Self-moving robot, tilted obstacle crossing method, computer-readable storage medium and cleaning system

Abstract

The embodiments of the present application provide a self-moving robot, a tilted obstacle crossing method and a cleaning system. The self-moving robot comprises a driving module and an obstacle crossing module; the driving module is in linkage with the obstacle crossing module, so as to assist the self-moving robot in crossing obstacles. The self-moving robot of the present application achieves improvement of the obstacle crossing capability of the obstacle crossing mechanism, thus being capable of crossing higher obstacles.

Description

Self-propelled robot, tilting obstacle crossing method, computer readable storage medium and cleaning system

[0001] Cross-reference to Related Applications

[0002] This application claims priority to and the benefit of Chinese Patent Application No. 202410459045.9, filed April 17, 2024, Chinese Patent Application No. 202410556675.8, filed May 07, 2024, Chinese Patent Application No. 202410649745.4, filed May 23, 2024, and Chinese Patent Application No. 202421236696.3, filed May 31, 2024, the entire contents of which are incorporated herein by reference. TECHNICAL FIELD

[0003] The present application relates to the technical field of cleaning equipment, and in particular relates to a self-propelled robot, a tilting obstacle crossing method, a computer readable storage medium and a cleaning system. BACKGROUND

[0004] With the development of intelligent manufacturing technology and communication technology, more and more smart home devices serve people's lives, bringing great convenience to people's lives. Cleaning equipment, such as vacuum cleaners, robotic sweepers, etc., can collect garbage objects on the ground through the side brush, and then provide air volume through the fan to suck the garbage objects, which can semi-automatically or automatically realize ground cleaning, dust removal and other cleaning work, providing convenience for users' lives. However, when the cleaning equipment is used on a wet floor or a cleaning path with liquid, the side brush will be wet during cleaning, causing secondary pollution and affecting the normal use of the cleaning equipment. SUMMARY

[0005] The present application provides a self-propelled robot, a tilting obstacle crossing method, a computer readable storage medium and a cleaning system, aiming to solve the technical problem that the side brush of a self-moving cleaning device cannot avoid viscous sewage. The purpose is achieved by the following technical solutions:

[0006] According to a first aspect of the present disclosure, a self-propelled robot is provided, comprising a driving module and an obstacle crossing module, the driving module being linked with the obstacle crossing module to assist the self-propelled robot in crossing obstacles.

[0007] In some embodiments of the present application, the driving module comprises a support arm and a walking wheel, the walking wheel being rotatably connected to the support arm and having a walking surface; the obstacle surmounting module comprises an obstacle surmounting assembly and a linkage assembly, the obstacle surmounting assembly being rotatably arranged on the support arm, the obstacle surmounting assembly comprising a support leg movable relative to the walking wheel along a radial direction of the walking wheel; the linkage assembly comprising a linkage member movably connected to the support arm, the linkage member being movable relative to the support arm between a first position and a second position, and being capable of being linked with the support leg during rotation of the obstacle surmounting assembly relative to the support arm; in the first position, the linkage member is capable of causing at least part of the support leg to protrude out of the walking surface, and in the second position, the support leg is arranged between the walking surface and an axis of rotation of the walking wheel.

[0008] In some embodiments of the present application, the self-walking robot further comprises a chassis, the support arm being movably connected to the chassis.

[0009] The linkage member comprises a connecting portion and a cantilever portion connected to each other, the connecting portion being movably connected to the support arm, and an end of the cantilever portion away from the connecting portion being movably connected to the chassis.

[0010] During movement of the support arm relative to the chassis, the support arm drives the walking wheel, the obstacle surmounting assembly and the linkage assembly to move synchronously relative to the chassis, the chassis links the cantilever portion and the connecting portion to cause the connecting portion to move relative to the support arm between the first position and the second position.

[0011] In some embodiments of the present application, the connecting portion is arranged on the support arm in a manner that it is slidable relative to the support arm along a first direction, the chassis is provided with a sliding rail extending along a second direction, an end of the cantilever portion away from the connecting portion is slidably connected to the sliding rail, and the support arm is movable relative to the chassis along a third direction.

[0012] The first direction is perpendicular to the axis of rotation and intersects the second direction, and the first direction is not parallel to the third direction.

[0013] In some embodiments of the present application, the linkage assembly further comprises a first elastic member, two ends of the first elastic member being connected to the connecting portion and the support arm respectively, and the first elastic member being used to apply an elastic force to the linkage member along the first direction towards the sliding rail.

[0014] In some embodiments of the present application, the sliding rail has a sliding rail surface facing the linkage member, and an end of the cantilever portion away from the connecting portion is slidably abutted against the sliding rail surface.

[0015] In some embodiments of the present application, the linkage assembly further comprises a first bearing, which is arranged at an end of the cantilevered portion away from the connecting portion, and an outer ring of the first bearing abuts against the slide rail surface.

[0016] In some embodiments of the present application, a bottom of the chassis is provided with a guide plane for obstacle surmounting, and the second direction is perpendicular to or forms an angle with the guide plane.

[0017] In some embodiments of the present application, the chassis has a front end portion for first contacting an obstacle, and in the first position, an end of the leg away from the rotation axis protrudes toward one side of the front end portion.

[0018] In some embodiments of the present application, in a state where the length of the leg protruding from the walking surface is at a maximum, the first direction forms a preset angle with the guide plane, and the preset angle ranges from -60° to 60°.

[0019] In some embodiments of the present application, the self-walking robot further comprises a driving member, which is connected to the chassis and the support arm respectively, and the driving member is configured to drive the support arm to move relative to the chassis.

[0020] In some embodiments of the present application, the obstacle surmounting assembly further comprises a bracket, which is rotatably arranged on the support arm, and the leg is movably arranged on the bracket, and the bracket drives the leg to rotate around the rotation axis in the same direction as the walking wheel during rotation relative to the support arm.

[0021] In some embodiments of the present application, the leg is movably connected to the bracket, so that the leg can move relative to the bracket in a direction perpendicular to the rotation axis, and the obstacle surmounting assembly further comprises a second elastic member, two ends of the second elastic member are connected to the bracket and the leg respectively, and the second elastic member is configured to apply an elastic force to the leg toward the rotation axis.

[0022] In the first position, the linkage member can overcome the elastic force of the second elastic member to drive the leg to protrude from the walking surface, and in the second position, the second elastic member drives the leg to avoid the walking surface.

[0023] In some embodiments of the present application, the linkage member further comprises a linkage portion connected to the connecting portion, and in a direction perpendicular to the rotation axis, the linkage portion can abut against an end of the leg toward the rotation axis.

[0024] In some embodiments of the present application, the obstacle-surmounting assembly comprises a plurality of the legs, each of which is sleeved with one of the second elastic members, and the plurality of the legs are sequentially and spacedly arranged around the linkage portion;

[0025] In the first position, the linkage portion can drive at least one of the legs to protrude from the walking surface;

[0026] In the second position, the plurality of the second elastic members respectively drive all the legs to avoid the walking surface.

[0027] In some embodiments of the present application, the linkage portion has a cylindrical structure, and a first distance between an axis of the linkage portion and the rotation axis in the first position is greater than a second distance between the axis of the linkage portion and the rotation axis in the second position.

[0028] In some embodiments of the present application, the linkage assembly further comprises a second bearing, which is sleeved with the linkage portion, and an outer ring of the second bearing is used to abut against the leg.

[0029] In some embodiments of the present application, the driving module comprises a running wheel, and a contact surface of the running wheel is provided with an obstacle-surmounting groove;

[0030] The obstacle-surmounting module comprises a compensation mechanism, which is movably arranged on the running wheel, at least a part of the compensation mechanism floats in the obstacle-surmounting groove, and the floating direction is away from or towards the contact surface.

[0031] In some embodiments of the present application, when the compensation mechanism does not contact an obstacle, the compensation mechanism is arranged flush with the contact surface, and when the compensation mechanism contacts the obstacle, the compensation mechanism is retracted into the obstacle-surmounting groove.

[0032] In some embodiments of the present application, the running wheel comprises:

[0033] a tire, a contact surface of the tire is provided with the obstacle-surmounting groove;

[0034] a hub, the tire is sleeved on an outer side of the hub, and the hub is used to drive the tire to rotate.

[0035] In some embodiments of the present application, the obstacle-surmounting groove extends from the contact surface towards an inside of the tire, and penetrates or does not penetrate the tire.

[0036] In some embodiments of the present application, the compensation mechanism comprises:

[0037] a rotating shaft, which is arranged parallel to an axial direction of the tire;

[0038] a compensation block, a first end of the compensation block is rotatably connected with the hub through the rotating shaft, and a second end of the compensation block is floating in the obstacle slot;

[0039] a reset member, arranged between the hub and the second end, to provide a reset force for the second end away from the hub; when the reset member is in a reset state, a side of the compensation block away from the hub is arranged flush with the contact surface.

[0040] In some embodiments of the present application, the end surface of the first end is convexly arranged relative to the area close to the hub, so that the end surface of the first end is in abutment with the side wall of the obstacle slot when the compensation block is in the reset state.

[0041] In some embodiments of the present application, the reset member includes:

[0042] a torsional spring, sleeved outside the rotating shaft, and in abutment with the hub and the second end respectively.

[0043] In some embodiments of the present application, the compensation mechanism further includes a damping member arranged on the side of the compensation block away from the hub.

[0044] In some embodiments of the present application, the hub includes a left half hub and a right half hub, and the left half hub and the right half hub are fixedly connected through a connecting member.

[0045] In some embodiments of the present application, the left half hub is provided with a first extension, the right half hub is provided with a second extension, and the first extension and the second extension are arranged in the obstacle slot, and the compensation block is partially arranged between the first extension and the second extension.

[0046] In some embodiments of the present application, a reduction gearbox mechanism is further included, and the traveling wheel is mounted at the output shaft end of the reduction gearbox mechanism.

[0047] In some embodiments of the present application, the reduction gearbox mechanism includes a support member extending along the direction of gravity, so that the support member is in abutment with the compensation mechanism when the compensation mechanism is in abutment with the ground.

[0048] In some embodiments of the present application, the self-walking robot further includes a body;

[0049] The obstacle module includes a guide mechanism arranged at the front end of the body, and the guide mechanism is provided with at least one guide surface, which is used to contact the obstacle during the movement of the body, and guide at least part of the body to lift and move to the top of the obstacle.

[0050] The driving module comprises a driving mechanism arranged at the bottom of the machine body, the driving mechanism comprising a driving wheel rotatable relative to the machine body, the driving wheel being configured to drive the machine body to move on the working surface and to overcome the obstacles on the working surface.

[0051] In some embodiments of the present application, the guiding mechanism comprises a front impact assembly arranged at the front end of the machine body and a universal wheel arranged at the bottom of the machine body between the driving wheel and the front end of the machine body, the guiding surface being arranged further away from the working surface at one side of the front end of the front impact assembly than at one side of the universal wheel.

[0052] In some embodiments of the present application, the front impact assembly comprises a front impact guard arranged at the front end of the machine body and a guiding wheel rotatably arranged at the front impact guard, at least part of the outer periphery of the guiding wheel protruding from the front end of the front impact guard.

[0053] In some embodiments of the present application, the at least one guiding surface comprises a first guiding surface arranged at the front impact guard, the first guiding surface being located at one side of the guiding wheel facing the universal wheel, and the first guiding surface being tangent to the outer periphery of the guiding wheel.

[0054] In some embodiments of the present application, the guiding mechanism further comprises a bottom guard arranged at the bottom of the machine body around the edge of the machine body.

[0055] The guiding mechanism is provided with a plurality of guiding surfaces, the guiding surfaces further comprising a second guiding surface arranged at the front end of the bottom guard, the second guiding surface being parallel to or intersecting with the first guiding surface.

[0056] In some embodiments of the present application, the second guiding surface intersects with the first guiding surface, the intersection of the second guiding surface with the first guiding surface being located at the front end of the bottom guard.

[0057] In some embodiments of the present application, the front impact assembly comprises a front impact guard arranged at the front end of the machine body and a guiding member fixedly arranged at the front end of the front impact guard, the at least one guiding surface comprising a third guiding surface arranged at the front end of the guiding member.

[0058] In some embodiments of the present application, the guiding mechanism further comprises a bottom guard arranged at the bottom of the machine body around the edge of the machine body.

[0059] The guiding mechanism is provided with a plurality of guiding surfaces, the guiding surfaces further comprising a second guiding surface arranged at the bottom guard, the second guiding surface being parallel to or intersecting with the third guiding surface.

[0060] In some embodiments of the present application, the second guide surface intersects with the third guide surface, and the intersection of the extension line of the second guide surface and the extension line of the third guide surface is located at the front end of the bottom guard plate.

[0061] In some embodiments of the present application, the guide mechanism further comprises a universal wheel support, and the universal wheel is connected to the machine body through the universal wheel support.

[0062] The guide surface further comprises a fourth guide surface arranged at the front end of the universal wheel support.

[0063] The fourth guide surface intersects with the second guide surface at one end, and the fourth guide surface is arranged farther away from the work surface than the side of the fourth guide surface located on the side of the universal wheel; or the fourth guide surface is arranged coplanarly with the second guide surface.

[0064] In some embodiments of the present application, the driving mechanism further comprises a support arm movably connected to the machine body, and the driving wheel is rotatably arranged on the support arm, and the support arm drives the driving wheel away from or close to the machine body during movement relative to the machine body, so as to drive the driving wheel to abut against the work surface.

[0065] In some embodiments of the present application, the driving wheel comprises a hub, a plurality of spokes and a crown, the crown is arranged around the outer periphery of the hub, a plurality of the spokes are arranged in sequence and spaced apart around the circumference of the hub and located between the crown and the hub, the spokes have opposite first ends and second ends, the first ends are connected to the hub, and the second ends are connected to the crown, and the spokes and the crown are both elastic members.

[0066] In some embodiments of the present application, the spokes are in the shape of a long strip, and the length direction of the spokes intersects with the radial direction of the driving wheel.

[0067] In some embodiments of the present application, the spokes are in the shape of a curve.

[0068] In some embodiments of the present application, the driving wheel further comprises a plurality of raised lines, and the plurality of raised lines are arranged in sequence and spaced apart on the outer peripheral surface of the crown along the circumferential direction of the crown.

[0069] In some embodiments of the present application, each of the raised lines is arranged opposite to the second end of one of the spokes along the radial direction of the driving wheel, and the raised line comprises at least one raised pattern.

[0070] In some embodiments of the present application, the self-walking robot is a sweeping robot.

[0071] In some embodiments of the present application, the body and the controller are further included;

[0072] The driving module comprises two driving wheels, and the obstacle surmounting module comprises a slope groove arranged on the driving wheels, the two driving wheels are respectively arranged on two sides of the body, and the slope groove is arranged on the tire surface of each driving wheel;

[0073] The controller is arranged on the body and connected with the two driving wheels respectively.

[0074] In some embodiments of the present application, the slope groove comprises a first slope groove and a second slope groove arranged at intervals, the first slope groove and the second slope groove are oppositely arranged on the tire surface and mirror-distributed.

[0075] In some embodiments of the present application, the tire surface near the slope groove has a greater tread density than the tire surface far from the slope groove.

[0076] In some embodiments of the present application, the slope groove penetrates from the middle of the tire surface to the side surface of the tire of the driving wheel.

[0077] In some embodiments of the present application, the side wall of the slope groove comprises a first side wall and a second side wall perpendicular to each other, the first side wall is arranged perpendicularly to the tire surface, and the second side wall is arranged at an acute angle to the plane where the tire surface is located.

[0078] According to a second aspect of the present application, a tilting obstacle surmounting method is further provided, which is applied to the self-walking robot of the first aspect, the self-walking robot comprises a body and two driving wheels respectively arranged on two sides of the body, the tire surface of the driving wheel is provided with a slope groove, and the tilting obstacle surmounting method comprises:

[0079] In response to the robot encountering an obstacle, the robot is controlled to start a tilting obstacle surmounting mode;

[0080] In the tilting obstacle surmounting mode, one of the two driving wheels is controlled to be reversed, so that the connecting line between the two driving wheels is arranged at an angle to the outer surface of the obstacle;

[0081] The other of the two driving wheels is controlled to be forward rotated, so that the slope groove on the other of the two driving wheels is clamped with the obstacle and surmounts the obstacle under the action of driving force;

[0082] controlling the driving wheel that does not go over the obstacle to rotate forward, so that the ramp of the driving wheel that does not go over the obstacle is engaged with the obstacle and the driving wheel that does not go over the obstacle goes over the obstacle under the action of the driving force.

[0083] In some embodiments of the present application, the method further comprises:

[0084] determining whether the robot successfully goes over the obstacle;

[0085] in response to the robot successfully going over the obstacle, controlling the robot to exit the inclined obstacle-crossing mode and enter a normal working mode;

[0086] wherein, in the normal working mode, the two driving wheels rotate synchronously.

[0087] In some embodiments of the present application, the step of determining whether the robot successfully goes over the obstacle comprises:

[0088] obtaining a pitch angle of the robot and determining whether the pitch angle of the robot is less than a preset pitch angle threshold;

[0089] in response to the pitch angle being less than the preset pitch angle threshold, determining that the robot successfully goes over the obstacle.

[0090] In some embodiments of the present application, the method further comprises:

[0091] in response to the robot being trapped by the obstacle, controlling the two driving wheels to alternately rotate forward and backward, so that the robot is released.

[0092] In some embodiments of the present application, before the step of controlling the robot to enable the inclined obstacle-crossing mode, the inclined obstacle-crossing method further comprises:

[0093] obtaining a pose of the robot and a position of the driving wheel;

[0094] determining whether the driving wheel is in abutment with the obstacle based on the pose and the position of the driving wheel;

[0095] in response to the driving wheel being in abutment with the obstacle, controlling the robot to enable the inclined obstacle-crossing mode.

[0096] According to a third aspect of the present application, a computer-readable storage medium is also provided, which internally stores program instructions that are executed to implement the inclined obstacle-crossing method of any one of the second aspect.

[0097] According to a fourth aspect of the present application, a cleaning system is also provided, which comprises a cleaning base station and the self-walking robot of any one of the first aspect. BRIEF DESCRIPTION OF DRAWINGS

[0098] Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The detailed description is made with reference to the accompanying drawings. The drawings are for purposes of illustration only and are not intended to be limiting in any way. Same reference numerals in different drawings identify same or similar components. In the drawings:

[0099] Fig. 1 is a partial cross-sectional view of an obstacle crossing mechanism in a second position according to an embodiment of the present application;

[0100] Fig. 2 is a partial cross-sectional view of an obstacle crossing mechanism in a first position according to an embodiment of the present application;

[0101] Fig. 3 is a partial cross-sectional view of an obstacle crossing mechanism in a first position according to an embodiment of the present application;

[0102] Fig. 4 is a partial cross-sectional view of an obstacle crossing assembly and a second bearing in a first position according to an embodiment of the present application;

[0103] Fig. 5 is a partial cross-sectional view of an obstacle crossing assembly and a second bearing in a second position according to an embodiment of the present application;

[0104] Fig. 6 is an exploded view of an obstacle crossing mechanism according to an embodiment of the present application;

[0105] Fig. 7 is an exploded view of a support arm, linkage and second bearing according to an embodiment of the present application;

[0106] Fig. 8 is an assembled view of a support arm and linkage assembly according to an embodiment of the present application;

[0107] Fig. 9 is a partial cross-sectional view of an obstacle crossing assembly and a second bearing in a second position according to an embodiment of the present application from a different perspective;

[0108] Fig. 10 is a schematic view of a linkage in a first position according to an embodiment of the present application with a first direction parallel to a guide plane;

[0109] Fig. 11 is a schematic view of a linkage in a first position according to an embodiment of the present application with a first direction at an angle to a guide plane;

[0110] Fig. 12 is an assembled view of an obstacle crossing assembly, linkage assembly and track wheel in a first position according to another embodiment of the present application;

[0111] Fig. 13 is an assembled view of an obstacle crossing assembly, linkage assembly and track wheel in a second position according to another embodiment of the present application;

[0112] Fig. 14 is an assembly structure diagram of the linkage assembly, the linkage assembly and the traveling wheel of another embodiment of the present application in a first position state;

[0113] Fig. 15 is a structure diagram of a first embodiment of the obstacle crossing mechanism provided by the present application;

[0114] Fig. 16 is an exploded structure diagram of the obstacle crossing mechanism of the embodiment of Fig. 15;

[0115] Fig. 17 is a structure diagram of an embodiment of the compensation mechanism provided by the present application;

[0116] Fig. 18 is a structure diagram of a second embodiment of the obstacle crossing mechanism provided by the present application;

[0117] Fig. 19 is an exploded structure diagram of the obstacle crossing mechanism of the embodiment of Fig. 18;

[0118] Fig. 20 is a working state diagram of the traveling wheel when the obstacle crossing mechanism encounters an obstacle;

[0119] Fig. 21 is a working process state diagram of the traveling wheel when the obstacle crossing mechanism does not cross an obstacle;

[0120] Fig. 22 is a structure diagram of an embodiment of the robot provided by the present application;

[0121] Fig. 23 is a structure diagram of a self-walking robot of an embodiment of the present application;

[0122] Fig. 24 is a structure diagram of a front collision assembly of an embodiment of the present application;

[0123] Fig. 25 is a structure diagram of a driving mechanism of an embodiment of the present application;

[0124] Fig. 26 is a structure diagram of a driving wheel of an embodiment of the present application;

[0125] Fig. 27 is a diagram of the driving wheel on a working surface of an embodiment of the present application;

[0126] Fig. 28 is a diagram of the driving wheel in an obstacle crossing state of an embodiment of the present application;

[0127] Fig. 29 is a structure diagram of a self-walking robot of another embodiment of the present application;

[0128] Fig. 30 is a partial structure diagram of a self-walking robot of an embodiment of the present application;

[0129] Fig. 31 is a flow diagram of a first embodiment of the inclined obstacle crossing method provided by the present application;

[0130] Fig. 32 is a structure diagram of a first embodiment of the robot of the present application;

[0131] Fig. 33 is a process diagram of an embodiment of the robot provided by the present application in a left tilt mode for obstacle crossing;

[0132] Fig. 34 is a process diagram of a second embodiment of the tilt obstacle crossing method provided by the present application;

[0133] Fig. 35 is a process diagram of an embodiment of step S201 in Fig. 34;

[0134] Fig. 36 is a process diagram of a third embodiment of the tilt obstacle crossing method provided by the present application;

[0135] Fig. 37 is a diagram of a state in which the robot provided by the present application is stuck by an obstacle;

[0136] Fig. 38 is a diagram of a structure of a second embodiment of the robot provided by the present application;

[0137] Fig. 39 is a diagram of a structure of a first embodiment of the drive wheel provided by the present application;

[0138] Fig. 40 is a diagram of a structure of a second embodiment of the drive wheel provided by the present application;

[0139] Fig. 41 is a diagram of a structure of an embodiment of the computer readable storage medium provided by the present application.

[0140] The reference signs are as follows: 100, obstacle crossing mechanism; 10, support arm; 11, sliding block; 12, support arm rotating shaft; 20, walking wheel; 21, rotating axis; 22, walking surface; 30, obstacle crossing assembly; 31, support; 311, sliding hole; 32, support leg; 33, second elastic member; 40, linkage assembly; 41, linkage member; 411, connecting part; 4111, sliding groove; 412, cantilever part; 4121, first mounting part; 4122, second mounting part; 4123, clamping groove; 413, linkage part; 414, waist-shaped hole; 42, first elastic member; 43, first bearing; 44, second bearing; 45, connecting rod; 50, chassis; 51, sliding rail; 511, sliding rail surface; 501, containing space; 52, guiding plane; 53, front end part; 531, guiding surface; 60, universal wheel; 800, running plane; 201, obstacle; X-first direction; Y-second direction; Z-third direction; 1, self-walking robot; 1100, machine body; 200, guiding mechanism; 2100, front collision assembly; 211, front collision guard plate; 212, guiding wheel; 213, guiding member; 220, universal wheel; 23, bottom guard plate; 24, universal wheel support; 210, guiding surface; 2101, first guiding surface; 2102, second guiding surface; 2103, third guiding surface; 2104, fourth guiding surface; 310, driving mechanism; 3101, support arm; 320, driving wheel; 321, wheel hub; 322, spoke; 3221, first end; 3222, second end; 323, crown; 324, convex pattern; 3241, convex pattern; 2001, working surface; 300, obstacle; running wheel 1000, tire 110, wheel hub 120, obstacle crossing groove 13, left half wheel hub 121, first extension part 1211, first perforation 1212, right half wheel hub 122, second extension part 1221, second perforation 1222, compensation mechanism 2000, rotating shaft 21000, compensation block 2200, first end 221, second end 222, third perforation 223, reset member 230, damping member 240, speed reducer mechanism 3000, support member 400, support part 410, roller 420, pin shaft 430, universal wheel 220; self-walking robot 1, machine body 1100, driving wheel 1200, inclined groove 130, first inclined groove 131, second inclined groove 132, controller 140, first side wall A, second side wall B, computer readable storage medium 20000, program instruction 21001. DETAILED DESCRIPTION

[0141] The embodiments of the technical scheme of the present disclosure will be described in detail below with reference to the drawings. The following embodiments are only used to more clearly illustrate the technical scheme of the present disclosure, and therefore only serve as examples, and cannot limit the protection scope of the present disclosure.

[0142] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of this disclosure; the use of the terms "including," "comprising," or "having" and variations thereof herein is intended to be broad and encompass the terms "consisting of" and "consisting essentially of" and variations thereof. Unless otherwise noted, the terms "including" and "comprising" are open-ended and do not exclude the presence of unrecited elements or limitations.

[0143] In the description of the embodiments of the disclosure, the technical terms "first", "second", and the like are only used to distinguish different objects, and cannot be understood as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the technical features indicated. In the description of the embodiments of the disclosure, the meaning of "a plurality of" is two or more, unless otherwise explicitly and specifically limited.

[0144] Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the disclosure. The appearance of the phrase in various places in the specification does not necessarily all refer to the same embodiment, nor is it necessarily independent or alternative embodiments to other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0145] In the description of the embodiments of the disclosure, the term "and / or" is only a description of the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B, which can represent the three cases of A alone, A and B together, and B alone. In addition, the character " / " herein generally represents an "or" relationship between the front and rear associated objects.

[0146] In the description of the embodiments of the disclosure, the term "a plurality of" refers to two or more (including two), and similarly, "a plurality of groups" refers to two or more groups (including two groups), and "a plurality of pieces" refers to two or more pieces (including two pieces).

[0147] In the description of the embodiments of the disclosure, the technical terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the embodiments of the disclosure and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements indicated must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the embodiments of the disclosure.

[0148] In the description of the embodiments of the present disclosure, unless otherwise explicitly specified and limited, the technical terms "mounting", "connecting", "connecting", "fixing" and the like should be understood in a broad sense, for example, can be fixedly connected, can also be detachably connected, or integrated; can be mechanically connected, or electrically connected; can be directly connected, or indirectly connected through an intermediate medium, can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the embodiments of the present disclosure can be understood according to the specific circumstances.

[0149] The robot has high intelligence and flexible cleaning, greatly liberating people's hands. It can be applied to multiple scenes such as living rooms, bedrooms, kitchens, etc. However, with the popularization of robots, the shortcomings of robot movement are gradually exposed. For example, in most families, there are obstacles such as steps, glass door rails, carpets, etc. When the robot cleaner moves during cleaning, it will often be hindered and trapped, the cleaning is interrupted, and the driving wheel will slip when encountering high obstacles, which cannot pass at all.

[0150] The present application provides a self-walking robot, the self-walking robot comprises a driving module and an obstacle crossing module, the driving module is linked with the obstacle crossing module to assist the self-walking robot in crossing obstacles. Specifically, the driving module and the obstacle crossing module in the present application will be described in detail below in combination with specific embodiments.

[0151] In some embodiments, a self-walking robot 1 is provided, the self-walking robot 1 comprises an obstacle crossing mechanism 100, the obstacle crossing mechanism 100 comprises a driving module and an obstacle crossing module. Specifically, please refer to FIG. 1, FIG. 2 and FIG. 6, the driving module comprises a support arm 10 and a walking wheel 20, the obstacle crossing module comprises an obstacle crossing assembly 30 and a linkage assembly 40, the walking wheel 20 is a driving wheel of the obstacle crossing mechanism 100, the walking wheel 20 is rotatably arranged on the support arm 10, the walking wheel 20 has an axis of rotation 21 and forms a walking surface 22 on the outer circumferential surface of the walking wheel 20, the walking surface 22 is a surface of the walking wheel 20 in contact with a medium such as the ground, the walking surface 22 is used to contact a driving plane 800 where the obstacle crossing mechanism 100 is located, and the obstacle crossing mechanism 100 is driven to move on the driving plane 800 by the rotation of the walking wheel 20 relative to the support arm 10. The obstacle crossing assembly 30 is rotatably arranged on the support arm 10, the obstacle crossing assembly 30 can rotate relative to the support arm 10, the rotation direction of the obstacle crossing assembly 30 can be the same as that of the walking wheel 20, so that the support leg 32 in the obstacle crossing assembly 30 can rotate in the same direction as the walking wheel 20 around the axis of rotation 21 of the walking wheel 20. Specifically, the axis of rotation of the obstacle crossing assembly 30 is parallel to or coincides with the axis of rotation 21 of the walking wheel 20.

[0152] Please combine the drawings shown in FIG. 4 and FIG. 5, the support leg 32 can be moved in the radial direction relative to the walking wheel 20, and in the range of movement of the support leg 32 relative to the walking wheel 20, the support leg 32 can at least partially protrude from the walking surface 22, or in the direction parallel to the rotation axis, the projection of all support legs 32 on the walking wheel 20 is located within the walking surface 22, and the support leg 32 is arranged between the walking surface 22 and the rotation axis 21, that is, the support leg 32 is in a state of avoiding the walking surface 22. When the support leg 32 is in a state of protruding from the walking surface 22, the support leg 32 can be rotated around the rotation axis in the same direction as the walking wheel 20 by rotating the obstacle crossing assembly 30 relative to the support arm 10, and then the support leg 32 protruding from the walking surface 22 is used to resist the obstacle 201 and assist the walking wheel 20 to cross the obstacle 201. Wherein, the movement of the support leg 32 relative to the walking wheel 20 refers to the rotation of the support leg 32 relative to the walking wheel 20, or the radial movement of the support leg 32 relative to the walking surface 22 of the walking wheel 20, or the combination of relative rotation and relative movement (such as the movement mode of the nut screw), etc. The specific movement mode between the support leg 32 and the walking wheel 20 is not limited in the embodiment, as long as the relative position between the support leg 32 and the walking surface 22 changes.

[0153] Further, please combine FIG. 4, FIG. 5, FIG. 6, and FIG. 12 and FIG. 13, the movement between the support leg 32 and the walking surface 22 of the walking wheel 20 in different relative positions is realized by the linkage cooperation between the support leg 32 and the linkage assembly 40. Specifically, the linkage assembly 40 is movably arranged on the support arm 10, and in the process of movement of the linkage assembly 40 relative to the support arm 10, the linkage assembly 40 can be linked with the support leg 32 to make the support leg 32 protrude from the walking surface 22 or avoid the walking surface 22.

[0154] The movement of the linkage assembly 40 relative to the support arm 10 refers to the rotation of the linkage assembly 40 relative to the support arm 10, or the linear reciprocating movement of the linkage assembly 40 relative to the support arm 10, or the combination of relative rotation and relative movement (such as the movement mode of the nut screw), etc. The specific movement mode between the linkage assembly 40 and the support arm 10 is not limited in the embodiment, as long as the relative position between the linkage assembly 40 and the support arm 10 changes and the support leg 32 moves relative to the walking surface 22 of the walking wheel 20.

[0155] It should be noted that the linkage cooperation between the linkage assembly 40 and the support leg 32 refers to when one of the linkage assembly 40 and the support leg 32 moves or changes, the other one can also move or change. For example, in some examples, the linkage assembly 40 can be directly connected with the support leg 32, so that the linkage assembly 40 drives the support leg 32 to move; in other examples, the linkage assembly 40 can abut against the support leg 32, so that one of the linkage assembly 40 and the support leg 32 drives the other one to move, thereby realizing linkage.

[0156] According to the obstacle crossing mechanism 100 of the present application, the position state of the outrigger 32 relative to the walking wheel 20 is changed by the movement of the linkage assembly 40 relative to the support arm 10, so as to switch the outrigger 32 between the two states of protruding from the walking surface 22 or avoiding the walking surface 22. When the obstacle crossing mechanism 100 has the need to cross the obstacle 201, the linkage assembly 40 can drive the outrigger 32 to protrude from the walking surface 22, and the outrigger 32 protruding from the walking surface 22 is used to assist in crossing the obstacle 201. When the obstacle crossing mechanism 100 has no need to cross the obstacle, the linkage assembly 40 is used to cooperate with the outrigger 32 to make the outrigger 32 avoid the walking surface 22, so as to avoid the contact between the outrigger 32 and the working surface and interfere with the walking state of the walking wheel 20.

[0157] It should be noted that, in some embodiments, the obstacle crossing assembly 30 and the walking wheel are respectively arranged on the support arm 10, so that the obstacle crossing assembly 30 and the walking wheel 20 can rotate independently relative to the support arm. In the normal driving state (non-obstacle crossing state) of the walking wheel 20, the obstacle crossing assembly 30 and the linkage assembly 40 can remain stationary relative to the support arm 10 when the outrigger 32 is in the state of avoiding the walking surface 22. During the rotation of the walking wheel 20, the obstacle crossing assembly 30 and the linkage assembly 40 do not interfere with each other, so as to avoid the problem of large noise and serious wear caused by the continuous friction between the walking wheel 20 and the outrigger 32 in the prior art. It can be understood that, in other embodiments, the obstacle crossing assembly 30 can also be connected with the walking wheel 20, so that the two can rotate synchronously relative to the support arm.

[0158] In some embodiments of the present application, please refer to FIGS. 4, 5, 6, 7 and 12, the linkage assembly 40 includes a linkage member 41 movably connected with the support arm 10. The linkage member 41 can move between a first position and a second position relative to the support arm 10 and is linked with the outrigger 32. In the first position, the linkage member 41 can make at least part of the outrigger 32 protrude from the walking surface 22. In the second position, the outrigger 32 avoids the walking surface 22.

[0159] In the present embodiment, the movement of the linkage member 41 relative to the support arm 10 includes rotation of the linkage member 41 relative to the support arm 10 and sliding of the linkage member 41 relative to the support arm 10, etc.

[0160] In some embodiments, as shown in FIG. 12 and FIG. 13, the obstacle- crossing assembly 30 comprises a bracket 31 and a leg 32, the bracket 31 is rotatably arranged on the support arm (not shown in FIG. 12 and FIG. 13) and coaxially arranged with the walking wheel 20, the leg 32 is hingedly connected to the bracket 31 at one end. The linkage assembly 40 comprises a linkage 41 and a connecting rod 45, the linkage 41 is rotatably arranged on the support arm 10 and coaxially arranged with the walking wheel 20, the connecting rod 45 is hingedly connected to the linkage 41 and the free end of the leg 32 respectively, the linkage 41, the connecting rod 45, the leg 32 and the bracket 31 collectively constitute a crank rocker mechanism, in the process that the bracket 31 is stationary relative to the support arm 10 and the linkage 41 is rotated relative to the support arm 10, the linkage 41 can be rotated between a first position and a second position, the linkage 41 drives the leg 32 to rotate relative to the bracket 31 through the connecting rod 45, so that the free end of the leg 32 can be switched between a state of protruding from the walking surface 22 of the walking wheel 20 and a state of avoiding the walking surface 22. As shown in FIG. 12, when the linkage 41 is in the first position, the free end of the leg 32 can protrude from the walking surface 22 of the walking wheel 20, which is used to assist the obstacle-crossing mechanism 100 to cross the obstacle 201. As shown in FIG. 13, when the linkage 41 is in the second position, the free end of the leg 32 can avoid the walking surface 22, which prevents the leg 32 from interfering with the contact between the walking wheel 20 and the driving plane 800 during movement. In this embodiment, it should be noted that when the leg 32 is in the state of protruding from the walking surface 22, the linkage 41 and the bracket 31 rotate synchronously relative to the support arm 10, during this process, the linkage 41 and the bracket 31 remain relatively stationary, that is, the leg 32 remains in the state of protruding from the walking surface 22 and rotates around the rotation axis 21 of the walking wheel 20, so as to assist the walking wheel 20 to cross the obstacle 201 by using the leg 32. Among them, the leg 32 in the obstacle-crossing mechanism 100 can be one (as shown in FIG. 14) or multiple (as shown in FIG. 12 and FIG. 13), when multiple legs 32 are arranged, the multiple legs 32 are arranged in sequence and spaced around the rotation axis of the bracket 31. It should be noted that in this embodiment, a motor for driving the linkage 41 and the bracket 31 to rotate can be arranged on the support arm 10, the rotation shaft of the motor is drivingly connected to the linkage 41 and the bracket 31 through gear and other transmission members, so as to drive the linkage 41 and the bracket 31 to rotate relative to the support arm 10 respectively. For example, two motors can be arranged to drive the linkage 41 and the bracket 31 respectively.

[0161] In some embodiments, as shown in FIG. 4, FIG. 5 and FIG. 9, the obstacle- crossing assembly 30 comprises a bracket 31 and a leg 32, the bracket 31 is rotatably arranged on the support arm (not shown in the figure) and coaxially arranged with the walking wheel 20 (the rotation axis of the bracket 31 coincides with the rotation axis of the walking wheel 20), the bracket 31 is provided with a sliding hole 311 extending in the radial direction thereof, and the leg 32 is slidably arranged in the sliding hole 311. The linkage assembly 40 comprises a linkage 41, which is slidably arranged on the support arm 10 so that the linkage 41 can slide relative to the support arm 10 between a first position and a second position. Specifically, the sliding connection between the linkage 41 and the support arm 10 can be provided in various structural forms, for example, one of the linkage 41 and the support arm 10 is provided with a sliding groove, and the other is provided with an elongated protrusion that slidably fits in the sliding groove, or one of the linkage 41 and the support arm is provided with a sliding block, and the other is provided with a sliding rail 51. In this embodiment, the linkage 41 can abut against one end of the leg 32 towards the rotation axis, so that the linkage 41 can push at least part of the leg 32 out of the walking surface 22 when the linkage 41 is in the first position, and the leg 32 avoids the walking surface 22 when the linkage 41 is in the second position. Wherein, the maximum diameter of the end of the leg 32 is greater than the maximum diameter of the sliding hole 311, so as to ensure that the end of the leg 32 does not pass through the sliding hole 311 and cause the leg 32 to come out of the sliding hole 311.

[0162] It should be noted that in some embodiments, in the scheme in which the obstacle- crossing assembly 30 and the walking wheel 20 can rotate independently relative to the support arm 10, the bracket 31 and the walking wheel 20 can be connected to the support arm 10 through different rotation shafts, for example, along the extension direction of the rotation axis, the walking wheel, the bracket and the support arm are arranged in sequence, the bracket 31 is connected to the support arm through a first rotation shaft (not shown in the figure), the first rotation shaft is in the form of a hollow cylinder, the walking wheel is connected to the support arm through a second rotation shaft (not shown in the figure), the second rotation shaft is rotatably arranged in the first rotation shaft, and the second rotation shaft passes through the two ends of the first rotation shaft to be connected to the walking wheel and the support arm, respectively. And different driving mechanisms (such as gear transmission assemblies or driving motors) can be provided on the support arm to drive the first rotation shaft and the second rotation shaft, respectively, so that the obstacle- crossing assembly 30 and the walking wheel 20 can rotate relatively independently.

[0163] In some embodiments, as shown in FIG. 5, the bracket 31 and the walking wheel 20 are fixedly connected and connected to the support arm through the same rotation shaft, so that the bracket 31 and the walking wheel 20 can rotate synchronously relative to the support arm 10 and drive the leg to rotate in the same direction as the walking wheel around the rotation axis.

[0164] In the embodiment, please refer to FIG. 2 and FIG. 8, the linkage 41 comprises a connecting portion 411 slidably connected with the support arm 10, a cantilever portion 412 connected with the connecting portion 411, and a linkage portion 413 for abutting against one end of the support leg 32 towards the rotation axis, and the linkage portion 413 in the first position is more deviated from the rotation axis than the linkage portion 413 in the second position, so that when the support leg 32 abuts against the linkage portion 413 in the first position, the support leg 32 is driven to slide away from the rotation axis, and then the one end of the support leg 32 away from the rotation axis protrudes from the walking surface 22.

[0165] In the embodiment, please refer to FIG. 2, FIG. 3 and FIG. 4, when the obstacle crossing mechanism 100 has the obstacle crossing demand, the linkage 41 is driven to move from the second position to the first position relative to the support arm 10, and then the obstacle crossing assembly 30 is driven to rotate relative to the support arm 10, so that the support frame 31 and the support leg 32 rotate around the linkage portion 413. Since the linkage portion 413 is deviated from the rotation axis of the support frame 31, when the support leg 32 rotates to contact and abut against the linkage portion 413, the support leg 32 deviates to the side away from the rotation axis under the pushing of the linkage portion 413, and then the support leg 32 is driven to slide away from the rotation axis, so that the one end of the support leg 32 away from the rotation axis protrudes from the walking surface 22. Understandably, when the obstacle crossing mechanism 100 has no obstacle crossing demand, the linkage 41 is driven to move from the first position to the second position relative to the support arm 10, so that the support leg 32 does not contact the linkage portion 413, or although the two are in contact, the linkage portion 413 is close to the rotation axis of the support frame 31, so that the support leg 32 does not protrude from the walking surface 22, and the support leg 32 avoids the walking surface 22, so as to avoid the contact between the support leg 32 and the running plane 800 and the interference with the running state of the walking wheel 20.

[0166] In some embodiments, a driving motor (not shown in the figure) can be directly arranged as the driving force source for the relative sliding of the linkage 41 relative to the support arm 10.

[0167] In the embodiment, please refer to FIG. 1, FIG. 2, FIG. 4, FIG. 5 and FIG. 6, the obstacle crossing mechanism 100 further comprises a chassis 50. In order to further simplify the structure of the obstacle crossing mechanism 100 and reduce the cost and assembly difficulty of the obstacle crossing mechanism 100, a linkage structure connected with the linkage 41 is arranged on the chassis 50 of the obstacle crossing mechanism 100, and the relative sliding of the linkage 41 relative to the support arm 10 is driven by the movement of the support arm 10 relative to the chassis 50. In the embodiment, no special power source (motor, etc.) is needed to control and drive the movement of the support leg 32 when the obstacle crossing mechanism 100 crosses obstacles, and the structure is simple and the cost is low.

[0168] In detail, the support arm 10 is movably arranged on the chassis 50. The support arm 10 and the chassis 50 can be connected in different manners according to requirements. For example, the support arm 10 and the chassis 50 can be connected in a relative sliding manner, or the support arm 10 is connected with the chassis 50 in a relative rotating manner through the support arm pivot 12, so that the support arm 10 can drive the walking wheel 20 to approach or move away from the chassis 50 through sliding or rotating relative to the chassis 50, thereby adjusting the distance between the walking wheel 20 and the chassis 50 according to the size of the ground clearance of the chassis 50, and ensuring that the walking wheel 20 always abuts against the running plane 800 to drive the obstacle surmounting mechanism 100 to move on the running plane 800.

[0169] Further, as shown in FIGS. 2, 3, 6 and 8, one end of the cantilever portion 412 is connected with the connecting portion 411, and the other end of the cantilever portion 412 extends away from the connecting portion 411 and is movably connected with the chassis 50. The connecting portion 411 is movably connected with the support arm 10. When the support arm 10 moves relative to the chassis 50, the relative position between the support arm 10 and the chassis 50 changes, thereby driving the walking wheel 20, the obstacle surmounting assembly 30 and the linkage assembly 40 to move synchronously relative to the chassis 50. During the movement of the support arm 10 driving the connecting portion 411 to move relative to the chassis 50, since the one end of the cantilever portion 412 away from the connecting portion 411 is movably connected with the chassis 50, the chassis 50 can drive the connecting portion 411 to slide relative to the support arm 10 through the cantilever portion 412, thereby realizing the conversion of the linkage 41 between the first position and the second position relative to the support arm 10.

[0170] Specifically, as shown in FIGS. 1, 2, 8 and 10, the connecting portion 411 is arranged on the support arm 10 in a manner that can slide relative to the support arm 10 in a first direction. The chassis 50 is provided with a slide rail 51 extending in a second direction. The one end of the cantilever portion 412 away from the connecting portion 411 is slidably connected with the slide rail 51. The support arm 10 can move relative to the chassis 50 in a third direction. The first direction is perpendicular to the rotation axis and intersects with the second direction. The first direction is not parallel to the third direction. Since the first direction is not parallel to the third direction, during the movement of the support arm 10 relative to the chassis 50, the distance between the support arm 10 and the slide rail 51 changes. Since the one end of the cantilever portion 412 away from the connecting portion 411 is slidably connected with the slide rail 51, when the distance between the support arm 10 and the slide rail 51 changes, the slide rail 51 drives the connecting portion 411 to slide relative to the support arm 10 in the first direction through the cantilever portion 412, so as to drive the linkage 41 to move between the first position and the second position relative to the support arm 10. In this embodiment, the first direction is perpendicular to the rotation axis, and during the movement of the linkage 41 in the first direction, the connecting portion 411 can approach or move away from the rotation axis.

[0171] In the embodiment, the third direction is the direction in which the support arm 10 rotates relative to the chassis 50 about the axis of the support arm rotation shaft 12, as shown in FIG. 1.

[0172] It should be noted that in some embodiments, when the support arm 10 is connected to the chassis 50 in a rotatable manner relative to the chassis 50, a sliding block (not shown in the drawings) can be provided at the end of the cantilever portion 412 away from the connecting portion 411 and hinged to the cantilever portion 412, and the sliding block is in sliding connection with the slide rail 51, so that the cantilever portion 412 has a relative rotational freedom with the slide rail 51 during the rotation of the support arm 10 relative to the chassis 50, so that the linkage 41 can slide on the slide rail 51 while also being able to rotate relative to the slide rail 51, realizing the action of the chassis 50 driving the linkage 41 to slide relative to the support arm 10 along the first direction.

[0173] In the embodiment, please refer to FIGS. 1, 2 and 3, the support arm 10 is rotatably connected to the chassis 50, and the bottom of the chassis 50 has a concave accommodation space 501 for accommodating the walking wheel 20, the obstacle crossing assembly 30 and the linkage assembly 40, at least part of the walking surface 22 of the walking wheel 20 protrudes out of the accommodation space 501 and is used to contact the running plane 800 to drive the obstacle crossing mechanism 100 to move. The slide rail 51 is provided on the inner wall of the accommodation space 501, and is specifically a long strip-shaped boss structure protruding towards the support arm 10 formed by the inner wall of the accommodation space 501, and the length direction of the slide rail 51 extends along the second direction. The slide rail 51 has a slide rail surface 511 facing the linkage 41, and the end of the cantilever portion 412 away from the connecting portion 411 is slidably abutted against the slide rail surface 511.

[0174] In detail, please refer to the drawings 1, 2 and 3, the chassis 50 of the obstacle crossing mechanism 100 has a front end 53, which refers to the front end position of the obstacle crossing mechanism 100 in the direction of movement. A universal wheel 60 is arranged at the bottom of the front end of the chassis 50, which is used to realize flexible steering of the chassis 50 during movement and guide the chassis 50 to be lifted to the top of the obstacle 201 when encountering the obstacle 201, thereby increasing the ground clearance of the chassis 50. In some embodiments, the linkage 41 is arranged between the guide rail and the front end of the chassis 50, that is, the guide rail is arranged at the rear position of the linkage 41, and the support arm 10 can drive the cantilever portion 412 to move away from one end of the connecting portion 411 between the third position and the fourth position of the slide rail 51 during rotation relative to the chassis 50. Among them, the third position is closer to the top of the chassis 50 relative to the fourth position, when the obstacle crossing mechanism 100 moves on the running plane 800 and is in a non-obstacle crossing state, one end of the cantilever portion 412 away from the connecting portion 411 is located at the third position of the slide rail 51, when the obstacle crossing mechanism 100 encounters the obstacle 201 and is lifted to the top of the obstacle 201 under the guidance of the universal wheel 60, the ground clearance of the chassis 50 is increased, the support arm 10 rotates relative to the chassis 50 to move the walking wheel 20 relative to the chassis 50 to the side close to the running plane 800, at this time, one end of the cantilever portion 412 away from the connecting portion 411 is located between the third position and the fourth position of the slide rail 51 or one end of the cantilever portion 412 away from the connecting portion 411 is located at the fourth position. Specifically, the distance between the third position and the rotation axis is greater than the distance between the fourth position and the rotation axis, in the state that one end of the cantilever portion 412 away from the connecting portion 411 is at the third position, the connecting portion 411 is located at the second position, and the support leg 32 is in the state of avoiding the walking surface 22, in the state that one end of the cantilever portion 412 away from the connecting portion 411 is at the fourth position, the connecting portion 411 is located at the first position, when the support leg 32 is driven by the support frame 31 to rotate relative to the linkage 41 to abut against the linkage portion 413, the linkage portion 413 can drive the support leg 32 to protrude from the walking surface 22.

[0175] Specifically, the front end 53 is used to first contact the obstacle 201, and the bottom of the front end 53 is provided with a guide surface 531 arranged obliquely, and the guide surface 531 is located at the front end of the universal wheel 60, and when the front end 53 first contacts the obstacle 201, the guide surface 531 is used to abut against the obstacle 201 to lift the chassis 50. In this embodiment, in the first position, one end of the support leg 32 away from the rotation axis protrudes from the walking surface 22 to one side of the front end 53, so that the support leg 32 extends to the direction of the obstacle 201, so as to assist the walking wheel 20 to cross the obstacle 201.

[0176] In this embodiment, as shown in FIGS. 1, 2 and 4, the bottom of the chassis 50 is provided with a guide plane 52 for obstacle crossing, i.e. the bottom surface of the chassis 50. In the process of crossing the obstacle 201 by the obstacle crossing mechanism 100, the chassis 50 is first lifted by the guide wheels at the front end of the bottom of the chassis 50 until the guide plane 52 moves to the top of the obstacle 201, so that the bottom of the chassis 50 is suspended, the walking wheels 20 and the obstacle crossing assembly 30 are extended to the bottom of the obstacle crossing mechanism 100 by the swinging of the support arm 10 around the support arm pivot 12, to ensure that the walking wheels 20 always contact the travel plane 800, and the chassis 50 continues to move to the other side of the obstacle 201 under the driving action of the walking wheels 20 until the walking wheels 20 abut against the obstacle 201.

[0177] As shown in FIG. 1, the second direction is perpendicular to or at an angle to the guide plane 52, and the first direction intersects the second direction. Please refer to FIGS. 8, 10 and 11, when the linkage 413 moves to the first position state, the support leg 32 is rotated relative to the linkage 413 to abut against the linkage 413 and the axis of the support leg 32 is parallel to the first direction, and the length of the support leg 32 protruding from the walking surface 22 has a maximum value. In the state that the length of the support leg 32 protruding from the walking surface 22 has a maximum value, the axis of the support leg 32 is parallel to the first direction, and the first direction is at a preset angle to the guide plane 52. The preset angle is in the range of -60° to 60°, for example, -60°, -50°, -40°, -30°, -10°, 0°, 10°, 20°, 30°, 40°, 50°, 60°, etc.

[0178] In some embodiments, the preset angle is in the range of -10° to 10°, for example, -2°, -5°, -7°, -8°, -10°, 0°, 2°, 5°, 7°, 8°, 10°, etc.

[0179] It should be noted that when the preset angle a is less than 0° (not shown in the figure), in the state that the length of the support leg 32 protruding from the walking surface 22 has a maximum value, the end of the support leg 32 away from the rotation axis is located below the guide plane 52 (i.e. between the guide plane 52 and the travel plane 800). When the preset angle is greater than 0°, as shown in FIG. 11, in the state that the length of the support leg 32 protruding from the walking surface 22 has a maximum value, the end of the support leg 32 away from the rotation axis is located above the guide plane 52 (i.e. on the side of the guide plane 52 away from the travel plane 800). When the preset angle is equal to 0°, the first direction is parallel to the guide plane 52.

[0180] Understandably, when the linkage 413 moves to the first position state, the leg 32 rotates with the bracket 31 relative to the linkage 413 to abut against the linkage 413 and the axis of the leg 32 is parallel to the first direction, the length of the leg 32 protruding from the walking surface 22 has a maximum value, and in the state that the length of the leg 32 protruding from the walking surface 22 has the maximum value, the axis of the leg 32 is parallel to the guide plane 52 or forms a preset angle with the guide plane 52, so as to better assist the walking wheel 20 to cross the obstacle 201.

[0181] In some embodiments, as shown in FIG. 10, when the linkage 413 moves to the first position state, the first direction is parallel to the direction of the guide plane 52 (i.e., the preset angle is 0°), and in the state that the length of the leg 32 protruding from the walking surface 22 has the maximum value, the axis of the leg 32 is parallel to the guide plane 52. Since the guide plane 52 abuts against the obstacle 201 at this time, the leg 32 can just abut against the obstacle 201 in the state that the length of the leg 32 protruding from the walking surface 22 has the maximum value, so as to better assist the walking wheel 20 to cross the obstacle 201. In this embodiment, when the obstacle-crossing mechanism 100 moves on the running plane 800 with the obstacle 201 such as a step, by limiting the preset angle of the first direction and the guide plane 52 to be equal to 0°, in the state that the length of the leg 32 protruding from the walking surface 22 has the maximum value, the leg 32 is parallel to the guide plane 52. Since the linkage 413 has a cylindrical structure, when the leg 32 continues to rotate with the bracket 31 to the position where the walking wheel 20 contacts the running plane 800, the leg 32 is in the state of avoiding the walking surface 22, thereby avoiding the leg 32 contacting the running plane 800 to interfere with the walking state of the walking wheel 20.

[0182] In some embodiments, when the linkage 413 moves to the first position state, the preset angle of the first direction and the guide plane 52 is less than 0°, and in the state that the length of the leg 32 protruding from the walking surface 22 has the maximum value, the leg 32 is inclined downward toward the guide plane 52.

[0183] In some embodiments, as shown in FIG. 11, when the linkage 413 moves to the first position state, the preset angle of the first direction and the guide plane 52 is greater than 0°. In this embodiment, when the obstacle-crossing mechanism 100 moves on the running plane 800 with the obstacle 201 such as a step, by limiting the preset angle of the first direction and the guide plane 52 to be greater than 0°, in the state that the length of the leg 32 protruding from the walking surface 22 has the maximum value, the leg 32 is inclined upward toward the guide plane 52. Since the linkage 413 has a cylindrical structure, when the leg 32 continues to rotate with the bracket 31 to the position where the walking wheel 20 contacts the running plane 800, the leg 32 is in the state of avoiding the walking surface 22, thereby avoiding the leg 32 contacting the running plane 800 to interfere with the walking state of the walking wheel 20.

[0184] In this embodiment, please refer to FIG. 1, FIG. 2 and FIG. 6, the obstacle surmounting mechanism 100 further comprises a driving member (not shown in the figures), which is connected to the chassis 50 and the support arm 10 respectively, and is used to drive the support arm 10 to move relative to the chassis 50. Specifically, in some exemplary embodiments, the driving member can be an elastic member, such as a compression spring, a tension spring, a torsion spring, etc., and the two ends of the driving member are connected to the support arm 10 and the chassis 50 respectively, and the driving member is used to apply an elastic force to the support arm 10 towards the side away from the chassis 50, when the chassis 50 is lifted by the obstacle 201 and suspended above the running plane 800, the driving member drives the support arm 10 to rotate relative to the chassis 50, and the walking wheel 20 and the obstacle surmounting assembly 30 extend towards the bottom of the obstacle surmounting mechanism 100 along with the swing of the support arm 10 around the support arm rotation shaft 12, so as to ensure that the walking wheel 20 always keeps in contact with the running plane 800. In other exemplary embodiments, the driving member can also be a driving motor (not shown in the figures), and the rotation shaft of the driving motor is connected to the support arm 10, and the driving motor is used to drive the support arm 10 to rotate relative to the chassis 50.

[0185] In some embodiments, the slide rail 51 can also be arranged between the linkage member 41 and the front end of the chassis 50, i.e. the slide rail 51 is located at the front end of the linkage member 41, and the support arm 10 can drive the cantilever portion 412 to move between the third position and the fourth position of the slide rail 51 during the rotation relative to the chassis 50. The third position is closer to the top of the chassis 50 relative to the fourth position, when the obstacle surmounting mechanism 100 moves on the running plane 800 and is in the non-obstacle surmounting state, the end of the cantilever portion 412 away from the connecting portion 411 is located at the third position of the slide rail 51, when the obstacle surmounting mechanism 100 encounters the obstacle 201 and is lifted to the top of the obstacle 201 under the guidance of the universal wheel 60, the ground clearance of the chassis 50 increases, and the support arm 10 rotates relative to the chassis 50 to move the walking wheel 20 relative to the chassis 50 towards the side close to the running plane 800, at this time, the end of the cantilever portion 412 away from the connecting portion 411 is located between the third position and the fourth position of the slide rail 51, or the end of the cantilever portion 412 away from the connecting portion 411 is located at the fourth position. Specifically, the distance between the third position and the rotation axis is less than the distance between the fourth position and the rotation axis, in the state that the end of the cantilever portion 412 away from the connecting portion 411 is at the third position, the connecting portion 411 is located at the second position, and the support leg 32 is in the state of avoiding the walking surface 22, in the state that the end of the cantilever portion 412 away from the connecting portion 411 is at the fourth position, the connecting portion 411 is located at the first position, and when the support leg 32 is driven by the support bracket 31 to rotate relative to the linkage member 41 to abut against the linkage portion 413, the linkage portion 413 can drive the support leg 32 to protrude from the walking surface 22.

[0186] In this embodiment, please refer to FIG. 1, FIG. 3, FIG. 6 and FIG. 8, the linkage 41 is arranged between the guide rail and the front end of the chassis 50, and the linkage assembly 40 further comprises a first elastic member 42, both ends of the first elastic member 42 are connected with the connecting portion 411 and the support arm 10 respectively, and the first elastic member 42 is used to apply an elastic force towards the slide rail 51 to the linkage 41 in the first direction. In detail, in the state that the end of the cantilever portion 412 away from the connecting portion 411 is in the third position, the connecting portion 411 is in the second position, and the first elastic member 42 is used to apply an elastic force towards the slide rail 51 to the linkage 41 to keep the end of the cantilever portion 412 away from the connecting portion 411 in abutting state with the slide rail surface 511, at this time, the support leg 32 is in the state of avoiding the walking surface 22. When the support arm 10 rotates relative to the chassis 50 to move the end of the cantilever portion 412 away from the connecting portion 411 from the third position to the fourth position, the slide rail 51 applies a pushing force in the first reverse direction away from the side of the slide rail 51 to the connecting portion 411 through the cantilever portion 412 to overcome the elastic force of the first elastic member 42 and move the connecting portion 411 from the second position to the first position.

[0187] Further, please refer to FIG. 1, FIG. 6 and FIG. 8, the linkage assembly 40 further comprises a first bearing 43, the first bearing 43 is arranged at the end of the cantilever portion 412 away from the connecting portion 411, and the cantilever portion 412 abuts against the outer ring of the first bearing 43, when the cantilever portion 412 slides relative to the slide rail 51, the first bearing 43 is used to reduce the friction between the cantilever portion 412 and the slide rail surface 511 and the friction noise generated. Specifically, the end of the cantilever portion 412 away from the connecting portion 411 is provided with a first mounting portion 4121 and a second mounting portion 4122 arranged at intervals, a space accommodating the first bearing 43 is formed between the first mounting portion 4121 and the second mounting portion 4122, the first mounting portion 4121 and the second mounting portion 4122 are respectively provided with oppositely arranged clamping grooves 4123, the clamping grooves 4123 are used to install a fixed shaft, the first bearing 43 is sleeved on the fixed shaft and the inner ring of the first bearing 43 is fixedly connected with the fixed shaft, and the outer ring of the first bearing 43 abuts against the guide rail surface.

[0188] As shown in FIG. 6 and FIG. 7, the connecting portion 411 is provided with a sliding groove 4111 extending in the first direction, the support arm 10 is provided with a sliding block 11 in sliding connection with the sliding groove 4111, the cross section of the sliding groove 4111 perpendicular to the first direction and the cross section of the sliding block 11 are both in T-shaped shape, the sliding block 11 is inserted into the sliding groove 4111 in the form of plug-in from one side of the sliding groove 4111 and can slide in the first direction in the sliding groove 4111, so as to realize the sliding connection of the linkage 41 and the support arm 10.

[0189] In the embodiment, as shown in FIG. 6, the walking wheel 20, the obstacle-crossing assembly 30, the linkage assembly 40 and the support arm 10 are sequentially arranged along the extension direction of the rotation axis, wherein the bracket 31 is connected with the walking wheel 20, the waist-shaped hole 414 with the through connection part 411 and the linkage part 413 along the extension direction of the rotation axis is arranged on the linkage 41, and the length direction of the waist-shaped hole 414 is parallel to the first direction. The obstacle-crossing mechanism 100 further has a driving shaft, the driving shaft is arranged through the waist-shaped hole 414, and the two ends of the driving shaft are respectively connected with the support arm 10 and the bracket 31. The bracket 31 and the walking wheel 20 are driven to rotate relative to the support arm 10 by the driving shaft, so that the bracket 31 and the walking wheel 20 can rotate around the rotation axis in the same direction, thereby driving the support leg 32 to rotate around the rotation axis in the same direction as the walking wheel 20, so as to drive the obstacle-crossing mechanism 100 to move on the running plane 800 and to be able to cross the obstacle 201.

[0190] In the embodiment, as shown in FIG. 4, FIG. 5 and FIG. 9, the obstacle-crossing assembly 30 further comprises a second elastic member 33, the two ends of the second elastic member 33 are respectively connected with the bracket 31 and the support leg 32 and are used to apply an elastic force towards the rotation axis to the support leg 32. Specifically, in the first position, the linkage 41 can overcome the elastic force of the second elastic member 33 to drive the support leg 32 to protrude from the running surface 22; in the process of driving the linkage part 413 to move from the first position to the second position by the connection part 411, the second elastic member 33 applies an elastic force towards the rotation axis to the support leg 32 to drive the support leg 32 to slide towards the rotation axis, thereby driving the support leg 32 to avoid the running surface 22.

[0191] In the embodiment, along the direction perpendicular to the rotation axis, at least part of the linkage part 413 can overlap with the end of the support leg 32 towards the rotation axis, and in the process of driving the support leg 32 to rotate around the linkage part 413 by the bracket 31, the linkage part 413 abuts against the end of the support leg 32 towards the rotation axis, thereby driving the support leg 32 to slide on the bracket 31 towards the side away from the rotation axis, so that the support leg 32 can protrude from the running surface 22.

[0192] In the embodiment, as shown in FIGS. 8, 9 and 10, the linkage part 413 has a cylindrical structure, the obstacle-surmounting assembly 30 includes a plurality of legs 32, each of which is sleeved with a second elastic member 33, and the plurality of legs 32 are sequentially and spacedly arranged around the linkage part 413. Since the plurality of legs 32 are sequentially and spacedly arranged around the rotation axis of the support 31, the linkage part 413 deviates from the rotation axis in the state that the connecting part 411 is located at the first position, so that part of the legs 32 are separated from the linkage part 413, and the part of the legs 32 can be rotated to the position abutting against the linkage part 413 under the driving of the support 31 and protrude out of the walking surface 22 under the action of the linkage part 413. The first distance between the axis of the linkage part 413 and the rotation axis in the first position is greater than the second distance between the axis of the linkage part 413 and the rotation axis in the second position, so that all the legs 32 are in the state of avoiding the walking surface 22 under the driving of the second elastic member 33 in the second position. In the embodiment, the linkage part 413 that protrudes the legs 32 is not a special-shaped cam but a cylinder, so that the profile is simple and the friction and wear are small, and the second bearing 44 can be sleeved outside the circular profile to replace the direct contact between the linkage part 413 and the legs 32, so as to further reduce the friction and wear.

[0193] In some embodiments, as shown in FIG. 5, in the second position, the linkage part 413 is located at the center of the support 31, that is, the axis of the linkage part 413 coincides with the rotation axis of the support 31 and the rotation axis 21 of the walking wheel 20.

[0194] Further, as shown in FIGS. 5, 6, 7, 8 and 9, the linkage assembly 40 further includes a second bearing 44, the second bearing 44 is sleeved on the linkage part 413, and the outer ring of the second bearing 44 is used to abut against the legs 32. The second bearing 44 is indirectly abutted against the legs 32, so that the friction between the linkage part 413 and the legs 32 is changed into the rolling friction of the second bearing 44, the friction resistance between the legs 32 and the linkage part 413 is reduced, and the friction noise and the wear of the legs 32 and the linkage part 413 during long-term operation are reduced.

[0195] When the obstacle-surmounting mechanism 100 does not surmount obstacles, as shown in FIGS. 1 and 5, the linkage part 413 of the linkage member 41 is in the second position, at this time, the legs 32 do not contact or have small contact force with the linkage part 413, the noise and wear are small, and the legs 32 do not protrude out of the walking surface 22 of the walking wheel 20, so that the probability of the legs 32 being hooked to foreign matters is reduced, and the reliability is high. When the obstacle-surmounting mechanism 100 is ready to surmount obstacles, as shown in FIGS. 2 and 4, the linkage part 413 of the linkage member 41 is in the first position, the linkage part 413 protrudes the ends of the legs 32 out of the walking surface 22 of the walking wheel 20, and assists in surmounting obstacles.

[0196] According to the embodiments of the present application, a self-walking robot is also provided, which comprises the obstacle-crossing mechanism 100 in the first aspect, and further comprises a power device (not shown in the figure) arranged on the chassis 50 or the support arm 10, and the power device is drivingly connected with the walking wheel 20 to drive the walking wheel 20 to rotate around the rotation axis.

[0197] Understandably, the self-walking robot can be a sweeping robot, a mopping robot or a lifesaving robot.

[0198] According to the embodiments of the present application, a cleaning system is also provided, which comprises a cleaning base station and a self-walking robot, the self-walking robot being a sweeping robot, the cleaning base station being provided with a containing cavity region for accommodating the self-walking robot, and the cleaning base station and the self-walking robot having a cooperating state and a separated state, in the cooperating state, the cleaning base station can implement one or more functions of charging, automatically washing a mop, automatically drying and automatically dust collecting on the self-walking robot.

[0199] In some embodiments, a self-moving robot 1 is provided, which comprises an obstacle-crossing mechanism. Please refer to FIG. 15 and FIG. 16, FIG. 15 is a structural schematic diagram of a first embodiment of the obstacle-crossing mechanism provided by the present application, and FIG. 16 is an exploded structural schematic diagram of the obstacle-crossing mechanism of the embodiment of FIG. 15. As shown in FIG. 15 and FIG. 16, the obstacle-crossing mechanism 100 comprises a driving module and an obstacle-crossing module, the driving module comprises a traveling wheel 1000, and the obstacle-crossing module comprises a compensation mechanism 2000.

[0200] As shown in FIG. 15 and FIG. 16, the contact surface of the traveling wheel 1000 is provided with an obstacle-crossing groove 13, and the compensation mechanism 2000 is movably arranged on the traveling wheel 1000, at least part of the compensation mechanism 2000 floats in the obstacle-crossing groove 13, and the floating direction is away from or towards the contact surface.

[0201] In the present embodiment, the contact surface of the traveling wheel 1000 is the surface of the traveling wheel 1000 that contacts with a traveling surface such as the ground when the traveling wheel 1000 is working, and generally, the contact surface is provided with tire patterns in order to prevent the traveling wheel 1000 from slipping.

[0202] In the present embodiment, the compensation mechanism 2000 of the present embodiment is movably arranged on the traveling wheel 1000. In addition, in order to improve the wear resistance of the obstacle-crossing groove 13 on the traveling wheel 1000, in the present embodiment, the side wall of the obstacle-crossing groove 13 is provided as a solid surface rather than a concave-convex pattern surface, and in other embodiments, the side wall of the obstacle-crossing groove 13 of the traveling wheel 1000 can also be provided with other wear-resistant materials, which are not limited herein.

[0203] Optionally, in the embodiment, during the working process of the obstacle-crossing mechanism 100, when the compensation mechanism 2000 does not contact the obstacle, the compensation mechanism 2000 is arranged flush with the contact surface, and when the compensation mechanism 2000 contacts the obstacle, the compensation mechanism 2000 is retracted into the obstacle-crossing groove 13.

[0204] That is, when the obstacle-crossing mechanism 100 encounters an obstacle, the obstacle pushes away the compensation mechanism 2000, the compensation mechanism 2000 is retracted into the obstacle-crossing groove 13, at this time, the obstacle is clamped by the obstacle-crossing groove 13, so that the obstacle-crossing mechanism 100 generates an upward climbing force, thereby improving the obstacle-crossing ability of the obstacle-crossing mechanism 100, and the obstacle-crossing mechanism 100 can cross higher obstacles. When not crossing obstacles, the compensation mechanism 2000 is not affected by the force of the obstacle, and is arranged to float towards the contact surface and flush with the contact surface, thereby increasing the smoothness of the contact surface and enabling the obstacle-crossing mechanism 100 to work normally.

[0205] Different from the prior art, the obstacle-crossing mechanism 100 of the present application comprises a traveling wheel 1000 and a compensation mechanism 2000, the contact surface of the traveling wheel 1000 is provided with an obstacle-crossing groove 13, and the compensation mechanism 2000 is movably arranged on the traveling wheel 1000. At least part of the compensation mechanism 2000 floats in the obstacle-crossing groove 13, and the floating direction is away from or towards the contact surface. In the above manner, the obstacle-crossing mechanism 100 of the present application is provided with the obstacle-crossing groove 13 on the contact surface of the traveling wheel 1000, and the compensation mechanism 2000 is movably arranged on the traveling wheel 1000. When an obstacle is encountered, the obstacle pushes away the compensation mechanism 2000 and is clamped by the obstacle-crossing groove 13, so that the obstacle-crossing mechanism 100 generates an upward climbing force, thereby improving the obstacle-crossing ability of the obstacle-crossing mechanism 100, and the obstacle-crossing mechanism 100 can cross higher obstacles. When not crossing obstacles, the compensation mechanism 2000 is not affected by the force of the obstacle, and is arranged to float towards the contact surface, thereby increasing the smoothness of the contact surface and enabling the obstacle-crossing mechanism 100 to work normally.

[0206] Optionally, based on the above embodiment, as shown in FIGS. 15 and 16, the traveling wheel 1000 comprises a tire 110 and a hub 120, the contact surface of the tire 110 is provided with the obstacle-crossing groove 13, and the tire 110 is sleeved on the outside of the hub 120, and the hub 120 is used to drive the tire 110 to rotate.

[0207] In the embodiment, the tire 110 is sleeved on the outside of the hub 120, and the hub 120 is used to drive the tire 110 to rotate; the compensation mechanism 2000 is arranged in the obstacle-crossing groove 13 and movably connected with the hub 120 or the tire 110, and at least part of the compensation mechanism 2000 floats in the obstacle-crossing groove 13, and the floating direction is away from or towards the contact surface.

[0208] Optionally, based on the above embodiment, in the embodiment, the obstacle-crossing groove 13 extends from the contact surface to the inside of the tire 110, and penetrates or does not penetrate the tire 110.

[0209] As shown in FIG. 15 and FIG. 16, in the embodiments of FIG. 15 and FIG. 16, the obstacle- crossing groove 13 extends from the contact surface to the inside of the tire 110 and penetrates the tire 110, and the obstacle-crossing groove 13 also penetrates the tire 110 in the direction parallel to the axial direction of the tire 110, i.e., in the embodiments of FIG. 15 and FIG. 16, the tire 110 is in a C shape, the tire 110 is broken, and the obstacle-crossing groove 13 is a receiving space formed at the broken place of the tire 110. In addition, because the obstacle-crossing groove 13 extends from the contact surface to the inside of the tire 110 and penetrates the tire 110, the compensation mechanism 2000 can be directly movably connected with the hub 120 at this time.

[0210] In other embodiments, the obstacle-crossing groove 13 can be arranged to extend from the contact surface to the inside of the tire 110 and not penetrate the tire 110; the obstacle-crossing groove 13 can also be arranged to not penetrate the tire 110 in the direction parallel to the axial direction of the tire 110.

[0211] In addition, if the contact surface is large enough, the obstacle-crossing groove 13 can also be arranged to extend from the contact surface to the inside of the tire 110 and not penetrate the tire 110 and not penetrate the tire 110 in the direction parallel to the axial direction of the tire 110.

[0212] When the obstacle-crossing groove 13 is arranged to extend from the contact surface to the inside of the tire 110 and not penetrate the tire 110, there is a barrier between the compensation mechanism 2000 and the hub 120 at this time, and the compensation mechanism 2000 can be movably connected with the tire 110 at this time.

[0213] That is, in the present application, the size of the obstacle-crossing groove 13 of the present application can be set based on actual conditions, which is not limited herein, and in addition, in the present application, the number, position and distribution of the obstacle-crossing groove 13 can also be set based on actual conditions, which is not limited herein.

[0214] Optionally, referring to FIG. 16 and FIG. 17, FIG. 17 is a structural schematic diagram of an embodiment of the compensation mechanism provided by the present application, as shown in FIG. 16 and FIG. 17, the compensation mechanism 2000 of the present embodiment includes a rotating shaft 21000, a compensation block 2200 and a reset member 230, the rotating shaft 21000 is arranged parallel to the axial direction of the tire 110; the first end 221 of the compensation block 2200 is movably connected with the hub 120 through the rotating shaft 21000, and the second end 222 of the compensation block 2200 floats in the obstacle-crossing groove 13; the reset member 230 is arranged between the hub 120 and the second end 222, and provides a reset force away from the hub 120 for the second end 222; when the reset member 230 is in a reset state, the side of the compensation block 2200 away from the hub 120 is arranged flush with the contact surface.

[0215] In the embodiment, when the reset member 230 is in the reset state, as shown in FIG. 16, the side of the compensation block 2200 away from the hub 120 is flush with the contact surface of the tire 110, so that the entire tire 110 is a perfect circle. Therefore, when the obstacle crossing mechanism 100 does not cross obstacles, the compensation block 2200 and the obstacle crossing groove 13 do not affect the normal operation of the obstacle crossing mechanism 100, and the structure is simple, the cost is low, and the reliability is high.

[0216] In addition, in the embodiment, the second end 222 of the compensation block 2200 is limited to float in the obstacle crossing groove 13, so that the second end 222 of the compensation block 2200 does not protrude from the contact surface to affect the normal operation of the obstacle crossing mechanism 100.

[0217] Optionally, as shown in FIG. 16, in the embodiment, the reset member 230 includes a torsion spring, the torsion spring is sleeved outside the rotating shaft 21000, and abuts against the hub 120 and the second end 222, respectively.

[0218] As shown in FIG. 16, the compensation block 2200 is rotationally connected to the hub 120 through the rotating shaft 21000. In the embodiment, the reset member 230 of the embodiment can be a torsion spring, the coil of the torsion spring is sleeved on the rotating shaft 21000, the end of the first spring shaft of the torsion spring abuts against the side of the second end 222 of the compensation block 2200 close to the hub 120, and the end of the second spring shaft of the torsion spring abuts against the hub 120. At this time, when not affected by external force, the torsion spring provides a reset force for the second end 222 of the compensation block 2200 away from the hub 120, so that the side of the compensation block 2200 away from the hub 120 is flush with the contact surface of the tire 110, that is, when the obstacle crossing mechanism 100 does not encounter obstacles, the compensation block 2200 remains the contact surface of the tire 110 to be circular under the action of the reset force of the torsion spring.

[0219] Optionally, as shown in FIG. 16, in the embodiment, the compensation mechanism 2000 further includes a damping member 240, and the damping member 240 is arranged on the side of the compensation block 2200 away from the hub 120.

[0220] In the embodiment, in order to further reduce the influence of the compensation block 2200 on the normal operation of the obstacle crossing mechanism 100, the damping member 240 is arranged on the side of the compensation block 2200 away from the hub 120. The arrangement of the damping member 240 can not only reduce the influence of the compensation block 2200 on the normal operation of the obstacle crossing mechanism 100, but also reduce the influence of external factors on the compensation block 2200, thereby reducing the possibility of damage to the compensation block 2200.

[0221] In addition, in the embodiment, the damping member 240 can be damping rubber, and the damping member 240 can be fixedly connected with the compensation block 2200 by using glue or a rubber coating process. In addition, the side of the damping member 240 away from the compensation block 2200 can be provided with anti-skid lines. In other embodiments, the damping member 240 can be made of other materials, and the damping member 240 can be fixedly connected with the compensation block by other connection manners, which are not limited herein.

[0222] Optionally, as shown in FIG. 16, in the embodiment, the hub 120 includes a left half hub 1201 and a right half hub 1202, and the left half hub 1201 and the right half hub 1202 are fixedly connected by a connecting member.

[0223] In the embodiment, the connecting member can be a screw, and in other embodiments, other connecting members can be used to fixedly connect the left half hub 1201 and the right half hub 1202, which are not limited herein.

[0224] Optionally, as shown in FIG. 16, the left half hub 1201 is provided with a first extension 1211, and the right half hub 1202 is provided with a second extension 1221. The first extension 1211 and the second extension 1221 are arranged in the obstacle surmounting groove 13, and the compensation block 2200 is partially arranged between the first extension 1211 and the second extension 1221.

[0225] As shown in FIG. 16, the first extension 1211 is provided with a first through hole 1212, and the second extension 1221 is provided with a second through hole 1222. As shown in FIG. 17, the first end 221 of the compensation block 2200 is provided with two protrusions arranged along the axial direction of the rotating shaft 21000, and the two protrusions are provided with a third through hole 223.

[0226] In addition, in the embodiment, a receiving space is arranged between the two protrusions of the first end 221 of the compensation block 2200, and the receiving space is used for receiving a reset member 230, so that the stability of the reset of the compensation block 2200 can be improved.

[0227] Optionally, as shown in FIG. 17, in the embodiment, the area of the end face of the first end 221 of the compensation block 2200 away from the hub 120 is protrudingly arranged relative to the area of the end face of the first end 221 of the compensation block 2200 close to the hub 120, so that the end face of the first end 221 of the compensation block 2200 is in abutment with the side wall of the obstacle surmounting groove 13 when the compensation block 2200 is in the reset state.

[0228] In order to avoid the second end 222 of the compensation block 2200 rotating the protruding tire surface to affect the normal operation of the obstacle crossing mechanism 100, the end surface of the first end 221 of the compensation block 2200 is arranged to protrude away from the area of the hub 120 relative to the area close to the hub 120, so that the end surface of the first end 221 of the compensation block 2200 is in abutment with the side wall of the obstacle crossing groove 13 in the reset state, thereby preventing the compensation block 2200 from rotating the protruding tire surface clockwise.

[0229] Alternatively, the present application further provides an obstacle crossing mechanism, please refer to FIG. 18 to FIG. 19, FIG. 18 is a structural schematic diagram of the second embodiment of the obstacle crossing mechanism provided by the present application, and FIG. 19 is an exploded structural schematic diagram of the obstacle crossing mechanism of the embodiment of FIG. 18. As shown in FIG. 18 and FIG. 19, the obstacle crossing mechanism 100 of the present embodiment comprises a reduction box mechanism 3000, and the running wheel 1000 is installed at the output shaft end of the reduction box mechanism 3000.

[0230] In the present embodiment, the output shaft of the reduction box mechanism 3000 is rotationally connected with the hub 120 of the running wheel 1000, for controlling the rotating speed of the running wheel 1000.

[0231] Please refer to FIG. 20, which is a working state schematic diagram of the running wheel when the obstacle crossing mechanism encounters an obstacle. As shown in FIG. 20, when the obstacle crossing mechanism 100 encounters a vertical obstacle, the obstacle will push open the compensation mechanism 2000 in the obstacle crossing groove 13, at this time, the side wall of the obstacle crossing groove 13 will be clamped on the edge of the obstacle, so that the running wheel 1000 generates an upward climbing force, thereby helping the obstacle crossing mechanism 100 to realize obstacle crossing.

[0232] Alternatively, as shown in FIG. 19, the obstacle crossing mechanism 100 of the present embodiment further comprises a support 400, which extends along the direction of gravity, so that when the compensation mechanism 2000 is in abutment with the running surface such as the ground, the support 400 is in abutment with the compensation mechanism 2000.

[0233] As shown in FIG. 19, in the embodiment, the support 400 includes a support portion 410, a roller 4202 and a pin shaft 430. The support portion 410 extends along the direction of gravity and is provided with a support hole. The roller 4202 contains a bearing, and the inner hole of the bearing is in interference fit with the thin end of the pin shaft 430, which can effectively reduce the axial space. The thick end of the pin shaft 430 is in interference fit with the support hole of the support portion 410, which supports the roller 4202. When the traveling wheel 1000 is installed at the output shaft end of the reduction box mechanism 3000, the side of the compensation mechanism 2000 away from the hub 120 is arranged flush with the tire surface under the action of the reset member 230 when it does not contact the ground or other traveling surface or obstacles. When the compensation mechanism 2000 contacts the ground or other traveling surface, the roller 4202 will be in contact with the side of the compensation mechanism 2000, which prevents the compensation mechanism 2000 from swinging towards the hub 120 under the action of gravity, thereby ensuring that the contour of the traveling wheel 1000 is always circular, which makes the traveling wheel 1000 transition smoothly and ensures the smooth operation of the obstacle crossing mechanism 100.

[0234] In addition, in the embodiment, the roller 4202 and the compensation block 2200 are in an inscribed circle relationship, so the engagement and support of the roller 4202 and the compensation block 2200 are not affected.

[0235] In other embodiments, the extension direction of the support 400 can also deviate slightly from the direction of gravity, as long as the compensation block 2200 can abut against the ground or other traveling surface when it abuts against the compensation block 2200, which is not limited herein. In addition, the connection mode of the roller 4202 and the support portion 410 is not limited to the pin shaft and interference fit.

[0236] Please refer to FIG. 21, which is a state diagram of the working process of the traveling wheel when the obstacle crossing mechanism is not crossing obstacles. As shown in FIG. 21, when the obstacle crossing mechanism 100 is not crossing obstacles for work, the compensation block 2200 will rotate to the lowermost end of the traveling wheel 1000, and the support 400 will be in contact with the side of the compensation block 2200, which prevents the compensation block 2200 from swinging towards the hub 120 under the action of gravity, thereby ensuring that the contour of the traveling wheel 1000 is always circular, which makes the traveling wheel 1000 transition smoothly and ensures the smooth operation of the obstacle crossing mechanism 100. When the compensation block 2200 is at the lowermost end of the traveling wheel 1000, the compensation block 2200 is subjected to the greatest force. When the compensation block 2200 is about to rotate out of the wheel, the support 400 will be separated from the side of the compensation block 2200, and at this time the compensation block 2200 will keep the contour of the traveling wheel 1000 always circular under the action of the reset member 230.

[0237] Optionally, the application further provides a robot. Please refer to FIG. 22, which is a structural diagram of an embodiment of the robot provided by the application. As shown in FIG. 22, the self-walking robot 1 of the embodiment includes the obstacle crossing mechanism 100 of any one of the above embodiments.

[0238] In the present embodiment, the robot of the present embodiment can be a cleaning robot, as shown in FIG. 22, the self-moving robot 1 of the present embodiment comprises a body 1100, an obstacle surmounting mechanism 100 and universal wheels 220, the aforementioned obstacle surmounting mechanism 100 is fixedly arranged at the bottom of the body 1100; the universal wheels 220 and the traveling wheels 1000 in the obstacle surmounting mechanism 100 are sequentially arranged from front to back at the bottom of the body 1100.

[0239] In some embodiments, a self-moving robot 1 is provided, as shown in FIGS. 23, 24 and 25, the self-moving robot 1 comprises a body 1100, a driving module and an obstacle surmounting module, the obstacle surmounting module comprises a guiding mechanism 200, the driving module comprises a driving mechanism 310, the guiding mechanism 200 is arranged at the front end of the body 1100, and the guiding mechanism 200 is used to first contact the obstacle 300 located in front of the self-moving robot 1 during the movement of the self-moving robot 1, and at least guide the front end of the body 1100 to surmount the obstacle 300. The front end of the body 1100 refers to the front end in the moving direction of the body 1100, and the arrangement of the guiding mechanism 200 at the front end of the body 1100 makes the guiding mechanism 200 first contact the obstacle 300 when the self-moving robot 1 collides with the obstacle 300, which can prevent the body 1100 from being damaged, and on the other hand, the guiding mechanism 200 is also used to guide and lift the front end of the body 1100 after contacting the obstacle 300, so that the front end of the body 1100 is lifted relative to the working surface 2001 and is lifted to the top of the obstacle 300, so that the front end of the body 1100 surmounts the obstacle 300.

[0240] Specifically, as shown in FIGS. 23, 24 and 28, the driving mechanism 310 is arranged at the bottom of the body 1100, and the driving mechanism 310 comprises a support arm 3101 and a driving wheel 320 rotatable relative to the body 1100, and the driving wheel 320 is used to drive the body 1100 to move on the working surface 2001. The guiding mechanism 200 is provided with at least one guiding surface 210, and the guiding surface 210 is configured as an inclined surface extending from the front end of the body 1100 towards the bottom of the body 1100, and the guiding surface 210 is substantially the outer contour surface of the self-moving robot 1. Understandably, when the self-moving robot 1 contacts the obstacle 300, the guiding surface 210 can abut against the obstacle 300, and the driving wheel 320 continuously delivers driving force to the body 1100 to drive the body 1100 to move to the other side of the obstacle 300, under the driving force of the driving wheel 320, the guiding surface 210 slides relative to the obstacle 300 to the other side of the obstacle 300, and under the guiding action of the guiding surface 210, the head of the body 1100 is lifted until the head of the body 1100 is lifted to the top of the obstacle 300, and at the same time, the ground clearance of the bottom of the body 1100 is improved to assist the driving wheel 320 to more smoothly surmount the obstacle 300.

[0241] In this embodiment, the support arm 3101 is movably arranged on the body 1100. The support arm 3101 and the body 1100 can be connected in different manners according to requirements, for example, the support arm 3101 and the body 1100 are connected in a relative sliding manner, or the support arm 3101 and the body 1100 are connected in a relative rotating manner through a rotating shaft, so that the support arm 3101 can drive the driving wheel 320 to approach or move away from the body 1100 through sliding or rotating relative to the body 1100, thereby adjusting the distance between the driving wheel 320 and the body 1100 according to the size of the ground clearance of the body 1100, and ensuring that the driving wheel 320 always contacts the working surface 2001 to drive the self-walking robot 1 to move on the working surface 2001.

[0242] According to the self-walking robot 1 of the present application, the front end of the body 1100 is lifted to the top of the obstacle 300 under the guidance of the guide mechanism 200 and the guide surface 210 in the guide mechanism 200, moves to the other side of the obstacle 300 under the driving of the driving wheel 320, and overcomes the obstacle 300 such as a step by using the driving wheel 320. Compared with the prior art, the self-walking robot 1 of the present application has the ability to overcome obstacles 300 such as steps, because the guide mechanism 200 is arranged at the front end of the body 1100, and the arrangement position of the guide mechanism 200 is higher than the bottom of the body 1100.

[0243] It should be noted that the front end of the body 1100 refers to the front end in the moving direction of the body 1100. The front end of the body 1100 can be only one end of the body 1100 in the moving direction, or the front end of the body 1100 can be both ends of the body 1100 in the moving direction. Understandably, when the front end of the body 1100 is only one end of the body 1100 in the moving direction, the self-walking robot 1 is provided with the guide mechanism 200 at only one end of the body 1100, and the self-walking robot 1 can overcome obstacles 300 in a single direction by using the guide mechanism 200. When the front end of the body 1100 is both ends of the body 1100 in the moving direction, one guide mechanism 200 is arranged at each end of the self-walking robot 1 in the moving direction of the self-walking robot 1. When moving in either of the two opposite directions, the self-walking robot 1 can overcome obstacles 300 by using the guide mechanism 200.

[0244] In this embodiment, as shown in FIG. 23 and FIG. 28, the guide mechanism 200 includes a front impact assembly 2100 and a universal wheel 220. The front impact assembly 2100 is arranged at the front end of the body 1100, i.e. the front impact assembly 2100 is arranged at the front end of the direction in which the self-walking robot 1 moves, so that when the self-walking robot 1 collides with the obstacle 300, the front impact assembly 2100 will first contact and collide with the obstacle 300 and be extruded, thereby preventing the body 1100 from being damaged. The universal wheel 220 is arranged at the bottom of the body 1100 between the driving wheel 320 and the front end of the body 1100, and the universal wheel 220 is configured to rotate 360° relative to the body 1100, thereby facilitating the body 1100 to change the direction of movement. The guide surface 210 extends obliquely from the front end of the front impact assembly 2100 towards the universal wheel 220, and the side of the guide surface 210 towards the front end is farther away from the working surface than the end of the guide surface 210 towards the universal wheel 220. After the front impact assembly 2100 first contacts the obstacle 300, the guide surface 210 contacts the obstacle 300, and under the driving force of the driving wheel 320, the obstacle 300 slides relative to the self-walking robot 1 from the front end of the front impact assembly 2100 to the side of the guide wheel 212 under the guidance of the guide surface 210, thereby gradually lifting the front end of the body 1100 to increase the ground clearance of the front end of the body 1100, until the universal wheel 220 contacts the obstacle 300 and makes the universal wheel 220 overcome the obstacle 300.

[0245] In some embodiments, as shown in FIG. 23, FIG. 24 and FIG. 28, the front collision assembly 2100 includes a front collision guard 211 and a guide wheel 212. The front collision guard 211 is arranged at the front end of the body 1100 around the edge of the body 1100. The front collision guard 211 is an arc-shaped plate body, covering the front end of the body 1100 and the area near the two sides of the front end of the body 1100. The front collision guard 211 is connected with the outer contour of the body 1100, so that the front collision guard 211 and the body 1100 can be better integrated into a whole, and the front collision guard 211 can reliably protect the body 1100, avoid the body 1100 from being hit, and improve the overall appearance quality of the self-walking robot 1. The arc top area of the front end of the front collision guard 211 has a receiving groove, and the guide wheel 212 is rotatably arranged in the receiving groove. At least part of the outer periphery of the guide wheel 212 is located outside the receiving groove and protrudes from the front end of the front collision guard 211, so that the guide wheel 212 first contacts the obstacle 300 during movement of the self-walking robot 1. In the case that the driving wheel 320 continuously drives the body 1100 to move, the guide wheel 212 can rotate relative to the obstacle 300. On the one hand, the guide wheel 212 lifts the body 1100 by the interaction force with the obstacle 300. On the other hand, the guide wheel 212 reduces the friction noise generated when the guide mechanism 200 contacts the obstacle 300 by the rolling friction with the obstacle 300. The at least one guide surface 210 includes a first guide surface 2101 arranged on the front collision guard 211. The first guide surface 2101 is located on the side of the guide wheel 212 facing the universal wheel 220, and the first guide surface 2101 is tangent to the outer periphery of the guide wheel 212, so as to facilitate smooth sliding of the body 1100 on the obstacle 300. When the body 1100 continuously moves under the driving action of the driving wheel 320 to make the obstacle 300 disengage from the guide wheel 212, the first guide surface 2101 smoothly slides to the top of the obstacle 300, so as to continue to lift the front end of the body 1100. In this embodiment, the guide wheel 212 is not limited to a circular shape, and any structure that can roll and play a guiding and lifting role is within the protection scope.

[0246] In the embodiment, as shown in FIG. 23, the guide mechanism 200 further comprises a bottom guard plate 23, which is an annular plate body, and is annularly arranged at the bottom edge of the machine body 1100. The bottom guard plate 23 is connected with the outer contour of the machine body 1100 in a fit manner, so that the bottom guard plate 23 and the machine body 1100 can be better integrated into a whole, and the machine body 1100 can be reliably protected by the bottom guard plate 23 to avoid being impacted by the low-height obstacle 300 at the bottom. From the top to the bottom of the machine body 1100, the outer diameter of the bottom guard plate 23 changes from large to small, so that the outer contour of the bottom guard plate 23 is a conical surface. When the bottom guard plate 23 abuts against the low-height obstacle 300, the machine body 1100 can be lifted to the top of the obstacle 300 under the guidance of the conical surface of the bottom guard plate 23, so as to facilitate the auxiliary driving wheel 320 to cross the obstacle 300. In the embodiment, the guide mechanism 200 comprises a plurality of guide surfaces 210, which means that the number of the guide surfaces 210 is greater than or equal to two. The plurality of guide surfaces 210 comprise a first guide surface 2101 arranged on the front impact guard plate 211 and a second guide surface 2102 arranged at the front end of the bottom guard plate 23.

[0247] In some embodiments, the first guide surface 2101 is parallel to the second guide surface 2102 (not shown in the figure), and the extension of the first guide surface 2101 coincides with the second guide surface 2102, so as to facilitate the second guide surface 2102 to more smoothly slide to the top of the obstacle 300 after the first guide surface 2101 is separated from the obstacle 300.

[0248] In other embodiments, as shown in FIGS. 28 and 30, the second guide surface 2102 intersects the first guide surface 2101, and the intersection position of the second guide surface 2102 and the first guide surface 2101 is located at the front end of the bottom guard plate. As shown in FIG. 22, the intersection position can be represented as the intersection of the extension line of the second guide surface 2102 and the extension line of the first guide surface 2101 at the front end of the bottom guard plate 23. When the self-walking robot 1 encounters a large obstacle 300, the front impact guard plate 211 first lifts up along the tangent of the guide wheel 212 and the first guide surface 2101, and then lifts up along the tangent of the second guide surface 2102, and finally the head of the self-walking robot 1 is located above the obstacle 300, and the head lifting is completed.

[0249] Further, as shown in FIG. 23, the guide mechanism 200 further comprises a universal wheel support 24 provided at the bottom of the body 1100, and the universal wheel 220 is rotatably provided on the universal wheel support 24. The plurality of guide surfaces 210 further comprises a fourth guide surface 2104 provided at the front end of the universal wheel support 24. One end of the fourth guide surface 2104 is intersected with the second guide surface 2102, and the other end of the fourth guide surface 2104 extends obliquely towards the universal wheel 220, that is, the fourth guide surface 2104 is arranged farther away from the working surface at the side of the front end than at the side of the universal wheel; or the fourth guide surface 2104 is arranged coplanarly with the second guide surface 2102. After the second guide surface 2102 is separated from the obstacle 300, the fourth guide surface 2104 is used to continue sliding on the obstacle 300 to continue lifting the body 1100 along the fourth guide surface 2104 until the front end of the body 1100 exceeds the top of the obstacle 300.

[0250] In some embodiments, as shown in FIGS. 28 and 29, the front impact assembly 2100 comprises a front impact guard 211 and a guide 213. The front impact guard 211 is arranged around the edge of the body 1100 at the front end of the body 1100. The front impact guard 211 is an arc-shaped plate body, which covers the front end of the body 1100 and the area close to the two sides of the front end of the body 1100, and is connected with the outer contour of the body 1100 in a fit manner, so that the front impact guard 211 and the body 1100 can be better integrated into a whole, and the front impact guard 211 can reliably protect the body 1100 from being impacted and improve the overall appearance quality of the self-walking robot 1. The arc top area of the front impact guard 211 towards the front end has a mounting portion, and the guide 213 is fixedly mounted on the mounting portion. The guide 213 is a plate body structure with a triangular cross section, and at least one guide surface 210 comprises a third guide surface 2103 provided at the front end of the guide 213. During movement of the self-walking robot 1, the guide 213 first contacts the obstacle 300, and the third guide surface 2103 is used to lift the body 1100 by the interaction force with the obstacle 300 under the condition that the driving wheel 320 continuously drives the body 1100 to move, so that the front end of the body 1100 is lifted.

[0251] Further, the guiding mechanism 200 further comprises a bottom guard plate 23, which is an annular plate body, the bottom guard plate 23 is annularly arranged at the bottom edge of the machine body 1100, and the bottom guard plate 23 is connected with the outer contour of the machine body 1100 in a fit manner, so that the bottom guard plate 23 and the machine body 1100 can be better integrated into a whole, and the machine body 1100 can be reliably protected by the bottom guard plate 23, avoiding that the bottom of the machine body 1100 is impacted by the low obstacle 300. From the top to the bottom of the machine body 1100, the outer diameter of the bottom guard plate 23 changes from large to small, so that the outer contour of the bottom guard plate 23 is a conical surface, so as to facilitate lifting the machine body 1100 to the top of the obstacle 300 under the guiding action of the conical surface of the bottom guard plate 23 when the bottom guard plate 23 abuts against the low obstacle 300, thereby facilitating the auxiliary driving wheel 320 to cross the obstacle 300. In the embodiment, the guiding mechanism 200 comprises a plurality of guiding surfaces 210, which means more than or equal to two, wherein the plurality of guiding surfaces 210 comprises a third guiding surface 2103 arranged on the guiding piece 213, and a second guiding surface 2102 arranged at the front end of the bottom guard plate 23.

[0252] In some embodiments, the third guiding surface 2103 is parallel to the second guiding surface 2102 (not shown in the figure), and the extension surface of the third guiding surface 2103 coincides with the second guiding surface 2102, so as to facilitate the second guiding surface 2102 to more smoothly slide to the top of the obstacle 300 after the third guiding surface 2103 is separated from the obstacle 300.

[0253] In other embodiments, as shown in FIG. 29, the second guiding surface 2102 intersects the third guiding surface 2103, and the intersection point of the extension line of the second guiding surface 2102 and the extension line of the third guiding surface 2103 is located at the front end of the bottom guard plate 23. When the self-walking robot 1 encounters a larger obstacle 300, the front bumper 211 first lifts the head upward along the tangent line of the guiding wheel 212 and the third guiding surface 2103, and then lifts the head along the tangent line of the second guiding surface 2102, and finally the head of the self-walking robot 1 is located above the obstacle 300, completing the head lifting.

[0254] In some embodiments of the present application, as shown in FIGS. 26, 27 and 28, the driving wheel 320 comprises a hub 321, a plurality of spokes 322 and a crown 323, the crown 323 is annularly arranged outside the hub 321, the plurality of spokes 322 are annularly and sequentially arranged between the crown 323 and the hub 321 along the circumferential direction of the hub 321, the spoke 322 has opposite first and second ends 3221 and 3222, the first end 3221 is connected with the hub 321, and the second end 3222 is connected with the crown 323, and the spoke 322 and the crown 323 are both elastic members. In this embodiment, since the distance between the hub 321 and the crown 323 is large, the spoke 322 has a large deformable space, and the driving wheel 320 is in surface contact with the ground after being pressed, so that the ground adhesion is strong. When encountering irregular, cylindrical or arc-shaped obstacles 300, the tread of the crown 323 can better adhere to the surface of the obstacle 300 through deformation, so as to increase the friction and improve the ability of the self-walking robot 1 to overcome the obstacles 300.

[0255] In some embodiments, as shown in FIGS. 27 and 28, the distance L between the inner annular surface of the crown 323 and the outer circumferential surface of the hub 321 is greater than or equal to the radius r of the hub 321, so that the spoke 322 has a large deformable space when the driving wheel 320 is pressed, thereby increasing the contact area between the driving wheel 320 and the working surface 2001 and the obstacle 300, and better adhering to the surface of the obstacle 300, and improving the obstacle-crossing performance of the driving wheel 320.

[0256] Further, as shown in FIGS. 26, 27 and 28, the spoke 322 has a long strip-shaped plate structure, the length direction of the spoke 322 is arranged transversely to the radial direction of the driving wheel 320, and along the radial direction of the driving wheel 320, the second end 3222 of each spoke 322 is deflected toward the same direction relative to the first end 3221, so that the spoke 322 forms an included angle with the radial direction of the driving wheel 320. When the crown 323 contacts the obstacle 300, the obstacle 300 applies a pressure to the crown 323 toward the rotation axis of the driving wheel 320, and the spoke 322 is arranged transversely to the radial direction of the driving wheel 320, so that the pressure applied to the second end 3222 of the spoke 322 at the position opposite to the obstacle 300 also forms an included angle greater than zero with the spoke 322, thereby making the bending deformation amplitude of the spoke 322 under the pressure larger, so as to increase the overall deformation degree of the driving wheel 320, increase the contact area between the driving wheel 320 and the ground and the circular obstacle 300, improve the ground adhesion, and increase the friction when moving relatively, thereby improving the ability of the self-walking robot 1 to overcome the obstacle 300.

[0257] Further, in some embodiments, as shown in FIG. 26, FIG. 27 and FIG. 28, the spokes 322 are curved to reduce the included angle between the second end 3222 of the spokes 322 and the inner circumferential surface of the crown 323, so that when the crown 323 contacts the obstacle 300, the pressure on the second end 3222 of the spokes 322 at the position opposite to the obstacle 300 has a larger value, thereby further increasing the bending degree of the spokes 322 under the same pressure, so that the spokes 322 have a larger deformable space.

[0258] Further, as shown in FIG. 26, FIG. 27 and FIG. 28, the driving wheel 320 further comprises a plurality of raised patterns 324 arranged on the outer circumferential surface of the crown 323 in sequence along the circumferential direction of the crown 323. On the one hand, the plurality of raised patterns 324 arranged on the outer circumferential surface of the crown 323 increase the roughness of the outer circumferential surface of the driving wheel 320, increase the grip and friction between the driving wheel 320 and the working surface 2001, and reduce the probability of slippage of the driving wheel 320, so that the self-walking robot 1 has better passability. On the other hand, when the self-walking robot 1 crosses the obstacle 300 with a height dimension higher than the axis of the driving wheel 320, after the driving wheel 320 is extruded by the obstacle 300, the tread located above the obstacle 300 will slightly extend to the rear of the obstacle 300, and the side wall of the raised pattern 324 located above the obstacle 300 can contact and engage with the top of the obstacle 300, thereby providing a fulcrum for the driving wheel 320 to cross the obstacle 300, so that the driving wheel 320 can vertically climb over the obstacle 300 with a height higher than the axis of the driving wheel 320.

[0259] In this embodiment, as shown in FIG. 26, FIG. 27 and FIG. 28, each raised pattern 324 is arranged opposite to the second end 3222 of a spoke 322 along the radial direction of the driving wheel 320, and the raised pattern 324 comprises at least one raised pattern 3241. By arranging one raised pattern 324 corresponding to each spoke 322, when part of the spokes 322 are extruded and bent by the obstacle 300 so that the corresponding raised pattern 324 is recessed towards the axis of the driving wheel 320, the spokes 322 adjacent to the deformed spoke 322 and not directly extruded by the obstacle 300 can provide support force to the crown 323 and the raised pattern 324 opposite thereto, thereby increasing the height difference between the two adjacent raised patterns 324 (one extruded by the obstacle 300 and the other not extruded by the obstacle 300), so that the side wall of the raised pattern 324 located above the obstacle 300 (the two raised patterns 324 not extruded by the obstacle 300) can contact and engage with the top of the obstacle 300, thereby improving the obstacle crossing ability of the self-walking robot 1.

[0260] In the embodiment, the driving wheel 320 can be a metal piece or a non-metal piece, and can be made of any material having elastic deformation performance.

[0261] The self-walking robot 1 provided in the application includes but is not limited to a sweeping robot, a mopping robot or a rescue robot.

[0262] The self-walking robot 1 provided in the application has the following advantages: the guiding mechanism 200 is used to assist the self-walking robot 1 to lift the head to assist the driving wheel 320 to overcome the obstacle 300, the structure is simple, the cost is low and the reliability is high; the driving force having high elastic deformation performance is arranged to improve the gripping force and the adhesion force, and the obstacle overcoming ability for the cylindrical or arc-shaped object is improved; the large elastic driving wheel 320 can also be used to overcome the obstacle 300 higher than the height of the shaft center of the self-walking robot 1, so that the wheel has a certain vertical climbing ability.

[0263] According to the second aspect of the application, a cleaning system is also provided, which includes a cleaning base station and a self-walking robot. The self-walking robot is a sweeping robot. The cleaning base station is provided with a cavity area for accommodating the self-walking robot. The cleaning base station and the self-walking robot have a cooperation state and a separation state. In the cooperation state, the cleaning base station can implement one or more functions of charging, automatic washing of mop, automatic drying and automatic dust collection on the self-walking robot.

[0264] In some embodiments, a tilting obstacle overcoming method is provided. Please refer to FIG. 31, which is a flowchart of a first embodiment of the tilting obstacle overcoming method provided in the application. In the embodiment, the tilting obstacle overcoming method can be applied to a self-moving robot,

[0265] The self-moving robot includes a driving module, an obstacle overcoming module, a body and a controller. The driving module includes two driving wheels. The obstacle overcoming module includes a slanted groove arranged on the driving wheel. The tire surface of each driving wheel is provided with the slanted groove.

[0266] As shown in FIG. 31, the tilting obstacle overcoming method includes steps S101 to S104.

[0267] In step S101, in response to the robot encountering an obstacle, the robot is controlled to start the tilting obstacle overcoming mode.

[0268] Please refer to FIG. 32, which is a structural schematic diagram of a first embodiment of the robot provided in the application. As shown in FIG. 32, the self-walking robot 1 includes a body 1100 and two driving wheels 1200 arranged on the two sides of the body respectively. The tire surface of the driving wheel 1200 is provided with a slanted groove 130.

[0269] In the present embodiment, when the self-walking robot 1 encounters an obstacle during walking, the self-walking robot 1 can be controlled to start the tilting obstacle-crossing mode.

[0270] Step S102: In the tilting obstacle-crossing mode, one of the two driving wheels is controlled to reverse, so that the line between the two driving wheels is arranged at an angle with the outer surface of the obstacle.

[0271] When the self-walking robot 1 starts the tilting obstacle-crossing mode, the self-walking robot 1 can control one of the two driving wheels 1200 to reverse, that is, control one side of the self-walking robot 1 to retreat a certain distance, so that the line between the two driving wheels 1200 is arranged at an angle with the outer surface of the obstacle. In the present embodiment, the angle can be set to 0-30°, and in other embodiments, the size of the angle can be set based on actual conditions, which is not limited here.

[0272] Step S103: The other one of the two driving wheels is controlled to rotate forward, so that the inclined groove on the other one of the two driving wheels is clamped with the obstacle and crosses the obstacle under the action of driving force.

[0273] After the robot controls one of the two driving wheels 1200 to reverse, that is, controls one side of the self-walking robot 1 to retreat a certain distance, the other one of the two driving wheels 1200 is then controlled to rotate forward. During the forward rotation, the inclined groove 130 on the other one of the two driving wheels 1200 is clamped with the obstacle, and at this time, the driving wheel 1200 will cross the obstacle under the action of driving force.

[0274] Step S104: The driving wheel that has crossed the obstacle is controlled to stop rotating, and the driving wheel that has not crossed the obstacle is controlled to rotate forward, so that the inclined groove of the driving wheel that has not crossed the obstacle is clamped with the obstacle and crosses the obstacle under the action of driving force.

[0275] When one of the two driving wheels 1200 crosses the obstacle, it can be controlled to stop rotating, and at this time, the driving wheel 1200 that has not crossed the obstacle is controlled to rotate forward, so that the inclined groove of the driving wheel 1200 that has not crossed the obstacle is clamped with the obstacle and crosses the obstacle under the action of driving force.

[0276] In the present embodiment, the tilting obstacle-crossing mode can be divided into left tilting obstacle-crossing mode and right tilting obstacle-crossing mode. When the self-walking robot 1 has a wall or obstacle on the right side, the self-walking robot 1 adopts the left tilting obstacle-crossing mode; when the self-walking robot 1 has a wall or obstacle on the left side, the self-walking robot 1 adopts the right tilting obstacle-crossing mode, wherein the obstacle-crossing principles of the left tilting obstacle-crossing mode and the right tilting obstacle-crossing mode are similar.

[0277] Taking the left inclined obstacle crossing mode as an example, please refer to FIG. 33, which is a process diagram of an embodiment of the robot crossing an obstacle in the left inclined obstacle crossing mode. As shown in (a) of FIG. 33, when the self-walking robot 1 crosses an obstacle, the head of the self-walking robot 1 needs to be lifted first so that the head can cross the obstacle, and then the self-walking robot 1 can continue to move forward, as shown in (b) of FIG. 33, until the driving wheels 1200 are close to the obstacle and slide along the side of the obstacle for a certain period of time, and then the self-walking robot 1 can control the left driving wheel 1200 to reverse, that is, control the self-walking robot 1 to retreat a certain distance on the left side, so that the line between the driving wheels 1200 is arranged at an angle with the outer surface of the obstacle; at this time, as shown in (c) of FIG. 33, the self-walking robot 1 can control the right driving wheel 1200 to rotate forward, so that the inclined groove 130 on the right driving wheel 1200 is clamped with the obstacle, and under the action of the driving force, the obstacle is crossed. Finally, as shown in (d) of FIG. 33, the self-walking robot 1 controls the right driving wheel 1200 to stop rotating, and controls the left driving wheel 1200 to rotate forward, so that the inclined groove 130 of the left driving wheel 1200 is clamped with the obstacle, and under the action of the driving force, the obstacle is crossed.

[0278] In the embodiment, the self-walking robot 1 of the embodiment can reduce the possibility of collision of the body 1100 of the self-walking robot 1 in the obstacle crossing process by the asynchronous obstacle crossing mode, that is, the possibility of collision between the head of the self-walking robot 1 and the ground in the obstacle crossing process can be reduced, and the noise in the obstacle crossing process of the self-walking robot 1 is also reduced, and the possibility of damage to the precise sensor on the self-walking robot 1 is also reduced.

[0279] Differently from the prior art, the tilting obstacle crossing method of the application comprises: in response to the self-moving robot 1 encountering an obstacle, controlling the self-moving robot 1 to enable the tilting obstacle crossing mode; in the tilting obstacle crossing mode, controlling one of the two drive wheels 1200 to reverse, so that the line between the two drive wheels 1200 is arranged at an angle with the outer surface of the obstacle; controlling the other of the two drive wheels 1200 to rotate forward, so that the inclined groove 130 on the other of the two drive wheels is clamped with the obstacle and crosses the obstacle under the action of driving force; controlling the drive wheel 1200 that has crossed the obstacle to stop rotating, and controlling the drive wheel 1200 that has not crossed the obstacle to rotate forward, so that the inclined groove 130 of the drive wheel 1200 that has not crossed the obstacle is clamped with the obstacle and crosses the obstacle under the action of driving force. In the above manner, the application sets the inclined groove 130 on the tire surface of the drive wheel 1200, and controls one of the drive wheels 1200 to reverse and then controls the other drive wheel 1200 to rotate forward, so as to clamp the inclined groove of the other drive wheel 1200 with the obstacle, which can increase the climbing ability of the drive wheel 1200 on the obstacle and improve the obstacle crossing ability; and the tilting obstacle crossing method of the application adopts an asynchronous obstacle crossing mode, which can improve the problem that the robot head of the self-moving robot 1 is lifted high, and the robot head is heavily landed after the drive wheel 1200 crosses the obstacle, can reduce the possibility of collision of the robot body 1100 during the obstacle crossing process of the self-moving robot 1, and can further improve the obstacle crossing ability of the self-moving robot 1.

[0280] Optionally, based on the embodiment of FIG. 31, referring to FIG. 34, FIG. 34 is a flowchart of a second embodiment of the tilting obstacle crossing method provided by the application. As shown in FIG. 34, after the robot crosses the obstacle, the tilting obstacle crossing method of the embodiment further comprises steps S201 to S202:

[0281] Step S201: determining whether the robot crosses the obstacle successfully.

[0282] After the self-moving robot 1 crosses the obstacle, the pitch angle of the self-moving robot 1 can be obtained to determine whether the robot crosses the obstacle successfully.

[0283] Step S202: in response to the robot crossing the obstacle successfully, controlling the robot to exit the tilting obstacle crossing mode and enter a normal working mode; wherein in the normal working mode, the two drive wheels rotate synchronously.

[0284] If the self-moving robot 1 crosses the obstacle successfully, the self-moving robot 1 is controlled to exit the tilting obstacle crossing mode and enter a normal working mode; wherein in the normal working mode, the two drive wheels 1200 rotate synchronously.

[0285] If the self-moving robot 1 fails to cross the obstacle, the attitude of the self-moving robot 1 and the position of the drive wheel 1200 are obtained, and after adjustment, the tilting obstacle crossing mode is continued. If the self-moving robot 1 crosses the obstacle successfully, the self-moving robot 1 is controlled to exit the tilting obstacle crossing mode and enter a normal working mode; wherein in the normal working mode, the two drive wheels 1200 rotate synchronously.

[0285] If the self-moving robot 1 fails to cross the obstacle, the attitude of the self-moving robot 1 and the position of the drive wheel 1200 are obtained, and after adjustment, the tilting obstacle crossing mode is continued. If the self-moving robot 1 crosses the obstacle successfully, the self-moving robot 1 is controlled to exit the tilting obstacle crossing mode and enter a normal working mode; wherein in the normal working mode, the two drive wheels 1200 rotate synchronously.

[0286] Optionally, the method for determining whether the robot successfully overcomes the obstacle is shown in FIG. 35. Referring to FIG. 35, which is a flowchart of an embodiment of step S201 in FIG. 34. This embodiment can implement step S201 by the method shown in FIG. 35. The specific implementation steps include steps S301 to S302:

[0287] Step S301: Obtain the pitch angle of the robot and determine whether the pitch angle of the robot is less than a preset pitch angle threshold.

[0288] After the self-walking robot 1 overcomes the obstacle for a certain period of time, the pitch angle of the self-walking robot 1 during the process of overcoming the obstacle can be obtained from the gyroscope of the self-walking robot 1, and it is determined whether the pitch angle of the robot is less than a preset pitch angle threshold.

[0289] In this embodiment, the preset pitch angle threshold can be set to 0 to 10°, and in other embodiments, the preset pitch angle threshold can be set based on actual conditions, which is not limited herein.

[0290] Step S302: In response to the pitch angle being less than the preset pitch angle threshold, it is determined that the robot successfully overcomes the obstacle.

[0291] If the pitch angle of the self-walking robot 1 is less than the preset pitch angle threshold after the self-walking robot 1 overcomes the obstacle for a certain period of time, it is determined that the robot successfully overcomes the obstacle.

[0292] Optionally, based on the embodiment of FIG. 31, referring to FIG. 36, which is a flowchart of a third embodiment of the method for overcoming obstacles by tilting provided by the present application. As shown in FIG. 36, before the step of controlling the robot to enable the tilt obstacle overcoming mode, the tilt obstacle overcoming method of this embodiment further includes steps S401 to S403:

[0293] Step S401: Obtain the pose of the robot and the position of the drive wheel.

[0294] When the self-walking robot 1 discovers an obstacle through a camera device or other detection device, at this time the self-walking robot 1 lifts the head to overcome the obstacle, and the self-walking robot 1 will continue to move forward for a certain period of time. During this period, the self-walking robot 1 needs to detect and identify the pose of the self-walking robot 1 and the position of the drive wheel 1200 by using software.

[0295] Step S402: Determine whether the drive wheel is in abutment with the obstacle based on the pose and the position of the drive wheel.

[0296] The self-walking robot 1 can determine whether the drive wheel 1200 is in abutment with the obstacle based on the pose of the self-walking robot 1 and the position of the drive wheel 1200, and calculate the distance between the position of the drive wheel 1200 and the obstacle.

[0297] Step S403: in response to the driving wheel abutting against the obstacle, the robot is controlled to enable the tilting obstacle-crossing mode.

[0298] If the driving wheel 1200 of the self-moving robot 1 abuts against the obstacle, it is determined that the self-moving robot 1 encounters the obstacle, at this time, the self-moving robot 1 can be controlled to enable the tilting obstacle-crossing mode described above.

[0299] Optionally, based on the above-mentioned embodiments, in the present embodiment, the tilting obstacle-crossing method of the present embodiment further includes the following steps, specifically:

[0300] In response to the self-moving robot 1 being trapped by the obstacle, the two driving wheels 1200 are controlled to alternately reverse rotation, so as to make the self-moving robot 1 escape from the trap.

[0301] Please refer to FIG. 37, which is a schematic diagram of the state of the robot being trapped by the obstacle according to the present application. As shown in FIG. 37, when the obstacle is located at the central position below the body 1100 of the self-moving robot 1, the self-moving robot 1 is extremely likely to be trapped by the obstacle, resulting in that the self-moving robot 1 cannot move, at this time, when the self-moving robot 1 detects that it is trapped by the obstacle, the two driving wheels 1200 on both sides of the self-moving robot 1 can be controlled to alternately reverse rotation, so as to make the self-moving robot 1 escape from the trap.

[0302] Optionally, the present application further provides a robot, please refer to FIG. 38, which is a schematic diagram of the structure of the second embodiment of the robot according to the present application. As shown in FIG. 38, the robot of the present embodiment includes a body 1100, two driving wheels 1200 and a controller 140.

[0303] In the present embodiment, the two driving wheels 1200 are respectively installed on both sides of the body, and the tire surface of the driving wheel 1200 is provided with the inclined groove 130; the controller 140 is arranged on the body 1100 and connected with the two driving wheels 1200 respectively, and is used for controlling the driving wheel 1200 to work by using the tilting obstacle-crossing method of any one of the above-mentioned embodiments.

[0304] Optionally, please refer to FIG. 39, which is a schematic diagram of the structure of the first embodiment of the driving wheel according to the present application. As shown in FIG. 39, in the present embodiment, the inclined groove 130 on the tire surface of the driving wheel 1200 includes the first inclined groove 131 and the second inclined groove 132 arranged at intervals, the first inclined groove 131 and the second inclined groove 132 are oppositely arranged on the tire surface and mirror-distributed.

[0305] As shown in FIG. 39, in the embodiment, the side of the tire surface of the driving wheel 1200 is provided with the first inclined groove 131 and the second inclined groove 132, and the first inclined groove 131 and the second inclined groove 132 are 180° mirror images. The first inclined groove 131 and the second inclined groove 132 are at an angle with the tire surface. The first inclined groove 131 and the second inclined groove 132 are mainly used to tightly adhere to the obstacles, realize the locking of the edges of the obstacles, and complete the obstacle crossing. In the embodiment, the design of the first inclined groove 131 and the second inclined groove 132 can help to improve the obstacle crossing and escape ability of the driving wheel 1200, and at the same time, ensure the continuity of the operation of the driving wheel 1200.

[0306] In other embodiments, the tire surface of the driving wheel 1200 can also be provided with multiple groups of the first inclined groove 131 and the second inclined groove 132. The position and distribution of the inclined groove 130 can be set based on the actual situation, which is not limited herein, that is, the number, position and distribution of the inclined groove 130 are not limited.

[0307] Optionally, as shown in FIG. 39, in the embodiment, the tread density of the tire surface close to the inclined groove 130 is greater than the tread density of the tire surface away from the inclined groove 130.

[0308] In addition, in the embodiment, the local material of the inclined groove 130 can be the same as or different from the material of the driving wheel 1200, which is not limited herein.

[0309] That is, in the embodiment, in order to prevent the local slippage of the driving wheel 1200, the tread density of the tire surface close to the inclined groove 130 is set to be greater than the tread density of the tire surface away from the inclined groove 130. In this way, the influence of the inclined groove 130 on the normal operation of the driving wheel can be reduced, and the possibility of slippage of the driving wheel 1200 due to the existence of the inclined groove 130 can be reduced.

[0310] In other embodiments, if the influence of the inclined groove 130 on the normal operation of the driving wheel 1200 is not great, the tread density of the tire surface close to the inclined groove 130 can also be the same as the tread density of the tire surface of the whole driving wheel 1200.

[0311] Optionally, as shown in FIG. 39, in the embodiment, the inclined groove 130 penetrates from the middle part of the tire surface to the side surface of the tire of the driving wheel 1200.

[0312] In the embodiment, the middle part is not the central region in the absolute sense, and the meaning that the inclined groove 130 penetrates from the middle part of the tire surface to the side surface of the tire of the driving wheel 1200 is that the width of the first inclined groove 131 and the second inclined groove 132 in the driving wheel axial direction is less than the width of the driving wheel 1200.

[0313] Optionally, please refer to FIG. 40, which is a structural schematic diagram of the second embodiment of the driving wheel according to the present application. As shown in FIG. 40, in the present embodiment, the sidewall of the inclined groove 130 comprises a first sidewall A and a second sidewall B, which are perpendicular to each other, the first sidewall A is arranged perpendicularly to the tire surface, and the second sidewall B is arranged at an acute angle to the plane where the tire surface is located.

[0314] As shown in FIG. 40, in the present embodiment, taking the first inclined groove 131 as an example, it can be seen that the first sidewall A of the first inclined groove 131 is parallel to the diameter of the driving wheel 1200, and the second sidewall B is perpendicular to the first sidewall A but arranged at an acute angle to the plane where the tire surface is located.

[0315] In other embodiments, the outer contour of the inclined groove 130 is not limited to the embodiments of FIG. 39 and FIG. 40, as long as the inclined groove 130 can play a role of clamping the obstacle, which is not limited herein.

[0316] In addition, based on the above embodiments, in other embodiments, the driving wheel 1200 can also be reversed, or the inclined groove 130 can be designed reversely, to realize the backward inclined obstacle crossing function of the self-walking robot 1.

[0317] Optionally, the present application further provides a computer readable storage medium. Please refer to FIG. 41, which is a structural schematic diagram of an embodiment of the computer readable storage medium provided by the present application.

[0318] The computer readable storage medium 20000 of the embodiment of the present application internally stores program instructions 21001, which are executed to realize the inclined obstacle crossing method of any one of the above embodiments.

[0319] The program instructions 21001 can form a program file and be stored in the above storage medium in the form of a software product, so that an electronic device (which can be a personal computer, a server, or a network device, etc.) or a processor executes all or part of the steps of the method of each embodiment of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various media that can store program codes, or a terminal device such as a computer, a server, a mobile phone, a tablet, etc.

[0320] The computer readable storage medium 20000 of the present embodiment can be, but is not limited to, a U disk, an SD card, a PD optical drive, a mobile hard disk, a large-capacity floppy disk drive, a flash memory, a multimedia memory card, a server, etc.

[0321] In an embodiment, a computer program product or computer program is provided, the computer program product or computer program comprising computer instructions stored in a computer-readable storage medium. A processor of an electronic device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions to cause the electronic device to perform the steps of each of the above-mentioned method embodiments.

[0322] In addition, the above-mentioned functions, if implemented in the form of software functions and sold or used as independent products, can be stored in a mobile terminal readable storage medium, that is, the present application also provides a storage device storing program data, the program data being executable to implement the method of the above-mentioned embodiments, and the storage device can be, for example, a U disk, an optical disk, a server, etc. That is, the present application can be embodied in the form of a software product, and the software product includes a plurality of instructions for causing an intelligent terminal to execute all or part of the steps of each embodiment method.

[0323] In addition, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "plurality" is at least two, for example, two, three, etc., unless otherwise explicitly specified.

[0324] Any process or method descriptions in flow charts or described elsewhere herein can be understood as representing the entities, segments or portions of code that include one or more executable instructions for implementing specific logical functions or steps, and the scope of the preferred embodiments of the present application includes additional implementations in which the functions are performed in different orders, including substantially simultaneously, or in reverse order, depending on the functionality involved, which will be understood by those skilled in the art of the technical field pertaining to the embodiments described herein.

[0325] The logic and / or steps represented in the flow diagrams and / or described herein, for example, can be embodied in non-transitory computer-readable media, executed by an instruction execution system, apparatus, or device, such as a personal computer, a server, a network appliance, or other processing devices, or in combination with such an instruction execution system, apparatus, or device. For the purposes of this specification, a "computer-readable medium" can be any medium that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. The computer-readable medium can be a system, apparatus, or device of any kind associated with the direct or indirect exchange of information, without regard to a particular nature of the fabric of that system, apparatus, or device. Examples (non-exhaustive list) of the computer-readable medium include the following: an electronic circuitry having one or more wires (electronic devices); a portable computer diskette (magnetic devices); a random access memory (RAM); a read-only memory (ROM); an erasable programmable read-only memory (EPROM or Flash memory); an optical fiber (optical devices); and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium can be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via, for example, optical scanning of the paper or other medium, then compiled, interpreted, or otherwise processed in a suitable manner, if necessary, and then stored in a computer memory.

[0326] The above merely preferred specific embodiments of the present disclosure, but the protection scope of the present disclosure is not limited thereto, any person skilled in the art can easily think of the changes or replacements within the technical scope disclosed by the present disclosure, which should be covered within the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure should be subject to the protection scope of the claims.

Claims

1. A self-walking robot, wherein, The self-walking robot comprises a driving module and an obstacle-crossing module, the driving module is linked with the obstacle-crossing module to assist the self-walking robot in crossing obstacles.

2. The self-walking robot according to claim 1, wherein, The driving module comprises a support arm and a walking wheel, the walking wheel is rotatably connected with the support arm and has a walking surface; The obstacle-crossing module comprises an obstacle-crossing assembly and a linkage assembly, the obstacle-crossing assembly is rotatably arranged on the support arm, the obstacle-crossing assembly comprises a support leg which is movable relative to the walking wheel along a radial direction of the walking wheel; The linkage assembly comprises a linkage member which is movably connected with the support arm, the linkage member is movable relative to the support arm between a first position and a second position, and the linkage member is capable of being linked with the support leg during rotation of the obstacle-crossing assembly relative to the support arm; In the first position, the linkage member is capable of protruding at least part of the support leg out of the walking surface, and in the second position, the support leg is arranged between the walking surface and an axis of rotation of the walking wheel.

3. The self-walking robot according to claim 2, wherein The self-walking robot further comprises a chassis, the support arm is movably connected with the chassis; The linkage member comprises a connecting portion and a cantilever portion which are connected with each other, the connecting portion is movably connected with the support arm, and an end of the cantilever portion away from the connecting portion is movably connected with the chassis; During movement of the support arm relative to the chassis, the support arm drives the walking wheel, the obstacle-crossing assembly and the linkage assembly to move synchronously relative to the chassis, the chassis links the cantilever portion with the connecting portion to move the connecting portion relative to the support arm between the first position and the second position.

4. The self-walking robot according to claim 3, wherein The connecting portion is arranged on the support arm in a manner that the connecting portion is slidable relative to the support arm along a first direction, the chassis is provided with a sliding rail extending along a second direction, an end of the cantilever portion away from the connecting portion is slidably connected with the sliding rail, and the support arm is movable relative to the chassis along a third direction; The first direction is perpendicular to the axis of rotation and intersects with the second direction, and the first direction is not parallel to the third direction.

5. The self-walking robot according to claim 4, wherein The linkage assembly further comprises a first elastic member, two ends of the first elastic member are connected with the connecting portion and the support arm respectively, and the first elastic member is used to apply an elastic force to the linkage member along the first direction towards the sliding rail.

6. The self-walking robot according to claim 4, wherein The sliding rail has a sliding rail surface facing the linkage member, and an end of the cantilever portion away from the connecting portion is slidably abutted with the sliding rail surface.

7. The self-walking robot according to claim 6, wherein The linkage assembly further comprises a first bearing, the first bearing is arranged at the end of the cantilever portion away from the connecting portion, and an outer ring of the first bearing is abutted with the sliding rail surface.

8. The self-walking robot according to claim 4, wherein A bottom of the chassis is provided with a guide plane for crossing obstacles, and the second direction is perpendicular to the guide plane or is arranged at an angle with the guide plane.

9. The self-walking robot according to claim 8, wherein, The chassis has a front end portion for first contacting obstacles, and in the first position, an end of the support leg away from the axis of rotation is capable of protruding out of the walking surface towards a side of the front end portion.

10. The self-walking robot according to claim 9, wherein, The first direction and the guide plane form a preset included angle, and the preset included angle ranges from -60° to 60°.

11. The self-walking robot according to claim 3, wherein The self-walking robot further comprises driving members connected to the chassis and the support arm respectively, and the driving members are configured to drive the support arm to move relative to the chassis.

12. The self-walking robot according to any one of claims 3 to 11, wherein, The obstacle-surmounting assembly further comprises a support arm rotatably arranged on the support arm, and the support leg is movably arranged on the support arm.

13. The self-walking robot according to claim 12, wherein, The support arm drives the support leg to rotate around the rotation axis in the same direction as the walking wheel during rotation relative to the support arm. The support leg is movably connected to the support arm, so that the support leg can move relative to the support arm in a direction perpendicular to the rotation axis.

14. The self-walking robot according to claim 13, wherein, The obstacle-surmounting assembly further comprises a second elastic member, and two ends of the second elastic member are connected to the support arm and the support leg respectively and configured to apply an elastic force to the support leg towards the rotation axis.

15. The self-walking robot according to claim 14, wherein, In the first position, the linkage member can overcome the elastic force of the second elastic member to drive the support leg to protrude from the walking surface. In the second position, the second elastic member drives the support leg to avoid the walking surface. The linkage member further comprises a linkage portion connected to the connecting portion.

16. The self-walking robot according to claim 14, wherein, In a direction perpendicular to the rotation axis, the linkage portion can abut against one end of the support leg towards the rotation axis.

17. The self-walking robot according to claim 14, wherein, The obstacle-surmounting assembly comprises a plurality of support legs, and each support leg is sleeved with a second elastic member. In the first position, the linkage portion can drive at least one support leg to protrude from the walking surface. In the second position, a plurality of second elastic members respectively drive all the support legs to avoid the walking surface. The linkage portion has a cylindrical structure, and a first distance between an axis of the linkage portion and the rotation axis in the first position is greater than a second distance between the axis of the linkage portion and the rotation axis in the second position.

19. The self-propelled robot of claim 18, wherein, The linkage assembly further comprises a second bearing sleeved on the linkage portion, and an outer ring of the second bearing is configured to abut against the support leg.

20. The self-propelled robot of claim 18, wherein, 18. The self-walking robot of claim 1, wherein, The driving module comprises a driving wheel, and a contact surface of the driving wheel is provided with an obstacle-surmounting groove. The obstacle-surmounting module comprises a compensation mechanism movably arranged on the driving wheel, and at least part of the compensation mechanism floats in the obstacle-surmounting groove in a direction away from or towards the contact surface.

21. The self-propelled robot of claim 20, wherein, When the compensation mechanism does not contact an obstacle, the compensation mechanism is arranged flush with the contact surface, and when the compensation mechanism abuts against an obstacle, the compensation mechanism is retracted into the obstacle-surmounting groove.

22. The self-propelled robot of claim 20, wherein, The driving wheel comprises: a tire, and a contact surface of the tire is provided with the obstacle-surmounting groove; a hub, and the tire is sleeved on an outer side of the hub, and the hub is configured to drive the tire to rotate. The obstacle-surmounting groove extends from the contact surface towards an inner part of the tire and penetrates or does not penetrate the tire. The compensation mechanism comprises: a rotating shaft arranged in parallel with an axial direction of the tire. A compensation block, a first end of which is rotatably connected with the hub through the rotating shaft, and a second end of which is floating in the obstacle-clearing groove; A resetting member is arranged between the hub and the second end to provide a resetting force for the second end away from the hub; when the resetting member is in a resetting state, the side of the compensation block away from the hub is arranged flush with the contact surface.

23. The self-propelled robot of claim 22, wherein, The end surface of the first end is arranged protruding away from the hub relative to the area close to the hub, so that the end surface of the first end is in abutment with the side wall of the obstacle-clearing groove when the compensation block is in the resetting state.

24. The self-propelled robot of claim 22, wherein, The resetting member comprises: A torsional spring is sleeved outside the rotating shaft and is in abutment with the hub and the second end respectively.

25. The self-propelled robot of claim 22, wherein, The compensation mechanism further comprises a damping member arranged on the side of the compensation block away from the hub.

26. The self-propelled robot of claim 22, wherein, The hub comprises a left half hub and a right half hub, and the left half hub and the right half hub are fixedly connected through a connecting member.

27. The self-propelled robot of claim 26, wherein, The left half hub is provided with a first extension, and the right half hub is provided with a second extension, and the first extension and the second extension are arranged in the obstacle-clearing groove, and the compensation block is partially arranged between the first extension and the second extension.

28. The self-propelled robot of claim 18, wherein, Further comprising a reduction box mechanism, and the traveling wheel is mounted at the output shaft end of the reduction box mechanism.

29. The self-propelled robot of claim 28, wherein, The reduction box mechanism comprises a supporting member extending along the direction of gravity, so that the supporting member is in abutment with the compensation mechanism when the compensation mechanism is in abutment with the ground.

30. The self-propelled robot of claim 1, wherein, The self-walking robot further comprises a body; The obstacle-clearing module comprises a guide mechanism arranged at the front end of the body, and the guide mechanism is provided with at least one guide surface, and the guide surface is used to contact the obstacle during the movement of the body and guide at least part of the body to lift and move to the top of the obstacle. The driving module comprises a driving mechanism arranged at the bottom of the body, and the driving mechanism comprises a driving wheel rotatable relative to the body, and the driving wheel is used to drive the body to move on the working surface and to cross the obstacle on the working surface.

31. The self-propelled robot of claim 30, wherein, The guide mechanism comprises a front impact assembly arranged at the front end of the body and a universal wheel arranged at the bottom of the body and located between the driving wheel and the front end of the body, and the guide surface is located on one side of the front end of the front impact assembly, which is farther away from the working surface than the guide surface located on one side of the universal wheel.

32. The self-propelled robot of claim 31, wherein, The front impact assembly comprises a front impact guard and a guide wheel, the front impact guard is arranged at the front end of the body, and the guide wheel is rotatably arranged on the front impact guard, and at least part of the outer circumferential surface of the guide wheel protrudes from the front end of the front impact guard.

33. The self-walking robot according to claim 32, wherein, The at least one guide surface comprises a first guide surface arranged on the front impact guard, the first guide surface is located on the side of the guide wheel facing the universal wheel, and the first guide surface is tangent to the outer circumferential surface of the guide wheel.

34. The self-propelled robot of claim 33, wherein, The guide mechanism further comprises a bottom guard arranged around the edge of the body at the bottom of the body. The guiding mechanism is provided with a plurality of guiding surfaces, and the guiding surfaces further include a second guiding surface provided at the front end of the bottom guard plate, which is parallel to or intersects with the first guiding surface.

35. The self-propelled robot of claim 34, wherein, The second guiding surface intersects with the first guiding surface, and the intersection position of the second guiding surface and the first guiding surface is located at the front end of the bottom guard plate.

36. The self-propelled robot of claim 31, wherein, The front impact assembly includes a front impact guard plate and a guide piece, the front impact guard plate is provided at the front end of the machine body, and the guide piece is fixedly provided at the front end of the front impact guard plate; the at least one guiding surface includes a third guiding surface provided at the front end of the guide piece.

37. The self-propelled robot of claim 36, wherein, The guiding mechanism further includes a bottom guard plate, which is provided at the bottom of the machine body around the edge of the machine body; The guiding mechanism is provided with a plurality of guiding surfaces, and the guiding surfaces further include a second guiding surface provided at the bottom guard plate, which is parallel to or intersects with the third guiding surface.

38. The self-propelled robot of claim 37, wherein, The second guiding surface intersects with the third guiding surface, and the intersection point of the extension line of the second guiding surface and the extension line of the third guiding surface is located at the front end of the bottom guard plate.

39. The self-propelled robot of claim 33 or 37, wherein, The guiding mechanism further includes a universal wheel support, and the universal wheel is connected with the machine body through the universal wheel support; The guiding surface further includes a fourth guiding surface provided at the front end of the universal wheel support; Wherein, one end of the fourth guiding surface intersects with the second guiding surface, and the fourth guiding surface is arranged farther away from the working surface on one side from the front end than on the side of the universal wheel; or the fourth guiding surface is arranged coplanarly with the second guiding surface.

40. The self-propelled robot of any of claims 30 to 38, wherein, The driving mechanism further includes a support arm, the support arm is movably connected with the machine body, the driving wheel is rotatably arranged on the support arm, and the support arm drives the driving wheel to move away from or close to the machine body during movement relative to the machine body, so as to drive the driving wheel to abut against the working surface.

41. The self-propelled robot of claim 30, wherein, The driving wheel includes a hub, a plurality of spokes and a crown, the crown is arranged around the outer side of the hub, a plurality of spokes are arranged in sequence and at intervals around the circumference of the hub and between the crown and the hub, the spokes have opposite first ends and second ends, the first ends are connected with the hub, and the second ends are connected with the crown, the spokes and the crown are elastic members.

42. The self-propelled robot of claim 41, wherein, The spoke is in the shape of a long strip, and the length direction of the spoke intersects with the radial direction of the driving wheel.

43. The self-propelled robot of claim 42, wherein, The spoke is in the shape of a curve.

44. The self-propelled robot according to any one of claims 41 to 43, wherein, The driving wheel further includes a plurality of raised lines, and the plurality of raised lines are arranged in sequence and at intervals on the outer circumferential surface of the crown along the circumferential direction of the crown.

45. The self-propelled robot of claim 44, wherein, Along the radial direction of the driving wheel, each raised line is arranged opposite to the second end of one spoke, and the raised line includes at least one raised pattern.

46. The self-propelled robot of claim 44, wherein, The self-walking robot is a sweeping robot.

47. The self-walking robot of claim 1, wherein, Further comprising a machine body and a controller; The driving module comprises two driving wheels, and the obstacle-surmounting module comprises inclined grooves arranged on the driving wheels. The controller is arranged on the body and connected with the two driving wheels respectively.

48. The self-propelled robot of claim 47, wherein, The inclined grooves comprise first inclined grooves and second inclined grooves arranged at intervals.

49. The self-propelled robot of claim 47, wherein, The first inclined grooves and the second inclined grooves are oppositely arranged on the tire surface and mirror-distributed.

50. The self-propelled robot of claim 47, wherein, The tire pattern density of the tire surface close to the inclined grooves is greater than that of the tire surface far from the inclined grooves.

51. The self-propelled robot of claim 50, wherein, The inclined grooves pass through the middle of the tire surface to the side surface of the tire of the driving wheel.

52. A method of tilting over obstacles, wherein, The side wall of the inclined groove comprises a first side wall and a second side wall perpendicular to each other, the first side wall is arranged perpendicularly to the tire surface, and the second side wall is arranged at an acute angle to the plane where the tire surface is located. The inclined obstacle-surmounting method is applied to the self-walking robot as claimed in any one of claims 47 to 51, the self-walking robot comprises a body and two driving wheels respectively arranged on two sides of the body, the tire surface of the driving wheel is provided with inclined grooves, and the inclined obstacle-surmounting method comprises: In response to the robot encountering an obstacle, the robot is controlled to enable an inclined obstacle-surmounting mode; In the inclined obstacle-surmounting mode, one of the two driving wheels is controlled to be reversed to make the connecting line between the two driving wheels be arranged at an angle to the outer surface of the obstacle; The other of the two driving wheels is controlled to be forward rotated to make the inclined groove on the other of the two driving wheels be clamped with the obstacle and surmount the obstacle under the action of driving force; 53. The method of tilting and traversing obstacles of claim 52, wherein, The driving wheel that has surmounted the obstacle is controlled to stop rotating, and the driving wheel that has not surmounted the obstacle is controlled to be forward rotated to make the inclined groove of the driving wheel that has not surmounted the obstacle be clamped with the obstacle and surmount the obstacle under the action of driving force. Further comprising: It is judged whether the robot successfully surmounts the obstacle; In response to the robot successfully surmounting the obstacle, the robot is controlled to exit the inclined obstacle-surmounting mode and enter a normal working mode; 54. The method of tilting and traversing obstacles of claim 53, wherein, In the normal working mode, the two driving wheels are synchronously rotated. The step of judging whether the robot successfully surmounts the obstacle comprises: The pitch angle of the robot is acquired, and it is judged whether the pitch angle of the robot is less than a preset pitch angle threshold; 55. The method of tilting and traversing obstacles of claim 52, wherein, In response to the pitch angle being less than the preset pitch angle threshold, it is judged that the robot successfully surmounts the obstacle. Further comprising:

56. The method of tilting and traversing obstacles of claim 52, wherein, In response to the robot being clamped by the obstacle, the two driving wheels are controlled to be alternately reversed to make the robot escape. Before the step of controlling the robot to enable the inclined obstacle-surmounting mode, the inclined obstacle-surmounting method further comprises: The posture of the robot and the position of the driving wheel are acquired; Based on the posture and the position of the driving wheel, it is judged whether the driving wheel abuts against the obstacle; In response to the driving wheel abutting against the obstacle, the robot is controlled to enable the inclined obstacle-surmounting mode.

57. A computer readable storage medium, wherein, The internal storage has program instructions stored therein, which are executed to implement the method of any one of claims 52-56.

58. A cleaning system wherein, The cleaning system comprises a cleaning base station and the self-walking robot of any one of claims 1 to 51.

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