movable platform

Abstract

The application provides a movable platform, two running wheels of the movable platform are arranged at an engine body, two motors arranged on the engine body are connected with the two running wheels one by one respectively to drive one running wheel to rotate respectively; each running wheel comprises a first wheel body and a second wheel body which are coaxially arranged and connected, the maximum radial dimension of the outer circumferential surface of the first wheel body is greater than the maximum radial dimension of the outer end surface of the second wheel body; the two second wheel bodies of the two running wheels are arranged on the same side of the corresponding first wheel body along the axial direction respectively; when running on a plane, the first wheel body of the running wheel is in contact with the plane and the second wheel body is not in contact with the plane; when crossing an obstacle, the second wheel body of the running wheel can be in contact with the obstacle respectively or simultaneously. The movable platform of the application can be applied to crossing obstacles of various obstacles, the movable platform can use the second wheel body which is not easy to be wet to climb upward to ensure the crossing effect, and the crossing structure is simple and has high reliability.

Description

Technical Field

[0001] This utility model relates to the field of mobile device technology, and more particularly to mobile platforms. Background Technology

[0002] In existing obstacle-crossing processes, mobile robots mainly rely on their wheels to accelerate and traverse thresholds, typically over obstacles less than 20mm high. On wet, slippery surfaces, the tires are prone to slipping, limiting the robot's ability to overcome obstacles less than 10mm high using only its wheels. This results in an inability to successfully jump over obstacles within the expected height range, leading to less than ideal obstacle-crossing performance.

[0003] Related technologies involve incorporating obstacle-crossing components, such as robotic arms, into the mobile robot's body to help it overcome obstacles. However, these structures are complex, have limited applicability, and the robotic arms are prone to damage due to insufficient reliability. Therefore, a highly reliable obstacle-crossing solution is currently lacking. Utility Model Content

[0004] In view of this, the present invention proposes a mobile platform, which aims to achieve a highly reliable obstacle-crossing solution.

[0005] This utility model proposes a movable platform, a body, and two traveling wheels spaced apart from each other on the body. Each traveling wheel includes a first wheel body and a second wheel body coaxially arranged, with the first wheel body connected to the second wheel body. The first wheel body includes an outer peripheral surface surrounding its axis, and the second wheel body includes an outer peripheral surface surrounding its axis and an outer end surface passing through its axis. The maximum radial dimension of the outer peripheral surface of the first wheel body is greater than the maximum radial dimension of the outer end surface of the second wheel body. The outer end surface is a surface of the second wheel body axially away from the first wheel body, and the maximum radial dimension is perpendicular to the outer end surface. The radial dimension of the traveling wheel along its axial direction; and two motors, each motor mounted on the body and connected to one of the two traveling wheels respectively, each motor driving the traveling wheel connected to it to rotate; wherein, the two second wheel bodies of the two traveling wheels are respectively axially arranged on the same side of their corresponding first wheel bodies; when the movable platform travels on a plane, the first wheel body of each traveling wheel can contact the plane while the second wheel body of each traveling wheel can not contact the plane; during the obstacle crossing process of the movable platform, the second wheel bodies of the two traveling wheels can contact the obstacle separately or simultaneously.

[0006] As can be seen from the above technical solution, the mobile platform proposed in this utility model allows the motor to drive the driving wheels to rotate and propel the platform forward or over obstacles during planar travel. Travel can be achieved by the first wheel contacting the planar surface, while the second wheel remains in contact. This reduces the probability of the second wheel getting wet, making it less prone to slipping during obstacle crossing. During obstacle crossing, the mobile platform uses the second wheel, which is not in contact with the liquid, to climb onto the obstacle surface, thereby driving the first wheel, which is coaxially arranged with the second wheel, to also climb onto the obstacle surface and overcome it. This allows the driving wheels of this application to maintain their original obstacle-crossing ability even after traveling on a wet or slippery contact surface. Furthermore, the first and second wheels arranged coaxially in this application can reduce the overall structural volume of the driving wheels and improve structural strength while ensuring the preset obstacle-crossing ability after driving on wet ground, thus guaranteeing stability during driving and obstacle crossing. The two second wheels are respectively arranged axially on the same side of their corresponding first wheels, which allows the second wheels of the two driving wheels to contact obstacles separately or simultaneously, thus ensuring obstacle crossing performance, provided that the first and second wheels are coaxially arranged.

[0007] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit the disclosure of the embodiments of this utility model. Attached Figure Description

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

[0009] Figure 1 This is a top view of a movable platform proposed in some embodiments of this application;

[0010] Figure 2 This is a bottom view of a movable platform proposed in some embodiments of this application;

[0011] Figure 3 This is a front view of a movable platform proposed in some embodiments of this application;

[0012] Figure 4 This is a schematic diagram showing that the axes of two traveling wheels coincide with each other, according to some embodiments of this application;

[0013] Figure 5 This is a schematic diagram showing that the axes of two traveling wheels are parallel to each other, according to some embodiments of this application;

[0014] Figure 6 This is a three-dimensional structural diagram of a driving wheel proposed in some embodiments of this application;

[0015] Figure 7 This is a front view of the driving wheel proposed in some embodiments of this application;

[0016] Figure 8 This is a side view of a driving wheel proposed in some embodiments of this application;

[0017] Figure 9 This is a front view of a driving wheel proposed in some embodiments of this application, wherein the second wheel body includes a plurality of third wheel portions with different radii connected along the axial direction;

[0018] Figure 10 This is a three-dimensional structural diagram of a movable platform proposed in some embodiments of this application, wherein a power wheel assembly is connected to the body;

[0019] Figure 11 yes Figure 10 A magnified schematic diagram of the structure of a portion of region A in the middle;

[0020] Figure 12 This is a bottom view of a movable platform proposed in some embodiments of this application, wherein a power wheel assembly is connected to the body;

[0021] Figure 13 This is a schematic diagram illustrating the obstacle crossing of a mobile platform according to some embodiments of this application;

[0022] Figure 14 This is another obstacle-crossing schematic diagram of a mobile platform proposed in some embodiments of this application;

[0023] Figure 15 This is a schematic diagram of the device in some embodiments of this application.

[0024] Explanation of reference numerals in the attached figures:

[0025] 100. Portable platform;

[0026] 10. Organism;

[0027] 20. Running wheel; 201. First running wheel; 202. Second running wheel;

[0028] 21. First round body;

[0029] 211. First Round Section;

[0030] 2111, First main body; 2112, First protrusion; 2113, First depression; 2114, Third depression;

[0031] 212. Second wheel section; 2121. Second main body; 2122. Second protrusion; 2123. Second recess;

[0032] 213. Connecting part;

[0033] 22. Second wheel body; 220. Outer end face;

[0034] 221. Third main body; 222. Third protrusion; 223. Third wheel-like part; 224. Fourth recess;

[0035] 30. Cleaning components;

[0036] 31. Side brush; 32. Mop; 33. Vacuum cleaner;

[0037] 40. Drive wheel assembly;

[0038] 41. Passive wheel; 42. Driving wheel; 421. Concave portion; 43. Drive mechanism;

[0039] 50. Motor; 60. Auxiliary wheel;

[0040] 1000, Device; 200, Memory; 300, Processor;

[0041] 2000, Obstacles. Detailed Implementation

[0042] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, not all embodiments. Other embodiments obtained by those skilled in the art based on the embodiments of the present utility model without creative effort are all within the protection scope of the present utility model.

[0043] Existing mobile robots typically have at least two controllable speed-adjustable wheels. During obstacle crossing, they mainly rely on these wheels to accelerate and traverse thresholds, with obstacle heights usually less than 20mm. On wet, slippery surfaces, the tires are prone to slipping, and the robot can only rely on its wheels to accelerate over obstacles less than 10mm high. It cannot successfully jump over obstacles within its original preset obstacle-crossing height range, resulting in less than ideal obstacle-crossing performance.

[0044] Related technologies involve setting obstacle-crossing accessories on the body of mobile robots, such as a robotic arm pressing down on a threshold to facilitate wheel crossing. However, these technologies are complex, have limited applicability, and lack reliability.

[0045] In related technologies, there are also auxiliary obstacle-crossing components to increase obstacle-crossing ability. However, when the walking wheels get wet and slip, the walking wheels tend to spin in place when the auxiliary obstacle-crossing component pushes the mobile robot over obstacles. The walking wheels cannot cross the obstacle surface, and the obstacle-crossing assistance effect of the auxiliary obstacle-crossing component is poor.

[0046] In view of this, this application proposes a mobile platform 100, which aims to solve at least one of the aforementioned technical problems. The mobile platform 100 in this application can be a vehicle, an amphibious device (including but not limited to flying cars), a robot (including but not limited to cleaning robots), etc.

[0047] Please see Figure 1 , Figure 2 , Figure 3 A mobile platform 100 according to an embodiment of this application includes: a body 10 and two driving wheels 20.

[0048] Among them, such as Figure 2 As shown, two wheels 20 are spaced apart on the body 10, specifically located on one side of the bottom surface of the body 10. Alternatively, they could be located on one side of the body 10, or on one side of the top surface of the body 10, depending on the usage scenario of the movable platform 100. In some embodiments, the two wheels 20 can also be located on the left and right sides of the body 10.

[0049] like Figure 2 As shown, each traveling wheel 20 includes a first wheel body 21 and a second wheel body 22 coaxially arranged, with the first wheel body 21 connected to the second wheel body 22. In this application, the first wheel body 21 and the second wheel body 22 form an organic whole; when the first wheel body 21 rotates relative to the machine body 10, the second wheel body 22 also rotates; when the first wheel body 21 is stationary relative to the machine body 10, the second wheel body 22 is also stationary relative to the machine body 10. Coaxial arrangement can refer to the rotation axes of the first wheel body 21 and the second wheel body 22 coinciding with each other; in some embodiments, the first wheel body 21 and the second wheel body 22 can be configured to rotate synchronously, specifically, they can be driven synchronously by the same output shaft. It should be noted that the first wheel body 21 and the second wheel body 22 in this application are both wheels that can roll on their own. A wheel body can refer to a complete wheel, specifically a rotating body or a rotary body. Of course, the wheel shape of the first wheel body 21 and the second wheel body 22 can include traditional wheel shapes such as cylinders and frustums, or it can include irregular shapes, such as rotary structures with multiple blades or multiple grooves or protrusions.

[0050] Furthermore, the first wheel body 21 includes an outer peripheral surface surrounding the axis of the first wheel body 21, as shown in reference. Figure 6The second wheel 22 includes an outer peripheral surface surrounding its axis and an outer end surface 220 passing through its axis. The maximum radial dimension of the outer peripheral surface of the first wheel 21 is greater than the maximum radial dimension of the outer end surface 220 of the second wheel 22. The outer end surface 220 is a surface of the second wheel 22 disposed axially away from the first wheel 21, and its maximum radial dimension is the radial dimension perpendicular to the axis of the traveling wheel 20. It should be noted that the maximum radial dimension can be understood as a diameter or radius, specifically referring to the outer diameter. The outer end surface 220 refers to the surface of the second wheel 22, or in other words, the surface that can contact the external environment. In some embodiments, the outer end surface 220 may be a surface that does not contact or connect with other components of the movable platform 100. When the second wheel 22 has multiple end surfaces, the outer end surface 220 may refer to the end surface furthest axially from the first wheel 21. The outer end face 220 of this application can be a surface perpendicular to the axis of the second wheel body 22, or it can be an inclined surface at an acute angle to the axis of the second wheel body 22. When the outer end face 220 is an inclined surface, the maximum radial dimension of the outer end face 220 is the radial dimension of its projection onto the plane perpendicular to the axis of the second wheel body 22. The maximum radial dimension of this application should be understood as the radial dimension perpendicular to the axis of the traveling wheel 20.

[0051] Furthermore, continue to refer to Figure 2 The two second wheel bodies 22 of the two traveling wheels 20 are respectively arranged axially on the same side of their corresponding first wheel bodies 21. Here, "the same side" can be understood as both second wheel bodies 22 being located on the same side extending in the same direction along the axis of each traveling wheel 20. Specifically, this can be the same orientation side, such as both on the left or both on the right. For example, such as... Figure 2 As shown, the two driving wheels 20 include a first driving wheel 201 and a second driving wheel 202. In the arrangement direction of the first driving wheel 201 and the second driving wheel 202, the first wheel body 21 of the first driving wheel 201 and the second wheel body 22 of the second driving wheel 202 are located between the second wheel body 22 of the first driving wheel 201 and the first wheel body 21 of the second driving wheel 202, or the second wheel body 22 of the first driving wheel 201 and the first wheel body 21 of the second driving wheel 202 are located between the first wheel body 21 of the first driving wheel 201 and the second wheel body 22 of the second driving wheel 202.

[0052] For example, when the axes of both driving wheels 20 extend from right to left, the second wheel body 22 of one driving wheel 20 is located to the left of the axis of the first wheel body 21 extending from right to left, and the second wheel body 22 of the other driving wheel 20 is also located to the left of the axis of the first wheel body 21 extending from right to left.

[0053] When the mobile platform 100 travels on a flat surface, the first wheel body 21 of each driving wheel 20 can contact the flat surface while the second wheel body 22 of each driving wheel 20 can not contact the flat surface; during the obstacle crossing process of the mobile platform 100, the second wheel bodies 22 of the two driving wheels 20 can respectively or simultaneously contact the obstacle 2000 (the structure of the obstacle 2000 can be found in...). Figure 13 and Figure 14 Contact. It should be noted that the contact surface can be any surface that contacts the traveling wheel 20, specifically such as the ground, tabletop, floor, or wall. A flat surface can be one type of contact surface; a flat surface can refer to a surface without depressions or protrusions; while a contact surface can include different types of surfaces such as flat surfaces, curved surfaces, uneven surfaces, surfaces with slight protrusions, and surfaces with partial depressions.

[0054] The obstacle 2000 can be a step, threshold, fence, power line, or other object of a certain height encountered by the movable platform 100 during its movement. In some scenarios, the obstacle 2000 may include an object that can be separated from the contact surface.

[0055] As can be seen from the above, using the technical solution of this application, the maximum radial dimension of the outer peripheral surface of the first wheel 21 is greater than the maximum radial dimension of the outer end face 220 of the second wheel 22, and the first wheel 21 and the second wheel 22 are coaxially arranged. Therefore, the surface where the outer peripheral surface of the second wheel 22 is located and the surface where the outer peripheral surface of the first wheel 21 is located may not be flush in the height direction. When the movable platform 100 travels on a plane, the outer peripheral surface of the second wheel 22 may not be in contact with the plane while the first wheel 21 is in contact with the plane. The movable platform 100 can achieve normal movement by relying solely on the contact between the first wheel 21 and the plane.

[0056] Specifically, when the mobile platform 100 is traveling on a flat surface, it can travel by having the first wheel 21 of the driving wheel 20 contact the flat surface. At this time, the second wheel 22 does not contact the flat surface, thereby reducing the probability of the second wheel 22 getting wet when there is liquid on the flat surface. The second wheel 22 is not easy to get wet, and therefore it is not easy to slip during obstacle crossing.

[0057] During obstacle crossing, the mobile platform 100 can use its second wheel 22, which is not in contact with the liquid, to make contact with the obstacle 2000 and climb onto the surface of the obstacle 2000. This causes the first wheel 21, which is coaxially arranged with the second wheel 22, to also climb onto the surface of the obstacle 2000 and cross the obstacle. This allows the driving wheel 20 of this application to maintain its obstacle crossing ability even after traveling on a slippery surface. It reduces the probability of slippage and decreased obstacle crossing ability caused by the driving wheel 20 coming into contact with liquid.

[0058] Furthermore, the coaxial arrangement of the first wheel 21 and the second wheel 22 in this application ensures high obstacle-crossing capability even after driving on wet terrain, while reducing the overall structural complexity and volume of the driving wheel 20. Simultaneously, it enhances structural strength and guarantees stability during driving and obstacle crossing. The two second wheel 22s are respectively axially positioned on the same side of their corresponding first wheel 21. This coaxial arrangement allows the second wheel 22s of both driving wheels 20 to contact the obstacle 2000 individually or simultaneously, thus ensuring obstacle-crossing performance. In cases where the obstacle 2000 is irregularly shaped, the second wheel 22s of both driving wheels 20 may contact the obstacle simultaneously.

[0059] Understandably, compared to mobile robots in related technologies that use obstacle-crossing accessories such as robotic arms pressing down on thresholds to raise the robot body, resulting in complex obstacle-crossing structures, limited applicability, and poor reliability, the mobile platform 100 of this application uses the aforementioned structure of driving wheels 20. It does not require additional obstacle-crossing accessories and is convenient for overcoming obstacles. It is applicable to various obstacles, especially obstacles 2000 on wet surfaces. It can still climb upwards using the second wheel 22, which is not easily wetted, thus ensuring the obstacle-crossing effect of the mobile platform 100. Therefore, the mobile platform 100 of this application has a simple obstacle-crossing structure and high reliability while ensuring obstacle-crossing performance.

[0060] Compared to related technologies that add auxiliary obstacle-crossing components to the body of a mobile robot to increase its obstacle-crossing ability, the auxiliary obstacle-crossing components often fail to provide effective obstacle-crossing assistance when the walking wheels slip after getting wet. In this case, the walking wheels tend to spin in place and fail to cross the obstacle surface when the auxiliary obstacle-crossing components push the mobile robot over obstacles. The mobile platform 100 of this application can use the second wheel 22, which is not in contact with the liquid, to contact the obstacle 2000 and climb onto the surface of the obstacle 2000. This, in turn, drives the first wheel 21, which is coaxially arranged with the second wheel 22, to also climb onto the surface of the obstacle 2000 and cross the obstacle. The two driving wheels 20 of this application can not only support the body 10 to travel on a plane, but also drive the body 10 to cross the obstacle 2000.

[0061] The following describes the structure of the cleaning component 30 of the mobile platform 100 of this application when it is a cleaning robot, and the role of the driving wheels 20 in the foregoing embodiments for the operation of the cleaning robot.

[0062] In some embodiments of this application, such as Figure 2As shown, the mobile platform 100 is a cleaning robot. The mobile platform 100 also includes a cleaning component 30, which is mounted on the body 10 and used for external cleaning. The mobile platform 100, propelled by the driving wheels 20, moves across the contact surface, cleaning the area it passes through using the cleaning component 30, thus enabling the cleaning robot to clean while moving. This cleaning robot can be a sweeping robot, a window cleaning robot, a floor washing robot, or a robot that combines sweeping and mopping, etc., without limitation. For cleaning robots, scenarios where the contact surface of the driving wheels 20 is wet are more common, thus this issue has a greater impact on the cleaning robot's obstacle-crossing ability.

[0063] In some embodiments, such as Figure 2 As shown, the cleaning component 30 includes one or more of a central brush, a side brush 31, a vacuum cleaner 33, and a mop 32. By setting the central brush or side brush 31, dust from the edges of the body 10 can be collected towards the suction port, facilitating the vacuum cleaner 33 to suck up and collect the dust. By setting the mop 32, the movable platform 100 can mop the contact surfaces, resulting in less dust during cleaning and effectively removing stubborn deposits, dirty liquids, and wet debris, thus improving the cleaning capability of the movable platform 100. In this application, the required cleaning component 30 can be flexibly selected as needed to achieve the cleaning task of the cleaning robot. When the cleaning component 30 includes a mop 32, during the mopping and cleaning process, the mop 32 will leave some liquid droplets on the contact surface. At this time, during the normal movement of the movable platform 100, the first wheel body 21 of the two driving wheels 20 will come into contact with the contact surface and get wet, while the second wheel body 22 of the two driving wheels 20 is less likely to come into contact with the contact surface and is not easily wetted. So when the cleaning robot needs to cross an obstacle 2000 such as a threshold, it can use the unwetted second wheel body 22 to contact the surface of the obstacle 2000. The second wheel body 22 has a large friction with the obstacle 2000, which is conducive to the rotation of the second wheel body 22 to drive the entire driving wheel 20 to climb to the surface of the obstacle 2000. This ensures that the cleaning robot can reliably switch the area to be cleaned that is blocked by the obstacle 2000 during the cleaning process.

[0064] In some embodiments of this application, such as Figure 2 As shown, the cleaning component 30 and the two traveling wheels 20 are located on the same side of the body 10, for example, the bottom surface of the body 10. The contact surface that the traveling wheels 20 contact is the surface to be cleaned by the cleaning component 30. By controlling the traveling direction and traveling area of ​​the traveling wheels 20, the cleaning component 30 can clean the surface to be cleaned.

[0065] The specific structure of the driving wheel 20 in this application will now be described.

[0066] In some embodiments of this application, combined with Figure 4 , Figure 5 and Figure 6 As shown, the outer end face 220 of the second wheel body 22 is perpendicular to the axis of the second wheel body 22. In these embodiments, the outer end face 220 is a straight surface rather than an inclined surface. When the axis of the traveling wheel 20 is parallel to the plane, the outer end face 220 of the second wheel body 22 is also perpendicular to the plane. So when the first wheel body 21 and the second wheel body 22 rotate and travel on the plane around the axis of the traveling wheel 20, the outer circumferential surface and the outer end face 220 of the first wheel body 21 maintain a certain distance from the plane, and are not easily wetted by liquid on the plane.

[0067] In some embodiments of this application, the first wheel 21 and the second wheel 22 are constructed as rotating bodies, with the outer peripheral surface of the first wheel 21 and the outer peripheral surface of the second wheel 22 being rotating surfaces. In these embodiments, the first wheel 21 and the second wheel 22 are relatively regular cylindrical bodies, which facilitates movement on the contact surface and has a relatively simple structure. When moving on a plane, the rotating surface of the first wheel 21 contacts the plane, supporting the entire body 10 to move smoothly. When crossing obstacles, the rotating surface of the second wheel 22 contacts the surface of the obstacle 2000, and the second wheel 22 rotates relative to the surface of the obstacle 2000, driving the entire driving wheel 20 to climb towards the surface of the obstacle 2000, thus achieving obstacle crossing. During obstacle crossing and climbing, the second wheel 22, which is in contact with the surface of the obstacle 2000, can support the entire body 10 to move smoothly.

[0068] In some embodiments of this application, the vertical distance between a point on the outer peripheral surface of the second wheel 22 and the axis of the second wheel 22 is less than the vertical distance between a point on the outer peripheral surface of the first wheel 21 and the axis of the first wheel 21. In these embodiments, since the axes of the first wheel 21 and the second wheel 22 are collinear, and the positions of the axes of the first wheel 21 and the second wheel 22 relative to the body 10 remain unchanged, during the planar travel of the movable platform 100, the outer peripheral surface of the second wheel 22 is at a certain distance from the plane; the outer peripheral surface of the first wheel 21 is in contact with the plane, and the rotation of the first wheel 21 drives the body 10 to travel on the plane. During obstacle crossing, in many scenarios, the height difference between the outer peripheral surface of the second wheel 22 and the surface of the obstacle 2000 is less than the height difference between the outer peripheral surface of the first wheel 21 and the surface of the obstacle 2000. Therefore, after the second wheel 22 contacts the obstacle 2000, it can provide support for the entire driving wheel 20 to cross the surface of the obstacle 2000 and transmit the rolling friction force brought by the surface of the obstacle 2000, making it easier for the first wheel 21 to climb onto the surface of the obstacle 2000.

[0069] In some embodiments of this application, the driving wheels 20 are configured to rotate and contact the contact surface during the movement of the mobile platform 100, thereby providing power for the mobile platform 100 to move. In these embodiments, the driving wheels 20 can support the movement of the body 10. When an external force pushes the body 10, the driving wheels 20 can rotate and stably engage with the contact surface; when an electrically driven external force pushes the body 10, the driving wheels 20 can also actively rotate and stably engage with the contact surface, preventing the driving wheels 20 from being suspended in the air and spinning freely.

[0070] In some embodiments of this application, during the movement of the mobile platform 100, the relative positional relationship between the axis of the driving wheels 20 and the body 10 remains unchanged. Therefore, the two driving wheels 20 can rotate around an axis set in a specific direction to propel the body 10 forward along a preset direction. For example, combined with... Figure 1 and Figure 2 As shown, the axes of the two traveling wheels 20 are perpendicular to the direction of travel of the movable platform 100. During travel, as... Figure 4 and Figure 5 As shown, the relative positions of the axes of the two traveling wheels 20 remain unchanged, and their positions relative to the body 10 remain constant throughout the travel process. This simplifies the control program for the rotation and movement of the traveling wheels 20, and also simplifies the connection structure between the traveling wheels 20 and the body 10. Of course, the two traveling wheels 20 can also achieve steering of the body 10 through a speed difference.

[0071] In some further embodiments of this application, such as Figure 4 and Figure 5 As shown, the movable platform 100 also includes a motor 50, which is mounted on the body 10 and drives the traveling wheels 20 to rotate. The motor 50 provides electric external force for the rotation of the traveling wheels 20, facilitating the setting of control programs to enable the traveling wheels 20 to have a certain degree of autonomous movement. This also makes the traveling wheels 20 move more effortlessly on the contact surface, and allows for timely control of the traveling wheels 20 to either overcome obstacles or remain stationary. The motor 50 can be a single motor driving two traveling wheels 20 to rotate synchronously. Alternatively, two motors 50 can be connected to two different traveling wheels 20 to drive them separately. This allows for changes in the direction of movement through the speed difference between the two traveling wheels 20, eliminating the need for an additional steering mechanism.

[0072] In some further embodiments of this application, such as Figure 4 and Figure 5As shown, the number of motors 50 and traveling wheels 20 are in a one-to-one correspondence, with each motor 50 driving the traveling wheel 20 connected to it to rotate. This allows the traveling wheel 20 to rotate by the electric force provided by its corresponding motor 50, and to remain stationary when no electric force is provided by the motor 50. The two motors 50 can be controlled independently, allowing the two traveling wheels 20 connected to each motor 50 to be controlled separately. For example, one traveling wheel 20 can be stopped and stationary, while the other traveling wheel 20 rotates, thus using the stationary traveling wheel 20 as a pivot point, causing the machine body 10 to rotate under the rotation of the other traveling wheel 20, changing its direction of travel. Alternatively, both traveling wheels 20 can be stopped, keeping the entire movable platform 100 stationary. For example, both driving wheels 20 can rotate. When the rotation speeds of the two driving wheels 20 are the same, the entire movable platform 100 can be controlled to move forward stably. When the rotation speeds of the two driving wheels 20 have a speed difference, the entire movable platform 100 can turn, or in other words, change its direction of movement.

[0073] In some embodiments of this application, such as Figure 4 As shown, the axes of the two traveling wheels 20 coincide. In these embodiments, the two traveling wheels 20 are spaced apart and positioned on the same side of the body 10, providing stable support for the body 10 and maintaining its balance during movement. For example, in a specific embodiment, the line connecting the rotation centers of the two traveling wheels 20 is perpendicular to the direction of travel of the movable platform 100, and the perpendicular bisector of the line connecting the rotation centers of the two traveling wheels 20 passes through the center of gravity of the entire movable platform 100. Under the weight of the body 10, the forces on the two traveling wheels 20 are balanced, making it less prone to tilting during planar movement and allowing for smooth travel. In some specific embodiments, to facilitate obstacle crossing, the center of gravity of the movable platform 100 is located on the rear side of the direction of travel of the body 10.

[0074] In other embodiments of this application, such as Figure 5 As shown, the axes of the two traveling wheels 20 are parallel to each other. In these embodiments, the two traveling wheels 20 are also spaced apart on the same side of the body 10, providing support for the body 10. During rotation and movement, the traveling wheels 20 help maintain the body 10's balance and allow it to move in parallel. This layout of the two traveling wheels 20 allows for more flexible arrangement of components on the movable platform 100. For example, when a cleaning component 30 needs to be installed, it can be placed as needed at other locations on the body 10 where the traveling wheels 20 are not located.

[0075] In some embodiments of this application, please refer to Figure 1 , Figure 2 and Figure 3As shown, the cross-section of the body 10 is circular, and the axes of the two driving wheels 20 pass through the center of the cross-section of the body 10. Then, the two driving wheels 20 can be arranged on the body 10 at a relatively large spacing, which can reduce the turning radius of the body 10. When the body 10 turns through the driving wheels 20, taking one of the driving wheels 20 as the rotation center and the connection line of the rotation centers of the two driving wheels 20 as the turning radius, the body 10 can achieve more flexible turning and reversing on the premise of a smaller turning radius. When the movable platform 100 is a cleaning robot, when the movable platform 100 turns, it can reduce the area that is not swept, reduce the cleaning blind area when the cleaning robot turns, and thus improve the cleaning efficiency of the cleaning robot.

[0076] In some embodiments of the present application, the maximum radial dimension of the outer peripheral surface of the first wheel body 21 is d1, and the maximum radial dimension of the outer end surface 220 of the second wheel body 22 (as Figure 6 shown) is d2, and d1 - d2 > 1.5 mm. There needs to be a minimum height difference in the radial direction between the second wheel body 22 and the first wheel body 21, so that when the driving wheel 20 travels on a slippery plane, the second wheel body 22 is not easily wetted, and during the process of crossing an obstacle, the second wheel body 22 can contact the surface of the obstacle 2000 and climb towards the surface of the obstacle 2000; and / or, in a further embodiment of the present application, d1 - d2 < 5.0 mm. The height difference in the radial direction between the second wheel body 22 and the first wheel body 21 cannot be set too large, so as to effectively prevent the second wheel body 22 from being suspended and unable to contact the surface of the obstacle 2000 during the process of crossing an obstacle.

[0077] In some further embodiments of the present application, the maximum radial dimension of the outer peripheral surface of the first wheel body 21 is d1, and the maximum radial dimension of the outer end surface 220 of the second wheel body 22 is d2, 1.8 mm < d1 - d2 < 3 mm. By limiting the difference between d1 and d2 within the above range, when the driving wheel 20 travels on a slippery plane, the second wheel body 22 can be suspended relative to the plane and is not easily wetted, and the outer peripheral surface of the first wheel body 21 contacts the plane and drives the body 10 to travel; also, during the process of the movable platform 100 crossing an obstacle, the second wheel body 22 can contact the surface of the obstacle 2000 and climb towards the surface of the obstacle 2000, and the inclination degree of the body 10 is controlled within a reasonable range. For example, in some specific embodiments, the value of d1 is 75 mm, and the value of d2 is 72.6 mm.

[0078] And / or, in some embodiments of the present application, it can also be according to the outer end surface 220 of the second wheel body 22 (as Figure 6Based on the maximum radial dimension of the one shown in the figure, the range of the difference between d1 and d2 is determined as follows: 0.025*d2 < d1 - d2 < 0.04*d2. Then, the structure of the driving wheel 20 finally obtained can satisfy that when the first wheel body 21 touches the ground on the plane, the second wheel body 22 is suspended from the plane; it can also satisfy that when crossing an obstacle, the second wheel body 22 contacts the surface of the obstacle 2000, facilitating the driving wheel 20 to cross the obstacle.

[0079] In some embodiments of the present application, such as Figure 4 , Figure 5 , Figure 6 , Figure 7 and Figure 9 shown, the first wheel body 21 includes a first wheel portion 211, a second wheel portion 212 and a connecting portion 213 arranged coaxially, the first wheel portion 211, the connecting portion 213 and the second wheel portion 212 are sequentially connected along the axial direction of the first wheel body 21, and the maximum radial dimension of the connecting portion 213 is smaller than the maximum radial dimension of the first wheel portion 211, and the maximum radial dimension of the connecting portion 213 is smaller than the maximum radial dimension of the second wheel portion 212, so as to form a depression between the first wheel portion 211 and the second wheel portion 212. It can be understood that the connecting portion 213 and both the first wheel portion 211 and the second wheel portion 212 can be constructed as a rotating body or a revolving body. During the plane driving process, while the first wheel portion 211 and the second wheel portion 212 contact and roll on the plane, the connecting portion 213 can be not in contact with the plane due to the depression compared with the first wheel portion 211 and the second wheel portion 212. For the convenience of distinction, as Figure 6 and Figure 7 shown, the depression formed between the first wheel portion 211 and the second wheel portion 212 is denoted as the third depression 2114. In these embodiments, the first wheel body 21 is also an integral structure. When carrying liquid on the surfaces of the first wheel portion 211 and the second wheel portion 212, part of the liquid on the surface can be transferred through the third depression 2114, preventing slipping and idling when there is too much liquid on the surfaces of the first wheel portion 211 and the second wheel portion 212. In addition, the setting of the connecting portion 213 can also save the manufacturing cost of the first wheel body 21 and reduce the weight of the first wheel body 21 while ensuring that the first wheel body 21 has sufficient structural strength.

[0080] In a further embodiment of the present application, such as Figure 6 shown, the maximum radial dimensions of the first wheel portion 211 and the second wheel portion 212 are equal, so that during the driving process of the first wheel body 21 on the plane, the first wheel portion 211 and the second wheel portion 212 can contact the plane simultaneously, increasing the contact area between the first wheel body 21 and the plane and supporting the body 10 to achieve stable driving.

[0081] In a further embodiment, such as Figure 6 As shown, the first wheel portion 211 includes a first body 2111 and a plurality of first protrusions 2112. The plurality of first protrusions 2112 are arranged circumferentially spaced along the first body 2111. The first protrusions 2112 protrude radially from the surface of the first body 2111, so that the maximum radial dimension of the first wheel portion 211 is greater than the maximum radial dimension of the connecting portion 213. The first wheel portion 211 has a larger maximum radial dimension of its outer peripheral surface due to the first protrusions 2112 provided on the first body 2111. During driving on a plane, the surface of the first protrusions 2112 contacts the plane. In a more specific embodiment, the outer peripheral surface of the first body 2111 can be set to be flush with the outer peripheral surface of the connecting portion 213, and the height of the first protrusions 2112 above the outer peripheral surface of the first body 2111 is the depth of the recess of the connecting portion 213 relative to the first body 2111. For easy distinction, as... Figure 6 , Figure 7 and Figure 8 As shown, the recess between the multiple spaced-apart first protrusions 2112 is referred to as the first recess 2113. The first recess 2113 provided on the first wheel portion 211 of this application can, when there is liquid on the surface of the first protrusion 2112, throw the liquid into the first recess 2113 during the rotation of the driving wheel 20, thereby reducing the slippage phenomenon of the driving wheel 20 when driving on wet and slippery ground.

[0082] In a further embodiment of this application, the arrangement structure is similar to that of the first wheel portion 211, such as... Figure 6 As shown, the second wheel portion 212 includes a second body 2121 and a plurality of second protrusions 2122. The plurality of second protrusions 2122 are spaced apart circumferentially along the second body 2121. The second protrusions 2122 protrude radially from the surface of the second body 2121, such that the maximum radial dimension of the first wheel portion 211 is greater than the maximum radial dimension of the connecting portion 213. The second wheel portion 212 has a larger maximum radial dimension of its outer peripheral surface due to the second protrusions 2122 on the second body 2121. During travel on a flat surface, the surface of the second protrusions 2122 contacts the flat surface. In a more specific embodiment, the outer peripheral surface of the second body 2121 can be flush with the outer peripheral surface of the connecting portion 213, and the height of the second protrusions 2122 above the outer peripheral surface of the second body 2121 is equal to the depth of the recess of the connecting portion 213 relative to the second body 2121. For ease of distinction, as... Figure 6 and Figure 7As shown, the recess between the multiple spaced second protrusions 2122 is referred to as the second recess 2123. The second recess 2123 provided on the second wheel portion 212 of this application can, when there is liquid on the surface of the second protrusion 2122, throw the liquid into the second recess 2123 during the rotation of the driving wheel 20, thereby reducing the slippage of the driving wheel 20 when driving on wet and slippery ground.

[0083] In a further embodiment of this application, such as Figure 6 and Figure 7 As shown, the first recess 2113 formed between the plurality of first protrusions 2112 communicates with the third recess 2114 formed between the first wheel portion 211 and the second wheel portion 212. Alternatively, as... Figure 6 and Figure 7 As shown, the second recess 2123 formed between the plurality of second protrusions 2122 communicates with the third recess 2114 formed between the first wheel portion 211 and the second wheel portion 212. Alternatively, the first recess 2113 formed between the plurality of first protrusions 2112 communicates with the third recess 2114 formed between the first wheel portion 211 and the second wheel portion 212, and the second recess 2123 formed between the plurality of second protrusions 2122 communicates with the third recess 2114 formed between the first wheel portion 211 and the second wheel portion 212. This allows liquid in the first recess 2113 to flow into the third recess 2114, or liquid in the second recess 2123 to flow into the third recess 2114, thereby reducing the amount of liquid on the outer circumferential surface of the entire first wheel body 21 and making the first wheel body 21 less prone to slippage during flat-plane driving.

[0084] In some embodiments of this application, such as Figure 6 and Figure 8 As shown, the first protrusion 2112 and the second protrusion 2122 are staggered along the circumference of the first wheel body 21, so that the first recess 2113 and the second recess 2123 can also be staggered, which is beneficial for guiding and draining liquid on the outer circumferential surface of the first wheel body 21. In a specific implementation, the first recess 2113 is aligned with the second protrusion 2122 in the axial direction of the traveling wheel 20; the second recess 2123 is aligned with the first protrusion 2112 in the axial direction of the traveling wheel 20.

[0085] In some embodiments of this application, such as Figure 6As shown, the second wheel 22 includes a third body 221 and a plurality of third protrusions 222. The plurality of third protrusions 222 are spaced apart circumferentially along the third body 221, and the third protrusions 222 protrude radially from the surface of the third body 221. The radial dimension of the second wheel 22 is expanded by the third protrusions 222. When the second wheel 22 contacts the surface of the obstacle 2000, the surface of the third protrusions 222 may contact the surface of the obstacle 2000. The recess formed between the spaced-apart third protrusions 222 is designated as a fourth recess 224. The fourth recess 224 also allows liquid on the third protrusions 222 to be quickly guided into the fourth recess 224, keeping the surface of the third protrusions 222 dry and preventing slippage when crossing obstacles. At the same time, by adopting the form of the third protrusion 222 and the fourth recess 224, the entire second wheel body 22 can have the required radial dimensions while ensuring a certain structural strength, and the second wheel body 22 as a whole can be made lighter.

[0086] In some embodiments of this application, such as Figure 6 As shown, the protrusion height of the third protrusion 222 relative to the third body 221 is less than the protrusion height of the first protrusion 2112 relative to the first body 2111. Alternatively, the protrusion height of the third protrusion 222 relative to the third body 221 is less than the protrusion height of the second protrusion 2122 relative to the second body 2121. Alternatively, the protrusion height of the third protrusion 222 relative to the third body 221 is less than the protrusion height of the first protrusion 2112 relative to the first body 2111, and the protrusion height of the third protrusion 222 relative to the third body 221 is less than the protrusion height of the second protrusion 2122 relative to the second body 2121. The final running wheel 20 has at least one of the maximum radial dimension of the outer peripheral surface of the first wheel portion 211 formed by the rotation of the first protrusion 2112 or the maximum radial dimension of the outer peripheral surface of the second wheel portion 212 formed by the rotation of the second protrusion 2122, which is greater than the maximum radial dimension of the outer peripheral surface of the second wheel body 22 formed by the third protrusion 222. This allows the second wheel body 22 to be suspended relative to the plane when the running wheel 20 travels on a wet and slippery surface, making it less likely to get wet. The outer peripheral surface of the first wheel body 21 contacts the plane and drives the machine body 10 to move. It also allows the movable platform 100 to climb onto the surface of the obstacle 2000 by contacting the second wheel body 22 during obstacle crossing.

[0087] In some embodiments of this application, such as Figure 9As shown, the second wheel body 22 includes multiple third wheel portions 223 with different radii connected along the axial direction. Each third wheel portion 223 is constructed as a rotating body, and the maximum radial dimension of the third wheel portion 223 with the largest radius is smaller than the maximum radial dimension of the first wheel body 21. In these embodiments, multiple third wheel portions 223 simultaneously constitute the second wheel body 22. The third wheel portions 223 with different radii can adapt to contact with the surfaces of obstacles 2000 at different heights, thereby assisting the entire driving wheel 20 in overcoming obstacles. The maximum radial dimension of the third wheel portion 223 with the largest radius is smaller than the maximum radial dimension of the first wheel body 21, thus ensuring that the maximum radial dimension of the outer circumference of the entire second wheel body 22 is smaller than the maximum radial dimension of the outer circumference of the first wheel body 21. This allows the second wheel body 22 to remain suspended when the driving wheel 20 travels on a plane, reducing the probability of it getting wet.

[0088] Related technologies also include using a mop disc to press down and assist in overcoming obstacles, but the mop disc is prone to getting stuck during the obstacle-crossing process. Other related technologies use a retractable, vertically movable obstacle-crossing mechanism, which requires a significant amount of space, has a complex structure, and offers poor propulsion.

[0089] In view of this, the mobile platform 100 of this application is also provided with a power wheel assembly 40. The power wheel assembly 40 has a simple structure and can provide assistance for the driving wheel 20 to cross obstacles. The power wheel assembly 40 is not easily stuck when passing through the surface of the obstacle 2000 and can quickly pass through the surface of the obstacle 2000.

[0090] In some embodiments of this application, combined with Figure 2 and Figure 10 As shown, the mobile platform 100 also includes a power wheel assembly 40, which is mounted on the body 10 and is located on the same side of the body 10 as the two driving wheels 20. This allows the power wheel assembly 40 to provide obstacle-crossing assistance to the body 10, or to support the body 10 together with the two driving wheels 20, thereby improving the stability of the body 10 during travel.

[0091] like Figure 11As shown, the drive wheel assembly 40 includes a passive wheel 41, a driving wheel 42, and a drive mechanism 43. The drive mechanism 43 is connected to the driving wheel 42 and can drive the driving wheel 42 to rotate around its axial direction. The drive mechanism 43 can drive the driving wheel 42 to rotate, thereby providing some assistance to the driving wheel 20 in overcoming obstacles. The passive wheel 41 is rotatably mounted on the driving wheel 42 and can rotate freely around its axial direction. When in contact with the contact surface, the passive wheel 41 can rotate freely around its axial direction independently. That is, the passive wheel 41 can be independent of any motor or actuator. At the same time, after the drive mechanism 43 drives the driving wheel 42 to rotate, it can change the position of the passive wheel 41 on the driving wheel 42. The axis of the passive wheel 41 does not coincide with the axis of the driving wheel 42, that is, the axis of the passive wheel 41 and the axis of the driving wheel 42 can be parallel to each other. The axis of the passive wheel 41 and the axis of the driving wheel 42 can be set at an angle on different planes, making the passive wheel 41 more flexible in its arrangement.

[0092] The passive wheel 41 can rotate around the axis of the active wheel 42 during the rotation of the active wheel 42, thereby changing the relative position between the passive wheel 41 and the body 10. When the movable platform 100 travels on a plane, the passive wheel 41 contacts the plane and can rotate freely around its axis. For example, in a specific scenario, the passive wheel 41 and the two driving wheels 20 can contact the plane together and provide support for the entire body 10. The entire body 10 can remain stable during its travel on the plane, and the wear of the active wheel 42 can be effectively reduced. For another example, in a specific scenario, when the movable platform 100 is crossing an obstacle, and the driving wheel 20 has crossed the obstacle 2000, but the power wheel assembly 40 has not yet crossed the obstacle 2000, when the driving wheel 20 drives the body 10 forward, the passive wheel 41 can contact the surface of the obstacle 2000, so that the power wheel assembly 40 is not easily stuck during the obstacle crossing process and can smoothly pass through the obstacle 2000. In some embodiments of this application, when the mobile platform 100 is traveling on a plane, the first wheel body 21 of the two driving wheels 20 and the passive wheel 41 jointly contact the plane. In other embodiments of this application, when the mobile platform 100 is crossing an obstacle, the passive wheel 41 contacts the surface of the obstacle 2000 when the driving wheel assembly 40 contacts the obstacle 2000.

[0093] In some embodiments of this application, when the movable platform 100 travels on a plane, the passive wheel 41 contacts the plane while the active wheel 42 does not, thereby reducing the overall frictional resistance between the power wheel assembly 40 and the plane, and also saving the power required for the operation of the drive mechanism 43.

[0094] In some embodiments of this application, the center of gravity of the movable platform 100 is located between the power wheel assembly 40 and the driving wheel 20. The center of gravity of the mobile platform 100 is located behind the body 10 in the direction of travel, rather than at the geometric center of the body 10. During the obstacle crossing process of the mobile platform 100, the driving wheels 20 contact the obstacle 2000, and the drive wheels 42 rotate so that the drive wheels 42 contact the contact surface lower than the obstacle. In these scenarios, the drive mechanism 43 drives the drive wheels 42 to rotate, causing the passive wheels 41 to rotate away from the contact surface (as mentioned above), while the drive wheels 42 rotate to contact the contact surface. Since at least one of the driving wheels 20 has already contacted the surface of the obstacle 2000 during the obstacle crossing process, the mobile platform 100 will be tilted at this time. Under the action of gravity, the drive wheels 42 touch the ground, and friction can be generated between the contact surface and the drive wheels 42. Under the action of the drive mechanism 43, the rotation of the drive wheels 42 can generate a forward thrust on the entire mobile platform 100, helping the driving wheels 20 on the surface of the obstacle 2000 to cross the obstacle 2000 and achieve a smooth obstacle crossing. Especially when the two driving wheels 20 have passed the obstacle 2000 and are in a suspended state, the driving wheel 42 of the power wheel assembly 40 of this application can exert a forward thrust on the driving wheel 20 under the drive of the drive mechanism 43, so that the driving wheel 20 can contact the contact surface on the other side of the obstacle 2000.

[0095] In some embodiments of this application, the drive mechanism 43 can be a rotary motor, or a rotary electric cylinder, rotary pneumatic cylinder, or other power structure, as long as it can make the drive wheel 42 rotate around its own rotation axis. There are no restrictions here.

[0096] In some embodiments of this application, such as Figure 11 and Figure 12 As shown, the outer circumferential surface of the driving wheel 42 is rotatably connected to the driven wheel 41, so that during one revolution of the driving wheel 42, a portion of the contact is between the driven wheel 41 and the contact surface, while the remaining portion is mainly between the remaining outer circumferential surface of the driving wheel 42 and the contact surface. The structure is simple, and switching between the driving wheel 42 and the driven wheel 41 is convenient. The driven wheel 41 experiences low resistance when rotating freely along its own axis. Whether traveling on a flat surface, where the driving wheel 20 and the driven wheel 41 work together to support the movement of the machine body 10; or during obstacle crossing, where the driven wheel 41 contacts the surface of the obstacle 2000 and the driving wheel 20 contacts the flat surface, the movement of the machine body 10 is more stable, with balanced force distribution, smooth operation, and less prone to jamming.

[0097] Of course, in other embodiments, the passive wheel 41 may also be disposed on the second outer end face of the driving wheel 42, and at least a portion of the projection of the outer peripheral surface of the passive wheel 41 onto the second outer end face of the driving wheel 42 is located outside the second outer end face of the driving wheel 42. Alternatively, the passive wheel 41 and the driving wheel 42 may overlap in the radial portion of the driving wheel 42. Alternatively, the portion of the projection of the passive wheel 41 onto the second outer end face of the driving wheel 42 may be located outside the second outer end face of the driving wheel 42, and the passive wheel 41 and the driving wheel 42 may overlap in the radial portion of the driving wheel 42. In these embodiments, the driving wheel 42 may also drive the passive wheel 41 to rotate relative to the body 10, thereby allowing the movable platform 100 to switch between contact between the outer peripheral surface of the driving wheel 42 and the contact surface, or between the outer peripheral surface of the passive wheel 41 and the contact surface.

[0098] In some embodiments of this application, the number of passive wheels 41 includes multiple passive wheels 41, all of which are rotatably connected to the outer peripheral surface of the driving wheel 42. This increases the contact area between the passive wheel 41 and the contact surface when the passive wheel 41 contacts the contact surface, thereby further improving the stability of the body 10 during movement.

[0099] In some embodiments of this application, such as Figure 11 As shown, the outer peripheral surface of the driving wheel 42 that contacts the contact surface forms an inwardly recessed portion 421. A portion of the driven wheel 41 is disposed within the recessed portion 421, while a portion of the driven wheel 41 protrudes from the recessed portion 421. Therefore, in these embodiments, by setting a portion of the outer peripheral surface of the driving wheel 42 as a recessed portion, it is convenient to set the driven wheel 41 on the driving wheel 42. This also allows the height of the driven wheel 41 protruding from the outer peripheral surface of the driving wheel 42 to be controlled within a reasonable range. This ensures that after the driven wheel 41 contacts the contact surface, the driven wheel 41 and the traveling wheel 20 can jointly support the machine body 10, keeping the machine body 10 balanced and preventing it from tilting. This effectively prevents the driven wheel 41 from lifting the machine body 10 and causing it to tilt after contacting the contact surface.

[0100] In some embodiments of this application, when the drive mechanism 43 drives the driving wheel 42 to rotate, the driven wheel 41 rotates around the axial direction of the driving wheel 42, thereby changing the contact state between the driven wheel 41 and the contact surface and the contact state between the driving wheel 42 and the contact surface. Therefore, when switching the contact between the driven wheel 41 and the driving wheel 42 and the contact surface, this application only needs to rely on the rotation of the drive mechanism 43, resulting in a simple structure and requiring less space in the body 10.

[0101] In some embodiments of this application, during the obstacle-crossing process of the mobile platform 100, the two driving wheels 20 contact the obstacle 2000 before the drive wheel assembly 40. After the driving wheels 20 contact the obstacle 2000, the body 10 tilts relative to the plane. Under the action of gravity, the drive wheel assembly 40 can be pressed down on the contact surface to support the body 10. In the tilted state, the gravity of the mobile platform 100 allows the drive wheel 42 to still contact the ground and adhere closely to the ground, providing forward thrust for the subsequent obstacle-crossing movement of the mobile platform 100. In a further embodiment, during the obstacle-crossing process of the mobile platform 100, the drive mechanism 43 is used to drive the drive wheel 42 to rotate to contact the contact surface and provide obstacle-crossing assistance, so that when the driving wheels 20 contact the obstacle 2000, they can climb to the surface of the obstacle 2000 more quickly and cross the obstacle 2000 more efficiently, saving the driving force of the motors 50 of the two driving wheels 20 and making obstacle-crossing easier for the body 10.

[0102] In some embodiments of this application, the surface roughness of the driving wheel 42 is greater than that of the driven wheel 41. When the driving wheel 42 contacts the contact surface, it can significantly increase the friction between the power wheel assembly 40 and the contact surface; while when the driven wheel 41 contacts the contact surface, it can reduce the friction between the power wheel assembly 40 and the contact surface. In some specific implementations, the surface roughness of the driving wheel 42 and the driven wheel 41 can be made different by selecting different materials; or, the surface roughness of the driving wheel 42 can be further increased by polishing the surface of the driving wheel 42.

[0103] In some embodiments of this application, such as Figure 12 As shown, the axis of the drive shaft of the drive mechanism 43 is parallel to the rotation axis of the passive wheel 41. In these embodiments, after the drive mechanism 43 switches between the drive wheel 42 and the passive wheel 41, the force exerted on the drive wheel 42 when the passive wheel 41 rotates on the ground is mainly applied through the rotation axis of the passive wheel 41. After the rotation axis is subjected to force, it transmits the force to the drive wheel 42. The drive wheel 42 can transmit the force to the entire body 10 more quickly through the drive mechanism 43, which helps to reduce the vibration and force on the drive wheel 42 and make the body 10 move more stably.

[0104] In some embodiments of this application, such as Figure 12 As shown, the two driving wheels 20 and the drive wheel assembly 40 are arranged in a triangle. The above-mentioned triangular arrangement forms a stable triangular support structure after the driving wheels 20 and the passive wheel 41 touch the ground at the same time, so that the body 10 can maintain stable movement. After the driving wheels 20 and the drive wheel 42 touch the ground at the same time, another stable triangular support structure can also be formed, which is beneficial for the drive mechanism 43 to drive the drive wheel 42 to rotate and provide obstacle crossing assistance for the driving wheels 20.

[0105] In other embodiments of this application, the aforementioned drive wheel assembly 40 may not be provided, such as... Figure 2 As shown, the aforementioned drive wheel assembly 40 can be replaced by only the passive wheel 41. The passive wheel 41 is located at the rear of the mobile platform 100 in the direction of travel, and both the passive wheel 41 and the driving wheel 20 are located on the same side of the body 10. The passive wheel 41 is rotatably connected to the body 10. The passive wheel 41 can be configured to support the body 10 together with the driving wheel 20 when the driving wheel 20 is traveling on a plane; or the passive wheel 41 can be configured so that it does not contact the plane when the driving wheel 20 is traveling on a plane, but when the driving wheel 20 is on the surface of the obstacle 2000, the passive wheel 41 contacts the contact surface lower than the surface of the obstacle 2000 to form support for the body 10, which is beneficial for the mobile platform 100 to overcome obstacles; the setting of the passive wheel 41 can also effectively prevent the bottom of the body 10 from wearing during the obstacle-crossing process.

[0106] In some embodiments of this application, such as Figure 2 and Figure 3 As shown, the movable platform 100 also includes an auxiliary wheel 60, which is rotatably mounted on the body 10. The auxiliary wheel 60 and the two driving wheels 20 are located on the same side of the body 10. The auxiliary wheel 60 is located at the front of the body 10 in the direction of travel. The line connecting the rotation center of the auxiliary wheel 60 and the rotation center of the two driving wheels 20 forms a triangle. When the auxiliary wheel 60 contacts the contact surface, the auxiliary wheel 60 and the two driving wheels 20 can jointly support the body 10, making the movement of the body 10 more stable. Alternatively, during the process of the two driving wheels 20 of the body 10 crossing obstacles, the auxiliary wheel 60 and the other driving wheel 20 can jointly support the entire body 10, reducing the wear on the bottom of the body 10.

[0107] In some embodiments of this application, such as Figure 12 As shown, the movable platform 100 also includes a cleaning component 30, which includes two mops 32. The two mops 32 and the drive wheel assembly 40 are both located on the same side of the body 10. The two mops 32 are rotatably connected to the body 10, thereby rotating and cleaning the surface to be cleaned. In the direction of travel of the movable platform 100, the two mops 32 and the drive wheel assembly 40 are both located behind the driving wheels 20, and the drive wheel assembly 40 is located on the central axis of the line connecting the rotation centers of the two mops 32. This makes full use of the arrangement space at the bottom of the body 10, and allows the driven wheels 41 and the two driving wheels 20 to contact the contact surface simultaneously during the cleaning process. This ensures that the mops 32 can stably apply cleaning force to the surface to be cleaned during the stable movement of the movable platform 100.

[0108] The obstacle-crossing method used by the mobile platform 100 in the foregoing embodiments in this application is described below.

[0109] Please combine Figure 2 , Figure 13 and Figure 14 As shown, a method for a mobile platform 100 to overcome obstacles includes:

[0110] Step S1: During the movement of the mobile platform 100, control the mobile platform 100 to change its direction of movement, thereby changing the relative positional relationship between the driving wheels 20 of the mobile platform 100 and the obstacle 2000. Changing the direction of movement can refer to changing the heading of the mobile platform 100.

[0111] Among them, combined Figure 1 , Figure 2 and Figure 3 As shown, the movable platform 100 includes a body 10 and two wheels 20. The two wheels 20 are disposed on the body 10. Each wheel 20 includes a first wheel body 21 and a second wheel body 22 coaxially arranged, with the first wheel body 21 connected to the second wheel body 22. The first wheel body 21 includes an outer peripheral surface around its axis, and the second wheel body 22 includes an outer peripheral surface around its axis and an outer end surface 220 through which the axis of the second wheel body 22 passes (e.g., ...). Figure 6 As shown, the maximum radial dimension of the outer peripheral surface of the first wheel 21 is greater than the maximum radial dimension of the outer end face 220 of the second wheel 22. The outer end face 220 is a surface of the second wheel 22 disposed axially away from the first wheel 21, and the maximum radial dimension is the radial dimension perpendicular to the axis of the traveling wheel 20. The two second wheel bodies 22 of the two traveling wheels 20 are respectively disposed axially on the same side of their corresponding first wheel bodies 21. When the movable platform 100 travels on a plane, the first wheel body 21 of each traveling wheel 20 can contact the plane while the second wheel body 22 of each traveling wheel 20 can not contact the plane. During the obstacle crossing process of the movable platform 100, the second wheel bodies 22 of the two traveling wheels 20 can contact the obstacle 2000 separately or simultaneously. Other specific structures of the movable platform 100 have been described in the foregoing embodiments and will not be repeated here. All structural features of the movable platform 100 in the foregoing embodiments are applicable to the movable platform 100 in the embodiments of the obstacle crossing method of the movable platform 100.

[0112] In some embodiments of this application, step S1 further includes: during the movement of the mobile platform 100, in response to the detection result of the obstacle 2000 meeting a preset condition, controlling the mobile platform 100 to change its direction of movement. Therefore, in these embodiments, the mobile platform 100 does not change its direction of movement when encountering all obstacles 2000, but only under certain conditions. For example, the mobile platform 100 may change its direction of movement only when it is detected that it can overcome the obstacle 2000, in preparation for the implementation of subsequent step S2; or, for example, the mobile platform 100 may change its direction of movement even when it is detected that it cannot overcome the obstacle 2000, thereby enabling the mobile platform 100 to avoid obstacles instead of attempting to overcome them, preventing the mobile platform 100 from being trapped when the obstacle-crossing conditions are not met.

[0113] In some embodiments of this application, the mobile platform 100 also includes detectors, such as collision sensors, laser rangefinders, gyroscopes, radars, visual devices, ultrasonic sensors, infrared sensors, and Hall sensors, to detect preset conditions.

[0114] In some embodiments, the preset conditions include the height of the obstacle 2000 being greater than a preset threshold. When the height of the obstacle 2000 is less than the preset threshold, the movable platform 100 does not change its direction of movement and can directly overcome the obstacle 2000 by relying on its driving wheels 20. For example, for some relatively low obstacles 2000, such as the low height difference at the threshold between the living room and the bathroom, or electrical wires, the movable platform 100 can overcome the obstacle quickly by relying on its two driving wheels 20 without changing its direction of movement. In this case, the two driving wheels 20 are highly likely to contact the surface of the obstacle 2000 simultaneously, especially the first wheel body 21 of the two driving wheels 20. When the height of the obstacle 2000 is greater than the preset threshold, the obstacle 2000 may have a certain height, requiring the movable platform 100 to change its direction of movement and adopt another obstacle-crossing method, such as for thresholds, steps, and household appliances.

[0115] In some embodiments, the preset conditions include the height of the obstacle 2000 being within a preset range. When the height of the obstacle 2000 is detected to be within the preset range, the movable platform 100 cannot overcome the obstacle 2000 by directly relying on the combined force of the two driving wheels 20; and the height of the obstacle 2000 within the preset range is not considered an insurmountable obstacle 2000. In this case, the movable platform 100 changes its direction of movement and prepares to execute the subsequent step S2. For example, some obstacles 2000 have a certain height, such as thresholds and steps. In some specific embodiments, controlling one of the driving wheels 20 of the movable platform 100 to rotate while the other driving wheel 20 does not rotate causes the movable platform 100 to rotate along the yaw direction, and causes one of the rotating driving wheels 20 to contact the obstacle 2000 first and climb onto the surface of the obstacle 2000.

[0116] In some embodiments, the preset conditions include the shape of the obstacle 2000 being a preset shape. When the shape of the obstacle 2000 is detected to meet a specific shape, the movable platform 100 is controlled to change its direction of movement. For example, if the obstacle 2000 has a certain height and is cuboid in shape, the movable platform 100 is controlled to change its direction of movement.

[0117] In some embodiments of this application, controlling the movable platform 100 to change its direction of movement includes: controlling the rotation speeds of the two driving wheels 20 to be different, so that the movable platform 100 changes its direction of movement. In this case, the body 10 rotates around the driving wheel 20 with the lower rotation speed as its rotation center, and rotates in the direction of the driving wheel 20 with the higher rotation speed, thus achieving a change in the rotation direction of the body 10, thereby changing the relative position between the body 10 and the obstacle 2000. In a specific embodiment, the rotation speed of the corresponding driving wheel 20 can be adjusted by controlling the magnitude of the drive current of the motor 50 corresponding to the two driving wheels 20. The different rotation speeds can mean that the rotation speed of one driving wheel 20 is greater than that of the other driving wheel 20, and both driving wheels 20 have rotation speeds greater than 0; or that the rotation speed of one driving wheel 20 is 0, and the rotation speed of the other driving wheel 20 is greater than 0.

[0118] In some embodiments of this application, controlling the movable platform 100 to change its direction of movement to alter the relative positional relationship between the traveling wheels 20 of the movable platform 100 and the obstacle 2000 includes: controlling the movable platform 100 to change its direction of movement such that the second wheel body 22 of at least one traveling wheel 20 is closer to the obstacle 2000 than the first wheel body 21 of the traveling wheel 20; or, controlling the movable platform 100 to change its direction of movement such that the angle between the axis of the second wheel body 22 of at least one traveling wheel 20 and the plane perpendicular to the obstacle 2000 changes; or, controlling the movable platform 100 to change its direction of movement such that the second wheel body 22 of at least one traveling wheel 20 is closer to the obstacle 2000 than the first wheel body 21 of the traveling wheel 20 and the angle between the axis of the second wheel body 22 of at least one traveling wheel 20 and the plane perpendicular to the obstacle 2000 changes. By changing the direction of movement through the movable platform 100, one of the driving wheels 20 can make priority contact with the surface of the obstacle 2000. In particular, the second wheel body 22 of the driving wheel 20 can make contact with the obstacle 2000 before the first wheel body 21. The second wheel body 22 is not easy to get wet, so the friction force when the second wheel body 22 contacts the surface of the obstacle 2000 is greater, thereby ensuring the reliability of the driving wheel 20 in overcoming obstacles.

[0119] Step S2: During or after the movable platform 100 changes its direction of movement, control the movable platform 100 to move towards the obstacle 2000, so that the second wheel body 22 of the first driving wheel 20 contacts the obstacle 2000, and the first wheel body 21 of the second driving wheel 20 contacts the contact surface lower than the obstacle 2000. The two driving wheels 20 may cross the obstacle 2000 sequentially or simultaneously.

[0120] As can be seen from the above, when the mobile platform 100 encounters an obstacle 2000, if the mobile platform 100 cannot directly accelerate and pass over the surface of the obstacle 2000, the mobile platform 100 can change the relative positional relationship between the driving wheel 20 and the obstacle 2000 by changing the direction of movement.

[0121] During the journey toward the obstacle 2000, the second wheel 22, which has the smaller maximum radial dimension, can contact the surface of the obstacle 2000. Since the second wheel 22 does not contact the surface when traveling on a flat surface, the probability of the second wheel 22 getting wet is reduced if there is liquid on the surface. During obstacle crossing, the movable platform 100 uses the second wheel 22, which has not come into contact with the liquid, to contact the obstacle 2000 and climb onto the surface of the obstacle 2000. This causes the first wheel 21, which is coaxially arranged with the second wheel 22, to also climb onto the surface of the obstacle 2000 and cross the obstacle. This allows the driving wheel 20 of this application to maintain its obstacle crossing ability even after traveling on a wet and slippery contact surface, and obstacle crossing is achieved through the combined action of the two driving wheels 20.

[0122] In some embodiments of this application, such as Figure 13 As shown, in response to the detection result of obstacle 2000, which indicates that the height of obstacle 2000 is within a preset threshold, and in response to the completion of rotation of the movable platform 100, the rotation speed of the two driving wheels 20 is controlled to be the same, so that the two driving wheels 20 respectively cross the surface of obstacle 2000. In a specific embodiment, the rotation speed of the two driving wheels 20 can be controlled to be higher, thereby enabling the movable platform 100 to rush over obstacle 2000 at a higher speed, thus achieving obstacle crossing.

[0123] In other embodiments of this application, such as Figure 14 As shown, in response to the detection result of obstacle 2000, the height of obstacle 2000 is within the preset threshold, and in response to the completion of rotation of movable platform 100, the speed of the two driving wheels 20 is controlled to be the same, so that movable platform 100 moves towards obstacle 2000. The second wheel body 22 of the first driving wheel 20 of the two driving wheels 20 contacts obstacle 2000, and then drives the first wheel body 21 to climb to the surface of obstacle 2000.

[0124] In a further embodiment, such as Figure 14 As shown, in response to the first wheel body 21 of one of the driving wheels 20 contacting the surface of the obstacle 2000, the rotation speed of the driving wheel 20 located on the surface of the obstacle 2000 is controlled to be 0, while the rotation speed of the driving wheel 20 far from the obstacle 2000 is controlled to be larger, so that the movable platform 100 takes the driving wheel 20 located on the surface of the obstacle 2000 as the rotation center and takes the other driving wheel 20 located on the contact surface as the power wheel to further overcome the obstacle. At this time, the movable platform 100 rotates along the yaw direction, so that the second wheel body 22 of the other driving wheel 20 can also contact the surface of the obstacle 2000 first, and then drive the first wheel body 21 connected to it to climb to the surface of the obstacle 2000 together, so that the first wheel bodies 21 of the two driving wheels 20 climb up and contact the surface of the obstacle 2000 at the same time.

[0125] In a further embodiment, such as Figure 14 As shown, in response to the first wheel body 21 of both driving wheels 20 of the movable platform 100 contacting the surface of the obstacle 2000, the two driving wheels 20 are controlled to rotate at the same speed and pass over the obstacle 2000.

[0126] In the aforementioned embodiments, if the movable platform 100 has a power wheel assembly 40, in response to the detection of an obstacle 2000, and in response to the detection result of the obstacle 2000 being within a preset threshold height, and the body 10 completing rotation, then the control drive mechanism 43 moves, causing the active wheel 42 and the passive wheel 41 to rotate and change position relative to the contact surface, so that the passive wheel 41 rotates to a position away from the contact surface, while the active wheel 42 rotates to contact the contact surface, thereby enabling the active wheel 42 to provide assistance for the driving wheel 20 to overcome obstacles.

[0127] The following describes a cleaning robot based on the structure of the aforementioned mobile platform 100 of this application.

[0128] A cleaning robot, which is a specific form of the mobile platform 100, see reference. Figure 2 and Figure 3 It includes: body 10, cleaning components 30 and two driving wheels 20.

[0129] The specific implementation of the cleaning robot can refer to the embodiment of the mobile platform 100 described above, and will not be repeated here to avoid repetition. The cleaning robot in these embodiments can be a sweeping robot, a window wiping robot, a floor washing robot, a robot that combines sweeping and mopping, etc., and there are no restrictions here.

[0130] In some embodiments, such as Figure 2 As shown, the cleaning component 30 includes one or more of a central brush, a side brush 31, a vacuum cleaner 33, and a mop 32. By setting the central brush or side brush 31, dust from the edges of the body 10 can be collected towards the suction port, facilitating the vacuum cleaner 33 to suck up and collect the dust. By setting the mop 32, the movable platform 100 can mop the contact surfaces, reducing dust during cleaning and minimizing dust generation. It also effectively removes stubborn residues, liquids, and wet debris from the contact surfaces, improving the cleaning robot's cleaning capabilities.

[0131] In this application, the required cleaning components 30 can be flexibly selected to achieve the cleaning task of the cleaning robot. When the cleaning components 30 include a mop 32, during the mopping and cleaning process, the mop 32 will leave some liquid droplets on the contact surface. At this time, during the normal movement of the movable platform 100, the first wheel body 21 of the two driving wheels 20 will be wetted by contact with the contact surface, while the second wheel body 22 of the two driving wheels 20 is less likely to be wetted by contact with the contact surface. Therefore, when the cleaning robot needs to cross an obstacle 2000 such as a threshold, the unwetted second wheel body 22 can be used to contact the surface of the obstacle 2000. The second wheel body 22 has a large friction with the obstacle 2000, which is conducive to the rotation of the second wheel body 22 to drive the entire driving wheel 20 to climb to the surface of the obstacle 2000. This ensures that the cleaning robot can reliably switch the area to be cleaned that is blocked by the obstacle 2000 during the cleaning process.

[0132] The following describes another structure of the mobile platform 100 of this application.

[0133] Some related technologies use a mop disc that presses down to assist in overcoming obstacles, but the mop disc is prone to getting stuck during the obstacle-crossing process. Other related technologies use a retractable, vertically movable obstacle-crossing mechanism, which requires a lot of space, has a complex structure, and has a poor assist effect.

[0134] In view of this, this application proposes a mobile platform 100, such as Figure 10 , Figure 11 As shown, it includes: body 10, running wheels 20 and drive wheel assembly 40.

[0135] like Figure 10 and Figure 12 As shown, the driving wheel 20 is provided on the body 10 to drive the body 10 to move on the contact surface. The driving wheel 20 here can be the driving wheel 20 with a first wheel body 21 and a second wheel body 22 in the aforementioned embodiment, or it can be a normal driving wheel 20 that can be driven by the motor 50. For example, it can be a driving wheel 20 with only a first wheel body 21 or a driving wheel 20 with only a second wheel body 22.

[0136] Furthermore, the drive wheel assembly 40 is mounted on the body 10 and is located on the same side of the body 10 as the travel wheel 20. The drive wheel assembly 40 includes a driven wheel 41, a driving wheel 42, and a drive mechanism 43. The drive mechanism 43 is connected to the driving wheel 42 and can drive the driving wheel 42 to rotate around its axial direction. The drive mechanism 43 can drive the driving wheel 42 to rotate, thereby providing some assistance to the travel wheel 20 in overcoming obstacles. The driven wheel 41 is rotatably mounted on the driving wheel 42 and can rotate freely around its axial direction. When the driven wheel 41 is in contact with the contact surface, it can rotate freely around its axial direction on its own. At the same time, after the drive mechanism 43 drives the driving wheel 42 to rotate, it can drive the driven wheel 41 on the driving wheel 42 to change its position. The axis of the passive wheel 41 does not coincide with the axis of the active wheel 42; that is, the axis of the passive wheel 41 and the axis of the active wheel 42 can be parallel to each other, and the axis of the passive wheel 41 and the axis of the active wheel 42 can be set at an angle on different planes, making the passive wheel 41 more flexible in its arrangement. Specifically, the passive wheel 41 can rotate around the axis of the active wheel 42 during its rotation, thereby changing the relative position between the passive wheel 41 and the body 10. When the body 10 is traveling on a plane, the passive wheel 41 contacts the plane. During obstacle crossing, when the driving wheel 20 contacts the obstacle 2000, the active wheel 42 rotates so that it contacts a contact surface lower than the obstacle 2000.

[0137] As can be seen from the above, by adopting the technical solution of this application, when the body 10 is traveling on a plane, the drive mechanism 43 drives the active wheel 42 to rotate, causing the passive wheel 41 to contact the plane, so that the traveling wheel 20 and the passive wheel 41 jointly touch the ground, providing support for the body 10 and enabling the mobile platform 100 to move stably. During the obstacle crossing process of the body 10, the drive mechanism 43 drives the active wheel 42 to rotate until it contacts the contact surface, while the passive wheel 41 moves away from the contact surface. The active wheel 42 touches the ground and, under the action of the drive mechanism 43, provides obstacle crossing assistance to the traveling wheel 20, enabling the mobile platform 100 to successfully cross obstacles. The power wheel assembly 40 itself has a simple structure and can provide obstacle crossing assistance to the traveling wheel 20. When crossing obstacles, the power wheel assembly 40 is not easily stuck when passing through the surface of the obstacle 2000, and can quickly pass through the surface of the obstacle 2000. It has high reliability, requires less layout space, and has a good boosting effect.

[0138] Understandably, compared to related technologies where the mop disc is prone to jamming when lifting the machine body to overcome obstacles, the mobile platform 100 of this application uses a power wheel assembly 40 to provide the necessary power for the driving wheels 20 to overcome obstacles during obstacle crossing. Furthermore, when the driving wheels 20 are pulling the entire machine body 10 over the obstacle 2000, the power wheel assembly 40 can retract the drive wheel 42, leaving the passive wheel 41 facing the contact surface. The passive wheel 41 not only provides some support for the machine body 10 during obstacle crossing but also reduces the friction between the machine body 10 and the surface of the obstacle 2000, making the mobile platform 100 less prone to jamming and allowing for smoother obstacle crossing.

[0139] Compared to related technologies where a retractable, vertically movable obstacle-crossing mechanism requires a significant amount of space, has a complex structure, and provides poor propulsion, the mobile platform 100 of this application uses a simple power wheel assembly 40, which facilitates switching between the active wheel 42 and the passive wheel 41. It also occupies less space under the body 10. During obstacle crossing, the active wheel 42's contact with the ground provides substantial obstacle-crossing assistance, enabling the driving wheel 20 to quickly overcome obstacles, increasing the probability of successful obstacle crossing, and improving the efficiency of obstacle crossing by the driving wheel 20.

[0140] Where the technical solutions are not contradictory or conflicting, the structure of the power wheel assembly 40 in this application is the same as the structure of the power wheel assembly 40 in the foregoing embodiments. Those skilled in the art will understand that the foregoing structures of the power wheel assembly 40 are all applicable to the power wheel assembly 40 in the embodiments of the mobile platform 100, and will not be described in detail here.

[0141] In some embodiments of this application, such as Figure 11 As shown, the driven wheel 41 is rotatably connected to the driving wheel 42, and the driven wheel 41 can rotate freely around its own axis. When the driven wheel 41 is in contact with the contact surface, it can rotate freely around its own axis on its own. At the same time, after the driving mechanism 43 drives the driving wheel 42 to rotate, it can drive the driven wheel 41 on the driving wheel 42 to change its position.

[0142] In specific embodiments, such as Figure 11 and Figure 12As shown, the outer circumferential surface of the driving wheel 42 is rotatably connected to the driven wheel 41. This ensures that during one revolution of the driving wheel 42, a portion of the contact occurs between the driven wheel 41 and the contact surface, while the remaining portion is primarily formed by the other outer circumferential surface of the driving wheel 42 contacting the contact surface. The structure is simple, and switching between the driving wheel 42 and the driven wheel 41 is convenient. The driven wheel 41 experiences low resistance as it rotates freely along its own axis. Whether traveling on a flat surface, where the driving wheel 20 and the driven wheel 41 work together to support the movement of the machine body 10, or during obstacle crossing, where the driven wheel 41 contacts the surface of the obstacle 2000 and the driving wheel 20 contacts the flat surface, the machine body 10 moves more smoothly, with balanced force distribution, smooth operation, and less susceptibility to jamming.

[0143] In a specific embodiment, the outer peripheral surface of the driving wheel 42 that contacts the contact surface is a flat surface, and the driven wheel 41 is rotatably connected to the flat surface. By making the outer peripheral surface of the driving wheel 42 a flat surface, it is convenient to arrange the driven wheel 41, and it also ensures that when the driven wheel 41 touches the ground and shares the same contact plane with the driving wheel 20, the machine body 10 does not tilt.

[0144] In some embodiments of this application, the maximum radial dimension on the outer circumferential surface of the driving wheel 42 is greater than the maximum radial dimension on the outer circumferential surface of the driven wheel 41. Therefore, when the driving wheel 42 drives the driven wheel 41 to rotate around the axis of the driving wheel 42, the area in contact between the outer circumferential surface of the driving wheel 42 and the contact surface should be greater than the area in contact between the outer circumferential surface of the driven wheel 41 and the contact surface. This is beneficial to promote a greater frictional force between the driving wheel 42 and the contact surface. It also allows the driven wheel 41 to rotate to a position away from the contact surface and close to the body 10 without occupying too much storage space, so that the entire power wheel assembly 40 occupies less layout space and is flexible in switching.

[0145] The following describes a device 1000 for implementing the obstacle-crossing method of the aforementioned mobile platform 100 of this application.

[0146] like Figure 15 As shown, a device 1000 includes: a memory 200 and a processor 300.

[0147] The memory 200 is used to store computer program instructions; the processor 300 is used to invoke the computer program instructions to execute the obstacle-crossing method of the mobile platform 100 in the foregoing embodiments. The structure of the mobile platform 100 in these embodiments is the same as that described above, and will not be repeated here.

[0148] As can be seen from the above, the device 1000 of the above embodiment uses a memory 200 to store computer program instructions and a processor 300 to call the computer program instructions, so that the computer program instructions execute the obstacle crossing method of the mobile platform 100. When the mobile platform 100 encounters an obstacle 2000, the mobile platform 100 can change the relative positional relationship between the driving wheels 20 and the obstacle 2000 by changing the direction of movement. During the journey toward the obstacle 2000, the second wheel 22, which has the smaller maximum radial dimension, can contact the surface of the obstacle 2000. Since the second wheel 22 does not contact the surface when traveling on a flat surface, the probability of the second wheel 22 getting wet is reduced if there is liquid on the surface. During obstacle crossing, the movable platform 100 uses the second wheel 22, which has not come into contact with the liquid, to contact the obstacle 2000 and climb onto the surface of the obstacle 2000. This causes the first wheel 21, which is coaxially arranged with the second wheel 22, to also climb onto the surface of the obstacle 2000 and cross the obstacle. This allows the driving wheel 20 of this application to maintain its obstacle crossing ability even after traveling on a wet and slippery contact surface, and obstacle crossing is achieved through the combined action of the two driving wheels 20.

[0149] The following describes a computer-readable storage medium for storing computer program instructions.

[0150] A computer-readable storage medium storing computer program instructions thereon, which, when invoked by a processor 300, cause the processor 300 to execute the obstacle-crossing method of the mobile platform 100 of the foregoing embodiments.

[0151] "Computer-readable storage medium" can be any means that contains a program for storage, communication, propagation, or transmission for use in or in conjunction with an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable storage media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Additionally, a computer-readable medium can even be paper or other suitable media on which the program can be printed, since the program can be obtained electronically, for example, by optical scanning of the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0152] It should be understood that various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0153] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0154] In the description of this specification, the references to terms such as "some embodiments," "embodiment," "specific embodiment," or "some embodiments," etc., refer to specific method steps, features, structures, materials, or characteristics described in connection with implementation methods or embodiments, which are included in at least one implementation method or embodiment of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same implementation method or embodiment. Furthermore, the specific method steps, features, structures, materials, or characteristics described may be combined in any suitable manner in one or more implementation methods or embodiments.

[0155] The above description is merely a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this utility model, and these modifications or substitutions should all be covered within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the scope of the claims.

Claims

1. A mobile platform, characterized in that, Comprising: A body; Two driving wheels, the two driving wheels being spaced apart and provided on the body; each driving wheel includes a first wheel body and a second wheel body arranged coaxially, the first wheel body being connected to the second wheel body; the first wheel body includes an outer peripheral surface that surrounds the axis of the first wheel body once, the second wheel body includes an outer peripheral surface that surrounds the axis of the second wheel body once and an outer end surface through which the axis of the second wheel body passes, the maximum radial dimension of the outer peripheral surface of the first wheel body is greater than the maximum radial dimension of the outer end surface of the second wheel body, the outer end surface is the surface of the second wheel body that is axially away from the first wheel body, and the maximum radial dimension is the radial dimension perpendicular to the axis direction of the driving wheel; and, Two motors, the two motors being provided on the body and respectively connected to the two driving wheels in one-to-one correspondence, each motor being respectively used to drive the driving wheel connected thereto to rotate; Wherein, the two second wheel bodies of the two driving wheels are respectively arranged axially on the same side of their corresponding first wheel bodies; when the movable platform travels on a plane, while the first wheel body of each driving wheel can contact the plane, the second wheel body of each driving wheel can not contact the plane; during the obstacle-crossing process of the movable platform, the second wheel bodies of the two driving wheels can respectively or simultaneously contact an obstacle.

2. The mobile platform as described in claim 1, characterized in that, The movable platform is a cleaning robot, and the movable platform further includes a cleaning component, the cleaning component being provided on the body for external cleaning.

3. The mobile platform as described in claim 2, characterized in that, The cleaning component includes one or more of a middle brush, a side brush, a vacuum cleaner and a mop; and / or, the cleaning component and the two driving wheels are arranged on the same side of the body.

4. The mobile platform as described in claim 1, characterized in that, The outer end surface of the second wheel body is perpendicular to the axis of the second wheel body; and / or, the first wheel body and the second wheel body are configured as rotating bodies, the outer peripheral surface of the first wheel body is a rotating surface, and the outer peripheral surface of the second wheel body is a rotating surface.

5. The mobile platform as described in claim 1, characterized in that, The driving wheels are configured to rotate and contact a contact surface during the travel of the movable platform to provide power for the movable platform to travel.

6. The mobile platform as described in claim 1, characterized in that, The axes of the two driving wheels are parallel to each other; or, the axes of the two driving wheels coincide.

7. The mobile platform as described in claim 1, characterized in that, The maximum radial dimension of the outer peripheral surface of the first wheel body is d1, the maximum radial dimension of the outer end surface of the second wheel body is d2, d1 - d2 > 1.5 mm, and / or, d1 - d2 < 5.0 mm.

8. The mobile platform as described in claim 1, characterized in that, The maximum radial dimension of the outer peripheral surface of the first wheel body is d1, the maximum radial dimension of the outer end surface of the second wheel body is d2, 1.8 mm < d1 - d2 < 3 mm, and / or, 0.025 * d2 < d1 - d2 < 0.04 * d2.

9. The mobile platform as described in claim 1, characterized in that, The first wheel body includes a first wheel portion, a second wheel portion and a connecting portion arranged coaxially, the first wheel portion, the connecting portion and the second wheel portion are sequentially connected along the axial direction of the first wheel body, and the maximum radial dimension of the connecting portion is less than the maximum radial dimension of the first wheel portion, and the maximum radial dimension of the connecting portion is less than the maximum radial dimension of the second wheel portion, so as to form a depression between the first wheel portion and the second wheel portion.

10. The mobile platform as described in claim 9, characterized in that, The maximum radial dimensions of the first wheel portion and the second wheel portion are equal.

11. The mobile platform as described in claim 9, characterized in that, The first wheel portion includes a first body and a plurality of first protrusions, the plurality of first protrusions being circumferentially spaced along the first body, the first protrusions protruding radially from the surface of the first body such that the maximum radial dimension of the first wheel portion is greater than the maximum radial dimension of the connecting portion; and / or, The second wheel portion includes a second body and a plurality of second protrusions, the plurality of second protrusions being arranged circumferentially spaced along the second body, the second protrusions protruding radially on the surface of the second body, such that the maximum radial dimension of the first wheel portion is greater than the maximum radial dimension of the connecting portion.

12. The mobile platform as described in claim 11, characterized in that, The recesses formed between the plurality of first protrusions communicate with the recesses formed between the first wheel portion and the second wheel portion; and / or, The depression formed between the plurality of second protrusions communicates with the depression formed between the first wheel portion and the second wheel portion.

13. The mobile platform as described in claim 11, characterized in that, The first protrusion and the second protrusion are arranged in a staggered manner along the circumference of the first wheel body.

14. The mobile platform as described in claim 11, characterized in that, The second wheel body includes a third body and a plurality of third protrusions, the plurality of third protrusions being arranged circumferentially spaced along the third body, and the third protrusions protruding radially from the surface of the third body.

15. The mobile platform as described in claim 14, characterized in that, The protrusion height of the third protrusion relative to the third body is less than the protrusion height of the first protrusion relative to the first body; and / or, the protrusion height of the third protrusion relative to the third body is less than the protrusion height of the second protrusion relative to the second body.

16. The mobile platform as described in claim 1, characterized in that, The movable platform further includes a power wheel assembly, which is mounted on the body and located on the same side of the body as the two traveling wheels. The power wheel assembly includes a driven wheel, a driving wheel, and a drive mechanism. The drive mechanism is connected to the driving wheel and can drive the driving wheel to rotate around its axial direction. The driven wheel is rotatably mounted on the driving wheel and can rotate freely around its axial direction. The axis of the driven wheel does not coincide with the axis of the driving wheel. The passive wheel is capable of rotating around the axis of the active wheel during the rotation of the active wheel, thereby changing the relative position between the passive wheel and the machine body. When the movable platform travels on a plane, the driven wheel contacts the plane and can rotate freely about the axis of the driven wheel; During the process of the mobile platform overcoming obstacles, the driving wheels contact the obstacles, and the drive wheels rotate so that the drive wheels contact the contact surface of the obstacles.

17. The mobile platform as described in claim 16, characterized in that, When the movable platform travels on a plane, the first wheel body of the two driving wheels and the driven wheel jointly contact the plane; and / or, when the movable platform travels on a plane, the driven wheel contacts the plane while the driving wheel does not contact the plane.

18. The mobile platform as described in claim 16, characterized in that, The passive wheel is rotatably connected to the outer circumferential surface of the driving wheel.

19. The mobile platform as described in claim 16, characterized in that, The outer circumference of the part of the driving wheel that contacts the contact surface forms an inward concave portion, a portion of the driven wheel is disposed within the concave portion, and a portion of the driven wheel protrudes outward from the concave portion.

20. The mobile platform as described in claim 16, characterized in that, When the drive mechanism drives the driving wheel to rotate, the driven wheel rotates around the axis of the driving wheel, so that the contact state between the driven wheel and the contact surface and the contact state between the driving wheel and the contact surface change.

21. The mobile platform as described in claim 16, characterized in that, During the obstacle crossing process of the mobile platform, the two driving wheels contact the obstacle before the power wheel assembly.

22. The mobile platform as described in claim 16, characterized in that, The surface roughness of the driving wheel is greater than that of the driven wheel.

23. The mobile platform as described in claim 16, characterized in that, The axis of the drive shaft of the drive mechanism is parallel to the axis of rotation of the driven wheel.

24. The mobile platform as described in claim 16, characterized in that, The two driving wheels and the power wheel assembly are arranged in a triangular configuration.

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