CN215191261U

CN215191261U - Base system of self-moving equipment and self-moving equipment

Info

Publication number: CN215191261U
Application number: CN202023348371.9U
Authority: CN
Inventors: 花永飞; 高倩; 邵长东
Original assignee: Ecovacs Commercial Robotics Co Ltd
Current assignee: Ecovacs Commercial Robotics Co Ltd
Priority date: 2020-12-31
Filing date: 2020-12-31
Publication date: 2021-12-17
Anticipated expiration: 2030-12-31

Abstract

The embodiment of the utility model provides a base system and from mobile device. Wherein, from the base system of mobile device, include: the base is provided with a front part and a rear part which are distributed along the traveling direction, and a rolling brush, a scraping strip, at least one pair of driving wheel components and universal wheels are sequentially arranged on the base along the front-rear direction; wherein, the rolling brush and the scraping strip extend along the width direction of the base; the two driving wheel assemblies in pairs are arranged at intervals along the width direction of the base; the universal wheel is positioned on the central axis of the base in the length direction. The embodiment of the utility model provides a technical scheme will the round brush, scrape strip, drive wheel subassembly and universal wheel according to order rational arrangement on the base for when the base system can ensure good clean effect, still can guarantee the even running of complete machine.

Description

Base system of self-moving equipment and self-moving equipment

Technical Field

The embodiment of the utility model provides a relate to mechanical technical field, especially, relate to a base system from mobile device and from mobile device.

Background

With the development of science and technology, in order to facilitate the life of people, various movable cleaning devices enter the life of people, such as cleaning machines and floor sweeping machines, which are two types of cleaning machines and floor sweeping machines. Taking the cleaning machine as an example, the user does not need to operate the cleaning machine by hand, and the cleaning machine can finish cleaning operation such as cleaning and washing of the ground, so that the use is very convenient.

At present, cleaning operation can be performed through a commercial cleaning robot aiming at cleaning scenes of markets, outdoors, residential buildings and the like, and due to the fact that the aimed cleaning area is often large, the volume of the commercial cleaning robot is often large, and the height of the commercial cleaning robot is high, the cleaning effect, the walking stability and the safety of the commercial cleaning robot need to be considered emphatically.

SUMMERY OF THE UTILITY MODEL

In view of the above, the present invention has been made to provide a base system of a self-moving apparatus and a self-moving apparatus that solve the above problems.

In an embodiment of the present invention, a base system of a self-moving device is provided, including:

the device comprises a base, a roller brush, a scraping strip, at least one pair of driving wheel assemblies and universal wheels, wherein the base is provided with a front part and a rear part which are distributed along a traveling direction, and the roller brush, the scraping strip, the at least one pair of driving wheel assemblies and the universal wheels are sequentially arranged on the base along the direction from the front part to the rear part; wherein the content of the first and second substances,

the rolling brush and the scraping strip extend along the width direction of the base and are positioned between the rolling brush and the scraping strip, and a dust suction port is formed in the base;

the two driving wheel assemblies in pairs are arranged at intervals along the width direction of the base;

the universal wheel is positioned on the central axis of the base in the length direction.

Optionally, a side brush is further disposed at a position corresponding to an axial end of the rolling brush on the base in front of the rolling brush;

the side brushes exceed the ends of the corresponding rolling brushes along the width direction of the base.

Optionally, the driving wheel assembly comprises a driving motor and a traveling wheel;

the traveling wheel is positioned on one side of the driving motor, which is back to the other driving wheel component, and is connected with a driving shaft of the driving motor;

and one side of the travelling wheel back to the driving motor is provided with a power-off brake piece.

Optionally, still include the brake backup pad, the brake backup pad with pedestal connection, outage brake spare with the brake backup pad is connected.

Optionally, the length of the roller brush in the axial direction of the roller brush is greater than the distance between two running wheels in a pair.

Optionally, the length of the wiper strip is greater than or equal to the length of the roller brush in the axial direction of the roller brush.

Optionally, the device further comprises a universal support plate, wherein the universal support plate is connected with the base;

the universal wheels are connected with the universal supporting plate and penetrate through the base to be connected with the ground.

Optionally, an obstacle avoidance rotating arm is arranged on the driving wheel assembly and/or the rolling brush;

keep away the barrier spiral arm and be provided with a plurality of support arms along circumference, perhaps a plurality of obstacle crossing teeth.

Optionally, a power supply unit is further disposed on the base, and the power supply unit is electrically connected to the rolling brush, the driving wheel assembly, and the universal wheel, respectively.

Correspondingly, the embodiment of the utility model provides a still provide a self-moving equipment, including base system and host computer;

the base system includes:

the universal wheel is positioned on the central axis of the base in the length direction;

the main machine is arranged on the base, a control unit is arranged on the main machine, and the control unit is respectively connected with the rolling brush, the driving wheel assembly and the universal wheel.

The embodiment of the utility model provides a technical scheme through setting up the round brush at the relative front end of base system, can sweep into the round brush place region with foul such as dust, can ensure that the regional foul of institute clears away totally, scrapes the strip and is located the round brush rear, can push the round brush place region once more with clean up's foul, improves the clean effect of complete machine. Meanwhile, the driving wheel assembly is arranged behind the rolling brush, so that the rotating radius of the base system can be effectively reduced, and the walking stability and safety of the whole machine are effectively improved. In addition, the universal wheels are arranged at the rearmost part of the base system, so that the base system can be ensured to stably operate and can rotate 360 degrees, the operation of the whole machine is more flexible, and the whole machine can be conveniently moved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a bottom view of a base system according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a top view of a base system according to an embodiment of the present invention;

fig. 3 is a schematic structural diagram of a bottom view of another base system according to an embodiment of the present invention;

fig. 4 is a schematic structural diagram of a top view of another base system according to an embodiment of the present invention.

Detailed Description

In order to make the technical field person understand the scheme of the present invention better, the following will combine the drawings in the embodiments of the present invention to clearly and completely describe the technical scheme in the embodiments of the present invention.

In some of the flows described in the embodiments of the present invention, a number of operations occurring in a particular order are included, and these operations may be performed out of the order in which they occur herein or in parallel. Additionally, the flows may include more or fewer operations, and the operations may be performed sequentially or in parallel. It should be noted that, the descriptions of "first", "second", etc. in this document are used for distinguishing different messages, devices, modules, etc., and do not represent a sequential order, nor limit the types of "first" and "second" to be different.

In practicing the embodiment of the present invention, the inventor finds that the volume of the currently used commercial cleaning robot is often large and the height is high, and therefore, the cleaning effect, the walking stability and the safety of the commercial cleaning robot need to be considered heavily.

To the above problem, the embodiment of the utility model provides a base system from mobile device reaches from mobile device for when can ensure good clean effect from mobile device, still can guarantee the even running of complete machine.

The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It is to be understood that the embodiments described are only some embodiments of the invention, and not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by the skilled in the art without creative work belong to the protection scope of the present invention.

Fig. 1 is a schematic structural diagram of a bottom view angle of a base system provided in an embodiment of the present invention, and fig. 2 is a schematic structural diagram of a top view angle of a base system provided in an embodiment of the present invention, as shown in fig. 1 and fig. 2.

In an embodiment of the present invention, a base system 100 for a self-moving device is provided, comprising: the base 10 has a front and a rear part distributed along the traveling direction, and the base 10 is sequentially provided with a rolling brush 30, a scraping bar 40, at least one pair of driving wheel assemblies 50 and a universal wheel 60 along the front to rear direction.

The rolling brush 30 and the scraping strip 40 both extend along the width direction of the base 10 and are located between the rolling brush 30 and the scraping strip 40, and a dust suction opening is formed in the base 10. The pair of two drive wheel assemblies 50 are provided at intervals in the width direction of the base 10. The universal wheel 60 is located on the central axis of the base 10 in the longitudinal direction.

The embodiment of the utility model provides a technical scheme through setting up rolling brush 30 at the relative front end of base system, can sweep into rolling brush 30 place region with foul such as dust, and the foul is again through dust absorption mouth suction, can ensure that the regional foul of institute clears away totally, scrapes strip 40 and is located rolling brush 30 rear, can push rolling brush 30 place region once more with clean up's foul, improves the cleaning performance of complete machine. Meanwhile, the driving wheel assembly 50 is arranged behind the rolling brush 30, so that the rotating radius of the base system can be effectively reduced, and the walking stability and safety of the whole machine are effectively improved. In addition, the universal wheel 60 is arranged at the rearmost part of the base system, so that the base system can be ensured to stably operate and can rotate 360 degrees, the operation of the whole machine is more flexible, and the whole machine can be conveniently moved.

In the embodiment of the present invention, the base system 100 can be applied to a self-moving device, which includes but is not limited to a commercial cleaning robot, a commercial sweeping robot, and the like. One implementation of the self-moving device is that the self-moving device includes a base system 100 and a host. The main machine is arranged on the base 10, and is provided with a control unit which can be respectively connected with the rolling brush 30, the driving wheel assembly 50 and the universal wheel 60 so as to control the matching operation of all the parts and complete the cleaning work.

The technical solution provided by the embodiment of the present invention is further described in detail below.

With continued reference to fig. 1 and 2, one arrangement of the components of the base system is such that the base 10 has a central axis extending in the direction of travel, as indicated by line a-a in fig. 1 and 3, which is the central axis of the base 10 extending in the direction of travel.

The roll brush 30 is axially arranged across the central axis, and the portions located at both sides of the central axis are symmetrical to each other. If the direction of travel of the base system 100 is defined as the length direction, the axial direction of the roller brush 30 can be considered as the width direction of the base system 100. For a better cleaning effect, the axial direction of the roller brush 30 may be substantially perpendicular to the extension direction of the central axis. In the traveling direction, the rolling brush 30 is located in front of the scraping strip 40, the rolling brush 30 can rotate in the circumferential direction when working, and the cleaning operation on the ground, such as cleaning the ground, cleaning the ground and the like, is realized through the bristles on the rolling brush 30, and a dust suction port is further arranged on the base 10 at the position corresponding to or slightly behind the rolling brush 41, and is communicated with the suction unit on the host machine, so that the dirt cleaned by the rolling brush 30 can be sucked into the dirt collecting device in the host machine through the dust suction port.

In order to avoid that the rolling brush 30 misses dirt and causes secondary pollution to the cleaned area, a scraping bar 40 is further provided behind the rolling brush 30 in the traveling direction, and the scraping bar 40 extends in the axial direction of the rolling brush 30. The scraper bar 40 is located behind the roller brush 30, and can push the dirty objects which are not cleaned up to the area where the roller brush 30 is located again, so that the roller brush 30 can collect the dirty objects again and collect the dirty objects into the dirty object collecting device in the main machine through the dust collecting opening. Further, the length of the wiper strip 40 is greater than or equal to the length of the rolling brush 30, so that the cleaning range is increased, and simultaneously, dirt can be effectively prevented from being missed by the rolling brush 30 from two end positions, thereby ensuring the cleanness of the cleaning area.

The driving wheel assemblies 50 are at least one pair, and the pair of driving wheel assemblies 50 are symmetrically arranged on two sides of the central axis. Compared with the roller brush 30, the scraper bar 40, the driving wheel assembly 50 and the universal wheel 60, the driving wheel assembly 20 is disposed on the base 10 near the middle, so that the rotation radius of the base system 100 can be reduced while stable traveling is ensured, and the rotation radius of the mobile device can be reduced.

Further, the round brush 30 is located the place ahead of drive wheel subassembly 50, and after the round brush 30 was cleaned, drive wheel subassembly 50 still can be through the region that has cleaned finishing, and in order to avoid the local clean blind area that becomes the round brush 30 of drive wheel subassembly 50 process, the embodiment of the utility model provides an in, along the axial direction of round brush 30, the length of round brush 30 is greater than the maximum distance between the drive wheel subassembly 50 that is located the axis both sides. The maximum distance is the distance between the sides of the two drive wheel assemblies 50 facing away from the central axis. The length of the roller brush 30 is greater than the track between the driving wheel assemblies 50 at both sides, that is, the area contaminated by the driving wheel assemblies 50 is smaller than the area cleaned by the roller brush 30, and the roller brush 30 can reach the area passed by the driving wheel assemblies 50, so that the roller brush 30 can clean the area passed by the driving wheel assemblies 50, and the area contaminated by the driving wheel assemblies 50 can be prevented from becoming the cleaning blind area of the roller brush 30.

To further ensure the smooth travel of the base system 100 and facilitate turning in all directions, with reference to fig. 1 and 2, the base 10 is further provided with a universal wheel 60 behind the driving wheel assembly 50 along the traveling direction in the embodiment of the present invention. The universal wheel 60 can rotate in 360 degrees, so that the base system 100 can be guided in all directions, the base system 100 can be steered, the base system 100 can be stably operated through the universal wheel 60, and 360 degrees of steering can be guaranteed. The number of the universal wheels 60 may be one or two, or may be set to be a plurality of, and the embodiment of the present invention is not particularly limited. As shown in fig. 1 and 2, the universal wheel 60 may be one. The universal wheel 60 can be directly connected to the base 10 or connected to the base 10 through a universal support plate 61. for example, the base system 100 further includes a universal support plate 61, the universal support plate 61 is connected to the base 10, and the universal wheel 60 is connected to the universal support plate 61 and passes through the base 10 to be connected to the ground. The universal support plate 61 can be disposed on the surface of the base 10 facing the ground, or on the surface of the base 10 facing away from the ground, and the universal wheels 60 are connected with the universal support plate 61 and then pass through the base 10 to contact the ground.

Further, the universal wheel 60 is disposed on the center axis. The universal wheel 60 can be disposed at a position relatively behind the base 10, and the universal wheel 60 is located at an intermediate position with respect to the roller brush 30 and the driving wheel assembly 50, so that the base system 100 can operate smoothly and can ensure 360 ° rotation.

In order to improve the cleaning effect, with continued reference to fig. 1 and 2, an edge brush 20 is further provided on the base 10 at a position corresponding to an axial end of the roller brush 30 in front of the roller brush 30. The number of the side brushes 20 may be one, or at least one pair, when the number of the side brushes 20 is one, the side brushes 20 are correspondingly arranged at one of two axial ends of the rolling brush 30, and when the number of the side brushes 20 is at least one pair, the pair of the side brushes 20 are symmetrically arranged at the corresponding positions of the two axial ends of the rolling brush 30. The side brush 20 can set up one pair or many pairs according to the clean demand of difference, do not specifically limit here, use the side brush 20 to be a pair of example, two side brushes 20 in pairs are located the axial both ends position of round brush 30 respectively, when cleaning, the side brush 20 at both ends can be with the foul of round brush 30 both ends edge sweep into the zone in which round brush 30 is located, so that clear away the foul through round brush 30, side brush 20 is located the place ahead of round brush 30 and is located both ends position, when having increased the clean zone of round brush 30, still can clean the foul of edge effectively, make cleaning performance better.

Further, when the side brushes 20 are paired, the length of the scraping bar 40 along the axial direction of the rolling brush 30 is greater than or equal to the maximum distance between the two side brushes 20, so as to avoid secondary pollution to the cleaned area caused by the dirt left by the side brushes 20. The scraping strip 40 is positioned behind the side brush 20, dirt which is not cleaned up can be pushed to the area where the rolling brush 30 is located, so that the rolling brush 30 collects the dirt and collects the dirt into a dirt collecting device in the host machine through a suction port, the dirt can be effectively prevented from being omitted from the positions of two ends of the side brush 20 while the cleaning range is improved through the scraping strip 40, and the cleanness of the cleaning area is ensured.

Further, the side brush 20 is beyond the end of the corresponding roll brush 30 in the width direction of the base 10. When cleaning, the side brush 20 can sweep dirt at the edges of the two ends of the rolling brush 30 into the area where the rolling brush 30 is located, and the side brush 20 can sweep dirt beyond the area where the rolling brush 30 is located into the area where the rolling brush 30 is located, so that the cleaning area of the rolling brush 30 is increased, and meanwhile, dirt at the edges can be effectively cleaned, and the cleaning effect is better.

Referring to fig. 3 and 4 in conjunction with fig. 1 and 2, in an embodiment of the present invention, the driving wheel assembly 50 can be realized in a manner that the driving wheel assembly 50 includes a driving motor 51 and a traveling wheel 52. The travel wheel 52 is located on the side of the drive motor 51 facing away from the other drive wheel assembly 50 and is connected to the drive shaft of the drive motor 51. The side of the travelling wheel 52 facing away from the drive motor 51 is provided with an electric break brake 53. The driving motor 51 is disposed at the inner side relatively close to the central axis, and when the driving wheel assembly 50 is disposed, the occupied space of the driving wheel assembly 50 can be reduced, the rotation radius of the traveling wheel 52 can be effectively reduced, and the length of the driving shaft of the driving motor 51 can be reduced to ensure the strength of the driving shaft. The driving wheel assembly 50 may be disposed on a surface of the base 10 facing the ground, or may be disposed on a surface of the base 10 facing away from the ground, and then passes through the base 10 to contact the ground. Further, the length of the roll brush 30 in the axial direction of the roll brush 30 is larger than the distance between the pair of two running wheels 52.

The off-brake member 53 limits the rotation of the drive wheel assembly 20 after activation under predetermined conditions. The power-off brake member 53 includes, but is not limited to, a structure for restricting the rotation of the drive wheel assembly 50 by means of an internal brake, a disc brake, a drum brake, etc. The power cutoff braking member 53 may be directly coupled to the base 10 or may be coupled to the base 10 through the brake support plate 531. For example, the base system 100 further includes a brake support plate 531, the brake support plate 531 being coupled to the base 10, and the power cutoff brake 53 being coupled to the brake support plate 531. The brake support plate 531 may be disposed on a surface of the base 10 facing the ground or on a surface of the base 10 facing away from the ground, and the power-off brake 53 is connected to the brake support plate 531 and then passes through the base 10 to be disposed corresponding to the traveling wheel 52.

The condition of predetermineeing that triggers outage brake 53 and start can carry out corresponding setting according to the demand of difference, the embodiment of the utility model provides a do not specifically prescribe a limit to. In some realizable embodiments, the preset conditions include, but are not limited to, powering down the drive wheel assembly 50, a direction of travel of the self-moving device opposite to a direction of traction provided by the drive wheel assembly 50, a speed of travel of the self-moving device greater than the speed provided by the drive wheel assembly 50.

The following description will be given by way of example of the base system 100 applied to a commercial cleaning robot.

One commercial cleaning robot is implemented by including a base system 100 and a main frame. The main machine is arranged on the base 10, and a control unit is arranged on the main machine and is respectively connected with the side brush 20, the rolling brush 30, the universal wheel 60, the driving wheel assembly 50 and the power-off brake piece 53. Furthermore, a monitoring sensor is also arranged on the host machine and is connected with the control unit. The monitoring sensor may be a plurality, including but not limited to an ultrasonic monitor, a laser monitor, an attitude sensor, and the like. The commercial cleaning robot further includes a water tank provided on the base 10.

When the commercial cleaning robot is in normal use, the water can be sprayed to the ground through the nozzle communicated with the water tank, so that the ground is cleaned. The commercial cleaning robot can be moved by the driving wheel assembly 50, thereby cleaning various area positions of the floor. When the commercial cleaning robot suddenly loses power or the driving wheel assembly 50 is suddenly powered off at a certain time, if the commercial cleaning robot is just in a slope position, the commercial cleaning robot may automatically slip (slide), may accidentally injure people or objects on a slip path, and may be damaged. In order to avoid the above situation, the driving wheel assembly 50 is provided with a power-off braking member 53 on the side opposite to the central axis, and when the driving wheel assembly 50 loses power supply, the power-off braking member 53 is triggered to start, so as to realize braking and limit the rotation of the driving wheel assembly 50.

For another example, the commercial cleaning robot is in a slope position, and the commercial cleaning robot goes up a slope, but the commercial cleaning robot cannot move upwards but moves downwards due to insufficient driving force of the driving wheel assembly 50, at this time, the situation that the commercial cleaning robot automatically slips (slides) can be monitored through the monitoring sensor, and the control unit can trigger the power-off brake piece 53 to be started, so as to realize braking and limit the rotation of the driving wheel assembly 50.

For another example, the commercial cleaning robot is in a slope position, the commercial cleaning robot is on a downhill, but because the ground is slippery, the speed of the commercial cleaning robot moving downwards is greater than the speed provided by the driving wheel assembly 50, at this time, the monitoring sensor can monitor that the commercial cleaning robot has automatic slippage (landslide), and the control unit can trigger the power-off brake 53 to be started, so as to realize braking and limit the rotation of the driving wheel assembly 50.

The embodiment of the utility model provides an in, be provided with outage brake spare 53 through corresponding drive wheel subassembly 50, when advancing the in-process, when satisfying the preset condition, outage brake spare 53 triggers the start to restriction drive wheel subassembly 50 rotates, avoids self-moving equipment automatic sliding, avoids the accidental injury, improves the security.

Further, in some realizable embodiments of the present invention, the obstacle avoidance rotating arm is disposed on the driving wheel assembly 50 or the rolling brush 30, or both the driving wheel assembly 50 and the rolling brush 30 are disposed with the obstacle avoidance rotating arm. Keep away the barrier spiral arm and be provided with a plurality of support arms along circumference, perhaps a plurality of obstacle crossing teeth. Specifically, keep away the barrier spiral arm setting in the one side of drive wheel subassembly 50 back to the axis, keep away the barrier spiral arm setting at the axial both ends of round brush 30, keep away the barrier spiral arm and rotate along with drive wheel subassembly 50 and round brush 30 are synchronous, when base system 100 meets the barrier in the direction of travel, through keeping away the barrier spiral arm and rotate, can drive base system 100 and cross the barrier and continue to advance, avoid base system 100 to stop in the past.

Further, in order to provide electric energy to the driving wheel assembly 50 and other functional units on the mobile device, a power supply unit 70 is further disposed on the base 10, and the power supply unit 70 is respectively connected to the rolling brush 30, the driving wheel assembly 50 and the universal wheel 60. When the side brush 20 and the power-off brake 53 are disposed on the base 10, the power supply unit 70 is further connected to the side brush 20 and the power-off brake 53 to supply power thereto. The power supply unit 70 includes, but is not limited to, a rechargeable secondary battery, a solar cell, and the like. The power supply unit 70 can be disposed between the universal wheel 60 and the driving motor 51, so as to reasonably utilize the space of the base 10, avoid increasing the occupied space of the base system 100, and reduce the turning radius of the mobile device.

Further, in order to protect the components on the base 10, the base system 100 further includes a bottom shell connected to the base 10 and enclosing the periphery of the base 10. The bottom case can prevent external objects such as walls, table legs, and chair legs from damaging the components of the base 10, such as objects hitting the roll brush 30. To maximize the cleaning area, both axial end edges of the roll brush 30 are disposed adjacent to the bottom case so that the area through which the base system 100 passes can be cleaned by the roll brush 30. More closely, the periphery of drain pan sets up crashproof structure, and crashproof structure can set up in the place ahead and the rear of drain pan, and crashproof structure is made to materials such as accessible rubber, silica gel, sponge, and after hitting the object, through crashproof structure's buffering, reducible impact is to the damage of drain pan to increase the life of drain pan.

In an embodiment of the present invention, the base system 100 can be applied to a self-moving device, which includes but is not limited to a commercial cleaning robot.

Correspondingly, the embodiment of the utility model provides a still provide a from mobile device, including base system 100 and host computer. The base system 100 can be realized by the base system 100 described in the above embodiments, and can be referred to and referred to with each other.

Specifically, the embodiment of the utility model provides a still provide a from mobile device, the host computer setting is equipped with the control unit on the host computer on base 10, and the control unit is connected with round brush 30, drive wheel subassembly 50 and universal wheel 60 respectively. Furthermore, a monitoring sensor is arranged on the host and connected with the control unit. The monitoring sensor may be a plurality, including but not limited to an ultrasonic monitor, a laser monitor, an attitude sensor, and the like. The self-moving apparatus further comprises a water tank provided on the base 10.

Further, in the embodiment of the present invention, for satisfying the application of different occasions, in order to make from the mobile device can get into some narrow and small spaces, the width and the length of base system 100 can be set to less size, if the width of base 10 can be less than 500mm, the width of host computer and water tank is matched with the width of base system 100, also can be set to be less than 500mm, under this kind of mode of setting, from the whole shared space of mobile device less, turning radius is also less, can make from the mobile device can get into some miniature regions and clean, if can get into like elevator and little storing room.

The technical solutions provided by the embodiments of the present invention are described below with reference to specific application scenarios to help understanding. In the following application scenarios, a self-moving device is taken as an example of a commercial cleaning robot.

Application scenario 1

The commercial cleaning robot cleans the floor indoors, sprays water to the floor on the forward path through a nozzle connected to the water tank, and sweeps dirt such as dust into the area where the roller brush 30 is located behind the side brush 20 disposed at the foremost end. When the rolling brush 30 rotates circumferentially, dirt in the area where the rolling brush passes can be gathered and cleaned through the dust collection opening. In the cleaning process, the scraping strip 40 which can be positioned at the rear of the rolling brush 30 pushes the dirt missed by the rolling brush 30 into the area where the rolling brush 30 is positioned again, and scrapes the accumulated water on the ground completely, so that the cleaning effect of the whole machine is improved.

The driving wheel assembly 50 of the commercial cleaning robot is positioned behind the rolling brush 30, so that the rotating radius of the commercial cleaning robot can be effectively reduced, and the walking stability and safety of the whole machine are effectively improved. In addition, the universal wheel 60 is arranged at the rearmost part of the base system 100, so that the commercial cleaning robot can be ensured to stably operate and can rotate 360 degrees, the operation of the whole machine is more flexible, and the movement of the whole machine is convenient.

Application scenario 2

When the commercial cleaning robot is cleaning the floor indoors, the power supply unit 70 is not enough in power to maintain the normal power supply when the commercial cleaning robot travels to a sloped position.

At this moment, outage brake 53 is triggered and starts, realizes the brake, and restriction drive wheel subassembly 50 rotates, prevents that commercial cleaning robot from the condition that automatic slippage (landslide) from appearing, avoids accidentally injuring people or thing on the glide path, also avoids commercial cleaning robot self to receive the damage simultaneously.

Application scenario 3

The commercial cleaning robot is cleaning a floor indoors, and when the commercial cleaning robot travels to a sloped position, the power supply unit 70 is normally charged, but the driving wheel assembly 50 is suddenly powered off due to a malfunction and cannot be normally driven.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention in its corresponding aspects.

Claims

1. A base system for a self-moving device, comprising:

2. The base system of claim 1, wherein an edge brush is further arranged in front of the rolling brush and on the base at a position corresponding to the axial end of the rolling brush;

3. The base system of claim 1, wherein the drive wheel assembly includes a drive motor and a travel wheel;

4. The base system of claim 3, further comprising a brake support plate coupled to the base, the power-off brake member coupled to the brake support plate.

5. The base system of claim 3, wherein a length of the roller brush in an axial direction of the roller brush is greater than a distance between the two travel wheels in the pair.

6. The base system of claim 2, wherein the length of the wiper strip is greater than or equal to the length of the roller brush in the axial direction of the roller brush.

7. The base system of claim 1, further comprising a universal support plate coupled to the base;

8. The base system of any one of claims 1 to 7, wherein the driving wheel assembly and/or the roller brush is provided with an obstacle avoidance rotating arm;

9. The base system of any one of claims 1 to 7, wherein a power supply unit is further disposed on the base, and the power supply unit is electrically connected to the roller brush, the driving wheel assembly and the universal wheel, respectively.

10. A self-moving device is characterized by comprising a base system and a host;

the base system includes: