Obstacle Crossing Assistance Device

Abstract

The obstacle-overcoming assistance device (200) includes an obstacle-overcoming basic assistance member and an obstacle-overcoming height-increasing assistance member. The obstacle-overcoming basic assistance member has a first top surface (211) and a first bottom surface (212) provided opposite to each other, and a first inclined surface (213) extending from the first top surface (211) to the first bottom surface (212). The obstacle-overcoming height-increasing assistance member is detachably connected to the obstacle-overcoming basic assistance member (210), and has a second top surface (221) and a second bottom surface (222) provided opposite to each other, and a second inclined surface (223) extending from the second top surface (221) to the second bottom surface (222). When the obstacle-overcoming height-increasing assistance member (220) is connected to the obstacle-overcoming basic assistance member (210), the obstacle-overcoming basic assistance member (210) is stacked on the obstacle-overcoming height-increasing assistance member (220), at least a part of the first bottom surface (212) abuts against at least a part of the second top surface (221), and the first inclined surface (213) and the second inclined surface (223) are connected to form an inclined surface of the obstacle-overcoming assistance device (200).

Description

Technical Field

[0001] (Related Application) This disclosure claims the priority of Chinese Patent Applications No. 202221522081.8 and No. 202221520162.4, filed on June 17, 2022, and all the disclosure contents of the above Chinese patent applications are incorporated herein by reference as part of this disclosure.

[0002] This disclosure relates to the technical field of cleaning devices, and specifically, to an obstacle-crossing assistance device, particularly an obstacle-crossing assistance device for an automatic cleaning device.

Background Art

[0003] With the continuous development of technology, cleaning devices such as floor washers have been adopted in a wide range of households, and floor washers can save time and effort compared to conventional manual cleaning.

[0004] A floor washer generally includes a device body and a cleaning sheet body. Inside the device body, there are provided a recovery water tank such as a sewage tank, a cleaning liquid tank such as a clean water tank, and a main fan for suction. The cleaning sheet body includes cleaning rollers for dragging and wiping, and generally two cleaning rollers are provided to ensure the cleaning efficiency. A clean cleaning liquid, such as water, is sprayed onto the villous cleaning rollers through an internal water pipe, and the cleaning rollers rotate at high speed to drag and wipe the floor surface. With the wide application of floor washers, it has become a general requirement to make the overall structure more compact by reasonably arranging the structures of various components inside the floor washer.

Summary of the Invention

[0005] Some embodiments of this disclosure provide an obstacle-crossing assistance device, and the obstacle-crossing assistance device includes an obstacle-crossing basic assistance member, which has a first top surface and a first bottom surface provided opposite to each other, and a first inclined surface extending from the first top surface to the first bottom surface An obstacle crossing basic auxiliary member having An obstacle crossing heightening auxiliary member detachably connected to the obstacle crossing basic auxiliary member, A second top surface and a second bottom surface provided opposite to each other, and A second inclined surface extending from the second top surface to the second bottom surface An obstacle crossing heightening auxiliary member having Comprising When the obstacle crossing heightening auxiliary member is connected to the obstacle crossing basic auxiliary member, the obstacle crossing basic auxiliary member is stacked on the obstacle crossing heightening auxiliary member, at least a part of the first bottom surface abuts against at least a part of the second top surface, and the first inclined surface and the second inclined surface are connected to form an inclined surface of the obstacle crossing auxiliary device.

[0006] Some embodiments of the present disclosure provide an obstacle crossing auxiliary device configured to assist an automatic cleaning device in performing an obstacle crossing operation, and the obstacle crossing auxiliary device includes A top surface and a bottom surface provided opposite to each other, and An inclined surface extending from the top surface to the bottom surface, having A plurality of ribs are provided on the inclined surface at intervals in a direction extending from the top surface to the bottom surface, and the ribs project away from the inclined surface along a direction substantially perpendicular to the inclined surface of the obstacle crossing auxiliary device, and the ribs match the wheel pattern of the drive wheels of the automatic cleaning device.

[0007] The drawings here are incorporated into the specification and form a part of the specification, showing embodiments of the present disclosure and serving to interpret the principles of the present disclosure together with the specification. Obviously, the drawings described below are only some embodiments of the present disclosure, and those skilled in the art can obtain other drawings based on these drawings without creative labor.

Brief Description of the Drawings

[0008]

Figure 1

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Mode for Carrying Out the Invention

[0009] In order to make the objectives, technical solutions and advantages of the present disclosure clearer, the present disclosure will be described in more detail below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present disclosure, not all embodiments. Based on the embodiments of the present disclosure, other embodiments obtained by those skilled in the art without creative labor are all included in the protection scope of the present disclosure.

[0010] Note that "including", "consisting of", or other variations are intended to include non-exclusive inclusion. A product or device including a series of elements includes not only those elements but also other elements not explicitly listed or the inherent elements of this product or device. Unless there are further restrictions, elements defined by the phrase "comprising..." do not exclude the existence of other identical elements in a product or device including such elements.

[0011] In related technologies, for an automatic cleaning device, such as a sweeping robot, etc., due to design limitations, the height that can overcome obstacles is generally 20 mm or less. When there is a high step or threshold in the cleaning area of the automatic cleaning device, the automatic cleaning device cannot normally overcome the obstacle, which affects the cleaning operation of a certain area.

[0012] The present disclosure provides an obstacle-overcoming assisting device. The obstacle-overcoming assisting device includes an obstacle-overcoming basic assisting member having a first top surface and a first bottom surface provided opposite to each other, and a first inclined surface connecting the first top surface and the first bottom surface, and an obstacle-overcoming heightening assisting member detachably connected to the obstacle-overcoming basic assisting member, the obstacle-overcoming heightening assisting member having a second top surface and a second bottom surface provided opposite to each other, and a second inclined surface connecting the second top surface and the second bottom surface. When the obstacle-overcoming heightening assisting member is connected to the obstacle-overcoming basic assisting member, the obstacle-overcoming basic assisting member is stacked on the obstacle-overcoming heightening assisting member, the first bottom surface abuts against the second top surface, and the first inclined surface and the second inclined surface are connected to form the inclined surface of the obstacle-overcoming assisting device. The detachable obstacle-overcoming assisting device assists the automatic cleaning device in overcoming obstacles of different heights, and the automatic cleaning device can travel along the first inclined surface of the obstacle-overcoming basic assisting member or the inclined surface of the obstacle-overcoming assisting device to perform the obstacle-overcoming operation.

[0013] The present disclosure further provides an obstacle-overcoming assisting device configured to assist an automatic cleaning device in performing an obstacle-overcoming operation. The obstacle-overcoming assisting device has a top surface and a bottom surface provided opposite to each other, and an inclined surface extending from the top surface to the bottom surface. A plurality of ribs are provided on the inclined surface at intervals in a direction extending from the top surface to the bottom surface. The ribs project in a direction away from the inclined surface along a direction substantially perpendicular to the inclined surface of the obstacle-overcoming assisting device. The ribs match the wheel pattern of the drive wheels of the automatic cleaning device. Ribs matching the wheel pattern of the drive wheels of the automatic cleaning device are provided on the inclined surface of the obstacle-overcoming assisting device to prevent the automatic cleaning device from slipping when climbing the inclined surface.

[0014] In the embodiments of the present disclosure, "substantially perpendicular" means that two directions are substantially close to being perpendicular. For example, it means that the included angle between the two directions is 75 degrees or more and 105 degrees or less, for example, 90 degrees. "Substantially parallel" means that two directions are substantially close to being parallel. For example, it means that the included angle between the two directions is 15 degrees or less, for example, 0 degrees.

[0015] Hereinafter, selectable embodiments of the present application will be described in detail in conjunction with the accompanying drawings.

[0016] FIG. 1 is a schematic structural diagram of an automatic cleaning device provided by some embodiments of the present disclosure, and FIG. 2 is a schematic bottom view of an automatic cleaning device provided by some embodiments of the present disclosure. As shown in FIGS. 1 to 2, the automatic cleaning device may be a vacuum cleaning robot, a mopping / brush robot, a window-climbing robot, etc. This automatic cleaning device includes a moving platform 100, a sensing system 120, a control system 130, a driving system 140, a cleaning module 150, an energy system 160, and a human-device interaction system 170.

[0017] The mobile platform 100 automatically moves on the operation surface along the target direction. The operation surface may be a surface to be cleaned by an automatic cleaning device. In some embodiments, the automatic cleaning device may be a mopping robot. In this case, the automatic cleaning device works on the floor surface, and the floor surface functions as the operation surface. The automatic cleaning device may also be a window cleaning robot. In this case, the automatic cleaning device works on the outer glass surface of the building, and the glass functions as the operation surface. The automatic cleaning device may also be a pipe cleaning robot. In this case, the automatic cleaning device works on the inner surface of the pipe, and the inner surface of the pipe functions as the operation surface. For the sake of simplicity, this application will be described below taking a mopping robot as an example.

[0018] In some embodiments, the mobile platform 100 may be an autonomous mobile platform or a non-autonomous mobile platform. The autonomous mobile platform means that the mobile platform 100 itself can automatically make an adaptive operation decision in response to an unexpected environmental input. The non-autonomous mobile platform means that instead of making an adaptive operation decision in response to an unexpected environmental input by itself, it can operate according to a predetermined program or a certain logic. Correspondingly, when the mobile platform 100 is an autonomous mobile platform, the target direction is autonomously determined by the automatic cleaning device. When the mobile platform 100 is a non-autonomous mobile platform, the target direction can be set by the system or manually. When the mobile platform 100 is an autonomous mobile platform, the mobile platform 100 includes a front portion 111 and a rear portion 110.

[0019] The sensing system 120 includes a positioning device 121 located above the mobile platform 100, a buffer 122 located at the front part 111 of the mobile platform 100, a cliff sensor 123 and a sensing device such as an ultrasonic sensor (not shown), an infrared sensor (not shown), a magnetometer (not shown), an accelerometer (not shown), a gyroscope (not shown), and an odometer (not shown) provided at the bottom of the mobile platform to provide various position information and movement state information of the device to the control system 130.

[0020] To more clearly explain the operation of the automatic cleaning device, the following directions are defined. The automatic cleaning device can move on the floor surface by various combinations of movements with respect to three vertical axes, namely, the horizontal axis Y, the front-rear axis X, and the central vertical axis Z defined by the mobile platform 100. The forward driving direction along the front-rear axis X is described as "forward", and the backward driving direction along the front-rear axis X is described as "backward". The horizontal axis Y extends substantially between the right wheel and the left wheel of the automatic cleaning device along the axis defined by the center point of the drive wheel assembly 141. Here, the automatic cleaning device can rotate around the Y axis. When the front part of the automatic cleaning device is inclined upward and the rear part is inclined downward, it is called "pitch up", and when the front part of the automatic cleaning device is inclined downward and the rear part is inclined upward, it is called "pitch down". Also, the automatic cleaning device can rotate around the Z axis. When the automatic cleaning device is inclined to the right side of the X axis in the forward direction of the automatic cleaning device, it is called "right rotation", and when the automatic cleaning device is inclined to the left side of the X axis, it is called "left rotation".

[0021] As shown in FIG. 2, cliff sensors 123 are provided in front of and behind the drive wheel assembly 141 at the bottom of the mobile platform 100. These cliff sensors are used to avoid the automatic cleaning device from falling and being damaged when it moves backward. The above-mentioned "front" refers to the same side as the traveling direction of the automatic cleaning device, and the above-mentioned "rear" refers to the side opposite to the traveling direction of the automatic cleaning device.

[0022] The specific types of the position determination device 121 include, but are not limited to, cameras and laser distance measurement devices (LDS).

[0023] Each assembly in the sensing system 120 may operate independently or jointly to achieve a more accurate target function. The cliff sensor 123 and the ultrasonic sensor identify the surface to be cleaned, determine the physical characteristics of the surface to be cleaned such as the surface material and cleanliness, and combine with cameras, laser distance measurement devices, etc. to make a more accurate determination.

[0024] For example, if the ultrasonic sensor determines whether the surface to be cleaned is a carpet, and the ultrasonic sensor determines that the surface to be cleaned is a carpet material, the control system 130 controls the automatic cleaning device to perform cleaning in the carpet mode.

[0025] A buffer 122 is provided in the front part 111 of the moving platform 100. In the cleaning process, when the drive wheel assembly 141 propels the automatic cleaning device to walk on the floor, the buffer 122 detects one or more events (or objects) in the traveling path of the automatic cleaning device through a sensor system, for example, an infrared sensor. The automatic cleaning device controls the drive wheel assembly 141 according to the events (or objects) detected by the buffer 122, such as obstacles and walls, to make the automatic cleaning device correspond to the events (or objects), for example, move away from the obstacles.

[0026] The control system 130 is disposed on a circuit board within the mobile platform 100 and includes non-volatile memories such as hard disks, flash memories, and random access memories, and computing processors for communication such as central processing units and application processors. The application processor receives the environmental information fed back by the plurality of sensors transmitted from the sensing system 120, and uses a positioning algorithm, such as SLAM, according to the obstacle information fed back from the laser rangefinder, etc., to draw a real-time map of the environment where the automatic cleaning device is located. After autonomously determining a travel route based on the environmental information and the environmental map, it controls operations such as forward, backward, and / or steering of the drive system 140 according to the autonomously determined travel route. Further, the control system 130 determines whether to execute the cleaning operation of the cleaning module 150 based on the environmental information and the environmental map.

[0027] Specifically, the control system 130 comprehensively determines the current working state of the sweeper (for example, crossing a threshold, getting on a carpet, being on a cliff, being caught above or below, the dust box being full, being picked up, etc.) according to the distance information and speed information fed back from the buffer 122, cliff sensor 123, and sensing devices such as ultrasonic sensors, infrared sensors, magnetometers, accelerometers, gyroscopes, and odometers, and gives specific next operation strategies according to different situations, so that the operation of the automatic cleaning device can better meet the requirements of the owner and realize a better user experience. Further, the control system can plan the most efficient and reasonable cleaning route and cleaning mode based on the real-time map information drawn by SLAM, and can greatly improve the cleaning efficiency of the automatic cleaning device.

[0028] The drive system 140 may execute drive commands based on specific distance and angle information, such as x, y, and θ components, and control the automatic cleaning device to move across the floor surface. As shown in FIG. 2, the drive system 140 includes a drive wheel assembly 141. The drive system 140 can control the left and right wheels simultaneously to more accurately control the movement of the device. Preferably, the drive system 140 includes a left drive wheel assembly and a right drive wheel assembly respectively. The left and right drive wheel assemblies are symmetrically provided along the horizontal axis defined by the moving platform 100.

[0029] For more stable movement or higher movement ability on the floor surface, the automatic cleaning device may include one or more steering assemblies 142. The steering assembly 142 may be a driven wheel or a drive wheel, and its structural form includes, but is not limited to, a universal wheel. The steering assembly 142 may be located in front of the drive wheel assembly 141.

[0030] The energy system 160 includes rechargeable batteries such as nickel-metal hydride batteries and lithium batteries. The rechargeable battery may be connected to a charge control circuit, a battery pack charging temperature detection circuit, and a battery voltage shortage monitoring circuit. The charge control circuit, the battery pack charging temperature detection circuit, and the battery voltage shortage monitoring circuit are connected to a one-chip microcomputer control circuit. The automatic cleaning device is connected to a charging pile by a charging electrode provided on the side or below the main body for charging. If dust adheres to the exposed charging electrode, due to the charge accumulation effect during the charging process, the plastic main body around the electrode will melt and deform, and ultimately the electrode itself will also deform, making it impossible to continue charging normally.

[0031] The human-machine interaction system 170 includes buttons on a panel for the user to select functions, and may include a display screen and / or an indicator lamp and / or a speaker. The display screen, indicator lamp, and speaker are used to display the current state or function options of the device to the user, and may further include a mobile phone client program. In the case of a route navigation type cleaning device, the mobile phone client displays a map of the environment where the device is installed and the position of the device to the user, and provides richer and friendlier function items to the user.

[0032] FIG. 3 is a schematic structural diagram of an obstacle crossing assistance device provided by some embodiments of the present disclosure, FIG. 4 is an exploded schematic structural diagram of an obstacle crossing assistance device provided by some embodiments of the present disclosure, and FIG. 5 is an exploded schematic structural diagram of an obstacle crossing assistance device provided by some embodiments of the present disclosure. As shown in FIGS. 3 to 5, some embodiments of the present disclosure provide an obstacle crossing assistance device 200 that can assist an automatic cleaning device in crossing a high step or a threshold by assisting the automatic cleaning device in performing an obstacle crossing operation.

[0033] The obstacle crossing assistance device 200 includes an obstacle crossing basic assistance member 210 and an obstacle crossing heightening assistance member 220.

[0034] The obstacle-overcoming basic auxiliary member 210 has a first top surface 211 and a first bottom surface 212 provided opposite to each other, and a first inclined surface 213 provided between the first top surface 211 and the first bottom surface 212. The first inclined surface 213 connects the first top surface 211 and the first bottom surface 212, that is, the first inclined surface 213 extends from the first top surface 211 to the first bottom surface 212. The obstacle-overcoming height-increasing auxiliary member 220 is detachably connected to the obstacle-overcoming basic auxiliary member 210. The obstacle-overcoming height-increasing auxiliary member 220 has a second top surface 221 and a second bottom surface 222 provided opposite to each other, and a second inclined surface 223 provided between the second top surface 221 and the second bottom surface 222. The second inclined surface 223 connects the second top surface 221 and the second bottom surface 222, that is, the second inclined surface 223 extends from the second top surface 221 to the second bottom surface 222.

[0035] When the obstacle-overcoming height-increasing auxiliary member 220 is assembled and connected to the obstacle-overcoming basic auxiliary member 221, the obstacle-overcoming basic auxiliary member 210 is stacked on the obstacle-overcoming height-increasing auxiliary member 220. At least a part of the first bottom surface 212 abuts against at least a part of the second top surface 221, and the first inclined surface 213 and the second inclined surface 223 are connected to form an inclined surface 230 of the obstacle-overcoming auxiliary device 200. At least a part of the inclined surface 230 functions as an inclined surface when the automatic cleaning device overcomes an obstacle, and the automatic cleaning device can perform a climbing operation on the inclined surface 230.

[0036] In some embodiments, the obstacle crossing assistance device 200 may assist the automatic cleaning device in performing obstacle crossing by using only the obstacle crossing basic assistance member 221, or may assist the automatic cleaning device in performing obstacle crossing by using the obstacle crossing basic assistance member 221 and the obstacle crossing heightening assistance member 220 simultaneously. For example, when the height of the step or threshold that the automatic cleaning device needs to cross is 20 mm to 28 mm, the automatic cleaning device is assisted in performing obstacle crossing by using only the obstacle crossing basic assistance member 221. The obstacle crossing basic assistance member 221 abuts against the step or threshold, and the first inclined surface 213 is away from the step or threshold with respect to the abutting surface and functions as the climbing surface of the automatic cleaning device. When the height of the step or threshold that the automatic cleaning device needs to cross is 28 mm to 35 mm, the obstacle crossing basic assistance member 221 and the obstacle crossing heightening assistance member 220 are assembled to assist the automatic cleaning device in performing obstacle crossing. The assembled obstacle crossing assistance device 200 is attached to the step or threshold, and the inclined surface 230 is away from the step or threshold with respect to the attachment surface and functions as the climbing surface of the automatic cleaning device.

[0037] FIG. 6 is a schematic view having a cross-sectional structure of an obstacle climbing assist device provided by some embodiments of the present disclosure. As shown in FIGS. 3 to 6, a plurality of ribs 231 are uniformly provided on the inclined surface 230 at intervals in a direction from the first top surface 211 to the second bottom surface 222, and the ribs 231 project from the inclined surface so as to be away from the inclined surface in a direction substantially perpendicular to the inclined surface 230. In this way, when the automatic cleaning device climbs up the inclined surface 230, slipping can be avoided, and the automatic cleaning device can climb up the slope smoothly. In some embodiments, as shown in FIG. 2, a plurality of recesses are provided on the surface of the drive wheel assembly 141 of the automatic cleaning device, that is, the wheel pattern of the drive wheel of the automatic cleaning device. The recesses are provided at uniform intervals, for example, along the circumferential direction of the drive wheel assembly 141. The ribs 231 may, for example, match the recesses of the drive wheel assembly 141 of the automatic cleaning device. When the automatic cleaning device performs a climbing operation, the ribs 231 can be embedded in the recesses of the drive wheel assembly 141 to avoid slipping of the automatic cleaning device.

[0038] The obstacle crossing assistance device 200 may generally have an opposing top surface and bottom surface, and an inclined surface 230 connecting the top surface and the bottom surface, that is, the inclined surface 230 extends from the top surface to the bottom surface. When the obstacle crossing heightening assistance member 220 is connected to the obstacle crossing basic assistance member 210, the obstacle crossing basic assistance member 210 is stacked on the obstacle crossing heightening assistance member 220. The first top surface 211 functions as the top surface of the obstacle crossing assistance device 200, the second bottom surface 222 functions as the bottom surface of the obstacle crossing assistance device 200, and the first inclined surface 213 and the second inclined surface 213 are connected to form the inclined surface of the obstacle crossing assistance device 200. The obstacle crossing assistance device 200 is used to assist the automatic cleaning device 100 in performing an obstacle crossing operation. A plurality of ribs 231 are uniformly provided at intervals in the direction from the top surface to the bottom surface on the inclined surface 230. The ribs 231 protrude away from the inclined surface along a direction substantially perpendicular to the inclined surface 230 of the obstacle crossing assistance device 200. By matching the rib pattern of the driving wheels of the automatic cleaning device, when the automatic cleaning device uses the obstacle crossing assistance device 200 to perform an obstacle crossing operation, the automatic cleaning device 100 will not slip during the process of climbing the inclined surface 230, ensuring a smooth climbing operation of the automatic cleaning device.

[0039] The bottom surface, the first bottom surface, and the second bottom surface described in the present disclosure may be continuous surfaces or hollow grid surfaces. As shown in FIG. 5, the bottom surface, the first bottom surface, and the second bottom surface may be hollow grid surfaces connected by reinforcing ribs.

[0040] In some embodiments, as shown in FIG. 3, the obstacle crossing assistance device 200 further includes a guiding member. When the obstacle crossing assistance device 200 assists the automatic cleaning device 100 in performing an obstacle crossing operation, the guiding member guides the automatic cleaning device 100 to climb from the bottom surface to the top surface along the middle region of the inclined surface 230, for example, to climb from the bottom surface to the top surface along the middle line M of the inclined surface 230.

[0041] In some embodiments, the plurality of ribs 341 are provided substantially parallel to each other, and the distance between adjacent ribs 341 is 7 mm to 8 mm, for example, 7.6 mm. By matching the distance between the ribs 341 with the distance between the recesses of the drive wheel assembly 141, the climbing of the automatic cleaning device on slopes is facilitated.

[0042] In some embodiments, as shown in FIGS. 3 to 6, a receiving groove 2121 is provided on the first bottom surface 212 of the obstacle-overcoming base auxiliary member 210, and a bump 2211 matching the receiving groove 2121 is provided on the second top surface 221 of the obstacle-overcoming heightening auxiliary member 220. When the obstacle-overcoming heightening auxiliary member 220 is assembled and connected to the obstacle-overcoming base auxiliary member 210, the receiving groove 2121 matches the bump 2211 to receive the bump 2211, and the obstacle-overcoming heightening auxiliary member 220 is relatively fixed to the obstacle-overcoming base auxiliary member 210 and connected to form a stable obstacle-overcoming auxiliary device 200. In some embodiments, the number of the receiving groove 2121 and the bump 2211 is one or more, and the two correspond to each other one by one.

[0043] In some embodiments, as shown in FIGS. 3 to 6, a slot 21211 is provided on the side wall of the receiving groove 2121, and a fastener 22111 matching the slot 21211 is provided on the side wall of the bump 2211. The cooperation between the fastener 22111 and the slot 21211 enables the obstacle-overcoming base auxiliary member 210 and the obstacle-overcoming heightening auxiliary member 220 to be more reliably connected. For example, as shown in FIGS. 3 to 6, slots 21211 are provided on two opposite side walls of the receiving groove 2121, and correspondingly, fasteners 22111 are provided on two opposite side walls of the bump 2211.

[0044] In some embodiments, as shown in FIGS. 3 to 6, a first backing 2122 is provided on the first bottom surface 212 of the obstacle-overcoming basic auxiliary member 210. When assisting the automatic cleaning device to perform a slope climbing operation using only the obstacle-overcoming basic auxiliary member 210, the obstacle-overcoming basic auxiliary member 210 is adhesively fixed to the floor surface adjacent to the step or threshold by the first backing 2122. By relatively fixing the obstacle-overcoming basic auxiliary member 210 to the step or threshold, the automatic cleaning device can conveniently overcome the obstacle. A receiving groove 2212 is provided on the second top surface 221 of the obstacle-overcoming heightening auxiliary member 220. When the obstacle-overcoming heightening auxiliary member 220 is assembled and connected to the obstacle-overcoming basic auxiliary member 210 together with the first backing, the first backing 2122 is received in the receiving groove 2212, and the first backing 2122 is provided at intervals from the bottom wall of the receiving groove 2212. The first backing adheres the obstacle-overcoming basic auxiliary member 210 and the obstacle-overcoming heightening auxiliary member 220, avoiding the two from being easily disassembled.

[0045] FIG. 7 is a schematic structural diagram of an obstacle-overcoming auxiliary device provided according to some embodiments of the present disclosure. As shown in FIGS. 3 to 7, the obstacle-overcoming basic auxiliary member 210 further has a first side wall 214, for example, a vertical plane, and the first side wall 214 extends in a direction from the first top surface 211 to the first bottom surface 212. In some embodiments, the first side wall 214 connects the first top surface 211 and the first bottom surface 212. A first connecting member 250 is provided on at least one of the first bottom surface 212 and the first side wall 214, and the first connecting member may be, for example, a backing or a suction cup. It is used to fix the obstacle-overcoming basic auxiliary member 210 to the step or threshold. The first connecting member provided on the first side wall 214 can, for example, connect and fix the first side wall to the step or threshold, and the first connecting member provided on the first bottom surface 212, for example, the first backing 2122, can connect and fix the first bottom surface 212 and the bottom surface adjacent to the step or threshold.

[0046] The obstacle-overcoming height-increasing auxiliary member 220 further has a second side wall 224, for example, a vertical plane. The second side wall 224 connects the second top surface 221 and the second bottom surface 222, and a second connecting member 260 is provided on at least one of the second bottom surface 222 and the second side wall 224. The second connecting member may be, for example, an adhesive tape, a suction cup, etc. When the obstacle-overcoming basic auxiliary member 210 and the obstacle-overcoming height-increasing auxiliary member 220 are connected and joined, the first side wall 214 and the second side wall 224 are connected to form the side wall 240 of the obstacle-overcoming auxiliary device 200. The second connecting member 260 and the first connecting member 250 can fix the connected obstacle-overcoming auxiliary device 200 to a step or a threshold. The first connecting member and the second connecting member provided on the side wall 240 can, for example, connect and fix the side wall to the step or the threshold. The second connecting member provided on the second bottom surface 222 can connect and fix the second bottom surface 222 to the bottom surface adjacent to the step or the threshold.

[0047] FIG. 8 is a schematic exploded view of an obstacle-overcoming basic auxiliary member provided by some embodiments of the present disclosure, and FIG. 9 is a schematic exploded view of an obstacle-overcoming basic auxiliary member provided by some embodiments of the present disclosure. As shown in FIGS. 8 and 9, the obstacle-overcoming basic auxiliary member 210 includes a plurality of first connecting members 2101. The plurality of first connecting members 2101 are detachably connected in sequence to form the obstacle-overcoming basic auxiliary member 210. Specifically, the plurality of first connecting members 2101 include, for example, one first left connecting member 21011, one first right connecting member 21012, and one or more first intermediate connecting members 21013. Three first intermediate connecting members 21013 are shown in FIG. 8, and four first intermediate connecting members 21013 are shown in FIG. 9. By adjusting the number of the first intermediate connecting members 21013, the length of the obstacle-overcoming basic auxiliary member 210 can be adjusted.

[0048] In some embodiments, as shown in FIG. 9, a plurality of first connecting members 2101, for example, one first left connecting member 21011, four first intermediate connecting members 21013, and a first right connecting member 21012 may be sequentially connected end to end. An insertion groove 2123 is provided in one of two adjacent first connecting members 2101, and an insertion bone 2124 is provided in the other, so that two adjacent first connecting members can be aligned with each other and spliced.

[0049] FIG. 10 is a schematic exploded view of an obstacle-overcoming height-increasing auxiliary member provided by some embodiments of the present disclosure. In some embodiments, as shown in FIG. 10, the obstacle-overcoming height-increasing auxiliary member 220 includes a plurality of second connecting members 2201, and the plurality of second connecting members 2201 are detachably and sequentially connected to form the obstacle-overcoming height-increasing auxiliary member 220. Specifically, the plurality of second connecting members 2201 include, for example, one second left connecting member 22011, one second right connecting member 22012, and one or more second intermediate connecting members 22013. Three second intermediate connecting members 22013 are shown in FIG. 10. By adjusting the number of the second intermediate connecting members 22013, the length of the obstacle-overcoming height-increasing auxiliary member 220 can be adjusted.

[0050] In some embodiments, the plurality of second connecting members 2201 are connected by the cooperation of an insertion bone and an insertion groove to form the obstacle-overcoming height-increasing auxiliary member 220.

[0051] In some embodiments, the plurality of second connecting members 2201 correspond one-to-one with the plurality of first connecting members 2101. For example, the second left connecting member 22011 corresponds to the first left connecting member 21011, the second right connecting member 22012 corresponds to the first right connecting member 21012, and one or more second intermediate connecting members 22013 respectively correspond to one or more first intermediate connecting members 21013.

[0052] For any pair of corresponding first connecting members 2101 and second connecting members 2201, a receiving groove is provided on one of them, and a bump matching the receiving groove is provided on the other, and the corresponding first connecting member and second connecting member are detachably connected. As shown in FIGS. 3 to 10, for example, the first connecting member 2101 has a receiving groove 2121 provided on the first bottom surface 212, and the second connecting member 2201 has a bump 2211 matching the receiving groove 2121. The receiving groove 2121 and the matching bump 2211 are engaged with each other in alignment, so that the corresponding first connecting member 2101 and second connecting member 2201 are detachably connected.

[0053] In such a case, a plurality of first connecting members 2101 are sequentially connected to form an obstacle-overcoming base assisting member 210, and a plurality of second connecting members 2201 are connected corresponding to the plurality of first connecting members, so that an obstacle-overcoming assisting device 200 can be formed.

[0054] In some embodiments, as shown in FIGS. 3 to 10, a plurality of groove portions are arranged side by side on at least one of the first bottom surface 212 of the obstacle-overcoming base assisting member 210 and the second bottom surface 222 of the obstacle-overcoming heightening assisting member 220. The side walls shared by adjacent groove portions constitute reinforcing ribs, reducing the weights of the obstacle-overcoming base assisting member 210 and the obstacle-overcoming heightening assisting member 220 while ensuring their structural strength.

[0055] In some embodiments, the inclination angle of the inclined surface is 14° to 17°, for example 15.5°, facilitating the uphill travel of the automatic cleaning device.

[0056] In some embodiments, as shown in FIGS. 3 to 10, the obstacle crossing assistance device 200 further includes a guiding member. When the automatic cleaning device 100 executes an obstacle crossing operation, the guiding member is configured to guide the automatic cleaning device 100 to climb along the intermediate line M of the inclined surface 230 from the bottom surface to the top surface of the obstacle crossing assistance device 200. That is, the automatic cleaning device 100 is guided to climb from the middle part of the obstacle crossing assistance device 200 to cross the obstacle, and it is possible to avoid the situation that the automatic cleaning device 100 is too close to both ends of the obstacle crossing assistance device 200 and fails to climb when executing the climbing. Specifically, as shown in FIGS. 3 to 10, the inclined surfaces 230 at both ends of the obstacle crossing assistance device 200 are becoming curved surfaces, and it is disadvantageous for the automatic cleaning device to climb there.

[0057] Some embodiments of the present disclosure provide an obstacle crossing assistance device, and the obstacle crossing assistance device includes an obstacle crossing basic assistance member, a first top surface and a first bottom surface provided opposite to each other, and a first inclined surface extending from the first top surface to the first bottom surface the obstacle crossing basic assistance member having; an obstacle crossing heightening assistance member detachably connected to the obstacle crossing basic assistance member, a second top surface and a second bottom surface provided opposite to each other, and a second inclined surface extending from the second top surface to the second bottom surface the obstacle crossing heightening assistance member having; and comprising When the obstacle crossing heightening assistance member is connected to the obstacle crossing basic assistance member, the obstacle crossing basic assistance member is stacked on the obstacle crossing heightening assistance member, at least a part of the first bottom surface abuts against at least a part of the second top surface, and the first inclined surface and the second inclined surface are connected to form an inclined surface of the obstacle crossing assistance device.

[0058] In some embodiments, a plurality of ribs are provided on the inclined surface at intervals in a direction extending from the first top surface to the second bottom surface, and the ribs project in a direction away from the inclined surface along a direction substantially perpendicular to the inclined surface of the obstacle-overcoming assisting device.

[0059] In some embodiments, the plurality of ribs are provided substantially parallel to each other.

[0060] In some embodiments, a receiving groove is provided on the first bottom surface, a bump matching the receiving groove is provided on the second top surface, and when the obstacle-overcoming height-increasing assisting member is connected to the obstacle-overcoming basic assisting member, the receiving groove matches the bump and houses the bump, thereby relatively fixing the obstacle-overcoming height-increasing assisting member to the obstacle-overcoming basic assisting member.

[0061] In some embodiments, a slot is provided on the side wall of the receiving groove, and a fixture matching the slot is provided on the side wall of the bump.

[0062] In some embodiments, a first backing paste is provided on the first bottom surface, a receiving groove is provided on the second top surface, and when the obstacle-overcoming height-increasing assisting member is connected to the obstacle-overcoming basic assisting member, the first backing paste is received in the receiving groove and is provided at a distance from the bottom wall of the receiving groove.

[0063] In some embodiments, the obstacle-overcoming basic assisting member further has a first side wall, the first side wall extends from the first top surface towards the first bottom surface, and a first connecting member is provided on at least one of the first bottom surface and the first side wall, and / or the obstacle-overcoming height-increasing assisting member further has a second side wall, the second side wall connects the second top surface and the second bottom surface, and a second connecting member is provided on at least one of the second bottom surface and the second side wall.

[0064] In some embodiments, the obstacle - crossing basic auxiliary member includes a plurality of first connecting members, and the plurality of first connecting members are detachably and sequentially connected to form the obstacle - crossing basic auxiliary member.

[0065] In some embodiments, the obstacle - crossing height - increasing auxiliary member includes a plurality of second connecting members, and the plurality of second connecting members are detachably and sequentially connected to form the obstacle - crossing height - increasing auxiliary member.

[0066] In some embodiments, a plurality of groove portions are arranged side by side on at least one of the first bottom surface and the second bottom surface.

[0067] In some embodiments, the inclination angle of the inclined surface is 14° - 17°.

[0068] Some embodiments of the present disclosure provide an obstacle - crossing auxiliary device configured to assist an automatic cleaning device in performing obstacle crossing. The obstacle - crossing auxiliary device includes a top surface and a bottom surface provided opposite to each other, and has an inclined surface extending from the top surface to the bottom surface, a plurality of ribs are provided on the inclined surface at intervals in a direction extending from the top surface to the bottom surface. The ribs project in a direction away from the inclined surface along a direction substantially perpendicular to the inclined surface of the obstacle - crossing auxiliary device, and the ribs match the wheel pattern of the driving wheels of the automatic cleaning device.

[0069] In some embodiments, the plurality of ribs are provided substantially parallel to each other.

[0070] In some embodiments, the obstacle - crossing auxiliary device further includes a guiding member. When the obstacle - crossing auxiliary device assists the automatic cleaning device in performing obstacle crossing, the guiding member is configured to guide the automatic cleaning device to climb up from the bottom surface to the top surface along the middle region of the inclined surface.

[0071] In some embodiments, the obstacle crossing assistance device includes a detachably assembled obstacle crossing basic assistance member and an obstacle crossing heightening assistance member. The obstacle crossing basic assistance member has a first top surface and a first bottom surface provided opposite to each other, and has a first inclined surface extending from the first top surface to the first bottom surface. The obstacle crossing heightening assistance member is detachably connected to the obstacle crossing basic assistance member. has a second top surface and a second bottom surface provided opposite to each other, and has a second inclined surface extending from the second top surface to the second bottom surface. When the obstacle crossing heightening assistance member is connected to the obstacle crossing basic assistance member, the obstacle crossing basic assistance member is stacked on the obstacle crossing heightening assistance member, the first top surface functions as the top surface, the second bottom surface functions as the bottom surface, and the first inclined surface and the second inclined surface are connected to form the inclined surface.

[0072] In some embodiments, the obstacle crossing basic assistance member includes a plurality of first connecting members, and the plurality of first connecting members are detachably connected in sequence to form the obstacle crossing basic assistance member.

[0073] In some embodiments, an insertion groove is provided on one of any two adjacent first connecting members, and an insertion bone is provided on the other, and the insertion groove is engaged with the insertion bone in alignment.

[0074] In some embodiments, the obstacle crossing heightening assistance member includes a plurality of second connecting members, the plurality of second connecting members correspond one-to-one to the plurality of first connecting members, and for any pair of corresponding first connecting members and second connecting members, a receiving groove is provided on one of them, and a bump matching the receiving groove is provided on the other, so that the corresponding first connecting member and second connecting member are detachably connected.

[0075] In some embodiments, a first lining is provided on the first bottom surface, a receiving groove is provided on the second top surface, and when the obstacle-overcoming height-increasing auxiliary member is connected to the obstacle-overcoming basic auxiliary member, the first lining is received in the receiving groove, and the first lining is provided at a distance from the bottom wall of the receiving groove.

[0076] In some embodiments, a plurality of groove portions are arranged side by side on at least one of the first bottom surface and the second bottom surface.

[0077] In some embodiments, the inclination angle of the inclined surface is 14° to 17°.

[0078] Compared with the related art, the above solutions of the embodiments of the present disclosure have at least the following beneficial effects.

[0079] The detachable obstacle-overcoming auxiliary device assists the automatic cleaning device in overcoming obstacles of different heights, and the automatic cleaning device can perform the obstacle-overcoming operation by traveling along the first inclined surface of the obstacle-overcoming basic auxiliary member or the inclined surface of the obstacle-overcoming auxiliary device.

[0080] By providing ribs on the inclined surface, the automatic cleaning device is prevented from slipping when climbing the inclined surface.

[0081] At least one of the obstacle-overcoming basic auxiliary member and the obstacle-overcoming height-increasing auxiliary member is formed by connecting a connecting member, so that the packaging cost can be reduced, and the obstacle-overcoming basic auxiliary member and / or the obstacle-overcoming height-increasing auxiliary member can adjust the length by adjusting the number of connecting members as needed.

[0082] Note that each embodiment in this specification is described progressively. It should be noted that each embodiment focuses on the differences from other embodiments, and the same or similar parts between each embodiment can be referred to each other. For the system or device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, its description is relatively simple, and for related parts, the description of the method may be referred to.

[0083] The above are only exemplary embodiments of the present disclosure and do not limit the scope of the present disclosure. That is, all equivalent changes and modifications made in accordance with the teachings of the present disclosure are included within the scope of the present disclosure. Those skilled in the art can easily conceive of other embodiments of the present disclosure by considering the specification. The present disclosure is intended to cover any variations, uses, or adaptations of the present disclosure, and these variations, uses, or adaptations follow the general principles of the present disclosure and include well-known common general knowledge or conventional technical means in the technical field not described in the present disclosure. The specification and examples are regarded as exemplary only, and the scope and spirit of the present disclosure shall be limited by the claims.

Claims

1. An obstacle-overcoming assistance device, comprising: An obstacle-overcoming basic assistance member, having: A first top surface and a first bottom surface provided opposite to each other, and A first inclined surface extending from the first top surface to the first bottom surface ; and an obstacle-overcoming heightening assistance member detachably connected to the obstacle-overcoming basic assistance member, having: A second top surface and a second bottom surface provided opposite to each other, and A second inclined surface extending from the second top surface to the second bottom surface ; and When the obstacle-overcoming heightening assistance member is connected to the obstacle-overcoming basic assistance member, the obstacle-overcoming basic assistance member is stacked on the obstacle-overcoming heightening assistance member, at least a part of the first bottom surface abuts against at least a part of the second top surface, and the first inclined surface and the second inclined surface are connected to form an inclined surface of the obstacle-overcoming assistance device. The obstacle-overcoming assistance device further comprises: When the obstacle-overcoming heightening assistance member is connected to the obstacle-overcoming basic assistance member, the obstacle-overcoming basic assistance member is stacked on the obstacle-overcoming heightening assistance member, at least a part of the first bottom surface abuts against at least a part of the second top surface, and the first inclined surface and the second inclined surface are connected to form an inclined surface of the obstacle-overcoming assistance device.

2. A plurality of ribs are provided on the inclined surface at intervals in a direction extending from the first top surface to the second bottom surface, and the ribs project from the inclined surface in a direction away from the inclined surface along a direction substantially perpendicular to the inclined surface of the obstacle-overcoming assistance device. The obstacle-overcoming assistance device according to claim 1.

3. The plurality of ribs are provided substantially parallel to each other. The obstacle-overcoming assistance device according to claim 2.

4. A receiving groove is provided on the first bottom surface, and a bump matching the receiving groove is provided on the second top surface. When the obstacle-overcoming heightening assistance member is connected to the obstacle-overcoming basic assistance member, the receiving groove matches the bump to receive the bump, thereby relatively fixing the obstacle-overcoming heightening assistance member to the obstacle-overcoming basic assistance member. The obstacle-overcoming assistance device according to any one of claims 1 to 3.

5. A slot is provided on a side wall of the receiving groove, and a fastener matching the slot is provided on a side wall of the bump. The obstacle-overcoming assistance device according to claim 4.

6. A first back glue is provided on the first bottom surface, a receiving groove is provided on the second top surface, and when the obstacle-overcoming heightening auxiliary member is connected to the obstacle-overcoming basic auxiliary member, the first back glue is received in the receiving groove, and the first back glue is provided at a distance from the bottom wall of the receiving groove. The obstacle-overcoming auxiliary device according to any one of claims 1 to 3.

7. The obstacle-overcoming basic auxiliary member further has a first side wall, the first side wall extends from the first top surface toward the first bottom surface, and a first connecting member is provided on at least one of the first bottom surface and the first side wall, and / or The obstacle-overcoming heightening auxiliary member further has a second side wall, the second side wall connects the second top surface and the second bottom surface, and a second connecting member is provided on at least one of the second bottom surface and the second side wall. The obstacle-overcoming auxiliary device according to any one of claims 1 to 3.

8. The obstacle-overcoming basic auxiliary member includes a plurality of first connecting members, and the plurality of first connecting members are detachably connected in sequence to form the obstacle-overcoming basic auxiliary member. The obstacle-overcoming auxiliary device according to any one of claims 1 to 3.

9. The obstacle-overcoming heightening auxiliary member includes a plurality of second connecting members, and the plurality of second connecting members are detachably connected in sequence to form the obstacle-overcoming heightening auxiliary member. The obstacle-overcoming auxiliary device according to any one of claims 1 to 3.

10. A plurality of groove portions are arranged side by side on at least one of the first bottom surface and the second bottom surface. The obstacle-overcoming auxiliary device according to any one of claims 1 to 3.

11. The inclination angle of the inclined surface is 14° to 17°. The obstacle-overcoming auxiliary device according to any one of claims 1 to 3.

12. An obstacle-overcoming auxiliary device configured to assist an automatic cleaning device in performing an obstacle-overcoming operation, A top surface and a bottom surface provided opposite to each other, and An inclined surface extending from the top surface to the bottom surface, having A plurality of ribs are provided on the inclined surface at intervals in the direction extending from the top surface to the bottom surface. The ribs project in a direction away from the inclined surface along a direction substantially perpendicular to the inclined surface of the obstacle-overcoming auxiliary device. The ribs match the wheel pattern of the drive wheel of the automatic cleaning device. The obstacle-overcoming auxiliary device.

13. The obstacle-overcoming assisting device according to claim 12, wherein the plurality of ribs are provided substantially parallel to each other.

14. The obstacle-overcoming assisting device further includes a guiding member. When the obstacle-overcoming assisting device assists the automatic cleaning device in performing an obstacle-overcoming operation, the guiding member is configured to guide the automatic cleaning device to climb from the bottom surface toward the top surface along an intermediate region of the inclined surface. The obstacle-overcoming assisting device according to claim 12 or 13.

15. The obstacle-overcoming assisting device includes a detachably assembled obstacle-overcoming basic assisting member and an obstacle-overcoming heightening assisting member. The obstacle-overcoming basic assisting member includes: a first top surface and a first bottom surface provided opposite to each other, and a first inclined surface extending from the first top surface to the first bottom surface. The obstacle-overcoming heightening assisting member is detachably connected to the obstacle-overcoming basic assisting member and includes: a second top surface and a second bottom surface provided opposite to each other, and a second inclined surface extending from the second top surface to the second bottom surface. When the obstacle-overcoming heightening assisting member is connected to the obstacle-overcoming basic assisting member, the obstacle-overcoming basic assisting member is stacked on the obstacle-overcoming heightening assisting member. The first top surface functions as the top surface, the second bottom surface functions as the bottom surface, and the first inclined surface and the second inclined surface are connected to form the inclined surface. The obstacle-overcoming assisting device according to claim 12 or 13.

16. The obstacle-overcoming basic assisting member includes a plurality of first connecting members, and the plurality of first connecting members are detachably connected in sequence to form the obstacle-overcoming basic assisting member. The obstacle-overcoming assisting device according to claim 15.

17. An insertion groove is provided in one of any two adjacent and connected first connecting members, and an insertion bone is provided in the other. The insertion groove is engaged with the insertion bone in alignment. The obstacle-overcoming assisting device according to claim 15.

18. The obstacle-overcoming height-increasing auxiliary member includes a plurality of second connecting members, the plurality of second connecting members corresponding one-to-one with the plurality of first connecting members, and for any pair of the corresponding first connecting member and the second connecting member, a receiving groove is provided on one of them, and a bump matching the receiving groove is provided on the other, and the corresponding first connecting member and the second connecting member are detachably connected. The obstacle-overcoming assisting device according to claim 15.

19. A first backing paste is provided on the first bottom surface, a receiving groove is provided on the second top surface, and when the obstacle-overcoming height-increasing auxiliary member is connected to the obstacle-overcoming basic auxiliary member, the first backing paste is received in the receiving groove, and the first backing paste is provided at an interval from the bottom wall of the receiving groove. The obstacle-overcoming assisting device according to claim 15.

20. A plurality of groove portions are arranged side by side on at least one of the first bottom surface and the second bottom surface. The obstacle-overcoming assisting device according to claim 15.

21. The inclination angle of the inclined surface is 14° to 17°. The obstacle-overcoming assisting device according to claim 12 or 13.

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