Cleaning robot and cleaning system

Abstract

A cleaning robot (100), comprising a main body (110) and a traveling wheel assembly, wherein the traveling wheel assembly is connected to the main body (110), and the traveling wheel assembly guides the main body (110) to move. The traveling wheel assembly comprises a main wheel (142, 142a, 142b, 142c, 142d), a rotating arm assembly (143, 143a, 143b, 143c, 143d), and an auxiliary wheel (146, 146a, 146b, 146c, 146d). The main wheel (142, 142a, 142b, 142c, 142d) is connected to the main body (110) by means of a first shaft (1414a), and the main wheel (142, 142a, 142b, 142c, 142d) guides the main body (110) to move in a first state. The rotating arm assembly (143, 143a, 143b, 143c, 143d) comprises a first end and a second end, the first end of the rotating arm assembly (143, 143a, 143b, 143c, 143d) is connected to the main body (110) by means of a second shaft (1415a, 1415b), and the auxiliary wheel (146, 146a, 146b, 146c, 146d) is connected to the second end of the rotating arm assembly (143, 143a, 143b, 143c, 143d).

Description

Cleaning robots and cleaning systems

[0001] Cross-references to related applications

[0002] This application claims priority to Chinese patent applications Nos. 202510115778.5 and 202510115826.0, filed on January 23, 2025, the entire contents of which are incorporated herein by reference. Technical Field

[0003] This disclosure relates to the field of electrical equipment technology, specifically to a cleaning robot and a cleaning system. Background Technology

[0004] In related technologies, cleaning robots such as sweeping robots, mopping robots, or combined sweeping and mopping robots include a main body, main wheels located on both sides of the bottom of the main body, and driven wheels for supporting the main body. By controlling the movement of the main wheels, the cleaning robot can move forward, backward, left, and right in the area to be cleaned. However, during the cleaning process, there may be obstacles such as thresholds, steps, or carpets that are too high and obstruct the robot's movement, resulting in poor obstacle-crossing ability and affecting the completion of cleaning tasks in the space behind the obstacles, thus limiting the robot's working range. Summary of the Invention

[0005] This disclosure provides a cleaning robot and a cleaning system. By utilizing one or more embodiments of this disclosure, the obstacle-crossing ability of the cleaning robot can be improved to at least some extent.

[0006] In a first aspect of this disclosure, a cleaning robot is provided, including a main body; and a walking wheel assembly connected to the main body, the walking wheel assembly guiding the movement of the main body, the walking wheel assembly including: a main wheel connected to the main body via a first shaft, the main wheel guiding the movement of the main body in a first state; a rotating arm assembly including a first end and a second end, the first end of the rotating arm assembly being connected to the main body via a second shaft, the rotating arm assembly being capable of circumferential rotation about the second shaft; and an auxiliary wheel connected to the second end of the rotating arm assembly.

[0007] In a second aspect of this disclosure, a cleaning system is provided, including mutually cooperating base stations and the aforementioned cleaning robot. Attached Figure Description

[0008] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0009] Figure 1 shows a schematic diagram of the operation of a cleaning robot according to an embodiment of the present disclosure;

[0010] Figure 2 shows a flowchart illustrating a control method for a cleaning robot according to an embodiment of the present disclosure;

[0011] Figure 3 shows a flowchart illustrating a control method for a cleaning robot according to another embodiment of the present disclosure;

[0012] Figure 4 shows a schematic diagram of the structure of a cleaning robot according to an embodiment of the present disclosure;

[0013] Figures 5-7 show schematic diagrams of a first obstacle-crossing control method for a cleaning robot according to an embodiment of the present disclosure;

[0014] Figures 8-10 show schematic diagrams of a second obstacle-crossing control method for a cleaning robot 100 according to an embodiment of the present disclosure;

[0015] Figures 11-14 show schematic diagrams of a third obstacle-crossing control method for a cleaning robot according to an embodiment of the present disclosure;

[0016] Figures 15-16 show schematic diagrams of a fourth obstacle-crossing control method for a cleaning robot according to an embodiment of the present disclosure.

[0017] Figures 17-20 show schematic diagrams of a fifth obstacle-crossing control method for a cleaning robot according to an embodiment of the present disclosure;

[0018] Figures 21-24 show schematic diagrams of a sixth obstacle-crossing control method for a cleaning robot according to an embodiment of the present disclosure;

[0019] Figures 25-32 show schematic flowcharts of a seventh obstacle crossing control method for a cleaning robot according to an embodiment of the present disclosure;

[0020] Figure 33 shows a flowchart of the obstacle crossing control method for the cleaning robot shown in Figures 4 to 32;

[0021] Figure 34 illustrates an adjustment scenario under step S2606 according to some embodiments of the present disclosure;

[0022] Figure 35 shows a bottom view of a cleaning robot according to an embodiment of the present disclosure;

[0023] Figure 36 shows a schematic diagram of the structure of a first traveling wheel assembly according to an embodiment of the present disclosure;

[0024] Figure 37 shows another structural schematic diagram of the first traveling wheel assembly;

[0025] Figure 38 shows another structural schematic diagram of the first traveling wheel assembly;

[0026] Figure 39 shows a schematic diagram of the internal structure of the first traveling wheel assembly;

[0027] Figure 40 shows a schematic diagram of the connection between the transmission housing and the rotating arm assembly;

[0028] Figure 41 shows an exploded view of the transmission housing and rotating arm assembly of Figure 40;

[0029] Figures 42 and 43 show schematic diagrams of two states of the first traveling wheel assembly;

[0030] Figure 44 shows a schematic diagram of the structure of a cleaning robot with a first walking wheel assembly;

[0031] Figure 45 shows a schematic diagram of the driven wheel;

[0032] Figure 46 shows a schematic diagram of the structure in which the center of gravity of the main body of the first traveling wheel assembly is located behind the auxiliary wheel;

[0033] Figure 47 shows a perspective view of the first traveling wheel assembly;

[0034] Figures 48 and 49 show schematic diagrams of two states of the first traveling wheel assembly;

[0035] Figure 50 shows an exploded view of the first traveling wheel assembly of Figure 47;

[0036] Figure 51 shows a schematic diagram of force transmission in the first traveling wheel assembly;

[0037] Figure 52 shows a schematic diagram of the rotating arm assembly;

[0038] Figure 53 shows an exploded view of the rotating arm assembly of Figure 52;

[0039] Figure 54 shows a schematic diagram of the damper's structure;

[0040] Figure 55 shows a schematic diagram of the structure of the first traveling wheel assembly;

[0041] Figure 56 shows a schematic diagram of the internal structure of the first traveling wheel assembly in Figure 55;

[0042] Figure 57 shows an axial view of the first traveling wheel assembly in Figure 56;

[0043] Figure 58 shows a schematic diagram of the rotating arm assembly in Figure 57;

[0044] Figure 59 shows a schematic diagram of the internal structure of the rotating arm assembly in Figure 58;

[0045] Figure 60 shows a schematic diagram of the structure of the first traveling wheel assembly;

[0046] Figure 61 shows a schematic diagram of force transmission in the first traveling wheel assembly;

[0047] Figure 62 shows a schematic diagram of the connection between the rotating arm assembly and the drive disk in Figure 60;

[0048] Figures 63 and 64 show schematic diagrams of two states of the first traveling wheel assembly. Detailed Implementation

[0049] The embodiments and accompanying drawings described herein are merely preferred embodiments of this disclosure. Various modified embodiments that can replace the embodiments and accompanying drawings may exist when applying this disclosure.

[0050] In the following, embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. The same reference numerals or labels shown in the drawings may denote parts or elements that perform substantially the same function.

[0051] Figure 1 is a schematic diagram of the operation of the cleaning robot 100 according to an embodiment of this disclosure. Referring to Figure 1, the cleaning robot 100 can move on the operating surface within space A and clean the operating surface of space A while moving. The operating surface can be a hard cement surface, floor tile surface, etc., or a flexible rubber surface, carpet surface, etc. This disclosure does not limit the material or hardness of the operating surface.

[0052] As shown in Figure 1, space A can be divided into multiple subspaces, such as a first space R1, a second space R2, and a third space R3. These subspaces are interconnected through entrances E1 and E2. For example, the first space R1 and the third space R3 can be interconnected through the first entrance E1, and the second space R2 and the third space R3 can be interconnected through the second entrance E2. In other words, space A can be viewed as a collection of multiple regions connected by the first entrance E1 to the second entrance E2.

[0053] The cleaning robot 100 can perform cleaning tasks based on multiple sub-spaces divided into space A to ensure the efficiency of cleaning task execution (responding to cleaning commands, controlling the cleaning robot to execute cleaning tasks). That is, the cleaning robot 100 can directly utilize the aforementioned division of space A (divided into a first space R1, a second space R2, and a third space R3) to move within space A, set cleaning areas in real time, and move to clean the corresponding cleaning areas within each divided cleaning area. In some embodiments, the cleaning robot 100 can determine the entrance / exit during movement and divide the cleaning areas accordingly based on the determined entrance / exit and movement records. For example, the cleaning robot 100 can determine a first entrance / exit E1 and a second entrance / exit E2 during movement, and then divide space A into three corresponding cleaning areas according to the first space R1, the second space R2, and the third space R3. For ease of understanding, these three cleaning areas will be referred to as the first cleaning area R1, the second cleaning area R2, and the third cleaning area R3.

[0054] As shown in Figure 1, the cleaning robot 100 can also divide space A into different cleaning areas based on the separation of obstacles. In some embodiments, space A is divided into cleaning area A1 (first cleaning area) and cleaning area A2 (second cleaning area) by the threshold of the second entrance / exit E2. Cleaning area A1 is the area that the cleaning robot 100 can clean without having to climb over obstacles, while cleaning area A2 is the area that the cleaning robot 100 needs to climb over obstacles (the threshold of the second entrance / exit E2) to clean (the cleaning robot is controlled to overcome obstacles according to the cleaning task). However, those skilled in the art will understand that the cleaning robot 100 can divide the cleaning areas of space A simultaneously based on the subspaces of space A and whether obstacle crossing is required. For example, a cleaning area corresponding to a certain subspace, such as the second cleaning area R2, may completely or at least partially overlap with an area that requires obstacle crossing to clean, such as cleaning area A2, while cleaning area A1 includes the first space R1 and the third space R3.

[0055] The cleaning robot 100 can move in any direction within space A (hereinafter referred to as the moving state). When the cleaning robot 100 encounters obstacles such as walls, furniture, or thresholds (hereinafter referred to as obstacle B for ease of understanding), the cleaning robot 100 can enter the obstacle-crossing state. The moving state refers to the state of the cleaning robot 100 when it is translating on the operating surface. The obstacle-crossing state refers to the state of the cleaning robot 100 when the rotating arm assembly 143 is activated and then deactivated.

[0056] In some embodiments, obstacle crossing refers to the process of the cleaning robot 100 climbing onto obstacle B, cleaning the top surface of obstacle B (if any), and detaching from obstacle B. Depending on the nature of obstacle B, the cleaning robot 100 may move along the edge of obstacle B; or flip over to the top surface of obstacle B to clean the top surface of obstacle B; or climb over obstacle B to clean the cleaning area A2 defined by obstacle B. Those skilled in the art will understand that obstacle B can be any object that interferes with the movement of the cleaning robot 100, and is not necessarily a connecting part between two subspaces or an entrance / exit of a subspace. For example, obstacle B can also be a section of wall in space A, a piece of furniture in space A, a threshold, a protrusion on the operating surface (hereinafter referred to as the operating surface) where the cleaning robot 100 performs the cleaning task, or a carpet, etc. In some implementations, when the cleaning robot 100 moves along the edge of obstacle B because it cannot climb over obstacle B (e.g., the height H of obstacle B relative to the operating surface exceeds the climbing limit of the cleaning robot 100), the cleaning robot 100 may choose to perform a cleaning task on cleaning area A1 or the uncleaned areas therein. In this case, the cleaning robot 100 may trigger the transmission of missed cleaning information to the user terminal, notifying the user that cleaning area A2 (the area to be cleaned that requires climbing over obstacle B to complete the cleaning task) is either yet to be cleaned or has not been cleaned.

[0057] In other words, the cleaning robot 100 can set a cleaning sequence for at least two cleaning areas based on whether it can successfully climb obstacle B while moving. In this way, even if the cleaning robot 100 performs the cleaning task along a preset route, it can first clean the cleaning area A1 that is easy to clean (does not require climbing the corresponding obstacle) or the uncleaned areas therein, so as to improve the cleaning efficiency of space A.

[0058] However, in some usage scenarios, even if the cleaning robot 100 manages to climb over obstacle B, it may get stuck on obstacle B or confined within the cleaning area A2 behind it. In these situations, the cleaning robot 100 stops operating and triggers a stuck information transmission to the user terminal, notifying the user that the cleaning robot 100 is stuck. For example, as shown in Figure 1, being stuck on obstacle B means that when the cleaning robot 100 moves from cleaning area A1 to cleaning area A2, it successfully climbs over obstacle B but cannot successfully return to the original cleaning area (cleaning area A1) or climb over to the area to be cleaned (cleaning area A2).

[0059] In some implementations, the aforementioned missed sweep information or jam information may be a pop-up window or other form of notification sent by the cleaning robot 100 to the user terminal device, indicating that the cleaning robot 100 has missed a sweep or jammed. Alternatively, the missed sweep information or jam information may also be a reminder voice issued directly by the cleaning robot 100 to the environment. The relevant control methods of the cleaning robot 100 will be further explained below with reference to Figures 2 and 3.

[0060] Figure 2 is a flowchart of a control method for a cleaning robot 100 according to this disclosure. As shown in Figure 2, when the cleaning robot 100 performs a cleaning task on space A (responding to a cleaning command, the cleaning robot is controlled to perform the cleaning task), as shown in step S202, a map of space A needs to be constructed, marking the locations and types of obstacles. In some embodiments, the obstacle locations are identified by the cleaning robot 100 through sensors during the map construction process, or they may be pre-marked by the user, or data recorded by the cleaning robot 100 during historical cleaning processes. The obstacle type refers to the category of the obstacle, such as a chair, threshold, toy, etc. The obstacle type is determined by the cleaning robot 100 based on user definition or the shape, size, and height H relative to the operating surface of the obstacle. When the cleaning robot 100 confirms the presence of an obstacle at a certain location, it can obtain the location and type information of the obstacle through its sensors. To obtain this information, the cleaning robot 100 may move around the obstacle to collect sufficient information such as shape, size, and height H relative to the operating surface, and then mark the location and type of the obstacle based on this information, constructing a map that marks the location and type of the obstacle.

[0061] It should be noted that the above-mentioned map information can be constructed before the cleaning robot 100 performs the cleaning task for the first time, or it can be reconstructed by re-acquiring the obstacle positions and types each time a cleaning task is performed, or it can be constructed by the cleaning robot 100 acquiring the obstacle positions and types acquired during previous cleaning tasks, or it can be constructed by the cleaning robot 100 acquiring the marker obstacle positions and types from the last cleaning task. This disclosure does not limit the specific method of map construction.

[0062] After obtaining the location and type of obstacles, the cleaning robot 100 can perform cleaning tasks on space A according to the map that marks the location and type of obstacles, and in the process of performing the cleaning tasks, the cleaning robot 100 can be instructed on the location and type of obstacles that may appear.

[0063] In some implementations, obstacles can be divided into two categories. One category consists of obstacles with fixed locations, such as stairs, thresholds, or items like sofas, beds, dining tables, refrigerators, and wardrobes, whose locations change infrequently (low probability). The other category consists of obstacles whose locations change frequently (high probability), such as stools, toys, and trash cans. Obstacles whose locations change frequently are considered unstable information in the constructed map. Therefore, as shown in step S204, the cleaning robot 100 needs to compare the map information with the information collected in real time. The cleaning robot 100 determines which obstacles are fixed and which are prone to changing locations by collecting information in real time and comparing it with the map information generated in step S202. It then updates the map information based on the collected information so that the cleaning robot 100 can use it again next time.

[0064] In some implementations, real-time information acquisition refers to the real-time acquisition of obstacle positions and types by the cleaning robot 100. During the cleaning process, obstacle positions may change. For example, small furniture and appliances such as stools, toys, and trash cans may be moved, removed from the cleaning space, or new obstacles may be added. The cleaning robot 100 can acquire obstacle positions and types in real-time during its cleaning tasks, updating the map information, adding new obstacles entering the cleaning space, and removing obstacles not already present in the cleaning space.

[0065] In step S204, the cleaning robot 100, which performs the cleaning task according to the predetermined route, compares the map information (including the location and type information of obstacles) with the real-time collected information to determine whether there is an obstacle B in the field of vision (an obstacle that needs to be crossed to clean the area behind it), so as to proceed to step S206 and perform a climbing action on obstacle B.

[0066] In step S206, during the cleaning task performed by the cleaning robot 100, when obstacle B appears in the field of vision and is identified, the cleaning robot 100 attempts to climb (i.e., ascend) obstacle B, and in step S208, it is determined whether the cleaning robot 100 has successfully climbed the obstacle.

[0067] In step S208, the cleaning robot 100 determines whether it has successfully climbed the obstacle based on feedback from the tilt sensor, position sensor, and encoder. In some embodiments, the encoder measures the rotation of the drive motor of the cleaning robot 100; the position sensor measures the actual distance traveled by the cleaning robot 100; and the tilt sensor measures the actual angle (direction) of the cleaning robot 100's movement. When the cleaning robot 100 determines in step S208 that it has successfully climbed the obstacle B based on feedback from the tilt sensor, position sensor, and encoder, it proceeds to step S210 to further determine whether the cleaning robot 100 is stuck by the obstacle B. When the cleaning robot 100 fails to climb the obstacle B, it proceeds to step S212. The following will first describe the situation where the cleaning robot 100 fails to climb; the specific execution of the climbing action by the cleaning robot 100 will be detailed below.

[0068] In step S212, when the cleaning robot 100 determines, based on feedback from the tilt sensor, position sensor, and encoder, that it has failed to climb obstacle B (e.g., the height H of obstacle B relative to the operating surface exceeds the upper limit that the cleaning robot 100 can climb), the cleaning robot 100 determines whether to perform a cleaning task on cleaning area A1 or its uncleaned areas based on whether there are uncleaned areas in cleaning area A1. If the cleaning robot 100 determines that a cleaning task still needs to be performed on cleaning area A1 or its uncleaned areas, for example, if cleaning area A1 itself is or contains areas that are scheduled to be cleaned but have not yet been cleaned, then proceed to step S214, where the cleaning robot 100 performs the cleaning task on these other areas before proceeding to step S216. In some implementations, when the cleaning robot 100 determines that the height H of obstacle B relative to the operating surface exceeds the upper limit of what can be performed (exceeds the upper limit that the cleaning robot 100 can climb), the cleaning robot 100 can first clean the edge where obstacle B connects to the cleaning area A1, and then, according to the instruction in step S212, perform the cleaning task for these other areas in step S214. When the cleaning robot 100 determines that no cleaning task needs to be performed on the cleaning area A1, for example, if the cleaning area A1 is not set as an area that needs to be cleaned, or if it has been completely cleaned, it proceeds directly to step S216.

[0069] In step S216, the cleaning robot 100 proceeds to the base station to perform charging, dust collection, rewashing, or docking tasks. It is understood that the cleaning robot 100 may also perform S216 before other steps because it needs to proceed to the base station to perform charging, dust collection, or rewashing tasks.

[0070] Returning to step S210, when the cleaning robot 100 successfully climbs to the top surface of obstacle B, it continues to determine whether it is stuck on obstacle B and unable to descend from its top surface (failure to execute the obstacle climbing command). If the cleaning robot 100 is stuck, it sends a stuck message to the user terminal, or waits for the preset cleaning time for space A to expire before sending a no-return-to-base-station message to the user terminal. If the cleaning robot 100 is not stuck (successfully executing the obstacle climbing command), it proceeds to step S218, where the cleaning robot 100 performs the cleaning task on cleaning area A2.

[0071] After completing the cleaning task in cleaning area A2 in step S218, the cleaning robot 100 needs to continue cleaning other areas or return to the base station for dust collection, mop washing, charging, or docking. Therefore, the cleaning robot 100 needs to proceed to step S220 to perform another climbing action on obstacle B to cross the cleaning area A2 separated by obstacle B. However, it is understandable that due to the complexity of the usage environment, the cleaning robot 100 can cross the same obstacle, i.e., cross obstacle B and return along the same path. The cleaning robot 100 can also cross the cleaning area A2 by detecting obstacles that are easier to climb or closer to it. In other words, if there are other obstacles in the cleaning space separated by obstacle B, the cleaning robot 100 can cross the cleaning space separated by obstacle B by using obstacles that are easier to climb (e.g., lower) or closer to it, thereby shortening the travel path of the cleaning robot 100 and improving the obstacle crossing success rate and cleaning efficiency.

[0072] Similar to steps S208 and S210, when venturing beyond the cleaning area A2, it is necessary to determine whether the robot has successfully climbed and whether it is stuck in steps S222 and S224, respectively. In some embodiments, in step S222, the cleaning robot 100 determines whether it has successfully climbed based on feedback from the tilt sensor, position sensor, and encoder. If the cleaning robot 100 fails to climb (failure to execute the climbing command on the obstacle), it means that the cleaning robot 100 is stuck in the cleaning area A2. For example, if obstacle B is easier to climb near the edge of the cleaning area A1, and the cleaning robot 100 can enter but cannot leave the cleaning area A2, the cleaning robot 100 can send a message to the user terminal indicating that it is stuck in the cleaning area A2, or wait for the preset cleaning time for space A to be greater than or equal to the set time, indicating that the cleaning time for space A has been exhausted, before sending a message to the user terminal indicating that it has not returned to the base station. If the cleaning robot 100 successfully climbs, it continues to step S224.

[0073] In step S224, the cleaning robot 100 determines whether it is stuck on the obstacle it has climbed based on feedback from the tilt sensor, position sensor, and encoder. If the cleaning robot 100 determines that it is stuck (i.e., stuck on the obstacle it has climbed), it sends a message to the user terminal indicating that it is stuck on the corresponding obstacle, or waits until the preset cleaning time for space A is exhausted before sending a message to the user terminal indicating that it has not returned to the base station. If the cleaning robot 100 determines that it is not stuck, that is, when the cleaning robot 100 successfully leaves the cleaning area A2, it continues to step S212 and executes the subsequent processes of step S212.

[0074] In some embodiments, when the cleaning robot 100 performs a climbing action, if the obstacle B is an object that has been successfully overcome before, or a target obstacle for which the user has set parameters (marked and input relevant parameters such as the height H relative to the operating surface), it can directly read historical data or user-set relevant parameters such as the height H relative to the operating surface and use these parameters to climb, thereby improving the success rate of obstacle overcoming, avoiding getting stuck to a certain extent, and improving the efficiency of cleaning tasks. This will be explained below with reference to Figure 3.

[0075] Figure 3 is a schematic diagram of another control method for the cleaning robot 100 described in this disclosure. Referring to Figure 3, in step S302, a processor deployed inside or outside the cleaning robot 100 analyzes historical obstacle-crossing information or user-preset data according to instructions received from a user terminal or on the display interface of the cleaning robot 100. In some embodiments, the instructions refer to instructions from the user agreeing to the collection and analysis of historical data of the cleaning robot 100, or instructions from the user confirming the preset data. User-preset data refers to cleaning constraints input by the user on a mobile terminal or on the display interface of the cleaning robot 100. These constraints may include at least one of the following: cleaning start and end time, cleaning type, cleaning area, number of cleaning cycles, obstacle location, and obstacle type.

[0076] For example, the cleaning area can be a specific area selected by the user for cleaning. For instance, the user can choose to clean only one of the three spaces shown in Figure 1 (R1, R2, R3), or select to clean two or all of them. The number of cleaning cycles refers to the number of times the same area is cleaned repeatedly during the cleaning task. For example, the user can choose to clean R1 once and R2 twice, with the specific number set according to actual needs. The cleaning type can be a user-defined cleaning mode such as dry vacuuming, wet mopping, simultaneous vacuuming and mopping, or dry cleaning followed by wet cleaning.

[0077] Of course, cleaning constraints can also include at least two of the following: cleaning start and end time, cleaning area, number of cleaning sessions, location of obstacles, and type of obstacles. For example: Clean the first space R1 once every Tuesday from 10:00 AM to 12:00 PM, and clean the second space R2 twice, using dry vacuuming mode, requiring passage over the 4cm high obstacle B at the second entrance E2; Clean the first space R1 once every Thursday from 10:00 AM to 11:00 AM, using dry cleaning followed by wet cleaning mode, without needing to pass over obstacles, etc.

[0078] It should be noted that the above constraints can be set once, set multiple times, or updated by the user as needed. After the user agrees to the collection and analysis of the historical data of the cleaning robot 100, the processor deployed inside or outside the cleaning robot 100 can generate analysis results based on the historical data and / or user-preset data. The analysis results include user habit information and environmental analysis information. In some embodiments, historical data includes constraints set by the user in the past, map information historically established by the cleaning robot 100, the location and type of obstacles, and records of previous cleaning tasks. User habit information is generated based on constraints set by the user in the past, such as the user's preferred cleaning start and end times, cleaning modes, and cleaning frequency. Environmental analysis information is generated based on map information historically established by the cleaning robot 100, the location and type of obstacles, and records of previous cleaning tasks, such as whether there are obstacles at a certain location, whether the obstacles are fixed obstacles, whether there has been a jam, and the number or probability of jamming. The control method of the cleaning robot 100 disclosed herein also includes step S304.

[0079] In step S304, a processor deployed inside or outside the cleaning robot 100 compares the analysis results generated in step S302 with the real-time information collected by the cleaning robot to determine whether to proceed to process S206. The real-time information collected includes the real-time location and type of obstacles. During the cleaning task performed by the cleaning robot 100 based on the analysis results generated in step S302, it may constrain and clean a specific space. For example, if the user's habitual information is "clean the first space R1 and the second space R2" as shown in Figure 1, and the first space R1 and the second space R2 are separated by obstacle B, then to clean the second space R2, it is necessary to climb over obstacle B. If the current user's habitual information is "clean the first space R1," then since cleaning the second space R2 is not required, even if obstacle B meets the obstacle-crossing conditions, it is not necessary to climb over obstacle B. Therefore, based on the comparison of the analysis results including user habitual information and the real-time information collected, it can be determined whether to proceed to step S206 and subsequent processes. Steps S206 to S226 can be referred to in the relevant description in Figure 2, and will not be repeated here.

[0080] It should be noted that, since the analysis results generated in step S302 include environmental analysis information, which indicates whether there are obstacles at a certain location, whether the obstacles are fixed, whether there has been a previous jamming, and the number or probability of jamming, the process can also be adjusted based on the number or probability of jamming at an obstacle to determine whether to proceed to step S206 and subsequent steps, so that the cleaning robot 100 is not stuck at the location or obstacle where it was previously stuck, or to reduce the probability of the cleaning robot 100 being stuck at the location or obstacle where it was previously stuck.

[0081] Furthermore, in some embodiments, the map can be constructed in step S202 of Figure 2 with reference to the historical data of step S302 of Figure 3. For example, the map information can be constructed based on at least one of the following: constraints set by the user in the historical data, map information previously created by the cleaning robot 100, the location and type of obstacles, and records of previous cleaning tasks. For example, if the user's habitual information is "cleaning the first space R1 and the second space R2", then when constructing the map information, the map of "the first space R1 and the second space R2" will be constructed first, and the map of the third space R3 will be constructed later or not at all, and the first space R1 and the second space R2 will be prioritized as the objects for the cleaning robot 100 to perform cleaning tasks.

[0082] The following will use Figures 4 to 25 to explain in detail how the cleaning robot 100 executes the climbing command for obstacle B, that is, how the cleaning robot 100 executes step S206 or step S220 shown in Figures 2 and 3.

[0083] Figure 4 is a schematic diagram of a cleaning robot 100 according to an embodiment of this disclosure. As shown in Figure 4, the cleaning robot 100 includes a main body 110, a first wheel assembly 140, a second wheel assembly 160, driven wheels 120, and a tail wheel 180. The first wheel assembly 140 and the second wheel assembly 160 are rotatably mounted on the right and left sides of the main body 110, respectively, along the direction of travel of the cleaning robot 100. The first wheel assembly 140 and the second wheel assembly 160 are driven by their respective motors to support the normal movement of the cleaning robot 100. The first wheel assembly 140 and the second wheel assembly 160 can be driven forward or backward according to a travel command to guide the movement of the cleaning robot 100. For example, the first wheel assembly 140 and the second wheel assembly 160 being driven forward or backward causes the cleaning robot 100 to move forward or backward. Furthermore, when the first wheel assembly 140 is driven backward, the second wheel assembly 160 is driven forward, causing the cleaning robot 100 to turn right. When the first walking wheel assembly 140 is driven forward, the second walking wheel assembly 160 is driven backward, causing the cleaning robot 100 to turn left. The driven wheel 120 is rotatably mounted on the front side of the main body 110. The driven wheel 120, in conjunction with the guidance of the first walking wheel assembly 140 and the second walking wheel assembly 160, adjusts the traveling direction of the cleaning robot 100 and can change its azimuth angle based on the terrain. The driven wheel 120 supports the cleaning robot 100 to stabilize it and prevent it from tipping over. The tail wheel 180 is rotatably mounted on the rear of the main body 110 to serve as a support device for the cleaning robot 100 when its front side is raised, preventing the tail end from dragging on the ground and causing wear, thus affecting the efficiency of the cleaning robot 100's movement when its front side is raised and moving forward or backward.

[0084] It should be noted that the cleaning robot may turn, retreat, or move forward during its journey toward the target area. The direction of travel of the cleaning robot 100 disclosed herein refers to the direction in which the cleaning robot 100 moves toward the target area.

[0085] Figures 5 to 32 are schematic diagrams of the obstacle crossing control method M of the cleaning robot 100 according to this disclosure. Figures 5 to 32 show side views of the cleaning robot 100 in a traveling state. For ease of understanding, the following description will be based on the first walking wheel assembly 140 on the right side of the main body 110 in the traveling direction indicated by the arrow. Unless otherwise stated, the description of the first walking wheel assembly 140 is also applicable to the second walking wheel assembly 160 on the left side of the forward movement direction of the main body 110. The obstacle crossing control method M1 of the cleaning robot 100 according to this disclosure will be described below with reference to Figures 5 to 7.

[0086] Figures 5 to 7 are exploded schematic diagrams of an obstacle-crossing control method M1 for the cleaning robot 100 described in this disclosure. Referring to Figure 5, the cleaning robot 100 moves on the operating surface (in a moving state) and detects that the height H of the obstacle B relative to the operating surface in the direction of travel is less than the radius R of the main wheel 142. Referring to Figures 6 and 7, when the height H of the obstacle B relative to the operating surface is less than the radius R of the main wheel 142, the cleaning robot 100 determines that it does not need to activate the obstacle-crossing state (calling and executing the aforementioned climbing command), and without adjusting the posture of the main body 110, directly completes the climbing action through the frictional force when the main wheel 142 presses against the obstacle B and its rotation relative to the obstacle B in the direction of travel. At this time, the cleaning robot 100 can directly climb onto the top surface of the obstacle B in a moving state, clean the top surface of the obstacle B (if necessary), and detach from the obstacle B without activating the obstacle-crossing state.

[0087] Figures 8 to 10 are exploded schematic diagrams of another obstacle-crossing control method M2 of the cleaning robot 100 described in this disclosure. As shown in Figure 8, the cleaning robot 100 moves on the operating surface (in a moving state) and detects that the height H of the obstacle B relative to the operating surface in the direction of travel is greater than the radius of the main wheel 142 and less than a first preset value. Referring to Figures 9 and 10, when the height H of the obstacle B relative to the operating surface is greater than the radius of the main wheel 142 and less than the first preset value, the cleaning robot 100 determines to activate the obstacle-crossing state (calls and executes the climbing command for the obstacle B).

[0088] As shown in Figure 9, when the height H of obstacle B relative to the operating surface is greater than the radius of the main wheel 142, the cleaning robot 100 raises the movable driven wheel 120 with the operating surface as a reference, thereby raising the front side of the main body 110. This increases the tilt angle of the main body 110. At this time, the maximum gap between the front side of the main body 110 and the operating surface is higher than the height H of obstacle B relative to the operating surface, so that the front side of the main body 100 can pass over obstacle B. The tilt angle of the main body 110 also refers to the angle between the bottom surface of the main body 110 and the horizontal plane.

[0089] Referring to Figure 10, because the driven wheel 120 is movable up and down and is set to have an inclination angle α as shown in Figure 9, the driven wheel 120 can be pushed up or down by the first walking wheel assembly 140 in the direction of travel, pressing against the obstacle and gradually retracting, and moving ahead to above or contacting the top surface of the obstacle B. Due to the advancement of the first walking wheel assembly 140 and the cooperation of the driven wheel 120, the front side of the main body 110 moves to above the obstacle B, the main wheel 142 presses against the obstacle B, and completes the climbing action by using the friction between the main body 110 and the obstacle B and the rotation relative to the obstacle B in the direction of travel.

[0090] Figures 11 to 14 are exploded schematic diagrams of another obstacle-crossing control method M3 for the cleaning robot 100 described in this disclosure. Referring to Figure 11, the cleaning robot 100 moves on the operating surface (in a moving state) and detects that the height H of the obstacle B relative to the operating surface in the direction of travel is greater than a first preset value and less than a second preset value. As shown in Figure 12, when the height H of the obstacle B relative to the operating surface is greater than the first preset value and less than the second preset value, the cleaning robot 100 raises the movable driven wheel 120 with the operating surface as a reference to raise the front side of the main body 110, increasing the tilt angle of the main body 110. At this time, the maximum gap between the front side of the main body 110 and the operating surface is higher than the height H of the obstacle B relative to the operating surface, so that the front side of the main body 100 can cross the obstacle B. As shown in Figure 13, to enable the main wheel 142 to abut the top surface of obstacle B, the first traveling wheel assembly 140 lowers the rotating arm assembly 143 to the auxiliary wheel 146 to abut the operating surface below the main wheel 142, thereby lifting the main body 110 and the main wheel 142. The auxiliary wheel 146 drives the cleaning robot 100 forward along the traveling direction until the main wheel 142 abuts the top surface of obstacle B. The main wheel 142 presses against obstacle B and uses the friction between itself and obstacle B and its rotation relative to obstacle B in the traveling direction to complete the action of climbing onto obstacle B. Referring to Figure 14, as the main wheel 142 moves to the top surface of obstacle B, the rotating arm assembly 143 of the cleaning robot 100 is pushed back to the rear of the main wheel 142 by the top surface of obstacle B. The cleaning robot 100 continues to move on the top surface of obstacle B using the main wheel 142 to clean the top surface of obstacle B (if necessary) or detach from obstacle B.

[0091] Figures 15 and 16 show schematic diagrams of another obstacle-crossing control method M4 for the cleaning robot 100 described in this disclosure. As shown in Figure 15, the cleaning robot 100 moves on the operating surface (in a moving state) and detects that the height H of the obstacle B in the direction of travel relative to the operating surface is greater than the radius of the main wheel 142 and less than a first preset value. As shown in Figure 16, unlike the aforementioned obstacle-crossing control method M2, the cleaning robot 100 can support the rotating arm assembly 143 and the auxiliary wheel 146 on the front side of the main wheel 142. The center of gravity of the cleaning robot 100 is located behind the auxiliary wheel 146, causing the front end of the cleaning robot 100 to tilt upwards under the action of gravity. At the same time, the tail wheel 180 is supported on the ground, cooperating with the auxiliary wheel 146 to guide the cleaning robot 100 to move. The obstacle-crossing control method M4 utilizes the rotating arm assembly 143 and the auxiliary wheel 146 to adjust the contact position between the auxiliary wheel 146 and the operating surface and the position of the center of gravity of the cleaning robot 100. This ensures that the center of gravity of the cleaning robot 100 is located behind the contact position between the auxiliary wheel 146 and the operating surface, thereby lifting the front of the cleaning robot 100, rather than directly lifting the front of the cleaning robot 100 using the driven wheel 120. However, the obstacle-crossing control method M4 can also change the tilt angle of the main body 110, increasing the maximum gap between the front of the cleaning robot 100 and the operating surface, allowing the front of the cleaning robot 100 to be pushed over the obstacle B. The cleaning robot 100 continues to press against the obstacle B using the main wheel 142, utilizing the friction between the main wheel 142 and the obstacle B, as well as the rotation of the main wheel 142 relative to the obstacle B in the direction of travel, to complete the action of climbing over the obstacle B. Compared to obstacle crossing control method M2, except for adjusting the contact position between the auxiliary wheel 146 and the operating surface and the center of gravity of the cleaning robot 100 by using the rotating arm assembly 143 and the auxiliary wheel 146, so that the center of gravity of the cleaning robot 100 is located behind the contact position between the auxiliary wheel 146 and the operating surface, thereby lifting the front side of the cleaning robot 100, instead of directly lifting the front side of the cleaning robot 100 by using the driven wheel 120, the other steps of obstacle crossing control method M4 shown in Figures 15 and 16 can refer to the description of obstacle crossing control method M2.

[0092] Figures 17 to 20 are schematic diagrams of another obstacle-crossing control method M5 for the cleaning robot 100 described in this disclosure. As shown in Figure 17, the cleaning robot 100 moves on the operating surface (is in a moving state) and detects that the height H of the obstacle B in the direction of travel relative to the operating surface is greater than a first preset value and less than a second preset value. As shown in Figure 18, similar to the aforementioned obstacle-crossing control method M3, the cleaning robot 100 can support the rotating arm assembly 143 and the auxiliary wheel 146 on the front side of the main wheel 142. The center of gravity of the cleaning robot 100 is located behind the auxiliary wheel 146. Under the action of gravity, the front end of the cleaning robot 100 tilts upward, adjusting to a climbing posture. At the same time, the tail wheel 180 is supported on the ground, cooperating with the auxiliary wheel 146 to guide the cleaning robot 100 to move. The obstacle-crossing control method M5 also utilizes the rotating arm assembly 143 and the auxiliary wheel 146 to adjust the contact position between the auxiliary wheel 146 and the operating surface and the position of the center of gravity of the cleaning robot 100. This ensures that the center of gravity of the cleaning robot 100 is located behind the contact position between the auxiliary wheel 146 and the operating surface, thereby lifting the front of the cleaning robot 100, rather than directly lifting the front of the cleaning robot 100 using the driven wheel 120. The obstacle-crossing control method M5 can also change the tilt angle of the main body 110, increasing the maximum gap between the front of the cleaning robot 100 and the operating surface, allowing the front of the cleaning robot 100 to be pushed above the obstacle B. As shown in Figures 19 and 20, the cleaning robot 100 can rotate the rotating arm assembly 143 counterclockwise, causing the auxiliary wheel 146 to abut against the operating surface directly below or behind the main wheel 142, thereby supporting the main body 110 and the main wheel 142. The auxiliary wheel 146 propels the cleaning robot 100 forward along the direction of travel until the main wheel 142 abuts against the top surface of the obstacle B. The main wheel 142 presses against obstacle B, and the robot climbs onto obstacle B by utilizing the friction between itself and obstacle B and its rotation relative to obstacle B in the direction of travel. Referring to Figure 20, as the main wheel 142 moves to the top surface of obstacle B, the rotating arm assembly 143 of the cleaning robot 100 is pushed back to the rear of the main wheel 142 by the top surface of obstacle B. The cleaning robot 100 then uses the main wheel 142 to continue moving on the top surface of obstacle B to clean the top surface of obstacle B (if necessary) or to detach from obstacle B.

[0093] Figures 21 to 24 are schematic diagrams of another obstacle-crossing control method M6 for the cleaning robot 100 described in this disclosure. As shown in Figure 21, the cleaning robot 100 moves on the operating surface (is in a moving state) and detects that the height H of the obstacle B in the direction of travel relative to the operating surface is greater than the radius of the main wheel 142 and less than a first preset value. As shown in Figure 22, similar to the aforementioned obstacle-crossing control method M3, the cleaning robot 100 can support the rotating arm assembly 143 and the auxiliary wheel 146 on the front side of the main wheel 142. The center of gravity of the cleaning robot 100 is located behind the auxiliary wheel 146. Under the action of gravity, the front end of the cleaning robot 100 tilts upward, adjusting to a climbing posture. At the same time, the tail wheel 180 is supported on the ground, cooperating with the auxiliary wheel 146 to guide the cleaning robot 100 to move. The obstacle-crossing control method M6 also utilizes the rotating arm assembly 143 and the auxiliary wheel 146 to adjust the contact position between the auxiliary wheel 146 and the operating surface and the position of the center of gravity of the cleaning robot 100. This ensures that the center of gravity of the cleaning robot 100 is located behind the contact position between the auxiliary wheel 146 and the operating surface, thereby lifting the front of the cleaning robot 100, rather than directly lifting the front of the cleaning robot 100 using the driven wheel 120. The obstacle-crossing control method M6 can also change the tilt angle of the main body 110, increasing the maximum gap between the front of the cleaning robot 100 and the operating surface, allowing the front of the cleaning robot 100 to be pushed above the obstacle B. As shown in Figures 23 and 24, the cleaning robot 100 can rotate the rotating arm assembly 143 counterclockwise, causing the rotating arm assembly 143 and / or the auxiliary wheel 146 to abut against the top surface of the obstacle B. The rotating arm assembly 143 and / or auxiliary wheel 146 press against obstacle B, and the rotating arm assembly 143 and / or auxiliary wheel 146 rotate clockwise. The pressure applied to obstacle B by the rotating arm assembly 143 and / or auxiliary wheel 146 assists the main wheel 142 in climbing over obstacle B. Referring to Figures 23 and 24, during this process, when the main wheel 142 presses against obstacle B, the friction between it and obstacle B, as well as its rotation relative to obstacle B in the direction of travel, further facilitates climbing over obstacle B. Furthermore, the rotating arm assembly 143 of the cleaning robot 100 can also retract the main wheel 142 by withdrawing the pressure applied to obstacle B and / or by pushing against the top surface of obstacle B. The cleaning robot 100 then uses the main wheel 142 to continue traveling on the top surface of obstacle B to clean the top surface of obstacle B (if necessary) or to detach from obstacle B.

[0094] Figures 25 to 32 show schematic diagrams of another obstacle-crossing control method M7 for the cleaning robot 100 described in this disclosure. The obstacle-crossing control method M7 can control the cleaning robot 100 to climb obstacles B with steps, such as thresholds or stairs with two or more steps. As shown in Figures 25 to 27, the obstacle-crossing control method M7 first involves the main wheel 142 of the cleaning robot 100 contacting the first layer B1 of the obstacle B. Then, the contact position between the auxiliary wheel 146 and the operating surface and the position of the cleaning robot 100's center of gravity can be adjusted by the rotating arm assembly 143, so that the center of gravity of the cleaning robot 100 is located behind the contact position between the auxiliary wheel 146 and the operating surface. This lifts the front of the main body 110, and the auxiliary wheel 146 drives the cleaning robot 100 to move until the main wheel 142 contacts the first layer B1 of the obstacle B. However, in other embodiments, the driven wheel 120 can be raised relative to the operating surface to lift the front side of the main body 110, and the auxiliary wheel 146 can be used to drive the cleaning robot 100 to move until the main wheel 142 abuts the first layer B1 of the obstacle B.

[0095] Referring to Figure 27, the rotating arm assembly 143 is controlled to move so that the auxiliary wheel 146 engages with the second step B2 of the obstacle. In some embodiments, the height H2 of the relative operating surface of the second step B2 is higher than the height H1 of the relative operating surface of the first step B1.

[0096] Referring to Figure 28, as the main wheel 142 abuts against and advances to the first layer B1 of obstacle B, the rotating arm 142 and the auxiliary wheel 146 are pushed back to the rear of the main wheel 142 by the first layer B1 of obstacle B. Referring to Figure 29, the cleaning robot 100 can rotate the rotating arm assembly 143 clockwise, so that the rotating arm assembly 143 and / or the auxiliary wheel 146 abut against the second layer B2 of obstacle B. The rotating arm assembly 143 and / or the auxiliary wheel 146 press against the second layer B2 of obstacle B, and the rotating arm assembly 143 and / or the auxiliary wheel 146 continue to rotate clockwise. The pressure applied by the rotating arm assembly 143 and / or the auxiliary wheel 146 to the second layer B2 of obstacle B assists the main wheel 142 in climbing up the second layer B2 of obstacle B. Referring to Figures 29 and 30, during this process, when the main wheel 142 presses against the second layer B2 of obstacle B, the friction between it and the second layer B2, as well as its rotation relative to the second layer B2 in the direction of travel, can further facilitate the cleaning robot 100 to climb onto the second layer B2 of obstacle B. Furthermore, as shown in Figures 31 and 32, the rotating arm assembly 143 of the cleaning robot 100 can also retract the main wheel 142 counterclockwise, allowing the cleaning robot 100 to continue traveling on the top surface of obstacle B to clean the top surface of obstacle B (if necessary) or to detach from obstacle B.

[0097] In some embodiments, the main difference between obstacle crossing control methods M6 and M7 and other obstacle crossing control methods M1 to M5 is that obstacle crossing control methods M6 and M7 utilize the downward pressure applied to obstacle B by the rotating arm assembly 143 and / or auxiliary wheel 146 to push the main wheel 142 and the main body 110, thereby lifting the cleaning robot 100 to the height of obstacle B. Then, as the main wheel 142 contacts the top surface of obstacle B, the cleaning robot 100 continues to move on the top surface of obstacle B, thus achieving obstacle crossing. Obstacle crossing control method M7 can overcome obstacles B with two or more steps. In some embodiments, the height of any one step of obstacle B can be considered as the height of any obstacle B in obstacle crossing control methods M1 to M6. That is, the maximum obstacle crossing height achievable by obstacle crossing control method M7 is twice the second preset value.

[0098] Figure 33 is a flowchart of the obstacle-crossing control method M of the cleaning robot 100 shown in Figures 4 to 32. The obstacle-crossing control method M shown in Figure 33 includes: in step S2602, confirming the height of the obstacle relative to the operating surface and the distance between the cleaning robot 100 and the obstacle. Then, proceeding to step S2604, in step S2604, performing a corresponding climbing action based on the height of the obstacle relative to the operating surface. Next, in step S2606, obtaining the actual travel distance of the cleaning robot 100 through a position sensor (e.g., an optical flow sensor). Finally, proceeding to step S2608, comparing the actual travel distance of the cleaning robot 100 with the count of the encoder on the main wheel 142 (representing the distance traveled by the main wheel 142) to confirm whether the cleaning robot 100 has successfully crossed the obstacle.

[0099] In some embodiments, the distance from the cleaning robot 100 to the obstacle mentioned in step S2602 includes the distance from the driven wheel 120 to the obstacle and the distance from the main wheel 142 to the obstacle. In some embodiments, the height of the obstacle relative to the operating surface and the distance from the cleaning robot 100 to the obstacle can be obtained by at least one of the position sensor, obstacle sensor, and imaging module of the cleaning robot 100.

[0100] Step S2604, which describes performing different obstacle-crossing actions based on the height of the obstacle relative to the operating surface, further includes comparing the height H of the obstacle relative to the operating surface with the radius of the main wheel 142 of the cleaning robot 100. When the height H of the obstacle relative to the operating surface is less than the radius of the main wheel 142, the cleaning robot 100 is in a moving state. The corresponding motor of the rotating arm assembly 143 does not need to be started, and the rotating arm assembly 143 and the auxiliary wheel 146 do not need to move. The cleaning robot 100 can complete the obstacle-crossing action in a moving state by using the main wheel 142.

[0101] When the height H of the obstacle relative to the operating surface is greater than the radius of the main wheel 142, the front side of the main body 110 is lifted. For example, in one embodiment, the rotating arm assembly 143 and the auxiliary wheel 145 can be positioned to abut the operating surface in front of the main wheel 142, so that the center of gravity of the cleaning robot 100 is located behind the contact position between the auxiliary wheel 145 and the operating surface, and the front side of the main body 110 is lifted under its own weight. In another embodiment, the driven wheel 120 can also be lifted with the operating surface as a reference, thereby lifting the front side of the main body 110. When the front side of the main body 110 is lifted, the rotating arm assembly 143 is first lowered to directly below or behind the main wheel 142, so that the auxiliary wheel 146 abuts the operating surface, lifting the main wheel 142 and the cleaning robot 100. Then, the rotation of the auxiliary wheel 146 drives the cleaning robot 100 to move forward. When the main wheel 142 abuts the obstacle B, the main wheel 142 is rotated. Then, the cleaning robot 100 completes the obstacle-crossing action by using the friction of its main wheels 142 against obstacle B and rotating in the direction of travel. It should be noted that, during the process of raising the front of the cleaning robot 100 by controlling the driven wheels 120, the degree of lifting of the driven wheels 120 relative to the operating surface can be confirmed and controlled according to the height H of obstacle B relative to the operating surface, or the degree of lifting of the driven wheels 120 relative to the operating surface can be confirmed and controlled by confirming the tilt angle of the main body 110.

[0102] Step S2606 further includes comparing the actual travel distance of the cleaning robot 100 with the distance from the cleaning robot 100 to obstacle B to confirm whether the cleaning robot 100 has successfully climbed obstacle B. The actual travel distance of the cleaning robot 100 can be confirmed through feedback from the encoder and position sensor, or it can be confirmed through feedback from only the encoder or position sensor. When the actual travel distance is greater than the distance from the cleaning robot 100 to the obstacle when the count is reached, it indicates that the cleaning robot 100 has successfully climbed obstacle B. When the actual travel distance is less than or equal to the distance from the cleaning robot to the obstacle when the count is reached, it indicates that the cleaning robot 100 has failed to successfully climb obstacle B.

[0103] Figure 34 illustrates one adjustment scenario under step S2606 as described in some embodiments of this disclosure. As shown in Figure 34, in some embodiments, when the cleaning robot 100 fails to climb obstacle B, the cleaning robot 100 is controlled to retreat, and its travel parameters are adjusted to allow it to attempt to climb the obstacle again. In some implementations, the travel parameters of the cleaning robot 100 include at least one of its travel direction and travel speed. That is, when there is a significant deviation between the cleaning robot 100's travel direction and the intended direction towards obstacle B (e.g., as shown in Figure 27), causing the robot to fail to climb obstacle B, the cleaning robot 100 can attempt to climb the obstacle with a new travel direction and / or with a higher travel speed.

[0104] If the cleaning robot 100 fails to climb obstacle B more than a set number of times, it can also send an obstacle-crossing failure message to the user terminal 200 to notify the user of the obstacle-crossing failure. For example, the set number of failures can be 3, 4, 5, etc. In some embodiments, the cleaning robot 100 can send an obstacle-crossing failure notification to the user terminal 200, or it can directly issue a prompt sound to remind the user. After confirming the obstacle-crossing failure, the cleaning robot 100 can stop operating, continue cleaning other cleaning areas, or return to the base station. The cleaning robot 100 can perform corresponding actions according to the user and program settings, and this disclosure does not impose any limitations on this.

[0105] It should also be noted that during the obstacle-crossing process, the cleaning robot 100 may get stuck on the top surface of obstacle B or trapped in the cleaning area A2 defined by obstacle B. This situation can be confirmed by the position sensor measuring the actual distance traveled by the cleaning robot 100, or by the cleaning robot 100 not returning to the base station when the cleaning time expires. When it is confirmed that the cleaning robot 100 is stuck, the cleaning robot 100 can send a stuck information to the user terminal 200 to notify the user accordingly. For details, please refer to the relevant description above, which will not be repeated here.

[0106] Figure 35 is a bottom view of a cleaning robot 100 according to an embodiment of this disclosure. As shown in Figure 35, in addition to the main body 110 (not shown in Figure 35), the first wheel assembly 140, and the second wheel assembly 160, the cleaning robot 100 also includes a cover 130, a roller brush module 150, and a side brush module 170. The main body 110 and the cover 130 define the appearance of the cleaning robot 100 and support the various components installed therein. In some embodiments, the cover 130 covers the bottom of the cleaning robot 100. The roller brush module 150 and the side brush module 170 are respectively mounted on the bottom and side of the cleaning robot 100. The roller brush module 150 raises and sucks up dust, and the side brush module 170 is mounted on the front side of the bottom of the cleaning robot 100 to collect dust in wall crevices that the cleaning robot 100 cannot directly reach into the area that the roller brush module 150 can cover, thereby performing the cleaning task of the cleaning robot 100.

[0107] Referring to Figure 35, the first wheel assembly 140 and the second wheel assembly 160 are arranged opposite each other on the left and right sides of the bottom of the cleaning robot 100 along the direction of travel of the cleaning robot 100. During the cleaning task performed by the cleaning robot 100, the first wheel assembly 140 and the second wheel assembly 160 can move forward, backward, or turn under the drive of their respective motors to clean the area to be cleaned. In addition, the first wheel assembly 140 and the second wheel assembly 160 can also adjust the contact position between the auxiliary wheel 146 and the operating surface and the position of the center of gravity of the cleaning robot 100, and / or adjust the position of the rotating arm 143 and the auxiliary wheel 146 according to the climbing command of the obstacle B, so that the cleaning robot 100 has the ability to overcome obstacles, thereby increasing the working range (cleanable area) of the cleaning robot 100. The specific implementation method can be referred to the description below.

[0108] Referring to Figure 35, it can be understood that in some embodiments of this disclosure, the cleaning robot 100 has driven wheels 120 installed at the rear, or the cleaning robot 100 has driven wheels 120 installed at both the front and rear. This disclosure does not limit the number, type, or installation position of the driven wheels 120; even the tail wheel 180 can be classified as a driven wheel 120. Various embodiments of the first traveling wheel assembly 140 will be further described below with reference to Figures 36 to 64. Furthermore, unless otherwise stated, the description of the first traveling wheel assembly 140 also applies to the second traveling wheel assembly 160.

[0109] Figure 36 is a structural schematic diagram of the first traveling wheel assembly 140a according to this disclosure. The first traveling wheel assembly 140a is one type of the first traveling wheel assembly 140. Figure 37 is another structural schematic diagram of the first traveling wheel assembly 140a. Referring to Figures 36 and 37, the first traveling wheel assembly 140a includes a housing 141a, a main wheel 142a, a rotating arm assembly 143a, a first motor 144a, a second motor 145a, an auxiliary wheel 146a, and a transmission housing 147a. In some embodiments, the main wheel 142a, the first motor 144a, and the second motor 145a are all connected to the outside of the housing 141a. The first motor 144a drives the main wheel 142a to rotate relative to the housing 141a, thereby guiding the movement of the main body 110.

[0110] The rotating arm assembly 143a connects the main wheel 142a and the auxiliary wheel 146a. The second motor 145a drives the rotating arm assembly 143a to rotate, so that when the auxiliary wheel 146a abuts against the operating surface, the main wheel 142a is separated from the operating surface by the auxiliary wheel 146a and the rotating arm assembly 143a. The height of the main wheel 142a and the main body 110 relative to the operating surface is adjusted. The auxiliary wheel 146a rotates to abut against the operating surface and guides the movement of the main body 110, enabling the cleaning robot 100 to deliver the main wheel 142a to abut against the top surface of the obstacle B. The transmission housing 147a is arranged outside the housing 141a. The rotating arm assembly 143a is spaced between the transmission housing 147a and the housing 141a to save space in the thickness direction of the first walking wheel assembly 140a.

[0111] Figure 38 is an exploded view of the first traveling wheel assembly 140a; Figure 39 is a schematic diagram of the internal structure of the first traveling wheel assembly 140a. As shown in Figures 38 and 39, the main wheel 142a is rotatably connected to the housing 141a via a first shaft 1414a, so that the main wheel 142a can rotate relative to the main body 110a, guiding the movement of the main body 110a relative to the operating surface or the top surface of the obstacle B. The rotating arm assembly 143a includes a first end and a second end. The first end of the rotating arm assembly 143a is connected to the main wheel 142a via a second shaft 1415a, which is a non-central shaft on the main wheel 142a, and the rotating arm assembly 143a can rotate around the second shaft 1415a. The auxiliary wheel 146a is rotatably connected to the second end of the rotating arm assembly 143a. When the rotating arm assembly 143a rotates around the second axis 1415a to the point where the auxiliary wheel 146a abuts against the operating surface, the main wheel 142a is separated from the operating surface by the auxiliary wheel 146a and the rotating arm assembly 143a. At least part of the main body 110a is adjusted in height relative to the operating surface (e.g., the front side of the main body 110a is raised). The auxiliary wheel 146a rotates to abut against the operating surface and guides the movement of the main body 110, enabling the cleaning robot 100 to send the main wheel 142a to abut against the top surface of the obstacle B.

[0112] In some embodiments, the first shaft 1414a and the second shaft 1415a are eccentrically arranged, with the second shaft 1415a located to one side of the first shaft 1414a. That is, the projections of the first shaft 1414a and the second shaft 1415a onto the main wheel 142a are offset. The second shaft 1415a is fixedly arranged to one side of the first shaft 1414a, meaning the distance between the first shaft 1414a and the second shaft 1415a is fixed, and there is no relative movement between them. In other embodiments, the first shaft 1414a and the second shaft 1415a can be the same shaft or concentrically arranged. When the rotating arm assembly 143a rotates to the point where the auxiliary wheel 146a abuts against the operating surface, the main wheel 142a is lifted using the rotating arm assembly 143a and the auxiliary wheel 146a. In some embodiments, the first shaft 1414a and the second shaft 1415a are eccentrically arranged, which allows the use of a single or shorter rotating arm assembly 143a to reduce the space occupied by the rotating arm assembly 143a when it rotates.

[0113] In some embodiments, the rotating arm assembly 143a is a single arm segment, meaning that the rotating arm assembly 143a has no joints, and the parts of the rotating arm assembly 143a cannot move or rotate together. The rotating arm assembly 143a can rotate as a whole, and can be considered as a single arm segment (single arm segment).

[0114] The housing 141a includes a first sub-housing 1411a and a second sub-housing 1413a, which can be interlocked to form a cavity. The first traveling wheel assembly 140a also includes a first transmission member 1412a, which is disposed within the cavity formed by the interlocking of the first sub-housing 1411a and the second sub-housing 1413a; that is, the first transmission member 1412a is disposed within the housing 141a. The first transmission member 1412a has a first input gear 14121a and a first output gear 14122a. The first input gear 14121a is the input end of the first transmission member 1412a, and the first output gear 14122a is the output end of the first transmission member 1412a. The first input gear 14121a and the first output gear 14122a can mesh directly or transmit power through at least one intermediate gear. The first input gear 14121a is connected to the output shaft of the first motor 144a, and the first output gear 14122a is sleeved on the first shaft 1414a. The first shaft 1414a is rotatably connected to the housing 141a, and the main wheel 142a is rotatably mounted outside the housing 141a via the first shaft 1414a. When the first motor 144a receives a force output command, it drives the first transmission component 1412a to transmit power, thereby driving the first shaft 1414a to rotate. The main wheel 142a rotates with the rotation of the first shaft 1414a, thereby guiding the main body 110 to move.

[0115] The first traveling wheel assembly 140a also includes a first intermediate gear 1416a and a second transmission member 1432a. A second shaft 1415a passes through the housing 141a and has one end extending out of the housing 141a. The first intermediate gear 1416a passes through the second shaft 1415a inside the housing 141a and meshes with the first output gear 14122a through a through-hole opened on the second sub-housing 1413a. The other end of the second shaft 1415a extends out of the housing 141a. The second transmission member 1432a includes a second input gear (not shown) and a second output gear (not shown). The second input gear is the input end of the second transmission member 1432a, and the second output gear is the output end of the second transmission member 1432a. The second input gear and the second output gear are driven by an intermediate gear set. The second input gear is sleeved on the second shaft 1415a, and the second output gear is connected to the central shaft (second shaft 1415a) of the auxiliary wheel 146a. When the first motor 144a receives a power output command, its output shaft drives the gears of the first transmission component 1412a to transmit power to the first output gear 14122a. The first output gear 14122a, the first intermediate gear 1416a, and the gears of the second transmission component 1432a then transmit power to the second output gear. The second output gear drives the central shaft (second shaft 1415a) of the auxiliary wheel 146a to rotate, which in turn drives the auxiliary wheel 146a to rotate at the second end of the rotating arm assembly 143a. This configuration allows the first motor 144a to simultaneously drive the main wheel 142a and the auxiliary wheel 146a, reducing cost and space requirements.

[0116] The rotating arm assembly 143a includes a third sub-shell 1431a and a fourth sub-shell 1433a, which form an arm body. The other end of the second shaft 1415a is rotatably disposed in the first end of the rotating arm assembly 143a. The second transmission member 1432a is arranged in the rotating arm assembly 143a. One end of the central shaft (second shaft 1415a) of the auxiliary wheel 146a is rotatably disposed in the second end of the rotating arm assembly 143a. The other end of the central shaft (second shaft 1415a) of the auxiliary wheel 146a passes through the fourth sub-shell 1433a, and the auxiliary wheel 146a is coupled to the other end of the central shaft (second shaft 1415a).

[0117] The first traveling wheel assembly 140a also includes a third transmission member 1472a. The third transmission member 1472a has a third input gear 14721a and a third output gear 14722a. The third input gear 14721a is the input end of the third transmission member 1472a, and the third output gear 14722a is the output end of the third transmission member 1472a. The third input gear 14721a and the third output gear 14722a transmit power through an intermediate gear set. The third input gear 14721a is connected to the output shaft of the second motor 145a. The third output gear 14722a rotates around the second shaft 1415a, driving the rotating arm assembly 143a to rotate around the second circumference 1415a.

[0118] The transmission housing 147a also includes a fifth sub-housing 1471a and a sixth sub-housing 1473a that are spliced ​​together. A portion of the third transmission member 1472a is arranged inside the housing 141a, and another portion of the third transmission member 1472a is arranged inside the transmission housing 147a. The first motor 144a and the second motor 145a are arranged side by side inside the housing 141a. The output shaft of the second motor 145a passes through the first sub-housing 1411a and is located inside the housing 141a.

[0119] It should be noted that the input gear and output gear of the first transmission component 1412a, the second transmission component 1432a and the third transmission component 1472a in this disclosure can also be transmitted through other means, such as through belts or racks, and this disclosure does not limit this.

[0120] Figure 40 is a schematic diagram of the connection between the transmission housing 147a and the rotating arm assembly 143a; Figure 41 is an exploded schematic diagram of the transmission housing 147a and the rotating arm assembly 143a in Figure 40. Referring to Figures 40 and 41, the third output gear 14722a is provided with a locking part 1474a, and the first end of the rotating arm assembly 143a engages with the locking part 1474a. When the second motor 145a receives a force output command, the output shaft of the second motor 145a drives multiple gears of the third transmission component 1472a to transmit power, thereby driving the third output gear 14722a to rotate around the second shaft 1415a. The locking part 1474a of the third output gear 14722a abuts against the first end of the rotating arm assembly 143a, driving the rotating arm assembly 143a to rotate around the second shaft 1415a.

[0121] In one embodiment, a driven part 1434a is provided on the side of the first end of the rotating arm assembly 143a facing the transmission housing 147a. When the third output gear 14722a rotates under the drive of the second motor 145a, the locking part 1474a and the third output gear 14722a rotate synchronously. The locking part 1474a first idles for a certain stroke and then stops the driven part 1434a. Then, the driven part 1434a and the rotating arm assembly 143a are driven to rotate, so that the second end of the rotating arm assembly 143a rotates to the bottom of the main wheel 142a and the auxiliary wheel 146a contacts the operating surface to lift the main wheel 142a and the main body 110a.

[0122] When the cleaning robot 100 crosses an obstacle, during the movement of the cleaning robot 100, the rotating arm assembly 143 is blocked by the obstacle and moves along the rotating arm assembly 143 until the rotating arm assembly 143 returns to its original position and no longer contacts the obstacle, so as to avoid the rotating arm assembly 143 affecting the climbing of the first walking wheel 140.

[0123] Referring to Figures 40 and 41, two locking portions 1474a and two driven portions 1434a can be provided. The driven portion 1434a can be positioned between the two locking portions 1474a, and similarly, the locking portion 1474a can also be positioned between the two driven portions 1434a. The two locking portions 1474a and the two driven portions 1434a are arranged alternately in a ring, allowing the locking portion 1474a to reciprocate between the two driven portions 1434a.

[0124] Figures 42 and 43 are schematic diagrams of two states of the first walking wheel assembly 140a. Referring to Figure 42, when the second motor 145a is not turned on, the projection of the rotating arm assembly 143a falls on the main wheel 142a along its axial direction. That is, the rotating arm assembly 143a is retracted into the main wheel 142a, and the auxiliary wheel 146a is not in contact with the operating surface. The rotating main wheel 142a guides the main body 110 to move in a walking posture. At this time, the main wheel 142a guides the main body 110 to move in the first state; that is, the first state refers to the state of the main body 110 when the first motor 144a is on and the second motor 145a is off. Referring to Figure 43, when the second motor 145a is turned on and the second end of the rotating arm assembly 143a rotates to below the main wheel 142a, the auxiliary wheel 146a contacts the operating surface. The rotating arm assembly 143a and the auxiliary wheel 146a lift the main wheel 142a, and the rotating auxiliary wheel 146a drives the main body 110 to move until the main wheel 142a contacts the top surface of the obstacle. The rotating main wheel 142a is then used to move the main body 110 in an obstacle-crossing posture. At this time, the main wheel 142a, the rotating arm assembly 146a, and the auxiliary wheel 146a guide the movement of the main body 142a in the second state. That is, the second state refers to the state of the main body 110 when the rotating arm 143a rotates to lower the auxiliary wheel 146a and when the rotating arm 143a rotates to retract the auxiliary wheel 146a. In this state, the first motor 144a and the second motor 145a continue to operate. The definitions of the first state and the second state in the relevant descriptions of the first traveling wheel set 140b, the first traveling wheel set 140c, and the first traveling wheel set 140d in the following text are also the same, and will not be repeated in this disclosure.

[0125] Referring to Figure 43, when the second end of the rotating arm assembly 143a rotates to below the main wheel 142a, the auxiliary wheel 146a is supported on the operating surface to raise the height of the main wheel 142a relative to the operating surface. In one embodiment, the auxiliary wheel 146a contacts the operating surface to form a first position P1, and the projection of the central axis (first rotating shaft 1414a) of the main wheel 142a onto the operating surface is a second position P2. The first position P1 and the second position P2 are offset. In some embodiments, along the traveling direction of the cleaning robot, the first position P1 is located behind the second position P2.

[0126] In one embodiment, the rotating arm assembly 143a reciprocates behind the main wheel 142a along the direction of travel of the cleaning robot. When the first walking wheel assembly 140a is moving, if an obstacle is detected in the direction of travel, the rotating arm assembly 143a is controlled to rotate at least partially from the rear of the main wheel 142a to the underside of the housing 141a to lift the main wheel 142a. The robot then utilizes the walking capability of the auxiliary wheel 146a to drive it to continue moving along the direction of travel until the main wheel 142a contacts the obstacle. Since the auxiliary wheel 146a is located below and behind the main wheel, the auxiliary wheel 146a and the rotating arm assembly 143a can provide a forward and upward force to the main wheel 142a. The upward component of the force can lift the main wheel 142a, and the forward separation of the force can cause the main wheel 142a to press against the surface of the obstacle, increasing the pressure between the main wheel 142a and the obstacle, thereby increasing the friction between the main wheel 142a and the obstacle and reducing the difficulty of climbing.

[0127] Figure 44 is a structural schematic diagram of a cleaning robot with a first walking wheel assembly 140a. Referring to Figure 44, the cleaning robot includes a main body 110 and the aforementioned first walking wheel assembly 140a. The first walking wheel assembly 140a is used to adjust the height of the cleaning robot relative to its operating surface, enabling the cleaning robot to overcome obstacles and improving its climbing ability.

[0128] In one embodiment, when the second end of the rotating arm assembly 143a rotates to below the main wheel 142a, it can only raise the main wheel 142a and the main body 110a to a certain height relative to the operating surface. If the gap between the front side of the main body 110a and the operating surface is less than the height of the top surface of the obstacle relative to the operating surface, the cleaning robot cannot overcome the obstacle. Based on this, the driven wheel 120 of this disclosure can be controlled to rise and fall relative to the main body 110 to adjust the gap between the front side of the main body 110 and the operating surface. For example, when it is determined that the height of the obstacle relative to the operating surface is higher than the gap between the front side of the main body 110 and the operating surface, the driven wheel 120 moves down relative to the main body 110, raising the front side of the main body 110 to increase the tilt angle of the main body 110, thereby increasing the gap between the front side of the main body 110 and the operating surface. Then, the first walking wheel assembly 140a is controlled to move, so that the cleaning robot can climb obstacles with a higher height relative to the operating surface, which can further improve the obstacle-crossing ability of the cleaning robot.

[0129] Figure 45 is a structural schematic diagram of the driven wheel 120. Referring to Figure 45, the driven wheel 120 is assembled at the bottom of the main body 100 and positioned in front of the two first walking wheel assemblies 140a. The cleaning robot also includes a third motor 601, a first worm gear mechanism 602, and a ball screw mechanism 603. The third motor 601 is connected to the main body 110. The worm of the first worm gear mechanism 602 is connected to the output shaft of the third motor 601, and the worm wheel of the first worm gear mechanism 602 is connected to the input shaft of the ball screw mechanism 603. The output shaft of the ball screw mechanism 603 is connected to the driven wheel 120. Since the driven wheel 120 is always in contact with the operating surface, when the third motor 601 receives the command to start, it transmits power to the ball screw mechanism 603 through the first worm gear mechanism 602, so that the ball screw mechanism 603 drives the driven wheel 120 to rise and fall, changing the distance between the driven wheel 120 and the front side of the main body 110. As a result, since the driven wheel 120 is always in contact with the operating surface, the distance between the front side of the main body 110 and the operating surface is changed.

[0130] For ease of description, the direction of rotation in which the third motor 601 drives the driven wheel 120 to move downward relative to the main body 110 is defined as forward rotation, and the direction in which it drives the driven wheel 120 to move upward relative to the main body 110 is defined as reverse rotation. When the third motor 601 receives a forward rotation command, it transmits power to the ball screw mechanism 603 through the first worm gear mechanism 602, causing the ball screw mechanism 603 to drive the driven wheel to move downward relative to the main body 110, increasing the distance between the driven wheel 120 and the front side of the main body 110. Since the driven wheel 120 is always in contact with the operating surface, this further increases the distance between the front side of the main body 110 and the operating surface, raising the front side of the main body 110. This allows the front side of the main body 110 to be positioned above obstacles and enables the main body 110 to climb obstacles that are higher than the operating surface, thereby further improving the obstacle-crossing ability of the cleaning robot.

[0131] After the cleaning robot 100 overcomes an obstacle, the third motor 601 reverses and transmits power to the ball screw mechanism 603 through the first worm gear mechanism 602. This causes the ball screw mechanism 603 to drive the driven wheel to move upward relative to the main body 110, reducing the distance between the driven wheel 120 and the front side of the main body 110. This, in turn, reduces the distance between the front side of the main body 110 and the operating surface, putting the main body 110 in a walking posture. This allows the cleaning robot 100 to move on the surface of the operating surface or obstacle and continue cleaning the surface of the operating surface or obstacle.

[0132] The third motor 601 can be a servo motor, which can receive commands from the cleaning robot and precisely control its rotation angle to adjust the lifting height of the front side of the main body 110. For example, when the drive angle of the third motor 601 is 0°, the gap between the front side of the main body 110 and the operating surface is minimal, and the cleaning robot is in a walking posture; when the drive angle of the third motor 601 is 90°, the gap between the front side of the main body 110 and the operating surface is maximum, the lifting height of the front side of the main body 110 is highest, and the cleaning robot is in its maximum obstacle-crossing posture. By controlling the rotation angle of the third motor 601, the lifting height of the front side of the main body 110 can be controlled (the larger the rotation angle of the third motor 601, the higher the lifting height of the front side of the main body 110), enabling the cleaning robot to adapt to climbing obstacles with different relative heights to the operating surface, thus exhibiting excellent flexibility.

[0133] In another embodiment, when the second end of the rotating arm assembly 143 rotates to below the main wheel 142, the contact position between the auxiliary wheel 146 and the operating surface and the position of the center of gravity of the cleaning robot 100 can also be changed, so that the center of gravity of the cleaning robot 100 is located behind the contact position between the auxiliary wheel 146 and the operating surface, thereby lifting the front side of the cleaning robot 100 to lift the front side of the main body 110. For a detailed description, please refer to the corresponding description of the first walking wheel assembly 140b, which will not be repeated here.

[0134] Increasing the gap between the front of the cleaning robot and the operating surface improves its climbing ability, but this can lead to the rear of the robot bumping into the operating surface, affecting its movement. Therefore, referring to Figure 44, the cleaning robot also includes a tail wheel 180, which is rotatably connected to the main body 110. The tail wheel 180 at least partially protrudes from the bottom surface of the main body 110. When the cleaning robot is moving normally on a flat surface, the tail wheel 180 does not contact the operating surface. However, if the gap between the front of the main body 110 and the operating surface is too large when the robot is climbing, the tail wheel 180 will roll into contact with the operating surface. This reduces the friction between the main body 110 and the operating surface, lowers the robot's energy consumption, and reduces the resistance when the robot is climbing.

[0135] In one embodiment, at least a portion of the tail wheel 180 is elastic and at least a portion of the tail wheel 180 protrudes from the bottom surface of the body 110, so that the tail wheel 180 can contact the operating surface first before the body 110, thereby avoiding the phenomenon that the body 110 collides with the operating surface, which would affect the operation of the cleaning robot and damage the operating surface.

[0136] This disclosure provides another first walking wheel assembly 140b. The rotating arm assembly 143 of the first walking wheel assembly 140b is controlled to move, adjusting the contact position between the auxiliary wheel 146 and the operating surface and the position of the center of gravity of the cleaning robot 100. This positions the center of gravity of the cleaning robot 100 behind the contact position between the auxiliary wheel 146 and the operating surface, thereby raising the front of the cleaning robot 100. This adjusts the tilt angle of the main body 110, increases the gap between the front of the main body 110 and the operating surface, and improves the obstacle-crossing ability of the cleaning robot 100. Figure 46 is a structural schematic diagram of the center of gravity of the main body 110 and the contact position between the auxiliary wheel and the operating surface of the first walking wheel assembly 140b. Referring to Figure 46, when the second end of the rotating arm assembly 143 rotates to below the main wheel 142, the contact position between the auxiliary wheel 146 and the operating surface forms the first position P1, and the projection of the center of gravity of the main body 110 onto the operating surface is the second position P2. Along the traveling direction of the cleaning robot, the first position P1 is located in front of the second position P2. The cleaning robot rotates around the central axis (first axis 1414a) of the main wheel 142 as a fulcrum, thereby lifting the front side of the main body 110 to increase the gap between the front side of the main body 110 and the operating surface, thus improving the obstacle-crossing ability of the cleaning robot. The specific details of the first traveling wheel assembly 140b are now further described with reference to Figures 47-54.

[0137] Figure 47 is a perspective view of the first traveling wheel assembly 140b. Referring to Figure 47, the first traveling wheel assembly 140b is similar to the first traveling wheel assembly 140a described above. The first traveling wheel assembly 140b also includes a housing 141b, a main wheel 142b, a rotating arm assembly 143b, and an auxiliary wheel 146b. Unless otherwise specified, the structure and function of these components in the first traveling wheel assembly 140a are substantially the same as those in the first traveling wheel assembly 140b. Therefore, the corresponding description of the first traveling wheel assembly 140a can be referred to, and will not be repeated here.

[0138] Figures 48 and 49 are schematic diagrams of two states of the first walking wheel assembly 140b. Referring to Figures 48 and 49, when the second end of the rotating arm assembly 143b rotates to below the housing 141b, it not only adjusts the height of the main wheel 142b relative to the operating surface, but also changes the relationship between the contact position of the auxiliary wheel 146 with the operating surface and the center of gravity of the cleaning robot 100. This causes the center of gravity of the cleaning robot 100 to be located behind the contact position of the auxiliary wheel 146 with the operating surface, thereby raising the front of the cleaning robot 100 and achieving the purpose of adjusting the tilt angle of the main body 110.

[0139] When the main body 110 is in the second state, the auxiliary wheel 146b contacts the operating surface, guiding the main body 110 to move in the second state, and the main wheel 142b is separated from the operating surface by the auxiliary wheel 146b (both the main body 110 and the main wheel 142b are lifted).

[0140] Referring to Figures 48 and 49, according to one embodiment of this disclosure, along the traveling direction of the cleaning robot, the second end of the rotating arm assembly 143b can rotate from the front side of the main wheel 142b to below the main wheel 142b, with the first position P1 located in front of the second position P2. In another embodiment, the second end of the rotating arm assembly 143b can also rotate from the rear side of the main wheel 142b to below the main wheel 142b, also placing the first position P1 in front of the second position P2. When the second end of the rotating arm assembly 143b rotates to below the main wheel 142b, the auxiliary wheel 146b contacts the operating surface, the main wheel 142b rises, the front side of the main body 110b rises, and the auxiliary wheel 146b guides the main body 110 to continue moving. The front side of the main body 110 moves above the obstacle, and the front side of the main wheel 142b contacts the obstacle first compared to the rotating arm assembly 143b. As the first motor 144b drives the main wheel 142b and the auxiliary wheel 146b to rotate, after the main wheel 142b comes into contact with an obstacle, the cleaning robot is guided to cross the obstacle by the power of the main wheel 142b, thereby improving the obstacle-crossing ability of the cleaning robot.

[0141] Because the auxiliary wheel 146b is located in front of the main wheel 142b, the rotating arm assembly 143b may collide with obstacles during the obstacle-crossing process of the cleaning robot 100. To enable the cleaning robot 100 to cross obstacles smoothly, after the main wheel 142b contacts the obstacle, the second motor 145b can be activated to drive the rotating arm assembly 143b to rotate behind the main wheel 142b, thereby minimizing interference between the rotating arm assembly 143b and the obstacle and reducing the difficulty of obstacle crossing for the cleaning robot.

[0142] Since the shape and height of obstacles are uncertain, in some other embodiments, after the second end of the rotating arm assembly 143b rotates to below the main wheel 142b, the second motor 145b is controlled to stop working. As the main wheel 142b moves forward, the rotating arm assembly 143b rotates behind the main wheel 142b under the action of the obstacle, so as to avoid the rotating arm assembly 143b blocking the cleaning robot from crossing the obstacle.

[0143] In the two obstacle avoidance methods described above, during the obstacle crossing process of the cleaning robot, the rotating arm assembly 143b can move behind the main wheel 142b solely under the drive of the second motor 145b, or it can rotate behind the main wheel 142b under the combined action of the second motor 145b and the obstacle. Alternatively, the second motor 145b can stop operating after the second end of the rotating arm assembly 143b rotates to below the main wheel 142b, and the rotating arm assembly 143b rotates behind the main wheel 142b solely under the action of the obstacle. The manner in which the rotating arm assembly 143b rotates behind the main wheel 142b is not limited.

[0144] Referring to Figures 47 and 48, the first walking wheel assembly 140b further includes a trigger 1435, a first position confirmation element 1481, and a second position confirmation element 1482. The first position confirmation element 1481 can be disposed on the outer surface of the sixth sub-shell 1473b, and the second position confirmation element 1482 can be disposed on the outer surface of the second sub-shell 1413b. The trigger 1435 is connected to the first end of the rotating arm assembly 143. During the rotation of the rotating arm assembly 143, the trigger 1435 triggers the first position confirmation element 1481 and the second position confirmation element 1482 to confirm the swing angle of the rotating arm assembly 143 in real time, facilitating obstacle crossing by the cleaning robot.

[0145] In some embodiments, the first position confirmation element 1481 is positioned above the second position confirmation element 1482. During the rotation of the rotating arm assembly 143b relative to the main wheel 142b, when the trigger element 1435 triggers the first position confirmation element 1481, it can be confirmed that the second end of the rotating arm assembly 143b has rotated to below the main wheel 142b, the auxiliary wheel 146b has contacted the operating surface, and the main wheel 142b and the main body 110 have been raised, i.e., the main body 110 is in the second state. When the trigger element 1435 triggers the second position confirmation element 1482, it indicates that the rotating arm assembly 143b has rotated to behind the main wheel 142b, confirming that the main body 110 is moving in the first state.

[0146] The first position confirmation element 1481 and the second position confirmation element 1482 can be optocoupler sensors or microswitches, but this disclosure does not limit the selection of position confirmation elements. It should be noted that the setting of the position confirmation element on the first traveling wheel assembly 140b is also applicable to the first traveling wheel assembly 140a described above.

[0147] Figure 50 is an exploded view of the first traveling wheel assembly 140b in Figure 47; Figure 51 is a force transmission diagram of the first traveling wheel assembly 140b. Referring to Figures 50 and 51, the housing 141b includes a first sub-housing 1411b and a second sub-housing 1413b. The first sub-housing 1411b has the same structure and function as the first sub-housing 1411a, and the second sub-housing 1413a has the same structure and function as the second sub-housing 1413b. The rotating arm assembly 143b includes a third sub-housing 1431b and a fourth sub-housing 1433b. The third sub-housing 1431b has the same structure and function as the third sub-housing 1431a, and the fourth sub-housing 1433b has the same structure and function as the fourth sub-housing 1433a. The above structures can be referred to the description in the first traveling wheel assembly 140a, and will not be repeated here.

[0148] The first traveling wheel assembly 140b also includes a second worm gear mechanism 1417b, which is disposed inside the housing 141b. The second motor 145b is connected to the third transmission component 1472b through the second worm gear mechanism 1417b. The power of the second motor 145b is transmitted to the second shaft 1415b through the second worm gear mechanism 1417b and the third transmission component 1472b, so as to drive the rotating arm assembly 143b to rotate around the second shaft 1415b.

[0149] The first traveling wheel assembly 140b also includes a third transmission component 1472b, which is connected to the second worm gear mechanism 1417b and the second shaft 1415b. The second motor 145b receives a force output command and drives the third transmission component 1472b to transmit power to the second shaft 1415b, thereby driving the rotating arm assembly 143b to rotate. This allows the auxiliary wheel 146b to rotate to the underside of the main wheel 142b and contact the operating surface, thus lifting the main wheel 142b and the front side of the main body 110.

[0150] In some embodiments, the auxiliary wheel 146b of the first traveling wheel assembly 140b is disposed below and in front of the main wheel 142b, allowing the front of the main body 110 to be raised. The rotating arm assembly 143b can rotate downward from the front of the main wheel 142b, allowing the auxiliary wheel 146b to reach the front of the main wheel 142b. To reduce the risk of interference between the rotating arm assembly 143b and other components of the first traveling wheel assembly 140b during rotation, the rotating arm assembly 143b can be disposed on the side of the housing 141b away from the main wheel 142b, i.e., the housing 141b is disposed between the main wheel 142b and the rotating arm assembly 143b, so that there are no other structures in the rotation area of ​​the rotating arm assembly 143b, allowing the rotating arm assembly 142b to rotate 360 ​​degrees around the second axis 1415b.

[0151] The second motor 145b and the third transmission member 1472b are disposed within the housing 141b. The second motor 145b is positioned above the rotating arm assembly 143b. The third transmission member 1472b is disposed between the second motor 145b and the rotating arm assembly 143b, and is capable of transmitting power from the second motor 145b to the rotating arm assembly 143b to drive the rotating arm assembly 143b to rotate.

[0152] The second motor 145b and the third transmission component 1472b are disposed on the housing 141b, such that both the second motor 145b and the third transmission component 1472b are located on one side of the rotating arm assembly 143b. The second motor 145b and the third transmission component 1472b do not interfere with the rotation of the rotating arm assembly 143b, allowing the rotating arm assembly 143b to rotate circumferentially, increasing the rotation space of the rotating arm assembly 143b, and increasing the activity space of the auxiliary wheel 146b, so that the auxiliary wheel 143b can rotate from the front of the main wheel 142b to contact the operating surface, thereby lifting the front side of the main body 110.

[0153] Figure 52 is a structural schematic diagram of the rotating arm assembly 143; Figure 53 is an exploded schematic diagram of the rotating arm assembly 143b, the damper 1436, and the third transmission component 1472b. Referring to Figures 52 and 53, in the first traveling wheel assembly 140b, the fourth sub-shell 1433b of the rotating arm assembly 143b is provided with a first slot 14331. The driven part 1434b is disposed within the first slot 14331, and the locking part 1474b is assembled within the first slot 14331. When the third output gear 14722 rotates, the locking part 1474b and the third output gear 14722b rotate synchronously. The locking part 1474b can abut against the driven part 1434b, driving the driven part 1434b and the rotating arm assembly 143 to rotate. The transmission relationship between the locking part 1474b and the driven part 1434b is the same as the transmission relationship between the locking part 1474a and the driven part 1434a.

[0154] As the cleaning robot encounters obstacles during obstacle crossing, the rotating arm assembly 143b may come into contact with and collide with them over time, potentially causing damage. After the rotating arm assembly 143b contacts an obstacle, the driven part 1434b separates from the locking part 1474b, allowing the rotating arm assembly 143b to rotate backward to avoid the obstacle.

[0155] Based on this, a damper 1436 is also provided at the first end of the rotating arm assembly 143. The damper 1436 is connected to the third transmission component 1472b. The damper can buffer the force of obstacles on the rotating arm assembly 143b and improve the service life of the rotating arm assembly 143b.

[0156] The first elastic element 1439 is disposed between the damper 1436 and the rotating arm assembly 143b. The outward elastic element of the third output gear 14722b reduces the frictional force generated by the contact between the locking part 1474b and the first slot 14331, thereby reducing the difficulty of driving the rotating arm assembly 143b to rotate.

[0157] Figure 54 is a schematic diagram of the damper 1436. Referring to Figures 53-54, the first end of the rotating arm assembly 143 is provided with an annular second groove 14332, and the inner wall of the second groove 14332 is provided with multiple positioning grooves 14334 spaced apart. The damper 1436 is annular and is assembled within a damping groove 1437. Multiple positioning protrusions 1438 are provided on the inner side of the damper 1436, and the positioning protrusions 1438 and positioning grooves 14334 are arranged in a one-to-one correspondence. The positioning protrusions 1438 are assembled within their corresponding positioning grooves 14334, so that the damper 1436 is assembled within the second groove 14332. A first elastic member 1439 is provided between the bottom of the damper 1436 and the damping groove 14327, and the first elastic member 1439 abuts against the second groove 14332 and the damper 1436. After the locking part 1474b is assembled in the first slot 14331, the first elastic member 1439 is compressed, which can give the third output gear 14722b an outward elastic force, so that the locking part 1474b and the bottom surface of the first slot 14331 are spaced apart, reducing the frictional force generated by the contact between the locking part 1474b and the first slot 14331, thereby reducing the difficulty of driving the rotating arm assembly 143b to rotate.

[0158] In some embodiments, multiple stop portions 14336 can be provided on the bottom surface of the first slot 14331. The stop portions 14336 are spaced apart at the bottom of the first slot 14331. If the locking portion 1464b contacts the first slot 14331, then the locking portion 1474b contacts the stop portion 14336, which can also reduce the contact area between the locking portion 1474b and the first slot 14331, thereby reducing the frictional force generated by the contact between the locking portion 1474b and the first slot 14331 to a certain extent, and thus reducing the difficulty of driving the rotating arm assembly 143b to rotate.

[0159] After the rotating arm assembly 143 is subjected to an instantaneous impact from an obstacle, the rotating arm assembly 143 can quickly return to a stable state, reduce noise, and improve the reliability of the cleaning robot operation.

[0160] It should be noted that when the rotating arm assembly 143 in the first walking wheel assembly 140b rotates to a position below the main wheel 142, the first position P1 formed by the auxiliary wheel 146 on the operating surface and the second position P2 formed by the center of gravity on the operating surface coincide in the traveling direction of the cleaning robot 100. This allows the auxiliary wheel 146 to coincide with the center of gravity of the main body 110. The front side of the main body 110 will not be raised; only the height of the main wheel 142 and the relative operating surface of the cleaning robot is adjusted. This can form the supporting posture of the rotating arm assembly 143 of the first walking wheel assembly 140a. In specific implementation, the rotating arm assembly 143 can be rotated to a position slightly behind and below the main wheel 142.

[0161] In addition, this disclosure also provides another first traveling wheel assembly 140c. The first traveling wheel assembly 140c is similar to the first traveling wheel assembly 140a described above. The first traveling wheel assembly 140c also includes a housing 141, a main wheel 142, a rotating arm assembly 143, and an auxiliary wheel 146. Unless otherwise specified, the structure and function of these components in the first traveling wheel assembly 140c are substantially the same as those in the first traveling wheel assembly 140a described above. Therefore, the corresponding description of the first traveling wheel assembly 140a can be referred to, and will not be repeated here. The main difference between the first traveling wheel assembly 140c and the first traveling wheel assembly described above lies in the different movement mode of the rotating arm assembly 143. The specific details of the first traveling wheel assembly 140c are further described below with reference to Figures 55-59.

[0162] Figure 55 is a schematic diagram of the first walking wheel assembly 140c. Referring to Figure 55, the first walking wheel assembly 140c includes a second motor 145c and a third transmission member 1472c. The input portion of the third transmission member 1472c is connected to the second motor 145c, and the output portion of the third transmission member 1472c can be raised and lowered relative to the main body 110. The output portion of the third transmission member 1472c is connected to the rotating arm assembly 143c to drive the rotating arm assembly 143c to move. For example, the second motor 145c receives a command to move the output portion of the third transmission member 1472c downwards relative to the main body 110, thereby driving the second end of the rotating arm assembly 143c to move below the main wheel 142c, causing the auxiliary wheel 146c to contact the operating surface, thus raising the main wheel 142c and the front side of the main body 110, thereby assisting the cleaning robot in overcoming obstacles.

[0163] When the cleaning robot moves on the operating surface, the main wheel 142 contacts the operating surface. At this time, the auxiliary wheel 146c can be in contact with the operating surface or separated from it by a certain distance. When the cleaning robot encounters an obstacle, the second motor 145c is activated to drive the rotating arm assembly 143c downward through the third transmission component 1472c, causing the auxiliary wheel 146c to move below the main wheel 141c. The auxiliary wheel 146c supports the operating surface, and the main wheel 142c is separated from the operating surface by the auxiliary wheel 146c and the rotating arm assembly 143c. The first motor 144c transmits power to the auxiliary wheel 146c through the second transmission component 1432c. The auxiliary wheel 146 guides the main body 110 to move, allowing the main wheel 142c to pass over the obstacle. After the main wheel 142c passes over the obstacle, the third transmission component 1472c can drive the rotating arm assembly 143c upward to reset the auxiliary wheel 146c to its original position. This setup features a simple structure, precise control, and good efficiency, enabling the cleaning robot to overcome (climb) obstacles whose relative height to the operating surface is greater than the 142c radius of the main wheels, demonstrating good obstacle-crossing performance.

[0164] In some embodiments, the third transmission member 1472c drives the rotating arm assembly 143c to move. This can be understood as the third transmission member 1472c driving the rotating arm assembly 143c to rise and fall in a non-rotational manner. In other words, when the height of the rotating arm assembly 143c relative to the operating surface is adjusted, its movement path is a straight line. Compared to the solution of "adjusting the height of the cleaning robot relative to the operating surface by rotation", using the third walking wheel assembly 140c can reduce the movement amplitude of the rotating arm assembly 143, thereby avoiding interference between the rotating arm assembly 143c and surrounding components, resulting in better reliability of the rotating arm assembly 143c during movement.

[0165] Figure 56 is a schematic diagram of the internal structure of the first traveling wheel assembly 140c in Figure 55; Figure 57 is an axial view of the first traveling wheel assembly 140c in Figure 56. Referring to Figures 56 and 57, the first traveling wheel assembly 140c also includes a bracket 149, a third transmission component 1472c connected to the bracket 149, a bracket 149 slidably connected to the housing 141c, and a bracket 149 connected to the rotating arm assembly 143c. With this configuration, when the third transmission component 1472c drives the bracket 149 to move, the bracket 149 can slide relative to the housing 141c, improving the accuracy of the bracket 149's movement. Furthermore, the movement of the bracket 149 drives the rotating arm assembly 143c and the auxiliary wheel 146c to rise and fall.

[0166] In some embodiments, the bracket 149 has a threaded sleeve 1491, and the third transmission component 1472c is a ball screw structure. The third transmission component 1472c includes a screw 14723 and a reversing gear module 14724. The reversing gear module is connected to the output shaft of the second motor 145c, and the reversing gear module 14724 is connected to the screw 14723. The screw 14723 passes through the threaded sleeve 1491. It can be understood that the second motor 145c drives the screw 14723 to rotate via the reversing gear module 14724. The screw 14723 rotates relative to the threaded sleeve 1491, thereby causing the bracket 149 to slide along the axial direction of the screw 14723. The bracket 149 is connected to the rotating arm assembly 143c to realize the vertical movement of the rotating arm assembly 143c and the auxiliary wheel 146c. This configuration has the advantages of simple structure and high transmission efficiency.

[0167] In one embodiment, the axes of the second motor 145c, the screw 14723, and the main wheel 142c are all orthogonal to each other, allowing the second motor 145c to be arranged generally horizontally and aligned with the length direction of the housing 141c. This results in a compact structure for the first traveling wheel assembly 140c, occupying less space. The reversing gear module 14724 may include two meshing bevel gears to enable the second motor 145c to output power to the screw 14723. In another embodiment, the second motor 145c may also be connected to the bracket 149 via a rack and pinion drive (not shown). The second motor 145c can drive the rack and pinion drive to move the bracket 149 up and down, thereby driving the rotating arm assembly 143c and the main wheel 142c to move up and down.

[0168] According to one embodiment of this application, the main wheel 142c and the auxiliary wheel 146c share the same power source (the first motor 144c simultaneously drives the main wheel 142c and the auxiliary wheel 146c to rotate), thereby reducing the number of power sources and making the structure more compact. Referring to Figures 56 and 57, the first motor 144c is connected to the main wheel 142c via a first transmission member 1412c, and the first transmission member 1412c is also connected to the auxiliary wheel 146c via a second transmission member 1432c. It can be understood that the first motor 144c can drive the first transmission member 1412c to operate, and the first transmission member 1412c can drive both the main wheel 142c and the second transmission member 1432c to drive the auxiliary wheel 146c to rotate. In other words, the power transmission path of the first motor 144c is divided into two paths. The first path: from the first motor 144c to the first transmission member 1472c, and then to the main wheel 142c. The second path: power is first transmitted from the first motor 144c to the first transmission component 1472c, then to the second transmission component 1432c, and finally to the auxiliary wheel 146c. This arrangement allows for power distribution to the first motor 144c, improving dynamic efficiency, and also provides a reasonable structural layout that facilitates the arrangement of components.

[0169] The second transmission path will be described below with reference to Figures 56 and 57. The second transmission component 1432c includes a first intermediate gear 14322, a second intermediate gear 14324, a third worm gear 14325, a third worm 14326, and a transmission gear set 14327. The first intermediate gear 14322 and the second intermediate gear 14324 are mating bevel gears. The second intermediate gear 14324 is connected to the third worm 14326, and the second intermediate gear 14324 is connected to the first output gear of the first transmission component 1412c through the first intermediate gear 14322.

[0170] The extension direction of the third worm gear 14326 is consistent with the lifting direction of the bracket 149. The third worm wheel 14326 is connected to the third worm gear 14322. The transmission gear set 14327 connects the third worm wheel 14325 and the auxiliary wheel 146c. The transmission gear set 14327 is set inside the rotating arm assembly 143c, which can hide and shield the transmission gear set 14327, thereby improving the reliability of the transmission of the transmission gear set 14327.

[0171] Understandably, when the third worm gear 14326 rotates, it drives the third worm wheel 14326 to rotate synchronously. Furthermore, when the third transmission component 1472c drives the rotating arm assembly 143c to rise or fall, the third worm wheel 14326 can also move along the axial direction of the third worm gear 14326 to coordinate with the rising and falling of the auxiliary wheel 146c. During this axial movement of the third worm wheel 14326, the third worm wheel 14326 and the third worm gear 14326 remain meshed. Therefore, when the third transmission component 1472c drives the auxiliary wheel 146c to rise or fall, the power output of the auxiliary wheel 146c can continue.

[0172] When the first motor 141c is turned on by a command, it drives the third worm gear 14326 to rotate through the first transmission component 1412c, the first intermediate gear 14322, and the second intermediate gear 14324. This drives the third worm wheel 14325 to rotate synchronously. The third worm wheel 14325 transmits power to the auxiliary wheel 146c through the transmission gear set 14327, causing the auxiliary wheel 146c to rotate, thereby moving the main body 110.

[0173] The input end of the second transmission component 1432c is connected to the output end of the first transmission component 1472c, and the output end of the second transmission component 1432c is connected to the auxiliary wheel 146. With this configuration, the lifting and lowering actions of the third transmission component 1472c and the driving actions of the first transmission component 1412c on the second transmission component 1432c do not interfere with each other. This satisfies both the lifting and lowering requirements and the power transmission requirements, thereby improving the linkage effect of the first traveling wheel assembly 140c.

[0174] Referring to Figures 55-57, the rotating arm assembly 143c is located behind the axis of the main wheel 142c and extends vertically along the housing 141c. The upper end (first end) of the rotating arm assembly 143c is connected to the bracket 149, and the lower end (second end) of the rotating arm assembly 143c is connected to the auxiliary wheel 146c. It can be understood that the bracket 149 is connected to the auxiliary wheel 146c via the rotating arm assembly 143c, thereby allowing the auxiliary wheel 146c to be closer to the operating surface to cooperate with the main wheel 142c for obstacle crossing.

[0175] Figure 58 is a structural schematic diagram of the rotating arm assembly 143 in Figure 57, and Figure 59 is a schematic diagram of the internal structure of Figure 58. Referring to Figures 58 and 59, the second transmission member 1432c also includes a second elastic member 14321. The second elastic member 14321 is connected to the bracket 149 and the rotating arm assembly 143c, which is rotatable between a first support position and a second support position. The auxiliary wheel 146c in the second support position is closer to the rear side of the main wheel 142 than the auxiliary wheel 146 in the first support position. The second elastic member 14321 has an elastic force that drives the rotating arm assembly 143c to move from the second support position to the first support position. The second elastic member 14321 can be a torsion spring or a coil spring.

[0176] Understandably, when the rotating arm assembly 143c rotates from front to back, it can rotate from the first support position to the second support position. When the rotating arm assembly 143c and the auxiliary wheel 146c extend and support the operating surface, the rotating arm assembly 143c can rotate from the first support position to the second support position, making it easier for the main wheel 142c to flip over obstacles. After the main wheel 142c climbs over the obstacle, under the elastic action of the second elastic element 14321, the second elastic element 14321 can drive the rotating arm assembly 143c to rotate from the second support position to the first support position, so that the rotating arm assembly 143c and the auxiliary wheel 146c can be reset, thus preparing for the next time to climb over the obstacle. By setting the second elastic element 14321, the first traveling wheel assembly 140c can make the rotating arm assembly 143c and the auxiliary wheel 146c automatically reset, thus simplifying the overall structure and achieving better linkage.

[0177] When the rotating arm assembly 143c is in the first support position, its lower end is located horizontally forward of its upper end. In other words, in the horizontal direction of the cleaning robot, the lower end of the rotating arm assembly 143c is further forward than its upper end. It can be understood that the rotating arm assembly 143c extends forward in a downward direction, and the extension direction of the rotating arm assembly 143c forms a certain angle with the vertical direction of the housing 141c. This avoids the problem of the rotating arm assembly 143c and the auxiliary wheel 146c rotating backward (folding) due to the opposite force of the operating surface when they extend and support the housing 141c, thus improving the reliability of the first walking wheel assembly mechanism in overcoming obstacles.

[0178] Referring to Figures 58 and 59, the transmission gear set 14327 is connected to the central shaft (second shaft 1415d) of the auxiliary wheel 146 through multiple gears that mesh sequentially with the third worm gear 14325. The third worm 14326 drives the third worm gear 14325 to rotate, which in turn drives the multiple meshing gears, thereby transmitting power to the auxiliary wheel 146c, which guides the main body 110 to move.

[0179] It should be noted that the rotating arm assembly 143c in the first walking wheel assembly 140c moves to below the main wheel 142c by lifting, and therefore has only one fixed position. Therefore, the operation of the first walking wheel assembly 140c can only adjust the gap between the front of the main body 110 and the operating surface by changing the contact position between the auxiliary wheel 146 and the operating surface and the position of the center of gravity of the cleaning robot 100; or, it can only adjust the height of the main wheel 142c relative to the operating surface, and cannot change the gap between the front of the main body 110 and the operating surface.

[0180] In addition, this disclosure also provides another first traveling wheel assembly 140d. Similar to the first traveling wheel assembly 140a described above, the first traveling wheel assembly 140d also includes a housing 141d, a main wheel 142d, a rotating arm assembly 143d, and an auxiliary wheel 146d. Unless otherwise specified, the structure and function of these components in the first traveling wheel assembly 140d are substantially the same as those in the first traveling wheel assembly 140a described above. Therefore, the corresponding description of the first traveling wheel assembly 140a can be referred to, and will not be repeated here. The main difference between the first traveling wheel assembly 140d and the first traveling wheel assembly 140a lies in the different movement mode of the rotating arm assembly 143. The specific details of the first traveling wheel assembly 140d will now be further described with reference to Figures 60-64.

[0181] Figure 60 is a schematic diagram of the first traveling wheel assembly 140d. Referring to Figure 60, the first traveling wheel assembly 140d also includes a drive disk 1419, which is rotatably connected to the housing 141d. The first end of the rotating arm assembly 143d is connected to the drive disk 1419. When the drive disk 1419 rotates relative to the housing 141d, the rotating arm assembly 143d and the drive disk 1419 rotate synchronously, causing the second end of the rotating arm assembly 143d to rotate below the main wheel 142d. The auxiliary wheel 146d then lifts the main wheel 142d and the main body 110.

[0182] Figure 61 is a schematic diagram of the force transmission of the first traveling wheel assembly 140d. Referring to Figures 60 and 61, the drive disk 1419 rotatably passes through the side of the housing 141d, so that a portion of the drive disk 1419 extends into the housing 141d. A third transmission member 1472d is provided inside the housing 141d, and a second motor (not shown) is connected to the drive disk 1419 via the third transmission member 1472d. The second motor (not shown) receives a power output command, and its output shaft rotates, transmitting the driving force to the drive disk 1419 via the third transmission member 1472d. The drive disk 1419 drives the rotating arm assembly 143d to rotate, causing the second end of the rotating arm assembly 143d to rotate below the main wheel 142d. The auxiliary wheel 146d lifts the main wheel 142d and the main body 110.

[0183] Referring to Figure 61, the third input gear 14721d of the third transmission component 1472d is connected to the output shaft of the second motor 145d, and the third output gear 14722d of the third transmission component 1472d has a connecting groove 14725d on its periphery, in which the drive disk 1419 is embedded. With this configuration, when the second motor (not shown) rotates, the drive disk 1419 and the rotating arm assembly 143d can be driven to rotate synchronously through the transmission of the third transmission component 1472d.

[0184] Referring to Figure 61, the first traveling wheel assembly 140d further includes a first transmission member 1412d and a second transmission member 1432d. The first transmission member 1412d drives the main wheel 142d to rotate around it, and the first transmission member 1412d also drives the auxiliary wheel 146d to rotate through the second transmission member 1432d. For specific embodiments, please refer to the relevant descriptions of the first traveling wheel assembly 140a and the second traveling wheel assembly 140b, which will not be repeated here.

[0185] Figure 62 is a schematic diagram showing the connection between the rotating arm assembly 143d and the drive disk 1419 in Figure 60. Referring to Figure 62, the first end of the rotating arm assembly 143d is connected to the drive disk 1419. For example, the first end of the rotating arm assembly 143d can be eccentrically connected to the drive disk 1419, allowing the main wheel 142d and the cleaning robot to be lifted to a suitable relative operating surface height using a shorter rotating arm assembly 143d; alternatively, the first end of the rotating arm assembly 143d can be coaxially connected to the drive disk 1419, also enabling the lifting of the main wheel 142d and the cleaning robot. Because the first end of the rotating arm assembly 143d is rotatably connected to the drive disk 1419, the drive disk 1419 can be made to have different postures when it rotates.

[0186] Figure 63 shows the structure of the rotating arm assembly 143d of the first walking wheel assembly 140d in the third support position. As shown in Figure 63, when the drive disk 1419 rotates, the connection between the rotating arm assembly 143d and the drive disk 1419 is located in front of the main wheel 142d (third support position), and the auxiliary wheel 146d is located in front of the rotation center of the main wheel 142d. Since the center of gravity of the entire cleaning robot 100 in the vertical direction coincides with the projection of the center of gravity of the main wheel 142d on the operating surface (this coincidence is not a complete coincidence, but a coincidence in the front-to-back direction), the center of gravity of the cleaning robot is located behind the auxiliary wheel 146d. After the auxiliary wheel 146d contacts the operating surface, the front of the cleaning robot is lifted. The first motor drives the auxiliary wheel 146d to rotate through the first transmission component 1412d and the second transmission component 1432d, guiding the front of the main body 110 to move above the obstacle, and the main wheel 142d moves to the vicinity of the obstacle.

[0187] Figure 64 shows the structure of the rotating arm assembly 143d of the first walking wheel assembly 140d in the fourth support position. As shown in Figure 64, after the main wheel 142d moves to the vicinity of the obstacle, the second motor drives the drive disk 1419 to rotate through the second transmission component 1432d, causing the rotating arm assembly 143d and the auxiliary wheel 146d to rotate to the rear of the main wheel 142d (fourth support position). During the process of the rotating arm assembly 143d and the auxiliary wheel 146d rotating from the front of the main wheel 142d (third support position) to the rear of the main wheel 142d (fourth support position), the auxiliary wheel 146d moves from the front and below the main wheel 142d to the rear and below the main wheel 142d, which can provide the main wheel 142d with a forward and upward force (with a forward and upward component force), enabling the main wheel 142d to climb the obstacle and improve the obstacle-crossing ability of the cleaning robot.

[0188] Referring to Figures 63 and 64, a protruding structure is provided on the drive disk 1419 as a limiting part 14191. A supporting protrusion is provided on the rotating arm assembly 143d as a supporting part 14311. The rotating arm assembly 143 also includes a third elastic element 14313. The third elastic element 14313 is a torsion spring, and its middle part is fitted onto the connecting protrusion 14312 at the first end of the rotating arm assembly 143. One end of the third elastic element 14313 abuts against the limiting part 14191, and the other end of the third elastic element 14313 abuts against the supporting part 14311. During the rotation of the rotating arm assembly 143d with the drive disk 1419, in the state shown in Figure 63, the third elastic element 14313 is compressed. When the rotating arm assembly 143d switches from the state shown in FIG. 63 to the state shown in FIG. 64, the third elastic element 14313 restores its deformation, driving the rotating arm assembly 143d to extend, thereby lifting the main wheel 142d and the main body 110.

[0189] In summary, the first walking wheel assembly 140 provided in this disclosure can control the movement of the rotating arm assembly 143 so that at least a portion of the rotating arm assembly 143 can move below the main wheel 142 (for example, the rotating arm assemblies 143 of the first walking wheel assembly 140a, the first walking wheel assembly 140b, and the fourth walking wheel assembly 140d rotate, and the rotating arm assembly 143 of the first walking wheel assembly 140c rises and falls), thereby raising the main wheel 142 and improving the obstacle-crossing ability of the cleaning robot.

[0190] Furthermore, this disclosure also provides a cleaning robot, including the cleaning robot and the aforementioned two first walking wheel assemblies, the two first walking wheel assemblies being spaced apart and mounted on both sides of the bottom of the cleaning robot. The cleaning robot with the aforementioned first walking wheel assemblies has better obstacle-crossing ability, thereby improving the user experience.

[0191] It should be noted that if the cleaning robot uses the first walking wheel assembly 140c, the driven wheels adapted to the cleaning robot must have a lifting function to improve the obstacle-crossing ability of the cleaning robot. If the cleaning robot uses the first walking wheel assembly 140a, first walking wheel assembly 140b, or first walking wheel assembly 140d, the driven wheels adapted to the cleaning robot may not have a lifting function, and the obstacle-crossing ability of the cleaning robot can still be improved. In addition, a cleaning robot with the first walking wheel assembly 140b may also include driven wheels with a lifting function, and this disclosure does not impose any restrictions on this.

[0192] In addition, this disclosure also provides a cleaning system, including a base station used in conjunction with the aforementioned cleaning robot, which improves the obstacle-crossing ability of the cleaning robot and enhances the user experience.

[0193] In summary, the walking wheel assembly, cleaning robot, cleaning system, and control and obstacle-crossing control methods for the cleaning robot provided in this disclosure can improve the obstacle-crossing ability of the cleaning robot, increase cleaning efficiency, and enhance user experience.

[0194] The cleaning robot and cleaning system provided in this disclosure can control the movement of the main body in different states according to the road conditions of the operating surface when the cleaning robot is moving. When the cleaning robot encounters an obstacle that the main body cannot cross in the first state, the second end of the rotating arm assembly is controlled to move to the bottom of the main wheel so that the auxiliary wheel contacts the operating surface. The main wheel is separated from the operating surface by the auxiliary wheel and the rotating arm assembly. The height of the main wheel and the main body relative to the operating surface is adjusted, and the main body is in the second state. The auxiliary wheel rotates to abut against the operating surface and guides the movement of the main body, thereby enabling the cleaning robot to cross the obstacle and perform cleaning tasks in the space behind the obstacle. This improves the obstacle-crossing ability of the cleaning robot and makes the application range of the cleaning robot wider.

[0195] In this disclosure, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is horizontally higher than the second feature relative to the operating surface. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is horizontally lower than the second feature relative to the operating surface.

[0196] In the description of this disclosure, it should be understood that the terms “center,” “longitudinal,” “lateral,” “length,” “width,” “thickness,” “upper,” “lower,” “front,” “rear,” “left,” “right,” “vertical,” “horizontal,” “top,” “bottom,” “inner,” “outer,” “clockwise,” and “counterclockwise” indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this disclosure.

[0197] In this disclosure, unless otherwise expressly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this disclosure according to the specific circumstances.

[0198] Furthermore, the use of terms such as "first" and "second" in this disclosure is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include one or more features. In the description of this disclosure, "multiple" means two or more, unless otherwise explicitly specified.

[0199] Although embodiments of this disclosure have been described, those skilled in the art will understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of this disclosure, the scope of which is defined by the claims and their equivalents.

Claims

1. A cleaning robot, comprising: main body; as well as A wheel assembly, connected to the main body, guides the movement of the main body, and includes: The main wheel is connected to the main body via a first shaft, and the main wheel guides the movement of the main body in a first state; A rotating arm assembly includes a first end and a second end, wherein the first end of the rotating arm assembly is connected to the main body via a second shaft; An auxiliary wheel is connected to the second end of the rotating arm assembly; The main wheel and the auxiliary wheel guide the movement of the main body in the second state.

2. The cleaning robot as described in claim 1, wherein, The first end of the rotating arm assembly is connected to a second shaft located on one side of the first shaft.

3. The cleaning robot as described in claim 2, wherein, The second shaft is fixedly mounted on one side of the first shaft.

4. The cleaning robot as described in claim 2, wherein, The first axis and the second axis are offset from each other in the projection of the main wheel.

5. The cleaning robot as described in claim 2, wherein, The main wheel and the auxiliary wheel are driven by a first motor, and the rotating arm assembly is driven by a second motor.

6. The cleaning robot as described in claim 5, wherein, The wheel assembly also includes: The first transmission component includes an input end and an output end. The input end of the first transmission component is connected to the first motor, and the output end of the first transmission component is connected to the first shaft.

7. The cleaning robot as described in claim 5, wherein, The wheel assembly also includes: The second transmission component includes an input end and an output end. The input end of the second transmission component is connected to the output end of the first transmission component, and the output end of the second transmission component is connected to the auxiliary wheel.

8. The cleaning robot as described in claim 5, wherein, The wheel assembly also includes: The third transmission component includes an input end and an output end. The input end of the third transmission component is connected to the second motor, and the input end of the third transmission component is connected to the second shaft.

9. The cleaning robot as described in claim 5, wherein, The second motor and the third transmission component are both located on one side of the rotating arm assembly.

10. The cleaning robot as claimed in claim 8, wherein, The cleaning robot also includes a housing, and the second motor and the third transmission component are disposed within the housing.

11. The cleaning robot as claimed in claim 8, wherein, The cleaning robot also includes a first elastic element, which is disposed between the third transmission element and the rotating arm assembly.

12. The cleaning robot as claimed in claim 8, wherein, The output end of the third transmission component is provided with a locking part, and the first end of the rotating arm assembly is provided with a driven part. The locking part abuts against the driven part and rotates to drive the rotating arm assembly to rotate around the second axis.

13. The cleaning robot of claim 12, wherein when the rotating arm assembly is abutted by an obstacle, the driven part separates from the locking part.

14. The cleaning robot as described in claim 5, wherein, The first state is the state of the main body when the first motor is running and the second motor is turned off; The second state is the state of the main body when the first motor and the second motor are running.

15. The cleaning robot of claim 14, wherein, When the rotating arm assembly rotates to a position below the main wheel, the main wheel is separated from the operating surface by the auxiliary wheel, and the auxiliary wheel guides the main body to move in the second state.

16. The cleaning robot of claim 14, wherein, When the main body is in the second state, along the direction of travel of the cleaning robot, the center of gravity of the main body is located behind the auxiliary wheels, so as to lift the front of the main body.

17. The cleaning robot of claim 14, wherein, The cleaning robot also includes a tail wheel, which is connected to the main body. Along the direction of travel of the cleaning robot, the tail wheel is arranged on the rear side of the walking wheel assembly. When the main body is in the second state, the tail wheel supports the rear side of the main body.

18. The cleaning robot according to claim 14, wherein, The walking wheel assembly further includes a trigger and a first position confirmation element; the trigger is connected to the rotating arm assembly; wherein... When the first position confirmation device receives the position signal from the trigger device, the main body is in the second state.

19. The cleaning robot according to any one of claims 1-18, wherein, The walking wheel assembly also includes a trigger and a second position confirmation, the trigger being connected to the rotating arm assembly; When the rotating arm assembly is driven by an obstacle to rotate to the rear of the main wheel, the second position confirmation member obtains the position signal of the trigger member.

20. The cleaning robot according to any one of claims 1-19, wherein, The rotating arm assembly is a single arm segment.

21. The cleaning robot of claim 20, wherein, The cleaning robot also includes a housing disposed between the main wheel and the rotating arm assembly.

22. The cleaning robot according to claim 20, wherein, The wheel assembly also includes: A damper is disposed at the first end of the rotating arm assembly.

23. The cleaning robot according to claim 20, wherein, The rotating arm assembly is capable of circular motion around the second axis.

24. The cleaning robot according to any one of claims 1-23, further comprising a driven wheel connected to the main body, wherein, Along the direction of travel of the cleaning robot, the driven wheel is arranged on the front side of the walking wheel assembly.

25. The cleaning robot of claim 24, wherein, The driven wheel is vertically and retractably mounted on the main body.

26. A cleaning system comprising mutually cooperating base stations and a cleaning robot as described in any one of claims 1-25.

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