Cleaning apparatus and cleaning system

Abstract

The present disclosure relates to a cleaning device and a cleaning system. The cleaning device comprises a device body and a walking device, the device body is provided with a cleaning piece, the walking device comprises a linkage assembly and a driving assembly, the linkage assembly is connected with the device body, and the driving assembly is connected with the linkage assembly. The driving assembly is used to drive the linkage assembly to switch the walking device between a first walking state, a second walking state and a third walking state. When the walking device switches from the first walking state to the second walking state, the device body is lifted from a first height to a second height. When the walking device switches from the second walking state to the third walking state, the device body is lifted from the second height to a third height. The cleaning device has strong environmental adaptability, can meet a more complex working scene, and can work better in a more complex working scene.

Description

Technical Field

[0001] This disclosure relates to the field of smart home technology, and in particular to a cleaning device and cleaning system. Background Technology

[0002] In the field of smart home technology, existing cleaning equipment has poor obstacle-crossing and climbing capabilities, making it unable to adapt to more complex working scenarios and thus unable to work in more complex scenarios.

[0003] It should be noted that the information disclosed in the background section above is only used to enhance the understanding of the background of this disclosure, and therefore may include information that does not constitute prior art known to those skilled in the art. Utility Model Content

[0004] The purpose of this disclosure is to provide a cleaning device and cleaning system that has strong environmental adaptability and can work in relatively complex work scenarios.

[0005] This disclosure provides a cleaning device, comprising:

[0006] The main body of the equipment is equipped with cleaning components.

[0007] A walking device includes a linkage assembly and a drive assembly. The linkage assembly is connected to the main body of the device, and the drive assembly is connected to the linkage assembly. The drive assembly drives the linkage assembly to switch the walking device between a first walking state, a second walking state, and a third walking state. When the walking device switches from the first walking state to the second walking state, the main body of the device is raised from a first height to a second height. When the walking device switches from the second walking state to the third walking state, the main body of the device is raised from the second height to a third height.

[0008] In one exemplary embodiment of this disclosure, when the walking device is in the first walking state and walking on the surface to be cleaned, the cleaning component is able to clean the surface to be cleaned.

[0009] In one exemplary embodiment of this disclosure, the cleaning device further includes:

[0010] An obstacle detection component is used to detect the height of an obstacle. The walking device switches to the second walking state when the height of the obstacle is higher than a first preset height and lower than a second preset height, and switches to the third walking state when the height of the obstacle is higher than the second preset height.

[0011] In one exemplary embodiment of this disclosure, the linkage assembly includes:

[0012] The first link is rotatably connected to the main body of the device, and the drive assembly is capable of driving the first link to rotate.

[0013] The second link is rotatably connected to the first link, and the drive assembly is capable of driving the second link to rotate.

[0014] In one exemplary embodiment of this disclosure, the drive component is capable of driving the first link to switch between a first folded state and a first intermediate state, and / or driving the second link to switch between a second folded state and a second intermediate state, so that the walking device switches between the first walking state and the second walking state.

[0015] In one exemplary embodiment of this disclosure, the drive component is capable of driving the first link to switch between a first intermediate state and a first extended state, and / or driving the second link to switch between a second intermediate state and a second extended state, so that the walking device switches between the second walking state and the third walking state.

[0016] In one exemplary embodiment of this disclosure, the cleaning device further includes a wheel assembly, the wheel assembly comprising:

[0017] A drive wheel is rotatably mounted on the lower end of the second connecting rod and supported on the surface to be cleaned;

[0018] A walking drive component is installed at the lower end of the drive wheel or the second connecting rod. The walking drive component can drive the drive wheel to rotate, thereby moving the main body of the equipment.

[0019] In one exemplary embodiment of this disclosure, the wheel assembly further includes:

[0020] A first support wheel is rotatably mounted on the second link, and the first support wheel is configured to support the surface to be cleaned when the walking device is in the second walking state.

[0021] In one exemplary embodiment of this disclosure, the first support wheel is rotatably connected to the upper end of the second connecting rod.

[0022] In one exemplary embodiment of this disclosure, the driving component includes:

[0023] A first driving member is connected to the upper end of the first connecting rod, and the first driving member is capable of driving the first connecting rod to rotate.

[0024] The second driving member is connected to the second connecting rod, and the second driving member can drive the second connecting rod to rotate.

[0025] In one exemplary embodiment of this disclosure, the first driving member has a first fixing part and a first driving part, the first fixing part is fixed to the device body, and the upper end of the first connecting rod is connected to the first driving part;

[0026] The second driving member has a second fixing part and a second driving part. The second fixing part is fixed to the side of the first connecting rod opposite to the first driving part, and the second connecting rod is connected to the second driving part.

[0027] In one exemplary embodiment of this disclosure, the second fixing part is fixed to the upper end of the first connecting rod.

[0028] In one exemplary embodiment of this disclosure, the linkage assembly further includes:

[0029] A traction rod, one end of which is rotatably connected to the second connecting rod, and the other end of which is connected to the second drive unit;

[0030] The driving ear has a first connecting part and a second connecting part. The first connecting part is fixedly connected to the second driving part, and the second connecting part is rotatably connected to the end of the traction rod away from the second connecting rod.

[0031] In one exemplary embodiment of this disclosure, the end of the traction rod away from the second drive unit is rotatably connected to the upper end of the second connecting rod.

[0032] In one exemplary embodiment of this disclosure, the walking device further includes:

[0033] A protective shell is disposed on the side of the first connecting rod away from the main body of the equipment, and an accommodating space is formed between the protective shell and the first connecting rod, wherein at least a portion of the traction rod and at least a portion of the connecting lug are disposed in the accommodating space.

[0034] In one exemplary embodiment of this disclosure, the cleaning device includes:

[0035] At least two of the walking devices are arranged at intervals.

[0036] In one exemplary embodiment of this disclosure, the cleaning device includes:

[0037] The two walking devices are located on opposite sides of the reference line;

[0038] The reference line is an auxiliary line that passes through the center of the device body and extends along a first direction, where the first direction is the direction from the front of the device body to the rear of the device body.

[0039] In one exemplary embodiment of this disclosure, the cleaning device further includes:

[0040] The second support wheel is disposed on the bottom surface of the main body of the device, and in the first direction, when the cleaning device is in the second walking state or the third walking state, the second support wheel is closer to the front of the main body of the device relative to the drive wheel;

[0041] Wherein, the first direction is the direction from the front of the device body to the rear of the device body.

[0042] In one exemplary embodiment of this disclosure, in the first direction, when the walking device is in the first walking state, the second support wheel is closer to the front of the device body relative to the drive wheel.

[0043] In one exemplary embodiment of this disclosure, the cleaning device further includes:

[0044] The third support wheel is disposed on the bottom surface of the device body. In the first direction, the second support wheel is closer to the front of the device body relative to the third support wheel, and when the walking device is in the third walking state, the third support wheel is closer to the front of the device body relative to the drive wheel.

[0045] In one exemplary embodiment of this disclosure, the device body includes:

[0046] A cleaning device, wherein the walking device is connected to the cleaning device, and the cleaning device is used to clean the surface to be cleaned.

[0047] In one exemplary embodiment of this disclosure, the device body includes:

[0048] The carrier body, the walking device and the carrier body are connected;

[0049] A cleaning device, which can be housed in the carrier, is used to clean the surface to be cleaned.

[0050] In one exemplary embodiment of this disclosure, the obstacle detection component is mounted on the front of the device body.

[0051] In one exemplary embodiment of this disclosure, the cleaning device enters an obstacle-crossing mode in response to the detection of an obstacle;

[0052] In the obstacle-crossing mode, when the cleaning device moves to a point where at least part of the device body is located on the upper surface of the obstacle in either the second or third walking state, the walking device switches to the first walking state so that the walking device converges to the upper surface of the obstacle.

[0053] In one exemplary embodiment of this disclosure, the cleaning device is provided with walking devices on both sides along its forward direction. The cleaning device has an obstacle cleaning mode. When the width of the obstacle is less than the width of the cleaning device, at least one of the two walking devices is in an extended state.

[0054] In one exemplary embodiment of this disclosure, the cleaning device enters a stair-climbing mode in response to the detection of a staircase;

[0055] In the stair-climbing mode, when the cleaning equipment walks in the second or third walking state until the main body of the equipment is at least partially located on the tread of the stair, the walking device switches to the first walking state so that the walking device converges to the tread of the stair.

[0056] In one exemplary embodiment of this disclosure, the walking device is provided on both sides of the main body of the device along its forward direction, and the cleaning device has a stair cleaning mode. When the cleaning device switches to the stair cleaning mode, the cleaning device rotates to be parallel to the forward direction and the length direction of the stair tread.

[0057] In one exemplary embodiment of this disclosure, when the width of the stair tread is less than the width of the cleaning device, one of the two walking devices is in an extended state.

[0058] In one exemplary embodiment of this disclosure, when the width of the stair tread is greater than the width of the cleaning device, the two walking devices are in the first walking state and are in contact with the stair tread.

[0059] Another aspect of this disclosure provides a cleaning system, comprising:

[0060] Base station;

[0061] The cleaning equipment is the cleaning equipment described above, and the cleaning equipment can be placed on the base station, and / or the cleaning equipment can be docked with the base station.

[0062] The technical solution provided in this disclosure can achieve the following beneficial effects:

[0063] The cleaning equipment disclosed herein includes a main body and a walking device, wherein the walking device includes a linkage assembly and a drive assembly. The drive assembly drives the linkage assembly to switch the walking device between a first walking state, a second walking state, and a third walking state. When the walking device switches from the first walking state to the second walking state, the main body of the equipment is raised from a first height to a second height, enabling the cleaning equipment to traverse lower obstacles. When the walking device switches from the second walking state to the third walking state, the main body of the equipment is raised from a second height to a third height, enabling the cleaning equipment to climb higher obstacles.

[0064] Therefore, this cleaning equipment has strong environmental adaptability, can meet the needs of relatively complex working scenarios, and can work well in relatively complex working scenarios.

[0065] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0066] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure. It is obvious that the drawings described below are merely some embodiments of this disclosure, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0067] Figure 1 A schematic diagram of the cleaning device in a first walking state according to an embodiment of the present disclosure is shown;

[0068] Figure 2 A schematic diagram of the cleaning device in a second walking state according to an embodiment of the present disclosure is shown;

[0069] Figure 3 A first-view structural schematic diagram of a cleaning device according to an embodiment of the present disclosure in a third walking state is shown.

[0070] Figure 4 A partial structural schematic diagram of a cleaning device according to an embodiment of the present disclosure is shown;

[0071] Figure 5 A partial structural schematic diagram of a cleaning device according to another embodiment of the present disclosure is shown;

[0072] Figure 6 A structural schematic diagram from a second perspective is shown of a cleaning device according to an embodiment of the present disclosure in a third walking state.

[0073] Figure 7A structural schematic diagram of a cleaning device according to an embodiment of the present disclosure in a third-view walking state is shown.

[0074] Figures 8 to 11 A schematic diagram illustrating the steps of a cleaning device crossing an obstacle according to an embodiment of the present disclosure is shown;

[0075] Figures 12 to 15 A schematic diagram illustrating the steps of a cleaning device climbing stairs according to an embodiment of the present disclosure is shown;

[0076] Figure 16 A schematic diagram of the cleaning device according to an embodiment of the present disclosure in cleaning mode is shown;

[0077] Figure 17 A schematic flowchart illustrating the operation method of a cleaning device according to an embodiment of the present disclosure is shown.

[0078] Explanation of reference numerals in the attached figures:

[0079] 1. Cleaning equipment; 11. Equipment body; 12. Walking device; 121. Linkage assembly; 1211. First link; 1212. Second link; 1213. Traction rod; 1214. Drive lug; 122. Wheel assembly; 1221. Drive wheel; 1222. Walking drive component; 1223. First support wheel; 123. Drive assembly; 1231. First drive component; 1232. Second drive component; 124. Protective shell; 13. Obstacle detection assembly; 14. Second support wheel; 15. Third support wheel;

[0080] 2. Surface to be cleaned; 3. Obstacle; 31. Upper surface of the obstacle; 4. Stairs; 41. Tread; 42. Riser;

[0081] S1, Reference Line;

[0082] X, first direction; Y, second direction; Z, length direction. Detailed Implementation

[0083] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, they are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and therefore their detailed description will be omitted.

[0084] Although relative terms such as "up" and "down" are used in this specification to describe the relative relationship of one component of an icon to another, these terms are used only for convenience, such as according to the orientation of the examples shown in the accompanying drawings. It is understood that if the device of the icon is flipped upside down, the component described as "up" will become the component described as "down." When a structure is "up" of another structure, it may mean that the structure is integrally formed on the other structure, or that the structure is "directly" mounted on the other structure, or that the structure is "indirectly" mounted on the other structure through another structure.

[0085] The terms “a,” “one,” “the,” and “the” are used to indicate the existence of one or more elements / components / etc.; the terms “including” and “having” are used to indicate an open-ended inclusion meaning and that there may be other elements / components / etc. in addition to the listed elements / components / etc.; the terms “first” and “second” are used only as markers and are not a limitation on the number of objects.

[0086] like Figures 1 to 16 As shown, some embodiments provide a cleaning system that may include a base station and a cleaning device 1. The cleaning device 1 can be placed on the base station; or the cleaning device 1 can be docked with the base station; or the cleaning device 1 can be placed on the base station and docked with the base station. When the cleaning device 1 is docked with the base station, the base station can charge, rehydrate, and clean the cleaning device 1, or suck out dirt stored in the cleaning device 1.

[0087] Specifically, such as Figures 1 to 16 As shown, the cleaning device 1 may include a main body 11 and a walking device 12. The main body 11 may include a cleaning device, which can be configured to clean the surface 2 to be cleaned. The cleaning device can be a robot vacuum cleaner, a floor scrubber, etc., thereby enabling the cleaning device 1 to directly clean the surface 2 to be cleaned.

[0088] Alternatively, the main body 11 may include a carrier and a cleaning device. The carrier may be configured to support the cleaning device 1, and the cleaning device may be housed within the carrier. The cleaning device may be configured to clean the surface 2 to be cleaned. That is, the cleaning device can be understood as consisting of a cleaning device and a carrier capable of moving the cleaning device (the carrier may include the carrier and a walking device 12). The cleaning device described herein may also be a robotic vacuum cleaner, a floor scrubber, etc.

[0089] However, it is not limited to this. The main body of the device 11 can also be a device with other functions, such as a lawnmower. The device body 11 can be selected and set according to the actual situation, which is within the protection scope of this disclosure.

[0090] like Figures 1 to 16 As shown, the walking device 12 may include a linkage assembly 121 and a drive assembly 123. The linkage assembly 121 and the device body 11 can be connected, and the drive assembly 123 and the linkage assembly 121 can be connected. The drive assembly 123 can be used to drive the linkage assembly 121 to switch the walking device 12 between a first walking state, a second walking state, and a third walking state.

[0091] When the walking device 12 moves from the first walking state, the main body 11 can be at a first height, allowing it to operate normally. When the walking device 12 switches from the first walking state to the second walking state, the main body 11 is raised from the first height to the second height, enabling the cleaning device 1 to traverse lower obstacles. When the walking device 12 switches from the second walking state to the third walking state, the main body 11 is raised from the second height to the third height, enabling the cleaning device 1 to climb higher obstacles.

[0092] Therefore, the cleaning equipment 1 has strong environmental adaptability, can meet the needs of relatively complex working scenarios, and can work well in relatively complex working scenarios.

[0093] It should be noted that the first, second, and third heights mentioned here are not fixed height values, but rather height ranges. That is, the first, second, and third heights are relative heights; the second height is higher than the first height, and the third height is higher than the second height. For example, the first height could be between 0cm and 5cm, the second height between 6cm and 10cm, and the third height between 11cm and 15cm, etc.

[0094] In some embodiments, the device body 11 may be provided with a cleaning component, which can be used to clean the surface 2 to be cleaned. For example, when the device body 11 includes a cleaning device, the cleaning component may be disposed on the cleaning device. When the walking device 12 is in a first walking state and walking on the surface 2 to be cleaned, the cleaning component can clean the surface 2 to be cleaned.

[0095] The linkage assembly 121 may include a first linkage 1211 and a second linkage 1212. The first linkage 1211 may be rotatably connected to the device body 11, for example, the upper end of the first linkage 1211 may be rotatably connected to the device body 11. The second linkage 1212 may be rotatably connected to the first linkage 1211, for example, the lower end of the second linkage 1211 may be rotatably connected to the first linkage 1211. The drive assembly 123 may drive the first linkage 1211 to rotate, and the drive assembly 123 may also drive the second linkage 1212 to rotate, so that the walking device 12 can switch between a first walking state, a second walking state, and a third walking state.

[0096] In some embodiments, such as Figures 1 to 2 As shown, the drive assembly 123 can rotate the first link 1211 to switch between a first folded state and a first intermediate state, thereby allowing the walking device 12 to switch between a first walking state and a second walking state. It is understood that the support height of the first link 1211 in the first intermediate state can be higher than the support height of the first link 1211 in the first folded state. When the first link 1211 switches from the first folded state to the first intermediate state, the first link 1211 can increase its support height, allowing the walking device 12 to switch from the first walking state to the second walking state, thereby increasing the distance between the bottom surface of the device body 11 and the surface to be cleaned, so that the device body is at the second height.

[0097] When the first link 1211 switches from the first intermediate state to the first folded state, the first link 1211 can reduce the support height, so that the walking device 12 switches from the second walking state to the first walking state, thereby reducing the distance between the device body 11 and the surface to be cleaned, so that the bottom surface of the device body 11 and the surface to be cleaned are at the first height.

[0098] In some embodiments, such as Figures 1 to 2 As shown, the drive assembly 123 can rotate the second link 1212 to switch between a second folded state and a second intermediate state, thereby switching the walking device 12 between a first walking state and a second walking state. It is understood that the support height of the second link 1212 in the second intermediate state can be higher than the support height of the second link 1212 in the second folded state. When the second link 1212 switches from the second folded state to the second intermediate state, the second link 1212 can increase its support height, causing the walking device 12 to switch from the first walking state to the second walking state, thereby increasing the distance between the bottom surface of the device body 11 and the surface 2 to be cleaned, so that the device body 11 is at the second height.

[0099] When the second link 1212 switches from the second intermediate state to the second folded state, the second link 1212 can reduce the support height, so that the walking device 12 switches from the second walking state to the first walking state, thereby reducing the distance between the main body 11 of the device and the surface 2 to be cleaned, so that the bottom surface of the main body 11 and the surface 2 to be cleaned are at the first height.

[0100] In some embodiments, such as Figure 1 and Figure 2 As shown, the drive assembly 123 can drive the first link 1211 and the second link 1212 to rotate, so that the first link 1211 switches between a first folded state and a first intermediate state, and the second link 1212 switches between a second folded state and a second intermediate state, so that the walking device 12 switches between a first walking state and a second walking state.

[0101] For example, the support height of the first link 1211 in the first intermediate state can be higher than that in the first folded state. The support height of the second link 1212 in the second intermediate state can be higher than that in the second folded state. When the first link 1211 switches from the first folded state to the first intermediate state, the support height of the first link 1211 can be increased, thereby increasing the distance between the device body 11 and the surface 2 to be cleaned; when the second link 1212 switches from the second folded state to the second intermediate state, the support height of the second link 1212 can be increased, causing the walking device 12 to switch from the first walking state to the second walking state, thereby further increasing the distance between the device body and the surface to be cleaned, so that the device body 11 is at the second height.

[0102] When the first link 1211 switches from the first intermediate state to the first folded state, the first link 1211 can reduce its support height, thereby reducing the distance between the main body of the device and the surface to be cleaned; when the second link 1212 switches from the second intermediate state to the second folded state, the second link 1212 can reduce its support height, causing the walking device 12 to switch from the second walking state to the first walking state, thereby further reducing the distance between the main body of the device 11 and the surface to be cleaned, so that the main body of the device 11 is at the first height.

[0103] However, this is not the only limitation. In this embodiment, the support height of the second link 1212 in the second intermediate state can also be equal to or lower than the support height of the second link 1212 in the second folded state. Since the first link 1211 can increase its support height when switching from the first folded state to the first intermediate state, and thus the support height of the second link 1212 in the second intermediate state is equal to or lower than the support height of the second link 1212 in the second folded state, the walking device 12 can also switch from the first walking state to the second walking state, placing the main body of the device at the second height. Simultaneously, since the first link 1211 can decrease its support height when switching from the first intermediate state to the first folded state, and thus the support height of the second link 1212 in the second intermediate state is equal to or lower than the support height of the second link 1212 in the second folded state, the walking device 12 can also switch from the second walking state to the first walking state, placing the main body of the device at the first height.

[0104] In some embodiments, such as Figure 2 and Figure 3 As shown, the drive assembly 123 can rotate the first link 1211 to switch between a first intermediate state and a first extended state, thereby allowing the walking device 12 to switch between a second walking state and a third walking state. It is understood that the support height of the first link 1211 in the first extended state can be higher than the support height of the first link 1211 in the first intermediate state. When the first link 1211 switches from the first intermediate state to the first extended state, the first link 1211 can increase its support height, allowing the walking device 12 to switch from the second walking state to the third walking state, thereby increasing the distance between the bottom surface of the device body 11 and the surface 2 to be cleaned, so that the device body 11 is at the third height.

[0105] When the first link 1211 switches from the first extended state to the first intermediate state, the first link 1211 can reduce the support height, so that the walking device 12 switches from the third walking state to the second walking state, thereby reducing the distance between the device body 11 and the surface to be cleaned 2, so that the bottom surface of the device body 11 and the surface to be cleaned 2 are at the second height.

[0106] In some embodiments, such as Figure 2 and Figure 3As shown, the drive assembly 123 can rotate the second link 1212 to switch between a second intermediate state and a second extended state, thereby switching the walking device 12 between a second walking state and a third walking state. It is understood that the support height of the second link 1212 in the second extended state can be higher than the support height of the second link 1212 in the second intermediate state. When the second link 1212 switches from the second intermediate state to the second extended state, the second link 1212 can increase its support height, causing the walking device 12 to switch from the second walking state to the third walking state, thereby increasing the distance between the bottom surface of the device body 11 and the surface 2 to be cleaned, so that the device body 11 is at the third height.

[0107] When the second link 1212 switches from the second extended state to the second intermediate state, the second link 1212 can reduce the support height, so that the walking device 12 switches from the third walking state to the second walking state, thereby reducing the distance between the device body 11 and the surface to be cleaned 2, so that the bottom surface of the device body 11 and the surface to be cleaned 2 are at the second height.

[0108] In some embodiments, such as Figure 2 and Figure 3 As shown, the drive assembly 123 can drive the first link 1211 and the second link 1212 to rotate, so that the first link 1211 switches between a first intermediate state and a first extended state, and the second link 1212 switches between a second intermediate state and a second extended state, so that the walking device 12 switches between a second walking state and a third walking state.

[0109] For example, the support height of the first link 1211 in its first extended state can be higher than that in its first intermediate state. The support height of the second link 1212 in its second extended state can be higher than that in its second intermediate state. When the first link 1211 switches from its first intermediate state to its first extended state, its support height increases, thereby increasing the distance between the device body 11 and the surface 2 to be cleaned. When the second link 1212 switches from its second intermediate state to its second extended state, its support height increases, causing the walking device 12 to switch from its second walking state to its third walking state, thereby further increasing the distance between the device body 11 and the surface 2 to be cleaned, so that the device body 11 is at a third height.

[0110] When the first link 1211 switches from the first extended state to the first intermediate state, the first link 1211 can lower its support height, thereby reducing the distance between the device body 11 and the surface 2 to be cleaned; when the second link 1212 switches from the second extended state to the second intermediate state, the second link 1212 can lower its support height, causing the walking device 12 to switch from the third walking state to the second walking state, thereby further reducing the distance between the device body 11 and the surface 2 to be cleaned, so that the device body 11 is at the second height.

[0111] In some embodiments, such as Figure 4 and Figure 5 As shown, the drive assembly 123 may include a first drive member 1231, which may be connected to the upper end of the first link 1211. The first drive member 1231 is configured to drive the first link 1211 to rotate, thereby driving the first link 1211 to switch between a first folded state and a first intermediate state. It may also be used to drive the first link 1211 to switch between a first intermediate state and a first extended state. The first drive member 1231 may be a drive motor, but is not limited thereto; it may also be other structural components with driving capabilities, such as a hydraulic rod, and this disclosure does not limit this.

[0112] like Figure 5 As shown, the drive assembly 123 may further include a second drive member 1232, which can be connected to the second link 1212. The second drive member 1232 can be configured to drive the second link 1212 to rotate, thereby switching the second link 1212 between a second folded state and a second intermediate state. It can also be used to switch the second link 1212 between a second intermediate state and a second extended state. The second drive member 1232 can be a drive motor, but is not limited thereto. It can also be other structural components with driving capabilities, such as a hydraulic rod, and this disclosure does not limit this.

[0113] This embodiment improves the flexibility and freedom of the walking device 12 by setting two driving members, which respectively drive the first link 1211 and the second link 1212. This allows the walking device 12 to have more support methods and support heights. For example, the first driving member 1231 can drive the first link 1211 to switch to a first folded state, and the second driving member 1232 can drive the second link 1212 to switch to a second folded state; or, the first driving member 1231 can drive the first link 1211 to switch to a first folded state, and the second driving member 1232 can drive the second link 1212 to switch to a second intermediate state; or, the first driving member 1231 can drive the first link 1211 to switch to a first folded state, and the second driving member 1232 can drive the second link 1212 to switch to a second extended state.

[0114] Alternatively, the first driving member 1231 can drive the first link 1211 to switch to the first intermediate state, and the second driving member 1232 can drive the second link 1212 to switch to the second folded state; or, the first driving member 1231 can drive the first link 1211 to switch to the first intermediate state, and the second driving member 1232 can drive the second link 1212 to switch to the second intermediate state; or, the first driving member 1231 can drive the first link 1211 to switch to the first intermediate state, and the second driving member 1232 can drive the second link 1212 to switch to the second extended state.

[0115] Alternatively, the first driving member 1231 can drive the first link 1211 to switch to the first extended state, and the second driving member 1232 can drive the second link 1212 to switch to the second folded state; or, the first driving member 1231 can drive the first link 1211 to switch to the first extended state, and the second driving member 1232 can drive the second link 1212 to switch to the second intermediate state; or, the first driving member 1231 can drive the first link 1211 to switch to the first extended state, and the second driving member 1232 can drive the second link 1212 to switch to the second extended state.

[0116] This can further improve the environmental adaptability of cleaning equipment 1, allowing for the switching of different support methods according to different work scenarios, thereby further improving the working effect of cleaning equipment 1.

[0117] In some embodiments, such as Figure 4 and Figure 5As shown, the first driving member 1231 may have a first fixing part and a first driving part. The first fixing part may be fixed to the device body 11, and the upper end of the first connecting rod 1211 may be connected to the first driving part, so that the first driving part can drive the upper end of the first connecting rod 1211 to rotate, thereby driving the entire first connecting rod 1211 to rotate. Furthermore, by setting the first fixing part to the device body 11, a stable setting position can be provided for the first driving member 1231, improving the stability of the first driving member 1231 and ensuring that the first driving member 1231 can stably drive the first connecting rod 1211 to rotate.

[0118] The second driving member 1232 may have a second fixing part and a second driving part. The second fixing part may be fixed to the side of the first connecting rod 1211 opposite to the first driving part, and the second connecting rod 1212 may be connected to the second driving part so that the second driving part can drive the rotation of the second connecting rod 1212. By fixing the second fixing part to the first connecting rod 1211, the second driving member 1232 can be avoided from being fixed to the equipment body 11 as well, thereby saving space in the equipment body 11. Furthermore, by setting the second driving member 1232 on the first connecting rod 1211, the distance between the second driving member 1232 and the second connecting rod 1212 can be reduced, thereby reducing the transmission distance between the second driving part and the second connecting rod 1212. At the same time, since the first connecting rod 1211 is wider and has greater structural strength, setting the second driving member 1232 on the first connecting rod 1211 can ensure the stability of the second driving member 1232. In addition, by placing the second driving member 1232 and the first driving member 1231 on both sides of the first link 1211, motion interference between the second driving member 1232 and the first driving member 1231 can be avoided, ensuring that the first link 1211 and the second link 1212 can switch states smoothly and stably.

[0119] In some embodiments, the second fixing part can be fixed to the upper end of the first link 1211. Since the upper end of the first link 1211 is wider and has greater structural strength than other positions of the first link 1211, fixing the second fixing part to the upper end of the first link 1211 can further improve the stability of the second drive member 1232.

[0120] like Figure 2 and Figure 5As shown, the walking device 12 may further include a traction rod 1213, one end of which is rotatably connected to the second connecting rod 1212, and the other end of which is connected to the second drive unit. Since the second drive member 1232 is located at the upper end of the first connecting rod 1211, and the second connecting rod 1212 is rotatably connected to the lower end of the first connecting rod 1211, the traction rod 1213 can transmit the driving force provided by the second drive unit, allowing the traction rod 1213 to pull or push the second connecting rod 1212 under the drive of the second drive unit, causing the second connecting rod 1212 to rotate.

[0121] Furthermore, the end of the traction rod 1213 away from the second drive unit is rotatably connected to the upper end of the second connecting rod 1212. This arrangement can reduce the torque required for the traction rod 1213 to drive the second connecting rod 1212 to rotate, allowing the traction rod 1213 to rotate the second connecting rod 1212 more easily.

[0122] like Figure 5 As shown, the walking device 12 may further include a drive ear 1214, which may have a first connecting portion and a second connecting portion. The first connecting portion may be fixedly connected to the second driving portion, and the second connecting portion may be rotatably connected to the end of the traction rod 1213 away from the second connecting rod 1212. By providing the drive ear 1214 and making the second connecting portion rotatably connected to the end of the traction rod 1213 away from the second connecting rod 1212, the drive ear 1214, the traction rod 1213, the second connecting rod 1212, and the first connecting rod 1211 can form a planar linkage mechanism, further ensuring that the traction rod 1213 can pull or push the second connecting rod 1212 under the drive of the second driving portion, causing the second connecting rod 1212 to rotate, and improving the stability and accuracy of the rotation of the second connecting rod 1212.

[0123] In some embodiments, such as Figures 1 to 6 As shown, the walking device 12 may further include a protective housing 124. The protective housing 124 may be disposed on the side of the first connecting rod 1211 opposite to the first driving member 1231, and an accommodating space is formed between the protective housing 124 and the first connecting rod 1211. At least a portion of the traction rod 1213 and at least a portion of the driving ear 1214 may be disposed within the accommodating space, so as to provide protection for the traction rod 1213 and the driving ear 1214 by means of the protective housing 124.

[0124] The second drive member 1232 can also be disposed within the accommodating space to provide protection for the second drive member 1232 using the protective shell 124. The second fixing part can be fixed to the upper end of the first connecting rod 1211 on the side opposite to the first drive member; or, the second fixing part can be fixed to the upper end of the protective shell 124 on the side close to the first drive member; or, the second fixing part can be fixed to both the upper end of the first connecting rod 1211 on the side opposite to the first drive member and the upper end of the protective shell 124 on the side close to the first drive member.

[0125] Part of the second link 1212 can be located within the accommodating space and rotatably connected to both the first link 1211 and the protective shell 124. This allows the first link 1211 and the protective shell 124 to limit the movement of the second link 1212, thereby improving the stability of the rotatable connection between the second link 1212 and the first link 1211. Furthermore, this arrangement provides protection at the connection point between the first link 1211 and the second link 1212 using the first link 1211 and the protective shell 124, further enhancing the stability of the rotatable connection between the second link 1212 and the first link 1211.

[0126] In some embodiments, such as Figures 1 to 16 As shown, the cleaning device 1 may include at least two walking devices 12, which may be spaced apart to improve the stability of the cleaning device 1 during movement in a first walking state, a second walking state, and a third walking state. The at least two walking devices 12 may be spaced apart along a first direction X, which may intersect with a second direction Y. The second direction Y can be the direction from the front of the device body 11 to the rear of the device body 11. For example, when the first direction X is perpendicular to the second direction Y, the at least two walking devices 12 may be positioned on the left and right sides of the device body 11. However, this is not a limitation; the at least two walking devices 12 may also be spaced apart along the second direction Y, which is also within the scope of this disclosure.

[0127] like Figure 1 As shown, the cleaning device 1 may include two walking devices 12. The two walking devices 12 may be located on both sides of the first reference line S1. The first reference line S1 may be an auxiliary line that passes through the center of the device body 11 and extends along the first direction X, which can be understood as: the two walking devices 12 may be respectively set on the left and right sides of the device body 11.

[0128] It should be noted that the first reference line S1 mentioned above can be a virtual auxiliary line, and the physical structure of the first reference line S1 may not exist on the cleaning device 1.

[0129] For example, the two walking devices 12 of the cleaning device 1 can move simultaneously to enable the cleaning device 1 to move. However, this is not the only possibility; the two walking devices 12 of the cleaning device 1 can move alternately to enable the cleaning device 1 to move. It is understood that the two walking devices 12 can alternately fold or extend by rotating their respective first link 1211 and second link 1212 to achieve alternating movement.

[0130] In some embodiments, such as Figure 2 As shown, the walking device 12 may further include a wheel assembly 122. The wheel assembly 122 may include a drive wheel 1221 and a walking drive component 1222. The drive wheel 1221 is rotatably mounted on the lower end of the second link 1212 and supported on the surface 2 to be cleaned. The walking drive component 1222 may be mounted on the lower end of the drive wheel 1221 or the second link 1212. The walking drive component 1222 may be configured to drive the drive wheel 1221 to rotate, thereby moving the main body 11 of the equipment and thus enabling the cleaning equipment 1 to move. Furthermore, when the walking device 12 includes the drive wheel 1221 and the walking drive component 1222, the drive wheels 1221 of two walking devices 12 can be driven to rotate simultaneously to achieve synchronous movement of the two walking devices 12.

[0131] In some embodiments of this disclosure, such as Figure 2 and Figure 9 As shown, the wheel assembly 122 may further include a first support wheel 1223. The first support wheel 1223 is rotatably mounted on the second link 1212, and the first support wheel 1223 may be configured to support the surface 2 to be cleaned when the cleaning device 1 is in the second walking state, so as to improve the stability of the cleaning device 1 during the process of walking in the second walking state.

[0132] The first support wheel 1223 can be rotatably mounted on the upper end of the second link 1212. Since the drive wheel 1221 is located at the lower end of the second link 1212, when the first support wheel 1223 is rotatably mounted on the upper end of the second link 1212, both ends of the second link 1212 can have support points, which can further improve the stability of the cleaning equipment 1 during the second walking state.

[0133] The first support wheel 1223 can be a swivel wheel to improve the turning flexibility of the cleaning equipment 1, but it is not limited to this. The first support wheel 1223 can also be other wheel bodies, which can be selected and set according to actual needs.

[0134] like Figure 7As shown, the cleaning device 1 may further include a second support wheel 14. The second support wheel 14 may be disposed on the bottom surface of the device body 11, and in the first direction X, when the cleaning device 1 is in the second walking state or the third walking state, the second support wheel 14 may be close to the front of the device body 11 relative to the drive wheel 1221. In this way, when the cleaning device 1 is walking in the second walking state or the third walking state, it can be supported on the upper surface 31 of the obstacle by the second support wheel 14, thereby providing a support point for the walking device 12 to cross or climb the obstacle 3, and improving the stability of the cleaning device 1 in the process of crossing or climbing the obstacle 3.

[0135] Furthermore, in the first direction X, when the cleaning device 1 is in the first walking state, the second support wheel 14 can be close to the front of the device body 11 relative to the drive wheel 1221, so that the second support wheel 14 and the drive wheel 1221 form a triangular support, thereby improving the stability of the cleaning device 1 during operation.

[0136] The second support wheel 14 can be a swivel wheel to improve the turning flexibility of the cleaning equipment 1, but it is not limited to this. The second support wheel 14 can also be other wheel types, which can be selected and set according to actual needs.

[0137] The cleaning device 1 may further include a third support wheel 15. The third support wheel 15 may be disposed on the bottom surface of the device body 11. In the first direction X, the second support wheel 14 is closer to the front of the device body 11 relative to the third support wheel 15, and when the cleaning device 1 is in the third walking state, the third support wheel 15 is closer to the front of the device body 11 relative to the drive wheel 1221. Thus, when the obstacle 3 is high and the cleaning device 1 is climbing the obstacle 3 in the third walking state, the second support wheel 14 and the third support wheel 15 can be used to support the upper surface 31 of the obstacle simultaneously, thereby providing multiple support points for the walking device 12 to climb the higher obstacle 3, further improving the stability of the cleaning device 1 during the climbing process.

[0138] like Figure 7 As shown, there can be multiple third support wheels 15, and these multiple third support wheels 15 can be arranged at intervals, but are not limited to this. There can also be only one third support wheel 15. The third support wheel 15 can be a swivel wheel to improve the turning flexibility of the cleaning equipment 1, but is not limited to this. The third support wheel 15 can also be other types of wheels, which can be selected and set according to actual needs.

[0139] In some embodiments, such as Figure 1As shown, the cleaning device 1 may further include an obstacle detection component 13, which can be installed on the device body 11. The obstacle detection component 13 can be used to detect the height of the obstacle 3 to assist the walking device 12 in switching states. Specifically, the walking device 12 can switch to a second walking state when the height of the obstacle 3 is higher than a first preset height and lower than a second preset height, and the walking device 12 can switch to a third walking state when the height of the obstacle 3 is higher than the second preset height.

[0140] It should be noted that the first preset height and the second preset height mentioned here can be specific height values, such as: the first preset height can be 6cm, the second preset height can be 11cm, etc.

[0141] The obstacle detection component 13 can be a radar obstacle detection component 13, but is not limited to this. The obstacle detection component 13 can also be an infrared obstacle detection component 13, etc. This disclosure does not limit it and can be selected and set according to the actual situation.

[0142] The obstacle detection component 13 can be located at the front of the main body 11 of the equipment so that the obstacle detection component 13 can detect obstacles in front of the cleaning equipment 1. However, it is not limited to this and the obstacle detection component 13 can also be located at other positions of the main body 11 of the equipment.

[0143] In some embodiments of this disclosure, such as Figures 8 to 15 As shown, the cleaning device 1 can enter an obstacle-crossing mode in response to the detection of the obstacle 3. In the obstacle-crossing mode, when the cleaning device 1 moves to a second or third walking state and the main body 11 is at least partially located on the upper surface of the obstacle 3, the walking device 12 can switch to the first walking state so that the walking device 12 converges to the upper surface of the obstacle 3.

[0144] For example, the cleaning device 1 can enter an obstacle-crossing mode in response to the detection of an obstacle 3. In the obstacle-crossing mode, when the height of the detected obstacle 3 is higher than a first preset height but lower than a second preset height, the cleaning device 1 can walk in a second walking state until the main body 11 is at least partially located on the upper surface of the obstacle 3. At this point, the walking device 12 can switch to a first walking state so that the walking device 12 converges to the upper surface of the obstacle 3.

[0145] In response to the detection of obstacle 3, cleaning device 1 can enter obstacle-crossing mode. In obstacle-crossing mode, when the height of obstacle 3 is detected to be higher than the second preset height, cleaning device 1 can walk in the third walking state until the main body 11 is at least partially located on the upper surface of obstacle 3. Then, walking device 12 can switch to the first walking state so that walking device 12 converges to the upper surface of obstacle 3.

[0146] Furthermore, such as Figure 9 As shown, when the driving walking device 12 switches from the first walking state to the second walking state or the third walking state, the first link 1211 and the second link 1212 can be controlled to rotate so that the height of the main body 11 is greater than the height of the obstacle 3, and the first support wheel 1223 is supported on the surface 2 to be cleaned. That is, the rotation of the first link 1211 and the second link 1212 can be controlled to switch the first link 1211 to a first intermediate state or a first extended state, and the second link 1212 to a second intermediate state or a second extended state, so that the first support wheel 1223 is supported on the surface 2 to be cleaned.

[0147] like Figure 10 As shown, when at least a portion of the bottom surface of the device body 11 is supported on the upper surface 31 of the obstacle 3, the wheel assembly 122 can drive the cleaning device 1 to move towards the obstacle 3 so that the second support wheel 14 is supported on the upper surface 31 of the obstacle. The drive assembly 123 can drive the first link 1211 and / or the second link 1212 to rotate, so that the walking device 12 switches to a first transition state. The walking device 12 can be driven to continue moving in the first transition state, so that the third support wheel 15 is supported on the upper surface 31 of the obstacle.

[0148] It should be noted that when the cleaning equipment 1 is in the first transition state, the height of the main body of the equipment 11 remains unchanged.

[0149] In some embodiments of this disclosure, such as Figure 16 As shown, the main body 11 of the cleaning device 1 can be equipped with cleaning components. The cleaning device 1 can include two walking devices 12, which are located on both sides of the reference line S1, that is, the cleaning device 1 is provided with walking devices 12 on both sides along its forward direction.

[0150] The cleaning device 1 can have an obstacle cleaning mode. When the width of the obstacle 3 is less than the width of the cleaning device 1, at least one of the two walking devices 12 is in an extended state. When the walking device 12 is in the extended state, it can be in a second or third walking state to support itself on the surface below the obstacle 3. The wheel assembly 122 can drive the cleaning device 1 to move along the length direction Z of the obstacle 3 to clean the upper surface 31 of the obstacle 3.

[0151] Furthermore, in cleaning mode, the wheel assembly 122 can drive the cleaning device 1 to rotate, thereby suspending a walking device 12 in the air, and the drive assembly 123 can drive the suspended walking device 12 to be in an extended state and supported on the surface 2 to be cleaned.

[0152] In some embodiments of this disclosure, such as Figures 12 to 15 As shown, the cleaning device 1 can enter a stair-climbing mode in response to the detection of the staircase 4. In the stair-climbing mode, when the cleaning device 1 moves to a second or third walking state and the main body 11 is at least partially located on the tread 41 of the staircase 4, the walking device 12 can switch to the first walking state so that the walking device 12 converges to the tread 41 of the staircase 4. Specifically, when the cleaning device 1 is climbing the staircase 4, when the walking device 12 converges to a tread 41, the walking device 12 can switch from the first walking state to the second or third walking state, thereby climbing a higher step of the staircase 4.

[0153] It should be noted that the staircase 4 may have a tread 41 and a riser 42. The tread 41 may be a horizontal surface, and the riser 42 may be a vertical surface.

[0154] Furthermore, such as Figure 12 As shown, when the driving walking device 12 switches from the first walking state to the second walking state or the third walking state, the first link 1211 and the second link 1212 can be controlled to rotate so that the height of the main body 11 is greater than the height of the staircase 4, and the first support wheel 1223 is supported on the surface below the tread 41. That is to say, the rotation of the first link 1211 and the second link 1212 can be controlled to switch the first link 1211 to a first intermediate state or a first extended state, and the second link 1212 to a first intermediate state or a first extended state, so that the first support wheel 1223 is supported on the surface below the tread 41.

[0155] like Figure 13 and Figure 14As shown, when the main body 11 of the device is at least partially supported on the tread 41, the walking device 12 can be driven to move toward the obstacle 3 in a second walking state or a third walking state, and both the first support wheel 1223 and the second support wheel 14 are supported on the tread 41.

[0156] In some embodiments of this disclosure, such as Figure 16 As shown, the cleaning device 1 can have a stair cleaning mode. When the cleaning device 1 switches to the stair cleaning mode, the cleaning device 1 rotates to be parallel to the forward direction and the length direction Z of the tread 41 of the stair 4.

[0157] When the width of the tread 41 of the staircase 4 is less than the width of the cleaning device 1, at least one of the two walking devices 12 is in an extended state. When the walking device 12 is in the extended state, it can be in a second or third walking state to support itself on the surface located below the tread 41. The wheel assembly 122 can drive the cleaning device 1 to move along the length direction Z of the tread 41 to clean the tread 41.

[0158] When the width of the tread 41 of the staircase 4 is greater than the width of the cleaning device 1, the two walking devices 12 are in the first walking state and are in contact with the tread 41 of the staircase 4 to support the device body 11 on the tread 41. The wheel assembly 122 can drive the cleaning device 1 to move along the length direction Z of the tread 41 to clean the tread 41.

[0159] Furthermore, such as Figures 14 to 16 As shown, in cleaning mode, the wheel assembly 122 can drive the cleaning device 1 to rotate, thereby suspending a walking device 12 in the air. The drive assembly 123 can drive the suspended walking device 12 to be in an extended state and supported on the surface located below the tread 41.

[0160] This disclosure also provides a method for operating a cleaning device 1. This method for operating the cleaning device 1 can be applied to the cleaning device 1 described above, but is not limited thereto. Figure 17 As shown, the working method of cleaning device 1 may include:

[0161] Step S10: Determine the current operating requirements of cleaning equipment 1.

[0162] Step S20: In response to operational requirements, control the walking device 12 to be in one of the first walking state, the second walking state, and the third walking state.

[0163] Specifically, when the walking device 12 switches from the first walking state to the second walking state, the main body 11 of the equipment is raised from the first height to the second height, and when the walking device 12 switches from the second walking state to the third walking state, the main body 11 of the equipment is raised from the second height to the third height.

[0164] In some embodiments of this disclosure, in step S10, when the height of obstacle 3 is less than a first height, the operating requirement is determined to be a first walking state operating requirement. When the height of obstacle 3 is greater than the first height but less than a second height, the operating requirement is determined to be a second walking state operating requirement. When the height of obstacle 3 is greater than a third height, the operating requirement is determined to be a third walking state operating requirement.

[0165] In step S20, the walking device can be controlled to enter the first walking state in response to the operating requirements of the first walking state. It can also be controlled to enter the second walking state in response to the operating requirements of the second walking state. Finally, it can be controlled to enter the third walking state in response to the operating requirements of the third walking state.

[0166] It should be noted that the specific structure, working method and working mode of the cleaning equipment 1 were described in detail in the previous topic. In this topic on the working method of the cleaning equipment 1, the specific structure, working method and working mode of the cleaning equipment 1 will not be described again. Please refer to the records in the previous topic.

[0167] The working method of the cleaning device 1 described in the above embodiments can be implemented by a computer program, or by a computer program combined with necessary hardware. Therefore, in some embodiments, a computer program product is provided, which is embodied in the form of a program product including computer instructions and can be stored in a computer-readable storage medium, and is adapted to be read and executed by a processor so that a computer device having a processor performs the working method of the cleaning device 1 described in the above embodiments.

[0168] In some embodiments, a computer-readable storage medium is also provided having at least one piece of program code stored thereon, the at least one piece of program code being loadable and executed by a processor to implement the working method of the cleaning device 1 described in the above embodiments.

[0169] The computer program product may be a portable compact disc read-only storage medium (CD-ROM) and include at least one line of program code, and may run on a terminal device, such as a personal computer. However, the program product in this embodiment is not limited to this. In this embodiment, the computer-readable storage medium may be any tangible medium that contains or stores the computer program product, which may be used or used in conjunction with an instruction execution system, apparatus, or device.

[0170] Computer program products may be stored using one or more computer-readable storage media. Computer-readable storage media may be readable signal media or readable storage media. Readable storage media may be, for example, but not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatuses, or devices, or any combination thereof. More specific examples (a non-exhaustive list) of readable storage media include: electrical connections having one or more wires, portable disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0171] A readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, carrying readable program code. This propagated data signal may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A readable signal medium may also be any readable medium other than a readable storage medium, capable of sending, propagating, or transmitting a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0172] Program code contained on a computer-readable storage medium may be transmitted using any suitable medium, including but not limited to wireless, wired, optical fiber, RF, etc., or any suitable combination thereof.

[0173] Program code for performing the operations of this utility model can be written in any combination of one or more programming languages, including object-oriented programming languages.

[0174] In some embodiments, a cleaning device 1 is provided. The cleaning device 1 may include, but is not limited to, one or more processors and one or more memories. The one or more memories store at least one line of program code, which can be loaded and executed by the one or more processors to implement the various steps of the operating method of the cleaning device 1 described in the above embodiments.

[0175] The memory may include readable media in the form of volatile memory, such as random access memory (RAM) and / or cache memory, and may further include read-only memory (ROM).

[0176] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the utility models disclosed herein. This disclosure is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the appended claims.

Claims

1. A cleaning device, characterized in that, include: The main body of the equipment is equipped with cleaning components. A walking device includes a linkage assembly and a drive assembly. The linkage assembly is connected to the main body of the device, and the drive assembly is connected to the linkage assembly. The drive assembly drives the linkage assembly to switch the walking device between a first walking state, a second walking state, and a third walking state. When the walking device switches from the first walking state to the second walking state, the main body of the device is raised from a first height to a second height. When the walking device switches from the second walking state to the third walking state, the main body of the device is raised from the second height to a third height.

2. The cleaning equipment according to claim 1, characterized in that, When the walking device is in the first walking state and walking on the surface to be cleaned, the cleaning component can clean the surface to be cleaned.

3. The cleaning equipment according to claim 1, characterized in that, The cleaning equipment also includes: An obstacle detection component is used to detect the height of an obstacle. The walking device switches to a second walking state when the height of the obstacle is higher than a first preset height and lower than a second preset height, and switches to a third walking state when the height of the obstacle is higher than the second preset height.

4. The cleaning equipment according to claim 1, characterized in that, The linkage assembly includes: The first link is rotatably connected to the main body of the device, and the drive assembly is capable of driving the first link to rotate. The second link is rotatably connected to the first link, and the drive assembly is capable of driving the second link to rotate.

5. The cleaning equipment according to claim 4, characterized in that, The drive component can drive the first link to switch between a first folded state and a first intermediate state, and / or drive the second link to switch between a second folded state and a second intermediate state, so that the walking device can switch between the first walking state and the second walking state.

6. The cleaning equipment according to claim 5, characterized in that, The drive assembly can drive the first link to switch between a first intermediate state and a first extended state, and / or drive the second link to switch between a second intermediate state and a second extended state, so that the walking device can switch between the second walking state and the third walking state.

7. The cleaning equipment according to any one of claims 4 to 6, characterized in that, The cleaning device also includes a wheel assembly, the wheel assembly comprising: A drive wheel is rotatably mounted on the lower end of the second connecting rod and supported on the surface to be cleaned; A walking drive component is installed at the lower end of the drive wheel or the second connecting rod. The walking drive component can drive the drive wheel to rotate, thereby moving the main body of the equipment.

8. The cleaning equipment according to claim 7, characterized in that, The wheel assembly also includes: A first support wheel is rotatably mounted on the second link, and the first support wheel is configured to support the surface to be cleaned when the walking device is in the second walking state.

9. The cleaning equipment according to claim 8, characterized in that, The first support wheel is rotatably connected to the upper end of the second connecting rod.

10. The cleaning equipment according to any one of claims 4 to 6, characterized in that, The driving component includes: A first driving member is connected to the upper end of the first connecting rod, and the first driving member is capable of driving the first connecting rod to rotate. The second driving member is connected to the second connecting rod, and the second driving member can drive the second connecting rod to rotate.

11. The cleaning equipment according to claim 10, characterized in that, The first driving component has a first fixing part and a first driving part. The first fixing part is fixed to the main body of the device, and the upper end of the first connecting rod is connected to the first driving part. The second driving member has a second fixing part and a second driving part. The second fixing part is fixed to the side of the first connecting rod opposite to the first driving part, and the second connecting rod is connected to the second driving part.

12. The cleaning equipment according to claim 11, characterized in that, The second fixing part is fixed to the upper end of the first connecting rod.

13. The cleaning equipment according to claim 12, characterized in that, The linkage assembly also includes: A traction rod, one end of which is rotatably connected to the second connecting rod, and the other end of which is connected to the second drive unit; The driving ear has a first connecting part and a second connecting part. The first connecting part is fixedly connected to the second driving part, and the second connecting part is rotatably connected to the end of the traction rod away from the second connecting rod.

14. The cleaning equipment according to claim 13, characterized in that, The end of the traction rod away from the second drive unit is rotatably connected to the upper end of the second connecting rod.

15. The cleaning equipment according to claim 13, characterized in that, The walking device also includes: A protective shell is disposed on the side of the first connecting rod away from the main body of the equipment, and an accommodating space is formed between the protective shell and the first connecting rod, wherein at least a portion of the traction rod and at least a portion of the connecting lug are disposed in the accommodating space.

16. The cleaning equipment according to any one of claims 1 to 6, characterized in that, The cleaning equipment includes: At least two of the walking devices are arranged at intervals.

17. The cleaning equipment according to claim 16, characterized in that, The cleaning equipment includes: The two walking devices are located on opposite sides of the reference line; The reference line is an auxiliary line that passes through the center of the device body and extends along a first direction, where the first direction is the direction from the front of the device body to the rear of the device body.

18. The cleaning equipment according to claim 7, characterized in that, The cleaning equipment also includes: The second support wheel is disposed on the bottom surface of the main body of the device, and in the first direction, when the cleaning device is in the second walking state or the third walking state, the second support wheel is closer to the front of the main body of the device relative to the drive wheel; Wherein, the first direction is the direction from the front of the device body to the rear of the device body.

19. The cleaning equipment according to claim 18, characterized in that, In the first direction, when the walking device is in the first walking state, the second support wheel is closer to the front of the device body relative to the drive wheel.

20. The cleaning equipment according to claim 18, characterized in that, The cleaning equipment also includes: The third support wheel is disposed on the bottom surface of the device body. In the first direction, the second support wheel is closer to the front of the device body relative to the third support wheel, and when the walking device is in the third walking state, the third support wheel is closer to the front of the device body relative to the drive wheel.

21. The cleaning equipment according to any one of claims 1 to 6, characterized in that, The main body of the device includes: A cleaning device, wherein the walking device is connected to the cleaning device, and the cleaning device is used to clean the surface to be cleaned.

22. The cleaning equipment according to any one of claims 1 to 6, characterized in that, The main body of the device includes: The carrier body, the walking device and the carrier body are connected; A cleaning device, which can be housed in the carrier, is used to clean the surface to be cleaned.

23. The cleaning equipment according to claim 3, characterized in that, The obstacle detection component is installed at the front of the main body of the device.

24. The cleaning equipment according to claim 1, characterized in that, In response to the detection of an obstacle, the cleaning device enters obstacle-crossing mode; In the obstacle-crossing mode, when the cleaning device moves to a point where at least part of the device body is located on the upper surface of the obstacle in either the second or third walking state, the walking device switches to the first walking state so that the walking device converges to the upper surface of the obstacle.

25. The cleaning equipment according to claim 24, characterized in that, The cleaning equipment is provided with walking devices on both sides along its forward direction. The cleaning equipment has an obstacle cleaning mode. When the width of the obstacle is less than the width of the cleaning equipment, at least one of the two walking devices is in an extended state.

26. The cleaning equipment according to claim 1, characterized in that, In response to the detection of stairs, the cleaning equipment enters stair-climbing mode; In the stair-climbing mode, when the cleaning equipment walks in the second or third walking state until the main body of the equipment is at least partially located on the tread of the stair, the walking device switches to the first walking state so that the walking device converges to the tread of the stair.

27. The cleaning equipment according to claim 26, characterized in that, The main body of the equipment is provided with the walking device on both sides along its forward direction. The cleaning equipment has a stair cleaning mode. When the cleaning equipment switches to the stair cleaning mode, the cleaning equipment rotates until its forward direction is parallel to the length direction of the stair treads.

28. The cleaning equipment according to claim 27, characterized in that, When the width of the stair tread is less than the width of the cleaning equipment, one of the two walking devices is in the extended state.

29. The cleaning equipment according to claim 27, characterized in that, When the width of the stair tread is greater than the width of the cleaning device, the two walking devices are in the first walking state and are in contact with the stair tread.

30. A cleaning system, characterized in that, include: Base station; The cleaning equipment is the cleaning equipment described in any one of claims 1 to 29 above, the cleaning equipment can be parked on the base station, and / or the cleaning equipment can be docked with the base station.

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