Autonomous mobile cleaning robot

Abstract

The present disclosure provides an autonomous mobile cleaning robot, comprising a chassis assembly and a walking wheel assembly; the chassis assembly is provided with a biasing device, the biasing device has a fixed position in the vertical direction relative to the chassis assembly; the walking wheel assembly is arranged on the chassis assembly and is used to move the chassis assembly; wherein the walking wheel assembly comprises a driving wheel, the rotation axis of the driving wheel has an initial position and a terminal position in the vertical direction relative to the chassis assembly; wherein the driving wheel comprises an inner wheel assembly, the inner wheel assembly comprises an actuating member, when the driving wheel is in the initial position, the biasing device is coupled with the actuating member, so that the driving wheel has a first form; when the driving wheel is in the terminal position, the actuating member is decoupled with the biasing device, so that the driving wheel has a second form; the driving wheel in the first form and the driving wheel in the second form have different tread patterns.

Description

Technical Field

[0001] This disclosure relates to an autonomous mobile cleaning robot. Background Technology

[0002] To enable household cleaning equipment to move autonomously, most household cleaning equipment includes a wheel assembly, and the autonomous movement of the household cleaning equipment is achieved through the active rotation of the wheel assembly.

[0003] In the prior art, the walking wheel assembly has a circular outer surface. When the walking wheel assembly is used for a long time, its surface will wear down, and the gaps on the periphery of the walking wheel assembly will be filled with dirt. This will reduce the friction between the walking wheel assembly and the surface to be cleaned, and cause the household cleaning equipment to slip when it moves autonomously. This situation will become more serious when the household cleaning equipment is crossing obstacles, thereby reducing the obstacle crossing effect of the household cleaning equipment. Utility Model Content

[0004] This disclosure provides an autonomous mobile cleaning robot.

[0005] According to one aspect of this disclosure, an autonomous mobile cleaning robot is provided, comprising:

[0006] A chassis assembly, wherein a biasing device is disposed on the chassis assembly, the biasing device having a fixed position in the vertical direction relative to the chassis assembly; and

[0007] A traveling wheel assembly is disposed on a chassis assembly for moving the chassis assembly; wherein the traveling wheel assembly includes a drive wheel, and the axis of rotation of the drive wheel has an initial position and an end position in the vertical direction relative to the chassis assembly;

[0008] The drive wheel includes an inner wheel assembly, which includes an actuator. When the drive wheel is in an initial position, the biasing device is coupled to the actuator to give the drive wheel a first shape. When the drive wheel is in a terminated position, the actuator is decoupled from the biasing device to give the drive wheel a second shape. The drive wheel in the first shape and the drive wheel in the second shape have different tread patterns.

[0009] An autonomous mobile cleaning robot according to at least one embodiment of the present disclosure further includes:

[0010] An elastic element applies a preload force to the drive wheel toward the surface to be cleaned. The elastic coefficient of the elastic element satisfies the following condition: when the robot chassis assembly is lifted away from the surface to be cleaned by a predetermined vertical distance, the drive wheel maintains contact with the surface to be cleaned.

[0011] According to at least one embodiment of the autonomous mobile cleaning robot of the present disclosure, the drive wheel has a first shape within the predetermined vertical distance, and the drive wheel has a second shape outside the predetermined vertical distance.

[0012] According to at least one embodiment of the autonomous mobile cleaning robot of the present disclosure, the drive wheel includes a wheel body, the wheel body comprising:

[0013] The base includes a first end face and a second end face formed on both sides in the axial direction of the base;

[0014] The first tire segment extends radially outward from the outer peripheral surface of the base and extends axially from the first end face to the second end face; two adjacent first tire segments in the circumferential direction are arranged with a first interval;

[0015] The second tire segment extends from the second end face to the third end face along the axial direction, and two adjacent second tire segments in the circumferential direction are arranged at a second interval;

[0016] A third tire segment is disposed within the second interval and configured to operably change position between a first position and a second position in the radial direction within the second interval; when the drive wheel is in the first configuration, the third tire segment is in the first position; when the drive wheel is in the second configuration, the third tire segment is in the second position.

[0017] According to at least one embodiment of the autonomous mobile cleaning robot of the present disclosure, the first interval is not greater than the second interval in the circumferential direction of the drive wheel.

[0018] According to at least one embodiment of the autonomous mobile cleaning robot of the present disclosure, the inner wheel assembly is radially mounted within the base and disposed between the first end face and the third end face, configured to receive driving force from the drive motor to drive the drive wheel to rotate.

[0019] According to at least one embodiment of the present disclosure, in an autonomous mobile cleaning robot, the third tire segment is movably disposed on the inner wheel assembly and configured to move radially relative to the inner wheel assembly.

[0020] According to at least one embodiment of the autonomous mobile cleaning robot of the present disclosure, the inner wheel assembly includes an actuator configured to receive a squeezing driving force from the chassis assembly of the autonomous mobile cleaning robot when the drive wheel is in an initial position.

[0021] According to at least one embodiment of the present disclosure, in an autonomous mobile cleaning robot, the direction of the squeezing driving force is along the axial direction of the drive wheel.

[0022] According to at least one embodiment of the autonomous mobile cleaning robot of the present disclosure, the inner wheel assembly includes a linkage that connects the actuator and the third tire segment together and is configured to transmit the squeezing driving force transmitted by the actuator to the third tire segment.

[0023] According to at least one embodiment of the present disclosure, in an autonomous mobile cleaning robot, the actuator is coaxially disposed on the linkage and is rotatable relative to the linkage.

[0024] According to at least one embodiment of the present disclosure, in the first position, the direction of the driving force applied by the actuator to the third tire segment is substantially perpendicular to the direction of the squeezing driving force.

[0025] According to at least one embodiment of the present disclosure, the linkage of the autonomous mobile cleaning robot is configured to reciprocate axially relative to the wheel cover of the inner wheel assembly.

[0026] According to at least one embodiment of the autonomous mobile cleaning robot of the present disclosure, the third tire segment includes a tread segment and a foot segment disposed opposite to the tread segment, the tread segment being configured to form at least a portion of a combined tread, and the foot segment being configured to slidably abut against the linkage to receive the driving force of the linkage.

[0027] According to at least one embodiment of the autonomous mobile cleaning robot of the present disclosure, the inner wheel assembly further includes an elastic retainer connecting the third tire segment and the wheel cover of the inner wheel assembly to maintain the third tire segment having a tendency to move in the direction of the axis of the inner wheel assembly.

[0028] According to at least one embodiment of the present disclosure, in an autonomous mobile cleaning robot, the wheel cover defines the positional change trajectory of the third tire segment. Attached Figure Description

[0029] The accompanying drawings illustrate exemplary embodiments of the present disclosure and, together with the description thereof, serve to explain the principles of the present disclosure. These drawings are included to provide a further understanding of the present disclosure and are incorporated in and constitute a part of this specification.

[0030] Figure 1 This is a structural schematic diagram of an autonomous mobile cleaning robot according to one embodiment of the present disclosure.

[0031] Figure 2 This is a structural schematic diagram of an autonomous mobile cleaning robot according to one embodiment of the present disclosure from another angle.

[0032] Figure 3This is a state diagram of a side brush assembly in an inward-retracted state according to one embodiment of the present disclosure.

[0033] Figure 4 This is a schematic diagram of a side brush assembly in an inwardly retracted state according to one embodiment of the present disclosure.

[0034] Figure 5 This is a state diagram of a side brush assembly in an outward swing state according to one embodiment of the present disclosure.

[0035] Figure 6 This is a schematic diagram of a side brush assembly in an outward swinging state according to one embodiment of the present disclosure.

[0036] Figure 7 This is a schematic diagram of a brush assembly in a first posture according to one embodiment of the present disclosure.

[0037] Figure 8 This is a cross-sectional view of a brush assembly in a first posture according to an embodiment of the present disclosure.

[0038] Figure 9 This is an exploded view of a brush assembly in a first orientation according to one embodiment of the present disclosure.

[0039] Figure 10 This is a schematic diagram of a brush assembly in a second posture according to one embodiment of the present disclosure.

[0040] Figure 11 This is a cross-sectional view of a brush assembly in a second posture according to one embodiment of the present disclosure.

[0041] Figure 12 This is an exploded view of the brush assembly in a second posture according to one embodiment of the present disclosure.

[0042] Figure 13 This is a schematic diagram of the structure of the first rotating member according to one embodiment of the present disclosure.

[0043] Figure 14 This is a structural schematic diagram of the first rotating member at another angle according to one embodiment of the present disclosure.

[0044] Figure 15 This is a schematic diagram of the structure of the second and third rotating members according to one embodiment of the present disclosure.

[0045] Figure 16 This is a structural schematic diagram of a third rotating member according to an embodiment of the present disclosure.

[0046] Figure 17This is a schematic diagram of the mating structure between the third rotating member and the hub according to one embodiment of the present disclosure.

[0047] Figure 18 This is a schematic diagram of the structure of a wheel hub according to one embodiment of the present disclosure.

[0048] Figure 19 This is a partial structural schematic diagram of a brush assembly according to one embodiment of the present disclosure.

[0049] Figure 20 This is a schematic diagram of the structure of a first driving force transmission component and a second driving force transmission component according to an embodiment of the present disclosure.

[0050] Figure 21 This is a structural schematic diagram of the first driving force transmission component and the second driving force transmission component from another angle according to one embodiment of the present disclosure.

[0051] Figure 22 This is a schematic diagram of the structure of a support portion according to one embodiment of the present disclosure.

[0052] Figure 23 This is a schematic diagram of the structure of a swing gear according to one embodiment of the present disclosure.

[0053] Figure 24 This is a structural schematic diagram of an autonomous mobile cleaning robot according to another embodiment of the present disclosure.

[0054] Figure 25 This is a structural schematic diagram of one state of the drive wheel of an autonomous mobile cleaning robot according to another embodiment of the present disclosure.

[0055] Figure 26 This is a structural schematic diagram of another state of the drive wheels of an autonomous mobile cleaning robot according to another embodiment of the present disclosure.

[0056] Figure 27 This is a schematic diagram of the structure of a wheel body according to one embodiment of the present disclosure.

[0057] Figure 28 This is a structural schematic diagram of an inner wheel assembly according to one embodiment of the present disclosure.

[0058] Figure 29 This is a schematic diagram illustrating the cooperation relationship between the third tire section and the linkage component according to one embodiment of this disclosure.

[0059] Figure 30 This is a schematic diagram of the actuator according to one embodiment of the present disclosure.

[0060] Figure 31This is a schematic diagram of the linkage component according to one embodiment of the present disclosure.

[0061] Figure 32 This is a schematic diagram of the structure of the third tire segment according to one embodiment of the present disclosure.

[0062] Figure 33 This is a schematic diagram of the wheel cover according to one embodiment of the present disclosure.

[0063] Figure 34 This is a flowchart of a control method for an autonomous mobile cleaning robot according to one embodiment of the present disclosure.

[0064] Figure 35 This is a flowchart of a control method for an autonomous mobile cleaning robot according to another embodiment of the present disclosure. Detailed Implementation

[0065] The present disclosure will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the disclosure. Furthermore, it should be noted that, for ease of description, only the parts relevant to the present disclosure are shown in the accompanying drawings.

[0066] It should be noted that, where there is no conflict, the embodiments and features described in this disclosure can be combined with each other. The technical solutions of this disclosure will now be described in detail with reference to the accompanying drawings and embodiments.

[0067] Unless otherwise stated, the exemplary implementations / embodiments shown are to be understood as providing exemplary features of various details that provide ways in which the technical concepts of this disclosure can be implemented in practice. Therefore, unless otherwise stated, the features of various implementations / embodiments may be additionally combined, separated, interchanged and / or rearranged without departing from the technical concepts of this disclosure.

[0068] Figure 1 This is a structural schematic diagram of an autonomous mobile cleaning robot according to one embodiment of the present disclosure. Figure 2 This is a structural schematic diagram of an autonomous mobile cleaning robot according to one embodiment of the present disclosure from another angle.

[0069] The autonomous mobile cleaning robot disclosed herein can be a sweeping robot, a mopping robot, or a combined sweeping and mopping robot, etc. The autonomous mobile cleaning robot is capable of moving autonomously across the surface to be cleaned to clean the surface by picking up particles located on different parts of the surface. For example... Figure 1 and Figure 2 As shown, the autonomous mobile cleaning robot disclosed herein can be a sweeping and mopping robot.

[0070] by Figure 1 and Figure 2 Taking the autonomous mobile cleaning robot shown as an example, with the robot's forward direction denoted as "forward," refer to... Figure 2 In the view orientation, the autonomous mobile cleaning robot's forward direction is to the right. The direction away from the autonomous mobile cleaning robot's forward movement is backward. (Refer to...) Figure 2 In terms of the view orientation, the rear of an autonomous mobile cleaning robot refers to the left direction. Correspondingly, the direction perpendicular to the front-back direction can be defined as the left-right direction.

[0071] When the autonomous mobile cleaning robot is in operation, it can move on a roughly horizontal surface to be cleaned. The direction perpendicular to the surface is called the vertical direction (hereinafter referred to as the vertical).

[0072] The autonomous mobile cleaning robot may include a chassis assembly 100, which forms the body of the robot. An auxiliary wheel assembly 400 and a driving wheel assembly 500 are provided at the bottom of the chassis assembly 100. The auxiliary wheel assembly 400 cooperates with the driving wheel assembly 500 to enable the robot to turn. The driving wheel assembly 500 is used to drive the robot forward or turn. The auxiliary wheel assembly 400 is located at the front of the chassis assembly 100, and the cleaning assembly 600 is rotatably connected to the bottom of the chassis assembly 100, thus located at the rear of the chassis assembly 100.

[0073] like Figure 2 As shown, the walking wheel assembly 500 of this disclosure can be configured as two, which are located approximately at the middle position in the front-rear direction of the chassis assembly 100 and on both sides in the left-right direction of the chassis assembly 100; and the auxiliary wheel assembly 400 is configured as one, which can be a swivel wheel, which is located at the middle position in the left-right direction of the autonomous mobile cleaning robot and close to the front end of the autonomous mobile cleaning robot.

[0074] In actual use, the walking wheel assembly 500 can be driven and rotated. By controlling the walking wheel assembly 500 to rotate at a constant speed, the autonomous mobile cleaning robot can move forward. Correspondingly, by controlling the walking wheel assembly 500 to rotate at different speeds, the autonomous mobile cleaning robot can turn.

[0075] The autonomous mobile cleaning robot disclosed herein also includes an elastic element (tension spring) that applies a preload force to the drive wheel toward the surface to be cleaned. The elastic coefficient of the elastic element (tension spring) satisfies the following condition: when the chassis assembly is lifted away from the surface to be cleaned by a predetermined vertical distance, the drive wheel is kept in contact with the surface to be cleaned.

[0076] Within the predetermined vertical distance, the drive wheel has a first configuration, and outside the predetermined vertical distance, the drive wheel has a second configuration.

[0077] In this disclosure, the chassis assembly 100 is further provided with a side brush assembly 200, wherein the side brush assembly 200 can be configured as one or two; Figure 1 In the implementation shown, the side brush assembly 200 is configured as one, and the side brush assembly 200 is positioned on the right side of the front end of the chassis assembly 100; thereby, by rotating the side brush assembly 200, dirt on the surface to be cleaned can be disturbed, and the surface to be cleaned can be cleaned.

[0078] In addition, a brush roller assembly 300 is also provided on the chassis assembly 100. The brush roller assembly 300 is located at the middle position in the front-rear direction of the chassis assembly 100, and its length direction is the width direction of the chassis assembly 100. Thus, the brush roller assembly 300 can agitate the dirt on the surface to be cleaned. This dirt can be sucked into a dust box or other device by negative pressure adsorption, and the solid particles are separated in the dust box or other device, thereby realizing the cleaning operation of the surface to be cleaned.

[0079] In a preferred embodiment, a cleaning component 600 is further provided on the chassis assembly 100. In this disclosure, the cleaning component 600 is rotatably connected to the chassis assembly 100 and configured to make frictional contact with the surface to be cleaned to clean the surface. More preferably, when the autonomous mobile cleaning robot is working, cleaning liquid can be provided to the cleaning component 600, thereby enabling the cleaning component 600 to perform wet mopping of the surface to be cleaned. In embodiments of this disclosure, the cleaning component 600 is formed in the form of a roller brush.

[0080] Figure 3 This is a state diagram of the side brush assembly 200 in an inward-retracted state according to one embodiment of the present disclosure. Figure 4 This is a schematic diagram of the side brush assembly 200 in an inwardly retracted state according to one embodiment of the present disclosure. Figure 5 This is a state diagram of the side brush assembly 200 in an outward swing state according to one embodiment of the present disclosure. Figure 6 This is a schematic diagram of the side brush assembly 200 in an outward swing state according to one embodiment of the present disclosure.

[0081] like Figures 3 to 6As shown, the side brush assembly 200 of this disclosure may include components such as a base 210, a first motor 201, a support 220, a gear unit 230, a hub 240, an arm-shaped brush body 241, and an adjustment unit 250.

[0082] Specifically, the base portion 210 of this disclosure can be fixed to the chassis assembly 100, thereby fixing the side brush assembly 200 of this disclosure to the chassis assembly 100.

[0083] In one embodiment, the base portion 210 may be composed of a plurality of mutually fixed housing components, thereby at least a portion of the drive system of the side brush assembly 200 can be disposed within the base portion 210, thus enabling the side brush assembly 200 of the present disclosure to adapt to dusty working environments.

[0084] The first motor 201 is disposed on the base portion 210 and is configured to output torque in a first direction and torque in a second direction; that is, the first motor 201 of this disclosure is capable of generating motion in both forward and reverse directions.

[0085] The first end of the support portion 220 is rotatably disposed on the base portion 210 and configured to swing about a swing axis between a first position and a second position. The swing axis of the support portion 220 relative to the base portion 210 can be a generally vertical straight line, in which case there is an angle greater than 0° between the swing axis and the first rotation axis. That is, the first rotation axis is either set generally vertically or set at an angle.

[0086] like Figure 3 and Figure 4 As shown, when the carrier portion 220 of this disclosure is in the first position, its second end (i.e., the free end) is located directly below the chassis assembly 100, at which time the side brush assembly 200 is in an inward-retracted state. Additionally, as... Figure 5 and Figure 6 As shown, when the carrier 220 of this disclosure is in the second position, its second end (i.e., the free end) is located outside the chassis assembly 100. At this time, the side brush assembly is in an outward swing state. Those skilled in the art should know that when the side brush assembly 200 is in the outward swing state, the cleaning unit located at the free end of the carrier 220 will be able to clean dirt at corners and other locations, thereby improving the cleaning ability of the autonomous mobile cleaning robot of this disclosure at corners and other locations.

[0087] In a preferred embodiment, the support portion 220 can be formed by mutually fixed upper and lower housings, and the support portion 220 is arranged substantially horizontally. In other words, the support portion 220 is arranged parallel to the surface to be cleaned, which is also substantially horizontal. Therefore, a transmission gear set can be provided inside the support portion 220 of this disclosure, and the first motor 201 can be connected to the gear unit 230 via the transmission gear set.

[0088] Gear unit 230 is disposed on support portion 220 and is connected to first motor 201 for transmission; specifically, gear unit 230 of this disclosure is rotatably disposed on support portion 220. In a preferred embodiment, gear unit 230 includes helical gear, which can drive the first rotating member 251 described below to rotate, thereby maintaining the first axis of rotation of side brush assembly 200 and the surface to be cleaned in a non-perpendicular manner through the arrangement of helical gear.

[0089] The hub 240 is configured to rotate relative to a first axis of rotation in a first posture and a second posture; wherein the gear unit 230 is used to drive the hub 240 to rotate.

[0090] The first end of the arm-shaped brush body 241 is connected to the hub 240 and is configured to extend outward from the outer surface of the hub 240; thus, the other end of the arm-shaped brush body 241 of this disclosure is formed as the free end of the arm-shaped brush body 241.

[0091] In a preferred embodiment, bristles may be provided on the free end of the arm-shaped brush body 241 to clean dirt from the surface to be cleaned. In a preferred embodiment, the arm-shaped brush body 241 and the bristles can be arranged in a straight line.

[0092] The arm-shaped brush body 241 disclosed herein can be integrally formed with the hub 240. For example, it can be integrally formed using processes such as injection molding. Moreover, there are two arm-shaped brush bodies 241, which are arranged substantially parallel to each other.

[0093] Generally speaking, the first rotation axis of this disclosure can be set vertically or substantially vertically. Moreover, when the gear unit 230 drives the hub 240 to rotate, the rotation axis of the hub 240 is the aforementioned first rotation axis.

[0094] The adjustment unit 250 is used to adjust the posture of the hub 240. In this disclosure, the adjustment unit 250 enables the hub 240 to rotate around a second rotation axis, which is a roughly horizontal straight line, that is, the second rotation axis is set roughly perpendicular to the first rotation axis.

[0095] Furthermore, the second rotation axis is also set perpendicular or substantially perpendicular to the length direction of the arm-shaped brush body 241. Thus, when the hub 240 rotates along the second rotation axis, the arm-shaped brush body 241 can swing in a vertical plane. Correspondingly, the free end of the arm-shaped brush body 241 can be raised or lowered, thereby causing the bristles to detach from the surface to be cleaned, or causing the bristles to make pressure contact with the surface to be cleaned.

[0096] Specifically, the gear unit 230 is configured such that: when the first motor 201 outputs torque in a first direction, the torque output in the first direction (forward) of the first motor 201 is transmitted to the hub 240 through the adjustment unit 250, so that the hub 240 rotates in a first posture; when the first motor 201 outputs torque in a second direction (reverse), the torque output in the second direction of the first motor 201 is transmitted to the hub 240 through the adjustment unit 250, so that the hub 240 rotates in a second posture. In the first posture, the second end (free end) of the arm-shaped brush body 241 and the support portion 220 have a first distance in the vertical direction; in the second posture, the second end (free end) of the arm-shaped brush body 241 and the support portion 220 have a second distance in the vertical direction; the first distance is less than the second distance.

[0097] In other words, when the first motor 201 rotates in the first direction, the free end of the arm-shaped brush body 241 is raised, at which point the bristles will detach from the surface to be cleaned. Therefore, when the autonomous mobile cleaning robot moves, the bristles will not come into contact with the surface to be cleaned, thus preventing contamination of the already cleaned surface.

[0098] On the other hand, when the first motor 201 rotates in the second direction, the free end of the arm-shaped brush body 241 is in a lowered position. At this time, the bristles will make pressure contact with the surface to be cleaned. If the hub 240 is driven, the bristles will be able to disturb the dust on the surface to be cleaned, so as to achieve cleaning of the surface.

[0099] Therefore, the autonomous mobile cleaning robot of this disclosure can selectively separate and contact the bristles with the surface to be cleaned, solving the technical problems in the prior art. Furthermore, the selective separation and contact of the bristles with the surface to be cleaned, as well as the operation of the bristles agitating the surface to be cleaned, are achieved using a first motor 201. Consequently, the side brush assembly 200 of this disclosure has fewer parts, resulting in lower manufacturing costs. Additionally, due to the fewer parts in the side brush assembly 200, its size is correspondingly smaller, and it can be easily arranged on the chassis assembly 100.

[0100] In this disclosure, in a first posture, the arm-shaped brush body 241 of the hub 240 forms a first angle with the first rotation axis; in a second posture, the arm-shaped brush body 241 of the hub 240 forms a second angle with the first rotation axis, and the first angle is greater than the second angle. That is, the first and / or second postures of this disclosure are related to angles. Here, the angle describes the angle of the central axis of the hub 240 relative to the first rotation axis, or the angle of the central axis of the hub 240 relative to the base portion 210.

[0101] Taking the first rotation axis as approximately vertical as an example, in the first posture, the arm-shaped brush body 241 is perpendicular or approximately perpendicular to the first rotation axis, and the first included angle is 90°. At this time, the arm-shaped brush body 241 and the bristles will be set approximately horizontally. When the hub 240 is in the second posture, the second included angle between the arm-shaped brush body 241 and the first rotation axis is approximately 60°.

[0102] Taking a horizontal surface as an example, in the first posture, the arm-shaped brush body 241 and the bristles of the hub 240 will be approximately parallel to the surface to be cleaned. When the hub 240 is in the second posture, the arm-shaped brush body 241 is positioned intersecting the surface to be cleaned, at which point the bristles will come into contact with the surface to be cleaned.

[0103] In this disclosure, when the wheel hub 240 is in a first posture, it can also be said that the side brush assembly 200 is in a first posture. When the wheel hub 240 is in a second posture, it can also be said that the side brush assembly 200 is in a second posture.

[0104] The structure of the adjustment unit 250 of this disclosure will be described in detail below with reference to the accompanying drawings.

[0105] Figure 7 This is a schematic diagram of a brush assembly in a first posture according to one embodiment of the present disclosure. Figure 8 This is a cross-sectional view of a brush assembly in a first posture according to an embodiment of the present disclosure. Figure 9 This is an exploded view of a brush assembly in a first orientation according to one embodiment of the present disclosure. Figure 10 This is a schematic diagram of a brush assembly in a second posture according to one embodiment of the present disclosure. Figure 11 This is a cross-sectional view of a brush assembly in a second posture according to one embodiment of the present disclosure. Figure 12 This is an exploded view of the brush assembly in a second posture according to one embodiment of the present disclosure.

[0106] like Figures 7 to 12 As shown, the adjustment unit 250 of this disclosure includes components such as a first rotating component 251 (also referred to as a turntable component) and a second rotating component 252 (also referred to as a cam component).

[0107] The first rotating member 251 is configured to be driven and rotated by the gear unit 230; that is, when the gear unit 230 rotates in the first direction, it can drive the first rotating member 251 to rotate in the first direction, and similarly, when the gear unit 230 rotates in the second direction, it can drive the first rotating member 251 to rotate in the second direction.

[0108] In other words, the first rotating member 251 and the gear unit 230 of this disclosure are arranged coaxially.

[0109] Figure 13 This is a schematic diagram of the structure of the first rotating member according to one embodiment of the present disclosure. Figure 14 This is a structural schematic diagram of the first rotating member at another angle according to one embodiment of the present disclosure.

[0110] like Figure 13 and Figure 14 As shown, the first rotating member 251 is formed into a generally cylindrical structure, wherein the cylindrical structure includes multiple cylindrical segments of different diameters. Moreover, the first rotating member 251 has a central hole along its axial direction, and the gear shaft at the lower end of the gear unit 230 is rotatably disposed in the central hole of the first rotating member 251, thereby enabling relative rotation between the gear unit 230 and the first rotating member 251 of this disclosure.

[0111] The lower surface of the gear unit 230 (i.e., the rotational surface facing the first rotating member 251) has a downward-facing annular hole. The upper end of the first rotating member 251 is inserted into the annular hole, thereby restricting the vertical downward movement of the gear unit 230. In other words, the lower end of the first rotating member 251 can slide in contact with the inner surface of the lower housing of the support portion 220. Thus, the lower housing can restrict the vertical downward movement of the first rotating member 251 and allow the first rotating member 251 to rotate in both directions. Therefore, the positions of the first rotating member 251 and the gear unit 230 in the direction of the first rotation axis can be restricted.

[0112] The first rotating member 251 of this disclosure includes a lower stepped surface on which at least one protrusion 251A is formed. Figure 14 In the illustrated embodiment, there is one protrusion 251A. Moreover, the protrusion 251A is formed by protruding downward from the lower step surface.

[0113] In addition, the first rotating member 251 includes an upper stepped surface (i.e., the rotating surface of the first rotating member 251 facing the gear unit 230), and a free-spinning groove 251B is formed on the upper stepped surface. The free-spinning groove 251B is formed as an arc groove with an arc of approximately 270°.

[0114] In other words, in order to achieve the engagement and disengagement of the first rotating member 251 and the gear unit 230, the idle slot 251B of this disclosure cannot be set to 360°, that is, it cannot be formed as an annular slot.

[0115] Figure 15 This is a schematic diagram of the structure of the second rotating member and the third rotating member 253 according to one embodiment of the present disclosure.

[0116] like Figure 15 As shown, the second rotating member 252 of this disclosure is configured to be driven and rotated by the gear unit 230, wherein one axial side of the second rotating member 252 contacts the protrusion 251A so that when the second rotating member 252 rotates relative to the first rotating member 251, the hub 240 can be driven to a first posture or a second posture.

[0117] In other words, the second rotating member 252 of this disclosure can rotate synchronously with the gear unit 230, and the first rotating member 251 can rotate asynchronously with the gear unit 230. Thus, the first rotating member 251 of this disclosure can rotate relative to the second rotating member 252.

[0118] When the first motor 201 changes direction, since the first rotating member 251 has a free-spinning groove, the first motor 201 will not drive the first rotating member 251 to rotate. However, since the first motor 201 always drives the second rotating member 252 to rotate along the first rotation axis, the second rotating member 252 will rotate relative to the first rotating member 251.

[0119] like Figure 15 As shown, the second rotating member 252 (cam member) forms a contact end on one side of its axial direction. The contact end forms at least one continuous guide segment. The guide segment is adapted to maintain at least one continuous sliding contact with the protrusion 251A. In the continuous guide segment, different gradients are formed in the axial direction extending toward one side of the axial direction.

[0120] In other words, the upper end of the second rotating member 252 is formed as a contact end, and the contact end is formed as a cam surface, which is why the second rotating member 252 is called a cam member.

[0121] Therefore, along the first rotation axis (or vertical direction), since the position of the first rotating member 251 remains unchanged, the protrusion 251A can contact different positions of the guide section, thereby lifting or lowering the second rotating member 252. Simultaneously, because the guide section has different gradients (axial height), the second rotating member 252 will rotate along the second rotation axis. At this time, the hub 240 fixed to the second rotating member 252 will also rotate along the second rotation axis.

[0122] In one embodiment, the contact end is formed to project in an annular shape around the central axis of the second rotating member 252. Thus, the protrusion 251A of the first rotating member 251 can always engage with the contact end, and the second rotating member 252 is positioned as required.

[0123] like Figure 15 As shown in this disclosure, the annular projection is approximately elliptical. When the central axis of the second rotating member 252 approximately coincides with the first rotation axis, the major axis of the ellipse and the extending direction of the arm-shaped brush 241 lie in the same vertical plane. Therefore, the third rotating member 253 of this disclosure can swing relative to the second rotating member 252 along the second rotation axis. The second rotation axis coincides with or is parallel to the minor axis of the ellipse.

[0124] Overall, the protrusion 251A is engaged with the contact end in an abutting manner, so that when the first rotating member 251 is rotated in both directions under the action of torque in the first direction or torque in the second direction, the protrusion 251A can reciprocate and slide to engage with the contact end.

[0125] See again Figure 15 In this disclosure, the different gradients include a first gradient 252A and a second gradient 252B, wherein the extension length of the first gradient 252A is greater than that of the second gradient 252B. Additionally, the different gradients include a third gradient 252C, wherein the extension length of the third gradient 252C is located between the first gradient 252A and the second gradient 252B.

[0126] Preferably, the third gradient 252C includes multiple gradients, which increase or decrease linearly in sequence to form a relatively smooth slope. In a specific embodiment, when the central axis of the second rotating member 252 is approximately coincident with the first rotation axis, the first gradient 252A has the highest height along the direction of the first rotation axis, the second gradient 252B has the lowest gradient, and the third gradient 252C is the part connecting the first gradient 252A and the second gradient 252B. Thus, the upper end face of the second rotating member 252 of this disclosure is formed as a complete cam surface.

[0127] In this disclosure, the first rotating member 251 is configured to be coaxially connected to the gear unit 230 in a clutch-like manner, so that it is not driven by the gear unit 230 when switching torque in the first and second directions, but is driven by the gear unit 230 to rotate about the first rotation axis after a time period calculated from the start of the switching. Thus, relative rotation can occur between the first rotating member 251 and the second rotating member 252, allowing the second rotating member 252 to rotate along the second rotation axis.

[0128] The first rotating member 251 and the gear unit 230 are configured to rotate asynchronously within a relative rotation angle. The relative rotation angle is less than 360°. In one specific embodiment, this relative rotation angle is approximately 270°, thereby allowing the protrusion 251A of the first rotating member 251 to stably engage with the first gradient 252A of the second rotating member 252, and enabling the hub 240 to be in a second posture.

[0129] In order to form a clutch connection between the gear unit 230 and the first rotating member 251, i.e. a separable connection, the first rotating member 251 (turntable member) of this disclosure includes a first interference portion, and the gear unit 230 includes a second interference portion. When the first rotating member 251 (turntable member) and the gear unit 230 are arranged coaxially, the first interference portion and the second interference portion are interfered with each other in their respective complete rotational circumference.

[0130] A free-spinning groove 251B is formed on the rotating surface of the first rotating member 251 (turntable member) facing the gear unit 230, and a first interference portion is located at the circumferential end of the free-spinning groove 251B; a protrusion 231 is formed on the rotating surface of the gear unit 230 facing the first rotating member 251 (turntable member), and a second interference portion is located at the circumferential end of the protrusion 231. The protrusion 231 is configured to move within the free-spinning groove 251B when the first rotating member 251 (turntable member) and the gear unit 230 rotate relative to each other.

[0131] In other words, in the circumferential direction, the curvature of the protrusion 231 is much smaller than the curvature of the idler groove 251B. In a specific embodiment, the curvature of the protrusion 231 is approximately 90°. Thus, when the protrusion 231 is centered within the idler groove 251B, the gear unit 230 can rotate 90° in both directions without driving the first rotating member 251 to rotate.

[0132] In another embodiment, a protrusion is formed on the rotational surface of the first rotating member 251 (turntable member) facing the gear unit 230, and a first interference portion is located at the circumferential end of the protrusion; a free-spinning groove is formed on the rotational surface of the gear unit 230 facing the first rotating member 251 (turntable member), and a second interference portion is located at the circumferential end of the free-spinning groove; the protrusion is configured to allow the first rotating member 251 (turntable member) and the gear unit 230 to move within the free-spinning groove when they rotate relative to each other.

[0133] In other words, the first interference portion of this disclosure can be formed as a protrusion or a groove structure. Correspondingly, the second interference portion can be formed as a groove structure or a protrusion. Generally speaking, the first interference portion protrudes or is recessed in the rotational surface of the first rotating member 251 (turntable member) facing the gear unit 230. Correspondingly, the second interference portion is recessed in or protrudes from the rotational surface of the gear unit 230 facing the first rotating member 251.

[0134] The second rotating member 252 is coaxial with and fixedly mounted on the hub 240. Thus, the second rotating member 252 of this disclosure can rotate synchronously with the hub 240.

[0135] In this disclosure, the adjustment unit 250 includes a third rotating member 253 that extends along a first rotation axis and receives torque transmitted by the gear unit 230 to drive the hub 240 to rotate about the first rotation axis.

[0136] Figure 16 This is a structural schematic diagram of a third rotating member according to an embodiment of the present disclosure.

[0137] like Figure 15 and Figure 16 As shown, the third rotating member 253 of this disclosure can be fixedly connected to the gear unit 230, thereby enabling the third rotating member 253 to rotate synchronously with the gear unit 230, and correspondingly, the hub 240 will rotate synchronously with the gear unit 230.

[0138] like Figure 16 As shown, the end (i.e., lower end) of the third rotating member 253 includes a deflector, which is configured to be conditionally deflected to the second rotating member 252 such that the angle between the axis of the second rotating member 252 (i.e., the central axis of the second rotating member 252, which is not the first rotation axis) and the axis of the third rotating member 253 (i.e., the central axis of the third rotating member 253, which may coincide with the first rotation axis mentioned above) is variable.

[0139] The conditional deflection connection between the deflector and the second rotating member 252 means that the deflector can deflect relative to the second rotating member 252 and the deflection angle can be limited by the second rotating member 252.

[0140] Therefore, when the second rotating member 252 rotates around the second rotation axis, the second rotating member 252 will not rotate around the second rotation axis, and the third rotating member 253 will not affect the rotation of the second rotating member 252, and can also maintain the application of power to the second rotating member 252 (and to the hub 240) so that the second rotating member 252 and the hub 240 can rotate along the first rotation axis.

[0141] Therefore, the second rotating member 252 and the third rotating member 253 of this disclosure can switch between coaxial and non-coaxial postures. Specifically, when the hub 240 is in the first posture, the second rotating member 252 and the third rotating member 253 are non-coaxial. When the hub 240 is in the second posture, the second rotating member 252 and the third rotating member 253 are coaxially arranged.

[0142] In this disclosure, in the direction of the first rotation axis, the deflector is located between the hub 240 and the second rotating member 252, thereby enabling the deflector of this disclosure to apply power to the hub 240 and / or the second rotating member 252, and enabling the hub 240 and the second rotating member 252 to rotate along the first rotation axis.

[0143] See again Figure 16 The deflector disclosed herein includes at least one deflection shaft 253A, which is substantially perpendicular to a first rotation axis and is configured to allow at least a second rotating member 252 to rotate about the deflection shaft 253A.

[0144] The axis of the deflection shaft is the second rotation axis mentioned above, thereby enabling the hub 240 and the second rotating member 252 to rotate along the second rotation axis.

[0145] In a preferred embodiment, the deflector includes at least one limiting body configured to limit the deflection angle of the second rotating member 252. Specifically, a limiting space is formed between the second rotating member 252 and the hub 240 to accommodate the limiting body, thereby allowing the limiting body to move only between the hub 240 and the second rotating member 252, and allowing the hub 240 and the second rotating member 252 to rotate relative to the third rotating member 253.

[0146] At least one limiting body includes a limiting portion configured to interfere with the hub 240 and / or the second rotating member 252 to limit the deflection angle of the hub 240. Specifically,

[0147] The limiting portion includes a first limiting portion 253B and a second limiting portion 253C. In the direction of the first rotation axis, the first limiting portion 253B and the second limiting portion 253C are located on opposite sides. The first limiting portion 253B is approximately perpendicular to the first rotation axis (i.e., the first limiting portion 253B is approximately perpendicular to the first rotation axis), and the second limiting portion 253C forms a non-perpendicular first angle with respect to the first rotation axis. This first angle limits the range of angle change. Preferably, this first angle is approximately equal to the deflection angle of the hub 240, and can be 30°.

[0148] like Figure 8 As shown, when the hub 240 is in the first posture, that is, when the hub 240 rotates at the first deflection angle, the first limiting part 253B interferes with the second rotating member 252, and the second limiting part 253C can interfere with the hub 240. At this time, the protrusion 251A of the first rotating member 251 can make close contact with the first gradient of the second rotating member 252, so that the second rotating member 252 and the hub 240 will not wobble.

[0149] When the hub 240 is in the second posture, that is, when the hub 240 rotates at the second deflection angle, the second limiting part 253C interferes with at least a part of the second rotating member 252, and at the same time, the first limiting part 253B can interfere with the hub 240.

[0150] The limiting part may also include a third limiting part 253D, which is located at the upper end of the deflector in the direction of the first rotation axis and is configured to interfere with at least a portion of the second rotating member 252 when the hub 240 is rotating at at least one of the first deflection angle and the second deflection angle.

[0151] Figure 17 This is a schematic diagram of the mating structure between the third rotating member and the hub according to one embodiment of the present disclosure. Figure 18 This is a schematic diagram of the structure of a wheel hub according to one embodiment of the present disclosure.

[0152] like Figure 17 and Figure 18 As shown, the hub 240 of this disclosure includes a limiting groove 242 configured to allow movement of the third limiting portion 253D therein. Specifically, the limiting groove 242 is formed as part of the aforementioned limiting space. In a preferred embodiment, the limiting groove 242 includes a recess located on the inner surface of the hub 240, thereby limiting rotation between the third rotating member 253 and the hub 240.

[0153] See again Figure 6 and Figure 7 The side brush assembly 200 of this disclosure also includes a second motor 202, which is disposed on the base portion 210 and is used to drive the support portion 220 to swing between a first position and a second position. Thus, the side brush assembly 200 of this disclosure can realize three actions—the swinging of the support portion 220, the rotation of the hub 240 around the first rotation axis, and the rotation of the hub 240 around the second rotation axis—with just two motors. Compared with the prior art, which uses three motors to realize this action, the side brush assembly 200 of this disclosure has fewer parts, and correspondingly, the side brush assembly 200 has a smaller volume and can be conveniently arranged in the chassis assembly 100.

[0154] Figure 19 This is a partial structural schematic diagram of a brush assembly according to one embodiment of the present disclosure. Figure 20 This is a schematic diagram of the structure of a first driving force transmission component and a second driving force transmission component according to an embodiment of the present disclosure.

[0155] The output shafts of the first motor 201 and the second motor 202 are arranged in parallel, and their projections on a plane perpendicular to the swing axis at least partially overlap; in other words, the first motor 201 and the second motor 202 of this disclosure are stacked in the vertical direction, where the plane perpendicular to the swing axis is a horizontal plane or a roughly horizontal plane.

[0156] In other words, the first motor 201 and the second motor 202 of this disclosure have a vertically overlapping region, and the width of the vertically overlapping region is not less than 1 / 2 of the larger of the width of the vertical region of the first motor 201 or the second motor 202.

[0157] Depending on its position, the support portion 220 has different operating modes. These operating modes can also be referred to as the operating modes of the side brush assembly 200. Specifically, the support portion 220 has a first operating mode and a second operating mode. In the first operating mode, the support portion 220 is in a first position. In the second operating mode, the support portion 220 is in a second position, which is further away from the base portion 210 of the side brush assembly 200 than the first position.

[0158] In other words, when the carrier 220 is in the first operating mode, the carrier 220 is in the retracted state, and the carrier 220 can perform cleaning operations on the surface to be cleaned; when the carrier 220 is in the second operating mode, the carrier 220 is in the outward swing state, and the carrier 220 can perform cleaning operations on corners and other locations.

[0159] In addition, the wheel hub 240 disclosed herein has a first operating mode and a second operating mode. In the first operating mode and the second operating mode, the wheel hub 240 can maintain the first operating mode or the second operating mode, and can switch between the first operating mode and the second operating mode.

[0160] In other words, the movement of the bearing portion 220 between the first and second positions can be decoupled from the movement of the hub 240 in the first and second postures. Moreover, when the hub 240 is in the first operating mode, the hub 240 is in the second posture; when the hub 240 is in the second operating mode, the hub 240 is in the first posture.

[0161] In this disclosure, the second motor 202 is closer to the support portion 220 than the first motor 201. As a result, there is a shorter transmission chain between the second motor 202 and the support portion 220, and the side brush assembly 200 of this disclosure can have a smaller volume.

[0162] Figure 21 This is a structural schematic diagram of the first driving force transmission component and the second driving force transmission component from another angle according to one embodiment of the present disclosure.

[0163] The side brush assembly 200 also includes a first driving force transmission component and a second driving force transmission component; the first driving force transmission component is used to transmit the torque of the first motor 201 to the gear unit 230; the second driving force transmission component is used to transmit the torque of the second motor 202 to the support portion 220.

[0164] like Figure 21 As shown, the first driving force transmission component of this disclosure includes a plurality of gears located within the support portion 220. Thus, the first driving force transmission component of this disclosure is formed as a gear transmission structure. Furthermore, a first worm is provided on the output shaft of the first motor 201, which can drive a helical gear (or worm wheel) to rotate, thereby transmitting the power of the first motor 201 to the first driving force transmission component.

[0165] The plurality of gears includes at least one helical gear, which is configured such that its rotation axis is coaxial with the rotation axis of the gear unit 230 and forms an angle greater than 0° with the swing axis of the support portion 220. In other words, the gear unit 230 of this disclosure can also be a helical gear, so that the helical gear of the first driving force transmission component can properly mesh with the gear unit 230.

[0166] In other words, the helical gear of this disclosure is disposed close to the gear unit 230 and meshes with the gear unit 230.

[0167] Figure 22 This is a schematic diagram of the structure of a support portion according to one embodiment of the present disclosure. Figure 23 This is a schematic diagram of the structure of a swing gear 260 according to one embodiment of the present disclosure.

[0168] like Figures 22 to 23 As shown, the second driving force transmission component of this disclosure includes a swing range limiting component for causing the bearing portion 220 to swing within a predetermined angle range.

[0169] A second worm gear is provided on the output shaft of the second motor 202 of this disclosure, which can be drivenly connected to the swing range limiting component. In a specific embodiment, the swing range limiting component includes a swing gear 260, which is configured to be rotatably disposed on the base portion 210, and the rotation axis of the swing gear 260 is coaxial with the swing axis of the support portion 220.

[0170] More preferably, the oscillating gear 260 of this disclosure is fixedly disposed relative to the support portion 220, thereby enabling the oscillating gear 260 to directly drive the support portion 220 to rotate around the oscillation axis. Moreover, the oscillating gear 260 is formed as a half-gear structure, and the oscillating gear 260 is formed as a helical gear (or worm gear).

[0171] The arm-shaped brush body 241 includes at least one arm. In a preferred embodiment, two arms are provided, which are arranged substantially parallel to each other. Each arm includes a first end, a second end, and a continuous arm connecting the first and second ends. The first end of the arm is connected to the outer surface of the hub 240, and the arm is configured to extend outward from the outer surface of the hub 240 in a direction away from the axis of rotation. Each arm is inclined downward at a downward angle relative to the normal plane of the central axis of the hub 240, and the circumferential distribution range of the connection between the arm and the hub 240 on the hub 240 does not exceed half of the circumference of the hub 240. Thus, the arm-shaped brush body 241 of this disclosure is arranged on the hub 240 in a specific direction.

[0172] In this disclosure, the second end has a larger tilt angle in the normal plane than the first end. As a result, when the bristles are installed on the arm, the bristles can interfere with the surface to be cleaned at a longer length, thereby cleaning the surface more thoroughly.

[0173] The autonomous mobile cleaning robot disclosed herein also includes a controller and a memory. The controller is connected to the memory, which stores a program and an environmental map. Thus, during the cleaning operation, the controller can read the environmental map and control the robot's actions based on it. Furthermore, the controller is configured to perform the following method for controlling the autonomous mobile cleaning robot.

[0174] In addition, the autonomous mobile cleaning robot disclosed herein may also include a first sensor and a second sensor, wherein the controller can be connected to the first sensor and the second sensor respectively. The first sensor of this disclosure may be a camera, which can obtain the ground material characteristics of the ground in front of the autonomous mobile cleaning robot (including the left front and right front). The second sensor may be an obstacle sensor or a wall-following sensor, thereby enabling the determination of whether the autonomous mobile cleaning robot is cleaning along a wall based on the second sensor.

[0175] Figure 24 This is a structural schematic diagram of an autonomous mobile cleaning robot according to another embodiment of the present disclosure. Figure 25 This is a structural schematic diagram of the drive wheel 520 of an autonomous mobile cleaning robot according to another embodiment of the present disclosure. Figure 26 This is a structural schematic diagram of another state of the drive wheel 520 of an autonomous mobile cleaning robot according to another embodiment of the present disclosure.

[0176] like Figures 24 to 26As shown, the wheel assembly 500 of the autonomous mobile cleaning robot of this disclosure can change position relative to the chassis assembly 100. Specifically, the wheel assembly 500 of this disclosure may include a housing portion 510, one end of which is rotatably disposed on the chassis assembly 100 about a pivot axis, and the other end of which is rotatably disposed a drive wheel 520. Since the pivot axis is a generally horizontal axis, the drive wheel 520 will be able to generate lifting and lowering movements during its revolution around the pivot axis.

[0177] In other words, when the drive wheel 520 is at its maximum upward position, it is close to the chassis assembly 100, and at this time, the drive wheel 520 is in its initial position. When the drive wheel 520 is at its maximum downward position, it is far away from the chassis assembly 100, and at this time, the drive wheel 520 is in its final position.

[0178] The housing 510 disclosed herein may be equipped with a drive motor 530, which can drive the drive wheel 520 to rotate through a reduction mechanism, thereby realizing the movement of the chassis assembly 100 on the surface to be cleaned through frictional contact between the drive wheel 520 and the surface to be cleaned.

[0179] The specific structure of the drive wheel 520 will be described in detail below with reference to the accompanying drawings.

[0180] See again Figures 24 to 26 The drive wheel 520 of this disclosure has an axial direction, which can be the axis of rotation of the drive wheel 520. The drive wheel 520 of this disclosure also includes a wheel body 521 and an inner wheel assembly 522; wherein the wheel body 521 can be connected to the inner wheel assembly 522, so that the wheel body 521 can rotate synchronously with the inner wheel assembly 522, and the wheel body 521 will not have axial displacement relative to the inner wheel assembly 522.

[0181] Figure 27 This is a schematic diagram of the structure of a wheel body according to one embodiment of the present disclosure.

[0182] like Figure 27 As shown, the wheel body 521 includes components such as a base 521A, a first tire section 521B, a second tire section 521C, and a third tire section 521D. In one specific embodiment, the base 521A, the first tire section 521B, and the second tire section 521C are integrally formed, while the third tire section 521D is formed separately.

[0183] The base 521A of this disclosure is formed as a cylindrical component, and an inner flange is formed on the inner circumferential surface of the cylindrical component. A plurality of mounting holes (through holes) are provided on the inner flange, and these mounting holes are evenly distributed along the circumferential direction of the inner flange.

[0184] The outer peripheral surface of the base 521A is formed as a smooth surface, and the base 521A of this disclosure includes a first end face and a second end face formed on both sides in the axial direction of the base 521A. Thus, the first end face and the second end face collectively limit the axial dimension of the base 521A. In a preferred embodiment, the first end face and the second end face may be arranged in parallel.

[0185] The first segment 521B extends radially outward from the outer peripheral surface of the base 521A and extends axially from the first end face to the second end face; two adjacent first segments 521B in the circumferential direction are arranged with a first interval. That is, the first segment 521B of this disclosure can be formed as a protrusion on the outer peripheral surface of the base 521A. Furthermore, the arrangement of the first interval enables the first segment 521B to have higher friction with the surface to be cleaned, effectively preventing the autonomous mobile cleaning robot from slipping on the surface to be cleaned.

[0186] In this disclosure, the first tire segment 521B has a first circumferential dimension in the circumferential direction. This first circumferential dimension may be greater than or equal to the dimension of the first gap.

[0187] The second tire segment 521C extends axially from the second end face to the third end face, and two adjacent second tire segments 521C in the circumferential direction are arranged at a second interval. Specifically, the second tire segment 521C of this disclosure can extend from one axial end face of the first tire segment 521B, where the first end face and the third end face are located on both sides of the second end face. In a preferred embodiment, the first tire segment 521B has a first radial dimension in the radial direction, and the second tire segment 521C has a second radial dimension in the radial direction, wherein the first radial dimension and the second radial dimension can be the same. Of course, the first radial dimension can also be smaller than the second radial dimension, in which case one end face of the second tire segment 521C can also be connected to the second end face of the base 521A.

[0188] In this disclosure, the second tire segment 521C has a second circumferential dimension in the circumferential direction, which can be smaller than the first circumferential dimension, so that in the circumferential direction, the dimension of the second interval of this disclosure is larger than the dimension of the first interval.

[0189] like Figure 25 and Figure 26 As shown, at least a portion of the third tire segment 521D of this disclosure is disposed within the second interval and is configured to operably change position radially within the second interval. When the third tire segment 521D is in the first position, a combined tread distributed at the third interval is formed between the third tire segment 521D and the adjacent second tire segment 521C in the circumferential direction of the wheel body 521.

[0190] In other words, the third tire segment 521D of this disclosure is configured to operably switch between a first position and a second position radially within a second interval, wherein when the third tire segment is in the first position, the combined tread formed by the third tire segment 521D and the adjacent second tire segment 521C is used for rolling contact with the ground to be cleaned (i.e. the surface to be cleaned).

[0191] When the third tire segment 521D is in the second position, the third tire segment 521D and the adjacent base 521A form a combined support part in the axial direction of the wheel body 521. Through the contact between the combined support part and the obstacle, the drive wheel 520 will not slip on the obstacle, thereby improving the obstacle-crossing ability of the self-moving cleaning robot.

[0192] Specifically, the first position is the maximum position in the radially outward direction, and the second position is the maximum position in the radially inward direction. In other words, when the third tire segment 521D is in the first position, the third tire segment 521D is in an extended state, and when the third tire segment 521D is in the second position, the third tire segment 521D is in a retracted state.

[0193] In terms of correspondence, when the drive wheel 520 is in the initial position, the third tire segment 521D is in the first position, and when the drive wheel 520 is in the final position, the third tire segment 521D is in the second position.

[0194] Therefore, when the self-moving cleaning robot of this disclosure is cleaning the surface to be cleaned normally, the third segment 521D is in the first position, which ensures that the outer circumference of the drive wheel 520 is a complete circle, thus not affecting the normal rotation of the drive wheel 520. When the self-moving cleaning robot is crossing an obstacle, the third segment 521D is in the second position. At this time, the third segment 521D will retract inward, thereby forming a notch on the outer circumference of the drive wheel 520, which increases the friction between the drive wheel 520 and the obstacle, and correspondingly improves the obstacle-crossing ability of the self-moving cleaning robot.

[0195] In this disclosure, the circumferential gap formed by the third interval on the combined tire tread is equal to or greater than 0. Specifically, when the circumferential gap formed by the third interval on the combined tire tread is equal to 0, the third interval does not exist, and the third tire segment 521D can completely fill the circumferential direction of the second interval. When the circumferential gap formed by the third interval on the combined tire tread is greater than 0, the third tire segment 521D cannot completely fill the circumferential direction of the second interval, and an interval is set between one end of the third tire segment 521D in the circumferential direction and one end of the second tire segment 521C in the circumferential direction; this interval is the third interval.

[0196] The first interval is no greater than the second interval in the circumferential direction of the drive wheel 520; thus, in the circumferential direction, the third tire segment 521D can completely fill the first interval, thereby ensuring that the outer circumferential surface of the drive wheel 520 can form a complete circle.

[0197] In addition, when the third tire segment 521D is in the second position, the first interval and the second interval can be connected to each other. At this time, the area after the first interval and the second interval are connected will form a gap on the circumference of the drive wheel 520. The gap can be stuck on the surface or corner of the obstacle, so that the self-moving cleaning robot of this disclosure can successfully cross the obstacle.

[0198] In another configuration, when the third segment 521D is in the second position, the radial position of its outer peripheral surface is located inside the radial position of the outer peripheral surface of the first segment 521B or the radial position of the outer peripheral surface of the second segment 521C. Therefore, the third segment 521D will not affect the formation of the notch. Furthermore, the third segment 521D should not be excessively recessed; otherwise, the notch will have a large depth, potentially causing obstacles to jam the chassis assembly 100, thus affecting the obstacle-crossing performance of the self-propelled cleaning robot.

[0199] At this time, when the third tire segment 521D and the adjacent base 521A form a combined support portion along the axial direction of the wheel body 521, the radial height of the third tire segment 521D on the combined support portion is greater than or equal to the radial height of the base 521A. That is, at this time, the outer peripheral surface of the third tire segment 521D will be partially inserted into the second gap, and correspondingly, the third tire segment 521D will form the bottom surface of the second gap. When the self-moving cleaning robot crosses an obstacle, the third tire segment 521D will contact the corner of the obstacle, thereby preventing the obstacle from contacting the chassis assembly 100.

[0200] In this disclosure, the first position of the third tire segment 521D is associated with the relative attitude of the drive wheel 520 on the autonomous mobile cleaning robot. Similarly, the second position of the third tire segment 521D is associated with the relative attitude of the drive wheel 520 on the autonomous mobile cleaning robot.

[0201] Specifically, the relative posture includes a first posture in which the drive wheels 520 are close to the chassis assembly 100 of the autonomous mobile cleaning robot (i.e., the drive wheels 520 are in the initial position). The relative posture also includes a second posture in which the drive wheels 520 are away from the chassis assembly 100 of the autonomous mobile cleaning robot (i.e., the drive wheels 520 are in the final position).

[0202] In the first posture, the third tire segment 521D is radially pushed outward by the thrust acting on the drive wheel 520, at which point the third tire segment 521D will be able to be located in the first position. In the second posture, the third tire segment 521D is radially pushed inward by the elastic restoring force on the drive wheel 520, at which point the third tire segment 521D will be able to be located in the second position.

[0203] Figure 28 This is a structural schematic diagram of an inner wheel assembly according to one embodiment of the present disclosure.

[0204] like Figure 28 As shown, the drive wheel 520 of this disclosure also includes an inner wheel assembly 522, which is radially mounted in the base 521A and disposed between the first end face and the third end face, configured to receive driving force from the drive motor 530 to drive the drive wheel 520 to rotate.

[0205] At this time, the drive motor 530 can be fixed to the housing 510 and can drive the drive wheel 520 to rotate.

[0206] Specifically, the inner wheel assembly 522 includes components such as a wheel hub 522A, a wheel cover 522B, and an actuator 522C.

[0207] The hub 522A can be connected to the drive motor 530, so that the drive motor 530 can drive the hub 522A to rotate.

[0208] The hub 522A has an outer peripheral surface that can be in close contact with at least a portion of the inner peripheral surface of the base 521A.

[0209] The wheel cover 522B can be fixed to the wheel hub 522A. In one embodiment, the wheel hub 522A can be fixedly connected to the wheel cover 522B by screws, and the wheel cover 522B can rotate synchronously with the wheel hub 522A.

[0210] There is a gap between the hub 522A and the wheel cover 522B. The inner flange of the base 521A can be located between the hub 522A and the wheel cover 522B. This structure can effectively prevent the base 521A from axially displacing relative to the hub 522A and the wheel cover 522B.

[0211] In addition, at least one of the hub 522A and the wheel cover 522B has a mounting block formed on it, which can be inserted into the mounting hole on the inner flange, thereby enabling the base 521A to rotate synchronously with the hub 522A and the wheel cover 522B.

[0212] The third tire segment 521D is movably disposed on the inner wheel assembly 522 and configured to move outward relative to the inner wheel assembly 522 at least radially. Specifically, the wheel cover 522B of this disclosure can be formed as a guide member for the third tire segment 521D, so that the third tire segment 521D can slide relative to the wheel cover 522B. At this time, the third tire segment 521D can move both radially outward and radially inward.

[0213] The actuator 522C of this disclosure is configured to receive a squeezing driving force from the chassis assembly 100 of the autonomous mobile cleaning robot in a first posture of the drive wheel 520. At this time, the actuator 522C can use the squeezing driving force to push the third tire segment 521D in a radially outward direction, thereby driving the third tire segment 521D to a first position. In a preferred embodiment, the direction of the squeezing driving force is along the axial direction of the drive wheel 520, thereby facilitating the arrangement of the components providing the squeezing driving force.

[0214] Specifically, such as Figure 24 As shown, a biasing device 110 is formed on the chassis assembly 100 of this disclosure. When the drive wheel 520 is in the initial position, the biasing device 110 provides a holding force to keep the third tire section 521D in the first position.

[0215] In one specific embodiment, the biasing device 110 includes a wedge integrally formed with the chassis assembly 100. Thus, during the movement of the drive wheel 520 from the termination position to the initial position, the biasing device 110 can first contact the actuator 522C, then gradually apply a compressive driving force to the actuator 522C, driving the actuator 522C to move in the axial direction. Furthermore, the actuator 522C can drive the third tire segment 521D to move in a radially outward direction.

[0216] In another embodiment, the biasing device 110 includes a power trigger located on the chassis assembly 100. For example, the power trigger could be an electromagnet or a motor-driven telescopic rod. In other words, the biasing device 110 only needs to enable the actuator 522C to move in the axial direction.

[0217] In this disclosure, the inner wheel assembly 522 includes a linkage 522D that connects the actuator 522C and the third tire segment 521D together and is configured to transmit the compressive driving force transmitted by the actuator 522C to the third tire segment 521D, thereby enabling the third tire segment 521D to move in a radially outward direction.

[0218] In a preferred embodiment, the actuator 522C is coaxially disposed on the linkage 522D and can rotate relative to the linkage 522D. Thus, when the drive wheel 520 of this disclosure rotates, the actuator 522C and the linkage 522D can generate relative rotation. As a result, the actuator 522C of this disclosure can remain stationary relative to the chassis assembly 100, thereby avoiding rapid wear of the biasing device 110.

[0219] Specifically, the actuator 522C can be formed as a circumferential rotating boss. In other implementations, the actuator 522C can also be formed as a sliding ball, which is configured to slide in contact with the chassis assembly and ultimately be pressed by the chassis assembly.

[0220] In the first position, the direction of the driving force applied by the actuator 522C to the third tire segment 521D is approximately perpendicular to the direction of the extrusion driving force. That is, the actuator 522C and the linkage 522D of this disclosure can reverse the extrusion driving force to drive the third tire segment 521D to move in a radially outward direction.

[0221] In other words, the linkage 522D of this disclosure is configured to reciprocate axially within the inner wheel assembly 522 relative to the hub 522A and / or wheel cover 522B of the inner wheel assembly 522. Thus, the linkage 522D of this disclosure can move synchronously with the actuator 522C in the axial direction. Furthermore, when the linkage 522D moves axially, it can be guided by the hub 522A or wheel cover 522B, thereby preventing the linkage 522D from rotating relative to the hub 522A or wheel cover 522B.

[0222] During the axial reciprocating movement of the linkage 522D relative to the hub 522A and / or wheel cover 522B of the inner wheel assembly 522, the linkage 522D can slide against the third tire section 521D. Specifically, the third tire section 521D includes a tread section 521D1 and a foot section 521D2 disposed opposite to the tread section 521D1. The tread section 521D1 is configured to form at least a portion of the combined tread, and the foot section 521D2 is configured to slide against the linkage 522D to receive the driving force of the linkage 522D.

[0223] In other words, the tire foot segment 521D2 of this disclosure is formed as a wedge surface, so that the linkage 522D can drive the third tire segment 521D to move radially through the wedge engagement.

[0224] The inner wheel assembly 522 also includes an elastic retainer 522E (which may be a spring), which connects the third tire section 521D and the wheel cover 522B of the inner wheel assembly 522 to maintain the tendency of the third tire section 521D to move toward the axis of the inner wheel assembly 522.

[0225] Therefore, when the external force applied by the linkage 522D to the third tire segment 521D disappears, under the action of the elastic restoring force provided by the spring, the third tire segment 521D can move in the radial inward direction, that is, the third tire segment 521D can retract inward, so as to facilitate the autonomous mobile cleaning robot to overcome obstacles.

[0226] The wheel cover 522B of this disclosure can define the positional change trajectory of the third tire segment 521D. In other words, during the movement of the third tire segment 521D, the wheel cover 522B can provide guidance so that the third tire segment 521D can move along a preset path.

[0227] The autonomous mobile cleaning robot disclosed herein may also include a controller that can modify the position of the drive wheels relative to the chassis assembly based on the sensed objects on the ground to be cleaned, so as to switch between an initial position (the position where the drive wheels are close to the chassis assembly) and an ending position (the position where the drive wheels are away from the chassis assembly), so that the autonomous mobile cleaning robot can switch between a normal cleaning mode and an obstacle-crossing mode.

[0228] Figure 34 This is a flowchart of a control method for an autonomous mobile cleaning robot according to one embodiment of the present disclosure.

[0229] like Figure 34 As shown, the control method for the autonomous mobile cleaning robot disclosed herein can operate on the aforementioned autonomous mobile cleaning robot. The control method for the autonomous mobile cleaning robot includes: S1010, sensing an object on the surface to be cleaned using a sensor located on the chassis assembly 100 of the autonomous mobile cleaning robot; S1020, determining whether the height of the object on the surface to be cleaned corresponds to a predetermined height, and determining whether a portion of the chassis assembly 100 of the autonomous mobile cleaning robot is located on the object; S1030, when the height of the sensed object on the surface to be cleaned corresponds to the predetermined height, and a portion of the chassis assembly 100 of the autonomous mobile cleaning robot is located on the object; positioning the chassis assembly 100 in a termination position, such that the drive wheel 520 of the autonomous mobile cleaning robot passes over the raised rising edge at least with the combined support portion, wherein the third tire segment 521D is held in a second position by an elastic restoring force from within the drive wheel 520.

[0230] The object in question refers to the obstacle on the surface to be cleaned. Once the autonomous mobile cleaning robot detects an obstacle, it can be controlled to enter obstacle-crossing mode. After successfully crossing the obstacle, the robot can be controlled to return to normal cleaning mode.

[0231] The aforementioned specified height refers to the distance between the rising edge of the object and the surface to be cleaned being within a predetermined range. In this case, the autonomous mobile cleaning robot can overcome the obstacle. Conversely, when the object is too high and the autonomous mobile cleaning robot cannot overcome the obstacle, it is necessary to control the autonomous mobile cleaning robot to plan its walking path to avoid the obstacle.

[0232] Figure 35 This is a flowchart of a control method for an autonomous mobile cleaning robot according to another embodiment of the present disclosure.

[0233] like Figure 35 As shown, the control method of the autonomous mobile cleaning robot disclosed herein may further include: S2010, sensing an object on the surface to be cleaned by a sensor located on the chassis assembly 100 of the autonomous mobile cleaning robot; S2020, determining whether the height of the object on the surface to be cleaned corresponds to a predetermined height; S2030, when the sensed height of the object on the surface to be cleaned corresponds to the predetermined height; maintaining the drive wheel 520 in an initial position relative to the chassis assembly 100, such that the drive wheel 520 of the autonomous mobile cleaning robot passes over the object and / or the ground with at least a combined tread, wherein the third tire segment 521D is held in the first position by a force from the chassis assembly 100.

[0234] In the description of this specification, the references to terms such as "one embodiment / mode," "some embodiments / modes," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment / mode or example is included in at least one embodiment / mode or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment / mode or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments / modes or examples. Furthermore, without contradiction, those skilled in the art can combine and integrate the different embodiments / modes or examples described in this specification, as well as the features of different embodiments / modes or examples.

[0235] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0236] Those skilled in the art should understand that the above embodiments are merely for illustrating the present disclosure and are not intended to limit the scope of the disclosure. Those skilled in the art can make other changes or modifications based on the above disclosure, and these changes or modifications still fall within the scope of the present disclosure.

Claims

1. An autonomous mobile cleaning robot, characterized in that, include: A chassis assembly, wherein a biasing device is provided on the chassis assembly, and the biasing device has a fixed position in the vertical direction relative to the chassis assembly; as well as A traveling wheel assembly is disposed on a chassis assembly for moving the chassis assembly; wherein the traveling wheel assembly includes a drive wheel, and the axis of rotation of the drive wheel has an initial position and an end position in the vertical direction relative to the chassis assembly; The drive wheel includes an inner wheel assembly, which includes an actuator. When the drive wheel is in an initial position, the biasing device is coupled to the actuator to give the drive wheel a first shape. When the drive wheel is in a terminated position, the actuator is decoupled from the biasing device to give the drive wheel a second shape. The drive wheel in the first shape and the drive wheel in the second shape have different tread patterns.

2. The autonomous mobile cleaning robot according to claim 1, characterized in that, Also includes: An elastic element applies a preload force to the drive wheel toward the surface to be cleaned, the elastic coefficient of which satisfies the following condition: when the chassis assembly is lifted away from the surface to be cleaned by a predetermined vertical distance, the drive wheel is kept in contact with the surface to be cleaned.

3. The autonomous mobile cleaning robot according to claim 2, characterized in that, Within the predetermined vertical distance, the drive wheel has a first configuration, and outside the predetermined vertical distance, the drive wheel has a second configuration.

4. The autonomous mobile cleaning robot according to claim 1, characterized in that, The drive wheel includes a wheel body, the wheel body comprising: The base includes a first end face and a second end face formed on both sides in the axial direction of the base; The first tire segment extends radially outward from the outer peripheral surface of the base and extends axially from the first end face to the second end face; two adjacent first tire segments in the circumferential direction are arranged with a first interval; The second tire segment extends from the second end face to the third end face along the axial direction, and two adjacent second tire segments in the circumferential direction are arranged at a second interval; A third tire segment is disposed within the second interval and configured to operably change position between a first position and a second position in the radial direction within the second interval; when the drive wheel is in the first configuration, the third tire segment is in the first position; when the drive wheel is in the second configuration, the third tire segment is in the second position.

5. The autonomous mobile cleaning robot according to claim 4, characterized in that, The first interval is no greater than the second interval in the circumferential direction of the drive wheel.

6. The autonomous mobile cleaning robot according to claim 4, characterized in that, The inner wheel assembly is radially mounted within the base and disposed between the first end face and the third end face, configured to receive driving force from the drive motor to drive the drive wheel to rotate.

7. The autonomous mobile cleaning robot according to claim 6, characterized in that, The third tire section is movably disposed on the inner wheel assembly and configured to move radially relative to the inner wheel assembly.

8. The autonomous mobile cleaning robot according to claim 7, characterized in that, The inner wheel assembly includes an actuator configured to receive a squeezing driving force from the chassis assembly of the autonomous mobile cleaning robot when the drive wheel is in its initial position.

9. The autonomous mobile cleaning robot according to claim 8, characterized in that, The direction of the extrusion driving force is along the axial direction of the drive wheel.

10. The autonomous mobile cleaning robot according to claim 8, characterized in that, The inner wheel assembly includes a linkage that connects the actuator and the third tire segment and is configured to transmit the extrusion driving force transmitted by the actuator to the third tire segment.

11. The autonomous mobile cleaning robot according to claim 10, characterized in that, The actuator is coaxially mounted on the linkage and can rotate relative to the linkage.

12. The autonomous mobile cleaning robot according to claim 10, characterized in that, In the first position, the direction of the driving force applied by the actuator to the third tire segment is approximately perpendicular to the direction of the extrusion driving force.

13. The autonomous mobile cleaning robot according to claim 10, characterized in that, The linkage is configured to reciprocate axially relative to the wheel cover of the inner wheel assembly.

14. The autonomous mobile cleaning robot according to claim 10, characterized in that, The third tire segment includes a tread segment and a foot segment disposed opposite to the tread segment. The tread segment is configured to form at least a portion of the combined tread, and the foot segment is configured to slidably abut against the linkage to receive the driving force of the linkage.

15. The autonomous mobile cleaning robot according to claim 14, characterized in that, The inner wheel assembly also includes an elastic retainer that connects the third tire section and the wheel cover of the inner wheel assembly to maintain the third tire section's tendency to move toward the axis of the inner wheel assembly.

16. The autonomous mobile cleaning robot according to claim 15, characterized in that, The wheel cover defines the positional change trajectory of the third tire segment.

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