Autonomous mobile device
By combining drive wheels and foldable auxiliary wheels, the balance problem of self-moving cleaning equipment when the cloth is removed or the water tank liquid changes is solved, thus achieving stable operation and improved battery life.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- SHENZHEN SHANGKENINGJIA TECH CO LTD
- Filing Date
- 2025-04-29
- Publication Date
- 2026-05-15
AI Technical Summary
Existing self-propelled cleaning equipment is prone to instability in balance when the cleaning cloth is removed or the water tank contains different cleaning liquids, which affects the equipment's operational stability and battery life.
It adopts a combination structure of drive wheel and auxiliary wheel. The auxiliary wheel can be folded and kept in an open state by elastic element to support the main body to maintain balance, avoiding the need to set up additional balance blocks.
It enables autonomous mobile devices to maintain good balance and stability in different cleaning modes, reducing equipment cost and weight, and avoiding slippage and noise problems.
Smart Images
Figure CN224235322U_ABST
Abstract
Description
Technical Field
[0001] This disclosure relates to the support structure of a device and equipment capable of autonomous movement on a travel surface, and more particularly to an autonomous mobile device. Background Technology
[0002] Autonomous mobile devices refer to intelligent mobile devices that autonomously execute preset tasks. These devices can move autonomously based on the results sensed by their sensors (such as maps of the surrounding environment and the presence of obstacles). Currently, autonomous mobile devices typically include, but are not limited to, self-moving cleaning devices (such as intelligent sweeping robots and intelligent floor scrubbers), companion mobile robots (such as intelligent electronic pets and nanny robots), service mobile robots (such as reception robots in hotels, inns, and meeting venues), industrial inspection intelligent devices (such as power line inspection robots and intelligent forklifts), and security robots (such as home or commercial intelligent security guard robots).
[0003] Self-propelled cleaning equipment with a wet cleaning component can perform wet cleaning operations on a traveling surface (e.g., a surface to be cleaned). For this purpose, the wet cleaning component typically includes a water tank and a cloth located at the rear of the self-propelled cleaning equipment. The water tank is usually filled with a cleaning liquid, such as water or other liquids, and the cloth is located below the water tank and opposite the tank's drain outlet. In this way, the cloth can receive the cleaning liquid from the water tank to maintain its wet state, and can also contact the traveling surface during the self-propelled cleaning equipment's autonomous movement, thereby performing a wet cleaning operation on the traveling surface. For self-propelled cleaning equipment with this structure, when the water tank contains a large amount of cleaning liquid or is completely filled with cleaning liquid, the center of gravity of the self-propelled cleaning equipment shifts significantly rearward. When the self-propelled cleaning equipment is performing wet cleaning operations, the cloth contacts the traveling surface, allowing the traveling surface to be supported by the cloth at the rear of the self-propelled cleaning equipment, thus not adversely affecting the balance of the self-propelled cleaning equipment. However, once the cleaning cloth is removed from the main body of the self-propelled cleaning device, the rear of the device cannot be effectively supported, and the presence of a large amount of cleaning liquid or a water tank filled with cleaning liquid has a very negative impact on the overall balance of the self-propelled cleaning device.
[0004] To address the above issues, the existing solution involves installing a counterweight at the front of the self-propelled cleaning device. While this counterweight can maintain balance when the mop is removed and the water tank contains a significant amount of cleaning fluid, it also increases the cost and weight of the device, shortens its operating range, and increases the likelihood of slippage during movement. Furthermore, when the mop is removed and the water tank contains little or no cleaning fluid, the counterweight may negatively impact the device's balance, potentially leading to instability under certain conditions. Utility Model Content
[0005] In view of the problems of the prior art, the purpose of this disclosure is to provide an autonomous mobile device that can maintain good balance and stable operation with a relatively simple structure.
[0006] To achieve the above objectives, the present disclosure adopts the following technical solution.
[0007] This disclosure provides an autonomous mobile device capable of autonomous movement on a travel surface, comprising:
[0008] The main body includes a detachable portion that can contact the traveling surface;
[0009] A drive wheel, disposed at the bottom of the main body, is used to contact the traveling surface to support the main body; and
[0010] A first auxiliary wheel is disposed at the bottom of the main body. In the front-rear direction of the autonomous mobile device, the first auxiliary wheel is located behind the drive wheel. The first auxiliary wheel can be folded relative to the main body so that when the detachable part is removed, the first auxiliary wheel can contact the travel surface to support the main body.
[0011] In one alternative embodiment, the first auxiliary wheel includes a swing arm and a roller. A first end of the swing arm is rotatably connected to the main body, allowing the swing arm to swing about the portion where it is connected to the main body. The roller is mounted on a second end of the swing arm and is free to rotate relative to the swing arm.
[0012] The swing arm is used to make the first auxiliary wheel folded and open relative to the main body. In the folded state, the first auxiliary wheel is disengaged from the travel surface; in the open state, the first auxiliary wheel can contact the travel surface.
[0013] In another alternative embodiment, the first auxiliary wheel further includes an elastic element mounted on the swing arm, the elastic element always applying an elastic force to the swing arm to tend toward the non-folded state.
[0014] In another alternative embodiment, the swing arm includes a shaft portion that is rotatably connected to the main body portion.
[0015] The elastic element is constructed as a torsion spring, which is fitted onto the shaft portion, with one end of the torsion spring abutting against the main body portion and the other end of the torsion spring abutting against the swing arm.
[0016] In another alternative embodiment, the swing arm further includes a first sidewall portion, a second sidewall portion, and a connecting portion, wherein the first sidewall portion and the second sidewall portion are arranged parallel to each other.
[0017] The shaft is fixed to both the first sidewall and the second sidewall, and passes through both the first and second sidewalls. Both ends of the shaft are rotatably connected to the main body. The roller is rotatably mounted on the first and second sidewalls and is located between them.
[0018] The two ends of the connecting part are fixed to the first side wall part and the second side wall part respectively. In the length direction of the first side wall part and the second side wall part, the connecting part is located between the shaft part and the roller.
[0019] In another alternative embodiment, the autonomous mobile device has a centerline extending along its longitudinal direction, and the swing arm has a structure arranged symmetrically with respect to the centerline.
[0020] In another alternative embodiment, the main body includes a host unit and a wet cleaning assembly as the detachable part, the wet cleaning assembly being detachably assembled to the host unit, the wet cleaning assembly being capable of performing wet cleaning operations on the travel surface.
[0021] In another alternative embodiment, the main body further includes a cleaning liquid storage assembly for storing cleaning liquid. This cleaning liquid storage assembly is detachably assembled to the main body and has a storage cavity with an opening that opens downwards.
[0022] When the wet cleaning component is in the assembled state, the wet cleaning component closes the opening, so that the first auxiliary wheel is limited and stored in the storage cavity.
[0023] In another alternative embodiment, the first auxiliary wheel is located at the rear end of the main body.
[0024] In another alternative embodiment, a second auxiliary wheel is further included, which is disposed on the main body and located in front of the drive wheel in the front-rear direction. The second auxiliary wheel is used to contact the traveling surface to support the main body.
[0025] By adopting the above technical solution, this disclosure provides an autonomous mobile device capable of autonomously moving on a travel surface. The autonomous mobile device includes a main body, drive wheels, and auxiliary wheels assembled together. The main body includes a detachable portion (e.g., a rag) that can contact the travel surface. The drive wheels are located at the bottom of the main body and are used to contact the travel surface to support the main body. The auxiliary wheels are located at the bottom of the main body, positioned behind the drive wheels in the longitudinal direction of the autonomous mobile device. The auxiliary wheels are foldable relative to the main body, so that when the detachable portion is removed, the auxiliary wheels can contact the travel surface to support the main body.
[0026] Thus, in the case of a self-moving cleaning device, if, for example, the detachable part of the cleaning cloth is removed, even if the weight of the cleaning liquid contained in the water tank at the rear of the self-moving device changes, causing the self-moving device to be in a state of weight imbalance, the auxiliary wheels in their non-folded state, in conjunction with the drive wheels, can support the entire self-moving cleaning device. This can significantly reduce or even completely avoid the instability of the self-moving device caused by the aforementioned weight imbalance, achieving the so-called "center of gravity stability" effect. Furthermore, the auxiliary wheels themselves and related structures are simple in construction and low in cost, and the additional balance weights described in the background art to avoid the aforementioned weight imbalance can be omitted. This avoids the problems of increased cost and weight of the self-moving device, shortened battery life, and slippage and noise under certain operating conditions caused by the addition of balance weights. Therefore, the self-moving device according to this disclosure, with a relatively simple construction, achieves good balance and stable operation. Attached Figure Description
[0027] Figure 1 This is a perspective view of an autonomous mobile device according to an embodiment of the present disclosure.
[0028] Figure 2 It shows Figure 1 Another 3D schematic diagram of the autonomous mobile device, in which the first auxiliary wheel is in a folded state.
[0029] Figure 3 It shows Figure 2 A partial cross-sectional view of the autonomous mobile device in the diagram, where section lines are omitted.
[0030] Figure 4 It shows Figure 1 Another 3D schematic diagram of the autonomous mobile device, in which the first auxiliary wheel is in an open state.
[0031] Figure 5 It shows Figure 4 A partially enlarged schematic diagram of the autonomous mobile device in the diagram.
[0032] Figure 6 It shows Figure 4 A partial cross-sectional view of the autonomous mobile device in the diagram, where section lines are omitted.
[0033] Explanation of reference numerals in the attached figures
[0034] 1—Main body;
[0035] 11—Host;
[0036] 12—Wet cleaning components;
[0037] 13—Clean liquid storage assembly; 13c—Storage cavity;
[0038] 14—Dry cleaning components;
[0039] 2—Drive wheel;
[0040] 3—First auxiliary wheel;
[0041] 31—Swing arm; 311—Shaft portion; 312—First sidewall portion; 313—Second sidewall portion; 314—Connecting portion;
[0042] 32—Roller;
[0043] 33—Elastic element;
[0044] 4—Second auxiliary wheel;
[0045] D1—Front-back direction; D2—Up-down direction; D3—Left-right direction Detailed Implementation
[0046] Embodiments of this disclosure are described below with reference to the accompanying drawings. For ease of understanding, the elements shown in the drawings may include elements such as dimensions and scales that are expressed differently from actual dimensions and scales.
[0047] In this disclosure, unless otherwise specified, "front," "rear," "left," "right," "up," and "down" are all relative to the normal operating state of the autonomous mobile device according to this disclosure. Specifically, the autonomous mobile device has a positive direction of movement (i.e., forward) in its normal operating state. The term "normal operating state" refers to the movement state of the autonomous mobile device when performing a task, which is different from the abnormal operating state of the autonomous mobile device, such as backward movement or swinging, in the escape mode. "Front" and "rear" refer to the front and rear sides of the autonomous mobile device in its positive forward direction when it is in its normal operating state on the surface to be cleaned. "Left" and "right" refer to the left and right sides when viewed from the front side in the positive forward direction. "Up" and "down" refer to the upper and lower sides in the vertical direction perpendicular to the surface to be cleaned when the autonomous mobile device is in its normal operating state on the surface to be cleaned.
[0048] In this disclosure, the autonomous mobile device can move autonomously according to a preset control scheme in its processing unit. The travel surface on which the autonomous mobile device moves autonomously can be a plane or a curved surface with a large radius of curvature, typically such as the floor in each room of a building.
[0049] In this disclosure, "processing unit" is a general term, and there are no limitations on the type, number, or form of processing units. Specifically, a processing unit can be one or more of MCU, DSP, FPGA, and GPU, or other hardware chips, processors, or software algorithms with data processing and computing capabilities. Further, a processing unit can be a unified, single processor for an autonomous mobile device, or it can be a collection of multiple processing units. The connection method, functions, and computing power allocation of multiple processing units can be adjusted as needed. For example, in one optional scheme, a first processing unit and a second processing unit can be included. In this case, the first and second processing units collectively implement the various functions of the aforementioned processing units. Furthermore, the processing unit of the autonomous mobile device can receive parameters from sensing components and perform related control on the autonomous mobile device through preset programs stored in the storage unit. The data, information, and programs required by the processing unit during processing can be stored in the storage unit and retrieved from the storage unit as needed. The processing unit can also store the processed data and information again in the storage unit. The storage unit can be RAM, ROM, etc., or it can be a device and / or equipment with storage functions, such as a cloud / server / mobile terminal connected via a wired / wireless network.
[0050] The autonomous mobile device according to embodiments of the present disclosure will be described below with reference to the accompanying drawings.
[0051] In this embodiment, the autonomous mobile device is typically a self-moving cleaning device. For example... Figures 1 to 6 As shown, an autonomous mobile device according to an embodiment of the present disclosure includes a main body 1, a drive wheel 2, a first auxiliary wheel 3, and a second auxiliary wheel 4 assembled together.
[0052] In this embodiment, as Figure 1 , Figure 2 and Figure 4 As shown, the main body 1 may include a host 11 that is generally cylindrical (circular in top view). The shape of the host 11 is not limited to this; alternatively, the host 11 may have other shapes, such as square, elliptical, or D-shaped in top view. When the autonomous mobile device according to the embodiments of this disclosure is in normal operation, the bottom surface of the host 11 is opposite to the travel surface (e.g., the surface to be cleaned), and the bottom surface of the host 11 is parallel to the travel surface. Here, "parallel" includes not only geometric parallelism between the bottom surface of the host 11 and the surface to be cleaned, but also generally parallelism. "Generally" means that the parallelism is established within a reasonable margin of error recognized by those skilled in the art. Furthermore, other components of the autonomous mobile device may be disposed in the host 11. To support and protect these other components, most of the structure of the autonomous mobile device is installed inside or on the surface of the host 11, or is connected to the host 11. The main body 1 may also include a processing unit and sensing components within the host 11. Therefore, the processing unit can obtain environmental parameters through the sensing components, and based on the obtained environmental parameters, the processing unit can control the entire autonomous mobile device to move autonomously on the travel surface.
[0053] like Figures 1 to 6 As shown, the main body 1 includes a wet cleaning component 12, a cleaning liquid collection component 13, and a dry cleaning component 14 disposed on the main unit 11. Thus, during autonomous movement of the mobile device, the surface to be cleaned is cleaned by the dry cleaning component 14 and / or the wet cleaning component 12 disposed on the main unit 1. In different working modes, the cleaning operation includes, but is not limited to, one or more of the following: sweeping, mopping, and vacuuming.
[0054] In the front-to-back direction D1, both the wet cleaning component 12 and the cleaning liquid storage component 13 are mounted at the rear of the main unit 11. The wet cleaning component 12 is configured to be detachably mounted to the bottom of the cleaning liquid storage component 13, thus the wet cleaning component 12 is mounted to the main unit 11 via the cleaning liquid storage component 13. In this embodiment, the wet cleaning component 12 is configured as a detachable part. Specifically, the wet cleaning component 12 may include a bracket and a cloth assembled together. The bracket can be directly assembled with the cleaning liquid storage component 13, and the cloth is positioned below the bracket in the vertical direction D2 and spread out flat over a certain area, and the cloth is in full contact with the travel surface during the cleaning operation of the autonomous mobile device. The cleaning liquid storage component 13 is typically a water tank, and the cleaning liquid storage component 13 may form an internal space for containing water or other liquids. The cleaning liquid storage component 13 is detachably mounted directly to the main unit 11. Furthermore, the bottom of the cleaning liquid storage assembly 13 has a storage cavity 13c for storing the first auxiliary wheel 3. This storage cavity 13c is located near the rear sidewall of the main body 1 and has sufficient volume. The storage cavity 13c has an opening that opens downwards, allowing the first auxiliary wheel 3 to switch between a folded and open state via this opening. When the wet cleaning assembly 12 is in its assembled state, the opening of the wet cleaning assembly 12 is closed, so that the first auxiliary wheel 3 is positioned and stored in the storage cavity 13c in a folded state. After the wet cleaning assembly 12 is removed, the opening of the storage cavity 13c is opened, allowing the first auxiliary wheel 3 to extend out of the storage cavity 13c in an open state. In this way, the storage cavity 13c can completely store the first auxiliary wheel 3 in its folded state, thereby preventing it from interfering with the wet cleaning operation of the wet cleaning assembly 12.
[0055] In the front-to-back direction D1, the dry cleaning component 14 is located in front of the wet cleaning component 12 and the cleaning liquid collection component 13. Specifically, the dry cleaning component 14 may include a main brush, a suction device, and side brushes. In the front-to-back direction D1, the main brush and suction device may be installed in the middle of the main unit 11, and the side brushes may be installed in the front of the main unit 11. The main brush can agitate dry debris such as dust on the surface it is traveling on and suck it into the interior of the main unit 11 via the suction device. The side brushes can agitate dry debris at the junction between the cleaning surface and the wall (e.g., a corner) and guide this debris to the location of the main brush.
[0056] In this embodiment, in order to achieve autonomous movement of the autonomous mobile device, such as Figure 2 and Figure 4As shown, the aforementioned autonomous mobile device includes two drive wheels 2 disposed on the main body 1. In the front-to-back direction D1, the two drive wheels 2 are located in the middle of the main body 1; in the left-to-right direction D3, the two drive wheels 2 are arranged spaced apart on the left and right sides of the main body 11. Furthermore, the two drive wheels 2 are mounted on the main body 11 and protrude relative to the bottom surface of the main body 11 to roll in contact with the travel surface, for use in driving the entire autonomous mobile device to travel on the travel surface under the control of the processing unit. By rotating the two drive wheels 2 at the same speed and in the same direction (e.g., simultaneously clockwise or simultaneously counterclockwise), the autonomous mobile device can be driven to move linearly along the forward direction; by rotating the two drive wheels 2 at different speeds and / or in different directions (e.g., one wheel rotates clockwise while the other rotates counterclockwise), the autonomous mobile device can be driven to turn in a direction different from the forward direction. Thus, the two drive wheels 2 can not only drive the autonomous mobile device to move autonomously as needed, but also effectively support the autonomous mobile device.
[0057] In this embodiment, in order to improve the balance and stability of the autonomous mobile device during operation, such as Figures 3 to 6 As shown, a first auxiliary wheel 3 is provided at the bottom of the main body 1. In the front-rear direction D1, the first auxiliary wheel 3 is located behind the drive wheel 2, and more specifically, the first auxiliary wheel 3 is located at the rear end of the main body 1. Arranging the first auxiliary wheel 3 in this position further facilitates the stable support of the autonomous mobile device by the first auxiliary wheel 3 in conjunction with the drive wheel 2. In addition, the first auxiliary wheel 3 can be folded relative to the main body 1, so that when the wet cleaning assembly 12, which is a detachable part, is removed, the first auxiliary wheel 3 can contact the travel surface to support the main body 1. Specifically, the first auxiliary wheel 3 includes a swing arm 31, a roller 32, and an elastic member 33.
[0058] like Figure 3 , Figure 5 and Figure 6As shown, the first end of the swing arm 31 is rotatably connected to the cleaning liquid collection assembly 13 of the main body 1, allowing the swing arm 31 to reciprocate within a predetermined range around the portion connected to the cleaning liquid collection assembly 13. A roller 32 is mounted on the second end of the swing arm 31, enabling the swing arm 31 to drive the roller 32 to swing. The swing arm 31 includes a shaft portion 311, a first sidewall portion 312, a second sidewall portion 313, and a connecting portion 314 assembled together. The shaft portion 311 can be fixed to both the first sidewall portion 312 and the second sidewall portion 313, and the shaft portion 311 passes through both the first sidewall portion 312 and the second sidewall portion 313 in the left-right direction D3, thereby rotatably connecting both ends of the shaft portion 311 to the cleaning liquid collection assembly 13. The first sidewall portion 312 and the second sidewall portion 313 have a flat plate structure and are formed in a strip shape. The first sidewall portion 312 and the second sidewall portion 313 extend parallel to each other. One end of the first sidewall portion 312 and one end of the second sidewall portion 313 are mounted on the shaft portion 311, and rollers 32 are mounted on the other ends of the first sidewall portion 312 and the second sidewall portion 313. The two ends of the connecting portion 314 are fixed to the first sidewall portion 312 and the second sidewall portion 313 respectively, so that the entire swing arm 31 forms a stable whole. In the length direction of both the first sidewall portion 312 and the second sidewall portion 313, the connecting portion 314 is located between the shaft portion 311 and the rollers 32. In this way, the structure of the swing arm 31 is firm, stable and easy to implement. By swinging the swing arm 31, the first auxiliary wheel 3 is in the above-mentioned folded state (also called the retracted state) and the above-mentioned non-folded state (also called the supported state) relative to the main body portion 1. In the folded state, the first auxiliary wheel 3 is disengaged from the travel surface; in the non-folded state, the first auxiliary wheel 3 can contact the travel surface.
[0059] like Figures 3 to 6 As shown, roller 32 is mounted at the other end of the first sidewall portion 312 and the other end of the second sidewall portion 313, and is located between the first sidewall portion 312 and the second sidewall portion 313. Roller 32 is also mounted at the other end of the swing arm 31 and is capable of free rotation relative to the swing arm 31. The elastic element 33 is a torsion spring. Figure 3 and Figure 6As shown, the helical main body structure of the torsion spring is fitted onto the shaft portion 311. One end of the torsion spring abuts against the main body portion 1, while the other end abuts against the swing arm 31, allowing the torsion spring to consistently apply an elastic force to the swing arm 31 that tends towards an open state. The torsion spring provides a stable spring force to the swing arm 31, enabling it to transition from a folded state to an open state and remain in the open state. Furthermore, the portion of the cleaning liquid collection assembly 13 that defines the collection cavity 13c includes a rear sidewall. When the first auxiliary wheel 3 is in the open state and in contact with the travel surface, this rear sidewall abuts against the swing arm 31 (primarily referring to the first sidewall portion 312 and the second sidewall portion 313), thus effectively supporting and limiting the entire swing arm 31, thereby allowing the first auxiliary wheel 3 to remain more stably in the open state.
[0060] In this way, by adopting the above-mentioned assembly scheme of swing arm 31, roller 32 and elastic element 33, the first auxiliary wheel 3 can switch between folded and non-folded states relative to the main body 1 with a relatively simple structure, and the first auxiliary wheel 3 with this simple structure works stably.
[0061] In this embodiment, as Figure 2 and Figure 4 As shown, the second auxiliary wheel 4 can be a swivel wheel. Regardless of how the wheels roll on the travel surface, the swivel wheel can provide support for the entire autonomous mobile device. The second auxiliary wheel 4 is located at the bottom of the main body 1. In the front-rear direction D1, the second auxiliary wheel 4 is located in front of the drive wheel 2, and the second auxiliary wheel 4 is used to contact the travel surface. Using the second auxiliary wheel 4, the autonomous mobile device can be further stabilized and supported.
[0062] By adopting the above solution, when the autonomous mobile device is in wet cleaning mode, for example, the drive wheel 2, the second auxiliary wheel 4, and the wet cleaning component 12 stably support the autonomous mobile device. When the wet cleaning component 12 is removed and the autonomous mobile device is in dry cleaning mode, for example, the drive wheel 2, the first auxiliary wheel 3, and the second auxiliary wheel 4 stably support the autonomous mobile device. Thus, even if the wet cleaning component 12 is removed and the weight of the cleaning liquid contained in the water tank at the rear of the autonomous mobile device changes, causing the autonomous mobile device to be in a state of weight imbalance, the first auxiliary wheel 3 in its non-folded state, together with the drive wheel 2 and the second auxiliary wheel 4, can still support the entire autonomous mobile device. This can significantly reduce or even completely avoid the instability of the autonomous mobile device caused by the aforementioned weight imbalance, achieving the so-called "center of gravity stability" effect. In addition, the first auxiliary wheel 3 itself and related structures are simple in construction and low in cost, and the additional balance weights that are usually set up to avoid the aforementioned weight imbalance can be omitted, thereby avoiding the problems of increased cost and weight of the autonomous mobile device, shortened battery life, and slippage and noise under certain operating conditions caused by setting up balance weights.
[0063] It should be understood that the above embodiments are merely exemplary and are not intended to limit this disclosure. Those skilled in the art can make various modifications and changes to the above embodiments under the teachings of this disclosure without departing from the scope of this disclosure. The following supplementary descriptions are provided regarding the technical solutions of this disclosure.
[0064] i. It is understood that, in addition to the examples of self-moving cleaning devices described in the above specific embodiments, the technical concepts of this disclosure can also be applied to other autonomous mobile devices, and to devices that require balancing. The aforementioned autonomous mobile devices generally refer to intelligent mobile devices that autonomously perform preset tasks, including other self-moving cleaning devices that achieve similar functions to the self-moving cleaning devices described in the above embodiments, companion mobile robots (e.g., intelligent electronic pets, nanny robots), service mobile robots (e.g., reception robots in hotels, inns, and meeting places), industrial inspection intelligent devices (e.g., power inspection robots, intelligent forklifts, etc.), security robots (e.g., household or commercial intelligent guard robots), etc., which are two-dimensional planar mobile robots with wheels or tracks as drive units. Of course, the solutions of this disclosure can also be applied to other fields, which will not be exhaustively described.
[0065] ii. In the above embodiments and their variations, the autonomous mobile device may have a centerline extending along its front-rear direction D1, and the autonomous mobile device has a structure that is approximately symmetrical about left and right with respect to this centerline. Optionally, the swing arm 31 of the first auxiliary wheel 3 has a structure that is symmetrically arranged with respect to the centerline. When the first auxiliary wheel 3 is in the non-folded state, it can more stably support the entire autonomous mobile device.
[0066] iii. It is understood that in the variations of the above embodiments, it is not necessary to remove and install the wet cleaning component 12 to achieve the first auxiliary wheel 3 in the non-folded and folded states. For example, other detachable parts can be provided to achieve the first auxiliary wheel 3 in the non-folded and folded states.
[0067] iv. It is understood that in the variations of the above embodiments, the structure of the swing arm 31 and the type of the elastic element 33 can be adjusted according to actual needs. As long as the elastic element 33 always applies an elastic force to the swing arm 31 to make it tend to the non-folded state, the swing arm 31 can rotate relative to the main body 1 to the non-folded state under the action of the elastic force of the elastic element 33.
Claims
1. An autonomous mobile device capable of autonomous movement on a travel surface, characterized in that, include: The main body includes a detachable portion that can contact the traveling surface; A drive wheel is disposed at the bottom of the main body, and the drive wheel is used to contact the travel surface to support the main body; as well as A first auxiliary wheel is disposed at the bottom of the main body. In the front-rear direction of the autonomous mobile device, the first auxiliary wheel is located behind the drive wheel. The first auxiliary wheel can be folded relative to the main body so that when the detachable part is removed, the first auxiliary wheel can contact the travel surface to support the main body.
2. The autonomous mobile device according to claim 1, characterized in that, The first auxiliary wheel includes a swing arm and a roller. A first end of the swing arm is rotatably connected to the main body, allowing the swing arm to swing around the portion connected to the main body. The roller is mounted on a second end of the swing arm and can rotate freely relative to the swing arm. The swing arm is used to make the first auxiliary wheel folded and unfolded relative to the main body. In the folded state, the first auxiliary wheel is disengaged from the travel surface. In the non-folded state, the first auxiliary wheel can contact the travel surface.
3. The autonomous mobile device according to claim 2, characterized in that, The first auxiliary wheel also includes an elastic element, which is mounted on the swing arm and applies an elastic force to the swing arm at all times to make it tend toward the non-folded state.
4. The autonomous mobile device according to claim 3, characterized in that, The swing arm includes a shaft portion, which is rotatably connected to the main body portion. The elastic element is constructed as a torsion spring, which is fitted onto the shaft portion, with one end of the torsion spring abutting against the main body portion and the other end of the torsion spring abutting against the swing arm.
5. The autonomous mobile device according to claim 4, characterized in that, The swing arm further includes a first sidewall portion, a second sidewall portion, and a connecting portion, wherein the first sidewall portion and the second sidewall portion are arranged parallel to each other. The shaft is fixed to both the first sidewall and the second sidewall, and passes through both the first and second sidewalls. Both ends of the shaft are rotatably connected to the main body. The roller is rotatably mounted on the first and second sidewalls and is located between them. The two ends of the connecting part are fixed to the first side wall part and the second side wall part respectively. In the length direction of the first side wall part and the second side wall part, the connecting part is located between the shaft part and the roller.
6. The autonomous mobile device according to claim 5, characterized in that, The autonomous mobile device has a centerline extending along its front-rear direction, and the swing arm has a structure arranged symmetrically with respect to the centerline.
7. The autonomous mobile device according to any one of claims 1 to 6, characterized in that, The main body includes a host and a wet cleaning assembly as the detachable part. The wet cleaning assembly is detachably assembled to the host and is capable of performing wet cleaning operations on the travel surface.
8. The autonomous mobile device according to claim 7, characterized in that, The main body also includes a cleaning liquid storage assembly for storing cleaning liquid. This assembly is detachably assembled to the main unit and has a storage cavity with a downward-facing opening. When the wet cleaning component is in the assembled state, the wet cleaning component closes the opening, so that the first auxiliary wheel is limited and stored in the storage cavity.
9. The autonomous mobile device according to any one of claims 1 to 6, characterized in that, The first auxiliary wheel is located at the rear end of the main body.
10. The autonomous mobile device according to any one of claims 1 to 6, characterized in that, It also includes a second auxiliary wheel, which is disposed on the main body. In the front-rear direction, the second auxiliary wheel is located in front of the drive wheel. The second auxiliary wheel is used to contact the traveling surface to support the main body.