Cleaning robot, cleaning system, motion control method, and electronic device

Abstract

A cleaning robot (100), a cleaning system, a motion control method, and an electronic device. The cleaning robot comprises a body (5) and locomotion mechanisms; the locomotion mechanisms each comprise a primary driving wheel assembly, a swing arm assembly (4), and a secondary driving wheel (21); the traveling state of the body (5) can switch between a state in which the cleaning robot (100) is driven by the secondary driving wheels (21) to travel and a state in which the cleaning robot (100) is driven by the primary driving wheel assemblies to travel; when the cleaning robot (100) is driven by the secondary driving wheels (21) to travel, a front portion of the cleaning robot (100) is lifted to enable the primary driving wheel assemblies to abut against an obstacle (82), such that the cleaning robot (100) can cross the relatively high obstacle (82) under the action of friction between the primary driving wheel assemblies and the obstacle (82) and / or inertia of the body (5); and the cleaning robot (100) further comprises a driven wheel (210), wherein the elastic connection between the driven wheel (210) and the body (5) can provide buffering for the body (5), thereby preventing structural damage to the body (5) caused by rigid contact between the driven wheel (210) and the ground once the driven wheel leaves the obstacle (82), and reducing the problem of low cleaning efficiency of the cleaning robot (100) caused by difficulty in crossing obstacles.

Description

Cleaning robot, cleaning system, motion control method and electronic device Cross-reference to Related Applications

[0001] This application claims priority to Chinese Patent Application No. 202411623462.9 and 202422771943.6, filed on November 13, 2024, Chinese Patent Application No. 202411244069.9, filed on September 5, 2024, and Chinese Patent Application No. 202411258739.2, filed on September 9, 2024, the disclosures of which are incorporated herein in their entireties as part of the disclosure. TECHNICAL FIELD

[0002] The present disclosure belongs to the technical field of smart home, and in particular relates to a cleaning robot, a cleaning system, a motion control method and an electronic device. BACKGROUND

[0003] With the progress of economy and technology, cleaning robots such as floor sweeping machines, floor mopping machines or sweeping and mopping integrated machines are increasingly popular in homes, which greatly simplify daily cleaning work. However, cleaning robots may encounter various obstacles during operation, such as high thresholds, steps, etc., which may hinder their travel and affect cleaning efficiency.

[0004] Current cleaning robots are prone to get stuck when encountering obstacles or large ground resistance, or to produce a jarring impact force and jolt after crossing obstacles due to height difference, which can easily cause damage to the cleaning robot and deteriorate the overall structural stability and safety. SUMMARY

[0005] In view of this, the present disclosure provides a cleaning robot, a cleaning system, a motion control method and an electronic device to solve the problems of cleaning robots being unable to continue cleaning work and low cleaning efficiency when encountering obstacles during operation. In addition, the present disclosure also provides a computer-readable storage medium and a computer program product.

[0006] The first aspect of the present disclosure provides a cleaning robot, comprising a body and two walking mechanisms, one of which is arranged on one side of the body and the other of which is arranged on the other side of the body; the two walking mechanisms can be controlled simultaneously or independently; the walking mechanism comprises:

[0007] a main drive wheel assembly, a swing arm assembly and a secondary drive wheel;

[0008] The secondary drive wheel is rotatably arranged on the main drive wheel assembly through the swing arm assembly;

[0009] In the first state, the main driving wheel assembly drives the body to move on the surface to be cleaned; in the second state, the auxiliary driving wheel drives the body to move on the surface to be cleaned, and the head of the cleaning robot is lifted up compared with the first state.

[0010] Optionally, in the second state, the angle between the swing arm assembly and the forward horizontal line of the body is α, and α satisfies: 90°≤α≤120°.

[0011] Optionally, the moving speed of the body driven by the auxiliary driving wheel is not lower than the minimum moving speed of the body driven by the main driving wheel assembly.

[0012] Optionally, in the second state, the angle between the body and the surface to be cleaned is β, and β satisfies: 5°≤β≤35°; and / or, in the second state, the horizontal plane where the axis of the main driving wheel is located is higher than the top surface of the obstacle.

[0013] Optionally, the tail of the body is provided with a support structure, which is used to support the body in the second state.

[0014] Optionally, the support structure comprises a roller.

[0015] Optionally, the position of the axis of the auxiliary driving wheel is adjustable relative to the position of the axis of the main driving wheel assembly.

[0016] In the first state, the lowest position of the auxiliary driving wheel is higher than the lowest position of the main driving wheel assembly; in the second state, the lowest position of the auxiliary driving wheel is lower than the lowest position of the main driving wheel assembly.

[0017] Optionally, in the first state, the auxiliary driving wheel is located in front of the main driving wheel assembly.

[0018] Optionally, the main driving wheel assembly comprises a rotating member and a main driving wheel, and the rotating member and the main driving wheel are coaxially arranged; one end of the swing arm assembly is rotatably arranged on the rotating member.

[0019] Optionally, the rotating diameter of the rotating member is not less than the overall length of the swing arm assembly and the auxiliary driving wheel.

[0020] Optionally, the rotating member is provided with a first limiting structure, the swing arm assembly is provided with a second limiting structure, and a first elastic member is arranged between the first limiting structure and the second limiting structure, and the first elastic member is used to separate the secondary driving wheel and the surface to be cleaned when the swing arm assembly is not subjected to external force.

[0021] Optionally, the first limiting structure is used to limit the swing arm assembly when the travel state of the fuselage switches from the first state to the second state.

[0022] Optionally, the primary driving wheel and the secondary driving wheel can be independently controlled to rotate; or the primary driving wheel and the secondary driving wheel can be controlled to rotate in linkage.

[0023] Optionally, the walking mechanism further comprises a primary driving motor; when the primary driving wheel and the secondary driving wheel are controlled to rotate in linkage, the primary driving motor drives the primary driving wheel to rotate, and the primary driving motor further drives the secondary driving wheel to rotate through a secondary driving wheel transmission assembly.

[0024] Optionally, the secondary driving wheel transmission assembly comprises a first transmission chain and a second transmission chain, the first transmission chain at least comprises a first transmission chain input wheel and a first transmission chain output wheel, and the second transmission chain at least comprises a second transmission chain input wheel and a second transmission chain output wheel.

[0025] The primary driving motor is a hub motor, an outer circumferential side of the primary driving motor is provided with a first output portion, the first output portion is drivingly connected with the primary driving wheel, an axial side of the primary driving motor is provided with a second output portion, and the second output portion is drivingly connected with the first transmission chain input wheel.

[0026] When the primary driving motor operates, the first output portion drives the primary driving wheel to rotate, the second output portion drives the first transmission chain input wheel to rotate, the first transmission chain output wheel drives the second transmission chain input wheel to rotate, and then the second transmission chain output wheel drives the secondary driving wheel to rotate.

[0027] Optionally, the walking mechanism further comprises a conversion transmission assembly and a conversion driving motor, a first end of the conversion transmission assembly is drivingly connected with the conversion driving motor, and a second end is connected with the rotating member.

[0028] Optionally, the conversion transmission assembly at least comprises a rotatable conversion input wheel and a conversion output wheel, the conversion input wheel forms the first end of the conversion transmission assembly and is drivingly connected with the conversion driving motor, the conversion output wheel forms the second end of the conversion transmission assembly and is connected with the rotating member in a synchronous rotation manner, and a plurality of conversion intermediate wheels are sequentially transmissionally connected between the conversion input wheel and the conversion output wheel.

[0029] When the conversion driving motor operates, the conversion input wheel can transmit rotation to the conversion output wheel through a plurality of conversion intermediate wheels, and the rotating member rotates.

[0030] Optionally, the machine body comprises:

[0031] A support is provided in the installation cavity of the machine body, and the installation cavity opening is formed in the bottom of the installation cavity.

[0032] The main driving wheel assembly and the swing arm assembly are rotatably arranged on the support.

[0033] Optionally, the support is provided with a third limiting structure, which is used for limiting the swing arm assembly in the first state.

[0034] Optionally, the cleaning robot further comprises a driven wheel assembly arranged on the chassis of the machine body, which is used for providing shock absorption for the machine body when switching from the second state to the first state.

[0035] Optionally, the driven wheel assembly comprises a driven wheel and a telescopic mechanism connected between the chassis and the driven wheel, so that the distance between the driven wheel and the chassis is variable.

[0036] Optionally, the telescopic mechanism comprises an elastic mechanism.

[0037] Optionally, when the driven wheel is in a normal walking state in contact with the ground, the elastic mechanism is in a compressed state; when the driven wheel is in a suspended state away from the ground, the connection between the telescopic mechanism and the driven wheel is an elastic connection.

[0038] Optionally, when the machine body is lifted upward in the direction of travel with the walking mechanism as the support point, the telescopic mechanism of the driven wheel assembly is elongated; when the walking mechanism crosses an obstacle, the telescopic mechanism of the driven wheel assembly is shortened after the driven wheel assembly contacts the ground.

[0039] The second aspect of the present disclosure provides a cleaning robot, which comprises a machine body and a walking mechanism, wherein the walking mechanism comprises two sets of driving wheel walking units; one set of the driving wheel walking units is arranged on one side of the machine body, and the other set of the driving wheel walking units is arranged on the other side of the machine body; the two sets of driving wheel walking units can be controlled simultaneously or independently; the driving wheel walking unit comprises:

[0040] A support is arranged on the machine body.

[0041] a main driving wheel assembly comprising a main driving wheel rotatably arranged on the support and a main driving wheel power mechanism configured to drive the main driving wheel to rotate relative to the support;

[0042] an arm swing assembly comprising an arm swing and an arm swing power mechanism drivingly connected to a power input end of the arm swing for swinging the arm swing;

[0043] a secondary driving wheel assembly comprising a secondary driving wheel rotatably arranged on a power output end of the arm swing and a secondary driving wheel power mechanism configured to drive the secondary driving wheel to rotate relative to the power output end of the arm swing;

[0044] the main driving wheel and the secondary driving wheel are arranged on left and right sides of the support relative to each other;

[0045] In the first driving mode, the cleaning robot is driven to move by the main driving wheel assembly; in the second driving mode, the cleaning robot is driven to move by the secondary driving wheel assembly, and in the second driving mode, the head of the cleaning robot is lifted compared to the first driving mode.

[0046] Optionally, the cleaning robot is provided with an obstacle surmounting mode, and when the cleaning robot is in the obstacle surmounting mode, the cleaning robot is controlled to switch between the first driving mode and the second driving mode according to obstacle information.

[0047] Optionally, the moving speed of the main driving wheel is different from the moving speed of the secondary driving wheel.

[0048] Optionally, the moving speed of the secondary driving wheel when the cleaning robot is in the second driving mode is not lower than the moving speed of the main driving wheel when the cleaning robot is in the first driving mode.

[0049] Optionally, according to the type of the obstacle and / or the height of the obstacle and / or the distance between the body and the obstacle, the main driving wheel and the secondary driving wheel can be controlled to adjust the moving speed of the main driving wheel and the moving speed of the secondary driving wheel.

[0050] Optionally, the main driving wheel power mechanism comprises a main driving wheel motor configured to provide driving force to the main driving wheel and the secondary driving wheel power mechanism.

[0051] Preferably, the main drive wheel motor is a hub motor, the outer peripheral side of the main drive wheel motor is provided with a first power output end, the first power output end is drivingly connected with the main drive wheel; and an axial side of the main drive wheel motor is provided with a second power output end.

[0052] The auxiliary drive wheel power mechanism comprises an auxiliary drive wheel first transmission chain and an auxiliary drive wheel second transmission chain, the power input end and the second power output end of the auxiliary drive wheel first transmission chain are drivingly connected, the power output end of the auxiliary drive wheel first transmission chain and the power input end of the auxiliary drive wheel second transmission chain are drivingly connected, and the power output end of the auxiliary drive wheel second transmission chain is drivingly connected with the auxiliary drive wheel;

[0053] When the main drive wheel motor operates, the first power output end can drive the main drive wheel to rotate, and the second power output end can drive the auxiliary drive wheel to rotate through the auxiliary drive wheel first transmission chain and the auxiliary drive wheel second transmission chain.

[0054] Optionally, the swing arm power mechanism comprises a rotating member, a swing arm transmission chain and a swing arm motor, the rotating member is coaxially arranged with the main drive wheel and is rotatably arranged on the support; the power input end of the rotating member is formed with a transmission gear, the transmission gear is drivingly connected with the gear of the power output end of the swing arm transmission chain, the power input end of the swing arm transmission chain is drivingly connected with the swing arm motor, and the swing arm motor is arranged on the support; the power output end of the rotating member is formed on the rotating member in a direction parallel to the axis of the rotating member, and the power input end of the swing arm and the power output end of the rotating member are relatively rotatably matched together;

[0055] H, L and r satisfy: H > L + r;

[0056] H is the vertical distance between the axis of the power input end of the swing arm when the power input end of the swing arm is at the highest position and the horizontal plane where the lowest point of the main drive wheel is located, L is the distance between the axis of the power input end of the swing arm and the axis of the power output end of the swing arm, and r is the radius of the auxiliary drive wheel.

[0057] Optionally, the auxiliary drive wheel power mechanism comprises a rotating frame, an auxiliary drive wheel first transmission chain and an auxiliary drive wheel second transmission chain;

[0058] The rotating member comprises a rotating disc, and the outer peripheral side of the rotating disc is the power input end of the rotating member;

[0059] The rotating frame is fixedly arranged on the rotating disc and can synchronously rotate with the rotating disc;

[0060] The first transmission chain of the auxiliary driving wheel is arranged on the rotating frame, and a power input end of the first transmission chain is coaxially arranged with the main driving wheel.

[0061] The second transmission chain of the auxiliary driving wheel is arranged on the swing arm, and a power input end of the second transmission chain is in transmission connection with a power output end of the first transmission chain of the auxiliary driving wheel; and a power output end of the second transmission chain is in transmission connection with the auxiliary driving wheel.

[0062] Optionally, the swing arm assembly further comprises a first elastic member between the power output end of the rotating member and the power input end of the swing arm, and the first elastic member is configured to be compressed to store elastic potential energy when the power input end of the swing arm swings relative to the power output end of the rotating member in a first direction, and the first elastic member is stretched to release the elastic potential energy when the power input end of the swing arm swings relative to the power output end of the rotating member in a second direction.

[0063] The first direction is opposite to the second direction.

[0064] Optionally, the swing arm is configured to swing the power input end relative to the power output end of the rotating member in the first direction when a side close to the power output end of the swing arm is subjected to a torque in the first direction.

[0065] The swing arm is configured to swing the power input end relative to the power output end of the rotating member in the second direction when a side close to the power output end of the swing arm is not subjected to a torque in the first direction.

[0066] Optionally, when the cleaning robot is in the second driving mode, a horizontal plane where the axis of the main driving wheel is located is higher than a top surface of the obstacle.

[0067] Optionally, the driving wheel walking unit is further configured such that when the rotating member is controlled to rotate, the swing arm moves with the auxiliary driving wheel, and then the position of the axis of the auxiliary driving wheel changes.

[0068] When the cleaning robot is in the first driving mode, the axis of the auxiliary driving wheel is located in front of the axis of the main driving wheel, and only the main driving wheel is in contact with the top surface of the obstacle or the surface to be cleaned.

[0069] When the cleaning robot is in the second driving mode, the shaft center line of the auxiliary driving wheel is below the shaft center line of the main driving wheel, only the auxiliary driving wheel is in contact with the surface to be cleaned; the swing arm and the auxiliary driving wheel can support the body and make the head of the body tilt upward.

[0070] Optionally, the bracket is provided with a third limiting structure; the driving wheel walking unit is further configured to: when the cleaning robot is in the first driving mode, the swing arm and the auxiliary driving wheel are fixed relative to the bracket under the action of the third limiting structure and the first elastic member;

[0071] The rotating member is provided with a first limiting structure, and the driving wheel walking unit is further configured to: when the cleaning robot is converted from the first driving mode to the second driving mode, the first limiting structure can make the swing arm rotate with the rotating member.

[0072] Optionally, when the cleaning robot is in the second driving mode, the horizontal plane where the shaft center line of the main driving wheel is located is higher than the top surface of the obstacle.

[0073] Optionally, the driving wheel walking unit is further configured to: when the cleaning robot is in the first driving mode, the projection of the shaft center line of the power input end of the swing arm on the body center plane is located in the first quadrant of the rectangular coordinate system of the body; and / or,

[0074] When the cleaning robot is in the second driving mode, the projection of the shaft center line of the power input end of the swing arm on the body center plane is located in the third quadrant and / or the fourth quadrant of the rectangular coordinate system of the body;

[0075] The body center plane is a central plane extending in the front-rear direction of the body; the rectangular coordinate system of the body is a rectangular coordinate system established on the body center plane, with the projection of the shaft center line of the rotating member on the body center plane as the origin, with an axis passing through the origin, parallel to the body and directed toward the head of the body as the horizontal axis, and with an axis passing through the origin, perpendicular to the body and directed toward the top of the body as the vertical axis.

[0076] Optionally, the cleaning robot further has a third driving mode; when the cleaning robot is in the third driving mode, the auxiliary driving wheel and the main driving wheel are in contact with the surface to be cleaned or the top surface of the obstacle at the same time;

[0077] The obstacle crossing process of the cleaning robot comprises an obstacle preparation stage, a first obstacle crossing stage, a second obstacle crossing stage and a reset stage;

[0078] When the cleaning robot in normal walking judges that the obstacle is surmountable, the cleaning robot enters the obstacle-surmounting preparation stage;

[0079] In the obstacle-surmounting preparation stage, the cleaning robot is converted from the first driving mode to the second driving mode, and the body is driven to move by the auxiliary driving wheel until the cleaning robot moves to the state that the main driving wheel and / or auxiliary driving wheel contacts with the obstacle, the obstacle-surmounting preparation stage ends and the first obstacle-surmounting stage begins;

[0080] In the first obstacle-surmounting stage, the cleaning robot is converted from the second driving mode to the first driving mode, and the body is driven to surmount the obstacle by the main driving wheel until the auxiliary driving wheel moves to contact with the top surface of the obstacle by the swing arm, the first obstacle-surmounting stage ends and the second obstacle-surmounting stage begins;

[0081] In the second obstacle-surmounting stage, the cleaning robot is converted from the first driving mode to the third driving mode, the main driving wheel and the auxiliary driving wheel both contact with the obstacle, and the body is driven to move by the main driving wheel and the auxiliary driving wheel until the cleaning robot enters the reset stage;

[0082] In the reset stage, the cleaning robot is converted from the third driving mode to the first driving mode, and the body is driven to continue moving by the main driving wheel.

[0083] Optionally, the swing arm has a first movement state of rotating along the first direction with the rotating member;

[0084] In the obstacle-surmounting preparation stage, the driving wheel walking unit is further configured to: the swing arm motor is controlled to operate, the rotating member rotates along the first direction under the action of the swing arm transmission chain, the swing arm is in the first movement state under the action of the power output end of the rotating member and the first elastic member, the auxiliary driving wheel moves downward, and then the auxiliary driving wheel contacts with the surface to be cleaned and the lowest position of the auxiliary driving wheel is lower than the lowest position of the main driving wheel, the main driving wheel is separated from the surface to be cleaned, and the cleaning robot is converted from the first driving mode to the second driving mode.

[0085] Optionally, the swing arm further has a second movement state of swinging along the first direction relative to the rotating member and a third movement state of rotating along the second direction with the rotating member;

[0086] In the first obstacle surmounting stage, the driving wheel walking unit is further configured to: the secondary driving is resisted by the obstacle, the swing arm is in the second motion state, the secondary driving wheel moves upward, and then the secondary driving wheel is separated from the top surface of the obstacle and the primary driving wheel is in contact with the top surface of the obstacle, so that the cleaning robot is switched from the second driving mode to the first driving mode.

[0087] In the second obstacle surmounting stage, the driving wheel walking unit is further configured to: the primary driving wheel drives the body to move forward, the secondary driving wheel is in contact with the top surface of the obstacle; the swing arm motor is controlled to operate, the swing arm is in the third motion state under the action of the swing arm transmission chain, the secondary driving wheel moves on the top surface of the obstacle, and then the cleaning robot is switched from the first driving mode to the third driving mode.

[0088] Optionally, the swing arm further has a fourth motion state of swinging relative to the rotating member in the second direction.

[0089] In the reset stage, the driving wheel walking unit is further configured to: the rotating member continues to rotate in the second direction, the swing arm is in the fourth motion state and moves upward with the secondary driving wheel under the action of the first elastic member, and then the secondary driving wheel is separated from the top surface of the obstacle, so that the cleaning robot is switched from the third driving mode to the first driving mode.

[0090] Optionally, when the cleaning robot is in the second driving mode, an angle between the swing arm and a forward horizontal line of the body with the axis of the secondary driving wheel as a vertex is α, and the α satisfies 90°≤α≤120°; and / or,

[0091] In the second driving mode, an angle between the body and the surface to be cleaned is β, and the β satisfies 5°≤β≤35°.

[0092] Optionally, an installation cavity is formed in the body, and an installation cavity opening is formed in the bottom of the installation cavity; the support is arranged in the installation cavity through the installation cavity opening.

[0093] Optionally, the cleaning robot further comprises a driven wheel assembly arranged on the chassis of the body and used for providing shock absorption for the body when the second driving mode is switched to the first driving mode.

[0094] The driven wheel assembly comprises a driven wheel and a telescopic mechanism connected between the chassis and the driven wheel, so that the distance between the driven wheel and the chassis is variable.

[0095] Optionally, the telescopic mechanism comprises an elastic mechanism; wherein, when the driven wheel is in the normal walking state of being in contact with the ground, the elastic mechanism is in a compressed state; when the driven wheel is in the state of being lifted off the ground, the connection between the telescopic mechanism and the driven wheel is an elastic connection.

[0096] Optionally, when the body is lifted upward in the direction of travel with the walking mechanism as the support point, the telescopic mechanism of the driven wheel assembly is elongated; when the walking mechanism crosses an obstacle, the telescopic mechanism of the driven wheel assembly is shortened after the driven wheel assembly contacts the ground.

[0097] The third aspect of the present disclosure provides a cleaning system comprising the cleaning robot of any one of the above and a cleaning base station cooperating with the cleaning robot. The fourth aspect of the present disclosure provides a motion control method of a cleaning robot,

[0098] The cleaning robot is a first cleaning robot or a second cleaning robot, the first cleaning robot comprising a body and a walking mechanism, the walking mechanism comprising a main drive wheel assembly, a swing arm assembly and a secondary drive wheel, the main drive wheel assembly comprising a main drive wheel, the swing arm assembly comprising a swing arm, the secondary drive wheel being rotatably arranged on the main drive wheel assembly through the swing arm assembly, the walking mechanism being provided with two, one of the walking mechanisms being arranged on one side of the body and the other of the walking mechanisms being arranged on the other side of the body; the two walking mechanisms can be controlled simultaneously or independently, and the travel state of the body can be switched from a first state to a second state under the action of the swing arm assembly.

[0099] The second cleaning robot comprises a body and a walking mechanism, the walking mechanism comprising a drive wheel walking unit, the drive wheel walking unit comprising: a support arranged on the body; a main drive wheel assembly, the main drive wheel assembly comprising a main drive wheel rotatably arranged on the support and a main drive wheel power mechanism for driving the main drive wheel to rotate relative to the support; a swing arm assembly, the swing arm assembly comprising a swing arm and a swing arm power mechanism drivingly connected to a power input end of the swing arm for swinging the swing arm; a secondary drive wheel assembly, the secondary drive wheel assembly comprising a secondary drive wheel rotatably arranged on a power output end of the swing arm and a secondary drive wheel power mechanism for driving the secondary drive wheel to rotate relative to the power output end of the swing arm, the walking mechanism being provided with two, one of the walking mechanisms being arranged on one side of the body and the other of the walking mechanisms being arranged on the other side of the body; the two walking mechanisms can be controlled simultaneously or independently, and the travel state of the body can be switched from a first state to a second state under the action of the swing arm assembly.

[0100] The motion control method comprises:

[0101] controlling the cleaning robot to work in the first state, in which the cleaning robot drives the body to travel on a surface to be cleaned based on the main drive wheel;

[0102] in response to an obstacle-crossing instruction, controlling the cleaning robot to switch from the first state to the second state so that a head of a chassis of the body is lifted, in which the cleaning robot drives the body to travel on the surface to be cleaned based on the auxiliary drive wheel.

[0103] Optionally, in the second state, a frontmost position of the auxiliary drive wheel is controlled to be behind a frontmost position of the main drive wheel in a traveling direction of the cleaning robot; or,

[0104] in the first state and the second state, a center axis of the auxiliary drive wheel is controlled to be in front of a center axis of the main drive wheel; or,

[0105] in the second state, an included angle between the swing arm and a forward horizontal line of the body is controlled to be 90°-120° with the center axis of the auxiliary drive wheel as a vertex; or,

[0106] in the second state, an included angle between the body and the surface to be cleaned is controlled to be 5°-35°; or,

[0107] in the second state, a support structure arranged at a tail of the body is controlled to support the body together with the auxiliary drive wheel; or,

[0108] in the first state, a lowest position of the auxiliary drive wheel is controlled to be higher than a lowest position of the main drive wheel, and in the second state, the lowest position of the auxiliary drive wheel is controlled to be lower than the lowest position of the main drive wheel; or,

[0109] in the second state, a traveling speed of the body driven by the auxiliary drive wheel is controlled to be no less than a minimum traveling speed of the body driven by the main drive wheel assembly; or

[0110] in the second state, a horizontal plane in which a center axis of the main drive wheel is located is higher than a top surface of an obstacle.

[0111] Optionally, in response to the obstacle-crossing instruction, the controlling of the cleaning robot to switch from the first state to the second state comprises:

[0112] in response to an instruction indicating that a set distance of the cleaning robot from an obstacle in a traveling direction of the cleaning robot is detected, the controlling of the cleaning robot to switch from the first state to the second state, or,

[0113] switching the cleaning robot from the first state to the second state in response to a signal indicating that the target working environment is detected.

[0114] Optionally, the control of the cleaning robot from the first state to the second state comprises:

[0115] controlling the swing arm to swing downwardly to the body to adjust the relative position relationship between the auxiliary drive wheel and the main drive wheel, so that in the second state, the head position of the cleaning robot is raised to a target height or a target inclination angle;

[0116] wherein the target height and the target inclination angle are set values, or

[0117] the target height and the target inclination angle are related to the height of the obstacle in the target working environment, or

[0118] the target height and the target inclination angle each have a plurality of set values, and the plurality of set values of the target height and the plurality of set values of the target inclination angle correspond to different obstacle crossing states of the cleaning robot, respectively.

[0119] Optionally, the control of the cleaning robot from the first state to the second state in response to the obstacle crossing instruction comprises:

[0120] in response to the obstacle crossing instruction, controlling the cleaning robot to stop advancing, and controlling the swing arm to swing downwardly to the body, so that the cleaning robot is switched from the first state to the second state.

[0121] Optionally, the method further comprises:

[0122] in the second state, performing an obstacle crossing pre-control process in response to an obstacle crossing blocked instruction, the obstacle crossing pre-control process at least comprising controlling the swing arm to swing to change the posture of the swing arm.

[0123] Optionally, the control of the swing arm to swing comprises:

[0124] in response to a first obstacle crossing blocked instruction indicating that the head of the body is blocked by the obstacle, controlling the swing arm to swing downwardly to the body to increase the head lifting degree of the chassis of the body; or

[0125] in response to a second obstacle crossing blocked instruction indicating that the auxiliary drive wheel contacts the obstacle while the main drive wheel does not contact the obstacle, controlling the swing arm to swing upwardly to the body to reduce the head lifting degree of the chassis of the body, or controlling the swing arm to continuously swing downwardly to the body to move the body forward; or

[0126] in response to a third obstacle-surmounting blocked instruction indicating that the lowest position of the main driving wheel is unable to contact the obstacle, controlling the swing arm to swing downward relative to the body, so that the included angle between the swing arm and a forward horizontal line of the body is 90°-95°, or 91°-94°, with the axis of the auxiliary driving wheel as the vertex.

[0127] Optionally, the obstacle-surmounting pre-control processing in response to the obstacle-surmounting blocked instruction comprises:

[0128] controlling the cleaning robot to retreat before controlling the swing arm to swing;

[0129] controlling the cleaning robot to advance after controlling the swing arm to swing.

[0130] Optionally, in the first cleaning robot, the main driving wheel assembly comprises a rotating member or the swing arm assembly comprises the rotating member, the rotating member is coaxial with the main driving wheel, one end of the swing arm is rotatably arranged on the rotating member, and the swing arm has a first movement state of synchronously rotating with the rotating member in a first direction, or

[0131] in the second cleaning robot, the swing arm power mechanism comprises a rotating member, a swing arm transmission assembly, and a swing arm motor, the rotating member is coaxial with the main driving wheel and is rotatably arranged on the support, the rotating member is formed with a transmission tooth, the transmission tooth is in gear transmission connection with a gear wheel of a power output end of the swing arm transmission assembly, a power input end of the swing arm transmission assembly is in driving connection with the swing arm motor, the swing arm motor is arranged on the support, a power input end of the swing arm is rotatably arranged on the rotating member, and the swing arm has a first movement state of rotating with the rotating member in a first direction;

[0132] the control of the swing arm to swing downward relative to the body comprises:

[0133] controlling the rotating member to rotate in the first direction to drive the swing arm to rotate in the first direction in the first movement state.

[0134] Optionally, the method further comprises:

[0135] controlling the cleaning robot to switch to the first state;

[0136] the control of the cleaning robot to switch to the first state comprises:

[0137] in response to an obstacle-surmounting completed instruction, controlling the cleaning robot to switch to the first state.

[0138] Optionally, the obstacle-surmounting completion instruction comprises:

[0139] an instruction detected after the obstacle-surmounting instruction, indicating that the body is in a balanced state relative to the surface to be cleaned.

[0140] Optionally, the control of the cleaning robot switching to the first state comprises:

[0141] control of the swing arm swinging upwards relative to the body so that the cleaning robot switches from a first intermediate motion state to the first state, in the first intermediate motion state, the main drive wheel and the auxiliary drive wheel are both in contact with the surface to be cleaned; or,

[0142] control of the swing arm swinging upwards relative to the body so that the auxiliary drive wheel is out of contact with the surface to be cleaned, thereby causing the cleaning robot to switch to the first state; or,

[0143] control of the swing arm swinging upwards relative to the body to a target position, thereby causing the cleaning robot to switch to the first state, in the target position, the auxiliary drive wheel is not in contact with the surface to be cleaned.

[0144] Optionally, the control of the swing arm swinging upwards relative to the body comprises:

[0145] in response to the obstacle-surmounting completion instruction, control of the cleaning robot to stop advancing and control of the swing arm to swing upwards relative to the body.

[0146] Optionally, the method further comprises:

[0147] after the cleaning robot switches from the first state to the second state, control of the cleaning robot to travel to a first intermediate motion state, or control of the cleaning robot to travel to the first intermediate motion state and move in the first intermediate motion state for a target time;

[0148] in the first intermediate motion state, the main drive wheel and the auxiliary drive wheel are both in contact with the surface to be cleaned or the upper surface of the obstacle, or,

[0149] in the first intermediate motion state, the cleaning robot is in a balanced state relative to the surface to be cleaned or the upper surface of the obstacle.

[0150] Optionally, the control of the cleaning robot to travel to a first intermediate motion state comprises:

[0151] controlling the cleaning robot to sequentially travel from the second state to a first intermediate state and the first intermediate motion state, or, controlling the cleaning robot to sequentially travel from the second state to the first intermediate state, a second intermediate state and the first intermediate motion state;

[0152] wherein, in the first intermediate state, the main driving wheel is in contact with the upper surface of the obstacle and the auxiliary driving wheel is not in contact with the upper surface of the obstacle,

[0153] in the second intermediate state, the main driving wheel is in contact with the upper surface of the obstacle and the swing arm is in contact with the upper surface of the obstacle.

[0154] Optionally, in the first intermediate state, the swing arm is in the first swing arm state, and in the second intermediate state, the swing arm is in the second swing arm state.

[0155] wherein, in the first cleaning robot, the main driving wheel assembly comprises a rotating member or the swing arm assembly comprises the rotating member, the rotating member and the main driving wheel are coaxial, one end of the swing arm is rotatably arranged on the rotating member, the swing arm has the first swing arm state of rotating with the rotating member and the second swing arm state of rotating relative to the rotating member under the action of an external force, or,

[0156] in the second cleaning robot, the swing arm power mechanism comprises a rotating member, a swing arm transmission assembly and a swing arm motor, the rotating member and the main driving wheel are coaxial and the rotating member is rotatably arranged on the support, the rotating member is formed with a transmission tooth, the transmission tooth is in gear transmission connection with a gear of a power output end of the swing arm transmission assembly, a power input end of the swing arm transmission assembly is drivingly connected with the swing arm motor, the swing arm motor is arranged on the support, a power input end of the swing arm is rotatably arranged on the rotating member, the swing arm has the first swing arm state of rotating with the rotating member and the second swing arm state of rotating relative to the rotating member under the action of an external force.

[0157] Optionally, the method further comprises:

[0158] controlling the rotating member to rotate, so that the swing arm drives the auxiliary driving wheel to move from a position behind the axis of the main driving wheel to a position in front of the axis of the main driving wheel under the action of the rotating member, thereby controlling the cleaning robot to switch from the first intermediate motion state back to the first state.

[0159] Optionally, the method further comprises:

[0160] controlling the swing arm to swing upward relative to the body, so that the cleaning robot switches from the first intermediate motion state to the first state.

[0161] Optionally, in the first cleaning robot, the main drive wheel assembly comprises a rotating member or the swing arm assembly comprises the rotating member, the rotating member and the main drive wheel are coaxial, one end of the swing arm is rotatably arranged on the rotating member, the swing arm has a third movement state of rotating with the rotating member in the second direction and a fourth movement state of swinging forward relative to the rotating member, or,

[0162] In the second cleaning robot, the swing arm power mechanism comprises a rotating member, a swing arm transmission assembly and a swing arm motor, the rotating member and the main drive wheel are coaxial and the rotating member is rotatably arranged on the support, the rotating member is formed with a transmission gear, the transmission gear is in gear transmission connection with a power output end of the swing arm transmission assembly, a power input end of the swing arm transmission assembly is in driving connection with the swing arm motor, the swing arm motor is arranged on the support, a power input end of the swing arm is rotatably arranged on the rotating member, the swing arm has a third movement state of rotating with the rotating member in the second direction and a fourth movement state of swinging forward relative to the rotating member;

[0163] The control of the swing arm swinging upward of the body comprises:

[0164] The rotating member is controlled to rotate in the second direction, so that the swing arm sequentially experiences the third movement state and the fourth movement state, in the third movement state, the auxiliary drive wheel is in contact with the surface to be cleaned, in the fourth movement state, the auxiliary drive wheel moves away from the surface to be cleaned.

[0165] Optionally, in the first cleaning robot, the main drive wheel assembly comprises a rotating member or the swing arm assembly comprises the rotating member, the rotating member and the main drive wheel are coaxial, one end of the swing arm is rotatably arranged on the rotating member, the swing arm has a third movement state of rotating with the rotating member in the second direction and a fourth movement state of swinging forward relative to the rotating member, or,

[0166] In the second cleaning robot, the swing arm power mechanism comprises a rotating member, a swing arm transmission assembly and a swing arm motor, the rotating member and the main drive wheel are coaxial and the rotating member is rotatably arranged on the support, the rotating member is formed with a transmission gear, the transmission gear is in gear transmission connection with a power output end of the swing arm transmission assembly, a power input end of the swing arm transmission assembly is in driving connection with the swing arm motor, the swing arm motor is arranged on the support, a power input end of the swing arm is rotatably arranged on the rotating member, the swing arm has a third movement state of rotating with the rotating member in the second direction and a fourth movement state of swinging forward relative to the rotating member;

[0167] The control of the cleaning robot sequentially moving to the first intermediate state, the second intermediate state and the first intermediate motion state comprises:

[0168] The control of the cleaning robot continuously moving and the control of the rotating member not rotating, so that the cleaning robot sequentially moves to the first intermediate state, the second intermediate state and the first intermediate motion state;

[0169] In the second intermediate state, the swing arm is in the second motion state.

[0170] Optionally, the method further comprises:

[0171] At least one of the first rotating speed of the main drive wheel in the first state, the second rotating speed of the auxiliary drive wheel in the second state, the third rotating speed of the main drive wheel in the first intermediate state and the fourth rotating speed of the main drive wheel in the first intermediate motion state is determined according to an environmental parameter;

[0172] In the first intermediate state, the main drive wheel is in contact with the upper surface of the obstacle, and the auxiliary drive wheel is in contact with the surface to be cleaned.

[0173] The first intermediate motion state is after the first intermediate state, and in the first intermediate motion state, the main drive wheel and the auxiliary drive wheel are respectively in contact with the surface to be cleaned.

[0174] The environmental parameter comprises at least one of an obstacle type, an obstacle height, a surface to be cleaned type, and a room attribute.

[0175] Optionally, the method further comprises:

[0176] In the first state, the main drive wheel is controlled to rotate at the first rotating speed; and / or,

[0177] In the second state, the auxiliary drive wheel is controlled to rotate at the second rotating speed; and / or,

[0178] In the case that the cleaning robot moves to the first intermediate state based on the second state, the main drive wheel is controlled to rotate at the third rotating speed; and / or,

[0179] In the case that the cleaning robot moves to the first intermediate motion state, the main drive wheel is controlled to rotate at the fourth rotating speed.

[0180] The third rotating speed is greater than or equal to the second rotating speed, the second rotating speed is greater than the first rotating speed, and the third rotating speed is greater than the fourth rotating speed.

[0181] The fifth aspect of the present disclosure provides an electronic device, comprising a memory and a processor, wherein the memory stores computer instructions; and when the computer instructions are executed by the processor, the motion control method provided by the present disclosure is implemented.

[0182] The sixth aspect of the present disclosure provides a computer program product, which, when executed, implements the motion control method provided by the fourth aspect of the present disclosure.

[0183] The seventh aspect of the present disclosure provides a computer readable storage medium, which stores computer instructions, and when the computer instructions are executed, the motion control method provided by the fourth aspect of the present disclosure is implemented.

[0184] The eighth aspect of the present disclosure provides a cleaning robot, comprising a body and a walking mechanism; the walking mechanism comprises:

[0185] a main driving wheel assembly, an arm swing assembly, and a secondary driving wheel;

[0186] The secondary driving wheel is rotatably arranged on the main driving wheel assembly through the arm swing assembly.

[0187] The body has a first state and a second state, wherein the first state is that the body is driven by the main driving wheel assembly to move on a cleaning surface, and the second state is that the body is driven by the secondary driving wheel to move on the cleaning surface.

[0188] Optionally, the moving speed of the body driven by the secondary driving wheel is not less than the minimum moving speed of the body driven by the main driving wheel assembly.

[0189] Optionally, the tail of the body is provided with a support structure, which is used to support the body when the body is lifted.

[0190] Optionally, the main driving wheel assembly comprises a main driving wheel and a rotating member coaxially connected.

[0191] Optionally, the diameter of the rotating member is not less than the sum of the length of the arm swing assembly and the radius of the secondary driving wheel.

[0192] Optionally, the main driving wheel assembly is provided with a first limiting structure, the arm swing assembly is provided with a second limiting structure, and a first elastic member is arranged between the first limiting structure and the second limiting structure, and the first elastic member is used to make the secondary driving wheel in a state of leaving the ground when the arm swing assembly is not subjected to external force.

[0193] Optionally, the rotating axis position of the secondary driving wheel is adjustable relative to the rotating axis position of the main driving wheel.

[0194] In the first state, the lowest position of the auxiliary driving wheel is higher than the lowest position of the main driving wheel; in the second state, the lowest position of the auxiliary driving wheel is lower than the lowest position of the main driving wheel.

[0195] Optionally, the chassis position of the cleaning robot in the first state is higher than the chassis position of the cleaning robot in the second state.

[0196] Optionally, the main driving wheel assembly and the auxiliary driving wheel can be controlled to rotate independently; or, the main driving wheel assembly and the auxiliary driving wheel can be controlled to rotate in linkage.

[0197] Optionally, when the rotating member is controlled to rotate, the auxiliary driving wheel can be switched between the first state and the second state.

[0198] Optionally, in the first state, the auxiliary driving wheel is located in front of the main driving wheel assembly.

[0199] Optionally, the first limiting structure is used to limit the swing arm assembly when the auxiliary driving wheel is switched from the first position to the second position.

[0200] Optionally, the machine body comprises:

[0201] A bracket, the bottom of the machine body is provided with a chassis; the bracket is arranged on the chassis; or the inside of the machine body is formed with a mounting cavity, the bottom of the mounting cavity is formed with a mounting cavity opening; the bracket is arranged in the mounting cavity through the mounting cavity opening;

[0202] The main driving wheel assembly is rotatably arranged on the bracket, and the rotating member, the switching input wheel and the switching output wheel are rotatably arranged on the bracket.

[0203] Optionally, the bracket is provided with a third limiting structure, and the third limiting structure is used to limit the swing arm when the auxiliary driving wheel is in the first state.

[0204] Optionally, the machine body is provided with a fourth limiting structure; one end of the bracket is rotatably arranged on the machine body, and the other end of the bracket is provided with a sliding member; the sliding member and the fourth limiting structure have a separated state and a matched state.

[0205] When the sliding member and the fourth limiting structure are in the separated state, the sliding member is away from the fourth limiting structure, and the bracket can rotate relative to the machine body.

[0206] When the sliding member and the fourth limiting structure are in the matched state, the sliding member and the fourth limiting structure are connected together, and the bracket cannot rotate relative to the machine body.

[0207] Optionally, the bottom of the body is provided with the fourth limiting structure; the top of the other end of the support is provided with a mounting seat, and the mounting seat is formed with a sliding groove;

[0208] The sliding member is arranged on the mounting seat, and a second elastic member is arranged between the sliding member and the mounting seat; the sliding member comprises a limiting portion and a sliding portion arranged oppositely, the limiting portion is matched with the fourth limiting structure, and the sliding portion is matched with the sliding groove in sliding mode;

[0209] The first limiting structure is used to make the limiting portion and the fourth limiting structure in the matched state in the second state.

[0210] The ninth aspect of the present disclosure provides a cleaning robot, comprising a body, a universal wheel arranged below the body, the universal wheel comprising a first wheel body assembly and a lifting mechanism, wherein:

[0211] The first wheel body assembly is arranged below the chassis for steering and moving of the walking mechanism;

[0212] The lifting mechanism is telescopically connected with the first wheel body assembly at the power output end, so as to lift the first wheel body assembly;

[0213] The first power mechanism is connected with the power input end of the lifting mechanism at the power output end, so as to drive the lifting mechanism to extend or retract, lift the first wheel body assembly and adjust the distance between the first wheel body assembly and the chassis;

[0214] When the lifting mechanism is elongated, the distance between the first wheel body assembly and the chassis is increased;

[0215] When the lifting mechanism is shortened, the distance between the first wheel body assembly and the chassis is decreased.

[0216] Optionally, the first wheel body assembly is a driven wheel.

[0217] Optionally, the lifting mechanism is configured to be passively elongated or shortened by the driving of the first power mechanism, and actively adaptively shortened by the gravity of the first wheel body assembly or external force received by the first wheel body assembly.

[0218] Optionally, the first wheel body assembly comprises a wheel frame and a wheel, and the wheel is rotatably connected to the wheel frame.

[0219] The lifting mechanism comprises a first shaft sleeve and a second shaft sleeve, and the second shaft sleeve is embedded in the first shaft sleeve.

[0220] The outer circumferential surface of the first shaft sleeve is drivingly connected with the power output end of the first power mechanism as the power input end of the lifting mechanism.

[0221] The inner circumferential surface of the first shaft sleeve and the outer circumferential surface of the second shaft sleeve form a threaded transmission relationship, when the first shaft sleeve rotates under the action of the first power mechanism, the second shaft sleeve can produce up and down movement; when the second shaft sleeve moves upward, the lifting mechanism shortens, when the second shaft sleeve moves downward, the lifting mechanism elongates,

[0222] The inner circumferential surface of the second shaft sleeve and the wheel frame can be relatively up and down together, when the first power mechanism does not provide driving action to the lifting mechanism, the first wheel body assembly can move downward relative to the second shaft sleeve under the preset condition;

[0223] The preset condition includes but is not limited to one of the following situations: the first wheel body assembly is in a suspended state off the ground, the first wheel body assembly is subjected to external force with upward component.

[0224] Optionally, the wheel frame upwardly forms a guide portion with a cylindrical outer circumferential surface;

[0225] The first shaft sleeve forms a first guide hole extending along the axial direction of the first shaft sleeve on the side facing the guide portion, and the guide portion extends into the first guide hole from bottom to top and is in sliding fit with the inner wall surface of the first guide hole.

[0226] Optionally, the lifting mechanism further comprises a pull rod and a second limiting mechanism;

[0227] The second shaft sleeve forms a second guide hole above the first guide hole;

[0228] The pull rod comprises a head portion and a rod portion;

[0229] The lower end of the rod portion is fixedly connected with the guide portion;

[0230] The head portion is located in the second guide hole and can move along the second guide hole, a partition wall is provided between the second guide hole and the first guide hole, the partition wall is provided with a communication hole communicating between the second guide hole and the first guide hole, the rod body extends into the first guide hole through the communication hole, and the communication hole makes the head portion unable to come out downward;

[0231] The partition wall is arranged at a position limiting the maximum downward position of the pull rod;

[0232] The second limiting mechanism is arranged at a position limiting the maximum upward position of the pull rod at the top of the second guide hole.

[0233] Optionally, the bottom of the second shaft sleeve is sleeved with a first limiting mechanism, and the first limiting mechanism is used for limiting rotation of the second shaft sleeve with the first shaft sleeve.

[0234] Optionally, the body further comprises an upper cover, the upper cover and the bottom plate are buckled together to form an installation cavity, and the bottom plate is provided with a through hole communicating with the installation cavity;

[0235] The lifting mechanism is embedded in the installation cavity;

[0236] The first limiting mechanism is fixed between the inner wall surface of the through hole of the bottom plate and the outer peripheral surface of the second shaft sleeve;

[0237] The second limiting mechanism is fixed on the upper cover and is inserted into the second guide hole from an end thereof towards the second guide hole to limit the maximum upward position of the pull rod;

[0238] The first limiting mechanism is fixed between the inner wall surface of the through hole of the bottom plate and the outer peripheral surface of the second shaft sleeve.

[0239] Optionally, the upper and lower ends of the first shaft sleeve are provided with a first bearing and a second bearing, the first bearing and the second bearing axially limit the first shaft sleeve rotatable between the first bearing and the second bearing, the first bearing is arranged on the upper cover, and the second bearing is arranged on the bottom shell;

[0240] The first power mechanism comprises a driving source and a transmission mechanism, the transmission mechanism is arranged in the installation cavity of the body, a gear is arranged on a power output end of the transmission mechanism, and the gear is sleeved on the outer periphery of the first shaft sleeve and is in transmission connection with the first shaft sleeve.

[0241] Optionally, the universal wheel further comprises an elastic mechanism, the elastic mechanism comprises a third elastic member arranged between the lifting mechanism and the first wheel body assembly and / or a fourth elastic member arranged between the first wheel body assembly and the bottom plate;

[0242] The elastic mechanism is configured to enable the first wheel body assembly and the lifting mechanism to be switched between hard connection and elastic connection;

[0243] Alternatively, the elastic mechanism is configured to be in a compressed state when the first wheel body assembly is in a normal walking state in contact with the ground, and the connection between the lifting mechanism and the first wheel body assembly is hard connection; and the elastic mechanism is in an elongated state when the first wheel body assembly is in a suspended state away from the ground, and the connection between the lifting mechanism and the first wheel body assembly is elastic connection.

[0244] Or, the compression deformation amount of the elastic mechanism in the compressed state when the first wheel body assembly is in the normal walking state in contact with the ground is a maximum compression deformation threshold; and the elongation deformation amount of the elastic mechanism when the first wheel body assembly is in the suspended state away from the ground is a maximum elongation threshold.

[0245] Optionally, the universal wheel comprises a third elastic member arranged between the lifting mechanism and the first wheel body assembly, and the third elastic member is an elastic member.

[0246] The top wall surface and the peripheral wall surface of the inner wall surface of the first guide hole and the top surface of the guide portion form an elastic member accommodating cavity, and the elastic member is arranged in the elastic member accommodating cavity; when the first wheel body assembly moves downward, the axial length of the elastic member accommodating cavity is lengthened, and the elastic member is elongated.

[0247] Optionally, the body further comprises a walking mechanism.

[0248] The walking mechanism and the universal wheel are arranged to have the following working relationship: when the chassis is lifted upward or tilted in the advancing direction with the walking mechanism as the supporting point, the lifting mechanism of the universal wheel is elongated; and when the walking mechanism crosses an obstacle, the lifting mechanism of the universal wheel is shortened after the universal wheel contacts the ground.

[0249] The tenth aspect of the present disclosure provides a cleaning robot, comprising a body and a walking mechanism, wherein the walking mechanism comprises:

[0250] A main drive wheel assembly, a swing arm assembly and a secondary drive wheel.

[0251] The secondary drive wheel is rotatably arranged on the main drive wheel assembly through the swing arm assembly.

[0252] Under the action of the swing arm assembly, the advancing state of the body can be switched between a first state and a second state, the first state being that the body is driven by the main drive wheel assembly to advance on a to-be-cleaned surface, and the second state being that the body is driven by the secondary drive wheel to advance on the to-be-cleaned surface.

[0253] In the second state, the angle between the swing arm assembly and the forward horizontal line of the body with the shaft center of the secondary drive wheel as the vertex is 90°-120°.

[0254] Optionally, the advancing speed of the body driven by the secondary drive wheel is not lower than the minimum advancing speed of the body driven by the main drive wheel assembly.

[0255] Optionally, in the second state, the angle between the body and the to-be-cleaned surface is 5°-35°.

[0256] Optionally, a support structure is arranged at the tail of the machine body, and the support structure is used to support the machine body in the second state.

[0257] Optionally, the main drive wheel assembly comprises a rotating member and a main drive wheel, and the rotating member and the main drive wheel are coaxially arranged; one end of the swing arm assembly is rotatably arranged on the rotating member.

[0258] Optionally, the rotating member has a turning diameter which is not less than the length of the swing arm assembly and the auxiliary drive wheel.

[0259] Optionally, the rotating member is provided with a first limiting structure, the swing arm assembly is provided with a second limiting structure, and a first elastic member is arranged between the first limiting structure and the second limiting structure, and the first elastic member is used to separate the auxiliary drive wheel and the surface to be cleaned when the swing arm assembly is not subjected to external force.

[0260] Optionally, the axial position of the auxiliary drive wheel is adjustable relative to the axial position of the main drive wheel assembly.

[0261] In the first state, the lowest position of the auxiliary drive wheel is higher than the lowest position of the main drive wheel assembly; in the second state, the lowest position of the auxiliary drive wheel is lower than the lowest position of the main drive wheel assembly.

[0262] Optionally, the main drive wheel assembly and the auxiliary drive wheel can be independently controlled to rotate; or the main drive wheel assembly and the auxiliary drive wheel can be controlled to rotate in linkage.

[0263] Optionally, in the first state, the auxiliary drive wheel is located in front of the main drive wheel assembly.

[0264] Optionally, the first limiting structure is used to limit the swing arm assembly when the running state of the machine body is switched from the first state to the second state.

[0265] Optionally, the machine body comprises:

[0266] A support is arranged on the chassis of the machine body; or an installation cavity is formed in the interior of the machine body, and an installation cavity opening is formed at the bottom of the installation cavity; the support is arranged in the installation cavity through the installation cavity opening;

[0267] The main drive wheel assembly and the swing arm assembly are rotatably arranged on the support, respectively.

[0268] Optionally, a third limiting structure is arranged on the support, and the third limiting structure is used to limit the swing arm assembly in the first state.

[0269] Optionally, the machine body is provided with a fourth limiting structure; one end of the support is rotatably arranged on the machine body, and the other end of the support is provided with a sliding piece; the sliding piece and the fourth limiting structure have a separated state and a matched state;

[0270] When the sliding piece and the fourth limiting structure are in the separated state, the sliding piece is away from the fourth limiting structure, and the support can rotate relative to the machine body;

[0271] When the sliding piece and the fourth limiting structure are in the matched state, the sliding piece and the fourth limiting structure are connected together, and the support cannot rotate relative to the machine body.

[0272] Optionally, the sliding piece is arranged on a mounting seat at one end of the support, the mounting seat is provided with a sliding groove, and a second elastic piece is arranged between the sliding piece and the mounting seat; the sliding piece comprises a limiting part and a sliding part arranged oppositely, the limiting part can be matched with the fourth limiting structure, and the sliding part can be slidably matched with the sliding groove;

[0273] The first limiting structure of the swing arm assembly is used to make the limiting part and the fourth limiting structure in the matched state in the second state.

[0274] Optionally, the cleaning robot comprises a driven wheel assembly arranged on a chassis of the machine body, and used to provide cushioning for the machine body when switching from the second state to the first state.

[0275] The driven wheel assembly comprises a driven wheel and a telescopic mechanism, the telescopic mechanism is connected between the chassis and the driven wheel, so that the distance between the driven wheel and the chassis is variable.

[0276] Optionally, the telescopic mechanism realizes the variable distance between the driven wheel and the chassis through a spiral lifting mechanism.

[0277] Optionally, the telescopic mechanism comprises an elastic mechanism, wherein when the driven wheel is in a normal walking state in contact with the ground, the elastic mechanism is in a compressed state, and the connection between the telescopic mechanism and the driven wheel is a hard connection; when the driven wheel is in a suspended state away from the ground, the elastic mechanism is in an elongated state, and the connection between the telescopic mechanism and the driven wheel is an elastic connection.

[0278] Optionally, when the machine body is lifted upward in the advancing direction with the walking mechanism as a support point, the telescopic mechanism of the driven wheel assembly is elongated; when the walking mechanism crosses an obstacle, the telescopic mechanism of the driven wheel assembly is shortened after the driven wheel assembly contacts the ground.

[0279] The present disclosure also provides a cleaning system comprising the cleaning robot of any one of the above, and a cleaning base station cooperating with the cleaning robot. BRIEF DESCRIPTION OF DRAWINGS

[0280] In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced below. Obviously, the drawings in the following description are only exemplary, and for those skilled in the art, other drawings can be derived from the provided drawings without creative labor.

[0281] The structures, proportions, sizes, etc. shown in the specification are only used to cooperate with the content disclosed in the specification, to be understood and read by those skilled in the art, and are not used to limit the conditions of the present disclosure, so they do not have technical significance. Any modification of the structure, change of the proportion relationship or adjustment of the size, without affecting the effect and purpose of the present disclosure, should still fall within the scope of the disclosed technology.

[0282] FIG. 1 is a perspective view of a cleaning device according to an embodiment of the present disclosure;

[0283] FIG. 2 is a front view of a cleaning device according to an embodiment of the present disclosure;

[0284] FIG. 3 is a bottom view of a cleaning device according to an embodiment of the present disclosure;

[0285] FIG. 4a and FIG. 4b are external structure diagrams of a cleaning robot according to an embodiment of the present disclosure;

[0286] FIG. 4c is a perspective view of a cleaning robot according to an embodiment of the present disclosure, when the body is in a first state;

[0287] FIG. 4d is a perspective view of a cleaning robot according to an embodiment of the present disclosure, when the body is in a second state;

[0288] FIG. 5a is an assembly structure diagram of a walking mechanism located at one side of the body according to an embodiment of the present disclosure;

[0289] FIG. 5b is an assembly structure diagram of a walking mechanism located at the other side of the body according to an embodiment of the present disclosure;

[0290] FIG. 6a and FIG. 6b are exploded structure diagrams of a walking mechanism located at one side of the body according to an embodiment of the present disclosure;

[0291] FIG. 7a and FIG. 7b are exploded structure diagrams of a walking mechanism located at the other side of the body according to an embodiment of the present disclosure;

[0292] FIGS. 8a-8d are structural diagrams of a conversion piece, a swing arm assembly, a secondary drive wheel, and a secondary drive wheel transmission assembly in a walking mechanism according to an embodiment of the present disclosure;

[0293] FIGS. 9a and 9b are structural diagrams of a conversion piece in a walking mechanism according to an embodiment of the present disclosure;

[0294] FIGS. 10a and 10b are structural diagrams of a body according to an embodiment of the present disclosure;

[0295] FIGS. 11a and 11b are structural diagrams of a support according to an embodiment of the present disclosure;

[0296] FIGS. 12a and 12b are side views of a cleaning robot when the body is in a first state according to an embodiment of the present disclosure;

[0297] FIG. 12c is a schematic diagram of an alternative structure to the structure shown in FIG. 12b;

[0298] FIGS. 13a and 13b are side views of a cleaning robot when the body is in a second state according to an embodiment of the present disclosure;

[0299] FIGS. 14a and 14b are side views of a cleaning robot when the body is in a second state according to an embodiment of the present disclosure;

[0300] FIGS. 12a-18b are schematic diagrams of a process in which a cleaning robot overcomes an obstacle according to an embodiment of the present disclosure;

[0301] FIGS. 19-22 are flow diagrams of a method of controlling movement of a cleaning robot according to an embodiment of the present disclosure;

[0302] FIG. 23 is a perspective view of a partial structure of a walking mechanism according to an embodiment of the present disclosure;

[0303] FIG. 24 is a perspective view of a partial structure of a walking mechanism according to an embodiment of the present disclosure, in another direction;

[0304] FIG. 25 is a front view of a walking mechanism according to an embodiment of the present disclosure;

[0305] FIG. 26-1 is a rear view of a walking mechanism according to an embodiment of the present disclosure, with a first wheel assembly removed;

[0306] FIG. 26-2 is a perspective view of a walking mechanism according to an embodiment of the present disclosure, with a first wheel assembly removed;

[0307] FIG. 27 is a top view of a walking mechanism according to an embodiment of the present disclosure;

[0308] Fig. 28 is a schematic view of a sectional structure in the direction of A-A in Fig. 27;

[0309] Fig. 29 is a schematic view of an enlarged structure of the region A in Fig. 28;

[0310] Fig. 30 is a perspective view of another part of a walking mechanism according to an embodiment of the present disclosure;

[0311] Fig. 31 is a front view of a walking mechanism according to an embodiment of the present disclosure;

[0312] Fig. 32 is a rear view of a walking mechanism according to an embodiment of the present disclosure;

[0313] Fig. 33 is a top view of a walking mechanism according to an embodiment of the present disclosure;

[0314] Fig. 34 is a schematic view of a sectional structure in the direction of B-B in Fig. 33;

[0315] Fig. 35 is a perspective view of an assembly relationship of a walking mechanism and a mounting seat according to an embodiment of the present disclosure;

[0316] Fig. 36 is a front view of a perspective view of an assembly relationship of a walking mechanism and a mounting seat according to an embodiment of the present disclosure;

[0317] Fig. 37 is a top view of a perspective view of an assembly relationship of a walking mechanism and a mounting seat according to an embodiment of the present disclosure;

[0318] Fig. 38 is a bottom view of a perspective view of an assembly relationship of a walking mechanism and a mounting seat according to an embodiment of the present disclosure;

[0319] Fig. 39 is a right view of a perspective view of an assembly relationship of a walking mechanism and a mounting seat according to an embodiment of the present disclosure;

[0320] Fig. 40 is a left view of a perspective view of an assembly relationship of a walking mechanism and a mounting seat according to an embodiment of the present disclosure;

[0321] Fig. 41 is a flowchart of a motion control method of a cleaning robot according to an embodiment of the present disclosure;

[0322] Fig. 42 is a flowchart of a motion control method of a cleaning robot according to an embodiment of the present disclosure;

[0323] Fig. 43 is a flowchart of a motion control method of a cleaning robot according to an embodiment of the present disclosure.

[0324] In the figure: 11 - main drive wheel; 12 - main drive wheel motor; 121 - first output part; 122 - second output part; 21 - auxiliary drive wheel; 3 - auxiliary drive wheel transmission assembly (auxiliary drive wheel assembly); 31 - first transmission chain; 311 - first transmission chain input wheel; 312 - first transmission chain output wheel; 313 - first transmission chain intermediate wheel; 32 - second transmission chain; 321 - second transmission chain input wheel; 322 - second transmission chain output wheel; 323 - second transmission chain intermediate wheel; 33 - positioning shaft; 4 - swing arm assembly; 41 - rotating part; 411 - first limiting surface; 412 - second limiting surface; 413 - connecting shaft; 4131 - connecting shaft hole; 414 - swing bracket; 4141 - swing bracket groove; 42 - swing arm; 421 - cylindrical boss; 422 - second limiting structure; 423 - swing arm cavity; 43 - first elastic part; 44 - conversion transmission assembly (swing arm transmission chain); 441 - conversion input wheel; 442 - conversion output wheel; 443 - conversion intermediate wheel; 5 - machine body; 51 - chassis; 52 - mounting cavity; 521 - mounting cavity opening; 53 - fourth limiting structure; 54 - universal wheel; 55 - support structure; 6 - support; 61 - support box; 611 - support first left cavity; 6111 - circumferential upper opening; 6112 - circumferential lower opening; 6113 - first axial opening; 6114 - first support hole; 612 - support second left cavity; 6121 - second axial opening; 6122 - second support hole; 613 - support third right cavity; 62 - support cover; 621 - third limiting structure; 622 - mounting seat; 6221 - mounting hole; 623 - third support hole; 631 - support first right cavity; 632 - support second right cavity; 6321 - third axial opening; 64 - support column; 65 - support rotating shaft; 71 - sliding part; 72 - second elastic part; 81 - surface to be cleaned; 82 - obstacle. 100, cleaning robot; 110, equipment body; 112, upper cover; 120, drive wheel module; 200, driven wheel assembly; 210, driven wheel; 211, wheel carrier; 211a, guide part; 212, wheel; 220, lifting mechanism; 221, first shaft sleeve; 222, second shaft sleeve; 222a, first guide hole; 222b, second guide hole; 222c, partition wall; 222d, communication hole; 223, pull rod; 223a, head part; 223b, rod part; 224, first limiting mechanism; 225, second limiting mechanism; 300, first bearing; 400, second bearing; 500, first power mechanism; 510, driving source; 520, transmission mechanism; 522, gear; 700, mounting seat. DETAILED DESCRIPTION

[0325] The following will illustrate the embodiments of the present disclosure by specific examples, and those skilled in the art can easily understand other advantages and effects of the present disclosure from the disclosure. Obviously, the described embodiments are part of the embodiments of the present disclosure, not all. Based on the embodiments in the present disclosure, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present disclosure.

[0326] The terms used in the embodiments of the present disclosure are only for the purpose of describing specific embodiments, and are not intended to limit the present disclosure. The singular forms "a", "said" and "the" used in the embodiments of the present disclosure and the appended claims are also intended to include the plural forms, unless the context clearly indicates otherwise. "Multiple" generally includes at least two, but does not exclude the case of including at least one.

[0327] It should be understood that the term "and / or" used herein is only to describe the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B, which can represent the three cases of A alone, A and B together, and B alone. In addition, the character " / " herein generally represents an "or" relationship between the front and rear associated objects.

[0328] It should also be noted that the terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the goods or systems including a series of elements not only include those elements, but also include other elements not explicitly listed, or include elements inherent to such goods or systems. Without more limitations, the elements defined by the statement "including a" do not exclude the presence of other identical elements in the goods or systems including the elements.

[0329] The popularity of cleaning robots in user's home is increasing, which greatly simplifies daily cleaning work. As shown in FIGS. 1-3, cleaning robots 100, such as sweeping robots, mopping robots, and sweeping and mopping integrated robots, can automatically travel on a surface to be cleaned, which can be a floor surface, a tile surface, a carpet, etc. The carpet can also include short-pile carpet and long-pile carpet, etc.

[0330] The cleaning robot 100 generally includes a main body 110, a perception module, a controller, a driving module, a cleaning system, an energy system, and a human-computer interaction module, etc. As shown in FIG. 1, the main body 110 includes a forward portion and a rearward portion, and has an approximately circular shape, which can also have other shapes, including but not limited to an approximately D-shaped with a circular rear and a rectangular or square shape with a front and rear.

[0331] The perception module includes a position determining device on the main body 110, a collision sensor disposed on the front collision structure of the front portion of the main body 110, a wall sensor disposed on the side of the machine, a cliff sensor disposed on the lower portion of the main body 110, and a magnetometer, an accelerometer, a gyroscope, an odometer, and other sensing devices disposed inside the main body 110, for providing various position information and motion state information of the machine to the controller. In addition, the position determining device can also be used to determine the information of the obstacle, such as the height, width, and other size information of the obstacle, to determine whether the robot can cross. The position determining device includes but is not limited to a camera and a laser distance sensor (LDS). In some preferred implementations, the position determining device (such as a camera and a laser sensor) is located on the front side of the main body 110, that is, the frontmost end of the front portion, so as to more accurately sense the environment in front of the cleaning robot and achieve accurate positioning.

[0332] As shown in FIG. 1, the front portion of the main body 110 can carry a front collision structure. When the drive wheel module propels the cleaning robot 100 to walk on the ground during the cleaning process, the front collision structure detects one or more events in the travel path of the cleaning robot 100 via the sensor system disposed thereon, such as a collision sensor or a proximity sensor (infrared sensor). The cleaning robot 100 can control the drive module to respond to the events, such as obstacles, walls, and the like, by the events detected by the front collision structure, such as performing an obstacle avoidance operation away from the obstacles, and the like.

[0333] The controller is disposed on the circuit board in the main body 110, and includes a computing processor, such as a central processing unit and an application processor, in communication with a non-transitory memory, such as a hard disk, a flash memory, and a random access memory. The application processor uses a positioning algorithm, such as simultaneous localization and mapping (SLAM), to draw an instant map of the environment in which the cleaning robot 100 is located, according to the obstacle information fed back by the laser distance sensor. In combination with the distance information and speed information fed back by the sensors, the cliff sensor, the magnetometer, the accelerometer, the gyroscope, the odometer, and other sensing devices disposed on the front collision structure, the controller comprehensively determines the current working state of the cleaning robot 100, the location, and the current pose of the cleaning robot 100, such as crossing the threshold, being on the carpet, being at the cliff, being stuck above or below, the dust box being full, being picked up, and the like. The controller also gives specific next action strategies for different situations, so that the cleaning robot 100 has better cleaning performance and user experience.

[0334] As shown in FIGS. 2-3, the drive module can maneuver the body 110 across the ground based on drive commands having distance and angle information. The drive module includes drive wheel modules 120, which can control left and right drive wheels, and optionally left and right drive wheel modules, respectively, for more precise control of the robot’s movement. The left and right drive wheel modules are disposed along a lateral axis defined by the body 110. To enable the cleaning robot 100 to move more stably or with more power on the ground, the cleaning robot 100 can include one or more driven wheel assemblies 200, including but not limited to a caster wheel. The drive wheel modules include drive motors and control circuitry to control the drive motors, and can also be connected to circuitry to measure drive current and an odometer. The left and right drive wheels can also have a biased drop suspension system, movably secured, e.g., rotatably attached to the body 110, and receiving a spring bias to bias downward and away from the body 110. The spring bias allows the drive wheels to maintain contact and traction with the ground with a certain amount of ground force, while the cleaning elements of the cleaning robot 100 can also contact the ground with a certain amount of pressure.

[0335] The cleaning system can be a dry cleaning system and / or a wet cleaning system. The dry cleaning system can include a roller brush, a dust bin, a fan, and an air outlet. The roller brush interferes with the ground to sweep up the garbage on the ground and bring it to the front of the suction port between the roller brush and the dust bin, and then the garbage is sucked into the dust bin by the suction force of the air generated by the fan. The dry cleaning system can also include a side brush having a rotating shaft at an angle with respect to the ground for moving debris into the roller brush area of the cleaning system.

[0336] The wet cleaning system can include a cleaning head, a drive unit, a water delivery mechanism, a liquid storage tank, etc. The cleaning head can be disposed below the liquid storage tank, and the cleaning liquid inside the liquid storage tank is transmitted to the cleaning head by the water delivery mechanism to enable the cleaning head to perform wet cleaning on the surface to be cleaned. In some optional embodiments, the cleaning liquid inside the liquid storage tank can also be directly sprayed onto the surface to be cleaned, and the cleaning head achieves cleaning of the surface by uniformly applying the cleaning liquid.

[0337] The cleaning head is used to clean the surface to be cleaned, and the drive unit is used to drive the cleaning head to perform substantially reciprocating motion or rotational motion along the target surface, which is a part or all of the surface to be cleaned. The cleaning head performs reciprocating motion along the surface to be cleaned or rotational motion relative to the surface to be cleaned, and the contact surface of the cleaning head with the surface to be cleaned is provided with a mop. The mop is driven by the drive unit to perform reciprocating motion or rotational motion with the surface to be cleaned to generate high-frequency friction, thereby removing stains on the surface to be cleaned; or the mop is floatingly disposed and always in contact with the cleaning surface during the cleaning process without the need for the drive unit to drive it to perform reciprocating motion or rotational motion.

[0338] The driving unit can further include a driving platform connected to the bottom surface of the device body 110 for providing driving force, and a support platform detachably connected to the driving platform for supporting the cleaning head and capable of being lifted under the driving of the driving platform.

[0339] The wet cleaning system can be connected to the device body 110 through the active lifting module. When the wet cleaning system is temporarily not involved in work, for example, the cleaning robot 100 docks at the base station to clean the cleaning head of the wet cleaning system and to fill the liquid storage tank; or when the wet cleaning system cannot be used to clean the surface to be cleaned, the wet cleaning system is lifted by the active lifting module.

[0340] The energy system includes a rechargeable battery, such as a nickel-hydrogen battery and a lithium battery. The rechargeable battery can be connected with a charging control circuit, a battery pack charging temperature detection circuit and a battery undervoltage monitoring circuit, and the charging control circuit, the battery pack charging temperature detection circuit and the battery undervoltage monitoring circuit are connected with the single-chip microcomputer control circuit. The host is connected with the charging pile through the charging electrode arranged on the side or the lower side of the machine body for charging.

[0341] The man-machine interaction module includes keys on the host panel, which are used for the user to select functions; and can further include a display screen and / or an indicator light and / or a loudspeaker, which show the user the current mode of the machine or the function selection item; and can further include a mobile phone client program. For a path navigation type cleaning robot, the mobile phone client can show the user a map of the environment where the device is located and the position of the machine, and can provide the user with more rich and personalized function items. Specifically, the cleaning robot has multiple modes, such as a working mode and a self-cleaning mode. The working mode refers to a mode in which the cleaning robot performs automatic cleaning work, and the self-cleaning mode refers to a mode in which the cleaning robot removes dirt on the roller brush and the side brush on the base, and automatically collects the dirt, and / or automatically washes and dries the mop.

[0342] During the daily cleaning process, the cleaning robot 100 can encounter a higher obstacle such as a threshold. In the related art, due to the insufficient obstacle crossing ability of the cleaning robot, the cleaning robot can be blocked outside the higher threshold, step and other obstacles, thereby causing the problem of low cleaning efficiency.

[0343]

First Description of the Cleaning Robot

[0344] Therefore, the embodiments of the present application provide a cleaning robot which can switch between a state of being driven to walk by a main driving wheel assembly and a state of being driven to walk by a sub driving wheel 21, so that the front end of the robot is lifted to exceed the height of an obstacle 82, and then the robot is driven to move on the surface to be cleaned to the obstacle 82 by the sub driving wheel 21, and after the main driving wheel assembly contacts the obstacle 82, the main driving wheel assembly can overcome the obstacle by the friction between the main driving wheel assembly and the obstacle 82 and / or the inertia of the movement of the body.

[0345] The embodiments of the present application will be described in detail below with reference to specific drawings.

[0346] As shown in FIGS. 4a-5b, the embodiments of the present application provide a cleaning robot for overcoming a higher obstacle 82 (for example, the height of the obstacle 82 is about 4 cm), which can walk on a surface to be cleaned. The cleaning robot comprises a body 5 and a walking mechanism; wherein the walking mechanism comprises a main driving wheel assembly, a swing arm assembly 4 and a sub driving wheel 21; the sub driving wheel 21 is rotatably arranged on the body by the swing arm assembly 4. Under the action of the swing arm assembly 4, the walking state of the body can be switched between a first state and a second state; wherein the first state is that the body is driven to walk on the surface to be cleaned by the main driving wheel assembly, and the second state is that the body is driven to walk on the surface to be cleaned by the sub driving wheel 21.

[0347] It can be understood that the main driving wheel 11 and the sub driving wheel 21 are rotatably arranged at the bottom of the body 5, and when the main driving wheel 11 or the sub driving wheel 21 is controlled to rotate, the cleaning robot can walk. It should be noted that in the foregoing description, it is known that the walking mechanism of the cleaning robot is usually provided with two, one is arranged on one side of the body, and the other is arranged on the other side of the body, and the two walking mechanisms are symmetrically arranged. For example, one walking mechanism can be arranged on the left side of the body, and the other walking mechanism can be arranged on the right side of the body. The two walking mechanisms can be controlled simultaneously or independently. That is, in addition to controlling the actions of the main driving wheel and / or the sub driving wheel in the walking mechanism simultaneously, the actions of the main driving wheel and / or the sub driving wheel in any one walking mechanism can also be controlled independently. In addition, the height of the chassis of the cleaning robot can also be lifted by controlling any one walking mechanism or controlling both walking mechanisms together. For the sake of simplicity of description, only one walking mechanism is taken as an example for description in the present application.

[0348] As shown in FIGS. 5a-5b, the walking mechanism further comprises a main drive wheel motor 12, which is drivingly connected with the main drive wheel 11 and drives the main drive wheel 11 to rotate. In an alternative embodiment, the main drive wheel motor 12 is in a ring structure, and the main drive wheel motor 12 can be a hub motor arranged in the main drive wheel assembly, which can reduce the space occupied by the main drive wheel motor and make the structure of the cleaning robot more compact. In some embodiments, the main drive wheel assembly can further comprise a rotating member 41, which is rotatable and coaxially arranged with the main drive wheel 11.

[0349] In an exemplary embodiment, the main drive wheel 11 and the auxiliary drive wheel 21 can be controlled to rotate in linkage, that is, when the main drive wheel 11 rotates, the auxiliary drive wheel 21 rotates simultaneously, which can save the motor for independently controlling the auxiliary drive wheel; in the first state or the second state, the rotation speeds of the main drive wheel 11 and the auxiliary drive wheel 21 have a certain proportional relationship. Alternatively, in another embodiment, the main drive wheel 11 and the auxiliary drive wheel 21 are controlled to rotate independently, that is, the auxiliary drive wheel 21 is driven by the auxiliary drive motor alone, that is, the rotation of the main drive wheel 11 and the rotation of the auxiliary drive wheel 21 do not affect each other, which can make the auxiliary drive wheel 21 stop rotating without rotating, thereby saving energy.

[0350] Specifically, in a feasible implementation, when the main drive wheel 11 and the auxiliary drive wheel 21 are controlled to rotate in linkage, the main drive wheel motor 12 drives the main drive wheel 11 to rotate; in addition, the main drive wheel motor 12 also drives the auxiliary drive wheel 21 to rotate through the auxiliary drive wheel transmission assembly 3, so as to realize that when the main drive wheel motor 12 operates, the main drive wheel 11 rotates, and under the action of the auxiliary drive wheel transmission assembly 3, the auxiliary drive wheel 21 rotates.

[0351] In another feasible implementation, when the main drive wheel 11 and the auxiliary drive wheel 21 are controlled to rotate independently, the main drive wheel motor 12 drives the main drive wheel 11 to rotate, and the auxiliary drive wheel 21 is driven to rotate by another drive motor; that is, the advancing speed of the robot body driven by the main drive wheel 11 and the advancing speed of the robot body driven by the auxiliary drive wheel 21 can be adjusted according to actual needs.

[0352] When the cleaning robot cleans the surface to be cleaned, the advancing state of the robot body is in the first state; when the cleaning robot needs to cross the obstacle 82 on the surface to be cleaned, the advancing state of the robot body is switched to the second state; when the cleaning robot crosses to the top surface of the obstacle 82 or passes the obstacle 82, the advancing state of the robot body is switched to the first state again.

[0353] The height of the obstacle 82 is related to whether the cleaning robot can successfully cross the top surface of the obstacle 82. When the height of the obstacle 82 is within a preset interval, the second state in which the body is driven to move by the auxiliary driving wheel 21 can be switched to the first state in which the body is driven to move by the main driving wheel assembly. In an optional embodiment, the preset height of the obstacle 82 can be 2-4 cm.

[0354] When the height of the obstacle 82 is below the minimum threshold of the preset interval, at this time, the moving state of the body is in the second state, the distance between the lowest position of the main driving wheel assembly and the top surface of the obstacle 82 is large, and the main driving wheel assembly cannot contact the top surface of the obstacle 82; at this time, the body can move forward by relying on its own inertia when the auxiliary driving wheel 21 is resisted by the obstacle 82, and then the main driving wheel assembly can contact the top surface of the obstacle 82, so that the cleaning robot can successfully cross the obstacle 82. Optionally, the moving speed of the body driven by the auxiliary driving wheel 21 is not lower than the minimum moving speed of the body driven by the main driving wheel assembly. Through this setting, the inertia in the forward direction can be generated when the body is driven to move by the auxiliary driving wheel, so that the main driving wheel assembly can contact the obstacle, thereby better crossing the obstacle. Exemplarily, the body has a speed-up process in the second state.

[0355] It should be noted that for obstacles 82 with a lower height (such as below 1 cm), the body can be directly driven forward by the main driving wheel assembly or the angle of the cleaning robot crossing the obstacle can be adjusted to overcome the obstacle, without having to switch to the mode in which the body is driven to move by the auxiliary driving wheel 21. In this way, the obstacle-crossing action of the cleaning robot can be simplified, the number of actions of the auxiliary driving wheel can be reduced, and the service life of the cleaning robot can be improved.

[0356] When the cleaning robot overcomes the obstacle, the head of the body needs to be lifted, and the lifting height needs to be greater than the height of the obstacle 82; therefore, the position of the axis of the auxiliary driving wheel 21 can be adjusted relative to the position of the axis of the main driving wheel assembly under the driving of the swing arm assembly 4, that is, the axis of the auxiliary driving wheel 21 can have a first position and a second position. Relative to the surface to be cleaned, when the auxiliary driving wheel 21 is in the first position, the lowest position of the auxiliary driving wheel 21 is higher than the lowest position of the main driving wheel assembly; and when the auxiliary driving wheel 21 is in the second position, the lowest position of the auxiliary driving wheel 21 is lower than the lowest position of the main driving wheel assembly.

[0357] That is, in the case that the body is in the first state, the auxiliary driving wheel 21 is in the first position, the auxiliary driving wheel 21 is away from the surface to be cleaned, the main driving wheel assembly is in contact with the surface to be cleaned, and the body can travel under the driving of the main driving wheel assembly; in the case that the body is in the second state, the auxiliary driving wheel 21 is in the second position, the auxiliary driving wheel 21 is in contact with the surface to be cleaned, and the main driving wheel assembly is away from the surface to be cleaned, and the body can travel under the driving of the auxiliary driving wheel 21.

[0358] Optionally, the chassis 51 of the body is in a front end lifted state when the body is in the second state.

[0359] When the cleaning robot encounters an obstacle 82, the head of the body needs to be lifted first, and then the obstacle can be crossed smoothly. Therefore, in some embodiments, the body travels on the surface to be cleaned in the first state, and when the sensing system detects the information of the obstacle 82 and determines that the obstacle can be crossed, the travel state of the body is switched to the second state. For example, when the sensing system of the cleaning robot detects that the height of the obstacle 82 is about 4 cm, the travel state of the body is switched from the first state to the second state, the chassis 51 of the body is lifted, and thus the head of the cleaning robot is away from the surface to be cleaned and is higher than the obstacle 82. The body continues to travel in the second state until the main driving wheel assembly and / or the auxiliary driving wheel 21 is resisted by the obstacle 82. At this time, the head of the body is above the obstacle 82, and the travel state of the body is switched to the first state again. In this way, the cleaning robot can cross the obstacle smoothly.

[0360] Whether the cleaning robot can cross the obstacle in time also relates to the inclination angle of the chassis 51 when the body is lifted. Therefore, in some embodiments, the body is designed such that when the body is in the second state and the chassis 51 is lifted, the angle between the chassis 51 and the surface to be cleaned is β, and β satisfies 5°≤β≤35°; and / or, in the second state, the horizontal plane in which the axis of the main driving wheel is located is higher than the top surface of the obstacle. When the angle between the chassis 51 and the surface to be cleaned is too small, the head of the body will directly hit the obstacle 82, which causes the cleaning robot to fail to cross the obstacle smoothly. When the angle between the chassis 51 and the surface to be cleaned is too large, the center of gravity of the body is too high, which causes the cleaning robot to be unstable and easily fall backward. It should be noted that the angle between the chassis 51 and the surface to be cleaned can be adjusted according to the height of the actual obstacle 82. In addition, the height of the chassis 51 can be lifted by controlling any one walking mechanism or simultaneously controlling two walking mechanisms. In some embodiments, when the chassis of the cleaning robot is lifted in the second state, the angle between the plane in which the chassis is located and the surface to be cleaned is between 5° and 40°. For example, when the obstacle is 4 cm, the angle between the plane in which the chassis is located and the surface to be cleaned is between 8° and 18° after the chassis is lifted.

[0361] The switching of the body traveling state is accompanied by the change of the shaft center position of the auxiliary driving wheel 21. The specific manner in which the shaft center position of the auxiliary driving wheel 21 is changed by the action of the swing arm assembly 4 is further described below. As shown in FIGS. 5a and 5b, the swing arm assembly 4 includes a rotating member 41 and a swing arm 42. The rotating member 41 is coaxially arranged with the main driving wheel 11, and the rotation of the rotating member 41 does not affect the rotation of the main driving wheel 11. One end of the swing arm 42 is rotatably arranged on the rotating member 41, and the other end of the swing arm 42 is provided with the rotatable auxiliary driving wheel 21.

[0362] When the rotating member 41 is controlled to rotate, the swing arm 42 moves with the auxiliary driving wheel 21, and the shaft center position of the auxiliary driving wheel 21 changes. Specifically, when the rotating member 41 is controlled to rotate, the auxiliary driving wheel 21 moves with the swing arm 42, and the auxiliary driving wheel 21 can be switched between the first position and the second position. It can be understood that the auxiliary driving wheel 21 can also be at the first position, the second position, or any position between the first position and the second position. The coaxial arrangement of the rotating member 41 and the main driving wheel 11 causes the position of the auxiliary driving wheel 21 relative to the main driving wheel 11 to change when the rotating member 41 is controlled to rotate, and the auxiliary driving wheel 21 can be at the first position and the second position.

[0363] Specifically, in the first state, the auxiliary driving wheel 21 is at the first position, i.e., the auxiliary driving wheel 21 is located in front of the main driving wheel assembly; in the second state, the auxiliary driving wheel 21 is at the second position, i.e., in contact with the surface to be cleaned. At this time, the swing arm 42 and the auxiliary driving wheel 21 can support the body of the cleaning robot, causing the head of the body to be raised upward. The cleaning robot is driven to walk by the auxiliary driving wheel 21 to facilitate obstacle crossing.

[0364] When the body crosses an obstacle, the traveling state of the body needs to be switched from the second state to the first state, and correspondingly, the auxiliary driving wheel 21 needs to be switched from the second position to the first position. Whether the auxiliary driving wheel 21 can be smoothly switched from the second position to the first position is at least related to the turning diameter of the rotating member 41, the radius of the auxiliary driving wheel 21, and the effective length of the swing arm 42 connecting the rotating member 41 and the auxiliary driving wheel 21. Therefore, the turning diameter of the rotating member 41 is designed to be not less than the overall length of the swing arm 42 and the auxiliary driving wheel 21. That is, the turning diameter of the rotating member 41 is not less than the sum of the effective length of the swing arm 42 and the radius of the auxiliary driving wheel 21.

[0365] It should be noted that the turning diameter of the rotating member 41 is the diameter of the largest circle projected by the motion track of the rotating member 41 when the rotating member 41 performs circular motion. The effective length of the swing arm 42 is the length excluding the part where the swing arm 42 overlaps the auxiliary driving wheel 21.

[0366] When the secondary driving wheel 21 moves from the second position to the first position, the swing arm 42 needs to move relative to the rotating member 41. Therefore, as shown in FIGS. 5a-5b, in the embodiment, the rotating member 41 is provided with a first limiting structure, the swing arm 42 is provided with a second limiting structure 422, and a first elastic member 43 is arranged between the first limiting structure and the second limiting structure 422. The first elastic member 43 is used to separate the secondary driving wheel 21 from the top surface of the surface to be cleaned or the obstacle 82 when the swing arm 42 is not subjected to external force; that is, under the action of the first elastic member 43, the swing arm 42 moves relative to the rotating member 41 to separate the secondary driving wheel 21 from the top surface of the surface to be cleaned or the obstacle 82, and moves to the first position.

[0367] In some embodiments, one end of the first elastic member 43 can be arranged on the first limiting structure of the rotating member 41, and the other end of the first elastic member 43 is arranged on the second limiting structure of the swing arm 42; the first elastic member 43 is configured to:

[0368] When the machine body is in the first state, the first elastic member 43 overcomes the gravity of the swing arm 42 and the secondary driving wheel 21 to make the swing arm 42 relative to the machine body static, and then the secondary driving wheel 21 is always in the first position.

[0369] When the machine body is switched from the first state to the second state, the rotating member 41 rotates towards the surface to be cleaned (for example, in the clockwise direction), the swing arm 42 moves the secondary driving wheel towards the surface to be cleaned, so that the secondary driving wheel 21 is switched from the first position to the second position, and in the switching process, the relative position between the rotating member 41 and the swing arm 42 does not change, and the first elastic member 43 is always in the first elastic state.

[0370] When the body is in the second state, the auxiliary driving wheel 21 is in the second position; after the main driving wheel 11 contacts the obstacle 82, at least the main driving wheel 11 is driven (the auxiliary driving wheel 21 can also be driven at the same time to generate friction with the surface to be cleaned) to generate friction between the main driving wheel 11 and the obstacle 82, under the action of the friction, the auxiliary driving wheel 21 is separated from the surface to be cleaned, the main driving wheel 11 is in surface contact with the obstacle 82, and under the blocking action of the obstacle 82, the swing arm 42 continues to rotate clockwise relative to the rotating member 41, the auxiliary driving wheel 21 moves from the front of the main driving wheel 11 to the rear of the main driving wheel 11, so as not to affect the obstacle crossing process, and the advancing state of the body is switched to the first state; or further, after the main driving wheel 11 contacts the obstacle 82, the rotating member 41 is driven to continue to drive the swing arm 42 and the auxiliary driving wheel 21 to move clockwise to further lift the body, and at the same time, under the action of the friction generated by the driving of the main driving wheel 11 (the auxiliary driving wheel 21 can also be driven at the same time to generate friction with the surface to be cleaned), the auxiliary driving wheel 21 is separated from the surface to be cleaned, the main driving wheel 11 is in surface contact with the obstacle 82, under the blocking action of the obstacle 82, the swing arm 42 continues to rotate clockwise relative to the rotating member 41, the auxiliary driving wheel 21 moves from the front of the main driving wheel 11 to the rear of the main driving wheel 11, so as not to affect the obstacle crossing process, and the advancing state of the body is switched to the first state; due to the rotation of the swing arm 42 relative to the rotating member 41, the first elastic member 43 is compressed, and is switched from the first elastic state to the second elastic state (the second elastic force of the first elastic member 43 in the second elastic state is greater than the first elastic force in the first elastic state); with further advancement of the body, the auxiliary driving wheel crosses the obstacle until the top surface of the obstacle 82 is contacted.

[0371] Subsequently, the rotating member 41 rotates away from the surface to be cleaned (e.g. in a counterclockwise direction), the auxiliary driving wheel 21 is always in contact with the top surface of the obstacle 82, the resistance provided by the top surface of the obstacle 82 to the auxiliary driving wheel 21 causes the first elastic member 43 to be further compressed, until the auxiliary driving wheel 21 leaves the top surface of the obstacle 82, at this time, under the elastic force of the first elastic member 43, the swing arm 42 rotates counterclockwise relative to the rotating member 41, and drives the auxiliary driving wheel 21 to return to the first position, at this time, the first elastic member 43 is in the first elastic state again.

[0372] In the exemplary embodiment, in the second state, the angle between the swing arm assembly 4 and the horizontal line in front of the body, with the auxiliary drive wheel 21 as the vertex, is α, and α satisfies: 90°≤α≤120°; specifically, the angle between the extension direction of the swing arm and the horizontal line in front of the body is α. Based on the foregoing description, in the second state, the swing arm assembly 4 and the auxiliary drive wheel 21 can drive the cleaning robot to move to the obstacle 82, so that the main drive wheel assembly contacts the obstacle 82, and in the process of the movement, the swing arm assembly 4 and the auxiliary drive wheel 21 need to provide a stable support force to the body. However, due to the presence of the first elastic member 43, when the angle between the swing arm assembly 4 and the horizontal line in front of the body, with the auxiliary drive wheel 21 as the vertex, is less than 90 degrees, the first elastic member 43 is compressed and deformed under the action of the resistance of the auxiliary drive wheel to the surface to be cleaned and the gravity of the body, at this time, the front end of the cleaning robot will fall, so that the body gradually returns to the horizontal state, and in this case, the main drive wheel 11 has not contacted the obstacle 82 to generate the friction force required for obstacle crossing, or the front end of the cleaning robot is lower than the height of the obstacle 82, thereby causing the obstacle crossing to fail. In other words, the first elastic member 43 is compressed before the main drive wheel 11 contacts the obstacle 82, and therefore, the angle between the swing arm assembly 4 and the horizontal line in front of the body cannot be less than 90°. In addition, in order to make the front end of the cleaning robot high enough (which needs to be higher than the height of the obstacle 82), and also give the main drive wheel 11 space so that the main drive wheel 11 can contact the obstacle 82, the angle between the swing arm assembly 4 and the horizontal line in front of the body cannot exceed 120°, otherwise, the auxiliary drive wheel 21 abuts against the obstacle 82, so that the main drive wheel 11 cannot contact the obstacle 82, and the obstacle crossing cannot be achieved.

[0373] More specifically, as shown in FIGS. 7a-8d, the connection between the swing arm 42 and the rotating member 41 is provided with a cylindrical boss 421, which is coaxially arranged with the rotation axis of the swing arm 42; the first elastic member 43 can be a torsion spring, which is sleeved on the cylindrical boss 421; the first limiting structure of the rotating member 41 includes a first limiting face 411; one end of the torsion spring is connected with the first limiting face 411, and the other end of the torsion spring is connected with a second limiting structure 422; when the auxiliary drive wheel 21 is switched from the first position to the second position, the relative position between the first limiting face 411 and the second limiting structure 422 does not change, and the first elastic member 43 is always in the first elastic state.

[0374] The first limiting surface 411 can also be used to limit the swing arm 42 when the secondary driving wheel 21 is converted from the first position to the second position, that is, the first limiting surface 411 abuts on the swing arm 42, so that the swing arm 42 rotates as a whole with the rotating piece 41, until the secondary driving wheel 21 contacts with the surface to be cleaned, and then, under the action of the obstacle 82, when the secondary driving wheel 21 and the primary driving wheel 11 both contact with the obstacle 82, the swing arm 42 rotates clockwise relative to the rotating piece 41; the relative position between the first limiting surface 411 and the second limiting structure 422 changes, and the first elastic member switches from the first elastic state to the second elastic state.

[0375] In some embodiments, as shown in FIGS. 4a-4d, the body of the cleaning robot comprises a bracket 6, the bottom of the body 5 is provided with a chassis 51, and the bracket 6 is arranged on the chassis 51; or the inside of the body 5 is formed with a mounting cavity 52, and the bottom of the mounting cavity 52 is formed with a mounting cavity opening 521; the bracket 6 is arranged in the mounting cavity 52 through the mounting cavity opening 521;

[0376] In the related art, one end of the bracket 6 is rotatably connected with the body, when the running state of the body is in the first state, the bracket 6 and the walking mechanism are relatively fixed with the body under the action of the gravity of the cleaning robot; but when the running state of the body is in the second state, the front part of the body is lifted, at this time, the bracket 6 and the walking mechanism rotate relative to the body and are in a falling state, but this falling will change the gravity center position of the whole cleaning robot, and further cause the body to run unstably. Therefore, as shown in FIGS. 4c-4d, 7a-7b, 10a-10b, the body 5 is provided with a fourth limiting structure 53; one end of the bracket 6 is rotatably arranged on the body 5, and the other end of the bracket 6 is provided with a sliding piece 71; the sliding piece 71 and the fourth limiting structure 53 have a separated state and a matched state;

[0377] When the sliding piece 71 and the fourth limiting structure 53 are in the separated state, the sliding piece 71 is away from the fourth limiting structure 53, and the bracket 6 can rotate relative to the body 5;

[0378] When the sliding piece 71 and the fourth limiting structure 53 are in the matched state, the sliding piece 71 and the fourth limiting structure 53 are connected together, and the bracket 6 cannot rotate relative to the body 5.

[0379] Further, the fourth limiting structure 53 is arranged at the top of the mounting cavity 52; as shown in FIGS. 7a-7b, 11a-11b, the other end of the bracket 6 is provided with a mounting seat 622, and the inside of the mounting seat 622 is formed with a mounting hole 6221; a sliding groove is formed in the side wall of the mounting hole 6221 close to the swing arm 42, and the sliding groove and the mounting hole 6221 are communicated;

[0380] The sliding piece 71 is arranged in the mounting hole 6221, and a second elastic piece 72 is arranged between the sliding piece 71 and a side wall of the mounting hole 6221, and the second elastic piece 72 is used to control cooperation of the sliding piece 71 and the fourth limiting structure 53; the sliding piece 71 can cooperate with the fourth limiting structure 53 and can be in sliding cooperation with the sliding groove;

[0381] As shown in FIGS. 8a-9b, the first limiting structure of the rotating piece 41 further comprises a second limiting surface 412, which is configured to:

[0382] When the auxiliary driving wheel 21 is in the first position, the second limiting surface 412 of the rotating piece 41 abuts against the sliding piece 71, the second elastic piece 72 is in a compressed state, and the sliding piece 71 and the fourth limiting structure 53 are in a separated state;

[0383] When the auxiliary driving wheel 21 is away from the first position, the second limiting surface 412 of the rotating piece 41 is separated from the sliding piece 71, the second elastic piece 72 restores deformation, and the sliding piece 71 and the fourth limiting structure 53 are in a cooperating state.

[0384] Optionally, the first limiting surface 411 and the second limiting surface 412 of the first limiting structure are integrally formed, and the first limiting structure can be a V-shaped structure, and the opening of the V-shaped structure faces the radial outside of the rotating piece 41.

[0385] As described above, when the rotating piece 41 rotates, the swing arm 42 can drive the auxiliary driving wheel 21 to switch between the first position and the second position. Next, how the rotating piece 41 rotates will be described. As shown in FIGS. 6a-7b and 9b, the walking mechanism further comprises a conversion transmission assembly 44 and a conversion driving motor, and the rotating piece 41 and the conversion driving motor are connected through the conversion transmission assembly 44. The conversion transmission assembly 44 at least comprises a conversion input wheel 441 and a conversion output wheel 442, which are both rotatable, and the shaft center of the conversion input wheel 441 and the shaft center of the conversion output wheel 442 are both fixedly arranged; the output shaft of the conversion driving motor is drivingly connected with the conversion input wheel 441, and when the conversion driving motor operates, the conversion input wheel 441 can transmit rotation to the conversion output wheel 442.

[0386] Optionally, the rotating piece 41 is a rotating disc, the rotating disc is arranged at an axial end of the conversion output wheel 442 and can rotate synchronously with the conversion output wheel 442; a connecting shaft 413 and a first limiting structure are arranged on a side of the rotating disc away from the conversion output wheel 442, and the connecting shaft 413 is arranged at an interval with the axis of the rotating disc; one end of the swing arm 42 is rotatably arranged on the connecting shaft 413.

[0387] When the conversion input wheel 441 is driven to rotate, the conversion output wheel 442 can rotate with the rotating disc, and then the auxiliary driving wheel 21 can switch between the first position and the second position.

[0388] Specifically, the conversion transmission assembly 44 further comprises a plurality of conversion intermediate wheels 443, which are sequentially and transmissionally connected between the conversion input wheel 441 and the conversion output wheel 442; the conversion input wheel 441, the conversion output wheel 442 and the plurality of conversion intermediate wheels 443 are all rotatably arranged; the conversion input wheel 441 can transmit rotation to the conversion output wheel 442 through the plurality of conversion intermediate wheels 443; the connecting shaft 413 is arranged close to the outer edge of the rotating disc.

[0389] As described above, when the main drive wheel 11 and the auxiliary drive wheel 21 are controlled to rotate in linkage, the main drive wheel motor 12 drives the auxiliary drive wheel 21 to rotate through the auxiliary drive wheel transmission assembly 3; the specific structure of the auxiliary drive wheel transmission assembly will be described below, as shown in FIGS. 6a to 9b, the rotating disc is provided with a rotating frame 414 on the side close to the conversion output wheel 442, the rotating frame 414 extends along the radial direction of the rotating disc; the position of the connecting shaft 413 corresponds to the position of the radial outer end of the rotating frame 414, and the connecting shaft hole 4131 is formed between the rotating disc and the connecting shaft 413; the inside of the swing arm 42 is formed with a swing arm cavity 423, the swing arm cavity 423 and the connecting shaft hole 4131 are in communication; the rotating frame 414 is provided with a positioning shaft 33 on the side close to the swing arm, and the positioning shaft 33 is fixedly connected with the rotating frame 414;

[0390] The auxiliary drive wheel transmission assembly 3 comprises a first transmission chain 31 and a second transmission chain 32, the first transmission chain 31 at least comprises a first transmission chain input wheel 311 and a first transmission chain output wheel 312, and the first transmission chain input wheel 311 and the first transmission chain output wheel 312 are both rotatably arranged on the rotating frame 414; the second transmission chain 32 at least comprises a second transmission chain input wheel 321 and a second transmission chain output wheel 322, and the second transmission chain input wheel 321 and the second transmission chain output wheel 322 are both rotatably arranged in the swing arm cavity 423; the first transmission chain output wheel 312 and the second transmission chain input wheel 321 are integrally formed or constitute an entirety (here, the "constitute an entirety" means that the first transmission chain output wheel 312 and the second transmission chain input wheel 321 are two different parts or portions of the same component, and the two can be fixedly connected in the existing manner), and the first transmission chain output wheel 312 and the second transmission chain input wheel 321 are coaxially arranged, and the first transmission chain output wheel 312 and the second transmission chain input wheel 321 are both arranged on the positioning shaft 33, so that the first transmission chain output wheel 312 and the second transmission chain input wheel 321 can both rotate relative to the positioning shaft 33; the second transmission chain output wheel 322 and the auxiliary drive wheel 21 are coaxially arranged and can synchronously rotate; specifically, the rotating frame 414 is formed with a rotating frame groove 4141, and the first transmission chain input wheel 311 and the first transmission chain output wheel 312 are both rotatably arranged in the rotating frame groove 4141. This double transmission chain design can make the swing arm flexibly and freely fold or stretch after contacting the obstacle, thereby further achieving better obstacle crossing effect.

[0391] When the first transmission chain input wheel 311 is driven to rotate, the first transmission chain output wheel 312 can rotate with the second transmission chain input wheel 321, and then the second transmission chain output wheel 322 can rotate with the secondary drive wheel 21.

[0392] Specifically, as shown in FIGS. 6a-6b, the first transmission chain 31 further includes a plurality of first transmission chain intermediate wheels 313, each of which is rotatably arranged on the rotating frame 414 and sequentially connected between the first transmission chain input wheel 311 and the first transmission chain output wheel 312; the first transmission chain input wheel 311 can transmit to the first transmission chain output wheel 312 through the plurality of first transmission chain intermediate wheels 313.

[0393] The second transmission chain 32 further includes a plurality of second transmission chain intermediate wheels 323, each of which is rotatably arranged in the swing arm cavity 423 and sequentially connected between the second transmission chain input wheel 321 and the second transmission chain output wheel 322; the second transmission chain input wheel 321 can transmit to the second transmission chain output wheel 322 through the plurality of second transmission chain intermediate wheels 323.

[0394] In addition, when the main drive wheel 11 and the secondary drive wheel 21 are controlled to rotate in linkage, the conversion output wheel 442 and the main drive wheel 11 are coaxially arranged, and the conversion output wheel 442 and the main drive wheel 11 rotate independently; the main drive wheel motor 12 includes a first output portion 121 and a second output portion 122; the first output portion 121 is drivingly connected with the main drive wheel 11, and the second output portion 122 is drivingly connected with the first transmission chain input wheel 311.

[0395] When the main drive wheel motor 12 operates, the first output end can drive the main drive wheel 11 to rotate, and the second output end can drive the first transmission chain input wheel 311 to rotate.

[0396] The foregoing describes the specific manner in which the swing arm assembly acts to switch the fuselage between the first state and the second state, and the following further describes the connection manner of the walking mechanism and the fuselage.

[0397] As shown in FIGS. 7a-11b, in some embodiments, the fuselage of the cleaning robot includes a support 6, the main drive wheel 11 is rotatably arranged on the support 6, and the rotating member 41 of the swing arm assembly 4, the conversion input wheel 441, the conversion intermediate wheel, and the conversion output wheel 442 are all rotatably arranged on the support 6.

[0398] As described above, under the elastic force of the first elastic member 43, the swing arm 42 rotates relative to the rotating member 41, and when the secondary driving wheel 21 is switched from the second position to the first position, the secondary driving wheel 21 is prone to overstroke during the process; therefore, the third limiting structure 621 is arranged on the bracket 6, as shown in FIGS. 11a-11b, the third limiting structure 621 is used for limiting the swing arm 42 when the secondary driving wheel 21 is switched from the second position to the first position, so that the secondary driving wheel 21 is in the first position, and overstroke of the secondary driving wheel 21 is avoided.

[0399] As described above, the walking mechanism is arranged on the machine body through the bracket, and the bracket 6 and the walking mechanism are both provided with two, the two brackets 6 are arranged opposite to each other on the two sides of the machine body 5, for example, the left side and the right side; the two walking mechanisms and the two brackets 6 are arranged one by one.

[0400] In the corresponding walking mechanism and bracket 6, the main driving wheel assembly of the walking mechanism is arranged on one side of the bracket 6, and the secondary driving wheel 21, the secondary driving wheel transmission assembly 3 and the swing arm assembly 4 of the walking mechanism are arranged on the other side of the bracket 6.

[0401] When the walking mechanism is arranged on the bracket, the position arrangement of each part of the walking mechanism directly affects the occupied space, the compactness of the structure and the stability of the machine body walking of the walking mechanism, therefore, as shown in FIGS. 11a and 11b, the bracket 6 includes a bracket box 61 and a bracket cover 62, one side (for example, the left side) of the bracket box 61 is formed with a bracket first left cavity 611 and a bracket second left cavity 612, the bracket first left cavity 611 and the bracket second left cavity 612 are communicated, and the bracket first left cavity 611 is located behind the bracket second left cavity 612; the other side (for example, the right side) of the bracket box 61 is formed with a bracket third right cavity 613, the bracket cover 62 is arranged on the other side of the bracket box 61, and a bracket first right cavity 631 and a bracket second right cavity 632 are formed between the bracket cover 62 and the bracket box 61, the bracket first right cavity 631 and the bracket second right cavity 632 are communicated, and the bracket first right cavity 631 is located behind the bracket second right cavity 632; the position of the bracket third right cavity 613 corresponds to the position of the bracket second right cavity 632; the bracket first left cavity 611 and the bracket first right cavity 631 are both columnar structures.

[0402] The circumferential side wall of the first left cavity 611 of the support is formed with a circumferential upper opening 6111 and a circumferential lower opening 6112 arranged oppositely in the up-down direction, the opening area of the circumferential upper opening 6111 is smaller than that of the circumferential lower opening 6112; the axial one end of the first left cavity 611 of the support is formed with a first axial opening 6113, and the axial other end of the first left cavity 611 of the support is formed with a first support hole 6114, the first support hole 6114 connects the first left cavity 611 of the support and the first right cavity 631 of the support; the axial one end of the second left cavity 612 of the support is formed with a second axial opening 6121, and the axial other end of the second left cavity 612 of the support is formed with a second support hole 6122, the second support hole 6122 connects the second left cavity 612 of the support and the second right cavity 632 of the support; the axial one end of the second right cavity 632 of the support is formed with a third axial opening 6321, and the third axial opening 6321 connects the second right cavity 632 of the support and the third right cavity 613 of the support.

[0403] The main drive wheels 11 and the main drive wheel motors 12 are arranged in the first left cavity 611 of the support through the first axial opening 6113, the main drive wheels 11 are provided with two, each main drive wheel 11 is annular structure; the outer circumferential side of the main drive wheel motor 12 is provided with a first output part 121, and the two main drive wheels 11 are sleeved on the outside of the first output part 121; the upper end of the main drive wheel 11 protrudes through the circumferential upper opening 6111, and the lower end of the main drive wheel 11 protrudes through the circumferential lower opening 6112 and contacts the ground 81; the conversion output wheel 442 and the rotating disc are arranged in the first right cavity 631 of the support, the conversion output wheel 442 is annular structure, and the axial one end of the rotating disc is arranged on the inside of the conversion output wheel 442; the axial one side of the main drive wheel motor 12 is provided with a second output part 122, the second output part 122 passes through the first support hole 6114 and enters the first right cavity 631 of the support and is drivingly connected with the first transmission chain input wheel 311.

[0404] The conversion input wheel 441 and the conversion intermediate wheel 443 are arranged in the second right cavity 632 of the support, the conversion drive motor is arranged in the second left cavity 612 of the support, the output shaft of the conversion drive motor passes through the second support hole 6122 and enters the second right cavity 632 of the support and is drivingly connected with the conversion input wheel 441.

[0405] The support cover 62 is formed with a third support hole 623, the axial other end of the rotating disc is arranged in the third support hole 623 and located on the side of the support cover 62 away from the support box 61; the swing arm 42 and the auxiliary drive wheel 21 are both located on the side of the support cover 62 away from the support box 61, and the swing arm 42 is rotatably arranged on the rotating disc through the connecting shaft 413.

[0406] The side of the support cover 62 away from the support box 61 is formed with a third limiting structure 621, when the auxiliary drive wheel 21 is in the first position, the swing arm 42 and the third limiting structure 621 are located on the same side of the rotating disc; the third limiting structure 621 is inverted L-shaped structure.

[0407] The support box 61 is formed with a support column 64 at one end close to the second left cavity 612 of the support, and the support column 64 is formed with a support shaft hole; the top of the mounting cavity 52 is formed with a support rotating shaft 65, the support rotating shaft 65 passes through the support shaft hole, so that the support and the fuselage are rotatably arranged together; the support cover 62 is provided with a mounting seat 622 at the side away from the support box 61 and at the end away from the support shaft hole;

[0408] The structure is compact, the cavity formed by the support box and the support cover is fully utilized, the main drive wheel, the conversion transmission assembly and the first transmission chain are arranged, so that the components do not interfere with each other and reliably move, the transmission efficiency is improved, and the stable movement of the fuselage is ensured.

[0409] In addition, in an optional embodiment, as shown in FIGS. 10a-10b, the cleaning robot further comprises a support structure 55 arranged at the rear end of the chassis 51; the support structure 55 is used to support the tail of the robot after the front end of the robot is lifted. For example, the support structure 55 can be a roller, which can reduce the friction between the tail of the robot and the surface to be cleaned when the robot overcomes the obstacle, and assists the robot in overcoming the obstacle. It can be understood that the support structure 55 can also take other forms, which are not specifically limited in the present application.

[0410] When the sensor of the cleaning robot detects that there is an obstacle 82 in front that can be crossed, the walking state of the cleaning robot is switched from the first state to the second state, and the main drive wheel 11 of the cleaning robot is caused to contact the obstacle 82 and cross the obstacle 82. The cleaning robot can collect the height of the obstacle 82 through the sensor mounted on the fuselage, and determine whether to switch to the second state according to whether the height of the obstacle 82 exceeds a preset height threshold, so as to reduce the switching times between the first state and the second state, improve the operation efficiency and the service life of the equipment.

[0411] Specifically, the above-mentioned sensor can be any sensor on the fuselage that has the ability to collect the height of the obstacle 82, such as at least one of a line laser sensor, a laser radar, a structured light sensor, or a camera, and the present application is not limited to the above-mentioned sensors.

[0412] The cleaning robot may encounter various obstacles when cleaning, such as a threshold, a power cord, a carpet edge, etc. The cleaning robot is easy to get stuck when encountering an obstacle 82, which causes the cleaning robot to fail to complete the obstacle crossing, or the cleaning robot generates an impact force and jolts after completing the obstacle crossing, which can damage internal components, reduce the service life of the equipment, and even affect the cleaning effect. In view of the above problems existing in the prior art, the cleaning robot needs to maintain its stability after crossing the obstacle, reduce the impact after crossing the obstacle, protect the internal components, prolong the service life, and ensure the stability and efficiency of the cleaning effect.

[0413] The embodiments are applicable to a cleaning robot 100 as shown in FIGS. 1-3, which is a robot capable of automatically traveling on a ground surface, such as a floor cleaning robot, a sweeping and mopping robot, and the like. The ground surface can be a floor surface, a tile surface, a carpet, a carpet including a short-pile carpet and a long-pile carpet, and the like. The cleaning robot 100 includes a device main body 110 and a driven wheel assembly 200 (e.g., a universal wheel).

[0414] As shown in FIG. 23, the driven wheel assembly 200 includes a driven wheel 210 and an extendable mechanism, and is disposed on a chassis 51 of the main body of the cleaning robot 100 to provide a cushioning effect for the main body of the cleaning robot 100 when switching from the second state to the first state as described in the above embodiments. The extendable mechanism is connected between the chassis 51 and the driven wheel 210, so that the distance between the driven wheel 210 and the chassis 51 is variable.

[0415] The driven wheel assembly 200 of the present alternative embodiment can change the distance between the driven wheel 210 and the chassis 51, i.e., the relative height between the driven wheel 210 and the chassis 51, through the extendable mechanism. When the extendable mechanism is extended, the distance between the driven wheel 210 and the chassis 51 is increased, i.e., the height of the chassis 51 relative to the driven wheel 210 is increased. When the extendable mechanism is retracted, the distance between the driven wheel 210 and the chassis 51 is decreased, i.e., the height of the chassis 51 relative to the driven wheel 210 is decreased. Through the present alternative embodiment, when the cleaning robot encounters an obstacle during traveling and determines that the obstacle can be crossed, the cleaning robot lifts the part of the main body containing the driven wheel 210 to cross the obstacle. After crossing the obstacle, the lifted main body needs to be lowered to the ground to return to the normal driving state. In order to avoid a large impact force when the main body falls to the ground, the extendable mechanism is controlled to extend so that the driven wheel 210 moves away from the chassis 51, increasing the height of the chassis 51 relative to the driven wheel 210, i.e., the driven wheel 210 is closer to the ground relative to the chassis 51. When the lifted main body falls, the driven wheel 210 first contacts the ground, and the extended extendable mechanism provides sufficient cushioning for the falling main body to contact the ground, thereby reducing the impact force and jolt generated when crossing the obstacle. This can effectively improve the obstacle crossing ability of the floor cleaning robot, reduce the impact after crossing the obstacle, protect the internal components, prolong the service life, and ensure the stability and efficiency of the cleaning effect.

[0416] There are various ways to achieve the above-mentioned variable distance between the driven wheel 210 and the chassis 51 through the extendable mechanism connected between the chassis 51 and the driven wheel 210. In one alternative embodiment, the extendable mechanism can achieve the variable distance between the driven wheel 210 and the chassis 51 through a screw lifting mechanism. This implementation converts the rotational motion of the screw into linear motion, thereby achieving the variable distance between the driven wheel 210 and the chassis 51.

[0417] The telescopic mechanism in this embodiment is a mechanical device capable of stretching or shrinking in space. In an alternative embodiment, the telescopic mechanism can include an elastic mechanism. When the driven wheel 210 is in the normal walking state in contact with the ground, the elastic mechanism is in a compressed state, and at this time, the connection between the telescopic mechanism and the driven wheel 210 is a hard connection. When the driven wheel 210 is in a suspended state away from the ground, the elastic mechanism is in an elongated state, and the connection between the telescopic mechanism and the driven wheel 210 is an elastic connection. The use of the elastic mechanism can simplify the mechanical structure of the telescopic mechanism, reduce the number of parts, and reduce manufacturing costs and maintenance difficulty. The elastic mechanism can also absorb energy when subjected to external impact or vibration, reducing damage to the overall structure and maintaining the stability and reliability of the mechanism. At the same time, the elastic mechanism can effectively reduce the noise caused by mechanical impact during movement.

[0418] As shown in FIGS. 28-34, in an alternative embodiment, the elastic mechanism can include a third elastic member disposed between the lifting mechanism 220 and the driven wheel 210. The third elastic member can achieve the conversion of hard connection and elastic connection between the driven wheel 210 and the lifting mechanism 220. Specifically, when the driven wheel 210 is in the normal walking state in contact with the ground, the third elastic member is in a compressed state, and the connection between the lifting mechanism 220 and the driven wheel 210 is a hard connection. When the driven wheel 210 is in a suspended state away from the ground, the third elastic member is in an elongated state, and the connection between the lifting mechanism 220 and the driven wheel 210 is an elastic connection. The third elastic member of this alternative embodiment achieves the conversion of elastic connection and hard connection between the driven wheel 210 and the lifting mechanism 220. The driven wheel 210 is in a hard connection mode when walking normally, and the body can walk stably. When falling in a suspended state during obstacle crossing, it is in an elastic connection, thereby achieving good damping effect and buffering function.

[0419] In another alternative embodiment, the telescopic assembly can include a fourth elastic member disposed between the driven wheel 210 and the chassis 51. The fourth elastic member can be, for example, a spring, and the number of springs is at least one. When the driven wheel 210 is in the normal walking state in contact with the ground, the fourth elastic member is in a compressed state. When the driven wheel 210 is in a suspended state away from the ground, the fourth elastic member is in an elongated state. Specifically, the compression deformation amount of the fourth elastic member in the compressed state when the driven wheel 210 is in the normal walking state in contact with the ground can be a maximum compression deformation threshold. The elongation deformation amount of the fourth elastic member in the elongated state when the driven wheel 210 is in a suspended state away from the ground can be a maximum elongation deformation threshold.

[0420] It should be noted that the elastic force provided by the third elastic member or the fourth elastic member meets certain conditions, and in the process of the cleaning robot crossing the obstacle, including the process of the part of the robot body with the driven wheel 210 being lifted and then falling to the ground, the elastic force provided by the third elastic member or the fourth elastic member to the robot to generate the buffering protection can ensure the stability of the cleaning robot.

[0421] The elastic mechanism will be described in detail below, which can include a third elastic member arranged between the lifting mechanism 220 and the driven wheel 210.

[0422] In an optional embodiment, the third elastic member includes a lifting mechanism 220 and a first power mechanism 500,

[0423] The lifting mechanism 220 has a power output end telescopically connected with the driven wheel 210 to lift the driven wheel 210, and the first power mechanism 500 has a power output end connected with a power input end of the lifting mechanism 220 to drive the lifting mechanism 220 to telescopically extend or shorten to lift the driven wheel 210 to adjust the distance of the driven wheel 210 relative to the chassis 51.

[0424] Through the optional embodiment, by controlling the extension and shortening of the lifting mechanism 220, the distance of the driven wheel 210 relative to the chassis 51, i.e., the relative height between the driven wheel 210 and the chassis 51, can be changed. When the lifting mechanism 220 is controlled to extend, the distance of the driven wheel 210 relative to the chassis 51 becomes longer, i.e., the height of the chassis 51 relative to the driven wheel 210 becomes larger, and when the lifting mechanism 220 is controlled to shorten, the distance of the driven wheel 210 relative to the chassis 51 becomes shorter, i.e., the height of the chassis 51 relative to the driven wheel 210 becomes smaller.

[0425] In an optional embodiment, the lifting mechanism 220 described above is configured to not only actively extend or shorten by the driving of the first power mechanism, but also passively adaptively extend under the action of gravity of the driven wheel 210 or when the driven wheel 210 is subjected to external force. For example, when the driven wheel 210 is in a state of being lifted and suspended, the lifting mechanism can passively adaptively extend under the action of gravity of the driven wheel 210, and for another example, when the driven wheel 210 is subjected to external force with upward component force in movement, the lifting mechanism 220 can passively adaptively extend. The active extension or shortening herein refers to the extension or shortening under the driving of the first power mechanism, and the passive adaptive extension refers to the extension without the driving of the first power mechanism. This configuration can well balance the two aspects of requirements that the automatic cleaning robot can adjust the lifting mechanism according to needs and can automatically extend the lifting mechanism when crossing the obstacle to reduce the falling height of the driven wheel 210 and avoid causing ground impact.

[0426] Specifically, as shown in FIG. 28, the driven wheel 210 includes a wheel frame 211 and a wheel 212, and the wheel 212 is pivotally connected to the wheel frame 211, and the driven wheel 210 of the embodiment is a universal wheel.

[0427] As shown in FIG. 28, the lifting mechanism 220 comprises a first shaft sleeve 221 and a second shaft sleeve 222, the second shaft sleeve 222 is embedded in the first shaft sleeve 221; the outer circumferential surface of the first shaft sleeve 221 is transmissionally connected with the power output end of the first power mechanism 500 as the power input end of the lifting mechanism 220; the inner circumferential surface of the first shaft sleeve 221 and the outer circumferential surface of the second shaft sleeve 222 form a threaded transmission relationship.

[0428] In combination with FIG. 23, when the first shaft sleeve 221 rotates under the action of the first power mechanism 500, the second shaft sleeve 222 can produce up and down movement, when the second shaft sleeve 222 moves downward, the lifting mechanism 220 is elongated, so that the distance between the universal wheel and the chassis 51 becomes longer, when the second shaft sleeve 222 moves upward, the lifting mechanism 220 is shortened, so that the distance between the universal wheel and the chassis 51 becomes shorter. The lifting mechanism provided in the embodiment, the first shaft sleeve 221 and the second shaft sleeve 222 are both rigid structures, the rotation movement of the input is converted into the linear movement of the output through the threaded cooperation between the rigid structures, so that the lifting mechanism controls the extension and contraction of the universal wheel through the threaded cooperation. When the second shaft sleeve 222 rotates in the direction of approaching the first shaft sleeve 221 (the second shaft sleeve moves upward), the lifting mechanism is shortened; when the second shaft sleeve 222 rotates out of the direction of approaching the first shaft sleeve 221 (the second shaft sleeve moves downward), the lifting mechanism is elongated.

[0429] In an optional embodiment, the inner circumferential surface of the second shaft sleeve 222 and the wheel carrier 211 can be relatively up and down movement together, when the first power mechanism 500 does not provide driving action to the lifting mechanism, the driven wheel 210 can move downward relative to the second shaft sleeve 222 under the preset condition; for example, the preset condition includes but is not limited to one of the following situations: the driven wheel 210 is in a state of off the ground and suspended, the body is subjected to an external force with upward component.

[0430] As shown in FIGS. 28 and 29, the wheel carrier 211 upwardly forms a guide portion 211a having a cylindrical outer circumferential surface; the second shaft sleeve 222 forms a first guide hole 222a extending along the axial direction of the second shaft sleeve 222 on the side facing the guide portion 211a, and the guide portion 211a extends into the first guide hole 222a from bottom to top and is slidably connected with the inner wall surface of the first guide hole 222a. This design makes the lifting mechanism 220 better passively adapt to elongation under the action of the gravity of the driven wheel 210 when the driven wheel 210 is in a suspended state.

[0431] As shown in FIGS. 28, 29 and 34, the lifting mechanism 220 further comprises a pull rod 223 and a second limiting mechanism 225; the second shaft sleeve 222 forms a second guide hole 222b above the first guide hole 222a;

[0432] The pull rod 223 comprises a head 223a and a rod portion 223b; the lower end of the rod portion 223b is connected with the guide portion 211a; the head 223a is located in the second guide hole 222b and is movable along the second guide hole 222b, a partition wall 222c is arranged between the second guide hole 222b and the first guide hole 222a, the partition wall 222c is provided with a communication hole 222d which communicates between the second guide hole 222b and the first guide hole 222a, the rod body extends into the first guide hole 222a through the communication hole 222d downward, and the communication hole 222d makes the head 223a unable to be pulled out downward;

[0433] The partition wall 222c is arranged at a position for limiting the maximum downward position of the pull rod 223; and the second limiting mechanism 225 is arranged at a position for limiting the maximum upward position of the pull rod 223 at the top of the second guide hole 222b.

[0434] Through the optional embodiment, the guiding effect of the second shaft sleeve and the wheel carrier during movement is well realized, and the distance of upward and downward movement is limited through the cooperation of the partition wall and the second limiting mechanism, so that the obstacle height of the cleaning device can be controlled and adapted in the mechanical structure.

[0435] As shown in FIG. 34, the bottom of the second shaft sleeve 222 is provided with the first limiting mechanism 224, which is used for limiting the rotation of the second shaft sleeve 222 with the first shaft sleeve 221.

[0436] Further in combination with FIG. 34, as an optional assembly embodiment of the above structure, the device main body 110 further comprises an upper cover 112, the upper cover 112 and the bottom disc 51 are buckled together to form an installation cavity 11a, the bottom disc 51 is provided with a through hole which is communicated with the installation cavity 11a; the lifting mechanism 220 is embedded in the installation cavity 11a; the first limiting mechanism 224 is fixed between the inner wall surface of the through hole of the bottom disc 51 and the outer peripheral surface of the second shaft sleeve 222; and the second limiting mechanism 225 is fixed on the upper cover 112 and the end thereof which faces the second guide hole 222b is inserted into the second guide hole 222b to limit the maximum upward position of the pull rod 223.

[0437] Optionally, in combination with FIGS. 30-34, the first power mechanism 500 of the embodiment comprises a driving source 510 and a transmission mechanism 520, the transmission mechanism 520 is arranged in the installation cavity 11a of the device main body 110, and the transmission mechanism 520 is optionally a gear transmission set, and the power output end is provided with a gear 522 which is sleeved on the outer periphery of the first shaft sleeve and forms a transmission connection relationship with the first shaft sleeve.

[0438] Optionally, as shown in FIGS. 23-27, the gear set has a total of five levels of gears, the first level of gear is a driving gear which is fixed together with the output shaft of the driving source (such as a motor).

[0439] Optionally, the gear set comprises a driving gear, a first-stage transmission gear, a second-stage transmission gear, a third-stage transmission gear and a driven gear. The driving gear is sleeved on the output shaft of the driving source 510 to be driven to rotate by the driving source 510. The first-stage transmission gear comprises coaxially arranged first transmission end (lower part) and second transmission end (upper part), the number of teeth of the first transmission end is greater than that of the second transmission end. The first transmission end is in meshing transmission connection with the driving gear. The second-stage transmission gear comprises coaxially arranged third transmission end (lower part) and fourth transmission end (upper part), the number of teeth of the third transmission end is less than that of the fourth transmission end. The third transmission end is in meshing transmission connection with the second transmission end of the first-stage transmission gear, and the fourth transmission end is in meshing transmission connection with the third-stage transmission gear. The side of the third-stage transmission gear away from the second-stage transmission gear is also in meshing transmission connection with the driven gear. The central region of the driven gear is provided with a rotating hole, and the outer circumferential surface of the top end of the first shaft sleeve 221 is provided with a rotating hole platform which is adaptively connected with the rotating hole. The cross-sectional shape of the rotating hole can include but is not limited to a square shape.

[0440] Through the meshing transmission connection between the driving gear, the first-stage transmission gear, the second-stage transmission gear, the third-stage transmission gear and the driven gear, the first shaft sleeve and the driving source have a suitable transmission ratio, so as to flexibly control the lifting speed of the lifting mechanism.

[0441] Further, in combination with FIGS. 23, 24, 26-1 and 26-2, the upper and lower ends of the first shaft sleeve 221 of the embodiment are provided with a first bearing 300 and a second bearing 400. The first shaft sleeve 221 is rotationally axially limited between the first bearing 300 and the second bearing 400. The first bearing 300 is arranged on the upper cover 112, and the second bearing 400 is arranged on the bottom shell.

[0442] The above improvement realizes dynamic and static cooperation and stable positioning during transmission, with low noise and high transmission efficiency. At the same time, the above assembly makes the walking mechanism of the application more compact and reasonable in overall structure, making the machine more compact.

[0443] As shown in FIGS. 28, 29 and 31, the walking mechanism further comprises a third elastic member arranged between the lifting mechanism 220 and the driven wheel 210. The third elastic member is an elastic member. The top wall surface and the peripheral wall surface of the inner wall surface of the first guide hole 222a surround an elastic member accommodating cavity with the top surface of the guide portion 211a. The elastic member is arranged in the elastic member accommodating cavity. When the driven wheel 210 moves downward, the axial length of the elastic member accommodating cavity becomes longer, and the elastic member is elongated.

[0444] Optionally, the driven wheel 210 is provided with one or more.

[0445] The main driving wheel 11 and the driven wheel 210 are arranged to have the following working relationship: when the machine body is lifted upward in the advancing direction with the walking mechanism as the supporting point, the telescopic mechanism of the driven wheel assembly 200 is elongated; when the walking mechanism crosses an obstacle, the telescopic mechanism of the driven wheel assembly 200 is shortened after the driven wheel assembly 200 contacts the ground.

[0446] Optionally, the cleaning robot embodiment further comprises a detection unit and a control unit.

[0447] The detection unit is configured to detect the movement information of the movement mechanism in the target area.

[0448] The control unit is configured to control the first power mechanism 500 to drive the lifting mechanism 220 to extend or retract according to the movement resistance information detected by the detection unit, so as to adjust the height of the driven wheel 210 relative to the chassis 51. Optionally, the movement resistance information includes obstacle information (such as obstacle properties, obstacle height, etc.). When the control unit determines that the cleaning robot can cross the obstacle according to the obstacle information, and needs to land to the normal state after the part of the machine body containing the universal wheel is lifted, the control unit controls the lifting mechanism 220 to extend, so that the height of the chassis 51 relative to the driven wheel 210 becomes higher; in another case, when the control unit determines that the walking mechanism has completed the crossing of the obstacle, the control unit controls the lifting mechanism 220 to shorten, so that the height of the chassis 51 relative to the driven wheel 210 returns to the preset relative height for normal walking after the walking mechanism has completed the crossing of the obstacle.

[0449] Through the above design, the problem of damage to the cleaning robot and poor overall structural stability and safety caused by the sudden landing of the universal wheel when the machine body needs to be adjusted to the normal state after the cleaning robot encounters an obstacle during operation in the prior art is well solved.

[0450] Optionally, a cleaning robot is also provided, which can include the walking mechanism (refer to any of the embodiments corresponding to Figures 4a-18b) and the driven wheel 210 (as described in any of the embodiments corresponding to Figures 23-40) described above.

[0451] Optionally, in this embodiment, the cleaning robot has a first attitude and a second attitude. In the first attitude, the machine body of the cleaning robot is in the second state (as shown in Figure 13a), and the driven wheel 210 is in a third position (not shown). In the second attitude, the machine body of the cleaning robot is in the second state (as shown in Figure 13a), and the driven wheel 210 is in a fourth position (not shown). The fourth position is different in height from the third position, for example, the fourth position is lower than the third position.

[0452] Optionally, in the embodiment, the position adjustment or switching of the driven wheel 210 between the third position and the fourth position is realized by the lifting mechanism 220, or the driven wheel 210 is adjusted to any position between the third position and the fourth position by the lifting mechanism 220.

[0453] Optionally, in an obstacle avoidance scenario of the embodiment, as shown in FIG. 13a, after detecting that there is an obstacle in front and the body running state is switched to the second state, the cleaning robot is controlled to run to a position where the vertical projection of the driven wheel 210 falls above the obstacle (for example, refer to FIG. 14a), and then the lifting mechanism 220 is controlled to extend to reduce the distance between the driven wheel 210 and the obstacle 82. In this way, the distance of the head of the body falling or falling during the obstacle crossing process can be reduced, thereby reducing the damage and influence on the body caused by the vibration of the body.

[0454] The cleaning robot according to the present application is described in detail above. In an embodiment of the present application, a cleaning system is also provided, wherein the cleaning system comprises a cleaning robot and a cleaning base station, the cleaning robot is mainly used for cleaning and absorbing debris on the ground and carpet, after the absorption is completed, the cleaning robot is moved to the cleaning base station by the driving assembly of the cleaning robot, the cleaning base station is used for sucking the debris collected by the cleaning robot and charging the cleaning robot. Exemplarily, the cleaning base station in the cleaning system at least comprises: a pile seat, a charging port, a dust collecting port and a pile returning signal emitting device.

[0455]

Second Description of the Cleaning Robot

[0456] In this part, the cleaning robot provided by the embodiment of the present application is described in a different description manner from the “First Description of the Cleaning Robot”.

[0457] As shown in FIGS. 4a to 5b, the embodiment provides a cleaning robot, which comprises a body 5 and a walking mechanism, the walking mechanism comprises a driving wheel walking unit, the driving wheel walking unit comprises:

[0458] A support 6 is arranged on the body 5; the connection manner of the support 6 and the body 5 can include two kinds, when the support 6 and the body 5 are connected by the first connection manner, the support 6 is fixed relative to the body 5 in any state of the cleaning robot; when the support 6 and the body 5 are connected by the second connection manner, the support 6 can move relative to the body 5 when the cleaning robot normally runs; the support 6 is fixed relative to the body 5 when the cleaning robot crosses obstacles;

[0459] A main driving wheel assembly comprises a main driving wheel 11 rotatably arranged on the support 6 and a main driving wheel power mechanism capable of driving the main driving wheel 11 to rotate relative to the support 6;

[0460] a swing arm assembly 4 comprising a swing arm 42 and a swing arm power mechanism drivingly connected to a power input end of the swing arm 42 for swinging the swing arm 42;

[0461] a secondary drive wheel assembly 3 comprising a secondary drive wheel 21 rotatably arranged at a power output end of the swing arm 42 and a secondary drive wheel power mechanism for driving the secondary drive wheel 21 to rotate relative to the power output end of the swing arm 42;

[0462] the primary drive wheel 11 and the secondary drive wheel 21 are arranged opposite to each other at left and right sides of the support 6; the primary drive wheel 11 is in contact with the surface 81 to be cleaned and drives the body 5 to move when the primary drive wheel 11 rotates relative to the support 6; the secondary drive wheel 21 is in contact with the surface 81 to be cleaned and drives the body 5 to move when the secondary drive wheel 21 rotates relative to the swing arm 42;

[0463] In the obstacle crossing process, the drive wheel walking unit is configured to include switching the cleaning robot between the first driving mode and the second driving mode; in the first driving mode, the cleaning robot is driven to move by the primary drive wheel assembly; in the second driving mode, the cleaning robot is driven to move by the secondary drive wheel assembly 3.

[0464] Further, the drive wheel walking unit is provided with two sets, one set of drive wheel walking unit is arranged at one side of the body 5, and the other set of drive wheel walking unit is arranged at the other side of the body 5. For example, one set of drive wheel walking unit is arranged at the left side of the body 5, and the other set of drive wheel walking unit is arranged at the right side of the body 5. The two sets of drive wheel walking units can be controlled together, and the two sets of drive wheel walking units drive the body 5 to move forward or cross obstacles together; the two sets of drive wheel walking units can also be controlled independently, and the two sets of drive wheel walking units drive the body 5 to turn or one side of the left and right sides of the body 5 to cross obstacles.

[0465] According to whether the cleaning robot crosses obstacles, the cleaning robot is provided with a normal moving mode and an obstacle crossing mode; when the cleaning robot is in the normal moving mode, the cleaning robot moves on the surface 81 to be cleaned in the first driving mode; the cleaning robot automatically detects whether there is an obstacle 82 that can be crossed in the moving direction, and if there is, the cleaning robot can automatically enter the obstacle crossing mode; when the cleaning robot is in the obstacle crossing mode, the cleaning robot can be controlled to switch between the first driving mode and the second driving mode according to the obstacle information; specifically, when there is an obstacle 82 that can be crossed in the moving direction, the cleaning robot is controlled to be in the second driving mode, so that the head of the body 5 is lifted and exceeds the height of the obstacle 82, and further the secondary drive wheel 21 drives the body 5 to move on the surface 81 to be cleaned to the obstacle 82; after the cleaning robot crosses to the top surface of the obstacle 82, the cleaning robot is controlled to be in the first driving mode.

[0466] The main drive wheel power mechanism drives the main drive wheel 11 to rotate, and the auxiliary drive wheel power mechanism drives the auxiliary drive wheel 21 to rotate, so the rotation speed of the main drive wheel 11 and the rotation speed of the auxiliary drive wheel 21 can have various control modes, and the following four control modes are listed: 1. The travel speed of the main drive wheel 11 and the travel speed of the auxiliary drive wheel 21 are different. The cleaning robot can have different travel speeds when it is in different driving modes; 2. The main drive wheel 11 and the auxiliary drive wheel 21 can be controlled to adjust the travel speed of the main drive wheel 11 and the auxiliary drive wheel 21 according to the type of the obstacle 82 and / or the height of the obstacle 82 and / or the distance between the body 5 and the obstacle 82, so as to adjust the crossing speed and crossing mode of the body 5; 3. When the cleaning robot is in the second driving mode, the travel speed of the auxiliary drive wheel 21 is not lower than the travel speed of the main drive wheel 11 when the cleaning robot is in the first driving mode, so as to better overcome the obstacle; specifically, when the cleaning robot is in the second driving mode, the auxiliary drive wheel 21 is resisted by the obstacle 82, and the body 5 relies on its own inertia to move forward, so the body 5 can move forward relative to the swing arm 42, and then the main drive wheel 11 can contact the top surface of the obstacle 82, so that the cleaning robot can smoothly cross the obstacle 82; 4. The main drive wheel power mechanism includes a differential, and the differential is in transmission connection with the main drive wheel 11 and the auxiliary drive wheel 21 respectively; the differential is configured such that the rotation speed of the auxiliary drive wheel 21 when the cleaning robot is in the second driving mode is greater than or equal to the rotation speed of the main drive wheel 11 when the cleaning robot is in the first driving mode.

[0467] The main drive wheel 11 and the auxiliary drive wheel 21 can be driven to rotate in linkage or independently, and the driving modes of the main drive wheel 11 and the auxiliary drive wheel 21 are further described below; as shown in FIGS. 6a and 6b, the main drive wheel power mechanism includes a main drive wheel motor 12, and the main drive wheel motor 12 is configured to be able to provide driving force for the main drive wheel 11 and the auxiliary drive wheel power mechanism; that is, the main drive wheel 11 and the auxiliary drive wheel 21 can be driven to rotate synchronously or asynchronously by the main drive wheel motor 12, and there is no need to set a motor for driving the auxiliary drive wheel 21 to rotate; or,

[0468] The main drive wheel 11 and the auxiliary drive wheel 21 can be driven respectively, the main drive wheel power mechanism includes a main drive wheel motor 12, and the main drive wheel motor 12 and the main drive wheel 11 are in driving connection; the auxiliary drive wheel power mechanism includes an auxiliary drive wheel motor, and the auxiliary drive wheel motor and the auxiliary drive wheel 21 are in driving connection; the rotation of the main drive wheel 11 and the rotation of the auxiliary drive wheel 21 do not affect each other, and such a setting can make the auxiliary drive wheel 21 stop rotating without the need to rotate, thereby saving energy.

[0469] The structure of the swing arm power mechanism is relatively important, and directly affects whether the cleaning robot can smoothly switch between the first driving mode and the second driving mode. The specific structure of the swing arm power mechanism is further described as follows. As shown in FIGS. 7a and 7b, the swing arm power mechanism further includes a rotating member 41, a swing arm transmission chain 44, and a swing arm motor. The rotating member 41 and the main driving wheel 11 are coaxially arranged, and the rotating member 41 is rotatably arranged on the support 6. The power input end of the rotating member 41 is formed with a transmission gear, the transmission gear is in gear transmission connection with the power output end of the swing arm transmission chain 44, the power input end of the swing arm transmission chain 44 is in driving connection with the swing arm motor, and the swing arm motor is arranged on the support 6. The rotating member 41 is formed with a power output end in a direction parallel to the axis of the rotating member 41. The power input end of the swing arm 42 and the power output end of the rotating member 41 are relatively rotatably matched together. In this way, the movement of the swing arm motor can be transmitted to the swing arm 42 through the swing arm transmission chain 44 and the rotating member 41. When the swing arm motor operates, the rotating member 41 can move with the swing arm 42.

[0470] H, L, and r satisfy: H > L + r. In this way, when the cleaning robot is climbing over an obstacle, the cleaning robot can be smoothly switched from the second driving mode to the first driving mode.

[0471] As shown in FIG. 17c, H is the vertical distance between the axis of the power input end of the swing arm 42 at the highest position and the horizontal plane where the lowest point of the main driving wheel 11 is located, L is the distance between the axis of the power input end of the swing arm 42 and the axis of the power output end of the swing arm 42, and r is the radius of the auxiliary driving wheel 21.

[0472] As shown in FIG. 17c, H is the vertical distance between the axis of the power input end of the swing arm 42 at the highest position and the horizontal plane where the lowest point of the main driving wheel 11 is located, L is the distance between the axis of the power input end of the swing arm 42 and the axis of the power output end of the swing arm 42, and r is the radius of the auxiliary driving wheel 21.

[0473] The power mechanism of the auxiliary driving wheel 21 is related to both the main driving wheel power mechanism and the swing arm assembly 4. The specific structure of the power mechanism of the auxiliary driving wheel 21 is further described as follows. As shown in FIGS. 6a to 8d, the auxiliary driving wheel power mechanism includes a rotating frame 414, an auxiliary driving wheel first transmission chain 31, and an auxiliary driving wheel second transmission chain 32.

[0474] The rotating member 41 includes a rotating disc. The outer circumferential side of the rotating disc is the power input end of the rotating member 41, that is, the outer circumferential side of the rotating disc is formed with a transmission gear.

[0475] The rotating frame 414 is fixedly arranged on the rotating disc and can synchronously rotate with the rotating disc.

[0476] The first transmission chain 31 of the auxiliary driving wheel is arranged on the rotating frame 414, and a power input end of the first transmission chain 31 of the auxiliary driving wheel is coaxially arranged with the main driving wheel 11. A power output shaft of the main driving wheel motor 12 is drivingly connected to the power input end of the first transmission chain 31 of the auxiliary driving wheel. Specifically, the main driving wheel motor 12 is a hub motor, a first power output end of the main driving wheel motor 12 is located at an outer circumferential side of the main driving wheel motor 12, a second power output end of the main driving wheel motor 12 is located at an axial center of the main driving wheel motor 12, and the second power output end is provided with the power output shaft. The main driving wheel 11 has a ring structure, and the main driving wheel 11 is sleeved on the outer circumferential side of the main driving wheel motor 12.

[0477] The second transmission chain 32 of the auxiliary driving wheel is arranged on the swing arm 42, and a power input end of the second transmission chain 32 of the auxiliary driving wheel is drivingly connected to a power output end of the first transmission chain 31 of the auxiliary driving wheel. A power output end of the second transmission chain 32 of the auxiliary driving wheel is drivingly connected to the auxiliary driving wheel 21. When the main driving wheel motor 12 operates, the main driving wheel motor 12 can drive the main driving wheel 11 to rotate, and the rotation can be transmitted to the auxiliary driving wheel 21 through the second transmission chain 32 of the auxiliary driving wheel and the first transmission chain 31 of the auxiliary driving wheel.

[0478] From the overall layout, the first transmission chain 31 of the auxiliary driving wheel is located at one axial side of the rotating disc, the second transmission chain 32 of the auxiliary driving wheel is located at the other axial side of the rotating disc, and the swing arm transmission chain 44 is located at the outer circumferential side of the rotating disc. In this way, the structure is compact, the three transmission chains do not interfere with each other, and the movement of the main driving wheel 11, the swing arm 42 and the auxiliary driving wheel 21 is accurate and stable.

[0479] As described above, the power input end of the swing arm 42 and the power output end of the rotating member 41 can be relatively rotatably matched together, and the connection structure of the swing arm 42 and the rotating member 41 will be further described below. As shown in FIGS. 9a and 9b, the rotating disc is formed with a boss 421, the boss 421 constitutes the power output end of the rotating member 41, the boss 421 is in a cylindrical shape, and the boss 421 is formed with an axial hole. The power input end of the swing arm 42 is formed with a shaft sleeve, the shaft sleeve is rotatably sleeved on the boss 421. That is, the swing arm 42 can rotate relative to the boss 421.

[0480] The axial hole is provided with a positioning shaft 33, one end of the positioning shaft 33 is drivingly connected to the power output end of the first transmission chain 31 of the auxiliary driving wheel, and the other end of the positioning shaft 33 is drivingly connected to the power input end of the second transmission chain 32 of the auxiliary driving wheel. In this way, the rotation of the power output end of the first transmission chain 31 of the auxiliary driving wheel can be transmitted to the power input end of the second transmission chain 32 of the auxiliary driving wheel through the positioning shaft 33.

[0481] In other embodiments, the rotating member 41 includes a rotating disc, the rotating disc includes a rotating gear and a rotating shell, the rotating shell is sleeved on the outer side of the rotating gear, and the rotating shell is fixedly connected with the rotating gear.

[0482] The rotating frame 414 is fixedly arranged on the side of the rotating tooth close to the rotating shell, and the rotating frame 414 is fixedly connected with the rotating shell, and the rotating frame 414 can rotate synchronously with the rotating tooth and the rotating shell;

[0483] The first transmission chain of the auxiliary driving wheel is arranged on the rotating frame 414, the power input end of the first transmission chain of the auxiliary driving wheel is coaxially arranged with the main driving wheel 11, and the power output shaft of the main driving wheel motor 12 is drivingly connected with the power input end of the first transmission chain of the auxiliary driving wheel through the support 6;

[0484] The second transmission chain of the auxiliary driving wheel is arranged on the swing arm 42, the power input end of the second transmission chain of the auxiliary driving wheel is drivingly connected with the power output end of the first transmission chain of the auxiliary driving wheel, and the power output end of the second transmission chain of the auxiliary driving wheel is drivingly connected with the auxiliary driving wheel.

[0485] Specifically, the rotating shell comprises a shell main body and a boss, the shell main body is arranged on the outer side of the rotating tooth, the cross section of the shell main body is substantially semicircular, the cross sectional area of the shell main body is larger than the area of the semicircle, the outer peripheral wall of the shell main body comprises a circular arc side wall and a planar side wall, the circular arc side wall is coaxially arranged with the main driving wheel, and the planar side wall is connected with the circular arc side wall;

[0486] The boss is formed on the planar side wall and away from the circular arc side wall, in the axial direction of the shell main body, the thickness of the boss is smaller than the thickness of the shell main body, and the boss constitutes the power output end of the rotating member;

[0487] On the side of the shell main body close to the rotating tooth, the rotating frame extends to the boss, the rotating frame is provided with a positioning shaft 33 at the position corresponding to the power output end of the first transmission chain of the auxiliary driving wheel, and the positioning shaft 33 is rotatably matched with the power output end of the first transmission chain of the auxiliary driving wheel and the power input end of the second transmission chain of the auxiliary driving wheel;

[0488] The power input end of the swing arm 42 is arranged on the boss, and the power input end of the swing arm 42 is formed with a swing arm shaft hole; one end of the positioning shaft 33 away from the rotating frame 414 penetrates through the swing arm shaft hole and is provided with a clamping piece, and the clamping piece enables the power input end of the swing arm, the boss and the positioning shaft to be rotatably matched;

[0489] The side of the shell main body away from the rotating tooth is provided with a limiting piece, and the limiting piece limits the swing arm 42 in the axial direction of the shell main body.

[0490] It should be noted that the swing arm transmission chain 44, the first transmission chain of the auxiliary driving wheel 31 and the second transmission chain of the auxiliary driving wheel 32 in the embodiment are all formed by a plurality of gears in sequence.

[0491] When the cleaning robot is converting from the first driving mode to the second driving mode, the swing arm 42 needs to satisfy the following conditions: it can rotate synchronously with the rotating member 41, and it can swing relative to the rotating member 41. The following further describes the structure required to achieve this process. The swing arm assembly 4 is further provided with a first elastic member 43 between the power output end of the rotating member 41 and the power input end of the swing arm 42. The first elastic member 43 is configured to store elastic potential energy when the power input end of the swing arm 42 swings relative to the power output end of the rotating member 41 in a first direction, and release elastic potential energy when the power input end of the swing arm 42 swings relative to the power output end of the rotating member 41 in a second direction.

[0492] The first direction is clockwise when viewed from one side (for example, the right side) of the body 5, and the second direction is counterclockwise when viewed from the side (for example, the right side) of the body 5.

[0493] Specifically, the first axial side is provided with a first limiting structure, and the first limiting structure includes a first limiting surface 411. The swing arm 42 is provided with a second limiting structure 422. The first elastic member 43 is limited between the first limiting surface 411 and the second limiting structure 422.

[0494] Further, the swing arm 42 is configured to swing relative to the power output end of the rotating member 41 in the first direction when the side close to the power output end of the swing arm 42 is subjected to a torque in the first direction by the obstacle 82.

[0495] When the side close to the power output end of the swing arm 42 is not subjected to a torque in the first direction, the power input end of the swing arm 42 swings relative to the power output end of the rotating member 41 in the second direction under the action of the first elastic member 43.

[0496] When the cleaning robot is converting from the first driving mode to the second driving mode, the swing arm 42 needs to satisfy the following conditions: it can rotate synchronously with the rotating member 41, and it can swing relative to the rotating member 41. The following further describes the structure required to achieve this process. The swing arm assembly 4 is further provided with a first elastic member 43 between the power output end of the rotating member 41 and the power input end of the swing arm 42. The first elastic member 43 is configured to store elastic potential energy when the power input end of the swing arm 42 swings relative to the power output end of the rotating member 41 in a first direction, and release elastic potential energy when the power input end of the swing arm 42 swings relative to the power output end of the rotating member 41 in a second direction.

[0497] The conversion of the cleaning robot from the first driving mode to the second driving mode is mainly achieved by adjusting the axis position of the auxiliary driving wheel 21, which will be described in detail as follows: the driving wheel walking unit is further configured to move the swing arm 42 with the auxiliary driving wheel 21 when the rotating member 41 is controlled to rotate, so that the axis position of the auxiliary driving wheel 21 changes.

[0498] When the cleaning robot is in the first driving mode, the axis of the auxiliary driving wheel 21 is located in front of the axis of the main driving wheel 11, and only the main driving wheel 11 is in contact with the top surface of the surface to be cleaned 81 or the obstacle 82.

[0499] When the cleaning robot is in the second driving mode, the axis of the auxiliary driving wheel 21 is located below the axis of the main driving wheel 11, and only the auxiliary driving wheel 21 is in contact with the top surface of the surface to be cleaned 81 or the obstacle 82; the swing arm 42 and the auxiliary driving wheel 21 can support the body 5 and make the head of the body 5 upwardly tilt.

[0500] When the cleaning robot is in the first driving mode, in order to avoid the swing arm 42 relative to the rotating disc to rotate, which generates noise or affects the movement of the body 5, the embodiment proposes two ways: ③ as shown in FIG. 12b, a third limiting structure 621 is designed on the support 6; the driving wheel walking unit is further configured to fix the swing arm 42 and the auxiliary driving wheel 21 relative to the support 6 under the action of the third limiting structure 621 and the first elastic member 43 when the cleaning robot is in the first driving mode; preferably, the swing arm 42 extends along the front-rear direction of the body 5 when the cleaning robot is in the first driving mode; ④ as shown in FIG. 12c, a first limiting surface 411 is designed to contact the swing arm 42; the swing arm 42 and the auxiliary driving wheel 21 are fixed relative to the support 6 under the action of the first limiting surface 411 and the first elastic member 43 when the cleaning robot is in the first driving mode; the first limiting surface 411 can make the swing arm 42 rotate with the rotating member 41 when the cleaning robot is converted from the first driving mode to the second driving mode;

[0501] Compared with the V-shaped first limiting structure in FIG. 12b, the first limiting structure in FIG. 12c can not only abut against the upper edge of the swing arm 42 when the rotating member 41 rotates in the first direction, so that the swing arm 42 moves with the rotating member 41, but also can limit the swing arm 42 when the swing arm is reset in the reset stage of the cleaning robot or when the cleaning robot is in the first driving mode; in other words, the first limiting structure in FIG. 12c can omit the third limiting structure 621.

[0502] Further, the driving wheel walking unit is further configured to project the axis of the power input end of the swing arm 42 on the central surface of the body 5 in the first quadrant of the rectangular coordinate system of the body 5 when the cleaning robot is in the first driving mode; and / or,

[0503] When the cleaning robot is in the second driving mode, the projection of the axis of the power input end of the swing arm 42 on the center plane of the machine body 5 is located in the third quadrant and / or the fourth quadrant of the rectangular coordinate system of the machine body 5.

[0504] The center plane of the machine body is a center plane extending along the front-rear direction of the machine body 5; the rectangular coordinate system of the machine body 5 is a rectangular coordinate system established on the center plane of the machine body 5, with the projection of the axis of the rotating member 41 on the center plane of the machine body 5 as the origin, with an axis parallel to the machine body 5 and directed toward the head of the machine body 5 as the horizontal axis (X-axis), and with an axis perpendicular to the machine body 5 and directed toward the top of the machine body 5 as the vertical axis (Y-axis);

[0505] In this way, it is ensured that when the cleaning robot is in the first driving mode, the auxiliary driving wheel 21 does not interfere with the main driving wheel 11, and the main driving wheel 11 can stably drive the machine body 5; and when the cleaning robot is in the second driving mode, the main driving wheel 11 does not interfere with the auxiliary driving wheel 21, and the auxiliary driving wheel 21 can stably drive the machine body 5.

[0506] According to different movement forms of the swing arm 42, the obstacle crossing process of the cleaning robot is divided into multiple stages, which will be further described below; as shown in FIGS. 12a-18b, the cleaning robot further has a third driving mode; when the cleaning robot is in the third driving mode, the auxiliary driving wheel 21 and the main driving wheel 11 simultaneously contact the top surface of the surface to be cleaned 81 or the obstacle 82;

[0507] The obstacle crossing process of the cleaning robot has an obstacle crossing preparation stage, a first obstacle crossing stage, a second obstacle crossing stage, and a reset stage, which are sequentially operated in time sequence;

[0508] When the cleaning robot normally walking judges that the obstacle 82 is crossable, the cleaning robot enters the obstacle crossing preparation stage;

[0509] In the obstacle crossing preparation stage, the cleaning robot is converted from the first driving mode to the second driving mode, the swing arm 42 and the auxiliary driving wheel 21 support the machine body 5 and make the head of the machine body 5 upwardly tilt; the machine body 5 is driven by the auxiliary driving wheel 21 to move until the main driving wheel 11 and / or the auxiliary driving wheel 21 contact the obstacle 82, the obstacle crossing preparation stage ends and the first obstacle crossing stage begins;

[0510] In the first obstacle crossing stage, the cleaning robot is converted from the second driving mode to the first driving mode, the machine body 5 is driven by the main driving wheel 11 to cross the obstacle until the swing arm 42 and the auxiliary driving wheel 21 contact the top surface of the obstacle 82, the first obstacle crossing stage ends and the second obstacle crossing stage begins;

[0511] In the second obstacle-crossing stage, the cleaning robot is converted from the first driving mode to the third driving mode, both the main driving wheel 11 and the auxiliary driving wheel 21 are in contact with the obstacle 82, and the main driving wheel 11 and the auxiliary driving wheel 21 jointly drive the body 5 to move until the cleaning robot enters the reset stage;

[0512] In the reset stage, the cleaning robot is converted from the third driving mode to the first driving mode, and the main driving wheel 11 drives the body 5 to continue moving.

[0513] The movement forms of the swing arm 42 in the obstacle-crossing process of the cleaning robot are further described below. The swing arm 42 has a first movement state, a second movement state, a third movement state, and a fourth movement state. The first movement state is that the swing arm 42 rotates with the rotating member 41 in the first direction. The second movement state is that the swing arm 42 swings relative to the rotating member 41 in the first direction. The third movement state is that the swing arm 42 rotates with the rotating member 41 in the second direction. The fourth movement state is that the swing arm 42 swings relative to the rotating member 41 in the second direction.

[0514] In the obstacle-preparation stage, the driving wheel walking unit is further configured to: the swing arm motor is controlled to operate, the rotating member 41 rotates in the first direction under the action of the swing arm transmission chain 44; the swing arm 42 is in the first movement state under the action of the power output end of the rotating member 41 and the first elastic member 43, the auxiliary driving wheel 21 moves downward, and then the auxiliary driving wheel 21 is in contact with the surface to be cleaned 81 and the lowest position of the auxiliary driving wheel 21 is lower than the lowest position of the main driving wheel 11, the main driving wheel 11 is separated from the surface to be cleaned 81, so that the cleaning robot is converted from the first driving mode to the second driving mode and the body 5 is driven to move by the auxiliary driving wheel 21;

[0515] In the first obstacle-crossing stage, the driving wheel walking unit is further configured to: the auxiliary driving is resisted by the obstacle 82, so that the swing arm 42 is in the second movement state, the auxiliary driving wheel 21 moves upward, and then the auxiliary driving wheel 21 is separated from the surface to be cleaned 81 and the main driving wheel 11 is in contact with the top surface of the obstacle 82, so that the cleaning robot is converted from the second driving mode to the first driving mode and the body 5 is driven to move by the main driving wheel 11;

[0516] In the second obstacle-crossing stage, the driving wheel walking unit is further configured to: the main driving wheel 11 drives the body 5 to move, and the auxiliary driving wheel 21 is in contact with the top surface of the obstacle 82; the swing arm motor is controlled to operate, the rotating member 41 rotates in the second direction under the action of the swing arm transmission chain 44; the swing arm 42 is in the third movement state under the action of the power output end of the rotating member 41 and the first elastic member 43, the auxiliary driving wheel 21 moves on the top surface of the obstacle 82, and then the cleaning robot is converted from the first driving mode to the third driving mode;

[0517] In the reset stage, the driving wheel walking unit is further configured to: the rotating part 41 continues to rotate in the second direction, under the action of the first elastic part 43, the swing arm 42 is in the fourth movement state and moves upward with the auxiliary driving wheel 21, and then the auxiliary driving wheel 21 and the top surface of the obstacle 82 are separated, so that the cleaning robot is converted from the third driving mode to the first driving mode and is driven to move by the main driving wheel 11.

[0518] Whether the cleaning robot can successfully cross the obstacle is related to the inclination angle of the chassis 51 of the robot body 5 when the head of the robot body 5 is lifted. The following further explains: in the second driving mode, the angle between the swing arm 42 and the forward horizontal line of the robot body 5 is α, with the axis of the auxiliary driving wheel 21 as the vertex, and α satisfies 90°≤α≤120° (see FIG. 13a); and / or, in the second driving mode, the angle between the chassis 51 of the robot body 5 and the surface to be cleaned 81 is β, and β satisfies 5°≤β≤35° (see FIG. 13a); and / or, in the second state, the horizontal plane in which the axis of the main driving wheel is located is higher than the top surface of the obstacle.

[0519] As described above, when the bracket 6 and the robot body 5 are connected by the second connection mode, the bracket 6 can move relative to the robot body 5 when the cleaning robot normally moves, and the bracket 6 is fixed relative to the robot body 5 when the cleaning robot crosses the obstacle. The following further explains the second connection mode of the bracket 6 and the robot body 5.

[0520] As shown in FIGS. 10a and 10b, the robot body 5 is provided with a fourth limiting structure 53; one end of the bracket 6 is rotatably arranged on the robot body 5, and the other end of the bracket 6 is provided with a sliding part 71; the sliding part 71 and the fourth limiting structure 53 have a separated state and a connected state.

[0521] When the sliding part 71 and the fourth limiting structure 53 are in the separated state, the sliding part 71 is away from the fourth limiting structure 53, and the bracket 6 can rotate relative to the robot body 5.

[0522] When the sliding part 71 and the fourth limiting structure 53 are in the connected state, the sliding part 71 and the fourth limiting structure 53 are connected together, and the bracket 6 is limited to rotate relative to the robot body 5, that is, the bracket 6 is fixed relative to the robot body 5.

[0523] Further, the sliding part 71 is arranged on a mounting seat 622 at one end of the bracket 6, the mounting seat 622 is provided with a sliding groove, and a second elastic part 72 is arranged between the sliding part 71 and the mounting seat 622; the sliding part 71 includes a limiting part and a sliding part arranged oppositely, the limiting part can cooperate with the fourth limiting structure 53, and the sliding part can slide with the sliding groove; the first limiting structure further includes a second limiting surface 412.

[0524] When the cleaning robot is in the first driving mode, the second limit surface 412 of the rotating member 41 can separate the limit portion and the fourth limit structure 53, i.e., the support 6 can rotate relative to the body 5;

[0525] When the cleaning robot is in the second driving mode, the limit portion and the fourth limit structure 53 are connected, i.e., the support 6 is fixed relative to the body 5;

[0526] Optionally, the first limit surface 411 and the second limit surface 412 of the first limit structure are integrally formed, and the first limit structure can be a V-shaped structure, and the opening of the V-shaped structure faces the radial outer side of the rotating member 41.

[0527] The connection position of the support 6 and the body 5 is further described below; the support 6 is arranged on the chassis 51 of the body 5, or,

[0528] The body 5 is internally formed with a mounting cavity 52, and the bottom of the mounting cavity 52 is formed with a mounting cavity 52 opening; the support 6 is arranged in the mounting cavity 52 through the mounting cavity 52 opening.

[0529] The swing arm transmission chain 44 is further described below, as shown in FIGS. 6a-9b, the swing arm transmission chain 44 at least includes a conversion input wheel 441 and a conversion output wheel 442 which are both rotatable, and the shaft center of the conversion input wheel 441 and the shaft center of the conversion output wheel 442 are both fixedly arranged; the output shaft of the swing arm motor is drivingly connected with the conversion input wheel 441, and the conversion output wheel 442 is in mesh with the transmission teeth of the rotating member 41; when the swing arm motor operates, the conversion input wheel 441 can transmit rotation to the conversion output wheel 442, and then the swing arm 42 can rotate with the rotating disc;

[0530] The swing arm transmission chain 44 further includes a plurality of conversion intermediate wheels 443, and the plurality of conversion intermediate wheels 443 are sequentially drivingly connected between the conversion input wheel 441 and the conversion output wheel 442; the conversion input wheel 441 can transmit rotation to the conversion output wheel 442 through the plurality of conversion intermediate wheels 443.

[0531] The first transmission chain 31 and the second transmission chain 32 of the secondary driving wheel are further described below, as shown in FIGS. 6a-9b, the first transmission chain 31 at least includes a first transmission chain input wheel 311 and a first transmission chain output wheel 312, and the first transmission chain input wheel 311 and the first transmission chain output wheel 312 are both rotatably arranged on the rotating frame 414; the second transmission chain 32 at least includes a second transmission chain input wheel 321 and a second transmission chain output wheel 322, and the second transmission chain input wheel 321 and the second transmission chain output wheel 322 are both rotatably arranged on the swing arm 42; one end of the positioning shaft 33 is connected with the first transmission chain output wheel 312, and the other end of the positioning shaft 33 is connected with the second transmission chain input wheel 321; the second transmission chain output wheel 322 and the secondary driving wheel 21 are coaxially arranged and can synchronously rotate;

[0532] When the first transmission chain input wheel 311 is driven to rotate, the first transmission chain output wheel 312 can rotate with the second transmission chain input wheel 321, and then the second transmission chain output wheel 322 can rotate with the auxiliary drive wheel 21;

[0533] Specifically, as shown in FIGS. 6a-6b, the auxiliary drive wheel first transmission chain 31 further includes a plurality of first transmission chain intermediate wheels 313, each of which is rotatably arranged on the rotating frame 414 and sequentially connected between the first transmission chain input wheel 311 and the first transmission chain output wheel 312; the first transmission chain input wheel 311 can transmit power to the first transmission chain output wheel 312 through the plurality of first transmission chain intermediate wheels 313.

[0534] The auxiliary drive wheel second transmission chain 32 further includes a plurality of second transmission chain intermediate wheels 323, each of which is rotatably arranged on the swing arm 42 and sequentially connected between the second transmission chain input wheel 321 and the second transmission chain output wheel 322; the second transmission chain input wheel 321 can transmit power to the second transmission chain output wheel 322 through the plurality of second transmission chain intermediate wheels 323.

[0535] The positions of the main drive wheel assembly, the swing arm assembly 4 and the auxiliary drive wheel assembly 3 on the support 6 are further described below. As shown in FIGS. 11a and 11b, the support 6 includes a support box 61 and a support cover 62. One side of the support box 61 is formed with a support first left cavity 611 and a support second left cavity 612. The main drive wheel assembly is arranged in the support first left cavity 611, and the swing arm motor is arranged in the support second left cavity 612.

[0536] The support cover 62 is arranged on the other side of the support box 61, and the support cover 62 and the support box 61 form a support first right cavity 631 and a support second right cavity 632 therebetween. The support first right cavity 631 and the support first left cavity 611 are oppositely arranged and are in communication through a first support hole 6114. The support second right cavity 632 and the support second left cavity 612 are oppositely arranged and are in communication through a second support hole 6122. The rotating member 41 is arranged in the support first right cavity 631, and the rotating shaft of the rotating member 41 is rotatably arranged on the support cover 62. The swing arm transmission chain 44 is arranged in the support second right cavity 632, and the swing arm motor is arranged in the support second left cavity 612.

[0537] The output shaft of the main drive wheel motor 12 is drivingly connected to the power input end of the auxiliary drive wheel first transmission chain 31 through the first support hole 6114, and the output shaft of the swing arm motor is drivingly connected to the power input end of the swing arm transmission chain 44 through the second support hole 6122.

[0538] The structure is compact, the occupied space of the driving wheel walking unit is reduced, the movements of the main driving wheel 11, the swing arm 42 and the auxiliary driving wheel 21 do not interfere with each other, and the stable movement of the cleaning robot is ensured.

[0539] Specifically, the circumferential side wall of the first left cavity 611 of the bracket is formed with a circumferential upper opening 6111 and a circumferential lower opening 6112 arranged opposite to each other, the opening area of the circumferential upper opening 6111 is smaller than that of the circumferential lower opening 6112; an axial one end of the first left cavity 611 of the bracket is formed with a first axial opening 6113, and an axial other end of the first left cavity 611 of the bracket is formed with a first bracket hole 6114, the first bracket hole 6114 communicates the first left cavity 611 of the bracket and the first right cavity 631 of the bracket; an axial one end of the second left cavity 612 of the bracket is formed with a second axial opening 6121, and an axial other end of the second left cavity 612 of the bracket is formed with a second bracket hole 6122, the second bracket hole 6122 communicates the second left cavity 612 of the bracket and the second right cavity 632 of the bracket; an axial one end of the second right cavity 632 of the bracket is formed with a third axial opening 6321, and the third axial opening 6321 communicates the second right cavity 632 of the bracket;

[0540] The main driving wheel 11 and the main driving wheel motor 12 are arranged in the first left cavity 611 of the bracket through the first axial opening 6113, the upper end of the main driving wheel 11 protrudes through the circumferential upper opening 6111, and the lower end of the main driving wheel 11 protrudes through the circumferential lower opening 6112 and is in contact with the surface to be cleaned 81; the conversion output wheel 442 and the rotating disc are arranged in the first right cavity 631 of the bracket, the conversion output wheel 442 is in an annular structure, and the axial one end of the rotating disc is arranged on the inside of the conversion output wheel 442; the output shaft of the main driving wheel motor 12 passes through the first bracket hole 6114 into the first right cavity 631 of the bracket and is drivingly connected with the first transmission chain input wheel 311;

[0541] The conversion input wheel 441 and the conversion intermediate wheel 443 are arranged in the second right cavity 632 of the bracket, and the swing arm motor is arranged in the second left cavity 612 of the bracket, the output shaft of the swing arm motor passes through the second bracket hole 6122 into the second right cavity 632 of the bracket and is drivingly connected with the conversion input wheel 441.

[0542] The bracket cover 62 is formed with a third bracket hole 623, the axial other end of the rotating disc is arranged in the third bracket hole 623 and located on the side of the bracket cover 62 away from the bracket box 61; the swing arm 42 and the auxiliary driving wheel 21 are both located on the side of the bracket cover 62 away from the bracket box 61.

[0543] The side of the bracket cover 62 away from the bracket box 61 is formed with a fourth limiting structure 53, when the auxiliary driving wheel 21 is in the first position, the swing arm 42 and the fourth limiting structure 53 are located on the same side of the rotating disc; the fourth limiting structure 53 is in an inverted L-shaped structure.

[0544] The support box 61 is formed with a support column 64 near one end of the second left cavity 612 of the support, the support column 64 is formed with a support shaft hole; the top of the installation cavity 52 is formed with a support rotating shaft 65, the support rotating shaft 65 passes through the support shaft hole, so that the support 6 and the body 5 are rotatably arranged together; the support cover 62 is provided with a mounting seat 622 away from the support shaft hole and away from one end of the support box 61.

[0545] During the obstacle crossing process of the cleaning robot, the head of the body 5 is converted from the horizontal state to the upwardly inclined state, and then to the horizontal state; in order to ensure the stability of the whole body 5, a damping mechanism needs to be arranged, and the damping mechanism of the cleaning robot will be further described below, the cleaning robot further comprises a driven wheel assembly, and the driven wheel assembly is arranged at least at the head of the body 5; preferably, the driven wheel assembly is also arranged at the tail of the body 5.

[0546] When the cleaning robot is in the second driving mode, the head of the body 5 is in the upwardly inclined state, and the maximum height of the head lifted by the auxiliary driving wheel 21 and the vertical height difference of the driven wheel assembly from the ground in this state are less than 10 cm, so that the cleaning robot can smoothly and stably cross the obstacle 82;

[0547] The driving wheel walking unit further comprises:

[0548] A detection module is arranged for acquiring obstacle information in front of the body;

[0549] A control module is arranged, which can determine whether the obstacle is a crossable obstacle according to the obstacle information, and automatically adjust the rotation speed of the main driving wheel 11 and / or the auxiliary driving wheel 21 and / or the rotation speed ratio of the main driving wheel 11 and the auxiliary driving wheel 21 according to the obstacle information and the crossing stage when the obstacle is a crossable obstacle, so as to cross the obstacle;

[0550] Preferably, when the obstacle is a crossable obstacle, the main driving wheel 11 and the auxiliary driving wheel 21 are synchronously preliminarily accelerated, for example, the main driving wheel 11 is increased from the first main driving rotation speed to the second main driving rotation speed, and the auxiliary driving wheel 21 is increased from the first auxiliary driving rotation speed to the second auxiliary driving rotation speed; during the obstacle crossing process, the rotation speed of the main driving wheel 11 and the auxiliary driving wheel 21 is dynamically adjusted according to the obstacle information and the crossing stage;

[0551] Further, if the detection module detects that the body is in the air or slips, the control module controls the main driving wheel 11 to increase the rotation speed and the auxiliary driving wheel 21 to decrease the rotation speed, for example, the control module controls the main driving wheel 11 to increase the rotation speed to the third main driving rotation speed and the auxiliary driving wheel 21 to decrease the rotation speed to the third auxiliary driving rotation speed;

[0552] Further, if the detection module detects that the body successfully crosses the obstacle, the control module controls the main drive wheel 11 and the auxiliary drive wheel 21 to gradually decelerate, for example, the main drive wheel 11 is reduced from the third main drive speed to the first main drive speed, and the auxiliary drive wheel 21 is reduced from the third auxiliary drive speed to the first auxiliary drive speed; wherein the first main drive speed is 50 RPM, the second main drive speed is 100 RPM, the third main drive speed is 120 RPM, the first auxiliary drive speed is 50 RPM, the second auxiliary drive speed is 90 RPM, and the third auxiliary drive speed is 80 RPM;

[0553] Further, when the main drive wheel 11 provides the main power, the auxiliary drive wheel 21 can be fine-tuned according to the obstacle information and the crossing stage to maintain overall stability.

[0554] In addition, at least the driven wheel assembly arranged at the head is used to provide shock absorption to the body 5 when the second driving mode is converted to the first driving mode.

[0555] The driven wheel assembly at the head includes a driven wheel and an extendable mechanism, the extendable mechanism is connected between the chassis 51 of the body 5 and the driven wheel, so that the distance between the driven wheel and the chassis 51 is variable; Specifically, the extendable mechanism realizes the variable distance between the driven wheel and the chassis 51 through a screw lifting mechanism.

[0556] The extendable mechanism not only includes the stability of the body 5 as a whole when the cleaning robot is normally running, but also plays a role in shock absorption when crossing obstacles. The extendable mechanism is further described as follows: the extendable mechanism includes a resilient mechanism; wherein, when the driven wheel is in a normal walking state of contacting the ground, the resilient mechanism is in a compressed state, and the connection between the extendable mechanism and the driven wheel is a hard connection; when the driven wheel is in a suspended state away from the ground, the resilient mechanism is in an elongated state, and the connection between the extendable mechanism and the driven wheel is an elastic connection.

[0557] Specifically, the extendable mechanism is configured to: when the body 5 is lifted upward in the direction of travel with the walking mechanism as the support point, the extendable mechanism is elongated; when the walking mechanism crosses the obstacle, the extendable mechanism is shortened after the driven wheel assembly contacts the ground.

[0558]

Explanation of the motion control method of the cleaning robot

[0559] The above describes the structural embodiments provided by the embodiments of the present application, and the motion control method of the cleaning robot provided by the embodiments of the present application is described below with reference to the accompanying drawings.

[0560] FIG. 19 is a flow diagram of a motion control method of a cleaning robot according to an embodiment of the present application.

[0561] In the embodiments of the present application, the cleaning robot can be a first cleaning robot, the first cleaning robot comprising a machine body and a walking mechanism, the walking mechanism comprising a main drive wheel assembly, an oscillating arm assembly and a secondary drive wheel 21, the main drive wheel assembly comprising a main drive wheel 11, the oscillating arm assembly comprising an oscillating arm 42, the secondary drive wheel 21 being rotatably arranged on the main drive wheel assembly through the oscillating arm assembly, and the walking state of the machine body being switchable from a first state to a second state (or switchable between the first state and the second state) under the action of the oscillating arm assembly. In addition, optionally, two walking mechanisms are provided, one walking mechanism being arranged on one side of the machine body and the other walking mechanism being arranged on the other side of the machine body; the two walking mechanisms can be controlled simultaneously or independently. For detailed description of the structure of the first cleaning robot, please refer to the first description of the cleaning robot in the foregoing, which will not be repeated here.

[0562] In the embodiments of the present application, the cleaning robot can be a second cleaning robot, the second cleaning robot comprising a machine body and a walking mechanism, the walking mechanism comprising a drive wheel walking unit, the drive wheel walking unit comprising: a support 6 arranged on the machine body; a main drive wheel assembly comprising a main drive wheel 11 rotatably arranged on the support 6 and a main drive wheel power mechanism for driving the main drive wheel 11 to rotate relative to the support 6; an oscillating arm assembly comprising an oscillating arm 42 and an oscillating arm power mechanism drivingly connected to a power input end of the oscillating arm 42 for oscillating the oscillating arm 42; and a secondary drive wheel assembly comprising a secondary drive wheel 21 rotatably arranged on a power output end of the oscillating arm 42 and a secondary drive wheel power mechanism for driving the secondary drive wheel 21 to rotate relative to the power output end of the oscillating arm 42, and the walking state of the machine body being switchable from a first state to a second state (or switchable between the first state and the second state) under the action of the oscillating arm assembly. In addition, optionally, two walking mechanisms are provided, one walking mechanism being arranged on one side of the machine body and the other walking mechanism being arranged on the other side of the machine body; the two walking mechanisms can be controlled simultaneously or independently. For detailed description of the structure of the second cleaning robot, please refer to the second description of the cleaning robot in the foregoing, which will not be repeated here.

[0563] That is to say, unless the first cleaning robot and the second cleaning robot are intentionally distinguished in the following, the motion control method provided in the embodiments is universal for the first cleaning robot and the second cleaning robot.

[0564] Referring to FIG. 19, the motion control method comprises the following processing.

[0565] S100: Control the cleaning robot to work in a first state.

[0566] In the first state, the cleaning robot drives the machine body to walk on a first support surface (for example, the to-be-cleaned surface 81 in FIG. 12a) based on the main drive wheel 11.

[0567] S120: Switch the cleaning robot from the first state to the second state under the target working environment.

[0568] In the second state, the cleaning robot travels on the first support surface based on the auxiliary driving wheel 21 driving the body, and the main driving wheel 11 is not in contact with the first support surface.

[0569] Alternatively, as an alternative to S120, it comprises: in response to the obstacle crossing instruction, controlling the cleaning robot to switch from the first state to the second state. In the second state, the cleaning robot travels on the surface to be cleaned 81 (for example, the first support surface) based on the auxiliary driving wheel 21 driving the body.

[0570] By adopting the motion control method provided in this embodiment, the cleaning robot can be controlled to switch between the first state and the second state, thereby meeting different working environment requirements.

[0571] In the case where the position of the auxiliary driving wheel 21 in the second state is set to be lower than the position of the main driving wheel 11 in the first state, by adopting the method provided in this embodiment, the front part of the chassis 51 of the cleaning robot can be lifted in the second state during cleaning, thereby providing space for crossing the obstacle 82.

[0572] Optionally, in an implementation manner of this embodiment, the number of main driving wheels 11 is 2, and correspondingly, the number of auxiliary driving wheels 21 is also 2. In the motion control method, in the first state, all auxiliary driving wheels 21 are not in contact with the first support surface; in the second state, according to the scene requirement, one or more auxiliary driving wheels 21 can be controlled to provide driving force for the travel of the cleaning robot.

[0573] FIG. 20 is a flow diagram of a motion control method of a cleaning robot according to an embodiment of the present application. Referring to FIG. 20, the method comprises the following processing procedures.

[0574] S100: Control the cleaning robot to work in the first state.

[0575] S220: Under the target working environment, control the cleaning robot to switch from the first state to the second state, so as to lift the front part of the chassis of the cleaning robot.

[0576] In this embodiment, the "target working environment" is a working environment that can trigger the cleaning robot to switch from the first state to the second state. Exemplarily, the target working environment can be an environment that needs to cross the obstacle 82, for example, to cross the steps.

[0577] In one specific application of the embodiment, the user can operate to indicate whether the cleaning robot is in the target working environment, or the cleaning robot can self-detect to determine whether it is in the target working environment, and the process of S220 is triggered in response to a signal indicating that the target working environment is detected.

[0578] Alternatively, as an alternative to S220, it includes: in response to the obstacle crossing instruction, controlling the cleaning robot to switch from the first state to the second state, so that the head of the chassis 51 of the body is lifted. For example, in response to an instruction (i.e., an obstacle crossing instruction) indicating that the cleaning robot is detected to be a set distance from an obstacle, the cleaning robot is controlled to switch from the first state to the second state; or, in response to an instruction (i.e., an obstacle crossing instruction) issued by the user to the cleaning robot through a remote controller or a button on the body, the cleaning robot is controlled to switch from the first state to the second state.

[0579] With the method provided by the embodiment, the front part of the chassis 51 of the cleaning robot is lifted by controlling the cleaning robot to switch from the first state to the second state. Due to the lifting of the front part of the chassis 51, and due to the driving action of the auxiliary drive wheel 21, the cleaning robot can meet the needs of various scenarios. For example, the chassis 51 provides space for crossing the obstacle 82 in the working environment of crossing the obstacle 82, etc.

[0580] Optionally, in some specific implementations of the embodiment, one or more of the following conditions are met.

[0581] In the second state, the forwardmost position of the auxiliary drive wheel 21 is behind the forwardmost position of the main drive wheel 11 in the direction of travel of the cleaning robot. In this way, it can be avoided as much as possible that the cleaning robot cannot cross the obstacle because the auxiliary drive wheel 21 contacts the obstacle before the main drive wheel 11. Or, in the first state and the second state, the axis of the auxiliary drive wheel 21 is in front of the axis of the main drive wheel 11. Or, in the second state, the angle between the swing arm 42 and the forward horizontal line of the body is controlled to be 90°-120° with the axis of the auxiliary drive wheel 21 as the vertex. Or, in the second state, the angle between the body and the surface to be cleaned 81 is controlled to be 5°-35°. Or, in the second state, the support structure provided at the tail of the body and the auxiliary drive wheel 21 together support the body. Or, in the first state, the lowest position of the auxiliary drive wheel 21 is higher than the lowest position of the main drive wheel 11, and in the second state, the lowest position of the auxiliary drive wheel 21 is lower than the lowest position of the main drive wheel 11. Or, in the second state, the speed of the body driven by the auxiliary drive wheel 21 is not lower than the minimum travel speed of the body driven by the main drive wheel assembly. Or, in the second state, the horizontal plane where the axis of the main drive wheel is located is higher than the top surface of the obstacle. At least some of the above conditions will be described below in conjunction with the drawings.

[0582] The first state and the second state of the cleaning robot according to the embodiment of the present application are described below with reference to the accompanying drawings. FIGS. 12a and 12b are state diagrams of the cleaning robot in the first state, and FIGS. 13a and 13b are state diagrams of the cleaning robot in the second state.

[0583] The cleaning robot further comprises a universal wheel 54 arranged at the front end of the chassis 51 and a support structure 55 arranged at the rear end of the chassis 51, and the universal wheel 54 and the support structure 55 are used to support the body 5. The installation cavity 52 is located behind the universal wheel 54 and in front of the support structure 55. Optionally, in an implementation manner of the embodiment, referring to FIGS. 12a-13b, the cleaning robot comprises a main drive wheel assembly (including the main drive wheel 11 and the rotating member 41), a sub drive wheel 21, the universal wheel 54 and the support structure 55, and the support structure 55 is located behind the main drive wheel 11 and the sub drive wheel 21 in the advancing direction of the cleaning robot. In the first state, the main drive wheel 11 supports the cleaning robot together with the universal wheel 54; and in the second state, the sub drive wheel 21 supports the cleaning robot together with the support structure 55. Such a structure makes the cleaning robot work in a relatively stable state in both the first state and the second state.

[0584] Optionally, in an implementation manner of the embodiment, the inclination degree of the cleaning robot relative to the first support surface in the first state is smaller than the inclination degree of the cleaning robot relative to the first support surface in the second state. Referring to FIGS. 12a and 12b, in the first state, the cleaning robot is parallel or nearly parallel to the first support surface (the inclination degree is very small or the inclination angle is 0), and in the second state, the cleaning robot has a certain inclination angle relative to the first support surface. If the inclination angle is upward in the advancing direction, it is convenient to cross the obstacle 82.

[0585] Optionally, in an implementation manner of the embodiment, referring to FIGS. 12a and 12b, the front part of the chassis 51 of the cleaning robot in the first state has a smaller height than the front part of the chassis 51 of the cleaning robot in the second state. In this way, the front part of the cleaning robot can be located above the obstacle 82 when crossing the obstacle 82, and the main drive wheel 11 can be conveniently stepped onto the obstacle.

[0586] A mode switching method according to the embodiment of the present application is described below, which is a method for controlling the cleaning robot to switch from the first state to the second state.

[0587] Optionally, in one implementation of the embodiment shown in FIGS. 19 and 20, the mode switching method is implemented in the following way: the auxiliary driving wheel 21 is switched from the non-working state (see FIGS. 12a and 12b) of not being in contact with the first support surface to the working state (see FIGS. 13a and 13b) of being in contact with the first support surface.

[0588] Optionally, in one implementation of the embodiment shown in FIGS. 19 and 20, the mode switching method is implemented in the following way: the auxiliary driving wheel 21 is switched from the non-working state (see FIGS. 12a and 12b) of not being in contact with the first support surface to the working state (see FIGS. 13a and 13b) of being in contact with the first support surface.

[0589] Optionally, in one implementation of the embodiment shown in FIGS. 19 and 20, the mode switching method is implemented in the following way: the auxiliary driving wheel 21 is switched from the non-working state (see FIGS. 12a and 12b) of not being in contact with the first support surface to the working state (see FIGS. 13a and 13b) of being in contact with the first support surface.

[0590] Optionally, in one implementation of the embodiment shown in FIGS. 19 and 20, the mode switching method is implemented in the following way: the auxiliary driving wheel 21 is switched from the non-working state (see FIGS. 12a and 12b) of not being in contact with the first support surface to the working state (see FIGS. 13a and 13b) of being in contact with the first support surface.

[0591] Optionally, in one implementation of the embodiment shown in FIGS. 19 and 20, the mode switching method is implemented in the following way: the auxiliary driving wheel 21 is switched from the non-working state (see FIGS. 12a and 12b) of not being in contact with the first support surface to the working state (see FIGS. 13a and 13b) of being in contact with the first support surface.

[0592] Optionally, in one implementation of the embodiment shown in FIGS. 19 and 20, the mode switching method is implemented in the following way: the auxiliary driving wheel 21 is switched from the non-working state (see FIGS. 12a and 12b) of not being in contact with the first support surface to the working state (see FIGS. 13a and 13b) of being in contact with the first support surface.

[0593] Optionally, in the above implementation manner, referring to FIGS. 12a-13b, the relative position relationship between the auxiliary driving wheel 21 and the main driving wheel 11 can be adjusted in any of the following situations.

[0594] Situation one: the relative position relationship between the auxiliary driving wheel 21 and the main driving wheel 11 is adjusted during the continuous advancing of the cleaning robot. In this way, the continuity of the cleaning work is guaranteed, and the cleaning efficiency is improved.

[0595] Situation two: the relative position relationship between the auxiliary driving wheel 21 and the main driving wheel 11 is adjusted during the continuous rotation of the main driving wheel 11. In this way, the working state of the main driving wheel 11 is not interrupted due to the mode switching, and the driving force of the main driving wheel 11 can be directly utilized for climbing and crossing when the cleaning robot crosses the obstacle 82 afterwards.

[0596] Situation three: the relative position relationship between the auxiliary driving wheel 21 and the main driving wheel 11 is adjusted in the state that the cleaning robot stops advancing. In this way, the stability of the cleaning robot as a whole during the mode switching is guaranteed.

[0597] Situation four: the relative position relationship between the auxiliary driving wheel 21 and the main driving wheel 11 is adjusted in the state that the main driving wheel 11 stops rotating. In this way, the stability of the cleaning robot as a whole during the mode switching is guaranteed.

[0598] Optionally, in the above implementation manner, referring to the description in the foregoing structural embodiment, the auxiliary driving wheel 21 is rotatably fixed to one end of the swing arm 42, the other end of the swing arm 42 is positioned on the rotating member 41, and the swing arm 42 has a first swing arm state of rotating with the rotating member 41. In this case, the relative position relationship between the auxiliary driving wheel 21 and the main driving wheel 11 can be adjusted in the following manner: the rotating member 41 is rotated along the advancing direction of the machine body, so that the swing arm 42 and the auxiliary driving wheel 21 on the swing arm 42 rotate with the rotating member 41 in the case that the swing arm 42 is in the first swing arm state.

[0599] FIG. 21 is a flowchart of a motion control method of a cleaning robot according to an embodiment of the present application. The method comprises the processes S100 and S220 (refer to FIG. 19), and S340: after the cleaning robot is switched from the first state to the second state, controlling the cleaning robot to travel to a target working environment.

[0600] For example, the target working environment includes: in the case that the target working environment is an environment in which the obstacle 82 needs to be crossed, the crossing of the obstacle 82 is completed or it is determined that the crossing of the obstacle 82 can be completed.

[0601] By using the method provided in the embodiment, the cleaning robot can be controlled to leave the target working environment.

[0602] Optionally, in one implementation of the embodiment, in the case that the target working environment is an environment in which the obstacle 82 needs to be crossed, in the processing S340, the cleaning robot is controlled to travel out of the target working environment, including the following cases:

[0603] Case one: the cleaning robot is controlled to travel to the first intermediate motion state.

[0604] Case two: the cleaning robot is controlled to travel to the first intermediate motion state and move for a target time in the first intermediate motion state. At this time, the target time is used to further ensure that the cleaning robot is in a balanced state of stable travel (for example, parallel to the support surface)

[0605] Wherein, the first intermediate motion state, as shown in FIG. 16a, is that the main drive wheel 11 and the auxiliary drive wheel 21 are both in contact with the second support surface (refer to the upper surface (including the corner) of the obstacle 82 in FIG. 16a), and the second support surface has a height difference with the first support surface.

[0606] Or, the first intermediate motion state, as shown in FIG. 16a, is that the cleaning robot is in a balanced state relative to the second support surface.

[0607] Or, the first intermediate motion state is a state in which the position of the head of the cleaning robot changes from high to low (which can determine that the cleaning robot can or will complete the crossing of the obstacle 82).

[0608] Further optionally, in one specific structure, referring to FIGS. 5a-5b, the auxiliary drive wheel 21 is rotatably fixed to one end of the swing arm 42, the other end of the swing arm 42 is positioned on the rotating member 41, and the swing arm 42 has a first swing arm state (refer to the state changes in FIGS. 12a-14b) of rotating with the rotating member 41 and a second swing arm state of rotating relative to the rotating member 41 under the action of an external force. Wherein, the external force can be the force of the obstacle 82 acting on the swing arm 42, including the force of the obstacle 82 resisting the movement trend of the swing arm 42. In addition, the external force can also be the tension of the elastic member arranged between the swing arm 42 and the rotating member 41, which will be described below.

[0609] In the second state, the swing arm 42 is in the first swing arm state. In this case, the cleaning robot can be controlled to travel to the first intermediate motion state in the following manner: the cleaning robot is controlled to travel from the second state to the first intermediate state and the first intermediate motion state in sequence. Referring to FIG. 14a, the first intermediate state includes that the swing arm 42 is in the first swing arm state and the main drive wheel 11 is in contact with the second support surface.

[0610] In other words, in this case, the cleaning robot travels based on the second state (Fig. 13a), and then sequentially experiences the first intermediate state (Fig. 14a) and the first intermediate motion state (Fig. 16a) in time sequence. In the process of entering the state shown in Fig. 16a from Fig. 14a, the contact of the main driving wheel 11 with the second support surface provides a force for climbing over the obstacle 82, thereby achieving the overpass of the obstacle 82.

[0611] Further optionally, between the first intermediate state and the first intermediate motion state, a second intermediate state is further included.

[0612] In one case, the second intermediate state is as shown in Fig. 15a, in which the swing arm 42 is in the second swing arm state, the main driving wheel 11 is in contact with the second support surface, and the swing arm 42 is in contact with the second support surface.

[0613] In another case, the second intermediate state is as shown in Fig. 15a, in which the swing arm 42 is in the second swing arm state, the main driving wheel 11 is in contact with the second support surface, and the swing arm 42 is in contact with the second support surface.

[0614] In other words, in the above two cases, the cleaning robot travels based on the second state (Fig. 13a), and then sequentially experiences the first intermediate state (Fig. 14a), the second intermediate state (Fig. 15a), and the first intermediate motion state (Fig. 16a) in time sequence, thereby achieving the overpass of the obstacle 82. The first intermediate state can be understood as the last state of the aforementioned obstacle overpass preparation phase or the initial state of the first obstacle overpass phase, the second intermediate state can be understood as a state that can exist in the first obstacle overpass phase, and the first intermediate motion state can be understood as a state that exists in the second obstacle overpass phase mentioned above.

[0615] Optionally, in one implementation of the embodiment, in the process S340, in the case where the target working environment is an environment in which the obstacle 82 needs to be overpassed, the cleaning robot is controlled to travel out of the target working environment in the following manner: the cleaning robot is controlled to travel to the second intermediate motion state. The second intermediate state is a state in which the cleaning robot is in a balanced state relative to the second support surface, or the second intermediate state is a state in which the position of the head of the cleaning robot changes from high to low.

[0616] Fig. 22 is a flow diagram of a motion control method of a cleaning robot according to an embodiment of the present application. Referring to Fig. 22, the motion control method includes processes S100, S220, S340 (see the related description of the embodiment shown in Fig. 21), and S460: controlling the cleaning robot to switch from the current wheel motion state to the first state. With this implementation, the swing arm 42 can be reset, thereby preparing for the next overpass of the obstacle 82.

[0617] Optionally, in one implementation of the embodiment, as shown in FIG. 16a, the current wheel motion state includes a first wheel motion state in which the main drive wheel 11 and the auxiliary drive wheel 21 are both in contact with the second support surface, and the second support surface has a height difference with the first support surface, and the second support surface is higher than the first support surface.

[0618] Optionally, in one implementation of the embodiment, the current wheel motion state includes a second wheel motion state in which the main drive wheel 11 is in contact with the second support surface and the auxiliary drive wheel 21 is not in contact with the second support surface. The second support surface has a height difference with the first support surface, and the second support surface is higher than the first support surface. In this implementation, the axis of the auxiliary drive wheel 21 is located behind the axis of the main drive wheel 11, so that the auxiliary drive wheel 21 is not in contact with the second support surface when the main drive wheel 11 is in contact with the second support surface.

[0619] Optionally, in one implementation of the embodiment, the processing S460 is implemented in the following manner:

[0620] The relative position relationship between the auxiliary drive wheel 21 and the main drive wheel 11 is adjusted so that the auxiliary drive wheel 21 moves from the current position to a second target position. For example, as shown in FIG. 18a, in the second target position, the auxiliary drive wheel 21 can be hidden inside the body shell. Comparing FIG. 18a and FIG. 16a, the lowest position of the auxiliary drive wheel 21 in the first intermediate motion state (FIG. 16a) is lower than the lowest position of the auxiliary drive wheel 21 in the second target position (FIG. 18a), and the lowest position of the auxiliary drive wheel 21 in the second target position is higher than the lowest position of the main drive wheel 11 (FIG. 16a). In this implementation, the reset of the swing arm 42 can be achieved by adjusting the relative position relationship between the auxiliary drive wheel 21 and the main drive wheel 11.

[0621] It should be noted that, with reference to FIGS. 16a-18a, in the process of resetting the swing arm 42, in the case where a torsion spring or similar structure is provided between the swing arm 42 and the rotating member 41, the auxiliary drive wheel 21 can be in contact with the second support surface for a certain period of time.

[0622] Optionally, in this implementation, when the current state is the first current wheel motion state, the axis of the auxiliary drive wheel 21 is located behind the axis of the main drive wheel 11. At this time, the relative position relationship between the auxiliary drive wheel 21 and the main drive wheel 11 is adjusted in the following manner: the position of the auxiliary drive wheel 21 relative to the main drive wheel 11 is adjusted so that the axis of the auxiliary drive wheel 21 is in front of the axis of the main drive wheel 11. Specifically, with reference to FIG. 16a, the axis of the auxiliary drive wheel 21 is behind the axis of the main drive wheel 11, and after changing to FIG. 18a, the axis of the auxiliary drive wheel 21 is in front of the axis of the main drive wheel 11. In this way, the reset of the swing arm 42 is achieved.

[0623] More specifically, in one specific structure, referring to Figs. 8a-8d, the sub-driving wheel 21 is rotatably fixed at one end of the swing arm 42, the other end of the swing arm 42 is positioned on the rotating member 41, the swing arm 42 has a first swing arm state (referring to the state changes in Figs. 12a-14b) that rotates with the rotating member 41 and a second swing arm state (referring to the state changes in Figs. 15a and 16a) that rotates relative to the rotating member 41 under the action of an external force. In this structure, the swing arm 42 is caused to change from the second swing arm state to the first swing arm state by rotating the rotating member 41 in the backward direction of the cleaning robot. Referring to Figs. 16a, 17a and 18a, the rotating member 41 is rotated in the backward direction of the cleaning robot, so that the swing arm 42 moves and in turn changes the position of the sub-driving wheel 21 under the action of the rotating member 41.

[0624] For example, in the process of the swing arm 42 changing from the second swing arm state to the first swing arm state, the swing arm 42 includes a first stage (for example, in the case where a torsion spring is connected between the swing arm 42 and the rotating member 41, the torsion spring deforms to generate the first stage), a second stage (for example, in the case where a torsion spring is connected between the swing arm 42 and the rotating member 41, when the torsion spring deforms sufficiently large, the swing arm 42 is caused to rotate upward rapidly under the combined action of the rotation of the rotating member 41 and the deformation of the torsion spring) in which the swing arm 42 rotates in the same direction as the rotating member 41 and the rotational speed of the former is greater than that of the latter, and a third stage (in the case where the second support surface does not generate frictional resistance to the sub-driving wheel 21, the torsion spring in the natural state can achieve the limiting action between the rotating member 41 and the swing arm 42, so that the swing arm 42 rotates with the rotating member 41) in which the swing arm 42 rotates with the rotating member 41. Of course, other possibilities exist, for example, when the swing arm 42 just escapes from the friction of the second support surface when the rotating member 41 rotates to the limit position, there can be no third stage or the third stage in this case can be understood as a state reached instantaneously.

[0625] The control actions associated with other components can be performed while the rotation of the rotating member 41 is adjusted. For example, in one specific structure, referring to Figs. 4c-4d, 5a-5b, 10a-11b, the cleaning robot is provided with a slide 71 that is slidable on the support 6 of the main driving wheel assembly, the cleaning robot is provided with a fourth limiting structure 53 for engaging with the slide 71 on the body 5 of the cleaning robot, and the rotating member 41 is provided with a second limiting surface 412 for abutting against the slide 71. At this time, adjusting the rotation angle of the rotating member 41 includes: adjusting the rotating member 41 to a target angle, at which the second limiting surface 412 abuts against the slide 71 to cause the slide 71 to be in a separated state of not being engaged by the fourth limiting structure 53, and in the case where the second limiting surface 412 does not abut against the slide 71, the slide 71 is in a matched state of being engaged by the fourth limiting structure 53.

[0626] In this way, the slider 71 can be controlled to achieve the effects mentioned in the foregoing structural embodiments while controlling the reset of the swing arm 42, which will not be repeated here.

[0627] The embodiments of the present application also provide a motion control method of a cleaning robot, wherein the cleaning robot can be a first cleaning robot, the first cleaning robot comprising a body and a walking mechanism, the walking mechanism comprising a main drive wheel assembly, a swing arm assembly and a secondary drive wheel 21, the main drive wheel assembly comprising a main drive wheel 11, the swing arm assembly comprising a swing arm 42, the secondary drive wheel 21 being rotatably arranged on the main drive wheel assembly through the swing arm assembly, and the walking state of the body being switchable from a first state to a second state (or switchable between the first state and the second state) under the action of the swing arm assembly. In addition, optionally, two walking mechanisms are provided, one walking mechanism being arranged on one side of the body and the other walking mechanism being arranged on the other side of the body; the two walking mechanisms can be controlled simultaneously or independently. For the detailed description of the structure of the first cleaning robot, please refer to the foregoing first description of the cleaning robot, which will not be repeated here.

[0628] In the embodiments of the motion control method provided by the present application, the cleaning robot can be a second cleaning robot, the second cleaning robot comprising a body and a walking mechanism, the walking mechanism comprising a drive wheel walking unit, the drive wheel walking unit comprising: a bracket 6 arranged on the body; a main drive wheel assembly comprising a main drive wheel 11 rotatably arranged on the bracket 6 and a main drive wheel power mechanism for driving the main drive wheel 11 to rotate relative to the bracket 6; a swing arm assembly comprising a swing arm 42 and a swing arm power mechanism drivingly connected to a power input end of the swing arm 42 for swinging the swing arm 42; and a secondary drive wheel assembly comprising a secondary drive wheel 21 rotatably arranged on a power output end of the swing arm 42 and a secondary drive wheel power mechanism for driving the secondary drive wheel 21 to rotate relative to the power output end of the swing arm 42, and under the action of the swing arm assembly, the walking state of the body is switchable from a first state to a second state (or switchable between the first state and the second state). In addition, optionally, two walking mechanisms are provided, one walking mechanism being arranged on one side of the body and the other walking mechanism being arranged on the other side of the body; the two walking mechanisms can be controlled simultaneously or independently. For the detailed description of the structure of the second cleaning robot, please refer to the foregoing second description of the cleaning robot, which will not be repeated here.

[0629] That is to say, unless the first cleaning robot and the second cleaning robot are intentionally distinguished, the motion control method provided by the present embodiment is universal for the first cleaning robot and the second cleaning robot.

[0630] In the present embodiment, as shown in the solid line block in FIG. 42, the motion control method comprises:

[0631] S500: Control the cleaning robot to work in a first state. In the first state, the cleaning robot drives the robot body to travel on the surface to be cleaned based on the main drive wheel.

[0632] S520: In response to the obstacle-crossing instruction, control the cleaning robot to switch from the first state to a second state, so that the head of the chassis of the robot body is lifted. In the second state, the cleaning robot drives the robot body to travel on the surface to be cleaned based on the auxiliary drive wheel.

[0633] With the embodiment, the front part of the chassis 51 of the cleaning robot is lifted by switching the cleaning robot from the first state to the second state. Due to the lifting of the front part of the chassis 51 and the driving effect of the auxiliary drive wheel 21, the cleaning robot can meet the needs of various scenes. For example, the chassis 51 provides space for crossing the obstacle 82 in the working environment of crossing the obstacle 82, etc.

[0634] It should be noted that S520 in the embodiment can be understood as an alternative or equivalent way of S100 in the foregoing embodiment, and S502 can be understood as an alternative or equivalent way of S120 and S220 in the foregoing embodiment. Therefore, the understanding of the implementation manner, beneficial effects, etc. of S500 and S520 in the embodiment can also be correspondingly referred to the description of S100 and S120 and S220 in the foregoing embodiment.

[0635] Optionally, in an implementation manner of the embodiment, the first state and / or the second state satisfies at least one of the following conditions.

[0636] In the second state, the most forward position of the auxiliary drive wheel 21 is controlled to be behind the most forward position of the main drive wheel 11 in the direction of travel of the cleaning robot. In this way, the situation that the cleaning robot cannot cross the obstacle because the auxiliary drive wheel 21 contacts the obstacle first can be avoided as much as possible. Or, in the first state and the second state, the axis of the auxiliary drive wheel 21 is controlled to be in front of the axis of the main drive wheel 11. Or, in the second state, the angle between the swing arm 42 and the forward horizontal line of the robot body is controlled to be 90°-120° with the axis of the auxiliary drive wheel 21 as the vertex. Or, in the second state, the angle between the robot body and the surface to be cleaned 81 is controlled to be 5°-35°. Or, in the second state, the support structure arranged at the tail of the robot body is controlled to support the robot body together with the auxiliary drive wheel 21. Or, in the first state, the lowest position of the auxiliary drive wheel 21 is controlled to be higher than the lowest position of the main drive wheel 11, and in the second state, the lowest position of the auxiliary drive wheel 21 is controlled to be lower than the lowest position of the main drive wheel 11. Or, in the second state, the travel speed of the robot body driven by the auxiliary drive wheel 21 is controlled to be not lower than the minimum travel speed of the robot body driven by the main drive wheel assembly. Or, in the second state, the horizontal plane where the axis of the main drive wheel is located is higher than the top surface of the obstacle.

[0637] Optionally, in an implementation form of the embodiment, in S520, the cleaning robot is controlled to switch from the first state to the second state in response to an instruction (i.e., an obstacle-crossing instruction) indicating that the cleaning robot is detected to be at a set distance from the obstacle in the direction of travel of the cleaning robot, or in response to an instruction (i.e., an obstacle-crossing instruction) issued by the user to the cleaning robot through the remote controller or the button on the body, or in response to an instruction (i.e., an obstacle-crossing instruction) indicating that the cleaning robot is detected to be at a set distance from the obstacle in the direction of travel of the cleaning robot and the height of the obstacle is less than a set height.

[0638] Optionally, in an implementation form of the embodiment, in S520, the cleaning robot is controlled to switch from the first state to the second state, including: controlling the swing arm 42 to swing downward of the body to adjust the relative position relationship between the auxiliary drive wheel 21 and the main drive wheel 11, so that in the second state, the head position of the cleaning robot is raised to a target height or a target inclination angle, the target height and the target inclination angle are set values (e.g., determined values set according to experimental values or according to empirical values), or are related to the height of the obstacle in the target working environment. In addition, the target height and the target inclination angle can have multiple set values, and the multiple set values correspond to different obstacle-crossing states of the cleaning robot respectively. For example, the first target height / first target inclination angle can be used when preparing to cross the obstacle, and the second target height / second target inclination angle can be used when attempting to cross the obstacle for the second time after the first obstacle-crossing fails. Exemplarily, the first target height / first target inclination angle is greater than the second target height / second target inclination angle.

[0639] Optionally, in an implementation form of the embodiment, in S520, in response to the obstacle-crossing instruction, the swing arm 42 is controlled to swing downward of the body during the process of controlling the cleaning robot to continue advancing, so that the cleaning robot switches from the first state to the second state. Or, in response to the obstacle-crossing instruction, the cleaning robot is controlled to stop advancing, and the swing arm 42 is controlled to swing downward of the body, so that the cleaning robot switches from the first state to the second state.

[0640] In an embodiment of the present application, as shown in the dashed box in FIG. 42, after S520, S540 is further included: in the second state, performing an obstacle-crossing pre-control process in response to an obstacle-crossing blocked instruction, the obstacle-crossing pre-control process at least including controlling the swing arm to swing to change the posture of the swing arm. Wherein, the posture of the swing arm can be understood as the inclination degree of the swing arm relative to the surface to be cleaned.

[0641] Wherein, the swing of the swing arm 42 can adjust the distance between the auxiliary drive wheel 21 and the chassis 51 of the body, and further adjust the head lifting degree of the chassis 51 of the body, or the swing of the swing arm 42 can adjust the included angle between the swing arm 42 and the forward horizontal line of the body.

[0642] Specifically, the obstacle-avoidance-pre-control processing in response to the obstacle-avoidance-obstruction instruction includes at least one of the following cases.

[0643] Case one: in response to the first obstacle-avoidance-obstruction instruction indicating that the head of the machine body is blocked by the obstacle, the swing arm 42 is controlled to swing downward of the machine body to increase the head-lifting degree of the chassis of the machine body. For example, in the process of traveling based on the second state, if a collision is detected by the collision sensor on the head of the machine body (front collision structure), the swing arm 42 can be controlled to swing downward of the machine body to increase the head-lifting degree of the chassis of the machine body. Of course, before swinging, the height of the obstacle can be compared with the obstacle-avoidance height of the cleaning robot (i.e., the maximum height of the obstacle that can be climbed), and if it is determined that the former is less than the latter and thus it is determined that it can be climbed, the swing processing is performed. In the case of determining that it cannot be climbed, a reminder (in the form of sound, light, electricity, etc. without limitation) can be issued to attract the attention of the user, or the work can be paused, or the travel route can be changed.

[0644] Case two: in response to the second obstacle-avoidance-obstruction instruction indicating that the auxiliary drive wheel 21 contacts the obstacle while the main drive wheel 11 does not contact the obstacle, the swing arm 42 is controlled to swing upward of the machine body to reduce the head-lifting degree of the chassis of the machine body. For example, the auxiliary drive wheel 21 is detected by the camera to contact the obstacle while the main drive wheel 11 does not contact the obstacle, and the swing arm 42 is controlled to swing upward of the machine body. In this way, the head of the chassis of the machine body is lowered to facilitate the contact of the main drive wheel 11 with the obstacle to complete the climbing. Of course, there can be a case where the swing arm 42 is controlled to swing multiple times and still cannot make the main drive wheel 11 contact the obstacle, in which case, reference can be made to case three, or the cleaning robot can issue a reminder (in the form of sound, light, electricity, etc. without limitation) to attract the attention of the user, or pause the work, or change the travel route.

[0645] In addition, in response to the second obstacle-avoidance-obstruction instruction, the swing arm 42 can also be controlled to continuously swing downward of the machine body to move the machine body forward, so that on the one hand, the main drive wheel 11 moves forward as the machine body moves forward, improving the possibility of the main drive wheel 11 removing the obstacle; on the other hand, if the swing arm 42 is continuously controlled to swing after the swing arm 42 swings to the limit position (perpendicular to the surface to be cleaned), the swing arm 42 will be bent backward, and in some scenarios, the main drive wheel 11 can contact the obstacle as the machine body falls downward.

[0646] In the third case, in response to the third obstacle-surmounting blocked instruction indicating that the lowest position of the main driving wheel 11 cannot contact the obstacle, the swing arm 42 is controlled to swing downward relative to the machine body, so that the angle between the swing arm 42 and the forward horizontal line of the machine body is 90-95 degrees or 91-94 degrees with the axis of the auxiliary driving wheel 21 as the vertex. In this way, in the case where it is determined that the lowest position of the main driving wheel 11 cannot contact the obstacle, the swing arm 42 can be controlled to maintain the cleaning robot in the second state, while making the swing arm 42 as close as possible to the state of being perpendicular to the cleaning surface 81. In this way, at a certain speed (which can be a set speed obtained through pre-experiment), the swing arm 42 can be relatively easily bent backward relative to the rotating member 41 due to the obstruction of the obstacle, and then the main driving wheel 11 falls on the surface of the obstacle.

[0647] In the third case, for example, according to experimental data or according to the specifications of the swing arm 42, the main driving wheel 11 and the auxiliary driving wheel 21, etc., it can be determined in advance which heights are heights at which the cleaning robot cannot make the main driving wheel 11 contact the obstacle before the auxiliary driving wheel 21 in the second state, and these heights are pre-stored as non-contact heights. In this way, in the second state, the cleaning robot can determine that the height of the obstacle belongs to the non-contact height, and then control the angle between the swing arm 42 and the forward horizontal line of the machine body to be 90-95 degrees (with the axis of the auxiliary driving wheel 21 as the vertex).

[0648] In addition, in addition to the above three cases, the swing arm can also be adjusted step by step in response to the obstacle-surmounting blocked instruction, and the obstacle is surmounted after each step of swing adjustment, until the obstacle cannot be surmounted after a certain number of swing adjustments, or until the obstacle is successfully surmounted within a certain number of times. In this way, the success rate of obstacle surmounting can be improved. The amplitude of each step of swing adjustment can be determined according to experimental data, which is not limited here.

[0649] The step-by-step swing adjustment can be step-by-step adjustment along a first direction (e.g., clockwise), and then step-by-step adjustment along a second direction different from the first direction (e.g., counterclockwise); or the step-by-step swing adjustment can be step-by-step adjustment along the first direction to a target position (e.g., a position close to making the swing arm perpendicular to the cleaning surface, or a position close to making the main driving wheel abut against the cleaning surface), and then step-by-step adjustment along the second direction.

[0650] In this embodiment, in S540, the obstacle-surmounting pre-control process further includes: before controlling the swing arm to swing, controlling the cleaning robot to move backward (e.g., moving backward by a set distance, or moving backward at a set speed for a set time); and after controlling the swing arm to swing, controlling the cleaning robot to move forward. In this way, space can be created for controlling the swing arm 42 to swing, and interference of the obstacle with the swing arm 42 due to the cleaning robot being too close to the obstacle can be avoided.

[0651] In one embodiment of the present application, as shown in the dashed box in FIG. 42, after S520, or after S540, S560 is further included: in response to the obstacle-crossing completion instruction, controlling the cleaning robot to switch to the first state. That is, controlling the cleaning robot to switch from the state after completing the obstacle crossing to the first state.

[0652] The obstacle-crossing completion instruction is used to indicate that the obstacle crossing has been completed, for example, the stair climbing or stair descending has been completed, etc.

[0653] For example, in response to the instruction indicating that the robot body is in a balanced state relative to the to-be-cleaned surface 81 detected after the obstacle-crossing instruction, the cleaning robot is controlled to switch to the first state. Wherein, the robot body being in a balanced state relative to the to-be-cleaned surface 81 belongs to the conventional understanding in the art, for example, in some scenarios, the attitude of the cleaning robot can be detected according to the built-in sensors (such as accelerometers, gyroscopes, etc.), and whether the cleaning robot is in a balanced state relative to the to-be-cleaned surface 81 is determined according to whether the attitude of the cleaning robot is maintained stable within a set time; in some scenarios, whether the cleaning robot is in a balanced state can also be determined according to whether the robot body (for example, the chassis of the robot body or the upper surface of the robot body) and the to-be-cleaned surface 81 are parallel or close to parallel within a set time.

[0654] With the present embodiment, the cleaning robot can be controlled to switch to the first state after obstacle crossing, so as to restore the normal traveling state and prepare for the next obstacle crossing.

[0655] Optionally, in one implementation manner of the present embodiment, in S560, the cleaning robot can be controlled to switch to the first state in the following manner.

[0656] Controlling the swing arm 42 to swing upwards relative to the robot body, so as to switch the cleaning robot from the first intermediate motion state to the first state, in the first intermediate motion state, the main drive wheel 11 and the auxiliary drive wheel 21 are both in contact with the to-be-cleaned surface 81 (refer to FIG. 16a, the to-be-cleaned surface 81 here can be the surface of the obstacle, or the to-be-cleaned surface newly arrived after passing through the obstacle). That is, after obstacle crossing, the cleaning robot can be in the first intermediate motion state.

[0657] Or, controlling the swing arm 42 to swing upwards relative to the robot body, so as to switch the cleaning robot from the first intermediate motion state to the first state (refer to FIGS. 17a-18a).

[0658] Or, the swing arm 42 is controlled to swing upward to a target position relative to the machine body, so that the cleaning robot switches to the first state (see FIG. 18a), in which the target position is a preset initial position of the swing arm 42. After each time of crossing the obstacle, the swing arm 42 is reset to the initial position.

[0659] In response to the obstacle-crossing completion instruction, the swing arm 42 can be controlled to swing upward relative to the machine body in the process of controlling the cleaning robot to continue moving, or the cleaning robot can be controlled to stop moving and the swing arm 42 can be controlled to swing upward relative to the machine body to reset the swing arm 42.

[0660] It should be noted that the swing arm 42 is controlled to swing downward relative to the machine body in S520 and S540, and the swing arm 42 is controlled to swing upward relative to the machine body in S560. The control process will be described in detail in combination with specific structures.

[0661] In the first cleaning robot and the second cleaning robot mentioned above, the swing arm 42 has a first movement state of synchronously rotating with the rotating member 41 along a first direction (for example, a clockwise direction); the rotating of the rotating member 41 along the first direction is clockwise rotation of the rotating member 41 observed from one side (for example, the right side) of the machine body.

[0662] In S520 and S540, whether it is the first cleaning robot or the second cleaning robot, the swing arm 42 is controlled to swing downward relative to the machine body by controlling the rotating member 41 to rotate along the first direction to drive the swing arm 42 to rotate along the first direction in the first movement state (see FIGS. 12a and 13a). The rotating member 41 has an inner side portion facing the inner side of the machine body and an outer side portion facing the outer side of the machine body, and the clockwise and counterclockwise mentioned in the embodiments of the present application refer to clockwise and counterclockwise of the rotating member 41 observed from a position opposite to the outer side of the machine body and the outer side portion of the rotating member 41; the rotating of the rotating member 41 along the second direction (for example, counterclockwise rotation) is counterclockwise rotation of the rotating member 41 observed from one side (for example, the right side) of the machine body.

[0663] In addition, in the first cleaning robot and the second cleaning robot, the swing arm 42 has a third motion state of rotating with the rotating member 41 in the second direction and a fourth motion state of swinging forward relative to the rotating member 41. At this time, in S560, whether it is the first cleaning robot or the second cleaning robot, the swing arm 42 is controlled to swing upward of the machine body in the following manner: the rotating member 41 is controlled to rotate in the second direction, so that the swing arm 42 sequentially experiences the third motion state in which the auxiliary drive wheel 21 is in contact with the to-be-cleaned surface 81 and the fourth motion state in which the auxiliary drive wheel 21 moves away from the to-be-cleaned surface 81. At this time, in S540, whether it is the first cleaning robot or the second cleaning robot, in the case of maintaining the second state, the swing arm 42 can be controlled to swing upward of the machine body in the following manner: the rotating member 41 is controlled to rotate in the second direction, so that the swing arm 42 swings upward of the machine body under the action of gravity of the machine body.

[0664] In an embodiment of the present application, as shown in FIG. 43, after S520 or S540, further comprising:

[0665] S562: control the cleaning robot to travel to a first intermediate motion state. In addition, the cleaning robot can also be controlled to travel to the first intermediate motion state and move for a target time in the first intermediate motion state. In the first intermediate motion state, the main drive wheel 11 and the auxiliary drive wheel 21 are in contact with the to-be-cleaned surface 81 or the upper surface of the obstacle, or in the first intermediate motion state, the cleaning robot is in a balanced state relative to the to-be-cleaned surface 81 or the upper surface of the obstacle, or in the first intermediate motion state, the position of the head of the cleaning robot changes from high to low. Those skilled in the art should understand that when the obstacle is a relatively narrow threshold, the cleaning robot cleans the to-be-cleaned surface after crossing the threshold, at this time, the main drive wheel 11 and the auxiliary drive wheel 21 are in contact with the to-be-cleaned surface 81. When the obstacle is an indoor staggered floor, the upper surface of the obstacle is also the to-be-cleaned surface.

[0666] In the first intermediate motion state, the main drive wheel 11 is in contact with the upper surface of the obstacle, and the auxiliary drive wheel 21 is in contact with the to-be-cleaned surface (see FIG. 14a).

[0667] Alternatively, the cleaning robot can be controlled to move to the first intermediate motion state in the following manner: the cleaning robot is controlled to move sequentially to the first intermediate state, the second intermediate state and the first intermediate motion state; in the first intermediate state, the main drive wheel 11 is in contact with the upper surface of the obstacle and the auxiliary drive wheel 21 is in contact with the surface to be cleaned (see Fig. 14a); in the second intermediate state, the main drive wheel 11 is in contact with the upper surface of the obstacle and the swing arm 42 is in contact with the upper surface of the obstacle (see Fig. 15a).

[0668] The first intermediate state can be understood as the last state of the aforementioned obstacle-crossing preparation phase or the initial state of the first obstacle-crossing phase, the second intermediate state can be understood as a state that can exist in the first obstacle-crossing phase, and the first intermediate motion state can be understood as a state that exists in the aforementioned second obstacle-crossing phase.

[0669] In this embodiment, based on the first cleaning robot and the second cleaning robot described above, the swing arm 42 further has a second motion state in which the swing arm 42 swings backward relative to the rotating member 41. The cleaning robot is controlled to move sequentially to the first intermediate state, the second intermediate state and the first intermediate motion state, including: the cleaning robot is controlled to continuously move and the rotating member 41 is controlled not to rotate, so that the cleaning robot moves sequentially to the first intermediate state, the second intermediate state and the first intermediate motion state; in the second intermediate state, the swing arm 42 is in the second motion state.

[0670] In this embodiment, further, after S562, S564 is further included: the swing arm is controlled to swing upward relative to the body, so that the cleaning robot is switched from the first intermediate motion state to the first state. That is, the aforementioned reset phase is completed. For details of S564, please refer to the description of S560, which will not be repeated here. In addition, those skilled in the art should understand that S562 can also be used as a preceding step of S560 in Fig. 42.

[0671] In this embodiment, for more detailed descriptions of the first motion state, the second motion state, the third motion state and the fourth motion state, please refer to the descriptions in the structural embodiment described above, which will not be repeated here.

[0672] In an embodiment of the present application, at least one of the first main rotation speed of the main drive wheel in the first state, the second rotation speed of the auxiliary drive wheel in the second state, the third rotation speed of the main drive wheel in the first intermediate state, and the fourth rotation speed of the main drive wheel in the first intermediate motion state can be determined according to an environmental parameter. The environmental parameter includes at least one of an obstacle type, an obstacle height, a surface to be cleaned, and a room attribute. The obstacle type can include stairs, blocks, garbage, etc. The obstacle height can include multiple height levels, and different levels correspond to different height intervals. The surface to be cleaned can be a blanket, a floor, etc. The room attribute can be a bedroom, a living room, etc. For example, the obstacle type can be detected by a camera, the obstacle height can be detected by a radar, the surface to be cleaned can be detected by a camera or friction, and the room attribute can be determined according to the current position of the robot and a pre-stored indoor map.

[0673] In the embodiment, one or more of the following processes can be performed: in the first state, the main drive wheel is controlled to rotate at the first rotation speed; in the second state, the auxiliary drive wheel is controlled to rotate at the second rotation speed; in the case where the cleaning robot travels to the first intermediate state based on the second state, the main drive wheel is controlled to rotate at the third rotation speed; in the case where the cleaning robot travels to the first intermediate motion state, the main drive wheel is controlled to rotate at the fourth rotation speed; and after the cleaning robot resumes the first state again, the rotation speed of the main drive wheel is determined again according to the environmental parameter. The rotation speed control of each wheel can be achieved by controlling the output shaft rotation speed of the main drive wheel motor 12. For example, in order to ensure the stability of obstacle crossing, the third rotation speed can be greater than or equal to the second rotation speed, the second rotation speed can be greater than the first rotation speed, and the third rotation speed can be greater than the fourth rotation speed.

[0674] In the embodiment, for example, the cleaning robot can pre-store a first correspondence relationship between the environmental parameter and the rotation speed of the main drive wheel in the first state, a second correspondence relationship between the environmental parameter and the rotation speed of the auxiliary drive wheel in the second state, a third correspondence relationship between the environmental parameter and the rotation speed of the main drive wheel in the first intermediate state, and a fourth correspondence relationship between the environmental parameter and the rotation speed of the main drive wheel in the first intermediate motion state. In this way, according to the detected environmental parameter, the rotation speed of the auxiliary drive wheel 21 and the rotation speed of the main drive wheel 11 in different stages or different states can be determined.

[0675] In the embodiment, the first corresponding relationship, the second corresponding relationship, the third corresponding relationship and the fourth corresponding relationship corresponding to the single environmental parameter or the combination of at least two environmental parameters can be determined by experimental data. And the second corresponding relationship and the third corresponding relationship can change due to different obstacle crossing purposes. The obstacle crossing purpose can be at least one or a combination of the following: to ensure the success rate of crossing obstacles, to ensure the speed of crossing obstacles (for example, high-speed crossing improves cleaning efficiency), to ensure the safety of the machine body when crossing obstacles (for example, to minimize possible damage to the machine body), and the like.

[0676] The specific content of the first to fourth corresponding relationships can be obtained according to experimental data, and the embodiment does not make specific limitations on this. By using the embodiment, the success rate, speed or machine body safety when crossing obstacles can be correspondingly improved.

[0677] Those skilled in the art should understand that the first to fourth corresponding relationships in the present embodiment can be a predetermined mapping relationship, a predetermined function relationship, or carried by a pre-trained machine learning model, neural network model or deep learning model, and these relationships can be obtained according to experiments as described above.

[0678] By using the embodiment, the cleaning robot can flexibly adjust the rotation speed of the main drive wheel and the auxiliary drive wheel in different environments, for example, when facing different heights and types of obstacles, to achieve efficient and stable obstacle crossing action; improve the obstacle crossing ability.

[0679] For example, in one implementation manner of the embodiment, the rotation speed of the auxiliary drive wheel in the second state is controlled to be greater than the rotation speed of the auxiliary drive wheel in the first state, so as to improve the travel speed of the cleaning robot in the second state, and even control the travel speed of the cleaning robot in the second state to be greater than the travel speed in the first state. Alternatively, the rotation speed of the main drive wheel in the first intermediate state is controlled to be greater than the rotation speed of the main drive wheel in the first state, or greater than the rotation speed of the main drive wheel in the second state, so as to improve the obstacle crossing success rate. In the first intermediate motion state, the rotation speed of the main drive wheel is controlled to be less than the rotation speed of the main drive wheel in the first intermediate state, so as to facilitate the reset processing of the swing arm mentioned in the foregoing.

[0680] The embodiment of the present application also provides a motion control method of a cleaning robot. As mentioned above, the cleaning robot is the first cleaning robot or the second cleaning robot. In addition, both of them include the driven wheel assembly 200 mentioned in the foregoing, which is arranged on the chassis 51 of the machine body. The driven wheel assembly 200 includes the driven wheel 210 and the telescopic mechanism. The telescopic mechanism is connected between the chassis 51 and the driven wheel 210. The telescopic mechanism can change the distance between the driven wheel and the chassis through the screw lifting mechanism 220.

[0681] In the embodiment, the motion control method can further include the following processing in addition to the processing of FIGS. 42 and 43.

[0682] After S520, in the second state, the cleaning robot is controlled to travel to a position where the vertical projection of the driven wheel falls above the obstacle, and the lifting mechanism is controlled to increase the distance of the driven wheel from the chassis. And / or, after the cleaning robot crosses the obstacle (e.g., after the obstacle-crossing completion instruction), the lifting mechanism is controlled to restore the distance of the driven wheel from the chassis to the initial interval.

[0683] In the embodiment, for the detailed description of the related structure, effects and working process, reference can be made to the description of the telescopic mechanism and its effects and working process in the foregoing embodiments, which will not be repeated here.

[0684] FIG. 41 is a flow diagram of a motion control method of a cleaning robot according to an embodiment of the application, the cleaning robot having the walking mechanism of any one of the embodiments of FIGS. 23-40. Referring to FIG. 41, the motion control method includes the following processing:

[0685] S1000: Control the cleaning robot to work in a first motion mode.

[0686] S1200: In a preset target situation, control the cleaning robot to switch from the first motion mode to a second motion mode.

[0687] In the second motion mode and the first motion mode, the distance of the chassis 51 from the driven wheel 210 (e.g., a universal wheel) is different.

[0688] Optionally, the preset target situation includes the process of the cleaning robot crossing an obstacle. The above target working environment and target working state can be determined by a camera, different types of sensors, working data of the cleaning robot, etc. For example, whether the cleaning robot is in an environment requiring crossing an obstacle can be detected by a camera or radar; whether the distance of the cleaning robot from the obstacle meets the condition can be determined by a distance sensor, so as to determine whether the cleaning robot is in the target working state before crossing the obstacle; whether the cleaning robot is in the target working state after crossing the obstacle can be determined according to the pose of the cleaning robot determined by a gyroscope. No further examples are given.

[0689] Optionally, in a specific operation process, 1) the cleaning robot comprises a walking mechanism, the walking mechanism comprises a main driving wheel, a swing arm structure and a secondary driving wheel, the secondary driving wheel is rotatably arranged on the main driving wheel through the swing arm structure; the body advancing state can be switched between a first state and a second state, the first state is that the body is driven by the main driving wheel to advance on the surface to be cleaned, and the second state is that the body is driven by the secondary driving wheel to advance on the surface to be cleaned. Before the cleaning robot climbs over the obstacle, the secondary driving wheel swings to contact the ground through the swing arm structure, so that the front end of the cleaning robot is lifted, and the main driving wheel is also lifted off the ground, the cleaning robot is driven by the secondary driving wheel to advance to the front of the obstacle, and is ready to climb over the obstacle. 2) In the process of the cleaning robot climbing over the obstacle, in the case that the vertical projection of the driven wheel 210 falls above the obstacle, the driven wheel is controlled to move away from the chassis 51 to increase the distance between the chassis 51 and the driven wheel. The vertical projection refers to the projection perpendicular to the upper surface of the obstacle. For example, in the case of the cleaning robot normally climbing over the obstacle, when the head of the cleaning robot is lifted and the driven wheel is located above the obstacle, the distance between the chassis 51 and the driven wheel 210 can be increased to reduce the distance of the driven wheel 210 descending, thereby reducing the vibration and influence on the body. 3) After the cleaning robot climbs over the obstacle, the distance between the chassis 51 and the driven wheel 210 is controlled to the initial distance, and the resetting operation of the chassis 51 and the driven wheel 210 is performed. 4) The secondary driving wheel is reversely swung to the initial position through the swing arm structure.

[0690] In an implementation form of the embodiment, referring to FIGS. 32 and 34, the cleaning robot comprises a lifting mechanism 220, the lifting mechanism 220 can be elongated and shortened, and has a fixed end and a free end connected with the driven wheel 210. Controlling the cleaning robot to switch from the first motion mode to the second motion mode comprises: controlling the lifting mechanism 220 to be elongated or shortened.

[0691] The embodiment of the present application further provides an electronic device, which comprises a memory and a processor, the memory stores one or more computer instructions; the processor is used to call and execute the computer instructions to realize the motion control method mentioned in various embodiments of the present application. The electronic device can be an integrated chip, or a circuit board, a data processing device, etc. containing the integrated chip.

[0692] In addition, the embodiment of the present application further provides a cleaning robot comprising the above-mentioned electronic device.

[0693] In addition, the embodiment of the present application further provides a computer readable storage medium, wherein computer instructions or computer program products are stored, and the instructions or computer program products are executed to realize the motion control method mentioned in the present application. In an implementation manner, the computer readable storage medium can be, for example, a memory including instructions, and the instructions can be executed by a processor of an electronic device to complete the above method. For example, the computer readable storage medium can be a non-transitory computer readable storage medium. The non-transitory computer readable storage medium can be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, and an optical data storage device, and the like.

[0694] In addition, the embodiment of the present application further provides a computer program product, and the computer program product is executed to realize the motion control method mentioned in the present application.

[0695] The beneficial effects of the embodiment of the present application are mainly as follows:

[0696] When the advancing state of the machine body is in the first state, the main driving wheel assembly can drive the machine body to advance on the surface to be cleaned; when the advancing state of the machine body is in the second state, the auxiliary driving wheel can drive the machine body to advance on the surface to be cleaned, so that the machine body can cross the obstacle; the problem that the cleaning robot cannot continue cleaning work due to the obstruction of the obstacle in the running process is avoided, so that the cleaning robot can independently complete crossing of the obstacle, and the working adaptability of the cleaning robot is improved; the cleaning robot can automatically complete cleaning work in various complex environments, and the full automation of the cleaning robot is greatly enhanced. It should be understood by those skilled in the art that the sequence of the numbers or the introduction of the embodiments of the present application is only for description, and does not represent the advantages and disadvantages of the embodiments. And the above embodiments are only optional implementation manners of the present application, and it should be pointed out that, for ordinary skilled in the art, without departing from the principle of the present application, a number of improvements and refinements can be made, and these improvements and refinements should be regarded as the protection scope of the present application.

[0697] Those skilled in the art should further understand that the above-described device embodiments are only illustrative, and the units described as separate components can be or can not be physically separated, and the components displayed as units can be or can not be physical units, that is, they can be located in one place, or can be distributed on multiple network units. According to actual needs, part or all of the modules can be selected to achieve the purpose of the embodiment scheme. Those skilled in the art can understand and implement without creative labor.

Claims

1. A cleaning robot, characterized in that, The cleaning robot comprises a body and two walking mechanisms, one of which is arranged on one side of the body and the other of which is arranged on the other side of the body. The two walking mechanisms can be controlled simultaneously or independently. The walking mechanism comprises a main driving wheel assembly, a swing arm assembly and a secondary driving wheel. The secondary driving wheel is rotatably arranged on the main driving wheel assembly through the swing arm assembly. Under the action of the swing arm assembly, the traveling state of the body can be switched between a first state and a second state.

2. The cleaning robot according to claim 1, wherein, In the first state, the body is driven by the main driving wheel assembly to travel on a surface to be cleaned.

3. The cleaning robot according to claim 1, wherein, In the second state, the body is driven by the secondary driving wheel to travel on the surface to be cleaned, and the head of the cleaning robot is lifted compared to the first state. In the second state, the angle between the swing arm assembly and the forward horizontal line of the body is α, and the angle satisfies 90°≤α≤120°. The traveling speed of the body driven by the secondary driving wheel is not lower than the minimum traveling speed of the body driven by the main driving wheel assembly.

4. The cleaning robot according to claim 1, wherein 5. The cleaning robot according to claim 1, wherein, In the second state, the angle between the body and the surface to be cleaned is β, and the angle satisfies 5°≤β≤35°; and / or 6. The cleaning robot according to claim 5, wherein, In the second state, the horizontal plane where the axis of the main driving wheel is located is higher than the top surface of an obstacle.

7. The cleaning robot of claim 1, wherein, The tail of the body is provided with a support structure, which is used to support the body in the second state. The support structure comprises a roller. The position of the axis of the secondary driving wheel is adjustable relative to the position of the axis of the main driving wheel assembly.

8. The cleaning robot of claim 1, wherein, In the first state, the lowest position of the secondary driving wheel is higher than the lowest position of the main driving wheel assembly.

9. The cleaning robot of claim 1, wherein, In the second state, the lowest position of the secondary driving wheel is lower than the lowest position of the main driving wheel assembly. 10.The cleaning robot according to claim 9, wherein, In the first state, the secondary driving wheel is located in front of the main driving wheel assembly. 11.The cleaning robot according to claim 9, wherein The main driving wheel assembly comprises a rotating member and a main driving wheel, and the rotating member and the main driving wheel are coaxially arranged.

12. The cleaning robot according to claim 11, wherein, The swing arm assembly is rotatably arranged on the rotating member.

13. The cleaning robot of claim 9, wherein, The swing arm assembly and the secondary driving wheel form an integral length, and the swing radius of the rotating member is not less than the integral length. The rotating member is provided with a first limiting structure, the swing arm assembly is provided with a second limiting structure, and a first elastic member is arranged between the first limiting structure and the second limiting structure. The first limiting structure is used to limit the swing arm assembly when the traveling state of the body is switched from the first state to the second state. The main driving wheel and the secondary driving wheel can be controlled to rotate independently or to rotate in linkage.

14. The cleaning robot according to claim 13, wherein, The walking mechanism further comprises a main driving motor; when the main driving wheel and the auxiliary driving wheel are controlled to rotate in linkage, the main driving motor drives the main driving wheel to rotate, and the main driving motor further drives the auxiliary driving wheel to rotate through an auxiliary driving wheel transmission assembly.

15. The cleaning robot according to claim 14, wherein, The auxiliary driving wheel transmission assembly comprises a first transmission chain and a second transmission chain, the first transmission chain at least comprises a first transmission chain input wheel and a first transmission chain output wheel, and the second transmission chain at least comprises a second transmission chain input wheel and a second transmission chain output wheel. The main driving motor is a hub motor, an outer circumferential side of the main driving motor is provided with a first output part, the first output part is drivingly connected with the main driving wheel, and an axial side of the main driving motor is provided with a second output part, the second output part is drivingly connected with the first transmission chain input wheel. When the main driving motor operates, the first output part drives the main driving wheel to rotate, the second output part drives the first transmission chain input wheel to rotate, the first transmission chain output wheel drives the second transmission chain input wheel to rotate, and then the second transmission chain output wheel drives the auxiliary driving wheel to rotate.

16. The cleaning robot of claim 9, wherein, The walking mechanism further comprises a conversion transmission assembly and a conversion driving motor, a first end of the conversion transmission assembly is drivingly connected with the conversion driving motor, and a second end is connected with the rotating part.

17. The cleaning robot of claim 16, wherein, The conversion transmission assembly at least comprises a rotatable conversion input wheel and a conversion output wheel, the conversion input wheel forms the first end of the conversion transmission assembly and is drivingly connected with the conversion driving motor, the conversion output wheel forms the second end of the conversion transmission assembly and is connected with the rotating part in a synchronous rotation manner, and a plurality of conversion intermediate wheels are sequentially and drivingly connected between the conversion input wheel and the conversion output wheel. When the conversion driving motor operates, the conversion input wheel can transmit rotation to the conversion output wheel through the plurality of conversion intermediate wheels, and then the rotating part rotates.

18. The cleaning robot of claim 9, wherein, The body comprises: A support, an installation cavity is formed in the interior of the body, and an installation cavity opening is formed in the bottom of the installation cavity; the support is arranged in the installation cavity through the installation cavity opening; The main driving wheel assembly and the swing arm assembly are respectively rotatably arranged on the support.

19. The cleaning robot of claim 18, wherein, A third limiting structure is arranged on the support, and the third limiting structure is used for limiting the swing arm assembly in the first state.

20. The cleaning robot according to any one of claims 1-19, wherein, The cleaning robot further comprises a driven wheel assembly arranged on the chassis of the body, and used for providing cushioning for the body when switching from the second state to the first state.

21. The cleaning robot of claim 20, wherein, The driven wheel assembly comprises a driven wheel and an extensible mechanism connected between the chassis and the driven wheel, so that the distance between the driven wheel and the chassis is variable.

22. The cleaning robot of claim 21, wherein, The extensible mechanism comprises an elastic mechanism.

23. A cleaning robot, characterized in that, The cleaning robot comprises a body and a walking mechanism, the walking mechanism comprises a driving wheel walking unit, and two sets of the driving wheel walking unit are arranged; one set of the driving wheel walking unit is arranged on one side of the body, and the other set of the driving wheel walking unit is arranged on the other side of the body. The two sets of driving wheel walking units can be controlled simultaneously or independently. The driving wheel walking unit comprises: a support arranged on the body; a main driving wheel assembly comprising a main driving wheel rotatably arranged on the support and a main driving wheel power mechanism capable of driving the main driving wheel to rotate relative to the support; an arm swinging assembly comprising an arm and an arm power mechanism drivingly connected to a power input end of the arm for swinging the arm; a secondary driving wheel assembly comprising a secondary driving wheel rotatably arranged on a power output end of the arm and a secondary driving wheel power mechanism for driving the secondary driving wheel to rotate relative to the power output end of the arm; The main driving wheel and the secondary driving wheel are arranged on the left and right sides of the support respectively. The driving wheel walking unit is configured to switch the cleaning robot between a first driving mode and a second driving mode during obstacle crossing. In the first driving mode, the cleaning robot is driven to move by the main driving wheel assembly. In the second driving mode, the cleaning robot is driven to move by the secondary driving wheel assembly, and the head of the cleaning robot in the second driving mode is lifted compared with the first driving mode.

24. The cleaning robot of claim 23, wherein, The cleaning robot is provided with an obstacle crossing mode. When the cleaning robot is in the obstacle crossing mode, the cleaning robot is controlled to switch between the first driving mode and the second driving mode according to obstacle information.

25. The cleaning robot of claim 23, wherein, The moving speed of the body driven by the main driving wheel is different from the moving speed of the body driven by the secondary driving wheel.

26. The cleaning robot of claim 25, wherein, The moving speed of the body driven by the secondary driving wheel in the second driving mode is not lower than the moving speed of the body driven by the main driving wheel in the first driving mode.

27. The cleaning robot of claim 23, wherein, According to the type of the obstacle, the height of the obstacle and / or the distance between the body and the obstacle, the main driving wheel and the secondary driving wheel can be controlled to adjust the moving speed of the body driven by the main driving wheel and the moving speed of the body driven by the secondary driving wheel.

28. The cleaning robot of claim 23, wherein, The main driving wheel power mechanism comprises a main driving wheel motor configured to provide driving force to the main driving wheel and the secondary driving wheel power mechanism.

29. The cleaning robot of claim 28, wherein, The main driving wheel motor is a hub motor, the outer circumferential side of the main driving wheel motor is provided with a first power output end, the first power output end is drivingly connected to the main driving wheel, and the axial side of the main driving wheel motor is provided with a second power output end. The secondary driving wheel power mechanism comprises a secondary driving wheel first transmission chain and a secondary driving wheel second transmission chain, the power input end of the secondary driving wheel first transmission chain is drivingly connected to the second power output end, the power output end of the secondary driving wheel first transmission chain is drivingly connected to the power input end of the secondary driving wheel second transmission chain, and the power output end of the secondary driving wheel second transmission chain is drivingly connected to the secondary driving wheel. When the main driving wheel motor operates, the first power output end can drive the main driving wheel to rotate, and the second power output end can drive the auxiliary driving wheel to rotate through the auxiliary driving wheel first transmission chain and the auxiliary driving wheel second transmission chain.

30. The cleaning robot of claim 28, wherein, The swing arm power mechanism comprises a rotating member, a swing arm transmission chain and a swing arm motor, the rotating member and the main driving wheel are coaxial, and the rotating member is rotatably arranged on the support; a power input end of the rotating member is provided with a transmission gear, the transmission gear is in gear transmission connection with a power output end of the swing arm transmission chain, a power input end of the swing arm transmission chain is in driving connection with the swing arm motor, and the swing arm motor is arranged on the support; the rotating member is provided with a power output end in a direction parallel to an axis of the rotating member, and the power input end of the swing arm and the power output end of the rotating member are relatively rotatably matched together; H, L and r satisfy: H > L + r; H is a vertical distance between an axis of the power input end of the swing arm when the power input end is at a highest position and a horizontal plane on which a lowest point of the main driving wheel is located, L is a distance between the axis of the power input end of the swing arm and an axis of the power output end of the swing arm, and r is a radius of the auxiliary driving wheel.

31. The cleaning robot of claim 30, wherein, The auxiliary driving wheel power mechanism comprises a rotating frame, an auxiliary driving wheel first transmission chain and an auxiliary driving wheel second transmission chain; The rotating member comprises a rotating disc, and an outer circumferential side of the rotating disc is the power input end of the rotating member; The rotating frame is fixedly arranged on the rotating disc and can rotate synchronously with the rotating disc; The auxiliary driving wheel first transmission chain is arranged on the rotating frame, a power input end of the auxiliary driving wheel first transmission chain is coaxial with the main driving wheel, and a power output shaft of the main driving wheel motor is in driving connection with the power input end of the auxiliary driving wheel first transmission chain through the support; The auxiliary driving wheel second transmission chain is arranged on the swing arm, a power input end of the auxiliary driving wheel second transmission chain is in transmission connection with a power output end of the auxiliary driving wheel first transmission chain, and a power output end of the auxiliary driving wheel second transmission chain is in transmission connection with the auxiliary driving wheel.

32. The cleaning robot of claim 30, wherein, The swing arm assembly is further provided with a first elastic member between the power output end of the rotating member and the power input end of the swing arm, the first elastic member is configured to be compressed to store elastic potential energy when the power input end of the swing arm swings in a first direction relative to the power output end of the rotating member, and the first elastic member is stretched to release the elastic potential energy when the power input end of the swing arm swings in a second direction relative to the power output end of the rotating member; The first direction is opposite to the second direction.

33. The cleaning robot of claim 32, wherein, The swing arm is configured to swing in the first direction relative to the power output end of the rotating member when a side close to the power output end of the swing arm is subjected to a torque in the first direction by an obstacle. When a side close to the power output end of the swing arm is not subjected to a moment in the first direction, the power input end of the swing arm swings relative to the power output end of the rotating member in the second direction.

34. The cleaning robot according to claim 32, wherein, the support is provided with a third limiting structure; and the driving wheel walking unit is further configured to, when the cleaning robot is in the first driving mode, fix the swing arm and the auxiliary driving wheel relative to the support under the action of the third limiting structure and the first elastic member; the rotating member is provided with a first limiting structure, and the driving wheel walking unit is further configured to, when the cleaning robot is switched from the first driving mode to the second driving mode, enable the swing arm to rotate with the rotating member through the first limiting structure.

35. The cleaning robot of claim 23, wherein, When the cleaning robot is in the second driving mode, the horizontal plane where the axis of the main driving wheel is located is higher than the top surface of the obstacle.

36. The cleaning robot of claim 23, wherein, When the cleaning robot is in the second driving mode, the angle between the swing arm and the forward horizontal line of the body is α, and the α satisfies 90°≤α≤120°; and / or, When the cleaning robot is in the second driving mode, the angle between the body and the surface to be cleaned is β, and the β satisfies 5°≤β≤35°.

37. The cleaning robot of claim 23, wherein, The body is internally formed with a mounting cavity, and the bottom of the mounting cavity is formed with a mounting cavity opening; and the support is arranged in the mounting cavity through the mounting cavity opening.

38. The cleaning robot of any one of claims 23-37, wherein, The cleaning robot further comprises a driven wheel assembly arranged on the chassis of the body, and configured to provide shock absorption for the body when the second driving mode is switched to the first driving mode. The driven wheel assembly comprises a driven wheel and an extendable mechanism connected between the chassis and the driven wheel, so that the distance between the driven wheel and the chassis is variable.

39. A cleaning system characterized by, The cleaning system comprises the cleaning robot according to any one of claims 1-38 and a cleaning base station cooperating with the cleaning robot.

40. A motion control method of a cleaning robot, comprising: the cleaning robot is a first cleaning robot or a second cleaning robot, the first cleaning robot comprises a body and a walking mechanism, the walking mechanism comprises a main driving wheel assembly, a swing arm assembly and an auxiliary driving wheel, the main driving wheel assembly comprises a main driving wheel, the swing arm assembly comprises a swing arm, and the auxiliary driving wheel is rotatably arranged on the main driving wheel assembly through the swing arm assembly, and two walking mechanisms are arranged on the body, one on one side and the other on the other side; the two walking mechanisms can be controlled simultaneously or independently, and the body can be switched from a first state to a second state under the action of the swing arm assembly; and the swing arm assembly comprises a swing arm body and a swing arm shaft, the swing arm body is arranged on the swing arm shaft, and the swing arm shaft is rotatably arranged on the main driving wheel assembly. The second cleaning robot comprises a body and a walking mechanism, the walking mechanism comprises a driving wheel walking unit, the driving wheel walking unit comprises a support arranged on the body, a main driving wheel assembly comprising a main driving wheel rotatably arranged on the support and a main driving wheel power mechanism capable of driving the main driving wheel to rotate relative to the support, a swing arm assembly comprising a swing arm and a swing arm power mechanism drivingly connected to a power input end of the swing arm for swinging the swing arm, and a secondary driving wheel assembly comprising a secondary driving wheel rotatably arranged on a power output end of the swing arm and a secondary driving wheel power mechanism for driving the secondary driving wheel to rotate relative to the power output end of the swing arm, two of the walking mechanisms are arranged, one on one side of the body and the other on the other side of the body, the two walking mechanisms can be controlled simultaneously or independently, and the advancing state of the body can be switched from a first state to a second state under the action of the swing arm assembly. The motion control method comprises: controlling the cleaning robot to work in the first state, in which the cleaning robot advances on a surface to be cleaned based on the main driving wheel; in response to an obstacle crossing instruction, controlling the cleaning robot to switch from the first state to the second state to raise the head of the chassis of the body, in which the cleaning robot advances on the surface to be cleaned based on the secondary driving wheel.

41. The motion control method of claim 40, wherein, in the second state, the most forward position of the secondary driving wheel is behind the most forward position of the main driving wheel in the advancing direction of the cleaning robot; or, in the first state and the second state, the axis of the secondary driving wheel is in front of the axis of the main driving wheel; or, in the second state, the angle between the swing arm and the forward horizontal line of the body is 90-120° with the axis of the secondary driving wheel as the vertex; or, in the second state, the angle between the body and the surface to be cleaned is 5-35°; or, in the second state, the support structure arranged at the tail of the body and the secondary driving wheel jointly support the body; or, in the first state, the lowest position of the secondary driving wheel is higher than the lowest position of the main driving wheel, and in the second state, the lowest position of the secondary driving wheel is lower than the lowest position of the main driving wheel; or, in the second state, the advancing speed of the body driven by the secondary driving wheel is not lower than the minimum advancing speed of the body driven by the main driving wheel assembly; or, in the second state, the horizontal plane where the axis of the main driving wheel is located is higher than the top surface of the obstacle.

42. The motion control method of claim 40, wherein, The response to the obstacle crossing instruction, controlling the cleaning robot to switch from the first state to the second state, comprises: in response to an instruction indicating that the cleaning robot is detected to be a set distance from an obstacle in a direction of travel of the cleaning robot, controlling the cleaning robot to switch from the first state to the second state, or in response to a signal indicating that a target working environment is detected, controlling the cleaning robot to switch from the first state to the second state.

43. The motion control method of claim 40, wherein, the controlling the cleaning robot to switch from the first state to the second state comprises: controlling the swing arm to swing downward relative to the body to adjust a relative position relationship between the auxiliary drive wheel and the main drive wheel, such that in the second state, a head position of the cleaning robot is raised to a target height or a target tilt angle; wherein the target height and the target tilt angle are set values, or the target height and the target tilt angle are related to a height of an obstacle in the target working environment, or the target height and the target tilt angle each have a plurality of set values, and the plurality of set values of the target height and the plurality of set values of the target tilt angle each correspond to a different obstacle crossing state of the cleaning robot.

44. The motion control method of claim 40, wherein, the controlling the cleaning robot to switch from the first state to the second state in response to the obstacle crossing instruction comprises: in response to the obstacle crossing instruction, controlling the cleaning robot to stop advancing, and controlling the swing arm to swing downward relative to the body, so that the cleaning robot switches from the first state to the second state.

45. The motion control method of claim 40, wherein, the method further comprises: in the second state, performing a pre-obstacle crossing control process in response to an obstacle crossing blocked instruction, the pre-obstacle crossing control process at least comprising controlling the swing arm to swing to change a posture of the swing arm.

46. The motion control method of claim 45, wherein, the controlling the swing arm to swing comprises: in response to a first obstacle crossing blocked instruction indicating that the head of the body is blocked by the obstacle, controlling the swing arm to swing downward relative to the body to increase a head lifting degree of a chassis of the body; or in response to a second obstacle crossing blocked instruction indicating that the auxiliary drive wheel contacts the obstacle while the main drive wheel does not contact the obstacle, controlling the swing arm to swing upward relative to the body to reduce the head lifting degree of the chassis of the body, or controlling the swing arm to continuously swing downward relative to the body to move the body forward; or in response to a third obstacle crossing blocked instruction indicating that a lowest position of the main drive wheel cannot contact the obstacle, controlling the swing arm to swing downward relative to the body, so that an angle between the swing arm and a forward horizontal line of the body, with an axis of the auxiliary drive wheel as a vertex, is 90°-95° or 91°-94°.

47. The motion control method of claim 45, wherein, the performing the pre-obstacle crossing control process in response to the obstacle crossing blocked instruction comprises: controlling the cleaning robot to move backward before controlling the swing arm to swing; and controlling the cleaning robot to move forward after controlling the swing arm to swing.

48. The motion control method of claim 43 or 44 or 46, wherein In the first cleaning robot, the main driving wheel assembly comprises a rotating member or the swing arm assembly comprises the rotating member, the rotating member and the main driving wheel are coaxial, one end of the swing arm is rotatably arranged on the rotating member, the swing arm has a first motion state of rotating synchronously with the rotating member in a first direction, or, In the second cleaning robot, the swing arm power mechanism comprises a rotating member, a swing arm transmission assembly and a swing arm motor, the rotating member and the main driving wheel are coaxial and the rotating member is rotatably arranged on the support, the rotating member is formed with a transmission gear, the transmission gear is in gear transmission connection with a power output end of the swing arm transmission assembly, a power input end of the swing arm transmission assembly is in driving connection with the swing arm motor, the swing arm motor is arranged on the support, a power input end of the swing arm is rotatably arranged on the rotating member, the swing arm has a first motion state of rotating with the rotating member in the first direction; The control of the swing arm swinging downward of the machine body comprises: Controlling the rotating member to rotate in the first direction to drive the swing arm to rotate in the first direction in the first motion state.

49. The motion control method of claim 40, wherein, The method further comprises: Controlling the cleaning robot to switch to the first state; The control of the cleaning robot switching to the first state comprises: In response to an obstacle surmounting completion instruction, controlling the cleaning robot to switch to the first state.

50. The motion control method of claim 49, wherein, The obstacle surmounting completion instruction comprises: An instruction detected after the obstacle surmounting instruction and representing that the machine body is in a balanced state relative to the surface to be cleaned.

51. The motion control method of claim 49, wherein, The control of the cleaning robot switching to the first state comprises: Controlling the swing arm to swing upward of the machine body so that the cleaning robot is switched from a first intermediate motion state to the first state, in the first intermediate motion state, the main driving wheel and the auxiliary driving wheel are both in contact with the surface to be cleaned; or, Controlling the swing arm to swing upward of the machine body so that the auxiliary driving wheel is out of contact with the surface to be cleaned, thereby making the cleaning robot switch to the first state; or, Controlling the swing arm to swing upward of the machine body to a target position, thereby making the cleaning robot switch to the first state, in the target position, the auxiliary driving wheel is not in contact with the surface to be cleaned.

52. The motion control method of claim 51, wherein, The control of the swing arm swinging upward of the machine body comprises: In response to the obstacle surmounting completion instruction, controlling the cleaning robot to stop advancing and controlling the swing arm to swing upward of the machine body.

53. The motion control method of claim 41, wherein, The method further comprises: After the cleaning robot is switched from the first state to the second state, controlling the cleaning robot to advance to a first intermediate motion state, or controlling the cleaning robot to advance to the first intermediate motion state and move for a target time in the first intermediate motion state; In the first intermediate motion state, the main driving wheel and the auxiliary driving wheel are both in contact with the surface to be cleaned or the upper surface of the obstacle, or, In the first intermediate motion state, the cleaning robot is in a balanced state relative to the surface to be cleaned or the upper surface of the obstacle.

54. The motion control method of claim 53, wherein, The control of the cleaning robot to travel to the first intermediate motion state comprises: controlling the cleaning robot to travel from the second state to the first intermediate state and the first intermediate motion state in sequence, or controlling the cleaning robot to travel to the first intermediate state, the second intermediate state and the first intermediate motion state in sequence. In the first intermediate state, the main drive wheel is in contact with the upper surface of the obstacle, and the auxiliary drive wheel is not in contact with the upper surface of the obstacle. In the second intermediate state, the main drive wheel is in contact with the upper surface of the obstacle and the swing arm is in contact with the upper surface of the obstacle.

55. The motion control method of claim 54, wherein, in the first intermediate state, the swing arm is in a first swing arm state, and in the second intermediate state, the swing arm is in a second swing arm state. In the first cleaning robot, the main drive wheel assembly comprises a rotating member or the swing arm assembly comprises the rotating member, the rotating member and the main drive wheel are coaxial, one end of the swing arm is rotatably arranged on the rotating member, the swing arm has the first swing arm state of rotating with the rotating member and the second swing arm state of rotating relative to the rotating member under the action of an external force, or In the second cleaning robot, the swing arm power mechanism comprises a rotating member, a swing arm transmission assembly and a swing arm motor, the rotating member and the main drive wheel are coaxial and the rotating member is rotatably arranged on the support, the rotating member is formed with a transmission gear, the transmission gear is in gear transmission connection with a gear of a power output end of the swing arm transmission assembly, a power input end of the swing arm transmission assembly is drivingly connected with the swing arm motor, the swing arm motor is arranged on the support, a power input end of the swing arm is rotatably arranged on the rotating member, the swing arm has the first swing arm state of rotating with the rotating member and the second swing arm state of rotating relative to the rotating member under the action of an external force.

56. The motion control method of claim 55, wherein, The method further comprises: controlling the rotating member to rotate, so that the swing arm drives the auxiliary drive wheel to move from a position where the shaft center is behind the shaft center of the main drive wheel to a position where the shaft center is in front of the shaft center of the main drive wheel under the action force of the rotating member, thereby controlling the cleaning robot to switch from the first intermediate motion state back to the first state.

57. The motion control method of claim 53, wherein, The method further comprises: controlling the swing arm to swing upward relative to the body, so that the cleaning robot switches from the first intermediate motion state to the first state.

58. The motion control method of claim 51 or 57, wherein, In the first cleaning robot, the main drive wheel assembly comprises a rotating member or the swing arm assembly comprises the rotating member, the rotating member is coaxial with the main drive wheel, and one end of the swing arm is rotatably arranged on the rotating member, the swing arm has a third motion state of rotating with the rotating member in a second direction and a fourth motion state of swinging forward relative to the rotating member, or In the second cleaning robot, the swing arm power mechanism comprises a rotating member, a swing arm transmission assembly and a swing arm motor, the rotating member is coaxial with the main drive wheel and is rotatably arranged on the support, the rotating member is formed with a transmission gear, the transmission gear is in gear transmission connection with a power output end of the swing arm transmission assembly, a power input end of the swing arm transmission assembly is in driving connection with the swing arm motor, the swing arm motor is arranged on the support, a power input end of the swing arm is rotatably arranged on the rotating member, and the swing arm has a third motion state of rotating with the rotating member in the second direction and a fourth motion state of swinging forward relative to the rotating member; The control of the swing arm swinging upward relative to the body comprises: Controlling the rotating member to rotate in the second direction, so that the swing arm sequentially experiences the third motion state and the fourth motion state, in the third motion state, the secondary drive wheel is in contact with the surface to be cleaned, and in the fourth motion state, the secondary drive wheel moves away from the surface to be cleaned.

59. The motion control method according to claim 54, wherein, In the first cleaning robot, the main drive wheel assembly comprises a rotating member or the swing arm assembly comprises the rotating member, the rotating member is coaxial with the main drive wheel, and one end of the swing arm is rotatably arranged on the rotating member, the swing arm has a third motion state of rotating with the rotating member in a second direction and a fourth motion state of swinging forward relative to the rotating member, or In the second cleaning robot, the swing arm power mechanism comprises a rotating member, a swing arm transmission assembly and a swing arm motor, the rotating member is coaxial with the main drive wheel and is rotatably arranged on the support, the rotating member is formed with a transmission gear, the transmission gear is in gear transmission connection with a power output end of the swing arm transmission assembly, a power input end of the swing arm transmission assembly is in driving connection with the swing arm motor, the swing arm motor is arranged on the support, a power input end of the swing arm is rotatably arranged on the rotating member, and the swing arm has a third motion state of rotating with the rotating member in the second direction and a fourth motion state of swinging forward relative to the rotating member; The control of the cleaning robot sequentially moving to the first intermediate state, the second intermediate state and the first intermediate motion state comprises: Controlling the cleaning robot to continuously move and controlling the rotating member not to rotate, so that the cleaning robot sequentially moves to the first intermediate state, the second intermediate state and the first intermediate motion state; In the second intermediate state, the swing arm is in the second motion state.

60. The motion control method of claim 40, wherein, The method further comprises: determining at least one of a first rotation speed of the main drive wheel in the first state, a second rotation speed of the secondary drive wheel in the second state, a third rotation speed of the main drive wheel in a first intermediate state, a fourth rotation speed of the main drive wheel in a first intermediate motion state, according to the environmental parameter; wherein in the first intermediate state, the main drive wheel is in contact with an upper surface of an obstacle, and the secondary drive wheel is in contact with the surface to be cleaned; the first intermediate motion state is after the first intermediate state, in which the main drive wheel and the secondary drive wheel are both in contact with the surface to be cleaned; the environmental parameter includes at least one of an obstacle type, an obstacle height, a type of surface to be cleaned, a room attribute.

61. The motion control method of claim 60 wherein, The method further comprises: in the first state, controlling the main drive wheel to rotate at the first rotation speed; and / or, in the second state, controlling the secondary drive wheel to rotate at the second rotation speed; and / or, in the case where the cleaning robot travels to the first intermediate state based on the second state, controlling the main drive wheel to rotate at the third rotation speed; and / or, in the case where the cleaning robot travels to the first intermediate motion state, controlling the main drive wheel to rotate at the fourth rotation speed; wherein the third rotation speed is greater than or equal to the second rotation speed, the second rotation speed is greater than the first rotation speed, and the third rotation speed is greater than the fourth rotation speed.

62. An electronic device, comprising: The electronic device comprises a memory and a processor, The memory stores computer instructions; when the computer instructions are executed by the processor, the method as claimed in any one of claims 40-61 is implemented.

63. A computer program product, characterized in that, The computer program product is executed to implement the method as claimed in any one of claims 40-61.

64. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer instructions, which are executed to implement the method as claimed in any one of claims 40-61.

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