Cleaning device

Abstract

A cleaning device may comprise a device body and a driving assembly configured to drive the device body to move. The cleaning device may further comprise a lifting mechanism connected to the device body and the driving assembly, and configured to lift the device body. The cleaning device may further comprise a sensor configured to sense an obstacle and to send sensing information. In addition, the cleaning device may further comprise a controller configured to receive the sensing information; determine obstacle information of the obstacle based on the sensing information; and control motion of the lifting mechanism based on the obstacle information.

What is claimed is: 
     
         1 . A cleaning device comprising:
 a device body;   a driving assembly configured to drive the device body to move;   a lifting mechanism connected to the device body and the driving assembly, wherein the lifting mechanism is configured to lift the device body;   a sensor configured to sense an obstacle and send sensing information associated with the obstacle; and   a controller configured to:
 receive the sensing information; 
 determine obstacle information of the obstacle based on the sensing information, wherein the obstacle information comprises at least one of a type of the obstacle or a height of the obstacle; and 
 control motion of the lifting mechanism based on the obstacle information. 
   
     
     
         2 . The cleaning device according to  claim 1 , wherein the controller is further configured to control the device body to climb the obstacle or to proceed downward to a surface of the obstacle by controlling the motion of the lifting mechanism. 
     
     
         3 . The cleaning device according to  claim 1 , wherein the controller is further configured to:
 based on that a height of the obstacle is higher than a height of a first surface where the device body is currently located, control the lifting mechanism to lift the device body, so that a height of a front end of the device body adjacent to the obstacle is at least equal to or higher than the height of the obstacle.   
     
     
         4 . The cleaning device according to  claim 3 , wherein the controller is further configured to:
 after controlling the lifting mechanism to lift the device body, control the driving assembly to drive the device body to proceed, so that the device body climbs onto a second surface of the obstacle; and   control the lifting mechanism to lift the driving assembly off of the first surface.   
     
     
         5 . The cleaning device according to  claim 1 , wherein the controller is further configured to:
 based on that a height of the obstacle is lower than a height of a first surface where the device body is currently located, control the lifting mechanism to lead the driving assembly to move, so that the driving assembly leaves from the first surface to a second surface of the obstacle.   
     
     
         6 . The cleaning device according to  claim 5 , wherein the controller is further configured to:
 after controlling the lifting mechanism to drive the driving assembly to move to the second surface of the obstacle, control the driving assembly to drive the device body to move, and control the lifting mechanism to lower the device body to the second surface of the obstacle.   
     
     
         7 . The cleaning device according to  claim 1 , wherein the obstacle comprises a step. 
     
     
         8 . The cleaning device according to  claim 1 , wherein:
 the lifting mechanism comprises a lifting bracket,   a first end of the lifting bracket is rotatably connected to a rear end of the device body via a first rotating shaft, and   a second end of the lifting bracket is rotatably connected to a front end of the driving assembly via a second rotating shaft.   
     
     
         9 . The cleaning device according to  claim 8 , wherein the lifting mechanism further comprises a first driver and a second driver both connected to the controller, wherein the first driver is mechanically coupled to the first rotating shaft to drive rotation of the first rotating shaft, and the second driver is mechanically coupled to the second rotating shaft to drive rotation of the second rotating shaft. 
     
     
         10 . The cleaning device according to  claim 9 , wherein the controller is further configured to:
 control the first driver to drive rotation of the first rotating shaft and the second driver to drive rotation of the second rotating shaft, so that the first end of the lifting bracket moves upward relative to the second end of the lifting bracket.   
     
     
         11 . The cleaning device according to  claim 10 , wherein the controller is further configured to:
 control the second driver to drive rotation of the second rotating shaft to rotate the lifting bracket upward relative to the driving assembly, and   control the first driver to drive rotation of the first rotating shaft to lead rotation of the device body relative to the lifting bracket, causing the device body to be lifted from the first surface to a second surface of the obstacle.   
     
     
         12 . The cleaning device according to  claim 11 , wherein the controller is further configured to: control the second driver to drive rotation of the second rotating shaft, so that the driving assembly leaves the first surface, and
 control the first driver to drive rotation of the first rotating shaft to lead the lifting bracket and the driving assembly to rotate to a second surface of the obstacle.   
     
     
         13 . The cleaning device according to  claim 9 , wherein the controller is further configured to:
 control the first driver to drive rotation of the first rotating shaft, so that the driving assembly leaves the first surface where the device body is currently located; and   control the second driver to drive rotation of the second rotating shaft to lead the driving assembly to rotate to the second surface of the obstacle.   
     
     
         14 . The cleaning device according to  claim 13 , wherein the controller is further configured to:
 control the second driver to drive the second rotating shaft to rotate, the first driver to drive the first rotating shaft to rotate, and the driving assembly to move on the second surface of the obstacle after the driving assembly is lowered to the second surface of the obstacle, causing the device body to be lowered to the second surface of the obstacle.   
     
     
         15 . The cleaning device according to  claim 8 , wherein:
 the driving assembly comprises a mounting bracket, a third driver, and a driving track,   the third driver is configured to cause rotation of the driving track,   both the third driver and the driving track are provided on the mounting bracket, and   the second end of the lifting bracket is rotatably connected to a front end of the mounting bracket via the second rotating shaft.   
     
     
         16 . The cleaning device according to  claim 1 , wherein the controller is further configured to:
 drive the lifting mechanism to lift the device body based on not receiving the obstacle information.   
     
     
         17 . A cleaning device comprising:
 a device body;   a driving assembly configured to move the device body on a supporting surface;   a lifting mechanism connected to the device body and the driving assembly; and   a controller configured to:
 identify a type of an obstacle; and 
 based on the type of the obstacle being a step, control motion of the lifting mechanism. 
   
     
     
         18 . The cleaning device according to  claim 17 , wherein the cleaning device comprises a vacuum cleaner. 
     
     
         19 . The cleaning device according to  claim 17 , wherein:
 the lifting mechanism comprises a lifting bracket,   a first end of the lifting bracket is rotatably connected to a rear end of the device body via a first rotating shaft, and   a second end of the lifting bracket is rotatably connected to a front end of the driving assembly via a second rotating shaft.   
     
     
         20 . A cleaning device comprising:
 a device body;   a lifting mechanism connected to the device body; and   a controller configured to:
 determine obstacle information of an obstacle, wherein the obstacle information comprises a height of the obstacle; and 
 control motion of the lifting mechanism based on a determination that the height of the obstacle is higher than or lower than a height of a surface where the device body is currently located.