Stair climbing device and cleaning system

Abstract

The invention provides a stair climbing device and a cleaning system, and relates to the technical field of stair climbing devices. The stair climbing device is at least used for carrying the self-moving equipment and comprises a supporting plate and a lifting device, the bottoms of the two first crawling arms are connected to the two sides of the supporting plate in the first direction; the supporting plate and the two first crawling arms jointly define a containing space used for containing the self-moving device. The containing space comprises an opening allowing the self-moving device to enter and a supply assembly arranged opposite to the opening, and the supply assembly is configured to carry out at least one maintenance operation on the self-moving device parked in the containing space. According to the stair climbing device provided by the embodiment of the invention, the problem that the user experience feeling is poor due to the fact that the floor sweeping robot cannot autonomously cross stairs can be solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of stair climbing devices, and in particular to a stair climbing device and a cleaning system. BACKGROUND

[0002] As a typical representative of smart home, the sweeping robot greatly liberates the user's hands through its autonomous navigation and cleaning functions, and has become an indispensable cleaning appliance in modern families. The sweeping robot can not only clean the living room, bedroom and other relatively clean spaces, but also can reach low spaces such as the bottom of the bed and the bottom of the sofa that are difficult to reach by traditional cleaning tools, thereby achieving efficient and dead angle-free cleaning of the ground.

[0003] With the diversified development of residential house types, multi-storey, duplex and multi-storey residential buildings with staggered structures are increasingly popular. These house types usually have stairs built-in to connect different floors. However, the traditional sweeping robot is limited by the mechanical structure and cannot autonomously cross the stairs, resulting in that the cleaning range is limited to a single floor area, and the cleaning of the stairs and the upper space needs to rely on manual work, forming a cleaning dead angle. After completing the single floor task, the self-moving device needs to return to the base station for charging or other replenishment actions. However, the existing base station is usually located on the bottom floor and cannot support the self-moving device in the upper space. If the user wants to achieve automatic cleaning of the entire floor, the user needs to frequently move the sweeping robot or configure a sweeping robot on each floor. This not only destroys the automatic experience of smart home, but also increases the user's operation burden or economic cost, resulting in poor user experience. SUMMARY

[0004] The present application provides a stair climbing device and a cleaning system to solve the problem of poor user experience caused by the sweeping robot being unable to autonomously cross the stairs in the related art.

[0005] To achieve the above purpose, the embodiments of the present application provide the following technical solutions:

[0006] The first aspect of the embodiments of the present application provides a stair climbing device for at least carrying a self-moving device. The stair climbing device comprises a support plate, two first climbing arms connected to the bottom of the support plate on both sides in a first direction, wherein the support plate and the two first climbing arms jointly enclose a receiving space for receiving the self-moving device; the receiving space comprises an opening for the self-moving device to enter, and a replenishment assembly arranged opposite to the opening, the replenishment assembly being configured to perform at least one maintenance operation on the self-moving device parked in the receiving space.

[0007] The climbing device provided by the embodiment of the application forms a multi-surface surrounding and one-end opening accommodation space through the stable chassis composed of the support plate and the two first climbing arms. The multi-surface surrounding layout can provide all-around safety protection for the self-moving device and ensure the structural stability of the climbing device in the climbing process. The opening of the accommodation space and the supply assembly are arranged opposite to each other along the advancing direction, so that an efficient “entering-maintaining-exiting” work flow can be formed, the space utilization is optimized, and the operation fluency is improved. The first climbing arm can realize the autonomous climbing capability of the climbing device and solve the working range limitation of the traditional sweeping robot.

[0008] In addition, the supply assembly integrated at the end of the accommodation space can realize the mobile base station function, so that the self-moving device can obtain timely charging and water supply support on any floor. In addition, the compact layout design integrating protection, movement and supply can realize the integration of multiple functions, and the structural miniaturization is ensured through the optimization of the structural space layout, the user's frequent moving is solved, the economic burden of repeated purchase is avoided, and the user experience is finally improved.

[0009] The second aspect of the embodiment of the application provides a climbing device, comprising: a device body comprising an accommodation space for accommodating a cleaning device; a dirt suction channel arranged in the device body, the dirt suction channel having a dust suction port, the dust suction port being in communication with an external environment of the device body; and a dirt suction module comprising a dirt suction fan, an air inlet of the dirt suction fan being in communication with the dirt suction channel, the dirt suction fan being configured to provide suction force for the dirt suction channel; wherein the climbing device is configured to suck dirt on a staircase through the dust suction port during a climbing process.

[0010] The third aspect of the embodiment of the application provides a climbing device, comprising: a device body comprising an accommodation space for accommodating a cleaning device; a dirt suction channel arranged in the device body, the dirt suction channel having a dust suction port and a dust collection port in communication; wherein the dust suction port leads to an external environment of the climbing device, and the dust suction port is configured as an entrance for the dirt suction channel to suck dirt; and the dust collection port leads to the accommodation space, and the dust collection port is configured to be docked with a dirt suction inlet of the cleaning device when the cleaning device is parked in the accommodation space, and a suction source of the cleaning device is configured as a power source for the dirt suction channel to suck dirt.

[0011] The fourth aspect of the embodiment of the application provides a climbing device, comprising: a first climbing arm comprising a first arm frame and a first track, the first track being arranged around the first arm frame; a second climbing arm comprising a second arm frame and a second track, the second track being arranged around the second arm frame, and the second arm frame being rotationally connected with the first arm frame; and a drive system arranged in the first arm frame and the second arm frame, the drive system being configured to drive the second climbing arm to swing relative to the first climbing arm and drive the first track and the second track to move.

[0012] A fifth aspect of the embodiments of the present application provides a stair climbing device, comprising: a first climbing arm; a second climbing arm rotationally connected with the first climbing arm; a second driving assembly arranged in the first climbing arm and the second climbing arm, the second driving assembly being configured to drive the second climbing arm to swing relative to the first climbing arm; and an angle detection system, comprising a follower and an angle detection device, the follower being linked with the second driving assembly, and the follower being capable of moving along with the second driving assembly during operation of the second driving assembly, and the angle detection device being configured to represent the swing angle of the second climbing arm by detecting the rotation angle of the follower.

[0013] A sixth aspect of the embodiments of the present application provides a stair climbing device, comprising: a device body having a receiving space for accommodating a cleaning device, the receiving space having an opening for the cleaning device to enter and exit; a climbing arm assembly connected with the device body and configured to drive the device body to climb; and an anti-collision assembly comprising a collision plate elastically connected to the device body and configured to detect collision with an obstacle when the stair climbing device is climbing, wherein the climbing arm assembly is configured to make an avoiding action in response to the collision plate being collided.

[0014] A seventh aspect of the embodiments of the present application provides a stair climbing device, comprising: a device body having a receiving space arranged therein, the receiving space being configured to accommodate a cleaning device; and a clamping mechanism comprising a limiting piece, at least part of the limiting piece being arranged in the device body and being configured to move to a fixed position in the receiving space relative to the device body, wherein the limiting piece is capable of being connected with the cleaning device in the receiving space in the fixed position, so that the cleaning device is relatively fixed with the device body.

[0015] An eighth aspect of the embodiments of the present application provides a stair climbing device, comprising: a device body; a second climbing arm rotationally connected with the device body; an anti-pinch mechanism comprising an anti-pinch piece, the anti-pinch piece being arranged in the device body and being capable of being lifted relative to the device body to switch between a lowered position and a lifted position, wherein the anti-pinch piece is in the lowered position when an included angle between the second climbing arm and a bottom side of the device body is in a preset range, and part of the anti-pinch piece protrudes from the bottom side of the device body; and a second detection assembly, the second detection assembly being configured to detect whether the anti-pinch piece is lifted during rotation of the second climbing arm in the preset range.

[0016] A ninth aspect of the embodiments of the present application provides a stair climbing device for carrying a cleaning device, the stair climbing device comprising: a control panel; a device body provided with a receiving space for accommodating the cleaning device, the receiving space having an opening for the cleaning device to enter and exit; a climbing arm assembly connected to the device body, for driving the device body to climb under the control of the control panel; an energy storage assembly, the energy storage assembly comprising an energy storage member and a supply module, the energy storage member being electrically connected to the climbing arm assembly for supplying power to the climbing arm assembly, the supply module being electrically connected to the energy storage member and forming a first charging portion, the first charging portion being used for docking with the cleaning device when the cleaning device is parked in the receiving space, and supplying power to the cleaning device under the control of the control panel.

[0017] A tenth aspect of the embodiments of the present application provides a stair climbing device, the stair climbing device comprising: a device body provided with a receiving space for accommodating a cleaning device, the receiving space having an opening for the cleaning device to enter and exit; a climbing arm assembly connected to the device body, for driving the device body to climb; a water storage assembly arranged on the device body, the water storage assembly comprising a water supply module and a water tank, the water tank being used for containing a cleaning liquid, the water supply module being connected to the water tank and forming a first water supply opening; the water storage assembly being configured to supply the cleaning liquid to the cleaning device when the cleaning device is parked in the receiving space and docks with the first water supply opening.

[0018] An eleventh aspect of the embodiments of the present application provides a stair climbing device, comprising: a device body; a cleaning assembly comprising a movable arm and a cleaning member, one end of the movable arm being connected to the device body, the other end of the movable arm being connected to the cleaning member, the movable arm being capable of driving the cleaning member to move, the cleaning member being used for cleaning a surface to be cleaned; a detection assembly arranged on the device body and / or the movable arm, the detection assembly being used for detecting the position of the cleaning member and / or the movable arm.

[0019] A twelfth aspect of the embodiments of the present application provides a stair climbing device, comprising: a device body provided with a receiving space for accommodating a cleaning device, the receiving space having an opening for the cleaning device to enter and exit; a climbing arm assembly connected to the device body, for driving the device body to climb; a detection module for detecting environmental information of the stair climbing device, the stair climbing device being configured to act according to the environmental information.

[0020] A twelfth aspect of the embodiments of the present application provides a cleaning system, comprising a cleaning device and a stair climbing device according to any one of the first aspect, the second aspect, the third aspect, the fourth aspect, the fifth aspect, the sixth aspect, the seventh aspect, the eighth aspect, the ninth aspect, the tenth aspect, the eleventh aspect, or the twelfth aspect.

[0021] The thirteenth aspect of the embodiment of the present application provides a cleaning system, comprising a base station, a cleaning device and the stair climbing device according to any one of the first aspect, the second aspect, the third aspect, the fourth aspect, the fifth aspect, the sixth aspect, the seventh aspect, the eighth aspect, the ninth aspect, the tenth aspect, the eleventh aspect or the twelfth aspect.

[0022] The fourteenth aspect of the embodiment of the present application provides a cleaning system, comprising a first base station having a first accommodation space with a first opening, a cleaning device capable of autonomously traveling on a working surface, and the stair climbing device of the eleventh aspect, the stair climbing device being capable of combining with the cleaning device to form a combination and enabling the cleaning device to pass through a specific obstacle; wherein the combination is capable of freely entering and exiting the first accommodation space through the first opening.

[0023] The fifteenth aspect of the embodiment of the present application provides a cleaning system, comprising a second base station having a second accommodation space with a second opening, a third base station having a third accommodation space with a third opening, the stair climbing device of the eleventh aspect, the stair climbing device being capable of freely entering and exiting the second accommodation space through the second opening, and a cleaning device, the cleaning device being capable of freely entering and exiting the third accommodation space through the third opening; wherein the stair climbing device and the cleaning device are capable of combining to form a combination outside the second base station and the third base station, and the combination is capable of passing through a specific obstacle.

[0024] The sixteenth aspect of the embodiment of the present application provides a cleaning system, comprising a cleaning device, a first base station and the stair climbing device of the twelfth aspect.

[0025] The seventeenth aspect of the embodiment of the present application provides a cleaning system, comprising a second base station having a second accommodation space with a second opening, a third base station having a third accommodation space with a third opening, the stair climbing device of the twelfth aspect, the stair climbing device being capable of freely entering and exiting the second accommodation space through the second opening, and a cleaning device, the cleaning device being capable of freely entering and exiting the third accommodation space through the third opening; wherein the stair climbing device and the cleaning device are capable of combining to form a combination outside the second base station and the third base station, and the combination is capable of passing through a specific obstacle. BRIEF DESCRIPTION OF DRAWINGS

[0026] In order to more clearly illustrate the technical solutions of the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiment or prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0027] Figure 1 A structural schematic diagram of a stair climbing device provided by the embodiment of the present application;

[0028] Figure 2 An exploded structural schematic view of a stair climbing device provided by an embodiment of the present application;

[0029] Figure 3 Another exploded structural schematic view of a stair climbing device provided by an embodiment of the present application;

[0030] Figure 4 An exploded structural schematic view of a stair climbing device provided by an embodiment of the present application;

[0031] Figure 5 A partial structural schematic view of a portion A of the device; Figure 4

[0032] A partial structural schematic view of a portion B of the device; Figure 6

[0033] Another partial structural schematic view of the stair climbing device provided by an embodiment of the present application; Figure 7

[0034] Another partial structural schematic view of the stair climbing device provided by an embodiment of the present application; Figure 8

[0035] A partial structural schematic view of a portion A of the device; Figure 9 Figure 8 A structural schematic view of a water tank in the stair climbing device provided by an embodiment of the present application;

[0036] Figure 10 An exploded structural schematic view of the water tank in the stair climbing device provided by an embodiment of the present application;

[0037] Figure 11 A partial structural schematic view of the stair climbing device provided by an embodiment of the present application;

[0038] Figure 12 An exploded structural schematic view of a first climbing arm and a second climbing arm of a stair climbing device provided by an embodiment of the present application;

[0039] Figure 13 An exploded structural schematic view of a stair climbing device provided by an embodiment of the present application;

[0040] Figure 14 An exploded structural schematic view of a device body in a stair climbing device provided by an embodiment of the present application;

[0041] Figure 15 A partial structural schematic view of a portion A of the device;

[0042] Figure 16 Figure 15 A partial structural schematic view of a portion B of the device;

[0043] ​​Figure 17 Another exploded structural schematic view of the device body in the stair climbing device provided by the embodiment of the present application;

[0044] Figure 18 For Figure 17 Partial structural schematic view of part B in the middle;

[0045] Figure 19 Structural schematic view of the detection member in the stair climbing device provided by the embodiment of the present application;

[0046] Figure 20 Structural schematic view of the cross section of the strike plate in the stair climbing device provided by the embodiment of the present application;

[0047] Figure 21 Partial structural schematic view of the first climbing arm of the stair climbing device provided by the embodiment of the present application;

[0048] Figure 22 Exploded structural schematic view of the first climbing arm and the second climbing arm of the stair climbing device provided by the embodiment of the present application;

[0049] Figure 23 Structural schematic view of the second driving assembly of the driving system of the stair climbing device provided by the embodiment of the present application;

[0050] Figure 24 Partial structural schematic view of the first driving assembly and the first climbing arm of the stair climbing device provided by the embodiment of the present application;

[0051] Figure 25 Partial structural schematic view of the stair climbing device provided by the embodiment of the present application;

[0052] Figure 26 Cross-sectional structural schematic view of the partial structure of the stair climbing device provided by the embodiment of the present application;

[0053] Figure 27 Exploded schematic view of the partial structure of the stair climbing device provided by the embodiment of the present application

[0054] Figure 28 Structural schematic view of the second driving assembly and the angle detection system of the driving system of the stair climbing device provided by the embodiment of the present application;

[0055] Figure 29 Partial structural schematic view of the angle detection system of the stair climbing device provided by the embodiment of the present application;

[0056] Figure 30 Cross-sectional structural schematic view of the connection between the first climbing arm and the second climbing arm of the stair climbing device provided by the embodiment of the present application;

[0057] Figure 31This is a partial structural diagram of the first climbing arm of a stair-climbing device provided in an embodiment of this application;

[0058] Figure 32 This is a cross-sectional structural diagram of a stair-climbing device provided in an embodiment of this application;

[0059] Figure 33 This is a schematic diagram of the structure of the suction channel of a stair-climbing device provided in an embodiment of this application;

[0060] Figure 34 This is another structural schematic diagram of the suction channel of a stair-climbing device provided in an embodiment of this application;

[0061] Figure 35 This is an exploded structural diagram of a support plate for a stair-climbing device provided in an embodiment of this application;

[0062] Figure 36 This is a schematic diagram of the bottom structure of a stair-climbing device provided in an embodiment of this application;

[0063] Figure 37 This is a cross-sectional structural diagram of the third distance sensor of a stair-climbing device provided in an embodiment of this application;

[0064] Figure 38 A schematic diagram of the structure of the stair-climbing device provided in this application when it climbs on a staircase;

[0065] Figure 39 This is a structural schematic diagram of a stair-climbing device provided in an embodiment of this application from another angle;

[0066] Figure 40 This is another structural schematic diagram of the stair-climbing device provided in the embodiments of this application;

[0067] Figure 41 This is another structural schematic diagram of the stair-climbing device provided in the embodiments of this application;

[0068] Figure 42 This is a schematic diagram of the cleaning component in the stair-climbing device provided in the embodiments of this application;

[0069] Figure 43 for Figure 42 A partial structural diagram of part A in the middle;

[0070] Figure 44 This is an exploded structural diagram of the cleaning component in the stair-climbing device provided in the embodiments of this application;

[0071] Figure 45 This is another structural schematic diagram of the stair-climbing device provided in the embodiments of this application;

[0072] Figure 46Another structural schematic view of the stair climbing device provided in the embodiments of the present application;

[0073] Figure 47 A structural schematic view of the stair climbing device provided in the embodiments of the present application;

[0074] Figure 48 A front view of the stair climbing device provided in the embodiments of the present application;

[0075] Figure 49 A structural schematic view of the inside of the device body in the stair climbing device provided in the embodiments of the present application;

[0076] Figure 50 A Figure 47 A sectional view of the stair climbing device in the A-A direction;

[0077] Figure 51 A cooperation schematic view of the stair climbing device and the cleaning equipment provided in the embodiments of the present application;

[0078] Figure 52 A structural schematic view of the cleaning equipment provided in the embodiments of the present application;

[0079] Figure 53 A Figure 52 An enlarged view of B;

[0080] Figure 54 An installation schematic view of the clamping mechanism of the stair climbing device provided in the embodiments of the present application;

[0081] Figure 55 A structural schematic view of the clamping mechanism provided in the embodiments of the present application;

[0082] Figure 56 A Figure 55 A top view of the clamping mechanism;

[0083] Figure 57 A structural schematic view of the clamping mechanism in another state provided in the embodiments of the present application;

[0084] Figure 58 A Figure 57 A top view of the clamping mechanism;

[0085] Figure 59 A cooperation schematic view of the limiting member and the moving member in the embodiments of the present application;

[0086] Figure 60 A cooperation schematic view of the limiting member and the moving member in another state in the embodiments of the present application;

[0087] Figure 61 A connection schematic view of the limiting member and the resetting member in the embodiments of the present application;

[0088] Figure 62 A cooperation schematic view of the limiting member and the detection member in the embodiment of the present application;

[0089] Figure 63 A cooperation schematic view of the limiting member and the detection member in the embodiment of the present application; Figure 62 A top view of the limiting member and the detection member in the embodiment of the present application;

[0090] Figure 64 A cooperation schematic view of the limiting member and the detection member in another state in the embodiment of the present application;

[0091] Figure 65 A cooperation schematic view of the limiting member and the detection member in another state in the embodiment of the present application; Figure 64 A top view of the limiting member and the detection member in the embodiment of the present application;

[0092] Figure 66 A scene schematic view of the anti-pinch member of the stair climbing device provided by the present application in the descending position;

[0093] Figure 67 A partial enlarged view of the anti-pinch member of the stair climbing device provided by the present application in the descending position;

[0094] Figure 68 An assembly schematic view of the device body and the third driving assembly of the stair climbing device provided by the present application;

[0095] Figure 69 An assembly schematic view of the device body and the third driving assembly of the stair climbing device provided by the present application from another perspective;

[0096] Figure 70 A partial enlarged view of the device body and the third driving assembly of the stair climbing device provided by the present application from another perspective;

[0097] Figure 71 A partial structure explosion view of the connecting rod structure of the stair climbing device provided by the present application;

[0098] Figure 72 A structure schematic view of the rotating member of the stair climbing device provided by the present application;

[0099] Figure 73 A structure schematic view of the stair climbing device provided by the present application from a first perspective, when the second crawling arm is in the initial position within the preset range;

[0100] Figure 74 A structure schematic view of part of the third driving assembly of the stair climbing device provided by the present application from a second perspective, when the triggering member is in the first adjustment part and the first holding part connection position;

[0101] Figure 75 A structure schematic view of the stair climbing device provided by the present application from a first perspective, when the second crawling arm is in the retracted position within the preset range;

[0102] Figure 76A schematic diagram of the structure of a portion of the third drive component of the stair climbing device provided in this application, with the trigger located at the connection position between the first holding part and the second adjusting part from a second perspective;

[0103] Figure 77 A schematic diagram of the structure of the stair-climbing device provided in this application when the second climbing arm leaves the preset range and the anti-pinch component gradually rises from a first-view perspective;

[0104] Figure 78 A schematic diagram of the structure of a portion of the third drive component of the stair-climbing device provided in this application, with the trigger located in the second adjustment section from a second perspective;

[0105] Figure 79 A schematic diagram of the structure of the stair-climbing device provided in this application when the trigger is located at the connection position between the first adjustment part and the second holding part from a first perspective;

[0106] Figure 80 A schematic diagram of the structure of a portion of the third drive component of the stair climbing device provided in this application, from a second perspective, showing the trigger rotating from the connection position between the second adjustment part and the second holding part to the connection position between the first adjustment part and the second holding part;

[0107] Figure 81 A partial magnified view from another perspective of the anti-pinch component of the stair climbing device provided in this application when it is in the descending position. Detailed Implementation

[0108] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0109] To address the issue of robotic vacuum cleaners being unable to move up and down stairs, resulting in a poor user experience, this application provides a stair-climbing device and cleaning system. This device can transport cleaning equipment, enabling a single cleaning device to perform comprehensive cleaning of both floors. This solves the problem of frequent moving of equipment, avoids the economic burden of repeated purchases, and ultimately achieves a complete closed loop for smart home cleaning and a comprehensive improvement in user experience.

[0110] The stair-climbing device and cleaning system provided in the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0111] Figure 1 This is a schematic diagram of a stair-climbing device provided in an embodiment of this application.

[0112] It should be noted that, for ease of description, in this embodiment, the height direction of the stair-climbing device is taken as the z-direction, the first direction as the x-direction, and the second direction as the y-direction. In this embodiment, the first direction is the width direction of the stair-climbing device, and the second direction is the travel direction of the stair-climbing device.

[0113] This application provides a stair-climbing device 10 and a cleaning system. The stair-climbing device 10 is used at least for transporting self-moving devices. The self-moving device can be a cleaning device with self-moving function, such as a sweeping robot, a floor-washing robot, a sweeping and mopping robot, an air-purifying robot, a window cleaning robot, a pool cleaning robot, or any other automated or semi-automated cleaning device that needs to operate or move across floors.

[0114] The following explanation uses a self-moving device as an example of a cleaning device (e.g., a robot vacuum cleaner).

[0115] like Figure 1 As shown, the stair-climbing device 10 may include a device body 10a, which may include a support plate 100, two first climbing arms 300, and a top cover plate 200. The support plate 100 is configured as the base plate of the stair-climbing device 10, and the bottoms of the two first climbing arms 300 are connected to both sides of the support plate 100 along a first direction (x direction). The top cover plate 200 is spaced apart from the support plate 100 along the z direction, and the top of the top of the two first climbing arms 300 is connected to the top of the top of the support plate 100.

[0116] Of course, in some embodiments, the top cover plate 200 may not be provided. In this embodiment, there is no further limitation on whether the top cover plate 200 is provided on the stair climbing device.

[0117] The following description uses the stair-climbing device, including the top cover plate 200, as an example.

[0118] For example, the first crawling arm 300 is a tracked robotic arm structure. Through the movement of the tracks on the two first crawling arms 300, the entire stair-climbing device 10 and the cleaning equipment housed therein are driven to climb the stairs step by step. The first crawling arms 300 can realize the autonomous climbing capability of the stair-climbing device 10, solving the working range limitations of traditional sweeping robots.

[0119] The support plate 100, the two first crawling arms 300, and the upper cover plate 200 together enclose a receiving space 120 for storing cleaning equipment. The receiving space 120 includes an opening 121 for the cleaning equipment to enter, and a supply assembly 400 disposed opposite to the opening 121. The supply assembly 400 is configured to perform at least one maintenance operation on the cleaning equipment parked in the receiving space 120.

[0120] For example, the replenishment component 400 may include a charging interface, a water tank, a wastewater tank, and a dust collection bin, and is equipped with corresponding docking interfaces for automatically docking with the charging interface, clean water interface, wastewater interface, and waste suction port of the cleaning equipment when it stops, so as to complete at least one of the following operations: charging, clean water replenishment, wastewater recycling, and dust collection bin emptying. The receiving space 120 is equipped with a positioning guide rail or electromagnetic guiding device to guide the cleaning equipment into and precisely dock it at a preset docking position, ensuring that its interface is aligned with the interface of the replenishment component 400.

[0121] For example, the opening 121 of the containment space 120 is disposed opposite to the supply assembly 400 along a second direction (y direction), which is perpendicular to the first direction (x direction).

[0122] It should be noted that "the first direction (x-direction) is perpendicular to the second direction (y-direction)" means that the first direction (x-direction) and the second direction (y-direction) are approximately perpendicular within a certain margin of error. For example, the angle between the first direction (x-direction) and the second direction (y-direction) is 90° or close to 90°. For instance, angles between the first direction (x-direction) and the second direction (y-direction) of 85° to 90° and 90° to 95° can be considered perpendicular. For example, when the angle between the first direction (x-direction) and the second direction (y-direction) is 85°, 86°, 87°, 88°, 89°, 91°, 92°, 93°, 94°, or 95°, the first direction (x-direction) and the second direction (y-direction) are all perpendicular.

[0123] It should be noted that in the embodiments of this application, "orientation" refers to orientation in a broad sense and is not limited to a front-facing arrangement, and "away from" refers to away from in a broad sense and is not limited to a back-to-back parallel arrangement.

[0124] The stair-climbing device 10 provided in this application embodiment forms a multi-sided, one-end-opening reception space 120 by combining a support plate 100 and a stable chassis composed of two first climbing arms 300 with a cover plate 200. This multi-sided layout can provide all-round safety protection for the cleaning equipment and ensure the structural stability of the stair-climbing device 10 during the stair-climbing process.

[0125] By setting the opening 121 of the drive-in receiving space 120 opposite to the supply component 400 along the travel direction (y direction), the drive-in path of the cleaning equipment and the maintenance docking path are aligned in a straight line, which can form an efficient "drive-in-maintenance-drive-out" workflow, optimize space utilization, and improve the efficiency and reliability of docking and docking.

[0126] Furthermore, the supply component 400 integrated at the end of the housing space 120 can function as a mobile base station, enabling the cleaning equipment to receive timely charging and water replenishment support on any floor. In addition, this compact layout design, integrating protection, mobility, and supply, achieves functional integration of the cleaning system. Optimized structural space layout ensures miniaturization, allowing a single cleaning device, combined with the stair-climbing device 10, to clean the entire house, solving the problem of frequent moving and avoiding the economic burden of repeated purchases. Ultimately, this achieves a complete closed loop for smart home cleaning and a comprehensive improvement in user experience.

[0127] In some embodiments, considering that a distance sensor or other detection component is typically installed at the front end of the cleaning device in the direction of travel, the supply module for charging and replenishing the cleaning device can be correspondingly located at the rear end of the cleaning device in the direction of travel. Furthermore, to prevent the side wall 101 of the receiving space 120 from obstructing the detection component at the front end of the cleaning device when it enters the receiving space 120, the cleaning device can enter the receiving space 120 in a "reverse docking" manner. That is, after reaching the stair-climbing device 10, the cleaning device uses a "reverse driving" method, allowing the rear end of the cleaning device to enter the receiving space 120 and dock with the energy storage component 413, while the front end of the cleaning device can be exposed at the opening 121 of the receiving space 120. Correspondingly, the energy storage component 413 is located in the receiving space 120 at a position opposite to its opening 121.

[0128] In some embodiments, the stair climbing device 10 includes a detection module for detecting environmental information of the stair climbing device 10. The environmental information may include information such as the position, type, distance, and material of fixed objects in the climbing environment of the stair climbing device 10, and may also include information such as the moving direction and moving path of dynamic objects. The stair climbing device 10 is configured to perform actions based on the environmental information. When the environmental information detected by the detection module is different, the stair climbing device 10 may perform different actions.

[0129] For example, when there are no obstructions on the current travel path of the detection module, the stair-climbing device 10 can continue to climb along the current travel path. When the detection module detects an obstacle that cannot be climbed, such as a wall, cabinet, etc., the stair-climbing device 10 can perform an obstacle avoidance action. When the detection module detects an obstacle that can be climbed, such as a low obstacle like a staircase or threshold, the stair-climbing device 10 can climb over the obstacle according to the current travel path.

[0130] In other words, by setting up the receiving space 120, the cleaning equipment can be parked within the receiving space 120 and follow the stair-climbing device 10. By setting up the crawling arm assembly, the stair-climbing device 10 can drive the cleaning equipment to crawl on the ground or on obstacles, avoiding the need for users to manually carry the cleaning equipment for charging; by setting up the detection module, the environment along the path of the stair-climbing device 10 can be detected to avoid collisions, thereby preventing the cleaning equipment from shaking, resulting in a better user experience.

[0131] like Figure 1 As shown, the detection module includes a first detection unit 810, which is disposed on the device body 10a and is used to detect obstacle information around the stair-climbing device 10 when it is climbing. The obstacle information includes at least the type information and three-dimensional dimensions of the obstacle. For example, the first detection unit 810 is located at one end of the upper cover plate 200 near the opening 121.

[0132] In this way, the stair-climbing device 10 can perform obstacle avoidance actions based on obstacle information to avoid collisions with obstacles, thus ensuring high safety. These obstacle avoidance actions may include stopping climbing, turning, and reversing.

[0133] It should be noted that, in some embodiments, the vision module at the front end of the cleaning device can serve as the vision module of the stair-climbing device 10, achieving the same function as the first detection unit 810, and enabling forward-looking environmental perception capabilities.

[0134] By placing a first detection unit 810 at one end of the upper cover 200 near the opening 121, the stair-climbing device 10 can be provided with forward-looking environmental perception capabilities. Positioning the sensor module at a higher level in the direction of travel of the stair-climbing device 10 allows for early identification of obstacles and the acquisition of detailed information, including type and three-dimensional dimensions. This enables the stair-climbing device 10 to plan its path in advance, identify the starting point of the stairs, determine the feasibility of overcoming obstacles, or distinguish obstacle types (such as crossable debris versus furniture that needs to be bypassed), thereby improving the intelligence level and operational safety of the stair-climbing device 10.

[0135] In some embodiments, the obstacle information around the stair climbing device 10 may include at least one of the obstacle information in front of the stair climbing device 10 in the direction of travel y, the obstacle information to the side of the stair climbing device 10, the obstacle information behind the stair climbing device 10 in the direction of travel y, and the obstacle information on the top of the stair climbing device 10, so as to realize multi-directional detection around the stair climbing device 10 and improve the safety of the stair climbing device 10 when climbing.

[0136] In some embodiments, when the first detection unit 810 detects obstacle information behind the stair climbing device 10 in the direction of travel y, it can be set at the rear end of the device body 10a in the direction of travel y to detect obstacles behind it in the direction of travel y, so as to avoid collision with obstacles when it changes direction and moves backward. The obstacles behind the stair climbing device 10 in the direction of travel y can be items for temporary placement.

[0137] In some embodiments, when the first detection unit 810 detects obstacle information on the side of the climbing device 10 in the direction of travel y, it can be set on the side of the device body 10a, for example, on the side wall 101 of the device body 10a, so as to detect the wall surface of tall objects such as walls, cabinets, sofas, table corners, etc., and avoid collision with side obstacles during the climbing device 10's climbing process or when adjusting its direction in a narrow space.

[0138] In some embodiments, when the first detection unit 810 detects obstacle information in front of the stair climbing device 10 in the direction of travel y, the first detection unit 810 can be disposed at the front end of the device body 10a along the direction of travel y, for example, the first detection unit 810 can be disposed on the front wall surface of the device body 10a. In this way, the first detection unit 810 can have a larger detection range, avoiding obstruction by components on the device body 10a and reducing the detection coverage of the first detection unit 810.

[0139] In some embodiments, when the first detection unit 810 detects obstacle information at the top of the stair climbing device 10, the first detection unit 810 can be disposed on the top wall surface of the device body 10a along the traveling direction y of the stair climbing device 10. In this way, the first detection unit 810 can be unobstructed in the circumferential direction, so as to have a large "global field of view" and detect objects in the circumferential direction of the stair climbing device 10. The coverage area of ​​the first detection unit 810 is large.

[0140] Understandably, in order to perform multi-directional detection on the stair-climbing device 10 and improve its walking safety, there can be multiple first detection units 810, which are respectively arranged at different positions around the device body 10a. For example, the first detection units 810 are simultaneously arranged on the front wall and top wall of the device body 10a along the walking direction y of the stair-climbing device 10. This embodiment does not limit the number or arrangement of the first detection units 810.

[0141] Depending on the different obstacle information detected, the first detection unit 810 may include different detection elements. The following is an example of the first detection unit 810, which does not constitute a limitation on the first detection unit 810.

[0142] In some embodiments, the first detection unit 810 includes a first distance sensor to detect the distance between the current position of the climbing device 10 and the obstacle, so that the climbing device 10 can perform corresponding actions based on the measured distance. For example, when the current distance between the climbing device 10 and the obstacle is large and a collision with the obstacle is unlikely, the climbing device 10 can continue climbing along the currently preset path. When the current distance between the climbing device 10 and the obstacle is small, and continuing to climb may result in a collision with the obstacle, the climbing device 10 can perform obstacle avoidance actions to prevent collisions with other objects.

[0143] In some embodiments, the first distance sensor may include at least one of lidar, ultrasonic sensor, millimeter-wave radar, infrared sensor, time-of-flight sensor, direct time-of-flight sensor, multi-view sensor, and line laser sensor. Thus, any one or more of lidar, ultrasonic sensor, millimeter-wave radar, infrared sensor, time-of-flight sensor, and line laser sensor can be selected based on factors such as the operating environment of the stair-climbing device 10, the assembly requirements of the stair-climbing device 10, and the manufacturing cost of the stair-climbing device 10.

[0144] In some embodiments, the lidar can scan the environment ahead of the stair-climbing device 10 and construct a 3D model map to determine whether there are obstacles in front of the stair-climbing device 10. The lidar has a long detection range and is suitable for detecting obstacles that are far away from the stair-climbing device 10. It can also be used to track dynamic objects and predict their movement trajectories.

[0145] Ultrasonic sensors detect obstacles by emitting high-frequency sound waves and receiving the reflected sound wave signals. They are suitable for detecting transparent objects such as glass and mirrors, as well as low obstacles such as shoes and cables.

[0146] Millimeter-wave radar can emit millimeter-wave electromagnetic signals in front of the stair-climbing device 10 and receive the reflected waves. By measuring the time difference and phase of the reflected waves, it determines the distance between the stair-climbing device 10 and the obstacle. It can penetrate thin objects such as curtains and paper to detect obstacles behind them.

[0147] Infrared sensors can be used to detect obstacles that are close to the climbing device 10.

[0148] Time-of-flight sensors can be used to detect and identify small obstacles, such as coins and data cables, as well as small changes in ground height, such as thresholds.

[0149] Multi-view sensors can capture environmental images of the area in front of the climbing device 10 in the direction of travel (y) from different angles to construct a 3D model map. In this way, depth information can be obtained through the 3D model map and parallax calculations, allowing for the detection and identification of object height and shape.

[0150] A linear laser sensor emits a linear laser beam forward in the direction of travel (y) of the stair-climbing device 10, and a camera captures the deformation of the laser beam. Based on the principle of triangulation, the position and height of obstacles can be determined by the distortion or breakage of the laser beam. The linear laser sensor has high detection resolution, capable of identifying low objects such as data cables and coins, and can also accurately detect the positions of corners and edges such as walls and furniture.

[0151] In some embodiments, the first detection unit 810 may further include an image sensor, which may be a monocular camera, a binocular camera, a fisheye camera, a structured light camera, etc. The image sensor can construct a 2D or 3D model map by capturing images of the crawling environment. In this way, the position, size, distance, outline shape, etc. of obstacles in the travel path can be determined by the model map.

[0152] In one possible implementation, the first detection unit 810 may include a camera (not shown). A distance sensor is used to acquire the three-dimensional dimensions of the obstacle. The camera is used to identify the type of obstacle.

[0153] By employing a combination of a distance sensor and a camera, multimodal and complementary perception of environmental information is achieved. The camera excels at two-dimensional image recognition and can effectively determine the type of obstacle (such as people, pets, and furniture); while the distance sensor can accurately acquire the three-dimensional dimensions and distance information of obstacles. The combination of these two technologies allows the first detection unit 810 not only to "see" what something is, but also to "know" how big and far away it is, thus providing the control system of the stair-climbing device 10 with more comprehensive and accurate environmental data, supporting it in making more reasonable and safer navigation and obstacle-crossing decisions.

[0154] For example, the camera is an AI camera.

[0155] By specifically selecting one or more combinations of ultrasonic sensors, millimeter-wave radar, infrared sensors, time-of-flight (ToF) sensors, direct time-of-flight (dToF) sensors, multi-view sensors, or line laser sensors, the distance sensor can be flexibly adapted to different application scenarios and performance requirements (such as ranging accuracy, range, anti-interference capability, and cost). For example, ToF / dToF sensors offer high accuracy, millimeter-wave radar has strong penetration, and multi-view vision can provide dense 3D information. This flexibility ensures that the forward sensing system maintains stable and reliable sensing performance under various lighting and material conditions.

[0156] By specifically employing an AI camera, the stair-climbing device 10 gains the ability to perform real-time intelligent visual analysis. Typically, AI cameras have a built-in or dedicated AI processing unit that can directly run complex image recognition algorithms locally on the stair-climbing device 10, instantly identifying and classifying obstacle types ahead, such as accurately distinguishing between stairs, pedestrians, pets, or power lines. This real-time processing method, completed within the stair-climbing device 10, eliminates the step of transmitting image data externally for computation, significantly shortening the response time from perception to decision, making obstacle avoidance actions faster and more reliable, and avoiding the privacy risks associated with data transmission. This comprehensively enhances the real-time performance, independence, and intelligence level of the stair-climbing device 10.

[0157] It should be noted that in other implementations, the camera can also be other types of cameras, such as ordinary cameras in related technologies. In this application embodiment, the specific structure of the first detection unit 810 is not further limited, as long as its function can be implemented.

[0158] like Figure 2 As shown, the replenishment component 400 may include at least an energy storage component 413 and a water storage component 420. The energy storage component 413 and the water storage component 420 are arranged side by side along a first direction (x direction).

[0159] For example, the water storage assembly 420 may include a water tank 422 and a first water supply port 4211 connected to the water tank 422. The water tank 422 stores liquid (clean water or a specific cleaning solution), and a pipe connects the cleaning tank and the first water supply port 4211. A water pump may be installed on the pipe, which can deliver the liquid in the water tank 422 into a small water tank on the cleaning device.

[0160] By arranging the energy storage component 413 and the water storage component 420 side-by-side along the first direction (x direction) within the receiving space 120 opposite to the opening 121, the cleaning equipment can complete charging and water storage operations at the same location after entering and stopping in the receiving space 120, effectively improving maintenance efficiency. This layout fully utilizes the structure of the receiving space 120 formed by the support plate 100, the two first crawling arms 300, and the upper cover plate 200, allowing the replenishment component 400 to be centrally arranged at the corresponding position when the cleaning equipment stops. This not only shortens the movement path required for multiple maintenance operations of the cleaning equipment but also optimizes space utilization, achieving a compact and efficient integrated replenishment function, thereby significantly improving the continuous working capacity and automation level of the cleaning equipment during stair-climbing operations.

[0161] Combination Figure 2 and Figure 3As shown, the energy storage component 413 may include a first charging unit 4132 and a second charging unit 4133. The first charging unit 4132 is located on the side of the supply component 400 facing the opening 121 and is used to connect with the cleaning equipment to charge it. The second charging unit 4133 is located on the side of the supply component 400 away from the opening 121 and is used to connect to an external power source to charge the energy storage component 413. In other words, the energy storage component 413 has charging interfaces on both its inner and outer sides in the y-direction, where "inner and outer" refers to the inner and outer sides of the receiving space 120. The first charging unit 4132 located on the inner side can be used to charge the cleaning equipment, while the second charging unit 4133 located on the outer side can connect with a base station to charge the stair-climbing device 10.

[0162] It should be noted that, in this embodiment, the end of the cleaning device that is connected to the supply component 400 is the tail of the cleaning device, and the end of the stair climbing device 10 that is away from the opening 121 of the receiving space 120 is the tail of the stair climbing device 10.

[0163] For example, the energy storage component 413 may further include a first guide protrusion 131, and a sensing system, a charging docking part, a docking interface, and a first water inlet are provided at the tail of the cleaning device. The cleaning device can be guided into the receiving space 120 by the signal from the sensing system (e.g., infrared sensing) at the tail. Within the receiving space 120, the first guide protrusion 131 docks with the docking interface to make the docking of the charging docking part and the first charging part 4132 (charging terminal), the first water inlet, and the first water supply outlet 4211 more precise. After docking, the energy storage component 413 starts to work to charge the battery in the cleaning device. The energy storage component 413 may include an AC / DC conversion circuit and a charging management unit for converting external power into suitable DC power and managing the entire charging process.

[0164] By placing the first charging unit 4132 on the side of the replenishment component 400 facing the opening 121 to connect with the cleaning equipment, and placing the second charging unit 4133 on the side facing away from the opening 121 to connect with an external power source, internal and external electrical isolation and directional transmission of the charging function can be achieved. This arrangement allows the cleaning equipment to easily connect with the first charging unit 4132 as it enters through the opening 121. Simultaneously, by placing the second charging unit 4133 on the outside of the stair-climbing device 10, when the stair-climbing device 10 carries the cleaning equipment back to the base station, it can connect to the external power source on the base station, thereby connecting to and charging the energy storage component 413 on the stair-climbing device 10. In this way, energy replenishment for both the cleaning equipment and the stair-climbing device 10 can be completed through a single energy storage component 413, making full use of the space of the stair-climbing device 10 and facilitating its miniaturization.

[0165] In some embodiments, the energy storage component 413 may further include an energy storage element 4131, which is electrically connected to a first charging unit 4132 and a second charging unit 4133, respectively. The second charging unit 4133 is used to connect to an external power source and charge the energy storage element 4131. The energy storage element 4131 may be a battery.

[0166] like Figure 2 As shown, in the first direction (x direction), the energy storage element 4131 is located on the side of the energy storage component 413 away from the water storage component 420.

[0167] By arranging the energy storage component 4131 along the first direction (x direction) on the side of the energy storage assembly 413 away from the water storage assembly 420, the width of the housing space 120 in the first direction (x direction) can be effectively utilized, forming a physical separation between the "electrical energy storage area" and the "liquid supply area". This not only avoids potential electrical safety hazards, but also facilitates the independent layout and heat dissipation of each functional module, thereby improving the working stability and safety of the entire supply assembly 400.

[0168] like Figure 3 As shown, a cleaning component 700 is provided on each side of the supply component 400 along the first direction (x direction). Part of the structure of the cleaning component 700 is movably disposed on the side of the supply component 400 away from the outlet 121 (the side of the stair climbing device 10 near the dust suction port 111). The cleaning component 700 is used to perform cleaning operations on the area of ​​the supply component 400 away from the outlet 121.

[0169] For example, the cleaning component 700 is rotatably mounted on the stair-climbing device 10, and the cleaning component 700 is used to sweep dirt at the front end of the suction port 111 on the stair-climbing device 10 toward the suction port 111 (see...). Figure 36 (As shown).

[0170] By providing partially movable cleaning components 700 on both sides of the supply component 400 along the first direction (x direction) and arranging them on the side of the supply component 400 facing away from the opening 121, the stair-climbing device 10 can achieve autonomous cleaning capabilities. When the stair-climbing device 10 moves, the movable cleaning components 700 can clean the area behind it (i.e., the side facing away from the opening 121). This design cleverly integrates the cleaning function into the device body, allowing the device to clean the ground behind it while moving or performing stair-climbing tasks, thus improving the overall cleaning efficiency of the environment.

[0171] For example, the cleaning component 700 can be a structure such as a brush. The cleaning component 700 can pre-sweep up and direct tightly adhered dirt (such as hair and lint) located in corners or towards the effective range of the suction port 111, compensating for the inadequacy of relying solely on airflow suction to capture certain types of dirt. This combination of mechanically assisted cleaning and negative pressure suction constitutes a synergistic cleaning system, significantly improving the overall cleaning ability for complex dirt and reducing residue.

[0172] Figure 4 This is a schematic diagram of the exploded structure of the stair-climbing device provided in the embodiments of this application. Figure 5 for Figure 4 A partial structural diagram of part A in the middle. Figure 6 This is a cross-sectional structural diagram of the stair-climbing device provided in the embodiments of this application.

[0173] Please see Figure 4 to Figure 6 This application provides a stair-climbing device 10, which can crawl along the direction of travel y to transport cleaning equipment such as a sweeping robot to a preset location. For example, it can move the cleaning equipment on the floor or stairs to move it between different floors, avoiding the need for users to manually carry the cleaning equipment and reducing their workload. The stair-climbing device 10 and the cleaning system have a high degree of intelligence.

[0174] In some embodiments, the stair-climbing device 10 includes a device body 10a, which can be a frame structure to provide a receiving space 120 for accommodating cleaning equipment, and to give the device body 10a a simpler structure and lighter weight. The receiving space 120 has an opening 121 for the cleaning equipment to enter or exit, so that the cleaning equipment can enter or exit the receiving space 120 through the opening 121.

[0175] In some embodiments, the device body 10a can be made of plastic, such as acrylonitrile-butadiene-styrene copolymer (ABS), which has a lower weight and better impact resistance, thus avoiding a significant increase in the weight of the stair-climbing device 10 and helping to improve the endurance of the stair-climbing device 10. Furthermore, the device body 10a can have good insulation properties to provide better protection for its internal electrical components such as the water pump and energy storage device.

[0176] In some embodiments, the size of the receiving space 120 may be larger than the size of the cleaning device to avoid the cleaning device from colliding with the sidewall 101 of the receiving space 120.

[0177] In some embodiments, the stair-climbing device 10 includes a crawling arm assembly and a control panel 840. The crawling arm assembly is connected to the device body 10a and is movably connected to the device body 10a. Under the control of the control panel 840, the crawling arm assembly drives the device body 10a to crawl, thus enabling the cleaning equipment to be moved when it is parked in the receiving space 120. The crawling arm assembly can crawl on relatively flat surfaces such as floors and cross low obstacles, or crawl on obstacles such as stairs, making it widely applicable. It avoids the need for manual carrying of cleaning equipment or crossing obstacles, reducing the user's workload and providing a better user experience.

[0178] In some embodiments, the stair climbing device 10 includes an energy storage component 413 disposed on the device body 10a to follow the device body 10a as it moves. The energy storage component 413 includes an energy storage element 4131 for providing electrical energy to at least one of the stair climbing device 10 and the cleaning equipment.

[0179] In some embodiments, the stair-climbing device 10 may further include a water storage assembly 420, which includes a water tank 422 for holding cleaning liquid. An energy storage component 4131 and the water tank 422 may be arranged side-by-side along the width direction x of the device body 10a, and both are positioned opposite the opening 121 of the receiving space 120. Considering the relatively large weight of the water tank 422 and the energy storage component 4131, they may be respectively positioned on both sides of the center of gravity of the stair-climbing device 10 along the travel direction y. In this way, the center of gravity of the water tank 422 and the center of gravity of the energy storage component 4131 can be located on both sides of the center of gravity of the stair-climbing device 10, so that the water tank 422 and the energy storage component 4131 can act as counterweights to each other, balancing the forces on the stair-climbing device 10 and preventing the stair-climbing device 10 from becoming unbalanced, which could lead to tilting or tipping.

[0180] In some embodiments, considering that the liquid level of the cleaning liquid in the water tank 422 will change during the use of the stair climbing device 10, the weight of the cleaning liquid in the water tank 422 will also change accordingly. The weight of the energy storage component 4131 can be slightly greater than the weight of the water tank 422 when it is full. In this way, when the cleaning liquid in the water tank 422 is depleted, the weight difference between the energy storage component 4131 and the water tank 422 can be small. For example, the weight difference can be less than 50g, so as to avoid the stair climbing device 10 from shifting its center of gravity significantly due to the depletion of the cleaning liquid, which would result in poor stability of the stair climbing device 10.

[0181] In some embodiments, the cleaning liquid can be clean water or a mixture of water and detergent. The water tank 422 can be made of polypropylene (PP), acrylonitrile-butadiene-styrene copolymer (ABS), etc., to give the water tank 422 good impact resistance and low weight. This reduces the load on the climbing arm assembly drive and increases the single cleaning cycle time of the stair climbing device 10.

[0182] In some embodiments, a filter (not shown) may be provided in the water tank 422 to filter out impurities such as dust in the cleaning liquid, so as to prevent the cleaning liquid from entering the cleaning equipment through the water supply module, thereby causing blockage of the pipeline in the supply component.

[0183] In some embodiments, the water tank 422 can be installed and fixed on the device body 10a by means of snap-fit, screw-fit or welding, so as to prevent the water tank 422 from shaking relative to the device body 10a during the climbing process of the stair climbing device 10.

[0184] In some embodiments, the water storage assembly 420 further includes a water supply module (not shown in the figure). The water supply module may include a water supply pump and a water supply pipeline. The water supply pump may be any one of a DC brushless water pump, an electromagnetic pump, a diaphragm pump, or a gear pump. The water supply pump is capable of pumping cleaning liquid from the water tank 422 at a preset flow rate and pressure. The water supply pipeline may be a silicone tube or a plastic tube. One end of the water supply pipeline is connected to the water tank 422, that is, the water supply module is connected to the water tank 422. The other end of the water supply pipeline points to the receiving space 120 and forms a first water supply port 4211. The first water supply port 4211 may be a water supply plug formed on the water supply pipeline.

[0185] In this way, when the cleaning equipment is parked in the receiving space 120, the cleaning equipment can be connected to the water supply plug to connect with the first water supply port 4211. Thus, the first water supply port 4211 is connected to the tank containing the cleaning liquid on the cleaning equipment, so that the cleaning liquid can be supplied to the cleaning equipment through the water storage component 420.

[0186] In some embodiments, the water supply module can be disposed between the energy storage component 4131 and the water tank 422. Correspondingly, the power conversion module, power drive circuit, protection and monitoring components and other components in the energy storage component are also disposed between the energy storage component 4131 and the water tank 422, so that there is a gap between the energy storage component 4131 and the water tank 422 and a physical isolation is formed. This can prevent the energy storage component 4131 from being in a high humidity environment or from the water storage component 420 leaking, which could lead to short circuits, leakage and other faults in the energy storage component 4131, thus ensuring high safety.

[0187] Furthermore, since the temperature of the energy storage device 4131 is higher than that of the water tank 422, by creating a gap between the energy storage device 4131 and the water tank 422 to form a physical isolation, condensation can be avoided on the outer wall of the water tank 422, thus preventing battery corrosion, short circuits, and other malfunctions caused by condensation, resulting in higher safety.

[0188] In other words, by setting up the containment space 120, the cleaning equipment can dock within the containment space 120 and crawl along with the stair-climbing device 10. By setting up the crawling arm assembly, the stair-climbing device 10 can drive the cleaning equipment to crawl on the ground or on obstacles, avoiding the need for users to manually carry the cleaning equipment to different floors to be cleaned; by setting up the water storage assembly 420, the stair-climbing device 10 can replenish the cleaning liquid in the containment space 120, allowing the cleaning equipment to perform cleaning operations for a longer time and cover a larger cleaning area, avoiding the cleaning equipment having to make multiple trips to the base station, thus avoiding the need for users to climb stairs to carry the cleaning equipment, resulting in a better user experience.

[0189] In some embodiments, the energy storage device 4131 can be a battery, such as a lithium-ion battery, a polymer lithium-ion battery, or a lithium iron phosphate battery. The battery can be a pouch battery or a prismatic battery, etc. The number of batteries can be multiple, and multiple batteries can be connected by at least one of series and parallel connection methods to increase the capacity of the energy storage device 4131 and enable the stair climbing device 10 to have a longer operating time.

[0190] In some embodiments, the energy storage device 4131 is electrically connected to the crawler arm assembly to supply power to the crawler arm assembly. For example, the energy storage device 4131 supplies power to the drive component of the crawler arm assembly so that the drive component drives the crawler arm assembly to crawl.

[0191] In some embodiments, the energy storage component 413 includes a supply module 4134, which may include a power conversion module, a power drive circuit, and protection monitoring components. The power module converts the high-voltage DC output from the energy storage component 4131 into different voltages required by different components in the stair-climbing device 10. The power drive circuit converts the control signals output from the control board 840 into electrical signals for the actuators (e.g., the drive components of the climbing arm assembly), and also includes an overload protection circuit to detect the current, temperature, etc., of the power drive components to protect the power drive circuit. The protection monitoring components can detect and protect the safe operation of the energy storage component 413. For example, they may include overvoltage protection components, overcurrent protection components, etc.

[0192] Furthermore, since the temperature of the energy storage device 4131 is higher than that of the water tank 422, by creating a gap between the energy storage device 4131 and the water tank 422 to form a physical isolation, condensation can be avoided on the outer wall of the water tank 422, thus preventing battery corrosion, short circuits, and other malfunctions caused by condensation, resulting in higher safety.

[0193] In some embodiments, the supply module 4134 is electrically connected to the energy storage component 4131, so that the energy storage component 4131 can supply power to components such as the power drive circuit in the supply module 4134, and the supply module 4134 can also form a first charging unit 4132. In this way, when the cleaning equipment is parked in the receiving space 120, the first charging unit 4132 is used to dock with the cleaning equipment and supply power to the cleaning equipment under the control of the control board 840.

[0194] The stair-climbing device 10 can power the cleaning equipment using contact power supply, inductive power supply, or other methods. Correspondingly, the first charging unit 4132 and the cleaning equipment can have different docking methods, such as contact docking, plug-in docking, and inductive docking. This embodiment does not limit the power supply method of the stair-climbing device 10, the structure of the first charging unit 4132, or the docking method between the first charging unit 4132 and the cleaning equipment.

[0195] In some embodiments, the supply module 4134 can be disposed between the energy storage component 4131 and the water tank 422. That is, the power conversion module, power drive circuit, protection and monitoring components and other components in the energy storage component 413 are disposed between the energy storage component 4131 and the water tank 422. Correspondingly, the water supply pump and water supply pipeline in the water storage component can also be disposed between the energy storage component 4131 and the water tank 422, so that there is a gap between the energy storage component 4131 and the water tank 422 and a physical isolation is formed. This can prevent the energy storage component 4131 from being in a high humidity environment or from the water storage component 420 leaking, which could lead to short circuits, leakage and other faults in the energy storage component 4131, thus ensuring high safety.

[0196] Furthermore, since the temperature of the energy storage device 4131 is higher than that of the water tank 422, by creating a gap between the energy storage device 4131 and the water tank 422 to form a physical isolation, condensation can be avoided on the outer wall of the water tank 422, thus preventing battery corrosion, short circuits, and other malfunctions caused by condensation, resulting in higher safety.

[0197] In other words, by setting up the containment space 120, the cleaning equipment can dock within the containment space 120 and move along with the stair-climbing device 10. By setting up the crawling arm assembly, the stair-climbing device 10 can drive the cleaning equipment to crawl on the ground or on obstacles, avoiding the need for users to manually carry the cleaning equipment to charge; by setting up the energy storage component 413, the stair-climbing device 10 can supply power to the cleaning equipment in the containment space 120, enabling the cleaning equipment to perform cleaning operations for a longer period of time and cover a larger cleaning area, avoiding the cleaning equipment having to make multiple trips to the base station, thus avoiding the need for users to climb stairs to carry the cleaning equipment, resulting in a better user experience.

[0198] In some embodiments, the device body 10a includes a support plate 100 and two side walls 101. The support plate 100 supports the cleaning device, and the two side walls 101 are respectively connected to opposite sides of the support plate 100. For example, the two side walls 101 are respectively disposed on both sides of the support plate 100 along the width direction x. The device body 10a also includes a top cover plate 200, the two sides of which are respectively connected to the two side walls 101 to form a receiving space 120.

[0199] Thus, the support plate 100, side walls 101, and top cover 200 form an annular structure with openings at both ends, providing better protection for the cleaning equipment. One opening of this annular structure can form the opening 121 of the receiving space 120, and is located at one end of the two side walls 101 along the travel direction y, allowing the cleaning equipment to enter or exit the receiving space 120. The energy storage component 413 and the water storage component are located at the other opening of the annular structure, so that the energy storage component 413, the water storage component, and the opening 121 are respectively located on both sides of the support plate 100 along the travel direction y of the stair-climbing device 10.

[0200] Furthermore, the device body 10a only has an opening 121 for the cleaning equipment to enter and exit, which can provide better protection for the cleaning equipment so that the cleaning equipment can be stably stopped in the receiving space 120 during the climbing process of the stair climbing device 10.

[0201] In some embodiments, each sidewall 101 is provided with a crawling arm assembly, so that the crawling arm assembly can be supported on both sides of the device body 10a along the width direction x, the force on the device body 10a is relatively balanced, which can prevent the climbing device 10 from tilting and the support stability is high.

[0202] In some embodiments, during the climbing process of the stair climbing device 10, the opening 121 of the receiving space 120 can be located in front of the traveling direction y of the device body 10a. In this way, the direction in which the cleaning equipment enters or exits the receiving space 120 can be parallel to the traveling direction y of the stair climbing device 10, so as to avoid the cleaning equipment colliding with the climbing arm assembly when entering or exiting the receiving space 120.

[0203] In some embodiments, the energy storage component 413 is fixedly connected to the support plate 100. That is, by fixing the energy storage component 413 to the support plate 100, the connection between the energy storage component 413 and the device body 10a is realized, so as to prevent the energy storage relative to the support plate 100 from shaking or moving during the climbing process of the stair climbing device 10.

[0204] In some embodiments, the control plate 840 can be disposed at different positions on the device body 10a. For example, the control plate 840 can be disposed on the support plate 100, or the upper cover plate 200 is provided with a first mounting cavity 220, and the control plate 840 can be disposed in the first mounting cavity 220. The control plate 840 can be fixed in the first mounting cavity 220 by snap-fit, screw connection or other means, so as to prevent the control plate 840 from moving or shaking relative to the upper cover plate 200 during the movement of the stair climbing device 10, and the fixation stability is high.

[0205] In some embodiments, there may be a gap between the control board 840 and the inner wall of the first mounting cavity 220 to avoid collision interference between the electrical components on the control board 840 and the upper cover plate 200 due to factors such as collision deformation of the upper cover plate 200 and bumping of the stair climbing device 10 during its movement.

[0206] Since the energy storage component 413, the water storage component, and the cleaning equipment are all located on the lower side of the upper cover plate 200, the height of the control plate 840 relative to the support plate 100 is greater than the height of the energy storage component 413, the water storage component, and the cleaning equipment relative to the support plate 100 along the height direction z of the stair climbing device 10. Thus, the control plate 840 can be physically isolated from the energy storage component 413 and the water storage component through the side wall 101 of the first mounting cavity 220, so that the control plate 840 has good insulation performance and can prevent the cleaning liquid from contacting the control plate 840 when the water storage component leaks.

[0207] Furthermore, by installing the control board 840 inside the first mounting cavity 220, a gap is created between the control board 840 and components such as the energy storage component 413, the water storage component, and the drive component of the crawler arm component. This prevents the heat from the energy storage component 4131 from being directly conducted to the control board 840, thus avoiding overheating of the control board 840. It also prevents the control board 840 from being affected by electromagnetic interference from the drive component, resulting in higher safety for the control board 840.

[0208] In some embodiments, the support plate 100 is provided with a partition plate 130a and a baffle plate 140a that protrude toward the side of the upper cover plate 200, respectively. That is, the partition plate 130a can divide the inner cavity of the device body 10a into two independent spaces. The receiving space 120 is located on one side of the partition plate 130a, and the baffle plate 140a is located on the other side of the partition plate 130a. The baffle plate 140a is connected to the partition plate 130a to form a second mounting cavity 141. The energy storage component 4131 is installed in the second mounting cavity 141. The first charging part 4132 can be formed on the partition plate 130a, and the water storage component can also form a first water supply port 4211 on the partition plate 130a to connect with the cleaning equipment. In this way, when the cleaning equipment is parked in the receiving space 120, the cleaning equipment is located on one side of the partition plate 130a, and the energy storage component 413 and the water storage component are both located on the opposite side of the partition plate 130a. The cleaning equipment can be connected to the first water supply port 4211 and the first charging unit 4132 at the same time.

[0209] In this way, when the cleaning equipment enters the receiving space 120, the partition 130a can protect the energy storage component 413 and the water storage component, preventing the cleaning equipment from colliding with them due to parking errors or other reasons. Furthermore, it can create physical isolation between the cleaning equipment and the energy storage component 413 and the water storage component, preventing excessive heat from the energy storage component 4131 from being conducted to the cleaning equipment, thus avoiding localized overheating. It can also prevent the cleaning liquid from damaging the cleaning equipment in the event of a leak from the water storage component.

[0210] In some embodiments, the enclosure plate 140a can be fixedly connected to the partition plate 130a by means of snap-fit, screw connection, etc., and a sealing element such as a rubber component or silicone component can be provided between the enclosure plate 140a and the partition plate 130a to improve the sealing performance of the second mounting cavity 141. The enclosure plate 140a can also be a split structure. For example, part of the enclosure plate 140a is integrally formed with the partition plate 130a and forms an installation opening for the energy storage component 4131 to enter and exit. Part of the enclosure plate 140a covers the installation opening and is sealed by a sealing element to improve the sealing performance of the second mounting cavity 141.

[0211] Figure 7 This is another cross-sectional view of the stair-climbing device provided in an embodiment of this application. Figure 8 This is another cross-sectional view of the stair-climbing device provided in an embodiment of this application. Figure 9 for Figure 8 A partial structural diagram of part B.

[0212] Considering that the energy storage device 4131 generates heat during operation, to prevent capacity decay, bulging, leakage, and other issues, heat dissipation measures can be implemented for the energy storage device 4131. Please refer to [link / reference needed]. Figure 7 to Figure 9The following examples illustrate the heat dissipation method of the energy storage device 4131, but do not constitute a limitation on the heat dissipation method or structure of the energy storage device 4131.

[0213] In some embodiments, the partition plate 130a is connected to at least the support plate 100 and the two side walls 101 respectively to prevent the cleaning liquid from flowing towards the receiving space 120 when the water storage component leaks. That is, the height of the partition plate 130a can be the same as the height of the receiving space 120 (not shown) so that both the energy storage component 413 and the water storage component are isolated from the cleaning equipment. Alternatively, the height of the partition plate 130a can be less than or equal to the height of the receiving space 120, and correspondingly, at least a portion of the upper edge of the partition plate 130a is provided with a gap M between it and the upper cover plate 200 to allow air to flow through the gap M to the position of the enclosure plate 140a. For example, the upper edge of the portion of the partition plate 130a corresponding to the water storage component is connected to the upper cover plate 200. Alternatively, the height of each position of the upper edge of the partition plate 130a is the same, and the structure of the partition plate 130a is relatively simple.

[0214] By setting the gap M, air can flow through the gap M to the position of the baffle 140a. Since the baffle 140a absorbs the heat of the energy storage component 4131 and its temperature rises, and the temperature of the baffle 140a is higher than the temperature of the air, the baffle 140a can exchange heat with the air, so that the air absorbs the heat of the baffle 140a and its temperature rises. After the baffle 140a dissipates the heat, its temperature drops, which allows the higher-temperature energy storage component 4131 to continue to conduct heat to the baffle 140a, so as to achieve heat dissipation of the energy storage component 4131.

[0215] In this way, during the air circulation process, the heated air can flow to the outside of the device body 10a, while the cooler air can continue to flow to the baffle plate 140a and continue to exchange heat with the baffle plate 140a, so as to achieve continuous heat dissipation of the energy storage component 4131 and avoid overheating of the energy storage component 4131.

[0216] In some embodiments, the thickness of the enclosure 140a may be less than the thickness of the separator 130a. This allows a larger portion of the heat from the battery to be conducted to the enclosure 140a and dissipated through the air, while a smaller portion of the heat is conducted to the separator 130a, thereby reducing the amount of heat transferred to the cleaning equipment and preventing localized overheating of the cleaning equipment.

[0217] In other words, by making the enclosure plate 140a and the partition plate 130a have a thickness difference, the heat of the energy storage component 4131 can be guided, avoiding excessive heat conduction to one side of the cleaning equipment.

[0218] In some embodiments, the thickness of the enclosure 140a can be greater than half the thickness of the partition 130a, so as to avoid the enclosure 140a being too thin and unable to provide effective support for the energy storage component 4131, which would cause the energy storage component 4131 to tilt during the movement of the stair climbing device 10.

[0219] In some embodiments, to guide the heat dissipation of the energy storage component 4131, heat dissipation fins, grooves, ribs, or other heat dissipation structures can be provided on the enclosure 140a to increase the contact area between the enclosure 140a and the air, thereby allowing more heat to be conducted to the location of the enclosure 140a. Alternatively, the thermal conductivity of the enclosure 140a can be better than that of the partition 130a. For example, the enclosure 140a can be a metal component such as an aluminum plate, aluminum alloy plate, or magnesium alloy plate, while the partition 130a can be a plastic component. In this way, the heat of the energy storage component 4131 can also be guided, allowing more heat to be conducted to the location of the enclosure 140a and preventing excessive heat from being conducted to one side of the cleaning equipment.

[0220] In some embodiments, when the energy storage component 4131 is installed in the second mounting cavity 141, the energy storage component 4131 can contact the baffle plate 140a and the partition plate 130a respectively to limit the energy storage component 4131 and improve the heat transfer efficiency between the energy storage component 4131 and the baffle plate 140a and between the energy storage component 4131 and the partition plate 130a.

[0221] In some embodiments, considering manufacturing and assembly factors, the energy storage component 4131 may not be completely and tightly fitted to the inner wall of the second mounting cavity 141 during installation. Therefore, in order to effectively fix the energy storage component 4131, there may be elastic fasteners between the energy storage component 4131 and the inner wall of the second mounting cavity 141.

[0222] The elastic fastener can be a spring, which can press the energy storage component 4131 against the inner wall of the second mounting cavity 141 with its elastic force. Alternatively, multiple elastic components can be arranged on the outer circumference of the energy storage component 4131, allowing the energy storage component 4131 to float in the middle of the second mounting cavity 141, in which case the energy storage component 4131 does not need to contact the inner wall of the second mounting cavity 141. The elastic fastener can also be a rubber block, etc., located at the corner of the energy storage component 4131 and clamped between the energy storage component 4131 and the inner wall of the second mounting cavity 141. In this case, the energy storage component 4131 also does not need to contact the inner wall of the second mounting cavity 141.

[0223] By setting elastic fasteners, the impact on the energy storage component 4131 during the movement of the stair-climbing device 10 can be reduced, thereby improving the safety of the energy storage component 4131.

[0224] Correspondingly, a heat dissipation gap can be formed between the energy storage component 4131 and the partition plate 130a, and / or between the energy storage component 4131 and the enclosure plate 140a. That is, depending on the location of the elastic fasteners, the heat dissipation gap can be formed between the energy storage component 4131 and the partition plate 130a, or between the energy storage component 4131 and the enclosure plate 140a, or simultaneously between the energy storage component 4131 and the partition plate 130a and the enclosure plate 140a. This heat dissipation gap can be 3mm-5mm, and this embodiment does not impose a limitation.

[0225] In some embodiments, the heat dissipation gap may be filled with an elastic heat-conducting element 142. The heat-conducting element 142 may have a high heat dissipation coefficient, so that the heat of the energy storage element 4131 can be conducted to the heat-conducting element 142 more quickly. The heat-conducting element 142 may be at least one of foam or silicone, or it may be other heat-conducting materials such as thermal grease. This embodiment does not impose any limitations.

[0226] By filling the heat dissipation gap with the heat-conducting element 142, the heat dissipation effect of the energy storage element 4131 can be optimized, and the fixed stability of the energy storage element 4131 can be improved by absorbing vibration, thus preventing the energy storage element 4131 from shaking in the second mounting cavity 141.

[0227] In some embodiments, when the cleaning equipment is docked within the receiving space 120, the cleaning equipment is configured to plug into the device body 10a to allow the cleaning equipment to interface with the energy storage component 413 and the water storage component. At this time, the stair-climbing device 10 can selectively perform one or both maintenance operations on the cleaning equipment, such as charging or replenishing the cleaning fluid.

[0228] In this way, during the process of the cleaning equipment entering the receiving space 120, the cleaning equipment can be guided and positioned by the plug-in connection method, so as to avoid the cleaning equipment being unable to connect with the energy storage component 413 and the water storage component due to deviation during the process of entering. This would prevent the climbing device 10 from performing maintenance operations such as charging and replenishing cleaning liquid for the cleaning equipment when it enters the receiving space 120, or cause the cleaning equipment to collide with the first charging unit 4132 or the first water supply port 4211 when it leaves the receiving space 120, resulting in damage to the cleaning equipment, the first charging unit 4132 or the first water supply port 4211.

[0229] To achieve alignment between the cleaning equipment and the energy storage component 413, a first guide protrusion 131 may be provided on one of the cleaning equipment and the device body 10a.

[0230] In some embodiments, when the first guide protrusion 131 is provided on the device body 10a, the first guide protrusion 131 may be provided on the inner wall surface of the receiving space 120 of the device body 10a. Correspondingly, a first guide groove that interlocks with the first guide protrusion 131 may be provided on the cleaning device to avoid increasing the circumferential dimension of the cleaning device.

[0231] In some embodiments, the extension direction of the first guide protrusion 131 is configured to be parallel to the travel direction of the cleaning device as it enters the receiving space 120. In this way, during the process of the cleaning device entering the receiving space 120, the first guide protrusion 131 can be inserted into the first guide groove until the cleaning device stops in the receiving space 120, at which point the first guide protrusion 131 is plugged into the cleaning device.

[0232] In some embodiments, the cross-sectional dimensions of the first guide protrusion 131 gradually decrease from the connecting end to the free end, that is, the first guide protrusion 131 is an approximately conical protrusion. The dimensions of the connecting end and the free end of the first guide protrusion 131 can be set as needed, and this embodiment does not limit them.

[0233] During the process of the cleaning equipment entering the receiving space 120, the small free end of the first guide protrusion 131 can extend into the first guide groove. The distance between the free end of the first guide protrusion 131 and the inner wall of the first guide groove opening is relatively large. If the cleaning equipment tilts when entering the receiving space 120, the first guide protrusion 131 can abut against the inner wall of the first guide groove. This abutment between the first guide protrusion 131 and the inner wall of the first guide groove provides guidance and limitation for the cleaning equipment, allowing it to adjust its entry path in real time during the process of entering the receiving space 120 until the first guide protrusion 131 is inserted and connected to the first guide groove, thus enabling the energy storage component 413 to dock with the cleaning equipment. In this way, the alignment requirements for the cleaning equipment when entering the receiving space 120 are lower.

[0234] In some embodiments, to prevent the cleaning equipment from moving relative to the device body 10a during the climbing process of the stair climbing device 10, a retractable snap-fit ​​member may also be provided on the device body 10a. The extension and retraction direction of the snap-fit ​​member may have an angle with the extension direction of the first guide protrusion 131. For example, the snap-fit ​​member is provided on the side of the device body 10a along the travel direction y and extends and retracts along the width direction x of the device body 10a.

[0235] In this way, when the cleaning equipment is parked in the receiving space 120, the snap-fit ​​can extend and plug into the cleaning equipment to improve the parking stability of the cleaning equipment and prevent the cleaning equipment from falling out of the receiving space 120 along the extension direction of the first guide protrusion 131, thus ensuring the safety of the cleaning equipment.

[0236] Furthermore, the extension direction of the snap-fit ​​component forms an angle with the extension direction of the first guide protrusion 131. Through the synergistic effect of the snap-fit ​​component and the first guide protrusion 131, the cleaning equipment can be effectively fixed, preventing the cleaning equipment from moving or rotating within the receiving space 120 during the climbing process of the stair climbing device 10.

[0237] In some embodiments, there may be multiple snap-fit ​​components, which are respectively disposed on both sides of the device body 10a along the width direction x.

[0238] In some embodiments, there are multiple first guide protrusions 131, such as two, three or more, and the multiple first guide protrusions 131 are spaced apart. In this way, when the cleaning device is parked in the receiving space 120, the cleaning device can form a multi-point snap-fit ​​positioning through the multiple first guide protrusions 131, and the guiding positioning effect between the cleaning device and the device body 10a is better, making it easier to realize the docking of the cleaning device and the energy storage component 413.

[0239] In some embodiments, the crawling arm assembly includes a first crawling arm 300, which is connected to the side wall 101 and can drive the device body 10a to move. The first crawling arm 300 can be a roller, track wheel, etc.

[0240] In some embodiments, the crawling arm assembly includes a plurality of second crawling arms 500. The number of second crawling arms 500 can be two, three or more. For ease of explanation, the following embodiments will be described using the example of a crawling arm assembly including two second crawling arms 500.

[0241] In some embodiments, the first end of each second climbing arm 500 is rotatably connected to the side wall 101, and the first ends of the plurality of second climbing arms 500 are spaced apart along the traveling direction y of the stair climbing device 10, so that the rotation axis of each second climbing arm 500 is arranged along the width direction x of the device body 10a.

[0242] The second end of the second crawling arm 500 is a free end, and the second end of the second crawling arm 500 can rotate relative to the side wall 101. In this way, the support height of the second crawling arm 500 relative to the ground can be changed by rotating the second crawling arm 500.

[0243] In some embodiments, each second climbing arm 500 is driven independently relative to the side wall 101. Thus, the stair climbing device 10 is provided with a set of climbing arm drive members for each of the first climbing arm 300 and each of the second climbing arms 500, so as to drive the first climbing arm 300 and each of the second climbing arms 500 to move independently respectively.

[0244] In some embodiments, the length of the second crawling arm 500 is greater than the height of the device body 10a. This allows the second crawling arm 500 to rotate to a position in contact with the ground, and the device body 10a can be moved by the second crawling arm 500. In other words, the stair-climbing device 10 can choose to use either the first crawling arm 300 or the second crawling arm 500 depending on the road conditions along its path, or it can move by the combined action of the first crawling arm 300 and the second crawling arm 500.

[0245] Furthermore, by changing the rotational position of each second crawling arm 500 relative to the device body 10a and its support height relative to the ground, the walking posture of the device body 10a during the crawling process can be changed. The walking posture can include the walking height of the stair climbing device 10 during the crawling process, the tilt direction and tilt angle of the device body 10a relative to the ground, etc., to adapt to different road conditions in the travel path.

[0246] For example, when the second crawling arms 500 are all vertically supported on the ground and drive the device body 10a to move, the device body 10a has a first height relative to the ground to overcome low obstacles. When the axis of rotation of the second crawling arm 500 is along the width direction x of the device body 10a and rotates to extend along the travel direction y, the first crawling arm 300 can drive the device body 10a to move, at which time the device body 10a has a second height relative to the ground. Therefore, by changing the rotation angle of each second crawling arm 500 relative to the device body 10a, the device body 10a can have different tilt angles relative to the ground, and the walking height of the device body 10a can be changed between the first height and the second height.

[0247] When the device body 10a moves to the location of the obstacle and crawls over it, for example, when the stair climbing device 10 moves to the stairs and prepares to crawl on the stairs, some of the second crawling arms 500 can be successively attached to the stair steps, and then each of the second crawling arms 500 is driven to rotate to adjust the height and tilt angle of the device body 10a until the extension direction of the device body 10a and each of the second crawling arms 500 is adapted to the tilt angle of the stairs. At this time, the stair climbing device 10 can crawl on the stairs under the drive of the first crawling arm 300 and the second crawling arm 500.

[0248] In some embodiments, considering that there are multiple second crawling arms 500 and the length of the second crawling arms 500 is large, the stair climbing device 10 can determine the rotation direction of the other second crawling arm 500 by detecting the rotation position of one of the second crawling arms 500, so as to avoid collision interference between adjacent second crawling arms 500.

[0249] In some embodiments, in order to drive the device body 10a to move, rollers may be provided on both the first crawling arm 300 and the second crawling arm 500, and the rollers may roll relative to the ground.

[0250] In some embodiments, a track 520 surrounds both the first crawler arm 300 and the plurality of second crawler arms 500, and the stair-climbing device 10 correspondingly has a track drive member. Each track 520 is provided with a set of track drive members to drive the track 520 to rotate relative to its corresponding crawler arm. Each track 520 is provided with a plurality of protruding teeth 521, which protrude from the outer surface of the track 520. The cross-sectional shape of the protruding teeth 521 can be rectangular, trapezoidal, etc., and the plurality of protruding teeth 521 are spaced apart along the length direction of the track 520.

[0251] In some embodiments, the height of the protrusion of the tooth 521 from the surface of the track 520 can be 3mm-8mm, and the distance between two adjacent teeth 521 can be 8mm-30mm. This embodiment does not impose any limitation. It should be noted that the values ​​and ranges involved are approximate values, and there may be a certain range of errors due to the influence of the manufacturing process. This part of the error can be considered negligible by those skilled in the art.

[0252] In this way, during the crawling process, when the stair-climbing device 10 is driven to move by the track 520, the protruding teeth 521 can contact the ground to reduce the contact area between the stair-climbing device 10 and the ground, increase the friction between the stair-climbing device 10 and the ground, and prevent the stair-climbing device 10 from slipping. For example, when the stair-climbing device 10 moves on a wet ground, the protruding teeth 521 can penetrate the water stains and contact the ground to reduce the lubricating effect of the water stains and prevent the stair-climbing device 10 from slipping.

[0253] On the other hand, the protruding teeth 521 also have a good "biting" effect and a good gripping effect, making the climbing device 10 more capable of overcoming obstacles. For example, when the climbing device 10 is climbing a staircase, the corner of the step can be engaged between two adjacent protruding teeth 521, which not only enhances the climbing ability but also prevents the climbing device 10 from slipping on the stairs. Alternatively, when the climbing device 10 is crossing low obstacles such as thresholds, the engagement of the protruding teeth 521 with the threshold can help the climbing device 10 cross the threshold.

[0254] In some embodiments, the cleaning device can enter the receiving space 120 via at least one or more of the following guidance methods: infrared guidance, lidar positioning guidance, visual positioning guidance, ultrasonic guidance, and Bluetooth guidance. Depending on the guidance method, the stair-climbing device 10 can be equipped with different signal transmitters. For example, when the cleaning device returns to the receiving space 120 using infrared guidance, an infrared transmitter can be installed on the stair-climbing device 10.

[0255] In some embodiments, the water storage assembly 420 may further include a level detector disposed on the water tank 422 for detecting the liquid level of the cleaning liquid in the water tank 422. In this way, the stair-climbing device 10 can determine whether the cleaning liquid needs to be added to the water tank 422 based on the liquid level detected by the level detector, which is highly automated and convenient to use.

[0256] For example, when the liquid level in water tank 422 is higher than a preset threshold, it can indicate that water tank 422 is full and stop adding cleaning liquid to water tank 422. When the liquid level in water tank 422 is lower than another preset threshold, it can indicate that water tank 422 is low on liquid and add cleaning liquid to water tank 422 in a timely manner to avoid failure to replenish cleaning liquid for cleaning equipment in a timely manner.

[0257] In some embodiments, the liquid level detector may be a photoelectric liquid level detector, a capacitive liquid level detector, an ultrasonic liquid level detector, a float liquid level detector, etc., and this embodiment does not limit it.

[0258] Figure 10 This is a schematic diagram of the water tank in the stair-climbing device provided in the embodiments of this application. Figure 11 This is a schematic diagram of the exploded structure of the water tank in the stair-climbing device provided in the embodiments of this application.

[0259] In some embodiments, please refer to Figure 10 and Figure 11 Taking a float-type liquid level detector as an example, the liquid level detector includes a floating component 4231 and a magnetic component 4232, which are connected to the floating component 4231. The float can be made of polypropylene (PP), polyvinylidene difluoride (PVDF), etc., which has a low density to float on the surface of the clean liquid. The magnetic component 4232 can be a neodymium iron boron magnet, ferrite magnet, AlNiCo magnet, etc., used to generate a magnetic field. The magnetic component 4232 can be fixedly connected to the floating component 4231 by means of bonding, snap-fitting, screwing, etc., or embedded inside the floating component 4231, so that it floats on the surface of the clean liquid through the floating component 4231.

[0260] In some embodiments, a guide member 4221, such as a guide pipe, is provided inside the water tank 422. The guide member 4221 has a guide channel 4222 extending along the height direction z of the water tank 422. That is, the guide channel 4222 extends along the height direction of the water tank 422 and communicates with the inner cavity of the water tank 422 so that the cleaning liquid enters the guide channel 4222. In this way, the liquid level of the cleaning liquid in the guide channel 4222 can rise and fall with the liquid level of the cleaning liquid in the water tank 422, and the liquid level height of the cleaning liquid in the guide channel 4222 is the same as the liquid level height of the cleaning liquid in the water tank 422.

[0261] In some embodiments, a communication port may be provided on the guide member 4221 so that the cleaning liquid in the water tank 422 can enter the guide channel 4222 through the communication port. The communication port may extend along the height direction of the water tank 422 so that there is a large communication area between the inner cavity of the water tank 422 and the guide channel 4222, thereby preventing the liquid level in the guide channel 4222 from not following the rise and fall of the liquid level in the inner cavity of the water tank 422 in real time, and improving the detection accuracy of the liquid level detector.

[0262] In some embodiments, the floating element 4231 is located within the guide channel 4222. The size of the floating element 4231 may be larger than the size of the connecting opening to prevent the floating element 4231 from detaching from the guide channel 4222 via the connecting opening. The floating element 4231 and the magnetic element 4232 are integrated as a whole, and their size is smaller than the size of the guide channel 4222 so that the floating element 4231 can float on the surface of the cleaning liquid and rise and fall with the surface of the cleaning liquid, preventing the floating element 4231 and the magnetic element 4232 from getting stuck in the guide channel 4222.

[0263] In this way, the magnetic component 4232 can rise and fall with the surface of the cleaning liquid via the floating component 4231, so that the magnetic field generated by the magnetic component 4232 rises and falls with the surface of the liquid.

[0264] In some embodiments, the inner wall of the guide member 4221 can limit the floating member 4231 and the magnetic member 4232 to prevent the floating member 4231 and the magnetic member 4232 from floating at different positions in the water tank 422 due to liquid surface sloshing.

[0265] In some embodiments, the liquid level detector further includes a magnetic induction element 4233, which may include a Hall element. The magnetic induction element 4233 is disposed on the outside of the water tank 422 and is used to detect the magnetic field strength at its location and generate a corresponding electrical signal, thereby determining the liquid level height at the corresponding location of the magnetic induction element 4233.

[0266] In some embodiments, there may be multiple magnetic sensors 4233, such as two, three or more. The following embodiments illustrate a liquid level detector having three magnetic sensors 4233.

[0267] In some embodiments, multiple magnetic sensors 4233 may be spaced apart along the extension direction of the guide channel 4222, that is, multiple magnetic sensors 4233 may be spaced apart along the height direction of the water tank 422. The multiple magnetic sensors 4233 are configured to obtain different liquid level heights of the cleaning liquid through magnetic induction with the magnetic element 4232. By setting multiple magnetic sensors 4233, multi-level liquid level detection of the water tank 422 can be performed. For example, the liquid level height detected by three magnetic sensors 4233 can respectively correspond to the low-level alarm state of the water tank 422 when it is low, the mid-level indication state when the water tank 422 needs to be replenished, and the full state of the water tank 422.

[0268] In some embodiments, multiple magnetic induction elements 4233 may be provided at the same height position. For example, two magnetic induction elements 4233 are provided at the top and bottom of the water tank 422 respectively, so as to determine the liquid level height through redundant detection and prevent a single magnetic induction element 4233 from misjudging the liquid level height.

[0269] In some embodiments, since the floating element 4231 and the magnetic element 4232 are disposed inside the water tank 422, and the magnetic induction element 4233 is disposed outside the water tank 422, there is no direct physical connection between the two, which avoids opening holes in the water tank 422, and the water tank 422 has good sealing performance.

[0270] In some embodiments, the guide 4221 is connected to the inner wall of the water tank 422. The guide 4221 can be fixedly connected to the water tank 422 by welding, snap-fitting, screwing, etc., with high fixation stability. Furthermore, by setting the guide 4221 at the inner wall of the water tank 422, the distance between the magnetic component 4232 and the magnetic induction component 4233 can be reduced, and the detection accuracy of the liquid level detector can be improved.

[0271] In some embodiments, the magnetic induction element 4233 is connected to the outer wall surface of the water tank 422 and is disposed opposite to the guide element 4221. This allows for a smaller gap between the magnetic element 4232 and the magnetic induction element 4233, resulting in higher detection accuracy of the liquid level detector.

[0272] In some embodiments, the water tank 422 can be a relatively regular geometric shape. For example, the cross-sectional shape of the water tank 422 is rectangular and extends along the height direction z of the device body 10a. In this way, the structure of the water tank 422 is relatively simple.

[0273] In some embodiments, considering that the size of the receiving space 120 is generally larger than the size of the cleaning equipment, collisions between the cleaning equipment and the device body 10a can be avoided when the cleaning equipment enters or exits the receiving space 120. Thus, when the cleaning equipment is parked in the receiving space 120, there can be a mating gap between the cleaning equipment and the side wall 101 of the receiving space 120.

[0274] Correspondingly, the water tank 422 can also be deformed based on a relatively regular geometric shape to form an irregularly shaped water tank. At least a portion of the water tank 422 (i.e., the part of the water tank 422 closest to the cleaning equipment) extends toward the side of the opening 121 of the receiving space 120. In this way, when the cleaning equipment is parked in the receiving space 120, there can be a smaller mating gap between the water tank 422 and the cleaning equipment, thereby increasing the volume of the water tank 422 and allowing the stair-climbing device 10 to provide more cleaning liquid to the cleaning equipment in a single operation.

[0275] Meanwhile, the water tank 422 can be installed around the outside of the cleaning equipment to fit the installation space adjacent to the cleaning equipment. In other words, the water tank 422 can extend into the gap between the cleaning equipment and the side wall 101 to increase the volume of the water tank 422. This allows the stair climbing device 10 to provide more cleaning liquid to the cleaning equipment at one time, and also makes the structure of the stair climbing device 10 more compact, thus improving the space utilization rate of the stair climbing device 10.

[0276] In some embodiments, a partition plate 130a is provided inside the device body 10a. That is, the partition plate 130a can divide the inner cavity of the device body 10a into two independent spaces. The receiving space 120 is located on one side of the partition plate 130a, and the water storage component 420 is located on the opposite side of the partition plate 130a. The first water supply port 4211 is formed on the partition plate 130a. The energy storage component can also be formed on the partition plate 130a for docking with the cleaning device and the first charging part 4132. In this way, when the cleaning device is parked in the receiving space 120, the cleaning device is located on one side of the partition plate 130a, and the water storage component 420 and the energy storage component are both located on the opposite side of the partition plate 130a. The cleaning device can dock with both the first water supply port 4211 and the first charging part 4132 at the same time.

[0277] In this way, when the cleaning equipment enters the receiving space 120, the partition 130a can protect the water storage component 420 and the energy storage component, preventing the cleaning equipment from colliding with them due to parking errors or other reasons. Furthermore, it creates a physical isolation between the cleaning equipment and the water storage component 420 and the energy storage component, preventing damage to the cleaning equipment from leaks in the water storage component 420 (e.g., the water tank 422 or the connection between the water tank 422 and the water supply pipe). It also reduces the amount of water vapor generated by the cleaning liquid seeping towards the cleaning equipment, improving the safety of the cleaning equipment.

[0278] In some embodiments, the partition plate 130a is connected to at least the support plate 100 and the two side walls 101 respectively to prevent the cleaning liquid from flowing towards the receiving space 120 when the water storage assembly 420 leaks. That is, the height of the partition plate 130a may be less than or equal to the height of the receiving space 120, and this embodiment does not limit its height.

[0279] In some embodiments, the partition plate 130a can be flat, with a relatively simple structure.

[0280] In some embodiments, to accommodate the shape of the cleaning equipment, the partition 130a can also be an arc-shaped plate. In this way, when the cleaning equipment is parked in the receiving space 120, the partition 130a is used to surround the outside of the cleaning equipment so that the structure inside the stair climbing device 10 is more compact.

[0281] In this way, the end of the partition plate 130a bends and extends toward the side closer to the opening 121, and the end of the partition plate 130a has an angle with the side wall 101 so that the partition plate 130a can form an angled area after it is connected to the side wall of the device body 10a. Part of the water tank 422 can extend into the angled area to increase the volume of the water tank 422, so that the stair climbing device 10 can provide more cleaning liquid to the cleaning equipment in one go, with a strong single cleaning endurance, and can enable the cleaning equipment to perform cleaning operations for a longer time and cover a larger cleaning area. It can also improve the space utilization rate within the housing space 120, which is conducive to the miniaturization of the stair climbing device 10.

[0282] In some embodiments, when the cleaning equipment is docked within the receiving space 120, the cleaning equipment is configured to plug into the device body 10a, thereby connecting the cleaning equipment to the first water supply port 4211 and the energy storage component. At this time, the stair-climbing device 10 can selectively perform one or both maintenance operations on the cleaning equipment, such as charging or replenishing cleaning fluid.

[0283] In this way, during the process of the cleaning equipment entering the containment space 120, the cleaning equipment can be guided and positioned by the plug-in connection method, so as to avoid the cleaning equipment being unable to connect with the first water supply port 4211 and the energy storage component due to deviation during the process of entering. This would prevent the climbing device 10 from performing maintenance operations such as replenishing cleaning liquid and charging the cleaning equipment when it enters the containment space 120, or cause the cleaning equipment to be pressed against the water supply plug and the first charging unit 4132 when it leaves the containment space 120, resulting in damage to the cleaning equipment, the water supply plug or the first charging unit 4132.

[0284] To achieve alignment between the cleaning equipment and the first water inlet 4211, a first guide protrusion 131 may be provided on one of the cleaning equipment and the device body 10a.

[0285] In some embodiments, when the first guide protrusion 131 is provided on the device body 10a, the first guide protrusion 131 may be provided on the inner wall surface of the receiving space 120 of the device body 10a. Correspondingly, a first guide groove that interlocks with the first guide protrusion 131 may be provided on the cleaning device to avoid increasing the circumferential dimension of the cleaning device.

[0286] In some embodiments, the extension direction of the first guide protrusion 131 is configured to be parallel to the travel direction of the cleaning device as it enters the receiving space 120. In this way, during the process of the cleaning device entering the receiving space 120, the first guide protrusion 131 can be inserted into the first guide groove until the cleaning device stops in the receiving space 120, at which point the first guide protrusion 131 is plugged into the cleaning device.

[0287] In some embodiments, the cross-sectional dimensions of the first guide protrusion 131 gradually decrease from the connecting end to the free end, that is, the first guide protrusion 131 is an approximately conical protrusion. The dimensions of the connecting end and the free end of the first guide protrusion 131 can be set as needed, and this embodiment does not limit them.

[0288] During the process of the cleaning equipment entering the receiving space 120, the small free end of the first guide protrusion 131 can extend into the first guide groove. The distance between the free end of the first guide protrusion 131 and the inner wall of the first guide groove opening is relatively large. If the cleaning equipment tilts when entering the receiving space 120, the first guide protrusion 131 can abut against the inner wall of the first guide groove. This abutment between the first guide protrusion 131 and the inner wall of the first guide groove provides guidance and limitation for the cleaning equipment, allowing it to adjust its entry path in real time during the process of entering the receiving space 120 until the first guide protrusion 131 is inserted and connected to the first guide groove, and the first water supply port 4211 is connected to the cleaning equipment. In this way, the alignment requirements for the cleaning equipment when entering the receiving space 120 are lower.

[0289] In some embodiments, to prevent the cleaning equipment from moving relative to the device body 10a during the climbing process of the stair climbing device 10, a retractable snap-fit ​​member may also be provided on the device body 10a. The extension and retraction direction of the snap-fit ​​member may have an angle with the extension direction of the first guide protrusion 131. For example, the snap-fit ​​member is provided on the side of the device body 10a along the travel direction y and extends and retracts along the width direction x of the device body 10a.

[0290] In this way, when the cleaning equipment is parked in the receiving space 120, the snap-fit ​​can extend and plug into the cleaning equipment to improve the parking stability of the cleaning equipment and prevent the cleaning equipment from falling out of the receiving space 120 along the extension direction of the first guide protrusion 131, thus ensuring the safety of the cleaning equipment.

[0291] Furthermore, the extension direction of the snap-fit ​​component forms an angle with the extension direction of the first guide protrusion 131. Through the synergistic effect of the snap-fit ​​component and the first guide protrusion 131, the cleaning equipment can be effectively fixed, preventing the cleaning equipment from moving or rotating within the receiving space 120 during the climbing process of the stair climbing device 10.

[0292] In some embodiments, there may be multiple snap-fit ​​components, which are respectively disposed on both sides of the device body 10a along the width direction x.

[0293] In some embodiments, there are multiple first guide protrusions 131, such as two, three or more, and the multiple first guide protrusions 131 are spaced apart. In this way, when the cleaning device is parked in the receiving space 120, the cleaning device can form a multi-point snap-fit ​​positioning through the multiple first guide protrusions 131, and the guiding positioning effect between the cleaning device and the device body 10a is better, making it easier to realize the docking of the cleaning device with the first water supply port 4211 and the energy storage component.

[0294] In some embodiments, the height of the water tank 422 is greater than or equal to the height of the cleaning equipment (e.g., Figure 12 (As shown). In this way, the water tank 422 can have a large volume, so that the stair-climbing device 10 can provide more cleaning liquid to the cleaning equipment in one go, with a strong single cleaning endurance, allowing the cleaning equipment to carry out cleaning operations for a longer period of time and cover a larger cleaning area.

[0295] In some embodiments, the device body 10a includes a support plate 100 and two side walls 101. The support plate 100 supports the cleaning device, and the two side walls 101 are respectively connected to opposite sides of the support plate 100. For example, the two side walls 101 are respectively disposed on both sides of the support plate 100 along the width direction x. The device body 10a also includes a top cover plate 200, the two sides of which are respectively connected to the two side walls 101 to form a receiving space 120.

[0296] In this way, the support plate 100, side walls 101, and top cover 200 can form an annular structure with openings at both ends, providing better protection for the cleaning equipment. One opening of this annular structure can form the opening 121 of the receiving space 120, and is located at one end of the two side walls 101 along the travel direction y, allowing the cleaning equipment to enter or exit the receiving space 120. The water storage component 420 and the energy storage component are located at the other opening of the annular structure, so that opening 121 and the water storage component 420 and energy storage component are respectively located on opposite sides of the receiving space 120.

[0297] Furthermore, the device body 10a only has an opening 121 for the cleaning equipment to enter and exit, which can provide better protection for the cleaning equipment so that the cleaning equipment can be stably stopped in the receiving space 120 during the climbing process of the stair climbing device 10.

[0298] In some embodiments, each sidewall 101 is provided with a crawling arm assembly, so that the crawling arm assembly can be supported on both sides of the device body 10a along the width direction x, the force on the device body 10a is relatively balanced, which can prevent the climbing device 10 from tilting and the support stability is high.

[0299] In some embodiments, during the climbing process of the stair climbing device 10, the opening 121 of the receiving space 120 can be located in front of the traveling direction y of the device body 10a. In this way, the direction in which the cleaning equipment enters or exits the receiving space 120 can be parallel to the traveling direction y of the stair climbing device 10, so as to avoid the cleaning equipment colliding with the climbing arm assembly when entering or exiting the receiving space 120.

[0300] In some embodiments, the water tank 422 is fixedly connected to the support plate 100. That is, by fixing the water tank 422 to the support plate 100, the connection between the water tank 422 and the device body 10a is achieved, preventing the water tank 422 from swaying or moving relative to the support plate 100 during the climbing process of the stair-climbing device 10. The water tank 422 can be fixedly connected to the support plate 100 by snap-fit ​​or by threaded connectors; this embodiment does not impose any limitation.

[0301] In some embodiments, as shown in 3G, the upper cover plate 200 is provided with a relief groove 210. The shape of the relief groove 210 can be adapted to the cross-sectional shape of the water tank 422. The upper end of the water tank 422 extends into the relief groove 210 and is fixedly connected to the upper cover plate 200. For example, the water tank 422 can be fixedly connected to the upper cover plate 200 by means of screws, snaps, etc. Accordingly, the recess depth of the relief groove 210 is less than the height of the upper cover plate 200 to prevent the relief groove 210 from penetrating the upper cover plate 200, causing the water tank 422 to be exposed on the outside of the stair climbing device 10.

[0302] In this way, the water tank 422 can have a large capacity, so that the stair-climbing device 10 can provide more cleaning liquid to the cleaning equipment at one time, and the single cleaning endurance is strong, so that the cleaning equipment can carry out cleaning operations for a longer time and cover a larger cleaning area.

[0303] Furthermore, the two ends of the water tank 422 along the height direction z are fixedly connected to the upper cover plate 200 and the support plate 100 respectively. In this way, the upper end of the water tank 422 does not constitute a free end, which can prevent the upper end of the water tank 422 from swinging back and forth due to the sloshing of the cleaning liquid during the climbing process of the stair climbing device 10, thereby causing fatigue failure of the fixed connection between the water tank 422 and the support plate 100. The fixed stability of the water tank 422 is relatively high.

[0304] This application provides a cleaning system, including cleaning equipment, a base station, and the aforementioned stair-climbing device 10. The structure, function, and working principle of the stair-climbing device 10 have been described in the above embodiments and will not be repeated here.

[0305] In some embodiments, the cleaning equipment may be a robot vacuum cleaner, a window cleaning robot, a floor scrubbing robot, an air purifying robot, a pool cleaning robot, a lawn mowing robot, a household assistant robot, or other cleaning equipment that needs to perform cleaning operations across floors.

[0306] In some embodiments, the base station can perform maintenance operations such as storing, charging, replenishing cleaning fluid, and cleaning the stair-climbing device 10. The stair-climbing device 10 can return to the base station when the battery is low, the cleaning fluid is low, or the cleaning operation of the cleaning equipment is completed. The stair-climbing device 10 can also return to the base station upon a recall command from the base station. This embodiment does not limit the structure or type of the base station and the cleaning equipment.

[0307] The cleaning system incorporates the aforementioned stair-climbing device 10, which provides the same functionality. By providing a receiving space 120, the cleaning equipment can be parked within the space and move along with the stair-climbing device 10. With a crawling arm assembly, the stair-climbing device 10 can propel the cleaning equipment across the ground or over obstacles, eliminating the need for users to manually carry the equipment for charging. Furthermore, by providing an energy storage component 413, the stair-climbing device 10 can supply power to the cleaning equipment within the receiving space 120, allowing the equipment to perform cleaning operations for longer periods and cover a larger area. This avoids the equipment having to repeatedly travel back and forth to the base station, thus eliminating the need for users to climb stairs to carry the equipment, resulting in a better user experience.

[0308] In some embodiments, the base station is provided with a charging component for electrical connection to an external power source. The charging component may include power conversion components such as filters and transformers. Correspondingly, the supply module 4134 of the stair-climbing device 10 is provided with a second charging unit 4133. The second charging unit 4133 is used to electrically connect with the charging component when the stair-climbing device 10 is docked inside the base station, so that the charging component supplies power to at least one of the energy storage device 4131 and the cleaning equipment.

[0309] In this way, when the stair-climbing device 10 is docked inside the base station for charging, the cleaning equipment can be docked inside the housing space 120 to charge either the energy storage device 4131 or the cleaning equipment, or to charge both simultaneously. When the stair-climbing device 10 is docked inside the base station for charging, the cleaning equipment can also drive out of the housing space 120 to perform cleaning operations.

[0310] In this way, when the power of the energy storage device 4131 is lower than the preset value, the stair climbing device 10 can return to the base station and be charged by the charging component, at which time the cleaning equipment can carry out cleaning operations.

[0311] In some embodiments, to enable the energy storage component 413 to interface with the power supply component of the base station, one of the device body 10a and the base station is provided with a second guide protrusion, and the other is provided with a second guide groove 4212. For example, the device body 10a is provided with a second guide protrusion, and the base station is provided with a second guide groove 4212. The following embodiments are described using the example of the device body 10a being provided with a second guide groove 4212 and the base station being provided with a second guide protrusion, in order to avoid increasing the circumferential dimension of the device body 10a when a protruding second guide protrusion is provided on the device body 10a, and also to avoid increasing the probability of the device body 10a colliding with obstacles.

[0312] The second charging section 4133 and the second guide groove 4212 can both be disposed on the rear side of the device body 10a along the direction y (e.g., Figure 6 As shown), when the climbing device 10 enters the base station in a "reverse docking" manner, the second wire protrusion can be inserted into the second guide groove 4212, and the second charging part 4133 can dock with the charging component of the base station.

[0313] In some embodiments, a second water supply port 423 connected to the water storage component may also be provided on the rear side of the device body 10a. In this way, when the stair climbing device 10 stops inside the base station, the second water supply port 423 can be connected to the water supply component of the base station to replenish the water tank 422 with cleaning liquid through the base station.

[0314] In some embodiments, the extension direction of the second guide protrusion is parallel to the entry direction of the stair climbing device 10. In this way, when the stair climbing device 10 enters the base station, the first guide protrusion 131 can be inserted into the second guide groove 4212. When the stair climbing device 10 stops inside the base station, the second guide protrusion and the second guide groove 4212 are connected to each other so that the energy storage component 413 can be docked with the charging component.

[0315] In some embodiments, the cross-sectional dimensions of the second guide protrusion gradually decrease from the connecting end to the free end, that is, the second guide protrusion is an approximately conical protrusion. The dimensions of the connecting end and the free end of the second guide protrusion can be set as needed, and this embodiment does not limit them.

[0316] During the process of the climbing device 10 entering the base station, the small free end of the second guide protrusion can extend into the second guide groove 4212. The distance between the free end of the second guide protrusion and the inner wall of the second guide groove 4212 is relatively large. If the climbing device 10 tilts when entering the base station, the second guide protrusion can abut against the inner wall of the second guide groove 4212. The abutment between the second guide protrusion and the inner wall of the second guide groove 4212 forms a guiding limit for the climbing process, allowing the climbing device 10 to adjust its entry path in real time until the second guide protrusion and the second guide groove 4212 are connected, and the second charging unit 4133 is connected to the charging component. In this way, the alignment requirements for the climbing device 10 when entering the base station are lower.

[0317] In some embodiments, there are multiple second guide protrusions and multiple second guide grooves 4212, such as two, three or more, with the multiple second guide protrusions spaced apart. In this way, when the stair climbing device 10 stops inside the base station, the stair climbing device 10 can form a multi-point engagement positioning through the multiple second guide protrusions and the second guide grooves 4212, resulting in a better guiding and positioning effect between the stair climbing device 10 and the base station, and facilitating the docking between the second water inlet 423 and the water supply component.

[0318] In some embodiments, when the liquid level in the water tank 422 is lower than a preset value, the water tank 422 can be replenished in different ways depending on its installation method. For example, the user can open the water tank 422 and manually replenish the cleaning liquid. The stair-climbing device 10 can also return to the base station to replenish the cleaning liquid, thereby improving the intelligence level of the stair-climbing device 10 and reducing the user's workload.

[0319] In some embodiments, when the liquid level in the water tank 422 is lower than a preset value, the stair climbing device 10 can be displayed as being in a state where cleaning liquid needs to be replenished through an LCD display, warning light, or other means.

[0320] In some embodiments, the base station is equipped with a water supply component, and when the stair climbing device 10 is parked inside the base station, the water supply component is used to supply water to the water storage component 420.

[0321] Correspondingly, the water supply module also has a second water supply port connected to the water supply component, which can be located on the rear side of the device body 10a along the direction y.

[0322] In some embodiments, the water supply assembly may include a base station water tank and a base station water supply pipeline. The base station water tank is used to hold cleaning liquid, and one end of the base station water supply pipeline is connected to the base station water tank, while the other end is used to connect to and be connected to a second water supply port to replenish the cleaning liquid to the water tank of the stair climbing device 10.

[0323] In some embodiments, the water supply component can also be connected to a water source via a base station water supply pipeline, which is equipped with an on / off water valve. When the stair-climbing device 10 is parked inside the base station, the second water supply port is connected to the base station water supply pipeline, and the water tank 422 is replenished with cleaning liquid by opening and closing the water valve.

[0324] The above is an example of the base station water supply components and the base station water supply method. This embodiment does not limit the structure of the base station water supply components or the water supply method. It can be understood that when the stair-climbing device 10 stops inside the base station to replenish the cleaning liquid, the cleaning equipment can stop inside the receiving space 120, or the cleaning equipment can drive out of the receiving space 120 to perform cleaning operations.

[0325] In some embodiments, when the liquid level in the water tank 422 is higher than a preset value, the water supply assembly can stop supplying cleaning liquid to the water tank 422.

[0326] In this way, when the liquid level detector detects that the liquid level in the water tank 422 is lower than the preset value, the stair climbing device 10 can return to the base station and replenish the cleaning liquid through the water supply component to extend the single cleaning cycle of the cleaning equipment. At this time, the cleaning equipment can carry out cleaning operations.

[0327] In some embodiments, to connect the second water inlet to the water supply pipeline of the base station, one of the device body 10a and the base station is provided with a second guide protrusion, and the other is provided with a second guide groove 4212. For example, the device body 10a is provided with a second guide protrusion, and the base station is provided with a second guide groove 4212. The following embodiments are described using the example of the device body 10a being provided with a second guide groove 4212 and the base station being provided with a second guide protrusion, in order to avoid increasing the circumferential dimension of the device body 10a when a protruding second guide protrusion is provided on the device body 10a, and also to avoid increasing the probability of the device body 10a colliding with obstacles.

[0328] The second guide groove 4212 can be disposed on the rear side of the device body 10a along the direction y (e.g.,Figure 31 As shown), when the climbing device 10 enters the base station in a "reverse docking" manner, the second conductor protrusion can be inserted into the second guide groove 4212, and the water storage component 420 can be docked with the second water supply port.

[0329] In some embodiments, a second charging unit 4133 connected to the energy storage component may also be provided on the rear side of the device body 10a. In this way, when the stair climbing device 10 stops inside the base station, the second charging unit 4133 can be connected to the charging component of the base station to charge the energy storage component 4131 through the base station.

[0330] In some embodiments, the extension direction of the second guide protrusion is parallel to the entry direction of the stair climbing device 10. In this way, when the stair climbing device 10 enters the base station, the second guide protrusion can extend into the second guide groove 4212. When the stair climbing device 10 stops inside the base station, the second guide protrusion and the second guide groove 4212 are connected to each other so that the water storage component 420 is connected to the water supply component.

[0331] In some embodiments, the cross-sectional dimensions of the second guide protrusion gradually decrease from the connecting end to the free end, that is, the second guide protrusion is an approximately conical protrusion. The dimensions of the connecting end and the free end of the second guide protrusion can be set as needed, and this embodiment does not limit them.

[0332] During the process of the stair-climbing device 10 entering the base station, the small free end of the second guide protrusion can extend into the second guide groove 4212. The distance between the free end of the second guide protrusion and the inner wall of the second guide groove 4212 is relatively large. If the stair-climbing device 10 tilts when entering the base station, the second guide protrusion can abut against the inner wall of the second guide groove 4212. This abutment between the second guide protrusion and the inner wall of the second guide groove 4212 provides guidance and limitation for the stair-climbing device 10, allowing it to adjust its entry path in real time until the second guide protrusion and the second guide groove 4212 are connected, and the second water supply port is connected to the water supply component. This reduces the alignment requirements for the stair-climbing device 10 when entering the base station.

[0333] In some embodiments, there are multiple second guide protrusions and multiple second guide grooves 4212, such as two, three or more, with the multiple second guide protrusions spaced apart. In this way, when the stair climbing device 10 stops inside the base station, the stair climbing device 10 can form a multi-point engagement positioning through the multiple second guide protrusions and the second guide grooves 4212, resulting in a better guiding and positioning effect between the stair climbing device 10 and the base station, and facilitating the docking between the second water supply port and the water storage component.

[0334] In some embodiments, to more accurately guide the stair-climbing device 10 back to the base station, the stair-climbing device 10 is equipped with a signal acquisition component. The signal acquisition component is used to acquire guidance information from the base station in order to return to the base station. The signal acquisition component can be at least one of an infrared receiver, a visual sensor, or a lidar.

[0335] In some embodiments, the signal acquisition component can be an infrared receiver to guide the stair-climbing device 10 back to the base station via infrared guidance. The corresponding base station is equipped with an infrared transmitter for transmitting guidance information. Multiple infrared receivers can be present, each positioned at a different location around the stair-climbing device 10. The infrared transmitter can form a multi-angle infrared signal field around the base station. After receiving the infrared guidance information, the infrared receiver determines the deviation direction of the stair-climbing device 10 based on the intensity of the received infrared guidance information, and adjusts its travel direction y in real time until it returns to the base station.

[0336] In this embodiment, there can be multiple infrared transmitters and infrared receivers, and this embodiment does not impose any restrictions.

[0337] In some embodiments, the signal acquisition device can be a lidar, which guides the stair-climbing device 10 back to the base station via lidar positioning guidance. The lidar can emit laser light and receive the reflected laser light to construct a three-dimensional map model of the surrounding environment and determine the current position of the stair-climbing device 10. In this way, the path for the stair-climbing device 10 to return to the base station can be planned using the three-dimensional map model.

[0338] In some embodiments, the signal acquisition device is a visual sensor to guide the stair-climbing device 10 back to the base station via visual positioning guidance. The visual sensor may include a camera, which can acquire image information of the environment surrounding the stair-climbing device 10 and construct a three-dimensional map model of the environment, while determining the current position of the stair-climbing device 10. In this way, the path for the stair-climbing device 10 to return to the base station can be planned.

[0339] In some embodiments, the stair climbing device 10 can also be guided back to the base station by ultrasonic guidance, Bluetooth guidance, or other means. This embodiment does not limit this.

[0340] In some embodiments, the stair-climbing device 10 can be equipped with multiple different signal acquisition components to form a hybrid guidance system. This allows for improved accuracy, reliability, and anti-interference capabilities in guidance and positioning through the synergistic effect of multiple signal acquisition components. For example, the stair-climbing device 10 can be equipped with both a lidar and a visual sensor, or it can be equipped with an infrared receiver, lidar, and a visual sensor simultaneously. This embodiment does not limit the guidance method by which the stair-climbing device 10 returns to the base station.

[0341] See alsoFigure 2 As shown, two clamping mechanisms 600 are provided in the receiving space 120. The two clamping mechanisms 600 are arranged at a distance from each other along a first direction (x direction), and the clamping mechanisms 600 are configured to clamp the cleaning equipment (self-moving device) that is docked in the receiving space 120.

[0342] By installing two clamping mechanisms 600 spaced apart along the first direction (x-direction) within the housing space 120, this structure can simultaneously apply clamping force from both the left and right sides of the cleaning equipment (self-moving device) in its direction of travel. This clamping method is coordinated with the robot's entry direction (second direction (y-direction)). After the robot stops, the clamping mechanisms 600 can stably hold the robot body, effectively preventing it from shaking or shifting during subsequent stair climbing or resupply operations. This ensures the stability of the charging, water storage, and other maintenance operation interface connections, and also enhances the structural rigidity and safety of the entire stair climbing device 10 when carrying the cleaning equipment (self-moving device) for stair climbing, obstacle crossing, and other operations, ensuring a smooth and reliable stair climbing process.

[0343] For example, a portion of the clamping mechanism 600 is retractably mounted on the first crawling arm 300. Within the first crawling arm 300, a drive structure for extending and retracting the clamping mechanism 600, and a detection structure for detecting whether the cleaning device (self-moving device) is located within the receiving space 120, can be configured. When the detection structure detects that the cleaning device is within the receiving space, it can control the drive structure to extend both clamping mechanisms 600 into the receiving space 120, thereby clamping the cleaning device (self-moving device) within the receiving space 120.

[0344] For example, the cleaning device (self-moving device) may be provided with clamping parts (e.g., groove structures) on both sides of the clamping mechanism 600 corresponding to the clamping mechanism 600. When the clamping mechanism 600 is used to engage with the clamping part after the cleaning device (self-moving device) is in place, it prevents the cleaning device (self-moving device) from slipping off the opening 121 during the climbing process.

[0345] By retractably housing a portion of the clamping mechanism 600 within the first crawling arm 300, the clamping mechanism 600 can retract into the first crawling arm 300 when not in operation, making the accommodating space 120 more regular and facilitating the smooth entry of the cleaning equipment (self-moving device). When it is necessary to secure the robot, the clamping mechanism 600 can be extended from the first crawling arm 300 to perform the clamping action. This optimizes the space utilization within the accommodating space, avoids potential interference caused by the exposed clamping mechanism 600, and utilizes the first crawling arm 300 as a support and guide structure to ensure the stability and accuracy of the clamping action, thereby reliably ensuring the positional stability of the cleaning equipment (self-moving device) during stair climbing or resupply processes.

[0346] See also Figure 2 and Figure 3 As shown, the stair-climbing device 10 also includes at least one second climbing arm 500. The second climbing arm 500 is rotatably disposed on the side of the first climbing arm 300 away from the receiving space 120. That is, the second climbing arm 500 can swing relative to the first climbing arm 300, which can increase the obstacle-crossing ability of the stair-climbing device 10.

[0347] It should be noted that the number of second crawling arms 500 can be one, two, three, or four. In this embodiment, the number of second crawling arms 500 is not further limited.

[0348] For example, the stair climbing device 10 may include two second climbing arms 500, with a second climbing arm 500 connected to the outside of each first climbing arm 300.

[0349] For example, the stair climbing device 10 may include four second climbing arms 500, with two second climbing arms 500 connected to the outside of each first climbing arm 300.

[0350] By rotating at least one second crawling arm 500 on the side of the first crawling arm 300 away from the receiving space 120, a multi-stage crawling arm system is formed. The second crawling arm 500, as an extension and supplement to the first crawling arm 300, can coordinate its movements with the first crawling arm 300, sequentially grasping or supporting obstacles such as stair steps, providing the stair climbing device 10 with a longer crossing distance and more stable support points. This effectively enhances the obstacle-crossing ability and terrain adaptability of the stair climbing device 10, enabling it to cope with higher or more complex stair environments.

[0351] In this embodiment, there are multiple second crawling arms 500. Each first crawling arm 300 has two second crawling arms 500. The two second crawling arms 500 located on the same first crawling arm 300 are spaced apart along a second direction (y-direction). For example, the two second crawling arms 500 located on the same first crawling arm 300 are respectively located at both ends of the first crawling arm 300 along the second direction (y-direction).

[0352] By providing two second climbing arms 500 spaced apart along the second direction (y-direction) (perpendicular to the first direction (x-direction)) on each first climbing arm 300, this structure achieves significant optimization in obstacle-crossing stability. The two second climbing arms 500 form a wider support surface perpendicular to the climbing direction, acting like "feet" for the device, making the contact between the device and the steps more stable during climbing and effectively preventing lateral tipping of the stair-climbing device 10. This layout greatly enhances the lateral balance and grip of the stair-climbing device 10, ensuring higher reliability and safety when performing stair-climbing actions.

[0353] In one possible implementation, two second crawling arms 500 located on the same first crawling arm 300 can be driven independently. Independent driving here means that the oscillation relative to the first crawling arm 300 is driven independently. The spacing between the two second crawling arms 500 is configured so that when one second crawling arm 500 is in a retracted state, it does not cause motion interference with the other second crawling arm 500.

[0354] It should be noted that the "folded state" refers to the state in which the second crawling arm 500 rotates relative to the first crawling arm 300 to the side of the first crawling arm 300, and the extension direction of the second crawling arm 500 is the same as the extension direction of the first crawling arm 300. In other words, the second crawling arm 500 is in the folded state when it rotates to the point where its extension direction is parallel to the second direction (y direction).

[0355] By configuring the two second crawling arms 500 located on the same first crawling arm 300 as independently driven, and ensuring that the spacing between them does not interfere with each other when one is retracted, the flexibility and precision of the obstacle-crossing strategy are greatly improved. Independent drive allows each second crawling arm 500 to independently adjust its rotation angle and position according to the actual stair conditions, thus adapting to non-standard or uneven stairs. At the same time, sufficient spacing ensures that each second crawling arm 500 has independent movement space in the retraction and extension action sequence, avoiding movement interference between mechanisms and ensuring reliable execution of complex climbing actions.

[0356] The structure of the first crawling arm 300 and the second crawling arm 500 will be described below with reference to the accompanying drawings.

[0357] like Figure 13 As shown, the first crawling arm 300 may include a first boom 310 and a first track 320. The first track 320 is movably disposed within the first boom 310, and a portion of the structure of the first track 320 is exposed from the bottom of the first boom 310 so that the first track 320 contacts the ground.

[0358] For example, the first boom 310 may include a mounting cavity, and the first track 320 is movably disposed within the mounting cavity. The bottom of the mounting cavity is an open structure, allowing the first track 320 to contact the ground from the opening at the bottom of the first boom 310. The first boom 310 is provided with synchronous pulleys, two of which are spaced apart along the extension direction (i.e., the y-direction) of the first boom 310. The first track 320 wraps around the outside of the two synchronous pulleys. Rotation of the synchronous pulleys drives the first track 320 to move, thus enabling the stair-climbing device 10 to move.

[0359] In this embodiment, the two synchronous pulleys inside the first boom 310 are a first driving synchronous pulley 351 and a first driven synchronous pulley 352. The first driving synchronous pulley 351 can be driven to rotate, thereby driving the first track 320 to move, and the movement of the first track 320 drives the first driven synchronous pulley 352 to rotate.

[0360] Figure 14 This is a schematic diagram of the exploded structure of the stair-climbing device provided in the embodiments of this application.

[0361] See Figure 1 and Figure 14 As shown, this application embodiment provides a stair-climbing device 10, which can crawl along the direction of travel y to transport cleaning equipment such as a sweeping robot to a preset position. For example, it can move the cleaning equipment on the floor or stairs to move the cleaning equipment between different floors, avoiding the need for users to manually carry the cleaning equipment and reducing the user's workload. The stair-climbing device 10 and the cleaning system have a high degree of intelligence.

[0362] In some embodiments, the stair-climbing device 10 includes a device body 10a, which can be a frame structure to provide a receiving space 120 for accommodating cleaning equipment, and to have a simpler structure and lighter weight. The receiving space 120 has an opening 121 for the cleaning equipment to enter or exit the receiving space 120.

[0363] In some embodiments, the device body 10a may be made of plastic, which has a smaller weight and better impact resistance, thus avoiding a significant increase in the weight of the stair climbing device 10 and helping to improve the endurance of the stair climbing device 10.

[0364] In some embodiments, the size of the receiving space 120 may be larger than the size of the cleaning device to prevent the cleaning device from colliding with the sidewall 101 of the receiving space 120.

[0365] In some embodiments, the stair-climbing device 10 includes a crawling arm assembly connected to the device body 10a. The crawling arm assembly is movably connected to the device body 10a and is used to drive the device body 10a to crawl. In this way, when the cleaning equipment is parked in the receiving space 120, the cleaning equipment can be moved. Furthermore, the crawling arm assembly can crawl on relatively flat surfaces such as floors, crawl and cross low obstacles, or crawl on obstacles such as stairs, making it widely applicable. This avoids the need for manual handling of the cleaning equipment by walking or crossing obstacles, reducing the user's workload and providing a better user experience.

[0366] In some embodiments, the stair climbing device 10 may also include a collision protection component, which includes a collision plate 340. The collision plate 340 may be made of acrylonitrile-butadiene-styrene copolymer (ABS), polycarbonate (PC), etc. The collision plate 340 is lightweight and has strong impact resistance.

[0367] In some embodiments, the impact plate 340 is elastically connected to the device body 10a and is used to detect collisions with obstacles when the stair climbing device 10 is climbing. In this way, during the climbing process, the impact plate 340 can collide with obstacles such as walls, beds, and sofas before the device body 10a, and the elastic connection of the impact plate 340 provides elastic buffering for the device body 10a, so as to avoid the device body 10a directly colliding with the obstacles, and can reduce the impact on the device body 10a when the impact plate 340 collides with the obstacles, thus improving the safety of the device body 10a.

[0368] In some embodiments, the crawler arm assembly can be configured to perform an avoidance action in response to a collision received by the impact plate 340.

[0369] In some embodiments, the stair climbing device 10 further includes a control unit, and the climbing arm assembly and the anti-collision assembly are electrically connected to the control unit. In this way, the control unit can control the movement of the climbing arm assembly when the anti-collision assembly collides with an obstacle. For example, it can drive the stair climbing device 10 to perform actions such as moving backward or turning to avoid the obstacle, so that the stair climbing device 10 can bypass the obstacle and replan the climbing path, thereby improving the safety of the stair climbing device 10 when climbing.

[0370] In other words, by setting an elastically connected impact plate 340 on the device body 10a, when the stair climbing device 10 collides with an obstacle during the climbing process, the impact plate 340 can collide with the obstacle before the device body 10a, and provide elastic buffer for the device body 10a. In this way, the device body 10a can avoid colliding with the obstacle and the impact on the device body 10a can be reduced. The stair climbing device 10 and the cleaning equipment located in the stair climbing device 10 are highly safe.

[0371] Please see Figure 15 , Figure 16 , Figure 17 , Figure 18 ,and Figure 19In some embodiments, the anti-collision component further includes a reset unit 341, which is used to restore the collision plate 340 to its initial elastic connection state after the stair climbing device 10 bypasses the obstacle and replans the climbing path so that the collision plate 340 separates from the obstacle, and prepares for the next collision between the stair climbing device 10 and the obstacle during the climbing process.

[0372] In some embodiments, the reset unit 341 includes a swing arm 3411, which can be a rod-shaped member with a relatively simple structure. The swing arm 3411 is rotatably connected to the device body 10a, for example, the middle part of the swing arm 3411 is rotatably connected to the device body 10a. The reset unit 341 also includes an elastic member 3412, which can be a spring, a sheet, etc. One end of the elastic member 3412 is connected to the device body 10a, and the other end is connected to the first end of the swing arm 3411. The swing arm 3411 can rotate under the elastic force of the elastic member 3412. The rotation direction of the swing arm 3411 can be a first direction around its axis of rotation, so that the first end of the swing arm 3411 rotates toward the side closer to the elastic member 3412, and the second end of the swing arm 3411 rotates toward the side that abuts the impact plate 340. In this way, the impact plate 340 can move toward the side away from the device body 10a under the pressure of the second end of the swing arm 3411.

[0373] In some embodiments, the extension direction of the swing arm 3411's pivot can be set according to the placement position of the anti-collision component and the collision direction of the impact plate 340, as long as it forms an angle with the collision direction of the impact plate 340. For example, when the anti-collision component is placed on top of the stair climbing device 10, and the collision direction of the impact plate 340 is along the height direction z of the stair climbing device 10, the pivot of the swing arm 3411 can be along the travel direction y of the stair climbing device 10 or along the width direction x of the stair climbing device 10, wherein the travel direction y of the stair climbing device 10 and the width direction x of the stair climbing device 10 can be perpendicular.

[0374] In this way, under normal conditions, the first end of the swing arm 3411 rotates towards the side closer to the elastic member 3412, and the second end of the swing arm 3411 presses against the impact plate 340 under the elastic force of the elastic member 3412, causing the impact plate 340 to move away from the device body 10a. That is to say, the impact plate 340 can reciprocate relative to the device body 10a in the collision direction, and there is a buffer distance between the impact plate 340 and the device body 10a to avoid the impact plate 340 colliding with the device body 10a under the pressure of the obstacle.

[0375] When the impact plate 340 collides with the obstacle, it moves towards the side closer to the device body 10a under the pressure of the obstacle. At this time, the buffer distance decreases, and correspondingly, the swing arm 3411 rotates under the pressure of the impact plate 340. The rotation direction of the swing arm 3411 can be a second direction around its axis of rotation, with the first direction being opposite to the second direction. In this way, the first end of the swing arm 3411 can resist the elastic force of the elastic member 3412 and rotate towards the side away from the elastic member 3412.

[0376] When the stair-climbing device 10 makes an avoidance action and the impact plate 340 separates from the obstacle, the swing arm 3411 can rotate around the first direction under the elastic force of the elastic member 3412, so that the impact plate 340 moves toward the side away from the device body 10a, until the buffer distance is formed between the impact plate 340 and the device body 10a.

[0377] In other words, by setting a rotatable swing arm 3411 and an elastic element 3412 connected to the swing arm 3411, the impact plate 340 can be repeatedly switched between a natural state and a collision state, so that the stair climbing device 10 can detect different obstacles multiple times in the climbing path, and the stair climbing device 10 has high safety when climbing.

[0378] Understandably, the second end of the swing arm 3411 is located between the impact plate 340 and the device body 10a. The distance between the impact plate 340 and the device body 10a along the collision direction can be the sum of a preset buffer distance and the extension dimension of the second end of the swing arm 3411 along the collision direction, so as to prevent the impact plate 340 from being pressed by the obstacle, causing the second end of the swing arm 3411 to be sandwiched between the impact plate 340 and the device body 10a.

[0379] In some embodiments, the device body 10a is provided with a relief groove 123, which is recessed along the collision direction of the impact plate 340. Thus, when the impact plate 340 collides with an obstacle, at least a portion of the second end of the swing arm 3411 is located within the relief groove 123. Specifically, the recessed depth of the relief groove 123 can be less than or equal to the extension dimension of the second end of the swing arm 3411 along the collision direction of the impact plate 340, thereby reducing the distance between the impact plate 340 and the device body 10a along the collision direction. For example, when the recessed depth of the relief groove 123 is equal to the extension dimension of the second end of the swing arm 3411 along the collision direction of the impact plate 340, the distance between the impact plate 340 and the device body 10a can be a preset buffer distance.

[0380] In other words, by setting the clearance groove 123, the extension dimension of the device body 10a along the collision direction can be reduced. When the collision direction is along the travel direction y, the length dimension of the device body 10a along the travel direction y can be reduced by setting the clearance groove 123. When the collision direction is along the height direction z, the height dimension of the device body 10a along the height direction z can be reduced by setting the clearance groove 123, so that the device body 10a has a smaller size, which is conducive to the miniaturization of the structure of the stair climbing device 10, avoiding the occupation of too much space. Moreover, when the height of the stair climbing device 10 is reduced, it is easier to pass through low spaces such as under the bed.

[0381] In some embodiments, the anti-collision assembly further includes a detection element 342 disposed on the device body 10a. The detection element 342 is electrically connected to the control unit and is configured to change its detection state when the swing arm 3411 swings. The detection element 342 corresponds to the swing arm 3411 and can be disposed at any position in the extension direction of the swing arm 3411 to identify whether the impact plate 340 has collided with an obstacle by detecting the rotation of the swing arm 3411. That is, the detection element 342 can have two detection states: a collision state in which the impact plate 340 collides with an obstacle and a natural state in which the impact plate 340 does not collide with an obstacle. The control unit determines whether the impact plate 340 has collided with an obstacle or separated from an obstacle by acquiring the switching between the natural state and the collision state of the detection element 342.

[0382] In some embodiments, to improve detection accuracy, the detection element 342 may have a certain distance from the pivot of the swing arm 3411 so that the reciprocating swing amplitude of the swing arm 3411 at the location of the detection element 342 is larger. For example, the detection element 342 is set at a position corresponding to the first end of the swing arm 3411.

[0383] In some embodiments, the crawling arm assembly performs an avoidance action in response to a change in the detection state of the detector 342. That is, after the control unit obtains the change in the detection state of the detector 342, it can control the movement of the crawling arm assembly, such as causing the stair climbing device 10 to perform actions such as reversing or turning to avoid obstacles, so as to bypass the obstacles and replan the crawling path.

[0384] By setting the detection element 342, the anti-collision component can have high detection sensitivity. Thus, when the impact plate 340 collides with an obstacle, the control unit can control the climbing device 10 to stop climbing and perform an avoidance maneuver, achieving a "stop upon collision" effect. In other words, the swing arm 3411 can change the detection state of the detection element 342 with a small swing amplitude, preventing collisions between the impact plate 340 and the impact body. Simultaneously, it allows for a smaller buffer distance between the impact plate 340 and the impact body, helping to reduce the size of the climbing device 10, thus facilitating its miniaturization and avoiding excessive space occupation.

[0385] In some embodiments, the detection element 342 includes at least one of a distance sensor and an image sensor.

[0386] The distance sensor can be any one or more of the following: ultrasonic sensor, infrared distance sensor, millimeter-wave radar sensor, time-of-flight (ToF) sensor, direct time-of-flight (dToF) sensor, etc., and this embodiment does not limit it. Therefore, the change in the detection state of the distance sensor can refer to the change in the distance at the target position measured by the distance sensor. Whether the distance changes can be used to detect whether the swing arm 3411 has rotated, and thus determine whether the impact plate 340 is in a collision state.

[0387] The image sensor can be an image sensor that can acquire image information of the target position, such as the image information of the swing arm 3411. The change in the state detected by the image sensor can refer to the change in the rotation position of the swing arm 3411 in the image information. By comparing the image information at different times, it can detect whether the rotation position of the swing arm 3411 has changed, and thus determine whether the collision plate 340 is in a collision state.

[0388] In this way, based on the assembly space, manufacturing cost, and performance requirements of the stair climbing device 10, at least one of the distance sensor and image sensor can be selected to detect whether the swing arm 3411 is in a collision state, so that the stair climbing device 10 has a more accurate detection precision.

[0389] In some embodiments, the detection element 342 may further include an optocoupler, which includes a signal output terminal 3421 and a signal receiving terminal 3422 spaced apart. The signal output terminal 3421 is used to output a detection signal, and the first end of the swing arm 3411 is configured to extend between the signal output terminal 3421 and the signal receiving terminal 3422 under the action of the elastic member 3412, so as to prevent the signal receiving terminal 3422 from receiving the detection signal.

[0390] In other words, when the impact plate 340 does not collide with the obstacle, the swing arm 3411 is in its natural state. The first end of the swing arm 3411 can extend into and block the signal output end 3421 and the signal receiving end 3422, thereby blocking the signal receiving end 3422 from receiving the detection signal emitted by the signal output end 3421. Then, when the impact plate 340 collides with the obstacle, the first end of the swing arm 3411 rotates towards the side away from the elastic member 3412. At this time, there is no obstruction between the signal output end 3421 and the signal receiving end 3422, and the signal receiving end 3422 can receive the detection signal from the signal output end 3421.

[0391] Therefore, the change in the detection state of the optocoupler can refer to whether the signal receiver 3422 can receive the detection signal, so as to detect whether the swing arm 3411 has rotated by detecting whether the detection state has changed, and then determine whether the collision plate 340 is in a collision state.

[0392] Understandably, when the impact plate 340 does not collide with the obstacle, the swing arm 3411 is in its natural state, and the first end of the swing arm 3411 may not block the signal output end 3421 and the signal receiving end 3422. However, when the impact plate 340 is impacted, it extends into and blocks the signal output end 3421 and the signal receiving end 3422. This embodiment does not further limit the relative position of the swing arm 3411 and the detection element 342, or the detection state of the detection element 342 when the impact plate 340 collides with the obstacle.

[0393] Among them, the optocoupler has a relatively simple structure, strong resistance to electromagnetic interference and high and low voltage circuit signal interference, and is suitable for working environments that simultaneously have low voltage control circuits (such as control units) and high voltage components (such as the drive unit of the crawler arm assembly).

[0394] Understandably, depending on the assembly space, manufacturing cost, and performance requirements of the stair climbing device 10, at least one of the optocouplers, distance sensors, and image sensors can be selected to detect whether the swing arm 3411 is in a collision state, so that the stair climbing device 10 has a more accurate detection precision.

[0395] Figure 20 This is a cross-sectional structural diagram of the impact plate in the stair-climbing device provided in the embodiments of this application.

[0396] In some embodiments, please refer to Figure 20 One of the device body 10a and the impact plate 340 is provided with an anti-detachment protrusion 122, and the other is provided with an anti-detachment cavity 341a. For example, the anti-detachment protrusion 122 can be provided on the device body 10a, and the anti-detachment cavity 341a can be provided on the impact plate 340.

[0397] The anti-detachment cavity 341a has a preset size along the collision direction of the impact plate 340. For example, the preset size can be the sum of the preset buffer distance of the impact plate 340 and the extension size of the second end of the swing arm 3411 along the collision direction.

[0398] In some embodiments, the anti-detachment protrusion 122 is located within the anti-detachment cavity 341a, and when the impact plate 340 collides with an obstacle, the anti-detachment protrusion 122 and the anti-detachment cavity 341a are configured to move relative to each other along the collision direction.

[0399] In this way, in the collision direction, the anti-detachment protrusion 122 abuts against the inner wall of the anti-detachment cavity 341a, preventing the anti-detachment protrusion 122 from detaching from the anti-detachment cavity 341a and causing the impact plate 340 to separate from the device body 10a, thus ensuring high structural stability of the stair-climbing device 10. Furthermore, the side wall 101 of the anti-detachment cavity 341a can limit the anti-detachment protrusion 122; that is, through the abutment between the anti-detachment protrusion 122 and the side wall of the anti-detachment cavity 341a, the impact plate 340 can be restricted to reciprocating movement in the collision direction, preventing the impact plate 340 from tilting relative to the device body 10a.

[0400] Understandably, in order to provide effective protection for the device body 10a, the impact plate 340 covers at least the front side of the device body 10a. For example, the impact plate 340 may cover the front side of the device body 10a, or the impact plate 340 may simultaneously cover the front, top, and bottom of the device body 10a to expand the detection range of the impact plate 340 and improve the climbing safety of the stair climbing device 10.

[0401] In some embodiments, taking the impact plate 340 simultaneously covering the front and top of the device body 10a as an example, the impact plate 340 includes a first anti-collision part 342a and a second anti-collision part 343. The first anti-collision part 342a is disposed on the front side of the device body 10a along the travel direction y, and is used to collide with obstacles in front of the climbing device 10 in the travel direction y. The second anti-collision part 343 is disposed on the top of the device body 10a, and is used to collide with obstacles on the top of the climbing device 10. The collision direction of the second anti-collision part 343 can be the height direction z.

[0402] In some embodiments, there are multiple reset units 341, which are respectively disposed at the positions of the first anti-collision part 342a and the second anti-collision part 343. For ease of explanation, the reset unit 341 corresponding to the first anti-collision part 342a can be referred to as the first reset unit, and the reset unit 341 corresponding to the second anti-collision part 343 can be referred to as the second reset unit.

[0403] In other words, the partial reset unit 341 (i.e., the first reset unit) is disposed between the first anti-collision part 342a and the device body 10a, so that the first anti-collision part 342a moves forward toward the device body 10a in the direction y of travel under the pressure of the second end of the swing arm 3411.

[0404] Thus, in its natural state, the first end of the swing arm 3411 rotates toward the side closer to the elastic member 3412, and the second end of the swing arm 3411 presses against the impact plate 340 under the elastic force of the elastic member 3412, causing the first anti-collision part 342a to move toward the front side of the device body 10a. That is to say, the first anti-collision part 342a can reciprocate relative to the device body 10a in the horizontal collision direction.

[0405] When the first anti-collision part 342a collides with the obstacle, the first anti-collision part 342a moves towards the side closer to the device body 10a along the travel direction y under the pressure of the obstacle. Correspondingly, the swing arm 3411 rotates around the second direction under the pressure of the impact plate 340.

[0406] When the stair-climbing device 10 makes an avoidance action and the first anti-collision part 342a separates from the obstacle, the swing arm 3411 can rotate around the first direction under the elastic force of the elastic member 3412, so that the first anti-collision part 342a moves toward the front side of the device body 10a until a buffer distance is formed between the first anti-collision part 342a and the device body 10a.

[0407] In other words, the first anti-collision part 342a can move back and forth on the front side of the device body 10a so that the stair climbing device 10 can detect different obstacles in front of it multiple times in the climbing path, and the stair climbing device 10 is safer when climbing.

[0408] A partial reset unit 341 (i.e., a second reset unit) is disposed between the second anti-collision part 343 and the device body 10a, so that the second anti-collision part 343 moves toward the top of the device body 10a under the pressure of the second end of the swing arm 3411.

[0409] Thus, in its natural state, the first end of the swing arm 3411 rotates toward the side closer to the elastic member 3412, and the second end of the swing arm 3411 presses against the impact plate 340 under the elastic force of the elastic member 3412, causing the first anti-collision part 342a to move toward the top of the device body 10a. That is to say, the second anti-collision part 343 can reciprocate relative to the device body 10a in the height direction z.

[0410] When the second anti-collision part 343 collides with the obstacle, the second anti-collision part 343 descends along the height direction z under the pressure of the obstacle and moves toward the side closer to the device body 10a. Correspondingly, the swing arm 3411 rotates around the second direction under the pressure of the impact plate 340.

[0411] When the stair-climbing device 10 makes an avoidance action and the second anti-collision part 343 separates from the obstacle, the swing arm 3411 can rotate around the first direction under the elastic force of the elastic member 3412, so that the second anti-collision part 343 rises along the height direction z and moves toward the side away from the device body 10a, until a buffer distance is formed between the second anti-collision part 343 and the device body 10a.

[0412] In other words, the second anti-collision part 343 can move back and forth above the device body 10a, so that the climbing device 10 can detect different obstacles on its top multiple times in the climbing path, and the climbing device 10 is safer when climbing.

[0413] In this way, the first anti-collision part 342a and the second anti-collision part 343 can simultaneously detect obstacles in different directions during the climbing process of the stair climbing device 10, which has high detection efficiency and high safety during the climbing process of the stair climbing device 10.

[0414] In some embodiments, the rotation axis of the swing arm 3411 in each reset unit 341 can be configured as needed. For example, there can be multiple first reset units, and the extension directions of the rotation axes of the swing arms 3411 in the multiple first reset units can be the same or different. There can also be multiple second reset units, and the extension directions of the rotation axes of the swing arms 3411 in the multiple second reset units can be the same or different.

[0415] To simplify the structure of the device body 10a and facilitate assembly, in some embodiments, the rotation axis of each swing arm 3411 in the plurality of reset units 341 can be set in the width direction x of the stair climbing device 10. In this way, the swing arm 3411 in the first reset unit can rotate about the rotation axis extending in the width direction x, and the impact plate 340 can reciprocate along the travel direction y. The swing arm 3411 in the second reset unit can rotate about the rotation axis extending in the width direction x, and the impact plate 340 can reciprocate along the height direction z.

[0416] In some embodiments, the first anti-collision part 342a and the second anti-collision part 343 can be separated from each other, that is, the reciprocating movement of the first anti-collision part 342a and the second anti-collision part 343 is independent of each other. If one of the first anti-collision part 342a and the second anti-collision part 343 collides with an obstacle, it will not cause the other to move at the same time. The detection accuracy of the anti-collision component is high.

[0417] In some embodiments, the first anti-collision part 342a and the second anti-collision part 343 are fixedly connected. The first anti-collision part 342a and the second anti-collision part 343 can be fixedly connected by means of screwing, snap-fitting, etc., or they can be integrally formed. This embodiment does not limit the connection.

[0418] Thus, the impact plate 340 is an integral structural component, and it can also detect collisions with obstacles through the connection position of the first anti-collision part 342a and the second anti-collision part 343. The impact plate 340 has a large collision detection range, and its structure is relatively simple and easy to assemble.

[0419] In some embodiments, the first anti-collision part 342a and the second anti-collision part 343 are respectively disposed on the front side and the top of the device body 10a. The first anti-collision part 342a and the second anti-collision part 343 have a corresponding included angle, and the size of the included angle can be changed according to the different shapes of the device body 10a. For example, the included angle can be an obtuse angle.

[0420] In some embodiments, the extending directions of the first anti-collision part 342a and the second anti-collision part 343 can be perpendicular to each other. In this way, when one of the first anti-collision part 342a and the second anti-collision part 343 collides with an obstacle, it will not cause the other to move in its collision direction, and the detection accuracy of the anti-collision component is high.

[0421] For example, when the first anti-collision part 342a collides with an obstacle, the first anti-collision part 342a is pressed by the obstacle and moves towards the side closer to the device body 10a along the travel direction y. Correspondingly, the second anti-collision part 343 also moves relative to the device body 10a along the travel direction y, and the second anti-collision part 343 does not move towards the side closer to the device body 10a along the height direction z. In this way, the detection element 342 corresponding to the first reset unit detects that the first anti-collision part 342a has collided with the obstacle, while the swing arm 3411 in the second reset unit does not rotate, and the detection element 342 does not change the detection state.

[0422] In some embodiments, the device body 10a includes a support plate 100 and two side walls 101. The support plate 100 is used to support the cleaning device, and the two side walls 101 are respectively disposed on opposite sides of the device body 10a. For example, the two side walls 101 are respectively disposed on both sides of the support plate 100 along the width direction x. The support plate 100 and the side walls 101 form a receiving space 120. That is, the support plate 100 and the two side walls 101 are connected to form an approximately U-shaped protective structure with a cavity. The inner cavity of the protective structure can form the receiving space 120.

[0423] In some embodiments, a top cover plate 200 may be provided on the top of the device body 10a to form an annular structure with openings at both ends, providing better protection for the cleaning equipment. Thus, the opening 121 of the receiving space 120 refers to one of the openings 121 of the annular structure and is provided at one end of the two side walls 101 along the travel direction y, so that the cleaning equipment can drive into or out of the receiving space 120.

[0424] In some embodiments, considering that sensors and other detection components are typically installed at the front end of the cleaning equipment in the direction of travel, the supply interface for charging and water replenishment of the cleaning equipment is correspondingly located at the rear end of the cleaning equipment in the direction of travel. Furthermore, to prevent the side wall 101 of the receiving space 120 from obstructing the detection components at the front end of the cleaning equipment when it enters, the cleaning equipment can enter the receiving space 120 in a "rearward docking" manner. Correspondingly, a replenishment component for replenishing the cleaning equipment can be installed at the other opening of the annular structure, i.e., on the other side of the device body 10a opposite to the opening 121. The replenishment component may include a water storage component, an energy storage component, etc. Thus, after the cleaning equipment reaches the stair-climbing device 10, it adopts a "reverse travel" method, causing the rear end of the cleaning equipment to enter the receiving space 120 and dock with the replenishment component, while the front end of the cleaning equipment can be exposed at the opening 121 of the receiving space 120.

[0425] In this way, when the cleaning equipment is parked in the containment space 120, for example, during the process of the climbing device 10 driving the cleaning equipment to climb, the cleaning equipment can be replenished with water and charged through the supply components. In this way, the climbing device 10 can integrate protection, transportation and supply functions into one unit, with a relatively compact structure and high space utilization.

[0426] Furthermore, the device body 10a only has an opening 121 for the cleaning equipment to enter and exit, which can provide better protection for the cleaning equipment so that the cleaning equipment can be stably stopped in the receiving space 120 during the climbing process of the stair climbing device 10.

[0427] In some embodiments, each sidewall 101 is provided with a crawling arm assembly, so that the crawling arm assembly can be supported on both sides of the device body 10a along the width direction x, the force on the device body 10a is relatively balanced, which can prevent the climbing device 10 from tilting and the support stability is high.

[0428] Understandably, depending on the structure of the device body 10a, the structure of the impact plate 340 in the anti-collision assembly is different. For example, when the impact plate 340 is located above the upper cover plate 200, the impact plate 340 can be a plate-shaped piece.

[0429] In some embodiments, each sidewall 101 is provided with a collision avoidance component. That is, the collision plate 340 is elastically connected to the sidewall 101 and can collide with the obstacle before the sidewall 101. The collision plate 340 can be disposed in front of the sidewall 101 in the direction of travel y, or disposed simultaneously in front of the sidewall 101 in the direction of travel y and at the top of the sidewall 101.

[0430] Taking the impact plate 340 simultaneously disposed on the front side and top of the side wall 101 along the travel direction y as an example, the first anti-collision part 342a can be strip-shaped and cover the front wall surface of the side wall 101 along the travel direction y, and the second anti-collision part 343 is also strip-shaped and covers the top wall surface of the side wall 101. Correspondingly, the anti-detachment cavity 341a between the first anti-collision part 342a and the side wall 101 extends along the height direction z, and the anti-detachment protrusion 122 between the first anti-collision part 342a and the side wall 101 can also extend along the height direction z, or there can be multiple protrusions provided along the height direction z. The anti-detachment cavity 341a between the second anti-collision part 343 and the side wall 101 extends along the travel direction y, and the anti-detachment protrusion 122 between the second anti-collision part 343 and the side wall 101 can also extend along the travel direction y, or there can be multiple protrusions provided along the travel direction y.

[0431] like Figure 13 As shown, the second crawler arm 500 may include a second boom 510 and a second track 520, with the second boom 510 rotatably connected to the first boom 310. The second track 520 is disposed around the outside of the second boom 510.

[0432] For example, the interior of the second boom 510 is provided with two synchronous pulleys for driving the second track 520. The two synchronous pulleys are spaced apart along the extension direction of the second boom 510, and the second track 520 is wrapped around the outside of the two synchronous pulleys. The rotation of the synchronous pulleys can drive the second track 520 to move, so that the stair climbing device 10 can move.

[0433] In this embodiment of the application, the two synchronous pulleys that cooperate with the second track 520 are the second driving synchronous pulley 531 and the second driven synchronous pulley 532, wherein the rotation of the second driving synchronous pulley 531 can drive the second track 520 to move, and the movement of the second track 520 can drive the second driven synchronous pulley 532 to rotate.

[0434] By configuring the first crawler arm 300 and the second crawler arm 500 with a structure consisting of a boom and tracks, the contact area with the stair treads can be increased through the tracks, providing strong traction and adhesion, effectively preventing slippage or loss of contact during stair climbing, and ensuring the stability and reliability of propulsion.

[0435] In the embodiments of this application, such as Figure 21 As shown, the stair-climbing device 10 may further include a drive system 330, which is used to drive the first climbing arm 300 and the second climbing arm 500 to move. The movement of the first climbing arm 300 refers to the movement of the tracks on the first climbing arm 300, and the movement of the second climbing arm 500 refers to the swinging of the second climbing arm 500 relative to the first climbing arm 300 and the movement of the tracks on the second climbing arm 500.

[0436] In one possible implementation, two second crawling arms 500 located on the same first crawling arm 300 can be driven independently. Independent driving here means that the oscillation relative to the first crawling arm 300 is driven independently. The spacing between the two second crawling arms 500 is configured so that when one second crawling arm 500 is in a retracted state, it does not cause motion interference with the other second crawling arm 500.

[0437] It should be noted that the "folded state" refers to the state in which the second crawling arm 500 rotates relative to the first crawling arm 300 to the side of the first crawling arm 300, and the extension direction of the second crawling arm 500 is the same as the extension direction of the first crawling arm 300. In other words, the second crawling arm 500 is in the folded state when it rotates to the point where its extension direction is parallel to the second direction (y direction).

[0438] By configuring the two second crawling arms 500 located on the same first crawling arm 300 as independently driven, and ensuring that the spacing between them does not interfere with each other when one is retracted, the flexibility and precision of the obstacle-crossing strategy are greatly improved. Independent drive allows each second crawling arm 500 to independently adjust its rotation angle and position according to the actual stair conditions, thus adapting to non-standard or uneven stairs. At the same time, sufficient spacing ensures that each second crawling arm 500 has independent movement space in the retraction and extension action sequence, avoiding movement interference between mechanisms and ensuring reliable execution of complex climbing actions.

[0439] The structure of the first crawling arm 300 and the second crawling arm 500 will be described below with reference to the accompanying drawings.

[0440] Combination Figure 13 and Figure 21 As shown, the first crawling arm 300 may include a first boom 310 and a first track 320. The first track 320 is arranged around the first boom 310, and a portion of the structure of the first track 320 is exposed from the bottom of the first boom 310 so that the first track 320 contacts the ground.

[0441] For example, the first boom 310 may include a mounting cavity, and the first track 320 is movably disposed within the mounting cavity. The bottom of the mounting cavity is an open structure, allowing the first track 320 to contact the ground from the opening at the bottom of the first boom 310. The first boom 310 is provided with synchronous pulleys, two of which are spaced apart along the extension direction (i.e., the y-direction) of the first boom 310. The first track 320 wraps around the outside of the two synchronous pulleys. Rotation of the synchronous pulleys drives the first track 320 to move, thus enabling the stair-climbing device 10 to move.

[0442] In this embodiment, the two synchronous pulleys inside the first boom 310 are a first driving synchronous pulley 351 and a first driven synchronous pulley 352. The first driving synchronous pulley 351 can be driven to rotate, thereby driving the first track 320 to move, and the movement of the first track 320 drives the first driven synchronous pulley 352 to rotate.

[0443] like Figure 21 As shown, the second crawler arm 500 may include a second boom 510 and a second track 520, with the second boom 510 rotatably connected to the first boom 310. The second track 520 is disposed around the outside of the second boom 510.

[0444] For example, the interior of the second boom 510 is provided with two synchronous pulleys for driving the second track 520. The two synchronous pulleys are spaced apart along the extension direction of the second boom 510, and the second track 520 is wrapped around the outside of the two synchronous pulleys. The rotation of the synchronous pulleys can drive the second track 520 to move, so that the stair climbing device 10 can move.

[0445] In this embodiment of the application, the two synchronous pulleys that cooperate with the second track 520 are the second driving synchronous pulley 531 and the second driven synchronous pulley 532, wherein the rotation of the second driving synchronous pulley 531 can drive the second track 520 to move, and the movement of the second track 520 can drive the second driven synchronous pulley 532 to rotate.

[0446] By setting the first crawling arm 300 and the second crawling arm 500 as a structure consisting of a boom and tracks, the contact area with the stair treads can be increased through the tracks, providing strong traction and adhesion, effectively preventing slippage or loss of air during stair climbing, and ensuring the stability and reliability of propulsion.

[0447] In this embodiment, the drive system 330 is disposed within the first boom 310 and the second boom 510. The drive system 330 is used to drive the second crawler arm 500 to swing relative to the first crawler arm 300, and to drive the first track 320 and the second track 520 to move.

[0448] For example, an end cap 370 may be provided on the outside of the drive system 330. The end cap 370 is detachably connected to the first boom 310. The end cap 370 covers the outside of the transmission structure (e.g., gear) in the drive system 330 to prevent the transmission structure from being exposed, which could lead to problems such as dust accumulation.

[0449] Figure 22 This is a schematic diagram of the internal structure of the first crawling arm 300 facing the receiving space 120. Figure 22 The structures shown are only for illustrating the first drive component 331 and the second drive component 332.

[0450] In the embodiments of this application, such as Figure 22 As shown, the drive system 330 may include a first drive assembly 331 and a second drive assembly 332. The first drive assembly 331 is driveably connected to the first track 320 and the second track 520, and is used to drive the first track 320 and the second track 520 to move. The second drive assembly 332 is driveably connected to the second boom 510, and is used to drive the second crawler arm 500 to swing relative to the first crawler arm 300.

[0451] By configuring the drive system 330 to include a first drive assembly 331 and a second drive assembly 332, the movement of the tracks and the swinging of the second boom 510 are driven independently, respectively. The first drive assembly 331 simultaneously drives the movement of the first track 320 and the second track 520, ensuring the synchronization of the speeds of the first track 320 and the second track 520 during the climbing process of the stair climbing device 10. This avoids slippage, jamming, or deviation of the travel trajectory caused by speed differences, and ensures the stability of straight-line travel and obstacle crossing.

[0452] By dedicating the second drive assembly 332 to driving the swing of the second crawling arm 500, the lifting angle can be flexibly adjusted according to the height of the stair steps. This functionally separated structure ensures that the movement of the stair climbing device 10 and the swing of the second crawling arm 500 do not interfere with each other. The control system of the stair climbing device 10 can independently and precisely adjust the movement speed and swing posture, thereby achieving flexibility and coordination in the stair climbing action.

[0453] For example, such as Figure 22 As shown, an end cap 370 can be provided on the outside of the drive system 330. The end cap 370 is detachably connected to the first boom 310. The end cap 370 covers the outside of the transmission structure (e.g., gear) in the drive system 330 to prevent the transmission structure from being exposed and causing problems such as dust accumulation.

[0454] like Figure 21 and Figure 30 As shown, the first crawling arm 300 and the second crawling arm 500 are rotatably connected via a swing shaft 360. The swing shaft 360 passes through and is rotatably connected to the first boom 310. One end of the swing shaft 360 is connected to a second drive assembly 332, and the other end is fixedly connected to the second boom 510. The second drive assembly 332 drives the swing shaft 360 to rotate, causing the second boom 510 to swing relative to the first crawling arm 300.

[0455] For example, a mounting hole 311 can be provided on the first boom 310, and a bearing (not shown in the figure) can be installed in the mounting hole 311. The swing shaft 360 passes through the inner ring of the bearing, and the outer ring of the bearing can be fixedly connected to the mounting hole 311.

[0456] For example, the second boom 510 is provided with a connector 511 for fixed connection with the swing shaft 360. One end of the swing shaft 360 is machined into a flat shape to form an anti-rotation plane. This flat end mates with a corresponding flat hole or clamping part on the connector 511 and is fixed by fasteners (e.g., screws) or interference fit. This connection method ensures that there is no relative rotation between the swing shaft 360 and the connector 511, achieving circumferential positioning, thereby accurately transmitting the rotational motion of the swing shaft 360 to the connector 511.

[0457] Of course, in other embodiments, the swing shaft 360 and the second boom 510 can be fixedly connected by means of interference fit, key connection, spline connection, pin connection, etc., so that the swing shaft 360 and the second boom 510 can rotate synchronously. In addition, the connection between the swing shaft 360 and the second boom 510 is detachable, which facilitates maintenance.

[0458] This configuration creates a stable and reliable rotating hub. The second drive assembly 332 drives the second output gear 3323 to rotate, which in turn drives the connected swing shaft 360 to rotate synchronously. Finally, the swing shaft 360 directly transmits torque to the second boom 510, causing it to swing. This shaft connection method not only ensures the structural strength and stability of the connection between the two climbing arms, enabling it to withstand the complex loads generated during stair climbing, but also rigidly connects the drive and execution components, reducing backlash and energy loss in the intermediate transmission links. This makes the swing response of the second climbing arm 500 more direct, precise, and efficient.

[0459] In the embodiments of this application, such as Figure 24 As shown, the first drive assembly 331 may include a first motor 3311 and a first gear set 3312. The first gear set 3312 may include a first output gear 3313, which is rotatably mounted on the swing shaft 360. A first driving synchronous pulley 351 is coaxially fixed to the first output gear 3313 and rotatably mounted on the swing shaft 360.

[0460] For example, a bearing is provided between the first output gear 3313 and the swing shaft 360, and the first output gear 3313 can be rotatably mounted on the swing shaft 360 via the bearing. Similarly, a bearing can also be provided between the first driving synchronous pulley 351 and the swing shaft 360 to achieve a coaxial rotational connection.

[0461] In some embodiments, the first driving synchronous pulley 351 and the first output gear 3313 can be fixedly connected by means of set screws, interference fits, key connections, spline connections, pin connections, etc., so that the first driving synchronous pulley 351 and the first output gear 3313 can rotate synchronously. Furthermore, the connection between the first driving synchronous pulley 351 and the first output gear 3313 is detachable, which facilitates maintenance. In the embodiments of this application, the connection method between the first driving synchronous pulley 351 and the first output gear 3313 is not further limited.

[0462] The first motor 3311 is used to drive the first output gear 3313 to rotate, the rotation of the first output gear 3313 drives the first active synchronous pulley 351 to rotate, and the rotation of the first active synchronous pulley 351 drives the first track 320 to move.

[0463] By rotatably connecting the first output gear 3313 and the first drive synchronous pulley 351 to the swing shaft 360, both the first output gear 3313 and the first drive synchronous pulley 351 can be loosely fitted onto the swing shaft 360. This decouples the drive system of the first track 320 from the swing system of the second boom 510 in terms of mechanical structure. The rotation of the swing shaft 360 only drives the second boom 510 to swing, without affecting the normal rotation of the drive gears and pulleys (first output gear 3313 and first drive synchronous pulley 351) of the first track 320. This coaxial nested layout greatly saves the internal space of the first boom 310, making the structure more compact, while ensuring the independence of the drive function of the first track 320. This allows the stair-climbing device 10 to continuously provide the first track 320 with the driving power while adjusting the attitude of the second climbing arm 500.

[0464] In some embodiments, the first drive assembly 331 may also be connected to the second track 520 in a transmission manner, and the first drive assembly 331 is configured to drive the second track 520 to move.

[0465] For example, the second driving synchronous pulley 531 is coaxially fixed with the first driving synchronous pulley 351 and rotatably sleeved on the swing shaft 360. The first output gear 3313 and the second driving synchronous pulley 531 are respectively located on both sides of the first driving synchronous pulley 351 in the axial direction.

[0466] It should be noted that the second driving synchronous pulley 531 and the first driving synchronous pulley 351 can be fixedly connected by means of set screws, interference fits, flat key connections, spline connections, pin connections, etc., so that the second driving synchronous pulley 531 and the first driving synchronous pulley 351 can rotate synchronously. In addition, the connection between the second driving synchronous pulley 531 and the first driving synchronous pulley 351 is detachable, which facilitates maintenance.

[0467] By simultaneously driving the first track 320 and the second track 520 with the first drive assembly 331, the two-stage climbing arms can provide forward or backward driving force synchronously during movement, ensuring consistent motion. This eliminates the need for a separate driving source for the second climbing arm 500, simplifying the mechanical structure and control system of the first drive assembly 331, reducing cost and complexity, while ensuring that all tracks of the climbing device 10 in contact with the steps provide effective propulsion during climbing.

[0468] In some embodiments, the first output gear 3313, the first active synchronous pulley 351, and the second active synchronous pulley 531 rotate synchronously.

[0469] By rigidly connecting and synchronously rotating the first output gear 3313, the first drive synchronous pulley 351, and the second drive synchronous pulley 531, the synchronicity and efficiency of power transmission can be ensured. The three components rotate as a whole, eliminating transmission backlash, allowing the power output from the first drive assembly 331 to be transmitted simultaneously to the drive wheels of the first track 320 and the second track 520 without delay or loss. This improves transmission efficiency, ensures that the two tracks have consistent linear speeds, provides a stable and reliable foundation for the stair-climbing device 10 to travel in a straight line, and greatly enhances its stability and controllability during stair climbing.

[0470] In this embodiment, there are two second crawling arms 500. Each of the two second crawling arms 500 is rotatably connected to one end of the first arm 310 in the extending direction via a corresponding swing shaft 360. Each second crawling arm 500 corresponds to a second drive assembly 332. The swinging of the two second crawling arms 500 is independently driven by the second drive assembly 332 corresponding to each second crawling arm 500.

[0471] By setting a second crawling arm 500 at each end of the first boom 310 and independently configuring a second drive assembly 332 for each second crawling arm 500, independent drive of the dual swing arms is achieved. This structure allows the two second crawling arms 500 located at the front and rear of the body to swing independently at different angles and in different sequences according to the actual stair terrain. This independent drive and control capability enables the stair climbing device to flexibly adapt to asymmetrical or complex stair environments. For example, by adjusting the lifting height and timing of the front and rear arms, the center of gravity distribution can be optimized to avoid the body tipping over, thereby significantly improving the passability, adaptability, and overall stability of the stair climbing process.

[0472] In one possible implementation, the first drive component 331 is configured to synchronously drive the first track 320 and the two second tracks 520.

[0473] For example, the first active synchronous pulley 351 and the first driven synchronous pulley 352 are spaced apart at both ends of the first boom 310 along the extension direction of the first boom 310. The rotation of the first active synchronous pulley 351 drives the first track 320 to move, and the movement of the first track 320 drives the first driven synchronous pulley 352 to rotate.

[0474] The two second crawling arms 500 include a first-side second crawling arm and a second-side second crawling arm. The second driving synchronous pulley of the first-side second crawling arm is coaxially fixed with the first driving synchronous pulley 351 and rotatably sleeved on the swing shaft 360 corresponding to the second crawling arm 500. The second driving synchronous pulley of the second-side second crawling arm is coaxially fixed with the first driven synchronous pulley 352 and rotatably sleeved on the swing shaft 360 corresponding to the second crawling arm 500.

[0475] It should be noted that the two second crawling arms 500 have the same structure, only their positions are different.

[0476] By configuring the first drive assembly 331 to synchronously drive the first track 320 and the two second tracks 520, it is understood that all three tracks on one side of the entire stair-climbing device 10 are driven by a common power source and maintain strict linear velocity synchronization. This allows multiple tracks to be driven with only one set of motors and transmission mechanisms, significantly reducing manufacturing costs, weight, and power consumption.

[0477] Furthermore, this design prevents problems such as pulling, interference, or slippage between different tracks caused by asynchronous speed control of multiple motors, ensuring that the stair-climbing device 10 maintains a stable and consistent ground wire speed during travel and stair climbing, thus guaranteeing linear motion performance and obstacle-crossing coordination. Additionally, this design improves the utilization of space within the first boom 310, making its structure more compact.

[0478] In some embodiments, the first motor 3311 and the first gear set 3312 are connected by a worm gear transmission. For example, the first gear set 3312 may include multiple gears, wherein the gear located at the output end of the first gear set 3312 is configured as the first output gear 3313, and the gear located at the input end of the first gear set 3312 is configured as the first input gear. The first input gear may be a worm gear, and the output end of the first motor 3311 may be provided with a worm.

[0479] For example, multiple meshing transmission gears can be provided between the first input gear and the first output gear 3313. In this embodiment, the number and structure of the transmission gears between the first input gear and the first output gear 3313 are not further limited, and can be set as needed.

[0480] Of course, in other embodiments, the first motor 3311 and the first gear set 3312 can also be connected by ordinary spur gears. In this embodiment, the driving method between the first motor 3311 and the first gear set 3312 is not further limited.

[0481] The first motor 3311 and the first gear set 3312 are driven by a worm gear. The worm gear mechanism has the ability to achieve a large reduction ratio with a single-stage transmission, and its compact structure effectively converts the high speed of the first motor 3311 into the large torque required for track drive. Furthermore, the transmission between the eddy current worms has a self-locking characteristic; that is, the worm can drive the worm wheel, but the worm wheel is unlikely to drive the worm in the opposite direction. This characteristic ensures that when the first motor 3311 stops supplying power, the first track 320 and the second track 520 are reliably locked, preventing the climbing device 10 from slipping on slopes or stairs due to its own weight, greatly improving safety when pausing or stopping during the climbing process.

[0482] To optimize space utilization, the second drive assembly 332 and the first drive assembly 331 adopt a compact layout with axial offset. That is, some gear structures of the two drive assemblies are not completely aligned axially along the swing shaft 360, but rather partially occupy the same axial space. This effectively reduces the size of the transmission system, solves the problem of the bulky layout of the multi-drive system 330, and is conducive to the miniaturization and lightweight design of the equipment.

[0483] See Figure 25 As shown, the first drive component 331 is disposed close to the first active synchronous pulley 351, and the second drive component 332, located at the first active synchronous pulley 351, is disposed close to the first drive component 331.

[0484] Specifically, some gears of the second drive assembly 332 and some gears of the first drive assembly 331 are staggered in the axial direction of the swing shaft 360. This causes the two sets of gears to partially overlap in the axial direction, rather than being completely parallel, thereby significantly reducing the overall space occupied by the drive system 330 in the axial and radial directions, making the overall structure more compact and the layout more reasonable.

[0485] like Figure 26 As shown, the second driving synchronous pulley 531 is coaxially fixed with the first driving synchronous pulley 351 and rotatably mounted on the swing shaft 360. The first output gear 3313 and the second driving synchronous pulley 531 are located on opposite sides of the first driving synchronous pulley 351 along its axial direction.

[0486] In some embodiments, the first drive assembly 331 may also be connected to the second track 520 in a transmission manner, and the first drive assembly 331 is configured to drive the second track 520 to move.

[0487] like Figure 27 As shown, the first driving synchronous pulley 351 is provided with an assembly part 3511, and the second driving synchronous pulley 531 is provided with a mating part 5311 that cooperates with the assembly part 3511. The assembly part 3511 and the mating part 5311 are inserted into each other and fixedly connected by fastening screws.

[0488] For example, one of the assembly portion 3511 and the mating portion 5311 is a protruding structure, and the other is a recessed structure. In addition, the assembly portion 3511 and the mating portion 5311 may be provided with a plane for circumferential limiting to prevent relative rotation between the first driving synchronous pulley 351 and the second driving synchronous pulley 531.

[0489] In some embodiments, see continue to see Figure 23 As shown, the second drive assembly 332 may include a second motor 3321 and a second gear set 3322. The second gear set 3322 may include a second output gear 3323 and a second input gear. The second output gear 3323 is fixedly connected to the swing shaft 360. The output end of the second motor 3321 is connected to the second input gear via a transmission connection. The second motor 3321 drives the second input gear to rotate, and ultimately drives the second output gear 3323 to rotate through the transmission of the second gear set 3322.

[0490] The second climbing arm 500 is driven to swing by a fixed connection between the second output gear 3323 and the swing shaft 360. This establishes a direct and efficient swing drive path. The torque output by the second motor 3321 is reduced and amplified by the second gear set 3322, and then directly transmitted to the fixed swing shaft 360 via the second output gear 3323, thereby driving the second boom 510, which is fixed to the other end of the swing shaft 360, to swing. This direct drive method has a short force transmission chain, good structural rigidity, and rapid response, providing ample and precise torque for the lifting and lowering of the second climbing arm 500, ensuring powerful and precise climbing movements.

[0491] In one possible implementation, the second output gear 3323 is sleeved on the swing shaft 360 and is fixedly connected to the swing shaft 360.

[0492] For example, the second output gear 3323 and the swing shaft 360 are fixedly connected by means of set screws, interference fits, key connections, spline connections, pin connections, etc., so that the second output gear 3323 and the swing shaft 360 can rotate synchronously. In addition, the connection between the second output gear 3323 and the swing shaft 360 is detachable, which facilitates maintenance.

[0493] This configuration makes the second output gear 3323 and the swing shaft 360 a rigid, synchronously rotating unit. It eliminates the connection gap between the second output gear 3323 and the swing shaft 360, ensuring lossless transmission of the swing drive torque from the second output gear 3323 to the swing shaft 360. Improved transmission rigidity and response speed make the swing control of the second crawler arm 500 more direct and precise. Furthermore, the stable connection avoids impacts and errors during reversal caused by gaps, enhancing the smoothness and control accuracy of the entire swing process.

[0494] In this embodiment, the second motor 3321 and the second gear set 3322 are connected by a worm gear transmission.

[0495] For example, the output end of the second motor 3321 is fixedly connected to the worm gear, and the second gear set 3322 may include a plurality of meshing gears, wherein the gear located at the output end of the second gear set 3322 is configured as the second output gear 3323, the gear located at the input end of the second gear set 3322 is configured as the second input gear, the second input gear may be a worm gear, and the output end of the second motor 3321 may be provided with a worm gear.

[0496] For example, multiple meshing transmission gears can be provided between the second input gear and the second output gear 3323, wherein the rotation center axes of the multiple gears in the second gear set 3322 can be parallel to each other. In this embodiment, the number and structure of the transmission gears between the second input gear and the second output gear 3323 are not further limited, and can be set as needed.

[0497] It should be noted that the structures of the multiple gears in the second gear set 3322 can be the same or different. In this embodiment, the structure of the multiple gears in the second gear set 3322 is not further limited.

[0498] Of course, in other embodiments, the second motor 3321 and the second gear set 3322 can also be connected by ordinary spur gears. In this embodiment, the driving method between the second motor 3321 and the second gear set 3322 is not further limited.

[0499] The second motor 3321 and the second gear set 3322 are driven by a worm gear. The worm gear mechanism has the ability to achieve a large reduction ratio with a single-stage transmission and has a compact structure, which is beneficial for the miniaturization of the entire second drive assembly 332. Furthermore, the transmission between the worm gear and worm is irreversible; that is, the worm can drive the worm wheel, but the worm wheel can hardly drive the worm in the reverse direction. This characteristic allows the second climbing arm 500 to be reliably locked in its current position when the second motor 3321 stops working, preventing accidental swinging or falling due to external forces or its own weight. This achieves a highly efficient self-locking function, greatly improving the safety and stability of the climbing device when it pauses or stops on the stairs.

[0500] See Figure 28 As shown, an angle detection system 830 is also provided near the second drive assembly 332. The angle detection system 830 may include a follower 831 and an angle detection device 832. The follower 831 meshes with the second output gear 3323 of the second drive assembly 332, which drives the second crawling arm 500 to swing. The angle detection device 832 is configured to characterize the swing angle of the second crawling arm 500 by detecting the rotation angle of the follower 831.

[0501] For example, such as Figure 29 As shown, an end cap 370 can be provided on the outside of the drive system 330. The end cap 370 is detachably connected to the first boom 310. The end cap 370 covers the outside of the transmission structure (e.g., gear) in the drive system 330 to prevent the transmission structure from being exposed and causing dust accumulation. An angle detection device 832 can be installed on the outside of the end cap 370. This angle detection device 832 corresponds to the follower 831 to detect the rotation angle of the follower 831.

[0502] For example, the end cap 370 has a recessed structure in which the angle detection device 832 is embedded, thus preventing wear on the angle detection device 832 during assembly or maintenance. The detachable connection (such as screw fastening or interference fit) between the swing shaft 360 and the second boom 510, as well as the detachable design of the end cap 370, makes the maintenance and replacement of the drive and detection modules convenient.

[0503] In some embodiments, a sealing ring may be provided at the joint between the end cap 370 and the first boom 310 to prevent dust and moisture from entering the drive system 330 and improve the dustproof and waterproof rating of the entire device.

[0504] The stair-climbing device 10 provided in this application embodiment directly meshes the follower 831 of the angle detection system 830 with the second output gear 3323 of the second drive assembly 332 that drives the second climbing arm 500. This allows the angle detection device 832 to characterize the swing angle of the second climbing arm 500 by detecting the rotation angle of the follower 831. Due to the meshing transmission relationship between the follower 831 and the second output gear 3323, the angle detection system 830 can obtain the swing angle of the second climbing arm 500 in real time and accurately, providing a reliable feedback signal for motion control during the stair-climbing process. By integrating the angle detection system 830 onto the second drive assembly 332, multiple structures can be integrated together, thereby simplifying the overall structural layout, saving installation space, avoiding the problem of external detection components being easily interfered with or damaged, and improving the stability and durability of the angle detection system 830.

[0505] In addition, this detection method eliminates the need for additional detection elements at the joints of the second crawling arm 500, reducing structural complexity and assembly difficulty. At the same time, the high precision of gear transmission ensures the accuracy and consistency of angle detection, thereby effectively improving the motion control accuracy and terrain adaptability of the climbing device during the climbing process.

[0506] In one possible implementation, the follower 831 can be a gear, and any gear in the second gear set 3322 can mesh with the follower 831. In this way, the rotation angle of the gear meshing with the follower 831 can be related to the swing angle of the follower 831. The rotation angle of any gear in the second gear set 3322 is related to the rotation angle of the second crawling arm 500. Therefore, by meshing the follower 831 with any gear in the second gear set 3322, the swing angle of the second crawling arm 500 can be characterized by the rotation angle of the follower 831.

[0507] By configuring the follower 831 as a gear and directly meshing it with any gear in the second gear set 3322, a stable and precise mechanical linkage can be established. Since gear meshing transmission has a definite transmission ratio and no slippage, the rotation angle of the follower 831 corresponds to the rotation angle of the gear meshing with it, thus forming a linear proportional relationship with the swing angle of the second crawler arm 500. This direct-meshing mechanical angle transmission scheme avoids the signal delay and interference problems that may exist with electronic detection methods such as sensors, significantly improving the reliability and anti-interference capability of the angle detection system. At the same time, the structure is simple and compact, requiring no complex circuits or signal processing units, which helps reduce system costs.

[0508] In some embodiments, the follower 831 meshes with the second output gear 3323 of the second drive assembly 332, and the second output gear 3323 is used to drive the second crawler arm 500 to swing.

[0509] By directly engaging the follower 831 with the second output gear 3323, the swing angle of the second crawler arm 500 can be directly represented. The rotational motion of the second output gear 3323 directly determines the swing amplitude of the second crawler arm 500. Therefore, this can most accurately and synchronously reflect the actual position of the second crawler arm 500. This can eliminate the errors in the intermediate transmission stages of the second gear set 3322 and improve the detection accuracy.

[0510] In one possible implementation, the outer diameters of the follower 831 and the second output gear 3323 are equal, so that the rotational speeds of the follower 831 and the second output gear 3323 are equal during rotation.

[0511] By setting the follower 831 and the second output gear 3323 to have the same outer diameter, they have the same pitch circle diameter during meshing transmission, thus achieving a 1:1 constant velocity transmission. This ensures that the rotational angular velocity and rotational angle of the follower 831 are completely consistent with those of the second output gear 3323 at any given time. This simplifies the angle conversion process (eliminating the need for multiplication or division by the transmission ratio), reduces the computational burden on the control system, and eliminates conversion errors that may be introduced by differences in transmission ratios. This ensures the absolute accuracy and high linearity of the final output result of the angle detection system, providing the most direct and reliable data basis for the precise attitude control of the stair-climbing device 10.

[0512] The above embodiments describe one implementation of the second driving component 332. In other embodiments, the second driving component 332 may be configured with other structures.

[0513] For example, the second drive assembly 332 may include a second drive member and a transmission gear (not shown in the figure). The second drive member may be a linkage mechanism, a sprocket drive mechanism, a pulley drive mechanism, etc. In this embodiment, the specific structure of the second drive member is not further limited.

[0514] A transmission gear is connected to the second crawling arm 500. The second driving member drives the transmission gear to rotate, causing the second crawling arm 500 to swing relative to the first crawling arm 300. For example, the transmission gear is fixedly connected to the swing shaft 360, and the connection relationship between the swing shaft 360 and the second crawling arm 500 is the same as in the above embodiment (fixed connection).

[0515] This configuration simplifies the structure of the second drive assembly 332, eliminates the need for multi-stage gear sets, and significantly shortens the transmission chain. This not only reduces the number of parts, assembly complexity, and the probability of mechanical failure, but also reduces the angular feedback lag or error caused by the accumulation of gear backlash due to the reduction in transmission links.

[0516] The follower 831 can be a gear, and the follower 831 meshes with the transmission gear. By meshing with the transmission gear that directly drives the second crawler arm 500, the follower 831 can quickly and directly respond to its angle changes, thereby improving the response speed of the angle detection system 830 and the reliability of the overall structure.

[0517] In the embodiments of this application, the outer diameters of the follower 831 and the transmission gear are equal, so that the rotational speeds of the follower 831 and the transmission gear are equal during the rotation process.

[0518] This configuration enables a 1:1 constant velocity meshing transmission between the follower and the transmission gear. This ensures complete synchronization between the rotation of the follower 831 and the swing of the second climbing arm 500. The angle detection value can be used directly without any transmission ratio conversion, reducing the computational burden on the control system. It also eliminates conversion errors that may be introduced by differences in transmission ratios, thus ensuring the absolute accuracy and linearity of the final output of the angle detection system, providing the most direct and reliable data foundation for the precise attitude control of the climbing device 10.

[0519] It should be noted that this embodiment only introduces one different implementation of the second drive component 332. The structure of the stair climbing device 10 other than the second drive component 332 is the same as the structure introduced in the above embodiment.

[0520] In one possible implementation, the angle detection device 832 may include a controller and an angle sensor. The controller is electrically connected to the angle sensor, which is used to detect the rotation angle of the follower 831 and generate a sensing signal. The controller is used to receive the sensing signal and obtain the swing angle of the second crawling arm 500 based on the sensing signal.

[0521] By incorporating an angle sensor and a controller into the angle detection device 832, precise and automated measurement and control of the swing angle can be achieved. Specifically, the angle sensor can directly detect the rotation angle of the follower 831 and generate a sensing signal. The controller receives the signal, processes and converts it, thereby accurately obtaining the swing angle of the second climbing arm 500. This separates the detection of physical quantities from logical operations, allowing a dedicated controller to process the angle information. This not only improves the reliability and anti-interference capability of angle measurement but also provides a core data foundation for subsequent complex motion control (such as angle closed-loop control and attitude adaptive adjustment), greatly enhancing the intelligence and control precision of the stair-climbing device 10.

[0522] For example, the angle sensor is a rotary encoder or a potentiometer.

[0523] By employing either a rotary encoder or a potentiometer as the angle sensor, optimized solutions can be provided for different application scenarios and accuracy requirements. If a rotary encoder (especially an absolute type) is used, it represents the angle by outputting a digital signal, offering high detection accuracy, no cumulative error, and strong anti-interference capabilities, making it suitable for control applications requiring precise positioning and high reliability. If a potentiometer is used, it reflects the angle through changes in resistance, offering a simple structure, low cost, and convenient output signal processing, meeting general accuracy detection needs. This flexibility allows the device to be configured flexibly according to different performance and cost objectives, enhancing the product's market adaptability.

[0524] It should be noted that each second climbing arm 500 corresponds to an angle detection system 830. The angle detection system 830 is configured to independently detect the swing angle of each second climbing arm 500. This allows the two second climbing arms 500 located in front of and behind (or to the left and right) the stair climbing device 10 to swing independently at different angles and in different sequences according to the actual terrain requirements. With the real-time and accurate boom posture feedback provided by their respective independent angle detection systems 830, the controller can achieve refined and differentiated collaborative control of the two second climbing arms 500. This enables the stair climbing device 10 to flexibly adapt to asymmetrical or complex stair environments (such as stair turns and irregular steps), optimizing the center of gravity distribution and force application points by adjusting the swing posture of the front and rear arms, thereby significantly improving the stair climbing passability, stability, and intelligent adaptability.

[0525] In one possible implementation, such as Figure 31As shown, the first boom 310 is also equipped with an anti-pinch mechanism 900. The anti-pinch mechanism 900 includes an anti-pinch member 910 and a third drive assembly 920. The anti-pinch member 910 is telescopically disposed within the first boom 310, and the end of the anti-pinch member 910 near the opening 121 is rotatably connected to the first boom 310. The third drive assembly 920 is drively connected to the anti-pinch member 910 and is configured to drive the anti-pinch member 910 to rotate relative to the first boom 310, so that a portion of the structure of the anti-pinch member 910 extends outside the first boom 310 or retracts into the first boom 310.

[0526] For example, the power source of the third drive assembly 920 can be the second motor 3321 in the second drive assembly 332. The third drive assembly 920 includes some gears in the second gear set 3322 and a drive unit 922. Among them, some gears in the second gear set 3322 may include a rotating member 921, and the drive unit 922 is linked to the rotating member 921.

[0527] The drive unit 922 may include multiple transmission links. The input ends of the multiple transmission links are fixedly connected to the second output gear 3323, and the output ends of the multiple transmission links are rotatably connected to the anti-pinch member 910. The power of the second motor 3321 is transmitted to the input ends of the transmission links through the second gear set 3322, and after transmission through the multiple transmission links, the power is finally output to the anti-pinch member 910 to drive the anti-pinch member 910 to move relative to the first boom 310.

[0528] By incorporating a rotatable and retractable anti-pinch member 910 controlled by a third drive assembly 920 within the first boom 310, active safety protection can be provided for the stair-climbing device 10. When protection is required, the third drive assembly 920 can drive the anti-pinch member 910 to rotate and extend beyond the first boom 310, forming a physical barrier between the second climbing arm 500 and potential pinching areas such as stair railings and furniture gaps, effectively preventing foreign objects from being pulled in or causing pinching accidents. When protection is not required, the anti-pinch member 910 can retract back into the first boom 310, without affecting the normal movement and climbing function of the stair-climbing device 10, achieving a seamless switch between safety protection and functional execution.

[0529] In some embodiments, such as Figure 32 As shown, the stair-climbing device 10 may also include a suction channel 110 and a power supply module (not shown in the figure). Exemplarily, the suction channel 110 may be disposed inside the support plate 100. Of course, it may also be disposed on the supply component 400 or the first climbing arm 300. In this embodiment, the location of the suction channel 110 is not further limited.

[0530] The suction channel 110 may include a connected suction port 111 and a dust collection port 112. The suction port 111 is configured to suck up dirt from the external environment of the stair-climbing device 10. A power supply module is used to provide suction to the suction channel 110. The stair-climbing device 10 is configured to suck up dirt from the stairs through the suction port 111 during stair climbing (including going up and down).

[0531] For example, the suction port 111 can face the ground, making it convenient to aim at the ground for suction. Of course, in other examples, the suction port 111 can be located at the tail of the stair-climbing device 10 and facing outwards. For example, in the z-direction, the suction port 111 is located at the end of the supply assembly 400 facing the support plate 100. This allows the suction port 111 to be easily aimed at the area at the tail of the stair-climbing device 10, facilitating the suction of dirt from the tail of the stair-climbing device 10.

[0532] The stair-climbing device 10 in this embodiment integrates a suction channel 110 into itself and connects the suction port 111 of the suction channel 110 to the external environment. This allows the stair-climbing device 10 to directly target the stair surface through the suction port 111 when climbing stairs, thereby achieving in-situ adsorption cleaning of the step plane or vertical surface. This expands the working coverage of the cleaning equipment (self-moving device), enabling it to cross floors and achieve continuous cleaning of multiple floors. It solves the problem that sweeping robots cannot clean stairs and significantly improves cleaning efficiency.

[0533] By setting up a power supply module to provide suction to the suction channel 110, a reliable adsorption effect can be maintained even when facing dust or larger particles in crevices during the stair-climbing process, thus solving the problem of fluctuations in cleaning power that may be caused by the stair-climbing action.

[0534] By setting up a storage space 120 for storing cleaning equipment on the stair-climbing device, the stair-climbing device 10 can not only independently complete the stair cleaning operation, but also work in conjunction with cleaning equipment (such as a sweeping robot) as a transport carrier, realizing the integration of stair-climbing transport and stair cleaning functions, saving users' physical strength while expanding application scenarios.

[0535] See also Figure 32 As shown, the dust collection port 112 communicates with the receiving space 120. The dust collection port 112 is configured to connect with the waste suction port of the cleaning equipment when the cleaning equipment is parked in the receiving space 120. For example, the dust collection port 112 is opened on the bottom surface of the receiving space 120, for example, the support plate 100 is located on one side of the receiving space 120.

[0536] In one possible implementation, the power supply module may include a docking channel (dust collection port 112 in the figure). When the cleaning equipment is housed in the receiving space 120, the docking channel is used to connect the suction source of the cleaning equipment (e.g., a fan) to the suction channel 110. The docking channel may include a dust collection port 112 formed on the stair-climbing device, configured to dock with the waste suction port of the cleaning equipment.

[0537] For example, when the dust collection port 112 is connected to the dirt suction port of the cleaning equipment, the suction source of the cleaning equipment itself (e.g., a fan) can be activated to generate negative pressure in the suction channel 110, thereby sucking in the dirt at the dust collection port 111 and finally entering the dust collection box of the cleaning equipment.

[0538] By configuring the power supply module as a docking channel including the dust collection port 112, a power and waste transfer bridge is constructed between the stair-climbing device 10 and the cleaning equipment. When the cleaning equipment is housed in the receiving space 120, the suction source of the cleaning equipment (e.g., a fan) is connected to the waste suction channel 110 of the stair-climbing device 10 through the docking channel, thereby using the fan system of the cleaning equipment as the power source for stair-climbing cleaning. This enables the reuse and integration of the power system, eliminating the need for the stair-climbing device 10 to have a built-in fan, significantly simplifying the structure of the stair-climbing device 10 and reducing cost and weight.

[0539] In addition, the sucked-in dirt can be directly transported to the dust collection box of the cleaning equipment through the dust collection port 112, realizing the unified collection and treatment of dirt, and avoiding the cleaning trouble caused by setting up a separate dust collection box in the stair climbing device 10.

[0540] In another possible implementation, the power supply module may include a suction module mounted on the stair-climbing device, and the suction module may include a suction fan 110a (see...). Figure 34 As shown in the diagram, a dust collection device 110b is provided, with the air inlet of the suction fan connected to the suction channel 110. The suction fan generates suction to draw in dirt from the suction port 111 and discharge it through the dust collection port 112. For example, the stair-climbing device 10 is equipped with a dust collection device for docking with the suction channel 110, which is connected to the dust collection port 112 and collects the dirt drawn in from the suction channel 110.

[0541] By integrating the suction fan directly into the stair-climbing device, the stair-climbing device 10 can generate suction force without relying on external equipment, thereby achieving autonomous cleaning operations. This improves the ease of use and response speed of the stair-climbing device 10, avoids compatibility and preparation time issues caused by connecting to external equipment, and enables the stair-climbing device 10 to operate as a professional stair cleaning device with independent functions, thus expanding the application scenarios of the stair-climbing device 10.

[0542] In one possible implementation, such as Figure 33 As shown, the suction port 111 may include a front suction port 111a and a rear suction port 111b. The front suction port 111a is located near the opening 121 of the receiving space 120, and the rear suction port 111b is located near the supply assembly 400. The front suction port 111a and the rear suction port 111b are selectively connected to a power supply module (e.g., a dust collection port 112 or the air inlet of a vacuum blower) via a valve-controlled conduit 117.

[0543] It should be noted that after the front suction port 111a or the rear suction port 111 is connected to the power supply module, the power supply module can apply negative pressure to the suction channel so that the front suction port 111a or the rear suction port 111 can suck up dirt. Figure 33 The structure shown is a docking channel for the power supply module, including the dust collection port 112.

[0544] For example, the valve-controlled pipeline 117 may include a first valve port 1171 and a second valve port 1172. The first valve port 1171 is located between the front suction port 111a and the power supply module (e.g., the dust collection port 112 or the air inlet of the suction fan), and the second valve port 1172 is located between the rear suction port 111b and the power supply module (e.g., the dust collection port 112 or the air inlet of the suction fan). The first valve port 1171 and the second valve port 1172 on the valve-controlled pipeline 117 are used to control the on / off connection between the front suction port 111a and the rear suction port 111b and the power supply module (e.g., the dust collection port 112 or the air inlet of the suction fan), respectively.

[0545] In other embodiments, see also Figure 32 As shown, the stair-climbing device 10 may also include a suction channel 110, which may be located inside the device body 10a. For example, the suction channel 110 may be located inside the support plate 100.

[0546] Of course, it can also be set on the supply component 400 or the first crawling arm 300. In this embodiment, the location of the suction channel 110 is not further limited.

[0547] The suction channel 110 may include a suction port 111 and a dust collection port 112 connected to each other. The suction port 111 leads to the external environment of the stair climbing device 10 and is configured as an inlet for sucking up dirt. The stair climbing device 10 is configured to suck up dirt on the stairs through the suction port 111 during stair climbing (including going up and down).

[0548] For example, the suction port 111 can face the ground, making it convenient to aim at the ground for suction. Of course, in other examples, the suction port 111 can be located at the tail of the stair-climbing device 10 and facing outwards. For example, in the z-direction, the suction port 111 is located at the end of the supply assembly 400 facing the support plate 100. This allows the suction port 111 to be easily aimed at the area at the tail of the stair-climbing device 10, facilitating the suction of dirt from the tail of the stair-climbing device 10.

[0549] The stair-climbing device 10 in this embodiment integrates the suction channel 110 into the device body 10a and connects the suction port 111 of the suction channel 110 to the external environment. This allows the stair-climbing device 10 to directly target the stair surface through the suction port 111 when climbing stairs, thereby achieving in-situ adsorption cleaning of the step plane or vertical surface. This expands the working coverage of the cleaning equipment, enabling it to cross floors and achieve continuous cleaning of multiple floors. It solves the problem that cleaning equipment (e.g., a robot vacuum cleaner) cannot clean stairs and significantly improves cleaning efficiency.

[0550] See also Figure 32 As shown, the dust collection port 112 leads to the receiving space 120. The dust collection port 112 is used to connect with the dirt suction port of the cleaning equipment when the cleaning equipment is parked in the receiving space 120. The suction source of the cleaning equipment is configured as the power source for the suction channel 110 to suck up dirt. For example, the dust collection port 112 is opened on the bottom surface of the receiving space 120, for example, the support plate 100 is located on one side of the receiving space 120.

[0551] For example, when the dust collection port 112 is connected to the dirt suction port of the cleaning equipment, the suction source of the cleaning equipment itself (e.g., a fan) can be activated to generate negative pressure in the suction channel 110, thereby sucking in the dirt at the dust collection port 111 and finally entering the dust collection box of the cleaning equipment.

[0552] By providing a dust collection port 112 leading to the receiving space 120, a power and waste transfer bridge is constructed between the stair-climbing device 10 and the cleaning equipment. When the cleaning equipment is housed in the receiving space 120, the suction source of the cleaning equipment (e.g., a fan) is connected to the waste suction channel 110 of the stair-climbing device 10 through the dust collection port 112, thereby using the fan system of the cleaning equipment as the power source for stair-climbing cleaning. This enables the reuse and integration of the power system, eliminating the need for a built-in fan in the stair-climbing device 10, significantly simplifying its structure and reducing cost and weight.

[0553] In addition, the sucked-in dirt can be directly transported to the dust collection box of the cleaning equipment through the dust collection port 112, realizing the unified collection and treatment of dirt, and avoiding the cleaning trouble caused by setting up a separate dust collection box in the stair climbing device 10.

[0554] In another possible implementation, such as Figure 34 As shown, the power source for the suction channel 110 to suck up dirt can be a suction fan 110a installed on the device body 10a.

[0555] For example, the device body 10a is provided with a suction fan 110a and a dust collection device 110b. The air inlet of the suction fan 110a is connected to the suction channel 110, and the dust collection device 110b is disposed between the air inlet of the suction fan 110a and the dust collection port 112. The suction fan 110a is used to generate suction, so that dirt is sucked in from the suction port 111 and enters the dust collection device 110b through the dust collection port 112. The dust collection device 110b is used to collect the dirt sucked in from the suction channel 110.

[0556] By directly integrating the suction fan 110a into the main body 10a, the stair-climbing device 10 can generate suction force without relying on external equipment, thereby achieving autonomous cleaning operations. This improves the ease of use and response speed of the stair-climbing device 10, avoids compatibility and preparation time issues caused by connecting to external equipment, and enables the stair-climbing device 10 to operate as a functionally independent professional stair cleaning device, thus expanding the application scenarios of the stair-climbing device 10.

[0557] In one possible implementation, such as Figure 33 As shown, the suction port 111 may include a front suction port 111a and a rear suction port 111b. The front suction port 111a is located near the opening 121 of the receiving space 120, and the rear suction port 111b is located near the supply assembly 400. The front suction port 111a and the rear suction port 111b are selectively connected to the dust collection port 112 via a valve-controlled conduit 117.

[0558] It should be noted that after the front suction port 111a or the rear suction port 111 is connected to the dust collection port 112, the suction source of the cleaning equipment can apply negative pressure to the suction channel through the dust collection port 112 so that the front suction port 111a or the rear suction port 111 can suck up dirt.

[0559] For example, the valve-controlled pipeline 117 may include a first valve port 1171 and a second valve port 1172. The first valve port 1171 is located between the front suction port 111a and the dust collection port 112, and the second valve port 1172 is located between the rear suction port 111b and the dust collection port 112. The first valve port 1171 and the second valve port 1172 on the valve-controlled pipeline 117 are used to control the on / off connection between the front suction port 111a and the rear suction port 111b and the dust collection port 112, respectively.

[0560] In one possible implementation, the stair-climbing device 10 is configured to open the first valve port 1171 and close the second valve port 1172 when going upstairs to suck up dirt on the stairs through the front suction port 111a; and to open the second valve port 1172 and close the first valve port 1171 when going downstairs to suck up dirt on the stairs through the rear suction port 111b.

[0561] By configuring the suction port 111 to include a front suction port 111a and a rear suction port 111b, and selectively connecting the front suction port 111a and the rear suction port 111b to the dust collection port 112 via the valve-controlled pipeline 117, the problem of blind spots in cleaning a single suction port 111 during bidirectional movement up and down stairs is structurally solved. This design ensures that regardless of whether the stair-climbing device 10 is in an ascending or descending posture, there is always a suction port 111 located at the forefront of the current direction of travel and close to the stair surface to be cleaned. The valve-controlled pipeline 117 enables the switching of airflow paths, ensuring that suction is always guided to the suction port 111 in use. This eliminates the drawbacks of needing manual adjustment due to changes in the direction of climbing stairs or the existence of cleaning dead spots, thus improving the cleaning effect.

[0562] By independently controlling the first valve port 1171 and the second valve port 1172, precise coordination between the cleaning logic and the stair-climbing action can be achieved. This allows the stair-climbing device 10 to automatically switch the effective suction port 111 according to the real-time direction of travel, ensuring that suction power is always concentrated on the stair area to be cleaned. This achieves intelligent bidirectional adaptive cleaning without manual intervention, thus reducing the user's operational burden.

[0563] In one possible implementation, the opening 121 of the receiving space 120 for the cleaning equipment to enter is positioned opposite the suction port 111 along the travel direction (y direction) of the stair-climbing device 10. That is, the suction port 111 is located at the rear of the stair-climbing device 10.

[0564] By aligning the opening 121 of the receiving space 120 with the suction port 111 of the suction channel 110 along the travel direction of the stair-climbing device 10, a straight suction path is formed. This reduces the resistance of the suction channel 110, significantly improves suction efficiency, and avoids dust accumulation and blockage caused by tortuous air ducts. Furthermore, it allows for easy alignment with stairs or other obstacles on the outside of the stair-climbing device 10, facilitating suction.

[0565] In some embodiments, the size of the suction port 111 in the first direction (x direction) is larger than the size of the dust collection port 112 in the first direction (x direction), and the first direction (x direction) is perpendicular to the travel direction (y direction) of the stair climbing device 10.

[0566] See Figure 35As shown, the suction channel 110 is constructed as a flow channel with a specific geometry to optimize airflow and improve suction efficiency. Specifically, the suction channel 110 includes interconnected guiding and converging regions from the suction port 111 to the dust collection port 112. The guiding region is configured in a funnel shape, with a wide suction port 111 formed at its end closest to the external environment. The cross-sectional area of ​​this region gradually decreases along the airflow direction (i.e., towards the dust collection port 112), and its inner wall surface serves as a smooth guiding surface, enabling the smooth convergence and initial acceleration of the large-scale airflow from the wide suction port 111.

[0567] The converging area is located downstream of the guiding area and directly connected to the dust collection port 112. The channel cross-section of this area is constructed as a uniform rectangle, the size of which matches the dust collection port 112. The airflow, after being converged and accelerated in the guiding area, is delivered here in a stable and uniform flow pattern to the dust collection port 112, and finally enters the dirt suction port of the cleaning equipment.

[0568] Of course, in other embodiments, the suction channel 110 can also have other shapes. For example, the overall configuration of the suction channel 110 can be a streamlined air duct with a cross-sectional area that gradually narrows along the airflow direction. Its starting end forms a wide dust suction port 111 for capturing dust-laden airflow over a large area. Its ending end converges into a dust collection port 112 with a size matching the air inlet of the cleaning equipment for docking and conveying dirt. In the embodiments of this application, the shape of the suction channel 110 is not further limited.

[0569] By setting the size of the suction port 111 in the first direction (x-direction) (i.e., the width direction perpendicular to the travel direction) to be larger than that of the dust collection port 112, the coverage width of the vacuuming operation is effectively expanded, allowing a wider area to be cleaned in a single pass. The large suction port 111 forms a highly efficient "air collection zone," guiding airflow from a wider area of ​​dirt towards the central dust collection port 112. This tapering structure accelerates the airflow. According to the Venturi effect in fluid mechanics, the airflow velocity increases as it flows from a wide area to a narrow area, thereby generating stronger negative pressure and suction force at the suction port 111, ensuring effective capture of dirt in corners or crevices. Finally, this smooth transition structure optimizes the internal flow field, effectively reducing energy loss and noise caused by airflow turbulence and sudden changes in direction, improving the overall energy efficiency and quietness of the system.

[0570] Of course, in some embodiments, the size of the suction port 111 in the first direction (x direction) can be set to be the same as the size of the dust collection port 112 in the first direction (x direction), which can simplify the structure of the suction channel 110 and reduce the processing difficulty.

[0571] In some embodiments, the suction channel 110 is provided with a flow guiding structure 115 for guiding airflow from the suction port 111 to the dust collection port 112. The flow guiding structure 115 may include a plurality of flow guiding walls 1151 spaced apart along a first direction (x-direction). The flow guiding walls 1151 extend along the direction of the airflow and serve a certain flow guiding function. The flow guiding structure 115 is located at one end of the suction channel 110 near the suction port 111.

[0572] For example, the guide wall 1151 can be a straight plate-like structure or a curved structure.

[0573] By setting multiple guide walls 1151 arranged at intervals along the first direction (x direction) at one end of the suction channel 110 near the dust inlet 111, the wide inlet area is divided into several regular sub-channels. These guide walls 1151 can finely guide and organize the incoming airflow, forcing the airflow to converge more orderly towards the dust collection inlet 112, effectively suppressing the diffusion and turbulence of the airflow at the channel inlet. This reduces flow resistance and energy loss, ensuring that the suction force can be concentrated on the surface to be cleaned, thereby optimizing the aerodynamic performance of the suction channel 110 and improving the overall dust collection efficiency.

[0574] See Figure 35 As shown, the bottom of the support plate 100 is provided with a channel cover plate 113. The side of the support plate 100 facing away from the receiving space 120 is provided with a channel groove 114. The channel cover plate 113 covers the outside of the channel groove 114 and is detachably connected to the support plate 100 so that a suction channel 110 is formed between the channel cover plate 113 and the support plate 100.

[0575] For example, the channel cover plate 113 and the support plate 100 can be detachably connected by means of snap-fit ​​connection, screw connection, magnetic connection, bolt and nut connection, slide groove and slider connection, etc. In this embodiment of the application, the connection method between the channel cover plate 113 and the support plate 100 is not further limited.

[0576] By utilizing the channel groove 114 on the back of the support plate 100 and the detachable channel cover 113 to jointly enclose and form the suction channel 110, an integrated design of functional components and structural load-bearing components can be achieved. This design cleverly integrates the suction channel 110 inside the support plate 100 without occupying additional internal space of the stair-climbing device 10, making the structure of the stair-climbing device 10 more compact and conducive to the miniaturization of the stair-climbing device 10. The detachable connection between the channel cover 113 and the support plate 100 provides a convenient window for cleaning and maintenance inside the suction channel 110. When the suction channel 110 becomes blocked, it can be easily opened for cleaning, reducing maintenance difficulty.

[0577] For example, the side of the passage cover 113 facing away from the receiving space 120 is on the same plane as the side of the support plate 100 facing away from the receiving space 120. By making the side of the passage cover 113 facing away from the receiving space 120 and the side of the support plate 100 facing away from the receiving space 120 on the same plane, a complete and flat support surface is formed at the bottom of the stair climbing device 10. This effectively avoids bulges or depressions caused by component splicing, making the stair climbing device 10 more stable during movement, especially on carpets or smooth floors, reducing the risk of getting stuck.

[0578] See Figure 36 As shown, a second detection unit is provided at the bottom of the stair climbing device 10. The second detection unit is located at the bottom of the device body 10a and is used to detect the cliff information at the bottom of the stair climbing device 10 on the travel path of the stair climbing device 10. The cliff refers to a sudden drop in height on the ground on the travel path of the stair climbing device 10. The cliff may include steps, stairs, etc. The cliff information may include the height difference of the cliff, the outline edge of the cliff, the location of the cliff, the extension length of the cliff (e.g., the length of the stairs, the number of steps of the stairs, etc.), the material at the location of the cliff, etc.

[0579] In this way, the climbing device 10 can perform obstacle avoidance actions based on cliff information to prevent it from falling and overturning at the cliff location. At the same time, the second detection unit can also assist in adjusting the travel path of the climbing device 10, resulting in a high level of safety. The obstacle avoidance actions can include stopping climbing, turning, and reversing.

[0580] In some embodiments, the second detection unit may include a plurality of second distance sensors 821 to detect whether there is a cliff at the bottom of the stair climbing device 10. The stair climbing device 10 can then perform corresponding actions based on the distance information measured by the second distance sensors 821. For example, when there is no cliff at the bottom of the stair climbing device 10, the stair climbing device 10 can continue climbing along a preset path. When the second distance sensor 821 detects a cliff at the bottom of the stair climbing device 10, the stair climbing device 10 can perform obstacle avoidance actions to prevent the stair climbing device 10 from falling off the cliff.

[0581] Multiple second distance sensors 821 are distributed on the side of the support plate 100 near the opening 121 and on the side near the supply assembly 400. The second distance sensors 821 are used to detect missing or height changes in the ground ahead when the plane moves.

[0582] It should be noted that "the second distance sensor 821 is used to detect gaps or changes in height of the ground ahead during planar movement" means that the second distance sensor 821 can directly or indirectly detect gaps in the ground ahead during planar movement. For example, the second distance sensor 821 can be a camera, which can collect image information of the ground ahead. Based on this image information, it can directly identify whether there is a gap in front of the stair climbing device. As another example, the second distance sensor 821 can be a distance sensor, which can detect changes in the height of the ground ahead of the stair climbing device. When the second distance sensor 821 detects a sudden change in the distance signal of the ground ahead in the height (z direction) (the distance value detected at time a is significantly smaller than the distance value detected at time b, and time a is earlier than time b), it can indirectly determine that there is a gap in front of the stair climbing device, such as a cliff.

[0583] In some embodiments, there are multiple second distance sensors 821, such as two, three or more. The multiple second distance sensors 821 are respectively disposed on both sides of the device body 10a along the direction of travel and are spaced apart along the travel direction y of the device body 10a.

[0584] For example, second distance sensors 821 can be respectively provided at the two sides of the front end and the two sides of the rear end of the stair climbing device 10 (e.g., Figure 36 (As shown). Alternatively, second distance sensors 821 (not shown) can be installed at the center of both sides of the stair-climbing device 10.

[0585] By setting multiple second distance sensors 821 at the bottom edge of the stair climbing device 10, multi-directional protection can be provided for the stair climbing device 10, so that when the stair climbing device 10 is climbing along the direction of travel y, traveling backward or turning, the cliff information at its bottom can be detected, thereby improving its climbing safety.

[0586] like Figure 36 As shown, there are four second distance sensors 821, two of which are spaced apart along the first direction (x-direction) on the side of the support plate 100 near the opening 121. The other two sensors are spaced apart along the first direction (x-direction) on the side of the support plate 100 near the supply assembly 400.

[0587] By distributing multiple sets of second detection units with different functions on the lower surface of the support plate 100, multi-tasking and refined perception of the ground below the stair-climbing device 10 can be achieved. The second distance sensor 821 is distributed on the front and rear sides, and can effectively detect ground defects such as cliffs and step edges when moving in a plane, so as to achieve active fall prevention.

[0588] In some embodiments, the second distance sensor 821 includes at least one of an ultrasonic sensor, millimeter-wave radar, infrared sensor, time-of-flight sensor, direct time-of-flight sensor, multi-view sensor, and line laser sensor. Thus, any one or more of these sensors can be selected based on factors such as the operating environment of the stair-climbing device 10, its assembly requirements, and its manufacturing cost.

[0589] The time-of-flight (ToF) sensor may include either or both of a direct time-of-flight (dToF) sensor and an indirect time-of-flight (iToF) sensor.

[0590] In some embodiments, the ultrasonic sensor can emit ultrasonic waves toward the bottom of the stair-climbing device 10 and calculate the height difference by receiving the time difference of the reflected ultrasonic signals to determine whether there is a cliff at the bottom of the stair-climbing device 10.

[0591] Millimeter-wave radar can emit millimeter-wave electromagnetic signals toward the bottom of the stair-climbing device 10 and receive the reflected waves. By measuring the time difference and phase of the reflected waves, the ground height at the current position of the stair-climbing device 10 can be determined. If the reflected wave signal is small or weakened, it can be determined that there is a cliff at the bottom of the stair-climbing device 10.

[0592] The infrared sensor emits infrared light towards the bottom of the stair climbing device 10. If the infrared sensor can receive the reflected infrared light, it can be determined that there is no cliff at the bottom of the stair climbing device 10. If the infrared sensor cannot receive the reflected infrared light or the intensity of the received infrared light is weak, it can be determined that there is a cliff at the bottom of the stair climbing device 10.

[0593] LiDAR can scan the ground at the bottom of the stair climbing device 10 to determine whether there is a cliff at the bottom of the stair climbing device 10. It is suitable for complex road conditions, such as irregular platforms or duplex staircases.

[0594] The time-of-flight sensor can emit laser point clouds toward the bottom of the stair-climbing device 10 and receive the reflected laser point clouds. By calculating the round-trip time of the laser point clouds, the ground height of the stair-climbing device 10 at its current position can be determined.

[0595] The multi-view sensor can capture multiple frames of ground images from different angles. By using the phase difference between the multiple frames, the ground height at the current position of the climbing device 10 can be determined to determine whether there is a cliff.

[0596] A linear laser sensor emits a linear laser beam toward the bottom of the climbing device 10 and captures the deformation of the laser beam through a camera. In this way, based on the principle of triangulation, the position and height of the cliff can be determined by the distortion or breakage of the laser beam at the edge of the cliff.

[0597] Figure 37 This is a cross-sectional structural diagram of the third detection unit of the stair-climbing device provided in the embodiments of this application. Figure 38 This is a schematic diagram of the structure of the stair-climbing device provided in the embodiments of this application when it climbs on a staircase. Figure 39 This is another structural schematic diagram of the stair-climbing device provided in an embodiment of this application.

[0598] In some embodiments, please refer to Figure 36 to Figure 39 Considering that the stair climbing device 10 is in an inclined state when it climbs on obstacles such as stairs, and that the stair step surface includes a horizontal plane and a vertical plane, the detection module may also include a third detection unit.

[0599] For example, the third detection unit may include a plurality of third distance sensors 822, which can be used to detect the distance between itself and the step surface in order to perform corresponding actions based on the distance.

[0600] For example, when the stair climbing device 10 detects that the change in distance is too large or too small relative to the width or height of the step, it can indicate that the stair climbing device 10 is at the edge of the stairs and can change its climbing posture.

[0601] In some embodiments, the third distance sensor 822 includes at least one of an ultrasonic sensor, millimeter-wave radar, infrared sensor, time-of-flight sensor, direct time-of-flight sensor, multi-view sensor, and line laser sensor. Thus, the choice of ultrasonic sensor, millimeter-wave radar, infrared sensor, time-of-flight sensor, direct time-of-flight sensor, multi-view sensor, or line laser sensor can be made based on factors such as the operating environment of the stair-climbing device 10, the assembly requirements of the stair-climbing device 10, and the manufacturing cost of the stair-climbing device 10.

[0602] The principles of distance detection by ultrasonic sensors, millimeter-wave radar, infrared sensors, time-of-flight sensors, direct time-of-flight sensors, multi-view sensors, and line laser sensors have been described in the above embodiments, and will not be repeated in this embodiment.

[0603] In some embodiments, the detection module may include any one or more of the first detection unit 810, the second detection unit, and the third detection unit to provide detection of the stair climbing device 10 from different or multiple directions, thereby improving the climbing safety of the stair climbing device 10. This embodiment does not limit the structure and composition of the detection module.

[0604] The functions of the third detection unit will be explained in detail below.

[0605] The third detection unit is located at the bottom of the device body 10a and is tilted along the climbing direction of the device body 10a. That is, the third detection unit can be tilted towards the front or rear end of the climbing device 10 in the traveling direction y, so that the detection direction of the third detection unit has an angle with the height direction z of the climbing device 10. The detection direction can be the center line direction of the detection field of view of the third detection unit.

[0606] Thus, when the climbing device 10 is climbing on the stairs, the detection direction of the third detection unit can be approximately vertical or approximately horizontal. That is, the detection direction of the third detection unit is approximately parallel to the horizontal or vertical plane of the step, so as to detect the distance of the climbing device 10 relative to the stair step surface, and determine the relative position of the climbing device 10 with the two adjacent step surfaces by the sudden change in the distance.

[0607] For example, the detection direction of the third detection unit is tilted toward the front end of the stair climbing device 10. In this way, when the stair climbing device 10 moves down the stairs, the third detection unit can detect the distance between itself and the horizontal plane of the step in an approximately vertical direction. When the distance changes abruptly, it can be determined that the position of the third detection unit is the connection position of two adjacent horizontal planes, that is, the stair climbing device 10 moves from one step to another adjacent step.

[0608] The detection direction of the third detection unit is tilted towards the rear end of the stair-climbing device 10. In this way, when the stair-climbing device 10 moves upward on the stairs, the third detection unit can detect the distance between itself and the vertical surface of the step in an approximately horizontal direction. Thus, when this distance changes abruptly, it can be determined that the position of the third detection unit is the connection point between two adjacent vertical surfaces, that is, the stair-climbing device 10 has moved from one step to another adjacent step.

[0609] If the second detection unit and the third detection unit are set in the same position, and the detection direction of the second detection unit is along the height direction z of the climbing device 10 and approximately perpendicular to the inclination direction of the stairs, then when the climbing device 10 is climbing on the stairs, the third detection unit can detect the abrupt change in distance before the second detection unit, so as to more accurately determine the relative position between the climbing device 10 and the two adjacent step surfaces, and assist in determining the relative position of the climbing device 10 on the stairs, so that the climbing device 10 can adjust its climbing posture in time and improve climbing safety.

[0610] In some embodiments, there may be multiple third distance sensors 822. Taking two third distance sensors 822 as an example, the two third distance sensors 822 may extend obliquely toward the front end and rear end of the device body 10a in the crawling direction, respectively. In this way, one third distance sensor 822 may be obliquely toward the front end of the stair climbing device 10 to detect its distance from the horizontal plane of the step in an approximately vertical direction when the stair climbing device 10 moves downward on the stairs, and the other third distance sensor 822 may be obliquely toward the rear end of the stair climbing device 10 to detect its distance from the vertical plane of the step in an approximately horizontal direction when the stair climbing device 10 moves upward on the stairs.

[0611] In some embodiments, the third distance sensor 822 is tilted toward one side of the opening 121 of the receiving space 120 to detect the distance of the stair climbing device 10 relative to the stair step surface when the stair climbing device 10 moves down the stairs, thereby simplifying the structure of the stair climbing device 10 and reducing manufacturing costs.

[0612] In some embodiments, the number of third distance sensors 822 may be three or more, so as to improve the detection accuracy of the third distance sensors 822 through redundant detection, and avoid the inability to detect the distance between the stair climbing device 10 and the stair step surface in time when one of the third distance sensors 822 fails.

[0613] In this embodiment, the third distance sensor 822 is distributed on the side of the support plate 100 near the supply component 400. The third distance sensor 822 is used to detect the edge of the step during the climbing process to trigger cleaning operation or assist navigation.

[0614] It should be noted that the process of climbing stairs includes both going upstairs and going downstairs.

[0615] For example, two third distance sensors 822 are spaced apart along the first direction (x direction) on the side of the support plate 100 near the supply assembly 400. Since the suction port 111 of the suction channel 110 is located at the end of the stair climbing device 10 where the supply assembly 400 is located, the third distance sensors 822 are positioned near the suction port 111 of the suction channel 110.

[0616] By setting up a third distance sensor 822 and specifically positioning it on the side close to the supply component 400, that is, the side close to the suction port 111, the accuracy of detecting the edge of the step can be improved, which can be used to trigger specific cleaning operations (such as sweeping the step surface or vacuuming).

[0617] In one possible implementation, during the stair-climbing process, the third distance sensor 822 detects changes in the distance between itself and the step surface to determine whether the suction port 111 of the stair-climbing device 10 is directly facing the next step. For example, when the distance between the third distance sensor 822 and the step surface changes abruptly, the suction port 111 is aligned with the step surface of the next floor. The stair-climbing device 10 can stop at this position, control the cleaning components to clean the stairs, and simultaneously activate the suction function of the stair-climbing device 10 to perform vacuuming through the suction port 111.

[0618] It should be noted that the vacuuming function can be activated during the process of the stair-climbing device 10 going downstairs or upstairs. Specifically, it can be set during the return trip to the base station after cleaning, avoiding the extra movement and energy consumption required for cleaning the stairs separately, thus improving the energy efficiency and overall work efficiency of the entire cleaning system. In addition, when the stair-climbing device 10 returns from the work area, it can bring the collected garbage back to the base station for processing, maintaining the cleanliness of the core area of ​​the base station, while simplifying the design of the stair-climbing device 10 itself, eliminating the need for a complex dust collection mechanism.

[0619] For example, the second detection unit may be at least one of an ultrasonic sensor, millimeter-wave radar, infrared sensor, time-of-flight sensor or direct time-of-flight sensor; the detection direction of the third distance sensor 822 is configured to be approximately perpendicular to the horizontal ground when the stair climbing device 10 is in the stair climbing working posture.

[0620] In other words, the detection direction of the third distance sensor 822 is preset or constrained by a mechanical structure to be approximately perpendicular to the horizontal ground. This means that regardless of whether the stair-climbing device 10 is horizontal on the stairs or at a certain angle due to the incline, the detection direction remains downward, always used to directly detect the steps or ground directly below it, thereby ensuring the validity and consistency of the distance detection data.

[0621] By specifically selecting an ultrasonic, millimeter-wave radar, infrared, time-of-flight (ToF), or direct time-of-flight (dToF) sensor as the second detection unit, reliable distance information is ensured to be obtained under different ground materials, reflectivity, and dust conditions. By configuring the detection direction of the third distance sensor 822 to be approximately perpendicular to the horizontal ground during the stair-climbing posture, the third distance sensor 822 can directly and accurately measure the distance to the edge of the step directly below it or detect the condition of the step's facade during climbing. This directional sensing optimizes the targeting and effectiveness of detection, providing high-quality environmental feedback signals for triggering cleaning actions or assisting in precision climbing.

[0622] For example, there are two third distance sensors 822, which are spaced apart on both sides of the bottom of the stair climbing device 10 along the first direction (x direction). The two sensors can be symmetrically distributed on both sides of the bottom of the stair climbing device 10 in the x direction.

[0623] It should be noted that "approximately vertical" refers to verticality within a certain error range. For example, the angle between the detection direction and the horizontal ground can be considered approximately vertical if it is between 85° and 90° or between 90° and 95°.

[0624] By installing a third distance sensor 822 at the bottom of the stair-climbing device 10, whose detection direction is approximately perpendicular to the horizontal ground during climbing or descending, the device can accurately measure the vertical distance between the device directly below and the step surface. This allows the detection beam to be directly projected onto the current step plane, thereby obtaining the most direct and accurate distance information. This distance information is crucial sensor data for determining the relative position of the stair-climbing device 10 on the stairs, detecting step edges, and preventing falls, providing reliable position awareness for the autonomous navigation and safe operation of the stair-climbing device 10 in complex stairwell environments.

[0625] In one possible implementation, the third distance sensor 822 can be at least one of an ultrasonic sensor, millimeter-wave radar, infrared sensor, time-of-flight sensor, or direct time-of-flight sensor.

[0626] By selecting different types of ranging devices, such as ultrasonic sensors, millimeter-wave radar, infrared sensors, time-of-flight (ToF) sensors, or direct time-of-flight (dToF) sensors, as the third distance sensor 822, this solution allows for flexible selection of the most suitable sensing scheme based on specific performance requirements, cost budgets, and working environments (such as adaptability to different material steps, resistance to ambient light interference, measurement accuracy, and speed requirements). This improves the design flexibility of the stair-climbing device 10, ensuring reliable distance detection and navigation functions in various application scenarios.

[0627] For example, the third distance sensor 822 may include a detection surface 8221. During operation, the detection surface 8221 is configured to emit a detection signal (such as ultrasonic waves, infrared light, or a laser beam) towards the step or ground below the stair-climbing device 10, and receive the echo signal reflected back from the surface below. By calculating the time difference, phase difference, or signal strength change between transmission and reception, the third distance sensor 822 can acquire the vertical distance or relative height information between its detection surface 8221 and the surface of the step below in real time. When the detected distance value changes abruptly, i.e., from a small value (corresponding to a large value on the step plane) to a large value (corresponding to the overhang at the leading edge of the step), the control system can determine that it has reached the edge of the current step, thereby triggering a crossing action or a vacuuming action.

[0628] In some embodiments, a mounting portion 116 for mounting a third distance sensor 822 is provided on the bottom wall surface of the device body 10a. The mounting portion 116 can be recessed toward the top of the device body 10a. In this way, the mounting portion 116 can form a protection for the third distance sensor 822 to prevent the third distance sensor 822 from extending to the outside of the mounting portion 116 and being impacted, thereby improving the climbing safety of the stair climbing device 10.

[0629] In some embodiments, the wall surface of the mounting portion 116 near the opening 121 of the receiving space 120 is inclined, wherein the inclination angle of the wall surface can be greater than or equal to the inclination angle of the third distance sensor 822, so as to avoid the wall surface of the mounting portion 116 blocking the detection signal of the third distance sensor 822.

[0630] Combination Figure 36 and Figure 37 As shown, the bottom of the stair-climbing device 10 has an inwardly recessed mounting portion 116, and a third distance sensor 822 is embedded in the mounting portion 116. The detection surface 8221 of the third distance sensor 822 is set at an angle to the plane where the bottom of the stair-climbing device 10 is located. The mounting portion 116 may include a first inclined wall 1161 and a second inclined wall 1162 arranged opposite to each other along the traveling direction of the stair-climbing device 10. The first inclined wall 1161 is located near the dust suction port 111. The angle between the first inclined wall 1161 and the plane where the bottom of the stair-climbing device 10 is located is less than 90°, and the angle between the second inclined wall 1162 and the plane where the bottom of the stair-climbing device 10 is located is less than 90°. That is to say, neither the first inclined wall 1161 nor the second inclined wall 1162 is perpendicular to the plane where the bottom of the stair-climbing device 10 is located.

[0631] For example, the third distance sensor 822 can be fixed in the mounting part 116 by means of fastening screws, adhesive or other means. In this embodiment of the application, the connection method between the third distance sensor 822 and the mounting part 116 is not further limited.

[0632] By embedding the third distance sensor 822 within the mounting portion 116, physical protection is provided for the third distance sensor 822, preventing it from colliding with obstacles during the operation of the stair-climbing device 10. By providing a first inclined wall 1161 and a second inclined wall 1162 within the mounting portion 116, both with an angle of less than 90° to the bottom plane, the detection direction of the third distance sensor 822 can be approximately perpendicular to the horizontal ground when the stair-climbing device 10 is in a climbing or descending posture. This allows the detection beam to be directly projected onto the current step plane, thereby obtaining the most direct and accurate distance information.

[0633] For example, the detection surface 8221 of the third distance sensor 822 is set at an angle to the plane where the bottom of the stair climbing device 10 is located, so that the detection direction of the third distance sensor 822 is towards the front and lower part of the stair climbing device 10 when the stair climbing device 10 is in a horizontal standby posture.

[0634] It should be noted that "front" of the climbing device 10 refers to the end of the receiving space 120 where the opening 121 is located, and "front and below" refers to the end facing the opening 121 and downward.

[0635] By setting the detection surface 8221 of the third distance sensor 822 to a fixed angle with the bottom plane of the stair climbing device 10, the detection direction of the stair climbing device 10 naturally points forward and downward when it is in a horizontal standby posture. This allows the stair climbing device 10 to detect obstacles such as steps, cliffs, or pits ahead when moving on flat ground, enabling proactive terrain prediction. This provides effective fall protection for the stair climbing device 10, enhancing its safety.

[0636] In some other embodiments, the third distance sensor 822 may also be mounted on the bottom of the stair-climbing device 10 via an angle adjustment mechanism (not shown). The angle adjustment mechanism is configured such that the detection direction of the third distance sensor 822 is approximately perpendicular to the horizontal ground when the stair-climbing device 10 is in the working posture.

[0637] For example, the angle adjustment structure can be a ball joint structure or an eccentric wheel structure, etc. In the embodiments of this application, the specific type of angle adjustment structure is not further limited.

[0638] A third distance sensor 822 is installed via an angle adjustment mechanism, allowing its detection direction to be dynamically adjusted. This ensures that the detection direction of the third distance sensor 822 remains approximately perpendicular to the current horizontal step surface when the stair climbing device 10 is at different working inclination angles. This adaptive adjustment function overcomes the problem of detection angle deviation caused by changes in stair slope, ensuring accurate and reliable distance measurement data on staircases with different inclines, greatly improving the environmental adaptability and navigation positioning accuracy of the stair climbing device 10.

[0639] In one possible implementation, the stair-climbing device 10 may further include a control device (not shown in the figure), which is connected to a third distance sensor 822. The third distance sensor 822 is used to detect the distance information between the detection element and the step surface located below the detection element. The control device is used to determine whether the vacuum port 111 is directly facing the step surface of the next floor based on the change of the distance information within a preset time, and when the vacuum port 111 is directly facing the step surface of the next floor, control the stair-climbing device 10 to stop moving and start the vacuuming function.

[0640] Specifically, the control device is configured to determine that the stair climbing device 10 has completed the obstacle crossing when it detects that the distance information starts to decrease continuously from a stable value (corresponding to travel on the current step plane) and then tends to a new stable value again, and that its dust suction port 111 is directly facing and adjacent to the step surface of the next floor.

[0641] Of course, in other embodiments, the control device may also determine that the suction port 111 is in place when it detects that the distance value is less than a preset trigger threshold for the first time.

[0642] For example, "activating the vacuuming function" may specifically include a control d...

Claims

1. A stair-climbing device, characterized in that, The stair-climbing device, at least for transporting self-moving equipment, includes: Support plate; Two first crawling arms are connected at their bottoms to both sides of the support plate along a first direction; wherein, The support plate and the two first crawling arms together form a receiving space for storing the self-moving device; The containment space includes an opening for the self-moving device to enter, and a supply component disposed opposite the opening, the supply component being configured to perform at least one maintenance operation on the self-moving device docked in the containment space.

2. The stair-climbing device according to claim 1, characterized in that, The replenishment components include at least energy storage components and water storage components; wherein... The energy storage component and the water storage component are arranged side by side along the first direction.

3. The stair-climbing device according to claim 2, characterized in that, The energy storage component includes: A first charging unit is disposed on the side of the supply component facing the opening. The first charging unit is used to dock with the self-moving device to charge the self-moving device. The second charging unit is disposed on the side of the supply component facing away from the opening. The second charging unit is used to connect to an external power source and charge the energy storage component.

4. The stair-climbing device according to claim 3, characterized in that, The energy storage component includes: An energy storage device is electrically connected to both a first charging unit and a second charging unit, wherein the second charging unit is used to connect to an external power source and charge the energy storage device; wherein... In the first direction, the energy storage element is located on the side of the energy storage assembly away from the water storage assembly.

5. The stair-climbing device according to any one of claims 1-4, characterized in that, The opening of the containment space is positioned opposite the supply component along a second direction, which is perpendicular to the first direction.

6. The stair-climbing device according to any one of claims 1-4, characterized in that, The receiving space is equipped with two clamping mechanisms; wherein... Two clamping mechanisms are arranged at a distance from each other along the first direction, and the clamping mechanisms are configured to clamp the self-moving device that is docked within the receiving space.

7. The stair-climbing device according to claim 6, characterized in that, Part of the clamping mechanism is retractably mounted on the first crawling arm.

8. The stair-climbing device according to any one of claims 1-4, characterized in that, The supply component is provided with a cleaning component on each side along the first direction; A portion of the cleaning component is movably disposed on the side of the supply assembly opposite to the opening, and the cleaning component is used to perform cleaning operations on the area of ​​the supply assembly opposite to the opening.

9. The stair-climbing device according to any one of claims 1-4, characterized in that, Also includes: The suction channel has a dust suction port, which is connected to the external environment of the stair-climbing device. A power supply module is used to provide suction for the suction channel; wherein, The stair-climbing device is configured to suck up dirt from the stairs through the suction port during the stair-climbing process.

10. The stair-climbing device according to claim 9, characterized in that, The power supply module includes a suction fan mounted on the stair-climbing device, and the air inlet of the suction fan is connected to the suction channel.

11. The stair-climbing device according to claim 9, characterized in that, The power supply module includes a docking channel; When the self-moving device is housed in the receiving space, the docking channel connects the suction source of the self-moving device to the suction channel; wherein... The docking channel includes a dust collection port formed on the support plate, the dust collection port being configured to dock with the waste suction port of the self-moving device.

12. The stair-climbing device according to claim 10 or 11, characterized in that, The suction port includes a front suction port and a rear suction port; The front and rear suction ports are selectively connected to the power supply module via valve-controlled pipelines.

13. The stair-climbing device according to claim 12, characterized in that, The valve-controlled pipeline includes a first valve port and a second valve port; wherein... The first valve port is located between the front suction port and the power supply module, and the second valve port is located between the rear suction port and the power supply module; The stair-climbing device is configured to open the first valve and close the second valve when going upstairs to suck up dirt from the stairs through the front suction port; and to open the second valve and close the first valve when going downstairs to suck up dirt from the stairs through the rear suction port.

14. The stair-climbing device according to claim 9, characterized in that, The suction channel is located inside the support plate.

15. The stair-climbing device according to any one of claims 1-4, characterized in that, Includes at least one second crawling arm; wherein, The second crawling arm is rotatably mounted on the side of the first crawling arm that is away from the receiving space.

16. The stair-climbing device according to claim 15, characterized in that, The number of the second crawling arms is multiple; among them, Each of the first crawling arms is equipped with two second crawling arms; Two second crawling arms located on the same first crawling arm are spaced apart along a second direction, which is perpendicular to the first direction.

17. The stair-climbing device according to claim 16, characterized in that, The two second crawling arms located on the same first crawling arm are driven independently; The spacing between the two second crawling arms is configured so that when one of the second crawling arms is in a retracted state, it does not cause motion interference with the other second crawling arm.

18. The stair-climbing device according to claim 15, characterized in that, The first crawler arm includes: First boom; The first track is movably disposed within the first boom, and a portion of the structure of the first track is exposed from the bottom of the first boom. A first drive assembly is housed inside the first boom and is connected to the first track drive, the first drive assembly being configured to drive the first track to move.

19. The stair-climbing device according to claim 18, characterized in that, The first crawler arm is equipped with a second drive assembly; The second drive assembly is drive-connected to the second crawler arm, and the second drive assembly is configured to drive the second crawler arm to swing relative to the first crawler arm.

20. The stair-climbing device according to claim 18, characterized in that, The second crawler arm includes: The second boom is rotatably connected to the first boom; The second track is arranged around the outside of the second boom; wherein, The first drive assembly is also connected to the second track drive, and the first drive assembly is configured to drive the second track to move.

21. The stair-climbing device according to claim 18, characterized in that, The first boom is also equipped with an anti-pinch mechanism; wherein, The anti-pinch mechanism includes: An anti-pinch device is telescopically installed inside the first boom, and the end of the anti-pinch device near the opening is rotatably connected to the first boom. A third drive assembly is connected to the anti-pinch member and is configured to drive the anti-pinch member to rotate relative to the first boom, so that a portion of the structure of the anti-pinch member extends out of or retracts into the first boom.

22. The stair-climbing device according to any one of claims 1-4, characterized in that, The first crawler arm is equipped with a movable impact plate; The impact plate extends upward from the end of the first crawling arm near the opening to the top of the first crawling arm, and gradually extends away from the opening.

23. The stair-climbing device according to any one of claims 1-4, characterized in that, Including the top cover; among which, The upper cover plate and the support plate are spaced apart from each other, and the upper cover plate is connected to the top of the first crawling arm; The upper cover plate is provided with a first detection unit at one end near the opening. The first detection unit is configured to identify information about obstacles in front of it. The information about the obstacles includes at least the type of obstacle and its three-dimensional dimensions.

24. The stair-climbing device according to claim 23, characterized in that, The first detection unit includes a distance sensor and / or a camera; wherein, The distance sensor is used to obtain the three-dimensional dimensions of the obstacle; The camera is used to identify the type of obstacle.

25. The stair-climbing device according to claim 24, characterized in that, The distance sensor is any one or more of the following: ultrasonic sensor, millimeter-wave radar, infrared sensor, time-of-flight sensor, direct time-of-flight sensor, multi-view sensor, or line laser sensor.

26. The stair-climbing device according to claim 25, characterized in that, The camera in question is an AI camera.

27. The stair-climbing device according to any one of claims 1-4, characterized in that, The bottom of the support plate contains multiple second detection units; The plurality of second detection units include a second distance sensor and a third distance sensor; The second distance sensor is distributed on the side of the support plate near the opening and the side near the supply assembly. The second distance sensor is used to detect missing ground or changes in height in front of the plane when moving in a plane. The third distance sensor is located on the side of the support plate near the supply assembly. The third distance sensor is used to detect the edge of the step during the climbing process to trigger cleaning operations or assist navigation.

28. The stair-climbing device according to claim 27, characterized in that, The second detection unit is at least one of an ultrasonic sensor, millimeter-wave radar, infrared sensor, time-of-flight sensor, or direct time-of-flight sensor; The detection direction of the third distance sensor is configured to be approximately perpendicular to the horizontal ground when the stair-climbing device is in a stair-climbing working posture.

29. A stair-climbing device, characterized in that, include: The device itself includes a storage space for accommodating cleaning equipment; A suction channel is provided on the main body of the device, and the suction channel has a dust suction port that is connected to the external environment of the main body of the device. The suction module includes a suction fan, the air inlet of which is connected to the suction channel, and the suction fan provides suction to the suction channel; wherein... The stair-climbing device is configured to suck up dirt from the stairs through the suction port during the stair-climbing process.

30. The stair-climbing device according to claim 29, characterized in that, The suction port includes a front suction port and a rear suction port; The front and rear dust inlets are selectively connected to the air inlet of the vacuum blower via valve-controlled pipelines.

31. The stair-climbing device according to claim 30, characterized in that, The valve-controlled pipeline includes a first valve port and a second valve port; wherein... The first valve port is located between the front dust suction port and the air inlet of the sewage suction fan, and the second valve port is located between the rear dust suction port and the air inlet of the sewage suction fan; The stair-climbing device is configured to open the first valve and close the second valve when going upstairs to suck up dirt from the stairs through the front suction port; and to open the second valve and close the first valve when going downstairs to suck up dirt from the stairs through the rear suction port.

32. The stair-climbing device according to any one of claims 29-31, characterized in that, The suction module includes a dust collection device; wherein... The dust collection device is disposed between the suction channel and the air inlet of the suction fan, and is used to collect the dirt sucked in from the suction channel.

33. The stair-climbing device according to claim 32, characterized in that, The suction channel includes a dust collection port, which is connected to the suction port. The dust collection port leads to the receiving space, and the dust collection device is disposed between the dust collection port and the air inlet of the suction fan.

34. A stair-climbing device, characterized in that, include: The device itself includes a storage space for accommodating cleaning equipment; A suction channel is provided on the main body of the device, and the suction channel has a connected suction port and a dust collection port; wherein, The dust suction port leads to the external environment of the stair-climbing device, and the dust suction port is configured as the inlet for the suction channel to suck in dirt; The dust collection port leads to the receiving space. The dust collection port is used to connect with the dirt suction port of the cleaning equipment when the cleaning equipment is parked in the receiving space. The suction source of the cleaning equipment is configured as the power source for the suction channel to suck up dirt.

35. The stair-climbing device according to claim 34, characterized in that, The suction port includes a front suction port and a rear suction port; The front and rear dust inlets are selectively connected to the air inlet of the vacuum blower via valve-controlled pipelines.

36. The stair-climbing device according to claim 35, characterized in that, The valve-controlled pipeline includes a first valve port and a second valve port; wherein... The first valve port is located between the front dust suction port and the air inlet of the sewage suction fan, and the second valve port is located between the rear dust suction port and the air inlet of the sewage suction fan; The stair-climbing device is configured to open the first valve and close the second valve when going upstairs to suck up dirt from the stairs through the front suction port; and to open the second valve and close the first valve when going downstairs to suck up dirt from the stairs through the rear suction port.

37. The stair-climbing device according to any one of claims 34-36, characterized in that, The size of the suction port in the first direction is larger than the size of the dust collection port in the first direction, and the first direction is perpendicular to the travel direction of the stair climbing device; The suction channel is equipped with a flow guide structure for directing airflow from the suction port to the dust collection port.

38. The stair-climbing device according to claim 37, characterized in that, The flow guiding structure includes a plurality of flow guiding walls spaced apart along the first direction; The flow guiding structure is located at one end of the suction channel near the dust suction port.

39. The stair-climbing device according to any one of claims 34-36, characterized in that, The bottom of the device body is provided with a support plate, and the bottom of the support plate is provided with a channel cover plate; wherein, The side of the support plate facing away from the receiving space is provided with a channel groove; The channel cover is disposed on the outside of the channel groove and is detachably connected to the support plate, so that the suction channel is formed between the channel cover and the support plate.

40. The stair-climbing device according to any one of claims 34-36, characterized in that, The bottom of the stair-climbing device is equipped with at least one third distance sensor; wherein... The detection direction of the third distance sensor is configured to be approximately perpendicular to the horizontal ground when the stair-climbing device is in a stair-climbing or stair-descending working posture.

41. The stair-climbing device according to claim 40, characterized in that, The bottom of the stair-climbing device is provided with an inwardly recessed mounting part, and the third distance sensor is embedded in the mounting part; The detection surface of the third distance sensor is set at an angle to the plane where the bottom of the stair climbing device is located; The mounting section includes a first inclined wall and a second inclined wall disposed opposite to each other along the travel direction of the stair-climbing device, wherein the first inclined wall is disposed near the dust suction port; wherein... The angle between the first inclined wall and the plane where the bottom of the stair climbing device is located is less than 90°, and the angle between the second inclined wall and the plane where the bottom of the stair climbing device is located is less than 90°.

42. The stair-climbing device according to claim 41, characterized in that, The third distance sensor is installed at the bottom of the stair-climbing device via an angle adjustment mechanism; The angle adjustment mechanism is configured such that the detection direction of the third distance sensor is approximately perpendicular to the horizontal ground when the stair-climbing device is in its working posture.

43. The stair-climbing device according to claim 41, characterized in that, The detection surface of the third distance sensor is set at an angle to the plane where the bottom of the stair climbing device is located, so that the detection direction of the third distance sensor is towards the front and lower part of the stair climbing device when the stair climbing device is in a horizontal standby posture.

44. The stair-climbing device according to claim 43, characterized in that, It also includes a control device, which is connected to the third distance sensor; The third distance sensor is used to detect the distance information between the third distance sensor and the step surface located below the third distance sensor; The control device is used to determine whether the vacuum port is facing the step of the upper floor based on the change of distance information within a preset time, and when the vacuum port is facing the step of the upper floor, control the stair climbing device to stop moving and start the vacuuming function.

45. The stair-climbing device according to any one of claims 34-36, characterized in that, The receiving space is provided with a cleaning component on each side along a first direction, the first direction being perpendicular to the travel direction of the stair-climbing device; wherein, The cleaning component is located at one end of the stair-climbing device near the dust inlet, and the cleaning component is rotatably mounted on the stair-climbing device. The cleaning component is used to sweep the dirt at the front end of the dust inlet on the stair-climbing device toward the dust inlet.

46. ​​The stair-climbing device according to claim 45, characterized in that, The cleaning component is equipped with a second detection component; The cleaning component is configured to adjust its position based on the distance to the step surface detected by the second detection component, so that the cleaning component contacts the step surface to be cleaned.

47. The stair-climbing device according to claim 46, characterized in that, The cleaning component is mounted to the stair-climbing device via a pivoting structure; The cleaning component is configured to swing under its own weight so that it comes into contact with the step surface to be cleaned.

48. A stair-climbing device, characterized in that, include: The first crawling boom includes a first boom and a first track, wherein the first track is arranged around the first boom; The second crawling boom includes a second boom and a second track, the second track being arranged around the second boom, and the second boom being rotatably connected to the first boom; A drive system is disposed within the first boom and the second boom, the drive system being used to drive the second crawler arm to swing relative to the first crawler arm, and to drive the first track and the second track to move.

49. The stair-climbing device according to claim 48, characterized in that, The drive system includes a first drive component and a second drive component; wherein... The first drive assembly is connected to the first track and the second track, and the first drive assembly is used to drive the first track and the second track to move. The second drive assembly is connected to the second boom via a transmission, and the second drive assembly is used to drive the second crawling arm to swing relative to the first crawling arm.

50. The stair-climbing device according to claim 49, characterized in that, The first crawler arm and the second crawler arm are rotatably connected by a swing shaft; wherein, The swing shaft passes through the first boom and is rotatably connected to the first boom; One end of the swing shaft is connected to the second drive assembly for transmission, and the other end is fixedly connected to the second boom. The second drive assembly is used to drive the swing shaft to rotate, and the rotation of the swing shaft causes the second boom to swing relative to the first crawling arm.

51. The stair-climbing device according to claim 50, characterized in that, The first drive assembly includes a first motor and a first gear set; wherein, The first gear set includes a first output gear, which is rotatably mounted on the swing shaft; The first crawling arm includes a first active timing pulley, which is coaxially fixed with the first output gear and rotatably sleeved on the swing shaft; The first motor is used to drive the first output gear to rotate, the rotation of the first output gear drives the first active synchronous pulley to rotate, and the rotation of the first active synchronous pulley drives the first track to move.

52. The stair-climbing device according to claim 51, characterized in that, The second crawler arm includes a second active timing pulley, the rotation of which drives the second track to move; The second active synchronous pulley is coaxially fixed with the first active synchronous pulley and is rotatably sleeved on the swing shaft; The first output gear and the second driving synchronous pulley are located on opposite sides of the first driving synchronous pulley along its axial direction.

53. The stair-climbing device according to claim 52, characterized in that, The first output gear, the first driving synchronous pulley, and the second driving synchronous pulley rotate synchronously.

54. The stair-climbing device according to any one of claims 51-53, characterized in that, The second drive assembly includes a second motor and a second gear set; wherein, The second gear set includes a second output gear, which is fixedly connected to the swing shaft, and the second motor is used to drive the second output gear to rotate.

55. The stair-climbing device according to claim 54, characterized in that, The second output gear is sleeved on the swing shaft and is fixedly connected to the swing shaft.

56. The stair-climbing device according to claim 52 or 53, characterized in that, The second crawler arm has two components; among which, The two second crawling arms are rotatably connected to both ends of the first arm extension direction via corresponding swing shafts; Each of the second crawling arms corresponds to one of the second drive components; The swinging of the two second crawling arms is independently driven by the second drive assembly corresponding to the second crawling arm.

57. The stair-climbing device according to claim 56, characterized in that, The first drive component is configured to synchronously drive the first track and the two second tracks.

58. The stair-climbing device according to claim 57, characterized in that, The first crawler arm also includes a first driven synchronous belt pulley; The first driving synchronous pulley and the first driven synchronous pulley are spaced apart at both ends of the first boom along its extension direction. The rotation of the first driving synchronous pulley drives the first track to move, and the movement of the first track drives the first driven synchronous pulley to rotate. The two second crawling arms include a first-side second crawling arm and a second-side second crawling arm; The second active synchronous pulley of the second crawling arm on the first side is coaxially fixed with the first active synchronous pulley and rotatably sleeved on the swing shaft corresponding to the second crawling arm; The second active synchronous pulley of the second crawling arm on the second side is coaxially fixed with the first driven synchronous pulley and rotatably sleeved on the swing shaft corresponding to the second crawling arm.

59. The stair-climbing device according to any one of claims 51-53, characterized in that, The first motor and the first gear set are connected by a worm gear transmission.

60. The stair-climbing device according to claim 54, characterized in that, The second motor and the second gear set are connected by a worm gear transmission.

61. A stair-climbing device, characterized in that, include: First crawling arm; The second crawling arm is rotatably connected to the first crawling arm; A second drive component is disposed within the first crawling arm and the second crawling arm, and the second drive component is used to drive the second crawling arm to swing relative to the first crawling arm; An angle detection system includes a follower and an angle detection device. The follower is linked to the second drive assembly. During the operation of the second drive assembly, the follower can follow the movement of the second drive assembly. The angle detection device is configured to characterize the swing angle of the second crawling arm by detecting the rotation angle of the follower.

62. The stair-climbing device according to claim 61, characterized in that, The second drive component includes a second motor and a second gear set; The input end of the second gear set is connected to the output end of the second motor, and the output end of the second gear set is connected to the second crawling arm. The second motor drives the second gear set to rotate, so that the second crawling arm swings relative to the first crawling arm. The follower is a gear, and any gear in the second gear set meshes with the follower.

63. The stair-climbing device according to claim 62, characterized in that, The second gear set includes a second output gear; The second output gear is the output end of the second gear set. The second motor is used to drive the second output gear to rotate, thereby causing the second crawling arm to swing relative to the first crawling arm. The follower meshes with the second output gear.

64. The stair-climbing device according to claim 63, characterized in that, The outer diameters of the follower and the second output gear are equal, so that the rotational speeds of the follower and the second output gear are equal during rotation.

65. The stair-climbing device according to claim 61, characterized in that, The second drive assembly includes a second drive element and a transmission gear; The transmission gear is connected to the second crawling arm, and the second driving member drives the transmission gear to rotate, so that the second crawling arm swings relative to the first crawling arm; The follower is a gear, and the transmission gear meshes with the follower.

66. The stair-climbing device according to claim 65, characterized in that, The outer diameters of the follower and the transmission gear are equal, so that the rotational speeds of the follower and the transmission gear are equal during rotation.

67. The stair-climbing device according to claim 61, characterized in that, The angle detection device includes a controller and an angle sensor; wherein... The controller is electrically connected to the angle sensor, which is used to detect the rotation angle of the follower and generate a sensing signal. The controller is used to receive the sensing signal and obtain the swing angle of the second crawling arm based on the sensing signal.

68. The stair-climbing device according to claim 67, characterized in that, The angle sensor is a rotary encoder or a potentiometer.

69. The stair-climbing device according to claim 63, characterized in that, The first crawler arm includes a first boom and a first track, with the first track being arranged around the first boom; The second crawler arm includes a second boom and a second track, the second track being arranged around the second boom, and the second boom being rotatably connected to the first boom; The second output gear of the second drive assembly is connected to the second boom drive assembly, and the second drive assembly is used to drive the second crawling arm to swing relative to the first crawling arm.

70. The stair-climbing device according to claim 69, characterized in that, The first crawler arm and the second crawler arm are rotatably connected by a swing shaft; wherein, The swing shaft passes through the first boom and is rotatably connected to the first boom; One end of the swing shaft is connected to the second output gear for transmission, and the other end is fixedly connected to the second boom; The second drive component drives the swing shaft to rotate via the second output gear, and the rotation of the swing shaft causes the second boom to swing relative to the first crawling arm.

71. The stair-climbing device according to claim 70, characterized in that, The second output gear is sleeved on the swing shaft and is fixedly connected to the swing shaft.

72. The stair-climbing device according to claim 61, characterized in that, The first crawling arm is provided with two second crawling arms, which are respectively located at both ends of the first crawling arm in the extension direction. Each of the second crawling arms corresponds to one of the second drive components; Each of the second crawling arms corresponds to one of the angle detection systems; The angle detection system is configured to independently detect the swing angle of each of the second crawling arms.

73. A stair-climbing device, characterized in that, The stair-climbing device includes: The device body has a receiving space for accommodating cleaning equipment, and the receiving space has an opening for the cleaning equipment to enter and exit. A crawling arm assembly, connected to the device body, is used to drive the device body to crawl; The anti-collision component includes a collision plate elastically connected to the device body for detecting collisions with obstacles when the stair-climbing device is climbing; The crawler arm assembly is configured to perform an avoidance maneuver in response to a collision with the impact plate.

74. The stair-climbing device according to claim 73, characterized in that, The anti-collision assembly also includes a reset unit, which includes a swing arm and an elastic element; The swing arm is rotatably connected to the device body. One end of the elastic element is connected to the device body, and the other end is connected to the first end of the swing arm. The swing arm rotates under the elastic force of the elastic element, so that the impact plate moves away from the device body under the pressure of the second end of the swing arm.

75. The stair-climbing device according to claim 74, characterized in that, The collision avoidance assembly also includes a detection element disposed on the device body, the detection element being configured to change a detection state when the swing arm swings, and the crawling arm assembly performing an avoidance action in response to the change in the detection state of the detection element.

76. The stair-climbing device according to claim 75, characterized in that, The detection device includes an optocoupler, which includes a signal output end and a signal receiving end spaced apart. The signal output end is used to output a detection signal. The first end of the swing arm is configured to extend between the signal output end and the signal receiving end under the action of the elastic member, so as to prevent the signal receiving end from receiving the detection signal.

77. The stair-climbing device according to claim 75, characterized in that, The detection device includes at least one of a distance sensor and an image sensor.

78. The stair-climbing device according to claim 73, characterized in that, One of the device body and the impact plate is provided with an anti-detachment protrusion, and the other is provided with an anti-detachment cavity. The anti-detachment protrusion is located in the anti-detachment cavity, and when the impact plate collides with an obstacle, the anti-detachment protrusion and the anti-detachment cavity are configured to move relative to each other along the collision direction.

79. The stair-climbing device according to any one of claims 74-78, characterized in that, The impact plate includes a first impact protection part and a second impact protection part. The first impact protection part is disposed on the front side of the device body along the direction of travel, and the second impact protection part is disposed on the top of the device body. The reset unit comprises multiple units. Some of the reset units are disposed between the first anti-collision part and the device body, so that the first anti-collision part moves forward toward the direction of travel of the device body under the pressure of the second end of the swing arm. Some of the reset units are disposed between the second anti-collision part and the device body, so that the second anti-collision part moves upward toward the device body under the pressure of the second end of the swing arm.

80. The stair-climbing device according to claim 79, characterized in that, The first and second anti-collision parts are fixedly connected.

81. The stair-climbing device according to claim 80, characterized in that, The first and second anti-collision parts are perpendicular to each other.

82. The stair-climbing device according to any one of claims 73-78, characterized in that, The device body includes a support plate and two side walls, which are respectively disposed on opposite sides of the device body. The support plate and the side walls enclose the receiving space. Each side wall is provided with the crawling arm assembly and the anti-collision assembly.

83. The stair-climbing device according to claim 82, characterized in that, The crawling arm assembly includes a first crawling arm and a plurality of second crawling arms. The first crawling arm is connected to the side wall, and the first end of each second crawling arm is rotatably connected to the side wall so that the second end of the second crawling arm can rotate relative to the side wall. The first ends of the plurality of second crawling arms are spaced apart along the traveling direction of the stair climbing device, and the length of the second crawling arm is greater than the height of the device body. Each of the second crawling arms is driven independently relative to the sidewall.

84. The stair-climbing device according to claim 83, characterized in that, The first crawling arm and the plurality of second crawling arms are all surrounded by tracks, and each track is provided with a plurality of protruding teeth, which are spaced apart along the length of the track.

85. The stair-climbing device according to any one of claims 74-78, characterized in that, The device body is provided with an avoidance groove, and when the collision plate collides with an obstacle, at least part of the second end of the swing arm is located in the avoidance groove.

86. A stair-climbing device, characterized in that, include: The device body has a housing space for housing cleaning equipment. A clamping mechanism includes a limiting member, at least a portion of which is disposed within the device body, and the limiting member is configured to move relative to the device body toward a fixed position within the receiving space; in the fixed position, the limiting member can engage with the cleaning device located within the receiving space to fix the cleaning device relative to the device body.

87. The stair-climbing device according to claim 86, characterized in that, Along a direction perpendicular to the forward direction of the device body, the device body has an installation space on the side of the receiving space, and at least part of the limiting member is disposed in the installation space; the cavity wall of the installation space has a channel that connects the installation space and the receiving space; The limiting member is configured to move through the channel to the fixed position so that the limiting member engages with the side wall of the cleaning equipment.

88. The stair-climbing device according to claim 87, characterized in that, In the fixed position, the limiting member is configured to extend into the gap in the side wall of the cleaning device.

89. The stair-climbing device according to claim 87, characterized in that, The clamping mechanism further includes a movable component located within the mounting space; The movable member is configured to move relative to the device body along the forward direction of the device body, so as to move the limiting member toward the receiving space to the fixed position during movement.

90. The stair-climbing device according to claim 89, characterized in that, The movable component has a guide ramp on the side facing the receiving space; When the moving member moves relative to the device body along the forward direction of the device body, the guide ramp is configured to contact the limiting member to drive the limiting member to move into the receiving space to the fixed position.

91. The stair-climbing device according to claim 90, characterized in that, Along the forward direction of the device body, the moving member also has a platform at the rear end of the guide ramp; along the forward direction perpendicular to the device body, the platform is closer to the center of the receiving space; When in the fixed position, the limiting member moves onto the platform.

92. The stair-climbing device according to claim 91, characterized in that, The platform is connected to the rear end of the guide ramp in an arc shape.

93. The stair-climbing device according to claim 89, characterized in that, The clamping mechanism further includes a driving member connected to the moving member to drive the moving member to move in a first direction, the first direction including the forward direction of the device body and a direction opposite to the forward direction of the device body.

94. The stair-climbing device according to claim 93, characterized in that, The moving component includes a rack extending along the first direction, and the driving component is a gear meshing with the rack.

95. The stair-climbing device according to claim 94, characterized in that, The clamping mechanism also includes a drive motor, the output shaft of which is connected to the gear to drive the gear to rotate.

96. The stair-climbing device according to claim 86, characterized in that, The clamping mechanism further includes a reset member, which is located within the device body. One end of the reset member abuts against the limiting member, and the other end is fixed relative to the side of the device body facing the receiving space.

97. The stair-climbing device according to claim 96, characterized in that, The limiting member has a protrusion in the circumferential direction, and the resetting member is sleeved on the limiting member and abuts against the protrusion.

98. The stair-climbing device according to claim 86, characterized in that, The clamping mechanism further includes a detection element configured to detect the position of the limiting element relative to the device body.

99. The stair-climbing device according to claim 98, characterized in that, The detection element includes an optical detection element, which has a transmitting end and a receiving end. The transmitting end is used to emit detection light to the limiting element, and the receiving end is used to receive the detection light. The limiting member has a protruding part to be detected on the side facing the optical detection member. When the limiting member moves to the fixed position, the part to be detected is configured to block the receiving end from receiving the detection light.

100. The stair-climbing device according to any one of claims 86-99, characterized in that, The number of clamping mechanisms is two, and the two clamping mechanisms are located on opposite sides of the receiving space.

101. A stair-climbing device, characterized in that, include: device body; The second crawling arm is rotatably connected to the main body of the device; An anti-pinch mechanism includes an anti-pinch member disposed on the device body and capable of being raised and lowered relative to the device body, so that the anti-pinch member can switch between a lowered position and a raised position. When the angle between the second crawling arm and the bottom side of the device body is within a preset range, the anti-pinch member is in the lowered position, and part of the anti-pinch member protrudes from the bottom side of the device body. The second detection component is used to detect whether the anti-pinch component is raised during the rotation of the second crawler arm within a preset range.

102. The stair-climbing device according to claim 101, characterized in that, The anti-pinch mechanism further includes a third drive component, which has an input end and an output end. The input end is connected to the second crawling arm so that the second crawling arm can drive the third drive component to move during rotation. The output end is connected to the anti-pinch member. During the movement of the third drive component following the second crawling arm, the third drive component can drive the anti-pinch member to switch between the descending position and the lifting position.

103. The stair-climbing device according to claim 102, characterized in that, The third drive component includes a rotating component and a drive unit. The rotating component is the input end and is linked to the second crawling arm so that the second crawling arm can drive the rotating component to move during rotation. One end of the drive unit is linked to the rotating component, and the other end is connected to the anti-pinch component. The end of the drive unit connected to the anti-pinch component is the output end. During the movement of the rotating component, the rotating component can cooperate with the drive unit to switch between the descending position and the lifting position through the drive unit.

104. The stair-climbing device according to claim 103, characterized in that, The drive unit includes a trigger and a linkage structure. The linkage structure is rotatably connected to the device body. One end of the linkage structure is a linkage end, and the other end is a swing end. The trigger is connected to the linkage end and is linked to the rotating component. The swing end is connected to the anti-pinch component. During the movement of the rotating component, the rotating component can drive the trigger component to move, and then drive the anti-pinch component to switch between the descending position and the lifting position through the linkage structure.

105. The stair-climbing device according to claim 104, characterized in that, The trigger abuts against the outer side wall of the rotating member. The outer side wall of the rotating member has a first adjustment part. The first adjustment part has an arc-shaped structure. Along the rotation direction of the rotating member, the distance between the first adjustment part and the rotation center of the rotating member gradually increases. During the process of the second crawling arm driving the rotating member to rotate, the trigger can abut against the first adjustment part so that the swing end drives the anti-pinch member to gradually descend.

106. The stair-climbing device according to claim 105, characterized in that, The outer side wall of the rotating component also has a first retaining part, which is connected to the first adjusting part. The first retaining part has an arc-shaped structure, and the center of the first retaining part is coaxial with the rotation center of the rotating component. During the process of the second crawling arm driving the rotating component to rotate, the trigger can abut against the first retaining part so that the swing end can hold the anti-pinch component in the descending position.

107. The stair-climbing device according to claim 106, characterized in that, The distance between the first holding part and the rotation center of the rotating member is a first distance, and the minimum distance between the first adjusting part and the rotation center of the rotating member is a second distance. The first distance and the second distance are equal.

108. The stair-climbing device according to claim 106, characterized in that, The preset range of angles is equal to the central angle of the first holding part.

109. The stair-climbing device according to claim 106, characterized in that, The outer wall of the rotating component also has a second adjustment part, which is connected to the side of the first holding part away from the first adjustment part. The second adjustment part has an arc-shaped structure. Along the rotation direction of the rotating component, the distance between the second adjustment part and the rotation center of the rotating component gradually decreases. During the process of the second crawling arm driving the rotating component to rotate, the second adjustment part can drive the trigger to move toward the bottom side of the device body, thereby causing the swing end to drive the anti-pinch component to gradually rise.

110. The stair-climbing device according to claim 109, characterized in that, The distance between the first holding part and the rotation center of the rotating member is a first distance, and the minimum distance between the second adjusting part and the rotation center of the rotating member is a third distance. The first distance and the third distance are equal.

111. The stair-climbing device according to claim 109, characterized in that, The outer side wall of the rotating component also has a second retaining part, which is connected between the first adjusting part and the second adjusting part. The second retaining part has an arc-shaped structure and is coaxial with the rotation center of the rotating component. During the process of the second crawling arm driving the rotating component to rotate, the second retaining part can act on the trigger to keep the anti-pinch component in the raised position by the swing end.

112. The stair-climbing device according to claim 111, characterized in that, The distance between the second holding part and the rotation center of the rotating member is a fourth distance, and the maximum distance between the first adjusting part and the rotation center of the rotating member is a fifth distance, wherein the fourth distance and the fifth distance are equal.

113. The stair-climbing device according to claim 111, characterized in that, The distance between the second holding part and the rotation center of the rotating member is a fourth distance, and the maximum distance between the second adjusting part and the rotation center of the rotating member is a sixth distance, wherein the fourth distance and the sixth distance are equal.

114. The stair-climbing device according to claim 111, characterized in that, Along the rotation direction of the rotating member, the second adjusting part, the first holding part, the first adjusting part, and the second holding part are connected end to end to form the outer side wall of the rotating member.

115. The stair-climbing device according to claim 114, characterized in that, The drive unit also includes an elastic element disposed between the linkage structure and the device body. The elastic element is configured to ensure that the linkage end always tends to move toward the rotating member, thereby ensuring that the triggering member always abuts against the outer wall of the rotating member.

116. The stair-climbing device according to claim 115, characterized in that, The elastic element is a torsion spring, and the central axis of the torsion spring is coaxial with the rotation center of the connecting rod structure. The torsion spring has a first end and a second end. The first end is connected to the device body, and the second end is connected to the connecting rod structure and is located near the linkage end. During the rotation of the connecting rod structure, the torsion spring is always in a pre-tensioned state.

117. The stair-climbing device according to claim 116, characterized in that, The linkage structure includes a first link, a connector, and a second link. One end of the first link is the linkage end, and one end of the second link is the swing end. The end of the first link away from the linkage end and the end of the second link away from the swing end are connected by the connector. The connector is rotatably connected to the device body.

118. The stair-climbing device according to claim 117, characterized in that, The torsion spring is coaxially sleeved outside the connector, with its first end connected to the device body and its second end connected to the first connecting rod.

119. The stair-climbing device according to claim 117, characterized in that, The connector includes a plug-in portion and a docking portion, one of which is fixedly connected to the first connecting rod, and the other is fixedly connected to the second connecting rod.

120. The stair-climbing device according to claim 103, characterized in that, The drive unit also includes a swing arm, one end of which is rotatably connected to the device body and the other end is connected to the anti-pinch component.

121. The stair-climbing device according to claim 101, characterized in that, One of the anti-pinch component and the device body has a guide groove, and the other has a guide portion. The guide portion and the guide groove work together to guide the lifting and lowering process of the anti-pinch component.

122. The stair-climbing device according to claim 101, characterized in that, The second detection component includes a sensor and a blocking part. The sensor includes a light emitter and a light receiver disposed opposite to each other, forming an optical path region between the light emitter and the light receiver. One of the sensor and the blocking part is disposed on the anti-pinch member, and the other is disposed on the device body. When the anti-pinch member is in the lowered position, the blocking part is at least partially located in the optical path region to block the light emitted by the light emitter.

123. The stair-climbing device according to claim 122, characterized in that, The stair-climbing device also includes a controller, which is communicatively connected to the second detection component and the second climbing arm; During the rotation of the second crawling arm within a preset range, when the second detection component detects that the anti-pinch component has been raised, the controller can control the second crawling arm to stop rotating.

124. The stair-climbing device according to claim 101, characterized in that, The device body has a lifting cavity, which is located near the second crawling arm, and the anti-pinch member can move up and down within the lifting cavity.

125. A cleaning system, characterized in that, include: Cleaning equipment; The stair-climbing device as described in any one of claims 1-28; or, The stair-climbing device as described in any one of claims 29-33; or, The stair-climbing device as described in any one of claims 34-47; or, The stair-climbing device as described in any one of claims 48-60; or, The stair-climbing device as described in any one of claims 61-72; or, The stair-climbing device as described in any one of claims 73-85; or, The stair-climbing device as described in any one of claims 86-100; or, The stair-climbing device as described in any one of claims 101-124; The stair-climbing device has a receiving space for accommodating the cleaning equipment.

126. A stair-climbing device for transporting cleaning equipment, characterized in that the stair-climbing device comprises: Control panel; The device body has a receiving space for accommodating cleaning equipment, and the receiving space has an opening for the cleaning equipment to enter and exit. A crawling arm assembly, connected to the device body, is used to drive the device body to crawl under the control of the control panel; An energy storage component includes an energy storage element and a supply module. The energy storage element is electrically connected to the crawler arm assembly and is used to supply power to the crawler arm assembly. The supply module is electrically connected to the energy storage element and forms a first charging unit. The first charging unit is used to dock with the cleaning equipment when the cleaning equipment is parked in the receiving space and to supply power to the cleaning equipment under the control of the control board.

127. The stair-climbing device according to claim 126, characterized in that, The device body includes: Support plate; Two sidewalls are respectively connected to opposite sides of the support plate, and each sidewall is provided with the crawling arm assembly; The upper cover plate is connected to the two side walls on both sides to form the receiving space. The energy storage component and the opening of the receiving space are respectively located on both sides of the support plate along the traveling direction of the stair climbing device. The energy storage component is fixedly connected to the support plate.

128. The stair-climbing device according to claim 127, characterized in that, The upper cover plate has a first mounting cavity, and the control board is disposed in the first mounting cavity.

129. The stair-climbing device according to claim 127, characterized in that, The support plate is provided with a partition plate and a baffle plate that protrude toward one side of the upper cover plate, respectively. The receiving space is located on one side of the partition plate, and the baffle plate is located on the other side of the partition plate. The baffle plate is connected to the partition plate to form a second mounting cavity, and the energy storage device is installed in the second mounting cavity.

130. The stair-climbing device according to claim 129, characterized in that, At least a portion of the upper edge of the partition plate is provided with a gap between it and the upper cover plate, so that air can flow through the gap to the location of the enclosure plate.

131. The stair-climbing device according to claim 129, characterized in that, The thickness of the enclosure panel is less than the thickness of the partition panel.

132. The stair-climbing device according to claim 129, characterized in that, The energy storage component has elastic fasteners between itself and the inner wall of the second mounting cavity, so that a heat dissipation gap is formed between the energy storage component and the partition plate and / or between the energy storage component and the enclosure plate.

133. The stair-climbing device according to claim 132, characterized in that, The heat dissipation gap is filled with an elastic heat-conducting component; The thermally conductive component is at least one of foam or silicone.

134. The stair-climbing device according to any one of claims 126-133, characterized in that, When the cleaning equipment is parked in the containment space, the cleaning equipment is configured to be plugged into the device body so that the cleaning equipment can dock with the energy storage component.

135. The stair-climbing device according to claim 134, characterized in that, The inner wall of the containment space is provided with a first guide protrusion, and the extension direction of the first guide protrusion is configured to be parallel to the travel direction of the cleaning equipment entering the containment space. The cross-sectional dimensions of the first guide protrusion gradually decrease from the connecting end to the free end. When the cleaning equipment is parked in the receiving space, the first guide protrusion is configured to plug into the cleaning equipment.

136. The stair-climbing device according to claim 135, characterized in that, There are multiple first guide protrusions, and the multiple first guide protrusions are spaced apart.

137. The stair-climbing device according to any one of claims 127-133, characterized in that, The crawling arm assembly includes a first crawling arm and a plurality of second crawling arms. The first crawling arm is connected to the side wall, and the first end of each second crawling arm is rotatably connected to the side wall so that the second end of the second crawling arm can rotate relative to the side wall. The first ends of the plurality of second crawling arms are spaced apart along the traveling direction of the stair climbing device, and the length of the second crawling arm is greater than the height of the device body. Each of the second crawling arms is driven independently relative to the sidewall.

138. The stair-climbing device according to claim 137, characterized in that, The first crawling arm and the plurality of second crawling arms are all surrounded by tracks, and each track is provided with a plurality of protruding teeth, which are spaced apart along the length of the track.

139. A cleaning system, characterized in that, It includes cleaning equipment, base stations, and the stair-climbing device as described in any one of claims 126-138.

140. The cleaning system according to claim 139, characterized in that, The base station is equipped with a charging component. When the stair-climbing device stops inside the base station, the charging component is used to supply power to at least one of the energy storage device and the cleaning equipment.

141. The cleaning system according to claim 139, characterized in that, The device body and the base station are provided with a second guide protrusion on one of them and a second guide groove on the other. The extension direction of the second guide protrusion is parallel to the entry direction of the climbing device. The cross-sectional dimensions of the second guide protrusion gradually decrease from the connecting end to the free end. When the climbing device stops inside the base station, the second guide protrusion is inserted into the second guide groove to allow the energy storage component to dock with the charging component.

142. The cleaning system according to claim 141, characterized in that, There are multiple second guide protrusions and multiple second guide grooves, and the multiple second guide protrusions are spaced apart.

143. The cleaning system according to claim 139, characterized in that, The stair-climbing device is equipped with a signal acquisition component, which is used to acquire guidance information from the base station in order to return to the base station.

144. The cleaning system according to claim 143, characterized in that, The signal acquisition device is at least one of an infrared receiver, a visual sensor, and a lidar.

145. A stair-climbing device, characterized in that, The stair-climbing device includes: The device body has a receiving space for accommodating cleaning equipment, and the receiving space has an opening for the cleaning equipment to enter and exit. A crawling arm assembly, connected to the device body, is used to drive the device body to crawl; A water storage component is disposed on the main body of the device. The water storage component includes a water supply module and a water tank. The water tank is used to hold cleaning liquid. The water supply module is connected to the water tank and forms a first water supply port. The water storage component is configured to supply cleaning liquid to the cleaning equipment when the cleaning equipment is parked in the containment space and connected to the first water supply port.

146. The stair-climbing device according to claim 145, characterized in that, The water storage assembly also includes a level detector installed on the water tank for detecting the liquid level of the cleaning liquid in the water tank.

147. The stair-climbing device according to claim 146, characterized in that, The water tank is equipped with a guide member, which has a guide channel extending along the height direction of the water tank and is connected to the inner cavity of the water tank so that the cleaning liquid can enter the guide channel. The liquid level detector includes: A floating component is located within the guide channel and can float on the surface of the cleaning liquid, rising and falling with the surface of the cleaning liquid. A magnetic component is connected to the floating component so that it rises and falls with the surface of the cleaning liquid via the floating component; A magnetic induction element is disposed on the outside of the water tank. There are multiple magnetic induction elements, which are spaced apart along the extension direction of the guide channel and are configured to obtain different liquid level heights of the cleaning liquid through magnetic induction with the magnetic element.

148. The stair-climbing device according to claim 147, characterized in that, The guide is connected to the inner wall of the water tank, and the magnetic induction element is connected to the outer wall of the water tank and is disposed opposite to the guide.

149. The stair-climbing device according to any one of claims 145-148, characterized in that, At least a portion of the water tank extends toward the side facing the opening of the receiving space, for surrounding the outside of the cleaning equipment when the cleaning equipment is parked in the receiving space, to accommodate the installation space at the adjacent location of the cleaning equipment.

150. The stair-climbing device according to claim 149, characterized in that, The device body is provided with a partition plate, the receiving space is located on one side of the partition plate, and the water storage component is located on the opposite side of the partition plate.

151. The stair-climbing device according to claim 150, characterized in that, The partition is an arc-shaped plate, and when the cleaning equipment is parked in the receiving space, the partition is used to surround the outside of the cleaning equipment; The partition plate and the side wall of the device body form an angled area, and part of the water tank extends into the angled area.

152. The stair-climbing device according to any one of claims 145-148, characterized in that, When the cleaning equipment is parked in the receiving space, the cleaning equipment is configured to be plugged into the device body so that the cleaning equipment is connected to the first water supply port.

153. The stair-climbing device according to claim 152, characterized in that, The inner wall of the containment space is provided with a first guide protrusion, and the extension direction of the first guide protrusion is configured to be parallel to the travel direction of the cleaning equipment entering the containment space. The cross-sectional dimensions of the first guide protrusion gradually decrease from the connecting end to the free end. When the cleaning equipment is parked in the receiving space, the first guide protrusion is configured to plug into the cleaning equipment.

154. The stair-climbing device according to claim 153, characterized in that, There are multiple first guide protrusions, and the multiple first guide protrusions are spaced apart.

155. The stair-climbing device according to any one of claims 145-148, characterized in that, The height of the water tank is greater than or equal to the height of the cleaning equipment.

156. The stair-climbing device according to any one of claims 145-148, characterized in that, The device body includes: Support plate; Two sidewalls are respectively connected to opposite sides of the support plate, and each sidewall is provided with the crawling arm assembly; The upper cover plate is connected to the two side walls on both sides to form the receiving space; The water tank is fixedly connected to the support plate.

157. The stair-climbing device according to claim 156, characterized in that, The upper cover plate is provided with a clearance groove, and the upper end of the water tank extends into the clearance groove and is fixedly connected to the upper cover plate.

158. The stair-climbing device according to claim 156, characterized in that, The crawling arm assembly includes a first crawling arm and a plurality of second crawling arms. The first crawling arm is connected to the side wall, and the first end of each second crawling arm is rotatably connected to the side wall so that the second end of the second crawling arm can rotate relative to the side wall. The first ends of the plurality of second crawling arms are spaced apart along the traveling direction of the stair climbing device, and the length of the second crawling arm is greater than the height of the device body. Each of the second crawling arms is driven independently relative to the sidewall.

159. The stair-climbing device according to claim 158, characterized in that, The first crawling arm and the plurality of second crawling arms are all surrounded by tracks, and each track is provided with a plurality of protruding teeth, which are spaced apart along the length of the track.

160. A cleaning system, characterized in that, It includes cleaning equipment, base stations, and the stair-climbing device according to any one of claims 145-159.

161. The cleaning system according to claim 160, characterized in that, The base station is equipped with a water supply component. When the stair-climbing device stops inside the base station, the water supply component supplies water to the water storage component.

162. The cleaning system according to claim 161, characterized in that, The device body and the base station are provided with a second guide protrusion on one of them and a second guide groove on the other. The extension direction of the second guide protrusion is parallel to the entry direction of the climbing device. The cross-sectional dimensions of the second guide protrusion gradually decrease from the connecting end to the free end. When the climbing device stops inside the base station, the second guide protrusion is inserted into the second guide groove to connect the water storage component with the water supply component.

163. The cleaning system according to claim 162, characterized in that, There are multiple second guide protrusions and multiple second guide grooves, and the multiple second guide protrusions are spaced apart.

164. The cleaning system according to claim 160, characterized in that, The stair-climbing device is equipped with a signal acquisition component, which is used to acquire guidance information from the base station in order to return to the base station.

165. The cleaning system according to claim 164, characterized in that, The signal acquisition device includes at least one of an infrared receiver, a visual sensor, and a lidar.

166. A stair-climbing device, characterized in that, include: device body; The cleaning assembly includes a movable arm and a cleaning component. One end of the movable arm is connected to the device body, and the other end is connected to the cleaning component. The movable arm can drive the cleaning component to move. The cleaning component is used to clean the surface to be cleaned. A detection component is disposed on the device body and / or the movable arm, and the detection component is used to detect the position of the cleaning component and / or the movable arm.

167. The stair-climbing device according to claim 166, characterized in that, The movable arm includes a lifting arm, which includes a mounting end and a movable end. The movable end is connected to the cleaning component, and the mounting end is rotatably connected to the device body. The lifting arm drives the cleaning component to switch between a falling position and a raised position through the rotatable connection between the mounting end and the device body. The detection component includes a first detection unit, which is used to detect the position of the installation end.

168. The stair-climbing device according to claim 167, characterized in that, The first detection unit includes a first sensor and a first blocking part. The first sensor includes a first light emitter and a first light receiver disposed opposite to each other, forming a first optical path region between the first light emitter and the first light receiver. One of the first sensor and the first blocking part is disposed on the device body, and the other is disposed on the mounting end. When the cleaning member is in the falling position or the lifting position, the first blocking part is at least partially located in the first optical path region to block the light emitted by the first light emitter.

169. The stair-climbing device according to claim 167, characterized in that, The lifting arm includes a lifting part, a swing part, and a first drive assembly. One end of the lifting part is the mounting end, and one end of the swing part is the movable end. The end of the swing part away from the movable end is rotatably connected to the end of the lifting part away from the mounting end. The first drive assembly is disposed on the lifting arm and is used to drive the swing part to swing horizontally relative to the lifting part. The detection assembly further includes a second detection unit, which is used to detect the position of the swinging part relative to the lifting part.

170. The stair-climbing device according to claim 169, characterized in that, The swinging part has a retracted position and an expanded position. The second detection unit includes a second sensor and a second blocking part. The second sensor includes a second light emitter and a second light receiver arranged opposite to each other, and a second optical path region is formed between the second light emitter and the second light receiver. One of the second sensor and the second blocking part is disposed on the lifting part, and the other is disposed on the swinging part. When the swinging part is in the retracted position or the expanded position, the second blocking part is at least partially located in the second optical path region to block the light emitted by the second light emitter.

171. The stair-climbing device according to any one of claims 166-170, characterized in that, The cleaning component is rotatably connected to the movable arm, and the movable arm is provided with a second drive assembly, which is used to drive the cleaning component to swing in the horizontal direction. The detection component includes a third detection unit, which is used to detect the position of the cleaning component relative to the movable arm.

172. The stair-climbing device according to claim 171, characterized in that, The cleaning component has a retracted state and an operating state. The third detection unit includes a third sensor and a third blocking part. The third sensor includes a third light emitter and a third light receiver arranged opposite to each other, forming a third optical path region between the third light emitter and the third light receiver. One of the third sensor and the third blocking part is disposed on the cleaning component, and the other is disposed on the movable arm. When the cleaning component is in the retracted state or the operating state, the third blocking part is at least partially located within the third optical path region to block the light emitted by the third light emitter.

173. The stair-climbing device according to claim 171, characterized in that, The stair-climbing device also includes a dust collection system, which is located on the device body and has a dust collection port. When the cleaning component swings horizontally, it can sweep the dust on the surface to be cleaned to the vicinity of the dust collection port.

174. The stair-climbing device according to claim 173, characterized in that, The number of cleaning components is two sets, and the two sets of cleaning components are respectively arranged on both sides of the suction port, and the cleaning coverage of the two cleaning components at least partially overlaps.

175. The stair-climbing device according to claim 166, characterized in that, The detection component includes at least one of an optocoupler, an infrared sensor, a distance sensor, an image sensor, and a pressure sensor.

176. The stair-climbing device according to any one of claims 167-170, characterized in that, The device body is provided with an upper limit position. When the cleaning component is in the raised position, the lifting arm abuts against the upper limit position to limit the highest raised position of the cleaning component.

177. The stair-climbing device according to any one of claims 167-170, characterized in that, The device body is provided with a lower limit part. When the cleaning component is in the falling position, the lifting arm abuts against the lower limit part to limit the lowest falling position of the cleaning component.

178. The stair-climbing device according to any one of claims 167-170, characterized in that, The stair-climbing device also includes a first drive unit, which includes a first drive component and a pull rope. The first end of the pull rope is connected to the output end of the first drive component, and the second end of the pull rope is connected to one of the device body and the lifting arm. The first drive component is disposed on the other of the device body and the lifting arm. When the first driving member winds up the pulling rope, the lifting arm is configured to rotate about a first direction and drive the sweeping member to rotate toward the lifting position; When the first drive unit releases the pull rope, the lifting arm is configured to rotate around the second direction under its own gravity, and drives the cleaning component to rotate toward the falling position until the cleaning component contacts the surface to be cleaned.

179. The stair-climbing device according to any one of claims 167-170, characterized in that, A resistance element is provided between the lifting arm and the device body. The resistance element applies a force in the first direction to reduce the rotational speed of the lifting arm around the second direction under its own weight.

180. The stair-climbing device according to claim 179, characterized in that, The resistance element is a torsion spring, which is sleeved on the rotating shaft of the lifting arm.

181. The stair-climbing device according to any one of claims 167-170, characterized in that, The device body is provided with a clearance cavity, and when the cleaning component is in the falling position, at least a portion of the lifting arm is located in the clearance cavity.

182. A cleaning system, characterized in that, include: The first base station has a first receiving space, and the first receiving space has a first opening; The cleaning equipment is capable of moving autonomously across the work surface; The stair-climbing device as described in any one of claims 166-181 is capable of being combined with the cleaning equipment to form a combined unit, enabling the cleaning equipment to pass through specific obstacles; The assembly can freely enter and exit the first containment space through the first opening.

183. A cleaning system, characterized in that, include: The second base station has a second receiving space, and the second receiving space has a second opening; The third base station has a third containment space, and the third containment space has a third opening; The stair-climbing device as described in any one of claims 166-181, wherein the stair-climbing device is able to freely enter and exit the second receiving space through the second opening; A cleaning device that can freely enter and exit the third receiving space through the third opening; The climbing device and the cleaning equipment can be combined to form a combined unit outside the second base station and the third base station, and the combined unit can pass through specific obstacles.

184. A stair-climbing device, characterized in that, include: The device body has a receiving space for accommodating cleaning equipment, and the receiving space has an opening for the cleaning equipment to enter and exit. A crawling arm assembly, connected to the device body, is used to drive the device body to crawl; A detection module is used to detect environmental information of the stair-climbing device, which is configured to perform actions based on the environmental information.

185. The stair-climbing device according to claim 184, characterized in that, The detection module includes a first detection unit, which is disposed on the device body and is used to detect obstacle information; The stair-climbing device is configured to perform obstacle avoidance actions based on the obstacle information.

186. The stair-climbing device according to claim 185, characterized in that, The first detection unit includes a first distance sensor.

187. The stair-climbing device according to claim 186, characterized in that, The first distance sensor includes at least one of lidar, ultrasonic sensor, millimeter-wave radar, infrared sensor, time-of-flight sensor, direct time-of-flight sensor, multi-view sensor, and line laser sensor.

188. The stair-climbing device according to claim 185, characterized in that, The first detection unit includes an image sensor.

189. The stair-climbing device according to claim 185, characterized in that, The first detection unit is disposed on the front wall and / or top wall of the device body along the traveling direction of the stair climbing device.

190. The stair-climbing device according to any one of claims 184-189, characterized in that, The detection module includes a second detection unit, which is located at the bottom of the device body and is used to detect cliff information on the path of the climbing device. The climbing device is configured to perform obstacle avoidance actions based on the cliff information.

191. The stair-climbing device according to claim 190, characterized in that, The second detection unit includes a second distance sensor.

192. The stair-climbing device according to claim 191, characterized in that, The second distance sensor includes at least one of an ultrasonic sensor, a millimeter-wave radar, an infrared sensor, a time-of-flight sensor, a direct time-of-flight sensor, a multi-view sensor, and a line laser sensor.

193. The stair-climbing device according to claim 191, characterized in that, There are multiple second distance sensors, which are respectively disposed on both sides of the device body along the direction of travel and are spaced apart along the direction of travel of the device body.

194. The stair-climbing device according to any one of claims 184-189, characterized in that, The detection module includes a third detection unit, which is disposed at the bottom of the device body and inclined along the crawling direction of the device body, so that the detection direction of the third detection unit has an angle with the height direction of the climbing device. The third detection unit is used to detect the distance of the climbing device relative to the stair step surface when the climbing device is climbing on the stairs, and to determine the relative position of the climbing device with two adjacent step surfaces.

195. The stair-climbing device according to claim 194, characterized in that, The third detection unit is tilted toward one side of the opening of the receiving space and is used to detect the distance between the stair climbing device and the stair step surface when the stair climbing device moves down the stairs.

196. The stair-climbing device according to claim 194, characterized in that, The angle between the detection direction of the third detection unit and the height direction of the stair-climbing device is 15°-50°.

197. The stair-climbing device according to claim 194, characterized in that, The bottom wall of the device body is provided with a mounting part for mounting the third detection unit, and the mounting part is inclined on the wall side near the opening of the receiving space.

198. The stair-climbing device according to claim 194, characterized in that, The third detection unit includes a third distance sensor.

199. The stair-climbing device according to claim 198, characterized in that, The third distance sensor includes at least one of the following: ultrasonic sensor, millimeter-wave radar, infrared sensor, time-of-flight sensor, direct time-of-flight sensor, multi-view sensor, and line laser sensor.

200. A cleaning system, characterized in that, It includes cleaning equipment, a first base station, and the stair-climbing device as described in any one of claims 184-199.

201. A cleaning system, characterized in that, include: The second base station has a second receiving space, and the second receiving space has a second opening; The third base station has a third containment space, and the third containment space has a third opening; The stair-climbing device as described in any one of claims 184-199, wherein the stair-climbing device is able to freely enter and exit the second receiving space through the second opening; A cleaning device that can freely enter and exit the third receiving space through the third opening; The climbing device and the cleaning equipment can be combined to form a combined unit outside the second base station and the third base station, and the combined unit can pass through specific obstacles.

202. A cleaning system, characterized in that, Includes base stations, cleaning equipment, and stair-climbing devices as described in any one of claims 1-28; or, The stair-climbing device as described in any one of claims 29-33; or, The stair-climbing device as described in any one of claims 34-47; or, The stair-climbing device as described in any one of claims 48-60; or, The stair-climbing device as described in any one of claims 61-72; or, The stair-climbing device as described in any one of claims 73-85; or, The stair-climbing device as described in any one of claims 86-100; or, The stair-climbing device as described in any one of claims 101-124.

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