CN215534045U

CN215534045U - Self-moving robot

Info

Publication number: CN215534045U
Application number: CN202023027155.4U
Authority: CN
Inventors: 尹相超; 郭豹; 班永; 耿鹤
Original assignee: Ecovacs Robotics Suzhou Co Ltd
Current assignee: Ecovacs Robotics Suzhou Co Ltd
Priority date: 2020-12-15
Filing date: 2020-12-15
Publication date: 2022-01-18
Anticipated expiration: 2030-12-15

Abstract

The embodiment of the utility model provides a self-moving robot. Wherein, from mobile robot includes: a body; the compression bar component is movably arranged on the machine body; the driving wheel assembly is movably arranged on the machine body and is linked with the pressure lever assembly; the controller is arranged on the machine body and used for determining the working requirement of the self-moving robot, determining the action parameters of the pressure lever assembly according to the working requirement and sending corresponding control instructions to the driving part according to the action parameters; the action parameters comprise action directions and action amounts; the driving part is electrically connected with the controller, is in driving connection with the pressure lever assembly and is used for driving the pressure lever assembly to move relative to the machine body according to the received control instruction; the driving wheel component moves along with the pressure lever component to change the height and the advancing posture of the machine body relative to the ground. The technical scheme provided by the embodiment of the utility model has better terrain adaptability and more diversified working modes.

Description

Self-moving robot

Technical Field

The utility model relates to the technical field of robots, in particular to a self-moving robot.

Background

The self-moving robots on the market can be classified according to functions and comprise shopping guide robots, floor sweeping robots, floor mopping robots, sweeping and mopping integrated robots, approach robots, inspection robots, mowing robots and the like. Generally, the clearance between the chassis of the self-moving robot and the ground is small, and particularly, the clearance between the chassis of the self-moving robot and the ground is small like dragging the ground, so that the self-moving robot can not travel when meeting an obstacle or traveling to a road surface with a large gradient.

SUMMERY OF THE UTILITY MODEL

In order to solve the problems in the prior art, embodiments of the present invention provide an adaptive mobile robot with better terrain adaptability.

In one embodiment of the present invention, a self-moving robot is provided. The self-moving robot comprises a robot body, a pressure lever assembly, a driving wheel assembly and a controller. The compression bar component is movably arranged on the machine body; the driving wheel assembly is movably arranged on the machine body and is linked with the pressure lever assembly; the controller is arranged on the machine body and used for determining the working requirement of the self-moving robot, determining the action parameter of the pressure lever assembly according to the working requirement and sending a corresponding control instruction to the driving part according to the action parameter; the action parameters comprise action directions and action amounts; the driving part is electrically connected with the controller, is in driving connection with the pressure lever assembly and is used for driving the pressure lever assembly to move relative to the machine body according to the received control instruction; the driving wheel component acts along with the pressure lever component so as to change the height and the advancing posture of the machine body relative to the ground.

Optionally, the pressure lever assembly is rotatably disposed on the machine body through a first rotating shaft; the driving wheel assembly is rotatably arranged on the machine body through a second rotating shaft; the driving component comprises a motor, and the motor drives the compression bar assembly to rotate around the first rotating shaft along the first direction according to the control command; the drive wheel assembly rotates about the second axis of rotation in a second direction in response to rotation of the strut assembly; wherein the first direction and the second direction are two different directions.

Optionally, the first rotation axis is parallel to the second rotation axis; the first rotation shaft is located at a rear side of the second rotation shaft in a traveling direction of the body.

Optionally, the drive member further comprises a cam; the cam shaft of the cam is connected with the power output shaft of the motor; the cam is abutted against the pressure lever assembly to drive the pressure lever assembly to rotate around the first rotating shaft.

Optionally, the compression bar assembly includes a compression bar and an elastic body. One end of the pressure lever is rotatably arranged on the machine body through the first rotating shaft; one end of the elastic body is fixed on the machine body, and the other end of the elastic body is in contact with or connected with the pressure lever; the pressure lever is provided with a first working surface and a second working surface which are opposite, and the first working surface and the second working surface are respectively positioned above and below the first rotating shaft; the first working surface is abutted against the cam, and the second working surface is in contact with the driving wheel assembly.

Optionally, the motor is located above the first rotation axis.

Optionally, the compression bar has a first end and a second end extending to the driving wheel assembly along the length direction of the compression bar; the first end is provided with a sleeve shaft which rotates synchronously with the first rotating shaft; the periphery of the sleeve shaft is provided with an accommodating space; the elastic body is a torsion spring, and the torsion spring is arranged in the accommodating space; one end of the torsion spring is connected with the first rotating shaft, and the other end of the torsion spring applies force to the pressure lever.

Optionally, the drive wheel assembly comprises an axle of a drive wheel; a butting part is arranged between the second rotating shaft and the wheel shaft on the driving wheel component; the abutting part is in contact with the second working surface.

Optionally, the self-moving robot further comprises a mopping assembly and an auxiliary front wheel. The mopping component is arranged on the machine body and is positioned at the rear side of the driving wheel component. The auxiliary front wheel is arranged on the machine body and positioned on the front side of the driving wheel assembly. The controller is used for determining the action parameters of the pressure lever assembly according to set parameters when the self-moving robot moves to a cleaned area or a mopping forbidden area, so that the moving posture of the robot body relative to the ground is a backward tilting posture, and a gap exists between the mopping assembly and the ground; and when the self-moving robot gets over the obstacle, determining the action parameters of the pressure lever assembly according to the posture of the machine body.

In another embodiment of the present invention, a self-moving robot is provided. Wherein, from mobile robot includes: the device comprises a machine body, a pressure lever assembly, a driving wheel assembly and a controller. The machine body can be provided with functional devices such as a cleaning device and the like; the compression bar component is movably arranged on the machine body; the driving wheel assembly is movably arranged on the machine body and is linked with the pressure lever assembly; the driving component is in driving connection with the pressure lever assembly and is used for driving the pressure lever assembly to move relative to the machine body; the driving wheel component acts along with the pressure lever component to change the height of the machine body relative to the ground.

In yet another embodiment of the present invention, a self-moving robot is provided. This from mobile robot includes: the device comprises a machine body, a pressure lever assembly, a driving wheel assembly and a controller. The compression bar assembly is movably arranged on the machine body; the driving wheel assembly is movably arranged on the machine body and is linked with the pressure lever assembly; the controller is arranged on the machine body and used for determining the working requirement of the self-moving robot and sending a corresponding control instruction to the driving part according to the working requirement; the driving part is electrically connected with the controller, is in driving connection with the pressure lever assembly and is used for driving the pressure lever assembly to move relative to the machine body according to the received control instruction; the driving wheel component acts along with the pressure lever component to change the height of the machine body relative to the ground.

In yet another embodiment of the present invention, a robotic system is also provided. The robot system includes a self-moving robot and a base station. And the base station is provided with a space for accommodating the self-moving robot and provides required services for the self-moving robot, such as charging service, robot outer surface cleaning service, robot cleaning piece cleaning service, water supplementing service, sewage draining service and the like. The self-moving robot includes: the device comprises a machine body, a pressure lever assembly, a driving wheel assembly and a controller. The compression bar assembly is movably arranged on the machine body; the driving wheel assembly is movably arranged on the machine body and is linked with the pressure lever assembly; the controller is arranged on the machine body and used for determining the working requirement of the self-moving robot, determining the action parameter of the pressure lever assembly according to the working requirement and sending a corresponding control instruction to the driving part according to the action parameter; the action parameters comprise action directions and action amounts; the driving part is electrically connected with the controller, is in driving connection with the pressure lever assembly and is used for driving the pressure lever assembly to move relative to the machine body according to the received control instruction; the driving wheel component acts along with the pressure lever component so as to change the height and the advancing posture of the machine body relative to the ground.

In the technical scheme provided by the embodiment of the utility model, the controller of the self-moving robot can determine a proper action parameter of the pressure lever assembly according to the working requirement of the self-moving robot, such as the avoidance of pollution on the cleaned ground, or obstacles, or climbing, and the like, and then send a corresponding control command to the driving part according to the determined action parameter, so that the driving part outputs proper power to drive the pressure lever assembly to act relative to the self-moving robot body, and the driving wheel assembly acts along with the pressure lever assembly, thereby changing the height and the advancing posture of the body relative to the ground. Therefore, according to the technical scheme provided by the utility model, the self-moving robot can be controlled to travel at different postures and ground heights according to different working requirements of the self-moving robot, so that the self-moving robot has better terrain adaptability and more diversified working modes; for example, the height and the posture of the body relative to the ground can be changed, besides obstacle crossing, the cleaning area can be prevented from being polluted by the dirty mopping component by changing the posture relative to the ground to lift the mopping component when the self-moving robot (particularly the self-moving robot with the mopping component) travels to the cleaned area.

In the technical scheme provided by the embodiment of the utility model, the driving component in the self-moving robot can drive the pressure lever assembly to act so as to change the height of the machine body relative to the ground, so that the self-moving robot has better terrain adaptability and more diversified working modes; for example, the height of the body relative to the ground can be changed, and besides obstacle crossing, when a self-moving robot (particularly the self-moving robot with a mopping assembly) travels to a cleaned area, the mopping assembly dirty at the bottom of the robot can be prevented from polluting the cleaned area through the height of the robot relative to the ground.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings 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 those skilled in the art can also obtain other drawings according to the drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a self-moving robot according to an embodiment of the present invention;

fig. 2 is a perspective view of a partial body, a pressure bar assembly and a driving wheel set of the self-moving robot according to an embodiment of the present invention;

FIG. 3 is a perspective view corresponding to the view shown in FIG. 2;

FIG. 4 is a perspective view of the structure shown in FIG. 2;

fig. 5 is a schematic view of a bottom of a body of a self-moving robot according to an embodiment of the present invention;

FIG. 6 is a schematic diagram illustrating a tilted back attitude of the body after the driving wheel assembly swings down according to an embodiment of the present invention;

FIG. 7 is a diagram illustrating a state of the self-moving robot when crossing a step according to an embodiment of the present invention;

FIG. 8 is a schematic diagram illustrating another state of the self-moving robot when crossing a step according to an embodiment of the present invention;

fig. 9 is a schematic diagram of a robot system according to an embodiment of the present invention.

Detailed Description

In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention.

In the description of the utility model, the claims and the drawings, the description of "first" and "second" is used for distinguishing different structures, components, units and the like, and does not represent a sequential order, nor does it limit the types of the "first" and the "second". In addition, the embodiments described below are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Fig. 1, fig. 2 and fig. 3 are schematic structural diagrams of a self-moving robot according to an embodiment of the present invention. As shown in fig. 1, the self-moving robot includes: the device comprises a machine body 1, a pressure bar assembly 2, a driving wheel assembly 3 and a driving part 7. The compression bar component 2 is movably arranged on the machine body 1; the driving wheel component 3 is movably arranged on the machine body 1 and is linked with the pressure lever component 2; the driving part 7 is in driving connection with the pressure lever assembly 2 and is used for driving the pressure lever assembly 2 to move relative to the machine body 1; the driving wheel assembly 3 acts along with the pressure rod assembly 2 to change the height of the machine body 1 relative to the ground.

The driving component 7 can drive the compression bar assembly to act under the control of the controller. That is, the self-moving robot provided in the present embodiment further includes a controller 4. The controller 4 is disposed on the machine body 1. The controller 4 is used for the work requirement of the self-moving robot and sending a corresponding control instruction to the driving part 7 according to the work requirement. The driving part 7 is electrically connected with the controller 4, is in driving connection with the pressure lever assembly 2, and is used for driving the pressure lever assembly 2 to move relative to the machine body 1 according to the received control instruction.

In the scheme provided by this embodiment, after the driving component drives the press rod assembly to act, the driving wheel assembly acts along with the press rod assembly, and besides the height of the machine body relative to the ground, the travelling posture of the machine body can be changed. For example, the traveling posture shown in fig. 1 is a horizontal posture; the traveling posture shown in fig. 2 is a tilted posture, i.e., the rear part of the body is raised and the front part is unchanged in height.

In summary, the self-moving robot shown in fig. 1, 2 and 3 includes a body 1, a pressing rod assembly 2, a driving wheel assembly 3 and a controller 4. Wherein, the compression bar component 2 is movably arranged on the machine body 1. The driving wheel component 3 is movably arranged on the machine body 1 and is linked with the pressure lever component 2. The controller 4 is arranged on the machine body 1 and used for determining the working requirement of the self-moving robot, determining the action parameters of the pressure lever assembly 2 according to the working requirement and sending corresponding control instructions to the driving part 7 according to the action parameters; the action parameters comprise action directions and action amounts. The driving part 7 is electrically connected with the controller 4, is in driving connection with the pressure lever assembly 2, and is used for driving the pressure lever assembly 2 to move relative to the machine body 1 according to the received control instruction. The driving wheel component 3 moves along with the pressure lever component 2 so as to change the height and the advancing posture of the machine body 1 relative to the ground.

The above-mentioned "movable" is understood to be: the pressure lever assembly can move relative to the machine body, such as rotating relative to the machine body or linear relative to the machine body. "linkage" is understood to mean: if A and B are linked, A acts, and B acts along with A; or B acts, A acts following B; the action modes of A and B can be the same or different. For example, a rotates, and B can rotate or move linearly due to the rotation of a. In this embodiment, the linkage relationship between the plunger assembly and the driving member is as described above.

If the compression bar assembly performs the rotation action, the action direction in the above action parameters can be a clockwise direction or an anticlockwise direction, and the action amount can be a rotation angle; if the pressure lever assembly does linear motion, the motion direction in the motion parameters is a certain linear direction, and the motion amount is the linear motion distance.

The controller determines the working requirement of the self-moving robot, and may be determined based on signals sensed by various sensors on the current self-moving robot, such as a laser radar, a distance sensor, a vision sensor, an attitude sensor (such as a gyroscope), a ground material detection sensor, and a detection circuit (such as a circuit for detecting a working parameter of a motor). For example, the lidar on the self-moving robot detects that there is an obstacle in front of the self-moving robot, and the controller may determine that the work requirement of the self-moving robot is an obstacle crossing requirement based on a detection signal of the lidar. For another example, when the ground material detection sensor on the self-moving robot detects that the self-moving robot currently travels on a carpet, the control can determine that the working requirement of the self-moving robot is to lift the mopping component based on the detection signal of the ground material detection sensor, so as to avoid the mopping component from wet mopping the carpet; and so on.

In an implementation shown in fig. 1, 2 and 3, the pressure lever assembly 2 is rotatably disposed on the machine body 1 through a first rotating shaft 8. The driving wheel assembly 3 is rotatably disposed on the machine body 1 through a second rotating shaft 9. The driving component 7 comprises a motor 71, and the motor 71 drives the compression bar assembly 2 to rotate around the first rotating shaft 8 in a first direction according to the control command. The drive wheel assembly 3 rotates in a second direction about the second rotation axis 9 in response to rotation of the strut assembly 2; the first direction and the second direction are two different directions.

For example, referring to fig. 1, the strut assembly 2 rotates in a clockwise direction about the first rotation axis 8, and the drive wheel assembly 3 rotates in a counterclockwise direction about the second rotation axis 9 under the driving of the strut assembly 2. Alternatively, the strut assembly 2 rotates in a counterclockwise direction about the first rotation axis 8, and the driving wheel assembly 3 rotates in a clockwise direction about the second rotation axis 9 in response to the action of the strut assembly 2 (e.g., the driving wheel assembly 3 can rotate under the elastic restoring force due to the absence of the downward pressure applied by the strut assembly 2). For example, the driving wheel assembly 3 includes a driving wheel 33, a force receiving member 34, a wheel driving unit (not shown in the figure, the wheel driving unit may include a motor, a transmission member, etc.), and the abutting portion 30. The force-receiving member 34 is rotatably connected at one end to the second rotary shaft 9 and at the other end to the axle of the drive wheel 33. Referring to fig. 4, the abutting portion 30 may be disposed on the force receiving member 34. One end of the force receiving member 34 connected to the second rotating shaft 9 may be provided with a spring, such as a torsion spring. Referring to the view shown in fig. 1, after the pressure lever assembly 2 moves down clockwise toward the abutting portion 30 on the force receiving member 34, the force receiving member 34 rotates counterclockwise, so that the driving wheel of the driving wheel assembly 3 extends outward out of the machine body 1, and the corresponding machine body 1 is lifted; at this time, the torsion spring provided at the second rotation shaft 9 is deformed. After the pressure lever assembly rotates counterclockwise to release the stress member 34, the stress member 34 rotates along with the potential needle under the action of the elastic restoring force of the torsion spring to cause the driving wheel of the driving wheel assembly 3 to retract towards the inside of the machine body, and the corresponding machine body 1 descends.

As shown in fig. 1, the first rotation axis 8 is parallel to the second rotation axis 9; the first rotation axis 8 is located at the rear side of the second rotation axis 9 in the traveling direction of the body.

Further, as shown in fig. 2 and 3, the driving member 7 further includes a cam 72; the camshaft of the cam 72 is connected with the power output shaft of the motor 71; the cam 72 abuts against the pressure lever assembly 2 to drive the pressure lever assembly 2 to rotate around the first rotating shaft 8. As shown in fig. 2, the cam 72 may be a semicircular cam, and a cam shaft is connected to one corner of the semicircular cam.

With continued reference to FIG. 2, an achievable embodiment of the strut assembly 2 may include: a press rod 21 and an elastic body 22. Wherein, one end of the pressure lever 21 is rotatably disposed on the machine body 1 through the first rotating shaft 8. One end of the elastic body 22 is fixed on the machine body 1, and the other end is in contact with or connected with the pressure lever 21. Referring to fig. 3, the pressing rod 21 has two opposite first working surfaces 211 and second working surfaces 212, and the first working surfaces 211 and the second working surfaces 212 are respectively located above and below the first rotating shaft 22; the first working surface 211 abuts against the cam 72, and the second working surface 212 contacts with the driving wheel assembly 3.

Specifically, as shown in fig. 2, the driving wheel assembly 3 may include a fixing seat 31 and a roller 32 rotatably disposed on the fixing seat 31. The second working surface 212 is in line contact with the roller 32. The second work surface 212 may have an arcuate pressure section that cooperates with the roller 32.

In one implementation, as shown in fig. 2, the motor 71 may be located above the first rotating shaft 8, which may make full use of space to reduce the external size of the self-moving robot.

Instead of using the solution shown in fig. 2 and 3 to drive the rotation of the pressure lever around the first rotation axis 8, other structures can be used, such as one end of the pressure lever is connected to the power output shaft of a motor, and the motor directly drives the pressure lever to rotate instead of being driven by a cam.

More specifically, referring to fig. 2 and 3, the pressing rod 21 has a first end and a second end extending to the driving wheel assembly 3 along the length direction thereof; the first end has a sleeve shaft 213 rotating synchronously with the first rotating shaft 8; the sleeve shaft 213 has a receiving space 214 around it; the elastic body 22 is a torsion spring, and the torsion spring 22 is arranged in the accommodating space 214; one end of the torsion spring 22 is connected to the first rotating shaft 8, and the other end of the torsion spring applies force to the pressing rod 21.

Referring to fig. 1, the driving wheel assembly 3 includes a wheel axle 33 of the driving wheel, and a top 30 is disposed on the driving wheel assembly 3 above the wheel axle 33; the abutting portion 30 contacts the second working surface 212. Specifically, the abutting portion 30 may include the above-mentioned fixing seat 31 and the roller 32, and the roller 32 contacts the second working surface 212. In the structure shown in fig. 1, it can also be seen that the abutting portion 30 is located between the second rotating shaft 9 and the first rotating shaft 8.

The self-moving robot provided in this embodiment may be a robot with any function, such as a service robot providing corresponding services (e.g., shopping guide, approach, etc.) for a user in a mall, a hotel, or a bank, or a cleaning robot (e.g., a sweeping robot, a mopping robot, or a sweeping and mopping integrated robot), or a patrol robot in a construction site or a factory, etc.

Taking the self-moving robot provided in this embodiment as a floor mopping robot or a sweeping and mopping integrated robot as an example, the self-moving robot further includes a mopping assembly 5 and an auxiliary front wheel 6, as shown in fig. 1, 5 and 6, the mopping assembly 5 is disposed on the machine body 1 and located at the rear side of the driving wheel assembly 3. And the auxiliary front wheel 6 is arranged on the machine body 1 and is positioned at the front side of the driving wheel assembly 3. Correspondingly, the controller 4 is configured to determine an operation parameter of the pressure lever assembly 2 according to a set parameter when the self-moving robot travels to a cleaned area or a mopping prohibited area, so that a traveling posture of the robot body relative to the ground is a backward tilted posture, and a gap exists between the mopping assembly 5 and the ground (as shown in fig. 6); when the self-moving robot gets over the obstacle, the action parameters of the pressure lever assembly are determined according to the posture of the machine body (as shown in figures 7 and 8).

In this embodiment, the controller 4 may determine the motion parameter of the pressing rod assembly based on the setting parameter, so that the machine body can advance in a tilted posture, and thus the mopping assembly 5 may maintain a certain distance from the ground, and is suitable for avoiding the situation that the dirty mopping assembly 5 pollutes the cleaned area when the mopping assembly 5 is dirty. For example, the self-moving robot cleans an area in a field, the controller of the self-moving robot determines that the self-moving robot needs to pass through the cleaned area and return to the base station for charging according to the current remaining power, and at this time, the controller of the self-moving robot can send a corresponding control instruction to the driving component, so that the driving component drives the pressure rod assembly to act according to the set parameters, and the driving wheel assembly follows up, so that the body of the self-moving robot is in a backward tilted posture as shown in fig. 6. Or, the self-moving robot cleans an area in the field, a sensor arranged on the machine body detects that the mopping assembly needs to pass through the cleaned area and return to the base station for cleaning, and similarly, the controller controls the driving component to drive the pressure rod assembly to act according to the set parameters, and the driving wheel assembly follows up, so that the machine body of the self-moving robot is in a backward tilting posture as shown in fig. 6 for advancing. Or, when the sensor on the mobile robot detects that the mobile robot moves to the carpet, the carpet cannot be wet-mopped by using the mopping assembly, at this time, the controller controls the driving component to drive the pressure lever assembly to act according to the set parameters, and the driving wheel assembly follows up, so that the machine body of the mobile robot moves in the backward tilting posture shown in fig. 6, and the machine body returns to the posture shown in fig. 1 through the driving component, the pressure lever assembly and the driving wheel assembly after the floor tile or the wood floor ground is detected from the carpet.

According to the technical scheme provided by the embodiment, the driving part is controlled by the controller to change the height and the advancing posture of the machine body relative to the ground, so that the problems of obstacle crossing and secondary pollution of the mopping piece can be solved, the driving force of the self-moving robot in a wet and slippery state can be improved, and the problem of slippery of the wet machine is solved.

The lifting of the chassis of the machine body is mainly realized by utilizing the active lifting of a machine driving wheel, and referring to the specific structure shown in the figures 1 to 4, the mechanism is that a motor drives a cam to spin a pressure rod, the pressure rod presses down a top part of a driving wheel assembly, the top part is pressed by a pressure rod to cause the driving wheel assembly to swing downwards, and the driving wheel assembly cannot swing downwards due to the limitation of the ground, so that the driving wheel assembly reacts on the chassis of the machine body to lift the chassis of the machine body. After the chassis of the machine body is lifted, the mopping component (such as a cleaning cloth) does not contact the ground, the weight of the whole machine shared by the driving wheel component is increased, the driving force is increased, the machine body can better cross obstacles, meanwhile, the mopping component does not contact the ground, and when the machine returns to a base station, the dirty mopping component cannot pollute other places. In addition, according to the technical scheme provided by the embodiment of the utility model, the machine body is driven by the motor to lift, the rotating angle of the cam can be adjusted according to actual requirements, and the lifting at different heights is realized. The lifting mode is simple, the occupied space is small, other auxiliary wheels are not needed to support the chassis of the machine body, and the lifting can be realized only by the driving wheel assembly. The oscillation of the drive wheel assembly does not interfere with the advancing rotation of the drive wheel itself. The lifting is controlled by the motor, the control mode is simple, and the cost is low. In addition, after the machine body is lifted, the positive pressure of the driving wheel component is increased, so that the driving force is increased, the problem of wet slipping is solved, and meanwhile, the dragging component does not contact the ground when the obstacle is crossed, so that the interference of a machine body chassis and the obstacle is reduced, and the obstacle crossing capability is improved; meanwhile, the problem of secondary pollution of a dirty mopping component to the clean ground is solved, the lifting height can be adjusted according to actual requirements, and if only the cleaning cloth is prevented from contacting the ground, the motor is controlled to rotate by a small angle.

The utility model also provides a cleaning robot. Fig. 5 shows an external view of the bottom of the cleaning robot. The cleaning robot comprises a machine body, a pressure lever assembly, a driving wheel assembly, a controller and a driving part. Wherein, a cleaning device is arranged on the machine body. The compression bar component is movably arranged on the machine body. The driving wheel assembly is movably arranged on the machine body and is linked with the pressure lever assembly. The controller is arranged on the machine body and used for determining the working requirement of the cleaning robot, determining the action parameter of the pressure lever assembly according to the working requirement and sending a corresponding control instruction to the driving part according to the action parameter; the action parameters comprise action directions and action amounts. The driving part is electrically connected with the controller, is in driving connection with the pressure lever assembly, and is used for driving the pressure lever assembly to move relative to the machine body according to the received control instruction. The driving wheel component acts along with the pressure lever component so as to change the height and the advancing posture of the machine body relative to the ground.

The structure of the cleaning robot in this embodiment is similar to that in the above embodiments, and the contents of the specific structures, working principles, and the like of the pressing rod assembly, the driving wheel assembly, the controller, and the driving part can be referred to the corresponding contents in the above, and the details of this embodiment are not repeated.

The cleaning device provided on the machine body provided by the embodiment can comprise: a dust extraction assembly and/or a mopping assembly. Referring to fig. 5, the suction assembly 10 may include a suction port provided at a bottom of the machine body 1, and a roll brush or the like provided at the suction port. The mop assembly 5 may include, but is not limited to: the mop comprises a bracket, a cleaning cloth arranged on the bracket and the like. As shown in fig. 5, in the traveling direction of the cleaning robot, the mopping assembly 5 is located at the rear side of the dust suction opening in the dust suction assembly 10, and the two driving wheels 33 included in the driving wheel assembly 3 are respectively located at both sides of the dust suction opening. The cleaning robot further comprises an auxiliary front wheel 6, the auxiliary front wheel 6 being located at a front side of the driving wheel assembly 3; the controller (not shown in the figure) is used for determining the action parameters of the pressure lever assembly according to set parameters when the cleaning robot moves to a cleaned area or a mopping forbidden area, so that the moving posture of the machine body relative to the ground is a backward tilting posture, and a gap exists between the mopping assembly and the ground; and when the cleaning robot gets over the obstacle, determining the action parameters of the pressure lever assembly according to the posture of the machine body.

Specifically, referring to fig. 5, the driving wheel assembly 3 may comprise two driving wheels 33, and the auxiliary front wheel 6 may be a universal wheel. The driving wheel can rotate around a wheel axle fixed at the bottom of the machine body 1. Under normal operating condition, the driving wheel always contacts the working ground, when a pit hole appears on the ground, or the whole machine is slightly lifted, the driving wheel can freely swing downwards under the action of the torsion spring and the pressure lever assembly and always keeps contacting with the ground.

When the cleaning robot body needs to be lifted, the motor fixed on the body 1 rotates to drive the cam to rotate, the cam is rigidly fixed on an output shaft of the motor, the cam rotates to press the pressing rod of the pressing rod assembly downwards, so that the driving wheel of the driving wheel assembly swings downwards, but the driving wheel is contacted with the ground without a space for swinging downwards, and then a reaction effect is achieved, so that the body is lifted. Because the rotation angle of the motor is controllable, when the whole machine is in face of walking and slipping or secondary pollution is avoided, and the like, only the mopping assembly needs to be slightly lifted off the ground, the motor rotates by a small angle, and the whole machine is slightly lifted. When the whole machine needs to cross the obstacle, the rotation angle of the motor is increased, so that the lifting angle of the whole machine is increased, and the obstacle crossing function is realized.

More specifically, as shown in fig. 6, the bottom front end of the machine body 1 is further provided with a slope 101, and the slope 101 is used for guiding the machine body 1 when the machine body 1 gets over obstacles (such as climbing a slope and climbing a step). The inclined surface 101 is a portion formed at the lower end of the front side of the main body to be inclined at a predetermined angle.

The dust suction assembly 10 includes a roll brush, which is provided on the machine body 1 to be rotatable and to be in contact with the floor to be cleaned. The dust suction assembly 10 further includes a dust suction port formed on the machine body 1 to suck external foreign substances via a suction force generated in the machine body 1.

The ramp 101 is arranged at the foremost of the machine body 1, the auxiliary front wheel 6 being arranged behind the ramp 101. The drive wheel 33 is arranged behind the auxiliary front wheel 6. The height of the auxiliary front wheel 6 does not change relative to the machine body. Unlike the auxiliary front wheels, the drive wheels 33 can be varied relative to the body.

The following describes the operation of the self-moving robot by taking the example that the self-moving robot needs to go over a step. When the sensor of the self-moving robot driving on a horizontal surface senses a front obstacle, such as a step shown in fig. 7, the controller determines whether the self-moving robot can pass over the obstacle according to a parameter (e.g., height) of the obstacle sensed by the sensor. If the controller judges that the obstacle can be crossed, the controller controls the driving wheel assembly to continuously move forward to the front of the obstacle. In the process that the self-moving robot approaches to the step, the bottom inclined plane of the machine body 1 firstly contacts the step. Subsequently, the slope is lifted along the front surface of the step portion by the driving of the driving wheel, and the auxiliary front wheel 6 is moved onto the step by the inclination of the slope and the driving force from the driving wheel, as shown in fig. 7. The driving wheel of the driving wheel assembly 3 continues to rotate under the step and the auxiliary front wheel 6 continues to advance on the step, and the controller may determine whether the auxiliary front wheel is on the step or not based on the sensing signal from the sensor on the mobile robot. When the controller determines that the auxiliary front wheel 6 is on the step, the controller controls the driving part to output power according to the current posture of the machine body so as to drive the press rod assembly and the driving wheel assembly to act and lift the machine body, so that the machine body 1 is in a horizontal posture, as shown in fig. 8. The driving wheel of the driving wheel assembly 3 continues to move forwards until climbing to a step; after the driving wheel climbs to the step, the controller sends a corresponding control instruction to the driving part to control the driving part to output corresponding power so as to drive the press rod component and the driving wheel component, so that the machine body descends to return to the initial posture, such as the contact between the mopping component and the ground.

The controller may determine whether the auxiliary front wheel is on the step by determining a time period for which the body is inclined, and determine that the auxiliary front wheel is on the step if the time period for which the body is inclined exceeds a preset time period; otherwise, the step is not formed. Or, whether the auxiliary front wheel is already on the step is judged by the load applied to the driving wheel, and if the load applied to the driving wheel increases, it is judged that the auxiliary front wheel is already on the step; otherwise, the step is not positioned; for example, reference may be made to corresponding contents in the prior art, and this embodiment will not be described in detail herein.

Referring to fig. 9, the present invention also provides a robot system. The robot system includes a base station 100 and a self-moving robot 200. The specific structure of the self-moving robot 200 can be seen from the above. The base station 100 has a space for accommodating the self-moving robot 200, and provides the self-moving robot 200 with required services, such as a mop cleaning service, a charging service, dust dumping, a water filling service, a sewage recycling service, and the like.

For example, in a scenario that after the mobile robot 200 works for a period of time, the mobile robot has no power, the ash storage bucket is full and needs to be dumped or the mopping assembly is dirty and needs to be cleaned, and the like, and the mobile robot needs to pass through the cleaned area and return to the base station, at this time, in order to avoid secondary pollution to the cleaned area, the controller of the mobile robot 200 may determine the motion parameter of the pressing rod assembly according to a set parameter, so that the moving posture of the machine body relative to the ground is a backward tilted posture (as shown in fig. 6), the mopping assembly has a gap with the ground, and the mobile robot moves to the base station by using the backward tilted posture. Or after the self-moving robot finishes charging, dust pouring or cleaning the mopping assembly in the base station, the self-moving robot continuously works from the cleaned area to the uncleaned area, the controller can control the driving part to output corresponding power, so that the moving posture of the machine body relative to the ground is a backward tilting posture, a gap exists between the mopping assembly and the ground, and the self-moving robot moves away from the base station to a target position by adopting the backward tilting posture.

For another example, the mobile robot 200 may climb a slope before moving to the accommodating space of the base station 100. If the self-moving robot 200 has the wiping component, the height of the chassis of the self-moving robot 200 is usually relatively low, and therefore, before or after traveling to the base station 100, the body of the self-moving robot 200 may be lifted so as to climb into the accommodating space of the base station and reach the accommodating space, and in order to facilitate charging or cleaning the wiping component, the body of the self-moving robot needs to be lowered to the initial height.

The technical solutions provided by the embodiments of the present invention will be described below with reference to specific application scenarios.

Application scenario 1

A user cleans a floor at home using a self-moving robot with a mop (hereinafter, referred to as a floor mopping robot) at home. The mopping robot detects that an obstacle exists in front in the cleaning process, in order to successfully cross the obstacle, a controller of the mopping robot sends a control command to a driving component so that the driving component outputs corresponding power, a driving pressure rod component moves relative to the body of the mopping robot, the driving wheel component moves along with the pressure rod component to extend out of the body downwards, the body is lifted correspondingly, and the mopping robot successfully crosses the obstacle under the driving of the driving wheel component after the body is lifted. After the obstacle is crossed, the controller sends another control instruction to the driving component, so that the driving component controls the action of the pressure rod component according to the received control instruction, the driving wheel component retracts towards the inside of the machine body in a follow-up mode, the opposite machine body descends, the mopping component (such as a cleaning cloth) is contacted with the ground again, and wet mopping cleaning is continuously carried out on the ground.

Application scenario 2

The sweeping and mopping integrated robot has the structure of the above embodiment. The floor sweeping integrated robot cleans the floor in public places such as a shop, a hotel hall, a bank business hall and the like. The ground of the site is cleaned according to the planned path from the base station, and after the cleaning for a while, the controller judges that the cleaning cloth of the sweeping and dragging integrated robot is dirty and needs to be cleaned. At this point, the controller controls the drive wheel assembly to turn back to the base station for charging. Because the path back to the base station needs to pass through the cleaned area, the controller controls the driving part to output corresponding power so as to drive the pressure rod component to act, the driving wheel component extends out of the machine body for a short distance, the extended driving wheel and the auxiliary front wheel enable the sweeping and mopping integrated robot to be in a backward tilting posture, and a gap (shown in figure 6) exists between the mopping component and the ground, so that the dirty mopping component cannot pollute the cleaned area.

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

Claims

1. A self-moving robot, comprising:

a body;

the compression bar component is movably arranged on the machine body;

the driving wheel assembly is movably arranged on the machine body and is linked with the pressure lever assembly;

the controller is arranged on the machine body and used for determining the working requirement of the self-moving robot, determining the action parameter of the pressure lever assembly according to the working requirement and sending a corresponding control instruction to the driving part according to the action parameter; the action parameters comprise action directions and action amounts;

the driving part is electrically connected with the controller, is in driving connection with the pressure lever assembly and is used for driving the pressure lever assembly to move relative to the machine body according to the received control instruction;

the driving wheel component acts along with the pressure lever component so as to change the height and the advancing posture of the machine body relative to the ground.

2. The self-moving robot according to claim 1,

the compression bar assembly is rotatably arranged on the machine body through a first rotating shaft;

the driving wheel assembly is rotatably arranged on the machine body through a second rotating shaft;

the driving component comprises a motor, and the motor drives the compression bar assembly to rotate around the first rotating shaft along the first direction according to the control command;

the drive wheel assembly rotates about the second axis of rotation in a second direction in response to rotation of the strut assembly;

the first direction and the second direction are two different directions.

3. The self-moving robot according to claim 2,

the first rotation axis is parallel to the second rotation axis;

the first rotation shaft is located at a rear side of the second rotation shaft in a traveling direction of the body.

4. The self-moving robot according to claim 2, wherein the driving part further comprises a cam;

the cam shaft of the cam is connected with the power output shaft of the motor;

the cam is abutted against the pressure lever assembly to drive the pressure lever assembly to rotate around the first rotating shaft.

5. The self-propelled robot of claim 4, wherein the strut assembly comprises:

one end of the pressure lever is rotatably arranged on the machine body through the first rotating shaft;

one end of the elastic body is fixed on the machine body, and the other end of the elastic body is in contact with or connected with the pressure lever;

the compression bar is provided with a first working surface and a second working surface which are opposite, and the first working surface and the second working surface are respectively positioned above and below the first rotating shaft; the first working surface is abutted against the cam, and the second working surface is in contact with the driving wheel assembly.

6. The self-moving robot according to claim 5, wherein the motor is located above the first rotation axis.

7. The self-propelled robot of claim 5, wherein said strut has a first end along its length and a second end extending toward said drive wheel assembly;

the first end is provided with a sleeve shaft which rotates synchronously with the first rotating shaft;

the periphery of the sleeve shaft is provided with an accommodating space;

the elastic body is a torsion spring, and the torsion spring is arranged in the accommodating space;

one end of the torsion spring is connected with the first rotating shaft, and the other end of the torsion spring applies force to the pressure lever.

8. The self-propelled robot of claim 5, wherein said drive wheel assembly includes an axle for a drive wheel;

a butting part is arranged on the driving wheel component and above the wheel shaft;

the abutting part is in contact with the second working surface.

9. The self-moving robot according to any one of claims 1 to 8, further comprising:

the dragging and wiping component is arranged on the machine body and is positioned at the rear side of the driving wheel component;

the auxiliary front wheel is arranged on the machine body and positioned on the front side of the driving wheel assembly;

the controller is used for determining the action parameters of the pressure lever assembly according to set parameters when the self-moving robot moves to a cleaned area or a mopping forbidden area, so that the moving posture of the robot body relative to the ground is a backward tilting posture, and a gap exists between the mopping assembly and the ground; and when the self-moving robot gets over the obstacle, determining the action parameters of the pressure lever assembly according to the posture of the machine body.

10. A self-moving robot, comprising:

a body;

the compression bar component is movably arranged on the machine body;

the driving component is in driving connection with the pressure lever assembly and is used for driving the pressure lever assembly to move relative to the machine body;

the driving wheel component acts along with the pressure lever component to change the height of the machine body relative to the ground.

11. A self-moving robot, comprising:

a body;

the compression bar component is movably arranged on the machine body;

the controller is arranged on the machine body and used for determining the working requirement of the self-moving robot and sending a corresponding control instruction to the driving part according to the working requirement;

12. A self-moving robot, comprising:

a body;

the driving wheel assembly is rotatably arranged on the machine body through a second rotating shaft and is linked with the pressure lever assembly;

the controller is arranged on the machine body and used for determining the working requirement of the robot and sending a corresponding control instruction to the motor according to the working requirement;

the motor is electrically connected with the controller, is in driving connection with the pressure lever assembly and is used for driving the cam to rotate according to the received control instruction;

the cam is abutted against the pressure lever assembly to drive the pressure lever assembly to act;

13. The self-propelled robot of claim 12, wherein the drive wheel assembly includes an axle of a drive wheel;

a butting part is arranged between the second rotating shaft and the wheel shaft on the driving wheel component;

the abutting part is contacted with the pressure lever component.