Method for changing posture of cleaning robot, suspension device and cleaning robot

Abstract

The invention relates to the technical field of cleaning robots, in particular to a method for changing the posture of a cleaning robot, a suspension device and the cleaning robot. The cleaning robot comprises a robot body, an obstacle crossing mechanism and a trigger mechanism, the robot body comprises a first side and a second side which are distributed front and back in the advancing direction of the cleaning robot, the obstacle crossing mechanism is in driving connection with the first side, and the trigger mechanism is connected with the robot body; the triggering mechanism is used for enabling the second side to move reversely when the first side moves in the height direction of the cleaning robot; the method comprises the following steps that target posture parameters, needing to be adjusted, of a first side are obtained, and the target posture parameters comprise the target height of the first side in the height direction of the cleaning robot and / or the target dip angle between the first side and a to-be-cleaned face; and controlling the obstacle crossing mechanism to drive the first side to move to the target attitude parameter. The first side is lifted, the second side drives the cleaning mechanism to descend through the triggering mechanism, the to-be-cleaned face can be pressurized, and the cleaning effect is improved.

Description

(19) State Intellectual Property Office (12) Invention Patent Application (10) Application Publication Number (43) Application Publication Date (21) Application Number 202511841628.9 (22) Application Date 2025.12.08 (71) Applicant: Chase Innovation Technology (Suzhou) Co., Ltd. Address: Units 1, 2, and 3, Building 8, No. 1688, Songwei Road, Guoxiang Street, Wuzhong Economic Development Zone, Suzhou City, Jiangsu Province, 215000 (72) Inventors: Ding Kangkang, Xiong Wei, Han Xiuyuan, Ban Yong (74) Patent Agency: Huajin United Patent & Trademark Agency Co., Ltd. 44224 Patent Attorney: Huang Honghua (51) Int.Cl. A47L 11 / 40 (2006.01) A47L 11 / 24 (2006.01) A47L 11 / 28 (2006.01) (54) Invention Title: Method for Changing the Posture of a Cleaning Robot, Suspension Device, and Cleaning Robot (57) Abstract: This application relates to the field of cleaning robot technology, and in particular to a method for changing the posture of a cleaning robot, a suspension device, and a cleaning robot. The cleaning robot includes a main body, an obstacle-crossing mechanism, and a triggering mechanism. The main body includes a first side and a second side distributed front to back along the direction of travel of the cleaning robot. The obstacle-crossing mechanism is driven and connected to the first side, and the triggering mechanism is connected to the main body. The triggering mechanism is used to cause the second side to move in the opposite direction when the first side moves along the height direction of the cleaning robot. The method includes the following steps: obtaining the target posture parameters to be adjusted for the first side, including the target height of the first side along the height direction of the cleaning robot, and / or the target tilt angle between the first side and the surface to be cleaned; controlling the obstacle-crossing mechanism to drive the first side to move to the target posture parameters. This raises the first side, and the triggering mechanism causes the second side to drive the cleaning mechanism to lower, thereby applying pressure to the surface to be cleaned and improving the cleaning effect. Claims 2 pages, Description 11 pages, Drawings 4 pages, CN 121570091 A 2026.02.27 CN 1 21 57 00 91 A 1. A method for changing the posture of a cleaning robot, characterized in that the cleaning robot includes a main body, an obstacle-crossing mechanism, and a triggering mechanism; the main body includes a first side and a second side distributed front-to-back along the travel direction of the cleaning robot; the obstacle-crossing mechanism is driven and connected to the first side; the triggering mechanism is connected to the main body; the triggering mechanism is used to cause the second side to move in the opposite direction when the first side moves along the height direction of the cleaning robot; the method includes the following steps: obtaining target posture parameters to be adjusted for the first side, the target posture parameters including a target height of the first side along the height direction of the cleaning robot, and / or a target tilt angle between the first side and the surface to be cleaned; controlling the obstacle-crossing mechanism to drive the first side to move to the target posture parameters.2. The method for changing the posture of a cleaning robot according to claim 1, characterized in that the step of obtaining the target posture parameters to be adjusted on the first side includes: controlling the environmental perception unit of the cleaning robot to obtain cleaning scene information; generating the target posture parameters according to the cleaning scene information. 3. The method for changing the posture of a cleaning robot according to claim 2, characterized in that the step of generating the target posture parameters according to the cleaning scene information includes: obtaining first stain information, generating a first target posture parameter according to the first stain information; obtaining second stain information, generating a second target posture parameter according to the second stain information; wherein the cleaning difficulty of the second stain is greater than the cleaning difficulty of the first stain, and the second target posture parameter is greater than the first target posture parameter. 4. The method for changing the posture of a cleaning robot according to claim 1, characterized in that the obstacle-crossing mechanism includes a drive component and a rotating component, the drive component being drivenly connected to the rotating component, and the rotating component being transmittedly connected to the first side of the main body; the step of controlling the obstacle-crossing mechanism to drive the first side to move to the target posture parameter includes: obtaining a target rotation angle of the rotating component according to the target posture parameter; controlling the drive component to drive the rotating component to rotate the target rotation angle along a first direction according to the target rotation angle, so as to transmit the first side to rise or fall along the height direction of the cleaning robot to the target posture parameter. 5. The method for changing the posture of a cleaning robot according to claim 4, characterized in that the obstacle-crossing mechanism further includes a transmission component, the transmission component is disposed on the main body of the robot, the rotating component includes a cam, the cam is drivenly connected to the drive assembly, the outer peripheral surface of the cam has a first position and a second position, and the transmission component drives and abuts against the outer peripheral surface of the cam located between the first position and the second position; the step of controlling the drive assembly to drive the rotating component to rotate the target rotation angle along the first direction includes: obtaining the target rotation angle of the cam according to the target posture parameters; controlling the drive assembly to drive the cam to rotate the target rotation angle along the first direction according to the target rotation angle, driving the transmission component to move towards the first position or the second position, thereby causing the first side to rise or fall along the height direction of the cleaning robot to the target posture parameters. 6. The method for changing the posture of a cleaning robot according to claim 5, characterized in that the method further comprises: when the first position detection unit of the cleaning robot detects that the transmission member has reached the first position, controlling the driving assembly to stop driving the cam to rotate along the first direction; or, the control unit controls the second position detection unit of the cleaning robot to stop driving the transmission member to rotate along the first direction when the second position detection unit of the cleaning robot detects that the transmission member has reached the first position.When the second position is described, the drive assembly is controlled to stop driving the cam to rotate along the first direction. 7. A suspension device, characterized in that it is used to be mounted on the body of a cleaning robot, the cleaning robot including a first side and a second side distributed front to back along the direction of travel, the suspension device including: an obstacle-crossing mechanism, the obstacle-crossing mechanism being drivenly connected to the first side; a triggering mechanism, the triggering mechanism being connected to the body, the triggering mechanism being used to cause the second side to move in the opposite direction when the first side moves along the height direction of the cleaning robot. 8. The suspension device according to claim 7, characterized in that the triggering mechanism includes a fixed member and a movable member, the fixed member being connected to the obstacle-crossing mechanism, the movable member being movably connected to the fixed member, the movable member being connected to the body, the movable member causing the second side to lower as the first side is raised. 9. The suspension device according to claim 8, characterized in that the triggering mechanism further includes an elastic member, the elastic member being connected to the fixed member and the movable member. 10. The suspension device according to claim 9, wherein the fixed member has a groove, the movable member is at least partially located within the groove, and the outer periphery of the movable member is clearance-fitted with the groove, the elastic member is located within the groove, and the elastic member is sleeved on the outer periphery of the movable member. 11. The suspension device according to claim 7, wherein the obstacle-crossing mechanism comprises: a rotating member; a driving assembly, the driving assembly being drivenly connected to the rotating member, the rotating member being transversely connected to the first side of the main body, the driving assembly driving the rotating member to rotate along a first direction, so that the rotating member transversely raises or lowers the first side. 12. The suspension device according to claim 11, wherein the obstacle-crossing mechanism further includes a transmission member, the transmission member being disposed on the main body of the machine body, the rotating member including a cam, the cam being drivenly connected to the driving assembly, the outer peripheral surface of the cam having a first position and a second position, the transmission member abutting against the outer peripheral surface of the cam located between the first position and the second position, the driving assembly driving the cam to rotate along the first direction, thereby driving the transmission member to move towards the first position or towards the second position, thereby driving the first side to lift or lower. 13. The suspension device according to claim 12, wherein the suspension device further includes a first position detection unit, the first position detection unit being disposed on the cam, the first position detection unit being used to detect whether the transmission member has reached the first position; and / or, the suspension device further includes a second position detection unit, the second position detection unit being disposed on the cam, the second position detection unit being used to detect whether the transmission member has reached the second position. 14. A cleaning robot, wherein the cleaning robot includes a suspension device and a main body, the suspension member including a cam, the cam being drivenly connected to the driving assembly ...The suspension device is connected to the main body, and the suspension device is the suspension device as described in any one of claims 7 to 13. Claims 2 / 2 pages 3 CN 121570091 A Method for changing the posture of a cleaning robot, suspension device and cleaning robot technical field

[0001] This application relates to the field of cleaning robot technology, and in particular to a method for changing the posture of a cleaning robot, a suspension device and a cleaning robot. Background Art

[0002] A cleaning robot is an intelligent home appliance that integrates environmental perception, path planning and autonomous movement. Its core function is to complete daily floor cleaning through automated operations such as sweeping, vacuuming and mopping, effectively removing dust, hair and debris. The cleaning robots of related technologies have poor cleaning power for stubborn stains, requiring the cleaning robot to clean repeatedly, affecting cleaning efficiency and quality.

[0003] The information disclosed in this background art section is only intended to increase the understanding of the overall background of the present invention, and should not be regarded as an admission or in any form implying that the information constitutes prior art known to those skilled in the art.

[0004] Based on this, it is necessary to address the problem that cleaning robots in related technologies have poor cleaning power for stubborn stains, requiring repeated cleaning and affecting cleaning efficiency and quality, by providing a method for changing the posture of a cleaning robot, a suspension device, and a cleaning robot.

[0005] In a first aspect, a method for changing the posture of a cleaning robot includes:

[0006] The cleaning robot includes a main body, an obstacle-crossing mechanism, and a triggering mechanism. The main body includes a first side and a second side distributed front to back along the travel direction of the cleaning robot. The obstacle-crossing mechanism is driven and connected to the first side. The triggering mechanism is connected to the main body and is used to cause the second side to move in the opposite direction when the first side moves along the height direction of the cleaning robot;

[0007] The method includes the following steps:

[0008] Obtaining the target posture parameters to be adjusted for the first side, the target posture parameters including the target height of the first side along the height direction of the cleaning robot, and / or, the target tilt angle between the first side and the surface to be cleaned;

[0009] Controlling the obstacle-crossing mechanism to drive the first side to move to the target posture parameters.

[0010] In one embodiment, the step of obtaining the target posture parameters to be adjusted on the first side includes:

[0011] controlling the environmental perception unit of the cleaning robot to obtain cleaning scene information;

[0012] generating the target posture parameters based on the cleaning scene information.

[0013] In one embodiment, the step of generating the target posture parameters based on the cleaning scene information includes:

[0014] obtaining first stain information, and generating first target posture parameters based on the first stain information;

[0015] Obtain second stain information, and generate second target posture parameters based on the second stain information;

[0016] wherein the cleaning difficulty of the second stain is greater than that of the first stain, and the second target posture parameter is greater than the first target posture parameter.

[0017] In one embodiment, the obstacle-crossing mechanism includes a drive component and a rotating component, the drive component is driven connected to the rotating component, and the rotating component is driven connected to the first side of the main body; Specification 1 / 11 page 4 CN 121570091 A

[0018] The step of controlling the obstacle-crossing mechanism to drive the first side to move to the target posture parameter includes:

[0019] Obtaining the target rotation angle of the rotating component based on the target posture parameter;

[0020] Controlling the drive component to drive the rotating component to rotate the target rotation angle along a first direction based on the target rotation angle, so as to drive the first side to rise or fall along the height direction of the cleaning robot to the target posture parameter.

[0021] In one embodiment, the obstacle-crossing mechanism further includes a transmission component, the transmission component being disposed on the main body of the machine, the rotating component including a cam, the cam being drivenly connected to the drive assembly, the outer peripheral surface of the cam having a first position and a second position, and the transmission component drivingly abutting against the outer peripheral surface of the cam located between the first position and the second position;

[0022] The step of controlling the drive assembly to drive the rotating component to rotate along the first direction by the target rotation angle includes:

[0023] Obtaining the target rotation angle of the cam according to the target posture parameters;

[0024] Controlling the drive assembly to drive the cam to rotate along the first direction by the target rotation angle according to the target rotation angle, driving the transmission component to move toward the first position or the second position, thereby causing the first side to rise or fall along the height direction of the cleaning robot to the target posture parameters.

[0025] In one embodiment, the method further includes:

[0026] when the first position detection unit of the cleaning robot detects that the transmission member has reached the first position, controlling the drive assembly to stop driving the cam to rotate in the first direction;

[0027] or, when the second position detection unit of the cleaning robot detects that the transmission member has reached the second position, controlling the drive assembly to stop driving the cam to rotate in the first direction.

[0028] In a second aspect, a suspension device is provided for mounting on the body of a cleaning robot, the cleaning robot including a first side and a second side along a forward direction, the suspension device including:

[0029] an obstacle-crossing mechanism, the obstacle-crossing mechanism being drivenly connected to the first side;

[0030] a triggering mechanism, the triggering mechanism being connected to the body, the triggering mechanism being used on the first sideDuring movement, the second side moves in the opposite direction.

[0031] In one embodiment, the triggering mechanism includes a fixed member and a movable member. The fixed member is connected to the obstacle-crossing mechanism, and the movable member is movably connected to the fixed member and connected to the main body of the fuselage. The movable member raises the first side while lowering the second side.

[0032] In one embodiment, the triggering mechanism further includes an elastic member connected to the fixed member and the movable member.

[0033] In one embodiment, the fixed member has a groove, the movable member is at least partially located in the groove, and the outer periphery of the movable member is clearance-fitted with the groove. The elastic member is located in the groove and is sleeved on the outer periphery of the movable member.

[0034] In one embodiment, the obstacle-crossing mechanism includes:

[0035] a rotating member;

[0036] a driving assembly, the driving assembly being drivenly connected to the rotating member, the rotating member being drive-connected to the first side of the main body of the fuselage, the driving assembly driving the rotating member to rotate in a first direction, so that the rotating member drives the first side to rise or fall.

[0037] In one embodiment, the obstacle-crossing mechanism further includes a transmission component, which is disposed on the main body of the fuselage. The rotating component includes a cam, which is drivenly connected to the drive assembly. The outer peripheral surface of the cam has a first position and a second position. The transmission component abuts against the outer peripheral surface of the cam located between the first position and the second position. The drive assembly drives the cam to rotate in the first direction, thereby driving the transmission component to move towards the first position or towards the second position, thereby causing the first side to rise or fall.

[0038] In one embodiment, the suspension device further includes a first position detection unit, which is disposed on the cam and is used to detect whether the transmission component has reached the first position;

[0039] and / or, the suspension device further includes a second position detection unit, which is disposed on the cam and is used to detect whether the transmission component has reached the second position.

[0040] In a third aspect, a cleaning robot includes a suspension device and a main body, the suspension device being connected to the main body, and the suspension device being as described in the second aspect.

[0041] A cleaning mechanism such as a mop, roller brush, or side brush may be provided on the second side of the main body. An obstacle-crossing mechanism drives the first side of the main body to rise and / or tilt in the direction away from the surface to be cleaned along the height direction of the cleaning robot, which can trigger a triggering mechanism to lower and / or tilt the second side of the main body towards the surface to be cleaned, thereby causing the second side of the main body to fall and / or tilt towards the surface to be cleaned.The two sides can apply downward pressure to the cleaning mechanism, allowing it to fit more closely to the ground and generate greater friction, thereby effectively scraping away stubborn stains. After pressurization, the number of times the cleaning robot repeatedly wipes the same area can be reduced, saving cleaning time and reducing ineffective path planning by the cleaning robot. Furthermore, this method allows the second side to float up or down, enabling the cleaning mechanism to better adapt to the undulations of the surface to be cleaned, improving the cleaning mechanism's ability to maintain stable pressure under different terrains and enhancing its cleaning effect. Brief Description of the Drawings

[0042] In order to more clearly illustrate the technical solutions in the embodiments of this application or the conventional technology, the drawings used in the description of the embodiments or the conventional technology will be briefly introduced below. Obviously, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on the published drawings without creative effort.

[0043] Figure 1 is a schematic diagram of the assembly of a suspension device and a main body provided in an embodiment of this application.

[0044] Figure 2 is a three-dimensional schematic diagram of a suspension device provided in an embodiment of this application.

[0045] Figure 3 is a perspective view of a triggering mechanism provided in an embodiment of this application.

[0046] Figure 4 is a perspective view of a partial structure of a suspension device provided in an embodiment of this application.

[0047] Figure 5 is a perspective view of another part of the structure of a suspension device provided in an embodiment of this application.

[0048] Figure 6 is a schematic diagram of the steps of a method for changing the posture of a cleaning robot provided in an embodiment of this application.

[0049] Explanation of reference numerals: 10, suspension device; 1, obstacle crossing mechanism; 11, drive assembly; 111, first drive member; 1111, 1. Drive motor; 1121. Worm gear; 1122. Worm wheel; 1123. First lifting gear; 1124. Second lifting gear; 1125. Second lifting synchronous gear; 1126. Third lifting gear; 1127. Third lifting synchronous gear; 1128. Fourth lifting gear; 1129. Fifth lifting gear; 1130. Sixth lifting gear; 1131. Sixth lifting synchronous gear; 12. Rotating component; 121. Cam; 122. First position; 123. Second position; 2. Triggering mechanism; 21. Fixed component; 211. Groove; 22. Moving component; 23. Elastic component; 5. Obstacle crossing leg; 51. First support arm; 52. Second support arm; 53. Obstacle crossing wheel; 541. First obstacle crossing gear; 542. Second obstacle crossing gear; 543. Third obstacle-crossing gear; 544, Fourth obstacle-crossing gear; 545, Fourth synchronous obstacle-crossing gear; 546, Fifth obstacle-crossing gear; 547, Sixth obstacle-crossing gear; 548, Seventh obstacle-crossing gear; 6, Walking frame; 61, Walking wheels; 20, Main body of fuselage; 201, First side; 202, Second instruction manual 3 / 11 pages 6 CN 121570091 ASide; 30, surface to be cleaned. Detailed Description

[0050] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description in order to provide a full understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0051] A cleaning robot is an intelligent home appliance that integrates environmental perception, path planning and autonomous movement. Its core function is to complete daily floor cleaning through automated operations such as sweeping, vacuuming and mopping, effectively removing dust, hair and debris. The cleaning robots of related technologies have poor cleaning power for stubborn stains, requiring repeated cleaning by the cleaning robot, which affects cleaning efficiency and quality.

[0052] Please refer to Figure 1. Based on the above problems, in a first aspect, this application provides a method for changing the posture of a cleaning robot. The cleaning robot includes a main body 20, an obstacle-crossing mechanism 1 and a triggering mechanism 2. The main body 20 includes a first side 201 and a second side 202 distributed front to back along the travel direction of the cleaning robot. An obstacle-crossing mechanism 1 is driven and connected to the first side 201, and a triggering mechanism 2 is connected to the main body 20. The triggering mechanism 2 is used to cause the second side 202 to move in the opposite direction when the first side 201 moves along the height direction of the cleaning robot.

[0053] In this embodiment, the reverse movement can be understood as: when the first side 201 rises along the height direction of the cleaning robot, the second side 202 falls; or when the first side 201 falls along the height direction of the cleaning robot, the second side 202 rises. Or when the first side 201 tilts away from the surface 30 to be cleaned, the second side 202 tilts towards the surface 30 to be cleaned; or when the first side 201 tilts towards the surface 30 to be cleaned, the second side 202 tilts away from the surface 30 to be cleaned.

[0054] Please refer to Figure 6. The above method includes the following steps: obtaining the target posture parameters to be adjusted for the first side 201, including the target height of the first side 201 along the height direction of the cleaning robot, and / or the target tilt angle between the first side 201 and the surface to be cleaned 30; controlling the obstacle-crossing mechanism 1 to drive the first side 201 to move to the target posture parameters.

[0055] It should be noted that, since the triggering mechanism 2 can cause the second side 202 to move in the opposite direction when the first side 201 of the main body 20 moves, this method can correspondingly change the height and / or tilt angle of the second side 202 when the first side 201 is adjusted to the target height and / or target tilt angle along the height direction of the cleaning robot. The target height of the first side 201 can refer to the height of the first side 201 rising or falling relative to its initial position along the height direction of the cleaning robot. The target tilt angle of the first side 201This can refer to the angle at which the first side 201 tilts towards the surface to be cleaned 30 or away from the surface to be cleaned 30.

[0056] In an optional embodiment, the target posture parameter may only be the target height of the first side 201 along the height direction of the cleaning robot, or it may only be the target tilt angle between the first side 201 and the surface to be cleaned 30, or the target posture parameter may include both the target height and the target tilt angle.

[0057] Referring to Figure 1, the second side 202 of the main body 20 may be equipped with a cleaning mechanism such as a mop, a roller brush, or a side brush. The obstacle-crossing mechanism 1 drives the first side 201 of the main body 20 to rise and / or tilt in the direction away from the surface to be cleaned 30 along the height direction of the cleaning robot, which can trigger the triggering mechanism 2 to make the second side 202 of the main body 20 fall and / or tilt in the direction closer to the surface to be cleaned 30, thereby the second side 202 of the main body 20 can apply downward pressure to the cleaning mechanism, so that the cleaning mechanism can fit more tightly to the ground, forming greater friction, thereby effectively scraping stubborn stains. After pressurization, the number of times the cleaning robot repeatedly wipes the same area can be reduced, saving cleaning time and reducing ineffective path planning by the cleaning robot. Furthermore, this method allows the second side 202 to float up or down, enabling the cleaning mechanism to better adapt to the undulations of the surface 30 to be cleaned (page 4 / 11 of the manual, CN 121570091 A), improving the cleaning mechanism's ability to maintain stable pressure under different terrains and enhancing its cleaning effect.

[0058] In an optional embodiment, the step of obtaining the target posture parameters to be adjusted for the first side 201 includes: controlling the environmental perception unit of the cleaning robot to obtain cleaning scene information; generating target posture parameters based on the cleaning scene information. Obtaining cleaning scene information through the environmental perception unit of the cleaning robot can improve the adaptability of the cleaning robot to complex work scenarios.

[0059] In an optional embodiment, the cleaning scene information may include ground material, terrain undulations, obstacle distribution, stain status, or gap depth, etc.

[0060] In some embodiments, the step of generating target posture parameters based on cleaning scene information includes: obtaining first stain information, generating first target posture parameters based on the first stain information; obtaining second stain information, generating second target posture parameters based on the second stain information; wherein the cleaning difficulty of the second stain is greater than that of the first stain, and the second target posture parameters are greater than the first target posture parameters. Cleaning difficulty refers to the cleaning pressure required to remove stains during the same cleaning process. The cleaning difficulty of the second stain is greater than that of the first stain, that is, the cleaning pressure required to remove the second stain is greater than that required to remove the first stain.

[0061] For example, the second stain may be a stain with high adhesion such as oil stains, mildew, or yellow stains, while the first stain may be a stain with low adhesion such as dust, paper scraps, or hair.

[0062] For example, referring to Figure 1, the second target posture parameter being greater than the first target posture parameter can be understood as follows: the height at which the first side 201 is raised away from the surface to be cleaned 30 along the height direction of the cleaning robot is greater when cleaning the second stain than when cleaning the first stain. This allows the second side 202 to be lowered closer to the surface to be cleaned 30 at a greater height when cleaning the second stain than when cleaning the first stain, thus providing greater pressure when cleaning the second stain and achieving a better cleaning effect. Alternatively, it can be understood as follows: the angle at which the first side 201 is tilted away from the surface to be cleaned 30 is greater when cleaning the second stain than when cleaning the first stain. This allows the second side 202 to be tilted closer to the surface to be cleaned at a greater angle when cleaning the second stain than when cleaning the first stain, thus providing greater pressure when cleaning the second stain and improving the cleaning effect. Therefore, depending on different cleaning scenario information, the second side 202 can apply different pressures to the surface to be cleaned 30 to improve the cleaning effect.

[0063] In this embodiment, the first direction is direction A, and the second direction is direction B.

[0064] Referring to FIG2, in some embodiments, the obstacle-crossing mechanism 1 includes a drive assembly 11 and a rotating component 12. The drive assembly 11 is driven and connected to the rotating component 12, and the rotating component 12 is driven and connected to the first side 201 of the main body 20. The step of controlling the obstacle-crossing mechanism 1 to drive the first side 201 to move to the target posture parameter includes: obtaining the target rotation angle of the rotating component 12 according to the target posture parameter; controlling the drive assembly 11 to drive the rotating component 12 to rotate along the first direction (direction A as shown in FIG2) by the target rotation angle according to the target rotation angle, so as to drive the first side 201 to rise or fall along the height direction of the cleaning robot to the target posture parameter. The target posture parameter is achieved by the target rotation angle of the rotating component 12, which can improve the adjustment accuracy. The rotational movement of the rotating component 12 is more stable than that of linear drive. During the transmission process of the rotating component 12, the force transmission is more uniform, which can reduce local stress concentration and reduce component wear. It is understood that, referring to Figures 2 and 1, the drive assembly 11 drives the rotating member 12 to rotate in the first direction. The rotating member 12 drives the first side 201 to rise in the height direction of the cleaning robot to achieve the target height or target tilt angle of the first side 201. The trigger mechanism 2 is triggered to drive the second side 202 to descend, which can pressurize the cleaning mechanism set on the second side 202, thereby improving the cleaning effect. The drive assembly 11 drives the rotating member 12 to reverse and reset in the second direction (direction B as shown in Figure 2). The rotating member 12 drives the first side 201 to descend in the height direction of the cleaning robot. Under the action of the trigger mechanism 2, the second side 202 is raised, which can reset the first side 201 and the second side 202.

[0065] In some embodiments, the obstacle-crossing mechanism 1 further includes a transmission component (not shown in Figure 2), which is disposed on the main body 20. The rotating component 12 includes a cam 121, which is drivenly connected to the drive assembly 11. The outer peripheral surface of the cam 121 has a first position 122 and a second position 123. The transmission component abuts against the outer peripheral surface of the cam 121 located between the first position 122 and the second position 123. The step of controlling the drive assembly 11 to drive the rotating component 12 to rotate along the first direction by a target rotation angle includes: obtaining the target rotation angle of the cam 121 according to the target posture parameters; controlling the drive assembly 11 to drive the cam 121 to rotate along the first direction by the target rotation angle according to the target rotation angle, thereby moving the transmission component toward the first position 122 or the second position 123, and causing the first side 201 to rise or fall along the first direction to the target posture parameters. The first position 122 is the maximum height that the transmission component can rise along the height direction of the cleaning robot, corresponding to the maximum height that the first side 201 of the main body 20 can rise, and corresponding to the minimum height that the second side 202 of the main body 20 can fall. The second position 123 represents the lowest height of the transmission component along the height direction of the cleaning robot, corresponding to the lowest height that the first side 201 of the main body 20 can be lowered, and the maximum height that the second side 202 of the main body 20 can be raised. The control drive assembly 11 drives the cam 121 to rotate by a target rotation angle in the positive direction of the first direction. The cam 121 drives the transmission component to move towards the first position 122, causing the first side 201 to rise along the height direction of the cleaning robot, triggering the trigger mechanism 2 to lower the second side 202 of the main body 20. The control drive assembly 11 also drives the cam 121 to rotate by a target rotation angle in the negative direction of the first direction. The cam 121 drives the transmission component to move towards the second position 123, causing the first side 201 to fall along the height direction of the cleaning robot, triggering the trigger mechanism 2 to raise the second side 202 of the main body 20. The cam 121 and the transmission component are rigidly connected, allowing for more direct transmission of the driving force of the drive assembly 11 and improving driving efficiency.

[0066] In some embodiments, the method for changing the posture of the cleaning robot further includes: when the first position detection unit (not shown in FIG2) of the cleaning robot detects that the transmission component has reached the first position 122, controlling the drive assembly 11 to stop driving the cam 121 to rotate in the first direction; or, when the second position detection unit (not shown in FIG2) of the cleaning robot detects that the transmission component has reached the second position 123, controlling the drive assembly 11 to stop driving the cam 121 to rotate in the first direction. The first position detection unit 3 and the second position detection unit 4 can reduce the over-rotation of the cam 121, thereby reducing the excessive lifting or lowering of the second side 202 of the main body 20.

[0067] Thus, the method for changing the posture of the cleaning robot provided in the embodiments of this application, by controlling the obstacle-crossing mechanism 1, connectsThe trigger mechanism 2 can change the posture of the cleaning robot itself, so that the second side 202 of the main body 20 of the cleaning robot can tilt, lower or raise. The cleaning mechanism provided on the second side 202 of the main body 20 can apply pressure to the surface 30 to be cleaned when the second side 202 is lowered, thereby improving the cleaning effect of the cleaning structure.

[0068] In a second aspect, please refer to FIG1. ​​This application embodiment also provides a suspension device 10 for being provided on the main body 20 of the cleaning robot. The cleaning robot includes a first side 201 and a second side 202 along the forward direction. The suspension device 10 includes an obstacle crossing mechanism 1 and a trigger mechanism 2. The obstacle crossing mechanism 1 is driven and connected to the first side 201, and the trigger mechanism 2 is connected to the main body 20. The trigger mechanism 2 is used to cause the second side 202 to move in the opposite direction when the first side 201 moves. Therefore, the obstacle-crossing mechanism 1, in conjunction with the triggering mechanism 2, can change the posture of the main body 20. The obstacle-crossing mechanism 1 drives the first side 201 to rise, and under the action of the triggering mechanism 2, the second side 202 is lowered in conjunction, thereby enabling the cleaning mechanism located on the second side 202 to apply pressure to the surface 30 to be cleaned, thereby improving the cleaning effect of the cleaning mechanism.

[0069] First, the specific structure of the triggering mechanism 2 is introduced:

[0070] Please refer to Figure 3. In some embodiments, the triggering mechanism 2 includes a fixed member 21 and a movable member 22. The fixed member 21 is connected to the obstacle-crossing mechanism 1, and the movable member 22 is movably connected to the fixed member 21. The movable member 22 is connected to the main body 20. The movable member 22 lowers the second side 202 while the first side 201 is raised. The main body 20 is movably connected to the obstacle-crossing mechanism 1 via the movable component 22. When the obstacle-crossing mechanism 1 drives the first side 201 of the main body 20 to rise, it drives the movable component 22 to lower the second side 202 of the main body 20. When the obstacle-crossing mechanism 1 drives the first side 201 of the main body 20 to lower, it drives the movable component 22 to raise the second side 202 of the main body 20.

[0071] In optional embodiments, the movable component 22 may be rotatably connected to the fixed component 21 along the height direction of the cleaning robot, or the movable component 22 and the fixed component 21 may be elastically connected, or the movable component 22 and the fixed component 21 may be clearance-fitted, etc. The embodiments of this application do not limit the specific connection method between the movable component 22 and the fixed component 21. The connection method that enables the movable component 22 to drive the second side 202 to rise or fall while the first side 201 rises or falls is within the protection scope of the embodiments of this application.

[0072] Referring to FIG3, in some embodiments, the triggering mechanism 2 further includes an elastic element 23, which is connected to the fixed element 21 and the movable element 22. The elastic element 23 allows for more flexible movement of the movable element 22, thereby enabling the movable element 22 to move more freely.While the first side 201 of the body 20 moves, it can better drive the second side 202 of the fuselage body 20 to move.

[0073] Please refer to Figure 3. In some embodiments, the fixing member 21 is provided with a groove 211, the movable member 22 is at least partially located in the groove 211, and the outer periphery of the movable member 22 is in clearance fit with the groove 211. The elastic member 23 is located in the groove 211 and is sleeved on the outer periphery of the movable member 22. In this way, the groove 211 of the fixing member 21 provides the movable member 22 with a space for movement. The outer periphery of the movable member 22 is in clearance fit with the groove 211, so that the movable member 22 can move with the first side 201 of the fuselage body 20 after being triggered by the obstacle crossing mechanism 1, thereby driving the second side 202 of the fuselage body 20 to move, realizing the change of the attitude of the fuselage body 20. On the other hand, the groove 211 of the fixing member 21 can limit the excessive movement of the movable member 22 and improve the movement stability of the movable member 22.

[0074] In an optional embodiment, the movable part 22 can be connected to the main body 20 of the fuselage by fasteners such as screws or bolts.

[0075] The specific structure of the obstacle crossing mechanism 1 will be described below:

[0076] Referring to FIG2, in some embodiments, the obstacle crossing mechanism 1 includes a rotating part 12 and a drive assembly 11. The drive assembly 11 is driven to the rotating part 12, and the rotating part 12 is driven to the first side 201 of the main body 20 of the fuselage. The drive assembly 11 drives the rotating part 12 to rotate in a first direction (direction A as shown in FIG2) so that the rotating part 12 drives the first side 201 to rise or fall. By rotating the rotating part 12 to achieve the raising or lowering of the first side 201, the adjustment accuracy can be improved. The rotational movement of the rotating part 12 has higher stability than linear drive. During the transmission process of the rotating part 12, the force transmission is more uniform, which can reduce local stress concentration and reduce component wear.

[0077] Referring to Figure 2, in some embodiments, the obstacle-crossing mechanism 1 further includes a transmission component (not shown in Figure 2). The transmission component is disposed on the main body 20. The rotating component 12 includes a cam 121, which is drivenly connected to the drive assembly 11. The outer peripheral surface of the cam 121 has a first position 122 and a second position 123. The transmission component abuts against the outer peripheral surface of the cam 121 located between the first position 122 and the second position 123. The drive assembly 11 drives the cam 121 to rotate in a first direction, thereby driving the transmission component to move toward the first position 122 or toward the second position 123, thereby causing the first side 201 to rise or fall. The first position 122 is the maximum height that the transmission component can rise along the height direction of the cleaning robot, corresponding to the maximum height that the first side 201 of the main body 20 can rise, and the minimum height that the second side 202 of the main body 20 can fall. The second position 123 is the minimum height that the transmission component can fall along the height direction of the cleaning robot, corresponding to the minimum height that the first side 201 of the main body 20 can fall, and the minimum height that the second side 202 of the main body 20 can fall.The second side 202 of the main body 20 can be raised to a maximum height. The drive assembly 11 drives the cam 121 to rotate in the positive direction of the first direction. The cam 121 drives the transmission component to move towards the first position 122, causing the first side 201 to rise along the height direction of the cleaning robot. This triggers the trigger mechanism 2, causing the second side 202 of the main body 20 to descend. Alternatively, the drive assembly 11 drives the cam 121 to rotate in the negative direction of the first direction. The cam 121 drives the transmission component to move towards the second position 123, causing the first side 201 to descend along the height direction of the cleaning robot. This triggers the trigger mechanism 2, causing the second side 202 of the main body 20 to rise. The cam 121 and the transmission component have a rigid transmission, which can more directly transmit the driving force of the drive assembly 11, improving driving efficiency.

[0078] Referring to Figure 2, in an optional embodiment, the cam 121 includes a rotating wheel and a protrusion disposed on the outer periphery of the rotating wheel. The outer periphery of the protrusion forms a first position 122, and the junction of the protrusion and the rotating wheel forms a second position 123. A recess is formed between the rotating wheel and the protrusion, and the second position 123 is located in the recess. This arrangement facilitates the cam 121 rotating in the first direction, where the recess acts as a stop and limit mechanism for the transmission component, improving the accuracy of the transmission component's reset.

[0079] In an optional embodiment, the protrusion and the rotating wheel have an arc-shaped transition. This increases the smoothness of the transmission component's movement in the first position 122 and the second position 123, making the cam 121's transmission component more smoothly lifting or lowering the first side 201 of the main body 20, and consequently making the lowering, pressurizing, or lifting action of the second side 202 of the main body 20 more smooth.

[0080] In some embodiments, the suspension device 10 further includes a first position detection unit (not shown in FIG. 2), which is disposed on the cam 121 and is used to detect whether the transmission member has reached the first position 122. And / or, the suspension device 10 further includes a second position detection unit (not shown in FIG. 2), which is disposed on the cam 121 and is used to detect whether the transmission member has reached the second position 123. The first position detection unit and the second position detection unit can reduce the over-rotation of the cam 121, reducing the over-rotation of the cam 121 from causing the transmission member to exceed the first position 122 or the second position 123, thereby reducing the excessive lifting or lowering of the first side 201 of the fuselage body 20, thereby reducing the excessive lowering or lifting of the second side 202 of the fuselage body 20.

[0081] Referring to FIG. 4, in an optional embodiment, the drive assembly 11 includes a first drive member 111 and a first transmission assembly, wherein the first drive member 111 can drive the rotating member 12 to rotate through the first transmission assembly.

[0082] Referring to FIG4, in an optional embodiment, the first driving member 111 includes a drive motor 1111 and a first transmission group.The component includes a worm gear 1121, a worm wheel 1122, and a first gear set. The output shaft of the drive motor 1111 is driven to the worm gear 1121, the worm gear 1121 is driven to the worm wheel 1122, the worm wheel 1122 is driven to the first gear set, and the first gear set is driven to the rotating component 12. The use of the worm gear 1121 and the worm wheel 1122 in cooperation can improve the transmission efficiency of the first gear set.

[0083] Please refer to Figure 4. In an optional embodiment, the first gear set includes a first lifting gear 1123, a second lifting gear 1124, a second lifting synchronous gear 1125, a third lifting gear 1126, a third lifting synchronous gear 1127, a fourth lifting gear 1128, a fifth lifting gear 1129, a sixth lifting gear 1130, and a sixth lifting synchronous gear 1131. The first lifting gear 1123 meshes with the worm gear 1122, and a second lifting synchronizing gear 1125 is coaxially mounted on the second lifting gear 1124. The second lifting synchronizing gear 1125 and the second lifting gear 1124 can rotate synchronously, and the diameter of the second lifting synchronizing gear 1125 is smaller than the diameter of the second lifting gear 1124. The third lifting gear 1126 meshes with the second lifting synchronizing gear 1125, and a third lifting synchronizing gear 1127 is coaxially mounted on the third lifting gear 1126. The third lifting synchronizing gear 1127 and the third lifting synchronizing gear 1126 can rotate synchronously, and the third lifting synchronizing gear 1127... The diameter of the fourth lifting gear 1128 is smaller than that of the third lifting gear 1126. The fifth lifting gear 1129 meshes with the fourth lifting gear 1128, and the sixth lifting gear 1130 meshes with the fifth lifting gear 1129. A sixth lifting synchronous gear 1131 is coaxially provided on the sixth lifting gear 1130. The sixth lifting synchronous gear 1131 and the sixth lifting gear 1130 can rotate synchronously. The diameter of the sixth lifting synchronous gear 1131 is smaller than that of the sixth lifting gear 1130. The sixth lifting synchronous gear 1131 meshes with the rotating component 12. In this way, the first gear set can realize the transmission of power, so that the drive motor 1111 can drive the rotating component 12 to rotate.

[0084] The embodiments of this application do not limit the specific arrangement of the drive assembly 11 driving the rotating component 12 to rotate. All implementations that enable the drive assembly 11 to drive the rotating component 12 to rotate are within the protection scope of this application. The above embodiments only illustrate one implementation of the first gear set. The structure of the first gear set can be improved according to actual needs, as long as it is ensured that the drive motor 1111 can drive the rotating part 12 to rotate through the first gear set.

[0085] The other functions of the obstacle crossing mechanism 1 will be introduced below:

[0086] In related technologies, the chassis of the main body 20 of the cleaning robot is low, and it is easy to be hit when encountering high steps.121570091 A Step is stuck and cannot move forward.

[0087] Please refer to Figure 2. In an optional embodiment, the rotating member 12 is provided with an obstacle-crossing leg 5. The driving component 11 drives the rotating member 12 to rotate along a second direction (direction B as shown in Figure 2) to drive the obstacle-crossing leg 5 to rotate to support the main body 20 and walk through the obstacle-crossing leg 5. The second direction is opposite to the first direction. By setting the obstacle-crossing leg 5, the main body 20 can cross cleaning scenes with higher heights. When the driving component 11 drives the rotating member 12 to rotate along the second direction, it can drive the obstacle-crossing leg 5 to rotate to support the main body 20 and walk through the obstacle-crossing leg 5. When the driving component 11 drives the rotating member 12 to rotate back, the rotating member 12 rotates along the first direction, and the rotating member 12 gradually drives the obstacle-crossing leg 5 to rotate back to release the support of the main body 20.

[0088] Referring to Figure 2, in some embodiments, the obstacle-crossing outrigger 5 includes a first arm 51 and a second arm 52 hinged together. The end of the first arm 51 away from the second arm 52 is connected to a rotating member 12. The second arm 52 can swing relative to the first arm 51 within a certain range. An obstacle-crossing wheel 53 is rotatably provided at the end of the second arm 52 away from the first arm 51. The suspension device 10 also includes a walking frame 6, which is connected to the main body 20. A walking wheel 61 is rotatably provided on the walking frame 6. The walking wheel 61 has a drive structure inside for driving the walking wheel 61 to rotate. The driving method of this walking wheel 61 is conventional technology and has not been described in detail here. The drive component 11 of the obstacle-crossing mechanism 1 is located on one side of the walking frame 6, and the rotating member 12 of the obstacle-crossing mechanism 1 is rotatably connected to the walking frame 6.

[0089] In this design, during obstacle crossing operations, the drive assembly 11 drives the rotating component 12 to rotate along the second direction (direction B as shown in Figure 2), and then the rotating component 12 drives the first support arm 51 to rotate along the second direction. The first support arm 51 drives the second support arm 52 to rotate along the second direction. At this time, when the obstacle crossing wheel 53 on the second support arm 52 contacts the ground, the position of the second support arm 52 remains unchanged as the first support arm 51 rotates, gradually changing the angle between the second support arm 52 and the first support arm 51. When the angle between the second support arm 52 and the first support arm 51 is restricted and cannot be changed further (wherein, the restriction of the rotation range of the first support arm 51 and the second support arm 52 can be achieved by a limiting plate, and this restriction method is a conventional technology, which has not been described in detail here), as the first support arm 51 rotates, the first support arm 51 will continue to drive the second support arm 52 to rotate to support the walking device. At this time, the walking wheel 61 will leave the ground, and the obstacle crossing wheel 53 will play the role of driving the main body 20 to move. After the walking wheel 61 moves to the top of the obstacle such as the step, the drive assembly 11 continues to drive the rotating part 12 along the second direction (as shown in Figure 2).(Indicate direction B) rotate until the height of the obstacle-crossing wheel 53 is above the height of the walking wheel 61. Then, the walking wheel 61 continues to drive the main body 20 to move so that the walking device can cross the obstacle, completing the obstacle-crossing process of the walking device.

[0090] In some embodiments, the obstacle-crossing leg 5 also includes a second driving member (not shown in the figure) and a second transmission assembly. The second transmission assembly is disposed in the first support arm 51 and the second support arm 52. The second driving member can drive the obstacle-crossing wheel 53 to rotate through the second transmission assembly. The walking wheel 61 is connected to the obstacle-crossing wheel 53 through the second transmission assembly. In this design, the use of a second driving member and a second transmission assembly facilitates the setting of the position of the second driving member, making the overall structure more compact. For example, the second driving member is disposed on the outside or inside of the obstacle-crossing leg 5. The second driving member drives the obstacle-crossing wheel 53 to rotate through the second transmission assembly. Or, for example, the second driving member is the driving structure of the walking wheel 61, so as to drive the walking wheel 61 and the obstacle-crossing wheel 53 to rotate through the driving structure of the walking wheel 61, thereby reducing the cost of the driving structure.

[0091] Referring to FIG5, in some embodiments, the second transmission assembly includes a first obstacle-crossing gear 541, a second obstacle-crossing gear 542, a third obstacle-crossing gear 543, a fourth obstacle-crossing gear 544, a fourth synchronous obstacle-crossing gear 545, a fifth obstacle-crossing gear 546, a sixth obstacle-crossing gear 547, and a seventh obstacle-crossing gear 548. The shaft of the traveling wheel 61 extends into the first support arm 51 and is connected to the first obstacle-crossing gear 541 to drive the first obstacle-crossing gear 541 to rotate. The first obstacle-crossing gear 541 meshes with the second obstacle-crossing gear 542, and the second obstacle-crossing gear 542 meshes with the third obstacle-crossing gear 543. The first obstacle-crossing gear 541, the second obstacle-crossing gear 542, and the third obstacle-crossing gear 543 are all disposed within the first support arm 51. The fourth obstacle-crossing gear 544 is located at the hinge between the first support arm 51 and the second support arm 52, and a fourth synchronous obstacle-crossing gear 545 is coaxially mounted on the fourth obstacle-crossing gear 544. The fourth synchronous obstacle-crossing gear 545 rotates synchronously with the four synchronous gears (as described on page 9 / 11 of the specification, CN 121570091 A). The third obstacle-crossing gear 543 meshes with the fourth obstacle-crossing gear 544. The fifth obstacle-crossing gear 546 and the sixth obstacle-crossing gear 547 are both located within the second support arm 52. The fifth obstacle-crossing gear 546 meshes with the fourth synchronous obstacle-crossing gear 545, and the sixth obstacle-crossing gear 547 meshes with the fifth obstacle-crossing gear 546. The sixth obstacle-crossing gear 547 meshes with the seventh obstacle-crossing gear 548, and the seventh obstacle-crossing gear 548 is fixedly connected to the obstacle-crossing wheel 53. This design enables the second transmission assembly to transmit power, ensuring that the drive wheel can drive the obstacle-crossing wheel 53 to rotate, thus reducing the cost of the drive structure.

[0092] It is understood that the above embodiments only illustrate one implementation of the second transmission assembly. The structure of the second transmission assembly can be improved according to actual needs, as long as it is ensured that the drive wheel can be driven by the second transmission assembly.The moving component drives the obstacle-crossing wheel 53 to rotate.

[0093] In short, the obstacle-crossing leg 5 supports and drives the main body 20 to cross the steps, which includes the following steps:

[0094] First is the triggering and extension stage. When the cleaning robot encounters a step during its forward movement, the driving component 11 drives the rotating component 12 to rotate in the second direction. The rotating component 12 simultaneously drives the first arm 51 of the obstacle-crossing leg 5 to rotate, and the second arm 52 extends downward to the walking range of the walking wheel 61 along with the first arm 51. At this time, since the second arm 52 is hinged to the first arm 51, the second arm 52 can swing slightly relative to the first arm 51 to ensure that the obstacle-crossing wheel 53 first makes stable contact with the ground below the step.

[0095] Next is the lifting and driving stage: As the rotating component 12 continues to rotate, the obstacle-crossing wheel 53 generates a supporting force after contacting the ground. The angle between the first arm 51 and the second arm 52 gradually becomes fixed, thereby slightly lifting the main body 20, so that the walking wheel 61 of the main body 20 leaves the ground (or only slightly contacts it). At this time, the obstacle-crossing wheel 53 is linked with the drive structure of the walking wheel 61 through the second transmission component. The power of the walking wheel 61 drives the obstacle-crossing wheel 53 to rotate, actively driving the main body 20 to move towards the step, realizing the climbing of the step with the obstacle-crossing wheel 53 as the support point.

[0096] Then is the wheel drop and reset stage: when the robot's walking wheel 61 moves to the top of the step and contacts the ground above the step, the rotating component 12 continues to rotate in the second direction, driving the obstacle-crossing leg 5 to retract upward (the height of the obstacle-crossing wheel 53 is higher than that of the walking wheel 61), and the center of gravity of the main body 20 is transferred to the walking wheel 61; then the drive component 11 drives the rotating component 12 to reverse in the first direction, and the obstacle-crossing leg 5 folds and resets, waiting for the next obstacle crossing.

[0097] Thus, the suspension device 10 provided in this application embodiment can realize the linkage of obstacle crossing, chassis lifting and second side 202 pressurized cleaning, which can not only improve the scene adaptability of the cleaning robot, but also improve the cleaning effect of the cleaning robot.

[0098] In a third aspect, embodiments of this application provide a cleaning robot, which includes a suspension device 10 and a main body. The suspension device 10 is connected to the main body, and the suspension device 10 is the same as the suspension device 10 in the second aspect. This cleaning robot has all the technical effects of the suspension device 10, which will not be described in detail here.

[0099] In optional embodiments, the cleaning robot may be a sweeping robot, a sweeping and mopping robot, a floor cleaning robot, a floor washing robot, a window cleaning robot, etc.

[0100] In the description of this application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, these terms indicate the orientation or position.The orientation or positional relationship shown in the accompanying drawings is only for the convenience of describing this application and simplifying the description, and is not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0101] Furthermore, if the terms "first" and "second" appear, these terms 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, if the term "multiple" appears on page 10 / 11 of the specification (CN 121570091 A), "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0102] In this application, unless otherwise explicitly specified and limited, if the terms "installation," "connection," "joining," "fixing," etc., appear, these terms should be interpreted broadly. For example, it can be a fixed connection, a detachable connection, or an integral part; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components or an interaction between two components, unless otherwise explicitly defined. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0103] In this application, unless otherwise explicitly specified and defined, if there is a description such as "above" or "below" the second feature, it means that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, "above," "on top of," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" of the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0104] It should be noted that if an element is referred to as "fixed to" or "set on" another element, it can be directly on the other element or there can be an intermediate element. If an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intervening element present. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0105] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described; however, as long as the combination of these technical features does not exist...In case of contradictions, all should be considered within the scope of this specification.

[0106] The above-described embodiments only illustrate several implementation methods of this application, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the patent application. It should be noted that for those skilled in the art, several modifications and improvements can be made without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims. Instruction Manual 11 / 11 Page 14 CN 121570091 A Figure 1 Figure 2 Instruction Manual Appendix 1 / 4 Page 15 CN 121570091 A Figure 3 Instruction Manual Appendix 2 / 4 Page 16 CN 121570091 A Figure 4 Figure 5 Instruction Manual Appendix 3 / 4 Page 17 CN 121570091 A Figure 6 Instruction Manual Appendix 4 / 4 Page 18 CN 121570091 A Our Ref.: HS2610760CHK METHOD FOR CHANGING POSTURE OF CLEANING ROBOT, SUSPENSION DEVICE AND CLEANING ROBOT Abstract The present application relates to the technical field of cleaning robots, and in particular, to a method for changing a posture of a cleaning robot, a suspension device, and a cleaning robot. The cleaning robot comprises a main body, an obstacle crossing mechanism, and a triggering mechanism. The main body comprises a first side and a second side distributed front and rear in a traveling direction of the cleaning robot. The obstacle crossing mechanism is drivingly connected to the first side, and the triggeringmechanism is connected to the body main body. The triggering mechanism is configured to cause the second side to move reversely when the first side moves in a height direction of the cleaning robot. The method comprises the following steps: acquiring a target posture parameter to be adjusted for the first side, wherein the target posture parameter comprises a target height of the first side in the height direction of the cleaning robot, and / or a target inclination angle between the first side and a surface to be cleaned; and controlling the obstacle crossing mechanism to drive the first side to move to the target posture parameter. By lifting the first side and causing the second side to drive the cleaning mechanism to descend via the triggering mechanism, pressure can be applied to the surface to be cleaned, thereby improving a cleaning effect.

Claims

1. A method for changing the posture of a cleaning robot, characterized in that, The cleaning robot includes a main body, an obstacle-crossing mechanism, and a triggering mechanism. The main body includes a first side and a second side distributed front to back along the direction of travel of the cleaning robot. The obstacle-crossing mechanism is driven and connected to the first side. The triggering mechanism is connected to the main body and is used to cause the second side to move in the opposite direction when the first side moves along the height direction of the cleaning robot. The method includes the following steps: Obtain the target posture parameters to be adjusted for the first side, the target posture parameters including the target height of the first side along the height direction of the cleaning robot, and / or the target tilt angle between the first side and the surface to be cleaned; The obstacle-crossing mechanism is controlled to drive the first side to move to the target posture parameters.

2. The method for changing the posture of a cleaning robot according to claim 1, characterized in that, The steps for obtaining the target attitude parameters to be adjusted on the first side include: The environmental perception unit of the cleaning robot is controlled to acquire cleaning scene information; The target attitude parameters are generated based on the cleaning scene information.

3. The method for changing the posture of a cleaning robot according to claim 2, characterized in that, The steps for generating the target pose parameters based on the cleaning scene information include: Obtain first stain information, and generate first target pose parameters based on the first stain information; Obtain second stain information, and generate second target attitude parameters based on the second stain information; The second stain is more difficult to clean than the first stain, and the second target attitude parameter is greater than the first target attitude parameter.

4. The method for changing the posture of a cleaning robot according to claim 1, characterized in that, The obstacle-crossing mechanism includes a drive assembly and a rotating component. The drive assembly is driven and connected to the rotating component, and the rotating component is driven and connected to the first side of the main body of the fuselage. The steps of controlling the obstacle-crossing mechanism to drive the first side to move to the target attitude parameters include: Based on the target attitude parameters, the target rotation angle of the rotating component is obtained; The drive assembly is controlled according to the target rotation angle to drive the rotating component to rotate along the first direction by the target rotation angle, so as to drive the first side to rise or fall along the height direction of the cleaning robot to the target posture parameter.

5. The method for changing the posture of a cleaning robot according to claim 4, characterized in that, The obstacle-crossing mechanism also includes a transmission component, which is disposed on the main body of the machine. The rotating component includes a cam, which is drivenly connected to the drive assembly. The outer peripheral surface of the cam has a first position and a second position. The transmission component drives and abuts against the outer peripheral surface of the cam located between the first position and the second position. The step of controlling the drive assembly to drive the rotating component to rotate the target rotation angle along the first direction includes: Based on the target attitude parameters, the target rotation angle of the cam is obtained; Based on the target rotation angle, the drive assembly is controlled to drive the cam to rotate along the first direction by the target rotation angle, and the transmission component is driven to move toward the first position or the second position, thereby causing the first side to rise or fall along the height direction of the cleaning robot to the target posture parameter.

6. The method for changing the posture of a cleaning robot according to claim 5, characterized in that, The method further includes: When the first position detection unit of the cleaning robot detects that the transmission component has reached the first position, it controls the drive assembly to stop driving the cam to rotate in the first direction; Alternatively, when the second position detection unit of the cleaning robot detects that the transmission component has reached the second position, the control unit controls the drive assembly to stop driving the cam to rotate in the first direction.

7. A suspension device, characterized in that, For mounting on the main body of a cleaning robot, the cleaning robot including a first side and a second side distributed front to back along the direction of travel, the suspension device includes: An obstacle-crossing mechanism, wherein the obstacle-crossing mechanism is driven and connected to the first side; A triggering mechanism is connected to the main body of the robot. The triggering mechanism is used to cause the second side to move in the opposite direction when the first side moves along the height direction of the cleaning robot.

8. The suspension device according to claim 7, characterized in that, The triggering mechanism includes a fixed component and a movable component. The fixed component is connected to the obstacle-crossing mechanism, and the movable component is movably connected to the fixed component. The movable component is connected to the main body of the fuselage, and the movable component raises the first side while lowering the second side.

9. The suspension device according to claim 8, characterized in that, The triggering mechanism further includes an elastic element, which is connected to the fixed element and the movable element.

10. The suspension device according to claim 9, characterized in that, The fixing member has a groove, the movable member is at least partially located in the groove, and the outer periphery of the movable member is in clearance fit with the groove. The elastic member is located in the groove and is sleeved on the outer periphery of the movable member.

11. The suspension device according to claim 7, characterized in that, The obstacle-crossing mechanism includes: Rotating component; A drive assembly is driven and connected to the rotating member, which is driven and connected to the first side of the main body of the machine body. The drive assembly drives the rotating member to rotate in a first direction, so that the rotating member drives the first side to rise or fall.

12. The suspension device according to claim 11, characterized in that, The obstacle-crossing mechanism further includes a transmission component, which is disposed on the main body of the machine. The rotating component includes a cam, which is drivenly connected to the drive assembly. The outer peripheral surface of the cam has a first position and a second position. The transmission component abuts against the outer peripheral surface of the cam located between the first position and the second position. The drive assembly drives the cam to rotate along the first direction, thereby driving the transmission component to move toward the first position or toward the second position, and thus causing the first side to rise or fall.

13. The suspension device according to claim 12, characterized in that, The suspension device further includes a first position detection unit, which is disposed on the cam and is used to detect whether the transmission component has reached the first position. And / or, the suspension device further includes a second position detection unit, which is disposed on the cam and is used to detect whether the transmission component has reached the second position.

14. A cleaning robot, characterized in that, The cleaning robot includes a suspension device and a main body, the suspension device being connected to the main body, and the suspension device being the suspension device as described in any one of claims 7 to 13.

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