Cleaning device and cleaning system

Abstract

A cleaning device and a cleaning system, relating to the technical field of smart home. The cleaning device comprises a device body (10), a locomotion mechanism (20), and driving assemblies. The locomotion mechanism (20) is mounted on the device body (10), and the locomotion mechanism (20) comprises driving wheels (210), assistance mechanisms (220), and the driving assemblies. The assistance mechanisms (220) are located within an orthographic projection range of the device body (10) in a direction perpendicular to the horizontal plane, and are used for assisting the driving wheels (210) in crossing an obstacle. Each assistance mechanism (220) comprises a rocker arm (222) and an assistance wheel (221), and the rocker arm (222) can move between a first position and a second position. Each driving assembly comprises a first driver (241) and a second driver (242), the first driver (241) is used for driving the corresponding driving wheel (210), and the second driver (242) is used for driving the corresponding assistance mechanism (220). The obstacle crossing capability of the cleaning device is improved.

Description

Cleaning device and cleaning system

[0001] Cross-reference to related applications

[0002] The present disclosure is based on and claims priority to Chinese Patent Application No. 202421941617.9, filed on August 12, 2024, the entire contents of which are incorporated herein by reference. TECHNICAL FIELD

[0003] The present disclosure relates to the technical field of smart home, in particular, relates to a cleaning device and a cleaning system. BACKGROUND

[0004] With the development of modern society, in order to save time and maintain household hygiene, more and more people begin to purchase cleaning devices in order to clean household hygiene in time and conveniently. Cleaning devices can automatically complete the cleaning work of the ground in the room by means of certain artificial intelligence.

[0005] The cleaning device in the related art is mainly a sweeping robot. During the execution of the cleaning task, the sweeping robot will encounter ground obstacles that cannot be crossed.

[0006] It should be noted that the information disclosed in the above background section is only used to strengthen the understanding of the background of the present disclosure, and therefore can include information that does not constitute prior art known to those of ordinary skill in the art.

[0007] SUMMARY

[0008] The purpose of the present disclosure is to provide a cleaning device and a cleaning system.

[0009] According to one aspect of the present disclosure, a cleaning device is provided, comprising:

[0010] a device body;

[0011] a walking mechanism mounted on the device body, the walking mechanism comprising a driving wheel, an auxiliary mechanism and a driving assembly;

[0012] the auxiliary mechanism is located within the range of the orthographic projection of the device body in the direction perpendicular to the horizontal plane, and is used to assist the driving wheel to cross over the obstacle; wherein the auxiliary mechanism comprises a rocker arm and an auxiliary wheel, and the rocker arm is movable between a first position and a second position;

[0013] a driving assembly comprising a first driver and a second driver, the first driver being used to drive the driving wheel, and the second driver being used to drive the auxiliary mechanism.

[0014] In an example embodiment of the present disclosure, the auxiliary mechanism is mounted on a mounting frame of the driving wheel or a chassis of the cleaning device.

[0015] In an example embodiment of the present disclosure, the mounting frame is rotationally connected with the device body, and the traveling mechanism further comprises a first elastic member, when the device body is in a horizontal plane traveling state, the first elastic member is in a stretched state; when the device body is in an obstacle crossing and / or climbing state in the advancing direction, the mounting frame can be rotated relative to the device body towards the side of the traveling surface by the restoring force of the first elastic member.

[0016] In an example embodiment of the present disclosure, the mounting frame is provided with a first limiting structure and a second limiting structure, when the rocker arm abuts against the first limiting structure, the rocker arm is located at the first position, and when the rocker arm abuts against the second limiting structure, the rocker arm is located at the second position.

[0017] In an example embodiment of the present disclosure, the distance between the middle position of the connecting line between the rotation axis of the driving wheel and the rotation axis of the mounting frame and the rotation axis of the rocker arm does not exceed 10 mm in the advancing direction of the device body and / or does not exceed 5 mm in the direction perpendicular to the traveling surface.

[0018] In an example embodiment of the present disclosure, along the axial direction of the driving wheel, the driving wheel and the auxiliary wheel are located on both sides of the mounting frame.

[0019] In an example embodiment of the present disclosure, the first driver and / or the second driver is a wheel-side motor or a direct-drive motor.

[0020] In an example embodiment of the present disclosure, the auxiliary mechanism is arranged on the side of the driving wheel close to the outer contour of the device body along the axial direction of the driving wheel.

[0021] In an example embodiment of the present disclosure, when the device body is in a horizontal plane traveling state, the auxiliary wheel is in a suspended state.

[0022] In an example embodiment of the present disclosure, when the device body is in a horizontal plane traveling state, the suspension height of the auxiliary wheel is greater than or equal to 10 mm.

[0023] In an example embodiment of the present disclosure, when the device body is in a horizontal plane traveling state, the lowest point of the auxiliary wheel is higher than the rotation axis of the mounting frame of the driving wheel.

[0024] In an example embodiment of the present disclosure, the auxiliary wheel rotates towards the advancing direction of the cleaning device.

[0025] In an exemplary embodiment of the present disclosure, the auxiliary wheel is fixedly mounted on the rocker arm.

[0026] In an exemplary embodiment of the present disclosure, the distance between the rotation axis of the auxiliary wheel and the rotation axis of the driving wheel is k, the radius of the driving wheel is R, the radius of the auxiliary wheel is r, and R>r, k>R.

[0027] In an exemplary embodiment of the present disclosure, k>r+R or the value of (r+k-R) / R is between 0.3 and 0.8.

[0028] In an exemplary embodiment of the present disclosure, the distance between the rotation axis of the rocker arm and the rotation axis of the driving wheel is S, and S

[0029] In an exemplary embodiment of the present disclosure, the auxiliary mechanism is mounted on the mounting frame of the driving wheel, and the rocker arm is connected to the mounting frame through a clutch mechanism.

[0030] In an exemplary embodiment of the present disclosure, the clutch mechanism comprises a driving face gear, a driven face gear and a second elastic member, the output shaft of the second driver is connected to the driving face gear, the driven face gear is fixedly connected to the rocker arm, and the second elastic member is arranged on the side of the driving face gear away from the driven face gear; the driving face gear and the driven face gear can engage to drive the driven face gear to rotate; when the rocker arm contacts the limiting structure, the driving face gear can be separated from the driven face gear by compressing the second elastic member.

[0031] In an exemplary embodiment of the present disclosure, the driven face gear and the rocker arm are integrally formed.

[0032] In an exemplary embodiment of the present disclosure, the second driver is connected to the driving face gear through a first transmission assembly to drive the driving face gear to rotate by the second driver.

[0033] In an exemplary embodiment of the present disclosure, the first transmission assembly is at least one of gear transmission, belt transmission, chain transmission or shaft transmission.

[0034] In an exemplary embodiment of the present disclosure, the first transmission assembly comprises a driving gear, a driven gear and at least one connecting gear engaged between the driving gear and the driven gear; the driving gear is arranged on the output shaft of the driver, and the driven gear is coaxially arranged with the driving face gear.

[0035] In an exemplary embodiment of the present disclosure, a first accommodating space is formed on the mounting frame, and the first transmission assembly is arranged in the first accommodating space.

[0036] In an exemplary embodiment of the present disclosure, the auxiliary wheel is connected with the driving face gear through a second transmission assembly to be driven to rotate by the driving face gear.

[0037] In an exemplary embodiment of the present disclosure, the second transmission assembly is at least one of a belt transmission, a gear transmission, a chain transmission or a shaft transmission.

[0038] In an exemplary embodiment of the present disclosure, the second transmission assembly comprises a driving pulley, a driven pulley and a belt connecting the driving pulley and the driven pulley, the driving pulley is coaxially arranged with the driving face gear, and the driven pulley is coaxially arranged with the auxiliary wheel.

[0039] In an exemplary embodiment of the present disclosure, the rocker arm is formed with a second accommodating space, and the second transmission assembly is arranged in the second accommodating space.

[0040] In an exemplary embodiment of the present disclosure, an anti-skid structure is formed on the circumferential surface of the auxiliary wheel.

[0041] In an exemplary embodiment of the present disclosure, the anti-skid structure comprises a plurality of ribs, which are distributed along the circumference of the auxiliary wheel and extend along the radial direction of the auxiliary wheel.

[0042] In an exemplary embodiment of the present disclosure, the cleaning device further comprises:

[0043] A roller is arranged on the device body, and the roller is located on one side of the driving wheel in the backward direction of the device body.

[0044] According to another aspect of the present disclosure, a cleaning system is provided, which comprises:

[0045] The cleaning device provided by any of the above embodiments;

[0046] A base station is arranged for parking the cleaning device.

[0047] The cleaning device provided by the present disclosure, when the device body is in a horizontal plane driving state, the driving wheel is in contact with the driving surface under the driving of the first driver to drive the device body to drive, when the device body is in an obstacle crossing and / or climbing state in the forward direction, after the auxiliary mechanism is in contact with the obstacle, a dragging force along the front and rear axis X in the forward direction and a lifting force along the central vertical axis Z are generated on the device body, thereby assisting the driving wheel to lift, so that the cleaning device can cross the obstacle with a height not less than the radius of the driving wheel (such as 4 cm), so as to improve the obstacle crossing ability of the cleaning device; in addition, by respectively arranging one driver for the driving wheel and the auxiliary mechanism, precise control of the auxiliary mechanism can be realized; when the auxiliary mechanism does not need to work, the second driver can be in a dormant state, so as to avoid the continuous action of the auxiliary mechanism to interfere with the cleaning work of the cleaning device and the influence of the increase of energy consumption on the endurance of the cleaning device.

[0048] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present disclosure. BRIEF DESCRIPTION OF DRAWINGS

[0049] The drawings incorporated into the specification and constituting a part of the specification show embodiments consistent with the present disclosure and, together with the specification, serve to explain the principles of the present disclosure. It is obvious that the drawings in the following description are only some embodiments of the present disclosure, and other drawings can be obtained from these drawings without creative labor for those skilled in the art.

[0050] Fig. 1 is a schematic view of a cleaning device provided by an embodiment of the present disclosure.

[0051] Fig. 2 is a bottom view of a cleaning device provided by an embodiment of the present disclosure.

[0052] Fig. 3 is a schematic view of a device body and a walking mechanism provided by an embodiment of the present disclosure.

[0053] Fig. 4 is a schematic view of a driving wheel and an auxiliary wheel provided by an embodiment of the present disclosure.

[0054] Fig. 5 is a schematic view of a second driver and an auxiliary wheel transmission connection provided by an embodiment of the present disclosure.

[0055] Fig. 6 is a schematic view of a cleaning device in a horizontal plane driving state provided by an embodiment of the present disclosure.

[0056] Fig. 7 is a schematic view of a cleaning device in an obstacle crossing and / or climbing state in the forward direction provided by an embodiment of the present disclosure.

[0057] Fig. 8 is a schematic view of a device body and a walking mechanism from another perspective provided by an embodiment of the present disclosure.

[0058] Fig. 9 is a partial cross-sectional view of a transmission connection assembly of an auxiliary wheel according to an embodiment of the present disclosure.

[0059] Fig. 10 is a schematic view of a driving face gear according to an embodiment of the present disclosure.

[0060] Fig. 11 is a schematic view of a driven face gear and a cover plate according to an embodiment of the present disclosure.

[0061] Fig. 12 is an exploded view of an auxiliary mechanism according to an embodiment of the present disclosure.

[0062] In the drawings:

[0063] 10, device body;

[0064] 20, walking mechanism; 21, first walking mechanism; 22, second walking mechanism;

[0065] 210, driving wheel; 220, auxiliary mechanism; 221, auxiliary wheel; 222, rocker arm; 2221, second cover plate; 2222, rocker arm body; 2223, second accommodating space; 223, first transmission assembly; 2231, driving gear; 2232, driven gear; 2233, connecting gear; 224, second transmission assembly; 2241, driving pulley; 2242, driven pulley; 2243, belt; 225, driving face gear; 226, driven face gear; 227, second elastic member; 228, rotating shaft; 229, mounting shaft; 230, mounting bracket; 2311, first accommodating space; 2312, first cover plate; 241, first driver; 242, second driver; 250, first elastic member;

[0066] 30, guide wheel;

[0067] 40, side brush. DETAILED DESCRIPTION

[0068] Example embodiments now will be described more fully hereinafter with reference to the accompanying drawings. Example embodiments, may, however, be implemented in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. Like reference numerals refer to like elements throughout the figures, and thus description of the same will be omitted.

[0069] Although relative terms are used in this description, such as "upper," "lower," to describe one component's relationship to another component, these terms are used herein solely for convenience and are in no way limiting. It is to be understood that these terms are intended to encompass different positional relationships of an apparatus in its various orientations, including its orientation as it is being manufactured, used, or otherwise deployed in use or in storage. In addition, these terms are used in this description to describe the relative location of one component to another component as the apparatus is being used. These terms are used for convenience and are in no way limiting. It is to be understood that these terms are intended to encompass different positional relationships of an apparatus in its various orientations, including its orientation as it is being manufactured, used, or otherwise deployed in use or in storage. When a structure is "on" or "directly on" another structure, it can mean that the structure is formed integrally with the other structure or that the structure is formed "directly on" the other structure, i.e., it can be in contact with the other structure or it can be separated therefrom by one or more intervening structures.

[0070] The terms "one," "a," "an," "the" and "at least one" are used to mean that "zero," "one," or "more than one" of the indicated component is present; the terms "comprising," "having," and "including" are used to mean "including but not limited to"; the term "first," "second," and the like are used merely as labels, and are not intended to impose numerical requirements on their objects.

[0071] Embodiments of the present disclosure provide a cleaning device, which can be a robot cleaner, a robot mop, a robot cleaner and mop, a robot vacuum cleaner, etc. The cleaning device can include a device body 10, a traveling mechanism 20, a sensing system, a control system, a cleaning module, an energy system, a human-machine interaction system, etc.

[0072] In some embodiments, the device body 10 is configured to move automatically along a target direction on a travel surface, which can be a surface to be cleaned by the cleaning device. The cleaning device can be a robot cleaner and mop, and the cleaning device works on a ground, which is the travel surface. The present disclosure is described by taking the robot cleaner and mop as an example.

[0073] To more clearly describe the behavior of the cleaning device, the following directional definitions are made: the cleaning device can travel on the ground by various combinations of movement relative to the following three mutually perpendicular axes defined by the device body 10: a front-rear axis X, a lateral axis Y, and a central vertical axis Z. The forward driving direction along the front-rear axis X is denoted as "forward", and the rearward driving direction along the front-rear axis X is denoted as "rearward". The lateral axis Y substantially extends between the right and left drive wheels of the cleaning device along an axis defined by the center point of the traveling mechanism 20. In some embodiments, the cleaning device can rotate about the Y axis. When the forward portion of the cleaning device is tilted upward and the rearward portion is tilted downward, it is "pitched up", and when the forward portion of the cleaning device is tilted downward and the rearward portion is tilted upward, it is "pitched down". In addition, the cleaning device can rotate about the Z axis. In the forward direction of the cleaning device, when the cleaning device is tilted to the right of the X axis, it is "turned right", and when the cleaning device is tilted to the left of the Y axis, it is "turned left".

[0074] In some embodiments, the perception system includes a position determining device located above the device body 10, a bumper located at the front portion of the device body 10, a cliff sensor and an ultrasonic sensor located at the bottom of the device body 10, an infrared sensor, a magnetometer, an accelerometer, a gyroscope, an odometer, and the like sensing devices, which provide various position information and motion state information of the device body 10 to the control system. For example, the front portion of the device body 10 is provided with a bumper, when the walking mechanism 20 propels the cleaning device to walk on the ground during the cleaning process, the bumper detects one or more events (or objects) in the travel path of the cleaning device via a sensor system, such as an infrared sensor, the cleaning device can control the driving structure to respond to the event (or object) by the event (or object) detected by the bumper, such as a step, an obstacle, a wall, for example, to climb over the step.

[0075] In some embodiments, the control system can integrate distance information, speed information fed back by the bumper, cliff sensor and ultrasonic sensor, infrared sensor, magnetometer, accelerometer, gyroscope, odometer, and the like sensing devices to determine the current working state of the robot, such as climbing a step, passing a threshold, being on a carpet, being at a cliff, being stuck above or below, being full of dust box, being picked up, and the like, and give specific next action strategies for different situations, so that the working of the cleaning device is more in line with the requirements of the owner, and better user experience is achieved. Further, the control system can plan the most efficient and reasonable cleaning path and cleaning method based on the real-time map information drawn by SLAM (Simultaneous Localization and Mapping), which can improve the cleaning efficiency of the cleaning device.

[0076] In some embodiments, the cleaning module can include a dry cleaning module and / or a wet cleaning module. The dry cleaning module can include a side brush 40, a roller brush, and the like; the wet cleaning module includes a mopping module, a water tank, and the like, which are common components in cleaning devices and will not be described here.

[0077] In some embodiments, the walking mechanism 20 can execute the driving command based on specific distance and angle information to manipulate the cleaning device to travel across the ground.

[0078] In the related art, the cleaning device may encounter high thresholds or steps and other obstacles during cleaning, for example, a user's home is installed with a sliding door, and the slide under the sliding door usually forms a relatively high threshold, and most thresholds are higher than 3.5 cm. In this scenario, the cleaning device cannot cross the high threshold and is blocked outside the threshold, thereby affecting the cleaning effect. The present disclosure proposes a cleaning device that can cross higher obstacles, especially a cleaning device that can cross obstacles not lower than the height of the radius of the driving wheel of the cleaning device (for example, more than 4 cm).

[0079] In some embodiments, as shown in FIG. 3, the walking mechanism 20 includes a first walking mechanism 21 and a second walking mechanism 22, and the first walking mechanism 21 and the second walking mechanism 22 each include a driving wheel 210 and a driving assembly for driving the driving wheel 210 to rotate to drive the cleaning device to travel. The first walking mechanism 21 is a right walking mechanism, and the second walking mechanism 22 is a left walking mechanism, and the left and right walking mechanisms are symmetrically arranged along the front-rear axis X defined by the device body 10. The first walking mechanism 21 is described in detail below, and the structure of the second walking mechanism 22 is symmetrical to that of the first walking mechanism 21, and the detailed description of the first walking mechanism 21 can be referred to.

[0080] For the problem that the cleaning device cannot cross obstacles in the high threshold and other scenarios, in some embodiments, as shown in FIG. 4, the first walking mechanism 21 of the cleaning device further includes an auxiliary mechanism 220 for assisting the driving wheel 210 to cross the obstacle, and the auxiliary mechanism 220 of the first walking mechanism 21 is located on the side of the driving wheel 210 close to the periphery of the device body 10. In some embodiments, the auxiliary mechanism 220 is located within the orthographic projection range of the device body 10 in the direction perpendicular to the horizontal plane, that is, the orthographic projection of the auxiliary mechanism 220 in the direction perpendicular to the horizontal plane on the preset horizontal reference plane is located within the orthographic projection of the device body 10 in the direction perpendicular to the horizontal plane on the preset horizontal reference plane, thereby realizing the hiding of the auxiliary mechanism 220 and avoiding the auxiliary mechanism 220 protruding from the outer contour of the device body 10 in the horizontal direction to affect the cleaning work of the cleaning device.

[0081] Specifically, as shown in FIG. 4 and FIG. 5, the first walking mechanism 21 comprises a mounting frame 230, which is rotatably connected to the device body 10 at one end thereof facing the advancing direction, and the driving wheel 210 and the auxiliary mechanism 220 are arranged on the mounting frame 230, and the driving wheel 210 is arranged on the other end of the mounting frame 230 facing away from the advancing direction. The auxiliary mechanism 220 comprises an auxiliary wheel 221 and a rocker arm 222, one end of the rocker arm 222 is rotatably connected to the mounting frame 230, and the other end thereof is located on the side facing the advancing direction, and the rocker arm 222 is movable between a first position and a second position, and the auxiliary wheel 221 is arranged on the other end, and the rotation axis of the auxiliary wheel 221 is located on the side of the rotation axis of the driving wheel 210 in the advancing direction of the device body 10.

[0082] In other embodiments, the auxiliary mechanism 220 can be arranged on the chassis of the cleaning device, i.e., one end of the rocker arm 222 is rotatably connected to the chassis of the cleaning device, and the other end thereof is located on the side facing the advancing direction, and the auxiliary wheel 221 is arranged on the other end. By arranging the auxiliary mechanism 220 on the chassis of the cleaning device, the unsprung mass of the first walking mechanism 21 is reduced, thereby improving the driving performance of the first walking mechanism 21 in driving the device body 10 to travel.

[0083] As shown in FIG. 5, the driving assembly comprises a first driver 241 and a second driver 242, the first driver 241 is used to drive the driving wheel 210 to rotate, and the second driver 242 is used to drive the rocker arm 222 to swing towards the side of the travel surface and drive the auxiliary wheel 221 to rotate. When the cleaning device is in the horizontal travel state, the driving wheel 210 is in contact with the travel surface under the driving of the first driver 241 to drive the device body 10 to travel, the rocker arm 222 is in the initial position, and the auxiliary wheel 221 is in the suspended state, as shown in FIG. 6; when the device body 10 encounters an obstacle with a certain height in the advancing direction, the cleaning device enters the obstacle crossing and / or climbing state, the second driver 242 drives the auxiliary wheel 221 to rotate and the rocker arm 222 to swing towards the side of the travel surface, and after the rocker arm 222 swings and contacts the limiting structure, the rocker arm 222 stops swinging, but the auxiliary wheel 221 can continue to rotate under the driving of the second driver 242, at this time, the auxiliary wheel 221 will generate a pulling force along the front and rear axis X in the advancing direction and a lifting force along the central vertical axis Z, thereby assisting the cleaning device to cross the obstacle, as shown in FIG. 7.

[0084] The cleaning device provided by the present disclosure, when the device body 10 is in a horizontal plane running state, the driving wheel 210 is in contact with the running surface under the driving of the first driver to drive the device body 10 to run, and the suspension of the auxiliary wheel 221 can avoid affecting the running of the cleaning device, and can also avoid the increase of the driving force provided by the driving assembly due to the contact between the auxiliary wheel 221 and the running surface, thereby improving the endurance of the cleaning device; when the device body 10 is in an obstacle crossing and / or climbing state in the forward direction, after the auxiliary wheel 221 contacts the obstacle, a dragging force along the front and rear axis X in the forward direction and a lifting force along the central vertical axis Z are generated on the device body 10, thereby assisting the driving wheel 210 to lift, so that the cleaning device can cross the obstacle with a height not less than the radius of the driving wheel (such as 4 cm), thereby improving the obstacle crossing ability of the cleaning device; in addition, by arranging one driver for each of the driving wheel 210 and the auxiliary mechanism, precise control of the auxiliary mechanism can be achieved; when the auxiliary mechanism does not need to work, the second driver 242 can be in a dormant state, avoiding the interference of the continuous action of the auxiliary mechanism on the cleaning work of the cleaning device and the influence of the increase of energy consumption on the endurance of the cleaning device.

[0085] In some embodiments, as shown in FIG. 4, the radius of the driving wheel 210 is R, the radius of the auxiliary wheel 221 is r, and R>r. In some embodiments, the radius r of the auxiliary wheel 221 can be 5mm-35mm, such as 5mm, 10mm, 15mm, 20mm, 25mm, 30mm, 35mm, etc.; the radius R of the driving wheel 210 can be 30mm-70mm, such as 30mm, 35mm, 40mm, 45mm, 50mm, 55mm, 60mm, 65mm, 70mm, etc.

[0086] In some embodiments, the distance between the rotation axis of the auxiliary wheel 221 and the rotation axis of the driving wheel 210 is k, and k>R, that is, the rotation axis of the auxiliary wheel 221 is located in front of the driving wheel 210, and in the direction of the front and rear axis X, the rotation axis of the auxiliary wheel 221 is spaced apart from the driving wheel 210, so that the auxiliary wheel 221 has sufficient forward extension relative to the driving wheel 210, thereby enabling the auxiliary wheel 221 to assist the driving wheel 210 to cross the obstacle or climb onto the obstacle.

[0087] In some embodiments, k > r + R, i.e. in the preset reference plane perpendicular to the circumference of the driving wheel 210, the driving wheel 210 and the auxiliary wheel 221 have no overlapping part in the orthographic projection, and the outer contour of the auxiliary wheel 221 is located outside the outer contour of the driving wheel 210. In some embodiments, (r + k - R) / R = 30% ~ 80%, i.e. the distance by which the auxiliary wheel 221 protrudes forward relative to the driving wheel 210 is 30% ~ 80% of the radius of the driving wheel 210, such as 30%, 35%, 40%, 45%, 50%, 55%, 60%, 65%, 70%, 75%, 80%, etc. In this way, when the driving wheel 210 encounters a higher obstacle, the auxiliary wheel 221 can apply force to the obstacle; at the same time, by having a larger forward protruding amount relative to the driving wheel 210, the auxiliary wheel 221 can improve the auxiliary lifting effect on the driving wheel 210.

[0088] In some embodiments, as shown in FIG. 4, the distance between the rotation axis of the rocker arm 222 and the rotation axis of the driving wheel 210 is S, and S < R, i.e. in the front-rear axis X direction, the distance between the rotation axis of the rocker arm 222 and the rotation axis of the driving wheel 210 is less than the radius of the driving wheel 210, so that the length of the rocker arm 222 can be relatively large, and the rocker arm 222 can make the auxiliary wheel 221 closer to the driving surface by rotating, thereby improving the auxiliary lifting effect of the auxiliary wheel 221 on the driving wheel 210.

[0089] In some embodiments, as shown in FIG. 4, when the device body 10 is in the horizontal plane driving state, the rotation axis of the driving wheel 210 can be higher than the rotation axis of the auxiliary wheel 221, i.e. the height of the rotation axis of the driving wheel 210 is higher than the height of the rotation axis of the auxiliary wheel 221, and the height difference is g; the rotation axis of the driving wheel 210 is higher than the rotation axis of the auxiliary wheel 221, so that after the auxiliary wheel 221 contacts the obstacle, the driving wheel 210 can overcome a higher obstacle, thereby further improving the obstacle crossing ability of the driving wheel 210. In other embodiments, the rotation axis of the driving wheel 210 can also be at the same height as the rotation axis of the auxiliary wheel 221, or the rotation axis of the driving wheel 210 can be lower than the rotation axis of the auxiliary wheel 221, which is not limited in the present disclosure.

[0090] In some embodiments, when the device body 10 is in the horizontal plane driving state, the lowest point of the auxiliary wheel 221 is higher than the rotation axis of the mounting frame 230, so as to avoid the auxiliary wheel 221 affecting the normal movement of the cleaning device.

[0091] In some embodiments, the height difference between the lowest point of the auxiliary wheel 221 and the driving surface is greater than 10 mm, so as to avoid the auxiliary wheel 221 being stuck by obstacles such as carpets and cables during normal driving of the cleaning device, thereby affecting the normal movement of the cleaning device.

[0092] In some embodiments, when the device body 10 is in a horizontal plane running state, in the direction of the X axis, the distance between the middle position of the line connecting the rotation axis of the driving wheel 210 and the rotation axis of the mounting frame 230 and the rotation axis of the rocker arm 222 is -10mm-10mm, for example -10mm, -8mm, -6mm, -4mm, -2mm, 0mm, 2mm, 4mm, 6mm, 8mm, 10mm, etc., that is, the middle position is within 10mm in front of the rotation axis of the rocker arm 222, or within 10mm behind the rotation axis of the rocker arm 222. In the direction of the Z axis, the distance between the middle position of the line connecting the rotation axis of the driving wheel 210 and the rotation axis of the mounting frame 230 and the rotation axis of the rocker arm 222 is -5mm-5mm, for example -5mm, -3mm, -1mm, 0mm, 1mm, 3mm, 5mm, etc., that is, the middle position is within 5mm above the rotation axis of the rocker arm 222, or within 5mm below the rotation axis of the rocker arm 222.

[0093] In some embodiments, as shown in FIGS. 3, 6 and 7, in order to clean the device to be able to move stably on the ground, the cleaning device can include one or more guide wheels 30. Among them, the guide wheel 30 can be a driven wheel, or a driving wheel, and the structural form includes but is not limited to a directional wheel; the guide wheel 30 can be located in front of the auxiliary wheel 221.

[0094] When the device body 10 is in a horizontal plane running state, the driving wheel 210 and the guide wheel 30 are in contact with the running surface, forming stable support for the device body 10. For example, when the guide wheel 30 is a driven wheel, the rotation speed of the driving wheel 210 of the first walking mechanism 21 and the second walking mechanism 22 can be controlled to cooperate with the guide wheel 30 to realize the adjustment of the running route of the cleaning device. When the device body 10 encounters an obstacle with a certain height in the forward direction, the guide wheel 30 can climb onto the obstacle first, and because the obstacle has a certain height, the driving wheel 210 may be stuck and unable to cross the obstacle; at this time, the auxiliary mechanism of the first walking mechanism 21 and / or the second walking mechanism 22 is in contact with the obstacle, which can assist the driving wheel 210 to realize obstacle crossing.

[0095] In some embodiments, as shown in FIG. 8, the first walking mechanism further comprises a first elastic member 250. One end of the first elastic member 250 is connected to the end of the mounting frame 230 facing the advancing direction, and the other end is connected to the part of the device body 10 close to the drive wheel 210; when the device body 10 is in the horizontal plane running state, the first elastic member 250 is in the stretched state; when the device body 10 is in the obstacle crossing and / or climbing state in the advancing direction, the end of the mounting frame 230 provided with the drive wheel 210 can move towards the running surface relative to the device body 10 by the elastic restoring force of the first elastic member 250, at this time, the rotation axis position of the auxiliary wheel 221 is relatively higher than that of the drive wheel 210, so as to facilitate the auxiliary wheel 221 to exert force on the obstacle.

[0096] In some embodiments, the first elastic member 250 can be a spring, one end of the spring is connected to the end of the mounting frame 230 away from the drive wheel 210, and the other end is connected to the part of the device body 10 close to the drive wheel 210; when the device body 10 is in the horizontal plane running state, the end of the mounting frame 230 away from the drive wheel 210 rotates towards the direction of stretching the spring, so that the spring is in the stretched state; by stretching the spring, an elastic preload of the mounting frame 230 is formed, thereby forming a shock absorption structure between the drive wheel 210 and the device body 10, and improving the stability of the device body 10 when the drive wheel 210 runs. The mounting frame 230 and the device body 10 can be respectively provided with hooks, and the two ends of the spring are hung on the hooks respectively, which is simple to assemble and has high reliability.

[0097] In order to achieve the purpose that the auxiliary wheel 221 can continue to rotate after the swing arm 222 stops swinging in contact with the limiting structure, in some embodiments, as shown in FIGS. 9-12, the driving assembly includes a driving face gear 225, a driven face gear 226 and a second elastic member 227. The output shaft of the first driver 241 is connected with the driving face gear 225, the swing arm 222 is connected with the driven face gear 226, and the second elastic member 227 is arranged on the side of the driving face gear 225 away from the driven face gear 226. The driving face gear 225 and the driven face gear 226 can engage to drive the driven face gear 226 to rotate. After the swing arm 222 rotates to a certain angle towards the running surface and is blocked by the limiting structure, it cannot continue to rotate. At this time, the driving face gear 225 can be separated from the driven face gear 226 by compressing the second elastic member 227, so as to realize the effect that the swing arm 222 is stationary, but the auxiliary wheel 221 can continue to rotate. By arranging the driving face gear 225, the driven face gear 226 and the first elastic member 250, an automatic clutch structure is equivalent to being arranged in the process of driving the swing arm 222 to swing by the second driver 242. In the process of swinging the swing arm 222 towards the running surface, the driving face gear 225 and the driven face gear 226 are engaged together, the driving force of the second driver 242 is transmitted to the swing arm 222, forming a drive to the swing arm 222. When the swing arm 222 is blocked by the limiting structure, the swing of the swing arm 222 is resisted, that is, the driven face gear 226 no longer rotates, while the driving face gear 225 can continue to rotate. By arranging the second elastic member 227, the driving face gear 225 can be moved towards the side away from the driven face gear 226, so as to be separated from the driven face gear 226, so that the driving face gear 225 can continue to rotate to continuously drive the auxiliary wheel 221 to rotate.

[0098] In some embodiments, the mounting frame 230 is provided with a first limiting structure and a second limiting structure. When the swing arm 222 abuts against the first limiting structure during swinging, it is located at a first position, and when it abuts against the second limiting structure, it is located at a second position, that is, the first limiting structure and the second limiting structure form the upper limit and the lower limit of the swing of the swing arm.

[0099] In some embodiments, the limiting protrusion is detachably connected with the mounting frame 230, and the position of the limiting protrusion on the mounting frame 230 is adjustable. By adjusting the position of the limiting protrusion on the mounting frame 230, the first position and the second position of the swing arm 222 can be adjusted. Of course, the limiting protrusion can also be fixedly connected with the mounting frame 230, for example, the limiting protrusion and the mounting frame 230 can be an integral molding structure.

[0100] In some embodiments, as shown in FIG. 11, the driven face gear 226 is integrated with the rocker arm 222. The rocker arm 222 can include a second cover plate 2221, and the driven face gear 226 can be a face gear structure formed on the inner wall of the second cover plate 2221. By integrating the driven face gear 226 with the rocker arm 222, the reliability of the driving of the rocker arm 222 to swing by the driving face gear 225 can be improved. Of course, the driven face gear 226 and the rocker arm 222 can also be a split structure, and the driven face gear 226 can be fixedly connected to the rocker arm 222 by clamping, bonding, welding, riveting, threaded connection, etc.

[0101] In some embodiments, the second driver 242 is connected to the driving face gear 225 through the first transmission assembly 223, so as to drive the driving face gear 225 to rotate by the second driver 242. By providing the first transmission assembly 223, the transmission ratio between the second driver 242 and the driving face gear 225 can be conveniently adjusted, and meanwhile, the layout of the second driver 242 and the driving face gear 225 on the mounting frame 230 is facilitated.

[0102] In some embodiments, as shown in FIG. 12, the first transmission assembly 223 can include a driving gear 2231, a driven gear 2232, and at least one connecting gear 2233 engaged between the driving gear 2231 and the driven gear 2232; the driving gear 2231 is arranged on the output shaft of the first driver 241, and the driven gear 2232 is coaxially arranged with the driving face gear 225. The first driver 241 drives the driving gear 2231 to rotate, the driving gear 2231 drives the driven gear 2232 to rotate through the connecting gear 2233, the driven gear 2232 and the driving face gear 225 are arranged on the rotating shaft 228 to rotate synchronously, and then the driving face gear 225 can drive the driven face gear 226 to rotate. Of course, the first transmission assembly 223 can also be a chain transmission, a belt transmission, a shaft transmission, etc., which is not limited in the present disclosure.

[0103] In some embodiments, the auxiliary wheel 221 is connected to the driving face gear 225 through the second transmission assembly 224, so as to drive the auxiliary wheel 221 to rotate by the driving face gear 225. By providing the second transmission assembly 224, the transmission ratio between the driving face gear 225 and the auxiliary wheel 221 can be conveniently set, and meanwhile, the layout of the driving face gear 225 and the auxiliary wheel 221 on the rocker arm 222 is facilitated.

[0104] In some embodiments, as shown in FIG. 12, the second transmission assembly 224 includes a driving pulley 2241, a driven pulley 2242, and a belt 2243 connecting the driving pulley 2241 and the driven pulley 2242, the driving pulley 2241 is coaxially arranged with the driving face gear 225, and the driven pulley 2242 is coaxially arranged with the auxiliary wheel 221 through the mounting shaft 229. The driving pulley 2241 can be sleeved on the driving face gear 225 and rotate synchronously with the driving face gear 225, or be arranged on the rotating shaft 228; when the driving face gear 225 continuously rotates, the auxiliary wheel 221 is continuously driven to rotate through the belt 2243. Of course, the second transmission assembly 224 can also be a chain transmission, a gear transmission, a shaft transmission, etc., and the present disclosure does not limit this.

[0105] In some embodiments, as shown in FIG. 12, the mounting frame 230 is formed with a first accommodating space 2311, the first transmission assembly 223 is arranged in the first accommodating space 2311, and a first cover plate 2312 is buckled on the first accommodating space 2311 to form a sealed protection for the first transmission assembly 223, so as to avoid foreign matters from entering the first transmission assembly 223 to cause jamming, thereby improving reliability and service life.

[0106] In some embodiments, as shown in FIG. 12, the rocker arm body 2222 of the rocker arm 222 is formed with a second accommodating space 2223, the second transmission assembly 224 is arranged in the second accommodating space 2223, and a second cover plate 2221 is buckled on the second accommodating space 2223 to form a sealed protection for the second transmission assembly 224, so as to avoid foreign matters from entering the second transmission assembly 224 to cause jamming, thereby improving reliability and service life.

[0107] In some embodiments, the first driver 241 is a wheel-side motor. By making the first driver 241 a wheel-side motor, in the case of arranging an independent second driver 242 to drive the auxiliary wheel 221, the space occupied by the first driver 241 can be reduced, sufficient mounting space is reserved for the arrangement of the second driver 242, and the space utilization of the cleaning equipment is improved. In other embodiments, the first driver 241 can be a direct drive motor. By making the first driver 241 a direct drive motor, in the case of arranging an independent second driver 242 to drive the auxiliary wheel 221, the space occupied by the first driver 241 can be reduced, sufficient mounting space is reserved for the arrangement of the second driver 242, and the space utilization of the cleaning equipment is improved.

[0108] In some embodiments, the second driver 242 can be a driving motor. By using a driving motor, the volume of the second driver 242 can be relatively small, so as to avoid occupying too much space when the second driver 242 is arranged, and improve the space utilization of the cleaning equipment.

[0109] In some embodiments, the driving wheel 210 and the auxiliary mechanism 220 are located on both sides of the mounting frame 230 along the axial direction of the driving wheel 210. By locating the driving wheel 210 and the auxiliary mechanism 220 on both sides of the mounting frame 230, the structural compactness of the walking mechanism 20 can be improved. For example, the first driving device 241 can be located on one side of the mounting frame 230 together with the auxiliary mechanism 220, and the driving wheel 210 and the second driving device 242 can be located on the other side of the mounting frame 230.

[0110] In some embodiments, the auxiliary wheel 221 is provided with anti-skid structures on the surface thereof at positions that are likely to contact the obstacles in the circumferential direction. The anti-skid structures are used for contacting the obstacles. By providing the friction structures on the auxiliary wheel 221, the friction between the auxiliary wheel 221 and the obstacles can be increased, so that the auxiliary wheel 221 can provide the device body 10 with forces in both the advancing direction and the vertical obstacle direction, while avoiding the auxiliary wheel 221 from slipping on the obstacles due to insufficient grip.

[0111] In some embodiments, the anti-skid structures can be a plurality of spaced-apart ribs formed on the surface of the auxiliary wheel 221 and extending in the radial direction of the auxiliary wheel 221. By forming a plurality of spaced-apart ribs on the surface of the auxiliary wheel 221 in the circumferential direction, the friction between the auxiliary wheel 221 and the obstacles can be increased after the auxiliary wheel 221 contacts the obstacles, so that the obstacle surmounting force provided by the auxiliary wheel 221 can be increased. The friction structures can also be rough surfaces, or particle structures, stripe structures or mesh texture structures provided on the auxiliary wheel 221, which are not limited in the present disclosure.

[0112] In some embodiments, the auxiliary wheel 221 is provided with an anti-skid sleeve, and the auxiliary wheel 221 contacts the running surface through the anti-skid sleeve. By providing the anti-skid sleeve, the friction between the auxiliary wheel 221 and the obstacles can be increased, so that the obstacle surmounting force provided by the auxiliary wheel 221 can be increased. At the same time, by providing the anti-skid sleeve, the anti-skid sleeve can be replaced after the anti-skid performance thereof is reduced after multiple uses, so that the maintenance economy of the auxiliary wheel 221 can be improved. In some embodiments, the anti-skid sleeve can completely cover the auxiliary wheel 221, and the anti-skid sleeve can cover the positions of the auxiliary wheel 221 that are likely to contact the obstacles, which are not limited in the present disclosure.

[0113] In some embodiments, the anti-skid structures can be stripe structures, or rough surfaces, particle structures or mesh texture structures provided on the anti-skid sleeve at positions that are likely to contact the obstacles, so that the friction between the anti-skid sleeve and the obstacles can be increased.

[0114] In some embodiments, the anti-skid sleeve can be a rubber sleeve, which has low cost, good toughness and long service life.

[0115] In some embodiments, the rotation speed of the auxiliary wheel 221 is less than or equal to the rotation speed of the driving wheel 210, so that the rotation torque of the auxiliary wheel 221 is increased when the auxiliary wheel 221 rotates, thereby increasing the force acting on the auxiliary wheel 221 after the auxiliary wheel 221 contacts the obstacle. For example, by setting the transmission ratio of the gear set, the rotation speed of the auxiliary wheel 221 can be set to be less than the rotation speed of the driving wheel 210.

[0116] In some embodiments, the auxiliary wheel 221 rotates towards the direction in which the cleaning device advances, so as to provide a forward force to the cleaning device. The rotation speed of the auxiliary wheel 221 can be greater than, equal to, or less than the rotation speed of the driving wheel 210, and the present disclosure does not limit the rotation speed of the auxiliary wheel 221.

[0117] In another embodiment, the auxiliary wheel 221 can also not rotate, i.e., the auxiliary wheel 221 is fixedly connected to the rocker arm 222, and thus the clutch mechanism is not required. After the auxiliary wheel 221 contacts the obstacle by being driven by the rocker arm 222, the auxiliary wheel 221 generates a forward drag force along the front-rear axis X and a lifting force along the central vertical axis Z to the device body 10, thereby assisting the driving wheel 210 to lift, so that the cleaning device can cross an obstacle with a height not less than the radius of the driving wheel (e.g., 4 cm), thereby improving the obstacle-crossing ability of the cleaning device. Meanwhile, the auxiliary wheel 221 is not limited to the form of a wheel, but can also be in other structural forms, such as a multi-claw structure.

[0118] In some embodiments, in order to improve the obstacle-crossing ability of the cleaning device, the cleaning device can include one or more rollers, which can be arranged at the tail of the device body 10, i.e., behind the driving wheel 210. When the cleaning device crosses an obstacle, the front of the cleaning device is raised, and the entire device is in an inclined state. By arranging the rollers at the rear of the device body 10, the tail of the device body 10 contacts the running surface through the rollers, thereby avoiding friction between the tail of the device body 10 and the running surface and increasing the resistance after landing, thereby improving the obstacle-crossing ability of the cleaning device.

[0119] In some embodiments, the rollers can be driven wheels or driving wheels, and the structural forms thereof include but are not limited to universal wheels. By setting the rollers as driving wheels, the auxiliary force of the cleaning device is further improved, thereby improving the obstacle-crossing ability of the cleaning device.

[0120] In some embodiments, the cleaning device further comprises: an angle sensor, a position sensor, and a controller, the angle sensor is arranged on the device body 10 and is configured to obtain attitude information of the device body 10; the position sensor is arranged on the device body 10 and is configured to obtain position information of the device body 10; the controller is arranged on the device body 10 and is connected with at least the angle sensor, the position sensor, and the second driver 242, and the controller is configured to control the second driver 242. The angle sensor can be a gyroscope, and the position sensor can be a GPS locator.

[0121] When the cleaning device is in a horizontal driving state, the angle sensor obtains a signal that the device body 10 is in a horizontal state, and the position sensor obtains a signal that the cleaning device is in a moving process. At this time, the processor controls the second driver 242 to be in a dormant state. When the cleaning device is in the horizontal driving process and encounters a high threshold or a step that cannot be crossed, the guide wheel 30 will usually drive to the top of the obstacle first. At this time, the angle sensor obtains that the device body 10 is inclined, and then the driving wheel 210 cannot cross the obstacle and is stuck at the obstacle. At this time, the position sensor obtains a signal that the device body 10 does not change in position. Then, the processor determines that the device body 10 is stuck at the obstacle for a certain period of time (for example, about 10 seconds) according to the angle information obtained by the angle sensor and the position information obtained by the position sensor, and needs to cross the obstacle. At this time, the processor controls the second driver 242 to work, drives the auxiliary mechanism to work, and then assists the cleaning device to cross the obstacle.

[0122] In other embodiments, the cleaning device further comprises a controller and an obstacle sensor. When the cleaning device is in a horizontal driving state, the obstacle sensor can be used to determine whether there is a higher obstacle in front of the driving route that cannot be crossed normally. When the obstacle sensor determines that there is a higher obstacle in front of the driving route that cannot be crossed normally, the controller can be used to control the second driver 242 to work in advance to drive the auxiliary mechanism to work and make the auxiliary wheel 221 turn down, so as to assist the cleaning device to cross the obstacle when reaching the obstacle. The obstacle sensor includes but is not limited to a laser radar, a camera, and the like.

[0123] In some embodiments, the controller is configured to control the second driver 242 to rotate forward or reverse. After the cleaning device crosses the obstacle, the controller controls the second driver 242 to reverse, so as to drive the rocker arm 222 back to the initial position, so as to keep a distance between the auxiliary wheel 221 and the driving surface.

[0124] In some embodiments, a position sensor can be arranged on the cleaning device, and when the rocker arm 222 returns to the preset initial position, the position sensor sends a position signal at this time, and the controller can control the second driver 242 to stop driving according to the position signal.

[0125] Embodiments of the present disclosure also provide a cleaning system, which comprises a base station and the cleaning device provided by the above-mentioned embodiments, and the base station is used for docking the cleaning device. The cleaning device can perform functions such as charging, self-cleaning, parking, sewage discharge, water replenishment, etc. on the base station. The beneficial effects of the cleaning system provided by the present disclosure are described in detail in the above-mentioned cleaning device embodiments, and will not be repeated here.

[0126] Other embodiments of the present disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. The present disclosure is intended to cover any variations, uses or adaptations of the present disclosure following the general principles thereof and including such departures from the present disclosure that come within known, accepted and / or customary practice in the art to which the present disclosure pertains. The specification and examples are to be regarded as illustrative only, and the true scope and spirit of the present disclosure are indicated by the appended claims.

Claims

1. A cleaning device, comprising: a device body; a walking mechanism mounted on the device body, the walking mechanism comprising a driving wheel, an auxiliary mechanism, and a driving assembly; the auxiliary mechanism is located within a range of a normal projection of the device body in a direction perpendicular to a horizontal plane, and is configured to assist the driving wheel to cross an obstacle; wherein the auxiliary mechanism comprises a rocker arm and an auxiliary wheel, and the rocker arm is movable between a first position and a second position; the driving assembly comprises a first driver configured to drive the driving wheel, and a second driver configured to drive the auxiliary mechanism.

2. The cleaning apparatus of claim 1, wherein, The auxiliary mechanism is mounted on a mounting bracket of the driving wheel or a chassis of the cleaning device.

3. The cleaning apparatus of claim 2, wherein, The mounting bracket is rotationally connected to the device body, and the walking mechanism further comprises a first elastic member, when the device body is in a horizontal plane driving state, the first elastic member is in a stretched state; when the device body is in an obstacle crossing and / or climbing state in a forward direction, the mounting bracket can be rotated relative to the device body towards a driving surface side by the restoring force of the first elastic member.

4. The cleaning apparatus of claim 2 or 3, wherein, The mounting bracket is provided with a first limiting structure and a second limiting structure, when the rocker arm abuts against the first limiting structure, the rocker arm is located in the first position, and when the rocker arm abuts against the second limiting structure, the rocker arm is located in the second position.

5. The cleaning apparatus of any one of claims 2-4, wherein, A middle position of a line connecting a rotation axis of the driving wheel and a rotation axis of the mounting bracket is located at a distance of not more than 10 mm from a rotation axis of the rocker arm in a forward direction of the device body, and / or a distance of not more than 5 mm in a direction perpendicular to the driving surface.

6. The cleaning apparatus of any one of claims 2-5, wherein, The driving wheel and the auxiliary wheel are located on two sides of the mounting bracket in an axial direction of the driving wheel.

7. The cleaning apparatus of claim 1, wherein, The first driver is a wheel-side motor or a direct-drive motor; and / or, the second driver is a wheel-side motor or a direct-drive motor.

8. The cleaning apparatus according to any one of claims 1 to 7, wherein, The auxiliary mechanism is arranged on a side of the driving wheel close to an outer contour of the device body in the axial direction of the driving wheel.

9. The cleaning apparatus according to any one of claims 1 to 7, wherein, When the device body is in a horizontal plane driving state, the auxiliary wheel is in a suspended state.

10. The cleaning apparatus of claim 9, wherein, When the device body is in a horizontal plane driving state, a suspension height of the auxiliary wheel is greater than or equal to 10 mm.

11. The cleaning apparatus of any one of claims 1-7, wherein, When the device body is in a horizontal plane driving state, a lowest point of the auxiliary wheel is higher than a rotation axis of the mounting bracket of the driving wheel.

12. The cleaning apparatus of any one of claims 1-7, wherein, The auxiliary wheel rotates towards a forward direction of the cleaning device.

13. The cleaning apparatus of any one of claims 1-7, wherein, The auxiliary wheel is fixedly mounted on the rocker arm.

14. The cleaning apparatus of any one of claims 1-7, wherein, A distance between a rotation axis of the auxiliary wheel and a rotation axis of the driving wheel is k, a radius of the driving wheel is R, a radius of the auxiliary wheel is r, and R>r, k>R.

15. The cleaning apparatus of claim 14, wherein, k>r+R or a value of (r+k-R) / R is between 0.3 and 0.

8.

16. The cleaning apparatus of any one of claims 1-7, wherein, A distance between a rotation axis of the rocker arm and a rotation axis of the driving wheel is S, and S 17. The cleaning apparatus of any one of claims 1-7, wherein, The auxiliary mechanism is mounted on a mounting bracket of the driving wheel, and the rocker arm is connected to the mounting bracket through a clutch mechanism.

18. The cleaning apparatus of claim 17, wherein, The clutch mechanism comprises a driving face gear, a driven face gear and a second elastic member, the output shaft of the second driver is connected with the driving face gear, the driven face gear is fixedly connected on the rocker arm, and the second elastic member is arranged on the side of the driving face gear away from the driven face gear; the driving face gear and the driven face gear can engage to drive the driven face gear to rotate; when the rocker arm contacts with the limiting structure, the driving face gear can be separated from the driven face gear by compressing the second elastic member.

19. The cleaning apparatus of claim 18, wherein, The driven face gear and the rocker arm are in an integrated structure.

20. A cleaning apparatus as claimed in claim 18 or 19, wherein, The second driver is connected with the driving face gear through a first transmission assembly, so as to drive the driving face gear to rotate by the second driver.

21. The cleaning apparatus of claim 20, wherein, The first transmission assembly is at least one of gear transmission, belt transmission, chain transmission or shaft transmission.

22. The cleaning apparatus of claim 20 or 21, wherein, The first transmission assembly comprises a driving gear, a driven gear and at least one connecting gear engaged between the driving gear and the driven gear; the driving gear is arranged on the output shaft of the driver, and the driven gear is coaxially arranged with the driving face gear.

23. The cleaning apparatus of any one of claims 20-22, wherein, The mounting frame is formed with a first accommodating space, and the first transmission assembly is arranged in the first accommodating space.

24. The cleaning apparatus of any one of claims 18-23, wherein, The auxiliary wheel is connected with the driving face gear through a second transmission assembly, so as to drive the auxiliary wheel to rotate by the driving face gear.

25. The cleaning apparatus of claim 24, wherein, The second transmission assembly is at least one of belt transmission, gear transmission, chain transmission or shaft transmission.

26. The cleaning apparatus of claim 24, wherein, The second transmission assembly comprises a driving pulley, a driven pulley and a belt connecting the driving pulley and the driven pulley, the driving pulley is coaxially arranged with the driving face gear, and the driven pulley is coaxially arranged with the auxiliary wheel.

27. The cleaning apparatus of any one of claims 24-26, wherein, The rocker arm is formed with a second accommodating space, and the second transmission assembly is arranged in the second accommodating space.

28. The cleaning apparatus of any one of claims 1-27, wherein, The auxiliary wheel is formed with an anti-skid structure on the circumferential surface.

29. The cleaning apparatus of claim 28, wherein, The anti-skid structure comprises a plurality of convex ribs, the plurality of convex ribs are distributed at intervals along the circumference of the auxiliary wheel and extend along the radial direction of the auxiliary wheel.

30. The cleaning apparatus of any one of claims 1-27, wherein, The cleaning device further comprises: A roller is arranged on the device body, and the roller is located on the side of the driving wheel in the backward direction of the device body.

31. A cleaning system, comprising: The cleaning device of any one of claims 1-30; A base station is used for connecting with the cleaning device.

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