CN118340449A

CN118340449A - Cleaning machine

Info

Publication number: CN118340449A
Application number: CN202410423206.9A
Authority: CN
Inventors: 任宏伟; 郭金露; 王开强; 剧锦斌; 蒲勇; 牛立群
Original assignee: Shanxi Jiashida Robot Technology Co Ltd
Current assignee: Shanxi Jiashida Robot Technology Co Ltd
Priority date: 2024-04-09
Filing date: 2024-04-09
Publication date: 2024-07-16

Abstract

The invention discloses a cleaning machine, which comprises a machine body, wherein the machine body can walk on a surface to be cleaned; the auxiliary assembly is arranged on the machine body, and when the machine body walks in a preset direction, the auxiliary assembly walks in the preset direction; when the machine body has a walking trend deviating from a preset track or the machine body deviates from the preset track and is abnormal, the auxiliary assembly is used for correcting the abnormal behavior of the machine body, so that the machine body is kept to walk in a preset direction, the machine body is prevented from inclining or even falling, the running stability of the machine body is improved, and the safe use of the cleaner is ensured.

Description

Cleaning machine

Technical Field

The invention relates to the technical field of cleaning robots, in particular to a cleaning machine.

Background

Along with the continuous improvement of the modern living standard, the requirements of people on the living quality are also higher and higher, and intelligent equipment is widely applied to daily life. Especially in recent years, intelligent and efficient cleaning machines, such as floor sweeping machines or window cleaning machines, are continuously appeared, and can be used for conducting a large amount of cleaning work in a short time, so that a lot of time is saved for people, and people are relieved from troublesome households. Therefore, these cleaners are also becoming increasingly popular.

The window cleaning machine is firmly adsorbed on the surface to be cleaned by virtue of a vacuum pump or a fan device at the bottom of the window cleaning machine, and the cleaning piece at the bottom of the machine body is driven to wipe off dirt on the surface to be cleaned by virtue of the force of the window cleaning machine adsorbed on the surface to be cleaned. When the window cleaning machine cleans the surface to be cleaned, the window cleaning machine is easy to slip, incline and even fall due to the interference of dust or other stains, and the safe use of the window cleaning machine is affected.

Disclosure of Invention

The invention mainly aims to provide a cleaning machine, which aims to solve the problems that the existing cleaning machine is easy to slip, incline and even fall.

To achieve the above object, the present invention provides a cleaning machine comprising: a body which can walk on a surface to be cleaned; the auxiliary assembly is arranged on the machine body, and when the machine body walks in a preset direction, the auxiliary assembly walks in the preset direction; when the machine body has a walking trend deviating from a preset track or the machine body deviates from the preset track and is abnormal, the auxiliary component is used for correcting abnormal behaviors of the machine body.

In some embodiments, the body comprises: a body; the two groups of travelling mechanisms are respectively arranged on the machine body, and at least one group of travelling mechanisms moves on the surface to be cleaned and drives the machine body to move; and/or at least one set of travelling mechanisms for adsorbing on a surface to be cleaned; when one group of running mechanisms is abnormal or both groups of running mechanisms are abnormal, the auxiliary component is used for correcting abnormal behaviors of at least one group of running mechanisms.

In some embodiments, the running gear moves in a first motion profile and the auxiliary assembly moves in a second motion profile, the first motion profile being different from the second motion profile.

In some embodiments, the first motion profile comprises a rotational behavior and the second motion profile comprises a rolling behavior; at least one group of the travelling mechanisms rotates to enable the machine body to travel according to a preset track; the auxiliary component rolls and moves on the surface to be cleaned according to the preset track; the rolling travel of the auxiliary component on the surface to be cleaned is used for correcting the abnormal behavior of at least one group of travelling mechanisms when the rotation behavior of one group of travelling mechanisms is abnormal or the rotation behaviors of two groups of travelling mechanisms are abnormal.

In some embodiments, the central axis of at least one set of the travelling mechanisms is inclined relative to the central axis of the machine body, and at least two sets of the travelling mechanisms rotate to drive the cleaning machine to operate; when the rotation behavior of at least one group of running mechanisms is abnormal, the auxiliary assembly keeps the rolling behavior on a preset track so as to correct the abnormal behavior of at least one group of running mechanisms.

In some embodiments, when the machine body has a walking trend deviating from a preset direction, the auxiliary component is deformed by extrusion with the surface to be cleaned and generates a rolling friction force opposite to the walking trend; and/or when the machine body deviates from a preset direction, the auxiliary component and the surface to be cleaned are deformed in an extrusion mode and generate rolling friction force opposite to the walking direction.

In some embodiments, each set of the running gear comprises: the walking assembly is arranged on the machine body and is used for moving on a surface to be cleaned and driving the machine body to move; the cleaning assembly is arranged on the outer side of the walking assembly and can rotate relative to the machine body.

In some embodiments, the height of the surface of the walking assembly facing the surface to be cleaned is no greater than the height of the surface of the auxiliary assembly facing the surface to be cleaned.

In some embodiments, the auxiliary assembly is further configured to share a force between the machine body and a surface to be cleaned when the cleaning machine is in operation.

In some embodiments, the auxiliary assembly shares a force between at least one of the traveling assemblies and the surface to be cleaned when either or both of the traveling assemblies are abnormal, so that the body travels along a preset trajectory, or the body is maintained on the surface to be cleaned for an extended period of time.

According to the cleaning machine, the auxiliary assembly is arranged on the machine body, and when the machine body walks in the preset direction, the auxiliary assembly walks in the preset direction; when the machine body has a walking trend deviating from a preset track or the machine body deviates from the preset track and is abnormal, the auxiliary component is used for correcting the abnormal behavior of the machine body, so that the machine body is kept to walk in a preset direction, the machine body is prevented from inclining or even falling, the running stability of the machine body is improved, and the safe use of the cleaner is ensured.

Drawings

FIG. 1 is a schematic view of a cleaning machine according to an embodiment of the present invention;

FIG. 2 is a schematic view of a cleaner according to another embodiment of the present invention;

FIG. 3 is a schematic diagram of the force exerted by the cleaning machine of the present invention on a surface to be cleaned;

FIG. 4 is a schematic view of the vertical central axis of the cleaning machine, accessory assembly of the present invention;

FIG. 5 is a schematic view of the cleaning machine of the present invention when tilted;

FIG. 6 is a schematic cross-sectional view of an auxiliary wheel of the present invention;

FIG. 7 is a partially disassembled schematic illustration of a cleaning machine according to the present invention;

FIG. 8 is a partially disassembled schematic illustration of a cleaning machine according to the present invention;

FIG. 9 is a schematic view of a cleaning machine of the present invention in surface contact with a surface to be cleaned;

FIG. 10 is a schematic cross-sectional view of an embodiment of the cleaning machine of the present invention;

FIG. 11 is a schematic cross-sectional view of the auxiliary wheel and the traveling assembly of the present invention mounted in cooperation;

FIG. 12 is a schematic view of the angle between the synchronizing wheel and the surface to be cleaned according to the present invention;

FIG. 13 is a schematic view of an accessory assembly of the present invention on a surface to be cleaned;

FIG. 14 is a schematic view of the cleaning machine of the present invention walking to the right;

FIG. 15 is a force diagram of the auxiliary assembly of the cleaning machine of the present invention when the cleaning machine is walking to the right;

FIG. 16 is a schematic view of the cleaning machine of the present invention walking to the right and partially suspended;

FIG. 17 is a schematic view of the auxiliary assembly of the cleaning machine of the present invention when the machine is walking to the right and partially suspended;

FIG. 18 is a schematic view of the cleaning machine of the present invention traveling to the right until it encounters an obstacle and stops;

FIG. 19 is a force diagram of the auxiliary assembly of the cleaning machine of the present invention when the machine is walking right to encounter an obstacle and stopped;

FIG. 20 is a schematic view of a second set of auxiliary components of the cleaning machine of the present invention as a center of a circle for twisting and upward walking;

FIG. 21 is a force diagram of a first set of accessory components of the present invention in a twist walk;

FIG. 22 is a force diagram of a second set of accessory modules of the present invention in a twist walk;

FIG. 23 is a schematic view of the cleaning machine of the present invention when the cleaning machine is twisted and walked up until the cleaning machine hits an obstacle and stops;

FIG. 24 is a force diagram of a second set of accessory modules of the present invention in a twist walk;

FIG. 25 is a schematic side cross-sectional view of an embodiment of an accessory assembly of the present invention;

FIG. 26 is a schematic diagram illustrating an embodiment of an auxiliary assembly according to the present invention.

The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.

Detailed Description

The following description of the embodiments of the present invention will be made more clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

It should be noted that all directional indicators (such as up, down, left, right, front, and rear … …) in the embodiments of the present invention are merely used to explain the relative positional relationship, movement, etc. between the components in a particular posture (as shown in the drawings), and if the particular posture is changed, the directional indicator is changed accordingly.

It will also be understood that when an element is referred to as being "mounted" or "disposed" on another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.

Furthermore, the description of "first," "second," etc. in this disclosure is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present invention.

The present application provides a cleaning machine 100, which is mainly used for cleaning a dirty surface of an object. The cleaning machine 100 according to the present application may be a window cleaner, a wall cleaner, a roof cleaner, or a floor cleaner that is not required to be adsorbed on the surface S to be cleaned. As a general application, the present application will be described with reference to a window cleaning machine. Accordingly, the surface S to be cleaned may be a door, a tile wall, a ceiling, a surface of a window, a floor, or the like.

Referring to fig. 1 to 3, in an embodiment of the invention, a cleaning machine 100 includes:

A body 10, the body 10 being movable over a surface S to be cleaned; wherein the machine body 10 is a main body structure of the cleaning machine 100, and an interior thereof forms a space to mount structural components of the cleaning machine 100. At the time of cleaning, the body 10 moves on the surface S to be cleaned to clean each area on the surface S to be cleaned. The body 10 of the present application may have a circular, oval, rectangular or other shape, and may be specifically configured according to the need, without being limited thereto.

The auxiliary assembly 20 is mounted on the machine body 10, and when the machine body 10 walks in a preset direction, the auxiliary assembly 20 walks in the preset direction. In this embodiment, the surface S to be cleaned is a vertical plane, the machine body 10 is adsorbed on the vertical plane in an up-down vertical state, and the preset direction is a direction perpendicular to the gravity direction of the machine body 10 and parallel to the vertical plane, i.e. a direction running along the vertical plane.

Of course, in other embodiments, the machine body 10 may be adsorbed on the vertical plane in a horizontal state, and the preset direction is a direction parallel to the gravity direction of the machine body 10 and the vertical plane, i.e. a direction running up and down along the vertical plane. This is by way of example only and is not limited thereto.

Referring to fig. 3 to 5, when the body 10 has a walking trend deviating from a preset track, that is, the body 10 has a tilting trend, the auxiliary assembly 20 is used to return the body 10 to the walking trend of the preset direction; or when the machine body 10 deviates from a preset track and is abnormal, the auxiliary assembly 20 is used for correcting abnormal behaviors of the machine body 10 so as to prevent the machine body 10 from tilting and deforming, so that the machine body 10 keeps walking in a preset direction, the stability of the running posture is ensured, and the safe use of the cleaning machine 100 is ensured.

In some embodiments, referring to fig. 5 and 6, the auxiliary assembly 20 includes at least one auxiliary wheel 21, the auxiliary wheel 21 is rotatably mounted on the machine body 10 through a rotation shaft 210, and a vertical central axis of the auxiliary wheel 21 is relatively parallel to a vertical central axis of the machine body 10. The parallelism may be substantially parallel, and the angle between the two may be, for example, within 5 ° or 10 °.

The vertical direction of the auxiliary wheel 21 is a direction along the rotation axis 210 of the auxiliary wheel 21, and the vertical direction of the machine body 10 is a length direction of the machine body 10. In this embodiment, the central axis of the rotating shaft 210 of the auxiliary wheel 21 is perpendicular to the advancing direction of the machine body 10, so that the displacement generated by the rolling of the auxiliary wheel 21 on the surface S to be cleaned coincides with the displacement of the machine body 10 in the advancing direction, and the obstruction to the movement of the machine body 10 is avoided.

The auxiliary wheel 21 is in linear surface contact with the surface S to be cleaned along the central axis of the entire cleaner 100, so that the friction force applied to the auxiliary wheel 21 is linearly distributed, and when the entire cleaner 100 is inclined angularly, the auxiliary wheel 21 is deformed and generates a force in the direction of the inclined angle, thereby preventing the entire cleaner 100 from being deformed obliquely.

In some embodiments, the cross section of the auxiliary wheel 21 is rectangular, that is, the auxiliary wheel 21 is in a cylindrical structure, the auxiliary wheel 21 is in a pure rolling state when following the movement of the machine body 10, and on the premise of low consumption, the gravity of the whole cleaning machine 100 is overcome, so that the machine body 10 is prevented from tilting and deforming, and the stability of the running posture of the cleaning machine 100 is ensured.

Of course, in other embodiments, the cross section of the auxiliary wheel 21 may be trapezoid, etc., and may be specifically set according to the actual use requirement, which is not limited thereto.

In some embodiments, please continue to refer to fig. 6, each auxiliary wheel 21 includes a supporting portion 211 and an elastic contact portion 212, wherein the elastic contact portion 212 wraps the supporting portion 211, and the elastic contact portion 212 contacts the surface S to be cleaned.

Wherein the hardness of the supporting portion 211 is greater than that of the elastic contact portion 212. In this embodiment, the supporting portion 211 may be made of hard plastic, such as plastic, and has a certain hardness for supporting the elastic contact portion 212, so as to ensure that the elastic contact portion 212 can elastically deform to roll the whole auxiliary wheel 21 forward. The supporting portion 211 may have a solid or hollow cylindrical structure, and the elastic contact portion 212 covers the outer circumference of the supporting portion 211.

In this embodiment, the elastic contact portion 212 may be made of a soft rubber material, such as rubber, to ensure that the elastic contact portion 212 can elastically deform when being pressed. When the cleaning machine 100 is adsorbed on the surface S to be cleaned by the adsorption action, the height of the cleaning machine 100 from the surface S to be cleaned is reduced, so that the elastic contact portion 212 of the auxiliary wheel 21 contacts with the surface S to be cleaned and is elastically deformed, the contact area between the auxiliary wheel 21 and the surface S to be cleaned is increased, the friction force between the auxiliary wheel 21 and the surface S to be cleaned is increased, and the auxiliary wheel 21 rolls forward due to the elastic deformation under the driving of the machine body 10.

Specifically, referring to fig. 3, when the machine body 10 has a walking trend deviating from a preset direction, the elastic contact portion 212 is deformed by extrusion with the surface S to be cleaned and generates a rolling friction force opposite to the walking trend; and/or, when the machine body 10 deviates from the preset direction, the elastic contact portion 212 is deformed by pressing with the surface S to be cleaned and generates a rolling friction force opposite to the traveling direction.

In the present embodiment, the elastic contact portion 212 is pressed into contact with the surface S to be cleaned and deformed due to the negative pressure applied to the machine body 10. When the machine body 10 has a traveling tendency deviating from a preset direction and/or when the machine body 10 deviates from the preset direction, such as the machine body 10 is inclined on the vertical surface S to be cleaned, a rolling friction force is generated between the elastic contact portion 212 and the surface S to be cleaned, which resists the inclination of the machine body 10, and the direction of the rolling friction force is opposite to the direction in which the machine body 10 is to be inclined, so as to prevent the machine body 10 from being inclined and deformed, and ensure the stability of the operation posture of the cleaning machine 100.

Referring to fig. 7 and 8, in some embodiments, the body 10 includes:

A main body 11; wherein the main body 11 is a main body structure of the cleaner 100, and an interior thereof forms a space to mount structural components of the cleaner 100. The body 11 in the present application may be circular, elliptical, rectangular, etc., and may be provided as desired, without being limited thereto.

Two groups of travelling mechanisms 50 are respectively arranged on the machine body 11, and at least one group of travelling mechanisms 50 moves on the surface S to be cleaned and drives the machine body 11 to move; and/or at least one set of travelling mechanisms 50 for adsorbing on the surface S to be cleaned;

The auxiliary assembly 20 is used to correct abnormal behavior of at least one set of running gear 50 when an abnormality occurs in one set of running gear 50 or both sets of running gear 50.

Further, each set of running gear 50 includes:

The walking assembly 52 is arranged on the machine body 11, and the walking assembly 52 is used for moving on the surface S to be cleaned and driving the machine body 11 to move; in this embodiment, the walking assembly 52 is disposed on the body 11, and may be disposed at the bottom of the body 11. The walking assembly 52 may take various forms, for example, the walking assembly 52 employs a turntable, and the turntable rotates on the surface S to be cleaned, and drives the machine body 11 to move by a friction force between the turntable and the surface S to be cleaned. Or other travel structures, such as rollers, may be employed by travel assembly 52. Of course, this is merely exemplary and is not limiting.

Wherein, each group of walking components 52 is provided with an adsorption space, and two auxiliary components 20 are provided, and each auxiliary component 20 is arranged in one adsorption space and synchronously moves along with the walking of the walking components 52.

In this embodiment, each set of traveling assemblies 52 is connected to the body 11 by a connecting shaft 51, each connecting shaft 51 is rotatably disposed on the body 11, for example, each connecting shaft 51 is rotatably disposed on the body 11 by a bearing, and each traveling assembly 52 is mounted on one end of one connecting shaft 51, so that each traveling assembly 52 can rotate relative to the body 11.

Of course, in other embodiments, the assembly relationship of the walking assembly 52 and the body 11 can take other common configurations, and is not limited thereto.

In some embodiments, the cleaning machine 100 further includes a cleaning assembly 30 mounted to the outside of the travel assembly 52 and rotatable relative to the machine body 11. In this embodiment, the cleaning assembly 30 includes at least two cleaning turntables 31, and each cleaning turntable 31 is rotatably mounted on the machine body 11. Each cleaning carousel 31 is connected to one of the traveling assemblies 52 and rotates following the traveling assembly 52 to clean the surface S to be cleaned. In this embodiment, the cleaning turntable 31 and the traveling assembly 52 may have a gap therebetween or may contact each other, for example, may be close to each other to contact each other, and only the two may perform a relative motion or a synchronous motion.

In some embodiments, the auxiliary assembly 20 is mounted inside the cleaning assembly 30. In this way, when the body 11 hits an obstacle, the auxiliary wheel 21 does not directly contact the obstacle, so that the situation that the auxiliary wheel 21 is blocked, damaged and the like due to collision is avoided, and the running stability of the auxiliary wheel 21 is improved.

Further, the cleaning assembly 30 may further include a cleaning member sleeved on the outer peripheral surface of the cleaning turntable 31, where the cleaning member may be a rag, a cleaning sponge, etc., and the cleaning member may be directly sleeved on the outer periphery of the cleaning turntable 31 by means of an elastic sleeve, and also may be disposed on the cleaning turntable 31 by means of a fixing member, etc., for example, may be adhered to the cleaning turntable 31 by means of a velcro. Of course, this is exemplary, and others may be selected, without limitation.

In some embodiments, the central axis of at least two traveling assemblies 52 is inclined relative to the central axis of the machine body 11, and at least two traveling assemblies 52 rotate to operate the cleaning machine 100;

In the event of an abnormal rotational behavior of at least one set of running gears 50, the auxiliary assembly 20 maintains the rolling behavior on a preset trajectory to correct the abnormal behavior of at least one set of running gears 50.

In some embodiments, the auxiliary assembly 20 also serves to share the force between the machine body 10 and the surface S to be cleaned while the cleaning machine 100 is in operation.

In this embodiment, the auxiliary assembly 20 is used for increasing the acting force area between the cleaning machine 100 and the surface S to be cleaned to share the acting force between the machine body 10 and the surface S to be cleaned, and includes:

The auxiliary component 20 is configured to share at least one of a first force and a second force, the first force including: a force is provided against the gravitational force of the cleaning machine 100, at least a portion of the first force being in a direction opposite to the gravitational force of the body 11. Thus, the machine body 10 and the auxiliary assembly 20 together provide a force against the gravity of the cleaning machine 100, and the auxiliary assembly 20 can prevent the machine body 10 from slipping and sliding down when the cleaning machine 100 is abnormal, such as slipping; the second force includes: a force for moving the cleaning machine 100, that is, a force for making the cleaning machine 100 travel in a preset direction is provided.

In some embodiments, the auxiliary assembly 20 also serves to pull the direction of movement of the cleaning machine 100 as the auxiliary assembly 20 moves over the surface S to be cleaned.

In some embodiments, when either or both of the two running mechanisms 50 are abnormal, the auxiliary assembly 20 shares the force between at least one running mechanism 50 and the surface S to be cleaned, so that the machine body 10 follows a preset trajectory, or the machine body 10 is kept on the surface S to be cleaned, or the time that the machine body 10 is kept on the surface S to be cleaned is prolonged.

It should be noted that, the abnormal behavior of the running mechanism 50 on the surface S to be cleaned includes slipping and idling of the running mechanism 50, and a decrease in the acting force between the running mechanism 50 and the surface S to be cleaned; so that the body 10 is held on the surface S to be cleaned either by being held in its original position or by being displaced to some extent on the surface S to be cleaned.

In this embodiment, the surface S to be cleaned is a vertical plane on which the body 10 is adsorbed by adsorption. In the initial state, the machine body 10 is in an up-down vertical state, the vertical central axis of the auxiliary assembly 20 is consistent with the gravity direction of the machine body 10, and at this time, the auxiliary assembly 20 completely provides gravity. When the body 10 moves on the surface S to be cleaned, the auxiliary assembly 20 follows the rotation and applies a force to the body 10, and at this time, the auxiliary assembly 20 not only provides gravity but also guides the travel of the body 10. If the movement of the machine body 10 is abnormal, such as tilting, at least a portion of the acting force generated by the auxiliary assembly 20 on the machine body 10 is opposite to the gravity direction of the machine body 10, so as to provide a walking warp force for the machine body 10 to offset a portion of the gravity of the machine body 10, so that the whole machine body 10 is stressed and balanced, and the machine body 10 is further kept on the surface S to be cleaned, so that the machine body 10 is prevented from tilting or even falling, and the safe use of the cleaning machine 100 is ensured.

In some embodiments, running gear 50 moves in a first motion profile and auxiliary assembly 20 moves in a second motion profile, the first motion profile being different from the second motion profile.

In particular, the first movement pattern comprises a rotational behaviour and the second movement pattern comprises a rolling behaviour;

At least one set of traveling mechanisms 50 rotates to make the machine body 10 travel according to a preset track;

the auxiliary assembly 20 rolls on the surface S to be cleaned according to a preset track;

The rolling travel of the auxiliary assembly 20 on the surface S to be cleaned is used to correct the abnormal behavior of at least one set of running gears 50 when the rotational behavior of one set of running gears 50 is abnormal, or when the rotational behavior of both sets of running gears 50 is abnormal.

In this embodiment, the machine body 10 further includes a driving assembly 40 mounted on the machine body 11, and the driving assembly 40 drives the traveling assembly 50 to move on the surface S to be cleaned and drives the machine body 11 to move.

In some embodiments, drive assembly 40 may include one or more power sources. For example, each of the travel assemblies 52 is coupled to the same power source to be driven by the same power source; or each of the traveling assemblies 52 may be separately coupled to a different power source to be separately driven using a different power source. The driving component 40 can be a motor 41 or a power output component formed by the motor 41 and a gear or a gear train. In this embodiment, the output shaft 411 of each motor 41 is in driving connection with the other end of one connecting shaft 51 through a transmission mechanism 60, so that the driving force is transmitted to the traveling assembly 52 through the connecting shaft 51, so that the traveling assembly 52 is driven to rotate by the motor 41.

Wherein the power source of the motor 41 is derived from a battery within the body 11 or from an external power source. The power supply is electrically connected with the motor 41, and supplies power to a control main board of the cleaning machine 100, and the control main board controls the motor 41 to start or stop, thereby controlling the operation of the cleaning machine 100.

In this embodiment, each transmission mechanism 60 includes:

First bevel gears 61, each first bevel gear 61 being provided on the output shaft 411 of one motor 41; and

Second bevel gears 62, each second bevel gear 62 being connected to the other end of one connecting shaft 51;

Wherein each first bevel gear 61 is meshed with one second bevel gear 62. When the motor 41 is operated, the output shaft 411 of the motor 41 drives the first bevel gear 61 to rotate, the first bevel gear 61 drives the second bevel gear 62 to rotate, and then the connecting shaft 51 and the walking assembly 52 connected with the connecting shaft 51 are driven to rotate, so that power transmission from the motor 41 to the walking assembly 52 is realized.

In this embodiment, through the engagement of the first helical gear 61 and the second helical gear 62, the rotation of the output shaft 411 of the motor 41 in the vertical direction is converted into the rotation of the walking assembly 52 in the horizontal direction, so that the motor 41 can be horizontally arranged in the machine body 11, thereby reducing the vertical height space occupied by the machine body 11 and further reducing the structural volume of the machine body 11.

Of course, in other embodiments, the transmission mechanism 60 may also adopt other common structures, such as belt transmission, and the like, and may be set according to practical embodiments, so long as the scheme of the present embodiment can be implemented.

In some embodiments, the cleaning assembly 30 is disposed on the periphery of the walking assembly 52, with a gap between the cleaning assembly 30 and the walking assembly 52, or with a fit between the cleaning assembly 30 and the walking assembly 52. The cleaning assembly 30 contacts the surface S to be cleaned and is rotatable relative to the main body 11 to clean the surface S to be cleaned. Specifically, in this embodiment, the cleaning turntable 31 and the traveling assembly 52 may have a gap therebetween, or may contact each other, for example, may be close to each other to contact each other, so long as the two may perform a relative motion or a synchronous motion.

In some embodiments, referring to fig. 9, the cleaning assembly 30 has a predetermined angle with respect to the surface S to be cleaned. In this embodiment, the connecting shaft 51 is disposed obliquely (with an included angle α, α < 90 °) with respect to the central axis of the machine body 11, and the traveling assembly 52 and the cleaning turntable 31 are coaxially connected with the connecting shaft 51, so that a preset angle (90 ° - α) is formed between the cleaning turntable 31, the surface of the traveling assembly 52 and the surface S to be cleaned, so that the traveling assembly 52 is in partial contact with the surface S to be cleaned, and friction forces generated between different parts of the traveling assembly 52 and the surface S to be cleaned are different during rotation, so that the traveling assembly 52 can travel during rotation, and the cleaning turntable 31 can reach different positions of the surface S to be cleaned for cleaning.

In order to increase the contact area between the cleaning component 30 and the surface to be cleaned S, the contact between the cleaning component 30 and the surface to be cleaned S is set to be surface contact, so that the cleaning component 30 is fully contacted with the surface to be cleaned S, the cleaning area of the cleaning component 30 is increased, and the cleaning efficiency of the cleaning component 30 is improved.

When the cleaning member (e.g. rag) made of flexible material is sleeved on the periphery of the cleaning turntable 31, the cleaning member is fully contacted with the surface S to be cleaned, and is elastically deformed, that is, the contact surface is changed from linear contact to surface contact, the contact surface rubs with the surface S to be cleaned, and the machine body 11 is driven to move on the surface S to be cleaned, so that the surface S to be cleaned is cleaned.

Wherein each of the cleaning turntables 31 has an axial side 311 in surface contact with the surface S to be cleaned, the axial side 311 being parallel to the surface S to be cleaned, such that when the cleaning turntables 31 are in contact with the surface S to be cleaned, surface contact is achieved between the axial side 311 and the surface S to be cleaned, thereby increasing the cleaning area of the cleaning assembly 30 and improving the cleaning efficiency of the cleaning assembly 30.

Preferably, shaft side 311 is a tapered surface having a taper of 1-5. When the height of the cleaning dial 31 is unchanged and the taper of the tapered surface is smaller (approximately 1 °), the contact area of the tapered surface with the surface S to be cleaned is larger, and when the taper of the tapered surface is larger (approximately 5 °), the contact area of the tapered surface with the surface S to be cleaned is smaller, which may be specifically set according to the actual situation, without being limited thereto.

In some embodiments, the cleaning machine 100 of the present invention further includes a negative pressure device 70 and an adsorption device (not shown), the negative pressure device 70 is disposed on the machine body 11, a main space is disposed in the machine body 11, an adsorption space is disposed in the adsorption device (such as an adsorption disc), the main space is communicated with the adsorption space, a closed space is formed between the main space, the adsorption space and the surface S to be cleaned, and the machine body 11 is connected with the negative pressure device 70 so that a negative pressure is generated in the closed space. Specifically, the negative pressure device 70 may be a negative pressure fan, which is used to draw out the air flow in the closed space, so that the traveling assembly 52 is adsorbed on the surface S to be cleaned, and the traveling assembly 52 contacts the surface S to be cleaned to generate deformation, and further rotate to generate friction force to move the machine body 10.

In some embodiments, the auxiliary assembly 20 of the present embodiment is mounted in the walking assembly 52.

Specifically, the body 11 is formed with a mounting portion 111;

The auxiliary assembly 20 further comprises a support 22, the support 22 is assembled with the mounting portion 111 in a limiting mode, and the auxiliary wheel 21 is rotatably arranged in the support 22. Wherein, the bracket 22 plays a role in installing and protecting the auxiliary wheel 21, and can avoid the damage of the auxiliary wheel 21 caused by the external collision, thereby ensuring the normal rotation of the auxiliary wheel 21.

In this embodiment, the two sides of the rotation shaft 210 of the auxiliary wheel 21 are respectively provided with a rotation bearing 23, and the auxiliary wheel 21 is rotatably mounted in the bracket 22 through the two rotation bearings 23, so that the resistance between the auxiliary wheel 21 and the bracket 22 is reduced, and the auxiliary wheel 21 rotates smoothly relative to the bracket 22. Of course, this is merely exemplary and not limiting, and others may be used.

In this embodiment, to ensure that the auxiliary assembly 20 is stably mounted in the machine body 10, the machine body 11 is formed with a receiving cavity 112, the receiving cavity 112 has an upward opening 113, the bracket 22 is received in the receiving cavity 112, and one end of the bracket 22 passes through the opening 113 to be assembled with the mounting portion 111 in a limited manner, and the machine body 11 is rotatably connected with the bracket 22.

In this embodiment, the bracket 22 is assembled with the mounting portion 111 in a limited manner to limit the axial movement of the bracket 22, so that the bracket 22 does not relatively displace in the axial direction when the machine body 11 is in operation. The limiting assembly mode of the bracket 22 and the mounting portion 111 may be, for example, clamping, fastening, bonding, magnetic connection, or the like, and may be specifically set according to practical situations, which is not limited thereto.

Specifically, the support 22 is provided with a plug (not shown), the mounting portion 111 is provided with a jack (not shown), and the plug is plugged into the jack to enable the support 22 and the mounting portion 111 to be assembled in a limited manner, so that quick plug-in positioning between the support 22 and the mounting portion 111 can be achieved, and connection stability of the support and the mounting portion is improved. Of course, this is merely exemplary and not limiting, and others may be used.

In this embodiment, the walking assembly 52 is rotatably connected to the support 22, for example, a rolling bearing 53 may be disposed between the walking assembly 52 and the support 22, so that the friction resistance therebetween is small, and the walking assembly 52 is easier to rotate relative to the support 22.

The walking component 52 can rotate relative to the bracket 22 during walking, at this time, the bracket 22 can limit the movement of the walking component 52 in the axial direction, and the walking component 52 cannot deviate and shake left and right, so that the walking stability of the walking component 52 on the surface S to be cleaned is improved.

Specifically, a U-shaped receiving cavity 112 is formed within walking assembly 52 to secure auxiliary assembly 20. Of course, this is merely exemplary and not limiting, and others may be used.

Referring to fig. 10 and 11, the height of the surface of the walking assembly 52 facing the surface S to be cleaned is not higher than the height of the surface of the auxiliary assembly 20 facing the surface S to be cleaned. When the traveling assembly 52 contacts the surface S to be cleaned, the body 11 is subjected to the negative pressure of the negative pressure device 70, so that the overall height from the surface S to be cleaned is reduced, the auxiliary wheel 21 is elastically deformed, and the contact area with the surface S to be cleaned is increased. At this time, the auxiliary wheel 21 is lowered toward the surface of the surface to be cleaned S, the traveling assembly 52 is brought into contact with the surface to be cleaned S, and the traveling assembly 52 is rotated and generates friction with the surface to be cleaned S by the driving of the driving assembly 40, so that the body 10 is moved forward. At the same time, the auxiliary wheel 21 rolls forward due to the elastic deformation.

Further, in order to increase the friction between the walking assembly 52 and the surface S to be cleaned, a buffer member 501 is disposed on the side of the walking assembly 52 facing the surface S to be cleaned, and the hardness of the buffer member 501 is greater than that of the elastic contact portion 212. Of course, the buffer member 501 may be connected to the walking assembly 52 by other methods, such as adhesion, etc., and may be specifically set according to practical situations, which is not limited thereto.

Further, the buffer member 501 may be a sheet structure, and is disposed at the bottom of the walking assembly 52, and is used for contacting with the surface S to be cleaned, so as to play a role in buffering, and reduce the hard collision between the walking assembly 52 and the surface S to be cleaned. In this embodiment, the buffer 501 may be partially or entirely disposed to cover the bottom of the traveling assembly 52.

Of course, the cushioning member 501 may take other shapes, such as a block shape, and the like, and may be specifically configured according to the actual situation, and is not limited thereto.

Wherein the height of the surface of the buffer member 501 facing the surface S to be cleaned is not higher than the height of the surface of the auxiliary wheel 21 facing the surface S to be cleaned, i.e. the auxiliary wheel 21 is arranged convexly relative to the traveling assembly 52 and the buffer member 501. In this way, the body 10 is under negative pressure, the auxiliary wheel 21 preferentially contacts the surface S to be cleaned, and then the buffer member 501 contacts the surface S to be cleaned. Wherein, the elastic contact portion 212 of the auxiliary wheel 21 has a large contact area with the surface S to be cleaned, and the generated deformation amount is large, thereby generating a large friction force to counteract part of gravity of the whole cleaning machine 100 in the vertical direction.

In some embodiments, the body 10 is movable over a surface to be cleaned, having a first range of operating parameters; the auxiliary assembly 20 moves with the machine body 10 and has a second range of operating parameters;

The first operation parameter range and the second operation parameter range are used together to identify the operation state of the machine body 10, so that the cleaning machine 100 can conveniently adjust the operation path and the operation posture, and the safe use of the cleaning machine 100 is ensured. That is, the present invention can realize quick response and adjustment of the cleaning machine 100 by converting the movement monitoring of the machine body 10 into the monitoring of the first operation parameter range and the second operation parameter range, and the auxiliary assembly 20 is free from the occurrence of the jamming or the like, and has strong operational reliability.

In some embodiments, the auxiliary assemblies 20 are provided in two sets, each set of auxiliary assemblies 20 corresponding to a set of running gear 50; the first operating parameter range of each set of running gear 50 and the second operating parameter range of its corresponding auxiliary assembly 20 are used to identify the operating state of the corresponding running gear 50.

In some embodiments, an anomaly in the cleaning machine 100 is identified when at least one of the first operating parameter range exceeds the preset parameter range and the second operating parameter range exceeds the preset parameter range.

In some embodiments, when the cleaning machine 100 is in a twist-type travel, the cleaning machine 100 rotates with one of the running mechanisms 50 as a rotation pivot, and when a first operation parameter range of the running mechanism 50 as the rotation pivot is within a preset parameter range and a second operation parameter range of the auxiliary assembly 20 corresponding to the first operation parameter range is out of the preset operation parameter range, the abnormality of the running mechanism 50 as the rotation pivot of the cleaning machine 100 is identified.

In this embodiment, whether the running mechanism 50 of the cleaning machine 100 as the rotation pivot is displaced can be identified by identifying whether the second operation parameter range of the auxiliary assembly 20 exceeds the preset operation parameter range, so that the running mechanism 50 as the rotation pivot is ensured to normally operate, and the stability of the cleaning machine 100 during the twist-type running is improved.

In some embodiments, when the cleaning machine 100 is in a twisting type of traveling, the cleaning machine 100 uses one of the traveling mechanisms 50 as a rotation pivot, and the other traveling mechanism 50 rotates, so as to drive the traveling mechanism 50 of the machine body 11 relative to the rotation pivot to perform relative displacement on the surface to be cleaned, and after the machine body 11 reaches a preset range, the cleaning machine 100 rotates with the other traveling mechanism 50 as the rotation pivot, so as to complete the twisting type of traveling of the machine body 11.

When the machine body 11 is adjusted, the first operation parameter range of the running mechanism 50 which rotates is adjusted to the preset parameter range in the preset time period, and when the corresponding auxiliary assembly 20 is not adjusted to the preset range, the abnormal adjustment behavior of the machine body 11 of the cleaning machine 100 is identified.

If the speed of the twisting travel is required to be increased during the twisting travel of the cleaning machine 100, if the running mechanism 50 is increased, the running mechanism 50 will rotate quickly if the running mechanism 50 slips, but the movement range of the machine body 11 is small, and at this time, abnormal adjustment behavior of the machine body 11 of the cleaning machine 100, that is, the running mechanism 50 slips, can be recognized.

In some embodiments, the arrival of the cleaning machine 100 at an obstacle is identified when the first operating parameter range of any of the travel mechanisms 50 exceeds a preset parameter range and does not reach an extremum, and the second parameter range of the auxiliary assembly 20 reaches an extremum.

In this embodiment, when the cleaner 100 reaches an obstacle (e.g., a rim), the cleaning turret 31 does not stop rotating immediately, but the main body 11 stops traveling, and the auxiliary assembly 20 stops rotating, thereby recognizing that the cleaner 100 has reached the obstacle.

In some embodiments, at least one set of running gear 50 rotates to cause the machine body 10 to travel in a preset trajectory; the first operating parameter range includes a rotational operating parameter range, i.e., an associated operating parameter range when the running gear 50 is rotated, such as a rotational speed magnitude or a rotational acceleration magnitude, etc.

The auxiliary assembly 20 rolls on the surface to be cleaned according to a preset track; the second parameter range includes a rolling operation parameter range, i.e., an associated operation parameter range when the auxiliary assembly 20 is rolled, such as a rolling speed magnitude or a rolling acceleration magnitude.

The rotational operating parameter range of running gear 50 is used in conjunction with the rolling operating parameter range of auxiliary assembly 20 to identify the operating state of machine body 10.

In this embodiment, the first operating parameter range and the second operating parameter range each include at least one of an operating speed parameter range and an operating acceleration parameter range; wherein the operating speed parameter range includes at least one of an operating speed magnitude range and an operating speed direction range; the operating acceleration parameter range comprises at least one of an operating acceleration magnitude range and an operating acceleration direction range;

When the operating speed parameter range of the auxiliary assembly 20 exceeds at least one of the preset speed parameter range and the operating acceleration parameter range of the auxiliary assembly 20 exceeds the preset acceleration parameter range, the machine body 10 adjusts the moving state.

The cleaning machine 100 is substantially smooth in operation during normal running, so that the acceleration/speed and direction thereof do not change abruptly, and at this time, the auxiliary assembly 20 is synchronously displaced by the movement of the machine body 10 and has a first speed and/or a first acceleration within a preset operation parameter range.

When the cleaning machine 100 encounters an obstacle during operation (e.g., a rim provided at the edge of the surface to be cleaned), the cleaning machine 100 is subjected to the resistance of the obstacle, its speed will suddenly change (e.g., change from V to 0), and the acceleration matching it will suddenly change (e.g., change in magnitude, direction, and instantaneously from a ₁ to-a ₂). Meanwhile, the speed, the acceleration and/or the direction of the auxiliary assembly 20 will also be suddenly changed, at this time, the auxiliary assembly 20 has a second speed and/or a second acceleration, and the second speed and/or the second acceleration is outside the preset operation parameter range, so that the cleaning machine 100 adjusts the moving state accordingly, for example, the machine body 10 is controlled to stop moving, or the machine body 10 is controlled to turn, so that the cleaning machine 100 can adjust the running path and the running posture conveniently, and the machine body 10 is prevented from continuously colliding with the obstacle, thereby ensuring the safe use of the cleaning machine 100, and avoiding the damage to the frame caused by the cleaning machine 100.

It should be noted that, when the speed or acceleration of the auxiliary assembly 20 is merely changed (beyond the preset operating parameter range) and no direction change is involved, the machine body 10 adjusts the moving state accordingly.

Since the obstacle acts as a resistance to the travel of the cleaner 100 when the cleaner 100 hits the obstacle, the second speed and the second acceleration of the auxiliary wheel 21 after the cleaner 100 hits the obstacle are generally smaller than the first speed and the first acceleration of the normal travel.

Compared with the traditional negative pressure variation detection mode and the on-off device switching detection mode, the invention can quickly respond to the detection of the operation parameters of the auxiliary assembly 20, has high transmission efficiency, can realize the timely adjustment of the cleaning machine 100, and has the advantages that the auxiliary assembly 20 is displaced along with the movement of the machine body 10, the situation of locking and the like is avoided, and the working reliability is high.

In this embodiment, the cleaning machine 100 is provided with at least one rotation angle encoder (not shown) mounted on at least one auxiliary wheel 21, and the at least one rotation angle encoder rotates in synchronization with the at least one auxiliary wheel 21 to detect the speed and/or acceleration of the auxiliary wheel 21.

Wherein the number of the rotation angle encoders is one or more. In this embodiment, each auxiliary wheel 21 is provided with a rotation angle encoder, which is mounted on the rotation shaft of the auxiliary wheel 21, and the rotation angle encoder rotates synchronously when the auxiliary wheel 21 rotates, thereby detecting the speed and/or acceleration of the auxiliary wheel 21.

Of course, in other embodiments, the rotation angle encoder may be plural, for example, two rotation angle encoders may be provided on both sides of the rotation shaft of the auxiliary wheel 21. Of course, this is merely exemplary and not limiting, and others may be used.

In this embodiment, the auxiliary wheels 21 of each set of auxiliary assemblies 20 are provided with at least one rotation angle encoder, and each set of auxiliary wheels 21 rotates when the cleaning machine 100 moves on the surface S to be cleaned, and at the same time, the rotation angle encoder correspondingly detects the speed and/or acceleration of the auxiliary wheels 21.

In this embodiment, the two sets of auxiliary wheels 21 are affected by elastic deformation, and perform driven rolling operation, and the linear distance that they theoretically run needs L ₁＝L₂, and are: l=2rr×n, where r is the radius of the auxiliary wheel 21 and n is the number of turns of the auxiliary wheel 21. However, in actual operation, because the working conditions of each group of traveling assemblies 52 are different, the running distances of each group of traveling assemblies 52 are inconsistent, so that the linear running distances of the auxiliary wheels 21 are different (i.e., L ₁≠L₂、n₁≠n₂), and the angle of the whole cleaning machine 100 is inclined, and the running straightness is poor. After the rotation angle encoder is added, the rotation angle encoder can detect the data of the two sets of auxiliary wheels 21 in real time and send the data to the controller of the cleaning machine 100, and the controller analyzes the difference (the difference value of the two sets of data) of the two sets of data and timely adjusts the running of each set of traveling components 52, so that the dynamic adjustment of the running of the cleaning machine 100 is realized, and the inclination of the cleaning machine 100 is avoided.

In some embodiments, the auxiliary assembly 20 is used to increase the acting force area between the cleaning machine 100 and the surface S to be cleaned, so as to share the acting force between the machine body 10 and the surface S to be cleaned, ensure that the machine body 10 operates stably, prevent the machine body 10 from tilting or even falling, and ensure safe use of the cleaning machine 100.

the rolling travel of the auxiliary assembly 20 over the surface S to be cleaned serves to share the force between at least one set of running gears 50 rotating over the surface S to be cleaned.

In some embodiments, in the event of abnormal rotational behavior of one or both of the traveling mechanisms 50, the rolling travel of the auxiliary assembly 20 on the surface S to be cleaned serves to cause the machine body 10 to travel in a preset trajectory, or to cause the machine body 10 to remain on the surface S to be cleaned, or to extend the time that the machine body 10 remains on the surface S to be cleaned.

In some embodiments, the auxiliary component 20 is a passive component to follow movement as the body 10 moves; and/or, when the body 10 is adsorbed to the surface S to be cleaned, the auxiliary component 20 is adsorbed to the surface S to be cleaned, so as to increase the force area between the cleaning machine 100 and the surface S to be cleaned.

In this embodiment, the auxiliary assembly 20 moves along with the movement of the machine body 10, and may specifically rotate or roll forward.

Of course, in other embodiments, the auxiliary component 20 may be an active component, and the auxiliary component 20 moves together with the machine body 10 on the surface S to be cleaned; and/or, the auxiliary assembly 20 is adsorbed on the surface to be cleaned S together with the machine body 10 to increase the force area between the cleaning machine 100 and the surface to be cleaned S.

In some embodiments, the auxiliary assembly 20 has flexibility, and when the machine body 10 is adsorbed on the surface S to be cleaned, the auxiliary assembly 20 is deformed by extrusion with the surface S to be cleaned, so as to increase the acting force area between the cleaning machine 100 and the surface S to be cleaned.

In some embodiments, the auxiliary component 20 is a walking mechanism, and when the machine body 10 moves on the surface S to be cleaned, the auxiliary component 20 presses the modified form to walk, so as to increase the acting force area between the cleaning machine 100 and the surface S to be cleaned, and reduce the walking resistance of the cleaning machine 100.

Wherein, the auxiliary assembly 20 extrudes the deformation form and walks as: the auxiliary assembly 20 is deformed by being pressed at a portion of the auxiliary assembly 20 contacting the surface S to be cleaned during the traveling process.

Specifically, the deformation walking of the auxiliary assembly 20 includes: the auxiliary assembly 20 rolls along the extrusion variant; or the auxiliary assembly 20 is pressed to deform and rotate to walk.

Specifically, referring to fig. 12, the at least one auxiliary wheel 21 includes a first end surface 213 and a second end surface 214 opposite to each other, and a side surface 215 located between the first end surface 213 and the second end surface 214, the side surface 215 being a cambered surface and being configured to contact the surface S to be cleaned, the axial cross-section diameter of the at least one auxiliary wheel 21 increases gradually from the first end surface 213 to the second end surface 214, and the displacement amount of the edge of the first end surface 213 of the at least one auxiliary wheel 21 on the surface S to be cleaned is smaller than the displacement amount of the edge of the second end surface 214 on the surface S to be cleaned. As in the same period of time, the displacement amount of the edge of the first end surface 213 of the at least one auxiliary wheel 21 on the surface S to be cleaned is smaller than the displacement amount of the edge of the second end surface 214 on the surface S to be cleaned, so that the body 10 is kept on the surface S to be cleaned or the time for which the body 10 is kept on the surface S to be cleaned is prolonged.

In some embodiments, the cross-section of at least one auxiliary wheel 21 is trapezoidal. That is, the diameters of the first end surface 213 and the second end surface 214 of the auxiliary wheel 21 are different (the diameter of the first end surface 213 is R ₁, and the diameter of the second end surface 214 is R ₂,R₁<R₂). When the entire cleaning machine 100 is operated on the surface S to be cleaned, the auxiliary wheel 21 receives the active driving force generated by the negative pressure device and the traveling assembly 52, and passive rolling occurs on the surface S to be cleaned. From the number of turns of the auxiliary wheel 21, the displacement amounts generated by the first end face 213 and the second end face 214 of the auxiliary wheel 21 on the surface S to be cleaned are known to have a difference, i.e. the second end face 214 runs more Δl=2pi (R ₂-R₁) n than the first end face 213, so as to promote the whole cleaning machine 100 to generate an upward displacement in the vertical direction, thereby providing a travelling warping force for the whole cleaning machine 100, and avoiding the risks of falling, dropping, etc. of the cleaning machine 100.

With continued reference to fig. 12, the axis direction of the rotating shaft 210 of the auxiliary wheel 21 and the surface S to be cleaned have a preset angle β, an inclination angle γ is formed between the side surface 215 of at least one auxiliary wheel 21 and the axis direction of the rotating shaft 210, and the angle of the inclination angle γ is equal to the preset angle β, so that the side surface 215 of the auxiliary wheel 21 is parallel to the surface S to be cleaned, and the auxiliary wheel 21 and the surface S to be cleaned can be fully contacted to increase the contact area therebetween, thereby increasing the friction coefficient of the contact surface therebetween, so as to generate a larger friction force, offset a part of gravity of the whole cleaner 100 in the vertical direction, and ensure that the whole cleaner 100 runs stably.

In addition, when the inclination angle γ is smaller or larger than the preset angle β, the friction force between the auxiliary wheel 21 and the surface S to be cleaned cannot counteract the gravity of the cleaning machine 100 itself in the vertical direction, which results in the entire cleaning machine 100 slipping down or even falling off during operation, affecting the safety of the cleaning machine 100. Therefore, in order to ensure that the entire cleaning machine 100 operates stably, the angle of the inclination angle γ is equal to or substantially equal to the predetermined angle β.

It should be noted that, the difference between the angle of the inclination angle γ and the preset angle β is considered to be substantially equal within 5 degrees.

From tan γ= (R ₂-R₁)/H, and (R ₂-R₁) =Δl/2pi×n, where H is the height of the trapezoid, it is known that: tan γ=Δl H/2n. Therefore, when H is set, the larger the γ angle is, the larger the displacement difference amount Δl between the first end face 213 and the second end face 214 is, and the more remarkable the upward displacement is. Therefore, the user can adjust the upward displacement of the whole cleaner 100 by adjusting the inclination angle γ, and the auxiliary wheels 21 with different inclination angles γ can be selected by the user to meet specific use requirements.

In the present embodiment, the walking control method of the cleaning machine 100 includes:

Pressure information of the auxiliary assembly 20 is acquired. In this embodiment, when the auxiliary assembly 20 moves synchronously with the walking of the machine body 10 and is compressed to deform, and then pressure changes, the pressure information of the auxiliary assembly 20 can be obtained by a pressure sensor (such as a strain type pressure sensor) and the like, and the pressure sensor can respond to the pressure change of the auxiliary assembly 20 more quickly and timely, so that the real-time monitoring of the pressure change of the auxiliary assembly 20 can be realized.

The current movement state of the body 10 is recognized according to the pressure information of the auxiliary assembly 20.

In the present embodiment, the pressure information of the auxiliary assembly 20 includes, but is not limited to, the pressure of the auxiliary assembly 20, the pressure direction, the pressure difference, etc. It will be appreciated that the pressure information generated by the auxiliary assembly 20 during movement is different for different types of movement states (e.g., walking left, walking right, etc.) of the cleaning machine 100, and thus the current movement state of the machine body 10 can be identified based on the pressure information of the auxiliary assembly 20.

For example, when the cleaner 100 walks to the right, the auxiliary assembly 20 receives a leftward force such that the left side of the auxiliary assembly 20 receives a greater pressure than the right side thereof, and it can be recognized that the current movement state of the body 10 walks to the right. Of course, this is merely exemplary and is not limited thereto.

And/or, when the movement state abnormality of the body 10 is recognized based on the pressure information of the auxiliary assembly 20, the movement state of the body 10 is adjusted. Wherein, adjust the motion state of organism 10, include: adjustment is made according to an abnormal movement state of the body 10 or according to current pressure information.

In this embodiment, when there is an obstacle on the surface S to be cleaned, or the edge of the surface S to be cleaned is provided with a frame or a frameless arrangement, in order to avoid damage caused by the cleaning machine 100 continuously colliding with the obstacle, or falling from the surface S to be cleaned provided with the frameless arrangement, the present application adjusts the walking of the machine body 10 according to the current movement state of the machine body 10 after identifying the current movement state of the machine body 10.

For example, when the cleaning machine 100 walks to the edge on the surface S to be cleaned, since the body 10 partially protrudes beyond the edge (within a safe range) of the surface S to be cleaned, the suction force between the cleaning machine 100 and the surface S to be cleaned becomes small, resulting in a smaller compression area between the auxiliary assembly 20 and the surface S to be cleaned. At the same time, the pressure at both ends of the auxiliary assembly 20 is reduced to be within the preset range within the preset time, so that the current movement state of the machine body 10 can be determined to be partially suspended. At this time, the cleaning machine 100 recognizes that the current motion state of the machine body 10 is partially suspended, and adjusts the walking state of the machine body 10 according to the motion state, for example, the machine body 10 stops walking, or the machine body 10 walks in the current opposite direction, i.e. away from the edge of the surface S to be cleaned, so as to avoid the cleaning machine 100 from dropping and ensure the safe use of the cleaning machine 100. Of course, this is merely exemplary and is not limited thereto.

According to the walking control method of the cleaning machine 100 of the embodiment, during the operation of the cleaning machine 100, the auxiliary assembly 20 is synchronously displaced and pressed to deform along with the movement of the cleaning machine 100, meanwhile, the pressure information of the auxiliary assembly 20 is obtained, and the current movement state of the machine body 10 is identified according to the pressure information, so that the walking of the machine body 10 is adjusted, the walking path and the walking posture of the cleaning machine 100 can be adjusted in time, and the safe use of the cleaning machine 100 is ensured.

The invention utilizes the compression change of the auxiliary assembly 20 to represent the motion state of the machine body 10, so that the cleaning machine 100 can monitor the compression change of the auxiliary assembly 20 in real time in the walking process, realizes quick response, and has high acquisition sensitivity and high measurement accuracy of pressure information, and the measurement process is easy to realize.

Specifically, referring to fig. 13, the auxiliary assembly 20 includes a contact portion contacting the surface S to be cleaned, and a first side 201 and a second side 202 located at two sides of the contact portion, wherein either one of the first side 201 and the second side 202 can move toward the other side, so that the auxiliary assembly 20 is displaced.

In this embodiment, the surface S to be cleaned is a horizontal surface, and the cleaner 100 is adsorbed on the horizontal surface, and the bottom of the auxiliary assembly 20 is also pressed against the surface S to be cleaned. At this time, the first side 201 of the auxiliary assembly 20 may be defined as a left side of the auxiliary assembly 20, and the second side 202 may be correspondingly defined as a right side of the auxiliary assembly 20, and the auxiliary assembly 20 may be rotated in a direction from the left side toward the right side or may be rotated in a direction from the right side toward the left side.

Wherein the pressure information includes first pressure information of the first side 201 and second pressure information of the second side 202, and identifying the current movement state of the machine body 10 according to the pressure information of the auxiliary assembly 20 includes: identifying a movement state of the body 10 according to at least one of the first pressure information and the second pressure information; and/or, when the abnormality of the state of the body 10 is recognized according to at least one of the first pressure information and the second pressure information, the movement state of the body 10 is adjusted. Wherein the combined result of the magnitude and direction of the first pressure information, the magnitude and direction of the second pressure information, and the combined effect of the first and second pressure information, such as the combined pressure of the pressures, the magnitude of the pressure difference, etc., characterizes the state of the cleaning machine 100.

In this embodiment, the pressure sensors may be respectively installed at the first side 201 and the second side 202 of the auxiliary assembly 20, and when the machine body 10 walks, the pressure sensors located at the first side 201 and the second side 202 of the auxiliary assembly 20 respectively squeeze the auxiliary assembly 20 to detect the stress change of the auxiliary assembly 20 during the walking process, so as to identify the current movement state of the machine body 10.

Of course, in other embodiments, the first side 201 and the second side 202 of the auxiliary assembly 20 may be defined as other, such as an upper side or a lower side of the auxiliary assembly 20, which is only exemplary and not limited thereto.

When the cleaning machine 100 is stationary and adsorbed on the surface S to be cleaned, the auxiliary assembly 20 is pressed downward to be closely attached to the surface S to be cleaned, and the pressure sensors determine that the current movement state of the machine body 10 is stationary when the forces on both sides of the auxiliary assembly 20 are the same, i.e., the pressures detected by the pressure sensors on both sides are the same.

In some embodiments, identifying the movement state of the body 10 based on at least one of the first pressure information and the second pressure information includes:

Identifying a running direction of the machine body 10 according to at least one of the first pressure information and the second pressure information;

And/or identifying that the operation state of the machine body is abnormal when at least one of the first pressure information and the second pressure information exceeds a preset range.

In some embodiments, running gear 50 moves in a first motion profile, and accessory assembly 20 moves in a second motion profile, the first motion profile being different from the second motion profile;

identifying the current movement state of the body 10 based on the pressure information of the auxiliary assembly 20 includes: identifying a current movement state of the body 10 based on pressure information of the second movement pattern of the auxiliary assembly 20;

and/or, upon recognizing that the movement state of the body 10 is abnormal based on the pressure information of the auxiliary assembly 20, adjusting the movement state of the body 10 includes: when the abnormal movement state of the body 10 is recognized based on the second pressure information of the auxiliary assembly 20, the movement state of the body 10 is adjusted.

In some embodiments, identifying the current motion state of body 10 based on pressure information of auxiliary assembly 20 includes:

The pressure information includes a pressure magnitude, and recognizes a current movement state of the body 10 according to the pressure information of the auxiliary assembly 20, including:

The direction of travel of the machine body 10 is identified based on the pressure level of the first side 201 and the pressure level of the second side 202 of the auxiliary assembly 20. For example, the traveling direction of the machine body 10 is toward the side where the pressure is smaller.

Referring to fig. 14 and 15, in the present embodiment, when the cleaning machine 100 walks rightward, the auxiliary assembly 20 receives downward pressure and leftward force, and at this time, the auxiliary assembly 20 deforms and presses the left pressure sensor, so that the pressure value P1 detected by the left pressure sensor is greater than the pressure value P2 detected by the right pressure sensor, and thus it can be identified that the current movement state of the machine body 10 walks rightward, so as to facilitate the user to grasp the walking path of the cleaning machine 100.

Likewise, when the cleaning machine 100 is traveling to the left, the force applied to the auxiliary assembly 20 is reversed and will not be described in detail herein.

In some embodiments, the pressure information includes a change in pressure magnitude, and identifying the current movement state of the body 10 based on the pressure information of the auxiliary assembly 20 includes:

when at least one of the pressure magnitude of the first side 201 and the pressure magnitude of the second side 202 of the auxiliary assembly 20 is out of a preset range, an abnormal operation state of the machine body 10 is recognized.

In some embodiments, the current movement state of the machine body 10 is determined to be at least partially floating when the pressure on the first side 201 and the pressure on the second side 202 of the auxiliary assembly 20 are both reduced within a predetermined period of time.

Referring to fig. 16 and 17, when the cleaning machine 100 walks to the edge (frameless arrangement) on the surface S to be cleaned, and the body 10 partially extends out of the edge (within a safe range) of the surface S to be cleaned, the gas entering the interior of the body 10 increases, so that the pressure difference between the interior of the body 10 and the outside pressure decreases, resulting in a smaller adsorption force between the cleaning machine 100 and the surface S to be cleaned, resulting in a smaller compression area between the auxiliary assembly 20 and the surface S to be cleaned, and further, inward contraction of the left and right sides of the auxiliary assembly 20, so that the pressure at both ends of the auxiliary assembly 20 decreases to within a preset range within a preset time, and at this time, it can be determined that the current movement state of the body 10 is partially suspended.

When the cleaning machine 100 recognizes that the current motion state of the machine body 10 is partially suspended, the walking state of the machine body 10 is adjusted in time, for example, the machine body 10 is stopped to walk, or the machine body 10 is controlled to walk along the opposite direction of the current walking, that is, away from the edge position of the surface S to be cleaned, so that the cleaning machine 100 is prevented from falling off, the safe use of the cleaning machine 100 is ensured, or the machine body 10 is made to walk along the current walking direction continuously after a preset period of time is retracted, and the current motion state of the machine body 10 is recognized again, so that recognition errors are avoided. Of course, this is merely exemplary and is not limited thereto.

It should be noted that, the pressure at the two ends of the auxiliary assembly 20 is reduced to be within the preset range within the preset time, and the preset range needs to ensure that the cleaning machine 100 walks within the safety range, so as to avoid the machine body 10 of the cleaning machine 100 falling out of the boundary of the surface S to be cleaned too much.

The pressure P1 of the first side 201 of the auxiliary assembly 20 is increased and then gradually decreased and stabilized for a preset time, and the pressure P2 of the second side 202 of the auxiliary assembly 20 is decreased and then gradually increased and stabilized for a preset time, determining that the current movement state of the body 10 is to hit an obstacle and/or stop.

Referring to fig. 18 and 19, in the present embodiment, an obstacle exists on the surface S to be cleaned, such as a frame is disposed on the surface S to be cleaned. When the cleaner 100 walks to the rim, the body 10 comes into contact with the rim and is forced to stop running. At this time, the pressure P1 of the first side 201 of the auxiliary assembly 20 increases first, and since the auxiliary assembly 20 does not have a forward pushing force, the compression set of the auxiliary assembly 20 gradually decreases with time, and thus the pressure P1 of the first side 201 of the auxiliary assembly 20 gradually decreases and stabilizes within a preset time. At the same time, the pressure P2 of the second side 202 of the auxiliary assembly 20 is reduced and then gradually increased and stabilized for a preset time, it may be determined that the current movement state of the body 10 is to be hit an obstacle and/or stopped.

When it is determined that the current motion state of the machine body 10 is that the machine body is in contact with an obstacle and/or stopped, the cleaning machine 100 timely adjusts the motion state of the machine body 10, for example, the machine body 10 is stopped to travel, or the machine body 10 is controlled to travel along the opposite direction of the current travel, that is, away from the frame position of the surface S to be cleaned, so as to avoid damage and drop caused by the continuous collision of the cleaning machine 100 with the frame, ensure the safe use of the cleaning machine 100, or enable the machine body 10 to travel along the current travel direction after a preset time period, identify the current motion state of the machine body 10 again, and avoid identification errors. Of course, this is merely exemplary and is not limited thereto.

In some embodiments, the auxiliary assembly 20 is provided with a first auxiliary assembly 20a and a second auxiliary assembly 20b, and the first auxiliary assembly 20a and the second auxiliary assembly 20b are respectively displaced and pressed to deform in synchronization with walking of the body 10.

Identifying the current movement state of the body 10 based on the pressure information of the auxiliary assembly 20 includes:

Identifying a movement state of the body 10 according to at least one of the pressure information of the first auxiliary assembly 20a and the pressure information of the second auxiliary assembly 20 b;

upon recognizing that the movement state of the body 10 is abnormal based on the pressure information of the auxiliary assembly 20, adjusting the movement state of the body 10 includes: when it is recognized that the movement state of the body 10 is abnormal based on the pressure information of at least one of the first auxiliary assembly 20a and the second auxiliary assembly 20b, the movement state of the body 10 is adjusted.

In some embodiments, identifying the movement state of the body 10 according to at least one of the pressure information of the first auxiliary assembly 20a and the pressure information of the second auxiliary assembly 20b includes:

When the first pressure information of the first side 201 of the first auxiliary assembly 20a is identical or substantially identical to the first pressure information of the first side 201 of the second auxiliary assembly 20b, and when the second pressure information of the second side 202 of the first auxiliary assembly 20a is identical or substantially identical to the second pressure information of the second side 202 of the second auxiliary assembly 20b, it is confirmed that the machine body 10 performs straight-line walking or quasi-straight-line walking.

the pressure on the first side 201 of one of the first auxiliary assembly 20a and the second auxiliary assembly 20b is not equal to the pressure on the second side 202, and the pressure on the first side 201 of the other is equal to or substantially equal to the pressure on the second side 202, so that the machine body 10 is confirmed to twist-walk with the auxiliary assembly with the equal or substantially equal pressure on both sides as the rotation center.

For example, when the pressure P1 of the first side 201 of the first auxiliary assembly 20a is greater than the pressure P2 of the second side 202 thereof, and the pressure P1 of the first side 201 of the second auxiliary assembly 20b is equal to the pressure P2 of the second side 202 thereof, the current movement state of the machine body 10 is determined to be a twisting and scrubbing walking in the direction of the second side 202 by taking the second auxiliary assembly 20b as the rotation center.

Referring to fig. 20 to 22, in this embodiment, the machine body 10 is laterally adsorbed on the surface S to be cleaned, the first side 201 of the auxiliary assembly 20 is the lower side of the auxiliary assembly 20, and the second side 202 of the auxiliary assembly 20 is the upper side of the auxiliary assembly 20. When the machine body 10 is at rest adsorbed on the surface S to be cleaned, the pressure P1 of the first side 201 of the first auxiliary assembly 20a is equal to the pressure of the second side 202 thereof, and the pressure P1 of the first side 201 of the second auxiliary assembly 20b is equal to the pressure P2 of the second side 202 thereof.

When the cleaning machine 100 performs a twisting and walking upward with the second auxiliary assembly 20b as the rotation center, the pressure P1 of the first side 201 of the first auxiliary assembly 20a is greater than the pressure P2 of the second side 202 thereof. And since the second auxiliary assembly 20b is a rotation center, the pressure P1 of the first side 201 of the second auxiliary assembly 20b is equal to the pressure P2 of the second side 202 thereof. Therefore, in the present embodiment, it is possible to identify whether the current operation state of the cleaning machine 100 is the twist walking by detecting the pressure conditions of both sides of the first auxiliary assembly 20a and the second auxiliary assembly 20 b.

Similarly, the machine body 10 performs a twisting and rubbing operation downward with the second auxiliary assembly 20b as a rotation center, or the machine body 10 performs a twisting and rubbing operation upward or downward with the first auxiliary assembly 20a as a rotation center, which will not be described in detail herein.

In the present embodiment, identifying the current movement state of the body 10 based on the pressure information of the auxiliary assembly 20 includes:

the pressure P1 of the first side 201 in the first auxiliary assembly 20a increases and then gradually decreases and stabilizes within a preset time, the pressure P2 of the second side 202 decreases and then gradually increases and stabilizes within a preset time, and the pressures P1, P2 of the first side 201 and the second side 202 in the second auxiliary assembly 20b increase and then gradually decreases and stabilizes within a preset time, determining that the current movement state of the body 10 is to hit an obstacle and/or stop.

Referring to fig. 23, an obstacle is present on the surface S to be cleaned, such as a frame is disposed on the surface S to be cleaned. When the cleaner 100 walks to the rim, the body 10 comes into contact with the rim and is forced to stop running. At this time, the pressure P1 of the first side 201 of the first auxiliary assembly 20a increases first, and since the first auxiliary assembly 20a does not have a forward pushing force, the compression set of the first auxiliary assembly 20a gradually decreases with time, and thus the pressure P1 of the first side 201 of the first auxiliary assembly 20a increases first and then gradually decreases and stabilizes within a preset time. At the same time, the pressure P2 of the second side 202 of the first auxiliary assembly 20a is reduced and then gradually increased and stabilized for a preset time. In addition, the pressures P1, P2 of the first and second sides 201, 202 in the second auxiliary assembly 20b are increased and then gradually decreased and stabilized for a preset time, it is possible to determine that the current movement state of the body 10 is to hit an obstacle and/or stop.

In some embodiments, referring to fig. 24, the first side 201 of the second auxiliary assembly 20b includes a first upper side 2011 and a first lower side 2012, and the second side 202 of the second auxiliary assembly 20b includes a second upper side 2021 and a second lower side 2022. In this embodiment, the first upper side 2011 and the first lower side 2012 are defined by a midpoint of the first side 201 of the second auxiliary assembly 20b, and the second upper side 2021 and the second lower side 2022 are defined by a midpoint of the second side 202 of the second auxiliary assembly 20 b.

Identifying the current movement state of the body 10 based on the pressure information of the auxiliary assembly 20 includes: the pressure P1 of the first side 201 in the first auxiliary assembly 20a increases and then gradually decreases and stabilizes for a preset time, the pressure P2 of the second side 202 decreases and then gradually increases and stabilizes for a preset time, and the pressures P11, P12 of the first lower side 2012 and the second upper side 2021 in the second auxiliary assembly 20b increase and then gradually decreases and stabilizes for a preset time, the pressures P21, P22 of the first upper side 2011 and the second lower side 2022 decrease and then gradually increases and stabilizes for a preset time, and the current movement state of the machine body 10 is determined to be that the obstacle is touched and stopped.

In this embodiment, the stress conditions of the first side 201 and the second side 202 of the first auxiliary assembly 20a are the same as those of the sixth embodiment, that is, the pressure P1 of the first side 201 of the first auxiliary assembly 20a increases and then gradually decreases and stabilizes within a preset time, and the pressure P2 of the second side 202 decreases and then gradually increases and stabilizes within a preset time.

When the cleaning machine 100 walks to an obstacle on the surface S to be cleaned, the machine body 10 comes into contact with the obstacle and is forced to stop running. During the twisting and walking process, the pressures P11 and P12 of the first lower side 2012 and the second upper side 2021 in the second auxiliary assembly 20b gradually decrease and stabilize within a preset time, and the pressures P21 and P22 of the first upper side 2011 and the second lower side 2022 gradually increase and stabilize within a preset time, so as to determine that the current movement state of the machine body 10 is that the machine body hits an obstacle and stops.

In this embodiment, the first side 201 and the second side 202 of the second auxiliary assembly 20b are respectively divided into an upper side and a lower side, so that specific stress conditions of the first side 201 and the second side 202 of the second auxiliary assembly 20b can be further known, thereby improving the accuracy of identifying the current motion state of the cleaning machine 100.

Referring to fig. 25, in some embodiments, the pressure of the auxiliary wheel 21 is detected by at least one pressure sensing diaphragm 80, and the at least one pressure sensing diaphragm 80 is disposed corresponding to the auxiliary wheel 21 and is used to make pressing contact with the auxiliary wheel 21 to obtain pressure information of the auxiliary wheel 21.

In the present embodiment, the initial states between the pressure sensing diaphragm 80 and the auxiliary wheel 21 can be three states: the gap between the pressure sensing diaphragm 80 and the auxiliary wheel 21 is 0, the gap between the pressure sensing diaphragm 80 and the auxiliary wheel 21 is negative, that is, the pressure sensing diaphragm 80 and the auxiliary wheel 21 are in extrusion contact, or the pressure sensing diaphragm 80 and the auxiliary wheel 21 have a small gap, the cleaning machine 100 is adsorbed on the surface S to be cleaned, and when the auxiliary wheel 21 is deformed along with the rotation of the machine body 10, the auxiliary wheel 21 and the pressure sensing diaphragm 80 are in extrusion contact, so that pressure change information is transmitted to the pressure sensing diaphragm 80.

Referring to fig. 26, in some embodiments, the pressure sensing diaphragm 80 is an integral diaphragm that covers a portion of the periphery of the auxiliary wheel 21, and the auxiliary wheel 21 is in pressing contact with the integral diaphragm when the auxiliary wheel 21 is displaced in synchronization with the walking of the machine body 10.

In this embodiment, the integral membrane has a U-shaped structure with its opening facing downward to cover a part of the periphery of the auxiliary wheel 21, and the auxiliary wheel 21 is in pressing contact with the integral membrane when displaced in synchronization with the walking of the body 10, so as to transmit pressure change information to the pressure sensing membrane 80. In this embodiment, the pressure sensing diaphragm 80 is of an integral diaphragm construction, which is convenient and quick to install.

Of course, in other embodiments, the pressure sensing diaphragm 80 may be a split diaphragm, where the split diaphragm is disposed around the periphery of the auxiliary wheel 21, and the auxiliary wheel 21 is in pressing contact with the split diaphragm when the auxiliary wheel 21 is displaced in synchronization with the walking of the machine body 10.

Compared with the integral type diaphragm, the pressure sensing diaphragm 80 in this embodiment adopts a split type diaphragm structure, and is correspondingly mounted on the position of the auxiliary wheel 21 where the pressure needs to be measured, so that the plurality of pressure sensing diaphragms 80 are not affected by each other, and therefore, the pressure information of each position can be accurately measured, and the recognition accuracy of the movement state of the machine body 10 is improved.

The above examples of the present invention are merely illustrative of the present invention and are not intended to limit the embodiments of the present invention. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. Not all embodiments are exhaustive. All obvious changes or modifications which come within the spirit of the invention are desired to be protected.

Claims

1. A cleaning machine, comprising:

A body which can walk on a surface to be cleaned;

The auxiliary assembly is arranged on the machine body, and when the machine body walks in a preset direction, the auxiliary assembly walks in the preset direction;

When the machine body has a walking trend deviating from a preset track or the machine body deviates from the preset track and is abnormal, the auxiliary component is used for correcting abnormal behaviors of the machine body.

2. The cleaning machine of claim 1, wherein the machine body comprises:

a body; and

Two groups of travelling mechanisms are respectively arranged on the machine body, and at least one group of travelling mechanisms moves on the surface to be cleaned and drives the machine body to move; and/or at least one set of travelling mechanisms for adsorbing on a surface to be cleaned;

When one group of running mechanisms is abnormal or both groups of running mechanisms are abnormal, the auxiliary component is used for correcting abnormal behaviors of at least one group of running mechanisms.

3. The cleaning machine of claim 1 wherein said travel mechanism moves in a first motion profile and said auxiliary assembly moves in a second motion profile, said first motion profile being different from said second motion profile.

4. A cleaning machine according to claim 3, wherein the first movement pattern comprises a rotational movement pattern and the second movement pattern comprises a rolling movement pattern;

at least one group of the travelling mechanisms rotates to enable the machine body to travel according to a preset track;

the auxiliary component rolls and moves on the surface to be cleaned according to the preset track;

The rolling travel of the auxiliary component on the surface to be cleaned is used for correcting the abnormal behavior of at least one group of travelling mechanisms when the rotation behavior of one group of travelling mechanisms is abnormal or the rotation behaviors of two groups of travelling mechanisms are abnormal.

5. The cleaning machine of claim 2 wherein at least one set of said running gear has a central axis that is inclined relative to a central axis of said machine body and at least two sets of said running gears rotate to operate the cleaning machine;

When the rotation behavior of at least one group of running mechanisms is abnormal, the auxiliary assembly keeps the rolling behavior on a preset track so as to correct the abnormal behavior of at least one group of running mechanisms.

6. A cleaning machine according to claim 3, wherein when the machine body has a running trend deviating from a preset direction, the auxiliary component is deformed by being pressed against the surface to be cleaned and generates a rolling friction force opposite to the running trend direction; and/or when the machine body deviates from a preset direction, the auxiliary component and the surface to be cleaned are deformed in an extrusion mode and generate rolling friction force opposite to the walking direction.

7. The cleaning machine of claim 2, wherein each set of said running gear comprises:

The walking assembly is arranged on the machine body and is used for moving on a surface to be cleaned and driving the machine body to move;

the cleaning assembly is arranged on the outer side of the walking assembly and can rotate relative to the machine body.

8. The cleaning machine of claim 7, wherein a height of a surface of the traveling assembly facing the surface to be cleaned is no greater than a height of a surface of the auxiliary assembly facing the surface to be cleaned.

9. The cleaning machine of claim 1 wherein said auxiliary assembly is further adapted to share forces between said machine body and a surface to be cleaned when said machine is in operation.

10. A cleaning machine as claimed in claim 7, wherein the auxiliary assembly shares the force between at least one of the travelling assemblies and the surface to be cleaned when either or both of the travelling assemblies are abnormal, to cause the machine body to travel in a predetermined trajectory, or to cause the machine body to remain on the surface to be cleaned, or to extend the time the machine body remains on the surface to be cleaned.