Cleaning robot, obstacle crossing method, and cleaning system

Abstract

A cleaning robot (100), an obstacle crossing method, and a cleaning system. The cleaning robot (100) comprises a main unit (110) and a locomotion wheel assembly (140). The locomotion wheel assembly (140) is connected to the main unit (110). The locomotion wheel assembly (140) guides the movement of the main unit (110). The locomotion wheel assembly (140) comprises a main wheel (142), a rotating arm assembly (143), and an assistance wheel (146). The main wheel (142) is connected to the main unit (110) by means of a first shaft (1414). The main wheel (142) guides the main unit (110) to move in a first state. The rotating arm assembly (143) comprises a first end and a second end. The first end of the rotating arm assembly (143) is connected to a second shaft (1415) arranged on one side of the first shaft (1414). The assistance wheel (146) is connected to the second end of the rotating arm assembly (143). When the second end of the rotating arm assembly (143) moves to a position where the assistance wheel (146) is in contact with an operation surface, the assistance wheel (146) guides the main unit (110) to move in a second state. Therefore, the obstacle crossing capability of the cleaning robot (100) can be improved, so that the cleaning robot (100) has a wider range of applications.

Description

Cleaning robot, obstacle crossing method and cleaning system

[0001] Cross-reference to related disclosures

[0002] The present disclosure is based on the Chinese patent with the priority number 202422706390.6 and the priority date of November 06, 2024, the Chinese patent with the priority number 202411244069.9 and the priority date of September 05, 2024, the Chinese patent with the priority number 202411258739.2 and the priority date of September 09, 2024, the entire contents of the above-mentioned Chinese patent publications are hereby incorporated by reference into the present disclosure. TECHNICAL FIELD

[0003] The present disclosure belongs to the technical field of electrical appliances, and particularly relates to a cleaning robot, an obstacle crossing method and a cleaning system. BACKGROUND

[0004] In related technologies, a cleaning robot such as a sweeping robot, a mopping robot or a sweeping-mopping integrated robot comprises a main body, main wheels arranged at the bottom of both sides of the main body and driven wheels for supporting the main body. By controlling the action of the main wheels, the cleaning robot can move forward, backward, left and right in a cleaning area. However, in the process of cleaning the operation surface of the cleaning robot, there may be higher obstacles such as doorsteps, steps and carpets blocking the progress of the cleaning robot, resulting in poor obstacle crossing ability of the cleaning robot and affecting the completion of the cleaning task of the space behind the obstacles, i.e., limiting the working range of the cleaning robot. SUMMARY

[0005] The present disclosure provides a cleaning robot, an obstacle crossing method and a cleaning system, aiming to at least improve the obstacle crossing ability of the cleaning robot to some extent.

[0006] In a first aspect of the present disclosure, a cleaning robot is provided, comprising: a main body; a walking wheel assembly connected to the main body, the walking wheel assembly guiding the movement of the main body; wherein the walking wheel assembly comprises: a main wheel connected to the main body through a first shaft, the main wheel guiding the movement of the main body in a first state; a rotating arm assembly comprising a first end and a second end, the first end of the rotating arm assembly being connected to a second shaft arranged on one side of the first shaft; an auxiliary wheel connected to the second end of the rotating arm assembly; wherein when the second end of the rotating arm assembly moves to the auxiliary wheel in contact with the operation surface, the auxiliary wheel guides the movement of the main body in a second state.

[0007] In a second aspect of the present disclosure, an obstacle crossing method of a cleaning robot is provided, and the obstacle crossing method comprises: in response to a cleaning instruction, controlling the cleaning robot to perform a cleaning task; and according to the cleaning task, controlling the cleaning robot to cross an obstacle.

[0008] In a third aspect of the present disclosure, a cleaning system is provided, which comprises a base station and the cleaning robot as described above.

[0009] The cleaning robot, the obstacle crossing method and the cleaning system provided by the present disclosure can control the movement of the main body in different states according to the road conditions of the operation surface when the cleaning robot travels; when an obstacle in front of the cleaning robot cannot be crossed by the main body in the first state, the second end of the rotating arm assembly is moved to the lower side of the main wheel, so that the auxiliary wheel contacts the operation surface, the main wheel is separated from the operation surface by the auxiliary wheel and the rotating arm assembly, the height of the main wheel and the main body relative to the operation surface is adjusted, the main body is in the second state, the auxiliary wheel rotates to abut against the operation surface and guides the movement of the main body, so that the cleaning robot can cross the obstacle, and then the cleaning robot can perform the cleaning task in the space behind the obstacle, thereby improving the obstacle crossing ability of the cleaning robot and making the application range of the cleaning robot wider. BRIEF DESCRIPTION OF DRAWINGS

[0010] In order to more clearly illustrate the technical solutions of the present disclosure, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are only some embodiments of the present disclosure, and other drawings can also be obtained by those skilled in the art without creative labor.

[0011] Fig. 1 is a schematic diagram of the movement of a cleaning robot 100 according to an embodiment of the present disclosure;

[0012] Fig. 2 is a flowchart of a control method of a cleaning robot 100 according to an embodiment of the present disclosure;

[0013] Fig. 3 is a flowchart of a control method of a cleaning robot 100 according to another embodiment of the present disclosure;

[0014] Fig. 4 is a schematic diagram of the structure of a cleaning robot 100 according to an embodiment of the present disclosure;

[0015] Figs. 5-7 are schematic diagrams of the states of an obstacle crossing control method M1 of a cleaning robot 100;

[0016] Figs. 8-10 are schematic diagrams of the states of an obstacle crossing control method M2 of a cleaning robot 100;

[0017] Figs. 11-14 are schematic diagrams of the states of an obstacle crossing control method M3 of a cleaning robot 100;

[0018] FIGS. 15-16 are state diagrams of an obstacle crossing control method M4 of the cleaning robot 100;

[0019] FIGS. 17-20 are state diagrams of an obstacle crossing control method M5 of the cleaning robot 100;

[0020] FIGS. 21-24 are state diagrams of an obstacle crossing control method M6 of the cleaning robot 100;

[0021] FIGS. 25-32 are flow diagrams of an obstacle crossing control method M7 of the cleaning robot 100;

[0022] FIG. 33 is a flow diagram of the obstacle crossing control method M of the cleaning robot 100 shown in FIGS. 4-32.

[0023] FIG. 34 is an adjustment scenario under step S2606 according to some embodiments of the present disclosure.

[0024] FIG. 35 is a bottom view of the cleaning robot 100 according to an embodiment of the present disclosure;

[0025] FIG. 36 is a structural diagram of a first walking wheel assembly 140a according to an embodiment of the present disclosure;

[0026] FIG. 37 is another structural diagram of the first walking wheel assembly 140a according to an embodiment of the present disclosure;

[0027] FIG. 38 is another structural diagram of the first walking wheel assembly 140a according to an embodiment of the present disclosure;

[0028] FIG. 39 is an internal structural diagram of the first walking wheel assembly 140a according to an embodiment of the present disclosure;

[0029] FIG. 40 is a connection diagram of a transmission housing 147a and a rotating arm assembly 143a according to an embodiment of the present disclosure;

[0030] FIG. 41 is an exploded diagram of FIG. 40 according to an embodiment of the present disclosure;

[0031] FIGS. 42-43 are two state diagrams of the first walking wheel assembly 140a according to an embodiment of the present disclosure;

[0032] FIG. 44 is a structural diagram of a cleaning robot having the first walking wheel assembly 140a according to an embodiment of the present disclosure;

[0033] FIG. 45 is a structural diagram of a driven wheel 120 according to an embodiment of the present disclosure;

[0034] FIG. 46 is a structural diagram of a first walking wheel assembly 140b according to an embodiment of the present disclosure, in which a center of gravity of a main body 110 is located behind an auxiliary wheel 146b;

[0035] FIG. 47 is a perspective view of the first walking wheel assembly 140b according to an embodiment of the present disclosure;

[0036] FIGS. 48-49 are schematic views of two states of the first walking wheel assembly 140b;

[0037] FIG. 50 is an exploded schematic view of FIG. 47;

[0038] FIG. 51 is a schematic view of force transmission of the first walking wheel assembly 140b;

[0039] FIG. 52 is a schematic view of a structure of the turning arm assembly 143;

[0040] FIG. 53 is an exploded schematic view of FIG. 52;

[0041] FIG. 54 is a schematic view of a structure of the damper 1436;

[0042] FIG. 55 is a schematic view of a structure of the first walking wheel assembly 140c;

[0043] FIG. 56 is a schematic view of an internal structure of FIG. 55;

[0044] FIG. 57 is a schematic view of an axial view of FIG. 56;

[0045] FIG. 58 is a schematic view of a structure of the turning arm assembly 143 in FIG. 57;

[0046] FIG. 59 is a schematic view of an internal structure of FIG. 58;

[0047] FIG. 60 is a schematic view of a structure of the first walking wheel assembly 140d;

[0048] FIG. 61 is a schematic view of force transmission of the first walking wheel assembly 140d;

[0049] FIG. 62 is a schematic view of connection of the turning arm assembly 143d and the driving disc 1419 in FIG. 60;

[0050] FIGS. 63-64 are schematic views of two states of the first walking wheel assembly 140d. DETAILED DESCRIPTION

[0051] The embodiments described herein and the accompanying drawings are merely preferred embodiments of the present disclosure, and various modified embodiments capable of replacing the embodiments and drawings of the present disclosure can exist when applying the present disclosure.

[0052] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. The same reference numbers or signs shown in the accompanying drawings can represent components or elements performing substantially the same functions.

[0053] FIG. 1 is a schematic diagram of the movement of a cleaning robot 100 according to an embodiment of the present disclosure. In conjunction with FIG. 1, the cleaning robot 100 can move on an operating surface in a space A and clean the operating surface of the space A while moving, where the operating surface can be a hard cement surface, a tile surface, etc., or a soft rubber surface, a carpet surface, etc., and the present disclosure does not limit the material or hardness of the operating surface.

[0054] As shown in FIG. 1, the space A can be divided into a plurality of subspaces, for example, divided into a first space R1, a second space R2, and a third space R3. The subspaces are connected to each other through exits E1 and E2. For example, the first space R1 and the third space R3 can be connected to each other through the first exit E1, and the second space R2 and the third space R3 can be connected to each other through the second exit E2. In other words, the space A can be regarded as a collection of a plurality of regions connected by the first exit E1 to the second exit E2.

[0055] The cleaning robot 100 can perform a cleaning task according to the plurality of subspaces of the space A to ensure the efficiency of the cleaning task (control the cleaning robot to perform the cleaning task in response to a cleaning instruction). That is, the cleaning robot 100 can directly use the division of the space A (divided into the first space R1, the second space R2, and the third space R3) to move in the space A, set a cleaning area in real time, and move to clean the corresponding cleaning area in each divided cleaning area. Specifically, the cleaning robot 100 can determine the exits while moving and divide the cleaning area according to the determined exits and a travel record, for example, the cleaning robot 100 can determine the first exit E1 and the second exit E2 while moving, and then divide the space A into three corresponding cleaning areas according to the first space R1, the second space R2, and the third space R3. For the convenience of the reader, the three cleaning areas are referred to as the first cleaning area R1, the second cleaning area R2, and the third cleaning area R3.

[0056] As shown in FIG. 1, the cleaning robot 100 can also divide the space A into different cleaning areas according to the division of the obstacles. Specifically, the space A is divided into a cleaning area A1 (a first cleaning area) and a cleaning area A2 (a second cleaning area) by the division of the threshold of the second entrance E2. The cleaning area A1 is an area in which the cleaning robot 100 can clean without climbing over the obstacle, and the cleaning area A2 is an area in which the cleaning robot 100 needs to climb over the obstacle (the threshold of the second entrance E2) to clean (control the cleaning robot to climb over the obstacle according to the cleaning task). However, those skilled in the art can understand that the cleaning robot 100 can divide the cleaning areas of the space A according to the subspaces of the space A and whether the obstacle needs to be climbed over. For example, a cleaning area corresponding to a subspace, for example, the second cleaning area R2, can completely or at least partially overlap with an area that needs to be cleaned by climbing over the obstacle, for example, the cleaning area A2, and the cleaning area A1 includes the first subspace R1 and the third subspace R3.

[0057] The cleaning robot 100 can move in any direction in the space A (hereinafter referred to as a moving state), and when the cleaning robot 100 encounters an obstacle (hereinafter referred to as an obstacle B for the convenience of the reader) such as a wall, furniture, or threshold while moving, the cleaning robot 100 can enter a climbing state. The moving state refers to the state of the cleaning robot 100 when the cleaning robot 100 translates on the operation surface. The climbing state refers to the state of the cleaning robot 100 when the rotating arm assembly 143 is activated and then deactivated.

[0058] Specifically, climbing over the obstacle B refers to the process of the cleaning robot 100 climbing up the obstacle B, cleaning the top surface (if any) of the obstacle B, and detaching from the obstacle B. Depending on the situation of the obstacle B, the cleaning robot 100 can move along the edge of the obstacle B, climb to the top surface of the obstacle B to clean the top surface of the obstacle B, or climb over the obstacle B to clean the cleaning area A2 divided by the obstacle B. Those skilled in the art can understand that the obstacle B can be any object that interferes with the movement of the cleaning robot 100, and is not necessarily a connecting part of two subspaces or an entrance of a subspace. For example, the obstacle B can also be a section of a wall in the space A, a piece of furniture arranged in the space A, a section of a threshold, a protrusion on the operation surface (hereinafter referred to as the operation surface) on which the cleaning robot 100 performs a cleaning task, or a carpet, etc. Specifically, when the cleaning robot 100 moves along the edge of the obstacle B because it cannot climb up the obstacle B (for example, the height H of the obstacle B relative to the operation surface exceeds the climbable limit of the cleaning robot 100), the cleaning robot 100 can select to perform a cleaning task on the cleaning area A1 or an uncleaned area therein. In this case, the cleaning robot 100 can trigger the sending of the missed cleaning information to the user terminal to inform the user that the cleaning area A2 (an uncleaned area that needs to climb over the obstacle B to complete the cleaning task) needs to be cleaned or is uncleaned.

[0059] That is, the cleaning robot 100 can set a cleaning sequence for at least two cleaning areas according to whether it can successfully climb the obstacle B when moving. In this way, even if the cleaning robot 100 performs a cleaning task along a preset route, it can first clean the cleaning area A1 or an uncleaned area therein that is easy to clean (without needing to climb the corresponding obstacle) to improve the cleaning efficiency of the space A.

[0060] However, in some use cases, even if it can climb the obstacle B, the cleaning robot 100 can be stuck on the obstacle B or trapped within the range of the cleaning area A2 behind the obstacle B, in which case the cleaning robot 100 stops running and triggers the sending of a stuck information to the user terminal, notifying the user that the cleaning robot 100 is in a stuck state. For example, as shown in FIG. 1, being stuck on the obstacle B means that when the cleaning robot 100 moves from the cleaning area A1 over the obstacle B to the cleaning area A2, the cleaning robot 100 successfully climbs the obstacle B, but cannot successfully return to the original cleaning area (cleaning area A1) from the obstacle B, nor can it move over to the cleaning area to be cleaned (cleaning area A2).

[0061] Among them, the above-mentioned missed cleaning information or stuck information can be a pop-up window or other forms of notification sent by the cleaning robot 100 to the user terminal device, indicating that the cleaning robot 100 has missed cleaning or stuck. Or, the missed cleaning information or stuck information can also be a reminder voice directly issued by the cleaning robot 100 to the environment. The related control method of the cleaning robot 100 will be further described below by means of FIG. 2 and FIG. 3.

[0062] FIG. 2 is a flowchart of a control method of a cleaning robot 100 according to the present disclosure. As shown in FIG. 2, when the cleaning robot 100 performs a cleaning task on the space A (in response to a cleaning instruction, the cleaning robot is controlled to perform a cleaning task), a map of the space A identifying the positions of obstacles and the types of obstacles needs to be constructed, as shown in step S202. Among them, the positions of obstacles are identified by sensors of the cleaning robot 100 in the process of constructing the map, or can be pre-marked by the user, or recorded data in the historical cleaning process of the cleaning robot 100. The type of obstacle refers to the category of obstacle, such as a chair, a threshold, a toy, etc. The type of obstacle is determined by the cleaning robot 100 according to the user definition or the shape, size, height H relative to the operating surface, etc. of the obstacle. When the cleaning robot 100 confirms that there is an obstacle at a certain position, the position and type information of the obstacle can be obtained through the sensors of the cleaning robot 100. In order to obtain this information, the cleaning robot 100 can move around the obstacle to collect sufficient shape, size, height H relative to the operating surface, etc. information, and then identify the position and type of the obstacle according to the information to construct a map identifying the positions of obstacles and the types of obstacles.

[0063] It should be noted that the above map information construction can be the construction before the cleaning robot 100 performs the cleaning task for the first time, or the re-construction of the obstacle position and type each time the cleaning task is performed, or the construction of the obstacle position and type obtained by the cleaning robot 100 each time the cleaning task is performed, or the construction of the identified obstacle position and type obtained by the cleaning robot 100 last time the cleaning task is performed, and the specific way of constructing the map is not limited in the present application.

[0064] After obtaining the obstacle position and type, the cleaning robot 100 can perform the cleaning task according to the map with the identified obstacle position and type, and indicate the obstacle position and type that may occur during the cleaning task.

[0065] Among them, the obstacles can be divided into two categories. One is fixed in position, such as stairs, doorsteps, etc., or sofas, beds, dining tables, refrigerators, wardrobes, etc. with less position change frequency (smaller probability). The other is the position that is easy to change (more frequent change, larger probability), such as stools, toys, trash cans, etc. The obstacle with position prone to change is unstable information in the constructed map, so the cleaning robot 100 needs to compare the map information with the real-time collected information as shown in step S204. The cleaning robot 100 compares the real-time collected information with the map information generated in step S202 to determine which is the fixed position obstacle and which is the position prone to change obstacle, and updates the map information according to the real-time collected information for the next use of the cleaning robot 100.

[0066] Among them, the real-time collected information refers to the obstacle position and type collected by the cleaning robot 100 in real time. During the cleaning process of the cleaning robot 100, the position of the obstacle may also change, for example: small furniture and appliances such as stools, toys, trash cans are moved during the cleaning task of the cleaning robot 100, or directly moved out of the space being cleaned by the cleaning robot 100, or new obstacles are added. During the cleaning task of the cleaning robot 100, the real-time position and type of the obstacle can be obtained, the map information is updated by obtaining the real-time position and type of the obstacle, the position and type of the new obstacle entering the cleaning space are added, and the non-existing obstacle in the cleaning space is removed.

[0067] In step S204, the cleaning robot 100 performing the cleaning task according to the predetermined route compares the map information (including the position and type information of the obstacle) with the real-time collected information to determine whether there is an obstacle B (an obstacle that needs to perform an obstacle climbing action to clean the area behind it) in the field of view, so as to go to step S206 to perform a climbing action on the obstacle B.

[0068] In step S206, during the execution of the cleaning task by the cleaning robot 100, when the obstacle B appears in the field of view and is identified, the cleaning robot 100 attempts to perform the climbing action on the obstacle B, and in step S208, it is determined whether the climbing action is successful.

[0069] In step S208, the cleaning robot 100 determines whether the climbing action is successful according to the feedback of the tilt sensor, the position sensor, and the encoder. The encoder measures the rotation amount of the driving motor of the cleaning robot 100; the position sensor measures the actual movement distance of the cleaning robot 100; and the tilt sensor measures the angle (direction) of the actual movement of the cleaning robot 100. When the cleaning robot 100 determines that the climbing action is successful according to the feedback of the tilt sensor, the position sensor, and the encoder in step S208, it proceeds to step S210 to determine whether the cleaning robot 100 is stuck by the obstacle B. When the cleaning robot 100 determines that the climbing action is not successful, it proceeds to step S212. The case where the cleaning robot 100 determines that the climbing action is not successful will be described first, and the specific execution of the climbing action by the cleaning robot 100 will be described below.

[0070] In step S212, when the cleaning robot 100 determines that the climbing action is not successful according to the feedback of the tilt sensor, the position sensor, and the encoder (for example, the height H of the relative operating surface of the obstacle B exceeds the upper limit value that the cleaning robot 100 can climb), the cleaning robot 100 determines whether the cleaning robot 100 needs to perform a cleaning task on the cleaning area A1 or the uncleaned area therein according to whether the cleaning area A1 has an uncleaned area. When the cleaning robot 100 determines that the cleaning task needs to be performed on the cleaning area A1 or the uncleaned area therein, for example, when the cleaning area A1 itself or the uncleaned area therein is a predetermined area that needs to be cleaned but has not been cleaned, it proceeds to step S214 to perform the cleaning task on the other areas by the cleaning robot 100 and then proceeds to step S216. When the cleaning robot 100 determines that the height H of the relative operating surface of the obstacle B exceeds the upper limit value that can be executed (exceeds the upper limit value that the cleaning robot 100 can climb), the cleaning robot 100 can first clean the edge of the cleaning area A1 that connects with the obstacle B, and then perform the cleaning task on the other areas by the cleaning robot 100 according to the indication of step S212 in step S214. When the cleaning robot 100 determines that the cleaning task does not need to be performed on the cleaning area A1, for example, when the cleaning area A1 is not set as an area that needs to be cleaned or has been completely cleaned, it directly proceeds to step S216.

[0071] At step S216, the cleaning robot 100 proceeds to the base station to perform charging, dust collection, backwashing or docking. It can be understood that the cleaning robot 100 can also perform S216 before other steps because it needs to go to the base station to perform charging, dust collection or backwashing in advance.

[0072] Returning to step S210, when the cleaning robot 100 successfully climbs to the top surface of the obstacle B, the cleaning robot 100 continues to determine whether it is stuck on the top surface of the obstacle B and cannot climb down from the top surface of the obstacle B (the climbing instruction for the obstacle fails) according to the feedback of the tilt sensor, the position sensor and the encoder. When the cleaning robot 100 is stuck, it sends the jam information to the user terminal, or waits for the preset cleaning time of the space A to be up, and then sends the information that the base station is not returned to the user terminal. When the cleaning robot 100 is not stuck (the climbing instruction for the obstacle succeeds), it proceeds to step S218 to perform the cleaning task on the cleaning area A2 by the cleaning robot 100.

[0073] After completing the cleaning task on the cleaning area A2 at step S218, the cleaning robot 100 still needs to continue to clean other areas or return to the base station to collect dust, wash the mop, charge or dock. Therefore, the cleaning robot 100 needs to continue to proceed to step S220, and perform the climbing action on the obstacle B again to get out of the cleaning area A2 separated by the obstacle B. However, it can be understood that because of the complexity of the use environment, the cleaning robot 100 can cross the same obstacle, that is, get out of the obstacle B and return along the original path. The cleaning robot 100 can also get out of the cleaning area A2 by climbing over the obstacle with a small climbing difficulty or a closer distance. That is, there are other obstacles in the cleaning space separated by the obstacle B, and the cleaning robot 100 can get out of the cleaning space separated by the obstacle B by climbing over the obstacle with a low climbing difficulty (for example, a lower height) or a closer distance, shorten the travel path of the cleaning robot 100, and improve the obstacle crossing success rate and cleaning efficiency.

[0074] Similar to the aforementioned step S208 and step S210, when the cleaning robot 100 exits the cleaning area A2, it is necessary to determine whether the climbing is successful and whether the cleaning robot 100 is stuck in the cleaning area A2 in step S222 and step S224 respectively. Specifically, in step S222, the cleaning robot 100 determines whether the climbing is successful according to the feedback of the tilt sensor, the position sensor and the encoder. When the cleaning robot 100 fails to climb (the execution of the climbing instruction fails), it means that the cleaning robot 100 is stuck in the cleaning area A2. For example, when the obstacle B is close to the edge of the cleaning area A1 and is easier to climb, the cleaning robot 100 can enter the cleaning area A2 but cannot exit the cleaning area A2, the cleaning robot 100 can send information to the user terminal that the cleaning robot 100 is stuck in the cleaning area A2, or wait for a preset cleaning time of the space A to be greater than or equal to a set time, and then send information to the user terminal that the cleaning robot 100 does not return to the base station when the cleaning time of the space A is exhausted. When the cleaning robot 100 successfully climbs, it continues to step S224.

[0075] In step S224, the cleaning robot 100 determines whether it is stuck on the climbed obstacle according to the feedback of the tilt sensor, the position sensor and the encoder. When the cleaning robot 100 determines that it is stuck (i.e. stuck on the climbed obstacle), it sends information to the user terminal that it is stuck on the corresponding obstacle, or waits for a preset cleaning time of the space A to be exhausted, and then sends information to the user terminal that the cleaning robot 100 does not return to the base station. When the cleaning robot 100 determines that it is not stuck, i.e. the cleaning robot 100 successfully exits the cleaning area A2, it continues to the aforementioned step S212 and executes the subsequent processes of step S212 and step S212.

[0076] In addition, in some embodiments, when the cleaning robot 100 performs the climbing action, if the obstacle B is an object that has been successfully climbed or a target obstacle for which the user has set parameters (such as the relative operating surface height H and other related parameters), the cleaning robot 100 can directly read the historical data or the relative operating surface height H and other related parameters set by the user, and use these parameters to climb, thereby improving the success rate of obstacle climbing, avoiding the occurrence of the stuck phenomenon to a certain extent, and improving the execution efficiency of the cleaning task. This will be described below with reference to FIG. 3.

[0077] FIG. 3 is a schematic diagram of another control method of the cleaning robot 100 according to the present disclosure. In conjunction with FIG. 3, at step S302, a processor disposed inside or outside the cleaning robot 100 analyzes historical obstacle information or user preset data according to an instruction received by a user terminal or a display interface of the cleaning robot 100. The instruction refers to an instruction that the user agrees to collect and analyze historical data of the cleaning robot 100, or an instruction that the user has confirmed the preset data. The user preset data refers to cleaning constraints input by the user on a mobile terminal or a display interface of the cleaning robot 100, which can be at least one of a user constraint on cleaning start and end time, cleaning type, cleaning area, cleaning frequency, location of an obstacle, and type of an obstacle.

[0078] For example, the cleaning area can be that the user selects to clean a specified area, such as the user selecting to clean only one of the first space R1, the second space R2, and the third space R3 shown in FIG. 1, or selecting to clean two or all of the first space R1, the second space R2, and the third space R3. The cleaning frequency can be the number of repeated cleanings of the same area in the case of performing a cleaning task. For example, the user can select to clean the first space R1 once and the second space R2 twice, and the specific number of times is set according to actual needs. The cleaning type can be that the user restricts the cleaning mode to dry suction, wet mopping, simultaneous suction and mopping, or dry cleaning followed by wet cleaning, etc.

[0079] Of course, the cleaning constraints can also be at least two of the cleaning start and end time, the cleaning area, the cleaning frequency, the location of the obstacle, and the type of the obstacle. For example: clean the first space R1 once and the second space R2 twice on Tuesday from 10:00 to 12:00 every week, with the mode being dry suction, and needing to cross a 4 cm high obstacle B at the second entrance E2; clean the first space R1 once on Thursday from 10:00 to 11:00 every week, with the mode being dry cleaning followed by wet cleaning, and without the need to cross an obstacle, etc.

[0080] It should be noted that the above constraint conditions can be set once, can be set multiple times, or can be updated by the user as needed. After the user agrees to collect and analyze the historical data of the cleaning robot 100, the processor deployed inside or outside the cleaning robot 100 can generate analysis results based on the historical data and / or user preset data, including user habit information and environmental analysis information. The historical data includes the constraint conditions set by the user, the map information established by the cleaning robot 100, the location and type of obstacles, and the execution record of the cleaning task, etc. The user habit information is generated based on the constraint conditions set by the user, such as the user's preferred cleaning start and end time, cleaning mode, cleaning frequency, etc. The environmental analysis information is generated based on the map information established by the cleaning robot 100, the location and type of obstacles, and the execution record of the cleaning task, etc., such as whether there is an obstacle at a certain place, whether the obstacle is a fixed obstacle, whether it has been stuck, the number or probability of being stuck, etc. The following goes to step S304.

[0081] In step S304, the processor deployed inside or outside the cleaning robot 100 compares the analysis results generated in step S304 with the real-time collected information of the cleaning robot to determine whether to enter step S206, wherein the real-time collected information is the real-time location and type of obstacles. During the execution of the cleaning task based on the analysis results generated in step S304, the cleaning robot 100 can be restricted to clean a certain space, for example, if the user habit information is to clean the first space R1 and the second space R2 shown in FIG. 1, the first space R1 and the second space R2 are separated by an obstacle B, and in order to clean the second space R2, the obstacle B needs to be climbed over, and then the second space R2 is cleaned. If the current user habit information is to clean the first space R1, since the second space R2 does not need to be cleaned, even if the obstacle B meets the obstacle climbing condition, it is not necessary to climb over the obstacle B, so whether to enter step S206 and the subsequent processes can be determined according to the comparison of the analysis results including the user habit information and the real-time collected information. Steps S206 to S226 can be referred to the related description of FIG. 2, which will not be described here.

[0082] It should be noted that because the analysis results generated in step S302 include environmental analysis information, which indicates whether there is an obstacle at a certain place, whether the obstacle is a fixed obstacle, whether it has been stuck, the number or probability of being stuck, etc., it is also possible to determine whether to enter step S20600 and the subsequent processes in response to the number or probability of being stuck by the obstacle, so that the cleaning robot 100 is not stuck at the position or obstacle where it has been stuck, or the probability of the cleaning robot 100 being stuck at the position or obstacle where it has been stuck is reduced.

[0083] Further, in some embodiments, the map can also be constructed in step S202 shown in FIG. 2 with reference to the historical data of step S302 shown in FIG. 3. For example, the map information is constructed according to at least one of the constraint conditions set by the user in the historical data, the map information established by the cleaning robot 100 in the historical data, the positions and types of obstacles, and the records of previous cleaning task executions. For example, if the user habit information is "clean the first space R1 and the second space R2", the map of the first space R1 and the second space R2 is preferentially constructed when constructing the map information, the map of the third space R3 is delayed or not constructed, and the first space R1 and the second space R2 are preferentially taken as the objects of the cleaning robot 100 to execute the cleaning task.

[0084] The following will further specifically describe how the cleaning robot 100 executes the climbing instruction of the obstacle B, that is, how the cleaning robot 100 executes step S206 or step S220 shown in FIGS. 2 and 3, by means of FIGS. 4 to 25.

[0085] FIG. 4 is a schematic diagram of the cleaning robot 100 according to an embodiment of the present disclosure. As shown in FIG. 4, the cleaning robot 100 includes a main body 110, a first walking wheel assembly 140, a second walking wheel assembly 160, a driven wheel 120, and a tail wheel 180. The first walking wheel assembly 140 and the second walking wheel assembly 160 are rotatably mounted on the right side and the left side of the main body 110 along the direction of travel of the cleaning robot 100, respectively, and are driven by respective motors to support normal travel of the cleaning robot 100. The first walking wheel assembly 140 and the second walking wheel assembly 160 can be driven forward or backward according to travel instructions to guide the movement of the cleaning robot 100. For example, the first walking wheel assembly 140 and the second walking wheel assembly 160 are driven forward or backward, so that the cleaning robot 100 moves forward or backward. In addition, when the first walking wheel assembly 140 is driven backward, the second walking wheel assembly 160 is driven forward, so that the cleaning robot 100 turns right. When the first walking wheel assembly 140 is driven forward, the second walking wheel assembly 160 is driven backward, so that the cleaning robot 100 turns left. The driven wheel 120 is rotatably mounted on the front side of the main body 110, and adjusts the direction of travel of the cleaning robot 100 in cooperation with the first walking wheel assembly 140 and the second walking wheel assembly 160, and can change the direction angle based on the terrain on which the cleaning robot 100 is located. The driven wheel 120 supports the cleaning robot 100 to stabilize the cleaning robot 100 and prevent the cleaning robot 100 from falling over. The tail wheel 180 is rotatably mounted on the tail of the main body 110 to serve as a support device to support the cleaning robot 100 to continue traveling in a state where the front side of the cleaning robot 100 is lifted, and to avoid wear and tear of the tail end of the cleaning robot 100 and affect the efficiency of the cleaning robot 100 in traveling or retreating in a state where the front side of the cleaning robot 100 is lifted and travels or retreats.

[0086] It should be noted that during the process of the cleaning robot traveling to the target area, there can be behaviors such as turning, retreating, advancing, etc. The direction of travel of the cleaning robot 100 of the present disclosure refers to the direction of the cleaning robot 100 when moving to the target area.

[0087] FIGS. 5 to 32 are schematic diagrams of the obstacle crossing control method M of the cleaning robot 100 according to the present disclosure. FIGS. 5 to 32 show side views of the cleaning robot 100 in a traveling state, and for the convenience of the reader, the following will be described exemplarily based on the first walking wheel assembly 140 on the right side of the main body 110 along the direction of travel indicated by the arrow. Unless otherwise specified, the description of the first walking wheel assembly 140 also applies to the second walking wheel assembly 160 on the left side of the main body 110 along the forward direction of movement. The following will first refer to FIGS. 5 to 7 to describe an obstacle crossing control method M1 of the cleaning robot 100 according to the present disclosure.

[0088] Figures 5 to 7 are exploded schematic diagrams of a method Ml of obstacle climbing control of the cleaning robot 100 according to the present disclosure. In connection with Figure 5, the cleaning robot 100 is moving on the operation surface (in the moving state) and detects that the height H of the obstacle B relative to the operation surface in the direction of travel is less than the radius R of the main wheel 142. In connection with Figures 6 and 7, when the height H of the obstacle B relative to the operation surface is less than the radius R of the main wheel 142, the cleaning robot 100 determines that the obstacle climbing state does not need to be activated (the aforementioned climbing instruction is called and executed), and the attitude of the main body 110 is not adjusted, and the cleaning robot 100 directly climbs the obstacle B by the friction force when the main wheel 142 presses against the obstacle B and the rotation of the main wheel 142 relative to the obstacle B in the direction of travel. At this time, the cleaning robot 100 can directly climb the top surface of the obstacle B in the moving state, clean the top surface of the obstacle B (if necessary), and separate from the obstacle B without activating the obstacle climbing state.

[0089] Figures 8 to 10 are exploded schematic diagrams of another method M2 of obstacle climbing control of the cleaning robot 100 according to the present disclosure. As shown in Figure 8, the cleaning robot 100 is moving on the operation surface (in the moving state) and detects that the height H of the obstacle B relative to the operation surface in the direction of travel is greater than the radius R of the main wheel 142 and less than a first preset value. In connection with Figures 9 and 10, when the height H of the obstacle B relative to the operation surface is greater than the radius R of the main wheel 142 and less than the first preset value, the cleaning robot 100 determines to activate the obstacle climbing state (the climbing instruction for the obstacle B is called and executed).

[0090] As shown in Figure 9, when the height H of the obstacle B relative to the operation surface is greater than the radius R of the main wheel 142, the cleaning robot 100 lifts the movable driven wheel 120 relative to the operation surface to lift the front side of the main body 110. The inclination angle of the main body 110 is increased. At this time, the maximum gap between the front side of the main body 110 and the operation surface is higher than the height H of the obstacle B relative to the operation surface, so that the front side of the main body 100 can pass over the obstacle B. The inclination angle of the main body 110 also refers to the angle between the bottom surface of the main body 110 and the horizontal plane.

[0091] In connection with Figure 10, because the driven wheel 120 is movable up and down and is arranged to have the inclination angle a shown in Figure 9, the driven wheel 120 can gradually be retracted upward or backward and move to the upper side of the obstacle B or contact the top surface of the obstacle B by pressing against the obstacle B with the cleaning robot 100 being pushed by the first walking wheel assembly 140 in the direction of travel. Due to the pushing of the first walking wheel assembly 140 and the cooperation of the driven wheel 120, the front side of the main body 110 moves to the upper side of the obstacle B, the main wheel 142 presses against the obstacle B, and the climbing action is completed by the friction force between the main wheel 142 and the obstacle B and the rotation of the main wheel 142 relative to the obstacle B in the direction of travel.

[0092] Figures 11 to 14 are schematic diagrams of another obstacle crossing control method M3 of the cleaning robot 100 according to the present disclosure. In conjunction with Figure 11, the cleaning robot 100 is moving on the operating surface (in a moving state) and detects that the height H of the obstacle B in the travelling direction relative to the operating surface is greater than the first preset value and less than the second preset value. As shown in Figure 12, when the height H of the obstacle B relative to the operating surface is greater than the first preset value and less than the second preset value, the cleaning robot 100 lifts the movable driven wheels 120 relative to the operating surface to lift the front side of the main body 110 to increase the inclination angle of the main body 110. At this time, the maximum gap between the front side of the main body 110 and the operating surface is higher than the height H of the obstacle B relative to the operating surface, so that the front side of the main body 100 can cross the obstacle B. As shown in Figure 13, in order to enable the main wheels 142 to abut against the top surface of the obstacle B, the first walking wheel assembly 140 lowers the rotating arm assembly 143 so that the auxiliary wheels 146 abut against the operating surface below the main wheels 142 to lift the main body 110 and the main wheels 142. The auxiliary wheels 146 drive the cleaning robot 100 to travel in the travelling direction until the main wheels 142 abut against the top surface of the obstacle B. The main wheels 142 press against the obstacle B and use the friction between the main wheels 142 and the obstacle B and the rotation of the obstacle B relative to the travelling direction to complete the action of climbing the obstacle B. In conjunction with Figure 14, as the main wheels 142 travel to the top surface of the obstacle B, the rotating arm assembly 143 of the cleaning robot 100 folds back to the rear side of the main wheels 142 due to the pushing of the top surface of the obstacle B, and the cleaning robot 100 continues to travel on the top surface of the obstacle B using the main wheels 142 to clean the top surface of the obstacle B (if necessary) or to disengage from the obstacle B.

[0093] Figures 15-16 show another obstacle climbing method M4 for the cleaning robot 100. As shown in Figure 15, the cleaning robot 100 is moving on the operating surface (in the moving state) and detects that the height H of the obstacle B in the travel direction relative to the operating surface is greater than the radius of the main wheel 142 and less than the first preset value. As shown in Figure 16, unlike the obstacle climbing method M2 described above, the cleaning robot 100 can support the rotating arm assembly 143 and the auxiliary wheel 146 on the front side of the main wheel 142, the center of gravity of the cleaning robot 100 is located behind the auxiliary wheel 146, and the front end of the cleaning robot 100 is raised under the action of gravity. At the same time, the tail wheel 180 is supported and cooperates with the auxiliary wheel 146 to guide the cleaning robot 100 to travel. The obstacle climbing method M4 adjusts the position relationship between the contact position of the auxiliary wheel 146 and the operating surface and the position of the center of gravity of the cleaning robot 100 by using the rotating arm assembly 143 and the auxiliary wheel 146, so that the center of gravity of the cleaning robot 100 is located behind the contact position of the auxiliary wheel 146 and the operating surface, and the front side of the cleaning robot 100 is lifted, rather than directly lifting the front side of the cleaning robot 100 by the driven wheel 120. However, the obstacle climbing method M4 can also change the inclination angle of the main body 110, increase the maximum gap between the front side of the cleaning robot 100 and the operating surface, and enable the front side of the cleaning robot 100 to be pushed onto the obstacle B. The cleaning robot 100 continues to press against the obstacle B by the main wheel 142, and completes the action of climbing the obstacle B by using the friction between the main wheel 142 and the obstacle B and the rotation of the main wheel 142 relative to the obstacle B in the travel direction. Compared with the obstacle climbing method M2, in addition to adjusting the position relationship between the contact position of the auxiliary wheel 146 and the operating surface and the position of the center of gravity of the cleaning robot 100 by using the rotating arm assembly 143 and the auxiliary wheel 146, so that the center of gravity of the cleaning robot 100 is located behind the contact position of the auxiliary wheel 146 and the operating surface, and the front side of the cleaning robot 100 is lifted, rather than directly lifting the front side of the cleaning robot 100 by the driven wheel 120, the other steps of the obstacle climbing method M4 shown in Figures 15-16 can be referred to the description of the obstacle climbing method M2.

[0094] Figures 17-20 show another obstacle climbing control method M5 of the cleaning robot 100. As shown in Figure 17, the cleaning robot 100 is moving on the operating surface (in a moving state) and detects that the height H of the obstacle B in the moving direction relative to the operating surface is greater than the first preset value and less than the second preset value. As shown in Figure 18, similar to the aforementioned obstacle climbing control method M3, the cleaning robot 100 can support the rotating arm assembly 143 and the auxiliary wheel 146 on the front side of the main wheel 142, the center of gravity of the cleaning robot 100 is located behind the auxiliary wheel 146, and the front end of the cleaning robot 100 is raised under the action of gravity to adjust the climbing posture. At the same time, the tail wheel 180 is supported and cooperates with the auxiliary wheel 146 to guide the cleaning robot 100 to move. The obstacle climbing control method M5 also adjusts the position relationship between the contact position of the auxiliary wheel 146 and the operating surface and the position of the center of gravity of the cleaning robot 100 by using the rotating arm assembly 143 and the auxiliary wheel 146, so that the center of gravity of the cleaning robot 100 is located behind the contact position of the auxiliary wheel 146 and the operating surface, and then the front side of the cleaning robot 100 is lifted, rather than directly lifting the front side of the cleaning robot 100 by the driven wheel 120. The obstacle climbing control method M5 can also change the inclination angle of the main body 110, increase the maximum gap between the front side of the cleaning robot 100 and the operating surface, and enable the front side of the cleaning robot 100 to be pushed onto the obstacle B. As shown in Figures 19 and 20, the cleaning robot 100 can rotate the rotating arm assembly 143 counterclockwise, so that the auxiliary wheel 146 abuts against the operating surface directly below or on the rear side of the main wheel 142, thereby supporting the main body 110 and the main wheel 142. The auxiliary wheel 146 drives the cleaning robot 100 to move along the moving direction until the main wheel 142 abuts against the top surface of the obstacle B. The main wheel 142 presses against the obstacle B and uses the friction between the main wheel 142 and the obstacle B and the rotation of the obstacle B relative to the moving direction to complete the action of climbing the obstacle B. In combination with Figure 20, with the action of the main wheel 142 moving to the top surface of the obstacle B, the rotating arm assembly 143 of the cleaning robot 100 is folded back to the rear side of the main wheel 142 due to the pushing of the top surface of the obstacle B, and the cleaning robot 100 continues to move on the top surface of the obstacle B by using the main wheel 142 to clean the top surface of the obstacle B (if necessary) or to get off the obstacle B.

[0095] Figures 21-24 show another obstacle climbing method M6 for the cleaning robot 100. As shown in Figure 21, the cleaning robot 100 is moving on the operating surface (in a moving state) and detects that the height H of the obstacle B in the travel direction relative to the operating surface is greater than the radius of the main wheel 142 and less than a first preset value. As shown in Figure 22, similar to the obstacle climbing method M3 described above, the cleaning robot 100 can support the rotating arm assembly 143 and the auxiliary wheel 146 on the front side of the main wheel 142, the center of gravity of the cleaning robot 100 is located behind the auxiliary wheel 146, and the front end of the cleaning robot 100 is raised under the action of gravity to adjust the climbing posture. At the same time, the tail wheel 180 is supported and cooperates with the auxiliary wheel 146 to guide the cleaning robot 100 to travel. The obstacle climbing method M6 also adjusts the position relationship between the contact position of the auxiliary wheel 146 with the operating surface and the position of the center of gravity of the cleaning robot 100 by using the rotating arm assembly 143 and the auxiliary wheel 146, so that the center of gravity of the cleaning robot 100 is located behind the contact position of the auxiliary wheel 146 with the operating surface, and then the front side of the cleaning robot 100 is lifted, rather than directly lifting the front side of the cleaning robot 100 by the driven wheel 120. The obstacle climbing method M6 can also change the inclination angle of the main body 110, increase the maximum gap between the front side of the cleaning robot 100 and the operating surface, and enable the front side of the cleaning robot 100 to be pushed onto the obstacle B. As shown in Figures 23 and 24, the cleaning robot 100 can rotate the rotating arm assembly 143 counterclockwise, so that the rotating arm assembly 143 and / or the auxiliary wheel 146 abut the top surface of the obstacle B. By pressing the obstacle B by the rotating arm assembly 143 and / or the auxiliary wheel 146, and rotating the rotating arm assembly 143 and / or the auxiliary wheel 146 clockwise, the pressure applied to the obstacle B by the rotating arm assembly 143 and / or the auxiliary wheel 146 assists the main wheel 142 to climb the obstacle B. In combination with Figures 23 and 24, during this process, when the main wheel 142 presses the obstacle B, the friction between the main wheel 142 and the obstacle B and the rotation of the main wheel 142 relative to the obstacle B in the travel direction can also be used to further promote the climbing of the obstacle B. In addition, the rotating arm assembly 143 of the cleaning robot 100 can also fold back to the main wheel 142 due to the withdrawal of the pressure applied to the obstacle B and / or the pushing of the top surface of the obstacle B, and the cleaning robot 100 continues to travel on the top surface of the obstacle B by using the main wheel 142 to clean the top surface of the obstacle B (if necessary) or to get off the obstacle B.

[0096] Figures 25-32 illustrate another obstacle climbing method M7 for the cleaning robot 100. The obstacle climbing method M7 can be used to control the cleaning robot 100 to climb obstacles B having steps, such as door thresholds, staircases, etc. having more than two steps. As shown in Figures 25-27, the obstacle climbing method M7 can be used to first position the main wheels 142 of the cleaning robot 100 against a first step Bl of the obstacle B. The position of the auxiliary wheels 146 relative to the contact position of the operating surface and the position of the center of gravity of the cleaning robot 100 can be adjusted by rotating the arm assembly 143 so that the center of gravity of the cleaning robot 100 is located behind the contact position of the auxiliary wheels 146 with the operating surface, thereby lifting the front side of the main body 110 and driving the cleaning robot 100 using the auxiliary wheels 146 until the main wheels 142 are positioned against the first step Bl of the obstacle B. In other embodiments, however, the front side of the main body 110 can be lifted by lifting the driven wheels 120 relative to the operating surface and driving the cleaning robot 100 using the auxiliary wheels 146 until the main wheels 142 are positioned against the first step Bl of the obstacle B.

[0097] Referring to Figure 27, the arm assembly 143 is rotated so that the auxiliary wheels 146 are positioned to ride on a second step B2 of the obstacle B, where the height H2 of the second step B2 relative to the operating surface is greater than the height Hl of the first step Bl relative to the operating surface.

[0098] Referring to Figure 28, as the main wheels 142 are positioned against and driven along the first step Bl of the obstacle B, the arm assembly 143 and the auxiliary wheels 146 are folded back behind the main wheels 142 due to the obstruction of the first step Bl of the obstacle B. Referring to Figure 29, the cleaning robot 100 can be rotated clockwise so that the arm assembly 143 and / or the auxiliary wheels 146 are positioned against the second step B2 of the obstacle B. The arm assembly 143 and / or the auxiliary wheels 146 can be rotated further clockwise to apply pressure to the second step B2 of the obstacle B, which can assist the main wheels 142 in climbing the second step B2 of the obstacle B. Referring to Figures 29 and 30, the main wheels 142 can also be used to further assist the cleaning robot 100 in climbing the second step B2 of the obstacle B by using the friction between the main wheels 142 and the second step B2 of the obstacle B and by rotating the main wheels 142 against the second step B2 of the obstacle B in the direction of travel. Referring to Figures 31 and 32, the arm assembly 143 can also be rotated counterclockwise to fold the main wheels 142 back against the main body 110 of the cleaning robot 100. The cleaning robot 100 can then continue to travel along the top surface of the obstacle B using the main wheels 142 to clean the top surface of the obstacle B (if desired) or to disengage the cleaning robot 100 from the obstacle B.

[0099] The main difference between the obstacle surmounting control methods M6 and M7 and the other obstacle surmounting control methods M1 to M5 is that the obstacle surmounting control methods M6 and M7 use the downward pressure applied by the rotating arm assembly 143 and / or the auxiliary wheel 146 on the obstacle B to lift the main wheel 142 and the main body 110 so that the cleaning robot 100 is lifted to the height of the obstacle B, and then the main wheel 142 contacts the top surface of the obstacle B to guide the cleaning robot 100 to continue moving on the top surface of the obstacle B, thereby achieving the obstacle surmounting of the cleaning robot 100. The obstacle surmounting control method M7 can achieve the obstacle surmounting of the obstacle B with two or more steps, wherein the height of any step of the obstacle B can be regarded as the height of any obstacle B in the obstacle surmounting control methods M1 to M6. That is, the maximum obstacle surmounting height that can be achieved by the obstacle surmounting control method M7 is twice the second preset value.

[0100] FIG. 33 is a flowchart of the obstacle surmounting control method M of the cleaning robot 100 shown in FIGS. 4 to 32. The obstacle surmounting control method M shown in FIG. 33 includes: confirming the height of the relative operating surface of the obstacle and the distance from the cleaning robot 100 to the obstacle in step S2602. Then, proceeding to step S2604, the corresponding climbing action is performed according to the height of the relative operating surface of the obstacle in step S2604. Then, in step S2606, the actual travel distance of the cleaning robot 100 is obtained by the position sensor (such as the optical flow sensor). Finally, proceeding to step S2608, the actual travel distance of the cleaning robot 100 is compared with the count of the encoder of the main wheel 142 (representing the distance traveled by the main wheel 142) to confirm whether the cleaning robot 100 has successfully surmounted the obstacle.

[0101] The distance from the cleaning robot 100 to the obstacle in step S2602 includes the distance from the driven wheel 120 to the obstacle and the distance from the main wheel 142 to the obstacle. The height of the relative operating surface of the obstacle and the distance from the cleaning robot 100 to the obstacle can be obtained by at least one of the position sensor, the obstacle sensor, and the image module of the cleaning robot 100.

[0102] The different obstacle surmounting actions performed according to the height of the relative operating surface of the obstacle in step S2604 also include comparing the height H of the relative operating surface of the obstacle and the radius of the main wheel 142 of the cleaning robot 100. When the height H of the relative operating surface of the obstacle is less than the radius of the main wheel 142, the cleaning robot 100 is in a moving state, and the motor of the rotating arm assembly 143 does not need to be started, and the rotating arm assembly 143 and the auxiliary wheel 146 do not need to act, and the cleaning robot 100 can complete the obstacle surmounting action in the moving state by the main wheel 142.

[0103] When the height H of the relative operating surface of the obstacle is greater than the radius of the main wheel 142, the front side of the main body 110 is lifted, for example, in an embodiment, the main body 110 can be lifted by making the rotating arm assembly 143 and the auxiliary wheel 145 abut the operating surface in front of the main wheel 142, so that the center of gravity of the cleaning robot 100 is located behind the contact position of the auxiliary wheel 145 and the operating surface, and the main body 110 is lifted by the gravity of the main body 110. In another embodiment, the driven wheel 120 can also be lifted with the operating surface as a reference, thereby lifting the front side of the main body 110. When the front side of the main body 110 is lifted, the rotating arm assembly 143 is first lowered to the position directly below or behind the main wheel 142, and the auxiliary wheel 146 abuts the operating surface, thereby lifting the main wheel 142 and the cleaning robot 100. Then, through the rotation of the auxiliary wheel 146, the cleaning robot 100 is driven to move. When the main wheel 142 abuts the obstacle B, the main wheel 142 is rotated. Then, the cleaning robot 100 completes the obstacle climbing action through the friction between the main wheel 142 and the obstacle B and the rotation in the moving direction. It should be noted that during the process of lifting the front side of the cleaning robot 100 by controlling the driven wheel 120, the lifting degree of the driven wheel 120 relative to the operating surface can be confirmed and controlled according to the height H of the obstacle B relative to the operating surface, or the lifting degree of the driven wheel 120 relative to the operating surface can be confirmed and controlled by confirming the inclination angle of the main body 110.

[0104] Step S2606 also includes comparing the actual moving distance of the cleaning robot 100 and the distance from the cleaning robot 100 to the obstacle B to confirm whether the cleaning robot 100 successfully climbs the obstacle B. The actual moving distance of the cleaning robot 100 can be confirmed through the feedback of the encoder and the position sensor, or can be confirmed only through the feedback of the encoder or the position sensor. When the actual moving distance is greater than the counted distance from the cleaning robot 100 to the obstacle, it indicates that the cleaning robot 100 successfully climbs the obstacle B. When the actual moving distance is less than or equal to the counted distance from the cleaning robot 100 to the obstacle, it indicates that the cleaning robot 100 fails to successfully climb the obstacle B.

[0105] FIG. 34 is an adjustment situation under step S2606 according to some embodiments of the present disclosure. As shown in FIG. 34, in some embodiments, when the cleaning robot 100 fails to successfully climb the obstacle B, the cleaning robot 100 is controlled to retreat and adjust the moving parameters of the cleaning robot 100, and then the cleaning robot 100 is controlled to climb the obstacle again. The moving parameters of the cleaning robot 100 include at least one of the moving direction and the moving speed of the cleaning robot 100. That is, when the moving direction of the cleaning robot 100 deviates greatly from the direction toward the obstacle B (for example, as shown in FIG. 27), the cleaning robot 100 can attempt to climb the obstacle in a new moving direction and / or at a higher moving speed.

[0106] If the number of times the cleaning robot 100 fails to successfully climb the obstacle B exceeds a set value, the cleaning robot 100 can also send an obstacle-climbing failure message to the user terminal 200 to notify the user of the obstacle-climbing failure. In a specific implementation, the set number of times can be 3, 4, 5, or the like. Specifically, the cleaning robot 100 can send a notification of the obstacle-climbing failure to the user terminal 200, or the cleaning robot 100 can directly emit a prompt sound to remind the user. After confirming that the cleaning robot 100 fails to climb the obstacle, the cleaning robot 100 can stop running, or can continue to clean other cleaning areas or return to the base station, and the present disclosure does not limit the corresponding action according to the user and the program setting.

[0107] It should also be noted that, in the process of climbing the obstacle B by the cleaning robot 100, there can also be a situation in which the cleaning robot 100 is stuck on the top surface of the obstacle B or trapped in the cleaning area A2 separated by the obstacle B. This situation can be confirmed by the actual travel distance of the cleaning robot 100 detected by the position sensor, or the fact that the cleaning robot 100 has not returned to the base station when the cleaning time is exhausted. When it is confirmed that the cleaning robot 100 is stuck, the cleaning robot 100 can send a stuck message to the user terminal 200 to notify the user accordingly, and specific details can be referred to the related description above, which will not be repeated here.

[0108] FIG. 35 is a bottom view of the cleaning robot 100 according to an embodiment of the present disclosure. As shown in FIG. 35, in addition to the main body 110 (not shown in FIG. 35), the first walking wheel assembly 140, and the second walking wheel assembly 160, the cleaning robot 100 further includes a cover 130, a roller brush module 150, and an edge brush module 170. The main body 110 and the cover 130 define the appearance of the cleaning robot 100 and support various components installed therein, wherein the cover 130 is arranged on the bottom of the cleaning robot 100, the roller brush module 150 and the edge brush module 170 are respectively arranged on the bottom and the side edge of the cleaning robot 100, the roller brush module 150 lifts and sucks in dust, and the edge brush module 170 is arranged on the side edge in front of the bottom of the cleaning robot 100 to collect dust in a gap between walls that the cleaning robot 100 cannot directly reach into a range that can be covered by the roller brush module 150 to perform the cleaning task of the cleaning robot 100.

[0109] In combination with FIG. 35, the first and second walking wheel assemblies 140 and 160 are oppositely arranged on the left and right sides of the bottom of the cleaning robot 100 along the direction of travel of the cleaning robot 100. During the execution of the cleaning task by the cleaning robot 100, the first and second walking wheel assemblies 140 and 160 can each move forward, backward, or turn under the drive of the motor, so as to clean the area to be cleaned. In addition, the first and second walking wheel assemblies 140 and 160 can also adjust the position of the auxiliary wheel 146 in contact with the operating surface and the position relationship between the center of gravity of the cleaning robot 100 and the position of the auxiliary wheel 146 according to the climbing instruction of the obstacle B, and / or adjust the position of the rotating arm 143 and the auxiliary wheel 146, so that the cleaning robot 100 has the obstacle climbing capability, so as to increase the working range (cleanable area) of the cleaning robot 100. The specific implementation manner can be referred to the description below.

[0110] In combination with FIG. 35, it can be understood that in some embodiments of the present disclosure, the cleaning robot 100 is provided with a driven wheel 120 at the rear, or the cleaning robot 100 is provided with a driven wheel 120 at the front and the rear respectively. The number, type and mounting position of the driven wheel 120 are not limited in the present application, and even the tail wheel 180 can be classified as a driven wheel 120. The following will further describe various embodiments of the first walking wheel assembly 140 by means of FIGS. 36-65. In addition, unless otherwise stated, the description of the first walking wheel assembly 140 also applies to the second walking wheel assembly 160.

[0111] FIG. 36 is a structural schematic view of the first walking wheel assembly 140a according to the present disclosure. The first walking wheel assembly 140a is one of the first walking wheel assemblies 140. FIG. 37 is another structural schematic view of the first walking wheel assembly 140a. Referring to FIGS. 36 and 37, the first walking wheel assembly 140a includes a housing 141a, a main wheel 142a, a rotating arm assembly 143a, a first motor 144a, a second motor 145a, an auxiliary wheel 146a, and a transmission housing 147a. The main wheel 142a, the first motor 144a, and the second motor 145a are all connected outside the housing 141a. The first motor 144a drives the main wheel 142a to rotate relative to the housing 141a, thereby guiding the movement of the main body 110.

[0112] The rotating arm assembly 143a connects the main wheel 142a and the auxiliary wheel 146a. The second motor 145a drives the rotating arm assembly 143a to rotate, so that when the auxiliary wheel 146a abuts against the operation surface, the main wheel 142a is lifted off the operation surface by the auxiliary wheel 146a and the rotating arm assembly 143a. The height of the main wheel 142a and the main body 110 relative to the operation surface is adjusted. The auxiliary wheel 146a rotates to abut against the operation surface and guide the movement of the main body 110, so that the cleaning robot 100 can send the main wheel 142a to abut against the top surface of the obstacle B. The transmission housing 147a is arranged outside the housing 141a. The rotating arm assembly 143a is arranged in the gap between the transmission housing 147a and the housing 141a, so as to save the space in the thickness direction of the first walking wheel assembly 140a.

[0113] FIG. 38 is an exploded view of the first walking wheel assembly 140a, and FIG. 39 is a schematic view of the internal structure of the first walking wheel assembly 140a. As shown in FIGS. 38 and 39, the main wheel 142a is rotatably connected to the housing 141a by the first shaft 1414a, so that the main wheel 142a can rotate relative to the main body 110a to guide the movement of the main body 110a relative to the operation surface or the top surface of the obstacle B. The rotating arm assembly 143a includes a first end and a second end. The first end of the rotating arm assembly 143a is connected to the main wheel 142a by the second shaft 1415a arranged on the non-central shaft of the main wheel 142a. The rotating arm assembly 143a can rotate around the second shaft 1415a. The auxiliary wheel 146a is rotatably connected to the second end of the rotating arm assembly 143a. When the rotating arm assembly 143a rotates around the second shaft 1415a to make the auxiliary wheel 146a abut against the operation surface, the main wheel 142a is lifted off the operation surface by the auxiliary wheel 146a and the rotating arm assembly 143a. At least part of the main body 110a is adjusted in height relative to the operation surface (for example, the front side of the main body 110a is lifted). The auxiliary wheel 146a rotates to abut against the operation surface and guide the movement of the main body 110, so that the cleaning robot 100 can send the main wheel 142a to abut against the top surface of the obstacle B.

[0114] In some embodiments, the first shaft 1414a and the second shaft 1415a are eccentrically arranged, the second shaft 1415a is arranged on one side of the first shaft 1414a, that is, the first shaft 1414a and the second shaft 1415a are staggered in the projection of the main wheel 142a. The second shaft 1415a is fixedly arranged on one side of the first shaft 1414a, that is, the distance between the first shaft 1414a and the second shaft 1415a is fixed, and the first shaft 1414a and the second shaft 1415a do not move relative to each other. In other embodiments, the first shaft 1414a and the second shaft 1415a can be the same shaft or concentrically arranged. When the rotating arm assembly 143a rotates to abut the auxiliary wheel 146a against the operation surface, the main wheel 142a is lifted by the rotating arm assembly 143a and the auxiliary wheel 146a. Among them, the eccentric arrangement of the first shaft 1414a and the second shaft 1415a can use a single joint or a shorter rotating arm assembly 143a to reduce the space occupied when the rotating arm assembly 143a rotates.

[0115] Among them, the rotating arm assembly 143a is a single arm joint, which means that the rotating arm assembly 143a has no joints, and the parts of the rotating arm assembly 143a cannot move or rotate, and the rotating arm assembly 143a can rotate as a whole. It can be considered that the rotating arm assembly 143a is a single arm (single arm).

[0116] The shell 141a includes a first sub-shell 1411a and a second sub-shell 1413a, which can be buckled into a cavity. The first walking wheel assembly 140a further includes a first transmission member 1412a, which is arranged in the cavity buckled by the first sub-shell 1411a and the second sub-shell 1413a, that is, the first transmission member 1412a is arranged in the shell 141a. Among them, the first transmission member 1412a has a first input gear 14121a and a first output gear 14122a, the first input gear 14121a is the input end of the first transmission member 1412a, and the first output gear 14122a is the output end of the first transmission member 1412a. The first input gear 14121a and the first output gear 14122a can directly engage or transmit power through at least one intermediate gear. The first input gear 14121a is connected to the output shaft of the first motor 144a, and the first output gear 14122a is sleeved on the first shaft 1414a. The first shaft 1414a is rotatably connected to the shell 141a, and the main wheel 142a is rotatably arranged outside the shell 141a through the first shaft 1414a. When the first motor 144a receives a force output instruction, the first motor 144a drives the first transmission member 1412a to transmit power, thereby driving the first shaft 1414a to rotate. The main wheel 142a rotates with the rotation of the first shaft 1414a, thereby guiding the movement of the main body 110.

[0117] The first walking wheel assembly 140a further comprises a first transfer gear 1416a and a second transmission member 1432a, the second shaft 1415a is arranged in the housing 141a and has one end extending out of the housing 141a. The first transfer gear 1416a is arranged in the second shaft 1415a in the housing 141a and is engaged to the first output gear 14122a through the through hole in the second sub-housing 1413a. The other end of the second shaft 1415a extends out of the housing 141a, the second transmission member 1432a comprises a second input gear (not shown in the figure) and a second output gear (not shown in the figure), the second input gear is the input end of the second transmission member 1432a, the second output gear is the output end of the second transmission member 1432a, the second input gear and the second output gear are driven by the intermediate gear set, the second input gear is sleeved on the second shaft 1415a, and the second output gear is connected to the central shaft (the second shaft 1415a) of the auxiliary wheel 146a. When the first motor 144a receives the force output instruction, the output shaft of the first motor 144a drives each gear of the first transmission member 1412a to transmit power to the first output gear 14122a, each gear of the first output gear 14122a, the first transfer gear 1416a and the second transmission member 1432a drives the second output gear, and the second output gear drives the central shaft (the second shaft 1415a) of the auxiliary wheel 146a to rotate, thereby driving the auxiliary wheel 146a to rotate at the second end of the rotating arm assembly 143a. In this way, the main wheel 142a and the auxiliary wheel 146a can be driven to rotate simultaneously by the first motor 144a, thereby reducing the cost and the space occupied.

[0118] The rotating arm assembly 143a comprises a third sub-housing 1431a and a fourth sub-housing 1433a, the third sub-housing 1431a and the fourth sub-housing 1433a form an arm body, the other end of the second shaft 1415a is rotatably arranged in the first end of the rotating arm assembly 143a, the second transmission member 1432a is arranged in the rotating arm assembly 143a, one end of the central shaft (the second shaft 1415a) of the auxiliary wheel 146a is rotatably arranged in the second end of the rotating arm assembly 143a, and the other end of the central shaft (the second shaft 1415a) of the auxiliary wheel 146a passes through the fourth sub-housing 1433a, and the auxiliary wheel 146a is connected to the other end of the central shaft (the second shaft 1415a).

[0119] The first walking wheel assembly 140a further comprises a third transmission member 1472a having a third input gear 14721a and a third output gear 14722a, the third input gear 14721a being an input end of the third transmission member 1472a, and the third output gear 14722a being an output end of the third transmission member 1472a, the third input gear 14721a being connected to the output shaft of the second motor 145a, and the third output gear 14722a being rotatable around the second shaft 1415a to drive the rotation arm assembly 143a to rotate around the second shaft 1415a.

[0120] The transmission housing 147a further comprises a fifth sub-housing 1471a and a sixth sub-housing 1473a which are spliced together, a part of the third transmission member 1472a being arranged in the housing 141a, and another part of the third transmission member 1472a being arranged in the transmission housing 147a. The first motor 144a and the second motor 145a are arranged side by side on the inner side of the housing 141a, and the output shaft of the second motor 145a penetrates the first sub-housing 1411a and is located in the housing 141a.

[0121] It should be noted that the input gears and the output gears of the first transmission member 1412a, the second transmission member 1432a and the third transmission member 1472a in the present disclosure can also be connected through other transmission modes, such as belts or racks, and the present disclosure does not limit the transmission modes.

[0122] FIG. 40 is a connection schematic diagram of the transmission housing 147a and the rotation arm assembly 143a, and FIG. 41 is an exploded schematic diagram of FIG. 40. As shown in FIGS. 40 and 41, the third output gear 14722a is provided with a clamping portion 1474a, and the first end of the rotation arm assembly 143a is matched with the clamping portion 1474a. When the second motor 145a receives a force output instruction, the output shaft of the second motor 145a drives the plurality of gears of the third transmission member 1472a to transmit power, thereby driving the third output gear 14722a to rotate around the second shaft 1415a, and the clamping portion 1474a of the third output gear 14722a abuts against the first end of the rotation arm assembly 143a to drive the rotation arm assembly 143a to rotate around the second shaft 1415a.

[0123] In an embodiment, the first end of the rotating arm assembly 143a is provided with a driven part 1434a on one side of the transmission housing 147a. When the third output gear 14722a rotates under the drive of the second motor 145a, the locking part 1474a and the third output gear 14722a rotate synchronously. The locking part 1474a idles for a stroke first, and then abuts against the driven part 1434a, thereby driving the driven part 1434a and the rotating arm assembly 143a to rotate, so that the second end of the rotating arm assembly 143a rotates to below the main wheel 142a, and the auxiliary wheel 146a contacts the operation surface to lift the main wheel 142a and the main body 110a.

[0124] When the cleaning robot 100 overcomes the obstacle, in the process of the cleaning robot 100 advancing, the rotating arm assembly 143 rotates along the rotating arm assembly 143 under the blocking of the obstacle until the rotating arm assembly 143 resets to not contact the obstacle, so as to avoid the rotating arm assembly 143 affecting the climbing of the first walking wheel 140.

[0125] In combination with FIGS. 40 and 41, the locking part 1474a and the driven part 1434a can be provided with two, the driven part 1434a can be provided between the two locking parts 1474a, and the locking part 1474a is also provided between the two driven parts 1434a. The two locking parts 1474a and the two driven parts 1434a are alternately arranged along the ring. The locking part 1474a can be between the two driven parts, and the locking part 1474a can reciprocate between the two driven parts 1434a.

[0126] Figures 42-43 are schematic diagrams of two states of the first walking wheel assembly 140a. In combination with Figure 42, when the second motor 145 is not turned on, the projection of the rotating arm assembly 143 along the axial direction of the main wheel 142 falls on the main wheel 142, i.e., the rotating arm assembly 143 is retracted into the main wheel 142, and the auxiliary wheel 146 does not contact the operation surface. The main wheel 142 is used to guide the movement of the main body 110 in the walking state. At this time, the main wheel 142 guides the movement of the main body 110 in the first state, i.e., the first state refers to the state of the main body 110 when the first motor 144 is turned on and the second motor 145 is turned off. In combination with Figure 43, when the second motor 145 is turned on and the second end of the rotating arm assembly 143 is rotated to the lower side of the main wheel 142, the auxiliary wheel 146 contacts the operation surface, the rotating arm assembly 143 and the auxiliary wheel 146 lift the main wheel 142, and the auxiliary wheel 146 is used to drive the movement of the main body 110 until the main wheel 142 contacts the top surface of the obstacle, and the main wheel 142 is used to move the main body 110 in the obstacle-crossing state. At this time, the main wheel 142, the rotating arm assembly 146, and the auxiliary wheel 146 guide the movement of the main body 142 in the second state, i.e., the second state refers to the state of the main body 110 when the rotating arm 143 is rotated to lower the auxiliary wheel 146 and the rotating arm 143 is rotated to retract the auxiliary wheel 146, and the first motor 144 and the second motor 145 are maintained in operation. The definitions of the first state and the second state in the related descriptions of the first walking wheel assembly 140b, the first walking wheel assembly 140c, and the first walking wheel assembly 140d in the following are also the same, and the disclosure will not be repeated.

[0127] In combination with Figure 43, when the second end of the rotating arm assembly 143a is rotated to the lower side of the main wheel 142a, the auxiliary wheel 146a supports the operation surface to lift the height of the main wheel 142a relative to the operation surface. In an embodiment, the auxiliary wheel 146a and the operation surface contact to form a first position P1, and the projection of the center axis (the first rotating shaft 1414a) of the main wheel 142a on the operation surface is a second position P2, and the first position P1 and the second position P2 are staggered. Specifically, along the direction of movement of the cleaning robot, the first position P1 is arranged at the rear side of the second position P2.

[0128] In an embodiment, the rotating arm assembly 143a is reciprocally rotated behind the main wheel 142a in the traveling direction of the cleaning robot. When the first walking wheel assembly 140a is walking, if it is determined that there is an obstacle in the traveling direction, the rotating arm assembly 143a is controlled to rotate at least partially from the rear side of the main wheel 142a to the lower side of the housing 141a to lift the main wheel 142a, and to drive the cleaning robot to continue walking in the traveling direction by the walking ability of the auxiliary wheel 146a until the main wheel 142a contacts the obstacle. Since the auxiliary wheel 146a is located below and behind the main wheel, the auxiliary wheel 146a and the rotating arm assembly 143a can provide a force to the main wheel 142a from the front and upper side, the upward component of the force can lift the main wheel 142a, and the forward component of the force can make the main wheel 142a abut against the surface of the obstacle, increase the pressure between the main wheel 142a and the obstacle, and thus increase the friction between the main wheel 142a and the obstacle, thereby reducing the climbing difficulty.

[0129] FIG. 44 is a structural schematic view of a cleaning robot with a first walking wheel assembly 140a. In combination with FIG. 44, the cleaning robot includes a main body 110 and the above-mentioned first walking wheel assembly 140a, which is used to adjust the height of the cleaning robot relative to the operating surface to enable the cleaning robot to overcome the obstacle and improve the climbing ability of the cleaning robot.

[0130] In an embodiment, when the second end of the rotating arm assembly 143a is rotated to the lower side of the main wheel 142a, only the main wheel 142a and the main body 110a can be lifted to a certain height relative to the operating surface, and if the gap between the front side of the main body 110a and the operating surface is smaller than the height of the top surface of the obstacle relative to the operating surface, the cleaning robot cannot overcome the obstacle. Based on this, the driven wheel 120 can be controlled to be lifted or lowered relative to the main body 110 to adjust the gap between the front side of the main body 110 and the operating surface. Specifically, when it is determined that the height of the operating surface of the obstacle is higher than the gap between the front side of the main body 110 and the operating surface, the driven wheel 120 is lowered relative to the main body 110 to lift the front side of the main body 110 to increase the inclination angle of the main body 110, and thus increase the gap between the front side of the main body 110 and the operating surface. Then, the first walking wheel assembly 140a is controlled to act, and the cleaning robot can climb the obstacle with a higher height relative to the operating surface, and the obstacle overcoming ability of the cleaning robot can be further improved.

[0131] Fig. 45 is a structural schematic diagram of the driven wheel 120. In combination with Fig. 45, the driven wheel 120 is assembled at the bottom of the main body 100 and arranged at the front side of the two first walking wheel assemblies 140a. The cleaning robot further comprises a third motor 601 connected to the main body 110, a first worm gear mechanism 602, wherein the worm of the first worm gear mechanism 602 is connected to the output shaft of the third motor 601, and the turbine of the first worm gear mechanism 602 is connected to the input shaft of a ball screw mechanism 603, and the output shaft of the ball screw mechanism 603 is connected to the driven wheel 120. Since the driven wheel 120 is always in contact with the operating surface, when the third motor 601 receives a start command, it transmits power to the ball screw mechanism 603 through the first worm gear mechanism 602, and the ball screw mechanism 603 drives the driven wheel 120 to move up and down, thereby changing the distance between the driven wheel 120 and the front side of the main body 110. Since the driven wheel 120 is always in contact with the operating surface, the distance between the front side of the main body 110 and the operating surface is changed.

[0132] For the convenience of description, the direction of rotation of the third motor 601 driving the driven wheel 120 to move downward relative to the main body 110 is defined as forward rotation, and the direction of rotation of the third motor 601 driving the driven wheel 120 to move upward relative to the main body 110 is defined as reverse rotation. When the third motor 601 receives a forward rotation command, it transmits power to the ball screw mechanism 603 through the first worm gear mechanism 602, and the ball screw mechanism 603 drives the driven wheel to move downward relative to the main body 110, thereby increasing the distance between the driven wheel 120 and the front side of the main body 110. Since the driven wheel 120 is always in contact with the operating surface, the distance between the front side of the main body 110 and the operating surface is increased, and the front side of the main body 110 is lifted, so that the front side of the main body 110 can be located above the obstacle, and the main body 110 can climb over the obstacle with a higher height relative to the operating surface, thereby further improving the obstacle climbing ability of the cleaning robot.

[0133] When the cleaning robot 100 completes obstacle climbing, the third motor 601 is reversed, and power is transmitted to the ball screw mechanism 603 through the first worm gear mechanism 602, and the ball screw mechanism 603 drives the driven wheel to move upward relative to the main body 110, thereby reducing the distance between the driven wheel 120 and the front side of the main body 110. Thus, the distance between the front side of the main body 110 and the operating surface is reduced, and the main body 110 is in a walking posture, so that the cleaning robot 100 can move on the operating surface or the surface of the obstacle and continue to clean the operating surface or the surface of the obstacle.

[0134] The third motor 601 can be a steering engine, which can receive instructions from the cleaning robot, accurately control the rotation angle of the steering engine, and thus adjust the lifting height of the front side of the main body 110. For example, when the driving angle of the third motor 601 is 0°, the gap between the front side of the main body 110 and the operating surface is the smallest, and the cleaning robot is in a walking posture; when the driving angle of the third motor 601 is 90°, the gap between the front side of the main body 110 and the operating surface is the largest, and the lifting height of the front side of the main body 110 is the highest, and the cleaning robot is in a maximum obstacle-crossing posture. By controlling the rotation angle of the third motor 601, the lifting height of the front side of the main body 110 can be controlled (the greater the rotation angle of the third motor 601, the higher the lifting height of the front side of the main body 110), so that the cleaning robot can adapt to the climbing of obstacles with different relative operating surface heights, and has good flexibility.

[0135] In another embodiment, when the second end of the rotating arm assembly 143 is rotated below the main wheel 142, the position relationship between the contact position of the auxiliary wheel 146 and the operating surface and the position of the center of gravity of the cleaning robot 100 can also be changed, so that the center of gravity of the cleaning robot 100 is located behind the contact position of the auxiliary wheel 146 and the operating surface, and the front side of the cleaning robot 100 is lifted, thereby lifting the front side of the main body 110. For details, please refer to the corresponding description of the first walking wheel assembly 140b, which will not be repeated here.

[0136] Since the climbing ability of the cleaning robot is improved by increasing the gap between the front side of the cleaning robot and the operating surface, the rear side of the cleaning robot may be in contact with the operating surface and be bumped, which affects the movement of the cleaning robot. Based on this, in combination with the drawings, the cleaning robot further comprises a tail wheel 180, which is rotatably connected to the main body 110, and the tail wheel 180 at least partially protrudes from the bottom surface of the main body 110. When the cleaning robot normally travels on a flat road, the tail wheel 180 does not contact the operating surface; if the cleaning robot is climbing, the gap between the front side of the main body 110 and the operating surface is too large, and the tail wheel 180 rolls in contact with the operating surface, thereby reducing the friction between the main body 110 and the operating surface, reducing the energy consumption of the cleaning robot, and reducing the resistance of the cleaning robot 100 when climbing.

[0137] In an embodiment, at least part of the tail wheel 180 is elastic, and the tail wheel 180 at least partially protrudes from the bottom surface of the main body 110, so that the tail wheel 180 can contact the operating surface before the main body 110, avoiding the phenomenon that the main body 110 collides with the operating surface and affects the operation of the cleaning robot and damages the operating surface.

[0138] The present disclosure provides another first walking wheel assembly 140b, which controls the action of the rotating arm assembly 143 of the first walking wheel assembly 140b, adjusts the position relationship between the contact position of the auxiliary wheel 146 with the operating surface and the position of the center of gravity of the cleaning robot 100, so that the center of gravity of the cleaning robot 100 is located behind the contact position of the auxiliary wheel 146 with the operating surface, and then the front side of the cleaning robot 100 is lifted to adjust the inclination angle of the main body 110, increase the gap between the front side of the main body 110 and the operating surface, and improve the obstacle crossing ability of the cleaning robot 100. Figure 46 is a structural schematic view of the center of gravity of the main body 110 of the first walking wheel assembly 140b and the contact position of the auxiliary wheel with the operating surface. In combination with Figure 46, when the second end of the rotating arm assembly 143 is rotated to below the main wheel 142, the contact position of the auxiliary wheel 146 with the operating surface forms a first position P1, the projection of the center of gravity of the main body 110 on the operating surface is a second position P2, and along the direction of travel of the cleaning robot, the first position P1 is located on the front side of the second position P2. The cleaning robot rotates around the center axis (first shaft 1414a) of the main wheel 142, and then the front side of the main body 110 is lifted to increase the gap between the front side of the main body 110 and the operating surface, and improve the obstacle crossing ability of the cleaning robot. The specific details of the first walking wheel assembly 140b are further described by means of Figures 47-54.

[0139] Figure 47 is a schematic view of the first walking wheel assembly 140b. Referring to Figure 47, the first walking wheel assembly 140b is similar to the first walking wheel assembly 140a described above, and the first walking wheel assembly 140b also includes a housing 141b, a main wheel 142b, a rotating arm assembly 143b and an auxiliary wheel 146b. Unless otherwise specified, the structures and functions of these components in the first walking wheel assembly 140a are substantially the same as those in the first walking wheel assembly 140b, so reference can be made to the corresponding description of the first walking wheel assembly 140a, which will not be described again here.

[0140] Figures 48-49 are schematic views of two states of the first walking wheel assembly 140b. In combination with Figures 48 and 49, when the second end of the rotating arm assembly 143b is rotated below the housing 141b, not only can the height of the main wheel 142b relative to the operating surface be adjusted, but the position relationship between the contact position of the auxiliary wheel 146 with the operating surface and the center of gravity of the cleaning robot 100 can also be changed, so that the center of gravity of the cleaning robot 100 is located behind the contact position of the auxiliary wheel 146 with the operating surface, and then the front side of the cleaning robot 100 is lifted to adjust the inclination angle of the main body 110.

[0141] In the second state of the main body 110, the auxiliary wheel 146b contacts the operating surface to guide the movement of the main body 110 in the second state, and the main wheel 142b is lifted away from the operating surface by the auxiliary wheel 146b (both the main body 110 and the main wheel 142b are lifted)

[0142] In combination with FIG. 48 and FIG. 49, according to an embodiment of the present disclosure, the second end of the rotating arm assembly 143b can be rotated from the front side of the main wheel 142b to the lower side of the main wheel 142b along the direction of travel of the cleaning robot, the first position P1 being in front of the second position P2. In another embodiment, the second end of the rotating arm assembly 143b can also be rotated from the rear side of the main wheel 142b to the lower side of the main wheel 142b, so that the first position P1 is also in front of the second position P2. When the second end of the rotating arm assembly 143b is rotated to the lower side of the main wheel 142b, the auxiliary wheel 146b is in contact with the operating surface, the main wheel 142b is lifted, the front side of the main body 110b is lifted, the auxiliary wheel 146b guides the main body 110 to continue to travel, the front side of the main body 110 moves to the upper side of the obstacle, and the front side of the main wheel 142b contacts the obstacle in priority to the rotating arm assembly 143b. Due to the driving of the main wheel 142b and the auxiliary wheel 146b by the first motor 144b, after the main wheel 142b contacts the obstacle, the cleaning robot is guided to cross the obstacle by the power of the main wheel 142b, thereby improving the obstacle-crossing ability of the cleaning robot.

[0143] Since the auxiliary wheel 146b is located in front of the main wheel 142b, the rotating arm assembly 143b may collide with the obstacle during the process of the cleaning robot 100 crossing the obstacle. In order to enable the cleaning robot 100 to cross the obstacle smoothly, the second motor 145b can be started to drive the rotating arm assembly 143b to rotate to the rear side of the main wheel 142b after the main wheel 142b contacts the obstacle, so as to avoid the interference between the rotating arm assembly 143b and the obstacle as much as possible, thereby reducing the difficulty of the cleaning robot crossing the obstacle.

[0144] Since the shape and height of the obstacle are uncertain, in some other embodiments, after the second end of the rotating arm assembly 143b is rotated to the lower side of the main wheel 142b, the second motor 145b is controlled to stop working, and the rotating arm assembly 143b is rotated to the rear side of the main wheel 142b under the action of the obstacle during the process of the main wheel 142b moving forward, so as to avoid the obstacle-crossing of the cleaning robot being hindered by the blocking of the rotating arm assembly 143b.

[0145] In the above-mentioned two avoidance modes of the rotating arm assembly 143b, the rotating arm assembly 143b can be moved to the rear side of the main wheel 142b only under the driving of the second motor 145b during the process of the cleaning robot crossing the obstacle, or the rotating arm assembly 143b can be rotated to the rear side of the main wheel 142b under the joint action of the second motor 145b and the obstacle, or the second motor 145b can be stopped working after the second end of the rotating arm assembly 143b is rotated to the lower side of the main wheel 142b, and the rotating arm assembly 143b can be rotated to the rear side of the main wheel 142b only under the action of the obstacle. The mode of the rotating arm assembly 143b rotating to the rear side of the main wheel 142b can not be limited.

[0146] In combination with FIG. 47 and FIG. 48, the first walking wheel assembly 140b further comprises a trigger 1435, a first position confirming member 1481 and a second position confirming member 1482. The first position confirming member 1481 can be arranged on the outer surface of the sixth sub-housing 1473b, the second position confirming member 1482 can be arranged on the outer surface of the second sub-housing 1413b, and the trigger 1435 is connected to the first end of the rotating arm assembly 143. During the rotation of the rotating arm assembly 143, the trigger 1435 triggers the first position confirming member 1481 and the second position confirming member 1482 to confirm the swing angle of the rotating arm assembly 143 in real time, which serves to assist the robot cleaner to overcome the obstacles.

[0147] Specifically, the first position confirming member 1481 is arranged above the second position confirming member 1482. During the rotation of the rotating arm assembly 143b relative to the main wheel 142b, when the trigger 1435 triggers the first position confirming member 1481, it can be confirmed that the second end of the rotating arm assembly 143 rotates to the lower side of the main wheel 142b, the auxiliary wheel 146b has contacted the operation surface, the main wheel 142b and the main body 110 have been lifted, that is, the main body 110 is in the second state. When the trigger 1435 triggers the second position confirming member 1482, it means that the rotating arm assembly 143b rotates to the rear of the main wheel 142b, and it is determined that the main body 110 is in the first state for movement.

[0148] The first position confirming member 1481 and the second position confirming member 1482 can be optical coupling sensors or micro switches, but the selection of the position confirming member is not limited in the present disclosure. It should be noted that the arrangement of the position confirming member on the first walking wheel assembly 140b is also applicable to the first walking wheel assembly 140a described above.

[0149] FIG. 50 is an exploded schematic view of FIG. 47, and FIG. 51 is a force transmission schematic view of the first walking wheel assembly 140b. Referring to FIG. 50 and FIG. 51, the housing 141b comprises a first sub-housing 1411b and a second sub-housing 1413b. The first sub-housing 1411b has the same structure and function as the first sub-housing 1411a, and the second sub-housing 1413a has the same structure and function as the second sub-housing 1413b. The rotating arm assembly 143b comprises a third sub-housing 1431b and a fourth sub-housing 1433b. The third sub-housing 1431b has the same structure and function as the third sub-housing 1431a, and the fourth sub-housing 1433b has the same structure and function as the fourth sub-housing 1433a. The above structures can be referred to the description of the first walking wheel assembly 140a, which will not be repeated here.

[0150] The first walking wheel assembly 140b further comprises a second worm gear mechanism 1417 arranged in the shell 141b, the second motor 145 is connected to the third transmission member 1472b through the second worm gear mechanism 1417, and the power of the second motor 145b is transmitted to the second shaft 1415b through the second worm gear mechanism 1417 and the third transmission member 1472b, so as to drive the rotating arm assembly 143b to rotate around the second shaft 1415b.

[0151] The first walking wheel assembly 140b further comprises a third transmission member 1472b connected between the second worm gear mechanism 1417 and the second shaft 1415b. The second motor 145b receives a force output instruction and drives the third transmission member 1472b to transmit power to the second shaft 1415b, thereby driving the rotating arm assembly 143b to rotate and enabling the auxiliary wheel 146b to rotate to the lower side of the main wheel 142b and contact the operation surface, thereby lifting the main wheel 142b and the front side of the main body 110.

[0152] When the auxiliary wheel 146b of the first walking wheel assembly 140b is arranged below the main wheel 142b, it is located in front of the main wheel 142b, so that the front side of the main body 110 can be lifted, and the rotating arm assembly 143b can be rotated from the front side of the main wheel 142b to the lower side, so that the auxiliary wheel 146b can be rotated to the front side of the main wheel 142b. In order to reduce the risk of interference between the rotating arm assembly 143b and other components of the first walking wheel assembly 140b during rotation, the rotating arm assembly 143b can be arranged on the side of the shell 141b away from the main wheel 142b, i.e., the shell 141b is arranged between the main wheel 142b and the rotating arm assembly 143b, so that there is no other structure in the rotating area of the rotating arm assembly 143, and the rotating arm assembly 142 can rotate circumferentially (360 degrees) around the second shaft 1415b.

[0153] The second motor 145b and the third transmission member 1472b are arranged in the shell 141b, the second motor 145b is arranged above the rotating arm assembly 143b, and the third transmission member 1472b is arranged between the second motor 145b and the rotating arm assembly 143b, which can transmit the power of the second motor 145b to the rotating arm assembly 143b and drive the rotating arm assembly 143b to rotate.

[0154] The second motor 145b and the third transmission member 1472b are arranged in the housing 141b, such that the second motor 145b and the third transmission member 1472b are arranged on one side of the rotating arm assembly 143b, and the second motor 145b and the third transmission member 1472b do not interfere with the rotation of the rotating arm assembly 143b, so that the rotating arm assembly 143b can rotate circumferentially, increase the rotation space of the rotating arm assembly 143b, and increase the movement space of the auxiliary wheel 146b, so that the auxiliary wheel 143b can rotate from the front of the main wheel 142b to contact the operation surface, thereby lifting the front side of the main body 110.

[0155] FIG. 52 is a structural schematic view of the rotating arm assembly 143, and FIG. 53 is an exploded schematic view of the rotating arm assembly 143b, the damper 1436, and the third transmission member 1472b. In combination with FIGS. 52 and 53, in the first walking wheel assembly 140b, the fourth sub-housing 1433b of the rotating arm assembly 143b is provided with a first clamping groove 14331, the driven part 1434b is arranged in the first clamping groove 14331, and the clamping part 1474b is assembled in the first clamping groove 14331. When the third output gear 14722 rotates, the clamping part 1474b and the third output gear 14722b rotate synchronously, the clamping part 1474b can abut against the driven part 1434b, and drive the driven part 1434b and the rotating arm assembly 143 to rotate. The transmission relationship between the clamping part 1474b and the driven part 1434b is the same as that between the clamping part 1474a and the driven part 1434a.

[0156] Because the rotating arm assembly 143b can contact and collide with the obstacle in the process of the cleaning robot crossing the obstacle, the rotating arm assembly 143b can be damaged over a long period of time. After the rotating arm assembly 143b contacts the obstacle, the driven part 1434b is separated from the clamping part 1474b, so that the rotating arm assembly 143b can rotate backward to avoid the obstacle.

[0157] Therefore, the first end of the rotating arm assembly 143 is further provided with the damper 1436, the damper 1436 is connected with the third transmission member 1472b, and the damper can buffer the force of the obstacle acting on the rotating arm assembly 143b, thereby improving the service life of the rotating arm assembly 143b.

[0158] The first elastic member 1439 is arranged between the damper 1436 and the rotating arm assembly 143b. The third output gear 14722b is outwardly elastic, reduces the friction force generated when the clamping part 1474b contacts the first clamping groove 14331, and further reduces the difficulty of driving the rotating arm assembly 143b to rotate.

[0159] Fig. 54 is a structural schematic view of the damper 1436. In combination with Figs. 53-54, the first end of the rotating arm assembly 143 is provided with a ring-shaped second clamping groove 14332, the inner groove wall of the second clamping groove 14332 is provided with a plurality of positioning grooves 14334 at intervals, the damper 1436 is ring-shaped, the damper 1436 is assembled in the damping groove 1437, the inner side of the damper 1436 is provided with a plurality of positioning protrusions 1438, the positioning protrusions 1438 and the positioning grooves 14334 are provided one by one, the positioning protrusions 1438 are assembled in the corresponding positioning grooves 14334, so that the damper 1436 is assembled in the second clamping groove 14332, the first elastic member 1439 is provided between the damper 1436 and the bottom of the damping groove 1427, the first elastic member 1439 is in abutment between the second clamping groove 14332 and the damper 1436, after the clamping portion 1474b is assembled in the first clamping groove 14331, the first elastic member 1439 is compressed, which can provide an elastic member for the outward movement of the third output gear 14722b, so that the clamping portion 1474b is spaced apart from the bottom surface of the first clamping groove 14331, the friction generated by the contact between the clamping portion 1474b and the first clamping groove 14331 is reduced, and the difficulty of driving the rotating arm assembly 143b to rotate is further reduced.

[0160] In some embodiments, a plurality of stop portions 14336 can be provided on the bottom surface of the first clamping groove 14331, the stop portions 14336 are provided at intervals on the bottom of the first clamping groove 14331, if the clamping portion 1474b is in contact with the first clamping groove 14331, the clamping portion 1474b is in contact with the stop portions 14336, which can also reduce the contact area between the clamping portion 1474b and the first clamping groove 14331, to a certain extent, the friction generated by the contact between the clamping portion 1474b and the first clamping groove 14331 is reduced, and the difficulty of driving the rotating arm assembly 143b to rotate is further reduced.

[0161] After the rotating arm assembly 143 is subjected to instantaneous impact of an obstacle, the rotating arm assembly 143 can quickly recover to a stable state, reduce noise, and improve the reliability of the operation of the cleaning robot.

[0162] It should be noted that when the rotating arm assembly 143 in the first walking wheel assembly 140b is rotated to below the main wheel 142, the first position P1 formed by the auxiliary wheel 146 on the operation surface and the second position P2 formed by the center of gravity on the operation surface coincide in the advancing direction of the cleaning robot 100, the center of gravity of the auxiliary wheel 146 and the main body 110 can coincide, the front side of the main body 110 will not be lifted and only the height of the main wheel 142 and the cleaning robot relative to the operation surface can be adjusted, the support posture of the rotating arm assembly 143 of the first walking wheel assembly 140a can be formed, and in specific implementation, the rotating arm assembly 143 can be rotated to a position offset below the main wheel 142.

[0163] In addition, the present disclosure also provides another first walking wheel assembly 140c, which is similar to the first walking wheel assembly 140a described above, and also includes a housing 141, a main wheel 142, a rotating arm assembly 143 and an auxiliary wheel 146. Unless otherwise specified, the structures and functions of these components in the first walking wheel assembly 140c are substantially the same as those in the first walking wheel assembly 140a described above, and thus the corresponding descriptions of the first walking wheel assembly 140a can be referred to herein. The main difference between the first walking wheel assembly 140c and the first walking wheel assembly described above is the movement mode of the rotating arm assembly 143. The specific details of the first walking wheel assembly 140c are further described below with reference to FIGS. 55-59.

[0164] FIG. 55 is a structural schematic diagram of the first walking wheel assembly 140c. In combination with FIG. 55, the first walking wheel assembly 140c includes a second motor 145c and a third transmission member 1472c. The input portion of the third transmission member 1472c is connected to the second motor 145c, and the output portion of the third transmission member 1472c is movable relative to the main body 110. The output portion of the third transmission member 1472c is connected to the rotating arm assembly 143c to drive the rotating arm assembly 143c to move. Specifically, the second motor 145 receives an instruction, and the output portion of the third transmission member 1472c is lowered relative to the main body 110 to drive the second end of the rotating arm assembly 143c to move below the main wheel 142c, and the auxiliary wheel 146c contacts the operating surface to lift the front side of the main wheel 142c and the main body 110 to facilitate the robot cleaner to overcome the obstacle.

[0165] When the robot cleaner travels on the operating surface, the main wheel 142 is in contact with the operating surface. At this time, the auxiliary wheel 146c can be in contact with the operating surface or spaced apart from the operating surface by a certain distance. When the robot cleaner encounters an obstacle, the second motor 145c is turned on to drive the rotating arm assembly 143c to move downward by the third transmission member 1472c, so that the auxiliary wheel 146c moves below the main wheel 141c. The auxiliary wheel 146c supports the operating surface, and the main wheel 142c is lifted away from the operating surface by the auxiliary wheel 146c and the rotating arm assembly 143c. The first motor 144c drives power to the auxiliary wheel 146 through the second transmission member 1432c, and the auxiliary wheel 146 guides the main body 110 to move so that the main wheel 142c overcomes the obstacle. After the main wheel 142 overcomes the obstacle, the third transmission member 1472c can drive the rotating arm assembly 143c to move upward to reset the auxiliary wheel 146c to the original position. The first walking wheel assembly 140c has the characteristics of simple structure, high control accuracy and good efficiency, and can overcome (climb to) the obstacle whose height relative to the operating surface is greater than the radius of the main wheel 142c, and has good obstacle overcoming performance.

[0166] The third transmission member 1472c drives the rotation arm assembly 143c to move, which can be understood as that the third transmission member 1472c drives the rotation arm assembly 143c to move in a non-rotating manner. In other words, when the relative operation surface of the rotation arm assembly 143c is adjusted in height, the movement path thereof is a straight line. Compared with the scheme of adjusting the height of the relative operation surface of the cleaning robot in a rotating manner, the third walking wheel assembly 140c can reduce the movement amplitude of the rotation arm assembly 143c, avoid interference between the rotation arm assembly 143c and surrounding parts, and has better reliability when moving.

[0167] FIG. 56 is a schematic view of the internal structure of FIG. 55, and FIG. 57 is an axial schematic view of FIG. 56. In combination with FIG. 56 and FIG. 57, the first walking wheel assembly 140c further includes a bracket 149, the third transmission member 1472c is connected with the bracket 149, the bracket 149 is in sliding connection with the shell 141c, and the bracket 149 is connected with the rotation arm assembly 143c. In this way, when the third transmission member 1472c drives the bracket 149 to move, the bracket 149 can slide relative to the shell 141c, improving the accuracy of movement of the bracket 149, and the bracket 149 moves to drive the rotation arm assembly 143c and the auxiliary wheel 146c to move up and down.

[0168] Specifically, the bracket 149 has a threaded sleeve 1491, the third transmission member 1472c is a ball screw structure, the third transmission member 1472c includes a screw rod 14723 and a reversing gear module 14724, the reversing gear module is connected with the output shaft of the second motor 145, the reversing gear module 14724 is connected with the screw rod 14723, and the screw rod 14723 is arranged in the threaded sleeve 1491. It can be understood that the second motor 145 drives the screw rod 14723 to rotate through the reversing gear module 14724, the screw rod 14723 rotates relative to the threaded sleeve 1491, and then drives the bracket 149 to slide along the axial direction of the screw rod 14723, the bracket 149 is connected with the rotation arm assembly 143c to realize the up and down movement of the rotation arm assembly 143c and the auxiliary wheel 146c, and has the characteristics of simple structure and high transmission efficiency.

[0169] In an embodiment, the axis of the second motor 145c, the axis of the screw rod 14723 and the axis of the main wheel 142c are all orthogonal to each other, which can make the second motor 145c arranged in a horizontal direction and consistent with the length direction of the housing 141c, thereby making the structure of the first walking wheel assembly 140c compact and occupying less space. The reversing gear module 14724 can include two meshing bevel gears to realize the power output of the second motor 145 to the screw rod 14723. In another embodiment, the second motor 145c can also be connected with the bracket 149 through a gear-rack transmission pair (not shown), and the second motor 145c can drive the gear-rack transmission pair to act to drive the bracket 149 to move up and down, thereby driving the rotating arm assembly 143 and the main wheel 142 to move up and down.

[0170] According to an embodiment of the present application, the main wheel 142c and the auxiliary wheel 146c share the same power source (the first motor 144c drives the main wheel 142c and the auxiliary wheel 146c to rotate at the same time), thereby reducing the number of power source arrangements and making the structure more compact. In combination with FIGS. 56 and 57, the first motor 144c is drivingly connected with the main wheel 142c through the first transmission member 1412c, and the first transmission member 1412c is also connected with the auxiliary wheel 146c through the second transmission member 1432c. It can be understood that the first motor 144c can drive the first transmission member 1412c to act, and the first transmission member 1412c can drive the main wheel 142c to rotate and also drive the second transmission member 1432c to drive the auxiliary wheel 146 to rotate. In other words, the power transmission path of the first motor 144 is divided into two paths: the first path: from the first motor 144c to the first transmission member 1472c, and then to the main wheel 142c. The second path: from the first motor 144c to the first transmission member 1472c, and then to the second transmission member 1432c, and finally to the auxiliary wheel 146c. In this way, the power of the first motor 144c can be distributed to improve the dynamic efficiency, and the structural layout is reasonable and facilitates the arrangement of parts.

[0171] The second transmission path will be introduced below in combination with FIGS. 56 and 57: the second transmission member 1432c includes a first transfer gear 14322, a second transfer gear 14324, a third worm gear 14325, a third worm 14326 and a transmission gear set 14327, the first transfer gear 14322 and the second transfer gear 14324 are mutually cooperating bevel gears, the second transfer gear 14324 is connected with the third worm 14326, and the second transfer gear 14324 is connected with the first output gear of the first transmission member 1412c through the first transfer gear 14322.

[0172] The extension direction of the third worm 14326 is consistent with the lifting direction of the bracket 149, the third worm gear 14326 is connected with the third worm 14322, and the transmission gear set 14327 is connected with the third worm gear 14325 and the auxiliary wheel 146c. The transmission gear set 14327 is arranged in the rotating arm assembly 143c, and the transmission gear set 14327 can be hidden and shielded, thereby improving the transmission reliability of the transmission gear set 14327.

[0173] It can be understood that when the third worm 14326 rotates, the third worm gear 14326 can be driven to rotate synchronously, and when the third transmission member 1472c drives the rotating arm assembly 143c to lift, the third worm gear 14326 can also move along the axial direction of the third worm 14326 to cooperate with the lifting of the auxiliary wheel 146c. In the process that the third worm gear 14326 can also move along the axial direction of the third worm 14326, the third worm gear 14326 and the third worm 14326 always remain engaged, so that when the third transmission member 1472c drives the auxiliary wheel 146c to lift, the power of the auxiliary wheel 146c can still be continuously output.

[0174] When the first motor 141c is instructed to start, the third worm 14326 is driven to rotate through the first transmission member 1412c, the first intermediate gear 14322 and the second intermediate gear 14324, and then the third worm gear 14325 is driven to rotate synchronously, and the third worm gear 14325 transmits power to the auxiliary wheel 146c through the transmission gear set 14327, so that the auxiliary wheel 146c rotates, thereby driving the main body 110 to move.

[0175] Since the input end of the second transmission member 1432c is connected with the output end of the first transmission member 1472c, and the output end of the second transmission member 1432c is connected with the auxiliary wheel 146, the third transmission member 1472c drives the bracket 149 to lift, and the first transmission member 1412c drives the second transmission member 1432c to act, which do not interfere with each other, so that the lifting requirement and the power transmission requirement can be met, thereby improving the linkage effect of the first walking wheel assembly 140c.

[0176] In combination with FIGS. 55-57, the rotating arm assembly 143c is arranged at the rear side of the shaft center of the main wheel 142c and extends along the up-down direction of the shell 141c, the upper end (first end) of the rotating arm assembly 143c is connected with the bracket 149, and the lower end (second end) of the rotating arm assembly 143c is connected with the auxiliary wheel 146c. It can be understood that the bracket 149 is connected with the auxiliary wheel 146c through the rotating arm assembly 143c, so that the auxiliary wheel 146c is closer to the operation surface, so as to cooperate with the main wheel 142c to overcome the obstacles.

[0177] Fig. 58 is a structural schematic view of the rotating arm assembly 143 in Fig. 57, and Fig. 59 is an internal structural schematic view of Fig. 58. In combination with Fig. 58 and Fig. 59, the second transmission member 1432c further comprises a second elastic member 14321 connected with the bracket 149 and the rotating arm assembly 143c, the rotating arm assembly 143 is rotatable between a first supporting position and a second supporting position, the auxiliary wheel 146c in the second supporting position is closer to the rear side of the main wheel 142 than the auxiliary wheel 146 in the first supporting position, the second elastic member 14321 has an elastic force to drive the rotating arm assembly 143c to move from the second supporting position to the first supporting position, and the second elastic member 14321 can be a torsion spring or a coil spring.

[0178] It can be understood that when the rotating arm assembly 143c is rotated from front to back, the rotating arm assembly 143c can be rotated from the first supporting position to the second supporting position. When the rotating arm assembly 143c and the auxiliary wheel 146c are extended and support the operating surface, the rotating arm assembly 143c can be rotated from the first supporting position to the second supporting position, so that the main wheel 142c turns over the obstacle more smoothly, and after the main wheel 142c climbs over the obstacle, the second elastic member 14321 can drive the rotating arm assembly 143c to rotate from the second supporting position to the first supporting position under the elastic action of the second elastic member 14321, so as to reset the rotating arm assembly 143c and the auxiliary wheel 146, thereby preparing for the next time to climb over the obstacle. By arranging the second elastic member 14321, the first walking wheel assembly 140c can automatically reset the rotating arm assembly 143c and the auxiliary wheel 146c, and the structure is simple and the linkage effect is good.

[0179] When the rotating arm assembly 143c is in the first supporting position, the lower end of the rotating arm assembly 143c is located at the horizontal front side of the upper end of the rotating arm assembly 143c. In other words, in the horizontal direction of the cleaning robot, the lower end of the rotating arm assembly 143c is more forward than the upper end of the rotating arm assembly 143c. It can be understood that the rotating arm assembly 143c extends forward in the direction from top to bottom, and the extension direction of the rotating arm assembly 143c has a certain angle with the up-down direction of the shell 141c. In this way, when the rotating arm assembly 143c and the auxiliary wheel 146c are extended and supported to the shell 141c, the problem that the rotating arm assembly 143c and the auxiliary wheel 146c are not rotated backward (folded) by the operating surface counterforce can be avoided, so as to improve the reliability of the auxiliary first walking wheel assembly mechanism to overcome obstacles.

[0180] In combination with FIG. 58 and FIG. 59, the transmission gear set 14327 is connected with the center shaft (second shaft 1415d) of the auxiliary wheel 146 through a plurality of gears which are sequentially engaged with the third worm wheel 14325, the third worm 14326 drives the third worm wheel 14325 to rotate, and in turn drives the plurality of engaged gears, so that power can be transmitted to the auxiliary wheel 146c, and the main body 110 is moved through the auxiliary wheel 146c.

[0181] It should be noted that the rotating arm assembly 143c in the first walking wheel assembly 140c is moved to the lower side of the main wheel 142c by lifting, so it only has one fixed position, and through the operation of the first walking wheel assembly 140c, only the position relationship between the contact position of the auxiliary wheel 146 and the operating surface and the position of the center of gravity of the cleaning robot 100 can be adjusted, the gap between the front side of the main body 110 and the operating surface is adjusted, or only the height of the main wheel 142c relative to the operating surface can be adjusted, and the gap between the front side of the main body 110 and the operating surface cannot be changed.

[0182] In addition, the present disclosure also provides another first walking wheel assembly 140d, which is similar to the above-mentioned first walking wheel assembly 140a, and the first walking wheel assembly 140d also includes a shell 141d, a main wheel 142d, a rotating arm assembly 143d and an auxiliary wheel 146d, and unless otherwise specified, the structure and function of these components in the first walking wheel assembly 140d are substantially the same as those in the above-mentioned first walking wheel assembly 140a, so the corresponding description of the above-mentioned first walking wheel assembly 140a can be referred to, and will not be repeated here. The difference between the first walking wheel assembly 140d and the above-mentioned first walking wheel assembly 140a is mainly that the movement mode of the rotating arm assembly 143 is different, and the specific details of the first walking wheel assembly 140d will be further described by means of FIG. 60-FIG. 65.

[0183] FIG. 60 is a structural schematic view of the first walking wheel assembly 140d. In combination with FIG. 60, the first walking wheel assembly 140d further includes a driving disc 1419, the driving disc 1419 is rotationally connected with the shell 141d, and the first end of the rotating arm assembly 143d is connected with the driving disc 1419. When the driving disc 1419 rotates relative to the shell 141d, the rotating arm assembly 143d and the driving disc 1419 rotate synchronously, and in turn the second end of the rotating arm assembly 143d is rotated to the lower side of the main wheel 142d, and the auxiliary wheel 146d lifts the main wheel 142d and the main body 110.

[0184] FIG. 61 is a schematic diagram of force transmission of the first walking wheel assembly 140d. In combination with FIG. 60 and FIG. 61, the driving disc 1419 is rotatably penetrated through the side of the housing 141d, so that part of the driving disc 1419 extends into the housing 141d. The third transmission member 1472d is arranged in the housing 141d, and the second motor (not shown in the figure) is connected to the driving disc 1419 through the third transmission member 1472d. The second motor (not shown in the figure) receives a power output instruction, and the output shaft of the second motor (not shown in the figure) rotates to drive the driving disc 1419 through the third transmission member 1472d, so that the driving disc 1419 drives the rotating arm assembly 143d to rotate, and the second end of the rotating arm assembly 143d is rotated to the lower side of the main wheel 142d, and the auxiliary wheel 146d lifts the main wheel 142d and the main body 110.

[0185] In combination with FIG. 61, the third input gear 14721d of the third transmission member 1472d is connected to the output shaft of the second motor 145d, and the circumferential side of the third output gear 14722d of the third transmission member 1472d is provided with a connecting groove 14725d, and the driving disc 1419 is embedded in the connecting groove 14725d. In this way, when the second motor (not shown in the figure) rotates, the driving disc 1419 and the rotating arm assembly 143d can be driven to rotate synchronously through the transmission of the third transmission member 1472d.

[0186] In combination with FIG. 61, the first walking wheel assembly 140d further comprises a first transmission member 1412d and a second transmission member 1432d, the first transmission member 1412d drives the main wheel 142d to rotate, and the first transmission member 1412d further drives the auxiliary wheel 146d to rotate through the second transmission member 1432d. For details, reference can be made to the related description of the first walking wheel assembly 140a and the second walking wheel assembly 140b, which will not be repeated here.

[0187] FIG. 62 is a schematic diagram of the connection between the rotating arm assembly 143d and the driving disc 1419 in FIG. 60. In combination with FIG. 62, the first end of the rotating arm assembly 143d is connected to the driving disc 1419, for example, the first end of the rotating arm assembly 143d can be eccentrically connected to the driving disc 1419, so that a shorter rotating arm assembly 143d can be used to lift the main wheel 142d and the cleaning robot to a suitable height relative to the operating surface; or the first end of the rotating arm assembly 143d is coaxially connected to the driving disc 1419, which can also achieve the lifting of the main wheel 142d and the cleaning robot. Since the first end of the rotating arm assembly 143d is rotatably connected to the driving disc 1419, the driving disc 1419 can have different postures when the driving disc 1419 rotates.

[0188] Figure 63 provides the structure of the rotating arm assembly 143d of the first walking wheel assembly 140d in the third support position. As shown in Figure 63, when the driving disc 1419 rotates, the connecting part of the rotating arm assembly 143 and the driving disc 1419 is located at the front side of the main wheel 142d (third support position), and the auxiliary wheel 146d is located at the front side of the rotation center of the main wheel 142d. Since the gravity center of the entire cleaning robot 100 in the vertical direction coincides with the projection of the gravity center of the main wheel 142d on the operation surface (here, the coincidence does not mean complete coincidence, which means coincidence in the front-rear direction), the gravity center position of the cleaning robot is behind the auxiliary wheel 146d. After the auxiliary wheel 146d contacts the operation surface, the front side of the cleaning robot is lifted. The first motor drives the auxiliary wheel 146d to rotate through the first transmission member 1412d and the second transmission member 1432d, and guides the front side of the main body 110 to move above the obstacle, and the main wheel 142d moves to the vicinity of the obstacle.

[0189] Figure 64 provides the structure of the rotating arm assembly 143d of the first walking wheel assembly 140d in the fourth support position. As shown in Figure 64, after the main wheel 142d moves to the vicinity of the obstacle, the second motor drives the driving disc 1419 to rotate through the second transmission member 1432d, so that the rotating arm assembly 143d and the auxiliary wheel 146d rotate to the rear of the main wheel 142d (fourth support position). During the rotation of the rotating arm assembly 143d and the auxiliary wheel 146d from the front of the main wheel 142d (third support position) to the rear of the main wheel 142d (fourth support position), the auxiliary wheel 146d moves from the lower front of the main wheel 142d to the lower rear of the main wheel 142d, which can provide a front-upward (with a forward-upward component force) force to the main wheel 142d, so that the main wheel 142d can climb the obstacle and improve the obstacle-crossing ability of the cleaning robot.

[0190] In combination with Figures 63 and 64, a protruding structure is arranged on the driving disc 1419 as a limiting part 14191, and a support protrusion is arranged on the rotating arm assembly 143d as a support part 14311. The rotating arm assembly 143 further comprises a third elastic member 14313, which is a torsion spring. The middle part of the third elastic member 14313 is sleeved on the connecting protrusion 14312 of the first end of the rotating arm assembly 143, one end of the third elastic member 14313 abuts against the limiting part 14191, and the other end of the third elastic member 14313 abuts against the support part 14311. During the rotation of the rotating arm assembly 143d with the driving disc 1419, the third elastic member 14313 is compressed to form the state shown in Figure 63. When the rotating arm assembly 143d switches from the state shown in Figure 63 to the state shown in Figure 64d, the third elastic member 14313 restores the deformation to drive the rotating arm assembly 143d to extend to lift the main wheel 142d and the main body 110.

[0191] In summary, the first walking wheel assembly 140 provided by the present disclosure can make at least part of the rotating arm assembly 143 move below the main wheel 142 (for example, the rotating arm assembly 143 of the first walking wheel assembly 140a, the first walking wheel assembly 140b and the fourth walking wheel assembly 140d rotates, and the rotating arm assembly 143 of the first walking wheel assembly 140c lifts) by controlling the movement of the rotating arm assembly 143, so as to lift the main wheel 142 and improve the obstacle crossing ability of the cleaning robot.

[0192] In addition, the present disclosure also provides a cleaning robot, which comprises a cleaning robot and the above-mentioned two first walking wheel assemblies, and the above-mentioned two first walking wheel assemblies are arranged on both sides of the bottom of the cleaning robot. The cleaning robot with the above-mentioned first walking wheel assembly has better obstacle crossing ability, so as to improve the user experience.

[0193] It should be noted that if the first walking wheel assembly 140c is used by the cleaning robot, the driven wheel matched with the cleaning robot needs to have a lifting function, so as to improve the obstacle crossing ability of the cleaning robot. If the first walking wheel assembly 140a, the first walking wheel assembly 140b or the first walking wheel assembly 140d is used by the cleaning robot, the driven wheel matched with the cleaning robot can not have a lifting function, and the obstacle crossing ability of the cleaning robot can also be improved. Of course, the cleaning robot with the first walking wheel assembly 140b can also comprise a driven wheel with a lifting function, and the present disclosure does not limit this.

[0194] In addition, the present disclosure also provides a cleaning system, which comprises a base station and the above-mentioned cleaning robot used in cooperation. The obstacle crossing ability of the cleaning robot of the cleaning system can be improved, so as to improve the user experience.

[0195] In summary, the walking wheel assembly, the cleaning robot, the cleaning system and the control method and the obstacle crossing control method of the cleaning robot provided by the present disclosure can improve the obstacle crossing ability of the cleaning robot, improve the cleaning efficiency and improve the user experience.

[0196] In the present disclosure, unless otherwise explicitly specified and limited, the "above" or "below" of a first feature to a second feature can include that the first and second features are in direct contact, or can include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, the "above", "over" and "on" of the first feature to the second feature include that the first feature is directly above and obliquely above the second feature, or only means that the height of the first feature is higher than that of the second feature relative to the horizontal operation surface. The "below", "under" and "under" of the first feature to the second feature include that the first feature is directly below and obliquely below the second feature, or only means that the height of the first feature is less than that of the second feature relative to the horizontal operation surface.

[0197] In the description of the present disclosure, it is to be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present disclosure and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present disclosure.

[0198] In the present disclosure, unless otherwise explicitly specified and limited, the terms "connection", "fixation" and the like should be understood broadly, for example, "fixation" can be fixed connection, or detachable connection, or integral; can be mechanical connection, or electrical connection; can be direct connection, or indirect connection through intermediate medium; can be internal connection of two elements or interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present disclosure can be understood according to the specific circumstances.

[0199] In addition, in the present disclosure, the description such as "first", "second" and the like is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more features. In the description of the present disclosure, the meaning of "multiple" is two or more, unless otherwise explicitly specified and limited.

[0200] Although the embodiments of the present disclosure have been described and illustrated, those skilled in the art can understand that various changes, modifications, replacements and variations can be made to these embodiments without departing from the principles and purposes of the present disclosure, and the scope of the present disclosure is defined by the claims and their equivalents.

Claims

1. A cleaning robot comprising: a main body; a walking wheel assembly connected to the main body, the walking wheel assembly guiding movement of the main body; wherein, the walking wheel assembly comprises: a main wheel connected to the main body through a first shaft, the main wheel guiding movement of the main body in a first state; a rotating arm assembly comprising a first end and a second end, the first end of the rotating arm assembly being connected to a second shaft arranged on a side of the first shaft; an auxiliary wheel connected to the second end of the rotating arm assembly; wherein, when the second end of the rotating arm assembly moves to a position where the auxiliary wheel contacts an operating surface, the auxiliary wheel guides movement of the main body in a second state. 2.The cleaning robot according to claim 1, wherein, the auxiliary wheel and the main wheel guide movement of the main body when the main body is in the second state. 3.The cleaning robot of claim 2, further comprising a driven wheel connected to the main body; wherein, the driven wheel is arranged on a front side of the walking wheel assembly in a direction of travel of the cleaning robot.

4. The cleaning robot of claim 3, wherein, the driven wheel is liftably mounted on the main body to lift a front side of the main body.

5. The cleaning robot of claim 3, wherein, the auxiliary wheel is located in front of the main wheel in the direction of travel of the cleaning robot, and the auxiliary wheel contacts the operating surface from a front side of the main wheel.

6. The cleaning robot of claim 2, wherein, when the rotating arm assembly moves to a position where the auxiliary wheel lifts the main wheel, the main wheel contacts the operating surface, the cleaning robot presses against a top surface of an obstacle by at least one of the rotating arm assembly and the auxiliary wheel, the auxiliary wheel guides the main wheel to climb over the obstacle, and a ground clearance of the top surface of the obstacle is greater than a ground clearance of the operating surface.

7. The cleaning robot of claim 1, wherein, when the main body is in the second state, the main wheel is lifted by the auxiliary wheel away from the operating surface, wherein the auxiliary wheel is located in front of the main wheel in the direction of travel of the cleaning robot to lift a front side of the main body.

8. The cleaning robot of claim 7, wherein, the auxiliary wheel drives the main body to travel until the main wheel contacts an obstacle, and the cleaning robot climbs onto a top surface of the obstacle by the main wheel.

9. The cleaning robot according to any one of claims 1-8, wherein, the main wheel and the auxiliary wheel are driven by a first motor, and the rotating arm assembly is driven by a second motor; the first state is a state of the main body when the first motor operates and the second motor is stopped.

10. The cleaning robot according to any one of claims 1-8, wherein, the main wheel and the auxiliary wheel are driven by a first motor, and the rotating arm assembly is driven by a second motor; the second state is a state of the main body when the first motor and the second motor operate. 11.The cleaning robot of any one of claims 1-8, further comprising a tail wheel rotatably connected to the main body, the tail wheel supporting a rear side of the main body when a front side of the main body is lifted.

12. The cleaning robot according to any one of claims 1-8, wherein, when a height of an obstacle is less than a radius of a main wheel of the cleaning robot, the main wheel and the auxiliary wheel guide movement of the main body. 13.The cleaning robot of any one of claims 1-8, an obstacle separating a first cleaning area and a second cleaning area, the second cleaning area being an area separated by the obstacle, the cleaning robot performing a cleaning task on the second cleaning area when an instruction to climb over the obstacle is successfully executed. 14.The cleaning robot of claim 13, wherein the cleaning robot performs the cleaning task in the first cleaning area when the climbing instruction fails. 15.The cleaning robot of claim 13, wherein the cleaning robot triggers a jam information or a non-base station return information when a cleaning time of the cleaning robot is greater than a set time. 16.The cleaning robot according to any one of claims 1-8, the cleaning robot according to the updated map information to overcome an obstacle, wherein, The updated map information is obtained by comparing the map information indicating the position and type of the obstacle with the information collected by the cleaning robot in real time.

17. The cleaning robot according to any one of claims 1-8, the cleaning robot to obstacle navigate according to the updated cleaning mission, wherein, The updated cleaning task is obtained by comparing the user habit information generated by analyzing the historical data according to the user instruction with the information collected by the cleaning robot in real time. 18.A method for obstacle crossing of a cleaning robot, the method comprising: controlling the cleaning robot to perform a cleaning task in response to a cleaning instruction; controlling the cleaning robot to cross an obstacle according to the cleaning task. 19.The method of claim 18, wherein the step of controlling the cleaning robot to cross the obstacle according to the cleaning task comprises: generating user habit information by analyzing historical data according to a user instruction; comparing the user habit information with information collected by the cleaning robot in real time, and updating the cleaning task; controlling the cleaning robot to cross the obstacle according to the updated cleaning task. 20.The method of claim 18, wherein the method further comprises, before the step of controlling the cleaning robot to cross the obstacle: constructing map information indicating the position and type of the obstacle; comparing the map information with information collected by the cleaning robot in real time, and updating the map information; controlling the cleaning robot to cross the obstacle according to the updated map information. 21.The method of claim 18, wherein the step of controlling the cleaning robot to cross the obstacle comprises: confirming a height of the obstacle and a distance from the cleaning robot to the obstacle; when the height of the obstacle is less than a radius of a main wheel of the cleaning robot, the cleaning robot crosses the obstacle in a first state; when the height of the obstacle is greater than the radius of the main wheel, a front side of the cleaning robot is lifted to make the cleaning robot cross the obstacle in a second state. 22.The method of claim 18, wherein the step of controlling the cleaning robot to cross the obstacle comprises: confirming an actual travel distance of the cleaning robot; comparing the actual travel distance of the cleaning robot with the distance from the cleaning robot to the obstacle, and confirming whether the cleaning robot successfully crosses the obstacle. 23.The method of claim 22, wherein the method further comprises, when it is confirmed that the cleaning robot fails to cross the obstacle: confirming whether the cleaning robot is jammed; when it is confirmed that the cleaning robot is jammed, the cleaning robot triggers a jam information; when it is confirmed that the cleaning robot is not jammed, the cleaning robot retreats, adjusts a travel parameter of the cleaning robot, and controls the cleaning robot to cross the obstacle again, the travel parameter of the cleaning robot including at least one of a forward direction and a travel speed of the cleaning robot; when a number of times of the cleaning robot failing to cross the obstacle exceeds a set number of times, the cleaning robot triggers an obstacle crossing failure information.

24. The obstacle crossing method of claim 22, wherein, When it is confirmed that the cleaning robot fails to overcome the obstacle, the cleaning robot is controlled to stop running, or the cleaning robot is controlled to continue cleaning other cleaning areas, or the cleaning robot is controlled to run to a base station.

25. A cleaning system comprising a base station and a cleaning robot as claimed in any one of claims 1-17 cooperating with each other.

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