WO2024067873A1 - Dispositif de transport, système de nettoyage, procédé de commande et système de maintenance - Google Patents

Dispositif de transport, système de nettoyage, procédé de commande et système de maintenance Download PDF

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Publication number
WO2024067873A1
WO2024067873A1 PCT/CN2023/123033 CN2023123033W WO2024067873A1 WO 2024067873 A1 WO2024067873 A1 WO 2024067873A1 CN 2023123033 W CN2023123033 W CN 2023123033W WO 2024067873 A1 WO2024067873 A1 WO 2024067873A1
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WO
WIPO (PCT)
Prior art keywords
cleaning
cleaning host
component
host
transport
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Application number
PCT/CN2023/123033
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English (en)
Chinese (zh)
Inventor
高振东
张士松
钟红风
杨帆
Original Assignee
苏州宝时得电动工具有限公司
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Application filed by 苏州宝时得电动工具有限公司 filed Critical 苏州宝时得电动工具有限公司
Publication of WO2024067873A1 publication Critical patent/WO2024067873A1/fr

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots

Definitions

  • the present application relates to the technical field of intelligent devices, and in particular to a transport and loading system.
  • indoor cleaning robot systems can only move on flat ground, and are generally unable to cross obstacles (these obstacles generally refer to obstacles with a height greater than 40 mm, such as stairs), which limits the use of indoor cleaning robot systems.
  • the present application provides a transport device that can transport a cleaning host and enable the cleaning host to overcome obstacles to meet the use of more scenarios.
  • the present application also provides a cleaning system (also referred to as a transport system) comprising the transport device.
  • a cleaning system also referred to as a transport system
  • a transport system comprising:
  • a cleaning host comprising a body, a moving component disposed on the body and configured to move the body, and a cleaning component for cleaning a floor;
  • the transport accessory comprises a displacement component having a greater obstacle-crossing capability than the moving component; the transport accessory and the cleaning host are in a separated state; in the separated state, the cleaning host can operate independently; the transport accessory and the cleaning host are in a combined state; in the combined state, the cleaning host and the transport accessory form a combined body, and the displacement component is located at the lower part of the combined body to drive the combined body to move;
  • the cleaning host further comprises a sensor component configured to detect the environment of the assembly in the assembly state and generate a detection signal;
  • the handling system also includes a controller
  • the controller is configured to receive the detection signal and generate a control signal based on the detection signal
  • the displacement component is configured to receive the control signal to drive the assembly to move.
  • the sensing component includes at least one of the following: a positioning sensor, an obstacle detection sensor.
  • the sensing component includes at least one of a visual sensor and an LDS.
  • the controller is arranged on the cleaning host.
  • the outer contour of the handling accessory is outside the detection area of the sensor assembly.
  • the combined body has a flat-land transport mode of moving in the same plane space
  • the combined body has a climbing mode for climbing in two plane spaces with a height difference; wherein the height difference is greater than a preset threshold;
  • the detection area of the sensor component may be smaller than the detection area of the sensor component in the flat ground transport mode.
  • the transport accessory further comprises a bearing assembly, which is arranged on the displacement assembly;
  • the cleaning host is located on the carrying assembly and is configured to hold the cleaning host.
  • the sensor assembly further includes a downward-looking sensor disposed at the bottom of the body of the cleaning host, configured to detect a cliff.
  • the bearing assembly is provided with a window at a position corresponding to a downward-looking sensor at the bottom of the cleaning host body.
  • the bearing component is made of a transparent material.
  • the present application also provides a transport system, comprising:
  • a cleaning host comprising a body, a moving component disposed on the body and configured to move the body, and a cleaning component for cleaning a floor, the cleaning host further comprising a controller disposed on the body for autonomously moving the cleaning host to perform a cleaning task;
  • a handling accessory including a displacement component having an obstacle-crossing capability greater than that of the said moving component
  • the transport attachment and the cleaning host are in a separated state; in the separated state, the cleaning host can operate independently;
  • the transport accessory and the cleaning main unit are in a combined state; in the combined state, the cleaning main unit and the transport accessory form a combined body, and the displacement component is located at the lower part of the combined body to drive the combined body to move;
  • the cleaning host includes a first communication component, and the transport accessory includes a second communication component;
  • the controller is configured to transmit a control signal to the second communication component through the first communication component, and the displacement component is configured to receive the control signal to drive the combined body to move.
  • the controller of the cleaning host is further configured to control the cleaning host to be in a preset position of the transport accessory when the cleaning host and the transport accessory are in the separated state, so as to form the combined state.
  • the transport accessory further comprises a guide component configured to send a guide signal to a controller of the cleaning host when the transport accessory is in a separated state from the cleaning host;
  • the controller of the cleaning host is configured to control the moving component of the cleaning host to move to the preset position according to the guide signal.
  • the transport accessory includes a guide mark
  • the cleaning host includes a mark sensor for identifying the guide mark
  • the identification sensor is configured to generate a guidance signal by identifying the guidance identification, and send the guidance signal to the controller of the cleaning host;
  • the controller of the cleaning host is configured to control the moving component of the cleaning host to move according to the guide signal so as to automatically dock with the transport accessory to form the combined state.
  • At least one of the transport attachment and the cleaning host is provided with an in-position detection component, which is configured to: detect whether the cleaning host is moved into position on the transport attachment; when the cleaning host is moved into position, generate an in-position signal, and send the in-position signal to the controller of the cleaning host;
  • the controller of the cleaning host is configured to control the moving component of the cleaning host to stop moving according to the in-position signal.
  • the first communication component and the second communication component transmit control signals in a wireless communication manner
  • the in-position detection component is further configured to: detect whether the cleaning host is out of the preset position; when the cleaning host is out of the preset position, generate a host out of position signal, and send the host out of position signal to the controller of the cleaning host;
  • the controller of the cleaning host is configured to generate a separation control signal based on the host separation signal, and transmit the separation control signal corresponding to the host separation signal to the second communication component via the first communication component;
  • the displacement assembly is configured to receive the disengagement control signal to stop the movement of the carrying attachment.
  • the carrying accessory also includes: a mechanical limiting component, which is configured to limit the cleaning host when the cleaning host moves into place, so that the combination formed by the cleaning host and the carrying accessory remains relatively still or the relative displacement between the cleaning host and the carrying accessory during the movement of the combination is less than a preset value.
  • the cleaning host further comprises a sensing component configured to perform environmental detection in the combined state, and to generate and send a detection signal to a controller of the cleaning host;
  • the controller of the cleaning host is configured to generate a control signal based on the detection signal; and transmit the control signal to the second communication component through the first communication component, and the displacement component is configured to receive the control signal to drive the combination to move.
  • the sensor component includes at least one of the following: a positioning sensor and an obstacle detection sensor.
  • the sensing component includes at least one of a visual sensor and an LDS.
  • the combined body in the combined state, has a flat-land transport mode
  • the controller is configured to transmit a first type of control signal to the second communication component through the first communication component, and the displacement component is configured to receive the first type of control signal to drive the combination to move in the same plane space.
  • the combined body in the combined state, has a climbing mode
  • the controller is configured to transmit a second type of control signal to the second communication component through the first communication component, and the displacement component is configured to receive the second type of control signal to drive the combination to move in the height direction of two planar spaces with a height difference; wherein the height difference is greater than a preset threshold.
  • the sensing assembly includes a positioning sensor
  • the positioning sensor is configured to detect the position of the combination, generate a positioning signal, and send the positioning signal to the controller of the cleaning host;
  • the controller of the cleaning host is configured to generate a navigation control signal based on the positioning signal, and send the navigation control signal to the displacement component through the first communication component and the second communication component, and the displacement component receives the navigation control signal to drive the combination to move to the target position.
  • the sensing assembly includes an obstacle detection sensor
  • the obstacle detection sensor is configured to detect an obstacle, generate an obstacle detection signal, and send the obstacle detection signal to the controller of the cleaning host;
  • the controller of the cleaning host is configured to generate a first obstacle control signal according to the obstacle detection signal, and send the first obstacle control signal to the displacement component through the first communication component and the second communication component.
  • the displacement component receives the first obstacle control signal to drive the combination to overcome or avoid obstacles; wherein the first obstacle control signal is one of a first obstacle overcoming signal and a first obstacle avoiding signal.
  • the controller of the cleaning host when the controller of the cleaning host generates a first obstacle avoidance signal based on the obstacle detection signal, the controller sends the first obstacle avoidance signal to the displacement component through the first communication component and the second communication component, wherein the first obstacle avoidance signal includes a first obstacle avoidance path generated based on the outer contour of a combination formed by the cleaning host and the carrying accessory; the displacement component receives the first obstacle avoidance signal to drive the combination to avoid obstacles along the first obstacle avoidance path.
  • the sensing assembly includes an obstacle detection sensor
  • the obstacle detection sensor is configured to detect an obstacle, generate an obstacle detection signal, and send the obstacle detection signal to the controller of the cleaning host;
  • the controller of the cleaning host is configured to generate a second obstacle control signal according to the obstacle detection signal, and send the second obstacle control signal to the displacement component through the first communication component and the second communication component, and the displacement component receives the second obstacle control signal to put the combination into a safe state; wherein the second obstacle control signal is one of a shutdown signal and an alarm signal; wherein the alarm signal is generated by the controller by setting an alarm device on one of the displacement component or the cleaning host.
  • the planar space has a staircase entrance; there are stairs between the two planar spaces; the stairs include at least one step;
  • the sensing assembly includes a positioning sensor
  • the controller is configured to control the displacement assembly to drive the assembly to move to the stairwell based on the positioning signal of the positioning sensor.
  • the sensing assembly further comprises an obstacle detection sensor; wherein the obstacle detection sensor comprises a non-contact obstacle detection sensor;
  • the controller is configured to adjust the angle of the non-contact obstacle detection sensor to enable the non-contact obstacle detection sensor to perform obstacle detection on the staircase to determine whether there is an obstacle on the staircase;
  • the controller is configured to control the combination to switch modes, so that the combination switches from the ground transport mode to the stair climbing mode to climb the stairs.
  • the outer contour of the transport accessory is outside the detection area of the sensor assembly to prevent the transport accessory from blocking the sensor assembly.
  • the detection area of the sensor assembly in the climbing mode, may be smaller than the detection area in the flat-land transport mode.
  • the transport accessory further comprises a bearing assembly, which is arranged on the displacement assembly.
  • the cleaning host is located on the bearing assembly and is configured to hold the cleaning host; wherein the first communication component is arranged on the bearing assembly.
  • the sensing assembly further includes a downward-looking sensor disposed at the bottom of the body of the cleaning host, configured to detect a cliff;
  • the bearing component is provided with a window at a position corresponding to the downward-looking sensor at the bottom of the cleaning host body, or the bearing component is made of a transparent material to avoid the bearing component blocking the downward-looking sensor.
  • the controller of the cleaning host is configured to determine the position of the cleaning host in the plane space based on a first map of the plane space when the cleaning host moves independently;
  • the cleaning host controller is also configured to determine a position of the combination in the plane space based on a second map of the plane space when the cleaning host and the transport accessory are moving in a combined state.
  • the first map is a map constructed when the cleaning host moves independently in the plane space in the separated state; and the second map is a map constructed when the combination moves in the plane space in the combined state.
  • the cleaning host has a memory connected to the controller, and the memory is configured to store the first map and the second map.
  • the controller of the cleaning host is configured to determine the state of the cleaning host; if the cleaning host is in a separated state from the transport attachment, the first map is obtained, and the cleaning host is positioned based on the first map and controlled to avoid obstacles; when the controller controls the cleaning host to avoid obstacles, the controller generates an obstacle avoidance path for the cleaning host based on the outer contour of the cleaning host;
  • a second map constructed by the movement of the combination in the current space is obtained, and the combination is positioned and controlled to avoid obstacles based on the second map; wherein when the controller controls the combination to avoid obstacles, the controller generates an obstacle avoidance path for the combination based on the outer contour of the combination;
  • the outer contour of the cleaning main body is different from the outer contour of the combination body.
  • the second map is obtained by the controller updating the first map based on the size information of the transport attachment.
  • the controller of the cleaning host in the separated state, is configured to perform obstacle avoidance or path planning based on the outer contour of the cleaning host;
  • the controller of the cleaning host is configured to perform obstacle avoidance or path planning based on the outer contour of the combined body.
  • the cleaning system further includes a maintenance platform configured to perform maintenance on the cleaning host and the transport accessory.
  • the maintenance platform is an integrated maintenance platform.
  • the carrying accessory when the carrying accessory needs maintenance, the carrying accessory sends a maintenance signal to the second communication component through the first communication component, and the second communication component sends the maintenance signal to the controller of the cleaning host; the controller of the cleaning host controls the displacement assembly based on the maintenance signal to drive the combination to move to the location of the maintenance platform.
  • the controller of the cleaning host controls the displacement assembly to move to the maintenance position, so that the carrying accessory and the maintenance platform are maintained at the maintenance position; wherein when maintenance is performed at the maintenance position, the cleaning host and the carrying accessory are always in the combined state.
  • the carrying accessory includes a rechargeable power supply device to supply power to the carrying accessory, and the maintenance platform is configured to perform charging and maintenance for the carrying accessory.
  • the transport accessory further includes a maintenance component, which is disposed on the main body and is configured to perform maintenance on the cleaning host.
  • a transport system characterized in that it comprises:
  • a cleaning host comprising a body, a moving component disposed on the body and configured to move the body, and a cleaning component for cleaning a floor;
  • the transport accessory comprises a displacement component having a greater obstacle-crossing capability than the mobile component; the transport accessory and the cleaning host are in a separated state; in the separated state, the cleaning host can operate independently;
  • the transport accessory and the cleaning main unit are in a combined state; in the combined state, the cleaning main unit and the transport accessory form a combined body, and the displacement component is located at the lower part of the combined body to drive the combined body to move;
  • the cleaning host includes a first communication component, and the transport accessory includes a second communication component;
  • signals are transmitted between the first communication component and the second communication component
  • the cleaning host and the transport accessory transmit signals between the first communication component and the second communication component
  • the displacement component drives the combined body to move according to the signal.
  • the transport device provided in the present application can transport the cleaning host to enable the cleaning host to cross obstacles, so that the cleaning host can clean the first space and the second space located above or below or on both sides of the obstacle, and the transport device and the cleaning host are split structures (that is, the two are separated).
  • the cleaning host can be separated from the transport device to work independently, and the cleaning host can also move with the transport device, so that the cleaning host can maintain a small volume, and then the cleaning host can be moved to the bottom of the furniture to achieve full cleaning of the ground.
  • the cleaning system of the above structure can achieve the crossing of obstacles by enabling the transport device to carry the cleaning host, and at the same time, when necessary, the cleaning host can also work independently without affecting the use effect of the cleaning host on the flat ground, so that the cleaning system can be used in more scenarios, significantly improving the use effect of the cleaning system.
  • FIG1 is a schematic diagram of the structure of a cleaning host in a cleaning system provided by the present application.
  • FIG2 is a schematic diagram of the structure of a transport device in a cleaning system
  • FIG3 is a schematic diagram of the structure in which the cleaning host is carried on a transport device provided with a protective cover;
  • FIG4 is a schematic diagram of the structure of a handling device with a spoke-type displacement assembly carrying a cleaning host
  • FIG5 is a schematic diagram of the structure of a handling device with a foot-type displacement assembly carrying a cleaning host
  • FIG6 is a schematic structural diagram of a cleaning mainframe moving into position on a transport device having a crawler-type displacement assembly
  • FIG7 is a schematic diagram of the structure of the cleaning host in the second state
  • FIG8 is a schematic diagram of the structure of the transport device near the staircase
  • Figures 9 and 10 are schematic diagrams of the structure in which the support rod is supported on the bottom step
  • FIG. 11 and 12 are schematic diagrams of the structure in which the head of the handling device is overlapped on the bottom step
  • FIG. 13 and 14 are schematic diagrams of the structure of the transport device climbing the upper steps
  • FIG15 is a schematic diagram of the structure of the cleaning host detecting that the transport device begins to climb to the top;
  • 16 and 17 are schematic diagrams of the structure in which the support rod supports the head on the ground of the second floor so that the tilt angle of the head remains unchanged;
  • FIG. 18 is a schematic structural diagram of different stages in which the support rod rotates counterclockwise to transform the transport device from an inclined state to a horizontal state;
  • 19 and 20 are schematic diagrams showing the structure of the cleaning host autonomously determining the second-floor staircase map
  • FIG21 is a schematic structural diagram of a transport device with a spoke-type displacement assembly carrying a cleaning host climbing stairs;
  • FIG22 is a schematic diagram of the structure of a transport device with a foot-type displacement assembly carrying a cleaning host climbing stairs;
  • FIG23 is a schematic diagram of the structure of a transport device equipped with a security component carrying a cleaning host
  • FIG24 is a schematic diagram of the structure of the base station and the cleaning host
  • FIG25 is a schematic diagram of the structure of the base station and the transport device
  • FIG26 is a schematic diagram showing a transport accessory that is detachable from a host
  • FIG27 is a schematic diagram of a cleaning host in a preset position for carrying accessories
  • FIG28 is a schematic diagram of a state where a combination can be transported on flat ground
  • FIG29 is a schematic diagram of the detection range (detection area) of the sensor component of the cleaning host in a combined state
  • FIG30 is a schematic diagram of a transport accessory sending a guide signal to guide the cleaning host in a separated state
  • FIG31 is a schematic diagram of a cleaning host in a separated state controlling the cleaning host to align with a transport attachment based on a guide signal;
  • FIG32 is a schematic diagram of a cleaning mainframe driving into a transport attachment
  • FIG33 is a schematic diagram of a cleaning main unit being separated from a preset position of a transport attachment
  • FIG34 is a schematic diagram of a combination being transported to a staircase
  • FIG35 is a schematic diagram of a combination aligned with a staircase
  • 36A to 36K are schematic diagrams showing a process of a combination body climbing up stairs
  • 37A to 37J are schematic diagrams showing a process of a combination body climbing down stairs
  • FIG38 is a schematic diagram of a user manually combining the cleaning host and the carrying accessory
  • FIG39 is a schematic diagram of a user manually limiting the position of the cleaning host
  • FIG40 is a schematic diagram of a user manually releasing the limit of the cleaning host
  • FIG41 is a schematic diagram of a user manually separating the cleaning host from the carrying accessory
  • FIG42 is a schematic diagram of a transport accessory and a cleaning host in a separated state
  • FIG43 is a schematic diagram of a user manually combining the transport accessory with the cleaning host
  • 44 to 46 are schematic diagrams showing a process of a combination body climbing stairs
  • FIG47 is a schematic diagram of a first map called when a cleaning host runs independently
  • Figure 48 is a schematic diagram of a second map called when a combination is running.
  • 100-cleaning host 200-handling device (also known as handling accessories), 300-base station (also known as maintenance platform or charging station), 400-obstacle, 500-wall, 600-handrail; 101-second sensor, 102-downward sensor; 201-main body, 202-bearing component, 203-rotating component, 204-energy interface, 205-perspective window, 206-security component; 241-forearm; 242-rear arm; 243-guiding component; 2431-guiding signal; 244-arrival detection component; 245-guiding structure; 246-step detection sensor; 251-distance detection sensor; 2511-detection light; 121-visual sensor; 1210-detection of visual sensor Measuring range; 131-LDS; 1310-LDS detection range; 2441-host separation signal 2011-head, 2012-tail; 2021-carrier, 2022-buffer slope; 2061-shooting module, 2062-interaction module; 211-communication component, 212-
  • the present application provides a transport device, which can transport a cleaning host, enable the cleaning host to cross obstacles, and meet the use of more scenarios.
  • the present application also provides a cleaning system including the transport device, a control method of the cleaning system, and a maintenance system including the cleaning system.
  • the embodiment of the present application first provides a transport device 100 and a cleaning system having the transport device 100.
  • the cleaning system is mainly used to automatically perform cleaning work indoors, and mainly includes a cleaning host 100 and a transport device 200.
  • the cleaning host 100 is a device for automatically cleaning the floor, which mainly includes a body, a moving component arranged on the body and enabling the body to move on the ground, and a cleaning component for cleaning the floor.
  • the cleaning component includes sweeping components such as a sweeping roller brush, a negative pressure fan, and a dust collection box, and mopping and sweeping components such as a mop, a water tank, and a water pump.
  • the moving component includes a roller arranged at the bottom of the body and a motor that drives the roller to rotate, so that the cleaning host
  • the machine 100 can complete a series of ground cleaning tasks such as sweeping and mopping, and can also return to the base station 300 autonomously.
  • the specific structures of the above-mentioned components of the cleaning host 100 can refer to the prior art;
  • the transport device 200 includes a main body 201, a carrying component 202 arranged on the main body 201 and used to carry the cleaning host 100, and a displacement component 222 arranged on the main body 201 and enabling the main body 201 to move and walk.
  • the transport device 200 is used to carry the cleaning host 100 and transport the cleaning host 100 so that the cleaning host 100 can reach an area that it cannot reach by itself.
  • the transportation mainly refers to transporting the cleaning host 100 from the first space to the second space. There is a height difference between the second space and the first space, which makes the cleaning host unable to reach by itself.
  • an obstacle 400 between the second space and the first space there is an obstacle 400 between the second space and the first space, resulting in a height difference between the two spaces.
  • Transporting from the first space to the second space refers to climbing or crossing the obstacle 400.
  • This obstacle 400 generally refers to an obstacle that is raised relative to the ground and has a height greater than 40 mm, such as climbing stairs commonly seen in indoor scenes, or crossing barriers, thresholds, slopes, etc., or it can also be a pool or a receiving tank that is sunken relative to the ground.
  • transportation can also be a translation on a flat ground (such as a floor).
  • one of the main improvements to the above two parts is to set the transport device 200 and the cleaning host 100 as a split structure. That is to say, the cleaning host 100 and the transport device 200 are independent devices relative to each other, and each can work independently. At least when it is necessary to cross the obstacle 400, the cleaning host 100 will move to the transport device 200 to be carried and transported by the transport device 200.
  • the cleaning host 100 when the cleaning host 100 needs to cross the obstacle 400 to clean the area that cannot be reached by itself, it can cross the obstacle 400 with the help of the carrying and transportation of the transport device 200, for example, it can climb the stairs with the help of the transport device 200 (for the convenience of description later, "climbing stairs” will be referred to as “climbing stairs”), so that the cleaning host 100 can be transferred between different floors to meet the cleaning needs of multi-story houses; on the other hand, when the cleaning host 100 does not need to cross the obstacle 400, that is, when performing cleaning operations on the floor of a certain floor, the cleaning host 100 is separated from the transport device 200 to work independently.
  • the cleaning host 100 can also be moved together with the transport device 200, so that the cleaning host 100 with a smaller volume can be moved to a small space, such as the bottom of furniture, to achieve full cleaning of the floor. Therefore, the cleaning system achieves both transfer between different floors and full cleaning of the floor of each floor. In one embodiment, the use effect of the cleaning system is significantly improved.
  • the transport device 200 since the cleaning host 100 needs to be moved to the transport device 200, in one embodiment, the transport device 200 includes a main body 201 and a bearing assembly 202 arranged on the main body 201, and the cleaning host 100 can be moved to the bearing assembly 202 under the guidance of the guide component, and the cleaning host 100 and/or the transport device 200 are provided with a position detection component.
  • the main body 201 is the main structure of the transport device 200
  • the bearing assembly 202 is a structure of the transport device 200 specifically used to carry the cleaning host 100.
  • the transport device 200 realizes the carrying of the cleaning host 100.
  • the reason for setting the guiding component and the position detection component is to enable the cleaning host 100 to be automatically and accurately moved to the transport device 200.
  • the cleaning host 100 moves to a position aligned with the bearing assembly 202 under the guidance of the guide signal issued by the guide component, and then the cleaning host 100 moves toward the bearing assembly 202 until it is located on the bearing assembly 202.
  • the in-place detection component sends an in-place signal to prompt that the cleaning host 100 has completed the movement to the bearing assembly 202.
  • the guide component can be set on either the cleaning host 100 or the conveying device 200, and it is, for example, a camera that can recognize the position of the cleaning host 100 and the position of the bearing assembly 202 in real time; the in-place detection component can also be set on either the cleaning host 100 or the conveying device 200.
  • the in-place detection component When the in-place detection component is set on the cleaning host 100, the in-place detection component can be a camera that can recognize the position, and when the in-place detection component is set on the conveying device 200, the in-place detection component can be a Hall sensor, a pressure sensor, etc.
  • the bearing assembly 202 includes a carrier 2021.
  • a buffer slope 2022 is provided at the entrance of the carrier 2021.
  • the carrier 2021 is the main structure of the bearing assembly 202.
  • the cleaning host 100 is carried on the carrier 2021.
  • Other components of the bearing assembly 202 include a connector that connects the carrier 2021 to the main body 201, and the above-mentioned guide components and in-place detection components provided on the transport device 200.
  • a buffer slope 2022 is provided at the entrance of the carrier 2021, which can achieve a smooth connection between the bearing surface of the carrier 2021 and the ground, providing convenience for the cleaning host 100 to get on and off the platform 2021.
  • the carrier 2021 also includes a positioning groove, which is located at the parking position of the cleaning host 100.
  • the wheels of the cleaning host 100 are located in the positioning groove to achieve the positioning of the cleaning host 100, thereby reducing or even avoiding the possibility of accidental movement of the cleaning host 100 during transportation.
  • the transport device 200 can more reliably transport the cleaning host 100.
  • the positioning of the cleaning host 100 on the supporting component 202 can also be achieved in other ways.
  • the size of the carrier 2021 matches the size of the cleaning host 100, so that the cleaning host 100 can be stopped by the carrier 2021 after moving onto the carrier 2021 to achieve positioning, or in one embodiment, the cavity of the carrier 2021 for accommodating the cleaning host 100 is trumpet-shaped, so that the cleaning host 100 is gradually stopped as it moves on the carrier 2021, or a clamp is provided on the carrier 2021 to clamp the cleaning host 100 after it moves into place.
  • the cleaning host 100 and the transport device 200 can cooperate in different ways to achieve the crossing of the obstacle 400.
  • the transport device 200 is provided with a communication component 211 connected to the displacement component 222.
  • the communication component 211 can be connected to the carried cleaning host 100, and then the carried cleaning host 100 is connected to the displacement component 222 through the communication component 211, so as to realize the control of the displacement component by the cleaning host 100, and then the displacement component 222 of the transport device 200 can cross the obstacle 400 under the control of the cleaning host 100. That is to say, in one embodiment of this cooperation mode, the cleaning host 100 acts as a "driver" to drive the movable transport device 200 to climb stairs.
  • the cleaning host 100 since the cleaning host 100 has the functions of autonomous mapping, planning, positioning, movement, obstacle avoidance, etc., the components for realizing these functions can also be used to control the transport device 200 to climb stairs. Therefore, in one embodiment, the cleaning host 100 controls the transport device 200 to climb stairs, which can realize the reuse of the original components, or enable the transport device 200 and the cleaning host 100 to share a control system, thereby eliminating the need to add components, saving costs, avoiding structural changes, and providing great convenience for achieving the purpose of climbing stairs.
  • the implementation components include: a second sensor 101 horizontally arranged on the body of the cleaning host 100 for horizontal detection, the second sensor 101 can be a laser sensor (LDS) for detecting environmental information, and the horizontal dotted line in Figure 1 and Figures 7-15 is the laser emitted by the second sensor 101; a downward-looking sensor 102 arranged at the bottom of the cleaning host 100 to vertically detect objects at the bottom of the cleaning host 100 (such as the ground, the step surface of the stairs), and there are multiple downward-looking sensors 102 at the bottom of the cleaning host 100, and the vertical detection distance thereof is not less than 20mm, and the accuracy is +/-3mm.
  • LDS laser sensor
  • the longitudinal dotted lines in Figures 15-19 are virtual detection lines of the downward-looking sensors; the controller of the cleaning host 100 is a component for controlling the transport device 200 to perform the climbing action described later.
  • the present application refers to the controller of the cleaning host 100 as the second controller.
  • the cleaning host 100 and the transport device 200 can also adopt a second cooperation mode to achieve the crossing of the obstacle 400, that is, in one embodiment, the transport device 200 includes a first controller for controlling its own displacement component 222, and a first sensor 221 for detecting the obstacle 400, and the transport device 200 carrying the cleaning host 100 achieves the crossing of the obstacle 400 under the cooperation of the first controller and the first sensor 221, that is, the first controller controls the displacement component 222 to move according to the information detected by the first sensor 221, so that the transport device 200 carrying the cleaning host 100 can achieve the crossing of the obstacle 400.
  • the transport device 200 includes a first controller for controlling its own displacement component 222, and a first sensor 221 for detecting the obstacle 400, and the transport device 200 carrying the cleaning host 100 achieves the crossing of the obstacle 400 under the cooperation of the first controller and the first sensor 221, that is, the first controller controls the displacement component 222 to move according to the information detected by the first sensor 221, so that the transport device 200 carrying the cleaning host 100 can achieve the crossing of the obstacle 400.
  • the transport device 200 can achieve autonomous climbing, the cleaning host 100 does not participate in climbing, and the cleaning host 100 only serves as a "passenger" of the transport device 200.
  • the transport device 200 can achieve independent crossing of the obstacle 400, so that the transport device 200 can play other functions besides transporting the cleaning host 100, such as the maintenance function described later.
  • the cleaning host 100 and the transport device 200 can also overcome the obstacle 400 in a third cooperation mode. That is, in one embodiment, the cleaning host 100 includes relevant components that can control the transport device 200 to climb stairs, such as the above-mentioned second sensor 101 and the second controller, etc. At the same time, in another embodiment, the transport device 200 includes relevant components that can realize autonomous climbing stairs, such as the above-mentioned first sensor 221 and the first controller, etc. That is to say, there are two sets of relevant components that can realize the control of climbing stairs, one set is set on the cleaning host 100, and the other set is set on the transport device 200. When one of the two sets controls the climbing stairs, it is the first or second cooperation mode mentioned above, and this third cooperation mode is during the process of climbing stairs.
  • the relevant components on the cleaning host 100 cooperate/cooperate with the relevant components on the transport device 200 to complete the stair climbing process, that is, the relevant components of the cleaning host 100 and the relevant components of the transport device 200 respectively undertake different control steps of the entire stair climbing process.
  • the relevant components of the cleaning host 100 are only responsible for the operation of obtaining the stair map described later, and the relevant components of the transport device 200 are responsible for the operations of finding the stair entrance, detecting the upper step, and detecting whether the stair has reached the top described later; for example, in another embodiment, the relevant components of the cleaning host 100 and the relevant components of the transport device 200 cooperate to obtain the stair map, and the stair climbing process is completed under the control of the relevant components of the cleaning host 100, or completed under the control of the relevant components of the transport device 200.
  • the cooperation/cooperation of the cleaning host 100 and the transport device 200 is also realized by the communication component 211 in the first cooperation mode.
  • the second sensor 101 provided on the cleaning host 100 and the first sensor 221 provided on the transport device 200 are of the same type and function, both of which are LDS, so the LDS (i.e., the first sensor 221 or the second sensor 101) is provided on at least one of the cleaning host 100 and the transport device 200.
  • the LDS i.e., the first sensor 221 or the second sensor 101
  • the LDS is provided on the body; when it is provided on the transport device 200, the LDS is provided on the body 201.
  • the above three matching modes will not be limited by the different structures of the transport device 200, that is, no matter whether the transport device 200 is provided with the crawler-type displacement assembly 212, the spoke-type displacement assembly, or the foot-type displacement assembly described later, the stair climbing process can be completed only under the control of the cleaning host 100, only under the control of the transport device 200, or under the coordinated control of the cleaning host 100 and the transport device 200.
  • the communication component 211 provided on the transport device 200 may be a wired connection structure, such as a communication interface.
  • the cleaning host 100 is provided with a communication connector. When the cleaning host 100 is moved onto the transport device 200 and moved into position, the communication connector and the communication interface are in contact to realize the electrical connection between the cleaning host 100 and the transport device 200.
  • the transmission of electric energy and/or the transmission of signals between the cleaning host 100 and the transport device 200 may be realized through the electrical connection, so that the cleaning host 100 may realize the control of the transport device 200 or realize the coordination with the transport device 200.
  • the communication device may also be other types of components, that is, the connection between the transport device 200 and the cleaning host 100 may be a wireless connection (a wireless connection may also be referred to as a signal connection).
  • the communication component 211 is, for example, a wireless signal receiver, which realizes the communication connection between the cleaning host 100 and the transport device 200 by receiving the wireless control signal sent by the cleaning host 100.
  • it may be an antenna, a wifi module, a Bluetooth module, or the like.
  • the main body 201 of the transport device 200 includes a head and a tail, which can be simply understood as the two ends of the transport device 200 in the moving direction, and the direction facing the head is the forward direction of the transport device 200, and the direction facing the tail is the backward direction of the transport device 200.
  • the transport device 200 includes: the above-mentioned main body 201; a rotating component 203, which is arranged on the main body 201 and can drive the supporting component 202 and the cleaning host 100 it carries to rotate, so that the cleaning host 100 (specifically the second sensor 101 of the cleaning host 100) can always remain horizontal during the process of the head 2011 of the main body 201 being supported.
  • the identification method for each step of the staircase is that in one embodiment, the second sensor 101 of the cleaning host 100 or the first sensor 221 of the transport device 200 detects the vertical surface of each step. Since the vertical surface of the step is vertically arranged, in order to maximize the detection accuracy, it is preferred that the second sensor 101 or the first sensor 221 detects the vertical surface vertically, that is, in one embodiment, the second sensor 101 or the first sensor 221 is in a horizontal state to work.
  • the cleaning host 100 since the second sensor 101 is horizontally arranged on the cleaning host 100, in one embodiment, the cleaning host 100 only needs to remain horizontal to achieve the horizontal operation of the second sensor 101, and the first sensor 221 keeps the detection direction horizontal by rotating on the main body 201.
  • the head 2011 of the transport device 200 needs to be tilted counterclockwise relative to the ground (the counterclockwise direction and the clockwise direction described later are based on the perspective of Figures 7-18) (during this tilting process, the tail 2012 of the transport device 200 is always in contact with the ground).
  • the carrier 2021 carrying the cleaning host 100 rotates synchronously clockwise, so a rotating component 203 is provided on the main body 201 to drive the carrier 2021 to rotate.
  • the rotating component 203 includes at least a motor and a rotating shaft connecting the motor and the carrier 2021. The motor starts and stops and rotates in the second direction under the control of the cleaning host 100 or the first controller.
  • the cleaning host 100 is located on the transport device 200, it is preferred that in one embodiment, when the transport device 200 is in a head-up state and in the process of climbing stairs, the cleaning host 100 is always in a horizontal state.
  • the cleaning host 100 controls the angle of the platform 2021 to rotate clockwise, and through geometric relationship, it can be obtained that it is the same as the tilting angle of the head 2011 relative to the ground. Therefore, by using the sensor on the cleaning host 100 to detect the tilting angle of the head 2011 or the cleaning host 100 calculates the tilting angle of the head 2011, the clockwise rotation angle of the platform 2021 can be obtained. Alternatively, in one embodiment, the cleaning host 100 can also be kept horizontal during the climbing process.
  • the inclination angle of the stairs relative to the ground can be obtained in advance before climbing the stairs, and the platform 2021 can be rotated in the second direction by the same angle before climbing the stairs, so that the cleaning host 100 can be kept horizontal during the climbing process; for example, a weight can be set on the platform 221, and the platform 221 and the cleaning host 100 thereon are always kept in a horizontal state by keeping the angle between the platform 221 and the weight unchanged.
  • the structure of the transport device 200 for achieving climbing can have various forms, and different matching modes can select different forms that are more suitable or have good working effects and outstanding performance.
  • the transport device 200 preferably includes: a crawler displacement assembly 212, which is arranged on the main body 201 to drive the main body 201 to move, and extends from the head 2011 of the main body 201 to the tail 2012 of the main body 201; a support assembly 213, which is rotatably arranged on the main body 201 and can prop up the head 2011 from the working surface (the working surface is, for example, the ground or a step surface, etc.) by rotating, and the support assembly 213 can at least make the height of the head 2011 and the second sensor 101 of the cleaning host 100 greater than the height of the bottom step 402 of the stairs.
  • the transport device 200 is preferably a tracked trolley, which has the advantages of simple structure, small space occupation, and is easy to grab the steps of the stairs during climbing. It also has a large extension length and can grab multiple steps of the stairs at the same time during climbing, thereby improving the stability of climbing.
  • the support assembly 213 that can support the head 2011 of the transport device 200 is provided to enable the head 2011 of the transport device 200 to cross to the bottom step 402 of the stairs and the tail 2012 of the transport device 200 to move downward from the top step 403 of the stairs, so that the transport device 200 can smoothly perform the climbing operation described later.
  • the height of the head 2011 is greater than the height of the bottom step 402 of the stairs, which can ensure that the head 2011 can smoothly overlap the bottom step 402 when it falls to achieve the crossing of the bottom step 402.
  • the height of the second sensor 101 of the cleaning host 100 is greater than the height of the bottom step 402 of the stairs, in order to ensure that the first-floor stair map described later can be smoothly determined and the stairs can be climbed smoothly. In this way, through the cooperation of the crawler displacement assembly 212 and the support assembly 213, the transport device 200 can smoothly go up and down the stairs.
  • the support assembly 213 includes: a support rod 2131, one end of which is rotatably connected to the head 2011 of the transport device 200; and a roller 2132, which is rotatably arranged at the other end of the support rod 2131 for rolling contact with the ground.
  • the support rod 2131 can rotate clockwise and counterclockwise relative to the transport device 200. In one embodiment, the support rod 2131 rotates clockwise to support the head 2011, and in one embodiment, the support rod 2131 rotates counterclockwise to lower the head 2011.
  • the roller 2132 is arranged on one end of the support rod 2131 for contacting the ground or the step, so that rolling friction can be achieved between the support rod 2131 and the ground or the step surface, so that the transport device 200 can move more smoothly on the ground, thereby improving the working effect of the transport device 200, and also avoiding the damage to the floor caused by sliding friction.
  • the roller 2132 is preferably a universal wheel.
  • the support assembly 213 further includes a torque sensor, which is preferably disposed on the shaft connecting the support rod 2131 and the main body 201, or can also be disposed on the shaft rotatably connected between the roller 2132 and the support rod 2131.
  • the torque sensor is used to detect the support torque of the support rod 2131.
  • a protective cover 214 covering the crawler is provided on the top of the crawler displacement assembly 212.
  • the protective cover 214 is provided on the main body 201 and covers the crawler at the top and in the moving direction, so that the crawler can be protected and the service life of the crawler can be extended, and the crawler can also be prevented from causing harm to the user.
  • an energy interface 204 and a perspective window 205 are also provided on the transport device 200, wherein the energy interface 204 is used to connect to the charging interface of the cleaning host 100 to receive the electric energy provided by the cleaning host 100; the perspective window 205 is set at the bottom of the carrier 2021, and the downward sensor 102 of the cleaning host 100 can detect the ground and step surface at the bottom of the transport device 200 through this perspective window 205.
  • the above-mentioned transport device 200 with a crawler-type displacement assembly can also be applicable to the second and third matching modes.
  • the transport device 200 Since the carried cleaning host 100 only rides on the transport device 200 as a "passenger", the transport device 200 needs to complete climbing the stairs independently, so the transport device 200 includes a main body 201, a carrying component 202, a displacement component 222, a lifting component 223, a first controller, a first sensor 221, a memory, an energy source, a drive component, a charging interface and a communication device, etc.
  • the main body 201 is the main structure of the transport device 200. Since the transport device 200 can move, the main body 201 can be understood as a vehicle body, a frame, etc.; the bearing assembly 202 is the same as the bearing assembly 202 in the first matching mode mentioned above, and will not be repeated here; the displacement assembly 222 is arranged on the main body 201 to drive the main body 201 to move. In this second matching mode, the displacement assembly 222 is preferably a spoke-type displacement assembly or a foot-type displacement assembly, wherein, as shown in FIG.
  • the spoke-type displacement assembly 222 includes two groups of structures, each group of structures includes two climbing wheel groups, a total of four climbing wheel groups, each climbing wheel group includes a driving spindle 2221 rotatably connected to the main body 201, radially radiating from the driving spindle 2221 and circumferentially evenly distributed There are three spokes 2222, and a small wheel 2223 is installed at the end of each spoke 2222.
  • the motor of the driving assembly drives the driving main shaft 2221 to rotate through the reduction transmission mechanism, and the driving main shaft 2221 drives the three small wheels 2223 to rotate around it.
  • each small wheel 2223 is sequentially overlapped on the upper step or the lower step of the stairs to achieve climbing; as shown in Figure 5, the foot displacement assembly 222 includes four climbing feet, each climbing foot is rotatably connected by at least two electric joints 2224, which can perform crawler-like motion driven by the motor and the transmission mechanism, so that different climbing feet fall on the upper step or the lower step of the stairs in turn to achieve climbing; the lifting assembly 223 is used to drive the bearing assembly 20 2 is lifted and lowered, and when the lifting component 223 drives the carrying component 202 to descend to the lowest position, the cleaning host 100 can be smoothly moved from the ground to the carrier 2021.
  • the lifting component 223 drives the carrying component 202 to rise, the rising height needs to make the height of the second sensor 101 of the cleaning host 100 greater than the height of the bottom step 402, so as to ensure that the first floor stair map described later can be smoothly determined by the second sensor 101.
  • the structure of the lifting component 223 can have a variety of options, such as a gear rack mechanism, a screw nut mechanism, a worm gear mechanism or a scissor mechanism, etc.; the first controller is a control component of the transport device 200, and is arranged on the main body 201.
  • the first sensor 221 is rotatably arranged on the top of the main body 201 so that it can detect horizontally by rotating when the main body 201 is located on an inclined staircase.
  • the transport device 200 may also include a downward sensor arranged at the bottom of the main body 201.
  • handling device 200 having the above-mentioned spoke-type displacement assembly or foot-type displacement assembly can also be applicable to the first and third matching modes.
  • the transport device 200 has a maintenance component that can maintain the cleaning host 100, that is, in one embodiment, the transport device 200 can have the same or similar maintenance function as the base station 300, so that the transport device 200 can maintain the cleaning host 100, so that the cleaning host 100 does not need to be moved back to the base station 300, thereby improving the cleaning efficiency of the cleaning system.
  • the maintenance functions of the transport device 200 include automatic charging, automatic dust box cleaning (i.e.
  • a security component can also be provided on the transport device 200, and the security component includes at least one of a shooting module, an alarm module, and an interactive module.
  • the transport device 200 has a security function, so that the patrol of the residence can be realized in combination with the characteristic that the transport device 200 frequently moves in the residence, and thus in one embodiment, the transport device 200 has more functions and more prominent use effects.
  • the shooting module includes a camera, which is used to monitor the indoor environment
  • the alarm module includes a microphone, a speaker, a warning light and/or a display, etc., which is used to issue a voice alarm, a light alarm and/or an image alarm when the shooting module finds an abnormal situation.
  • the microphone and the speaker can also be used to communicate with the user
  • the interactive module includes the above-mentioned microphone and speaker or includes a display component such as a display screen, which enables the user to control the security component, the transport device, etc.
  • the user can instruct the security component and the transport device to perform corresponding operations through voice, or the user can set parameters by touching the buttons displayed on the display screen.
  • the security component is detachably arranged on the transport device 200. When there is no security demand, the user can remove the security component from the transport device 200 to facilitate the realization of other functions of the transport device 200.
  • the present application also provides a control method, which is applicable to the above-mentioned cleaning system.
  • the method is executed by the cleaning host 100 (i.e., the first cooperation mode mentioned above) or the transport device 200 (i.e., the second cooperation mode mentioned above), and can also be executed by the cooperation of the two (i.e., the third cooperation mode mentioned above).
  • the main steps are: when the cleaning host 100 is in the preset position of the transport device 200, the transport device 200 is controlled to perform a climbing action.
  • the method mainly includes two parts: obtaining a stair map and performing a climbing action. Among them, obtaining a stair map includes obtaining a first-floor stair map and obtaining a second-floor stair map.
  • the climbing action includes going upstairs, climbing to the top, and going downstairs.
  • the cleaning host 100 can be transferred between different floors with the assistance of the transport device 200, that is, the cleaning host 100 can cross the obstacle 400.
  • the cross-section of the bottom of the furniture is different at different heights
  • the location and direction of the staircase entrance of the building shall be permanently fixed and cannot be moved;
  • Stairs have building standards, and the size of each step is basically within a fixed standard value range. Specifically, the height must be 140mm-170mm, the width (the width refers to the distance between the two side walls of the stairs 500 or the two side handrails 600) must be 800mm-1200mm, the depth (the depth refers to the distance between the vertical surfaces of two adjacent steps) must be 200mm-300mm, and the ratio of width to depth must also be within a basically fixed standard value range, that is, 4:1-6:1;
  • Furniture is divided into two categories: floor-standing furniture and non-floor-standing furniture.
  • the bottom and top projections of floor-standing furniture are the same, while the bottom and top projections of non-floor-standing furniture are very different.
  • the operation that needs to be performed before controlling the transport device 200 to perform the stair climbing action is: obtaining the stair map; moving to the stair entrance according to the stair map.
  • This operation includes two situations. One situation is to obtain the first-floor stair map before performing the stair climbing action.
  • the process of obtaining the first-floor stair map is: if the cleaning host 100 is in the first state, obtain the first map data; if the cleaning host 100 is in the second state, obtain the second map data.
  • the height of the cleaning host 100 in the second state is greater than the height of the cleaning host 100 in the first state and the height of the bottom step 402; compare the first map data and the second map data to determine the stair map.
  • the difference between the cleaning host 100 in the first state and the second state is that the height of the cleaning host 100 (specifically, the second sensor 101 of the cleaning host 100) is different. That is, in the first state, as shown in FIG1 , the cleaning host 100 is located on the ground 401 of the first floor, and the height of the second sensor 101 on the cleaning host 100 is H0.
  • the cleaning host 100 scans the environment of the ground 401 of the first floor by the second sensor 101 (the environment includes the bottom of furniture such as table legs and chair legs, and the wall, etc.) to obtain the first-floor stair map (since the standard range of step height is 140 mm to 170 mm, the scanning height H0 of the second sensor 101 is less than 140 mm).
  • the position of the bottom step 402 is a solid part (that is, there is no space), and the first map data is data including the solid part at this position.
  • the cleaning host 100 After obtaining the first map data, the cleaning host 100 automatically moves to the transport device 200 with the assistance of the guiding component and the in-place detection component, and controls the support 200 to move to the transport device 200.
  • the support rod 2131 rotates clockwise to the supporting position to prop up the head 2011 of the transport device 200, as shown in FIG7.
  • the cleaning host 100 remains horizontal, and the transport device 200 carries the cleaning host 100 to move on the first floor 401 so that the second sensor 101 can scan at a larger height.
  • the scanning result of the second sensor 101 at the position of the bottommost step 402 is no longer a physical part, but a space, and the width and depth of this space and the ratio of the width and depth meet the architectural standard range of the stairs (the space that does not meet this architectural standard range can be determined as a non-staircase space and is excluded).
  • the second map data is obtained, and the second map data is data including this position as a space.
  • the cleaning host 100 compares the first map data and the second map data, filters out duplicate data in the data, and determines the remaining data with differences or the map formed by the second map data as the first-floor stair map, so that the position and direction of the first-floor staircase entrance are clarified. From this process, it can be seen that the first map data and the second map data are both obtained by the second sensor 101, that is, the acquisition of the first floor stair map is performed by the cleaning host 100 (i.e., the first cooperation method mentioned above).
  • the acquisition of the first floor stair map can also adopt a third cooperation method, that is, in one embodiment, the cleaning host 100 obtains the first map data in the same manner as above, and the second map data can be obtained by scanning the environment by the first sensor 221 disposed on the transport device 200 and located above the bottom step 402. After that, the first map data and the second map data are collected in the cleaning host 100 or the first controller for comparison to determine the first floor stair map.
  • the first floor stair map can also be determined by the transport device 200, that is, the first sensor 221 obtains the first map data when it is close to the ground, and obtains the second map data when it is above the bottom step 402, and the first floor stair map is determined by comparison by the first controller.
  • the first sensor 221 can be set on the cleaning host 100 in addition to being set on the transport device 200. That is, the first sensor 221 can be set on one of the cleaning host 100 and the transport device 200, or can be set on both. Similarly, the second sensor 101 can be set on one or both of the cleaning host 100 and the transport device 200.
  • the support rod 2131 is controlled to rotate counterclockwise to the storage position, so that the head 2011 of the transport device 200 falls and is placed flat on the ground 401 of the first floor, and then the transport device 200 is controlled to carry the cleaning host 100 to move toward the first floor staircase.
  • the cleaning host 100 is in a second state, that is, the transport device 200 is in a state where the head 2011 is raised and relies on the friction between the crawler part of the tail 2012 and the ground 401 of the first floor to move toward the first floor staircase. Therefore, under the premise that the head 2011 of the transport device 200 is also higher than the height H1 of the bottom step 402, there is no need to perform the supporting operation of the support rod 2131 on the bottom step 402 described later, thereby simplifying the operating steps.
  • the state of the cleaning host 100 can be self-identified. For example, when the cleaning host 100 detects or records that it has not sent or received a guidance signal, it indicates that the cleaning host 100 has not yet moved to the transport device 200, and the cleaning host 100 is in the first state. When the cleaning host 100 detects or records that the supporting component 213 has rotated a certain angle and maintained the angle, it indicates that the head 2011 of the transport device 200 is in a state of being supported by the component 213, and the cleaning host 100 is in the second state.
  • the transport device 200 moves to the first-floor staircase entrance according to the obtained first-floor staircase map, an alignment operation is required, that is, the moving front of the cleaning host 100 is adjusted to a state perpendicular to the stairs, and the transport device 200 is controlled to stop at the stair climbing preparation position.
  • the distance L1 between the transport device 200 in the stair climbing preparation position and the vertical surface of the bottom step 402 is 10mm ⁇ 100mm.
  • the distance between the second sensor 101 on the carried cleaning host 100 and the vertical surface of the bottom step 402 is L2.
  • the field of view of the visual sensor of the cleaning host 100 can cover the step surface of the bottom step 402 and the part connected to the ground 401 of the first floor.
  • the cleaning host 100 includes a depth visual sensor to detect the depth of the steps; for example, QR code identification information is pre-posted on the steps at the staircase at the first floor, and is recognized by the visual sensor of the cleaning host 100.
  • the action of going upstairs can be started, namely: the support component 213 of the transport device 200 is controlled to rotate in a first direction to prop up the head 2011 of the transport device 200, and the head 2011 is located at the top of the bottom step 402 through the movement of the transport device 200 in the propped-up state (that is, the projection formed by the head 2011 being vertically illuminated by light from above falls on the step surface of the bottom step 402); the support component 213 is controlled to rotate in a second direction to make the head 2011 fall, and the crawler track of the transport device 200 is overlapped on the bottom step 402; the transport device 200 is controlled to continue moving so that the crawler track climbs the upper steps in sequence.
  • the specific process of going upstairs is as follows: as shown in FIG. 9 , the support rod 2131 is controlled to rotate in a first direction (i.e., clockwise) so that the support rod 2131 rotates from the storage position located at the top of the main body 201 and the crawler displacement assembly 212 to the support position located at the bottom of the main body 201 and the crawler displacement assembly 212, so that the support rod 2131 falls on the bottom step 402, and supports the head 2011 of the transport device 200 by abutting against the step surface of the bottom step 402 and continuing to rotate, so that the head 2011 and the support position located at the bottom of the main body 201 and the crawler displacement assembly 212 are supported.
  • a first direction i.e., clockwise
  • the crawler track portion of the head portion 2011 rises from the ground 401 of the first floor (when the cleaning host 100 is in the second state and the transport device 200 approaches the staircase of the first floor with the head portion 2011 tilted, the operation of the support rod 2131 propping up the head portion 2011 on the bottom step 402 can be omitted).
  • the crawler track portion at the tail portion 2012 is always in contact with the ground 401 of the first floor, and the cleaning host 100 is always kept horizontal by driving the carrier 2021 through the rotating component 203, and when the second sensor When the scanning plane of 101 is higher than the height H1 of the bottommost step 402, the second sensor 101 detects that the vertical plane changes from the vertical plane of the bottommost step 402 to the vertical plane of the upper step.
  • the distance detected by the second sensor 101 becomes L3, and the difference obtained by subtracting L2 from L3 is the depth of the step (this detection process can also be performed by the first sensor 221 of the transport device 200 itself), and the height at which the second sensor 101 detects a sudden change in distance is the height H1 of the step, and the vertical distance between the second sensor 101 and the ground 401 of the first floor (i.e. the height at which the second sensor 101 is located) is detected by the downward sensor 102. In this way, the height of the step can be obtained. Since the operation of determining the stair map will also experience the process of detecting a sudden change in distance by the second sensor 101, the step height H1 mentioned in the above content is also obtained in the same way.
  • the support rod 2131 is then controlled to continue to rotate clockwise until the transport
  • the head 2011 of the device 200 is higher than the height H1 of the bottommost step 402 (the detection of whether the head 2011 is higher than the bottommost step 402 can be detected and calculated by the second sensor 101 arranged on the cleaning host 100 based on the geometric relationship between its position on the transport device 200 and the tilted head 2011, or can be detected and calculated by the first sensor 221 arranged on the transport device 200 based on the geometric relationship between the setting position on the transport device 200 and the tilted head 2011), and the inclination angle of the transport device 200 reaches the upstairs angle A suitable for going upstairs; then the crawler displacement assembly 212 is started, as shown in FIG.
  • the support rod 2131 rotates in the second direction (i.e., counterclockwise) to the storage position.
  • the head 2011 will fall onto the step surface of the bottom step 402, that is, in one embodiment, one end of the crawler displacement assembly 212 overlaps the bottom step 402; finally, as shown in FIGS. 13 and 14, in one In the embodiment, the support rod 2131 rotates counterclockwise to the storage position (to avoid affecting the subsequent climbing action), and the crawler displacement assembly 212 is started again.
  • the crawler displacement assembly 212 extends from the head 2011 to the tail 2012 of the transport device 200, that is, the length of the crawler displacement assembly 212 is greater than the distance between the edges of two adjacent steps (this distance is the length of the hypotenuse of a right triangle formed with the step depth and the step height), the crawler displacement assembly 212 can climb the upper steps in sequence to complete the climbing action.
  • the transport device 200 enters the climbing stage and needs to perform a climbing action, that is, in the process of controlling the transport device 200 to perform the climbing action, it is detected whether there is an upper step (this detection operation can be performed by the second sensor 101 or the first sensor 221).
  • the transport device 200 continues to climb; when it is detected that there is no upper step and it is detected that the head 2011 of the transport device 200 is higher than the ground 404 of the second floor (if the second sensor 101 or the first sensor 221 detects that the head 2011 is not When it is higher than the second floor 404, in one embodiment, the carrying device 200 continues to climb), the support assembly 213 is controlled to rotate in a first direction (i.e., clockwise) and contact the second floor 404 to support the head 2011 on the second floor 404; the tail 2012 of the carrying device 200 is controlled to continue climbing, and in one embodiment, the support assembly 213 is rotated in a second direction (i.e., counterclockwise) opposite to the first direction to make the head 2011 gradually approach the second floor 404 until the carrying device 200 is completely located on the second floor 404.
  • a first direction i.e., clockwise
  • the support assembly 213 is rotated in a second direction (i.e., counterclockwise) opposite to the first direction to make the head 2011 gradually approach the second
  • the second sensor 101 (or the first sensor 221) always maintains a detection state to provide real-time feedback on the position and direction relationship between the transport device 200 and the stairs, so that the cleaning host 100 can adjust the working state of the transport device 200 in real time; as shown in FIG14, with each step the transport device 200 crosses, the horizontal detection distance of the second sensor 101 (or the first sensor 221) will undergo a sudden change, but the distance L5 after the sudden change will not be greater than a first threshold value, which is, for example, three times the step depth; as shown in FIG15, when the transport device 200 is about to reach the top of the stairs, that is, when the head 2011 of the transport device 200 is about to cross the second floor ground 404, the second sensor 101 (or the first sensor 221) will detect the top of the stairs.
  • a first threshold value which is, for example, three times the step depth
  • the cleaning host 100 obtains the information that the transport device 200 is about to reach the top. After that, the downward sensor 102 of the cleaning host 100 is turned on, and the distance between the cleaning host 100 and the step surface or the ground is continuously detected through the perspective window 205 provided on the carrier 2021.
  • the cleaning host 100 calculates the distance between the head 201 and the floor according to the detection result and the geometric relationship, the cleaning host 100 will be able to reach the top of the floor.
  • 011 is higher than the second floor surface 404, as shown in FIG16, the support rod 2131 is controlled to rotate clockwise again to contact the second floor surface 404, so as to support the head 2011 that is upturned relative to the second floor surface 404; because the tail 2012 of the transport device 200 is still located on the stairs, the transport device 200 continues to climb the stairs driven by the crawler displacement assembly 212.
  • the cleaning host 100 controls the support rod 2131 to continue to rotate clockwise according to the change of the support torque of the support rod 2131 fed back by the torque sensor of the support assembly 213, so as to ensure that the support torque of the support rod 2131 is always not greater than the second threshold value, and this second threshold value is, for example, 1N.m, so as to maintain the climbing angle of the transport device 200 unchanged, as shown in FIG17;
  • the cleaning host 100 controls the support rod 2131 to rotate slowly counterclockwise until it returns to the storage position.
  • the transport device 200 carries the cleaning host 100 away from the stairs and gradually moves away from the second floor staircase.
  • the angle between the transport device 200 and the second floor ground 404 becomes smaller and smaller.
  • the transport device 200 is placed flat on the second floor ground 404.
  • the downward sensor 102 detects that the distance between the cleaning host 100 and the second floor ground 404 is a preset value, indicating that the climbing is completed.
  • the transport device 200 on the second floor moves to the designated temporary parking position.
  • the cleaning host 100 drives away from the transport platform and starts cleaning the new floor, and the transport platform waits at the temporary parking position.
  • the downward sensor 102 can still detect the steps (that is, the detection distance of the downward sensor is greater than the preset value). Afterwards, as the transport device 200 translates on the second floor ground 404 to gradually move away from the second floor staircase, the downward sensor 102 is misaligned with the steps. When the downward sensor 102 detects that the distance between the cleaning host 100 and the second floor ground 404 is the preset value, it indicates that the transport device 200 is completely located above the second floor ground, and its tail 2012 is no longer suspended.
  • the host's downward-looking sensor 102 continuously detects the distance between the cleaning host 100 and the step surface or the ground through the perspective window 205 set on the carrier 2021, and feeds back this distance to the second controller of the cleaning host 100 as another closed-loop detection item to improve the reliability of climbing.
  • the cleaning host 100 needs to go down from the second floor 404 to the first floor 401, for example, when the cleaning process of the second floor 404 needs to be supplemented with water, charged, dust collected, mopped, etc., or when the cleaning of the second floor 404 is completed, it is necessary to go downstairs. Before going downstairs, as mentioned above, it is necessary to first obtain the second floor stair map and move to the second floor staircase.
  • the bottom floor of a multi-story building has an upper building, so its stair map only contains the upper staircase (this upper staircase is the first staircase leading to the upper floor mentioned above);
  • the middle floor of a multi-story building has a lower floor and an upper building, so its stair map contains the upper staircase and the lower staircase (this lower staircase is the second staircase leading to the lower floor mentioned above), and
  • the top floor of a multi-story building has only a lower building, so its stair map only contains the lower staircase.
  • the process of generating the map of the upper staircase is similar to the process of determining the map of the first staircase.
  • the map of the lower staircase i.e., the map of the second staircase
  • the generation method is as follows:
  • the distance between the cleaning host 100 and the second floor ground 404 is detected to obtain the distance change position, and the distribution parameters of the distance change position on the second floor ground 404 are detected to obtain the third map data; the surrounding obstructions of the distance change position are detected to obtain the fourth map data; the second floor stair map is determined by combining the third map data and the fourth map data, specifically: as shown in Figures 19 and 20, there are walls 500 or handrails 600 on both sides of the staircase entrance of a general building, and the opposite side away from the staircase entrance is generally a wall 500.
  • the downward sensor 102 will also be activated; under normal circumstances, as shown in Figure 19, all downward sensors 102 detect that the cleaning host 100 is close to the second floor ground.
  • the second sensor 101 detects the position of the handrail 600 or the wall 500 (i.e., the surrounding obstructions) at the downstairs as a more obvious downstairs map feature, and the second floor stair map is obtained after integration.
  • the second floor stair map can also be obtained by the transport device 200 equipped with the first sensor 221 and the downward-looking sensor through exploration on the second floor ground 404 (i.e., the second cooperation method), or, it can also be obtained by the transport device 200 equipped with the first sensor 221 by carrying the cleaning host 100 and exploring on the second floor ground 404, and cooperating with the cleaning host 100.
  • the cleaning host 100 drives back to the temporary parking position and moves to the carrier 2021 of the transport platform; the cleaning host 100 controls the transport device 200 to drive to the staircase according to the obtained second-floor staircase map, and this process can be reversed as shown in Figure 18.
  • the map based on which the transport platform moves to the staircase can be a map of the corresponding floor stored in the internal memory of the cleaning host 100, or a map recorded after reaching the top.
  • the downstairs action is performed, namely: as shown in Figure 18, the tail 2012 of the transport device 200 is controlled to move to the second-floor staircase entrance; the support assembly 213 is controlled to rotate clockwise to prop up the head 2011 of the transport device 200 on the second-floor floor 404; as shown in Figures 17 and 16, the tail 2012 is controlled to move to the lower step, and drive the support assembly 213 to move to the second-floor staircase entrance; as shown in Figure 14, when the cleaning host 100 (or the first sensor 221) detects the vertical surface of the top step 403, the support assembly 213 is controlled to rotate in the second direction to separate from the second-floor floor 404; as shown in Figure 13, in one embodiment, the transport device 200 continues to move so that the crawler tracks climb down in sequence.
  • the support assembly 213 rotates in a first direction to lift the head 2011 from the bottom step 402, and the head 2011 is located in front of the bottom step 402 through the continued movement of the carrying device 200; as shown in Figures 9 and 8, the support assembly 213 is controlled to rotate in a second direction.
  • the head 2011 falls to the ground 401 of the first floor so that the carrying device 200 is completely located on the ground 401 of the first floor.
  • the specific process of going downstairs is as follows: refer to Figure 18 in reverse, the cleaning host 100 controls the transport device 200 to travel to the downstairs entrance in the ground driving state, and adjusts the tail 2012 of the transport device 200 to face the stair steps; then the crawler displacement assembly 212 is started to make the tail 2012 of the transport device 200 slowly move into the stair entrance (at this time, the rotation direction of the crawler is opposite to the rotation direction during the upstairs process).
  • any downward sensor 102 of the cleaning host 100 detects that the distance between the cleaning host 100 and the ground suddenly increases, it indicates that the transport device 200 has been located in the preparation position for going downstairs, and the crawler displacement assembly 212 is controlled to stop working; when the cleaning host 100 learns that the transport device 200 is in the preparation position for going downstairs, the control The support rod 2131 is controlled to rotate clockwise to prop up the head 2011 of the transport device 200 from the second floor 404, so that the inclination angle of the transport device 200 reaches a downstairs angle suitable for going downstairs (this downstairs angle suitable for going downstairs is the same as the aforementioned upstairs angle A suitable for going upstairs), and the cleaning host 100 always keeps it horizontal by controlling the rotation of the carrier 2021; then the crawler displacement assembly 212 is started again to continue to slowly drive the transport device 200 to move down along the stairs to climb the lower steps in turn, and at the same time, the support rod 2131 rotates counterclockwise but maintains the support on the second floor 404, until the second sensor 101 detects the appearance of a vertical plane (as
  • the second sensor 101 detects the appearance of a vertical plane (as shown in FIG. 14), that is, the second sensor 10
  • the distance detected by the downward sensor 102 disposed near the head 2011 is no longer changed, that is, when the distance between the cleaning host 100 and the ground is no longer changed, it indicates that the head 2011 of the transport device 200 has moved down to the bottom step 402, or the cleaning host 100 recognizes that the head 2011 has moved to the bottom step 402 based on the obtained first floor staircase map, as shown in FIGS. 11 and 10, in one embodiment, the crawler 200 is moved to the bottom step 402.
  • the crawler displacement assembly 212 stops working, and controls the support member to rotate clockwise to contact the step surface of the bottom step 402, and props up the head 2011 from the step surface of the bottom step 402; as shown in FIG9, start the crawler displacement assembly 212, so that the crawler of the tail 2012 moves partially on the ground 401 of the first floor, and the entire transport device 200 moves a distance away from the first floor staircase. At this time, the head 2011 is no longer located above the step surface of the bottom step 402; finally, as shown in FIG8, control the support member to rotate counterclockwise to make the head 2011 fall onto the ground 401 of the first floor, so that the transport device 200 is completely located on the ground 401 of the first floor, thus completing the downstairs action.
  • the cleaning host 100 completes the stair climbing action with the assistance of the crawler-type transport device 200, and realizes the transfer and cleaning of the cleaning host 100 between different floors. It should be noted that, without affecting the normal stair climbing, the above steps can be changed, for example, the order can be adjusted forward or backward, or all or part of them can be performed in parallel.
  • the transport device 200 having the spoke-type displacement assembly 222 or the foot-type displacement assembly 222 can climb stairs through the first matching mode, the second matching mode or the third matching mode described above.
  • the control method for climbing stairs through the second matching mode is as follows:
  • the main steps are: when the cleaning host 100 moves to a position on the carrying component 202, it performs a climbing action.
  • the steps also include: obtaining a stair map; and moving to the stair entrance according to the stair map.
  • obtaining the stair map also includes obtaining a first-floor stair map and a second-floor stair map.
  • the steps of obtaining the first-floor stair map include: when the cleaning host 100 is in the first state, obtaining first map data, and transmitting the first map data to the transport device 200 for storage; controlling the first sensor 221 to scan and obtain second map data, and the scanning height of the first sensor 221 is greater than the height when the cleaning host 100 is in the first state and the height of the bottom step 402; comparing the first map data and the second map data to determine the stair map.
  • the first state refers to the state when the cleaning host 100 is located on the ground 401 of the first floor; when the transport device 200 is located on the ground 401 of the first floor, the height of the first sensor 221 (or the scanning height) remains unchanged and is greater than the height H1 of the bottom step 402.
  • the first sensor 221 is realized by moving the entire transport device 200 on the ground 401 of the first floor during scanning, or the height of the first sensor 221 may also change.
  • the first sensor 221 can be raised and lowered on the main body 201.
  • the second map data can be obtained as described above, and when it is in the lowered position, the first sensor 221 is close to the ground, so that the first map data can be obtained instead of the cleaning host 100, so that the acquisition of the entire first-floor stair map is completed by the transport device 200; the comparison operation of the first map data and the second map data is performed by the first controller 221; for other processes related to the determination of the first-floor stair map, please refer to the aforementioned content of determining the first stair map, which will not be repeated here.
  • the step of obtaining the second-floor stair map can be as described above, after the second-floor stair map is determined by detection and exploration of the cleaning host 100, it is transmitted to the first controller for storage; or, in one embodiment, the transport device 200 carries the cleaning host 100 to move on the second floor to replace the movement of the cleaning host 100 to complete the exploration, and during the movement of the transport device 200, the downward sensor 102 of the cleaning host 100 is detected through the perspective window 205.
  • the transport device 200 carries the cleaning host 100 to move on the second floor to replace the movement of the cleaning host 100 to complete the exploration, and during the movement of the transport device 200, the downward sensor 102 of the cleaning host 100 is detected through the perspective window 205.
  • the various components of the transport device 200 operate under the control of the first controller of the transport device 200; the implementation method of putting the cleaning host 100 in the second state is that in one embodiment, the lifting component 223 drives the cleaning host 100 located on the carrier 2021 to rise, so that the height of the first sensor 221 of the cleaning host 100 is greater than the height H1 of the bottom step 402, that is, before climbing the stairs, the lifting component 223 is controlled to descend so that the cleaning host 100 can move to the bearing component 202, and then the lifting component 223 is controlled to drive the bearing component 202 to rise so that the height of the first sensor 221 is greater than the height H1 of the bottom step 402 of the stairs; the acquired stair map is stored in the transport device 200.
  • the lifting component 223 drives the cleaning host 100 located on the carrier 2021 to rise, so that the height of the first sensor 221 of the cleaning host 100 is greater than the height H1 of the bottom step 402, that is, before climbing the stairs, the lifting component 223 is controlled to descend so that the cleaning host 100 can move to
  • the first controller directly controls the climbing wheel group of the spoke-type displacement assembly 222 to continuously rotate to achieve ground movement and climbing (in this structure, since there is no support assembly 213, the operations required for going upstairs, reaching the top and going downstairs are the same, that is, in one embodiment, the climbing wheel group rotates continuously), or, the first controller controls the four climbing feet to move forward in sequence to achieve ground movement and climbing (similarly, there is no support assembly 213 in this structure, so the operations required for going upstairs, reaching the top and going downstairs are the same, that is, in one embodiment, the climbing feet move forward cyclically).
  • the transport device 200 having a spoke-type displacement component 222 or a foot-type displacement component 222 performs mapping operations and stair climbing operations under the control of the cleaning host 100 that always remains horizontal; in the third cooperation mode, different operation steps can be performed separately in one embodiment, and the cleaning host 100 and the transport device 200 cooperate with each other.
  • the present application also provides a maintenance system, which includes the above-mentioned cleaning system, that is, includes a cleaning host 100 and a transport device 200, and also includes a base station 300.
  • the base station 300 is communicatively connected with the cleaning host 100 and/or the transport device 200, so that the base station 300 and the cleaning host 100, and the base station 300 and the transport device 200 can communicate with each other, so that the base station 300 can maintain at least one of the cleaning host 100 and the transport device 200.
  • a base station 300 is added on the basis of the above-mentioned cleaning system.
  • the base station 300 is used to perform maintenance work on the cleaning host 100 and/or the transport loading, and can make the cleaning host 100 and/or the transport device 200 return to the base station 300 actively or passively.
  • the base station 300 mainly includes a cleaning host 100 interface and a series of corresponding working modules for maintaining the cleaning host 100, such as automatic charging, automatic cleaning of dust box, automatic cleaning of roller brush, automatic cleaning or automatic replacement of mop, automatic water addition, etc.
  • the base station 300 also includes a transport device interface for automatic charging of the transport device 200.
  • the transport device 200 has a maintenance component that can maintain the cleaning host 100, so that the cleaning host 100 can be maintained nearby.
  • the cleaning host 100 can be moved to a closer transport device 200 for automatic charging, automatic dust box cleaning, automatic roller brush cleaning, automatic cleaning, automatic mop replacement and/or automatic water addition and other maintenance.
  • the cleaning host 100 located on a different floor from the base station 300 does not need to go downstairs or upstairs to return to the base station 300, but can be maintained by using the transport device 200 that is on the same floor as the cleaning host 100 due to transporting the cleaning host 100. In this way, the operation of moving or climbing stairs can be reduced, saving time and effort, and improving cleaning efficiency.
  • the base station 300 may have the same or different maintenance functions as the transport device 200.
  • the base station 300 also has all the maintenance components of the transport device 200 and can thus achieve the same maintenance functions as the transport device 200, or the maintenance components of the base station 300 are different from those of the transport device 200, so that the base station 300 and the transport device 200 can respectively perform different maintenance on the cleaning host 100 (for example, the transport device 200 has the functions of automatic dust box cleaning and automatic roller brush cleaning, and the base station 300 has the functions of automatic charging, automatic cleaning, automatic mop replacement and automatic water addition), or the base station 300 only has a single charging function, which is only a simple charging station that can charge the transport device 200, and the transport device 200 only goes down the stairs to return to the base station 300 when charging is needed.
  • the above-mentioned maintenance function of the base station 300 is for the cleaning host 100.
  • the base station 300 may also have other functions or more functions.
  • the base station 300 can maintain the transport device 200, that is, the base station 300 is used to maintain the transport device 200. As shown in FIG25 , it has a transport device interface and a receiving cavity so as to charge and store the transport device 200; or, the base station 300 can maintain the cleaning host 100 and the transport device 200, that is, on the basis of the base station 300 being able to maintain the cleaning host 100, it can also maintain the transport device 200.
  • the base station 300 can have differentiated or diversified functions to meet different usage requirements.
  • the base station 300 does not have the maintenance function of the transport device 200, and the charging and storage of the transport device 200 are independently realized (for example, directly connected to the household power grid for charging, directly docked against the wall, etc.), and the base station 300 is only used to maintain the cleaning host 100, and the communication between the base station 300 and the transport device 200 is limited to the perception of each other's positions.
  • the base station 300 can at least charge and/or store the transport device 200, that is, the base station 300 has at least one function of charging and storing the transport device 200, that is, on the premise that the base station 300 can maintain the cleaning host 100 or cannot maintain the cleaning host 100, the base station 300 can charge the transport device 200, or can accommodate the transport device 200, or can both accommodate the transport device 200 and charge the transport device 200.
  • At least two base stations 300 may be provided and placed in cleaning spaces at different heights, for example, on different floors, so that each floor has a base station 300 for maintaining the cleaning host 100 and the transport device 200. Furthermore, in one embodiment, the cleaning host 100 and the transport device 200 no longer need to climb stairs during cleaning, which can also improve cleaning efficiency.
  • the present application also preferably provides that different base stations 300 located in cleaning spaces at different heights have at least one different maintenance function.
  • the base stations 300 located on each floor have different functions from the base stations 300 on other floors.
  • some base stations 300 are used for daily docking, and some base stations 300 are used for maintaining the cleaning host 100 and the transport device 200, etc., so that more targeted settings can be made according to the conditions of different floors.
  • the use of the cleaning system is more flexible and convenient, and can provide users of multi-story residential buildings with a better user experience.
  • the present disclosure provides a transport accessory (also known as a transport device), the transport accessory 200 includes a displacement component, and the obstacle surmounting capability of the displacement component is greater than the obstacle surmounting capability of the moving component of the cleaning host 100 (also known as a cleaning robot).
  • the transport accessory is separable from the cleaning host, that is, the transport accessory and the cleaning host are in a separated state; in the separated state, the cleaning host can operate independently, that is, the cleaning host can move without the transport accessory and driven by its own moving parts.
  • the carrying accessory and the cleaning host can also be combined, that is, the carrying accessory and the cleaning host are in a combined state; in the combined state, the cleaning host and the carrying accessory form a combination, and the displacement component of the carrying accessory is located at the lower part of the combination to drive the combination formed by the cleaning host and the carrying accessory to move.
  • the cleaning host can reach areas that were previously impossible to reach independently under the support of the carrying accessories, thereby expanding the application scenarios of the cleaning host.
  • the cleaning host can be used in more scenarios, such as charging/working on different floors; it can also perform cross-area work when there are high steps between different partitions such as the balcony and the living room.
  • the above-mentioned displacement assembly can be, for example, a wheel-type displacement assembly, a foot-type displacement assembly, a track-type displacement assembly, etc.
  • the displacement assembly includes a moving part and a driving motor that drives the moving part to move.
  • the moving part can be, for example, a wheel as shown in FIG. 42 or a track as shown in FIG. 38, etc.
  • it can also be other forms of moving parts, as long as it can move and its obstacle-crossing ability is greater than that of the main machine. This embodiment does not limit this.
  • the carrying accessory and the cleaning main machine respectively have communication components for transmitting signals, such as a first communication component and a second communication component; the cleaning main machine and the carrying accessory respectively transmit signals (such as sending signals and/or receiving signals) through the communication components arranged thereon, so that the carrying accessory can carry the cleaning main machine to move in the combined state, and the movement can be horizontal movement or height movement.
  • signals such as sending signals and/or receiving signals
  • Figures 44 to 46 show a schematic diagram of a process of a combination climbing stairs. The following is a brief description of the signal:
  • the signal can be a control signal from a controller or a sensing signal (sensing signal) from a sensor.
  • the signal can be a flat-ground transport signal or a climbing signal, so that the transport attachment can carry the cleaning host for flat-ground transport and climbing.
  • the signal transmission method can be a direct interaction between the first communication component and the second communication component.
  • the controller of the cleaning host receives the sensor signal sent by the sensor, generates a control signal based on the sensor signal, transmits the control signal to the first communication component through the second communication component, and the first communication component transmits the control signal to the displacement component to control the movement of the displacement component.
  • the sensor here can be a sensor set on the host, or a sensor set on the transport accessory; it can also be a sensor set independently outside the host and the transport accessory.
  • the signal transmission method can also be an indirect interaction between the first communication component and the second communication component.
  • the sensor signal generated by the sensor component can be transmitted to the controller through the second communication component.
  • the controller After receiving the sensor signal, the controller generates a control signal, and then sends the control signal to the displacement component on the carrying accessory through the second communication component to control the displacement component to perform corresponding actions, such as obstacle avoidance and stopping; it can be understood that the action of the displacement component can also be fed back to the controller through the second communication component, so that the controller can control the action of the cleaning host through the first communication module, such as controlling the action of the moving component of the cleaning host or controlling the action of the cleaning component, or controlling the action of the sensor component to adjust the angle of the sensor component, etc.; the controller here serves as the "brain", which can be a controller set on the cleaning host, a controller set on the carrying accessory, or a controller additionally set outside the cleaning host and the carrying accessory.
  • the cleaning host has both a sensor component and a controller. Therefore, in one embodiment, the transport accessory shares both the sensor component and the controller of the cleaning host.
  • the signal transmission may be performed wirelessly or by wire.
  • the first communication component and the second communication component can transmit signals in a wireless communication manner, in which case the first communication component and the second communication component can be, for example, wifi, NFC near-field communication modules, Bluetooth modules, etc.
  • the first communication component and the second communication component can also transmit signals in a wired communication manner, in which case the first communication component and the second communication component can be, for example, electrodes and terminals used in electrical connection, or magnets and magnetic bodies used in magnetic connection, etc.
  • the present disclosure provides a transport system, comprising:
  • a cleaning host comprising a body, a moving component disposed on the body and configured to move the body, and a cleaning component for cleaning a floor;
  • the transport accessory includes a displacement component having a greater obstacle-crossing capability than the moving component; the transport accessory and the cleaning host have a separation state; in the separation state, the cleaning host can operate independently;
  • the transport accessory and the cleaning main unit have a combined state; in the combined state, the cleaning main unit and the transport accessory form a combined body, and the displacement component is located at the lower part of the combined body to drive the combined body to move;
  • the cleaning host includes a first communication component, and the transport accessory includes a second communication component;
  • signals are transmitted between the first communication component and the second communication component
  • the cleaning host and the transport accessory transmit signals between the first communication component and the second communication component
  • the displacement component drives the combined body to move according to the signal.
  • the signal transmission between the first communication component and the second communication component may be a direct transmission between the first communication component and the second communication component; or may be an indirect transmission between the first communication component and the second communication component.
  • the signal can be a control signal of the controller or a sensor signal from a sensor;
  • the controller can be the controller of the cleaning host, the controller of the stair climbing machine, or an additional controller, such as a cloud controller, a base station controller, etc.;
  • the sensor can be the sensor of the cleaning host or the sensor of the handling accessories.
  • the controller as the "brain” can make decisions based on the transmitted signals, especially the detection signals, and control the corresponding components to perform actions; while the sensor, as the "eyes”, can obtain different environmental information and transmit it to the controller, so that the controller can make better decisions.
  • the transport system may share at least one of a sensor component of the cleaning host or a controller of the cleaning host, so that the transport accessory and the cleaning host can work in coordination.
  • the cleaning host also needs to detect the environment when it runs independently, a sensor component is usually provided on the cleaning host.
  • the carrying accessories can share the sensor component provided on the cleaning host, that is, the sensor component of the cleaning host can serve as the "eyes" of the carrying accessories, so that the combination can detect the environment, especially detect the environment during the movement.
  • the detection area of the sensor component should be basically not blocked by the carrying accessories.
  • the area of the detection area of the sensor component blocked by the carrying accessories should be smaller than a threshold (the threshold is set to 10%, for example).
  • the central area of the sensor component is not blocked by the carrying accessories; further, the detection area of the sensor component is not blocked at all by the carrying accessories.
  • the detection area of the sensor component in the combined state is substantially the same as the detection area of the sensor component in the separated state when the cleaning host operates independently, wherein the substantially same can be characterized by an area overlap, for example, the area overlap of the detection area of the sensor component in the combined state and the detection area of the sensor component in the separated state when the cleaning host operates independently is at least greater than a threshold value (for example, 90%), thereby ensuring that the combination can move normally.
  • a threshold value for example, 90%
  • the outer contour of the carrying accessory in the assembled state, is outside the detection area of the sensor component to avoid blocking the sensor component and affecting the movement.
  • the sensing component includes a positioning sensor, so that the carrying accessory or the combination can share the positioning function of the cleaning host, so that the carrying accessory moves (eg, navigates) under the positioning function provided by the cleaning host.
  • the sensing component includes an obstacle detection sensor, so that the carrying accessory or the combination can share the obstacle recognition function of the cleaning host, so that the carrying accessory moves (eg, avoids obstacles) under the obstacle recognition function provided by the cleaning host.
  • the sensor assembly includes an LDS (laser radar sensor), so that the assembly in the assembled state can achieve functions such as positioning and obstacle detection through laser.
  • LDS laser radar sensor
  • the sensing component includes a visual sensor, so that the assembly in the assembled state can be positioned, obstacles detected, etc. by vision.
  • the visual sensor may be a monocular, binocular, or TOF (time of flight) sensor, which is not limited in this embodiment.
  • the combination provided by the present invention can move in the same plane space (for example, the 1st floor) or in two different plane spaces (for example, climbing from the 1st floor to the 2nd floor); wherein there is a height difference between the two different plane spaces, and the height difference is greater than a threshold, and the threshold can be set based on the obstacle surmounting capability of the cleaning host.
  • the obstacle surmounting capability of the cleaning host can be characterized by the obstacle surmounting height.
  • the assembly in the assembled state, has a flat-surface transport mode, so that the assembly can be moved on a plane space with a substantially uniform height.
  • the assembly in the assembled state, has a climbing mode, so that the assembly can climb on plane spaces of different heights.
  • the requirements for sensor components in the flat ground transport mode are different from those in the climbing mode.
  • the degree of occlusion of the sensor component should be less than that in the climbing mode;
  • the detection area of the sensor assembly may be smaller than the detection area of the sensor assembly in the flat transport mode.
  • the transport accessory in the flat-land transport mode, the transport accessory is outside the detection area of the sensor assembly; in the climbing mode, the transport accessory may be partially within the detection area of the sensor assembly.
  • the shielding area of the detection area of the sensor component by the transport accessory is smaller than the shielding area of the detection area of the sensor component by the transport accessory in the climbing mode.
  • the transport accessory further comprises a bearing assembly, which is arranged on the displacement assembly.
  • the cleaning host In the assembled state, the cleaning host is located on the bearing assembly and is configured to hold the cleaning host; wherein the first communication component of the transport accessory is arranged on the bearing assembly.
  • the transport accessories can be better supported, and on the other hand, the space of the bearing component is larger, and some structures of the transport accessories (such as communication components, guide components, limit components, in-place detection components, etc.) can be set on the bearing component, which is more conducive to the layout design of each component.
  • the carrying component may be, for example, a carrying platform (tray).
  • the sensor assembly further includes a downward-looking sensor disposed at the bottom of the cleaning host body and configured to detect a cliff.
  • the downward looking sensor is an infrared sensor.
  • the bearing assembly is provided with a window at a position corresponding to the downward-looking sensor at the bottom of the cleaning host body to avoid the bearing assembly blocking the downward-looking sensor.
  • the size setting of the window can be determined according to the detection range of the downward-looking sensor.
  • the setting of the window can partially block the detection range of the downward-looking sensor, as long as the blocked area is smaller than the threshold.
  • the window is set so that the detection range of the downward-looking sensor is completely unobstructed.
  • the carrying component may also be made of a transparent material so that the downward-looking sensor can pass through, thereby preventing the carrying component from blocking the downward-looking sensor.
  • Method 1 The user manually combines the transport accessory with the cleaning host to form a combined state; as shown in Figures 38 and 43.
  • Mode 2 The cleaning main unit and the transport accessory are displaced by mutual movement, so that the cleaning main unit reaches a preset position of the transport accessory to automatically form a combination.
  • the cleaning host and the carrying accessory are automatically docked in a separated state to form the combined state; wherein the docking means that the cleaning host is in a preset position of the carrying accessory.
  • the above-mentioned preset position can be an area.
  • the meaning of "docking” herein refers to the state when the above-mentioned transport accessory and the cleaning host form a combination, for example, the cleaning host reaches the preset position of the transport accessory.
  • the cleaning host Since the cleaning accessory has a sensor component, in one embodiment, the cleaning host actively moves toward the transport accessory in a separated state to achieve automatic docking of the cleaning host and the transport accessory.
  • the cleaning host when the cleaning host needs to be docked with the transport accessory, the cleaning host forms a combination by actively moving to a preset position of the transport accessory.
  • the cleaning host before forming the combined state, can be moved to a preset position of the transport accessory through detection by the sensor component, especially detection by the positioning sensor, to achieve docking.
  • the cleaning host Since the cleaning host also needs to move the mobile components, run/stop the cleaning components, etc. when it runs independently, the cleaning host is usually provided with a controller to realize the control of the mobile components of the cleaning host, the control of the cleaning components, etc.; in order to simplify the structure of the carrying accessories, in one embodiment, the carrying accessories can share the controller set on the cleaning host, that is, the controller of the cleaning host can serve as the "brain" of the carrying accessories, so that the combination can make decisions, especially during the movement process.
  • the controller of the cleaning host is regarded as the "brain" here.
  • the controller of the cleaning host When receiving the transmitted signal, especially the detection signal, it can make decisions based on the signal and control the corresponding components to perform actions.
  • the controller when a controller is also provided on the transport accessory, the controller generally only needs execution capabilities, such as controlling the movement of a displacement component; it does not need logic, calculation, or processing capabilities; that is, the processing capabilities of the controller of the cleaning host are greater than the processing capabilities of the controller of the transport accessory; the processing capabilities can be represented by a calculation example of the controller, and can be more intuitively reflected in the difference in hardware costs.
  • the outer contour of the cleaning main body is different from the outer contour of the assembly, in one embodiment, when the cleaning main body is running independently and when the assembly is running, the outer contour of the cleaning main body or the assembly needs to be considered respectively.
  • the controller of the cleaning host in the separated state, is configured to perform obstacle avoidance or path planning based on the outer contour of the cleaning host.
  • the controller of the cleaning host is configured to perform obstacle avoidance or path planning based on the outer contour of the combined body.
  • the controller when the controller controls the assembly to avoid obstacles, the controller generates an obstacle avoidance path for the assembly based on the outer contour of the assembly.
  • the controller When the cleaning host is independently operated, when the controller controls the cleaning host to avoid obstacles, the controller generates an obstacle avoidance path for the cleaning host based on the outer contour of the cleaning host.
  • the controller when the controller controls the assembly to navigate, the controller generates a navigation path for the assembly based on the outer contour of the assembly.
  • the controller controls the cleaning host to perform path planning, the controller generates a navigation path for the cleaning host based on the outer contour of the cleaning host.
  • the decision of the controller of the cleaning host is briefly described by taking the automatic docking of the cleaning host and the transport accessory as an example:
  • the controller of the cleaning host is configured to control the cleaning host to move to a preset position of the transport accessory when the cleaning host and the transport accessory are in a separated state, so as to form a combined state.
  • the controller of the cleaning host is configured to receive a guide signal, and control the moving component of the cleaning host to move to a preset position according to the guide signal.
  • the guide signal is, for example, sent by a guide component; the guide component may be disposed on at least one of the transport accessory and the cleaning host, and is configured to send a guide signal to a controller of the cleaning host when the transport accessory is in a separated state from the cleaning host.
  • the guiding component may be an infrared transmitter; for example, an infrared transmitter is provided on the transport attachment to send a guiding signal to a controller of the cleaning host.
  • the carrying accessory is provided with a guide mark, such as a barcode, a QR code, a graphic, etc.
  • the guide component can be an identification sensor on the cleaning host, such as a visual sensor, which can identify the guide mark on the carrying accessory, generate a guide signal, and send the guide signal to the controller of the cleaning host.
  • the automatic docking may also be implemented by the controller based on a map, wherein the map may identify the location of the transport attachment, and the controller may move to the location of the transport attachment based on the map to perform automatic docking.
  • the controller of the cleaning host is configured to receive an in-place signal, and control the moving component of the cleaning host to stop moving according to the in-place signal.
  • the in-place signal may be detected and sent by an in-place detection component disposed on at least one of the transport accessory and the cleaning main body.
  • the in-place detection component can be, for example, a Hall sensor, a micro switch, a visual sensor, a terminal/electrode used in conjunction with it, etc., and can be set on the cleaning host or on the carrying accessory. As long as the in-place detection can be achieved, this embodiment does not limit this.
  • the first communication component and the second communication component transmit control signals in a wireless communication manner
  • the controller of the cleaning host is configured to receive a host separation signal, generate a control signal based on the host separation signal, and transmit a separation control signal corresponding to the host separation signal to the second communication component via the first communication component, so that the combination enters a safety protection state.
  • the host separation signal can also be detected and sent by an in-place detection component; the in-place detection component can be set on at least one of the carrying accessory and the cleaning host; for example, in the combined state, the in-place detection component is also configured to: detect whether the cleaning host is separated from the preset position; when the cleaning host is separated from the preset position, generate a host separation signal, and send the host separation signal to the controller of the cleaning host.
  • the combination When the host is detached, the combination enters a safety protection state.
  • the controller of the cleaning host may control the displacement component to stop moving, or the controller may send out an alarm or control the moving component of the cleaning host to move to perform a reset.
  • the carrying accessory further includes: a mechanical limiting component, which is configured to limit the cleaning main unit when the cleaning main unit is moved into place, so that the combination formed by the cleaning main unit and the carrying accessory remains relatively still or the relative displacement between the cleaning main unit and the carrying accessory during the movement of the combination is less than a preset value.
  • the mechanical limiting component may be, for example, a mechanical structure such as a wheel groove or a baffle.
  • the assembly in the assembled state, has a flat-land transport mode
  • the controller is configured to transmit a first type of control signal to the second communication component through the first communication component, and the displacement component is configured to receive the first type of control signal to drive the combination to move in the same plane space.
  • the assembly in the assembled state, has a climbing mode
  • the controller is configured to transmit a second type of control signal to the second communication component through the first communication component, and the displacement component is configured to receive the second type of control signal to drive the assembly to move in the height direction of two plane spaces with a height difference; wherein the two plane spaces have a height difference, and the height difference is greater than a preset threshold.
  • the obstacle detection signal may be detected and sent by an obstacle detection sensor
  • the obstacle detection sensor may be disposed on at least one of the carrying attachment and the cleaning host.
  • the obstacle detection sensor can be a contact type, such as a collision sensor on a collision plate; the collision plate can be a collision plate for carrying accessories or a collision plate on a cleaning host; the obstacle detection sensor can also be a non-contact type, such as a visual sensor, a radar sensor, etc.
  • the controller of the cleaning host is configured to receive an obstacle detection signal, generate a first obstacle control signal based on the obstacle detection signal, send the first obstacle control signal to the displacement component through the first communication component and the second communication component, and the displacement component receives the first obstacle control signal to drive the combination to overcome or avoid obstacles; wherein the first obstacle control signal is one of a first obstacle overcoming signal and a first obstacle avoiding signal.
  • the controller of the cleaning host when the controller of the cleaning host generates a first obstacle avoidance signal based on the obstacle detection signal, the controller sends the first obstacle avoidance signal to the displacement component through the first communication component and the second communication component, wherein the first obstacle avoidance signal includes a first obstacle avoidance path generated based on the outer contour of the combination formed by the cleaning host and the carrying accessory; the displacement component receives the first obstacle avoidance signal to drive the combination to avoid obstacles along the first obstacle avoidance path.
  • the controller of the cleaning host is configured to generate a second obstacle control signal according to the obstacle detection signal, and send the second obstacle control signal to the displacement component through the first communication component and the second communication component, and the displacement component receives the second obstacle control signal to put the combination into a safe state; wherein the second obstacle control signal is a kind of shutdown signal and an alarm signal; wherein the alarm signal is generated by an alarm device provided by the controller on one of the displacement component or the cleaning host.
  • the alarm device is, for example, an audible alarm, a visual alarm, or the like.
  • the positioning signal may be detected and sent by a positioning sensor
  • the positioning sensor may be disposed on at least one of the carrying attachment and the cleaning host.
  • the positioning sensor may be, for example, a visual sensor, an LDS, etc.
  • the positioning sensor is configured to detect the position of the combination, generate a positioning signal, and send the positioning signal to the controller of the cleaning host;
  • the controller of the cleaning host is configured to generate a navigation control signal based on the positioning signal, and send the navigation control signal to the displacement component, and the displacement component receives the navigation control signal to drive the combination to move to the target position.
  • the controller of the cleaning host receives the positioning signal and plans at least one moving path from A to B according to the current position A and the target position B; since the target position B is at substantially the same height as the current position A, the planned moving path is usually a horizontal movement; for example, the moving path is a straight line from A to B on a plane.
  • the controller of the cleaning host needs to plan a climbing route from B to C based on the target position B and another position C. Since there is a height difference between the other position C and the target position B, the planned climbing route is usually a movement in the height direction.
  • the climbing route is a straight line from B to C, which is at an angle to the straight line formed by A and B.
  • the plane space has a staircase entrance; there are stairs between the two plane spaces; the stairs include at least one step;
  • the controller is configured to control the displacement assembly to drive the assembly to move to the staircase opening based on the positioning signal of the positioning sensor;
  • the assembly can be aligned (aligned) with the stairwell.
  • the controller is configured to control the movement of the displacement assembly based on the distance detection signal so that the assembly is in an aligned state with the stairwell.
  • the distance detection signal can be detected and sent by the distance detection sensor 251.
  • the distance detection sensor 251 can be a distance detection sensor set on both sides of the carrying accessory.
  • the distance detection sensors on both sides send detection signals (such as detection light 2511) to control the movement of the displacement component so that the distance on both sides is equal. At this time, it can be determined that the combination is in an aligned state with the staircase entrance.
  • the controller is configured to detect obstacles on the stairs.
  • the obstacle detection is mainly performed by non-contact obstacle detection sensors.
  • the controller is configured to adjust the angle of the non-contact obstacle detection sensor so that the non-contact sensor can detect the entire staircase, so as to realize the non-contact obstacle detection sensor to detect obstacles on the stairs, and then determine whether there are obstacles on the stairs.
  • the controller is configured to control the combination to switch modes, so that the combination switches from the flat ground transport mode to the stair climbing mode to climb the stairs.
  • the controller When there is an obstacle on the stairs, the controller is configured to send out an alarm signal to inform the user that climbing is blocked.
  • the controller of the cleaning host is configured to determine the position of the cleaning host in the plane space based on a first map of the plane space when the cleaning host moves independently;
  • the cleaning host controller is also configured to determine the position of the combination in the plane space based on the second map of the plane space when the cleaning host and the transport accessory are moving in a combined state.
  • the controller of the cleaning host can call the first map mentioned above when the cleaning host runs independently, so that the cleaning host can perform positioning, navigation, path planning or obstacle avoidance based on the map.
  • the above-mentioned second map can be called by the controller of the cleaning host when the cleaning host and the transport accessory form a combination and are running, so that the combination can perform positioning, navigation, path planning or obstacle avoidance based on the map.
  • the first map and the second map may be obtained by the controller from the server, or may be stored in the controller of the cleaning host; this is not limited in the present disclosure.
  • the cleaning host has a memory connected to the controller, and the memory is configured to store the first map and the second map.
  • the first map is a map constructed when the cleaning host moves independently in the plane space in a separated state; the second map is a map constructed when the combination moves in the plane space in a combined state.
  • the cleaning host when building a map, can be positioned and constructed based on the detection of sensors, such as visual sensors, LDS, etc.; the sensor component can be a sensor component of the cleaning host, or a sensor component from a handling accessory.
  • sensors such as visual sensors, LDS, etc.
  • the sensor component can be a sensor component of the cleaning host, or a sensor component from a handling accessory.
  • the second map is obtained by the controller updating the first map based on the size information of the transport attachment.
  • controller of the cleaning host in the above embodiment can also be replaced by other controllers, such as a controller for carrying accessories or a controller set up by a third party (such as a controller set up in the cloud, etc.).
  • the decision-making function implemented by it is similar to that of the controller of the cleaning host. Therefore, the control logic of the above-mentioned cleaning host can be referred to, and no further details will be given here.
  • the cleaning host usually realizes autonomous movement and performs work under the control of its own controller and sensor component, in order to simplify the structure of the carrying accessories to the greatest extent possible, in one embodiment, the sensor component is set on the cleaning host, and the controller is set on the cleaning host, so that the carrying accessories share both the controller and the sensor component of the cleaning host, which is conducive to simplifying the structure of the carrying accessories.
  • the present disclosure also provides a transport system, in which the transport accessories share the sensor components of the cleaning host.
  • the transport system includes:
  • a cleaning host comprising a body, a moving component disposed on the body and configured to move the body, and a cleaning component for cleaning a floor;
  • the transport accessory includes a displacement component, whose obstacle-crossing capability is greater than that of the moving component; the transport accessory and the cleaning host have a separated state; in the separated state, the cleaning host can operate independently; the transport accessory and the cleaning host have a combined state; in the combined state, the cleaning host and the transport accessory form a combined body, and the displacement component is located at the lower part of the combined body to drive the combined body to move;
  • the cleaning host also includes a sensor component configured to detect the environment of the assembly in the assembled state and generate a detection signal;
  • the handling system also includes a controller
  • the controller is configured to receive the detection signal and generate a control signal based on the detection signal
  • the displacement component is configured to receive a control signal to drive the assembly to move.
  • the carrying accessory has a first communication component and the cleaning host has a second communication component.
  • the first communication component and the second communication component can communicate with the controller.
  • the controller can receive signals through the first communication component, such as the above-mentioned control signal; the controller can also receive signals through the second communication component, such as the above-mentioned detection signal.
  • the sensor component includes at least one of the following: a positioning sensor and an obstacle detection sensor.
  • the sensing assembly includes at least one of a vision sensor and an LDS.
  • the controller is arranged on the cleaning mainframe.
  • the carrying accessories share the sensor assembly of the cleaning mainframe and the controller of the cleaning mainframe, which is conducive to simplifying the structure of the carrying accessories.
  • the present disclosure also provides a transport system, in which the transport accessories share the controller of the cleaning host.
  • the transport system includes:
  • the cleaning host comprises a body, a moving component disposed on the body and configured to move the body, and a cleaning component for cleaning the floor, and the cleaning host further comprises a controller disposed on the body for autonomously moving the cleaning host to perform a cleaning task;
  • Handling accessories including displacement components with greater obstacle-crossing capabilities than moving components;
  • the transport attachment and the cleaning main unit are in a separate state; in the separate state, the cleaning main unit can operate independently;
  • the transport accessory and the cleaning main unit have a combined state; in the combined state, the cleaning main unit and the transport accessory form a combined body, and the displacement component is located at the lower part of the combined body to drive the combined body to move;
  • the cleaning host includes a first communication component, and the transport accessory includes a second communication component;
  • the controller is configured to transmit a control signal to the second communication component through the first communication component, and the displacement component is configured to receive the control signal to drive the combined body to move.
  • the transport system controls the movement of the assembly by transmitting control signals through a shared host controller.
  • the cleaning host further comprises a sensing component configured to perform environmental detection in a combined state, and to generate and send a detection signal to a controller of the cleaning host;
  • the controller of the cleaning host is configured to generate a control signal based on the detection signal; and transmit the control signal to the second communication component through the first communication component, and the displacement component is configured to receive the control signal to drive the combination to move.
  • the transport accessory shares the controller of the cleaning host and also shares the sensor components of the cleaning host, which is beneficial to simplify the structure of the transport accessory.
  • the embodiment of the present application provides a maintenance platform, which can at least maintain the transport accessories.
  • the maintenance platform can perform maintenance on the cleaning host and the transport accessories.
  • the maintenance platform includes at least one maintenance function of charging, rehydration, dust collection, and cleaning.
  • the maintenance platform is preferably an integrated one-piece maintenance platform, which integrates the functional units for maintaining the cleaning host and the transport accessories.
  • the maintenance platform may also include two independent maintenance stations, which respectively perform fixed-point maintenance on the cleaning host and fixed-point maintenance on the transport accessories.
  • the carrying accessory when the carrying accessory needs to be maintained, the carrying accessory can be returned to the maintenance platform for maintenance after being combined with the cleaning host. That is, when an event triggering the maintenance of the carrying accessory occurs, the carrying accessory is combined with the cleaning host to form a combination, and is moved to the maintenance platform in the form of a combination.
  • the carrying accessory may also have a separately provided navigation, detection unit and control unit, and can be independently moved to the maintenance platform when maintenance is required.
  • some sensor units may be provided on the carrying accessory, and the data collected by these sensor units are transmitted to the control device of the cleaning host, which performs necessary data processing and further controls the carrying accessory to move to the maintenance platform.
  • the transport accessory and the cleaning host in the combination share the control device or sensor device of the cleaning host.
  • the cleaning host serves as the brain and/or eyes of the transport accessory returning to the maintenance platform, and no additional control/detection system is required on the transport accessory, which can reduce the complexity of the system and also reduce costs.
  • the sensor device of the cleaning host is used to collect the surrounding environmental information
  • the control device of the cleaning host is used to generate an environmental map, obtain a navigation path, or perform obstacle avoidance during the return process.
  • this process may include moving the transport accessory from its current location to the location of the maintenance base station, and further docking the transport accessory at the maintenance location to connect to the charging interface.
  • the transport accessory is combined with the cleaning host to form a combination, and is moved to the maintenance platform in the form of a combination.
  • the transport accessory sends a maintenance signal to the second communication component through the first communication component, and the second communication component sends the maintenance signal to the controller of the cleaning host; the controller of the cleaning host controls the displacement component of the transport accessory based on the maintenance signal to drive the combination to move to the location of the maintenance platform.
  • the controller of the cleaning host controls the displacement assembly to move to the maintenance position, so that the carrying accessory and the maintenance platform are maintained at the maintenance position; wherein when the carrying accessory is maintained at the maintenance position, the cleaning host and the carrying accessory are always in the combined state.
  • the carrying accessory can move to the maintenance position of the maintenance platform by itself, that is, it does not need to be moved to the maintenance position under the control of the cleaning host, for example, the carrying accessory is moved to the maintenance position in a mechanically guided manner. This configuration enables the cleaning host to receive other instructions after the combination moves to the location of the maintenance platform, and leave the carrying accessory to perform tasks, which can improve the working efficiency of the cleaning host.
  • the transport accessory shares both the controller and the sensor components of the cleaning host, which is beneficial to simplifying the structure of the transport accessory;
  • the transport system includes: a cleaning host 100 and a transport accessory 200 .
  • the cleaning host is a cleaning robot that can move autonomously on the ground and clean the ground.
  • the types of cleaning robots include but are not limited to indoor mopping robots (Robotic mopping cleaner), indoor sweeping robots (Robotic vacuum cleaner), indoor sweeping and mopping robots (Robotic mopping&vacuum cleaner, Robotic 2in1 cleaner).
  • Most of these cleaning robots are equipped with a laser ranging sensor (LDS) on the top to detect the surrounding environment information to build an environmental map and its own coordinate positioning.
  • LDS laser ranging sensor
  • the cleaning host includes a body, a moving component, and a cleaning component; the cleaning host also includes a controller and a sensor component, and the sensor component includes, for example, a visual sensor and an LDS; wherein the sensor component is configured to perform environmental detection in a combined state, generate and send a detection signal to the controller of the cleaning host; the controller of the cleaning host is configured to generate a control signal based on the detection signal; and control the displacement component to drive the combined body to move.
  • the structure of the cleaning host will not be described in detail here.
  • the transport attachment 200 includes a displacement assembly, wherein the obstacle surmounting capability of the displacement assembly is greater than the obstacle surmounting capability of the cleaning host;
  • the displacement assembly adopts a two-stage crawler displacement assembly, for example, the displacement assembly includes a double-arm climbing mechanism consisting of a front arm 241 and a rear arm 242.
  • the front arm and the rear arm are both provided with crawlers.
  • the front arm can rotate around the rear arm.
  • the transport accessory 200 may further include a carrying component 202, and the carrying component is used to carry the cleaning host.
  • a communication component for transporting accessories is provided in the carrier component, and the communication component can communicate with the controller of the cleaning host.
  • the communication component is configured to transmit the transport device status information of the displacement component and the control information of the cleaning host between the carried cleaning host and the transport device, so that the cleaning host can be transported from the first space (for example, the 1st floor) to the second space (for example, the 2nd floor) driven by the displacement component by controlling the displacement component;
  • the connection method can be a wired connection or a wireless connection.
  • the wired connection can be a mechanical plug-in terminal connection or a magnetic contact elastic terminal connection.
  • the wireless connection can be any of the following wireless information transmission methods, such as infrared light signals, laser signals, WIFI, Bluetooth, sound waves, etc.
  • the climbing process from the 1st floor to the 2nd floor mainly consists of the following stages:
  • the controller of the cleaning host can perform rough positioning based on a map (such as a 1-layer map) to reach the vicinity of the transport accessory 200 .
  • a map such as a 1-layer map
  • the map may be constructed when the cleaning host is running independently, and the location of the transport attachment may be included in the map.
  • the controller of the cleaning host controls the cleaning host 100 to be in a preset position of the transport accessory 200 to form a combined state.
  • a guide component 243 (also called a docking guide module) can be provided on the carrying accessory, which is configured to send a guide signal 2431 to the controller of the cleaning host when the carrying accessory is in a separated state from the cleaning host; the guide signal guides the cleaning host to perform precise positioning to reach a preset position.
  • the controller of the cleaning host is configured to control the moving component of the cleaning host to move to a preset position according to the guide signal.
  • the controller of the cleaning host first controls the moving component to align the cleaning host with the transport attachment, and then controls the moving component to move to a preset position.
  • guide structures 245 can be set on both sides of the transport accessory to guide the cleaning host to dock with the transport accessory when the cleaning host drives onto the platform.
  • an in-place detection component 244 is provided on the transport accessory, which is configured to detect whether the cleaning host has moved into position on the transport accessory; when the cleaning host moves into position, an in-place signal is generated and sent to the controller of the cleaning host; the controller of the cleaning host is configured to control the moving component of the cleaning host to stop moving according to the in-place signal.
  • the in-position detection component 244 is further configured to: detect whether the cleaning host 100 is out of the preset position; when the cleaning host is out of the preset position, generate a host out-of-position signal 2441, and send the host out-of-position signal to the controller of the cleaning host;
  • the controller of the cleaning host is configured to generate a separation control signal based on the host separation signal, and transmit the separation control signal corresponding to the host separation signal to the second communication component via the first communication component;
  • the displacement assembly is configured to receive a disengagement control signal to stop the movement of the carrying attachment.
  • the controller can also send out an alarm signal to prompt the user; or, control the moving component of the cleaning host to try to reset; if the reset fails, the controller will alarm again.
  • the host can be limited after the in-place detection is completed:
  • the transport accessories also include: mechanical limiting components (such as wheel grooves, baffles in front and behind the cleaning main unit, the wheel grooves and rear baffles are not shown in the figure), the mechanical limiting components are configured to limit the cleaning main unit when the cleaning main unit is moved into place, so that the combination formed by the cleaning main unit and the transport accessories remains relatively still or the relative displacement between the cleaning main unit and the transport accessories during the movement of the combination is less than a preset value.
  • mechanical limiting components such as wheel grooves, baffles in front and behind the cleaning main unit, the wheel grooves and rear baffles are not shown in the figure
  • the carrying attachment may have a loading mode in which the front arm 241 is at an angle (e.g., 90 degrees) to the rear arm 242, as shown in FIG. 26 ;
  • the controller of the cleaning host may send a docking command, in one embodiment, so that the transport attachment enters a loading mode
  • the controller of the cleaning host can issue a docking end indication.
  • the forearm is controlled to swing to be parallel or overlapped with the rear arm, so that the cleaning host is in a horizontal state, as shown in FIG28 ; thereby enabling the sensor components of the cleaning host (such as visual sensors, LDS, etc.) to work normally.
  • the detection range 1210 (also called the detection area) of the visual sensor and the detection range 1310 of the LDS are basically consistent with the detection range when the cleaning host runs independently, so that the detection range 1210 of the visual sensor and the detection range 1310 of the LDS can adapt to the complex conditions of the flat ground transfer mode.
  • the outer contour of the transport accessory is outside the detection area of the sensor component to avoid the transport accessory blocking the sensor component.
  • the overlap between the detection area of the sensor component and the detection area of the sensor component in the separated state is greater than a threshold.
  • the transport attachment When the cleaning main machine is driven onto the transport attachment to form a combination, the transport attachment can be switched to the flat ground transfer mode to transfer the combination on the flat ground, as shown in FIG. 28 .
  • the positioning sensor (such as a visual sensor or LDS) of the cleaning host is configured to detect the position of the combination, generate a positioning signal, and send the positioning signal to the controller of the cleaning host;
  • the controller of the cleaning host is configured to generate a navigation control signal based on the positioning signal, and send the navigation control signal to the displacement component through the first communication component and the second communication component.
  • the displacement component receives the navigation control signal to drive the combination to move to the target position.
  • the combination moves to the stairwell under the control function of the controller of the cleaning host and the detection function of the sensor component.
  • the obstacle detection sensor (visual sensor or LDS) of the cleaning host is configured to detect obstacles, generate an obstacle detection signal, and send the obstacle detection signal to the controller of the cleaning host; when the controller of the cleaning host is configured to generate a first obstacle avoidance signal based on the obstacle detection signal, the controller sends the first obstacle avoidance signal to the displacement component through the first communication component and the second communication component, wherein the first obstacle avoidance signal includes a first obstacle avoidance path generated based on the outer contour of the combination formed by the cleaning host and the carrying accessory; the displacement component receives the first obstacle avoidance signal to drive the combination to avoid obstacles along the first obstacle avoidance path.
  • the controller is configured to determine the position of the cleaning host based on a first map of the plane space when the cleaning host moves alone; as shown in Figure 47.
  • the controller is also configured to obtain a second map of the plane space when the cleaning host is moving under the support of the transport accessory to determine the positions of the cleaning host and the transport accessory in the space; as shown in FIG. 48 .
  • the staircase entrance is obtained by the controller based on the first map and the second map.
  • the controller here is the controller of the cleaning host. It can be understood that in other embodiments, the controller can also be set on the transport accessory or on a third-party device, which will not be described in detail in this embodiment.
  • the transporting system may further include a maintenance platform for maintaining at least one of the transporting accessories and the cleaning host.
  • the maintenance platform may be used to maintain the transporting accessories or the cleaning host.
  • the maintenance platform is an integrated maintenance platform, such as an integrated base station 300, and the base station 300 can perform maintenance on both the transport accessories and the cleaning host.
  • the maintenance platform may include a base station for maintaining the transport accessories and another base station for maintaining the cleaning host; that is, the transport accessories and the cleaning host are maintained separately through the two base stations.
  • the carrying accessory when the carrying accessory needs maintenance, the carrying accessory sends a maintenance signal to the second communication component through the first communication component, and the second communication component sends the maintenance signal to the controller of the cleaning host; the controller of the cleaning host controls the displacement component based on the maintenance signal to drive the combination to move to the location of the maintenance platform.
  • the controller of the cleaning host controls the displacement component to move to the maintenance position, so that the carrying accessory and the maintenance platform can be maintained at the maintenance position; wherein when maintenance is performed at the maintenance position, the cleaning host and the carrying accessory are always in the combined state.
  • the cleaning host and the transport accessory may also be in a combined state, which is not limited in this embodiment.
  • the carrying accessory includes a rechargeable power supply device to supply power to the carrying accessory, and the maintenance platform is configured to perform charging maintenance for the carrying accessory.
  • the transport accessory also includes a maintenance component configured to maintain the cleaning host.
  • Figures 46 and 47 show the location of an integrated maintenance base station 300.
  • the carrying accessory can be provided with at least two distance detection sensors 251, such as infrared sensors, which emit detection light 2511, measure the distance to the first step at the stair entrance, and feed back the measurement result to the controller of the cleaning host.
  • the controller of the host controls the movement of the displacement component according to the measurement result, so that the combination is aligned with the stair steps; when the distance measurement value deviation of the two distance detection sensors is within an acceptable range, it indicates that the combination is basically parallel to the stair entrance step and is in an aligned state, ready for stair climbing.
  • the controller is configured to adjust the angle of the non-contact obstacle detection sensor (e.g., the visual sensor 121) to enable the non-contact obstacle detection sensor to detect obstacles on the stairs to determine whether there are obstacles on the stairs;
  • the non-contact obstacle detection sensor e.g., the visual sensor 121
  • the controller of the cleaning host controls the displacement component of the carrying attachment, such as the movement of the forearm, to lift the host to an elevation angle.
  • the visual sensor of the cleaning host detects whether there are large obstacles on the stair surface and plans a safer climbing route.
  • the controller when there are no obstacles on the stairs, the controller is configured to control the combination to switch modes, so that the combination switches from the ground transport mode to the stair climbing mode to climb the stairs, as shown in FIG36B .
  • the controller of the cleaning host controls the forearm of the carrying accessory to swing in a certain direction and form a certain angle with the ground; then the controller of the cleaning host controls the rear arm of the carrying accessory to move forward until the forearm rests on the first step, as shown in FIG36C ; as shown in FIG36D , the controller of the cleaning host controls the displacement assembly of the carrying accessory to continue to move forward and make the forearm parallel to the rear arm;
  • the controller of the cleaning host controls the displacement assembly of the carrying attachment to climb the stairs step by step;
  • the step detection sensor 246 (such as the downward sensor, of course, the downward sensor of the host can also be used when the downward sensor of the host is not blocked) provided on the carrying accessory detects the last step, when the forearm of the carrying accessory hangs out of the step surface of the stairs, the carrying accessory sends the detection result to the controller of the cleaning host;
  • the controller of the cleaning host controls the forearm of the carrying attachment to swing downward until it contacts the top platform of the stairs (e.g., the ground of the second floor);
  • the controller of the cleaning host controls the carrying attachment to continue moving forward and climb the last step of the stairs (for example, reaching the 2nd floor); as shown in Figure 36I, the controller of the cleaning host flattens the forearm; then controls the forearm to swing backward until it supports the ground and lifts the cleaning host to a horizontal level.
  • the LDS and visual sensors of the cleaning host can work normally and enter the flat ground transfer mode again to adapt to the complex conditions of flat ground transfer on the 1st floor; as shown in Figures 36J and 36K, the process of going upstairs from the 1st floor to the 2nd floor is completed.
  • the cleaning host when the cleaning host reaches the 2nd floor, it can move out from the carrying attachment to clean the 2nd floor. It should be noted that before the cleaning host gets off the carrying attachment, the controller of the cleaning host controls the carrying attachment to move to a specified position in the flat ground transfer mode and calibrates the position so that when the cleaning work on the 2nd floor is completed, it returns to the position of the carrying attachment and returns to the 1st floor (for example, returns to the 1st floor to charge).
  • whether the last step is reached can be determined by detection with the help of a sensor component, or by counting (it can be determined when detecting obstacles before climbing the stairs, or it can be counted while climbing to facilitate going downstairs). No further details will be given here.
  • FIG. 37A to 12J show the process of going down the stairs:
  • the control and handling accessories of the cleaning host lift the cleaning host to a depression angle, and the non-contact obstacle detection sensor (such as visual sensor 121) on the cleaning host detects whether there are large obstacles on the stair surface and plans a safer climbing route.
  • the cleaning host controls the carrying attachment to swing the forearm forward until the forearm rests on the next step;
  • the cleaning host controls the carrying attachment to continue moving forward and swings the forearm to be parallel to the rear arm;
  • the cleaning host controls the transport accessories to climb down the stairs step by step;
  • the cleaning host controls the carrying accessory to climb downward on the stair surface, and detects whether it is the last step through the sensor 246 (downward-looking sensor or downward-looking sensor of the host) provided on the carrying accessory. If it is the last step, the detection result is sent to the controller of the cleaning host, and the cleaning host controls the carrying accessory to swing the forearm parallel to the ground.
  • the cleaning host controls the carrying accessory to continue moving forward and reach the ground; the cleaning host controls the carrying accessory to flatten the forearm and swing it backward; until the cleaning host is lifted to a horizontal level by supporting the ground, the LDS and visual sensors of the cleaning host can work normally and enter the flat ground transfer mode again to adapt to the complex conditions of flat ground transfer on the first floor; and the process of going down the stairs is completed.
  • the process of going down the stairs is the reverse process of going up the stairs, and also involves steps such as transferring to the staircase entrance, detecting obstacles when going downstairs, and detecting whether the last step has been reached.
  • steps such as transferring to the staircase entrance, detecting obstacles when going downstairs, and detecting whether the last step has been reached.
  • steps such as transferring to the staircase entrance, detecting obstacles when going downstairs, and detecting whether the last step has been reached.
  • the combination of the two can also be realized manually, that is, the user can manually place the cleaning host at the preset position of the carrying accessory, as shown in Figure 38; in order to prevent the subsequent separation of the cleaning host and the carrying accessory, further, the user can also manually limit the cleaning host (for example, by toggling the baffle, etc.); as shown in Figure 39.
  • the two can also be separated manually. Specifically, as shown in Figures 40 and 41, the user first manually releases the limit between the host and the carrying accessory; then the user manually removes the host from the carrying accessory.
  • each component or each step can be decomposed and/or recombined.
  • Such decomposition and/or recombination should be regarded as equivalent solutions of the present application.

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

La présente invention concerne un système de transport comprenant : une unité principale de nettoyage (100) comprenant un ensemble de déplacement de corps et un ensemble de nettoyage ; et un accessoire de transport (200) comprenant un ensemble de déplacement ayant une capacité de franchissement d'obstacles supérieure à celle de l'ensemble de déplacement. L'accessoire de transport (200) et l'unité principale de nettoyage (100) peuvent se trouver dans un état séparé et, dans cet état, l'unité principale de nettoyage (100) peut fonctionner indépendamment. L'accessoire de transport (200) et l'unité principale de nettoyage (100) peuvent se trouver dans un état combiné et, dans cet état, l'unité principale de nettoyage (100) et l'accessoire de transport (200) forment un corps combiné, et l'ensemble de déplacement est situé dans la partie inférieure du corps combiné, de manière à amener le corps combiné à se déplacer. L'unité principale de nettoyage (100) comprend en outre un ensemble de détection configuré pour, dans l'état combiné, détecter un environnement où se trouve le corps combiné afin de générer un signal de détection. Le système de transport comprend en outre un dispositif de commande configuré pour commander l'ensemble de déplacement sur la base du signal de détection de manière à amener le corps de combiné à se déplacer. Par conséquent, l'unité principale de nettoyage (100) peut être appliquée à divers contextes.
PCT/CN2023/123033 2022-09-29 2023-09-29 Dispositif de transport, système de nettoyage, procédé de commande et système de maintenance WO2024067873A1 (fr)

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CN106393057A (zh) * 2016-12-18 2017-02-15 遂宁市长丰机械科技有限公司 扫地机器人的专用爬楼装置
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