Carrier device and control method, cleaning device and system, program product and medium

Abstract

The present disclosure relates to a carrying device and a control method thereof, a cleaning device and a cleaning system, a computer program product and a computer readable storage medium. The carrying device is capable of climbing a step or moving along a kick surface of the step. The carrying device comprises a detection module configured to detect a relative position between the carrying device and the kick surface of the step; and a movement module configured to drive the carrying device to move. When the relative position between the carrying device and the kick surface is within a preset range, the movement module is configured to drive the carrying device to climb the step and / or move along the kick surface of the step. In this way, the risk of the carrying device climbing the step or moving along the kick surface can be avoided, and the safety of the carrying device climbing the step or moving along the kick surface can be improved.

Description

Technical Field

[0001] This disclosure relates to the field of cleaning equipment manufacturing technology, and in particular to a carrier device and its control method, a cleaning apparatus and cleaning system, a computer program product and a computer-readable storage medium. Background Technology

[0002] In the field of household load-bearing equipment manufacturing technology, when load-bearing equipment climbs steps or moves along the riser of steps, there may be a risk of falling or deviating due to inaccurate positioning of the load-bearing equipment, resulting in low safety of the load-bearing equipment during operation.

[0003] It should be noted that the information disclosed in the background section above is only used to enhance the understanding of the background of this disclosure, and therefore may include information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0004] The purpose of this disclosure is to provide a load-bearing device and its control method, a cleaning device and cleaning system, a computer program product and a computer-readable storage medium that can avoid the risks of the load-bearing device climbing steps or moving along the riser and improve the safety of the load-bearing device when climbing steps or moving along the riser.

[0005] This disclosure provides a supporting device, characterized in that the supporting device is capable of climbing steps and / or moving along the risers of the steps, the supporting device comprising:

[0006] A detection module configured to detect the relative position between the load-bearing device and the riser of the step;

[0007] A motion module is used to drive the support device to move; the motion module is configured to drive the support device to climb the step and / or move along the step's kick surface when the relative position between the support device and the kick surface is within a preset range.

[0008] In one exemplary embodiment of this disclosure, the motion module is further configured to move the support device toward the kick surface when the relative position between the support device and the kick surface is outside a preset range.

[0009] In one exemplary embodiment of this disclosure, the carrying device includes:

[0010] Main body;

[0011] A side support portion, which is connected to the main body portion;

[0012] The detection module is disposed on the main body and / or the side support.

[0013] In one exemplary embodiment of this disclosure, the detection module is disposed on the main body portion, and the detection module includes:

[0014] A collision plate is disposed on the side of the main body facing the kick surface and protrudes from the main body. The collision plate is capable of moving towards or away from the main body.

[0015] A position detector is disposed between the collision plate and the main body, and the position detector is configured to detect the relative position between the collision plate and the main body;

[0016] When the position detector detects that the collision plate is moving towards the main body, the supporting device comes into contact with the kick surface, and at this time the relative position between the supporting device and the kick surface is within the preset range.

[0017] In one exemplary embodiment of this disclosure, the position detector includes a trigger switch, and when the collision plate contacts the trigger switch, the bearing device contacts the kick surface.

[0018] In one exemplary embodiment of this disclosure, the detection module includes: a plurality of position detectors, wherein the plurality of position detectors are spaced apart.

[0019] In one exemplary embodiment of this disclosure, the detection module includes:

[0020] A first position detector and a second position detector are arranged at intervals in the height direction of the main body.

[0021] In one exemplary embodiment of this disclosure, the detection module further includes:

[0022] A third position detector is provided at an interval from the first position detector in the direction in which the supporting device moves along the kick surface.

[0023] In one exemplary embodiment of this disclosure, the detection module further includes:

[0024] A reset member is disposed between the collision plate and the main body portion, and the reset member is configured to drive the collision plate to reset when the collision plate moves toward the main body portion.

[0025] In one exemplary embodiment of this disclosure, the reset element includes:

[0026] The fixing part is fixed to the main body part;

[0027] The elastic part abuts against or connects to the side of the collision plate near the main body, and the elastic part can undergo elastic deformation when the collision plate moves toward the main body.

[0028] In one exemplary embodiment of this disclosure, the detection module includes: a plurality of reset members, which are spaced apart.

[0029] In one exemplary embodiment of this disclosure, the detection module further includes:

[0030] A fixing plate is fixed to the side of the main body facing the kick surface. The collision plate is connected to the fixing plate and can move towards or away from the fixing plate.

[0031] Both the position detector and the reset component are mounted on the fixed plate and located between the fixed plate and the collision plate.

[0032] In one exemplary embodiment of this disclosure, the detection module includes:

[0033] A distance sensor, configured to detect a specific distance value between the supporting device and the kick surface, for detecting the relative position between the supporting device and the kick surface.

[0034] This disclosure further provides a control method for a carrier device, the carrier device including a detection module and a motion module, the control method for the carrier device including:

[0035] The detection module is used to detect the relative position between the load-bearing device and the riser of the step;

[0036] Based on the relative distance between the supporting device and the kick surface, the motion module drives the supporting device to move.

[0037] When the relative distance between the supporting device and the kick surface is within a preset range, the motion module drives the supporting device to climb the step and / or move along the kick surface of the step; when the relative distance between the supporting device and the kick surface is outside the preset range, the motion module drives the supporting device to move closer to the kick surface.

[0038] In one exemplary embodiment of this disclosure, the supporting device further includes a main body and a side support; the detection module includes a collision plate and a position detector; the step of detecting the relative position between the supporting device and the kick surface using the detection module includes:

[0039] The relative position between the collision plate and the kick surface is detected by a position detector; when the position detector detects that the collision plate is moving towards the main body, the collision plate contacts the kick surface; when the position detector does not detect that the collision plate is moving towards the main body, the collision plate does not contact the kick surface.

[0040] The relative distance between the supporting device and the kick surface is obtained based on the relative position between the collision plate and the kick surface; when the collision plate is in contact with the kick surface, the relative position between the supporting device and the kick surface is within a preset range; when the collision plate is not in contact with the kick surface, the relative position between the supporting device and the kick surface is outside the preset range.

[0041] In one exemplary embodiment of this disclosure, the position detector includes: a trigger switch; the step of detecting the relative position between the bearing device and the kick surface using the detection module includes:

[0042] The relative position between the collision plate and the kick surface is detected by the position detector; when the trigger switch of the position detector is in contact with the collision plate, the collision plate is in contact with the kick surface; when the trigger switch of the position detector is not in contact with the collision plate, the collision plate is not in contact with the kick surface.

[0043] The relative distance between the supporting device and the kick surface is obtained based on the relative position between the collision plate and the kick surface; when the collision plate is in contact with the kick surface, the relative distance between the supporting device and the kick surface is within a preset range; when the collision plate is not in contact with the kick surface, the relative distance between the supporting device and the kick surface is outside the preset range.

[0044] In another aspect, this disclosure provides a computer program product comprising computer instructions stored in a computer-readable storage medium and adapted to be read and executed by a processor to cause a computer device having the processor to perform the control method of the bearer device described in any of the preceding claims.

[0045] In another aspect, this disclosure provides a computer-readable storage medium storing at least one piece of program code, which is loaded and executed by a processor to implement the operations performed by the control method of the bearer device described in any of the preceding claims.

[0046] In another aspect, this disclosure provides a carrier device, the carrier device including one or more processors and one or more memories, the one or more memories storing at least one piece of program code, the at least one piece of program code being loaded and executed by the one or more processors to implement the control method of the carrier device described in any of the preceding claims.

[0047] This disclosure further provides a cleaning apparatus, comprising:

[0048] A load-bearing device, wherein the load-bearing device is any one of the load-bearing devices described above, and the load-bearing device is provided with a load-bearing structure;

[0049] A cleaning device is located on the supporting structure, and the cleaning device is capable of cleaning the surface to be cleaned.

[0050] This disclosure further provides a cleaning system, comprising:

[0051] Base station;

[0052] A cleaning device, wherein the cleaning device is the cleaning device described above, and the carrier device and / or the cleaning device can interface with the base station.

[0053] The technical solution provided in this disclosure can achieve the following beneficial effects:

[0054] The load-bearing device provided in this disclosure includes a detection module and a motion module. The detection module can be configured to detect the relative position between the load-bearing device and the riser of the step. The motion module is configured to drive the load-bearing device to climb the step and / or move along the riser of the step when the relative position between the load-bearing device and the riser is within a preset range.

[0055] This avoids the risk of the supporting equipment climbing the steps and / or moving along the risers when the distance between the supporting equipment and the riser is far, thereby avoiding the risk of the supporting equipment falling or deviating when climbing the steps and / or moving along the risers, and improving the safety of the supporting equipment when climbing the steps and / or moving along the risers.

[0056] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0057] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure. It is obvious that the drawings described below are merely some embodiments of this disclosure, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0058] Figure 1 A schematic diagram of the structure of a carrier device according to an exemplary embodiment of the present disclosure is shown;

[0059] Figure 2 A schematic diagram is shown of a support device located on a step according to an exemplary embodiment of the present disclosure;

[0060] Figure 3 A schematic diagram of the structure of a detection module according to an exemplary embodiment of the present disclosure is shown from a first perspective.

[0061] Figure 4 A partial structural schematic diagram of a detection module according to an exemplary embodiment of the present disclosure is shown;

[0062] Figure 5 A partial structural schematic diagram of a detection module according to another exemplary embodiment of the present disclosure is shown;

[0063] Figure 6 A schematic diagram of the structure of a collision plate according to an exemplary embodiment of the present disclosure is shown;

[0064] Figure 7 A schematic diagram of the structure of a detection module according to an exemplary embodiment of the present disclosure is shown from a second perspective;

[0065] Figure 8 A flowchart illustrating a control method for a carrier device according to a first exemplary embodiment of the present disclosure is shown;

[0066] Figure 9 A flowchart illustrating a control method for a carrier device according to a second exemplary embodiment of the present disclosure is shown;

[0067] Figure 10 A flowchart illustrating a control method for a carrier device according to a third exemplary embodiment of the present disclosure is shown;

[0068] Figure 11 A flowchart illustrating a control method for a carrier device according to a fourth exemplary embodiment of the present disclosure is shown;

[0069] Figure 12 A flowchart illustrating a control method for a carrier device according to a fifth exemplary embodiment of the present disclosure is shown.

[0070] Explanation of reference numerals in the attached figures:

[0071] 1. Bearing device; 11. Detection module; 111. Collision plate; 1111. First plate; 1112. Second plate; 1113. Body; 1114. Connecting plate; 1115. Connecting hole; 1116. First limiting structure; 1117. Connecting block; 112. Position detector; 1121. First position detector; 1122. Second position detector; 1123. Third position detector; 1124. Fourth position detector; 113. Reset component; 1131. First reset component; 1132. Second reset component; 1133. Third reset component; 1134. Fourth reset component; 1135. Fixing part; 1136. Elastic part; 114. Fixing plate; 1141. Rotating shaft; 1142. Second limiting part; 1143. First mounting hole; 1144. Second mounting hole; 1145. Mounting protrusion; 1146. Receiving groove; 12. Main body; 13. Side support part; 14. Bearing structure; 15. Motion module;

[0072] 2. Step; 21. Riser; 22. Tread. Detailed Implementation

[0073] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, they are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and therefore their detailed description will be omitted.

[0074] Although relative terms such as "up" and "down" are used in this specification to describe the relative relationship of one component of an icon to another, these terms are used only for convenience, such as according to the orientation of the examples shown in the accompanying drawings. It is understood that if the device of the icon is flipped upside down, the component described as "up" will become the component described as "down." When a structure is "up" of another structure, it may mean that the structure is integrally formed on the other structure, or that the structure is "directly" mounted on the other structure, or that the structure is "indirectly" mounted on the other structure through another structure.

[0075] The terms “a,” “one,” “the,” and “the” are used to indicate the existence of one or more elements / components / etc.; the terms “including” and “having” are used to indicate an open-ended inclusion meaning and that there may be other elements / components / etc. in addition to the listed elements / components / etc.; the terms “first” and “second” are used only as markers and are not a limitation on the number of objects.

[0076] like Figures 1 to 7As shown, this disclosure first provides a cleaning device, which may include: a carrying device 1 and a cleaning device. The cleaning device may be a sweeping robot, a floor scrubber, a vacuum cleaner, a sweeping and mopping robot, a window cleaning robot, etc. The cleaning device may include a cleaning unit, which may be a roller brush, a side brush, a water outlet, a mopping component, a window cleaning component, etc., for cleaning the surface to be cleaned, such as the ground, the surface of a step 2, etc.

[0077] like Figure 1 and Figure 2 As shown, the load-bearing device 1 may have the function of climbing the steps 2 and / or moving along the riser 21 of the steps 2. For example, the load-bearing device 1 may be a stair climber, but it is not limited to this. The load-bearing device 1 may also be other machines with load-bearing functions.

[0078] It should be noted that step 2 may have a tread 22 and a riser 21. The tread 22 of step 2 refers to the surface of step 2 that is parallel to the horizontal plane, and the riser 21 of step 2 refers to the surface of step 2 that is parallel to the vertical plane and extends in the horizontal direction. The statement that the supporting device 1 can move along the riser 21 of step 2 means that the supporting device 1 can move in the direction in which the riser 21 extends.

[0079] The carrying device 1 may be provided with a carrying structure 14, and the cleaning device may be located on the carrying structure 14, so that the carrying device 1 can carry the cleaning device to climb the step 2 and / or move along the riser 21 of the step 2, so as to use the cleaning device to clean the surface of the step 2 or the ground of different floors waiting to be cleaned.

[0080] The supporting structure 14 can be located on the bottom surface of the supporting device 1, making the distance between the supporting structure 14 and the surface to be cleaned closer, thus facilitating the cleaning device to clean the surface. The supporting device 1 can also have a receiving cavity, in which the cleaning device can be located, so that the inner wall of the receiving cavity and the supporting structure 14 can limit and protect the cleaning device, thereby reducing the probability of the cleaning device detaching from the supporting structure 14 and preventing objects in the external environment from colliding with the cleaning device and damaging it.

[0081] In some embodiments, the support device 1 can also have a cleaning function, that is, the bottom surface of the support device 1 can be directly provided with a cleaning device, so that the support device 1 and the cleaning device are an integral structure, which can accommodate both climbing the steps 2 and / or moving along the tread 22, as well as cleaning the surface to be cleaned. This configuration can improve the integration of the support device 1, and eliminates the need for additional cleaning devices, as well as the need for a support structure 14 on the support device 1 to support other cleaning devices.

[0082] like Figures 1 to 7As shown, the supporting device 1 may include a detection module 11 and a motion module 15. The detection module 11 can be configured to detect the relative position between the supporting device 1 and the riser 21 of the step 2.

[0083] The motion module 15 can be used to move the supporting device 1. The motion module 15 can be configured to move the supporting device 1 up the step 2 and / or along the step 2's riser 21 when the relative position between the supporting device 1 and the riser 21 is within a preset range. Furthermore, the motion module 15 can also be configured to move the supporting device 1 towards the riser 21 when the relative position between the supporting device 1 and the riser 21 is outside the preset range.

[0084] This avoids situations where the load-bearing device 1 is far from the riser 21 of the step 2, thus preventing the load-bearing device 1 from falling or shifting when climbing the step 2 or moving along the riser 21, thereby improving the safety and stability of the load-bearing device 1 when climbing the step 2 or moving along the riser 21.

[0085] The aforementioned preset range can be set according to actual needs. For example, when the supporting device 1 is in contact with the kick surface 21, the relative position between the supporting device 1 and the kick surface 21 can be within the preset range; or, when the distance between the supporting device 1 and the kick surface 21 is relatively close, the relative position between the supporting device 1 and the kick surface 21 can be within the preset range. In some embodiments, the detection module 11 can also be configured to detect the relative posture between the supporting device 1 and the kick surface 21. The motion module 15 can be configured to switch the motion state of the supporting device 1 when it is tilted relative to the kick surface 21, so that the supporting device 1 is in a basically parallel posture relative to the kick surface 21. For example, when the supporting device 1 is tilted relative to the kick surface 21, the motion module 15 can drive the supporting device 1 to deflect, so as to correct the posture of the supporting device 1 and make the supporting device 1 in a basically parallel posture relative to the kick surface 21.

[0086] In this way, the posture of the supporting equipment 1 can be accurately judged before it climbs the step 2 or moves along the riser 21, and the posture of the supporting equipment 1 can be adjusted to be basically parallel to the riser 21. This avoids the risk of the supporting equipment 1 falling or deviating due to incorrect posture when climbing the step 2 or moving along the riser 21, and can further improve the safety of the supporting equipment 1 when climbing the step 2 or moving along the riser 21.

[0087] In some embodiments, when the supporting device 1 is detected to be in a substantially parallel posture relative to the kick surface 21, the step 2 can be considered a straight step. When the supporting device 1 is in an inclined posture relative to the kick surface 21, the step 2 can be considered a rotating step. Thus, the detection module 11 can be used to determine the type of the step 2.

[0088] When step 2 is a straight step, the motion module 15 can drive the supporting device 1 to climb step 2. When step 2 is a rotating step, the motion module 15 can adjust the posture of the supporting device 1 so that the supporting device 1 is in a basically parallel posture relative to the riser 21, and drive the supporting device 1 to climb step 2. In this way, the type of step 2 can be accurately determined before the supporting device 1 climbs step 2, so that different climbing strategies can be adopted according to different types of step 2, so as to avoid the risk of the supporting device 1 falling when climbing step 2 due to changes in the type of step 2, and further improve the safety of the supporting device 1 when climbing step 2.

[0089] In some embodiments, a controller can be installed within the support device 1. The controller can receive detection signals from the detection module 11 and, based on the relative position or relative posture between the support device 1 and the riser 21 of the step 2 detected by the detection module 11, control the motion module 15 to move the support device 1. The controller can be a processor or a microcontroller, but is not limited thereto.

[0090] In some embodiments, the detection module 11 can be configured to detect the relative posture between the side of the supporting device 1 facing the kick surface 21 and the kick surface 21, so as to detect the relative posture between the supporting device 1 and the kick surface 21. When the detection module 11 detects that the side of the supporting device 1 facing the kick surface 21 is substantially parallel to the kick surface 21, the supporting device 1 is in a substantially parallel posture relative to the kick surface 21; when the side of the supporting device 1 facing the kick surface 21 is tilted relative to the kick surface 21, the supporting device 1 is in a tilted posture relative to the kick surface 21.

[0091] In some embodiments of this disclosure, the supporting device 1 may include a main body 12 and a side support 13. The side support 13 may be connected to the main body 12. The aforementioned supporting structure 14 and the receiving cavity may be located on the main body 12. The detection module 11 and the controller may be disposed on the main body 12, or the detection module 11 and the controller may be disposed on the side support 13, or the detection module 11 and the controller may be disposed on both the main body 12 and the side support 13.

[0092] like Figures 3 to 7 As shown, the detection module 11 may include a collision plate 111 and a position detector 112. The collision plate 111 may be disposed on the side of the main body 12 facing the kick surface 21 and may protrude from the main body 12. The collision plate 111 is movable towards or away from the main body 12. The position detector 112 may be disposed between the collision plate 111 and the main body 12, and the position detector 112 may be configured to detect the relative position between the collision plate 111 and the main body 12.

[0093] When the position detector 112 detects that the collision plate 111 is moving towards the main body 12, it can be considered that the supporting device 1 and the kick surface 21 are in contact, and the relative position between the supporting device 1 and the kick surface 21 is within a preset range. Similarly, it can be understood that when the position detector 112 detects that the collision plate 111 is not moving towards the main body 12, it can be considered that the supporting device 1 is not in contact with the kick surface 21, and the relative position between the supporting device 1 and the kick surface 21 is outside the preset range.

[0094] By detecting whether the load-bearing device 1 is in contact with the riser 21, it can be ensured that the load-bearing component can be close to the riser 2 when climbing the riser 2, thus ensuring the stability and safety of climbing the riser 2 and avoiding the problem of stepping into the air.

[0095] Furthermore, when the supporting device 1 comes into contact with the kick surface 21, the kick surface 21 can be used to guide the movement of the supporting device 1, so that the supporting device 1 will not deviate or fall when it moves along the kick surface 21, thereby further improving the safety of the supporting device 1 moving along the kick surface 21.

[0096] The collision plate 111 may include a first plate portion 1111 and a second plate portion 1112, which may be located on either side of the center line S1 extending along the height direction Y of the main body portion 12. That is, it can be understood that the center line S1 extending along the height direction Y of the main body portion 12 divides the collision plate 111 into two parts. The position detector 112 may be configured to detect the relative attitude between the side of the supporting device 1 facing the kick surface 21 and the kick surface 21 by detecting the movement positions of the first plate portion 1111 and the second plate portion 1112.

[0097] In some embodiments, the collision plate 111 is rotatable about its centerline S1 extending in the height direction Y. When the position detector 112 detects that only one of the first plate portion 1111 and the second plate portion 1112 moves towards the main body portion 12, it can be considered that the side of the supporting device 1 facing the kick surface 21 is inclined to the kick surface 21. When the position detector 112 detects that both the first plate portion 1111 and the second plate portion 1112 move towards the main body portion 12, it can be considered that the side of the supporting device 1 facing the kick surface 21 is substantially parallel to the kick surface 21.

[0098] In other words, it can be understood that when the side of the supporting device 1 facing the kick surface 21 is tilted relative to the kick surface 21, one of the first plate portion 1111 and the second plate portion 1112 is closer to the kick surface 21 than the other, so that the one closer to the kick surface 21 will preferentially collide with the kick surface 21. After the plate portion collides with the kick surface 21, the collision force will drive the collision plate 111 to rotate, causing the plate portion to move towards the main body portion 12, and causing the other plate portion to move away from the main body portion 12. When the side of the supporting device 1 facing the kick surface 21 is substantially parallel to the kick surface 21, the distance between the first plate portion 1111 and the second plate portion 1112 and the kick surface 21 is the same, so that the first plate portion 1111 and the second plate portion 1112 will collide with the kick surface 21 simultaneously. At this time, the collision force will not drive the collision plate 111 to rotate, causing the entire collision plate 111 to move towards the main body portion 12.

[0099] In other embodiments, the first plate portion 1111 and the second plate portion 1112 can move independently. That is, when the first plate portion 1111 moves toward or away from the main body portion 12, the second plate portion 1112 may not move toward or away from the main body portion 12; or, when the second plate portion 1112 moves toward or away from the main body portion 12, the first plate portion 1111 may not move toward or away from the main body portion 12; or, the first plate portion 1111 and the second plate portion 1112 may move toward or away from the main body portion 12 simultaneously.

[0100] In this embodiment, when the position detector 112 detects that only one of the first plate portion 1111 and the second plate portion 1112 moves towards the main body portion 12, it can be considered that the side of the supporting device 1 facing the kick surface 21 is inclined to the kick surface 21. When the position detector 112 detects that both the first plate portion 1111 and the second plate portion 1112 move towards the main body portion 12, it can be considered that the side of the supporting device 1 facing the kick surface 21 is substantially parallel to the kick surface 21.

[0101] In other words, it can be understood that when the side of the supporting device 1 facing the kick surface 21 is tilted relative to the kick surface 21, one of the first plate portion 1111 and the second plate portion 1112 is closer to the kick surface 21 than the other, so that the one closer to the kick surface 21 will preferentially collide with the kick surface 21. After colliding with the kick surface 21, the collision force will drive it to move towards the main body portion 12. The other plate portion, being farther away from the kick surface 21, will not collide with the kick surface 21 and will not move towards the main body portion 12. When the side of the supporting device 1 facing the kick surface 21 is substantially parallel to the kick surface 21, the distance between the first plate portion 1111 and the second plate portion 1112 and the kick surface 21 is the same, so that the first plate portion 1111 and the second plate portion 1112 will collide with the kick surface 21 simultaneously. At this time, the collision force will simultaneously drive the first plate portion 1111 and the second plate portion 1112 to move towards the main body portion 12.

[0102] In some embodiments, such as Figure 4 and Figure 5 As shown, the position detector 112 may include a trigger switch, that is, the position detector 112 may be a micro switch, but is not limited to this. When the collision plate 111 contacts the trigger switch, it can be determined that the bearing device 1 is in contact with the kick surface 21.

[0103] Furthermore, when only one of the first plate portion 1111 and the second plate portion 1112 is in contact with the trigger switch, the side of the device 1 facing the kick surface 21 is inclined to the kick surface 21. When both the first plate portion 1111 and the second plate portion 1112 are in contact with the trigger switch, the side of the device 1 facing the kick surface 21 is substantially parallel to the kick surface 21.

[0104] The detection module 11 may include multiple position detectors 112, which may be spaced apart to improve the accuracy and sensitivity of the detection module 11 in detecting the position of the collision plate 111, and further improve the safety of the carrying device 1 climbing the step 2 and / or moving along the riser 21.

[0105] The detection module 11 may include a first position detector 1121 and a second position detector 1122, which are spaced apart in the height direction Y of the main body 12. This arrangement allows the first and second position detectors to detect the relative positions of different height areas of the collision plate 111 with the main body 12, thereby expanding the detection range of the detection module 11 and enabling the detection of the height of the step 2. Specifically, if the lower position detector 112 detects that the collision plate 111 is moving closer to the main body 12, it can be determined that the step 2 is low. If both the first and second position detectors detect that the collision plate 111 is moving closer to the main body 12, it can be determined that the step 2 is high.

[0106] The detection module 11 may further include a third position detector 1123. The third position detector 1123 and the first position detector 1121 may be spaced apart in the direction in which the supporting device 1 moves along the kick surface 21. It is understood that the direction in which the supporting device 1 moves along the kick surface 21 may be the width direction X of the main body 12. With this arrangement, the relative positions between areas of different widths of the collision plate 111 and the main body 12 can be detected using the first position detector 1121 and the third position detector 1123, thereby expanding the detection range of the detection module 11.

[0107] The detection module 11 may further include a fourth position detector 1124. The fourth position detector 1124 may be spaced apart from the third position detector 1123 in the height direction Y of the main body 12 to further expand the detection range of the detection module 11.

[0108] The first position detector 1121 and the second position detector 1122 can both be disposed between the main body 12 and the first plate 1111 to detect the movement position of the first plate 1111. The third position detector 1123 and the fourth position detector 1124 can both be disposed between the main body 12 and the second plate 1112 to detect the movement position of the second plate 1112.

[0109] In some embodiments, such as Figure 4 and Figure 5 As shown, the detection module 11 may further include a reset member 113. The reset member 113 may be disposed between the collision plate 111 and the main body 12. The reset member 113 may be configured to drive the collision plate 111 to reset after the collision plate 111 moves toward the main body 12, in preparation for the next detection.

[0110] The reset member 113 may include a fixing part 1135 and an elastic part 1136. The fixing part 1135 may be fixed to the main body 12, and the elastic part 1136 may abut or connect with the side of the collision plate 111 near the main body 12. When the collision plate 111 moves towards the main body 12, the elastic part 1136 can undergo elastic deformation, so that the reset member 113 has a restoring force. The reset member 113 can drive the collision plate 111 to reset by this restoring force. The reset member 113 may be a spring, but is not limited to it; it may also be a spring or other structural member capable of elastic deformation.

[0111] When the collision plate 111 has a first plate portion 1111 and a second plate portion 1112, the reset member 113 can be configured to drive the first plate portion 1111 and / or the second plate portion 1112 to reset after the first plate portion 1111 and / or the second plate portion 1112 moves toward the main body portion 12. Furthermore, when the first plate portion 1111 and / or the second plate portion 1112 moves toward the main body portion 12, the elastic portion 1136 can undergo elastic deformation, giving the reset member 113 a restoring force. The reset member 113 can drive the first plate portion 1111 and / or the second plate portion 1112 to reset using this restoring force.

[0112] The detection module 11 may include multiple reset components 113. These reset components 113 may be spaced apart. This arrangement increases the driving force for resetting the collision plate 111, ensuring accurate and timely reset of the collision plate 111, and guaranteeing the normal operation of subsequent detection work by the detection module 11.

[0113] The detection module 11 may include a first reset member 1131 and a second reset member 1132. The first reset member 1131 and the second reset member 1132 may be spaced apart in the height direction Y of the main body 12 to apply a reset driving force to different areas of the collision plate 111 in the height direction Y, so as to ensure that the collision plate 111 can be accurately and timely reset.

[0114] The detection module 11 may further include a third reset member 1133. The third reset member 1133 and the first reset member 1131 may be spaced apart in the direction from the side support portion 13 to the main body portion 12, so as to apply a reset driving force to different areas of the collision plate 111 in the height direction Y, so as to ensure that the collision plate 111 can be reset accurately and in a timely manner.

[0115] The detection module 11 may include a fourth reset member 1134. The fourth reset member 1134 and the third reset member 1133 may be spaced apart in the height direction Y of the main body 12 to further improve the driving force for resetting the collision plate 111.

[0116] The first position detector 1121 and the second position detector 1122 can both be disposed between the main body 12 and the first plate 1111 to drive the first plate 1111 to reset. The third position detector 1123 and the fourth position detector 1124 can both be disposed between the main body 12 and the second plate 1112 to drive the second plate 1112 to reset. This arrangement ensures that both the first plate 1111 and the second plate 1112 can reset accurately and promptly after a collision, ensuring that both the first plate 1111 and the second plate 1112 can function normally during subsequent detection.

[0117] In some embodiments, such as Figures 4 to 7 As shown, the detection module 11 may further include a fixing plate 114. The fixing plate 114 can be fixed to the side of the main body 12 facing the kick surface 21. The collision plate 111 can be connected to the fixing plate 114 and can move towards or away from the fixing plate 114. The position detector 112 and the reset member 113 can both be mounted on the fixing plate 114 and located between the fixing plate 114 and the collision plate 111. By setting the fixing plate 114, a stable mounting position can be provided for the collision plate 111, the position detector 112 and the reset member 113, so that the detection module 11 is an integral structure, which facilitates the installation of the detection module 11 on the side of the main body 12 facing the kick surface 21.

[0118] like Figure 5 As shown, the fixing plate 114 may be provided with a first mounting hole 1143, and the position detector 112 may be installed in the first mounting hole 1143 to improve the installation stability of the position detector 112 and facilitate the electrical control wiring of the position detector 112. When the detection module 11 includes multiple position detectors 112, the fixing plate 114 may be provided with multiple first mounting holes 1143, each position detector 112 may have a corresponding first mounting hole 1143, and each position detector 112 may be installed in its corresponding first mounting hole 1143.

[0119] The fixing plate 114 may be provided with a second mounting hole 1144, and the reset member 113 may be installed in the second mounting hole 1144 to improve the installation stability of the reset member 113. When the detection module 11 includes multiple reset members 113, the fixing plate 114 may be provided with multiple second mounting holes 1144, each reset member 113 may have a corresponding second mounting hole 1144, and each reset member 113 may be installed in its corresponding second mounting hole 1144.

[0120] Furthermore, the sidewall of the second mounting hole 1144 may be provided with a mounting protrusion 1145, and the fixing plate 114 of the reset member 113 may engage with the mounting protrusion 1145 to achieve the connection between the reset member 113 and the fixing plate 114. The reset member 113 may have multiple fixing parts 1135, and the sidewall of the second mounting shell may also be provided with multiple mounting protrusions 1145. The multiple fixing parts 1135 may correspond one-to-one with the multiple mounting protrusions 1145, and each fixing part 1135 may engage with its corresponding mounting protrusion 1145, thereby further improving the installation stability of the reset member 113.

[0121] In some embodiments, such as Figure 4 As shown, the fixed plate 114 can be provided with a rotating shaft 1141, the collision plate 111 and the rotating shaft 1141 can be rotatably connected, and the center line S2 of the rotating shaft 1141 extending along the height direction Y can coincide with the center line S1 of the collision plate 111 extending along the height direction Y, so as to achieve the purpose of the collision plate 111 rotating around its center line S1 extending along the height direction Y.

[0122] The pivot 1141 can be disposed on at least one side of the fixed plate 114 in the height direction Y. The collision plate 111 can include a body portion 1113 and at least one connecting plate 1114. The body portion 1113 can be disposed facing the kick surface 21. The connecting plate 1114 can be located on one side of the body plate in the height direction Y, and the connecting plate 1114 can extend towards the fixed plate 114. The connecting plate 1114 can be rotatably connected to the pivot 1141. With this arrangement, the connection area between the collision plate 111 and the fixed plate 114 can be increased by the connecting plate 1114, thereby improving their connection strength.

[0123] The fixing part 1135 is provided with a rotating shaft 1141 on both sides in the height direction Y. The collision plate 111 may include two connecting plates 1114. The two connecting plates 1114 may be located on both sides of the main body part 1113 in the height direction Y, and both connecting plates 1114 may extend towards the fixing plate 114 and be rotatably connected to the rotating shaft 1141 that is close to them.

[0124] like Figure 4 and Figure 6 As shown, the connecting plate 1114 may be provided with a connecting hole 1115. The connecting hole 1115 may be provided on the side of the connecting plate 1114 near the rotating shaft 1141. The rotating shaft 1141 may extend into the connecting hole 1115 to achieve a rotatable connection.

[0125] In some embodiments, the connecting plate 1114 may be provided with a connecting block 1117, and a connecting hole 1115 may be provided within the connecting block 1117 to increase the thickness at the connection between the connecting plate 1114 and the fixing plate 114, thereby improving the connection strength between the connecting plate 1114 and the fixing plate 114. Simultaneously, the side of the fixing plate 114 facing the connecting plate 1114 may be provided with a receiving groove 1146, and the rotating shaft 1141 may be located within the receiving groove 1146. When the rotating shaft 1141 is connected to the connecting hole 1115, at least a portion of the connecting block 1117 may be located within the receiving groove 1146, thereby limiting the connection block 1117 and preventing the connecting block 1117 from detaching from the rotating shaft 1141.

[0126] The connecting plate 1114 may also be provided with a first limiting structure 1116, and at least one side of the fixing plate 114 in the height direction Y may be provided with a second limiting structure. The first limiting structure 1116 and the second limiting structure can cooperate to limit the movement range of the collision plate 111. The first limiting structure 1116 may be a limiting hole, and the second limiting structure may be a limiting post, which may extend into the limiting hole to achieve the limiting cooperation. However, it is not limited to this; the first limiting structure 1116 may be a limiting post, and the second limiting structure may be a limiting hole; or the first limiting structure 1116 and the second limiting structure may be other limiting structures besides the limiting hole and the limiting post.

[0127] In some embodiments, such as Figure 7 As shown, the side of the fixing plate 114 near the main body 12 can be a grid-like hollow structure. This design can reduce the weight and manufacturing cost of the fixing plate 114 while ensuring that the fixing plate 114 has high structural strength, thereby further reducing the weight and manufacturing cost of the supporting device 1.

[0128] In some other embodiments of this disclosure, the detection module 11 may include a distance sensor, such as an infrared sensor. The distance sensor can be configured to detect the specific distance between the supporting device 1 and the kick surface 21, thereby detecting the relative position between them. By using a distance sensor, this embodiment can directly detect the specific distance between the supporting device 1 and the kick surface 21, thus accurately determining the relative distance and improving accuracy.

[0129] The detection module 11 may further include an angle detector, such as a gyroscope. The angle detector may be disposed on the main body 12 and may be configured to detect the tilt angle of the carrier device 1. With this configuration, when adjusting the attitude of the carrier device 1, the attitude of the carrier device 1 can be accurately adjusted according to the specific angle value detected by the angle detector, so as to adjust the carrier device 1 from a tilted attitude to a basically parallel attitude.

[0130] Some embodiments of this disclosure, such as Figure 8 and Figure 9 As shown, a control method for a carrier device 1 is provided. This control method for the carrier device 1 can be used to control the aforementioned carrier device 1, but is not limited thereto. Figure 8 As shown, the control method for the carrier device 1 may include:

[0131] Step S100: Use the detection module 11 to detect the relative position between the load-bearing device 1 and the kick surface 21.

[0132] Step S110: Based on the relative position between the bearing device 1 and the kick surface 21, the motion module 15 is used to drive the bearing device 1 to move.

[0133] Step S120: When the relative distance between the supporting device 1 and the kick surface 21 is within a preset range, the motion module 15 drives the supporting device 1 to climb the step 2 and / or move along the kick surface 21 of the step 2; when the relative distance between the supporting device 1 and the kick surface 21 is outside the preset range, the motion module 15 drives the supporting device 1 to move towards the kick surface 21.

[0134] It should be noted that the specific structure, working principle and beneficial effects of the bearing device 1 have been described in detail in the above embodiments. Therefore, in this embodiment, the specific structure, working principle and beneficial effects of the bearing device 1 will not be described again. You can refer to the specific description in the above embodiments, which are all within the protection scope of this disclosure.

[0135] By using the control method of the bearing device 1, it is possible to avoid climbing the step 2 and / or moving along the riser 21 when the distance between the bearing device 1 and the riser 21 of the step 2 is far, thereby avoiding the risk of falling or deviating when the bearing device 1 climbs the step 2 or moves along the riser 21, and improving the safety of the bearing device 1 when climbing the step 2 or moving along the riser 21.

[0136] In some embodiments, in step S100 described above, the position detector 112 can be used to detect the relative position between the collision plate 111 and the kick surface 21. When the position detector 112 detects that the collision plate 111 moves toward the main body 12, it can be considered that the collision plate 111 is in contact with the kick surface 21. When the position detector 112 does not detect that the collision plate 111 moves toward the main body 12, it can be considered that the collision plate 111 is not in contact with the kick surface 21.

[0137] The relative position between the bearing device 1 and the kick surface 21 can be obtained based on the relative position between the collision plate 111 and the kick surface 21. When the collision plate 111 is in contact with the kick surface 21, the relative position between the bearing device 1 and the kick surface 21 is within a preset range. When the collision plate 111 is not in contact with the kick surface 21, the relative position between the bearing device 1 and the kick surface 21 is outside the preset range.

[0138] In some embodiments, during step S100, when the position detector 112 includes a trigger switch, the relative position between the collision plate 111 and the kick surface 21 can be detected using the position detector 112. When the trigger switch of the position detector 112 contacts the collision plate 111, it can be considered that the collision plate 111 is in contact with the kick surface 21. When the trigger switch of the position detector 112 is not in contact with the collision plate 111, it can be considered that the collision plate 111 is not in contact with the kick surface 21.

[0139] The relative position between the bearing device 1 and the kick surface 21 can be obtained based on the relative position between the collision plate 111 and the kick surface 21. When the collision plate 111 is in contact with the kick surface 21, the relative position between the bearing device 1 and the kick surface 21 is within a preset range; when the collision plate 111 is not in contact with the kick surface 21, the relative position between the bearing device 1 and the kick surface 21 is not within the preset range.

[0140] In step S110, the controller can be used to control the motion module 15 to move the load-bearing device 1 according to the relative distance between the load-bearing device 1 and the riser 21 of the step 2.

[0141] Some embodiments of this disclosure, such as Figures 9 to 10 As shown, a control method for the carrier device 1 is also provided. This control method for the carrier device 1 can be used to control the aforementioned carrier device 1.

[0142] like Figure 10 As shown, the control method for the carrier device 1 may include:

[0143] Step S200: Before climbing the step 2 and / or moving along the riser 21 of the step 2, the relative posture between the load-bearing device 1 and the riser 21 is detected by the detection module 11.

[0144] Step S210: Based on the relative posture between the supporting device 1 and the kick surface 21, the motion module 15 is used to drive the supporting device to move.

[0145] Step S220: When the supporting device 1 is tilted relative to the kick surface 21, the motion module 15 drives the supporting device 1 to switch motion states so that the supporting device 1 is in a basically parallel posture relative to the kick surface 21; when the supporting device 1 is in a basically parallel posture relative to the kick surface 21, the motion module 15 drives the supporting device 1 to climb the step 2 and / or move along the kick surface 21 of the step 2.

[0146] It should be noted that the specific structure, working principle and beneficial effects of the bearing device 1 have been described in detail in the above embodiments. Therefore, in this embodiment, the specific structure, working principle and beneficial effects of the bearing device 1 will not be described again. You can refer to the specific description in the above embodiments, which are all within the protection scope of this disclosure.

[0147] By using the control method of the bearing device 1, the posture of the bearing device 1 can be accurately judged and adjusted before the bearing device 1 climbs the step 2 or moves along the riser 21, thus avoiding the risk of falling or deviating due to incorrect posture when the bearing device 1 climbs the step 2 or moves along the riser 21, and further improving the safety of the bearing device 1 when climbing the step 2 or moving along the riser 21.

[0148] In some embodiments, in step S200 above, the detection module 11 can be used to detect the relative posture between the side of the supporting device 1 facing the kick surface 21 and the kick surface 21, thereby detecting the relative posture between the supporting device 1 and the kick surface 21. When the detection module 11 detects that the side of the supporting device 1 facing the kick surface 21 is substantially parallel to the kick surface 21, the supporting device 1 is substantially parallel to the kick surface 21. When the side of the supporting device 1 facing the kick surface 21 is tilted relative to the kick surface 21, the supporting device 1 is tilted relative to the kick surface 21.

[0149] Furthermore, the position detector 112 can be used to detect the movement position of the first plate portion 1111 and the second plate portion 1112. When the position detector 112 detects that only one of the first plate portion 1111 and the second plate portion 1112 moves towards the main body portion 12, it can be assumed that the side of the supporting device 1 facing the kick surface 21 is inclined to the kick surface 21. When the position detector 112 detects that both the first plate portion 1111 and the second plate portion 1112 move towards the main body portion 12, it can be assumed that the side of the supporting device 1 facing the kick surface 21 is parallel to the kick surface 21.

[0150] In some embodiments, during step S200, when the position detector 112 includes a trigger switch, the position detector 112 can be used to detect the movement positions of the first plate portion 1111 and the second plate portion 1112. When only one of the first plate portion 1111 and the second plate portion 1112 is in contact with the trigger switch, it can be assumed that the side of the supporting device 1 facing the kick surface 21 is inclined to the kick surface 21. When both the first plate portion 1111 and the second plate portion 1112 are in contact with the trigger switch, it can be assumed that the side of the supporting device 1 facing the kick surface 21 is parallel to the kick surface 21.

[0151] In step S210, the controller can be used to control the motion module 15 to switch the motion state of the carrying device 1 according to the relative posture between the carrying device 1 and the kick surface 21.

[0152] In some embodiments, in step S220, an angle detector can be used to detect the tilt angle of the supporting device 1. The controller can be used to control the motion module 15 according to the angle value detected by the angle detector, so that the motion module 15 adjusts the posture of the supporting device 1 according to the angle value, so that the supporting device 1 is in a basically parallel posture relative to the kick surface 21.

[0153] In some embodiments, such as Figure 10 As shown, before step S200, the control method for the carrier device 1 may further include:

[0154] Step S230: Use the detection module 11 to detect the relative position between the load-bearing device 1 and the kick surface 21.

[0155] Step S240: When the relative position between the supporting device 1 and the kick surface 21 is within a preset range, execute step S200. When the relative position between the supporting device 1 and the kick surface 21 is outside the preset range, drive the supporting device 1 to move closer to the kick surface 21 until the relative position between the supporting device 1 and the kick surface 21 is within the preset range, and execute step S200.

[0156] This configuration allows for a safety assessment of the load-bearing device 1's movement along the riser 21 before it climbs the step 2 and / or moves along the riser 21. This ensures that the load-bearing device 1 can only move when it is close to the riser 21, thereby further improving its safety when climbing the step 2 and / or moving along the riser 21.

[0157] Some embodiments of this disclosure, such as Figures 11 to 12 As shown, a control method for the carrier device 1 is also provided. This control method for the carrier device 1 can be used to control the aforementioned carrier device 1, but is not limited thereto. For example... Figure 11 As shown, the control method for the carrier device 1 may include:

[0158] Step S300: Before the supporting device 1 climbs the step 2, the relative posture between the supporting device 1 and the riser 21 of the step 2 is detected by the detection module 11.

[0159] Step S310: Determine the type of step 2 based on the relative posture between the load-bearing device 1 and the riser 21.

[0160] Step S320: When the supporting device 1 and the kick surface 21 are in a basically parallel posture, the step 2 is a straight step 2; when the supporting device 1 and the kick surface 21 are in an inclined posture, the step 2 is a rotating step 2.

[0161] Step S330: According to the type of step 2, the motion module 15 is used to drive the load-bearing device 1 to move; when step 2 is a straight step, the motion module 15 drives the load-bearing device 1 to climb step 2; when step 2 is a rotating step, the motion module 15 adjusts the posture of the load-bearing device 1 so that the load-bearing device 1 is in a basically parallel posture relative to the riser 21, and drives the load-bearing device 1 to climb step 2.

[0162] It should be noted that the specific structure, working principle and beneficial effects of the bearing device 1 have been described in detail in the above embodiments. Therefore, in this embodiment, the specific structure, working principle and beneficial effects of the bearing device 1 will not be described again. You can refer to the specific description in the above embodiments, which are all within the protection scope of this disclosure.

[0163] By using the control method of the bearing device 1, the type of step 2 can be accurately determined before the bearing device 1 climbs the step 2, and the bearing device 1 can be made to be in a basically parallel position with the riser 21 of the step 2 before climbing. This can avoid the risk of the bearing device 1 falling or deviating due to incorrect climbing method when climbing the step 2, and can further improve the safety of the bearing device 1 when climbing the step 2.

[0164] In some embodiments, in step S300 above, the detection module 11 can be used to detect the relative posture between the side of the supporting device 1 facing the kick surface 21 and the kick surface 21, so as to detect the relative posture between the supporting device 1 and the kick surface 21. When the detection module 11 detects that the side of the supporting device 1 facing the kick surface 21 is substantially parallel to the kick surface 21, the supporting device 1 is in a normal posture relative to the kick surface 21. When the side of the supporting device 1 facing the kick surface 21 is tilted relative to the kick surface 21, the supporting device 1 is in an tilted posture relative to the kick surface 21.

[0165] Furthermore, the position detector 112 can be used to detect the movement position of the first plate portion 1111 and the second plate portion 1112. When the position detector 112 detects that only one of the first plate portion 1111 and the second plate portion 1112 moves towards the main body portion 12, it can be assumed that the side of the supporting device 1 facing the kick surface 21 is inclined to the kick surface 21. When the position detector 112 detects that both the first plate portion 1111 and the second plate portion 1112 move towards the main body portion 12, it can be assumed that the side of the supporting device 1 facing the kick surface 21 is parallel to the kick surface 21.

[0166] In some embodiments, during step S300, when the position detector 112 includes a trigger switch, the position detector 112 can be used to detect the movement positions of the first plate portion 1111 and the second plate portion 1112. When only one of the first plate portion 1111 and the second plate portion 1112 is in contact with the trigger switch, it can be assumed that the side of the supporting device 1 facing the kick surface 21 is inclined to the kick surface 21. When both the first plate portion 1111 and the second plate portion 1112 are in contact with the trigger switch, it can be assumed that the side of the supporting device 1 facing the kick surface 21 is parallel to the kick surface 21.

[0167] In step S310, the controller can determine the type of step 2 based on the relative posture between the side of the bearing device 1 facing the kick surface 21 and the kick surface 21.

[0168] In some embodiments, in step S320, when the position detector 112 detects that the first plate portion 1111 moves toward the main body portion 12, the rotation direction of the step 2 is the direction in which the second plate portion 1112 points toward the first plate portion 1111.

[0169] For example, when the first plate portion 1111 is located to the left of the center line S1 extending along the height direction Y of the collision plate 111, and the second plate portion 1112 is located to the right of the center line S1 extending along the height direction Y of the collision plate 111, when the first plate portion 1111 moves towards the main body portion 12, it can be determined that the rotation direction of the step 2 is left-handed. When the first plate portion 1111 is located to the right of the center line S1 extending along the height direction Y of the collision plate 111, and the second plate portion 1112 is located to the left of the center line S1 extending along the height direction Y of the collision plate 111, when the first plate portion 1111 moves towards the main body portion 12, it can be determined that the rotation direction of the step 2 is right-handed.

[0170] When the position detector 112 detects that the second plate 1112 is moving toward the main body 12, the rotation direction of the step 2 is the direction from the first plate 1111 to the second plate 1112.

[0171] For example, when the first plate portion 1111 is located to the left of the center line S1 extending along the height direction Y of the collision plate 111, and the second plate portion 1112 is located to the right of the center line S1 extending along the height direction Y of the collision plate 111, when the second plate portion 1112 moves towards the main body portion 12, it can be determined that the rotation direction of the step 2 is right-handed. When the first plate portion 1111 is located to the right of the center line S1 extending along the height direction Y of the collision plate 111, and the second plate portion 1112 is located to the left of the center line S1 extending along the height direction Y of the collision plate 111, when the second plate portion 1112 moves towards the main body portion 12, it can be determined that the rotation direction of the step 2 is left-handed.

[0172] In some embodiments, in step S330, an angle detector can be used to detect the tilt angle of the supporting device. A controller can be used to control the motion module 15 based on the angle value, so that the motion module 15 adjusts the posture of the supporting device 1 according to the angle value, so that the supporting device 1 is in a substantially parallel posture relative to the kick surface 21. The posture of the supporting device 1 can be adjusted according to the angle value.

[0173] In some embodiments, such as Figure 12 As shown, before step S300, the control method for the carrier device 1 may further include:

[0174] Step S340: Use the detection module 11 to detect the relative position between the load-bearing device 1 and the kick surface 21.

[0175] Step S350: When the relative position between the supporting device 1 and the kick surface 21 is within a preset range, step S300 is executed. When the relative position between the supporting device 1 and the kick surface 21 is outside the preset range, the supporting device 1 is driven to move closer to the kick surface 21 until the relative position between the supporting device 1 and the kick surface 21 is within the preset range, and step S300 is executed.

[0176] This configuration allows for a safety assessment of the carrying device 1's ability to climb the step 2 before it does so, ensuring that the carrying device 1 can only climb when it is close to the riser 21, thereby further improving its safety when climbing the step 2.

[0177] In some embodiments of this disclosure, a computer-readable storage medium is also provided, on which at least one piece of program code is stored, the at least one piece of program code being loaded and executed by a processor to implement the control method of the carrier device 1 described in the above embodiments.

[0178] The computer program product may be a portable compact disc read-only storage medium (CD-ROM) and include at least one line of program code, and may run on a terminal device, such as a personal computer. However, the program product in this embodiment is not limited to this. In this embodiment, the computer-readable storage medium may be any tangible medium that contains or stores the computer program product, which may be used or used in conjunction with an instruction execution system, apparatus, or device.

[0179] Computer program products may be stored using one or more computer-readable storage media. Computer-readable storage media may be readable signal media or readable storage media. Readable storage media may be, for example, but not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatuses, or devices, or any combination thereof. More specific examples (a non-exhaustive list) of readable storage media include: electrical connections having one or more wires, portable disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0180] A readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, carrying readable program code. This propagated data signal may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A readable signal medium may also be any readable medium other than a readable storage medium, capable of sending, propagating, or transmitting a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0181] Program code contained on a computer-readable storage medium may be transmitted using any suitable medium, including but not limited to wireless, wired, optical fiber, RF, etc., or any suitable combination thereof.

[0182] Program code for performing the operations of this invention can be written in any combination of one or more programming languages, including object-oriented programming languages.

[0183] In some embodiments, a carrier device 1 is provided. The carrier device 1 may include, but is not limited to, one or more processors and one or more memories. The one or more memories store at least one line of program code, which can be loaded and executed by the one or more processors to implement the various steps of the control method for the carrier device 1 described in the above embodiments.

[0184] The memory may include readable media in the form of volatile memory, such as random access memory (RAM) and / or cache memory, and may further include read-only memory (ROM).

[0185] A cleaning system is also provided in some embodiments of this disclosure. For example... Figures 1 to 7 As shown, the cleaning system includes a base station and a cleaning device. The cleaning device can be the cleaning device described above, and the carrier device 1 and / or the cleaning device can interface with the base station. The base station can charge and clean the carrier device 1, and / or charge, replenish water, and clean the cleaning device, or suck out the dirt stored in the cleaning device.

[0186] It should be noted that the specific structure and beneficial effects of the cleaning device have been described in detail in the above embodiments. Therefore, in this embodiment, the specific structure and beneficial effects of the cleaning device will not be described again. Please refer to the specific description in the above embodiments, which are all within the protection scope of this disclosure.

[0187] The cleaning system provided in this disclosure includes the cleaning apparatus described above, which includes a support device 1 and a cleaning device. For example... Figures 1 to 7 As shown, the supporting device 1 may include a detection module 11 and a motion module 15. The detection module 11 can be configured to detect the relative position between the supporting device 1 and the riser 21 of the step 2.

[0188] The motion module 15 can be used to move the supporting device 1. The motion module 15 can be configured to move the supporting device 1 up the step 2 and / or along the step 2's riser 21 when the relative position between the supporting device 1 and the riser 21 is within a preset range. Furthermore, the motion module 15 can also be configured to move the supporting device 1 towards the riser 21 when the relative position between the supporting device 1 and the riser 21 is outside the preset range.

[0189] This avoids situations where the load-bearing device 1 is far from the riser 21 of the step 2, thus preventing the load-bearing device 1 from falling or shifting when climbing the step 2 or moving along the riser 21, thereby improving the safety and stability of the load-bearing device 1 when climbing the step 2 or moving along the riser 21.

[0190] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This disclosure is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the appended claims.

Claims

1. A load-bearing device, characterized in that, The supporting device is capable of climbing steps and / or moving along the risers of the steps, the supporting device comprising: A detection module configured to detect the relative position between the load-bearing device and the riser of the step; A motion module is used to drive the support device to move; the motion module is configured to drive the support device to climb the step and / or move along the step's kick surface when the relative position between the support device and the kick surface is within a preset range.

2. The bearing device according to claim 1, characterized in that, The motion module is also configured to move the supporting device toward the kick surface when the relative position between the supporting device and the kick surface is outside a preset range.

3. The bearing device according to claim 2, characterized in that, The carrier device includes: Main body; A side support portion, which is connected to the main body portion; The detection module is disposed on the main body and / or the side support.

4. The bearing device according to claim 3, characterized in that, The detection module is disposed on the main body, and the detection module includes: A collision plate is disposed on the side of the main body facing the kick surface and protrudes from the main body. The collision plate is capable of moving towards or away from the main body. A position detector is disposed between the collision plate and the main body, and the position detector is configured to detect the relative position between the collision plate and the main body; When the position detector detects that the collision plate is moving towards the main body, the supporting device comes into contact with the kick surface, and at this time the relative position between the supporting device and the kick surface is within the preset range.

5. The bearing device according to claim 4, characterized in that, The position detector includes a trigger switch, and when the collision plate contacts the trigger switch, the supporting device contacts the kick surface.

6. The bearing device according to claim 4 or 5, characterized in that, The detection module includes: multiple position detectors, which are spaced apart.

7. The bearing device according to claim 6, characterized in that, The detection module includes: A first position detector and a second position detector are arranged at intervals in the height direction of the main body.

8. The bearing device according to claim 7, characterized in that, The detection module also includes: A third position detector is provided at an interval from the first position detector in the direction in which the supporting device moves along the kick surface.

9. The bearing device according to claim 4 or 5, characterized in that, The detection module also includes: A reset member is disposed between the collision plate and the main body portion, and the reset member is configured to drive the collision plate to reset when the collision plate moves toward the main body portion.

10. The bearing device according to claim 9, characterized in that, The reset component includes: The fixing part is fixed to the main body part; The elastic part abuts against or connects to the side of the collision plate near the main body, and the elastic part can undergo elastic deformation when the collision plate moves toward the main body.

11. The bearing device according to claim 9, characterized in that, The detection module includes multiple reset components, which are spaced apart.

12. The bearing device according to claim 9, characterized in that, The detection module also includes: A fixing plate is fixed to the side of the main body facing the kick surface. The collision plate is connected to the fixing plate and can move towards or away from the fixing plate. Both the position detector and the reset component are mounted on the fixed plate and located between the fixed plate and the collision plate.

13. The bearing device according to any one of claims 1 to 5, characterized in that, The detection module includes: A distance sensor, configured to detect a specific distance value between the supporting device and the kick surface, for detecting the relative position between the supporting device and the kick surface.

14. A control method for a carrying device, characterized in that, The supporting device includes a detection module and a motion module, and the control method of the supporting device includes: The detection module is used to detect the relative position between the load-bearing device and the riser of the step; Based on the relative distance between the supporting device and the kick surface, the motion module drives the supporting device to move. When the relative distance between the supporting device and the kick surface is within a preset range, the motion module drives the supporting device to climb the step and / or move along the kick surface of the step; when the relative distance between the supporting device and the kick surface is outside the preset range, the motion module drives the supporting device to move closer to the kick surface.

15. The control method for the bearing device according to claim 14, characterized in that, The supporting device further includes a main body and side support parts; the detection module includes a collision plate and a position detector; the detection of the relative position between the supporting device and the kick surface using the detection module includes: The relative position between the collision plate and the kick surface is detected by a position detector; when the position detector detects that the collision plate is moving towards the main body, the collision plate contacts the kick surface; when the position detector does not detect that the collision plate is moving towards the main body, the collision plate does not contact the kick surface. The relative distance between the supporting device and the kick surface is obtained based on the relative position between the collision plate and the kick surface; when the collision plate is in contact with the kick surface, the relative position between the supporting device and the kick surface is within a preset range; when the collision plate is not in contact with the kick surface, the relative position between the supporting device and the kick surface is outside the preset range.

16. The control method for the bearing device according to claim 15, characterized in that, The position detector includes: a trigger switch; the step of detecting the relative position between the supporting equipment and the kick surface using the detection module includes: The relative position between the collision plate and the kick surface is detected by the position detector; when the trigger switch of the position detector is in contact with the collision plate, the collision plate is in contact with the kick surface; when the trigger switch of the position detector is not in contact with the collision plate, the collision plate is not in contact with the kick surface. The relative distance between the supporting device and the kick surface is obtained based on the relative position between the collision plate and the kick surface; when the collision plate is in contact with the kick surface, the relative distance between the supporting device and the kick surface is within a preset range; when the collision plate is not in contact with the kick surface, the relative distance between the supporting device and the kick surface is outside the preset range.

17. A computer program product, characterized in that, The computer program product includes computer instructions stored in a computer-readable storage medium and adapted to be read and executed by a processor to cause a computer device having the processor to perform the control method of the bearer device as described in any one of claims 14 to 16.

18. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores at least one piece of program code, which is loaded and executed by a processor to implement the operations performed by the control method of the bearer device as described in any one of claims 14 to 16.

19. A bearing device, characterized in that, The carrier device includes one or more processors and one or more memories, wherein the one or more memories store at least one piece of program code, which is loaded and executed by the one or more processors to implement the control method of the carrier device as described in any one of claims 14 to 16.

20. A cleaning device, characterized in that, include: The supporting device is the supporting device according to any one of claims 1 to 13 and 19 above, and the supporting device is provided with a supporting structure; A cleaning device is located on the supporting structure, and the cleaning device is capable of cleaning the surface to be cleaned.

21. A cleaning system, characterized in that, include: Base station; A cleaning device, wherein the cleaning device is the cleaning device as described in claim 20 above, and the carrier device and / or the cleaning device is capable of docking with the base station.

Images