CN118356111A - Cleaning machine - Google Patents

Abstract

The invention discloses a cleaning machine, which comprises a machine body, wherein the machine body can move on a surface to be cleaned and/or can be adsorbed on the surface to be cleaned; the auxiliary assembly is arranged on the machine body and is used for increasing the acting force area between the cleaning machine and the surface to be cleaned so as to share the acting force between the machine body and the surface to be cleaned, ensure that the machine body runs stably, prevent the machine body from inclining and even falling, and ensure the safe use of the cleaning machine.

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.

The existing window cleaning machine generally adopts an inclined travelling mechanism which is assembled on an output shaft of a driving assembly and has a certain inclination angle of rotation freedom degree with a surface to be cleaned, and the travelling function of the whole machine body is realized by virtue of rotation of the inclined travelling mechanism. However, the existing cleaning machine has only one degree of freedom of rotation relative to the surface to be cleaned, when the cleaning degree of the cleaning machine contacting the surface to be cleaned changes, the friction coefficient between the cleaning machine and the surface to be cleaned is greatly reduced, so that the gravity of the whole machine is larger than the friction force generated by the surface to be cleaned on the machine body, the machine body is caused to slip, incline or even fall, 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 cleaning machine is easy to slip, incline and even drop to a certain extent.

To achieve the above object, the present invention provides a cleaning machine comprising a machine body movable on a surface to be cleaned and/or the machine body is adsorbable on the surface to be cleaned; the auxiliary assembly is arranged on the machine body and used for increasing the acting force area between the cleaning machine and the surface to be cleaned so as to share the acting force between the machine body and the surface to be cleaned.

In some embodiments, the auxiliary assembly is for increasing a force area between the cleaning machine and a surface to be cleaned to share a force between the machine body and the surface to be cleaned, comprising: the auxiliary assembly is configured to share at least one of a first force and a second force, the first force comprising: providing a force against the weight of the cleaning machine; the second force includes: providing a force to move the cleaning machine.

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; the auxiliary assembly is used for sharing the acting force between at least one group of the travelling mechanism and the surface to be cleaned.

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

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 on the surface to be cleaned according to the preset track, and the rolling running of the auxiliary component on the surface to be cleaned is used for sharing the acting force between at least one group of running mechanisms and the surface to be cleaned when the running mechanisms rotate and run on the surface to be cleaned.

In some embodiments, in case of abnormal rotation of one or both of the travelling mechanisms, rolling travel of the auxiliary assembly on the surface to be cleaned is used to cause the machine body to travel along a preset trajectory, or to cause the machine body to remain on the surface to be cleaned, or to lengthen the time the machine body remains on the surface to be cleaned.

In some embodiments, the auxiliary component is a passive component to follow movement as the body moves; and/or when the machine body is adsorbed on the surface to be cleaned, the auxiliary component is adsorbed on the surface to be cleaned, so that the acting force area between the cleaning machine and the surface to be cleaned is increased; or the auxiliary component is an active component and moves together with the machine body on the surface to be cleaned; and/or the auxiliary component and the machine body are adsorbed on the surface to be cleaned together so as to increase the acting force area between the cleaning machine and the surface to be cleaned.

In some embodiments, the auxiliary assembly has flexibility, and when the machine body is adsorbed on the surface to be cleaned, the auxiliary assembly and the surface to be cleaned are subjected to extrusion deformation so as to increase the acting force area between the cleaning machine and the surface to be cleaned.

In some embodiments, the auxiliary component is a walking component, and the auxiliary component extrudes the deformed walking when the machine body moves on the surface to be cleaned, so as to increase the acting force area between the cleaning machine and the surface to be cleaned and reduce the walking resistance of the cleaning machine.

In some embodiments, the auxiliary assembly is also used to pull the direction of movement of the cleaning machine as it moves over the surface to be cleaned.

In some embodiments, the auxiliary assembly comprises at least one auxiliary wheel, at least one auxiliary wheel comprising a first end face and a second end face opposite to each other, and a side face located between the first end face and the second end face, the side face being a cambered surface and being configured to contact the surface to be cleaned, the axial cross-section diameter of at least one auxiliary wheel increasing from the first end face to the second end face.

In some embodiments, the first end edge of the at least one auxiliary wheel produces less displacement on the surface to be cleaned than the second end edge.

In some embodiments, the at least one auxiliary wheel is rotatably mounted on the machine body through a rotating shaft, an axial direction of the rotating shaft and the surface to be cleaned have a preset angle, an inclination angle is formed between a side surface of the at least one auxiliary wheel and the axial direction of the rotating shaft, and the angle of the inclination angle is equal to or basically equal to the preset angle.

In some embodiments, the at least one auxiliary wheel comprises: a support part; and an elastic contact portion covering the supporting portion, the elastic contact portion being in contact with the surface to be cleaned; wherein the hardness of the supporting part is greater than that of the elastic contact part; the side surface is an outer peripheral surface of the elastic contact portion.

In some embodiments, each group of the travelling mechanisms is internally provided with an adsorption space, two auxiliary wheels are arranged, and each auxiliary wheel is arranged in one adsorption space and rolls synchronously along with the movement of the travelling mechanism; and/or at least one auxiliary wheel is adsorbed on the surface to be cleaned when the machine body is adsorbed on the surface to be cleaned, and is used for extruding and rolling on the surface to be cleaned.

In some embodiments, the height of the surface of the travelling mechanism facing the surface to be cleaned is no higher than the height of the surface of the auxiliary wheel facing the surface to be cleaned.

In some embodiments, the auxiliary component has a range of operating parameters; when the operating parameter range of the auxiliary assembly exceeds the preset parameter range and an abnormality occurs, the machine body adjusts the moving state according to the abnormal auxiliary assembly.

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 central axes of at least two of the walking components are inclined relative to the central axis of the machine body, and at least two of the walking components rotate to drive the cleaner to operate; when the auxiliary assembly is misplaced on the two travelling mechanisms and misplaced on the extending areas of the two travelling mechanisms facing each other, the auxiliary assembly and at least two travelling mechanisms are jointly used for improving the travelling stability of the cleaning machine.

In some embodiments, the auxiliary component is configured to correct abnormal behavior of the body when the body has a tendency to walk away from a preset trajectory, or when the body deviates from a preset trajectory, and an abnormality occurs.

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 trend direction. The auxiliary component is arranged on the machine body and used for increasing the acting force area between the cleaning machine and the surface to be cleaned so as to share the acting force between the machine body and the surface to be cleaned, ensure that the machine body runs stably, prevent the machine body from tilting or even falling, and ensure the safe use of the cleaning machine.

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 the travel of the cleaning machine 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 angle between the auxiliary wheel and the surface to be cleaned according to the present invention;

FIG. 5 is a schematic cross-sectional view of an auxiliary wheel of the present invention;

FIG. 6 is a schematic cross-sectional view of a partially exploded cleaning machine according to the present invention;

FIG. 7 is a schematic cross-sectional view of the auxiliary wheel and running gear of the present invention cooperatively installed;

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 diagram of the force exerted by the cleaning machine of the present invention on a surface to be cleaned;

FIG. 11 is a schematic view of an accessory assembly of the present invention on a surface to be cleaned;

FIG. 12 is a schematic view of the cleaning machine of the present invention walking to the right;

FIG. 13 is a force diagram of an auxiliary assembly of the cleaning machine of the present invention when the machine is walking to the right;

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

FIG. 15 is a schematic view of the auxiliary assembly of the cleaning machine of the present invention when the cleaning machine is walking to the right and partially suspended;

FIG. 16 is a schematic view of the cleaning machine of the present invention traveling to the right until it encounters an obstacle and stops;

FIG. 17 is a force diagram of an auxiliary assembly of the cleaning machine of the present invention when walking right to encounter an obstacle and stopping;

FIG. 18 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. 19 is a force diagram of a first set of accessory modules of the present invention in a twist walk;

FIG. 20 is a force diagram of a second set of accessory modules of the present invention in a twist walk;

FIG. 21 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. 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 side cross-sectional view of an embodiment of an accessory assembly of the present invention;

FIG. 24 is a schematic exploded view of an auxiliary assembly according to an embodiment of 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, in an embodiment of the invention, a cleaning machine 100 includes:

A body 10, the body 10 being movable on the surface S to be cleaned, and/or the body 10 being adsorbable to the surface S to be cleaned; 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 auxiliary assembly 20 is installed on the machine body 10, and the auxiliary assembly 20 is used for increasing 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 runs stably, prevent the machine body 10 from tilting and even falling, and ensure the safe use of the cleaning machine 100.

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 is also used to pull the direction of movement of the cleaning machine 100 as the auxiliary assembly 20 moves over the surface S to be cleaned, facilitating operation of the cleaning machine 100 in a preset direction of movement.

In some embodiments, 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 12 are respectively arranged on the machine body 11, and at least one group of travelling mechanisms 12 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 12 for adsorbing on the surface S to be cleaned;

The auxiliary assembly 20 is used to share the forces between at least one set of running gear 12 and the surface S to be cleaned.

Further, each set of running gears 12 includes:

The walking assembly 124 is mounted on the machine body 11, and the walking assembly 124 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 124 is disposed on the body 11, and may specifically be disposed at the bottom of the body 11. The walking assembly 124 may take various forms, for example, the walking assembly 124 adopts a turntable, and the turntable rotates on the surface S to be cleaned, and drives the machine body 11 to move by the friction force between the turntable and the surface S to be cleaned. Or the travel assembly 124 may employ other travel structures such as rollers. Of course, this is merely exemplary and is not limiting.

In this embodiment, each set of walking assemblies 124 is connected to the body 11 by a connecting shaft 123, each connecting shaft 123 is rotatably disposed on the body 11, for example, each connecting shaft 123 is rotatably disposed on the body 11 by a bearing, and each walking assembly 124 is mounted on one end of one connecting shaft 123, so that each walking assembly 124 can rotate relative to the body 11.

Of course, in other embodiments, the assembly relationship of the walking assembly 124 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 40 mounted to the outside of the traveling assembly 124 and rotatable relative to the machine body 11. In this embodiment, the cleaning assembly 40 includes at least two cleaning turntables 41, each cleaning turntable 41 being rotatably mounted on the body 11. Each cleaning carousel 41 is connected to one of the traveling assemblies 124 and rotates following the traveling assembly 124 to clean the surface S to be cleaned. In this embodiment, the cleaning turntable 41 and the travelling assembly 124 may have a gap therebetween, or may contact each other, for example, may approach each other to contact each other, and only the two may perform a relative motion or a synchronous motion.

Further, the cleaning assembly 40 may further include a cleaning member sleeved on the outer peripheral surface of the cleaning turntable 41, 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 41 by means of an elastic sleeve, and also may be disposed on the cleaning turntable 41 by means of a fixing member, etc., and may be adhered to the cleaning turntable 41 by means of a velcro. Of course, this is exemplary, and others may be selected, without limitation.

Referring to fig. 3, the central axes of at least two traveling assemblies 124 are inclined with respect to the central axis of the machine body 11, and at least two traveling assemblies 124 rotate to drive the cleaner to operate;

When the auxiliary assembly 20 is located offset to the two running gear 12 and offset to the extension of the two running gear 12 toward each other, the auxiliary assembly 20 and at least two running gear 12 together serve to increase the running stability of the cleaning machine 100.

In some embodiments, when either or both of the two running gears 12 are abnormal, the auxiliary assembly 20 shares the force between at least one running gear 12 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 gear 12 on the surface S to be cleaned includes slipping and idling of the running gear 12, and the acting force between the running gear 12 and the surface S to be cleaned is reduced; 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 12 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.

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 12 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 over the surface S to be cleaned serves to share the force between at least one set of running gears 12 rotating over the surface S to be cleaned.

In some embodiments, in the event of abnormal rotational behavior of one or both of the running mechanisms 12, the rolling travel of the auxiliary assembly 20 on the surface S to be cleaned is used 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 component, 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.

In this embodiment, the cleaning machine 100 further includes a driving mechanism connected to each connecting shaft 123 to drive each traveling assembly 124 to rotate through each connecting shaft 123. The driving mechanism may be a motor, or may be a power output assembly composed of a motor and a gear or a gear train, which is not limited thereto.

In some embodiments, the cleaning machine 100 of the present invention further includes a negative pressure device and an adsorption device (not shown), the negative pressure device 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 so that a negative pressure is generated in the closed space. Specifically, the negative pressure device may be a negative pressure fan, which is used to draw out the air flow in the closed space, so that the traveling assembly 124 is adsorbed on the surface S to be cleaned, and the traveling assembly 124 contacts the surface S to be cleaned to generate deformation, and then rotates to generate friction force to move the machine body 11.

Referring to fig. 2, in some embodiments, the auxiliary assembly 20 includes at least one auxiliary wheel 21, the at least one auxiliary wheel 21 is rotatably mounted on the machine body 10, for example, the at least one auxiliary wheel 21 is rotatably mounted on the machine body 10 through a rotation shaft 210, and a surface of the at least one auxiliary wheel 21 contacting the surface S to be cleaned is a cambered surface. When the auxiliary wheel 21 rolls on the surface S to be cleaned, the arc surface contacts with the surface S to be cleaned and generates an arc-shaped running path on the surface S to be cleaned, so that the cleaning machine 100 moves up periodically, and the machine body 11 is prevented from sliding down along the sliding of the travelling mechanism 12.

Specifically, referring to fig. 4 and 5, 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 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 negative pressure device and the active driving force generated by the traveling mechanism 12, and passive rolling occurs on the surface S to be cleaned. From the number of turns of the auxiliary wheel 21, l=2pi r×n, n is the number of turns of the auxiliary wheel 21, it is known that there is a difference between the displacement amounts of the first end face 213 and the second end face 214 of the auxiliary wheel 21 on the surface to be cleaned, that is, the second end face 214 runs Δl=2pi (R ₂-R₁) n more 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, so as to avoid risks of falling, dropping, etc. of the cleaning machine 100.

With continued reference to fig. 4, 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 some embodiments, referring to fig. 5, at least one auxiliary wheel 21 comprises: a support portion 211; and an elastic contact portion 212, the elastic contact portion 212 covering the supporting portion 211, the elastic contact portion 212 being in contact with 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 be a solid or hollow cylindrical structure, a trapezoid structure or other common structures, and the elastic contact portion 212 wraps the outer periphery of the supporting portion 211; the side surface 215 is an outer peripheral surface of the elastic contact portion 212.

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 travelling mechanism 12.

Preferably, each group of travelling mechanism 12 is internally provided with an adsorption space, and two auxiliary wheels 21 are arranged in one adsorption space, and each auxiliary wheel 21 rolls synchronously along with the movement of the travelling mechanism 12, so that when the travelling mechanism 12 or the machine body 11 encounters an obstacle, the auxiliary wheels 21 are not directly contacted with the obstacle, thereby avoiding the conditions of blocking, damage and the like caused by the collision of the auxiliary wheels 21, and improving the running stability of the auxiliary wheels 21.

And/or, at least one auxiliary wheel 21 is adsorbed to the surface S to be cleaned and is used for pressing rotation on the surface S to be cleaned when the body 10 is adsorbed to the surface S to be cleaned.

In some embodiments, the height of the surface of the running gear 12 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. When the travelling mechanism 12 contacts with the surface S to be cleaned, the body 11 is subjected to the negative pressure of the negative pressure device, 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 124 is brought into contact with the surface to be cleaned S, and the traveling assembly 124 is rotated and generates friction with the surface to be cleaned S by the driving of the driving mechanism, so that the body 11 is moved forward. At the same time, the auxiliary wheel 21 rolls forward due to the elastic deformation.

Further, referring to fig. 7, in order to increase the friction between the travelling mechanism 12 and the surface S to be cleaned, a buffer member 120 is disposed on a side of the travelling mechanism 12 facing the surface S to be cleaned, and the buffer member 120 has a hardness greater than that of the elastic contact portion 212. Of course, the buffer 120 may be connected to the walking assembly 124 by other methods, such as adhesion, etc., and may be specifically set according to practical situations, which is not limited thereto.

Preferably, the buffer member 120 may have a sheet structure, which is disposed at the bottom of the traveling assembly 124 and is used for contacting the surface S to be cleaned, so as to play a role of buffering and reduce the hard collision between the traveling assembly 124 and the surface S to be cleaned. In this embodiment, the buffer 120 may be partially or completely disposed over the bottom of the walking assembly 124.

Of course, the buffer 120 may take other shapes, such as a block, and may be specifically configured according to practical situations, and is not limited thereto.

Further, the height of the surface of the buffer member 120 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 surface of the auxiliary wheel 21 is convexly arranged with respect to the surface of the buffer member 120 and the traveling assembly 124. In this way, the main body 11 is under negative pressure, and the auxiliary wheel 21 preferentially contacts the surface S to be cleaned, and then the buffer 120 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, referring to fig. 6 to 8, a mounting portion 111 is formed on the body 11;

The auxiliary assembly 20 further comprises a bracket 22, the bracket 22 is assembled with the mounting part 111 in a limiting way, and the auxiliary wheel 21 is rotatably mounted in the bracket 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, the auxiliary wheel 21 is rotatably mounted in the bracket 22 through two rotation bearings, 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 order to ensure that the auxiliary assembly 20 is firmly mounted on the machine body 11, a containing cavity 121 is formed in the travelling mechanism 12, the containing cavity 121 is provided with an opening 122, the support 22 is contained in the containing cavity 121, one end of the support 22 passes through the opening 122 to be in limit assembly with the mounting part 111, and the travelling mechanism 12 is in rotary connection with the support 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 124 is rotatably connected to the support 22, for example, a rolling bearing may be disposed between the walking assembly 124 and the support 22, so that the friction resistance between the two is small, and the walking assembly 124 is easier to rotate relative to the support 22.

The walking assembly 124 can rotate relative to the support 22 during walking, at this time, the support 22 serves to limit the movement of the walking assembly 124 in the axial direction, and the walking assembly 124 cannot deviate and shake left and right, so that the walking stability of the walking assembly 124 on the surface S to be cleaned is improved.

Specifically, a U-shaped receiving cavity 121 is formed in the walking assembly 124 to secure the auxiliary assembly 20. Of course, this is merely exemplary and not limiting, and others may be used.

Currently, when the cleaning machine 100 (such as a window cleaning robot) runs and encounters an obstacle (such as a frame), the real-time motion state is detected by identifying the negative pressure variation amount inside the robot or the opening and closing state (such as a micro switch) of an on-off device of the robot, and then a related control signal is output to adjust the motion state. However, the detection mode of the negative pressure variation has the defects of slower transmission efficiency of the negative pressure variation value and slower response of the machine; the detection mode of opening and closing the on-off device has the defects of easy blocking, poor stability and poor reliability of the on-off device.

In some embodiments, the body 10 is movable over a surface S 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 cleaning machine 100 further comprises:

The detection assembly 30 is mounted on the auxiliary assembly 20, the detection assembly 30 comprises at least one rotation angle encoder 31, the at least one rotation angle encoder 31 is mounted on the at least one auxiliary wheel 21, and the at least one rotation angle encoder 31 rotates synchronously with the at least one auxiliary wheel 21 so as to detect the speed and/or the acceleration of the auxiliary wheel 21.

Wherein each set of running gears 12 has a first range of operating parameters;

The first operating parameter range of running gear 12 is used together with the second operating parameter range of auxiliary assembly 20 to identify the operating state of machine body 10.

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 12; the first operating parameter range of each set of running gears 12 and the second operating parameter range of its corresponding auxiliary assembly 20 are used to identify the operating state of the corresponding running gear 12.

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 twisting type running, the cleaning machine 100 rotates with one of the running mechanisms 12 as a rotation pivot, and when the first operation parameter range of the running mechanism 12 as the rotation pivot is within a preset parameter range and the second operation parameter range of the auxiliary assembly 20 corresponding to the first operation parameter range is beyond the preset operation parameter range, the abnormality of the running mechanism 12 as the rotation pivot of the cleaning machine 100 is identified.

In this embodiment, whether the running gear 12 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 gear 12 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 12 as a rotation pivot, and the other traveling mechanism 12 rotates, so as to drive the traveling mechanism 12 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 12 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 12 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 12 is increased, the running mechanism 12 will rotate quickly if the running mechanism 12 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 12 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 12 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 dial 41 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 reaches the obstacle.

In some embodiments, at least one set of running gear 12 rotates to cause the machine body 10 to follow a preset trajectory; the first operating parameter range includes a rotational operating parameter range, i.e., an associated operating parameter range when the travel mechanism 12 is rotated, such as a rotational speed magnitude or a rotational acceleration magnitude, etc.

The auxiliary assembly 20 rolls on the surface S 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 12 is used together 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.

The detection assembly 30 may also be a speed sensor, a displacement sensor, or a detection circuit disposed on the running mechanism 12, including but not limited to, and may be designed by those skilled in the art according to practical situations; in this embodiment, the detecting assembly 30 adopts the rotation angle encoders 31, and in particular use, the number of rotation angle encoders 31 may be one or more, and the rotation angle encoders may be synchronously rotated along with the auxiliary wheel 21. In this embodiment, each auxiliary wheel 21 is provided with a rotation angle encoder 31, and the rotation angle encoder 31 is mounted on the rotation shaft 210 of the auxiliary wheel 21, and the rotation angle encoder 31 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 encoders 31 may be plural, for example, two, respectively provided on both sides of the rotation shaft 210 of the auxiliary wheel 21. Of course, this is merely exemplary and not limiting, and others may be used.

The application can accurately measure the angle, speed or acceleration of the rotary motion of the auxiliary wheel 21 by adopting the rotary angle encoder 31, has the advantages of high precision, high stability, long service life and the like, and is easy to install and use.

It should be noted that the cleaning machine 100 further includes a controller, and the rotation angle encoder 31 is communicatively connected to the controller. Specifically, the speed and/or acceleration data detected by the rotation angle encoder 31 may be sent to the controller in real time, including a first speed and/or a first acceleration within a preset operation parameter range and a second speed and/or a second acceleration outside the preset operation parameter range, when the data received by the controller is changed from the first speed and/or the first acceleration to the second speed and/or the second acceleration, the controller may determine that the machine body 11 is currently in contact with an obstacle, so as to timely change the operation state of the machine body 11, such as stopping or turning, and ensure safe use of the cleaning machine 100.

In some embodiments, referring to fig. 9, the cleaning element 40 has a predetermined angle with respect to the surface S to be cleaned. In this embodiment, the connecting shaft 123 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 124 and the cleaning turntable 41 are coaxially connected with the connecting shaft 123, so that a preset angle (90 ° - α) is formed between the cleaning turntable 41, the surface of the traveling assembly 124 and the surface S to be cleaned, so that the traveling assembly 124 is in partial contact with the surface S to be cleaned, and friction forces generated between different parts of the traveling assembly 124 and the surface S to be cleaned are different during rotation, so that the traveling assembly 124 can travel during rotation, and the cleaning turntable 41 can reach different positions of the surface S to be cleaned for cleaning.

In order to increase the contact area between the cleaning component 40 and the surface S to be cleaned, the contact between the cleaning component 40 and the surface S to be cleaned is set to be surface contact, so that the cleaning component 40 is fully contacted with the surface S to be cleaned, thereby increasing the cleaning area of the cleaning component 40 and improving the cleaning efficiency of the cleaning component 40.

When the cleaning member (e.g. rag) made of flexible material is sleeved on the periphery of the cleaning turntable 41, 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 against the surface S to be cleaned, and the machine body 11 is driven to move on the surface S to be cleaned, so as to clean the surface S to be cleaned.

In some embodiments, each cleaning dial 41 has a shaft side 411 in surface contact with the surface S to be cleaned, the shaft side 411 being parallel to the surface S to be cleaned, such that when the cleaning dial 41 is in contact with the surface S to be cleaned, surface contact is achieved between the shaft side 411 and the surface S to be cleaned, thereby increasing the cleaning area of the cleaning assembly 40 and improving the cleaning efficiency of the cleaning assembly 40.

Preferably, the shaft side 411 is a tapered surface with a taper of 1-5 °. When the height of the cleaning dial 41 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 auxiliary wheel 21 rotates as the running gear 12 runs in the preset direction; in this embodiment, the surface S to be cleaned is a vertical plane, the machine body 11 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 11 and parallel to the vertical plane, that is, a direction running along the vertical plane from side to side.

Of course, in other embodiments, the machine body 11 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 11 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.

Specifically, referring to fig. 10, when the machine body 10 has a traveling trend deviating from a preset direction, the elastic contact portion 212 is deformed by being pressed against the surface S to be cleaned and generates a rolling friction force opposite to the traveling 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 direction of the walking trend.

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.

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 body 11. When the body 11 has a traveling tendency deviating from a preset direction, such as the body 11 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 body 11, and the direction of the rolling friction force is opposite to the direction in which the body 11 is about to be inclined, so as to prevent the body 11 from being inclined and deformed, and ensure the stability of the operation posture of the cleaning machine 100.

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. 11, 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 12 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;

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. 12 and 13, 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. 14 and 15, 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 trend direction after being retracted for a preset period of time, 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.

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

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. 16 and 17, 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 trend 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.

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:

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. 18 to 20, 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. 21, 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.

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 trend 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, referring to fig. 22, 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.

The current movement state of the machine body 10 is identified according to the pressure information of the auxiliary assembly 20, including that the pressure P1 of the first side 201 in the first auxiliary assembly 20a is increased and then gradually decreased and stabilized within a preset time, the pressure P2 of the second side 202 is decreased and then gradually increased and stabilized within 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 are increased and then gradually decreased and stabilized within a preset time, the pressures P21, P22 of the first upper side 2011 and the second lower side 2022 are decreased and then gradually increased and stabilized within a preset time, and the current movement state of the machine body 10 is determined to be an obstacle 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.

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 trend 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 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. 23, 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. 24, 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 description and drawings should not be taken as limiting the scope of the invention in any way, but rather should be understood to cover all modifications, structural equivalents, or direct/indirect applications of the invention in the light of the general principles of the present invention which may be employed in the present invention and illustrated by the accompanying drawings.

Claims (22)

1. A cleaning machine, comprising:

a body movable over a surface to be cleaned and/or the body being adsorbable to the surface to be cleaned;

the auxiliary assembly is arranged on the machine body and used for increasing the acting force area between the cleaning machine and the surface to be cleaned so as to share the acting force between the machine body and the surface to be cleaned.

2. The cleaning machine of claim 1, wherein the auxiliary assembly is configured to increase an area of force between the cleaning machine and a surface to be cleaned to share force between the machine body and the surface to be cleaned, comprising:

The auxiliary assembly is configured to share at least one of a first force and a second force, the first force comprising: providing a force against the weight of the cleaning machine; the second force includes: providing a force to move the cleaning machine.

3. 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;

the auxiliary assembly is used for sharing the acting force between at least one group of the travelling mechanism and the surface to be cleaned.

4. A cleaning machine as claimed in claim 3, wherein the auxiliary assembly shares the force between at least one of the travelling mechanisms and the surface to be cleaned when either or both of the travelling mechanisms 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 that the machine body remains on the surface to be cleaned.

5. The cleaning machine of claim 4 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.

6. The cleaning machine of claim 5, wherein 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 sharing the acting force between at least one group of travelling mechanisms and the surface to be cleaned when the travelling mechanisms rotationally travel on the surface to be cleaned.

7. A cleaning machine according to claim 5, wherein in case of abnormal rotational behavior of one or both of the travelling mechanisms, rolling travel of the auxiliary assembly on the surface to be cleaned is used to cause the machine body to travel in a preset trajectory, or to cause the machine body to remain on the surface to be cleaned, or to lengthen the time the machine body remains on the surface to be cleaned.

8. The cleaning machine of claim 1 wherein said auxiliary component is a passive component to follow movement as said machine body moves; and/or when the machine body is adsorbed on the surface to be cleaned, the auxiliary component is adsorbed on the surface to be cleaned, so that the acting force area between the cleaning machine and the surface to be cleaned is increased;

Or the auxiliary component is an active component and moves together with the machine body on the surface to be cleaned; and/or the auxiliary component and the machine body are adsorbed on the surface to be cleaned together so as to increase the acting force area between the cleaning machine and the surface to be cleaned.

9. The cleaning machine of claim 1, wherein the auxiliary assembly has flexibility, and wherein when the machine body is attached to the surface to be cleaned, the auxiliary assembly is deformed by compression between the machine body and the surface to be cleaned to increase the area of the applied force between the cleaning machine and the surface to be cleaned.

10. The cleaning machine of claim 1, wherein the auxiliary assembly is a walking assembly, the machine body moves over a surface to be cleaned, the auxiliary assembly squeezes the deformed form to walk, and the walking resistance of the cleaning machine is reduced when the acting force area between the cleaning machine and the surface to be cleaned is increased.

11. The cleaning machine of claim 1 wherein the auxiliary assembly is further adapted to pull the direction of movement of the cleaning machine as the auxiliary assembly moves over the surface to be cleaned.

12. A cleaning machine as claimed in claim 3, wherein the auxiliary assembly comprises at least one auxiliary wheel, at least one auxiliary wheel comprising opposed first and second end faces and a side face located between the first and second end faces, the side face being arcuate and adapted to contact the surface to be cleaned, the axial cross-section of at least one auxiliary wheel increasing in diameter from the first end face to the second end face.

13. The cleaning machine of claim 12, wherein the first end edge of the at least one auxiliary wheel is displaced on the surface to be cleaned by an amount less than the second end edge.

14. The cleaning machine of claim 12, wherein the at least one auxiliary wheel is rotatably mounted on the machine body by a rotating shaft, the axis of the rotating shaft having a predetermined angle with the surface to be cleaned, the side of the at least one auxiliary wheel having an inclination angle with the axis of the rotating shaft, the inclination angle being equal or substantially equal in magnitude to the predetermined angle.

15. The cleaning machine of claim 12, wherein the at least one auxiliary wheel comprises:

A support part; and

An elastic contact part wrapping the supporting part, the elastic contact part being in contact with the surface to be cleaned;

Wherein the hardness of the supporting part is greater than that of the elastic contact part; the side surface is an outer peripheral surface of the elastic contact portion.

16. The cleaning machine according to claim 12, wherein each group of the travelling mechanisms is provided with an adsorption space, two auxiliary wheels are arranged, and each auxiliary wheel is arranged in one adsorption space and rolls synchronously with the movement of the travelling mechanism;

and/or at least one auxiliary wheel is adsorbed on the surface to be cleaned when the machine body is adsorbed on the surface to be cleaned, and is used for extruding and rolling on the surface to be cleaned.

17. A cleaning machine as claimed in claim 12, wherein the height of the surface of the travelling mechanism facing the surface to be cleaned is no higher than the height of the surface of the auxiliary wheel facing the surface to be cleaned.

18. The cleaning machine of claim 1 wherein said auxiliary assembly has a range of operating parameters;

When the operating parameter range of the auxiliary assembly exceeds the preset parameter range and an abnormality occurs, the machine body adjusts the moving state according to the abnormal auxiliary assembly.

19. A cleaning machine according to claim 3, wherein each set of said travelling mechanisms 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.

20. The cleaning machine of claim 19 wherein the central axes of at least two of said traveling assemblies are inclined relative to the central axis of said machine body, and wherein at least two of said traveling assemblies are rotated to operate the cleaning machine;

when the auxiliary assembly is misplaced on the two travelling mechanisms and misplaced on the extending areas of the two travelling mechanisms facing each other, the auxiliary assembly and at least two travelling mechanisms are jointly used for improving the travelling stability of the cleaning machine.

21. The cleaning machine of claim 1, wherein the auxiliary assembly is configured to correct abnormal behavior of the machine body when the machine body has a tendency to walk away from a preset trajectory or when an abnormality occurs in the machine body from a preset trajectory.

22. The cleaning machine of claim 21, wherein when the machine body has a traveling trend deviating from a preset direction, the auxiliary assembly is deformed by being pressed against the surface to be cleaned and generates a rolling friction force opposite to the traveling 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 trend direction.