Lifting mechanism, cleaning robot, cleaning system, method for controlling cleaning robot, and storage medium

Abstract

The present disclosure relates to a lifting mechanism, a cleaning robot, a cleaning system, a method for controlling the cleaning robot, and a storage medium. The lifting mechanism is applied to the cleaning robot, and the lifting mechanism is configured to drive one side of a body of the cleaning robot to lift when the cleaning robot encounters an obstacle, so as to facilitate surmounting an obstacle. The lifting mechanism comprises: a traveling assembly, a driving assembly and a transmission assembly, wherein the traveling assembly comprises: a driving wheel housing and a driving wheel rotationally arranged on the driving wheel housing, the driving wheel being supported on a target surface and configured to drive the cleaning robot to move, and the driving wheel housing being rotationally connected to the body by means of a first rotating shaft; the driving assembly is connected to the transmission assembly, and the driving assembly is configured to drive the transmission assembly to move; and the transmission assembly is driven by the driving assembly to move from a first position to a second position, and when moving from the first position to the second position, the transmission assembly exerts a force towards the target surface on the driving wheel housing, causing the driving wheel housing to rotate in a first rotation direction around the first rotating shaft, thereby driving one side of the body to lift relative to the target surface. The lifting mechanism in the embodiments of the present disclosure can achieve the lifting function of the cleaning robot, requires minimal modification to the original components of the cleaning robot, is convenient to disassemble and assemble, and can effectively improve the capability of the cleaning robot to surmount obstacles.

Description

Lifting mechanism, cleaning robot, cleaning system, control method of cleaning robot and storage medium TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of cleaning robots, and particularly relates to a lifting mechanism, a cleaning robot, a cleaning system, a control method of a cleaning robot and a storage medium. BACKGROUND

[0002] The existing cleaning robot can not only clean on the unobstructed ground, but also enter some low scenes such as sofa bottom and bed bottom to clean, which requires that the overall height of the cleaning robot cannot be too high. In order to ensure the cleaning effect, the cleaning modules such as side brushes, middle brushes and mops also need to be close to the ground. In this case, when the cleaning robot passes through the threshold and other obstacles, because the ground clearance of the shell and the cleaning modules is low, the shell and the cleaning modules will be rubbed with the obstacles and generate a large resistance, which leads to a low success rate of obstacle crossing, and the shell and the cleaning modules may be damaged. At the same time, due to the limitation of the above structure, the demand for higher threshold obstacle crossing cannot be met at present. SUMMARY

[0003] The embodiments of the present disclosure provide a lifting mechanism, a cleaning robot, a cleaning system, a control method of a cleaning robot and a storage medium, which are designed to at least solve one of the technical problems existing in the prior art.

[0004] The embodiments of the present disclosure provide a lifting mechanism applied to a cleaning robot, which is used to lift one side of the body of the cleaning robot when the cleaning robot encounters an obstacle, so as to cross the obstacle. The lifting mechanism comprises a walking assembly, a driving assembly and a transmission assembly.

[0005] The walking assembly comprises a driving wheel shell and a driving wheel rotatably arranged in the driving wheel shell. The driving wheel is supported on a target surface and is used to drive the cleaning robot to move. The driving wheel shell is rotatably connected to the body through a first rotating shaft.

[0006] The driving assembly is connected with the transmission assembly. The driving assembly is used to drive the transmission assembly to move.

[0007] The transmission assembly moves from a first position to a second position under the driving of the driving assembly. In the process of moving from the first position to the second position, the transmission assembly applies a force to the driving wheel shell towards the target surface, so that the driving wheel shell rotates along a first turning direction around the first rotating shaft, to lift one side of the body relative to the target surface.

[0008] In some embodiments, the transmission assembly abuts against or slides relative to the drive wheel housing to apply a force to the drive wheel housing towards the target surface during movement from the first position to the second position.

[0009] In some embodiments, the transmission assembly comprises a force applying member which is driven by the driving assembly to move from the first position to the second position to abut against or slide relative to the drive wheel housing.

[0010] In some embodiments, the transmission assembly further comprises a transmission member connected to the force applying member, the transmission member being driven by the driving assembly to move and drive the force applying member to move.

[0011] In some embodiments, the driving assembly comprises a driving member and a rotating member connected to the driving member, the driving member being configured to drive the rotating member to rotate, the first end of the transmission member being connected to the rotating member, the transmission member being wound around the rotating member to drive the force applying member to move during rotation of the rotating member driven by the driving member.

[0012] In some embodiments, the rotating member comprises a winch; and / or,

[0013] The transmission member comprises a flexible transmission member; and / or,

[0014] The transmission member is at least one of a wire, a belt or a chain; and / or,

[0015] The transmission assembly further comprises a wire tube which is sleeved outside the transmission member, the wire tube being arranged on the body; and / or,

[0016] The body further comprises a clamping member, the transmission member being arranged on the clamping member; or, the transmission assembly further comprises a wire tube which is sleeved outside the transmission member, the wire tube being arranged on the clamping member.

[0017] In some embodiments, the force applying member comprises a first connecting rod, a first end of the first connecting rod being connected to the transmission member, a second end of the first connecting rod being configured to abut against the drive wheel housing; or, the force applying member comprises a sliding block, a first end of the sliding block being connected to the transmission member, a second end of the sliding block being configured to slide relative to the drive wheel housing.

[0018] In some embodiments, the force applying member comprises a first connecting rod, a first end of the first connecting rod being connected to the transmission member, a second end of the first connecting rod being configured to abut against the drive wheel housing;

[0019] The first connecting rod comprises a first single connecting rod, a first end of the first single connecting rod being connected with the transmission member, and a second end of the first single connecting rod being used for abutting against the driving wheel shell; or the first connecting rod comprises a first double connecting rod, a first end of the first double connecting rod being connected with the transmission member, a second end of the first double connecting rod being used for abutting against the driving wheel shell, and a third end of the first double connecting rod being connected with the body.

[0020] In some embodiments, the transmission member comprises a flexible transmission member, a first end of the flexible transmission member being connected with the driving assembly, and a second end of the flexible transmission member being connected with the force applying member; or the transmission member comprises a second connecting rod, a first end of the second connecting rod being connected with the driving assembly, and a second end of the second connecting rod being connected with the force applying member.

[0021] In some embodiments, the transmission member comprises a second connecting rod, a first end of the second connecting rod being connected with the driving assembly, and a second end of the second connecting rod being connected with the force applying member.

[0022] The second connecting rod comprises a second single connecting rod, a first end of the second single connecting rod being connected with the driving assembly, and a second end of the second single connecting rod being connected with the force applying member; or the second connecting rod comprises a second double connecting rod, a first end of the second double connecting rod being connected with the driving assembly, and a second end of the second double connecting rod being connected with the force applying member.

[0023] In some embodiments, a fixed shell is arranged on the body, a movable space is arranged on the fixed shell, and at least part of the first connecting rod moves in the movable space.

[0024] The first connecting rod comprises a first single connecting rod, a first end of the first single connecting rod being connected with the transmission member, and a second end of the first single connecting rod being used for abutting against the driving wheel shell, a middle part of the first single connecting rod being rotatably connected with the fixed shell through a second rotating shaft, and the first end and / or the second end of the first single connecting rod moving in the movable space; or the first connecting rod comprises a first double connecting rod, a first end of the first double connecting rod being connected with the transmission member, a second end of the first double connecting rod being used for abutting against the driving wheel shell, a third end of the first double connecting rod being connected with the fixed shell, and the first end of the first double connecting rod moving in the movable space.

[0025] In some embodiments, the transmission assembly further comprises an elastic member, the elastic member being used for providing an action force for the first connecting rod to move towards the first position.

[0026] The first connecting rod comprises a first single connecting rod, a first end of the first single connecting rod is connected with the transmission member, a second end of the first single connecting rod is used for abutting against the driving wheel shell, a middle part of the first single connecting rod is rotatably connected to the fixed shell through a second rotating shaft, the elastic member is sleeved on the second rotating shaft and is arranged between the fixed shell and the first single connecting rod; or, the first connecting rod comprises a first double connecting rod, a first end of the first double connecting rod is connected with the transmission member, a second end of the first double connecting rod is used for abutting against the driving wheel shell, a third end of the first double connecting rod is connected to the fixed shell, a first end of the elastic member is connected to the first end of the first double connecting rod, and a second end of the elastic member is connected to the fixed shell; and / or,

[0027] The driving wheel shell is provided with a boss, and one end of the first connecting rod abuts on the boss; and / or,

[0028] The first connecting rod comprises a first single connecting rod, a first end of the first single connecting rod is connected with the transmission member, a second end of the first single connecting rod is used for abutting against the driving wheel shell, a middle part of the first single connecting rod is rotatably connected to the fixed shell through a second rotating shaft, the second rotating shaft is parallel to the first rotating shaft.

[0029] In some embodiments, the movable space comprises a first sliding groove and / or a second sliding groove, and one end of the first connecting rod connected with the transmission member is inserted into the first sliding groove and / or the second sliding groove.

[0030] In some embodiments, the first connecting rod comprises a first double connecting rod and a sliding connecting member, a first end of the first double connecting rod is connected with the transmission member, a second end of the first double connecting rod abuts against the driving wheel shell, a third end of the first double connecting rod is connected to the fixed shell, the sliding connecting member is inserted into the first end of the first double connecting rod and the first sliding groove and / or the second sliding groove and slides along the first sliding groove and / or the second sliding groove.

[0031] In some embodiments, the body is provided with a fixed shell, the fixed shell is provided with a movable space, and at least part of the force applying member moves in the movable space; and / or,

[0032] The transmission assembly further comprises an elastic member, a first end of the elastic member is connected with the force applying member, a second end of the elastic member is connected with the body, and the elastic member is used for providing an acting force for the force applying member to move towards the first position.

[0033] In some embodiments, the lifting mechanism comprises at least two walking assemblies, and two of the at least two walking assemblies are symmetrically arranged on two sides of the body in the advancing direction of the cleaning robot.

[0034] In some embodiments, the lifting mechanism comprises at least two transmission assemblies, at least two walking assemblies, and at least two transmission assemblies in one-to-one correspondence.

[0035] In some embodiments, the at least two transmission assemblies comprise at least one driving transmission assembly and at least one driven transmission assembly, the at least one driven transmission assembly is connected with the at least one driving transmission assembly, the at least one driving transmission assembly is connected with the driving assembly, the at least one driving transmission assembly is driven to move by the driving assembly, and drives the at least one driven transmission assembly to move.

[0036] In some embodiments, each driving transmission assembly comprises a driving transmission member and a driving force applying member, the driving force applying member is connected with the driving transmission member, the driving transmission member is connected with the driving assembly, the driving transmission member is driven to move by the driving assembly, and drives the driving force applying member to move; in the process of movement of the driving force applying member, the driving force applying member abuts against or slides relative to the driving wheel housing, and drives the at least one driven transmission assembly to move.

[0037] In some embodiments, each driven transmission assembly comprises a driven transmission member and a driven force applying member, the driven transmission member is connected with the driving force applying member and the driven force applying member respectively, in the process of movement of the driving force applying member, the driven transmission member is driven to move by the driving force applying member, so as to drive the driven force applying member to move through the driven transmission member.

[0038] In some embodiments, the driving force applying member slides relative to the driving wheel housing, one of the driving wheel housing and the driving force applying member is provided with a sliding member, and the other is provided with a sliding surface; and / or,

[0039] the driven force applying member slides relative to the driving wheel housing, one of the driving wheel housing and the driven force applying member is provided with a sliding member, and the other is provided with a sliding surface; and / or,

[0040] the driving force applying member and / or the driven force applying member abut against the driving wheel housing.

[0041] In some embodiments, the driving force applying member slides relative to the driving wheel housing, one of the driving wheel housing and the driving force applying member is provided with a sliding member, and the other is provided with a sliding surface; and / or,

[0042] the driven force applying member slides relative to the driving wheel housing, one of the driving wheel housing and the driven force applying member is provided with a sliding member, and the other is provided with a sliding surface;

[0043] The sliding surface comprises a plane and an inclined surface, and the sliding member abuts against the plane of the sliding surface during the sliding of the sliding member on the sliding surface.

[0044] In some embodiments, the driven transmission member comprises a flexible driven transmission member; and / or,

[0045] The driven transmission member is at least one of linear, belt-shaped or chain-shaped; and / or,

[0046] The driven transmission assembly further comprises a sleeve, the sleeve being sleeved outside the driven transmission member, and the sleeve being arranged on the body; and / or,

[0047] The body is further provided with a detent member, and the driven transmission member is arranged on the detent member; or the driven transmission assembly further comprises a sleeve, the sleeve being sleeved outside the driven transmission member, and the sleeve being arranged on the detent member.

[0048] In some embodiments, the driving transmission member comprises a third connecting rod, a first end of the third connecting rod being connected with the driving assembly, and a second end of the third connecting rod being connected with the driving force member and the driven transmission member.

[0049] The third connecting rod comprises a third single connecting rod, a first end of the third single connecting rod being connected with the driving assembly, and a second end of the third single connecting rod being connected with the driving force member; or the third connecting rod comprises a third double connecting rod, a first end of the third double connecting rod being connected with the driving assembly, and a second end of the third double connecting rod being connected with the driving force member.

[0050] In some embodiments, the body further comprises a fixed shell, the fixed shell being provided with a movable space, and at least part of the driving force member and / or the driven force member moving in the movable space.

[0051] A first end of the driving force member is movably arranged in the movable space, and a second end of the driving force member slides relative to the driving wheel shell or abuts against the driving wheel shell; and / or,

[0052] A first end of the driven force member is movably arranged in the movable space, and a second end of the driven force member slides relative to the driving wheel shell or abuts against the driving wheel shell.

[0053] In some embodiments, the walking assembly further comprises a third rotating shaft, the driving wheel being arranged on the driving wheel shell and rotating along the third rotating shaft, and the third rotating shaft being parallel to the first rotating shaft; and / or,

[0054] The walking assembly further comprises a driving wheel motor configured to drive the driving wheel to rotate, the driving wheel motor rotates around a fourth rotation axis which is parallel to the first rotation axis; and / or,

[0055] The walking assembly further comprises a suspension, a first end of the suspension is connected to or abuts against the driving wheel housing, a second end of the suspension abuts against the body, at least part of the walking assembly is elastically connected to the body through the suspension; at least part of the driving wheel extends out of the body to contact the target surface.

[0056] The present disclosure further provides a cleaning robot, comprising: a body; and the lifting mechanism according to any one of the above embodiments, the lifting mechanism is arranged on the body.

[0057] In some embodiments, the body comprises: a chassis and a cover, the chassis is connected to the cover and encloses a receiving cavity, the chassis is provided with an opening facing the target surface, the opening communicates with the receiving cavity; wherein at least part of the walking assembly is arranged in the opening, and the transmission assembly or the driving assembly is arranged in the receiving cavity and / or the opening.

[0058] In some embodiments, the cleaning robot comprises two walking assemblies, two driving wheels are symmetrically arranged relative to the center of the body; the cleaning robot further comprises: a universal wheel configured to cooperate with the two driving wheels to control the movement of the cleaning robot, and a wiping member configured to clean the surface to be cleaned.

[0059] In some embodiments, with reference to the advancing direction of the cleaning robot as a reference direction, the two driving wheels are arranged on the left side and the right side of the body, respectively, and

[0060] The universal wheel and the wiping member are arranged on the rear side of the body, the first rotation axis is arranged on the front side of the driving wheel, and the side of the body that is lifted relative to the target surface is the front side of the body; or

[0061] The universal wheel is arranged on the front side of the body, the wiping member is arranged on the rear side of the body, the first rotation axis is arranged on the rear side of the driving wheel, and the side of the body that is lifted relative to the target surface is the rear side of the body.

[0062] The present disclosure further provides a cleaning system, comprising: a base station; and the cleaning robot according to any one of the above embodiments, the cleaning robot moves into the base station for maintenance.

[0063] The embodiments of the present disclosure further provide a control method of a cleaning robot, the cleaning robot being the cleaning robot described in the above embodiments, the control method comprising:

[0064] when the cleaning robot encounters an obstacle during the advancing, controlling a side of the body to lift relative to the target surface, and controlling the side of the body that lifts relative to the target surface to face the obstacle;

[0065] controlling the cleaning robot to move towards the obstacle to cross the obstacle.

[0066] In some embodiments, the cleaning robot comprises a universal wheel and a wiping member, with reference to an advancing direction of the cleaning robot, the universal wheel and the wiping member are arranged at a rear side of the body, the first rotating shaft is arranged at a front side of the driving wheel, and the side of the body that lifts relative to the target surface is a front side of the body;

[0067] the controlling the side of the body to lift relative to the target surface comprises:

[0068] controlling a front side of the body to lift relative to the target surface;

[0069] the controlling the cleaning robot to move towards the obstacle to cross the obstacle comprises:

[0070] controlling the cleaning robot to continue advancing to cross the obstacle.

[0071] In some embodiments, the controlling the cleaning robot to continue advancing to cross the obstacle further comprises: during the cleaning robot crossing the obstacle, controlling the wiping member to work to clean the obstacle; and / or,

[0072] after the controlling the cleaning robot to continue advancing to cross the obstacle, the method further comprises:

[0073] controlling the cleaning robot to continue advancing after the cleaning robot crosses the obstacle.

[0074] In some embodiments, the cleaning robot comprises a universal wheel and a wiping member, the universal wheel is arranged at a front side of the body, the wiping member is arranged at a rear side of the body, the first rotating shaft is arranged at a rear side of the driving wheel, and the side of the body that lifts relative to the target surface is a rear side of the body;

[0075] the controlling the side of the body to lift relative to the target surface, and controlling the side of the body that lifts relative to the target surface to face the obstacle comprises:

[0076] control the cleaning robot to turn around, and control the back side of the body to lift relative to a target surface;

[0077] The control of the cleaning robot to move towards the obstacle to cross the obstacle includes:

[0078] The control of the cleaning robot to move towards the obstacle to cross the obstacle includes:

[0079] In some embodiments, the control of the cleaning robot to move towards the obstacle to cross the obstacle further includes: controlling the mopping piece to pause during the cleaning robot crosses the obstacle; and / or,

[0080] The control of the cleaning robot to move towards the obstacle to cross the obstacle includes:

[0081] The control of the cleaning robot to move towards the obstacle to cross the obstacle includes:

[0082] The control of the cleaning robot to move towards the obstacle to cross the obstacle includes:

[0083] The control of the cleaning robot to move towards the obstacle to cross the obstacle includes:

[0084] The control of the cleaning robot to move towards the obstacle to cross the obstacle includes:

[0085] Compared with the prior art, the lifting mechanism provided by the embodiment of the present disclosure connects the driving wheel shell to the body of the cleaning robot through the first rotating shaft. When the driving assembly drives the transmission assembly to move, the transmission assembly in motion applies a force to the driving wheel shell towards the target surface, so that the driving wheel shell rotates around the first rotating shaft, thereby driving one side of the body to lift relative to the target surface. First, the lifting function of the cleaning robot is realized through the lifting mechanism, which can reduce the probability of friction or collision between some components of the cleaning robot and the obstacle, reduce the driving resistance of the cleaning robot, and further improve the obstacle crossing ability. Second, the lifting mechanism is arranged in the body of the cleaning robot, and the added components do not change the original structure of the cleaning robot much, are convenient to disassemble and assemble, and do not directly contact the target surface such as the ground, so that the hair winding phenomenon can be avoided. Third, for higher steps, thresholds and other obstacles, the lifting mechanism can directly drive one side of the body to lift before the cleaning robot collides with the obstacle, so that the lifting and obstacle crossing of the cleaning robot can be realized to meet the obstacle crossing demand of the existing higher threshold. BRIEF DESCRIPTION OF DRAWINGS

[0086] In order to more clearly illustrate the solutions in the present disclosure, the drawings required to be used in the following embodiment description will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the present disclosure or corresponding prior art, and other drawings can also be obtained by those skilled in the art without creative effort.

[0087] Wherein:

[0088] Fig. 1 is a partial structural schematic diagram of a lifting mechanism in an embodiment of the present disclosure;

[0089] Fig. 2 is a partial structural schematic diagram of a lifting mechanism in an embodiment of the present disclosure;

[0090] Fig. 3 is an exploded structural schematic diagram of the lifting mechanism in Fig. 2;

[0091] Fig. 4 is a structural schematic diagram of a fixing shell of the lifting mechanism in an embodiment of the present disclosure;

[0092] Fig. 5 is a partial structural schematic diagram of a mobile robot in an embodiment of the present disclosure;

[0093] Fig. 6 is an exploded structural schematic diagram of the mobile robot in Fig. 5;

[0094] Fig. 7 is a partial structural schematic diagram of a mobile robot in an embodiment of the present disclosure;

[0095] Fig. 8 is a partial structural schematic diagram of a lifting mechanism in another embodiment of the present disclosure;

[0096] Fig. 9 is a partial exploded structural schematic diagram of a lifting mechanism in yet another embodiment of the present disclosure;

[0097] Fig. 10 is a partial structural schematic diagram of a mobile robot in yet another embodiment of the present disclosure;

[0098] Fig. 11 is a partial structural schematic diagram of a lifting mechanism in still another embodiment of the present disclosure;

[0099] Fig. 12 is an exploded structural schematic diagram of the lifting mechanism in Fig. 11;

[0100] Fig. 13 is a partial structural schematic diagram of a lifting mechanism in still another embodiment of the present disclosure;

[0101] Fig. 14 is a partial structural schematic diagram of a lifting mechanism in still another embodiment of the present disclosure;

[0102] Fig. 15 is a partial structural schematic diagram of a mobile robot in still another embodiment of the present disclosure;

[0103] Fig. 16 is a structural schematic diagram of a lifting mechanism in an embodiment of the present disclosure;

[0104] Fig. 17 is an exploded view of the lifting mechanism of Fig. 16;

[0105] Fig. 18 is a schematic view of the lifting mechanism of Fig. 16;

[0106] Fig. 19 is a schematic view of a portion of a mobile robot in accordance with an embodiment of the present disclosure;

[0107] Fig. 20 is a schematic view of a portion of a mobile robot in accordance with an embodiment of the present disclosure;

[0108] Fig. 21 is a schematic view of a walking assembly in accordance with an embodiment of the present disclosure;

[0109] Fig. 22 is an exploded view of the walking assembly of Fig. 21;

[0110] Fig. 23 is a schematic view of a walking assembly in accordance with another embodiment of the present disclosure;

[0111] Fig. 24 is a schematic view of a mobile robot in accordance with an embodiment of the present disclosure;

[0112] Fig. 25 is a schematic block diagram of a cleaning robot in accordance with an embodiment of the present disclosure;

[0113] Fig. 26 is a schematic view of a cleaning system in accordance with an embodiment of the present disclosure;

[0114] Fig. 27 is a flowchart of a control method for a mobile robot in accordance with an embodiment of the present disclosure;

[0115] The labels in the drawings are as follows: 1000, cleaning system; 100, cleaning robot; 110, lifting mechanism; 120, body; 121, chassis; 1211, opening; 122, cover; 123, accommodating cavity; 124, clamping part; 130, drive wheel; 140, suspension part; 141, hanging rack; 142, first suspension elastic part; 143, second suspension elastic part; 150, universal wheel; 160, mopping part; 170, collision sensor; 200, base station; 300, target surface; 1, walking assembly; 11, drive wheel shell; 111, boss; 12, first rotating shaft; 13, fixed shell; 131, first sliding groove; 132, second sliding groove; 133, rotating connection hole; 134, movement space; 135, third sliding groove; 14, sliding part; 15, sliding surface; 151, flat surface; 152, inclined surface; 16, third rotating shaft; 17, drive wheel motor; 18, fourth rotating shaft; 2, transmission assembly; 21, force applying part; 211, first connecting rod; 2111, first single connecting rod; 2112, first double connecting rod; 212, sliding block; 22, transmission part; 221, second connecting rod; 2211, second single connecting rod; 2212, second double connecting rod; 23, sliding connection part; 24, elastic part; 251, rolling part; 252, rotating part; 26, second rotating shaft; 28, driving transmission assembly; 281, driving force applying part; 282, driving transmission part; 2820, third connecting rod; 2821, third single connecting rod; 2822, third double connecting rod; 29, driven transmission assembly; 291, driven force applying part; 292, driven transmission part; 3, driving assembly; 31, driving part; 32, rotating part; 43, wire tube; 44, sleeve. DETAILED DESCRIPTION

[0116] 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 in the description herein is for describing particular embodiments only and is not intended to be limiting of the disclosure, for example, the terms "length", "width", "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like specify relative positions according to the orientations shown in the drawings and are merely used for convenience in describing the present technical solution, and cannot be understood as a limitation on the technical solution.

[0117] The terms "comprise", "have" and any variations thereof in the specification and claims of the present disclosure and the above description of drawings are intended to cover not exclusive inclusion; the terms "first", "second" and the like in the specification and claims of the present disclosure or the above description of drawings are used to distinguish different objects, and are not used to describe a specific order. The meaning of "a plurality of" is two or more, unless otherwise explicitly and specifically limited.

[0118] In the description and claims of the disclosure, and the appended drawings, expressions of direction such as "above", "below", "upper", "lower", "right", "left", "vertical", "horizontal", "top", "bottom", "lateral", "longitudinal" (and orientational adjectives) and / or variations such as "vertical ly", "horizontally", "up", "down", " lateral ly", "longitudinally", "circumferentially", "to", "at" or "from" a point are made by way of reference only for purposes of description, and do not limit the products manufactured by the method to a specific orientation. These terms include different orientations / j reference frames throughout this disclosure and / or to various alternatives and / or modifications of an embodiment as will be described.

[0119] Furthermore, all or a portion of the embodiments can be performed in an integrated circuit (IC), multi-chip-module (MCM), computer system, personal digital assistant (PDA), cellular telephone, or other system that includes or is used in conjunction with an application specific integrated circuit (ASIC). In such a system, the controller can be a processor, a digital signal processor, an ASIC, a field programmable gate array (FPGA), another programmable logic device, discrete gate or transistor logic, discrete hardware components, or a combination of these components. The controller can be implemented in hardware, software, firmware, or a combination of these implementations. The controller can include or receive use of various object models and / or data structures, for example, to represent various entities in the system.

[0120] The embodiments of the present disclosure provide a lifting mechanism 110, referring to FIG. 1, which can be applied to a cleaning robot 100. The lifting mechanism 110 is used to lift one side of the body 120 of the cleaning robot 100 when the cleaning robot 100 encounters an obstacle (for example, a low step, a threshold, etc.), so as to facilitate the cleaning robot 100 to overcome the obstacle. Of course, the lifting mechanism 110 can also assist the cleaning robot 100 to meet the lifting requirements of other functions, for example, the cleaning robot 100 sweeps something in front of it with a certain height during walking.

[0121] It should be noted that the cleaning robot described herein includes but is not limited to a sweeping robot, a mopping robot, a sweeping and mopping integrated robot, etc. The shape of the body of the cleaning robot 100 can be various, including but not limited to a circular body, a square body, a D-shaped body, a body combined with other circular and square shapes, etc. The body is usually provided with a control system, a power system, etc., and the bottom thereof can be provided with a walking assembly 1. The systems and components work with each other to perform cleaning work. The target surface 300 described herein can be a working surface, for example, a surface to be cleaned (such as a ground surface, a wall surface, a roof surface, a table surface, a glass surface, a door, a road surface, etc.); can also be a driving surface for the cleaning robot 100 to drive (such as a ground surface, a lawn, a road surface, a roof surface, a table surface, a glass surface, etc.); can also be a supporting surface to support the cleaning robot 100; can also be an acted surface to which an action is applied; in short, the target surface 300 includes but is not limited to a ground surface, a road surface, a wall surface, a roof surface, a glass surface, a door, a table surface, an obstacle surface, etc., which can be determined according to actual conditions.

[0122] As shown in FIG. 1-2, the lifting mechanism 110 comprises a walking assembly 1, a driving assembly 3 and a transmission assembly 2; the walking assembly 2 comprises a driving wheel housing 11 and a driving wheel 130 rotatably arranged on the driving wheel housing 11, the driving wheel 130 is supported on the target surface 300 and is used to drive the cleaning robot 100 to move, the driving wheel housing 11 is rotatably connected to the body 120 through a first rotating shaft 12; the driving assembly 3 is connected with the transmission assembly 2, and the driving assembly 3 is used to drive the transmission assembly 2 to move; the transmission assembly 2 is driven by the driving assembly 3 to move from a first position to a second position, in the process of moving from the first position to the second position, the transmission assembly 2 applies a force to the driving wheel housing 11 towards the target surface 300, so that the driving wheel housing 11 rotates along a first rotating direction around the first rotating shaft 12 to drive one side of the body 120 to lift relative to the target surface 300.

[0123] In some embodiments, the first rotating shaft 12 is connected with the body 120 of the cleaning robot 100, and the driving wheel housing 11 is rotatably connected to the first rotating shaft 12; or, the driving wheel housing 11 is connected with the first rotating shaft 12, and the first rotating shaft 12 is rotatably connected to the body 120 of the cleaning robot 100, so that the driving wheel housing 11 rotates relative to the body 120 of the cleaning robot 100. Of course, in other embodiments, the driving wheel housing 11 can also be rotatably installed on the body 120 of the cleaning robot 100 through other structures, which is not particularly limited here.

[0124] In the embodiments of the present disclosure, the transmission assembly 2 can apply a force to the driving wheel housing 11 towards the target surface 300, so that the driving wheel housing 11 rotates along a first rotating direction around the first rotating shaft 12, and the force towards the target surface 300 can be a force perpendicular to the target surface 300, or can be a force inclined to the target surface 300, that is, as long as the force includes a force component perpendicular to the target surface 300.

[0125] It should be noted that the movement of the transmission assembly 2 described herein can refer to the movement of the entire transmission assembly 2, or can refer to the movement of part or some components of the transmission assembly 2; similarly, the movement of the transmission assembly 2 from the first position to the second position under the driving of the driving assembly 3 can refer to the movement of the entire transmission assembly 2 from the first position to the second position, or can refer to the movement of part or some components of the transmission assembly 2 from the first position to the second position, that is, the specific position range of the first position or the second position is not completely the same when the selected reference object is different; the first position or the second position needs to be defined with the selected reference object; which is not particularly limited here and can be determined according to actual conditions.

[0126] In summary, compared with the prior art, the lifting mechanism 110 in the embodiments of the present disclosure has at least the following beneficial effects:

[0127] The lifting mechanism 110 connects the drive wheel housing 11 of the walking assembly 1 to the body 120 of the cleaning robot 100 through the first rotating shaft 12. When the drive assembly 3 drives the transmission assembly 2 to move, the transmission assembly 2 gradually applies a force (for example, a downward pressure or a downward pulling force, etc.) to the drive wheel housing 11 towards the target surface 300. The position where the force is applied is the force application point. The side of the drive wheel housing 11 located at the force application point gradually approaches the target surface 300, while the other side of the drive wheel housing 11 located at the force application point rotates around the first rotating shaft 12 to drive the other side of the drive wheel housing 11 gradually away from the target surface 300. The side of the body 120 (on the same side as the other side of the drive wheel housing 11 located at the force application point) gradually moves away from the target surface 300 along with the drive wheel housing 11 to complete the lifting of the side of the body 120 relative to the target surface 300.

[0128] In this way, in the first aspect, the cleaning robot can reduce the probability of collision or friction between some components and obstacles during the lifting process, and reduce the driving resistance of the cleaning robot, thereby improving the obstacle crossing ability. In the second aspect, the lifting mechanism is arranged in the body of the cleaning robot, and the additional components have little change to the original structure of the cleaning robot, are convenient to disassemble and assemble, and do not directly contact the target surface such as the ground, so that the hair winding phenomenon can be avoided. In the third aspect, for higher steps, thresholds and other obstacles (for example, obstacles greater than 20mm), the lifting mechanism can directly drive the lifting of the side of the body before the mechanical collision structure (for example, the collision sensor 170 in FIG. 24) of the cleaning robot collides with the obstacle, so that the lifting of the cleaning robot can be realized to meet the obstacle crossing requirements of higher thresholds.

[0129] In order to enable personnel in the technical field to better understand the present disclosure, the technical solutions in the embodiments of the present disclosure will be described clearly and completely in conjunction with FIGS. 1 to 27.

[0130] In some embodiments, during the movement of the transmission assembly 2 from the first position to the second position, the transmission assembly 2 applies a force to the drive wheel housing 11 towards the target surface 300 by abutting or sliding relative to the drive wheel housing 11.

[0131] For example, the transmission assembly 2 abuts against the driving wheel housing 11, which can be that a part of the transmission assembly 2 abuts against a part of the driving wheel housing 11. The abutting position of the two can be fixed, i.e. the force application point is fixed, or the abutting position of the two can be variable, i.e. the force application point is variable. It should be noted that the fixed described herein is defined relative to the variable, and the fixed is not strictly completely fixed. The slight change in the movement process can be regarded as fixed, while the variable refers to the obvious change in the position, such as sliding or moving from point A to point B. The transmission assembly 2 slides relative to the driving wheel housing 11, which can be that a part of the transmission assembly 2 slides along a surface of the driving wheel housing 11, or a surface of the transmission assembly 2 slides along a part of the driving wheel housing 11. Of course, in other embodiments, the transmission assembly 2 can also abut against the driving wheel housing 11 or slide relative to the driving wheel housing 11, which is not particularly limited herein.

[0132] Referring to FIGS. 1, 8, 13 and 17, in some embodiments, the transmission assembly 2 comprises a force applying member 21, which is driven by the driving assembly 3 to move from a first position to a second position to abut against or slide relative to the driving wheel housing 11. Specifically, the driving assembly 3 can directly drive the movement of the force applying member 21, for example, the output shaft of the driving assembly 3 is directly connected to the force applying member 21 to drive the movement of the force applying member 21. Alternatively, the driving assembly 3 can drive the movement of the force applying member 21 through other members. Directly driving the movement of the force applying member by the driving assembly can effectively utilize the transmission power of the driving assembly, and the transmission efficiency is higher, and the power loss can be reduced as much as possible.

[0133] Referring to FIGS. 1, 8, 13 and 17, in some embodiments, the transmission assembly 2 further comprises a transmission member 22 connected to the force applying member 21, which is driven by the driving assembly 3 to move and drive the movement of the force applying member 21. That is, the force applying member 21 is driven to move by the transmission member 22. Specifically, the driving assembly 3 can directly drive the movement of the transmission member 22, for example, the output shaft of the driving assembly 3 is connected to the transmission member 22. Alternatively, the driving assembly 3 can drive the movement of the transmission member 22 through other members. The driving assembly 3 drives the movement of the transmission member 22, and the movement of the force applying member 21 is driven by the movement of the transmission member 22. The transmission member 22 outputs the power of the driving assembly 3 to the force applying member 21, which can meet the requirements of different installation positions of the driving assembly 3, and the adaptability of the overall structure is stronger. In addition, the transmission member 22 can output the power to multiple different force applying members 21 to realize one-to-many power output, thereby saving the number of components of the driving assembly 3 and the installation space thereof.

[0134] In some embodiments, the driving assembly 3 comprises a driving member 31 and a rotating member 32 connected with the driving member 31, the driving member 31 is configured to drive the rotating member 32 to rotate, the first end of the transmission member 22 is connected with the rotating member 32, and in the process that the driving member 31 drives the rotating member 32 to rotate, the transmission member 22 is wound on the rotating member 32 to drive the force applying member 21 to move. That is, the transmission member 22 moves under the driving of the rotating member 32. Specifically, the output end of the driving member 31 is connected with the rotating member 32, and the transmission member 22 is connected on the rotating member 32. The driving member 31 can drive the transmission member 22 to move by driving the rotating member 32 to rotate, for example, the transmission member 22 is wound on the rotating member 32 to gradually shorten the length, thereby pulling the force applying member 21.

[0135] For example, referring to FIG. 9, the rotating member 32 is sleeved on the outside of the driving member 31, for example, the driving member 31 is a motor, and the rotating member 32 is designed in a sleeve shape to be sleeved on the outside of the motor. The driving member and the rotating member are sleeved and installed, which can save installation space on one hand, and effectively transmit the power of the driving member and reduce the power loss on the other hand.

[0136] For example, referring to FIGS. 1, 2 and 3, the rotating member 32 comprises a winch; and / or, the transmission member 22 comprises a flexible transmission member; and / or, the transmission member 22 is at least one of a wire, a belt or a chain; and / or, the transmission assembly 2 further comprises a wire tube 43, the wire tube 43 is sleeved on the outside of the transmission member 22, and the wire tube 43 is arranged on the body 120; and / or, the body 120 is further provided with a clamping member 124, and the transmission member 22 is arranged on the clamping member 124; or, the transmission assembly 2 further comprises a wire tube 43, the wire tube 43 is sleeved on the outside of the transmission member 22, and the wire tube 43 is arranged on the clamping member 124.

[0137] It can be understood that, in some embodiments of the present disclosure, the winch is connected with the output end of the driving member 31, one end or a part of the flexible transmission member is connected with the winch, and the other end of the flexible transmission member is connected with the force applying member 21. In this way, the driving member 31 drives the winch to rotate, the flexible transmission member is wound on the winch, the length of the flexible transmission member is gradually shortened, and the force applying member 21 connected with the other end of the flexible transmission member is driven to move in the direction towards the second position; conversely, when the driving member 31 reversely drives the winch to rotate reversely, or the driving member 31 stops working and the winch rotates reversely under the action of other forces, the flexible transmission member unwinds on the winch, the length of the flexible transmission member is gradually lengthened, and the force applying member 21 is driven to move in the direction towards the first position. The shape of the transmission member 22 includes but is not limited to a wire, a belt or a chain, for example, the transmission member 22 can be a rope, a belt, a steel wire or a chain, and can also be a wire rope, a steel rope, a steel chain or an iron chain. For example, the wire tube 43 is made of a flexible material, so that the wire tube 43 can be bent or wound, for example, the wire tube 43 is made of plastic.

[0138] In order to ensure the stability of the transmission of the transmission member 22, and at the same time not to affect the transmission efficiency of the transmission member 22, a wire tube 43 can be arranged on the transmission member 22. On the one hand, the transmission member 22 can move in the wire tube 43 and is not affected by other components, thereby reducing the movement wear of the transmission member 22. On the other hand, the wire tube 43 is more convenient for the installation of the transmission member 22, that is, the wire tube 43 is arranged on the body 120, and the specific installation position and installation direction of the transmission member 22 on the body 120 are arranged through the wire tube 43.

[0139] In some embodiments, the body 120 is further provided with a clamping member 124. By arranging the transmission member 22 or the wire tube 43 on the clamping member 124, on the one hand, the transmission member 22 or the wire tube 43 can be fixedly installed on the body 120 and cannot be moved at will. On the other hand, the installation direction of the transmission member 22 or the wire tube 43 can be controlled through the clamping member 124. For example, the clamping member 124 can be arranged in the form of a clamping groove, a clamping position, a clamping buckle, and the like, and the present disclosure does not make specific limitations.

[0140] It should be noted that in some embodiments, the driving member 3 has a self-locking function. Specifically, the driving member 3 can control the retraction or extension of the flexible transmission member through the self-locking function, so that the flexible transmission member can drive the transmission assembly 2 to move at a fixed point. The self-locking function can be realized through an existing self-locking structure, or can be realized through a newly created self-locking structure, or can be realized through software control. Of course, in other embodiments, the fixed-point movement of the transmission assembly 2 can also be realized through other ways, which will not be described here.

[0141] In some embodiments, the force applying member 21 includes a first connecting rod 211, a first end of the first connecting rod 211 being connected with the transmission member 22, and a second end of the first connecting rod 211 being used for abutting against the driving wheel shell 11. Alternatively, the force applying member 21 includes a sliding block 212, a first end of the sliding block 212 being connected with the transmission member 22, and a second end of the sliding block 212 being slid relative to the driving wheel shell 11.

[0142] Specifically, the force applying member 21 can be in the form of a connecting rod, which abuts against the drive wheel housing 11. The connecting rod can be a single connecting rod, or a multi-connecting rod, such as a two-connecting rod, a three-connecting rod, or other multi-connecting rods, which can be set according to actual conditions, and the disclosure does not make any limitation. The force is applied through the connecting rod, which is more concentrated and efficient. Different numbers and structures of connecting rods can be combined to achieve different forms of force applying methods, which are more variable and have better structural adaptability. Alternatively, the force applying member 21 can also be in the form of a slider, which slides relative to the drive wheel housing 11. The slider can be a whole structure or a plurality of structures connected together. The shape of the slider can be set according to actual conditions, and the disclosure does not make any limitation. The force is applied through the slider, which is more gentle and has higher movement stability during the force applying process. Of course, in other embodiments, the force applying member 21 can also be in other forms, which can be set according to actual conditions, and the disclosure does not make any limitation.

[0143] In some embodiments, the first connecting rod 211 includes a first single connecting rod 2111, a first end of the first single connecting rod 2111 is connected with the transmission member 22, and a second end of the first single connecting rod 2111 is used to abut against the drive wheel housing 11. Alternatively, the first connecting rod 211 includes a first two-connecting rod 2112, a first end of the first two-connecting rod 2112 is connected with the transmission member 22, a second end of the first two-connecting rod 2112 is used to abut against the drive wheel housing 11, and a third end of the first two-connecting rod 2112 is connected on the body 120.

[0144] Specifically, referring to FIGS. 8 and 9, the force applying member 21 can be a single connecting rod. During the movement of the second end of the first single connecting rod 2111 from the first position to the second position, the position of the drive wheel housing 11 abutted by the first single connecting rod 2111 is variable, that is, the force applying point is variable. For example, the second end of the first single connecting rod 2111 slides relative to the drive wheel housing 11. In order to make the sliding more smooth, the second end of the first single connecting rod 2111 can be set as a rolling member 251, so that it is in a sliding abutment state when abutting against the drive wheel housing 11, that is, it slides on the drive wheel housing 11 while abutting against the drive wheel housing 11. Of course, the second end of the first single connecting rod 2111 can also be set in other forms for easy movement. For example, the rolling member 251 is in the form of a roller, a pulley, or the like. As shown in FIG. 8, the second end of the first single connecting rod 2111 is in the state of the first position. When it moves to the second position, the first end (the left end in FIG. 8) of the first single connecting rod 2111 is lifted upward, so that the second end (the right end in FIG. 8) of the first single connecting rod 2111 presses the drive wheel housing 11 downward.

[0145] Alternatively, referring to FIG. 1, FIG. 2, FIG. 3, the force applying member 21 can be a two-link, the first two-link 2112 can be composed of two single links rotatably connected (i.e. both of the single links can rotate about their connecting ends), the second end of the first two-link 2112 can be the rotatable connection of the two single links, and the first end and the third end of the first two-link 2112 can be the other ends of the two single links (i.e. the unconnected ends of the two single links) respectively. The first end of the first two-link 2112 is driven by the transmission member 22 to move from the first position to the second position (e.g. the first end moves towards the third end), and because the third end is connected to the body 120 and is immovable relative to the first end or the second end, the second end of the first two-link 2112 is pushed to move and abut against the drive wheel housing 11, and the abutting part of the drive wheel housing 11 is unchanged, i.e. the force applying point is unchanged. The two single links can be connected in the same plane, i.e. one end of one single link is connected to one end of the other single link in one plane, or can be connected in different planes, i.e. one single link is in one plane and the other single link is in another plane, e.g. one single link is above and the other single link is below. For example, the two single links are connected parallel to each other, i.e. the two single links are parallel, which can be parallel in the same plane or parallel in different planes. For another example, the two single links are connected non-parallel to each other, i.e. the two single links are non-parallel, e.g. the two single links are perpendicular to each other. The shapes, lengths, specific structures, etc. of the two single links can be completely the same, completely different, or partially the same and partially different, e.g. both of the single links are rectangular links but the lengths or widths or specific structures of the two single links are different. For another example, one single link is a rectangular link and the other single link is a circular link. For another example, the two single links are two identical rectangular single links. In FIG. 1 and FIG. 2, the first end of the first two-link 2112 (the right end in FIG. 1 and FIG. 2) is in the first position, and when it moves to the second position, i.e. moves towards the third end (the left end in FIG. 1 and FIG. 2), the second end of the first two-link 2112 (the middle part in FIG. 1 and FIG. 2, i.e. the connecting part of the two single links) will press down the drive wheel housing 11.

[0146] Referring to FIG. 11, the force applying member 21 can be a slider 212 connected with the transmission member 22 and sliding relative to the drive wheel housing 11. Specifically, the part of the drive wheel housing 11 abutted by the slider 212 during the movement from the first position to the second position can be variable, i.e. the force applying point is variable, for example, one end of the slider 212 slides from point A on the drive wheel housing 11 to point B thereon, for another example, in order to make the sliding of the slider 212 more smooth, the end thereof sliding can be provided in the form of a pulley; or the part of the drive wheel housing 11 abutted by the slider 212 can be unchangeable, i.e. the force applying point is unchangeable, for example, the slider 212 slides on point E of the drive wheel housing 11 from the C face thereof to the D face thereof, likewise, in order to make the sliding of the slider 212 more smooth, the point E of the drive wheel housing 11 can be provided in the form of a pulley.

[0147] In some embodiments, the transmission member 22 comprises a flexible transmission member, a first end of the flexible transmission member being connected with the drive assembly 3, and a second end of the flexible transmission member being connected with the force applying member 21; or the transmission member 22 comprises a second connecting rod 221, a first end of the second connecting rod 221 being connected with the drive assembly 3, and a second end of the second connecting rod 221 being connected with the force applying member 21.

[0148] Specifically, referring to FIGS. 1, 2 and 8, the transmission member 22 can be a flexible transmission member in the form of a rope, a belt, a chain or the like made of a flexible material, so as to be bendable or windable and the like, and occupy a smaller space, for example, the length thereof is shortened by winding to pull the force applying member 21, or the length thereof is lengthened by unwinding to release the force applying member 21. Alternatively, the transmission member 22 can also be in the form of a connecting rod, the movement of the connecting rod drives the force applying member 21, the power transmission is more stable through the connecting rod, and different forms of power transmission can be realized through the combination of different numbers and structures of connecting rods, the variability is stronger, and the structural adaptability is better. The connecting rod can be a single connecting rod, or a plurality of connecting rods, for example, two connecting rods, three connecting rods, other multiple connecting rods or the like, which can be set according to actual conditions, and the disclosure is not limited thereto.

[0149] In some embodiments, the second connecting rod 221 comprises a second single connecting rod 2211, a first end of the second single connecting rod 2211 being connected with the drive assembly 3, and a second end of the second single connecting rod 2211 being connected with the force applying member 21; or the second connecting rod 221 comprises a second double connecting rod 2212, a first end of the second double connecting rod 2212 being connected with the drive assembly 3, and a second end of the second double connecting rod 2212 being connected with the force applying member 21.

[0150] Specifically, referring to FIG. 11, the transmission member 22 can be a single connecting rod, a first end of a second single connecting rod 2211 is driven to move by the driving assembly 3, and the second end of the second single connecting rod 2211 is driven to move, and the force applying member 21 connected to the second end of the second single connecting rod 2211 can be driven to move from the first position to the second position to abut against or slide relative to the driving wheel housing 11. Alternatively, referring to FIG. 12, the transmission member 22 can be a double connecting rod, a second double connecting rod 2212 can be composed of two single connecting rods connected by rotation, the two single connecting rods can be connected in the same plane, that is, one end of one single connecting rod is connected to one end of another single connecting rod in one plane, or the two single connecting rods can be connected in different planes, that is, one single connecting rod is connected in one plane and another single connecting rod is connected in another plane, for example, one single connecting rod is connected above and another single connecting rod is connected below in a stacked manner; for example, the two single connecting rods are connected in parallel, that is, the two single connecting rods are in a parallel state, which can be parallel in the same plane or parallel in different planes; for another example, the two single connecting rods are connected in a non-parallel manner, that is, the two single connecting rods are in a non-parallel state, for example, the two single connecting rods are perpendicular to each other; the shapes, lengths, specific structures, etc. of the two single connecting rods can be completely the same, completely different, or partially the same and partially different, for example, the two single connecting rods are both rectangular connecting rods but have different lengths, widths or specific structures; for another example, the two single connecting rods are a rectangular connecting rod and a circular connecting rod, respectively; for another example, the two single connecting rods are two identical rectangular single connecting rods.

[0151] In some embodiments, the body 120 is provided with a fixed shell 13, the fixed shell 13 is provided with a movement space 134, at least part of the force applying member 21 moves in the movement space 134; and / or, the transmission assembly 22 further comprises: an elastic member 24, a first end of the elastic member 24 is connected to the force applying member 21, and a second end of the elastic member 24 is connected to the body 120, the elastic member 24 is used to provide an acting force for the force applying member to move towards the first position.

[0152] Specifically, referring to FIGS. 5 and 6, the fixed shell 13 can be a part of the body 120 or a separate component provided on the body 120. By providing the fixed shell 13 and the movement space 134 thereof, on one hand, a position for mounting the force applying member 21 can be provided, and the stability of the force applying member 21 in operation can be ensured; on the other hand, the movement range of the force applying member 21 can be limited, so that damage to some components of the cleaning robot 100 caused by excessive movement of the force applying member 21 under excessive force can be avoided.

[0153] Specifically, referring to FIG. 6, the first end of the elastic member 24 is connected to the force applying member 21 and moves with the force applying member 21, and the second end is connected to the body 120 and remains stationary, providing the force applying member 21 with a restoring force for movement toward the first position, that is, when the cleaning robot 100 is restored from the lifted state to the normal state, the driving assembly 3 can stop outputting power and use the restoring force provided by the elastic member 24 to achieve, without the need for the driving assembly 3 to work to provide additional power. On the one hand, it can save power and reduce the operating cost of the cleaning robot 100; on the other hand, it can reduce the complexity of the driving assembly 3, that is, compared to the driving assembly 3 only needing to provide unidirectional power, when the driving assembly 3 needs to provide two opposite powers, the complexity of its design is higher, the requirements for the components are higher, and the cost of operation, disassembly, maintenance, etc. is also higher. For example, the higher the requirements for the operating parameters or precision of the driving assembly 3, the higher the cost, or the more the requirements for the number of driving assemblies 3 or the number of certain components of the driving assembly 3, the higher the cost.

[0154] In some embodiments, the body 120 is provided with a fixed shell 13, the fixed shell 13 is provided with a movement space 134, and at least part of the first connecting rod 211 moves in the movement space 134. Among them, the middle part of the first single connecting rod 2111 is rotationally connected to the fixed shell 13 through the second rotating shaft 26, and the first end and / or the second end of the first single connecting rod 2111 moves in the movement space 134; or the third end of the first double connecting rod 2112 is connected to the fixed shell 134, and the first end of the first double connecting rod 2112 moves in the movement space 134.

[0155] Specifically, referring to FIG. 8 and FIG. 9, when the force applying member 21 is a single connecting rod, the middle part of the first single connecting rod 2111 is rotationally connected to the fixed shell 13 through the second rotating shaft 26. It should be noted that the middle part here refers to any part of the first single connecting rod 2111 except the two ends. The transmission member 22 drives the first single connecting rod 2111 to rotate around the second rotating shaft 26 by pulling the first end of the first single connecting rod 2111, so that the second end of the first single connecting rod 2111 applies force to the drive wheel shell 11. The first end and the third end of the first single connecting rod 2111 move in the active space 134, for example, the active space 134 can be a groove facing the drive wheel shell 11 formed on the fixed shell 13. The first end and the third end of the first single connecting rod 2111 are located between the groove and the drive wheel shell 11 and move in the space between the groove and the drive wheel shell 11. Alternatively, referring to FIG. 2 and FIG. 3, when the force applying member 21 is a double connecting rod, the third end of the first double connecting rod 2112 is connected to the fixed shell 13. The transmission member 22 drives the first double connecting rod 2112 to apply force to the drive wheel shell 11 by pulling the first end of the first double connecting rod 2112. For example, the active space 134 can be a groove perpendicular to the axial direction of the first rotating shaft 12 formed on the fixed shell 13. The first end of the first double connecting rod 2112 slides in the groove under the pulling of the transmission member 22. The groove can be the first sliding groove 131 and / or the second sliding groove 132. The end of the first connecting rod 211 connected to the transmission member 22 is inserted into the first sliding groove 131 and / or the second sliding groove 132.

[0156] For example, as shown in FIG. 4, the fixed shell 13 is further provided with a rotating connection hole 133, and the third end of the first double connecting rod 2112 is provided with a protruding rotating member 252 which is inserted into the rotating connection hole 133 to rotationally connect the third end of the first double connecting rod 2112 to the fixed shell 13. For example, the rotating connection hole 133 is formed in one end of the fixed shell 13 along the axial direction of the first rotating shaft 12.

[0157] In some embodiments, the transmission assembly 22 further comprises an elastic member 24 for providing the first connecting rod 211 with a force acting towards the first position. The elastic member 24 is sleeved on the second rotating shaft 26 and is arranged between the fixed shell 13 and the first single connecting rod 2111. Alternatively, the first end of the elastic member 24 is connected to the first end of the first double connecting rod 2112, and the second end of the elastic member 24 is connected to the fixed shell 13. Furthermore, the drive wheel shell 11 is provided with a boss 111, and one end of the first connecting rod 211 abuts against the boss 111. In addition, the first connecting rod 211 comprises the first single connecting rod 2111, the first end of the first single connecting rod 2111 is connected to the transmission member 22, the second end of the first single connecting rod 2111 is used to abut against the drive wheel shell 11, the middle part of the first single connecting rod 2111 is rotationally connected to the fixed shell 13 through the second rotating shaft 26, and the second rotating shaft 26 is parallel to the first rotating shaft 12.

[0158] Specifically, referring to FIGS. 8 and 9, when the force applying member 21 is a single connecting rod, the elastic member 24 is sleeved on the second rotating shaft 26, the transmission member 22 provides the first single connecting rod 2111 with a force for moving from the first position to the second position, and the elastic member 24 provides the first single connecting rod 2111 with a force for moving from the second position to the first position, that is, when the first single connecting rod 2111 is not subjected to an external force, the elastic member 24 provides a restoring force for restoring the first single connecting rod 2111 to the first position, for example, the elastic member 24 can be a torsion spring or the like. Alternatively, referring to FIGS. 2 and 5, when the force applying member 21 is a double connecting rod, the two ends of the elastic member 24 are connected to the first double connecting rod 2112 and the fixed shell 13 respectively, the transmission member 22 provides the first double connecting rod 2112 with a force for moving from the first position to the second position, and the elastic member 24 provides the first double connecting rod 2112 with a force for moving from the second position to the first position, that is, when the first double connecting rod 2112 is not subjected to an external force, the elastic member 24 provides a restoring force for restoring the first double connecting rod 2112 to the first position, for example, the elastic member 24 can be a spring, a tension spring or the like.

[0159] Specifically, referring to FIGS. 1 and 2, when the force applying member 21 is a connecting rod, one end of the first connecting rod 211 abuts against the boss 111. For example, when the force applying member 21 is a single connecting rod, the second end of the first single connecting rod 2111 abuts against the boss 111; for another example, when the force applying member 21 is a double connecting rod, the second end of the first double connecting rod 2112 abuts against the boss 111. The force applying member 21 can also be a triple connecting rod, a quadruple connecting rod, a multiple connecting rod or the like, and the present disclosure does not make a specific limitation thereon.

[0160] Specifically, referring to FIGS. 8 and 9, the second rotating shaft 26 is parallel to the first rotating shaft 12, which on the one hand facilitates the assembly between different components and on the other hand facilitates the force applying of the first single connecting rod 2111. Compared with the scheme in which the second rotating shaft 26 is not parallel to the first rotating shaft 12, the parallel arrangement can make the force applied by the first single connecting rod 2111 have a better effect. In other embodiments, the second rotating shaft 26 can be not parallel to the first rotating shaft 12, for example, the second rotating shaft 26 is perpendicular to the first rotating shaft 12.

[0161] For example, as shown in FIG. 4, the active space 134 can be the first sliding groove 131 or the second sliding groove 132 formed on the fixed shell 13, or the first sliding groove 131 and the second sliding groove 132 formed on the fixed shell 13 at the same time. For example, the second sliding groove 132 is closer to the center of the body 120 relative to the first sliding groove 131. For another example, the first sliding groove 131 and the second sliding groove 132 are parallel to each other. For yet another example, the first sliding groove 131 and the second sliding groove 132 are arranged along an axis perpendicular to the first rotating shaft 12. The first sliding groove 131 and the second sliding groove 132 can be grooves penetrating through the fixed shell 13, or grooves not penetrating through the fixed shell 13. The size, shape, and direction of the first sliding groove 131 and the second sliding groove 132 can be completely the same, not completely the same, or completely different, which is designed according to specific conditions and is not limited in the present disclosure.

[0162] In some embodiments, the first connecting rod 21 further comprises a sliding connecting piece 23, which is inserted into the first end of the first second connecting rod 2112 and the first sliding groove 131 and / or the second sliding groove 132 and slides along the first sliding groove 131 and / or the second sliding groove 132.

[0163] Specifically, referring to FIGS. 2 and 3, the first end of the first second connecting rod 2112 moves in a sliding manner. In order to make the sliding more smooth, the sliding connecting piece 23 can be arranged on the first end of the first second connecting rod 2112. For example, the sliding connecting piece 23 penetrates through the first end of the first second connecting rod 2112, one end or both ends of the sliding connecting piece 23 are exposed to the first end of the first second connecting rod 2112, and one end of the sliding connecting piece 23 slides in the first sliding groove 131 or the second sliding groove 132. Alternatively, both ends of the sliding connecting piece 23 are exposed to the first end of the first second connecting rod 2112, and both ends of the sliding connecting piece 23 slide in the first sliding groove 131 and the second sliding groove 132, respectively. Of course, in other embodiments, the sliding connecting piece 23 can be arranged on the first end of the first second connecting rod 2112 and move in the first sliding groove 131 and / or the second sliding groove 132 through the sliding connecting piece 23. The above-mentioned scheme can improve the smoothness of sliding and save power. For example, the sliding connecting piece 23 can be in the form of a pulley, a roller, etc.

[0164] In some embodiments, the lifting mechanism 110 comprises at least two walking assemblies 1, and two of the at least two walking assemblies 1 are symmetrically arranged on both sides of the body 120 in the advancing direction of the cleaning robot 100.

[0165] Specifically, referring to FIG. 24, the cleaning robot 100 moves by means of the driving wheels 130, and the driving wheels 130 can be symmetrically arranged on both sides of the body 120. For example, one driving wheel 130 can be arranged on each of the left and right sides of the body 120 with reference to the advancing direction of the cleaning robot 100, so as to maintain the balance of the cleaning robot 100 during movement. Of course, in other embodiments, a third or more driving wheels 130 can be arranged, for example, a third driving wheel 130 can be arranged on the front side of the body 120.

[0166] In some embodiments, the lifting mechanism 110 includes at least two driving assemblies 2, at least two walking assemblies 1, and at least two driving assemblies 2 in one-to-one correspondence.

[0167] Specifically, referring to FIG. 7, the walking assembly 1 and the driving assembly 2 each include two or more, and in order to ensure the effectiveness of transmission, the walking assembly 1 and the driving assembly 2 are in one-to-one correspondence, that is, each walking assembly 1 corresponds to a driving assembly 2, and each walking assembly 1 is independently driven, which can reduce the mutual influence between the transmissions. For example, the lifting mechanism 110 includes two walking assemblies 1 and two driving assemblies 2, and the two walking assemblies 1 are symmetrically arranged on the left and right sides of the body 120 with reference to the advancing direction of the cleaning robot 100, and the two driving assemblies 2 correspond to the two walking assemblies 1 in one-to-one correspondence.

[0168] In some embodiments, the at least two driving assemblies 2 include at least one driving driving assembly 28 and at least one driven driving assembly 29, the at least one driven driving assembly 29 is connected to the at least one driving driving assembly 28, the at least one driving driving assembly 28 is connected to the driving assembly 3, and the at least one driving driving assembly 28 moves under the drive of the driving assembly 3 and drives the at least one driven driving assembly 29 to move.

[0169] Specifically, the at least two driving assemblies 2 include at least one driving driving assembly 28 connected to the driving assembly 3 and at least one driven driving assembly 29 connected to the driving driving assembly 28, that is, the driving assembly 3 only needs to output power to the driving driving assembly 28, and does not need to output power to all the driving assemblies 2.

[0170] For example, referring to FIG. 15 and FIG. 19, the lifting mechanism 110 is described by taking two walking assemblies 1 and two transmission assemblies 2 as an example, the two transmission assemblies 2 include a driving transmission assembly 28 and a driven transmission assembly 29, the driving assembly 3 transmits power to the driving transmission assembly 28, and then transmits power to the driven transmission assembly 29 through the driving transmission assembly 28. On the one hand, it can reduce the connection complexity between components, save power output, that is, the driving assembly 3 only needs to be connected to the driving transmission assembly 28 and output power to it, and then transmits power to the driven transmission assembly 29 through the driving transmission assembly 28, without the driving assembly 3 simultaneously connecting multiple transmission assemblies 2. On the other hand, it can reduce the cost of operation, disassembly, maintenance, etc. Whether it is one driving assembly 3 simultaneously connecting multiple transmission assemblies 2, or multiple driving assemblies 3 respectively connecting multiple transmission assemblies 2, the operation, disassembly, maintenance, etc. between the components are more complex and the cost is higher. At the same time, when multiple driving assemblies 3 respectively connect multiple transmission assemblies 2, multiple driving assemblies 3 may be out of sync, resulting in out-of-sync transmission of the transmission assembly 2, and the lifting function may fail. For example, if the two transmission assemblies 2 are respectively arranged on the left and right sides of the body 120, if the lifting time of the left and right sides of the body 120 is inconsistent, the lifting height is different, etc., it may cause obstacle failure.

[0171] In some embodiments, each driving transmission assembly 28 includes a driving transmission member 282 and a driving force member 281, the driving force member 281 is connected with the driving transmission member 282, the driving transmission member 282 is connected with the driving assembly 3, the driving transmission member 282 moves under the drive of the driving assembly 3 and drives the driving force member 281 to move; in the process of movement of the driving force member 281, the driving force member 281 abuts against or slides relative to the driving wheel housing 11, and drives the driven transmission assembly 29 to move.

[0172] Specifically, referring to FIG. 12 and FIG. 16, the driving assembly 3 is connected with the driving transmission member 282 to output power to it, and drives the driving transmission member 282 to move to drive the driving force member 281 to move. In the process of movement of the driving force member 281 from the first position to the second position, the driving force member 281 abuts against or slides relative to the driving wheel housing 11, and drives the driven transmission assembly 29 to move. That is, the driving force member 281 applies a force to the driving wheel housing 11 towards the target surface 300 while also transmitting power to the driven transmission assembly 29, that is, driving the movement of the driven transmission assembly 29.

[0173] In some embodiments, each driven transmission assembly 29 comprises a driven transmission member 292 and a driven force applying member 291, the driven transmission member 292 is connected with the driving force applying member 281 and the driven force applying member 291 respectively, in the process of movement of the driving force applying member 281, the driven transmission member 292 is driven to move, and the driven force applying member 291 is driven to move through the movement of the driven transmission member 292, in the process of movement of the driven force applying member 291, abuts against or slides relative to the driving wheel housing 11.

[0174] Specifically, referring to FIGS. 12 and 17, the driving force applying member 281 transmits power to the driven force applying member 291 through the driven transmission member 292, that is, the driven transmission member 292 is needed to connect the driving force applying member 281 and the driven force applying member 291. Considering that the driving force applying member 281 and the driven force applying member 291 may have a certain interval in the arrangement position on the body 120, it is difficult to realize the direct connection of power transmission between the two, therefore, the transmission through the driven transmission member 292 can overcome the interval problem of the driving force applying member 281 and the driven force applying member 291, and realize the effective transmission of power.

[0175] In some embodiments, the driving force applying member 281 slides relative to the driving wheel housing 11, one of the driving wheel housing 11 and the driving force applying member 281 is provided with a sliding member 14, and the other is provided with a sliding surface 15; and / or, the driven force applying member 291 slides relative to the driving wheel housing 11, one of the driving wheel housing 11 and the driven force applying member 291 is provided with a sliding member 14, and the other is provided with a sliding surface 15; and / or, the driving force applying member 281 and / or the driven force applying member 291 abuts against the driving wheel housing 11.

[0176] Specifically, referring to FIGS. 12 and 17, the driving force applying member 281 and the driven force applying member 291 can apply force to the driving wheel housing 11 in the form of abutting against the driving wheel housing 11 or sliding relative to the driving wheel housing 11. The driving force applying member 281 and the driven force applying member 291 can apply force in the same way (i.e., both abutting against the driving wheel housing 11 or both sliding relative to the driving wheel housing 11), or in different ways (i.e., one abutting against the driving wheel housing 11 and the other sliding relative to the driving wheel housing 11).

[0177] For example, the force applying member 21 slides relative to the driving wheel housing 11, in order to make the sliding more smooth, the sliding member 14 can be used to slide on the sliding surface 15, referring to FIG. 11 to FIG. 14, the sliding member 14 can be arranged on the driving wheel housing 11, and correspondingly, the sliding surface 15 is arranged on the driving force applying member 281 and / or the driven force applying member 291; referring to FIG. 17 to FIG. 18, the sliding member 14 can be arranged on the driving force applying member 281 and / or the driven force applying member 291, and correspondingly, the sliding surface 15 is arranged on the driving wheel housing 11. For example, the sliding member 14 can be arranged in the form of a pulley or a roller, and the sliding surface 15 is arranged in the form of a smooth surface. The sliding arrangement of the driving force applying member 281 and the driven force applying member 291 and the driving wheel housing 11 can be the same, that is, the driving force applying member 281 and the driven force applying member 291 are respectively provided with the sliding surface 15, and the driving wheel housing 11 corresponding to the two is respectively provided with the sliding member 14, or the driving force applying member 281 and the driven force applying member 291 are respectively provided with the sliding member 14, and the driving wheel housing 11 corresponding to the two is respectively provided with the sliding surface 15. The sliding arrangement of the driving force applying member 281 and the driven force applying member 291 and the driving wheel housing 11 can also be different, that is, the driving force applying member 281 is provided with the sliding surface 15, and the driving wheel housing 11 corresponding thereto is provided with the sliding member 14; the driven force applying member 291 is provided with the sliding member 14, and the driving wheel housing 11 corresponding thereto is provided with the sliding surface 15; or the driving force applying member 281 is provided with the sliding member 14, and the driving wheel housing 11 corresponding thereto is provided with the sliding surface 15; the driven force applying member 291 is provided with the sliding surface 15, and the driving wheel housing 11 corresponding thereto is provided with the sliding member 14.

[0178] FIG. 11 to FIG. 13 and FIG. 16 show the state of the driving force applying member 281 and the driven force applying member 291 in the first position, when moving to the second position, in the process of sliding upward, the driving force applying member 281 and the driven force applying member 291 will press the driving wheel housing 11 downward. FIG. 14 and FIG. 18 show the state of the driving force applying member 281 and the driven force applying member 291 in the second position.

[0179] In some embodiments, the sliding surface 15 includes a plane 151 and an inclined surface 152, in the process of sliding of the sliding member 14 on the sliding surface 15, the sliding member 14 abuts against the sliding surface 15; when the driving force applying member 281 and / or the driven force applying member 291 moves to the second position, the sliding member 14 abuts against the plane 151 of the sliding surface 15.

[0180] Specifically, referring to FIG. 12 and FIG. 17, during the sliding process of the sliding member 14 on the sliding surface 15, the sliding member 14 always abuts against the sliding surface 15 to ensure the effect of the force exertion; meanwhile, in order to further improve the effect of the force exertion, the sliding surface can be set as a combination of the inclined surface 152 and the flat surface 151. For example, the inclined surface 152 is inclined relative to the target surface 300, and the flat surface 151 is parallel to the target surface 300, and of course, other surfaces can be selected as the reference, which is not specifically limited in the present disclosure. For example, during the movement of the active force exerting member 281 and / or the driven force exerting member 291 from the first position to the second position, the sliding member 14 first slides on the inclined surface 152 and finally slides on the flat surface 151. The inclined surface 152 can be arranged towards the direction away from the target surface 300, that is, the sliding of the sliding member 14 on the inclined surface 152 is a process of climbing a slope, and compared with the sliding on the flat surface 151, the effect of the force exerted on the driving wheel housing 11 is better. When the active force exerting member 281 and / or the driven force exerting member 291 moves to the second position, the sliding member 14 abuts against the flat surface 151 of the sliding surface 15, that is, when the active force exerting member 281 and / or the driven force exerting member 291 moves to the position where it needs to stop, the sliding surface 15 is set as the flat surface 151, so that the stopping is more stable and the sliding member 14 will not continue to slide due to inertia or gravity.

[0181] In some embodiments, the driven transmission member 292 comprises a flexible driven transmission member; and / or, the driven transmission member 292 is at least one of a line, a belt or a chain; the driven transmission assembly 29 further comprises a sleeve 44, the sleeve 44 is sleeved outside the driven transmission member 292, and the sleeve 44 is arranged on the body 120; and / or, the body 120 is further provided with a detent 124, and the driven transmission member 292 is arranged on the detent 124; or, the driven transmission assembly 29 further comprises a sleeve 44, the sleeve 44 is sleeved outside the driven transmission member 292, and the sleeve 44 is arranged on the detent 124.

[0182] Specifically, referring to FIG. 12 and FIG. 17, the driven transmission member 292 comprises a flexible driven transmission member, that is, the driven transmission member 292 can be a flexible transmission member such as a rope, a belt or a chain made of flexible material, so as to be bendable or windable and occupy less space. The shape of the driven transmission member 292 includes but is not limited to a line, a belt or a chain, for example, a wire rope, a belt, a steel wire, a steel chain or an iron chain.

[0183] In order to ensure the stability of the transmission of the driven transmission member 292, and at the same time not to affect the transmission efficiency of the driven transmission member 292, a sleeve 44 can be sleeved on the driven transmission member 292. On the one hand, the driven transmission member 292 can move in the sleeve 44 and is not affected by other components, thereby reducing the movement wear of the driven transmission member 292. On the other hand, the sleeve 44 facilitates the installation of the driven transmission member 292. That is, the sleeve 44 is arranged on the body 120, and the specific installation position and installation direction of the sleeve 44 on the body 120 can be set according to the needs.

[0184] Specifically, referring to FIGS. 10, 15 and 19, the body 120 is further provided with a clamping part 124. The driven transmission member 292 or the sleeve 44 is arranged on the clamping part 124. On the one hand, the driven transmission member 292 or the sleeve 44 is fixedly installed on the body 120 and cannot be moved at will. On the other hand, the installation direction of the driven transmission member 292 or the sleeve 44 can be controlled by the clamping part 124. For example, the clamping part 124 can be in the form of a clamping groove, a clamping part, a clasp or the like, and the present disclosure does not make specific limitations.

[0185] In some embodiments, the driving transmission member 282 can be in the form of a connecting rod, which transmits power through the connecting rod. The connecting rod can be a single connecting rod or a plurality of connecting rods, such as a two-connecting rod, a three-connecting rod or other multiple connecting rods, which can be set according to the actual situation, and the present disclosure does not make limitations.

[0186] Specifically, the third connecting rod 2820 includes a third single connecting rod 2821, a first end of the third single connecting rod 2821 being connected with the driving assembly 3, and a second end of the third single connecting rod 2821 being connected with the driving force member 281 and the driven transmission member 292. Alternatively, the third connecting rod includes a third two-connecting rod 2822, a first end of the third two-connecting rod 2822 being connected with the driving assembly 3, and a second end of the third two-connecting rod 2822 being connected with the driving force member 281 and the driven transmission member 292.

[0187] For example, referring to FIG. 14, the driving member 282 can be a single link, a first end of the third single link 2821 is driven to move by the driving assembly 3, and a second end of the third single link 2821 is driven to move, and then the power is transmitted to the driving force applying member 281 and the driven transmission member 292, so as to drive the driving force applying member 281 and the driven transmission member 292 to move. Alternatively, referring to FIG. 12 and FIG. 17, the driving member 282 can be a double link, a first end of the third double link 2822 is driven to move by the driving assembly 3, and a second end of the third double link 2822 is driven to move, and then the power is transmitted to the driving force applying member 281 and the driven transmission member 292, so as to drive the driving force applying member 281 and the driven transmission member 292 to move. The third double link 2822 can be composed of two single links connected by rotation. The two single links can be connected in the same plane, that is, one end of one single link is connected to one end of another single link in the same plane, or the two single links can be connected in different planes, that is, one single link is connected in one plane and the other single link is connected in another plane, for example, one single link is connected above and the other single link is connected below. The two single links can be connected in parallel, that is, the two single links are in parallel, which can be parallel in the same plane or parallel in different planes. The two single links can also be connected in a non-parallel manner, that is, the two single links are in a non-parallel state, for example, the two single links are perpendicular to each other. The two single links can have the same shape, length, and specific structure, or they can be completely different. For example, the two single links are both rectangular single links, but the lengths or widths or specific structures of the two single links are different. For example, one single link is a rectangular single link and the other single link is a circular single link. For example, the two single links are both rectangular single links.

[0188] In some embodiments, the main body 120 further comprises a fixed shell 13, and the driving force applying member 281 and / or the driven force applying member 291 is / are movably arranged in a movement space 134 of the fixed shell 13. For example, a first end of the driving force applying member 281 and / or the driven force applying member 291 is movably arranged in the movement space 134, and a second end of the driving force applying member 281 and / or the driven force applying member 291 slides relative to the driving wheel shell 11 or abuts against the driving wheel shell 11.

[0189] Specifically, referring to FIG. 12 and FIG. 13, the first end of the active force applying member 281 and / or the driven force applying member 291 is arranged in the active space 134 and is movable therein. The active space 134 can be a groove formed on the fixed shell 13, for example, a groove perpendicular to the axial direction of the first rotating shaft 12 and facing the driving wheel shell 11, in which the first end of the active force applying member 281 and / or the driven force applying member 291 is arranged and slides under the driving of the active transmission member 282 and / or the driven transmission member 292, and the groove can be the third sliding groove 135. For example, the active transmission member 282 and / or the driven transmission member 292 slides in the third sliding groove 135 in a direction perpendicular to the axial direction of the first rotating shaft 12 to move from the first position to the second position. The shape of the third sliding groove 135 corresponding to the active transmission member 282 and the shape of the third sliding groove 135 corresponding to the driven transmission member 292 can be exactly the same, can be not exactly the same, or can be completely different. The third sliding groove 135 can be a groove penetrating through the fixed shell 13 (the first end of the active force applying member 281 and / or the driven force applying member 291 can be exposed outside the fixed shell 13 by penetrating through the third sliding groove 135, or can be arranged in the fixed shell 13 without penetrating through the third sliding groove 135), or can be a groove not penetrating through the fixed shell 13 (the first end of the active force applying member 281 and / or the driven force applying member 291 can be arranged in the fixed shell 13 without penetrating through the third sliding groove 135).

[0190] In some embodiments, the walking assembly 1 further comprises a third rotating shaft 16, the driving wheel 150 is arranged on the driving wheel shell 11 and rotates along the third rotating shaft 16, and the third rotating shaft 16 is parallel to the first rotating shaft 12; and / or, the walking assembly 1 further comprises a driving wheel motor 17, the driving wheel motor 17 is used to drive the driving wheel 150 to rotate, the driving wheel motor 17 rotates around a fourth rotating shaft 18, and the fourth rotating shaft 18 is parallel to the first rotating shaft 12; and / or, the walking assembly 1 further comprises a suspension member 140, the first end of the suspension member 140 is connected to or abuts against the driving wheel shell 11, the second end of the suspension member 140 abuts against the body 120, and at least part of the walking assembly 1 is elastically connected to the body 120 through the suspension member 140; at least part of the driving wheel 150 extends outside the body 120 to contact the target surface 300.

[0191] Specifically, referring to FIG. 22, the driving wheel motor 17 rotates along the fourth rotating shaft 18 when working and drives the driving wheel 150 to rotate along the third rotating shaft 16 to drive the cleaning robot 100 to move on the target surface 300. For example, the third rotating shaft 16 and / or the fourth rotating shaft 18 is parallel to the first rotating shaft 12.

[0192] Specifically, referring to FIG. 21 and FIG. 23, one end of the suspension 140 is connected to or abuts against the drive wheel housing 11, and the other end abuts against the body 120, so that part of the walking assembly (e.g., the drive wheel housing 11 and / or the drive wheel 13 and / or the drive wheel motor 17) of the cleaning robot 100 is elastically connected to the body 120. When the cleaning robot 100 is on the target surface 300, the suspension 140 needs to bear the weight of the body of the cleaning robot 100 and apply a force (e.g., a downward pressure) to the drive wheel housing 11 and / or the drive wheel 130 towards the target surface 300, so that the drive wheel 130 is tightly attached to the target surface 300. When the cleaning robot 100 is lifted or suspended, the suspension 140 no longer bears or only partially bears the weight of the body of the cleaning robot 100, and at this time the suspension 140 applies a force to the drive wheel housing 11 and / or the drive wheel 150 so that the drive wheel housing 11 and / or the drive wheel 150 extends out of the body 120.

[0193] When a large concave pit or an obstacle with a certain height appears on the target surface 300 (e.g., the ground), the arrangement of the suspension 140 can enable the walking assembly 1 (e.g., the drive wheel housing 11 and / or the drive wheel 13 and / or the drive wheel motor 17) to change the distance of extending out of the body 120 more smoothly, so that the walking assembly 1 can more smoothly overcome the large concave pit or the obstacle with a certain height and adapt to the use of various target surfaces 300.

[0194] In some embodiments, referring to FIG. 1, FIG. 6 and FIG. 21, the suspension 140 includes a hanger 141 and a first suspension elastic member 142, wherein one end of the hanger 141 close to the first rotating shaft 12 is rotatably connected to the drive wheel housing 11, and the other end away from the first rotating shaft 12 is a free end; the first suspension elastic member 142 is arranged in the same direction as the hanger 141, for example, along the front-rear direction of the body 120, and one end of the first suspension elastic member 142 is connected to the drive wheel housing 11 and the other end is connected to the free end of the hanger 141. Alternatively, in some embodiments, as shown in FIG. 23, the suspension 140 includes a second suspension elastic member 143, which is arranged along the front-rear direction of the body 120, and one end of the second suspension elastic member 143 is connected to the drive wheel housing 11 and the other end is connected to the body 120, for example, to the fixed shell 13. The first suspension elastic member 142 and the second suspension elastic member 143 can be the same structure or different structures. For example, the first suspension elastic member 142 and the second suspension elastic member 143 can both be springs.

[0195] Based on the lifting mechanism 110 described above, as shown in FIGS. 5-7, 10, 15, 19-20, the present embodiment also provides a cleaning robot 100, which comprises a body 120 and the lifting mechanism 110 described above, wherein the lifting mechanism 110 is arranged on the body 120.

[0196] In summary, compared with the prior art, the cleaning robot 100 has at least the following beneficial effects:

[0197] The cleaning robot 100, by adopting the lifting mechanism 110 described above, has greatly improved obstacle crossing function, stronger obstacle crossing ability, higher obstacle crossing height, and can cross higher steps, thresholds and other obstacles, and can meet higher obstacle crossing requirements. At the same time, it can reduce the probability of collision or friction between some components of the cleaning robot 100 and obstacles, avoid damaging the components, effectively prolong the service life of the cleaning robot and its components. Furthermore, the overall structure is simple and reliable, and is not prone to slipping, foreign matter entanglement and other adverse phenomena. Compared with the existing cleaning robot 100, the overall appearance is not different, and the modification of the existing structure is not great, and the newly added structure is convenient to disassemble and assemble.

[0198] In some embodiments, the body 120 comprises a chassis 121 and a cover 122, the chassis 121 and the cover 122 are connected and surround a receiving cavity 123, the chassis 121 is provided with an opening 1211 facing the target surface, the opening 1211 communicates with the receiving cavity 123; wherein at least part of the walking assembly 1 is arranged in the opening 1211, and the transmission assembly 2 or the driving assembly 3 is arranged in the receiving cavity 123 and / or the opening 1211.

[0199] It can be understood that the receiving cavity 123 can be a space in the body 120 for placing or mounting some components of the cleaning robot 100, such as dust boxes, motors, sensors, etc.

[0200] To ensure that the superimposed design of the cleaning robot 100 meets the requirements, at least part of the walking assembly 1 is arranged in the opening 1211, and the transmission assembly 2 or the driving assembly 3 is arranged in the accommodating cavity 123 and / or the opening 1211. Specifically, the walking assembly 1 can be arranged entirely in the opening 1211, or part of the walking assembly 1 is arranged in the opening 1211 and the other part is arranged in the accommodating cavity 123, or part of the walking assembly 1 is arranged in the opening 1211, part of the walking assembly 1 is arranged in the accommodating cavity 123, and the remaining part of the walking assembly 1 is arranged outside the accommodating cavity 123 or outside the opening 1211. For example, part of the driving wheel 130 and part of the driving wheel housing 11 extend out of the opening 1211 through the opening 1211, so that the driving wheel 130 is supported on the target surface 300; the other part of the driving wheel 130 and the other part of the driving wheel housing 11, the driving wheel motor 17, and the suspension 140 are arranged in the opening 1211. It can be understood that when the walking assembly 1 is driven to move by the transmission assembly 2, the position of the walking assembly 1 will change, so the walking assembly 1 can appear inside and / or outside the accommodating cavity 123 and / or inside and / or outside the opening 1211.

[0201] Specifically, the transmission assembly 2 can be arranged entirely in the accommodating cavity 123 or entirely in the opening 1211, or part of the transmission assembly 2 is arranged in the accommodating cavity 123 and the other part is arranged in the opening 1211, or part of the transmission assembly 2 is arranged in the accommodating cavity 123, part of the transmission assembly 2 is arranged in the opening 1211, and the remaining part of the transmission assembly 2 is arranged outside the accommodating cavity 123 or outside the opening 1211. For example, the force applying member 21 is arranged in the opening 1211, and the transmission member 22 is arranged in the opening 1211 or the accommodating cavity 123. Since the force applying member 21 needs to apply force to the driving wheel housing 11, the driving wheel housing 11 is arranged in the same space (for example, in the opening 1211), which facilitates the operation of the two and makes the mounting structure more compact; similarly, the transmission member 22 needs to transmit driving force to the force applying member 21, and the two are arranged in the same space (for example, in the opening 1211), which facilitates the operation. It can be understood that when the transmission assembly 2 is driven to move by the driving assembly 3, the position of the transmission assembly 2 will change, so the transmission assembly 2 can appear inside and / or outside the accommodating cavity 123 and / or inside and / or outside the opening 1211.

[0202] Specifically, the driving assembly 3 can be arranged entirely in the accommodating cavity 123 or entirely in the opening 1211, or partially in the accommodating cavity 123 and partially in the opening 1211, or partially in the accommodating cavity 123, partially in the mounting hole 1211, and the remaining part is located outside the accommodating cavity 123 or the opening 1211. For example, the driving member 31 and the rotating member 32 are arranged in the accommodating cavity 123. For another example, the driving member 31 is arranged in the opening 1211. It can be understood that, due to the different positions and sizes of the available space in different cleaning robots 100, the driving assembly 2 can be arranged inside or outside the accommodating cavity 123 and / or inside or outside the opening 1211.

[0203] It should be noted that, due to the different arrangement positions and sizes of the internal space of the components in the cleaning robot 100, the installation positions of the walking assembly 1, the transmission assembly 2, and the driving assembly 3 in the cleaning robot 100 can be adaptively adjusted according to specific conditions, and the present disclosure does not make specific limitations.

[0204] In some embodiments, the cleaning robot 100 includes two walking assemblies 1, wherein the two driving wheels 130 are symmetrically arranged relative to the center of the body 120; the cleaning robot 100 further includes a universal wheel 150 and a wiping member 160, the universal wheel 150 is used to cooperate with the two driving wheels 130 to control the movement of the cleaning robot 100, and the wiping member 160 is used to clean the surface to be cleaned. For example, the wiping member 160 is a mop.

[0205] Specifically, referring to FIG. 24, the two driving wheels 130 are symmetrically arranged relative to the center of the body 120, which is beneficial to the balance and stability of the cleaning robot 100 during movement. Then, the universal wheel 150 is arranged to cooperate with the two driving wheels 130 to assist the movement of the cleaning robot 100. In addition, three-point support is formed on the target surface 300, so that the cleaning robot 100 is more balanced and stable during movement. For example, the wiping member 160 can be a mop for mopping the floor.

[0206] In some embodiments, with the advancing direction of the cleaning robot 100 as the reference direction, the two driving wheels 130 are arranged on the left side and the right side of the body 120 respectively, and the universal wheel 150 and the wiping member 160 are arranged on the rear side of the body 120, the first rotating shaft 12 is arranged on the front side of the driving wheel 130, and the side of the body 120 that is lifted relative to the target surface 300 is the front side of the body 120; or, the universal wheel 150 is arranged on the front side of the body 120, the wiping member 160 is arranged on the rear side of the body 120, the first rotating shaft 12 is arranged on the rear side of the driving wheel 130, and the side of the body 120 that is lifted relative to the target surface 300 is the rear side of the body 120.

[0207] Specifically, referring to FIG. 24, taking the advancing direction of the cleaning robot 100 as a reference direction, the two drive wheels 130 are respectively arranged on the left and right sides of the body 120, the mopping member 160 is arranged on the rear side (for example, the front side of the body 120 is also provided with a sweeping member, which facilitates the cleaning robot 100 to sweep the ground first and mop the ground later when moving), the universal wheel 150 can be arranged on the front side or the rear side, and correspondingly, the first rotating shaft 12 can be arranged on the rear side or the front side of the drive wheel 130, and the rear side or the front side of the body 120 is lifted relative to the target surface 300. Through the different arrangement positions of the above-mentioned parts, different side lifting requirements of the cleaning robot 100 are realized.

[0208] The following will be described taking the cleaning robot 100 as an example.

[0209] FIG. 25 shows a schematic block diagram of a cleaning robot according to one embodiment of the present disclosure. The cleaning robot includes a robot body, a controller 1001, a drive motor 1002, a sensor unit 1003, a dust storage member 1004, a cleaning member 1005, a walking unit 1006, a memory 1007, a communication unit 1008, an interaction unit 1009, an energy storage unit 1010, etc.

[0210] The sensor unit 1003 arranged on the robot body can include at least one of the following sensors: a radar sensor (such as a laser radar), a collision sensor, a distance sensor, a fall sensor, a counter, a gyroscope, etc. For example, the laser radar is arranged on the top or the side of the robot body, and during operation, the surrounding environment information such as the distance and angle of the obstacle relative to the laser radar can be obtained. In addition, a camera or other visual sensor can also be used instead of the laser radar, and by analyzing the obstacle in the image captured by the camera, the distance and angle of the obstacle relative to the camera can also be obtained. The collision sensor, for example, includes a collision shell and a trigger sensing piece; when the cleaning robot 100 collides with the obstacle through the collision shell, the collision shell moves towards the inside of the cleaning robot, and the elastic buffer piece is compressed to play a buffering role. After the collision shell moves a certain distance towards the inside of the cleaning robot 100, the collision shell contacts the trigger sensing piece, and the trigger sensing piece is triggered to generate a signal, which can be sent to the controller 1001 in the robot body for processing. After colliding with the obstacle, the cleaning robot 100 moves away from the obstacle, and under the action of the elastic buffer piece, the collision shell moves back to the original position. The distance sensor can be an infrared detection sensor, which can be used to detect the distance from the obstacle to the distance sensor. The distance sensor can be arranged on the side of the robot body, so that the distance value from the obstacle near the side of the cleaning robot 100 to the distance sensor can be measured by the distance sensor. The distance sensor can also be an ultrasonic ranging sensor, a laser ranging sensor, or a depth sensor, etc. The fall sensor is arranged at the edge of the bottom of the robot body, and when the cleaning robot 100 moves to the edge of the ground, the fall sensor can detect that the cleaning robot 100 has the risk of falling from a high place, so as to perform corresponding anti-falling reactions, such as stopping the movement of the cleaning robot 100, or moving away from the falling position, etc. The counter and the gyroscope are also arranged in the inside of the robot body. The counter is used to detect the distance length of the movement of the cleaning robot 100. The gyroscope is used to detect the angle of rotation of the cleaning robot 100, so as to determine the orientation of the cleaning robot 100.

[0211] The controller 1001 is arranged in the inside of the robot body, and the controller 1001 is used to control the cleaning robot 100 to perform specific operations. The controller 1001 can be a central processing unit (CPU) or a microprocessor, etc. As shown in FIG. 18, the controller 1001 is electrically connected with the energy storage unit 1010, the memory 1007, the driving motor 1002, the walking unit 1006, the sensor unit 1003, the interaction unit 1009, the dust storage piece 1004, and the cleaning piece 1005, etc. to control these components.

[0212] The dust storage member 1004 is arranged inside the robot body, and is used to store dust and other garbage collected by the robot during the execution of a cleaning task. When the robot returns to the base station to perform a dust collection process, the garbage in the dust storage member 1004 is sucked into the dust container of the base station, or the user can take out the dust storage member 1004 to dump the garbage in it. The dust storage member 1004 may, for example, include at least one of a dust box or a dust bag. The dust storage member 1004 can be disposable (the user can directly discard it and install a new one), or non-disposable (the user can install it back to the robot body after dumping the garbage).

[0213] The cleaning member 1005 can be used to clean the ground. The number of cleaning members 1005 can be one or more. The cleaning member 1005 may, for example, include at least one of a side brush, a rolling brush, a roller, and a mop (i.e., a wiping member 160). The mop may, for example, include at least one of a rotating mop, a flat mop, a roller-type mop, a track-type mop, and the like, but is not limited thereto. The mop is arranged at the bottom of the robot body, and can be arranged at a rear position of the bottom of the robot body. For example, when the cleaning member 1005 is a rotating mop, a driving unit 1002 is arranged inside the robot body, and two rotating shafts are arranged at the bottom of the robot body. The mop is sleeved on the rotating shafts. The driving unit 1002 can drive the rotating shafts to rotate, so that the rotating shafts drive the mop to rotate. The cleaning member 1005 can also be a side brush, a rolling brush, a roller, or the like, and is not limited herein.

[0214] The walking unit 1006 is a component related to the movement of the cleaning robot 100. The walking unit 1006 may, for example, include a driving wheel 130 and a universal wheel 150. The universal wheel 130 and the driving wheel 150 cooperate to realize the steering and movement of the cleaning robot 100.

[0215] The memory 1007 is arranged on the robot body. The memory 1007 stores a program that, when executed by the controller 1001, realizes corresponding operations. The memory 1007 is also used to store parameters used by the cleaning robot 100. The memory 1007 may, for example, include at least one of a disk memory, a compact disc read-only memory (CD-ROM), an optical memory, and the like.

[0216] The communication unit 1008 is arranged on the robot body. The communication unit 1008 is used to enable the cleaning robot 100 to communicate with external devices, such as a terminal or a base station 200. The base station 200 is a cleaning device used in cooperation with the cleaning robot 100.

[0217] The interaction unit 1009 is disposed on the robot body, and a user can interact with the cleaning robot 100 through the interaction unit 1009. The interaction unit 1009 includes, for example, at least one of a touch screen, a switch button, a speaker, and the like. The user can control the cleaning robot 100 to start or stop working by pressing the switch button.

[0218] The energy storage unit 1010 is disposed inside the robot body, and the energy storage unit 1010 is used to provide power for the cleaning robot 100. For example, the energy storage unit 1010 is a battery.

[0219] The robot body is also provided with a charging component, which is used to obtain power from an external device (for example, a base station), so as to charge the energy storage unit 1010 of the cleaning robot 100.

[0220] It should be understood that the cleaning robot described in FIG. 25 is only a specific example in the embodiments of the present disclosure, and does not constitute a specific limitation on the cleaning robot in the embodiments of the present disclosure. The cleaning robot in the embodiments of the present disclosure can also be other specific implementations. In other implementations, the cleaning robot can have more or fewer components than the cleaning robot shown in FIG. 25; for example, the cleaning robot 100 can include a clean water chamber for storing clean water and / or a dirt containing part for storing dirt, the cleaning robot 100 can deliver the clean water stored in the clean water chamber to the mopping piece 160 and / or the ground to wet the mopping piece, and clean the ground based on the wetted mopping piece 160, and the cleaning robot 100 can also collect the dirt on the ground or the sewage containing the dirt into the dirt containing part; the cleaning robot 100 can also deliver the clean water stored in the clean water chamber to the mopping piece 160 to clean the mopping piece 160, and the sewage containing the dirt after cleaning the mopping piece 160 can also be delivered to the dirt containing part.

[0221] Based on the above cleaning robot 100, as shown in FIG. 26, the embodiments of the present disclosure also provide a cleaning system 1000, which comprises the base station 200 and the above cleaning robot 100, wherein the cleaning robot 100 is maintained in the base station 200, and the maintenance types include but are not limited to charging, dust collection, cleaning element washing, water replenishment, sewage extraction, etc. It can be understood that the cleaning robot 100 can complete the following in the base station 200: 1. the base station 200 charges the cleaning robot 100; 2. the base station 200 recycles the garbage in the cleaning robot 100 into the dust container of the base station 200; 3. the cleaning element (such as mop, roller, roller brush, etc.) of the cleaning robot 100 is washed in the base station 200; 4. the base station 200 replenishes water to the water tank of the cleaning robot 100; 5. the base station 200 recycles the dirt in the sewage tank of the cleaning robot 100 into the dirt container of the base station 200. The above maintenance types are only exemplary descriptions and are not limited to the present disclosure. It should be noted that the cleaning robot 100 includes but is not limited to cleaning equipment such as sweeping machine, mopping machine, sweeping and mopping integrated machine, washing machine, dust collector, etc.

[0222] In summary, compared with the prior art, the cleaning system 1000 has at least the following beneficial effects:

[0223] The cleaning system 1000 adopts the above cleaning robot 100, which greatly improves the obstacle crossing function, has stronger obstacle crossing ability and higher obstacle crossing height, can cross higher steps, thresholds and other obstacles, and can meet higher obstacle crossing requirements. At the same time, it can reduce the probability of collision or friction between some components of the cleaning robot 100 and obstacles, avoid damaging the components, effectively prolong the service life of the cleaning robot and its components. Moreover, the overall structure is simple and reliable, and is not easy to slip or entangle with foreign matters. Compared with the existing cleaning robot 100, the overall appearance is not changed, the modification of the existing structure is not large, and the newly added structure is convenient to disassemble and assemble. Therefore, the base station 200 matched with the cleaning system 1000 does not need to be adjusted in appearance, and the overall modification range of the cleaning system 1000 is reduced.

[0224] Based on the above cleaning robot 100, as shown in FIG. 27, the embodiments of the present disclosure also provide a control method of the cleaning robot, which comprises:

[0225] Step S101: when the cleaning robot encounters an obstacle during forward movement, one side of the body is lifted relative to the target surface, and the side of the body lifted relative to the target surface is controlled to face the obstacle;

[0226] Step S103: controlling the cleaning robot to move towards the obstacle to cross the obstacle.

[0227] Specifically, if the cleaning robot 100 encounters an obstacle during the advancing process, the control unit controls the cleaning robot 100 to perform the lifting strategy to help it to cross the obstacle. The specific method is to first control one side of the body 120 to lift, then control the side of the body 120 that has been lifted to face the obstacle, and finally control the cleaning robot 100 to move towards the obstacle to cross the obstacle. During the process of crossing the obstacle, the cleaning robot 100 can perform different behavior strategies according to the situation of the obstacle. For example, the walking strategy of the cleaning robot 100 can remain unchanged or adaptively change. For example, when the height of the obstacle is high (such as a threshold), the driving wheel 130 can be controlled to accelerate appropriately to rush over the obstacle, or the cleaning robot 100 can be controlled to first retreat and then accelerate to rush over the obstacle. For another example, when the height of the obstacle is low (such as a book), the cleaning robot 100 can be controlled to cross at a normal driving speed. For another example, the cleaning strategy of the cleaning robot 100 can remain unchanged or adaptively change. For example, when the obstacle needs to be cleaned (such as a threshold), the cleaning assembly (such as a side brush, a roller brush, or a mop) can be controlled to continue to perform the cleaning work. For another example, when the obstacle does not need to be cleaned (such as a book), the cleaning assembly (such as a side brush, a roller brush, or a mop) can be controlled to suspend the work.

[0228] It should be noted that the arrangement of components of different cleaning robots 100 is different, and the lifting function is also different. The arrangement of components of the cleaning robot 100 described in the present disclosure is only exemplary and does not limit the scope of the present disclosure.

[0229] In some embodiments, the cleaning robot 100 comprises a universal wheel 150 and a wiping member 160. Taking the advancing direction of the cleaning robot 100 as a reference direction, the universal wheel 150 and the wiping member 160 are arranged on the rear side of the body 120, the first rotating shaft 12 is arranged on the front side of the driving wheel 130, and the side of the body 120 that is lifted relative to the target surface 300 is the front side of the body 120. Step S101 specifically comprises: when the cleaning robot encounters an obstacle during the advancing process, the front side of the body is controlled to be lifted relative to the target surface. Step S103 specifically comprises: controlling the cleaning robot to continue to advance to cross the obstacle.

[0230] Specifically, when the universal wheel 150 and the wiping member 160 are located on the rear side of the cleaning robot 100, the cleaning robot 100 only needs to be lifted on the front side and then continue to advance to conveniently cross the obstacle. That is, when the cleaning robot 100 encounters an obstacle during the advancing process, it is more convenient to lift the front side to cross the obstacle, and the moving direction of the cleaning robot 100 does not need to be adjusted. After the front side is lifted, it faces the obstacle and only needs to continue to advance without the need for further adjustment. In addition, during the lifting and crossing process, the normal work of the universal wheel 150 and the wiping member 160 is not affected.

[0231] In some embodiments, the method of controlling the cleaning robot to continue advancing to cross the obstacle further comprises: controlling the mopping member to work to clean the obstacle during the process of the cleaning robot crossing the obstacle; and / or, after the method of controlling the cleaning robot to continue advancing to cross the obstacle, further comprises: controlling the cleaning robot to continue advancing after the cleaning robot crosses the obstacle.

[0232] Specifically, the mopping member 160 can clean the obstacle during the process of the cleaning robot 100 lifting the front side to cross the obstacle. That is, the cleaning robot 100 can clean the obstacle while crossing the obstacle, reducing the missed scanning area and improving the cleaning efficiency. For example, when the cleaning robot 100 crosses the threshold, the mopping member 160 can clean the threshold at the same time. In addition, after the cleaning robot 100 crosses the obstacle, the cleaning robot 100 can continue to advance, for example, to continue to advance to complete the cleaning task. Therefore, when the cleaning robot is controlled to lift the front side to cross the obstacle, the moving direction is always the normal advancing direction. The control method provided by the embodiments of the present disclosure can help the cleaning robot 100 cross the obstacle while not affecting the normal cleaning task, so that the cleaning efficiency is higher.

[0233] In some embodiments, the universal wheel 150 is arranged at the front side of the body 120, the mopping member 160 is arranged at the rear side of the body 120, the first rotating shaft 12 is arranged at the rear side of the driving wheel 130, and the side of the body 120 relative to the target surface 300 is the rear side of the body 120; step S101 specifically comprises: when the cleaning robot encounters an obstacle during the advancing process, controlling the cleaning robot to turn around and controlling the rear side of the body to be lifted relative to the target surface; and step S103 specifically comprises: controlling the cleaning robot to retreat to cross the obstacle.

[0234] Specifically, when the universal wheel 150 and the mop 160 are located at the front side and the rear side of the cleaning robot 100 respectively, the rear side of the cleaning robot 100 is lifted, i.e. when the cleaning robot 100 needs to face the obstacle when climbing over the obstacle, therefore, the cleaning robot 100 needs to be controlled to turn around first before climbing over the obstacle. It should be noted that the two actions of controlling the cleaning robot 100 to turn around and the rear side of the cleaning robot 100 to be lifted can be performed simultaneously or sequentially. When the cleaning robot 100 encounters an obstacle during the forward movement, for example, the cleaning robot 100 is controlled to turn around first, and then the rear side of the body 120 is controlled to be lifted relative to the target surface 300; for another example, the cleaning robot 100 is controlled to turn around and the rear side of the body 120 is controlled to be lifted relative to the target surface 300 simultaneously; for another example, the rear side of the body 120 is controlled to be lifted relative to the target surface 300 first, and then the cleaning robot 100 is controlled to turn around. Compared with other control modes, the mode of controlling the cleaning robot 100 to turn around first and then the rear side to be lifted can save power, so as to avoid wasting power due to the long duration of the lifting process. In addition, during the lifting and climbing over the obstacle, the normal work of the universal wheel 150 is not affected, but the mop 160 will also be lifted simultaneously, which will affect the work of the mop 160, for example, the mop 160 is not convenient to perform the cleaning work.

[0235] In some embodiments, the control of the cleaning robot 100 to retreat to climb over the obstacle further comprises: controlling the mop 160 to pause during the cleaning robot 100 climbing over the obstacle; and / or, after the control of the cleaning robot 100 to retreat to climb over the obstacle, further comprising: controlling the cleaning robot to turn around after the cleaning robot 100 climbs over the obstacle; and controlling the cleaning robot to continue to move forward.

[0236] Specifically, when the cleaning robot 100 retreats over the obstacle, the mop 160 is in the lifted state, and it is inconvenient to perform the cleaning task again. Continuing the cleaning task will affect the cleaning effect and the stability of the lifted state. For example, the continuous work of the mop 160 can cause the vibration of the body 120, or the collision between the mop 120 and the obstacle, which will affect the body 120 in the lifted state and reduce the stability of the lifted state, or even cause the lifting to fail. That is, when the cleaning robot 100 crosses the obstacle, the mop 160 cannot clean the obstacle or the cleaning efficiency will be greatly reduced. Therefore, controlling the mop 160 to pause work can reduce power consumption and maintain the stability of the lifted state. For example, when the cleaning robot 100 crosses the threshold, the mop 160 is controlled to pause work. In addition, after the cleaning robot 100 crosses the obstacle, the cleaning robot 100 can continue the cleaning task, but since the cleaning robot 100 retreats over the obstacle, the cleaning robot 100 is first controlled to turn around, and then the cleaning robot 100 is controlled to continue advancing, for example, to complete the cleaning task. Therefore, when the cleaning robot retreats over the obstacle, the moving direction is the retreat direction, and the robot needs to be controlled to turn around before crossing the obstacle and to turn around again after crossing the obstacle.

[0237] In some embodiments, the present disclosure further provides a cleaning robot, comprising a processor and a memory, wherein the memory stores computer program instructions, and the computer program instructions are used to execute the above-mentioned control method when executed by one or more processors.

[0238] In some embodiments, the present disclosure further provides a storage medium, which stores a computer program, and the computer program is used to execute the above-mentioned control method when executed by one or more processors.

[0239] The computer readable storage medium can include a storage component of a tablet computer, a hard disk of a personal computer, a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a portable read-only memory (CD-ROM), a USB memory, or any combination of the above storage media. The computer readable storage medium can be any combination of one or more computer readable storage media.

[0240] In the description of the specification, the description of the terms "certain embodiments", "in an example", "exemplarily" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiments or examples are included in at least one embodiment or example of the present application. In the specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Also, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, the person skilled in the art can combine and combine the different embodiments or examples described in the specification and the features of the different embodiments or examples without contradiction.

[0241] Any process or method descriptions or descriptions of the flow diagrams in the flow charts described herein and elsewhere can be understood as representing code modules, segments, or portions of code which include one or more executable instructions for performing specific logic functions or steps in the process, and that the various systems described herein can include one or more circuits, circuitry, or other hardware for implementing the described functions or steps. The various systems described herein can form part of a machine in the form of a computer, embedded computer, arithmetical logic unit, or other device for example.

[0242] Although the embodiments of the present application have been shown and described above, it is understood that the above-described embodiments are exemplary and are not to be construed as limiting the present application, and the person skilled in the art can make changes, modifications, replacements and variations to the above-described embodiments within the scope of the present application.

Claims

1. A lifting mechanism applied to a cleaning robot, characterized in that, The lifting mechanism is used to lift one side of the body of the cleaning robot when the cleaning robot encounters an obstacle, so as to cross over the obstacle, and the lifting mechanism comprises a walking assembly, a driving assembly and a transmission assembly; The walking assembly comprises a driving wheel housing and a driving wheel rotatably arranged on the driving wheel housing, the driving wheel is supported on a target surface and is used to drive the cleaning robot to move, and the driving wheel housing is rotatably connected to the body through a first rotating shaft; The driving assembly is connected with the transmission assembly, and the driving assembly is used to drive the transmission assembly to move; The transmission assembly moves from the first position to the second position under the driving of the driving assembly, and in the process of moving from the first position to the second position, the transmission assembly applies a force to the driving wheel housing towards the target surface, so that the driving wheel housing rotates along a first turning direction around the first rotating shaft, so as to lift one side of the body relative to the target surface.

2. The lifting mechanism of claim 1, wherein, In the process of moving from the first position to the second position, the transmission assembly abuts against or slides relative to the driving wheel housing to apply the force to the driving wheel housing towards the target surface.

3. The lifting mechanism of claim 2, wherein, The transmission assembly comprises a force applying member, and the force applying member moves from the first position to the second position under the driving of the driving assembly to abut against or slide relative to the driving wheel housing.

4. The lifting mechanism of claim 3, wherein, The transmission assembly further comprises a transmission member connected with the force applying member, and the transmission member moves under the driving of the driving assembly and drives the force applying member to move.

5. The lifting mechanism of claim 4, wherein, The driving assembly comprises a driving member and a rotating member connected with the driving member, the driving member is used to drive the rotating member to rotate, the first end of the transmission member is connected with the rotating member, and in the process of driving the rotating member to rotate by the driving member, the transmission member is wound on the rotating member to drive the force applying member to move.

6. The lifting mechanism of claim 5, wherein, The rotating member comprises a winch; and / or, The transmission member comprises a flexible transmission member; and / or, The transmission member is at least one of a line, a belt or a chain; and / or, The transmission assembly further comprises a wire tube, the wire tube is sleeved outside the transmission member, and the wire tube is arranged on the body; and / or, The body is further provided with a detent member, the transmission member is arranged on the detent member, or the transmission assembly further comprises a wire tube, the wire tube is sleeved outside the transmission member, and the wire tube is arranged on the detent member.

7. The lifting mechanism of claim 4, wherein, The force applying member comprises a first connecting rod, a first end of the first connecting rod is connected with the transmission member, and a second end of the first connecting rod is used to abut against the driving wheel housing; Or, the force applying member comprises a sliding block, a first end of the sliding block is connected with the transmission member, and a second end of the sliding block slides relative to the driving wheel housing.

8. The lifting mechanism of claim 7, wherein, The force applying member comprises a first connecting rod, a first end of the first connecting rod is connected with the transmission member, and a second end of the first connecting rod is used to abut against the driving wheel housing; The first connecting rod comprises a first single connecting rod, a first end of the first single connecting rod is connected with the transmission member, and a second end of the first single connecting rod is used for abutting against the driving wheel shell; or the first connecting rod comprises a first double connecting rod, a first end of the first double connecting rod is connected with the transmission member, a second end of the first double connecting rod is used for abutting against the driving wheel shell, and a third end of the first double connecting rod is connected with the body.

9. The lifting mechanism of claim 8, wherein, The transmission member comprises a flexible transmission member, a first end of the flexible transmission member is connected with the driving assembly, and a second end of the flexible transmission member is connected with the force applying member; or the transmission member comprises a second connecting rod, a first end of the second connecting rod is connected with the driving assembly, and a second end of the second connecting rod is connected with the force applying member.

10. The lifting mechanism of claim 9, wherein, The transmission member comprises a second connecting rod, a first end of the second connecting rod is connected with the driving assembly, and a second end of the second connecting rod is connected with the force applying member. The second connecting rod comprises a second single connecting rod, a first end of the second single connecting rod is connected with the driving assembly, and a second end of the second single connecting rod is connected with the force applying member; or the second connecting rod comprises a second double connecting rod, a first end of the second double connecting rod is connected with the driving assembly, and a second end of the second double connecting rod is connected with the force applying member.

11. The lifting mechanism of claim 8, wherein, The body is provided with a fixed shell, the fixed shell is provided with a movable space, and at least part of the first connecting rod moves in the movable space. The first connecting rod comprises a first single connecting rod, a first end of the first single connecting rod is connected with the transmission member, a second end of the first single connecting rod is used for abutting against the driving wheel shell, a middle part of the first single connecting rod is rotationally connected to the fixed shell through a second rotating shaft, and the first end and / or the second end of the first single connecting rod moves in the movable space; or the first connecting rod comprises a first double connecting rod, a first end of the first double connecting rod is connected with the transmission member, a second end of the first double connecting rod is used for abutting against the driving wheel shell, a third end of the first double connecting rod is connected with the fixed shell, and the first end of the first double connecting rod moves in the movable space.

12. The lifting mechanism of claim 11, wherein, The transmission assembly further comprises an elastic member, the elastic member is used for providing an acting force for the first connecting rod to move towards the first position. The first connecting rod comprises a first single connecting rod, a first end of the first single connecting rod is connected with the transmission member, a second end of the first single connecting rod is used for abutting against the driving wheel shell, a middle part of the first single connecting rod is rotationally connected to the fixed shell through a second rotating shaft, the elastic member is sleeved on the second rotating shaft, and is arranged between the fixed shell and the first single connecting rod; or the first connecting rod comprises a first double connecting rod, a first end of the first double connecting rod is connected with the transmission member, a second end of the first double connecting rod is used for abutting against the driving wheel shell, a third end of the first double connecting rod is connected with the fixed shell, a first end of the elastic member is connected with the first end of the first double connecting rod, and a second end of the elastic member is connected with the fixed shell; and / or, The driving wheel shell is provided with a boss, and one end of the first connecting rod abuts on the boss; and / or, The driving wheel shell is provided with a boss, and one end of the first connecting rod abuts on the boss; and / or, The first connecting rod comprises a first single connecting rod, a first end of the first single connecting rod is connected with the transmission member, a second end of the first single connecting rod is used for abutting against the driving wheel shell, and a middle part of the first single connecting rod is rotationally connected to the fixed shell through a second rotating shaft which is parallel to the first rotating shaft.

13. The lifting mechanism of claim 11, wherein, The movable space comprises a first sliding groove and / or a second sliding groove, and an end of the first connecting rod connected with the transmission member is inserted into the first sliding groove and / or the second sliding groove.

14. The lifting mechanism of claim 13, wherein, The first connecting rod comprises a first double connecting rod and a sliding connecting member, a first end of the first double connecting rod is connected with the transmission member, a second end of the first double connecting rod abuts against the driving wheel shell, and a third end of the first double connecting rod is connected on the fixed shell, the sliding connecting member is inserted into the first end of the first double connecting rod and the first sliding groove and / or the second sliding groove and slides along the first sliding groove and / or the second sliding groove.

15. The lifting mechanism of claim 3, wherein, The body is provided with a fixed shell, the fixed shell is provided with a movable space, and at least part of the force applying member moves in the movable space. And / or, The transmission assembly further comprises an elastic member, a first end of the elastic member is connected with the force applying member, a second end of the elastic member is connected with the body, and the elastic member is used for providing an acting force for the force applying member to move towards the first position.

16. The lift mechanism of claim 1, wherein, The lifting mechanism comprises at least two walking assemblies, and two of the at least two walking assemblies are symmetrically arranged on two sides of the body in the advancing direction of the cleaning robot.

17. The lifting mechanism of claim 16, wherein, The lifting mechanism comprises at least two transmission assemblies, and the at least two walking assemblies and the at least two transmission assemblies are in one-to-one correspondence.

18. The lifting mechanism of claim 17, wherein, The at least two transmission assemblies comprise at least one driving transmission assembly and at least one driven transmission assembly, the at least one driven transmission assembly is connected with the at least one driving transmission assembly, the at least one driving transmission assembly is connected with the driving assembly, the at least one driving transmission assembly moves under the driving of the driving assembly and drives the at least one driven transmission assembly to move.

19. The lifting mechanism of claim 18, wherein, Each driving transmission assembly comprises a driving transmission member and a driving force applying member, the driving force applying member is connected with the driving transmission member, the driving transmission member is connected with the driving assembly, the driving transmission member moves under the driving of the driving assembly and drives the driving force applying member to move; in the process of movement of the driving force applying member, the driving force applying member abuts against the driving wheel shell or slides relative to the driving wheel shell, and simultaneously drives the at least one driven transmission assembly to move.

20. The lifting mechanism of claim 19, wherein, Each driven transmission assembly comprises a driven transmission member and a driven force applying member, the driven transmission member is connected with the driving force applying member and the driven force applying member respectively, in the process of movement of the driving force applying member, the driven transmission member is driven to move, so as to drive the driven force applying member to move through the driven transmission member.

21. The lifting mechanism of claim 20, wherein, The driving force applying member slides relative to the driving wheel shell, one of the driving wheel shell and the driving force applying member is provided with a sliding member, and the other is provided with a sliding surface; and / or, The driven force applying member slides relative to the driving wheel shell, one of the driving wheel shell and the driven force applying member is provided with a sliding member, and the other is provided with a sliding surface; and / or, The driving wheel shell abuts against the driving force applying member and / or the driven force applying member.

22. The lifting mechanism of claim 21, wherein, The driving force applying member slides relative to the driving wheel shell, one of the driving wheel shell and the driving force applying member is provided with a sliding member, and the other is provided with a sliding surface; and / or, The driven force applying member slides relative to the driving wheel shell, one of the driving wheel shell and the driven force applying member is provided with a sliding member, and the other is provided with a sliding surface; The sliding surface comprises a plane and an inclined surface, and the sliding member abuts against the sliding surface during the sliding of the sliding member on the sliding surface; when the driving force applying member and / or the driven force applying member moves to the second position, the sliding member abuts against the plane of the sliding surface.

23. The lifting mechanism of claim 20, wherein, The driven transmission member comprises a flexible driven transmission member; And / or, The driven transmission member is at least one of linear, belt-shaped or chain-shaped; and / or, The driven transmission assembly further comprises a sleeve, the sleeve is sleeved outside the driven transmission member, and the sleeve is arranged on the body; and / or, The body is further provided with a clamping member, and the driven transmission member is arranged on the clamping member; or the driven transmission assembly further comprises a sleeve, the sleeve is sleeved outside the driven transmission member, and the sleeve is arranged on the clamping member.

24. The lift mechanism of claim 20, wherein, The driving transmission member comprises a third connecting rod, a first end of the third connecting rod is connected with the driving assembly, and a second end of the third connecting rod is connected with the driving force applying member and the driven transmission member; The third connecting rod comprises a third single connecting rod, a first end of the third single connecting rod is connected with the driving assembly, and a second end of the third single connecting rod is connected with the driving force applying member; or the third connecting rod comprises a third double connecting rod, a first end of the third double connecting rod is connected with the driving assembly, and a second end of the third double connecting rod is connected with the driving force applying member.

25. The lift mechanism of claim 20, wherein, The body further comprises a fixed shell, the fixed shell is provided with a movable space, and at least part of the driving force applying member and / or the driven force applying member moves in the movable space; A first end of the driving force applying member is movably arranged in the movable space, and a second end of the driving force applying member slides relative to the driving wheel shell or abuts against the driving wheel shell; And / or, A first end of the driven force applying member is movably arranged in the movable space, and a second end of the driven force applying member slides relative to the driving wheel shell or abuts against the driving wheel shell.

26. The lift mechanism of claim 1, wherein, The walking assembly further comprises a third rotating shaft, the driving wheel is arranged on the driving wheel shell in a rotating manner along the third rotating shaft, and the third rotating shaft is parallel to the first rotating shaft; and / or, The walking assembly further comprises a driving wheel motor, the driving wheel motor is used to drive the driving wheel to rotate, the driving wheel motor rotates around a fourth rotating shaft, and the fourth rotating shaft is parallel to the first rotating shaft; and / or, The walking assembly further comprises a suspension, a first end of the suspension is connected to or abuts against the drive wheel housing, a second end of the suspension abuts against the body, at least part of the walking assembly is elastically connected to the body through the suspension; at least part of the drive wheel extends out of the body to contact the target surface.

27. A cleaning robot, characterized in that The cleaning robot comprises: The body; and The lifting mechanism according to any one of claims 1 to 26 is arranged on the body.

28. The cleaning robot of claim 27, wherein, The body comprises a base and a cover, the base is connected with the cover and encloses a receiving cavity, the base is provided with an opening facing the target surface, the opening communicates with the receiving cavity; wherein at least part of the walking assembly is arranged in the opening, and the transmission assembly or the drive assembly is arranged in the receiving cavity and / or the opening.

29. The cleaning robot of claim 27, wherein, The cleaning robot comprises two walking assemblies, two drive wheels are symmetrically arranged relative to the center of the body; the cleaning robot further comprises a universal wheel and a wiping member, the universal wheel is used to cooperate with the two drive wheels to control the movement of the cleaning robot, and the wiping member is used to clean the surface to be cleaned.

30. The cleaning robot of claim 29, wherein, With the advancing direction of the cleaning robot as a reference direction, the two drive wheels are arranged on the left side and the right side of the body, respectively, and The universal wheel and the wiping member are arranged on the rear side of the body, the first rotating shaft is arranged on the front side of the drive wheel, and the side of the body that is lifted relative to the target surface is the front side of the body; or The universal wheel is arranged on the front side of the body, the wiping member is arranged on the rear side of the body, the first rotating shaft is arranged on the rear side of the drive wheel, and the side of the body that is lifted relative to the target surface is the rear side of the body.

31. A cleaning system characterized by, The cleaning system comprises: The base station; and The cleaning robot according to any one of claims 27-30 moves into the base station for maintenance.

32. A control method of a cleaning robot, characterized by, The cleaning robot is the cleaning robot according to any one of claims 27-30, and the control method comprises: When the cleaning robot encounters an obstacle during advancing, one side of the body is lifted relative to the target surface, and the side of the body that is lifted relative to the target surface is directed towards the obstacle; The cleaning robot is controlled to move towards the obstacle to cross the obstacle.

33. The control method according to claim 32, wherein The cleaning robot comprises a universal wheel and a wiping member, with the advancing direction of the cleaning robot as a reference direction, the universal wheel and the wiping member are arranged on the rear side of the body, the first rotating shaft is arranged on the front side of the drive wheel, and the side of the body that is lifted relative to the target surface is the front side of the body; The control of the one side of the body that is lifted relative to the target surface comprises: The front side of the body is controlled to be lifted relative to the target surface; The control of the cleaning robot that moves towards the obstacle to cross the obstacle comprises: The cleaning robot is controlled to continue advancing to cross the obstacle.

34. The control method according to claim 33, wherein The control of the cleaning robot to continue advancing to cross the obstacle further comprises: during the process of the cleaning robot crossing the obstacle, the control of the mopping piece to work to clean the obstacle; and / or, The control of the cleaning robot to continue advancing to cross the obstacle further comprises: After the cleaning robot crosses the obstacle, the control of the cleaning robot to continue advancing.

35. The control method of claim 32, wherein The cleaning robot comprises a universal wheel and a mopping piece, the universal wheel is arranged at the front side of the body, the mopping piece is arranged at the rear side of the body, the first rotating shaft is arranged at the rear side of the driving wheel, the side of the body that is lifted relative to the target surface is the rear side of the body; The control of the side of the body to be lifted relative to the target surface and the control of the side of the body that is lifted relative to the target surface to face the obstacle comprises: The control of the cleaning robot to turn around and the control of the rear side of the body to be lifted relative to the target surface; The control of the cleaning robot to move towards the obstacle to cross the obstacle comprises: The control of the cleaning robot to retreat to cross the obstacle.

36. The control method according to claim 35, wherein The control of the cleaning robot to retreat to cross the obstacle further comprises: during the process of the cleaning robot crossing the obstacle, the control of the mopping piece to suspend work; and / or, The control of the cleaning robot to retreat to cross the obstacle further comprises: After the cleaning robot crosses the obstacle, the control of the cleaning robot to turn around; The control of the cleaning robot to continue advancing.

37. A cleaning robot, characterized in that The cleaning robot comprises a processor and a memory, the memory stores computer program instructions, and the computer program instructions are used to execute the control method in any one of claims 32-36 when executed by the processor.

38. A storage medium storing a computer program, characterized in that, The computer program is executed by one or more processors to implement the control method in any one of claims 32-36.

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