 121 detached from the operating surface N, the auxiliary wheel 132 contacts the operating surface N, supporting the main wheel 121 and the equipment body 110. Figure 22A As shown. It can be understood that after the main wheel 121 is lifted, the entire traveling component 120, where the main wheel 121 is located, is also lifted. The lifting of the main wheel 121 mentioned below can be understood as the lifting of the entire traveling component 120.

[0117] Step 106: Control the main wheel 121 and auxiliary wheel 132 to guide the cleaning device 100 to move until the cleaning device 100 crosses the obstacle, such as... Figure 21B As shown.

[0118] In step 106, both the main wheel 121 and the auxiliary wheel 132 of the cleaning device 100 are rotated. This is not narrowly limited to the main wheel 121 and the auxiliary wheel 132 rotating at every moment, but should cover the cases where only the main wheel 121 provides driving force and only the auxiliary wheel 132 provides driving force. That is to say, in step 106, both the main wheel 121 and the auxiliary wheel 132 can provide driving force, but they do not move completely synchronously.

[0119] In one possible implementation, before the main wheel 121 leaves the operating surface N and contacts the obstacle M, the cleaning device 100 is driven by the auxiliary wheel 132. After the main wheel 121 contacts the obstacle M, sliding friction is generated between the main wheel 121 and the obstacle M, driving the cleaning device 100. In another possible implementation, after the main wheel 121 contacts the obstacle M, the main wheel 121 and the auxiliary wheel 132 jointly drive the cleaning device 100 until the cleaning device 100 crosses the obstacle M, thus completing the obstacle-crossing action.

[0120] In some embodiments, after the cleaning device 100 completes the obstacle-crossing action, the rotating component 130 retracts to its initial position, causing the height of the device body 110 to drop. The cleaning device 100 then continues to perform subsequent cleaning operations.

[0121] Please combine Figure 22 as well as Figures 22A to 22E The diagram illustrates a flowchart of a control method for a cleaning device 100 in certain embodiments of this application. The control method includes the following steps:

[0122] Step 105: Control the rotating component 130 of the rotating cleaning device 100 until the auxiliary wheel 132 of the rotating component 130 abuts against the operating surface N, and adjust the distance between the main wheel 121 of the cleaning device 100 and at least part of the device body 110 of the cleaning device 100 and the operating surface N through the auxiliary wheel 132.

[0123] In some embodiments, step 105 may be performed as follows: controlling the rotating component 130 of the cleaning device 100 to rotate to a position lower than the main wheel 121 of the cleaning device 100, so as to raise the main wheel 121 and the device body 110 of the cleaning device 100, such as... Figure 22A As shown.

[0124] Before performing step 105, the cleaning equipment 100 has detected a high obstacle M ahead. The main wheel 121 alone cannot overcome the obstacle M. Therefore, the rotating component 130 is needed to lift the main wheel 121 and the equipment body 110. The rotating component 130 rotates until at least a portion of the auxiliary wheel 132 is below the main wheel 121, thus pushing the main wheel 121 relative to the operating surface N. This causes the main wheel 121 to detach from the operating surface N and be positioned at a certain height above it. The increased height of the main wheel 121 relative to the obstacle M facilitates its easy ascent to the obstacle M in subsequent steps, or allows the main wheel 121 to be higher than the obstacle M, thereby completing obstacle crossing. With the main wheel 121 detached from the operating surface N, the auxiliary wheel 132 contacts the operating surface N, supporting the main wheel 121 and the equipment body 110. Figure 22A As shown. It can be understood that after the main wheel 121 is lifted, the entire traveling component 120, where the main wheel 121 is located, is also lifted. The lifting of the main wheel 121 mentioned below can be understood as the lifting of the entire traveling component 120.

[0125] When the main wheel 121 and the main body 110 are lifted as a whole, the main body 110 can be in a horizontal position, basically parallel to the ground. It is understood that the main body 110 being basically parallel to the operating surface N is not narrowly limited to a direction strictly parallel to the operating surface N, but rather covers situations where it forms a certain angle with the direction parallel to the operating surface N (e.g., an angle less than 10°). When the main wheel 121 and the main body 110 are lifted as a whole, the main body 110 can also exhibit a backward tilting posture with the front end raised and the rear end lowered. In other embodiments, when the main wheel 121 and the main body 110 are lifted as a whole, the main body 110 can also exhibit a diving posture with the rear end raised and the front end lowered. This application does not limit the specific posture of the main body 110 when the main wheel 121 and the main body 110 are lifted as a whole.

[0126] In some embodiments, to facilitate the main wheel 121 overcoming the obstacle M in subsequent steps, the rotating component 130 raises the main wheel 121 and the device body 110 such that the rear of the device body 110 gradually rises relative to the front, and the front gradually falls back relative to the rear. However, the entire device body 110 remains in a raised state relative to the operating surface N. For details, please refer to [link to relevant documentation]. Figure 22AThe rotating component 130 of the cleaning device 100 is controlled to rotate until the auxiliary wheel 132 is at least partially located behind and below the main wheel 121. The rotating component 130 and the auxiliary wheel 132 support the cleaning device 100 from the rear of the main wheel 121, so that the lifting amount of the rear of the device body 110 is greater than the lifting amount of the front. The device body 110 has a tendency to move forward and downward, which facilitates the device to use gravity to dive over the obstacle M in subsequent steps. Furthermore, since the auxiliary wheel 132 is at least partially located behind the main wheel 121, it can be ensured that the auxiliary wheel 132 contacts the obstacle M later than the main wheel 121, which facilitates the main wheel 121 to actively climb the obstacle M.

[0127] Step 1061: Control the main wheel 121 and auxiliary wheel 132 to guide the cleaning equipment 100 to move until the cleaning equipment 100 crosses the obstacle.

[0128] In some embodiments, step 1061 may be performed as follows: controlling both the main wheel 121 and the auxiliary wheel 132 of the cleaning device 100 to rotate, thereby driving the cleaning device 100 to move until the main wheel 121 passes over the obstacle M, such as... Figure 22B As shown.

[0129] In step 1061, controlling both the main wheel 121 and the auxiliary wheel 132 of the cleaning device 100 to rotate is not narrowly limited to the main wheel 121 and the auxiliary wheel 132 rotating at every moment, but should cover the cases where only the main wheel 121 provides driving force and only the auxiliary wheel 132 provides driving force. That is to say, in step 106, both the main wheel 121 and the auxiliary wheel 132 can provide driving force, but the two do not move completely synchronously.

[0130] In one possible implementation, before the main wheel 121 leaves the operating surface N and contacts the obstacle M, the cleaning device 100 is driven by the auxiliary wheel 132. After the main wheel 121 contacts the obstacle M, sliding friction is generated between the main wheel 121 and the obstacle M, driving the cleaning device 100. In another possible implementation, after the main wheel 121 contacts the obstacle M, the main wheel 121 and the auxiliary wheel 132 jointly drive the cleaning device 100 until the main wheel 121 passes over the obstacle M, at which point the cleaning device 100 completes the obstacle-crossing action.

[0131] In some embodiments, after the main wheel 121 passes over obstacle M, the overall height of the machine drops. At this time, since the rear of the main body 110 (located behind the main wheel 121) has not yet passed obstacle M, during the drop in overall height and during the process of the main wheel 121 continuing to travel until the rear of the main body 110 passes over obstacle M, the rear of the main body 110 and the components mounted on it (such as the mop, support wheel 150, etc.) may interfere with obstacle M. Therefore, in some embodiments, the control method further includes steps 107 and 108, in which the rotating member 130 rotates to abut against the main body 110, so that the rear of the main body 110 of the cleaning device 100 is higher than obstacle M, so that the entire cleaning device 100 passes over obstacle M.

[0132] Step 107: Control the rotating component 130 to abut against the main body 110 and rotate, so as to adjust the distance between the main body 110 and the main wheel 121.

[0133] In some embodiments, step 107 may be performed as follows: controlling the rotating member 130 to rotate and abut against the blocking member 113 of the device body 110, so that the rear of the device body 110 of the cleaning device 100 is higher than the obstacle M, such as... Figure 22C As shown. In some embodiments, at least one of the rotating arm 131 and the auxiliary wheel 132 of the rotating member 130 abuts against the blocking member 113 provided on the chassis 111 of the equipment body 110, so that the blocking member 113 drives the chassis 111, thereby driving the rear of the entire equipment body 110 to rise above the obstacle M.

[0134] To quickly increase the height of the rear of the device body 110, in some embodiments, the rotating member 130 rotates to abut against the device body 110 at a position further rearward relative to the rotation center of the rotating member 130, causing the device body 110 to assume a horizontal posture or a forward-leaning posture with the rear end raised and the front end lowered, so that the rear of the device body 110 is higher than the obstacle M, such as... Figure 22C As shown.

[0135] Step 108: Control the main wheel 121 to guide the main body 110 of the equipment to move until the main body 110 of the equipment passes over the obstacle M.

[0136] In some embodiments, step 108 may be performed as follows: control the main wheel 121 to drive the cleaning device 100 to the rear of the device body 110 to pass over the obstacle M, and the cleaning device 100 completes the obstacle-crossing action.

[0137] Since the main wheel 121 has already passed the obstacle M and contacted the operating surface N in step 106, the cleaning device 100 continues to move in step 108 primarily driven by the main wheel 121 or solely driven by the main wheel 121, until the rear of the device body 110 also passes the obstacle M, thus completing the obstacle-crossing action. Figure 22D As shown.

[0138] In some embodiments, after the main wheel 121 drives the cleaning device 100 to the rear of the device body 110 and over the obstacle M, the cleaning device 100 completes the obstacle-crossing action and should return to its normal driving posture. If the rotating component 130 is still in the position abutting the device body 110 at this time, the rotating component 130 can be controlled to reset, so that the device body 110 falls back to its initial position relative to the main wheel 121, and the cleaning device 100 returns to its normal driving posture. Figure 22E As shown.

[0139] In the above control method, during the process of the main wheel 121 crossing the obstacle M, the cleaning equipment 100 undergoes a climbing process from the operating surface N to the obstacle M, and a falling process from the obstacle M back to the operating surface N. During this process, the overall height of the cleaning equipment 100 changes significantly, and the impact on the cleaning equipment 100 is relatively large. To make this process smoother, please combine... Figure 23 as well as Figures 23A to 23F Step 106 can be performed as follows:

[0140] Step 1061A: Control the rotation of the rotating component 130, the main wheel 121 and the auxiliary wheel 132 to increase the distance between the main wheel 121 and at least part of the main body 110 and the operating surface N, until the main wheel 121 moves onto the obstacle M.

[0141] In some embodiments, step 1061A may be performed as follows: controlling both the main wheel 121 and the auxiliary wheel 132 of the cleaning device 100 to rotate, and rotating the rotating component 130 to rotate towards the obstacle M, thereby driving the cleaning device 100 to travel until the main wheel 121 travels on the obstacle M, such as... Figure 23A As shown.

[0142] During this process, the main wheel 121 contacts the operating surface N, applying a forward thrust to the cleaning device 100. The auxiliary wheel 132 contacts the obstacle M, applying an upward thrust to the cleaning device 100. The rotating component 130 rotates towards the obstacle M, its own posture becoming closer to vertical. During this process, the rotating component 130 adjusts the distance between the main wheel 121 and at least part of the device body 110 and the operating surface N, increasing the upward thrust to the cleaning device 100. Under the combined action of these three thrusts, the cleaning device 100 overcomes its own weight and can easily climb over the obstacle M.

[0143] When the main wheel 121 has climbed onto the obstacle M, and the cleaning equipment 100 is driven to the position where the rotating component 130 contacts the obstacle M, the angle between the rotating component 130 and the vertical direction is at its minimum, and the rotating component 130 reaches the position of maximum contact height with the main wheel 121. Figure 23A As shown.

[0144] Since the front end of the main body 110 has already passed the obstacle M, the front end of the main body 110 can be suspended in the air, such as... Figure 23A As shown. The front end of the main body 110 can also be supported on the operating surface N by a driven wheel 140, as shown. Figure 23B As shown. At this time, the front end of the main body 110 is lower than the position of the main wheel 121, causing the main body 110 to tilt forward, facilitating the device to use gravity to dive over the obstacle M in subsequent steps. For the cleaning device 100 with a third drive unit, in this step, the driven wheel 140 and the wheel frame 141 can be extended by the third drive unit and supported on the operating surface N, as shown. Figure 23C As shown, depending on the relative height of the driven wheel 140 and wheel frame 141 with the obstacle M, the main body 110 of the equipment can be in a horizontal, backward, or forward tilted posture.

[0145] Step 10621: Control the rotation of the main wheel 121 to guide the movement of the main body 110 on the obstacle M, such as... Figure 23D As shown.

[0146] In this step, since the main wheel 121 has climbed onto the obstacle M, the main wheel 121 can guide the movement of the main body 110 on the obstacle M.

[0147] Step 10622: Control the retraction of the rotating component 130 and the auxiliary wheel 132. In some embodiments, step 10622 may be performed as follows: control the rotating component 130 to retract until the auxiliary wheel 132 is above the obstacle M, such as... Figure 23D As shown.

[0148] Since the rotating component 130 has already contacted the obstacle M before step 10621, it is necessary to retract the rotating component 130 in this step, retracting it until the auxiliary wheel 132 is higher than the obstacle M, such as... Figure 23D As shown, this is to ensure that both the rotating component 130 and the auxiliary wheel 132 can smoothly pass over the obstacle M.

[0149] In some embodiments, since the retraction of the rotating member 130 and the auxiliary wheel 132 is achieved by rotating the rotating member 130, which does not interfere with the rotation of the main wheel 121, steps 10621 and 10622 can be executed simultaneously in some embodiments.

[0150] In some embodiments, after controlling the rotating member 130 to retract to a position higher than the obstacle M in step 10622, the rotating member 130 is controlled to continue rotating upward, abutting against the equipment body 110 and lifting it to lower the center of gravity of the equipment body 110, such as... Figure 23E As shown. This step increases the forward tilt angle of the main body 110, which is more conducive to the equipment using gravity to dive over the obstacle M in subsequent steps.

[0151] Step 1063: Control the main wheel 121 to guide the main body 110 of the equipment to move until the main wheel 121 is separated from the obstacle M. Drive the cleaning equipment 100 to continue moving by the main wheel 121, and the main wheel 121 will separate from the obstacle M, that is, the main wheel 121 will pass over the obstacle M.

[0152] Before step 1063, the rotating component 130 has been retracted, and the auxiliary wheel 132 is higher than the obstacle M. At this time, only the main wheel 121 is in contact with the obstacle M, and the main wheel 121 drives the cleaning equipment 100 to continue moving. Once the center of gravity of both the main wheel 121 and the equipment body 110 has moved forward, and the center of gravity of the main wheel 121 is in front of the obstacle M, the main wheel 121 falls onto the operating surface N, and the main wheel 121 passes over the obstacle M. Figure 23F As shown.

[0153] In some embodiments, before step 1063, the main body 110 of the device is in a forward-leaning posture. In step 1063, the forward shift of the center of gravity of the cleaning device 100 is due to both the driving force of the main wheel 121 and the forward-leaning component of the force generated by the forward-leaning posture of the main body 110. Under the combined action of these two forces, the center of gravity of the cleaning device 100 shifts forward. The forward-leaning posture of the main body 110 accelerates the process of the main wheel 121 overcoming the obstacle M and also causes the rear of the main body 110 to rise, preventing the rear of the cleaning device 110 from scraping against the obstacle M during its downward movement.

[0154] Before step 105, where the rotating component 130 of the cleaning equipment 100 is rotated to a position lower than the main wheel 121, the cleaning equipment 100 can be in a normal driving posture or a tilted posture conducive to obstacle crossing. The change from a normal driving posture to a tilted posture can be achieved by extending the driven wheel 140 to raise the front end of the equipment body 110; alternatively, the rotating component 130 can swing to the front of the main wheel 121 and contact the operating surface N, causing the front of the equipment body 110 to tilt upwards; or the equipment body 110 can be driven into a tilted posture by a chassis lifting mechanism such as a cable. This application does not limit the specific implementation scheme of the tilted posture of the equipment body 110.

[0155] Please see Figure 25 as well as Figures 25A to 25C In some embodiments, step 105 may be performed as follows:

[0156] Step 1051: Control the rotation of the rotating component 130 until the auxiliary wheel 132 abuts against the operating surface N, and adjust the distance of at least part of the main body 110 of the cleaning device 100 relative to the operating surface N by means of the auxiliary wheel 132, such as... Figure 25A As shown.

[0157] In some embodiments, adjusting the distance of at least a portion of the device body 110 relative to the operating surface N in step 1051 is intended to at least increase the height of the front end of the device body 110 from the operating surface N, so that the front end of the device body 110 can rest on the obstacle M, in preparation for subsequent obstacle crossing.

[0158] In some embodiments, when the cleaning device 100 is in normal operating condition, the controller of the cleaning device 100 receives detection signals from the obstacle sensor to determine whether there is an obstacle ahead and the size information of the obstacle. When it is determined that an obstacle has appeared ahead, and the size of the obstacle is large, exceeding a set threshold, the controller rotates the rotating component 130 until the auxiliary wheel 132 is at least partially in front of the main wheel 121 and in contact with the operating surface N, so that the main body of the device 110 is in a tilted posture with the front end raised, such as... Figure 25A As shown.

[0159] When the front end of the device body 110 is raised and rests on the obstacle M, the main wheel 121 can still contact the operating surface N. Therefore, in the subsequent step 1052, either the main wheel 121 or the auxiliary wheel 132 can be rotated to provide driving force for the cleaning device 100. In some other embodiments, if the obstacle M is too high, when the front end of the device body 110 is raised and rests on the obstacle M, the main wheel 121 will detach from the operating surface N and be suspended in the air. In this case, driving force for the cleaning device 100 can only be provided by controlling the rotation of the auxiliary wheel 132.

[0160] Step 1052: Control the rotation of the auxiliary wheel 132 to drive the movement of the main body 110 of the equipment until the main wheel 121 contacts the obstacle M, such as... Figure 25B As shown.

[0161] In some embodiments, in step 1052, the main wheel 121 is adjusted to contact the obstacle M, so that the main wheel 121 contacts the obstacle M. When the main wheel 121 rotates, friction is generated between it and the obstacle M. This friction is used to help the main wheel 121 climb the obstacle M, creating favorable conditions for subsequent obstacle crossing actions.

[0162] Step 1053: Control the rotation of the rotating component 130 until the auxiliary wheel 132 abuts against the operating surface N again, so that the auxiliary wheel 132 applies pressure to the operating surface N, and adjust the distance between the main wheel 121 and at least part of the equipment body 110 relative to the operating surface N, such as... Figure 25C As shown.

[0163] In some embodiments, step 1053 involves lifting the main wheel 121 and the device body 110 via the rotating member 130. The rotating member 130 rotates until at least a portion of the auxiliary wheel 132 is below the main wheel 121, thereby pushing the main wheel 121 to rise relative to the operating surface N, causing the main wheel 121 to detach from the operating surface N and be positioned at a certain height above the operating surface N. The increased height of the main wheel 121 relative to the obstacle M facilitates easy ascent of the main wheel 121 onto the obstacle M in subsequent steps, or allows the main wheel 121 to be positioned above the obstacle M, thus completing obstacle crossing. After the main wheel 121 detaches from the operating surface N, the auxiliary wheel 132 contacts the operating surface N, supporting the main wheel 121 and the device body 110.

[0164] In some embodiments, in steps 1051 and 1053, the rotating member 130 is controlled to rotate until the auxiliary wheel 132 abuts against the operating surface N, thereby raising at least a portion of the equipment body 110. However, the relative positional relationship between the rotating member 130 and the main wheel 121 in steps 1051 and 1053 can be different. For example, in step 1051, the rotating member 130 rotates until at least a portion of the auxiliary wheel 132 is located in front of the main wheel 121; for example, in step 1053, the rotating member 130 rotates until at least a portion of the auxiliary wheel 132 is located behind the main wheel 121. It is understood that the relative positional relationship between the rotating member 130 and the main wheel 121 in steps 1051 and 1053 can also be the same. For example, the rotating member 130 rotates until at least a portion of the auxiliary wheel 132 is located behind the main wheel 121, so that the auxiliary wheel 132 applies pressure to the operating surface N, adjusting the distance between the main wheel 121 and at least a portion of the equipment body 110 relative to the operating surface N.

[0165] Please see Figure 25 as well as Figures 25A to 25EA flowchart illustrating a control method for the cleaning device 100 in some embodiments is shown. Please refer to... Figure 25 as well as Figures 25A to 25E The control method for the cleaning equipment 100 includes the following steps:

[0166] Step 201: Control the rotating component 130 to rotate until the auxiliary wheel 132 is at least partially in front of the main wheel 121 and in contact with the operating surface N, so that the main body of the equipment 110 is in an inclined posture with the front end raised.

[0167] When the cleaning equipment 100 is in normal operating condition, such as Figure 25A As shown, the controller of the cleaning equipment 100 receives the detection signal from the obstacle sensor to determine whether there is an obstacle in front and the size information of the obstacle. When it is determined that there is an obstacle in front, and the size of the obstacle is large and exceeds a set threshold, the controller rotates the rotating component 130 until the auxiliary wheel 132 is at least partially in front of the main wheel 121 and in contact with the operating surface N, so that the main body of the equipment 110 is in a tilted posture with the front end raised, such as... Figure 25B As shown.

[0168] In this step 201, since the auxiliary wheel 132 is at least partially located in front of the main wheel 121 and in contact with the operating surface N, the supporting force of the rotating component 130 on the main body 110 is applied to the front of the main body 110, thereby causing the main body 110 to tilt in a tilted posture with the front end raised.

[0169] Step 202: Control the main wheel 121 of the cleaning equipment 100 to rotate, thereby driving the cleaning equipment 100 to move until the main wheel 121 contacts the obstacle M, such as... Figure 25B As shown.

[0170] In this step, the auxiliary wheel 132 contacts the operating surface N to drive the cleaning device 100. As an alternative implementation, step 102 can control the main wheel 121 to rotate, but the main wheel 121 does not contact the operating surface N to prevent the cleaning device 100 from losing its straight-line movement. The auxiliary wheel 132 guides the movement of the device body 110. When the main wheel 121 contacts the obstacle M, the front of the device body 110 is above the obstacle M. Along the forward direction of the cleaning device 100, if the height of the obstacle M is less than the height of the front of the device body 110 above the surface (if the device body 110 is a cylinder, the size of the front of the device body 110 is the radius of the cylinder), for example, if the obstacle M is a threshold, then when the main wheel 121 contacts the obstacle M, the front end of the device body 110 has already passed the obstacle M.

[0171] In some embodiments, a driven wheel 140 is provided at the front end of the device body 110, so that when the main wheel 121 contacts the obstacle M, the driven wheel 140 has already passed the obstacle M. In some embodiments, the device body 110 is provided with a third driving member, so that after the driven wheel 140 has passed the obstacle M, the third driving member can be controlled to drive the driven wheel 140 to extend, and the driven wheel 140 supports the cleaning device 100 in front of the obstacle M. The auxiliary wheel 132 can be rotated to support the cleaning device 100 behind the main wheel 121 to execute step 203.

[0172] Step 203: Control the rotating component 130 to rotate upward so that the auxiliary wheel 132 disengages from the operating surface N.

[0173] Before step 203, the auxiliary wheel 132 has already contacted the obstacle M. Since the auxiliary wheel 132 is at least partially located in front of the main wheel 121, the main wheel 121 is blocked by the auxiliary wheel 132 and cannot contact the obstacle M. It is necessary to control the rotating member 130 to rotate upwards so that the auxiliary wheel 132 disengages from the operating surface N, and the rotating member 130 must rotate at least until the auxiliary wheel 132 no longer affects the position of the main wheel 121 contacting the obstacle M, such as... Figure 25D As shown.

[0174] In subsequent step 205, the rotating component 130 abuts against the main wheel 121 and the equipment body 110 as it rises, with the auxiliary wheel 132 at least partially located behind the main wheel 121. Therefore, in step 203, the rotating component 130 can be controlled to continue rotating backward until the auxiliary wheel 132 is at least partially located behind the main wheel 121 and contacts the operating surface N again. Figure 25E As shown.

[0175] Step 204: Control the main wheel 121 to drive the cleaning device 100 until the main wheel 121 contacts the obstacle M, such as... Figure 25D and Figure 25E As shown.

[0176] When the rotating component 130 rotates to the point where the auxiliary wheel 132 does not affect the position of the main wheel 121 in contact with the obstacle M, the main wheel 121 can rotate forward. Therefore, step 204 can be performed simultaneously with step 203.

[0177] After step 204, the cleaning device 100 continues to execute steps 205 to 208. The specific content of steps 205 to 208 can be referred to the specific content of steps 105, 1061, 107 and 108 in the aforementioned embodiments, and will not be repeated here.

[0178] In some embodiments, when the obstacle M is low enough that the cleaning equipment 100 can pass over it simply by raising the chassis, please refer to the relevant provisions. Figure 26 as well as Figures 26A to 26CThe control method for the cleaning equipment 100 includes the following steps:

[0179] Step 307: Control the rotating part 130 of the cleaning equipment 100 to abut against the main body 100 of the cleaning equipment 100 and rotate, so as to adjust the distance between the main body 110 and the main wheel 121 of the cleaning equipment 100.

[0180] In some descriptions, step 307 may be performed as follows: controlling the rotating component 130 to rotate and abut against the device body 110, so that the device body 110 of the cleaning device 100 is higher than the obstacle M, such as... Figure 26A As shown.

[0181] In some embodiments, at least one of the rotating arm 131 and the auxiliary wheel 132 of the rotating member 130 abuts against the blocking member 113 provided on the chassis 111 of the equipment body 110, so that the blocking member 113 drives the chassis 111, thereby causing the equipment body 110 to be raised above the obstacle M. The raising of the equipment body 110 can be a uniform raising of the equipment body 110, or a raising of the front or rear of the equipment body 110, and this application does not impose any restrictions.

[0182] Step 308: Control the main wheel 121 to guide the cleaning equipment 100 to move until the cleaning equipment 100 passes over the obstacle, such as... Figure 26B As shown.

[0183] In step 308, the main wheel 121 drives the cleaning device 100 to travel at a constant speed and pass over the obstacle M; or it drives the cleaning device 100 to accelerate and use inertia to pass over the obstacle M. This application does not impose any restrictions.

[0184] In some embodiments, after the main wheel 121 drives the cleaning device 100 to the rear of the device body 110 and over the obstacle M, the cleaning device 100 completes the obstacle-crossing action, such as... Figure 26B As shown. After the cleaning equipment 100 completes obstacle crossing, it should return to its normal driving posture. If the rotating component 130 is still in the position abutting against the main body 110, the rotating component 130 can be controlled to reset, so that the main body 110 falls back to its initial position relative to the main wheel 121, and the cleaning equipment 100 returns to its normal driving posture. Figure 26C As shown.

[0185] In some embodiments, steps 307 and 308 can also be several steps in other obstacle-crossing processes. For example, the main wheel 121 has already crossed the obstacle M, but the support wheel 150 located at the rear of the device body 110 is lower than the obstacle M and will collide with it. In this case, after the main wheel 121 has crossed the obstacle M, step 307 can be used to at least lift the rear of the device body 110, so that the entire device body 110 can pass through the obstacle M smoothly.

[0186] Please combine Figure 27 A complete flowchart of a cleaning device 100 according to certain embodiments performing the control method described above is shown. Specifically:

[0187] When the cleaning equipment 100 is in normal driving condition, it continuously detects whether there are obstacles in front of it, as well as the size information of the obstacles.

[0188] When it is determined that there is an obstacle in front, and the size of the obstacle is large and exceeds the set threshold, the rotating component 130 is controlled to rotate until the auxiliary wheel 132 is at least partially in front of the main wheel 121 and in contact with the operating surface N, so that the main body of the equipment 110 is in an inclined posture with the front end raised.

[0189] Control the rotation of at least one of the main wheel 121 and auxiliary wheel 132 of the cleaning device 100 to drive the cleaning device 100 to travel until the auxiliary wheel 132 contacts the obstacle M.

[0190] In some embodiments, this step should at least ensure that the auxiliary wheel 132 rotates to guide the movement of the cleaning equipment 100. When the front end of the equipment body 110 is raised and rests on the obstacle M, the main wheel 121 may be suspended in the air or in only partial contact with the operating surface N. If only the rotation of the main wheel 121 is controlled, the main wheel may spin freely, and the equipment will not be able to move forward.

[0191] Control the rotating component 130 to rotate upward so that the auxiliary wheel 132 is disengaged from the operating surface N, and control the main wheel 121 to drive the cleaning equipment 100 to travel until the main wheel 121 contacts the obstacle M.

[0192] When the auxiliary wheel 132 disengages from the operating surface N, the distance between the main wheel 121 and the operating surface N decreases until the main wheel 121 contacts the operating surface N, and the main wheel 121 drives the cleaning equipment 100 to move.

[0193] The rotating component 130 of the cleaning equipment 100 is controlled to rotate to a position lower than the main wheel 121 of the cleaning equipment 100, so as to raise the main wheel 121 and the equipment body 110 of the cleaning equipment 100.

[0194] The main wheel 121 and auxiliary wheel 132 of the cleaning equipment 100 are both rotated to drive the cleaning equipment 100 to travel until the main wheel 121 travels on the obstacle M.

[0195] Control the rotating component 130 to retract until the auxiliary wheel 132 is above the obstacle M.

[0196] Control the main wheel 121 to drive the cleaning equipment 100 to continue moving until the main wheel 121 passes the obstacle M.

[0197] The rotating component 130 is controlled to rotate and abut against the main body 110 of the equipment, so that the rear of the main body 110 of the cleaning equipment 100 is higher than the obstacle M.

[0198] The main control wheel 121 drives the cleaning equipment 100 to the rear of the equipment body 110 to pass over the obstacle M, and the cleaning equipment 100 completes the obstacle crossing action.

[0199] The control rotating component 130 is reset so that the main body 110 of the equipment falls back to the initial position relative to the main wheel 121, and the cleaning equipment 100 returns to its normal driving posture.

[0200] According to a third aspect of this application, a cleaning device is provided, including a processor and a memory. The memory stores computer program instructions that can be executed by the processor. When the processor executes the computer program instructions, it implements the operation performed by the control method of the cleaning device in any of the second aspects described above.

[0201] A fourth aspect of this application provides a computer-readable storage medium storing at least one piece of program code, which is loaded and executed by a processor to implement the operations performed by the control method of the cleaning device in any of the second aspects described above.

[0202] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0203] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", and "counterclockwise" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0204] It should be noted that all directional indications in the embodiments of this application are only used to explain the relative positional relationship and movement of each component in a specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0205] In this application, unless otherwise expressly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0206] Furthermore, the use of terms such as "first" and "second" in this application is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0207] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. In addition, those skilled in the art can combine and integrate the different embodiments or examples described in this specification.

[0208] Furthermore, the technical solutions of the various embodiments can be combined with each other, but only if they are based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0209] Although embodiments of this application have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the claims and their equivalents.

Claims

1. A cleaning device, characterized in that, include: The main body of the equipment, including the blocking components; Cleaning components are installed on the main body of the equipment; as well as A wheel assembly, connected to the device body, guides the movement of the device body, the wheel assembly comprising: Main wheel, which guides the movement of the main body of the equipment; A rotating component, rotatably connected to the main wheel, When the rotating component abuts against the blocking component and rotates, the rotating component adjusts the distance between the main body of the device and the main wheel.

2. The cleaning equipment as claimed in claim 1, wherein, The portion of the blocking member that abuts against the rotating member is located within the rotation radius of the rotating member.

3. The cleaning equipment as described in claim 2, wherein, When the rotating member abuts against the blocking member and rotates in the first direction, the distance between the main body of the device and the main wheel increases; and When the rotating component abuts against the blocking component and rotates in the second direction, the distance between the main body of the device and the main wheel decreases. The first direction and the second direction are opposite to each other.

4. The cleaning equipment as described in any one of claims 1-3, wherein, The rotating component includes: A rotating arm, including a first end and a second end, wherein the rotating member is rotatably connected to the main wheel via the first end of the rotating arm; and An auxiliary wheel, which is connected to the second end of the rotating arm, When the rotating member abuts against the blocking member and rotates, the rotating member abuts against the blocking member through the second end of the rotating arm or the auxiliary wheel.

5. The cleaning equipment as described in claim 4, wherein, The wheel assembly also includes a second drive member that drives the rotating arm to rotate.

6. The cleaning equipment according to claim 5, wherein, The wheel assembly further includes a second transmission member that transmits the driving force of the second drive member to the rotating arm.

7. The cleaning equipment according to claim 5, wherein, The wheel assembly also includes: A rotation detection element is connected to the second driving element, and the rotation detection element acquires the rotation parameters of the second driving element.

8. The cleaning equipment as described in any one of claims 1-3, wherein, When the rotating component rotates to abut against the operating surface, the rotating component adjusts the distance between the main wheel and at least part of the main body of the equipment relative to the operating surface.

9. The cleaning equipment as claimed in claim 8, wherein, The rotating component includes: A rotating arm, including a first end and a second end, wherein the rotating member is rotatably connected to the main wheel via the first end of the rotating arm; and An auxiliary wheel, which is connected to the second end of the rotating arm, When the rotating member abuts against the blocking member and rotates, the rotating member abuts against the blocking member through the second end of the rotating arm or the auxiliary wheel. When the rotating component abuts against the operating surface, the rotating component abuts against the operating surface via the auxiliary wheel and guides the main body of the equipment to move.

10. The cleaning equipment as claimed in claim 9, wherein, The auxiliary wheel is connected to the second end of the rotating arm via a rotating shaft, and the auxiliary wheel at least partially protrudes from the rotating arm to abut against the operating surface.

11. The cleaning equipment as claimed in claim 9, wherein, The wheel assembly further includes a first drive member that drives the main wheel and the auxiliary wheel to rotate.

12. The cleaning equipment as claimed in claim 11, wherein, The rotating arm further includes a third transmission component, which is disposed within the rotating arm and connected to the auxiliary wheel to transmit the driving force of the first driving component to the auxiliary wheel.

13. The cleaning equipment as claimed in claim 9, wherein, The wheel assembly also includes a position detection element disposed on the main wheel, which is triggered when the rotating arm rotates to the position of the position detection element.

14. The cleaning equipment as described in any one of claims 1-3, characterized in that, The cleaning device also includes a driven wheel, which is connected to the main body of the device and located on the front side of the main body of the device.

15. The cleaning equipment as described in claim 14, characterized in that, The cleaning device also includes a third driving component, which is connected to the device body and the driven wheel. The third driving component drives the driven wheel to adjust its distance relative to the device body.

16. The cleaning equipment as claimed in claim 14, characterized in that, The cleaning equipment also includes support wheels, which are connected to the main body of the equipment and located at the rear of the main body.

17. The cleaning equipment as described in any one of claims 1-3, wherein, The blocking element is a cover for the wheel assembly that is fastened to the side of the chassis of the main body of the equipment.

18. A cleaning device, characterized in that, include: Equipment body; as well as A wheel assembly, connected to the device body, guides the movement of the device body, the wheel assembly comprising: Main wheel, which guides the movement of the main body of the equipment; A rotating component, rotatably connected to the main wheel, wherein the rotation center of the rotating component has a positional difference from the rotation center of the main wheel; When the rotating component rotates to abut against the operating surface, the rotating component adjusts the distance between the main wheel and at least part of the main body of the equipment relative to the operating surface.

19. The cleaning equipment as claimed in claim 18, wherein, The rotating component includes: A rotating arm, including a first end and a second end, wherein the rotating member is rotatably connected to the main wheel via the first end of the rotating arm; and An auxiliary wheel, which is connected to the second end of the rotating arm, When the rotating component abuts against the operating surface, the rotating component abuts against the operating surface via the auxiliary wheel and guides the main body of the equipment to move.

20. The cleaning equipment as claimed in claim 18, wherein, The main body of the device includes: When the rotating member abuts against the blocking member and rotates, the rotating member adjusts the distance between the main body of the equipment and the main wheel.

21. The cleaning equipment of claim 20, wherein, The wheel assembly also includes: A rotating arm, including a first end and a second end, wherein the rotating member is rotatably connected to the main wheel via the first end of the rotating arm; and An auxiliary wheel, which is connected to the second end of the rotating arm, When the rotating component abuts against the operating surface, the rotating component abuts against the operating surface via the auxiliary wheel and guides the movement of the main body of the equipment. When the rotating member abuts against the blocking member and rotates, the rotating member abuts against the blocking member through the second end of the rotating arm or the auxiliary wheel.

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