WO2020156046A1 - 自移动机器人及其行走方法 - Google Patents

自移动机器人及其行走方法 Download PDF

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Publication number
WO2020156046A1
WO2020156046A1 PCT/CN2020/070524 CN2020070524W WO2020156046A1 WO 2020156046 A1 WO2020156046 A1 WO 2020156046A1 CN 2020070524 W CN2020070524 W CN 2020070524W WO 2020156046 A1 WO2020156046 A1 WO 2020156046A1
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WIPO (PCT)
Prior art keywords
driving wheel
self
force
moving robot
assembly
Prior art date
Application number
PCT/CN2020/070524
Other languages
English (en)
French (fr)
Inventor
程文杰
侯杰
Original Assignee
科沃斯机器人股份有限公司
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Filing date
Publication date
Application filed by 科沃斯机器人股份有限公司 filed Critical 科沃斯机器人股份有限公司
Priority to EP20748446.0A priority Critical patent/EP3918969A4/en
Publication of WO2020156046A1 publication Critical patent/WO2020156046A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24—Floor-sweeping machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4063—Driving means; Transmission means therefor
    • A47L11/4066—Propulsion of the whole machine
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4072—Arrangement of castors or wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K7/00—Disposition of motor in, or adjacent to, traction wheel
    • B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K7/00—Disposition of motor in, or adjacent to, traction wheel
    • B60K2007/0061—Disposition of motor in, or adjacent to, traction wheel the motor axle being parallel to the wheel axle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/40—Working vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/423—Torque
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/64—Electric machine technologies in electromobility
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Definitions

  • This application relates to the technical field of electronic equipment, and in particular to a self-moving robot and its walking method.
  • Self-moving robots are a kind of smart home appliances, which can automatically complete floor cleaning in the room with a certain artificial intelligence.
  • the driving wheels of some self-moving robots can be adjusted to float according to changes in the ground conditions to improve the robot's ability to overcome obstacles.
  • the existing floating obstacle-climbing structure can provide a small driving force to the driving wheels, and the robot can only cross small obstacles, and the obstacle-climbing ability is very limited.
  • this application proposes a self-moving robot and its walking method in order to solve the above-mentioned problems or at least partially solve the above-mentioned problems.
  • a self-moving robot in an embodiment of the present application, includes: a body, a driving wheel assembly, and an obstacle crossing assembly; the driving wheel assembly is rotatably arranged on the body through a first rotating shaft; the driving wheel assembly includes a driving wheel; the driving wheels are opposite During the movement of the body from the first position to the second position, the obstacle crossing component applies force to the driving wheel component, and the positive pressure change range between the driving wheel and the traveling surface is less than or equal to a set threshold.
  • a self-moving robot in another embodiment, includes: a body, a driving wheel assembly, and an obstacle crossing assembly; wherein the driving wheel assembly is rotatably arranged on the body through a first rotating shaft; the driving wheel assembly includes a driving wheel;
  • the barrier assembly includes a force applying part and a force receiving part arranged on the driving wheel assembly; the force applying part includes a power member and a pressure plate rotatably arranged on the body through a second rotating shaft; the force receiving part The part is located between the first rotating shaft and the second rotating shaft; when the driving wheel moves relative to the body from the first position to the second position, the pressure plate interacts with each other under the action of the power member The force receiving part abuts against each other to apply force to the driving wheel assembly.
  • a self-moving robot in another embodiment of the present application, includes: a body, a driving wheel assembly, and an obstacle crossing assembly; wherein the driving wheel assembly is rotatably arranged on the body through a first rotating shaft; the driving wheel assembly includes a driving wheel;
  • the barrier assembly includes a force applying portion and a force receiving portion arranged on the drive wheel assembly; the force applying portion includes an elastic body; along the deformation direction, one end of the elastic body is fixed on the body, and the other end is arranged
  • a walking method of a self-moving robot includes:
  • the driving wheel of the driving wheel assembly moves from the first position to the second position relative to the body;
  • the obstacle-crossing assembly applies force to the driving wheel assembly, and the amplitude of the positive pressure change between the driving wheel and the traveling surface is less than or equal to the setting Set threshold.
  • the driving wheel assembly when the self-mobile robot encounters an obstacle and the body is lifted up or walks to a pit, the driving wheel assembly is not only subjected to its own gravity, but also subjected to the action of the obstacle-crossing assembly Force; under the combined action of these forces, the positive pressure between the driving wheel and the traveling surface changes less than or equal to the set threshold, which helps increase the friction between the driving wheel and the traveling surface and improve the self-moving robot Ability to overcome obstacles.
  • a pressure plate rotatably arranged on the body through a second rotation axis is adopted.
  • the pressure plate interacts with the force receiving part on the driving wheel assembly under the action of the power member, so that the driving wheel
  • the component is subjected to continuous force; in addition, with this structure, it is very easy to control the magnitude of the continuous force applied to the driving wheel assembly, so that the positive pressure change range between the driving wheel and the traveling surface is controlled in a small range, and the driving
  • the friction between the wheel and the traveling surface is also relatively stable, which helps to improve the obstacle-climbing ability of the self-moving robot.
  • the elastic body provided on the body exerts a continuous force on the drive wheel assembly through a curved structure under the action of its own elastic force; this structure is selected by the spring and/ Or by changing the curved surface shape of the curved surface structure, the continuous force applied to the driving wheel assembly can be easily controlled, so that the positive pressure change range between the driving wheel and the traveling surface is controlled in a small range.
  • the friction force with the traveling surface is also relatively stable, which helps to improve the obstacle-climbing ability of the self-moving robot.
  • the driving wheel when an obstacle is encountered, the driving wheel is moved from the first position to the second position, and the obstacle crossing component continuously applies force to the driving wheel assembly.
  • the variation range of the positive pressure with the traveling surface is less than or equal to the set threshold, thereby increasing the friction between the driving wheel and the traveling surface, and enhancing the obstacle-climbing ability of the self-moving robot.
  • Fig. 1 is a schematic structural diagram of a driving wheel assembly according to an embodiment of the application
  • FIG. 2 is a schematic structural diagram of a driving wheel assembly in a first position of the driving wheel according to an embodiment of the application;
  • FIG. 3 is a schematic structural diagram of the driving wheel assembly in the second position of the driving wheel according to the first embodiment of the application;
  • FIG. 4 is a schematic structural diagram of the driving wheel assembly in the first position of the driving wheel according to the second embodiment of the application;
  • FIG. 5 is a schematic diagram of the structure of the driving wheel assembly in the second position of the driving wheel according to the second embodiment of the application;
  • FIG. 6 is a schematic diagram of the torque received by the drive wheel assembly during the extension process of the drive wheel in the second embodiment of the application;
  • FIG. 7 is a schematic structural diagram of a three-drive wheel assembly according to an embodiment of the application.
  • FIG. 8 is a schematic diagram of the structure of the driving wheel assembly in the first position of the three driving wheels according to the embodiment of the application;
  • FIG. 9 is a schematic structural diagram of the driving wheel assembly in the second position of the three driving wheels according to the embodiment of the application.
  • FIG. 10 is a schematic structural diagram of a four-drive wheel assembly according to an embodiment of the application.
  • FIG. 11 shows a curve comparison diagram of the pressure change of the driving wheel on the ground in the prior art and the change of the pressure on the ground in the technical solution provided by the embodiment of the present application;
  • FIG. 12 is a schematic flowchart of a walking method of a self-mobile robot provided by an embodiment of the application.
  • the driving wheel needs to be adjusted floating according to the changes of the ground conditions to increase the robot's obstacle-climbing ability.
  • the floating obstacle-climbing mechanism is realized by the action of a tension spring.
  • the prior art provides a cantilever drive wheel mechanism, which mounts the drive wheel to the cleaning robot chassis through a cantilever, and uses a tension spring between the cantilever and the robot chassis to deflect the drive wheel away from the robot chassis Of a location.
  • the self-moving robot deflects the wheel to another position by overcoming the spring force of the tension spring by gravity.
  • the self-moving robot When using this mechanism, when the self-moving robot encounters steps or obstacles, the chassis is elevated, and the driving wheel is deflected to a position away from the robot chassis under the action of the tension spring. During this process, the tension spring will release a certain spring force. In this way, the self-moving robot minimizes the driving force provided by the driving wheels when crossing obstacles, thereby reducing the obstacle crossing ability of the self-moving robot. In particular, when the spring force is used to raise and lower the driving wheel, the force of the driving wheel will change greatly, which will easily cause the robot to jam or slip when crossing obstacles, and the climbing ability will decrease.
  • the present application provides a self-moving robot, which includes a body, a driving wheel assembly, and an obstacle crossing assembly.
  • the drive wheel assembly is rotatably arranged on the body through a first rotation shaft; the drive wheel assembly includes a drive wheel; the drive wheel moves relative to the body from a first position to a second position.
  • the obstacle crossing component applies force to the driving wheel component, and the positive pressure change range between the driving wheel and the traveling surface is less than or equal to a set threshold.
  • the body has a base 10; a driving wheel assembly is arranged on the base 10 of the body.
  • the driving wheel assembly includes a housing 100, one end of the housing 100 is rotatably arranged on the base 10 of the self-moving robot through a first rotating shaft 110, and the other end of the housing 100 is also provided with a driving wheel 200
  • the driving wheel 200 is used to drive the self-mobile robot to walk.
  • the driving wheel 200 can rotate around the first rotating shaft 110.
  • the driving wheel assembly is at the first position (high position) relative to the body base 10 due to the gravity of the self-moving robot and the limiting effect of the base 10;
  • the driving wheel 200 is subjected to its own gravity and rotates down to the second position (low position) centered on the first rotating shaft 110.
  • the second position may change.
  • the second position that the driving wheel can reach when the body is lifted (the driving wheel does not touch the ground) is usually higher than the driving wheel of the self-moving robot when it is on carpet or climbing.
  • the second position is low.
  • the height is based on the distance between the driving wheel and the robot base. The greater the distance from the mobile robot base, the lower the position of the driving wheel.
  • the set threshold in the embodiment of the present application may specifically be a value from 0 to 25%, for example, the set threshold may be selected as 20%, 16%, and so on.
  • the positive pressure during the process of the driving wheel moving from the first position to the second position is as follows:
  • a suitable structural design can be selected to realize the process of moving the driving wheel from the first position to the second position, and the positive pressure change range between the driving wheel and the traveling surface is less than or equal to the set threshold.
  • This positive pressure change range is controlled within a certain range, which helps to increase the friction between the driving wheel and the traveling surface, thereby enhancing the self-moving robot's ability to overcome obstacles.
  • the following content of this article will explain the specific structural design adopted.
  • the technical solution provided by the embodiment of the present application may also be specifically: the self-moving robot is further provided with an obstacle-crossing component, which is set when the driving wheel 200 is switched from the first position to the second position ,
  • an obstacle-crossing component which is set when the driving wheel 200 is switched from the first position to the second position
  • the driving wheel assembly extends downwards and the obstacle-crossing assembly provides power for the driving wheel assembly with a larger or substantially constant torque.
  • the actual product cannot accurately guarantee that when the driving wheel 200 is switched from the first position to the second position, the torque provided by the obstacle crossing component for the driving wheel component remains unchanged.
  • the basically unchanged means that when the driving wheel 200 is in the second position, the torque provided by the obstacle-climbing component is compared with the torque provided by the obstacle-climbing component when the driving wheel 200 is in the first position.
  • the wheel 200 is in the first position, it is 10% of the torque provided by the obstacle crossing assembly. Therefore, the above “substantially unchanged” can also be expressed as: the obstacle crossing component provides the driving wheel component with a stable torque within the set error range.
  • the obstacle-crossing component when the driving wheel 200 is switched from the first position to the second position, provides a substantially constant torque for the driving wheel component, which can be achieved in various ways, such as switching the driving wheel 200 from the first position
  • the torque provided by the obstacle crossing component is basically unchanged; or the torque provided by the obstacle crossing component first decreases and then becomes larger; or the torque provided by the obstacle crossing component first increases and then decreases; or the obstacle cross component provides The magnitude of the moment is floating up and down.
  • the obstacle-climbing component when the driving wheel 200 is switched from the first position to the second position, provides a larger torque for the driving wheel assembly can also be achieved in various ways, such as switching the driving wheel 200 from the first position to the second position.
  • the torque provided by the obstacle-climbing component continues to increase; or the torque provided by the obstacle-climbing component decreases first and then becomes larger; or the torque provided by the obstacle-climbing component first increases and then becomes small; or the torque provided by the obstacle-crossing component
  • the size fluctuates up and down.
  • the obstacle crossing assembly provides the driving wheel assembly with a larger or substantially constant torque, thereby ensuring that the driving wheel When the 200 is switched from the first position to the second position, a larger or substantially constant torque is provided for the driving wheel assembly.
  • the obstacle-climbing component provides the driving wheel component with a larger or substantially constant torque. Further, when the driving wheel 200 is switched from the first position to the second position, the present application does not limit the torque of the obstacle crossing assembly to the driving wheel assembly to become larger or substantially unchanged, even when the driving wheel 200 is in the second position.
  • the torque provided by the obstacle-climbing component is less than the torque provided by the obstacle-climbing component when the driving wheel 200 is in the first position, but as long as the driving wheel 200 is switched from the first position to the second position, there is at least a partial movement phase.
  • the obstacle crossing component can provide the driving wheel component with a larger or substantially constant torque.
  • the obstacle crossing assembly includes a force receiving part arranged on the housing 100 and The force applying part on the base 10.
  • the drive wheel assembly is limited by the gravity of the self-mobile robot and the base 10, and the drive wheel 200 is in the first position.
  • the direction of the force applied by the force part to the force receiving part passes through the first rotating shaft 110, that is, the moment generated by the force part is zero.
  • the force applying part applies a force to the force receiving part
  • the force is much smaller than the gravity of the self-mobile robot body, so the driving wheel 200 is in the first position; when the self-mobile robot body is lifted or the driving wheel 200 walks to When in the pit, the driving wheel 200 receives its own gravity and rotates and extends around the first rotation axis 110, so that the relative position of the force receiving part and the force applying part changes, and the direction of the force applied by the force applying part to the force applying part Deviate downwards to generate effective torque, so that in addition to its own gravity, the drive wheel assembly is also subject to the effective torque of the force exerted by the force applying part.
  • This force enhances the friction between the drive wheel 200 and the ground, which is beneficial to It crosses the barrier.
  • the magnitude and moment of the force applied by the force applying portion to the force receiving portion can be adjusted by changing the shapes of the force applying portion and the force receiving portion.
  • the relative position of the force applying part to the force receiving part can also be changed, so that when the self-mobile robot is stationary on a flat ground or walking normally on a flat surface, the direction of the force applied by the force applying part to the force receiving part is different.
  • the force applying part has applied an effective moment of downward force to the force receiving part.
  • the driving wheel 200 is still in the first position.
  • the driving wheel 200 is subjected to its own gravity and the force exerted by the force application part, and rotates around the first rotation axis 110 to extend downward.
  • FIG. 1 is a schematic structural diagram of a driving wheel assembly in Embodiment 1 of this application
  • FIG. 2 is a structural schematic diagram of a driving wheel assembly in a first position of a driving wheel in Embodiment 1 of this application
  • FIG. 3 is a schematic diagram of a driving wheel in a second position in Embodiment 1 of this application Schematic diagram of the structure of the drive wheel assembly.
  • the force application portion includes a pressure plate 320 and a power member.
  • the pressure plate 320 is rotatably arranged on the base 10 via a second rotating shaft 300.
  • the part is located between the second rotating shaft 300 and the first rotating shaft 110, and the pressure plate 320 is pressed against the force receiving part under the action of the power member to apply force to the driving wheel assembly.
  • the force receiving part may adopt a first roller 330 or a cylinder.
  • the power element may be a torsion spring 310 sleeved on the second rotating shaft 300, and one end of the torsion spring 310 abuts against the pressure plate.
  • the side of the pressure plate 320 against the force receiving part includes an arc-shaped pressure section, the shape of which can be based on the initial torsion of the torsion spring 310, the first rotating shaft 110, the second rotating shaft 300, and the force receiving part.
  • the relative position is adjusted, so that when the driving wheel 200 is switched from the first position to the second position, the obstacle crossing assembly provides a greater torque for the driving wheel assembly.
  • the pressure plate 320 is in contact with the first roller 330 under the torsion force provided by the torsion spring 310, and the first roller 330 exerts a force on the driving wheel assembly.
  • the relative position between the force applying part and the force receiving part also changes, and under the force of the torsion spring 310, the force applying part and the force receiving part Always keep in touch.
  • the working principle of the self-moving robot provided in the first embodiment is: when the self-moving robot is working normally (that is, working on a flat bottom), the driving wheel assembly rotates around the first rotation axis 110 under the action of the weight of the machine. Maximum limit angle (as shown in Figure 2). At this time, the compression angle of the torsion spring 310 is the largest, that is, the stored torque is the largest, but the angle between the normal direction of the contact point of the pressure plate 320 and the first roller 330 and the center line of the first roller 330 and the first rotating shaft 110 is 0 Therefore, at this time, the pressure plate 320 exerts only pressure on the driving wheel assembly through the axis of the first rotating shaft 110.
  • the base 10 of the body When the self-moving robot encounters a step or an obstacle, the base 10 of the body is raised, and the driving wheel assembly generates a certain torque on the first rotation axis 110 through its own gravity. At this time, the driving wheel assembly rotates around the first rotation axis 110.
  • the rotating shaft 110 rotates counterclockwise.
  • the driving wheel assembly rotates, the first roller 330 rolls along the surface of the pressure plate 320.
  • the normal direction of the contact point between the pressure plate 320 and the first roller 330 is the same as the first roller 330 and the first rotation.
  • the angle between the center lines of the shaft 110 is continuously increasing.
  • the normal direction of the contact point between the pressure plate 320 and the first roller 330 is as well as the first roller 330 and the first rotation shaft 110.
  • the angle between the center lines of the two is an angle as shown in Figure 3 (such as 90 degrees).
  • the pressure of the pressure plate 320 on the first roller 330 is all converted into the normal pressure of the driving wheel 200 on the traveling surface, so that the driving wheel The friction force generated by the 200 pairs of the traveling surface is maximized, thereby maximizing the driving force and obstacle crossing ability of the self-moving robot.
  • the working principle of the self-moving robot provided in the first embodiment is: when the self-moving robot is stationary on a flat ground or walking normally on a flat surface, the driving wheel assembly is subjected to the gravity and the base of the self-moving robot. 10, the driving wheel 200 is in the first position. At this time, the torsion force stored by the torsion spring 310 causes the pressure plate 320 to rotate toward the first roller 330 with the second rotating shaft 300 as the center, thereby facing the first roller 330 Apply force.
  • the torsion force stored by the torsion spring 310 causes the pressure plate 320 to rotate toward the first roller 330 with the second rotating shaft 300 as the center, thereby facing the first roller 330 Apply force.
  • the direction of the above-mentioned force passes through the first rotating shaft 110, and the moment is zero, that is, the above-mentioned force does not provide effective power for the rotation and extension of the drive wheel assembly.
  • the driving wheel 200 is Own gravity drives the drive wheel assembly to rotate and extend around the first rotating shaft 110.
  • the direction of the force applied by the pressure plate 320 to the first roller 330 changes.
  • the first roller 330 moves along the pressure plate 320.
  • the surface rolls, and the angle between the normal direction of the contact point of the pressure plate 320 and the first roller 330 and the center line of the first roller 330 and the first rotating shaft 110 is continuously increasing, resulting in an increased moment.
  • the driving wheel assembly is also subjected to the torsion force of the torsion spring 310.
  • the driving wheel 200 switches from the first position to the second position. In the second position, the rotating and extending moment of the driving wheel assembly is increased, which is beneficial to overcoming obstacles.
  • FIG. 4 is a schematic diagram of the structure of the driving wheel assembly at the first position of the driving wheel in the second embodiment of the application
  • FIG. 5 is a schematic diagram of the driving wheel assembly at the second position of the driving wheel in the second embodiment of the application
  • FIG. 6 is the second embodiment of the application Schematic diagram of the torque experienced by the drive wheel assembly during the extension of the drive wheel.
  • the relative position of the force applying part and the force receiving part is changed, so that when the driving wheel 200 is in the first position, the first roller 330 and the first rotating
  • a is 30°
  • the torsion angle of the torsion spring 310 is 90° at this time.
  • the angle a between the connection line of the first roller 330 and the first rotating shaft 110 and the direction in which the pressure plate 320 exerts a force on the first roller 330 is 90°, and the torsion spring 310 is twisted With an angle of 45°, the torsion force of the pressure plate torsion spring 310 of the drive wheel 200 from the normal walking state to the obstacle crossing state is reduced by half, but the force arm from the point of action of the pressure plate 320 to the second rotation axis is doubled, so the obstacle crossing assembly can be maintained
  • the torque received by the driving wheel 200 in the second position and the first position is unchanged or substantially unchanged.
  • the ordinate in Figure 6 is the moment M applied to the drive wheel assembly by the force applying part with the first rotating shaft 110 as the rotation axis, and the abscissa is the distance L that the drive wheel assembly rotates and extends, as shown in Figure 6 It can be seen that during the process of rotating and extending the driving wheel assembly, the torque applied by the force applying portion to the driving wheel assembly remains unchanged and is always M1.
  • the drive The wheel 200 is switched from the first position to the second position, and the rotating and extending torque of the driving wheel assembly remains unchanged, which facilitates it to overcome obstacles.
  • Fig. 7 is a schematic structural diagram of a three-driving wheel assembly according to an embodiment of this application;
  • Fig. 8 is a structural schematic diagram of a three-driving wheel assembly at a first position of an embodiment of this application; Schematic diagram of the structure of the drive wheel assembly.
  • the pressure plate includes a force end 410 that abuts against the force receiving portion and a power end 420 that generates power.
  • the second rotating shaft 300 is disposed between the force application end and the power end.
  • the power member includes a first magnet 430 and a second magnet 440.
  • the first magnet 430 is disposed on the power end
  • the second magnet 440 is disposed on the power end.
  • the second magnet 440 is located below the first magnet 430, and there is a repulsive force between the second magnet and the first magnet.
  • the force receiving part is a first roller 330 fixed between the force applying part and the first rotating shaft 110.
  • there may be a third magnet 450 on the base 10 the third magnet is located above the first magnet 430, and there is an attraction between the third magnet and the first magnet. That is, the opposite faces of the third magnet 450 and the first magnet 430 are not the same pole (for example, the N pole of the third magnet 450 faces the S pole of the first magnet 430), and the opposite face of the second magnet 440 and the first magnet 430 is the same.
  • Poles for example, the N pole of the second magnet 440 faces the N pole of the first magnet 430
  • the force application end 410 receives the downward rotation force, so that the first roller 330 applies the rotating extension force to the driving wheel assembly.
  • the working principle of the self-moving robot provided in the third embodiment above: when the self-moving robot works normally (working on a flat ground), the drive wheel assembly rotates to the maximum around the first rotation axis 110 under the action of the weight of the machine. Limit angle (as shown in FIG. 2), at this time, the repulsive force of the first magnet 430 to the second magnet 440 is the largest, and the attractive force of the first magnet 430 to the third magnet 450 is the smallest.
  • the body chassis 10 of the self-moving robot When the self-moving robot encounters a step or an obstacle, the body chassis 10 of the self-moving robot is raised, and the repulsive force of the second magnet 440 to the first magnet 430 causes the force application end 410 of the pressing plate to rotate counterclockwise around the second rotation axis 300 When the force applying end 410 of the pressing plate rotates, the repulsive force of the second magnet 440 to the first magnet 430 gradually decreases while the attraction force of the third magnet 450 to the first magnet 430 gradually increases.
  • the driving wheel assembly rotates to the minimum limit angle around the first rotation shaft 110 (as shown in FIG.
  • the repulsive force of the second magnet 440 on the first magnet 430 is the smallest, and the third magnet 450 has the least resistance to the first magnet 430.
  • the most attractive It can be ensured that the force exerted by the third magnet 450 and the second magnet 440 on the first magnet 430 during the floating process of the driving wheel 200 is equal, that is, the pressure of the pressure plate on the driving wheel assembly is equal, so that the self-moving robot will be more The driving force during obstacles remains constant.
  • the working principle of the self-moving robot provided in the third embodiment above: when the self-moving robot is stationary on a flat ground or normally walking on a flat surface, the driving wheel assembly is subjected to the gravity of the self-moving robot and the base 10 The driving wheel 200 is in the first position.
  • the first magnet 430 receives the magnetic force of the second magnet 440 and the third magnet 450, the force applied by the force application end 410 to the first roller 330 passes The moment of the first rotating shaft 110 is zero, that is, the force applying portion does not provide an effective force for the rotation and extension of the driving wheel assembly.
  • the driving wheel 200 is Own gravity drives the drive wheel assembly to rotate and extend around the first rotation shaft 110.
  • the direction of the force applied by the force application end 410 to the first roller 330 changes.
  • the drive wheel assembly rotates, the first roller 330 moves along the force application end 410.
  • the surface rolls, and the angle between the normal direction of the contact point of the force application end 410 and the first roller 330 and the center line of the first roller 330 and the first rotating shaft 110 is continuously increasing, resulting in an increased moment.
  • the driving wheel assembly is also subjected to magnetic force.
  • the driving wheel 200 switches from the first position to the second position.
  • the rotating and extending moment of the driving wheel assembly is increased, which is beneficial to overcoming obstacles.
  • FIG. 10 is a schematic structural diagram of a four-drive wheel assembly according to an embodiment of the application.
  • the force application part includes an elastic body; along the deformation direction, one end of the elastic body is fixed on the body, and the other end is provided with a roller assembly; the force receiving part has a curved structure; the roller assembly abuts on the On the curved surface structure, force is applied to the driving wheel assembly.
  • the elastic body may be a spring or a soft rubber material with a deformation amount, etc., which is not specifically limited in the embodiment of the present application.
  • the force applying part includes a spring 500 that is vertically arranged and a roller assembly 510 at the bottom of the spring 500.
  • the upper end of the spring 500 is fixed on the base 10, and the roller assembly 510 It includes a roller support and a second roller, the upper end of the roller support is fixed at the bottom of the spring 500, and the lower end is rotatably arranged on the roller support through a second roller shaft.
  • the force receiving portion includes a curved structure 520 fixed on the housing 100 and abutting against the second roller.
  • the roller assembly 510 exerts a force on the driving wheel assembly through the curved structure 520 under the action of the elastic force stored by the spring 500.
  • the drive wheel 200 is in the first position due to the gravity of the self-moving robot and the limiting effect of the base 10.
  • the roller assembly 510 exerts a force on the driving wheel assembly through the curved structure 520 under the action of the elastic force stored by the spring 500.
  • the direction of the aforementioned force passes through the first rotating shaft 110 and the moment is zero, that is, the aforementioned force does not provide effective power for the rotation and extension of the drive wheel 200 assembly.
  • the driving wheel 200 is Own gravity drives the drive wheel assembly to rotate and extend around the first rotating shaft 110.
  • the direction of the force exerted by the roller assembly 510 on the curved structure 520 changes.
  • the second roller moves along the curved structure 520.
  • the surface is rolling, and the angle between the normal direction of the contact point of the second roller and the curved structure 520 and the center line of the second roller and the first rotating shaft 110 is continuously increasing, generating an increased moment.
  • the drive wheel assembly In addition to its own gravity, the drive wheel assembly is also subject to the elastic force of the spring 500. In other words, the drive wheel 200 switches from the first position to the second position when the body of the mobile robot is lifted or the drive wheel 200 walks to the pit. , The torque of the driving wheel assembly rotating and extending is increased, which is beneficial to overcoming obstacles.
  • the technical solution provided by the above-mentioned embodiment can realize the control of the continuous force applied to the driving wheel assembly by selecting the spring and changing the curved shape of the curved structure, so that the positive pressure change range between the driving wheel and the traveling surface is reduced Control in a small range, the friction between the driving wheel and the traveling surface is also relatively stable, which helps to improve the obstacle-climbing ability of the self-moving robot.
  • each obstacle-climbing component makes the force received by the driving wheel change less.
  • the pressure range of the driving wheel to the traveling surface is 8.6-10.2, the range of change is about 20%, and the obstacle crossing ability is strong; while the prior art uses a tension spring arm lifting mechanism In the medium, the pressure range of the driving wheel to the ground is 6.1 ⁇ 10.5, the range of change is about 40%, and the obstacle crossing ability is weak.
  • FIG. 11 shows a curve comparison diagram of the pressure change of the driving wheel on the ground in the prior art and the pressure change of the driving wheel on the ground in the technical solution provided by the embodiment of the present application.
  • Table 2 below is a comparison table of the positive pressure generated on the driving wheel in the prior art and the technical solution provided by the embodiment of the present application.
  • the pressure range of the driving wheel to the traveling surface of the technical solution provided by this application is 8.6-10.2N, and the variation range is about 20%.
  • the driving wheel is not easy to jam, and the pressure of the driving wheel on the ground is greater, and the greater the friction provided, Strong ability to overcome obstacles.
  • Fig. 12 shows a schematic flowchart of a walking method of a self-mobile robot provided by an embodiment of the present application. As shown in Figure 12, it includes:
  • Step S01 When an obstacle is encountered, the driving wheel of the driving wheel assembly moves relative to the body from the first position to the second position.
  • Step S02 During the process of the driving wheel moving from the first position to the second position, the obstacle crossing assembly applies force to the driving wheel assembly, and the positive pressure between the driving wheel and the traveling surface changes less than Or equal to the set threshold.
  • the above set threshold is 0-25%.
  • the above step S02 may also be specifically: the obstacle-climbing component provides a larger torque for the drive wheel assembly; or the obstacle-climbing component provides the drive wheel assembly with a torque that is stable within a set error range.
  • the above-mentioned obstacle crossing assembly provides the driving wheel assembly with a larger torque or a stable torque within a set error range, which may be the entire movement of the driving wheel from the first position to the second position
  • the stage can also be part of the movement stage.
  • the obstacle-crossing assembly provides a larger torque for the driving wheel assembly or stabilizes within the set error range Of torque.
  • the driving wheel when an obstacle is encountered, the driving wheel is moved from the first position to the second position, and the obstacle-crossing assembly applies a continuous force to the driving wheel to make the driving wheel and the traveling surface align with each other.
  • the pressure change range is less than or equal to the set threshold, thereby increasing the friction between the driving wheel and the traveling surface, and enhancing the obstacle-climbing ability of the self-moving robot.

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Abstract

本申请实施例提供一种自移动机器人及其行走方法，所述自移动机器人包括机体、驱动轮组件及越障组件；所述驱动轮组件通过第一旋转轴可旋转的设置在所述机体上；所述驱动轮组件包括驱动轮；所述驱动轮相对所述机体从第一位置移动至第二位置过程中，所述越障组件施力于所述驱动轮组件，所述驱动轮与行进面之间的正压力变化幅度小于或等于设定阈值。本申请提供的技术方案中，在自移动机器人遇到障碍机体被顶起或行走至凹坑处时，驱动轮组件除受自身重力外，还受到越障组件施加的作用力；在这些力的共同作用下，驱动轮与行进面之间的正压力变化幅度小于或等于设定阈值，进而有助于增加驱动轮与行进面之间的摩擦力，提高自移动机器人的越障能力。

Description

自移动机器人及其行走方法
交叉引用
本申请引用于2019年09月04日递交的名称为“自移动机器人及其行走方法”的第201910093765.7号中国专利申请，其通过引用被全部并入本申请。
技术领域
本申请涉及电子设备技术领域，尤其涉及一种自移动机器人及其行走方法。
背景技术
随着科学技术的不断发展，家用电器越来越智能化，智能家电为用户的工作生活学习带来了很大的便利。自移动机器人就属于智能家电中的一种，其能凭借一定的人工智能，自动在房间内完成地板清理工作。
目前，有些自移动机器人的驱动轮能根据地面的情况变化进行浮动调节从而提高机器人的越障能力。但现有浮动越障结构能提供给驱动轮的驱动力较小，机器人仅能越过较小的障碍，越障能力非常有限。
发明内容
鉴于上述问题，本申请提出了以便解决上述问题或至少部分地解决上述问题的自移动机器人及其行走方法。
在本申请的一个实施例中，提供了一种自移动机器人。该自移动机器人包括：机体、驱动轮组件及越障组件；所述驱动轮组件通过第一旋转轴可旋转的设置在所述机体上；所述驱动轮组件包括驱动轮；所述驱动轮相对所述机体从第一位置移动至第二位置过程中，所述越障组件施力于所述驱动轮组件，所述驱动轮与行进面之间的正压力变化幅度小于或等于设定阈值。
在本申请的另一个实施例中，提供了一种自移动机器人。该自移动机器人包括：机体、驱动轮组件及越障组件；其中，所述驱动轮组件通过第一旋转轴可旋转的设置在所述机体上；所述驱动轮组件包括驱动轮；所述越障组件包括施力部及设置在所述驱动轮组件上的受力部；所述施力部包括动力件及通过第二旋转轴可旋转的设置在所述机体上的压板；所述受力部位于所述第一旋转轴与所述第二旋转轴之间；所述驱动轮相对所述机体从第一位置移动至第二位置过程中，所述压板在所述动力件的作用下与所述受力部相抵顶，以施力于所述驱动轮组件。
在本申请的另一个实施例中，还提供了一种自移动机器人。该自移动 机器人包括：机体、驱动轮组件及越障组件；其中，所述驱动轮组件通过第一旋转轴可旋转的设置在所述机体上；所述驱动轮组件包括驱动轮；所述越障组件包括施力部及设置在所述驱动轮组件上的受力部；所述施力部包括在弹性体；沿形变方向，所述弹性体的一端固定在所述机体上，另一端设有滚轮组件；所述受力部具有曲面结构；所述驱动轮从第一位置移动至第二位置过程中，所述滚轮组件在所述弹性体的作用下抵顶在所述曲面结构上，以施力于所述驱动轮组件。
在本申请的又一个实施例中，还提供了一种自移动机器人的行走方法。该方法包括：
遇到障碍时，驱动轮组件的驱动轮相对机体从第一位置移动至第二位置；
所述驱动轮从所述第一位置移动至所述第二位置过程中，越障组件施力于所述驱动轮组件，所述驱动轮与行进面之间的正压力变化幅度小于或等于设定阈值。
本申请实施例提供的一自移动机器人实施例中，在自移动机器人遇到障碍机体被顶起或行走至凹坑处时，驱动轮组件除受自身重力外，还受到越障组件施加的作用力；在这些力的共同作用下，驱动轮与行进面之间的正压力变化幅度小于或等于设定阈值，进而有助于增加驱动轮与行进面之间的摩擦力，提高自移动机器人的越障能力。
本申请实施例提供的另一自移动机器人实施例中，采用通过第二旋转轴可旋转设置在机体上的压板，压板在动力件的作用下与驱动轮组件上的受力部，使得驱动轮组件受到持续作用力；另外，采用该结构，极易控制向驱动轮组件施加的持续作用力的大小，使得驱动轮与行进面之间的正压变化幅度被控制在一个较小的范围，驱动轮与行进面之间的摩擦力也较为稳定，有助于提高自移动机器人的越障能力。
在本申请实施例提供的又一自移动机器人实施例中，设置在机体上的弹性体在自身弹力的作用下通过曲面结构向驱动轮组件施加持续作用力；该结构通过弹簧的选型和/或改变曲面结构的曲面形状，即可轻易的实现对向驱动轮组件施加的持续作用力的控制，使得驱动轮与行进面之间的正压力变化幅度被控制在一个较小的范围，驱动轮与行进面之间的摩擦力也较为稳定，有助于提高自移动机器人的越障能力。
在本申请实施例提供的一自移动机器人的行走方法实施例中，遇到障碍时，驱动轮从第一位置移动至第二位置过程中，越障组件持续施力于驱动轮组件，驱动轮与行进面之间的正压力变化幅度小于或等于设定阈值，从而增加了驱动轮与行进面之间的摩擦力，增强了自移动机器人的越障能力。
附图说明
为了更清楚地说明本申请实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本申请实施例一驱动轮组件的结构示意图；
图2为本申请实施例一驱动轮第一位置下驱动轮组件的结构示意图；
图3为本申请实施例一驱动轮第二位置下驱动轮组件的结构示意图；
图4为本申请实施例二驱动轮第一位置下驱动轮组件的结构示意图；
图5为本申请实施例二驱动轮第二位置下驱动轮组件的结构示意图；
图6为本申请实施例二驱动轮伸出过程中驱动轮组件所受力矩的示意图；
图7为本申请实施例三驱动轮组件的结构示意图；
图8为本申请实施例三驱动轮第一位置下驱动轮组件的结构示意图；
图9为本申请实施例三驱动轮第二位置下驱动轮组件的结构示意图；
图10为本申请实施例四驱动轮组件的结构示意图；
图11示出了现有技术驱动轮对地面压力变化与本申请实施例提供的技术方案中驱动轮对地面压力变化的曲线对照图；
图12为本申请一实施例提供的自移动机器人的行走方法的流程示意图。
具体实施方式
自移动机器人在工作时驱动轮要根据地面的情况变化而进行浮动调节从而增大机器人的越障能力，通常该浮动越障机构通过拉簧的作用来实现。例如，现有技术提供的一种悬臂驱动轮机构，该机构通过悬臂将驱动轮安装到清洁机器人底盘上，用一根在悬臂与机器人底盘之间的拉簧将驱动轮偏斜到远离机器人底盘的一个位置。在清洁时，自移动机器人通过重力克服拉簧的弹簧力将轮子偏斜到另一个位置。采用该机构时当自移动机器人在遇到台阶或障碍时底盘被顶高，驱动轮在拉簧的作用下偏斜到远离机器人底盘的一个位置，在此过程拉簧会释放一定的弹簧力，从而使自移动机器人在越障时使驱动轮能提供的驱动力最小，从而降低自移动机器人的越障能力。特别的，当用弹簧作用力来使得驱动轮升降时，导致驱动轮的作用力产生较大变动，容易导致机器人越障时卡死或打滑的情况发生，爬坡能力下降。
本申请提供一种自移动机器人，所述自移动机器人包括机体、驱动轮组件及越障组件。其中，所述驱动轮组件通过第一旋转轴可旋转的设置在所述机体上；所述驱动轮组件包括驱动轮；所述驱动轮相对所述机体从第一位置移动至第二位置过程中，所述越障组件施力于所述驱动轮组件，所述驱动轮与行进面之间的正压力变化幅度小于或等于设定阈值。
具体的，参见图1、图2和图3所示，所述机体具有底座10；设置在机体底座10上的驱动轮组件。所述驱动轮组件包括壳体100，所述壳体100的一端通过第一旋转轴110可旋转的设置在自移动机器人的底座10上，所述壳体100的另一端还设有驱动轮200，所述驱动轮200用于驱动自移动机器人行走。所述驱动轮200能够以第一旋转轴110为中心旋转。具体来说，当自移动机器人在平面行走时，所述驱动轮组件由于受到自移动机器人的重力及底座10的限位作用，驱动轮200相对于机体底座10处于第一位置(高位置)；而当自移动机器人机体被拿起或者驱动轮200不接触地面保持悬空时，驱动轮200受到自身重力作用，以第一旋转轴110为中心向下旋转至第二位置(低位置)。需要说明的是，上述第二位置可能会变化，如机体被拿起(驱动轮不接触地面)的驱动轮能达到的第二位置通常比自移动机器人在地毯或爬坡时的驱动轮能达到的第二位置低。此处的高低，以驱动轮距离机器人底座的距离作为参考，距离自移动机器人底座距离越大，则驱动轮的位置越低。
具体实施时，本申请实施例中的所述设定阈值可具体为0～25％中的一个数值，如，设定阈值可选取为20％，或16％等等。
所述驱动轮相对所述机体从第一位置移动至第二位置过程中，所述越障组件施于所述驱动轮组件上的作用力是变化的，致使驱动轮与行进面之间的正压力也是变化的。例如，正压力先变大后变小，或基本不变等等。通过如下具体实例，对本申请实施例中提及的“正压力变化幅度”的确定进行说明。假设，驱动轮从第一位置移动至第二位置过程中，正压力如下表1：
表1、正压力变化表
Figure PCTCN2020070524-appb-000001
基于上述正压力数据，可计算驱动轮从第一位置(即对应行程0)移动至第二位置(即对应行程30)过程中，最大正压力变化量为10.2-8.6＝1.6；相应的，正压力变化幅度为：1.6/10.2＝15.7％。
具体实施，可选取合适的结构设计来实现驱动轮从第一位置移动到第二位置过程，所述驱动轮与行进面之间的正压力变化幅度小于或等于设定阈值。这种正压力变化幅度被控制在一定范围内，有助于提高驱动轮与行进面之间的摩擦力，进而增强自移动机器人的越障能力。其中，本文的后续内容会对具体采用的结构设计进行说明。
作用力与力臂的乘积即得到力矩。因此，本申请实施例提供的技术方案，还可具体为：所述自移动机器人上还设有越障组件，所述越障组件被设置在驱动轮200从第一位置切换至第二位置时，为驱动轮组件提供变大或基本不变的力矩，即驱动轮组件向下伸出后越障组件为驱动轮组件提供 动力的力矩变大或者基本不变。需要说明的是，此处采用“基本不变”而不是“不变”是因为即使本领域技术人员在设计时将产品设计为所提供的力矩不变，但是由于理论与实际的差距，产品在生产装配时难免存在误差，且产品在使用时会发生磨损，实际产品并不能精确地保证驱动轮200从第一位置切换至第二位置时，越障组件为驱动轮组件提供的力矩不变。特别的，所述基本不变的含义为驱动轮200在第二位置时越障组件所提供的力矩与驱动轮200在第一位置时越障组件所提供的力矩相比，其变化量≤驱动轮200在第一位置时越障组件所提供的力矩的10％。因此，上述“基本不变”还可表述为：所述越障组件为所述驱动轮组件提供稳定在设定误差范围内的力矩。
需要补充的是，所述驱动轮200从第一位置切换至第二位置时，越障组件为驱动轮组件提供基本不变的力矩可以由多种方式实现，如驱动轮200从第一位置切换至第二位置的过程中，越障组件提供的力矩基本不变；或者越障组件提供的力矩先变小后变大；或者越障组件提供的力矩先变大后边小；或者越障组件提供的力矩大小上下波浪浮动。类似的，所述驱动轮200从第一位置切换至第二位置时，越障组件为驱动轮组件提供变大的力矩也可以由多种方式实现，如驱动轮200从第一位置切换至第二位置的过程中，越障组件提供的力矩持续变大；或者越障组件提供的力矩先变小后变大；或者越障组件提供的力矩先变大后边小；或者越障组件提供的力矩大小上下波浪浮动。换句话说，驱动轮200从第一位置切换至第二位置的过程中至少存在部分运动阶段，此时所述越障组件为驱动轮组件提供变大或基本不变的力矩，从而保证驱动轮200从第一位置切换至第二位置时，为驱动轮组件提供变大或基本不变的力矩。
本领域技术人员可以根据实际需要选取合适的方式来实现越障组件为驱动轮组件提供变大或基本不变的力矩。进一步地，当驱动轮200从第一位置切换至第二位置时，本申请并不限制越障组件为驱动轮组件提供动力的力矩变大或者基本不变，即使驱动轮200在第二位置时越障组件所提供的力矩小于驱动轮200在第一位置时越障组件所提供的力矩，但只要驱动轮200从第一位置切换至第二位置的过程中，至少存在部分运动阶段，所述越障组件为驱动轮组件提供变大或基本不变的力矩便可。
为了实现本申请实施例提供的所述驱动轮与行进面之间的正压力变化幅度小于或等于设定阈值的目的，所述越障组件包括设置在壳体100上的受力部以及设置在底座10上的施力部。当自移动机器人静止在平坦地面上或者在平面上正常行走时，所述驱动轮组件由于受到自移动机器人的重力及底座10的限位作用，驱动轮200处于第一位置，此时所述施力部对受力部施加的作用力方向通过第一旋转轴110，即施力部产生的力矩为零。施力部虽然向受力部施加了作用力，但该作用力远小于自移动机器人机体本身的重力，故驱动轮200处于第一位置；当自移动机器人机体被顶起或者驱动轮200行走至凹坑处时，驱动轮200受到自身重力，绕第一旋转轴110旋转伸出，使得受力部和施力部的相对位置发生变化，所述施力部对受力 部施加的作用力方向向下偏离，产生有效力矩，从而使得驱动轮组件除受自身重力外，还受到施力部施加的作用力的有效力矩，该作用力增强了驱动轮200与地面之间的摩擦力，有利于其越过障碍。所述施力部对受力部施加的作用力的大小及力矩可以通过改变施力部及受力部的形状进行调整。
需要补充的是，也可以改变施力部对受力部的相对位置，使得在自移动机器人静止在平坦地面上或者在平面上正常行走时，施力部对受力部施加的作用力方向不通过第一旋转轴110，即此时施力部已经对受力部施加了向下的作用力的有效力矩，但是由于自移动机器人的重力作用，驱动轮200仍处于第一位置，当自移动机器人机体被顶起或者驱动轮200行走至凹坑处时，驱动轮200受到自身重力及施力部施加的作用力，绕第一旋转轴110旋转向下伸出。
以下将结合附图对本申请各实施例的技术方案进行清楚、完整的描述，显然，所描述的实施例仅仅是本申请的一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动的前提下所得到的所有其他实施例，都属于本申请所保护的范围。另外，需要说明的是，本文中的“第一”、“第二”等描述，是用于区分不同的结构、部件等，不代表先后顺序，也不限定“第一”和“第二”是不同的类型。
图1为本申请实施例一驱动轮组件的结构示意图；图2为本申请实施例一驱动轮第一位置下驱动轮组件的结构示意图；图3为本申请实施例一驱动轮第二位置下驱动轮组件的结构示意图。如图1至图3所示，在本实施例中，所述施力部包括压板320和动力件，所述压板320通过第二旋转轴300可旋转的设置在底座10上，所述受力部位于第二旋转轴300与第一旋转轴110之间，所述压板320在动力件的作用下与受力部相抵顶，以施力于所述驱动轮组件。为了减少受力部与施力部之间的摩擦，所述受力部可采用第一滚轮330或圆柱等。所述动力件可为套设在第二旋转轴300上的扭簧310，所述扭簧310的一端与所述压板相抵顶。所述压板320与所述受力部抵顶的一侧包含一段弧形的压力段，其形状可以根据扭簧310的初始扭力以及第一旋转轴110、第二旋转轴300和受力部的相对位置进行调整，从而实现驱动轮200从第一位置切换至第二位置时，越障组件为驱动轮组件提供变大的力矩。所述压板320在扭簧310所提供的扭力作用下与第一滚轮330接触，通过第一滚轮330对驱动轮组件施加作用力。本实施例中，随着自移动机器人的行走环境发生变化，施力部与受力部之间的相对位置也会发生变化，且在扭簧310的作用力下，施力部与受力部始终保持接触。
从作用力的角度，上述实施例一提供的自移动机器人的工作原理为：自移动机器人正常工作(即在平底上工作)时驱动轮组件在机体重力的作用下绕第一旋转轴110转动到最大限位角度(如附图2所示)。此时扭簧310的压缩角度最大即储存的扭力最大，但压板320与第一滚轮330接触点的法线方向和第一滚轮330与第一旋转轴110的中心线之间的夹角为0 度，所以此时压板320对驱动轮组件只产生通过第一旋转轴110轴心的压力。当自移动机器人遇到台阶或障碍物时，机体的底座10被顶高，驱动轮组件通过自身重力的作用使其对第一旋转轴110产生一定的转矩，此时驱动轮组件绕第一旋转轴110做逆时针方向的转动，驱动轮组件在转动时第一滚轮330沿着压板320的表面滚动，压板320与第一滚轮330接触点的法线方向和第一滚轮330与第一旋转轴110的中心线之间的夹角在不断增大。当驱动轮组件绕第一旋转轴110转动到最小限位角度时(如附图3所示)，压板320与第一滚轮330接触点的法线方向和第一滚轮330与第一旋转轴110的中心线之间的夹角成如图3所示的角度(如90度)，此时压板320对第一滚轮330的压力全部转化为驱动轮200对行进面的法向压力，使得驱动轮200对行进面产生的摩擦力最大化，从而最大限度的增大自移动机器人的驱动力和越障能力。
从扭矩的角度，上述实施例一提供的自移动机器人的工作原理为：当自移动机器人静止在平坦地面上或者在平面上正常行走时，所述驱动轮组件由于受到自移动机器人的重力及底座10的限位作用，驱动轮200处于第一位置，此时，所述扭簧310所储存的扭力使得压板320以第二旋转轴300为中心朝向第一滚轮330旋转，从而对第一滚轮330施加作用力。在本实施例中，如图2所示，上述作用力的方向通过第一旋转轴110，力矩为零，即此时上述作用力并没有为驱动轮组件旋转伸出提供有效动力。而当自移动机器人机体被顶起(例如，爬坡时，机体前段被顶起，或者在地毯行走时，机体被地毯毛顶起)或者驱动轮200行走至凹坑处时，驱动轮200受到自身重力，带动驱动轮组件以第一旋转轴110为中心旋转伸出，压板320对第一滚轮330施加的作用力的方向发生变化，驱动轮组件在转动时第一滚轮330沿着压板320的表面滚动，压板320与第一滚轮330接触点的法线方向和第一滚轮330与第一旋转轴110的中心线之间的夹角在不断增大，产生增大的力矩。驱动轮组件除受自身重力外，还受到扭簧310的扭力，换句话说，当自移动机器人机体被顶起或者驱动轮200行走至凹坑处时，驱动轮200从第一位置切换至第二位置时，所述驱动轮组件旋转伸出的力矩增大，有利于其越过障碍。
图4为本申请实施例二驱动轮第一位置下驱动轮组件的结构示意图；图5为本申请实施例二驱动轮第二位置下驱动轮组件的结构示意图；图6为本申请实施例二驱动轮伸出过程中驱动轮组件所受力矩的示意图。如图4至图6所示，本实施例与实施例一相比，施力部与受力部的相对位置发生变化，使得驱动轮200处于第一位置时，第一滚轮330和第一旋转轴110的连线与所述压板320对第一滚轮330施加作用力的方向存在一夹角a，优选的夹角a的范围为0°＜a≤90°。在本实施例中，a为30°，此时扭簧310的扭转角度为90°。当驱动轮200处于第二位置时，第一滚轮330和第一旋转轴110连线与所述压板320对第一滚轮330施加作用力的方向的夹角a为90°，扭簧310的扭转角度为45°，驱动轮200从正常行走状态到越障状态压板扭簧310的扭力减小一半但压板320作用点到第二旋转 轴的力臂增大一倍，所以该越障组件可以保持驱动轮200在第二位置和第一位置下所受的力矩不变或基本不变。结合图6，图6中纵坐标为以第一旋转轴110为旋转轴，施力部施加在驱动轮组件上的力矩M，横坐标为驱动轮组件旋转伸出的距离L，从图6可以看出，驱动轮组件旋转伸出的过程中，施力部施加在驱动轮组件上的力矩不变，始终为M1。换句话说，当自移动机器人机体被顶起(例如，爬坡时，机体前段被顶起，或者在地毯行走时，机体被地毯毛顶起)或者驱动轮200行走至凹坑处时，驱动轮200从第一位置切换至第二位置，所述驱动轮组件旋转伸出的力矩不变，有利于其越过障碍。
需要说明的是，本申请并不限制上述角度a以及扭簧310的扭转角度，本领域技术人员可以根据实际需要进行设计。
图7为本申请实施例三驱动轮组件的结构示意图；图8为本申请实施例三驱动轮第一位置下驱动轮组件的结构示意图；图9为本申请实施例三驱动轮第二位置下驱动轮组件的结构示意图。如图7至图9所示，在本实施例中，与上述实施例不同的是，所述压板包括与受力部抵顶的施力端410以及产生动力的动力端420。所述第二旋转轴300设置在施力端与动力端之间，所述动力件包括第一磁铁430和第二磁铁440，第一磁铁430设置在所述动力端上，第二磁铁440设置在所述底座上，所述第二磁铁440位于第一磁铁430下方，所述第二磁铁与第一磁铁之间为斥力。类似的，所述受力部为固定在施力部与第一旋转轴110之间的第一滚轮330。进一步地，还可以在所述底座10上的第三磁铁450，所述第三磁铁位于第一磁铁430上方，所述第三磁铁与第一磁铁之间为吸力。即第三磁铁450与第一磁铁430的相对面不为同极(如第三磁铁450的N极对着第一磁铁430的S极)，第二磁铁440与第一磁铁430相对面为同极(如第二磁铁440的N极对着第一磁铁430的N极)，通过第一磁铁430与第二磁铁440以及第三磁铁450之间的磁力作用，所述动力端420在磁力的作用下受到向上旋转的作用力，由于杠杆作用，所述施力端410受到向下旋转的作用力，从而通过第一滚轮330对驱动轮组件施加旋转伸出的作用力。
从作用力的角度，上述实施例三提供的自移动机器人的工作原理：自移动机器人正常工作(在平面地面上工作)时驱动轮组件在机体重力的作用下绕第一旋转轴110转动到最大限位角度(如附图2所示)，此时第一磁铁430对第二磁铁440的排斥力最大，第一磁铁430对第三磁铁450的吸引力最小。当自移动机器人遇到台阶或障碍物时，自移动机器人的机体底盘10被顶高，通过第二磁铁440对第一磁铁430的排斥力使压板的施力端410绕第二旋转轴300逆时针方向转动，压板的施力端410在转动的过程中第二磁铁440对第一磁铁430的排斥力逐渐减小而第三磁铁450对第一磁铁430的吸引力逐渐增大。当驱动轮组件绕第一旋转轴110转动到最小限位角度时(如附图3所示)，第二磁铁440对第一磁铁430的排斥力最小而第三磁铁450对第一磁铁430的吸引力最大。可以保证驱动轮200在浮动的过程中第三磁铁450和第二磁铁440对第一磁铁430产生的作用 力的大小相等，即压板对驱动轮组件的压力大小相等，从而使得自移动机器人在越障时的驱动力保持恒定。
从扭矩的角度，上述实施例三提供的自移动机器人的工作原理：当自移动机器人静止在平坦地面上或者在平面上正常行走时，所述驱动轮组件由于受到自移动机器人的重力及底座10的限位作用，驱动轮200处于第一位置，此时，所述第一磁铁430虽然受到第二磁铁440以及第三磁铁450的磁力，当时由于施力端410对第一滚轮330施加的作用力通过第一旋转轴110，力矩为零，即所述施力部并没有为驱动轮组件旋转伸出提供有效作用力。而当自移动机器人机体被顶起(例如，爬坡时，机体前段被顶起，或者在地毯行走时，机体被地毯毛顶起)或者驱动轮200行走至凹坑处时，驱动轮200受到自身重力，带动驱动轮组件以第一旋转轴110为中心旋转伸出，施力端410对第一滚轮330施加的作用力的方向发生变化，驱动轮组件在转动时第一滚轮330沿着施力端410的表面滚动，施力端410与第一滚轮330接触点的法线方向和第一滚轮330与第一旋转轴110的中心线之间的夹角在不断增大，产生增大的力矩。驱动轮组件除受自身重力外，还受到磁力作用，换句话说，当自移动机器人机体被顶起或者驱动轮200行走至凹坑处时，驱动轮200从第一位置切换至第二位置，所述驱动轮组件旋转伸出的力矩增大，有利于其越过障碍。
图10为本申请实施例四驱动轮组件的结构示意图。所述施力部包括弹性体；沿形变方向，所述弹性体的一端固定在所述机体上，另一端设有滚轮组件；所述受力部具有曲面结构；所述滚轮组件抵顶在所述曲面结构上，从而施力于所述驱动轮组件。其中，所述弹性体可为弹簧或具有形变量的软胶类材料等，本申请实施例对此不作具体限定。具体的，如图10所示，在本实施例中，所述施力部包括竖直设置的弹簧500以及弹簧500底部的滚轮组件510，所述弹簧500上端固定在底座10上，滚轮组件510包括滚轮支架与第二滚轮，所述滚轮支架上端固定在弹簧500底部，下端通过第二滚轮轴将第二滚轮可旋转的设置在滚轮支架上。所述受力部包含一固定在壳体100上与第二滚轮抵顶的曲面结构520。所述滚轮组件510在弹簧500储存的弹力作用下通过曲面结构520对驱动轮组件施加作用力。
具体来说，当自移动机器人静止在平坦地面上或者在平面上正常行走时，所述驱动轮组件由于受到自移动机器人的重力及底座10的限位作用，驱动轮200处于第一位置，此时，所述滚轮组件510在弹簧500储存的弹力作用下通过曲面结构520对驱动轮组件施加作用力。在本实施例中，上述作用力的方向通过第一旋转轴110，力矩为零，即此时上述作用力并没有为驱动轮200组件旋转伸出提供有效动力。而当自移动机器人机体被顶起(例如，爬坡时，机体前段被顶起，或者在地毯行走时，机体被地毯毛顶起)或者驱动轮200行走至凹坑处时，驱动轮200受到自身重力，带动驱动轮组件以第一旋转轴110为中心旋转伸出，滚轮组件510对曲面结构520施加的作用力的方向发生变化，驱动轮组件在转动时第二滚轮沿着曲面结构520的表面滚动，第二滚轮与曲面结构520接触点的法线方向和第 二滚轮与第一旋转轴110的中心线之间的夹角在不断增大，产生增大的力矩。驱动轮组件除受自身重力外，还受到弹簧500的弹力，换句话说，当自移动机器人机体被顶起或者驱动轮200行走至凹坑处时驱动轮200从第一位置切换至第二位置，所述驱动轮组件旋转伸出的力矩增大，有利于其越过障碍。
上述实施例提供的技术方案，通过弹簧的选型、改变曲面结构的曲面形状即可实现对向驱动轮组件施加的持续作用力的控制，使得驱动轮与行进面之间的正压变化幅度被控制在一个较小的范围，驱动轮与行进面之间的摩擦力也较为稳定，有助于提高自移动机器人的越障能力。
上述各实施例提供的各越障组件的实现结构，使得驱动轮受到的作用力变化较小。通过实验，得到本申请各实施例提供的实施例中，驱动轮对行进面的压力范围为8.6-10.2，变化幅度20％左右，越障能力强；而现有技术采用拉簧旋臂升降机构中，驱动轮对地面的压力范围为6.1～10.5，变化幅度40％左右，越障能力较弱。图11示出了现有技术驱动轮对地面压力变化与本申请实施例提供的技术方案中驱动轮对地面压力变化的曲线对照图。下表2为现有技术与本申请实施例提供的技术方案中对驱动轮产生的正压力对比表。
表2驱动轮产生的正压力对比表
Figure PCTCN2020070524-appb-000002
本申请提供的技术方案的驱动轮对行进面的压力范围为8.6-10.2N，变化幅度20％左右，驱动轮不容易卡死，且驱动轮对地面压力较大，提供的摩擦力越大，越障能力强。
图12示出了本申请一实施例提供的自移动机器人的行走方法的流程示意图。如图12所示，包括：
步骤S01、遇到障碍时，驱动轮组件的驱动轮相对机体从第一位置移动至第二位置。
步骤S02、所述驱动轮从所述第一位置移动至所述第二位置过程中，越障组件施力于所述驱动轮组件，所述驱动轮与行进面之间的正压力变化幅度小于或等于设定阈值。
这里需要说明的是：本实施例中涉及的结构特征的具体实现及各结构特征之间的连接关系均可参上述各实施例中的相应内容，此处不再赘述。
上述设定阈值为0～25％。
上述步骤S02还可具体为：所述越障组件为所述驱动轮组件提供变大的力矩；或者所述越障组件为所述驱动轮组件提供稳定在设定误差范围内 的力矩。
具体实施时，上述越障组件为所述驱动轮组件提供变大的力矩或者稳定在设定误差范围内的力矩，可以是驱动轮从所述第一位置移动至所述第二位置的全部运动阶段，也可以是部分运动阶段。
即所述驱动轮从所述第一位置移动至所述第二位置过程中至少存在部分运动阶段，所述越障组件为所述驱动轮组件提供变大的力矩或者稳定在设定误差范围内的力矩。
本申请实施例提供的实施例中，遇到障碍时，驱动轮从第一位置移动至第二位置过程中，越障组件向驱动轮施加持续的作用力使得驱动轮与行进面之间的正压力变化幅度小于或等于设定阈值，从而增加了驱动轮与行进面之间的摩擦力，增强了自移动机器人的越障能力。
最后应说明的是：以上实施例仅用以说明本申请的技术方案，而非对其限制；尽管参照前述实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的精神和范围。

Claims (25)

  1. 一种自移动机器人，其中，包括：机体、驱动轮组件及越障组件；
    所述驱动轮组件通过第一旋转轴可旋转的设置在所述机体上；
    所述驱动轮组件包括驱动轮；
    所述驱动轮相对所述机体从第一位置移动至第二位置过程中，所述越障组件施力于所述驱动轮组件，所述驱动轮与行进面之间的正压力变化幅度小于或等于设定阈值。
  2. 根据权利要求1所述的自移动机器人，其中，所述设定阈值为0～25％。
  3. 根据权利要求1所述的自移动机器人，其中，
    所述越障组件为所述驱动轮组件提供变大的力矩；或者
    所述越障组件为所述驱动轮组件提供稳定在设定误差范围内的力矩。
  4. 根据权利要求1至3中任一所述的自移动机器人，其中，所述越障组件包括设置在所述驱动轮组件上的受力部以及设置在所述机体上的施力部。
  5. 根据权利要求4所述的自移动机器人，其中，所述施力部包括压板和动力件；
    所述压板通过第二旋转轴可旋转的设置在机体上；
    所述受力部位于所述第二旋转轴与所述第一旋转轴之间，所述压板在所述动力件的作用下与所述受力部相抵顶，从而施力于所述驱动轮组件。
  6. 根据权利要求5所述的自移动机器人，其中，所述动力件为套设在第二旋转轴上的扭簧，所述扭簧的一端与所述压板相抵顶。
  7. 根据权利要求5所述的自移动机器人，其中，所述压板与所述受力部抵顶的一侧包含一段弧形的压力段。
  8. 根据权利要求5所述的自移动机器人，其中，所述驱动轮处于第一位置时，所述压板对受力部施加作用力的方向线通过第一旋转轴。
  9. 根据权利要求5所述的自移动机器人，其中，所述驱动轮处于第一位置时，所述受力部和所述第一旋转轴的连线与所述压板对所述受力部施加作用力的方向线存在一夹角a。
  10. 根据权利要求9所述的自移动机器人，其中，所述夹角a的范围为0°＜a≤90°。
  11. 根据权利要求5所述的自移动机器人，其中，所述压板包括与受力部抵顶的施力端以及产生动力的动力端；
    所述第二旋转轴设置在所述施力端与所述动力端之间；
    所述动力件包括第一磁铁和第二磁铁，第一磁铁设置在所述动力端上，第二磁铁设置在所述机体上；
    所述第二磁铁位于所述第一磁铁下方，所述第二磁铁与所述第一磁铁之间为斥力。
  12. 根据权利要求11所述的自移动机器人，其中，所述动力件还包括设置在所述机体上的第三磁铁，所述第三磁铁位于所述第一磁铁上方，所述第三磁铁与所述第一磁铁之间为吸力。
  13. 根据权利要求5所述的自移动机器人，其中，所述受力部为第一滚轮。
  14. 根据权利要求4所述的自移动机器人，其中，所述施力部包括弹性体；
    沿形变方向，所述弹性体的一端固定在所述机体上，另一端设有滚轮组件；
    所述受力部具有曲面结构；
    所述滚轮组件抵顶在所述曲面结构上，从而施力于所述驱动轮组件。
  15. 根据权利要求14所述的自移动机器人，其中，所述滚轮组件包括滚轮支架与第二滚轮；
    所述滚轮支架的上端设置在所述弹性体上；
    所述第二滚轮通过滚轮轴可旋转的设置在滚轮支架的下端。
  16. 一种自移动机器人，其中，包括：机体、驱动轮组件及越障组件；其中，
    所述驱动轮组件通过第一旋转轴可旋转的设置在所述机体上；
    所述驱动轮组件包括驱动轮；
    所述越障组件包括施力部及设置在所述驱动轮组件上的受力部；
    所述施力部包括动力件及通过第二旋转轴可旋转的设置在所述机体上的压板；
    所述驱动轮相对所述机体从第一位置移动至第二位置过程，所述压板在所述动力件的作用下与所述受力部相抵顶，以施力于所述驱动轮组件。
  17. 根据权利要求16所述的自移动机器人，其中，在所述驱动轮相对所述机体从第一位置移动至第二位置过程中，所述受力部上的受力点的位置发生改变。
  18. 根据权利要求16所述的自移动机器人，其中，所述受力部位于第一旋转轴和第二旋转轴之间。
  19. 根据权利要求16所述的自移动机器人，其中，所述动力件为套设在第二旋转轴上的扭簧，所述扭簧的一端与所述压板相抵顶。
  20. 根据权利要求16所述的自移动机器人，其中，所述压板与所述受力部抵顶的一侧包含一段弧形的压力段。
  21. 一种自移动机器人，其中，包括：机体、驱动轮组件及越障组件；其中，
    所述驱动轮组件通过第一旋转轴可旋转的设置在所述机体上；
    所述驱动轮组件包括驱动轮；
    所述越障组件包括施力部及设置在所述驱动轮组件上的受力部；
    所述施力部包括在弹性体；
    沿形变方向，所述弹性体的一端固定在所述机体上，另一端设有滚轮组件；
    所述受力部具有曲面结构；
    所述驱动轮从第一位置移动至第二位置过程中，所述滚轮组件在所述弹 性体的作用下抵顶在所述曲面结构上，以施力于所述驱动轮组件。
  22. 一种自移动机器人的行走方法，其中，包括：
    遇到障碍时，驱动轮组件的驱动轮相对机体从第一位置移动至第二位置；
    所述驱动轮从所述第一位置移动至所述第二位置过程中，越障组件施力于所述驱动轮组件，所述驱动轮与行进面之间的正压力变化幅度小于或等于设定阈值。
  23. 根据权利要求22所述的方法，其中，所述设定阈值为0～25％。
  24. 根据权利要求22或23所述的方法，其中，所述驱动轮与行进面之间的正压力变化幅度小于或等于设定阈值，包括：
    所述越障组件为所述驱动轮组件提供变大的力矩；或者
    所述越障组件为所述驱动轮组件提供稳定在设定误差范围内的力矩。
  25. 根据权利要求24所述的方法，其中，所述越障组件为所述驱动轮组件提供变大的力矩或者稳定在设定误差范围内的力矩，包括：
    所述驱动轮从所述第一位置移动至所述第二位置过程中至少存在部分运动阶段，所述越障组件为所述驱动轮组件提供变大的力矩或者稳定在设定误差范围内的力矩。
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