CN218515682U - Cleaning equipment, walking device and cleaning system - Google Patents

Abstract

The application discloses a cleaning device, a walking device and a cleaning system, wherein the cleaning device at least comprises a machine body, a driving assembly and an obstacle crossing assembly, and the driving assembly is positioned at the bottom of the machine body and used for driving the machine body to move; the body is provided with a front direction and a rear direction, an obstacle avoidance space is arranged at the bottom edge position of the rear end of the body, and the obstacle crossing assembly is arranged in the obstacle avoidance space in a telescopic manner; when the body is still arranged on the horizontal ground, at least part of the obstacle crossing assembly is exposed out of the obstacle avoiding space, and the obstacle crossing assembly is not in contact with the ground; when the machine body inclines, the obstacle crossing assembly moves towards the inclination direction of the machine body, so that the obstacle crossing assembly partially enters the obstacle avoiding space. The technical scheme provided by the application can give consideration to the refilling obstacle crossing capability and the cleaning obstacle crossing capability.

Description

Cleaning equipment, walking device and cleaning system

Technical Field

The application relates to the technical field of cleaning, in particular to a cleaning device, a walking device and a cleaning system.

Background

With the improvement of living standard of people, more and more families begin to reduce labor intensity and improve life quality by means of various cleaning devices, such as sweeping robots, automatic floor washers and the like.

Taking a sweeping robot as an example, along with the improvement of user requirements, the improvement of the core performance of the sweeping robot has become a necessary trend in the whole industry, wherein the obstacle crossing capability is a core performance for measuring the quality of the sweeping robot. The obstacle crossing capability comprises recharging obstacle crossing and cleaning obstacle crossing, the recharging obstacle crossing capability of the sweeping robot is improved by adding the rear wheels in the prior art, but when the sweeping robot cleans and crosses the obstacles, the tail end of the machine body is also high by the top of the rear wheels, so that the driving wheels are suspended, the driving wheels cannot generate enough ground grabbing force, and the cleaning obstacle crossing capability of the sweeping robot is finally influenced.

SUMMERY OF THE UTILITY MODEL

An object of the application is to provide a cleaning device, running gear and clean system, can compromise and fill obstacle-surmounting ability and clean obstacle-surmounting ability again.

In order to achieve the above object, one aspect of the present application provides a cleaning apparatus, which includes at least a machine body, a driving assembly and an obstacle crossing assembly, wherein the driving assembly is located at a bottom of the machine body and is used for driving the machine body to move; the body is provided with a front direction and a rear direction, an obstacle avoidance space is arranged at the bottom edge position of the rear end of the body, and the obstacle crossing assembly is arranged in the obstacle avoidance space in a telescopic manner; when the body is still arranged on the horizontal ground, at least part of the obstacle crossing assembly is exposed out of the obstacle avoiding space, and the obstacle crossing assembly is not in contact with the ground; when the machine body inclines, the obstacle crossing assembly moves towards the inclination direction of the machine body, so that the obstacle crossing assembly partially enters the obstacle avoiding space.

In order to achieve the above object, another aspect of the present application further provides a walking device, which at least includes a machine body, a driving assembly and an obstacle crossing assembly, wherein the driving assembly is located at the bottom of the machine body and is used for driving the machine body to move; the projection of the machine body on the ground is an axisymmetric figure, and an obstacle avoidance space is arranged on the symmetric axis of the machine body and close to the edge of one side of the bottom of the machine body; the obstacle crossing assembly is arranged in the obstacle avoiding space in a telescopic mode, when the engine body is arranged on the horizontal ground in a static mode, at least part of the obstacle crossing assembly is exposed out of the obstacle avoiding space, and the obstacle crossing assembly is not in contact with the ground.

In order to achieve the above object, the present application also provides a cleaning system, including a base station and a cleaning device, wherein the base station has a recharging ramp for the cleaning device to walk; the cleaning equipment at least comprises a machine body, a driving assembly and an obstacle crossing assembly, wherein the driving assembly is positioned at the bottom of the machine body and used for driving the machine body to move; the body is provided with a front direction and a rear direction, an obstacle avoidance space is arranged at the bottom edge position of the rear end of the body, and the obstacle crossing assembly is arranged in the obstacle avoidance space in a telescopic manner; when the body is still arranged on the horizontal ground, at least part of the obstacle crossing assembly is exposed out of the obstacle avoiding space, and the obstacle crossing assembly is not in contact with the ground; when the machine body inclines, the obstacle crossing assembly moves towards the inclination direction of the machine body, so that the obstacle crossing assembly partially enters the obstacle avoiding space.

Therefore, according to the technical scheme provided by the application, the cleaning equipment at least comprises a machine body, a driving assembly and an obstacle crossing assembly, wherein the driving assembly is arranged at the bottom of the machine body and is used for driving the machine body to move; the obstacle crossing assembly is arranged in the machine body in a telescopic mode and used for providing help for recharging, crossing and cleaning the cleaning equipment. When the cleaning equipment stands on the horizontal ground, part of the structure of the obstacle crossing assembly is contracted to be positioned in the obstacle avoiding space at the bottom of the machine body, so that the obstacle crossing assembly is not in contact with the ground, and therefore when the cleaning equipment moves on the horizontal ground, the obstacle crossing assembly cannot interfere with the movement of the walking device. When the cleaning equipment is recharged to cross the obstacle or cleaned to cross the obstacle, the machine body can incline, the obstacle crossing assembly can move towards the inclined direction of the machine body under the action of self gravity, and therefore the obstacle crossing assembly can partially enter the obstacle avoiding space. Through the position change of the obstacle crossing assembly in the obstacle crossing space, the inclination angle of the machine body can be corrected, so that the recharging obstacle crossing capability and the cleaning obstacle crossing capability of the cleaning equipment are improved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the description below are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

FIG. 1 is a schematic bottom view of a cleaning apparatus according to one embodiment provided herein;

FIG. 2 is a partial cross-sectional view of a cleaning apparatus in one embodiment provided herein;

FIG. 3 is an exploded view of the structure of a barrier crossing assembly in one embodiment provided herein;

FIG. 4 is a side view of a cleaning device in one embodiment provided herein;

FIG. 5 is a schematic view of an embodiment of a cleaning device of the present application as it provides a cleaning obstacle crossing;

fig. 6 is a schematic view of a cleaning device for obstacle detouring during recharging according to an embodiment of the present disclosure.

Detailed Description

To make the objects, technical solutions and advantages of the present application more clear, embodiments of the present application will be described in further detail below with reference to the accompanying drawings. The use of terms herein such as "upper," "lower," "below," "first end," "second end," "one end," "another end," and the like, to denote relative spatial positions, is for convenience of description to describe one element or feature's relationship to another element or feature as illustrated in the figures. The spatially relative positional terms may be intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "below" or "beneath" other elements or features would then be oriented "above" the other elements or features. Thus, the exemplary term "below" can encompass both an orientation of above and below. The device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

Furthermore, the terms "mounted", "disposed", "provided", "connected", "slidably connected", "fixed" and "sleeved" are to be understood in a broad sense. For example, "connected" may be a fixed connection, a detachable connection, or a unitary construction; can be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements or components. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as the case may be.

With the improvement of living standard of people, more and more families begin to reduce labor intensity and improve life quality by means of various cleaning devices, such as sweeping robots, automatic floor washers and the like. Taking a sweeping robot as an example, along with the improvement of user requirements, the improvement of the core performance of the sweeping robot has become a necessary trend in the whole industry, wherein the obstacle crossing capability is a core performance for measuring the quality of the sweeping robot. The obstacle crossing capability comprises recharging obstacle crossing capability (namely, the robot returns to the base station through a recharging ramp of the base station) and cleaning obstacle crossing capability (namely, the obstacle crossing is carried out in the cleaning process), most of products on the market at present improve the recharging obstacle crossing capability of the sweeping robot through adding rear wheels, the rear wheels are always in contact with the ground, when the sweeping robot carries out recharging, the rear wheels firstly contact the recharging ramp, the rear ends of the machine are lifted by the rear wheels at the moment, interference between the machine body or a mopping module (such as a rag disc or a mop) and the recharging ramp is reduced, and therefore the problem that the machine cannot climb to the recharging height due to insufficient power caused by excessive interference is avoided.

Although the back-filling obstacle-crossing capability of the sweeping robot is improved, when the sweeping robot crosses obstacles and climbs in the normal cleaning process, the tail end of the machine body is also lifted by the top of the rear wheel, so that the front end and the rear end of the machine body are lifted at the same time, the pressure of the machine body acting on the ground is reduced, the driving wheels cannot generate enough ground grabbing force, and the cleaning obstacle-crossing capability of the sweeping robot is finally influenced.

Therefore, how to improve the structure of the traveling device to simultaneously improve the refilling obstacle-surmounting capability and the cleaning obstacle-surmounting capability of the traveling device becomes an urgent issue to be solved in the field.

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. It should be apparent that the embodiments described in this application are only a part of the embodiments of the present application, and not all embodiments. All other embodiments obtained by a person skilled in the art based on the embodiments in the present application without making any creative effort belong to the protection scope of the present application.

Referring to fig. 1-3 together, in one implementable embodiment, the cleaning apparatus 1 includes at least a body 11, a drive assembly 12, and an obstacle crossing assembly 13. It should be noted that the body 11 has a front-rear direction, and the direction indicated by an arrow in fig. 1 is defined as a forward direction of the body 11, and when the forward direction is defined, the positional relationship of "front", "rear", "left" and "right", that is, the front is a direction toward the forward direction, and the rear is opposite to the front, can be determined with reference to the forward direction. Accordingly, with reference to the forward direction, the structural positions of the front end, the rear end, the front half, the rear half, and the like of the body 11 can be determined.

In the present embodiment, the driving assembly 12 is located at the bottom of the machine body 11, and the driving assembly 12 is used for driving the machine body 11 to move. In practical applications, the driving assembly 12 includes at least two main driving wheels 121 and a guiding wheel 123, and the guiding wheel 123 can be installed at the bottom of the machine body 11. Specifically, the guide wheel 123 is installed at a bottom edge position near the front end of the machine body 11, and meanwhile, the guide wheel 123 may be connected to the machine body 11 through a steering bearing, so that the guide wheel 123 may rotate at the bottom of the machine body 11. An obstacle avoidance space 111 is arranged at the bottom edge position of the rear end of the machine body 11, the obstacle crossing assembly 13 is telescopically arranged in the obstacle avoidance space 111, and the obstacle crossing assembly 13 can move in the obstacle avoidance space 111.

When the machine body 11 is still placed on the horizontal ground, part of the structure of the obstacle crossing assembly 13 is contracted to be positioned inside the obstacle avoiding space 111, and part of the structure is positioned outside the obstacle avoiding space 111, and when the machine body 11 is placed on the horizontal ground, the obstacle crossing assembly 13 is not in contact with the ground, namely, a gap exists between the obstacle crossing assembly 13 and the ground. In this manner, when the cleaning apparatus 1 moves on a horizontal floor, the obstacle crossing assembly 13 will not contact the floor, and the obstacle crossing assembly 13 will not interfere with the horizontal movement of the cleaning apparatus 1. When the body 11 inclines, the obstacle crossing assembly 13 moves in the direction of inclination of the body 11 under the action of its own gravity, so that the obstacle crossing assembly 13 is displaced inside the obstacle avoidance space 111, and thus, at least part of the structure of the obstacle crossing assembly 13 originally located outside the obstacle avoidance space 111 will enter the inside of the obstacle avoidance space 111.

For example, when the cleaning apparatus 1 performs a cleaning work, if the cleaning apparatus 1 needs to pass over an obstacle, assuming that there is an obstacle in its traveling direction, the cleaning apparatus 1 needs to perform cleaning crossing. In the process of climbing the obstacle, the machine body 11 will incline towards the rear end, that is, the front end of the machine body 11 will be higher than the rear end of the machine body 11, and at this time, the obstacle crossing component 13 will also move towards the rear end of the machine body 11 under the action of its own gravity. With the movement of the obstacle crossing assembly 13, the structure of the obstacle crossing assembly 13 exposed to the obstacle avoidance space 111 will also partially enter the inside of the obstacle avoidance space 111. For another example, when the cleaning device 1 needs to be returned to the base station for charging, filling with fresh water, etc., the cleaning device 1 will be returned to the base station through the recharging ramp of the base station, and then the cleaning device 1 needs to be recharged to cross the obstacle. During climbing the recharging ramp, the body 11 will incline towards the front end, i.e. the rear end of the body 11 will be higher than the front end of the body 11, at this time, the obstacle crossing assembly 13 will also move towards the front end of the body 11 under the effect of its own weight. With the movement of the obstacle crossing assembly 13, the structure of the obstacle crossing assembly 13 exposed to the obstacle avoidance space 111 will also partially enter the inside of the obstacle avoidance space 111.

Further, the bottom of the machine body 11 is provided with a plurality of obstacle avoidance spaces 111, and a plurality of obstacle crossing assemblies 13 corresponding to the number of the obstacle avoidance spaces 111. Each obstacle avoidance space 111 is provided with an obstacle crossing assembly 13 inside, and when the machine body 11 inclines, the obstacle crossing assembly 13 can move towards the inclination direction of the machine body 11 under the action of self gravity, so that the obstacle crossing assembly 13 partially enters the obstacle avoidance space 111. Through the position change of the obstacle crossing assembly 13 in the obstacle crossing space 111, the inclination angle of the machine body 11 can be corrected, thereby improving the refilling obstacle crossing capability and the cleaning obstacle crossing capability of the cleaning device 1.

In one implementation, as shown in fig. 3, the obstacle detouring assembly 13 includes at least a roller 131, a bracket 132, a first shaft 133, and a second shaft 134, wherein the bracket 132 has a first through hole 1321 and a second through hole 1322. When the obstacle crossing assembly 13 is assembled, the first shaft 133 may pass through the first through hole 1321, so that the bracket 132 is fitted over the first shaft 133. After the first shaft 133 passes through the first through hole 1321, two ends of the first shaft 133 may be rotatably connected to the inside of the obstacle avoidance space 111, so that the bracket 132 may be movably connected to the inside of the obstacle avoidance space 111 through the first shaft 133. Meanwhile, the second shaft 134 sequentially passes through the second through hole 1322 and the central hole 1311 of the roller 131, so that the roller 131 is sleeved on the second shaft 134, and the roller 131 is rotatably connected to the bracket 132 through the second shaft 134.

It should be noted that parameters such as the diameter of the roller 131, the size of the bracket 132, and the distance between the first shaft 133 and the second shaft 134 may be set with reference to the size of the obstacle avoidance space 111, so as to ensure that the roller 131 is at least partially exposed out of the obstacle avoidance space 111 when the obstacle avoidance assembly 13 is installed inside the obstacle avoidance space 111, and ensure that the roller 131 does not contact the ground when the machine body 1 is resting on a horizontal ground.

In practical applications, since the roller 131 can move inside the obstacle avoidance space 111 along with the swinging of the bracket 132, in an extreme case, the roller 131 may contact with an inner wall of the obstacle avoidance space 111, thereby interfering with the rotation of the roller 131. To avoid direct contact of the rollers 131 with the inner walls of the obstacle avoidance space 111, in an implementable embodiment, the carriage 132 is further provided with a wheel arch 1323. Specifically, the wheel arch 1323 is located between the first through hole 1321 and the second through hole 1322, and the wheel arch 1323 has an arc shape whose arc opening is directed toward the second through hole 1322. When the roller 131 is attached to the bracket 132, the roller 131 is at least partially disposed within the wheel arch 1323, i.e., the roller 131 is partially wrapped by the wheel arch 1323. At this time, the wheel arch 1323 may serve as a transition structure between the roller 131 and the obstacle avoidance space 111, so as to prevent the roller 131 from directly contacting the inner wall of the obstacle avoidance space 111.

In an implementation manner, the obstacle avoidance space 111 may be formed by being recessed inward from the bottom surface of the body 11, a concave fixing groove is provided on a cavity wall of the obstacle avoidance space 11, and both ends of the first shaft 133 may be engaged in the concave fixing groove, so that the first shaft 133 may rotate in the concave fixing groove. When the obstacle crossing assembly 13 is installed inside the obstacle avoidance space 111, the obstacle crossing assembly 13 may be regarded as being suspended inside the obstacle avoidance space 111, and the roller 131 may extend out of or retract into the obstacle avoidance space 111 along with the swing of the bracket 132.

Optionally, a housing gap may be disposed at the rear end of the machine body 11, and the housing gap is communicated with the obstacle avoidance space 111, so that the obstacle avoidance space 111 has an opening in a direction toward the rear end of the machine body 11. When the roller 131 and the bracket 132 move toward the upper half of the obstacle avoidance space 111, a part of the structure of the roller 131 and the bracket 132 may be exposed from the above-described case gap. With the above structure, the space for accommodating the roller 131 and the bracket 132 can be increased as much as possible without increasing the space occupied by the obstacle avoidance space 111 in the machine body 11.

Two specific examples of the motion state of the roller 131 are provided in the present application, but not limited thereto.

In the first embodiment, as shown in fig. 5, with the view angle of fig. 5 as a reference frame, it is assumed that an obstacle exists in the forward direction of the body 11. When the machine body 11 moves forward, the guide wheels 123 contact with the obstacle first, and as the two main driving wheels 121 continue to move forward, the guide wheels 123 climb onto the obstacle, and at this time, the machine body 11 inclines from the front end to the rear end, namely, the front half of the machine body 11 is higher than the rear half of the machine body 11. As the guide wheel 123 further climbs, the roller 131 will contact the ground, and under the pressure of the ground, the roller 131 will receive an upward force perpendicular to the contact surface (i.e., the ground), and under the action of the upward force, the roller 131 will move upward. Meanwhile, since the roller 131 is connected to the bracket 132, and the bracket 132 is movably connected to the inside of the obstacle avoidance space 111 through the first shaft 133, the roller 131 drives the bracket 132 to rotate clockwise around the first shaft 133, that is, the roller 131 drives the bracket 132 to rotate around the first shaft 133 toward the rear end of the body 11. In other words, the roller 131 and the bracket 132 will move toward the upper half of the obstacle avoidance space 111, so that a part of the structure of the roller 131 is further retracted into the inside of the obstacle avoidance space 111.

When the roller 131 retracts into the obstacle avoidance space 111, the roller 131 cannot lift the rear half part of the body 11, the two main driving wheels 121 can normally contact with the ground, the ground gripping force of the two main driving wheels 121 cannot be affected, and therefore the cleaning obstacle avoidance capability of the body 11 cannot be affected.

In the second embodiment, as shown in fig. 6, with the view angle of fig. 6 as a reference frame, it is assumed that the body 11 has a slope in the backward direction. When the body 11 moves backward and climbs (for example, the body 11 returns to the base station for charging), the roller 131 first contacts the slope, and as the two main driving wheels 121 continue to move in the backward direction, the roller 131 will move along the slope upward, and the body 11 is tilted from the rear end to the front end, i.e. the rear half of the body 11 is higher than the front half of the body 11. As the roller 131 continues to move up the slope, the roller 131 is pressed by the slope to receive an upward force perpendicular to the contact surface (i.e., the slope), which can be decomposed into an upward force component perpendicular to the horizontal surface and a force component opposite to the retreating direction. The roller 131 is moved toward the front end of the body 11 by a component force in the direction opposite to the retreating direction. Since the roller 131 is connected to the bracket 132, and the bracket 132 is movably connected to the inside of the obstacle avoidance space 111 through the first shaft 133, the roller 131 drives the bracket 132 to rotate counterclockwise around the first shaft 133, that is, the roller 131 drives the bracket 132 to rotate around the first shaft 133 toward the front end of the body 11.

Further, as the bracket 132 moves toward the front end of the body 11, the wheel arch 1323 on the bracket 132 abuts against the inner wall of the obstacle avoidance space 111. After the wheel arch 1323 abuts against the inner wall of the obstacle avoidance space 111, the bracket 132 stops rotating around the first shaft 133, and as the two main driving wheels 121 continue to move in the retreating direction, the roller 131 makes a circular motion around the second shaft 134, and the roller 131 raises the rear half part of the machine body 11, so as to reduce the friction force between the bottom of the machine body 11 and the slope, thereby helping the machine body 11 to move upward from the slope, and improving the refilling and obstacle crossing capability of the machine body 11.

To ensure that the roller 131 can be quickly reset after the obstacle detouring of the body 11 is completed, in an implementable embodiment, the obstacle detouring assembly 13 further includes a torsion spring 135. The torsion spring 135 can be sleeved on the first shaft 133, and meanwhile, the rotating arm of the torsion spring 135 is respectively clamped with the obstacle avoidance space 111 and the bracket 132, and the rotation center of the torsion spring 132 coincides with the first shaft 133. When the bracket 132 rotates clockwise around the first shaft 133, the bracket 132 rotates clockwise around the center of rotation of the torsion spring 132, and the torsion spring 132 deforms to generate a torque, which acts on the bracket 132 to make the bracket 132 have a tendency to return to the initial rotation position. When the body 11 finishes obstacle crossing, the roller 131 is separated from the ground, and the roller 131 will not be subjected to an upward force perpendicular to the ground. Therefore, the bracket 132 will return to the initial rotation position under the action of the torsion spring 132, and the bracket 132 will also drive the roller 131 to return to the initial position.

It should be noted that, when the torsion spring 132 is manufactured, the torsion of the torsion spring 132 can be controlled by adjusting parameters such as the material, the spiral diameter, the arm length, etc. of the torsion spring 132, so that the torsion spring 132 is only used for realizing the return motion of the roller 131.

As described above, when the body 11 performs a backward climbing motion, the roller 131 is pressed by the slope to receive an upward force perpendicular to the slope, which can be decomposed into an upward component perpendicular to the horizontal surface and a component opposite to the backward direction, however, the upward component perpendicular to the horizontal surface tends to move the roller 131 toward the upper half of the obstacle avoidance space 111. In some situations, for example, when the roller 131 is suspended inside the obstacle avoidance space 111, the center of the roller 131 does not coincide with the gravity line of the roller 131, and at this time, under the action of the upward component force perpendicular to the horizontal ground, the roller 131 moves to a side biased to the center of the circle.

If the center of the roller 131 is close to the end of the machine body 11, when the machine body 11 performs backward and uphill movements, the roller 131 will rotate toward the rear end of the machine body 11 and retract into the obstacle avoidance space 111. At this time, the roller 131 cannot lift the rear half portion of the body 11, so that the friction between the bottom of the body 11 and the slope cannot be reduced, and the roller 131 cannot help the body 11 move upward from the slope. Therefore, to ensure that the roller 131 can move toward the front end of the body 11 when the body 11 performs the backward climbing motion, in an realizable embodiment, as shown in fig. 2, the torsion spring 132 may be configured as: when the roller 131 is not in contact with the ground, the projection a of the center of the roller 131 on the ground is located in front of the projection b of the first shaft 133 on the ground under the action of the torsion spring 132. With such a structure, when the body 11 performs a backward climbing movement, the roller 131 moves to a side (i.e. the front end of the body 11) deviated from the center of the circle, so that the roller 131 can lift the rear half of the body 11, thereby reducing the friction between the bottom of the body 11 and the slope and improving the climbing capability of the body 11.

In an implementation, the roller 131 may be internally provided with a hub motor electrically connected to the battery pack inside the machine body 11. When the hub motor works, the hub motor can drive the roller 131 to rotate around the second shaft 134, and the rotating roller 131 can provide auxiliary power for the cleaning device 1, so that the climbing capacity of the cleaning device 1 is improved. In practical applications, the cleaning apparatus 1 may recognize an obstacle or a recharging ramp by means of a vision sensor, an AI algorithm, or the like, and then control the operating state of the in-wheel motor to apply the driving force to the roller 131. The in-wheel motor cooperates with the two main driving wheels 121 to further improve the cleaning and obstacle crossing capabilities and the recharging and obstacle crossing capabilities of the cleaning device 1. For the specific structure of the hub motor, reference may be made to the prior art, and details thereof are not described herein.

In an implementable embodiment, the cleaning device 1 further comprises a mopping module 2, and the mopping module 2 can be arranged at the bottom of the machine body 11 and between the driving assembly 12 and the obstacle crossing assembly 13. Further, the mopping module 2 can be connected with a driving mechanism, and under the action of the driving mechanism, the mopping module 2 can do circular motion or linear reciprocating motion at the bottom of the machine body 11, so as to improve the cleaning effect on the ground.

In practical application, when the cleaning device 1 performs cleaning operation, the mopping module 2 needs to be in contact with the ground, and the distance between the obstacle crossing component 13 and the ground needs to be greater than zero (i.e. the obstacle crossing component 13 does not contact with the ground), so as to ensure that the obstacle crossing component 13 does not affect the operation of the mopping module 2 in a free state. When the cleaning device 1 performs backward climbing movement, the interference amount between the mopping module 2 and the slope is increased, the compression amount of the mopping module 2 is increased accordingly, and accordingly, the friction force between the mopping module 2 and the slope is increased. It is assumed that the frictional force between the mopping module 2 and the slope is equal to the maximum driving force that the driving unit 12 can generate when the compression amount of the mopping module 2 reaches β. In order to ensure that the cleaning device 1 can move normally, the distance between the obstacle crossing assembly 13 and the ground is required to be less than β, that is, before the friction force between the mopping module 2 and the slope is greater than the maximum driving force generated by the driving assembly 12, the obstacle crossing assembly 13 must contact the slope, so as to avoid that the cleaning device 1 cannot climb the slope normally due to insufficient power of the driving assembly 12. For convenience of description, the space between the obstacle crossing component 13 and the ground is denoted as GAP, and the value range of GAP needs to satisfy 0 < GAP < beta.

In an implementable embodiment, the mopping module 2 comprises at least two cloth trays 21, the two cloth trays 21 are distributed at two sides of the bottom of the machine body 11, and the obstacle crossing assembly 13 is positioned between the two cloth trays 21. Alternatively, the shape of the cloth tray 21 is circular, the cloth tray 21 can rotate at the bottom of the machine body 11, and a gap exists between the two cloth trays 21, which can prevent interference when the two cloth trays 21 rotate. The obstacle avoidance space 111 may be provided in the above gap region, thereby making the structure of the body 11 more compact.

It should be noted that in another embodiment, the floor mopping module 2 may also include only one rag tray 21, or three or more rag trays 21, and the number of the rag trays 21 is not limited in the present application.

In an implementable embodiment, the body 11 has a projected area on the ground, the projection of the two cloth trays 21 on the ground being at least partially outside the projected area. That is, the two mop trays 21 are at least partially exposed out of the outer contour of the machine body 11, so that the effective cleaning area of the mop tray 21 can be increased without increasing the volume of the machine body 11.

Optionally, the mopping module 2 further includes a lifting member 22, wherein the lifting member 22 is disposed inside the body 11, and the rag tray 21 is connected to the lifting member 22. The lifting member 22 can be extended and contracted inside the machine body 11 to adjust the distance between the cloth tray 21 and the ground. The lifting member 22 may be a scissor lift structure, a screw lift structure, a crank lift structure, etc., which are not limited in this application. In practical applications, when the cleaning device 1 climbs, the cleaning device 1 may control the lifting member 22 to contract towards the inside of the machine body 11, so as to increase the distance between the rag tray 21 and the ground, and reduce the friction between the machine body 11 and the ground. By providing the lifting member 22 in the cleaning apparatus 1, the cleaning and obstacle detouring capabilities and the refill obstacle detouring capabilities of the cleaning apparatus 1 can be further improved.

Optionally, in an implementation manner, a tilt sensor may be further disposed in the cleaning device 1, and the tilt sensor is configured to detect a change in a horizontal angle of the body 11 to control an amount of extension and retraction of the lifting member 22.

The present application further provides a walking device, please refer to fig. 1 to fig. 2 together, the walking device at least includes a body 11, a driving assembly 12 and an obstacle crossing assembly 13. The driving assembly 12 is located at the bottom of the machine body 11, and the driving assembly 12 is used for driving the machine body 11 to move. The outer contour of the body 11 is constructed in an axisymmetric pattern so that the projection of the body 11 on the ground is an axisymmetric pattern. An obstacle avoidance space 111 is provided on the symmetry axis of the machine body 11 and near the edge of one side of the bottom of the machine body 11. The obstacle crossing assembly 13 is telescopically arranged in the obstacle avoidance space 111, when the machine body 11 is statically arranged on a horizontal ground, at least part of the obstacle crossing assembly 13 is exposed out of the obstacle avoidance space 111, and at the moment, the obstacle crossing assembly 13 is not in contact with the ground. It should be noted that the walking device may be present as a part of the cleaning apparatus 1, and the specific structure of the obstacle crossing assembly 13 may refer to the content of the above embodiments, which are not described herein.

In practical applications, the outer contour of the body 11 may be configured as a circular, rectangular, or rounded rectangular equiaxed figure. For ease of understanding, the external contour of the machine body 11 is described as a rounded rectangle hereinafter. The body 11 hasbase:Sub>A forward direction, the axis of symmetry of the body 11 is shown asbase:Sub>A-base:Sub>A' in fig. 1, and an obstacle avoidance space 111 may be provided atbase:Sub>A bottom edge of the body 11, and specifically, the obstacle avoidance space 111 may be formed by being recessed inward frombase:Sub>A bottom surface of the body 11, and the obstacle avoidance space 111 is used for accommodating the obstacle crossing assembly 13. In order to ensure the stability of the body 11 during movement, the obstacle avoidance space 111 may be disposed on the symmetry axisbase:Sub>A-base:Sub>A 'of the body 11, i.e. the center line of the obstacle avoidance space 111 coincides with the symmetry axisbase:Sub>A-base:Sub>A' of the body 11.

When the obstacle crossing assembly 13 is installed inside the obstacle crossing space 111, part of the structure of the obstacle crossing assembly 13 may be exposed from the obstacle crossing space 111, that is, the obstacle crossing assembly 13 is not completely wrapped by the obstacle crossing space 111. Meanwhile, under the action of force, the obstacle crossing assembly 13 can move inside the obstacle avoidance space 111, so as to extend or retract into the obstacle avoidance space 111. In other words, when the obstacle crossing assembly 13 is subjected to an external force, the structure of the obstacle crossing assembly 13 exposed to the obstacle avoidance space 111 will increase or decrease. It should be noted that, when the walking device is placed on the horizontal ground statically, the gravity line of the walking device is perpendicular to the horizontal ground, the walking device is in a balanced state, the resultant force applied to the walking device is zero, a part of the structure of the obstacle crossing assembly 13 is contracted to be located in the obstacle avoiding space 111 at the bottom of the machine body 11, and the obstacle crossing assembly 13 is not in contact with the ground, that is, a gap exists between the obstacle crossing assembly 13 and the ground. Therefore, when the walking device moves on the horizontal ground, the obstacle crossing assembly 13 is not in contact with the horizontal ground, and the obstacle crossing assembly 13 cannot interfere with the horizontal movement of the walking device.

In an implementable embodiment, the drive assembly 12 includes at least a drive motor (not shown), a reducer (not shown), and two main drive wheels 121. Specifically, the driving motor and the reducer may be disposed inside the machine body 11, and the driving motor is in transmission connection with the reducer, which may be a planetary reducer. Two mounting seats 112 are symmetrically arranged at the bottom of the machine body 11, and two main driving wheels 121 are respectively mounted in the two mounting seats 112. Both ends of the output shaft 122 of the decelerator are connected to the two main driving wheels 121, respectively, and the output shaft 122 is substantially perpendicular to the symmetry axisbase:Sub>A-base:Sub>A 'of the machine body 11, so thatbase:Sub>A line connecting the two main driving wheels 121 is substantially perpendicular to the symmetry axisbase:Sub>A-base:Sub>A' of the machine body 11. In this way, the driving force generated by the two main driving wheels 121 is approximately parallel to the symmetry axisbase:Sub>A-base:Sub>A' of the machine body 11, thereby reducing the direction deviation when the walking device moves.

In practical application scenarios, the traveling device needs to have multiple motion states, such as climbing, linear reciprocating, rotating around a point, etc., and different motion states need different rotation speeds and torques of the main driving wheel 121. Therefore, the main driving wheel 121 and the driving motor are connected by a reducer, and the output rotation speed and torque of the driving motor can be adjusted by the reducer, thereby controlling the rotation speed and torque of the main driving wheel 121. It should be noted that the main driving wheel 121 may be a track wheel, a spoke wheel, or other device for carrying the walking device to walk, and the application is not limited to the form of the main driving wheel 121.

To further improve the stability of the walking device during movement, the placement position of the components inside the machine body 11 can be adjusted so that the geometric center R of the machine body 11 is approximately coincident with the center of gravity P of the machine body 11. When the geometric center R of the body 11 substantially coincides with the center of gravity P of the body 11, the pitching motion generated when the traveling device moves can be suppressed. Further, the position of the decelerator at the bottom of the body 11 may be configured to: the projection of the center of gravity P of the body 11 on the ground is a predetermined distance from the projection of the output shaft 122 on the ground. The preset distance may be set according to an empirical value, for example, the preset distance is set to 1cm. The output shaft 122 of the speed reducer is arranged close to the center of gravity P of the machine body 11, so that the connecting line between the two main driving wheels 121 is as close as possible to the center of gravity P of the machine body 11, thereby reducing the pitching motion of the traveling device and reducing the load of the speed reducer during operation.

Alternatively, in an implementable embodiment, the projection of the center of gravity P of the body 11 on the ground is located on the projection of the output shaft 122 on the ground, i.e. the preset distance between the projection of the center of gravity P on the ground and the projection of the output shaft 122 on the ground is zero. At this time, a gravity line of the body 11 (i.e., a projection of the center of gravity P of the body 11 on the ground) intersects a line connecting the two main driving wheels 121. Thus, when the machine body 11 is standing on a horizontal ground, the machine body 11 can be kept in a substantially balanced state on the horizontal plane. That is, the machine body 11 can be divided into a front half and a rear half by using a line between the two main driving wheels 121 as a boundary, and when the machine body 11 is stood on a horizontal ground, the machine body 11 can ensure that the front half and the rear half are substantially on the same horizontal line by the two main driving wheels 121. When the projection of the center of gravity P on the ground is located above the projection of the output shaft 122 on the ground, the body 11 can maintain a self-balancing state on the horizontal ground, and the above structural arrangement can ensure that the obstacle crossing assembly 13 does not contact with the ground when the body 11 moves on the horizontal ground, can also reduce the pitching motion of the walking device as much as possible, and can reduce the working load of the speed reducer.

In an implementation, the driving assembly 12 further includes a guide wheel 123, and the guide wheel 123 can rotate 360 degrees horizontally, so as to guide the moving direction of the machine body 11. In practical applications, the guide wheel 123 may be installed at the bottom of the body 11, and specifically, the guide wheel 123 is installed near the bottom edge of the body 11. Meanwhile, the guide wheel 123 may be connected to the body 11 through a steering bearing so that the guide wheel 123 may rotate at the bottom of the body 11. Further, the installation position of the guide wheel 123 may be set on the symmetry axisbase:Sub>A-base:Sub>A' of the machine body 11, and the installation position of the guide wheel 123 and the installation position of the obstacle crossing assembly 13 (i.e. the obstacle avoidance space 111) are distributed on both sides of the bottom of the machine body 11, that is, the guide wheel 123 is disposed at the bottom of the machine body 11 opposite to the obstacle crossing assembly 13.

Optionally, in one implementable embodiment, the drive assembly 12 further includes a steering motor (not shown). The steering motor may be disposed inside the body 11 and connected to the guide wheel 123. In practical applications, the steering motor can adjust the rotation direction of the guide wheel 123 based on the signal sent by the central controller, so as to control the movement direction of the machine body 11. Further, the guide wheels 123 are equidistant from the two main driving wheels 121, and the guide wheels 123 and the two main driving wheels 121 are arranged at the bottom of the machine body 11 in a substantially triangular shape. When the machine body 1 is positioned on a horizontal ground, the guide wheels 123 and the two main driving wheels 121 are simultaneously in contact with the ground, thereby stably supporting the machine body 1 on the ground, and when the machine body 1 moves on the ground, the above-mentioned triangular structure can also ensure that the movement of the machine body 1 is more stable.

It should be noted that in an implementation, the steering motor may not be provided in the driving assembly 12, and the moving direction of the body 11 is controlled by the differential motion between the two main driving wheels 121, and the steering action of the guiding wheels 123 is driven by the two main driving wheels 121. Of course, in such a scenario, a differential would need to be introduced between the two primary drive wheels 121. For the specific structure of the two-wheel differential motion, reference may be made to the prior art, which is not described herein in detail.

The present application further provides a cleaning system, which includes a base station (not shown) and a cleaning device 1, wherein the base station has a recharging ramp for the cleaning device 1 to walk, and the cleaning device 1 can be docked with the base station through the recharging ramp, so as to complete operations of charging, filling clean water, discharging sewage, etc. The cleaning device 1 includes at least a body 11, a drive assembly 12, and an obstacle crossing assembly 13. The driving assembly 12 is located at the bottom of the machine body 11, and the driving assembly 12 is used for driving the machine body 11 to move. The body 11 has a front-back direction, an obstacle avoidance space 111 is arranged at a bottom edge position of the rear end of the body 11, the obstacle crossing assembly 13 is telescopically arranged in the obstacle avoidance space 111, and the obstacle crossing assembly 13 can move in the obstacle avoidance space 111. When the machine body 11 is still placed on the horizontal ground, part of the structure of the obstacle crossing assembly 13 is contracted to be positioned inside the obstacle avoiding space 111, and part of the structure is positioned outside the obstacle avoiding space 111, and when the machine body 11 is placed on the horizontal ground, the obstacle crossing assembly 13 is not in contact with the ground, namely, a gap exists between the obstacle crossing assembly 13 and the ground. In this manner, when cleaning device 1 is moved on a horizontal floor surface, obstacle crossing assembly 13 will not contact the floor surface, and obstacle crossing assembly 13 will not interfere with the horizontal movement of cleaning device 1. When the body 11 inclines, the obstacle crossing assembly 13 moves in the direction of inclination of the body 11 under the action of its own gravity, so that the obstacle crossing assembly 13 moves inside the obstacle avoidance space 111, and thus, a structure of the obstacle crossing assembly 13 originally located outside the obstacle avoidance space 111 will at least partially enter the inside of the obstacle avoidance space 111. The specific structure of the cleaning device 1 can refer to the content of the above embodiments, and will not be described herein.

The following description is made in detail with reference to a specific application scenario, taking a cleaning device as a sweeping robot as an example.

Application scenario one

The sweeping robot is used for sweeping the ground in the Mingming field, and when the sweeping robot finishes sweeping, the sweeping robot needs to return to a base station to discharge sewage. The sweeping robot moves to the position near the base station through the base station, then moves to the recharging ramp of the base station through the visual sensor, and then performs recharging and climbing movement.

When the sweeping robot carries out recharging and climbing motions, the roller at the tail end of the sweeping robot is firstly contacted with the recharging ramp, so that the bottom of the sweeping robot is prevented from being directly contacted with the recharging ramp, and the recharging and obstacle crossing capacity of the sweeping robot is improved. Meanwhile, the roller moves towards the front end of the sweeping robot and is pushed out of the bottom of the sweeping robot along with the movement of the sweeping robot to the upper part of the recharging ramp, so that the roller further lifts the rear half part of the sweeping robot, the excessive interference contact condition between the sweeping robot and the recharging ramp is relieved, and the recharging obstacle crossing capability of the sweeping robot is finally improved.

Application scenario two

When the robot leaves the house, the automatic sweeping mode of the sweeping robot is started. The floor sweeping robot starts to sweep the house, in the sweeping process, the floor sweeping robot continuously utilizes the vision sensor and the laser sensor to model the house, and utilizes the AI algorithm to identify terrains such as stairs and slopes, and obstacles such as table legs and flowerpots. When the sweeping robot walks to the position near the stairs, the sweeping robot firstly acquires data of the stairs through the sensor, then calculates by using an AI algorithm, and finally judges that the sweeping robot can cross the stairs. The sweeping robot moves forwards towards the stairs, the guide wheel of the sweeping robot is firstly contacted with the stairs, the guide wheel moves forwards continuously along with the main driving wheel, the guide wheel climbs onto the stairs, the sweeping robot inclines from the front end to the rear end at the moment, the roller is contacted with the ground, under the compression of the ground, a part of structure of the roller retracts into the interior of the obstacle avoidance space, and when the roller reaches the maximum compression stroke, the sweeping robot controls the hub motor to start so as to drive the roller to rotate. The pivoted gyro wheel can provide auxiliary power for sweeping the floor the robot to improve the climbing ability of sweeping the floor the robot. Under the combined action of the main driving wheel and the hub motor, the sweeping robot finally climbs over stairs, then the sweeping robot controls the hub motor to stop working, the main driving wheel continues working to drive the sweeping robot to walk, and the sweeping robot sweeps the ground while walking.

Therefore, according to the technical scheme provided by the application, the cleaning equipment at least comprises a machine body, a driving assembly and an obstacle crossing assembly, wherein the driving assembly is arranged at the bottom of the machine body and used for driving the machine body to move; the obstacle crossing assembly is arranged in the machine body in a telescopic mode and used for providing assistance for recharging, crossing and cleaning the cleaning equipment. When the cleaning equipment stands on the horizontal ground, part of the structure of the obstacle crossing assembly shrinks and is positioned in the obstacle avoiding space at the bottom of the machine body, so that the obstacle crossing assembly is not in contact with the ground, and thus, when the cleaning equipment moves on the horizontal ground, the obstacle crossing assembly cannot interfere with the movement of the walking device. When the cleaning equipment cleans and crosses obstacles, the cleaning equipment inclines from the front end of the machine body to the rear end of the machine body under the action of the obstacles, so that the obstacle crossing assembly is contacted with the ground. Under the oppression on ground, in the subassembly will further the retraction keeps away the barrier space of crossing the barrier, this just makes the rear end that the organism can't be raised to the subassembly of crossing the barrier, drive assembly can normally contact with ground, has guaranteed that drive assembly can produce sufficient land fertility of grabbing, and cleaning device's clean ability of crossing the barrier can not receive the influence. When the cleaning equipment is recharged and gets over the obstacle, the obstacle-crossing assembly can be in contact with the recharging ramp, so that the bottom of the cleaning equipment is prevented from being directly in contact with the recharging ramp, and the recharging and obstacle-crossing capacity of the cleaning equipment is improved. Simultaneously, along with cleaning device removes to recharging ramp top, the subassembly of crossing the obstacle will be pushed out and keep away the barrier space under the oppression of recharging ramp, and the subassembly of crossing the obstacle like this will lift the rear end of organism to alleviate the excessive interference contact condition between organism and the recharging ramp, finally further promote cleaning device's recharging ability of crossing the obstacle. Through the position change of the obstacle crossing assembly in the obstacle avoidance space, the inclination angle of the machine body can be corrected, so that the recharging obstacle crossing capability and the cleaning obstacle crossing capability of the cleaning equipment are improved.

Furthermore, the obstacle crossing assembly can automatically extend or retract the machine body under the action of gravity only by utilizing the inclination angle of the machine body, and compared with a telescopic structure driven by an external power source, the obstacle crossing assembly can reduce the manufacturing cost of the walking device and improve the reliability of the walking device.

The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims (22)

1. A cleaning device, characterized in that the cleaning device comprises at least a body, a drive assembly and a barrier crossing assembly, wherein,

the driving assembly is positioned at the bottom of the machine body and is used for driving the machine body to move;

the body is provided with a front direction and a rear direction, an obstacle avoidance space is arranged at the bottom edge position of the rear end of the body, and the obstacle crossing assembly is arranged in the obstacle avoidance space in a telescopic manner;

when the engine body is statically placed on a horizontal ground, at least part of the obstacle crossing assembly is exposed out of the obstacle avoiding space, and the obstacle crossing assembly is not in contact with the ground;

when the machine body inclines, the obstacle crossing assembly moves towards the inclination direction of the machine body, so that the obstacle crossing assembly partially enters the obstacle avoiding space.

2. The cleaning device of claim 1, wherein the cleaning device has a plurality of obstacle avoidance spaces and a plurality of obstacle crossing assemblies corresponding to the number of obstacle avoidance spaces.

3. The cleaning apparatus defined in claim 2, wherein the obstacle crossing assembly comprises at least a roller, a bracket, a first shaft, and a second shaft, wherein,

the bracket having a first aperture through which the first shaft passes and a second aperture through which the second shaft passes;

the bracket is sleeved on the first shaft and is movably connected in the obstacle avoidance space through the first shaft;

the roller is sleeved on the second shaft and is rotatably connected to the bracket through the second shaft, and at least part of the roller is exposed out of the obstacle avoidance space.

4. The cleaning apparatus defined in claim 3, wherein the bracket has a wheel arch positioned between the first aperture and the second aperture, the roller being at least partially positioned within the wheel arch when the roller is attached to the bracket.

5. The cleaning device as claimed in claim 4, wherein the body is recessed from a bottom surface thereof to form the obstacle avoidance space, and a recessed fixing groove is provided on a wall of the obstacle avoidance space, and the first shaft is movably connected to the recessed fixing groove.

6. The cleaning apparatus as claimed in claim 5, wherein a housing notch is provided at a rear end of the machine body, the housing notch communicating with the obstacle avoidance space such that the obstacle avoidance space has an opening in a direction toward the rear end of the machine body.

7. The cleaning apparatus of claim 6,

when the machine body inclines from the front end to the rear end and the roller wheel is in contact with the ground, the bracket rotates around the first axial direction to the rear end of the machine body, so that the roller wheel at least partially enters the obstacle avoidance space;

when the machine body inclines from the rear end to the front end and the roller is in contact with the ground, the bracket rotates around the first axial direction to the front end of the machine body, so that the wheel arch is abutted to the inner wall of the obstacle avoidance space.

8. The cleaning equipment as claimed in claim 7, wherein the obstacle crossing assembly further comprises a torsion spring, the torsion spring is sleeved on the first shaft, a rotating arm of the torsion spring is respectively clamped with the obstacle avoidance space and the support, and a rotating center of the torsion spring coincides with the first shaft.

9. The cleaning apparatus defined in claim 8, wherein the projection of the center of the roller on the ground is forward of the projection of the first axis on the ground under the action of the torsion spring when the roller is not in contact with the ground.

10. The cleaning apparatus defined in claim 9, wherein a hub motor is provided within the roller for driving the roller about the second axis.

11. The cleaning apparatus as recited in claim 1, further comprising a mopping module located at a bottom of the housing and disposed between the drive assembly and the obstacle crossing assembly.

12. The cleaning device of claim 11, wherein the mopping module comprises at least two cloth trays, the two cloth trays are distributed on two sides of the machine body, and the obstacle crossing assembly is located between the two cloth trays.

13. The cleaning apparatus of claim 12, wherein the body has a projected area on the floor, the projections of the two wipe trays on the floor being at least partially outside the projected area.

14. The cleaning apparatus defined in claim 13, wherein the mopping module further comprises a lifting member, wherein,

the rag tray is connected with the lifting component;

the lifting component is arranged in the machine body and used for adjusting the distance between the rag tray and the ground.

15. The cleaning apparatus as claimed in claim 14, further comprising an inclination sensor for detecting a horizontal angle change of the body to control an amount of extension and contraction of the elevation member.

16. A walking device is characterized by at least comprising a machine body, a driving component and an obstacle crossing component, wherein,

the driving assembly is positioned at the bottom of the machine body and is used for driving the machine body to move;

the projection of the machine body on the ground is an axisymmetric figure, and an obstacle avoidance space is arranged on a symmetric axis of the machine body and close to the edge of one side of the bottom of the machine body;

the obstacle crossing assembly is arranged in the obstacle avoiding space in a telescopic mode, when the engine body is placed on the horizontal ground in a static mode, at least part of the obstacle crossing assembly is exposed out of the obstacle avoiding space, and the obstacle crossing assembly is not in contact with the ground.

17. The walking device of claim 16, wherein the body has a forward direction, and the body is recessed from a bottom surface thereof to form the obstacle avoidance space.

18. Running gear according to claim 17, wherein the drive assembly comprises at least a drive motor, a retarder and two main drive wheels, wherein,

the driving motor is in transmission connection with the speed reducer, two ends of an output shaft of the speed reducer are respectively connected with the two main driving wheels, and the output shaft is approximately vertical to a symmetrical shaft of the machine body;

the geometric center of the machine body is approximately coincident with the gravity center of the machine body, and a preset distance exists between the projection of the gravity center of the machine body on the ground and the projection of the output shaft on the ground.

19. The walking apparatus of claim 18, wherein a projection of the center of gravity of the body on the ground is located on a projection of the output shaft on the ground such that the body remains substantially balanced in a horizontal plane when the body rests on a horizontal ground.

20. The walking device of claim 19, wherein the drive assembly further comprises a guide wheel, wherein,

the guide wheel is rotatably connected to the bottom of the machine body and is close to the edge of the machine body;

the guide wheels are positioned on a symmetrical shaft of the machine body, and the guide wheels and the obstacle crossing assembly are distributed on two sides of the bottom of the machine body.

21. The walking apparatus of claim 20, wherein the drive assembly further comprises a steering motor, wherein,

the guide wheel is connected with the steering motor so as to steer under the action of the steering motor;

the guide wheel and the two main driving wheels are arranged in a roughly triangular shape, and the guide wheel and the two main driving wheels are in contact with the ground so as to provide support for the machine body.

22. A cleaning system comprising a base station and a cleaning device, wherein,

the base station is provided with a recharging ramp for the cleaning equipment to walk;

the cleaning device at least comprises a machine body, a driving assembly and an obstacle crossing assembly, wherein,

the driving assembly is positioned at the bottom of the machine body and is used for driving the machine body to move;

the body is provided with a front direction and a rear direction, an obstacle avoidance space is arranged at the bottom edge position of the rear end of the body, and the obstacle crossing assembly is arranged in the obstacle avoidance space in a telescopic manner;

when the body is still arranged on the horizontal ground, at least part of the obstacle crossing assembly is exposed out of the obstacle avoiding space, and the obstacle crossing assembly is not in contact with the ground;

when the machine body inclines, the obstacle crossing assembly moves towards the inclination direction of the machine body, so that the obstacle crossing assembly partially enters the obstacle avoiding space.

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