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

Abstract

The present disclosure relates to a bearing device and a control method thereof, a cleaning device and a cleaning system, a computer program product and a computer readable storage medium. The bearing device comprises a main body and a side support. The side support is connected with the main body, and the side support can be moved from a first surface to a second surface or from the second surface to the first surface, the second surface being higher than the first surface. The side support comprises a first support module configured to support a first overhanging part when the side support is located on the second surface and has the first overhanging part, so that the bearing device can be suitable for surfaces with different height differences and / or different widths, to ensure that the bearing device can have high stability when located on surfaces with different height differences and / or different widths, thereby improving the safety and stability of the bearing device during work.

Description

Technical Field

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

[0002] In the field of household load-bearing equipment manufacturing technology, existing load-bearing equipment cannot adapt to steps of different heights and / or widths, and has poor stability when climbing or descending stairs, resulting in poor safety and stability of existing load-bearing equipment during operation.

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

[0004] The purpose of this disclosure is to provide a carrier device and its control method, a cleaning apparatus and cleaning system, a computer program product, and a computer-readable storage medium. The carrier device exhibits high safety and stability during operation.

[0005] This disclosure provides a carrier device, including:

[0006] Main body;

[0007] A side support portion is connected to the main body portion. The side support portion is movable from a first surface to a second surface or from a second surface to the first surface, wherein the second surface is higher than the first surface. The side support portion includes a first support module, which is configured to support the first suspended portion when the side support portion is located on the first surface or the second surface and has a first suspended portion.

[0008] In one exemplary embodiment of this disclosure, the first support module includes:

[0009] First drive unit;

[0010] A first support rod is connected to the first driving part, and the first driving part can drive the first support rod to support the first surface.

[0011] In one exemplary embodiment of this disclosure, the first support rod has a first support end;

[0012] The first driving unit can drive the first support end to move toward the first surface so that the first support rod is supported on the first surface.

[0013] In one exemplary embodiment of this disclosure, the first support rod has a first support end;

[0014] The first driving unit can drive the first support rod to rotate in a first direction, rotating the first support end to the first surface, so that the first support rod is supported on the first surface.

[0015] In one exemplary embodiment of this disclosure, the first support module further includes:

[0016] A first detector, configured to detect the relative position between a first support end and a first surface;

[0017] A first controller, connected to the first detector, is configured to control the first drive unit to stop providing driving force to the first support end when the first support end contacts the first surface.

[0018] In one exemplary embodiment of this disclosure, the first detector is mounted on the first support end; the controller is configured to control the first drive unit to stop providing driving force to the first support end when the first detector contacts the first surface.

[0019] In one exemplary embodiment of this disclosure, the first support rod further includes:

[0020] A first support block is disposed on and connected to the first support end, and the contact area between the first support block and the first surface is greater than the contact area between the first support end and the first surface.

[0021] In one exemplary embodiment of this disclosure, the first detector is mounted on the side of the first support block facing the first surface.

[0022] In one exemplary embodiment of this disclosure, the first support block has a first mounting groove on the side facing the first surface, and the first detector is disposed in the first mounting groove; when the first support block contacts the first surface, the first detector contacts the first surface.

[0023] In one exemplary embodiment of this disclosure, the side support portion further includes: a body portion; the first driving portion is capable of driving the first support rod to move toward the first surface; the first support module further includes:

[0024] A first guide sleeve is installed on the main body and sleeved on at least a portion of the outer peripheral surface of the first support rod to provide guidance for the movement of the first support rod.

[0025] In one exemplary embodiment of this disclosure, the outer peripheral surface of the first support rod is provided with a first thread; the inner peripheral surface of the first guide sleeve is provided with a second thread that engages with the first thread.

[0026] The first driving unit can drive the first guide sleeve to rotate, so that the first support rod moves toward the first surface.

[0027] In an exemplary embodiment of this disclosure, the first driving unit is capable of driving the first guide sleeve to rotate; at least a portion of the outer peripheral surface of the first guide sleeve is provided with a first tooth; the first driving unit includes:

[0028] First driving component;

[0029] A first transmission component is connected to the first driving component, and the outer peripheral surface of the first transmission component is provided with a second tooth that meshes with the first tooth. The first driving component is capable of driving the first transmission component to rotate.

[0030] In one exemplary embodiment of this disclosure, the first driving unit can drive the first support end to move away from the first surface to release the support of the first support rod on the first suspended portion.

[0031] In one exemplary embodiment of this disclosure, the first driving unit can drive the first support rod to rotate in a direction opposite to the first direction, so that the first support end leaves the first surface, thereby releasing the support of the first support rod on the first suspended portion.

[0032] In one exemplary embodiment of this disclosure, the first support module further includes:

[0033] A second detector is configured to detect the position where the first support end moves away from the first surface;

[0034] A second controller, connected to the second detector, is configured to control the first drive unit to stop providing driving force to the first support end when the first support end moves to a preset position away from the first surface.

[0035] In one exemplary embodiment of this disclosure, the second detector is installed at the preset position, and the second detector is configured to control the first driving unit to stop providing driving force to the first support end when the first support end moves away from the first surface and comes into contact with the second detector.

[0036] In one exemplary embodiment of this disclosure, the first support module further includes:

[0037] A first guide rod is arranged parallel to and connected to the first support rod; the first guide rod is configured to provide guidance for the movement of the first support rod.

[0038] In one exemplary embodiment of this disclosure, the first support module further includes:

[0039] The first connecting block has a first through hole and a second through hole, the first support rod passes through the first through hole, and the first guide rod passes through the second through hole, so that the first support rod and the first guide rod are connected.

[0040] In one exemplary embodiment of this disclosure, the first support module further includes:

[0041] The second connecting block is fixedly connected to the first support rod and the first guide rod so that the first support rod and the first guide rod can move synchronously relative to the first connecting block.

[0042] In one exemplary embodiment of this disclosure, the first support module further includes:

[0043] The second guide sleeve is installed on the main body and sleeved on at least a portion of the outer peripheral surface of the first guide rod to provide guidance for the movement of the first guide rod.

[0044] In one exemplary embodiment of this disclosure, the first support rod is fixedly connected to the first connecting block through the first through hole, and the first guide rod is slidably connected to the first connecting block through the second through hole. The first support rod and the first connecting block are movable relative to the first guide rod.

[0045] In one exemplary embodiment of this disclosure, the main body includes:

[0046] The second support module is configured to support the second suspended portion when the main body is located on the step and has a second suspended portion.

[0047] In one exemplary embodiment of this disclosure, the second support module includes:

[0048] Second drive unit;

[0049] The second support rod is connected to the second driving part, and the second driving part can drive the second support rod to support the first surface.

[0050] In one exemplary embodiment of this disclosure, the supporting device includes two side support portions, which are respectively located on both sides of the main body.

[0051] In one exemplary embodiment of this disclosure, the main body includes:

[0052] A support structure for supporting cleaning equipment.

[0053] This disclosure also provides a control method for a support device, the support device including a side support portion, the side support portion including a first support module, the control method for the support device including:

[0054] Detect whether the side support portion has the first suspended portion;

[0055] When the side support has the first suspended portion, the first support module is used to support the first suspended portion.

[0056] In one exemplary embodiment of this disclosure, the first support module includes a first driving part and a first support rod, and the step of supporting the first suspended part using the first support module includes:

[0057] The first support end is driven by the first driving part to move closer to the first surface, so that the first support rod is supported on the first surface;

[0058] Alternatively, the first drive unit can be used to drive the first support rod to rotate in a first direction, rotating the first support end to the first surface so that the first support rod is supported on the first surface.

[0059] In one exemplary embodiment of this disclosure, the first support module includes a first detector and a first controller. The control method of the carrier device further includes:

[0060] The first detector is used to detect whether the first support end is in contact with the first surface;

[0061] When the first support end comes into contact with the first surface, the first controller controls the first drive unit to stop providing driving force to the first support end.

[0062] In one exemplary embodiment of this disclosure, the control method of the carrier device further includes:

[0063] The first support end is driven by the first driving unit to move away from the first surface, so as to release the support of the first support rod on the first suspended part;

[0064] Alternatively, the first drive unit can be used to drive the first support rod to rotate in a direction opposite to the first direction, so that the first support end leaves the first surface, thereby releasing the support of the first support rod on the first suspended part.

[0065] In one exemplary embodiment of this disclosure, the carrier device further includes a second detector and a second controller, and the control method of the carrier device further includes:

[0066] The second detector is used to detect whether the first support end has moved to a preset position in a direction away from the first surface;

[0067] When the first support end moves to the preset position, the second controller controls the first drive unit to stop providing driving force to the first support end.

[0068] In one exemplary embodiment of this disclosure, the supporting device further includes a main body connected to the side support, and the control method of the supporting device includes:

[0069] Detect whether the main body has a second suspended portion;

[0070] When the main body has the second suspended portion, the second suspended portion is supported by the second support module.

[0071] In another aspect, this disclosure provides a computer program product comprising computer instructions stored in a computer-readable storage medium and adapted to be read and executed by a processor to cause a computer device having the processor to perform the control method of the bearer device described in any of the preceding claims.

[0072] In another aspect, this disclosure provides a computer-readable storage medium storing at least one piece of program code, which is loaded and executed by a processor to implement the operations performed by the control method of the bearer device described in any of the preceding claims.

[0073] In another aspect, this disclosure provides a carrier device, the carrier device including one or more processors and one or more memories, the one or more memories storing at least one piece of program code, the at least one piece of program code being loaded and executed by the one or more processors to implement the control method of the carrier device described in any of the preceding claims.

[0074] This disclosure further provides a cleaning apparatus, comprising:

[0075] A load-bearing device, wherein the load-bearing device is any one of the load-bearing devices described above, and the main body includes a load-bearing structure;

[0076] A cleaning device is located within the receiving cavity, and the cleaning device is capable of cleaning the surface to be cleaned.

[0077] This disclosure further provides a cleaning system, comprising:

[0078] Base station;

[0079] A cleaning device, wherein the cleaning device is the cleaning device described above, and the carrier device and / or the cleaning device can interface with the base station.

[0080] The technical solution provided in this disclosure can achieve the following beneficial effects:

[0081] The supporting device provided in this disclosure includes a main body and a side support. The side support includes a first support module, which is configured to support the first suspended portion when the side support is located on a second surface and has a first suspended portion.

[0082] When the width of the second surface is wide, the side support portion does not have a first suspended portion when it is located on the second surface. The side support portion can provide support, so that the load-bearing device can maintain a stable center of gravity on the second surface, and the load-bearing device has higher safety and stability when working on the wider second surface.

[0083] When the width of the second surface is narrow, the side support portion will have a first suspended portion when positioned on the second surface, causing instability in the center of gravity of the supporting device on the second surface. In this case, the first support module can be used to support the first suspended portion, thus maintaining the center of gravity of the supporting device on the second surface. This ensures high safety and stability even when the supporting device operates on a narrow second surface. Therefore, this supporting device can be used on second surfaces of different widths, and maintains high safety and stability when operating on second surfaces of varying widths.

[0084] In addition, since the first support module can support the first suspended part, the bearing device can be used on the first surface and the second surface with different height differences. This ensures that the bearing device has high stability when it is located on the second surface with different height differences from the first surface, thereby improving the safety and stability of the bearing device when it is working on the second surface with different height differences from the first surface.

[0085] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0086] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure. It is obvious that the drawings described below are merely some embodiments of this disclosure, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0087] Figure 1 A schematic diagram of the structure of a carrier device according to an exemplary embodiment of the present disclosure is shown;

[0088] Figure 2 This diagram shows a structural schematic of the first support module before it is supported, according to an exemplary embodiment of the present disclosure.

[0089] Figure 3 A schematic diagram of the structure is shown when the first support module is supported according to an exemplary embodiment of the present disclosure;

[0090] Figure 4 A schematic diagram of the structure of the first support module before it is supported, according to another exemplary embodiment of the present disclosure, is shown.

[0091] Figure 5 A schematic diagram of the structure is shown when the third support end is in the first position according to an exemplary embodiment of the present disclosure;

[0092] Figure 6 A schematic diagram of the structure is shown when the third support end is in the second position according to an exemplary embodiment of the present disclosure;

[0093] Figure 7 A schematic diagram of the structure of a cleaning component in a first state according to an exemplary embodiment of the present disclosure is shown;

[0094] Figure 8 A schematic diagram of the cleaning component in a second state according to an exemplary embodiment of the present disclosure is shown;

[0095] Figure 9 An exemplary embodiment according to this disclosure is shown. Figure 7 Partial structural diagram;

[0096] Figure 10 A schematic diagram of the structure of a first support module according to an exemplary embodiment of the present disclosure is shown from one perspective.

[0097] Figure 11 A schematic diagram of the structure of a first support module according to another exemplary embodiment of the present disclosure is shown from one perspective;

[0098] Figure 12 Another exemplary embodiment according to this disclosure is shown. Figure 7Partial structural diagram;

[0099] Figure 13 A partial structural schematic diagram of a carrier device according to an exemplary embodiment of the present disclosure is shown;

[0100] Figure 14 A schematic diagram of a cleaning area for a carrier device according to an exemplary embodiment of the present disclosure is shown;

[0101] Figure 15 A schematic flowchart of a control method for a stair-climbing machine according to an exemplary embodiment of the present disclosure is shown;

[0102] Figure 16 A schematic flowchart of a control method for a stair-climbing machine according to another exemplary embodiment of the present disclosure is shown;

[0103] Figure 17 A schematic flowchart of a control method for a stair-climbing machine according to yet another exemplary embodiment of the present disclosure is shown;

[0104] Figure 18 A schematic flowchart of a control method for a stair climber according to yet another exemplary embodiment of the present disclosure is shown;

[0105] Figure 19 A schematic flowchart of a control method for a stair climber according to yet another exemplary embodiment of the present disclosure is shown.

[0106] Explanation of reference numerals in the attached figures:

[0107] 1. Main body; 11. Bearing structure; 12. Receiving cavity; 13. Second support module; 131. Second drive unit; 132. Second support rod;

[0108] 2. Side support part; 21. First support module; 211. First drive part; 2111. First drive component; 2112. First transmission component; 2113. Second toothed part; 212. First support rod; 2121. First support end; 2122. First support block; 2123. First mounting groove; 213. First detector; 214. First guide sleeve; 2141. First toothed part; 215. Second detector; 216. First guide rod; 217. First connecting block; 218. Second connecting block; 219. Second guide sleeve; 23. Body part; 231. Notch; 24. Swing rod; 241. Third support end; 25. Third drive part; 251. Third drive component; 25 2. First dial; 2521. First protrusion; 2522. First protrusion; 253. Pulling mechanism; 254. Second dial; 2541. Second protrusion; 2542. Second protrusion; 26. Reset component; 27. First limiting structure; 28. Second limiting structure; 281. First limiting block; 282. Second limiting block; 283. Third limiting block; 284. Limit detector; 29. ​​Climbing drive component; 30. Cleaning component; 301. First slide groove; 302. Second slide groove; 303. Connecting plate; 304. Scraper; 305. Third slide groove; 33. First clamping component; 34. First fixing block; 35. Second fixing block; 36. Second clamping component; 37. First suspended part;

[0109] 3. Step; 31. Tread; 32. Riser; 38. First surface; 39. Second surface;

[0110] X, first direction; Y, second direction; Z, third direction; H, altitude direction. Detailed Implementation

[0111] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, they are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and therefore their detailed description will be omitted.

[0112] Although relative terms such as "up" and "down" are used in this specification to describe the relative relationship of one component of an icon to another, these terms are used only for convenience, such as according to the orientation of the examples shown in the accompanying drawings. It is understood that if the device of the icon is flipped upside down, the component described as "up" will become the component described as "down." When a structure is "up" of another structure, it may mean that the structure is integrally formed on the other structure, or that the structure is "directly" mounted on the other structure, or that the structure is "indirectly" mounted on the other structure through another structure.

[0113] The terms “a,” “one,” “the,” and “the” are used to indicate the existence of one or more elements / components / etc.; the terms “including” and “having” are used to indicate an open-ended inclusion meaning and that there may be other elements / components / etc. in addition to the listed elements / components / etc.; the terms “first” and “second” are used only as markers and are not a limitation on the number of objects.

[0114] like Figures 1 to 14 As shown, this disclosure first provides a cleaning device, which may include a carrying device and a cleaning device. The cleaning device may be a sweeping robot, a floor scrubber, a vacuum cleaner, a sweeping and mopping robot, a window cleaning robot, etc. The cleaning device may include a cleaning unit, which may be a roller brush, a side brush, a water outlet, a mopping component, a window cleaning component, etc., for cleaning the surface to be cleaned, such as the ground, the surface of the step 3, etc.

[0115] The supporting equipment can be a stair climber, which may have the function of climbing up and / or down steps 3, but is not limited to this; the supporting equipment can be other machines with supporting functions. For example... Figure 1 As shown, the supporting device may include a main body 1 and a side support 2. The main body 1 may be provided with a supporting structure 11, and the cleaning device may be located on the supporting structure 11, so that the supporting device can carry the cleaning device from the first surface 38 to the second surface 39 or from the second surface 39 to the first surface 38. The second surface 39 may be higher than the first surface 38, so as to use the cleaning device to clean surfaces at different heights. For example, the supporting device may carry the cleaning device up and / or down the step 3. The first surface 38 and the second surface 39 may be the surfaces of different steps 3, so as to use the cleaning device to clean the surfaces of the steps 3 or the floors of different floors waiting to be cleaned.

[0116] It should be noted that when the supporting equipment moves from the current first surface 38 to the current second surface 39 during the climbing process, the current second surface 39 becomes the first surface 38 during the next climbing process, and the surface above this surface becomes the second surface 39 during the next climbing process. When the supporting equipment moves from the current second surface 39 to the current first surface 38 during the climbing process, the current first surface 38 becomes the second surface 39 during the next climbing process, and the surface below this surface becomes the first surface 38 during the next climbing process.

[0117] The supporting structure 11 can be located on the bottom surface of the main body 1, making the distance between the supporting structure 11 and the surface to be cleaned closer, which facilitates the cleaning equipment to clean the surface. The main body 1 can also have a receiving cavity 12, in which the cleaning equipment can be located, so that the inner wall of the receiving cavity 12 and the supporting structure 11 can limit and protect the cleaning equipment, thereby reducing the probability of the cleaning equipment detaching from the supporting structure 11, and preventing objects in the external environment from colliding with the cleaning equipment and damaging it.

[0118] In some embodiments, the main body 1 can also have a cleaning function, that is, a cleaning device can be directly mounted on the bottom surface of the main body 1, making the main body 1 and the cleaning device an integral structure. This allows it to perform both the function of moving from the first surface 38 to the second surface 39 or from the second surface 39 to the first surface 38, and the function of cleaning the surface to be cleaned. This configuration improves the integration of the main body 1 and eliminates the need for additional cleaning devices and the need for a support structure 11 on the main body 1 to support other cleaning devices.

[0119] The side support 2 can be connected to the main body 1. The side support 2 can move from the first surface 38 to the second surface 39 or from the second surface 39 to the first surface 38. When the carrying device moves from the first surface 38 to the second surface 39 or from the second surface 39 to the first surface 38, the side support 2 can support the main body 1 to deliver the main body 1 to the desired surface. After the main body 1 reaches the desired surface, the side support 2 follows the main body 1 and moves to that surface. That is, the main body 1 and the side support 2 can move alternately to achieve the purpose of moving the carrying device from the first surface 38 to the second surface 39 or from the second surface 39 to the first surface 38.

[0120] Alternatively, when the supporting device moves from the first surface 38 to the second surface 39 or from the second surface 39 to the first surface 38, the side support 2 can first move to the surface to be reached. After the side support 2 reaches the surface to be reached, it drives the main body 1 to move to that surface. That is, the side support 2 and the main body 1 can move alternately to achieve the purpose of moving the supporting device from the first surface 38 to the second surface 39 or from the second surface 39 to the first surface 38.

[0121] Alternatively, when the supporting device moves from the first surface 38 to the second surface 39 or from the second surface 39 to the first surface 38, the main body 1 and the side support 2 can move simultaneously to the surface they want to reach.

[0122] In some embodiments, such as Figures 2 to 12As shown, the side support portion 2 may include a first support module 21. The first support module 21 may be configured to support the first suspended portion 37 when the side support portion 2 is located on the second surface 39 and has a first suspended portion 37.

[0123] When the width of the second surface 39 is relatively wide, the side support 2 does not have the first suspended portion 37 when it is located on the step 3. The side support 2 can provide support so that the load-bearing device can maintain a stable center of gravity on the second surface 39, and the load-bearing device has higher safety and stability when working on the wider second surface 39.

[0124] When the width of the second surface 39 is narrow, the side support 2 will have a first suspended portion 37 when located on the second surface 39, causing the center of gravity of the supporting device on the second surface 39 to be unstable. At this time, the first support module 21 can be used to support the first suspended portion 37, so that the center of gravity of the supporting device on the second surface 39 remains stable. This ensures that the supporting device has high safety and stability when working on the narrow second surface 39. Therefore, this supporting device can be used on second surfaces 39 of different widths and has high safety and stability when working on second surfaces 39 of different widths.

[0125] In addition, since the first support module 21 can support the first suspended part 37, the bearing device can be used on the first surface 38 and the second surface 39 with different height differences. This ensures that the bearing device can have high stability when it is located on the second surface 39 with different height differences from the first surface 38, thereby improving the safety and stability of the bearing device when it is working on the second surface 39 with different height differences from the first surface 38.

[0126] The first support module 21 may include a first drive unit 211 and a first support rod 212. The first support rod 212 may be connected to the first drive unit 211. When the side support unit 2 is located on the second surface 39, the first drive unit 211 can drive the first support rod 212 to support the first surface 38.

[0127] This embodiment, by providing a first drive unit 211, enables automated support for the side support portion 2 when it has a first suspended portion 37. Simultaneously, by providing a first support rod 212, the supporting force and structural strength of the first support module 21 are improved, ensuring the effective support of the first support module 21 for the side support portion 2. Furthermore, by providing the first support rod 212, the support length of the first support rod 212 can be freely adjusted according to the different height differences between the first surface 38 and the second surface 39, allowing the first support module 21 to provide good support for the side support portion 2 even when the first surface 38 and the second surface 39 have different height differences.

[0128] In some embodiments, such as Figure 2 , Figure 3 , Figures 5 to 9 As shown, the first support rod 212 may have a first support end 2121, and the first driving unit 211 can drive the first support end 2121 to move towards the first surface 38, so that the first support rod 212 is supported on the first surface 38. In other words, the first driving unit 211 can drive the first support end 2121 to move in a straight line, so that the first support end 2121 reaches the first surface 38, allowing the first support rod 212 to be supported on the first surface 38.

[0129] The first support rod 212 can be a single rod structure, and the first support end 2121 can be located at the end of the single rod structure near the first surface 38. The first driving unit 211 can drive the entire first support rod 212 to move towards the first surface 38, so that the first support end 2121 moves towards the first surface 38, thereby enabling the first support rod 212 to be supported on the first surface 38.

[0130] The first support rod 212 can also be a telescopic structure, that is, the first support rod 212 can be formed by a fixed rod and a telescopic rod nested together, the telescopic rod can move relative to the fixed rod, and the first support end 2121 can be the end of the telescopic rod close to the first surface 38. The first driving part 211 can be connected to the telescopic rod, and the first driving part 2111 drives the telescopic rod to move towards the first surface 38, so that the first support end 2121 moves towards the first surface 38, thereby enabling the first support rod 212 to be supported on the first surface 38.

[0131] The first support rod 212 can also be a linkage structure, that is, the first support rod 212 can be composed of at least two rotatably connected linkages, and the first support end 2121 can be located on the linkage closest to the first surface 38. The first driving part 211 can be connected to the linkage structure, and by driving the linkage structure, the linkage located closest to the first surface 38 moves towards the first surface 38, thereby causing the first support end 2121 to move towards the first surface 38, so that the first support rod 212 can be supported on the first surface 38.

[0132] However, it is not limited to these three structures. The first support rod 212 may also be other structures, which can be selected and set according to actual needs. All of these are within the protection scope of this disclosure.

[0133] In some embodiments, when the side support 2 needs to ascend or descend the step 3, and the height of the step 3 changes, the first drive unit 211 can drive the first support end 2121 to move away from the first surface 38, thereby releasing the support of the first support rod 212 on the first suspended portion 37. In other words, the first drive unit 211 can drive the first support end 2121 to move in a straight line, causing the first support end 2121 to move away from the first surface 38, thus retracting the first support rod 212 and releasing the support of the first support rod 212 on the first suspended portion 37. When the side support 2 reaches the next step 3, the first drive unit 211 again drives the first support end 2121 to move closer to the first surface 38, so that the first support rod 212 can again support the first suspended portion 37.

[0134] When the side support 2 needs to move from the first surface 38 to the second surface 39 or from the second surface 39 to the first surface 38, and the height difference between the first surface 38 and the second surface 39 remains unchanged, since the first support rod 212 does not need to change its support height for the next support, it can be used directly without retracting the first support rod 212, which is already extended. However, this is not the only possibility. When the side support 2 needs to move from the first surface 38 to the second surface 39 or from the second surface 39 to the first surface 38, and the height difference between the first surface 38 and the second surface 39 remains unchanged, the first drive unit 211 can drive the first support end 2121 to move away from the first surface 38, thereby releasing the support of the first support rod 212 on the first suspended portion 37. When the side support 2 reaches the next second surface 39, the first drive unit 211 again drives the first support end 2121 to move closer to the first surface 38 at this time, so that the first support rod 212 can support the first suspended portion 37 again.

[0135] In some embodiments, such as Figures 5 to 12 As shown, the side support portion 2 may further include a body portion 23. The body portion 23 may include a housing and a receiving space, which may be enclosed by the housing. The first support module 21 may be disposed within the receiving space to protect the first support module 21 from collision with other structures in the external environment and prevent damage. However, it is not limited to this; the first support module 21 may also not be disposed within the receiving space, that is, the first support module 21 may also be disposed on the outer surface of the housing.

[0136] like Figure 9As shown, the first support module 21 further includes a first guide sleeve 214. The first guide sleeve 214 can be installed on the main body 23, and the first guide sleeve 214 can be sleeved on at least a portion of the outer peripheral surface of the first support rod 212 to provide guidance for the movement of the first support rod 212, ensuring that the first support rod 212 can always move in the preset correct direction of movement.

[0137] The outer circumferential surface of the first support rod 212 may be provided with a first thread. The inner circumferential surface of the first guide sleeve 214 may be provided with a second thread that engages with the first thread. The first drive unit 211 can drive the first guide sleeve 214 or the first support rod 212 to rotate, so that the first support rod 212 moves toward the first surface 38. Alternatively, the first drive unit 211 can drive the first guide sleeve 214 or the first support rod 212 to rotate in the opposite direction, so that the first support rod 212 moves away from the first surface 38.

[0138] In this embodiment, by setting a first thread and a second thread, self-locking can be achieved using the first thread and the second thread, preventing displacement of the first support rod 212 during the support of the opposite support part 2, thereby improving the supporting force and stability of the first support rod 212. At the same time, by setting the first thread and the second thread, the movement stroke of the first support rod 212 can be controlled more conveniently and accurately, further improving the supporting effect of the first support rod 212 on the opposite support part 2.

[0139] At least a portion of the outer peripheral surface of the first guide sleeve 214 may be provided with a first tooth 2141. The first drive unit 211 may include a first drive member 2111 and a first transmission member 2112. The first transmission member 2112 may be connected to the first drive member 2111, and the outer peripheral surface of the first transmission member 2112 may be provided with a second tooth 2113 that meshes with the first tooth 2141. The first drive member 2111 can drive the first transmission member 2112 to rotate. When the first transmission member 2112 rotates, the first transmission member 2112 can drive the first tooth 2141 to move through the second tooth 2113, thereby driving the first guide sleeve 214 to rotate. In this way, the first support rod 212 can be driven to move towards or away from the first surface 38 through the cooperation of the first thread and the second thread.

[0140] The first transmission component 2112 may include multiple gears that can mesh with each other. The gear ratios of the multiple gears can be adjusted as needed to adjust the rotational speed of the first guide sleeve 214, thereby adjusting the movement speed of the first support rod 212. Alternatively, when the relative position between the first driving component 2111 and the second tooth 2113 is far, the positions of the multiple gears can be adjusted according to the positions of the first driving component 2111 and the second tooth 2113 to ensure that the driving force output by the first driving component 2111 can be transmitted to the second tooth 2113 through the multiple gears. However, this is not a limitation; the first transmission component 2112 may also include only one gear, as selected according to actual conditions, all of which are within the scope of protection of this disclosure.

[0141] In some embodiments of this disclosure, such as Figure 2 and Figure 4 As shown, the first drive unit 211 can drive the first support rod 212 to rotate along the first direction X, rotating the first support end 2121 to the first surface 38, so that the first support rod 212 is supported on the first surface 38. For example, the first support rod 212 can initially be retracted into the side support part 2, and the first drive unit 211 can drive the first support rod 212 to rotate along the first direction X, so that the first support rod 212 extends out of the side support part 2, so that the first support rod 212 is supported on the first surface 38.

[0142] Furthermore, the first drive unit 211 can drive the first support rod 212 to rotate in a direction opposite to the first direction X, causing the first support end 2121 to leave the first surface 38, thereby releasing the support of the first support rod 212 on the first suspended portion 37. For example, the first drive unit 211 can be used to drive the first support rod 212 to rotate in a direction opposite to the first direction X, causing the first support rod 212 to return to its initial state and retract into the side support portion 2, thereby releasing the support of the first support rod 212 on the first suspended portion 37.

[0143] In some embodiments, such as Figures 5 to 11 As shown, the first support rod 212 may include a first support block 2122. The first support block 2122 may be disposed on the first support end 2121 and connected to the first support end 2121. The contact area between the first support block 2122 and the first surface 38 may be greater than the contact area between the first support end 2121 and the first surface 38. Therefore, when the first support block 2122 contacts the first surface 38, compared to directly contacting the first surface 38 using the first support end 2121, the larger contact area of ​​the first support block 2122 provides more stable support and reduces the pressure exerted by the first support rod 212 on the first surface 38, thus preventing damage to the first surface 38.

[0144] like Figure 10 As shown, the first support module 21 may further include a first detector 213. The first detector 213 may be configured to detect the relative position between the first support end 2121 and the first surface 38. When the first support end 2121 contacts the first surface 38, the first drive unit 211 is controlled to stop providing driving force to the first support end 2121. In this way, it is possible to avoid the first drive unit 211 continuously providing driving force to the first support end 2121 when it contacts the first surface 38, which would result in a large interaction force between the first support end 2121 and the first surface 38, and thus reduce the probability of damage to the first support rod 212 and / or the first surface 38.

[0145] Furthermore, when the outer circumferential surface of the first support rod 212 is provided with a first thread and the inner circumferential surface of the first guide sleeve 214 is provided with a second thread, if a driving force is continuously provided to the first support end 2121 when it contacts the first surface 38, the applied driving force will accumulate between the first thread and the second thread because the first support end 2121 will no longer move at this time. This will cause the first thread and the second thread to lock up, affecting the subsequent movement of the first support rod 212 and thus affecting the normal operation of the bearing device. Therefore, by setting the first detector 213, this embodiment can avoid the first driving part 211 from providing a driving force to the first support end 2121 when it contacts the first surface 38, thus effectively avoiding the problem of locking between the first thread and the second thread, ensuring the subsequent movement of the first support rod 212, and ensuring the normal operation of the bearing device.

[0146] The first detector 213 can be mounted on the first support end 2121. When the first detector 213 contacts the first surface 38, the first drive unit 211 is controlled to stop providing driving force to the first support end 2121. This arrangement allows the distance between the first detector 213 and the first support end 2121 to be closer, thereby improving the accuracy of the first detector 213 in detecting the relative position between the first support end 2121 and the first surface 38.

[0147] When the first support rod 212 includes the first support block 2122, the first detector 213 can be installed on the side of the first support block 2122 facing the first surface 38, which can make the distance between the first detector 213 and the first support block 2122 closer, thereby improving the accuracy of the first detector 213 in detecting the relative position between the first support block 2122 and the first surface 38.

[0148] like Figure 10 and Figure 11As shown, a first mounting groove 2123 can be provided on the side of the first support block 2122 facing the first surface 38, and the first detector 213 can be disposed in the first mounting groove 2123. When the first support block 2122 contacts the first surface 38, the first detector 213 also contacts the first surface 38. This arrangement provides mounting space for the first detector 213, preventing the first detector 213 from protruding entirely from the first support block 2122, thereby reducing the probability of the first detector 213 being damaged by pressure when the first support block 2122 contacts the first surface 38.

[0149] In some embodiments, the supporting device may further include a first controller. A first detector 213 may be connected to the first controller, and a first drive unit 2111 may be communicatively connected to the first controller. When the first detector 213 detects that the first support end 2121 is in contact with the first surface 38, it may send a detection signal to the first controller. After receiving the detection signal, the first controller may control the first drive unit 2111 to stop providing driving force to the first support end 2121.

[0150] However, this is not the only option. The supporting device may not have a first controller. The first detector 213 may have both detection and control functions and may be communicatively connected to the first drive unit 2111. When the first detector 213 detects that the first support end 2121 is in contact with the first surface 38, it directly controls the first drive unit 2111 to stop providing driving force to the first support end 2121.

[0151] The first detector 213 can be a micro switch. However, it is not limited to this. The first detector 213 can also be an optocoupler sensor, a Hall sensor, etc., which can be selected and set according to the actual situation, and all of these are within the protection scope of this disclosure.

[0152] In some embodiments, such as Figures 5 to 12 As shown, the first support module 21 may further include a second detector 215. The second detector 215 can be configured to detect the position of the first support end 2121 moving away from the first surface 38. When the first support end 2121 moves away from the first surface 38 to a preset position, the first drive unit 211 is controlled to stop providing driving force to the first support end 2121. In this way, it is possible to avoid the first support end 2121 colliding with other structural members in the side support part 2 because the first drive unit 211 continuously provides driving force to the first support end 2121 when it moves away from the first surface 38 to the preset position.

[0153] Furthermore, when the outer circumferential surface of the first support rod 212 is provided with a first thread and the inner circumferential surface of the first guide sleeve 214 is provided with a second thread, if the first driving part 211 continuously provides driving force to the first support end 2121 when it moves away from the first surface 38 to a preset position, the applied driving force may accumulate between the first thread and the second thread, causing the first thread and the second thread to lock up, affecting the subsequent movement of the first support rod 212 and thus affecting the normal operation of the bearing device. Therefore, by setting the second detector 215, this embodiment can avoid the first driving part 211 providing driving force to the first support end 2121 when it moves to the preset position, thus effectively avoiding the problem of locking between the first thread and the second thread, ensuring the subsequent movement of the first support rod 212, and ensuring the normal operation of the bearing device.

[0154] The second detector 215 can be installed at a preset position. The second detector 215 can be configured to control the first drive unit 211 to stop providing driving force to the first support end 2121 when the first support end 2121 moves away from the first surface 38 and contacts the second detector 215. This configuration allows the distance between the second detector 215 and the preset position to be closer, thereby improving the detection accuracy of the second detector 215.

[0155] In some embodiments, the carrier device may further include a second controller. The first controller and the second controller may be the same controller, but are not limited thereto; the second controller and the first controller may also be controllers that operate independently of each other.

[0156] The second detector 215 can be connected to the second controller, and the first drive unit 2111 can be connected to the second controller. When the second detector 215 detects that the first support end 2121 has moved to a preset position, it can send a detection signal to the second controller. After receiving the detection signal, the second controller can control the first drive unit 2111 to stop providing driving force to the first support end 2121.

[0157] However, this is not the only option. The supporting device may not have a second controller. The second detector 215 may have both detection and control functions and may be communicatively connected to the second drive unit. When the second detector 215 detects that the first support end 2121 has moved to a preset position, it directly controls the first drive unit 2111 to stop providing driving force to the first support end 2121.

[0158] The second detector 215 can be a micro switch. However, it is not limited to this. The second detector 215 can also be an optocoupler sensor, a Hall sensor, etc., which can be selected and set according to the actual situation, and all of these are within the protection scope of this disclosure.

[0159] In some embodiments, such as Figures 5 to 12 As shown, the first support module 21 may further include a first guide rod 216. The first guide rod 216 may be arranged parallel to the first support rod 212, and the first guide rod 216 may be connected to the first support rod 212. The first guide rod 216 is configured to provide guidance for the movement of the first support rod 212, ensuring that the first support rod 212 can always move in the preset correct direction of movement.

[0160] like Figure 12 As shown, the first support module 21 may further include a first connecting block 217. The first connecting block 217 may have a first through hole and a second through hole, the first support rod 212 may pass through the first through hole, and the first guide rod 216 may pass through the second through hole, so that the first support rod 212 and the first guide rod 216 are connected.

[0161] like Figures 5 to 12 As shown, the first support module 21 may further include a second connecting block 218. The second connecting block 218 may be fixedly connected to the first support rod 212 and the first guide rod 216, so that the first support rod 212 and the first guide rod 216 can move synchronously relative to the first connecting block 217, thereby further improving the connection stability between the first guide rod 216 and the first support rod 212, and further improving the guiding capability of the first guide rod 216.

[0162] The second connecting block 218 may be located away from the first support end 2121 relative to the first connecting block 217 in order to avoid positional interference between the second connecting block 218 and the first support end 2121, but is not limited thereto.

[0163] The first support module 21 may further include a second guide sleeve 219. The second guide sleeve 219 may be installed on the main body 23 and may be sleeved on at least a portion of the outer peripheral surface of the first guide rod 216 to provide guidance for the movement of the first guide rod 216, thereby further improving the accuracy of the movement direction of the first support.

[0164] In other embodiments, the first support rod 212 can be fixedly connected to the first connecting block 217 through the first through hole, and the first guide rod 216 can be slidably connected to the first connecting block 217 through the second through hole. The first support rod 212 and the first connecting block 217 can move relative to the first guide rod 216 so that the first guide rod 216 can guide the movement of the first connecting block 217, and indirectly guide the movement of the first support rod 212 through the first connecting block 217.

[0165] In some embodiments of this disclosure, such as Figure 13As shown, the main body 1 includes a second support module 13. The second support module 13 can be configured to support the second suspended portion when the main body 1 is located on the second surface 39 and has a second suspended portion. With this configuration, the second support module 13 and the first support module 21 can cooperate to improve the stability of the load-bearing device.

[0166] The second support module 13 may include a second drive unit 131 and a second support rod 132. The second support rod 132 can be connected to the second drive unit 131, and the second drive unit 131 can drive the second support rod 132 to support the first surface 38. By providing the second drive unit 131, automated support can be provided when the main body 1 has a second suspended portion. At the same time, by providing the second support rod 132, the support force and structural strength of the second support module 13 can be improved, ensuring the support effect of the second support module 13 on the main body 1. Furthermore, by providing the second support rod 132, the support length of the second support rod 132 can be freely adjusted according to the different height differences between the first surface 38 and the second surface 39, so that the second support module 13 can provide good support for the main body 1 when the first surface 38 and the second surface 39 have different height differences.

[0167] In some embodiments, the second support rod 132 may have a second support end, and the second drive unit 131 may drive the second support end to move toward the second support surface, so that the second support rod 132 is supported on the second support surface. That is to say, the second drive unit 131 may drive the second support end to move in a straight line, so that the second support end reaches the second support surface, so that the second support rod 132 can be supported on the second support surface.

[0168] In some embodiments, when the main body 1 needs to move from the first surface 38 to the second surface 39 or from the second surface 39 to the first surface 38, and the height difference between the first surface 38 and the second surface 39 changes, the second drive unit 131 can drive the second support end to move away from the second support surface, thereby releasing the support of the second support rod 132 on the second suspended portion. When the main body 1 reaches the next second surface 39, the second drive unit 131 again drives the second support end to move towards the first surface 38 at this time, so that the second support rod 132 can support the second suspended portion again.

[0169] When the main body 1 needs to move from the first surface 38 to the second surface 39 or from the second surface 39 to the first surface 38, and the height difference between the first surface 38 and the second surface 39 remains unchanged, since the second support rod 132 does not need to change its support height for the next support, it can be used directly without retracting the second support rod 132, allowing for the next support without retracting it. However, this is not a limitation. When the main body 1 needs to move from the first surface 38 to the second surface 39 or from the second surface 39 to the first surface 38, and the height difference between the first surface 38 and the second surface 39 remains unchanged, the second drive unit 131 can be used to drive the second support end to move away from the first surface 38, thereby releasing the support of the second support rod 132 on the second suspended portion. When the main body 1 reaches the next second surface 39, the second drive unit 131 is used again to drive the second support end to move closer to the current first surface 38, so that the second support rod 132 can again support the second suspended portion.

[0170] In some embodiments, the second drive unit 131 can drive the second support rod 132 to rotate along the first direction X, rotating the second support end to the first surface 38, so that the second support rod 132 is supported on the first surface 38.

[0171] Furthermore, the second drive unit 131 can drive the second support rod 132 to rotate in a direction opposite to the first direction X, so that the second support end leaves the first surface 38, thereby releasing the support of the first support rod 212 on the first suspended part 37.

[0172] In some embodiments of this disclosure, such as Figure 5 and Figure 6 As shown, to prevent the side support 2 from colliding with the edge of the second surface 39 when it moves from the first surface 38 to the second surface 39 or from the second surface 39 to the first surface 38, a notch 231 can be provided on the side of the main body 23 facing the edge of the second surface 39 to avoid collision with the edge of the second surface 39. However, when the side of the main body 23 facing the edge of the second surface 39 has a notch 231, the main body 23 cannot provide support at the notch 231 position, resulting in a decrease in the support strength of the side support 2.

[0173] In this embodiment, the side support portion 2 may further include a swing arm 24. The swing arm 24 may be connected to the main body portion 23, and the swing arm 24 may have a third support end 241. When the side support portion 2 is in a stationary state, the third support end 241 may be in a first position, at which time the third support end 241 is in contact with the surface where the side support portion 2 is located, and at least a portion of the third support end 241 protrudes from the edge of the main body portion 23 facing the second surface 39. When the side support portion 2 ascends the step 3 and / or descends the step 3, the third support end 241 may be in a second position, the second position being farther away from the edge of the second surface 39 relative to the first position.

[0174] It should be noted that when the supporting equipment is in the climbing process, the surface where the side support 2 is located at this moment can be considered as the first surface 38. At this time, the third support end 241 is in contact with the first surface 38, and at least part of the third support end 241 protrudes from the side of the main body 23 facing the edge of the second surface 39 at this moment. When the supporting equipment is in the climbing process, the surface where the side support 2 is located at this moment can be considered as the second surface 39 at the current moment. At this time, the third support end 241 is in contact with the second surface 39 at the current moment, and at least part of the third support end 241 protrudes from the side of the main body 23 facing the edge of the second surface 39 at the previous moment.

[0175] With this configuration, when the side support 2 is stationary, the swing arm 24 can support the side support 2 at the notch 231 of the main body 23, thus compensating for the inability of the main body 23 to provide support at the notch 231 and improving the support strength of the side support 2. Simultaneously, when the side support 2 moves from the first surface 38 to the second surface 39 or vice versa, the swing arm 24 can move away from the edge of the second surface 39 to avoid collision with it.

[0176] When the first surface 38 and the second surface 39 are the surfaces of step 3, they can be the treads of step 3, and in this case, the notch 231 can face the riser 32 of step 3. Furthermore, the rocker arm can protrude from the side of the main body 23 facing the riser 32 of step 3. At this time, the notch 231 can avoid collision with the riser 32. Similarly, when the rocker arm 24 is in the second position, it can also avoid collision with the riser 32.

[0177] It should be noted that, as Figures 2 to 4 As shown, step 3 may have a tread 31 and a riser 32. The tread 31 of step 3 refers to the horizontally extending surface in step 3, and the riser 32 of step 3 refers to the vertically extending surface in step 3. That is, in step 3, the riser 32 of step 3 connects the first surface 38 and the second surface 39.

[0178] In some embodiments, the rocker arm 24 may be rotatably connected to the body portion 23, and the rocker arm 24 may rotate relative to the body portion 23 to switch the third support end 241 between a first position and a second position.

[0179] The side support 2 may further include a third drive unit 25. The third drive unit 25 may be connected to the rocker arm 24 for driving the rocker arm 24 to rotate relative to the main body 23.

[0180] like Figure 5 , Figure 6 and Figure 13 As shown, the third drive unit 25 may include a third drive member 251, a first dial 252, and a pulling mechanism 253. The first dial 252 is mounted on the main body 23, and the third drive member 251 can drive the first dial 252 to rotate. One end of the pulling mechanism 253 can be connected to the end face or outer peripheral surface of the first dial 252, and the other end of the pulling mechanism 253 is connected to the rocker arm 24. When the first dial 252 rotates, it can pull one end of the pulling mechanism 253, causing the other end of the pulling mechanism 253 to pull the rocker arm 24, thereby causing the rocker arm 24 to rotate relative to the main body 23.

[0181] The pulling mechanism 253 can be a pull rope to reduce the manufacturing cost of the pulling mechanism 253. However, it is not limited to this. The pulling mechanism 253 can also be a pull rod, a connecting rod structure, etc., which can be selected and set according to the actual situation, and all of these are within the protection scope of this disclosure.

[0182] In some embodiments, at least a portion of the outer peripheral surface of the first dial 252 may be provided with a first protrusion 2521. The third drive unit 25 may further include a second dial 254. The second dial 254 may be mounted on the body unit 23 and may be connected to the third drive member 251. The third drive member 251 is capable of driving the second dial 254 to rotate.

[0183] At least a portion of the outer peripheral surface of the second dial 254 may be provided with a second protrusion 2541. When the second dial 254 rotates, the second protrusion 2541 can abut against the first protrusion 2521 to drive the first dial 252 to rotate.

[0184] The first protrusion 2521 may include at least one first protrusion 2522, and the second protrusion 2541 may include one second protrusion 2542. When the second dial 254 rotates, the second protrusion 2542 can abut against one of the first protrusions 2522. Since the third driving member 251 continuously drives the second dial 254 to rotate, but the lever 24 does not need to rotate continuously, it is only necessary to move the third support end 241 from the first position to the second position, or from the second position to the first position. Thus, with the above configuration, when the first protrusion 2522 abuts against the second protrusion 2542, the first dial 252 can rotate with the second dial 254. After the first dial 252 and the second dial 254 have rotated through a certain angle, the first protrusion 2522 and the second protrusion 2542 will separate. At this time, the third support end 241 moves from the first position to the second position, or from the second position to the first position, and the first dial 252 will not continue to rotate. Therefore, through the above settings, the continuous rotation of the second dial 254 can be transformed into the intermittent rotation of the first dial 252, so as to avoid the continuous rotation of the lever 24.

[0185] However, it is not limited to this. The second protrusion 2541 may also have other numbers of second protrusions 2542, which can be set according to actual needs.

[0186] In some embodiments, the first dial 252 may not have the first protrusion 2521, and the second dial 254 may not have the second protrusion 2541. The outer peripheral surfaces of the first dial 252 and the second dial 254 can contact each other, and the second dial 254 can drive the first dial 252 to rotate through the friction between the outer peripheral surfaces of the first dial 252 and the second dial 254.

[0187] In this embodiment, the outer peripheral surface of the first dial 252 may have a recess. When the recess is opposite to the outer peripheral surface of the second dial 254, the outer peripheral surface of the second dial 254 cannot contact the surface of the recess, thus preventing the second dial 254 from driving the first dial 252 to rotate through friction. Therefore, this configuration can also transform the continuous rotation of the second dial 254 into the intermittent rotation of the first dial 252, thereby preventing the lever 24 from rotating continuously.

[0188] In some embodiments, the side support portion 2 may further include a reset member 26. The reset member 26 may be disposed on the body portion 23. Furthermore, the reset member 26 may be configured to, after the second dial 254 drives the first dial 252 to rotate, drive the first dial 252 to return to its initial position, thereby driving the lever 24 to rotate, so that the third support end 241 returns to its initial position. For example: when the second dial 254 drives the first dial 252 to rotate, the first dial 252 may drive the lever 24 to rotate, causing the third support end 241 to switch from a first position to a second position; the reset member 26 may drive the first dial 252 to rotate in the opposite direction, causing the third support end 241 to return from the second position to its initial first position. Alternatively, when the second dial 254 drives the first dial 252 to rotate, the first dial 252 may drive the lever 24 to rotate, causing the third support end 241 to switch from a second position to a first position; the reset member 26 may drive the first dial 252 to rotate in the opposite direction, causing the third support end 241 to return from the first position to its initial second position.

[0189] The reset element 26 can be an elastic element, such as a spring. One end of the elastic element can be fixed to the main body 23, and the other end can be fixed to the first dial 252. When the second dial 254 drives the first dial 252 to rotate, the elastic element undergoes elastic deformation, giving it a restoring force. The reset element 26 can use this restoring force to drive the first dial 252 back to its initial position.

[0190] However, it is not limited to this. The reset member 26 may not be an elastic member. It may also be a driving member such as a motor or cylinder to directly drive the first dial 252 to rotate in the opposite direction, so that the first dial 252 returns to the initial position.

[0191] In some embodiments, the side support portion 2 may further include a first limiting structure 27. The first limiting structure 27 may be disposed on the body portion 23, and the first limiting structure 27 may cooperate with the pull rope limiting structure to limit the pull rope. With this configuration, the pulling direction of the pull rope can be fixed by the first limiting structure 27, and the pull rope can also be prevented from swinging freely in the body portion 23 and affecting the normal operation of other components.

[0192] The first limiting structure 27 may be provided with a limiting groove, and at least part of the pull rope may be located in the limiting groove so that the pull rope is engaged with the first limiting structure 27 for limiting. This arrangement can improve the limiting ability of the first limiting structure 27 for the pull rope and reduce the probability of the pull rope disengaging from the first limiting structure 27.

[0193] The first limiting structure 27 can be positioned away from the side of the main body 23 facing the kick surface 32 relative to the swing arm 24 and the first dial 252, and the limiting groove can be located on the side of the first limiting structure 27 away from the swing arm 24 and the first dial 252. This arrangement ensures that the pull rope can be confined within the limiting groove and facilitates pulling the swing arm 24 with the pull rope to switch the third support end 241 from the first position to the second position.

[0194] Alternatively, the first limiting structure 27 can be positioned closer to the side of the main body 23 facing the kick surface 32 relative to the swing arm 24 and the first dial 252, and the limiting groove can be located on the side of the first limiting structure 27 away from the swing arm 24 and the first dial 252. This arrangement ensures that the pull rope is confined within the limiting groove and facilitates pulling the swing arm 24 to switch the third support end 241 from the second position to the first position.

[0195] In some embodiments, the side support portion 2 may further include a second limiting structure 28. The second limiting structure 28 may include a first limiting block 281, which may be disposed on the body portion 23. When the third support end 241 is in the first position, the first limiting block 281 may be positioned relative to the rocker arm 24 near the edge of the body portion 23 facing the second surface 39, thereby limiting the rotation range of the rocker arm 24. That is, when the rocker arm 24 rotates towards the first limiting block 281, the third support end 241 may switch from the second position to the first position. The first limiting block 281 can limit the rotation range of the rocker arm 24 to ensure that the third support end 241 can accurately reach the first position. Simultaneously, it can also prevent collisions with other components due to the continued rotation of the rocker arm 24.

[0196] The second limiting structure 28 may further include a second limiting block 282. The second limiting block 282 may be disposed on the body portion 23, and when the third support end 241 is in the second position, the second limiting block 282, relative to the edge of the rocker arm 24 facing away from the body portion 23 and towards the second surface 39, limits the rotation range of the rocker arm 24. That is, when the rocker arm 24 rotates towards the second limiting block 282, the third support end 241 can switch from the first position to the second position. The second limiting block 282 can limit the rotation range of the rocker arm 24 to ensure that the third support end 241 can accurately reach the second position. Simultaneously, it can also prevent collisions with other components due to the continued rotation of the rocker arm 24.

[0197] The second limiting structure 28 may further include a third limiting block 283. The third limiting block 283 may be disposed on the side of the swing arm 24 away from the main body 1 to prevent the swing arm 24 from moving away from the main body 1. The two ends of the third limiting block 283 may be connected to the first limiting block 281 and the second limiting block 282, so that the third limiting block 283, the first limiting block 281 and the second limiting block 282 form an integral structure to improve the integration of the second limiting structure 28.

[0198] The second limiting structure 28 may further include a limiting detector 284. The limiting detector 284 may be disposed on the main body 23, and the limiting detector 284 may be configured to detect whether the third support end 241 is in the first position.

[0199] Limit detector 284 can be installed on the first limit block 281 to further improve the integration of the second limit structure 28. Limit detector 284 can be a contact sensor, such as a micro switch, optocoupler sensor, etc. Limit detector 284 can be configured to determine that the third support end 241 is in the first position when the rocker arm 24 contacts the limit detector 284.

[0200] However, it is not limited to this. The limit detector 284 may also be a non-contact sensor, such as a Hall sensor, etc. It can be selected and set according to actual needs, which are all within the protection scope of this disclosure.

[0201] like Figure 13 As shown, the side support portion 2 may further include a climbing drive member 29. The climbing drive member 29 may be mounted on the main body portion 1 or the body portion 23 to drive the side support portion 2 to move from the first surface 38 to the second surface 39 or from the second surface 39 to the first surface 38.

[0202] In some embodiments, the climbing drive 29 can be reused as a third drive 251 to cause the swing arm 24 to swing synchronously when the side support 2 moves from the first surface 38 to the second surface 39 or from the second surface 39 to the first surface 38, so that the third support end 241 switches to the second position synchronously. This configuration improves the synchronicity between the action of the third support end 241 switching to the second position and the action of the side support 2 moving from the first surface 38 to the second surface 39 or from the second surface 39 to the first surface 38, further reducing the probability of the third support end 241 colliding with the edge of the second surface 39. It also eliminates the need for other structures and control schemes to synchronize the two actions, significantly simplifying the structure and control complexity of the supporting equipment.

[0203] In some embodiments of this disclosure, such as Figure 7 and Figure 8 As shown, the side support 2 can have a clean state and a raised state. The climbing drive 29 can drive the side support 2 to switch between the clean state and the raised state. The side support 2 may include a cleaning member 30. When the side support 2 is in the clean state, at least a portion of the cleaning member 30 is in contact with the surface to be cleaned to clean the surface. When the side support 2 is in the raised state, the cleaning member 30 can be moved away from the surface to be cleaned. The surface to be cleaned can be a first surface 38 or a second surface 39.

[0204] At the same time, such as Figure 14 As shown, the surface to be cleaned can have a first cleaning area A1 and a second cleaning area A2. The first cleaning area A1 can be located at the edge of the surface to be cleaned. Furthermore, since the side support 2 is located on the side of the main body 1, the first cleaning area A1 is an area that the main body 1 cannot clean, while the second cleaning area A2 is an area that the main body 1 can clean. Therefore, by providing the cleaning member 30 on the side support 2 and ensuring that the side support 2 is in a clean state, the side support 2 can be used to clean areas that the main body 1 cannot clean, thereby eliminating cleaning dead zones.

[0205] like Figure 7 and Figure 8 As shown, the side support 2 may further include a first clamping member 33. The first clamping member 33 may be configured to apply force to the cleaning member 30 when the side support 2 is in a clean state, so that the cleaning member 30 abuts against the surface to be cleaned. This configuration ensures that the cleaning member 30 remains in contact with the surface to be cleaned at all times, improving the cleaning effect of the cleaning member 30 on the surface to be cleaned.

[0206] The first clamping member 33 can be an elastic element. One end of the first clamping member 33 can be connected to the main body 23, and the other end can be connected to the cleaning member 30. When the cleaning member 30 contacts the surface to be cleaned, the first clamping member 33 can undergo elastic deformation to give the first clamping member 33 a restoring force. The first clamping member 33 can use the restoring force to make the cleaning member 30 abut against the surface to be cleaned. The first clamping member 33 can be a spring, but is not limited to this. The first clamping member 33 can also be other elements capable of elastic structure.

[0207] In some embodiments, the body portion 23 may be provided with a first fixing block 34, one end of the first clamping member 33 may be connected to the first fixing block 34, and the other end may be connected to the cleaning member 30, so that the first clamping member 33 may undergo elastic deformation after the cleaning member 30 comes into contact with the surface to be cleaned.

[0208] The cleaning component 30 may be provided with a first groove 301 extending along the height direction H of the main body 1. The first fixing block 34 can slide and engage with the first groove 301 to connect the cleaning component 30 to the main body 23 and limit the movement direction of the cleaning component 30, so that the cleaning component 30 can only reciprocate in the height direction H. When the cleaning component 30 contacts the surface to be cleaned, the cleaning component 30 can slide relative to the first fixing block 34, so that the first pressing member 33 undergoes elastic deformation.

[0209] In some embodiments, the cleaning component 30 can be configured to reciprocate in the third direction Z. Here, any two of the second direction Y, the third direction Z, and the height direction H are perpendicular, and the second direction Y is the direction from the side support 2 to the main body 1. It is understood that the third direction Z can be the length direction of the supporting device. By enabling the cleaning component 30 to reciprocate in the third direction Z, the cleaning range of the cleaning component 30 in the third direction Z can be increased, thereby further improving the cleaning effect of the cleaning component 30.

[0210] The cleaning component 30 may be provided with a second slide groove 302 extending along the third direction Z. The second slide groove 302 may communicate with the first slide groove 301. The first fixing block 34 may slide and engage with the second slide groove 302 to limit the movement direction of the cleaning component 30, so that the cleaning component 30 may reciprocate in the height direction H and the third direction Z.

[0211] The cleaning component 30 can be connected to the swing arm 24. When the swing arm 24 rotates relative to the main body 23, the swing arm 24 can have displacement in the third direction Z, thereby driving the cleaning component 30 to reciprocate in the third direction Z. With this configuration, the swing arm 24 and the cleaning component 30 can be linked, eliminating the need for additional structures to drive the cleaning component 30 to reciprocate in the third direction Z, thus simplifying the structure of the supporting equipment.

[0212] The cleaning component 30 is provided with a third slide groove 305 extending along the height direction H. The side support 2 may further include a second fixing block 35. The second fixing block 35 may be disposed on the swing arm 24, and the second fixing block 35 and the third slide groove 305 can slide together. This arrangement can limit the movement direction of the cleaning component 30 relative to the swing arm 24, so that the cleaning component 30 can only reciprocate relative to the swing arm 24 in the height direction H, thereby ensuring that the swing arm 24 can drive the cleaning component 30 to move in the third direction Z.

[0213] The side support 2 may further include a second clamping member 36. The second clamping member 36 may be an elastic element, with one end connected to the second fixing block 35 and the other end connected to the cleaning member 30. When the cleaning member 30 contacts the surface to be cleaned, it can slide relative to the second fixing block 35, causing the second clamping member 36 to undergo elastic deformation. This gives the second clamping member 36 a restoring force, which allows it to press the cleaning member 30 against the surface to be cleaned. The second clamping member 36 may be a spring, but is not limited to this; it may also be other elements capable of elasticity.

[0214] The side support 2 may include a first clamping member 33 and a second clamping member 36, so that the first clamping member 33 and the second clamping member 36 can simultaneously apply force to the cleaning member 30, so as to further ensure that the cleaning member 30 and the surface to be cleaned are always in contact, and further improve the cleaning effect of the cleaning member 30 on the surface to be cleaned.

[0215] The side support 2 may include multiple first clamping members 33, multiple second clamping members 36, multiple first fixing blocks 34 or multiple second fixing blocks 35, etc. This disclosure does not limit the specific number of first clamping members 33, second clamping members 36, first fixing blocks 34 and second fixing blocks 35. They can be selected and set according to the actual situation, which are all within the protection scope of this disclosure.

[0216] In some embodiments, the cleaning component 30 may include a connecting plate 303 and a scraper 304. The other end of the first clamping member 33 may be connected to the connecting plate 303, and a first groove 301 may be provided on the connecting plate 303. The scraper 304 may be installed on the side of the connecting plate 303 near the surface to be cleaned. When the side support 2 is in a cleaning state, the scraper 304 contacts the surface to be cleaned. Since the connecting plate 303 has higher structural strength than the scraper 304, providing the first groove 301 on the connecting plate 303 can improve the connection strength between the cleaning component 30 and the body 23. For example, the scraper 304 may be made of soft rubber or felt, but is not limited to these; the scraper 304 may also be made of plastic or the like.

[0217] The second groove 302 can also be provided on the connecting plate 303 to improve the connection strength between the cleaning component 30 and the swing arm 24. Furthermore, both the first clamping component 33 and the second clamping component 36 can be connected to the connecting plate 303 to improve the connection strength between the first clamping component 33 and the second clamping component 36 and the cleaning component 30.

[0218] In some embodiments, such as Figure 14As shown, the supporting device may further include a position detector. The position detector can be configured to detect the position of the side support 2. When the position detector detects that the side support 2 is in the first cleaning area A1, the side support 2 switches from the raised state to the cleaning state. The first cleaning area A1 can be an area that the main body 1 cannot clean, but is not limited to this. With this configuration, the position detector can accurately determine when the side support 2 needs to be cleaned, avoiding damage to the cleaning component 30 due to the side support 2 switching to the cleaning state prematurely, and also avoiding the inability to effectively clean the surface to be cleaned in the first cleaning area A1 due to the side support 2 switching to the cleaning state too late.

[0219] Furthermore, when the first cleaning area A1 is located at the edge of the surface to be cleaned, the position detector can be configured to detect the relative position between the support and the edge of the surface to be cleaned. When the position detector detects that the side support is located at the edge of the step surface to be cleaned, it can be considered that the side support is in the first cleaning area, and the side support switches from the raised state to the cleaning state.

[0220] The edge of the surface to be cleaned may have a stop structure. The position detector can be a collision detector, such as a microswitch. The collision detector can be located on the side of the side support 2 away from the main body 1, and is configured to detect collisions between the side support 2 and the stop structure. When the collision detector detects a collision between the side support 2 and the stop structure, the side support 2 is considered to be in the first cleaning area A1, and the side support 2 can switch from a raised state to a cleaning state. Therefore, by setting a collision detector, it is possible to more accurately detect whether the side support 2 has reached the first cleaning area A1, thereby further improving the accuracy of the timing of the side support 2 switching to the cleaning state.

[0221] However, this is not the only option; the position detector can also be a distance sensor, such as an infrared sensor. The distance sensor can be installed on the main body 1 or the side support 2 to determine whether the side support 2 has reached the first cleaning area A1 by detecting the distance between the side support 2 and the stop structure.

[0222] In some embodiments, when the side support 2 cleans the first cleaning area A1, the cleaning member 30 can be used to clean the dirt in the first cleaning area A1, so as to sweep the dirt to the second cleaning area A2 that the main body 1 can reach. At this time, the cleaning equipment of the main body 1 or the cleaning equipment on the supporting structure 11 of the main body 1 can be used to further clean the dirt, thereby achieving the purpose of cleaning each area of ​​the surface to be cleaned without dead angles.

[0223] In some embodiments, such as Figures 1 to 14As shown, the supporting device may include two side support parts 2, which can be located on both sides of the main body 1 in the second direction Y, that is, the two support parts can be located on both sides of the main body 1 in its width direction. This arrangement can further improve the supporting capacity of the side support parts 2 for the supporting device, thereby further improving the stability and safety of the supporting device. Furthermore, when the side support parts 2 have cleaning components 30, the edges on both sides of the step 3 can be cleaned using the two side support parts 2 respectively, thereby further improving the cleaning range and cleaning effect, and further eliminating cleaning dead corners.

[0224] Some embodiments of this disclosure provide a control method for a carrier device. The control method for the carrier device is used to control the carrier device described above, such as... Figure 15 As shown, the control method for the carrier equipment may include:

[0225] Step S100: Detect whether the side support 2 has a first suspended portion 37;

[0226] Step S110: When the side support part 2 has a first suspended part 37, the first support module 21 is used to support the first suspended part 37.

[0227] It should be noted that the specific structure, working method and beneficial effects of the carrier device have been described in detail in the above embodiments. Therefore, in this embodiment, the specific structure, working method and beneficial effects of the carrier device will not be described again. You can refer to the specific description in the above embodiments, which are all within the protection scope of this disclosure.

[0228] In step S110, the first drive unit 211 can be used to drive the first support end 2121 to move towards the first surface 38, so that the first support rod 212 is supported on the first surface 38. Alternatively, the first drive unit 211 can be used to drive the first support rod 212 to rotate along the first direction X, rotating the first support end 2121 to the first surface 38, so that the first support rod 212 is supported on the first surface 38.

[0229] In some embodiments, the control method for the support device may further include: using a first detector 213 to detect whether the first support end 2121 is in contact with the first surface 38. When the first support end 2121 is in contact with the first surface 38, using a first controller to control the first drive unit 211 to stop providing driving force to the first support end 2121.

[0230] In some embodiments, the control method of the bearing device may further include: using the first driving unit 211 to drive the first support end 2121 to move away from the first surface 38, so as to release the support of the first support rod 212 on the first suspended portion 37; or, using the first driving unit 211 to drive the first support rod 212 to rotate in a direction opposite to the first direction X, so that the first support end 2121 leaves the first surface 38, so as to release the support of the first support rod 212 on the first suspended portion 37.

[0231] Furthermore, the control method for the supporting device may also include: using a second detector 215 to detect whether the first support end 2121 has moved to a preset position in a direction away from the first surface 38. When the first support end 2121 moves to the preset position, using a second controller to control the first drive unit 211 to stop providing driving force to the first support end 2121.

[0232] Furthermore, when the main body 1 is provided with a second support module 13, such as Figure 16 As shown, the control method for the carrier equipment may further include:

[0233] Step S120: Detect whether the main body 1 has a second suspended portion;

[0234] Step S130: When the main body 1 has a second suspended portion, the second suspended portion is supported by the second support module 13.

[0235] In step S120, the second support end can be driven to move closer to the second support surface using the second drive unit 131, so that the second support rod 132 is supported on the second support surface. Alternatively, the second support rod 132 can be driven to rotate along the first direction X using the second drive unit 131, rotating the second support end to the second support surface, so that the second support rod 132 is supported on the second support surface.

[0236] In some embodiments, the control method of the bearing device may further include: using the second drive unit 131 to drive the second support end to move away from the second support surface, so as to release the support of the second support rod 132 on the second suspended portion; or, using the second drive unit 131 to drive the second support rod 132 to rotate in a direction opposite to the first direction X, so that the second support end leaves the second support surface, so as to release the support of the second support rod 132 on the second suspended portion.

[0237] Other embodiments of this disclosure also provide a control method for a carrier device. The control method for the carrier device is used to control the carrier device described above, such as... Figure 17 As shown, the control method for the carrier equipment may include:

[0238] Step S200: Obtain cleaning instructions.

[0239] Step S210: The controller issues a cleaning command to the corresponding side support and switches the side support to a cleaning state so that the cleaning component can be used to clean the surface to be cleaned.

[0240] The cleaning instructions may include: cleaning instructions for the side support section, etc.

[0241] It should be noted that the specific structure, working method and beneficial effects of the carrier device have been described in detail in the above embodiments. Therefore, in this embodiment, the specific structure, working method and beneficial effects of the carrier device will not be described again. You can refer to the specific description in the above embodiments, which are all within the protection scope of this disclosure.

[0242] In some embodiments, such as Figure 18 As shown, in step S210, the position detector can detect the position of the side support 2;

[0243] When the position detector detects that the side support is in the first cleaning area A1, the controller controls the side support 2 to switch from the raised state to the cleaning state, so as to use the cleaning component 30 to clean the first cleaning area A1.

[0244] In some embodiments, such as Figure 19 As shown, in step S210, the collision detector detects a collision between the side support 2 and the stop structure. When the collision detector detects a collision between the side support 2 and the stop structure, the side support 2 is in the first clean area A1.

[0245] In some embodiments, the side support 2 can be controlled to move towards the second cleaning area A2, so that the cleaning member 30 sweeps the dirt on the surface to be cleaned from the first cleaning area A1 to the second cleaning area A2, thereby achieving the cleaning of the first cleaning area A1. Furthermore, the second cleaning area A2 can be cleaned using a cleaning device, thereby achieving the purpose of cleaning all areas of the surface to be cleaned without dead angles.

[0246] For example, the first cleaning area A1 can be the two sides of the surface to be cleaned. The side support 2 can be controlled to move to one side edge of the surface to be cleaned, and then the side support 2 is switched to a cleaning state. The side support 2 is controlled to move to the second cleaning area A2, and when the side support 2 reaches the point where the main body 1 can reach the second cleaning area A2, the side support 2 is controlled to switch to a raised state.

[0247] The side support 2 can be moved to the edge of the first cleaning area A1 on the other side of the surface to be cleaned, and then the side support 2 is switched to a cleaning state. The side support 2 is then moved to the second cleaning area A2, and when the side support 2 reaches the second cleaning area A2, the side support 2 is switched to a raised state. At this time, the second cleaning area A2 can be cleaned using a cleaning device.

[0248] In some embodiments of this disclosure, a computer-readable storage medium is also provided, on which at least one piece of program code is stored, the at least one piece of program code being loaded and executed by a processor to implement the control method of the carrier device described in the above embodiments.

[0249] The computer program product may be a portable compact disc read-only storage medium (CD-ROM) and include at least one line of program code, and may run on a terminal device, such as a personal computer. However, the program product in this embodiment is not limited to this. In this embodiment, the computer-readable storage medium may be any tangible medium that contains or stores the computer program product, which may be used or used in conjunction with an instruction execution system, apparatus, or device.

[0250] Computer program products may be stored using one or more computer-readable storage media. Computer-readable storage media may be readable signal media or readable storage media. Readable storage media may be, for example, but not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatuses, or devices, or any combination thereof. More specific examples (a non-exhaustive list) of readable storage media include: electrical connections having one or more wires, portable disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0251] A readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, carrying readable program code. This propagated data signal may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A readable signal medium may also be any readable medium other than a readable storage medium, capable of sending, propagating, or transmitting a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0252] Program code contained on a computer-readable storage medium may be transmitted using any suitable medium, including but not limited to wireless, wired, optical fiber, RF, etc., or any suitable combination thereof.

[0253] Program code for performing the operations of this invention can be written in any combination of one or more programming languages, including object-oriented programming languages.

[0254] In some embodiments, a carrier device is provided. The carrier device may include, but is not limited to, one or more processors and one or more memories. The one or more memories store at least one line of program code, which can be loaded and executed by the one or more processors to implement the various steps of the control method for the carrier device described in the above embodiments.

[0255] The memory may include readable media in the form of volatile memory, such as random access memory (RAM) and / or cache memory, and may further include read-only memory (ROM).

[0256] A cleaning system is also provided in some embodiments of this disclosure. For example... Figures 1 to 14 As shown, the cleaning system includes a base station and a cleaning device. The cleaning device can be the cleaning device described above, and the carrier device and / or the cleaning device itself can interface with the base station. The base station can charge and clean the carrier device, and / or charge, replenish water, and clean the cleaning device, or suck up dirt stored in the cleaning device.

[0257] It should be noted that the specific structure and beneficial effects of the cleaning device have been described in detail in the above embodiments. Therefore, in this embodiment, the specific structure and beneficial effects of the cleaning device will not be described again. Please refer to the specific description in the above embodiments, which are all within the protection scope of this disclosure.

[0258] The cleaning system provided in this disclosure includes the cleaning device described above, which includes a support device and a cleaning device. The support device may include a main body 1 and a side support 2. The side support 2 includes a first support module 21, which is configured to support the first suspended portion 37 when the side support 2 is located on the second surface 39 and has a first suspended portion 37.

[0259] When the width of the second surface 39 is relatively wide, the side support 2 does not have the first suspended portion 37 when it is located on the second surface 39. The side support 2 can provide support so that the load-bearing device can maintain a stable center of gravity on the second surface 39, and the load-bearing device has higher safety and stability when working on the wider second surface 39.

[0260] When the width of the second surface 39 is narrow, the side support 2 will have a first suspended portion 37 when located on the second surface 39, causing the center of gravity of the supporting device on the second surface 39 to be unstable. At this time, the first support module 21 can be used to support the first suspended portion 37, so that the center of gravity of the supporting device on the second surface 39 is maintained, thereby enabling the supporting device to have high safety and stability when working on the narrow second surface 39. Therefore, this supporting device can be used on second surfaces 39 of different widths, and has high safety and stability when working on second surfaces 39 of different widths.

[0261] In addition, since the first support module 21 can support the first suspended part 37, the bearing device can be used on the first surface 38 and the second surface 39 with different height differences. This ensures that the bearing device has high stability when it is located on the second surface 39 with different height differences from the first surface 38, thereby improving the safety and stability of the bearing device when it is working on the second surface 39 with different height differences from the first surface 38.

[0262] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This disclosure is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the appended claims.

Claims

1. A load-bearing device, characterized in that, include: Main body; A side support portion is connected to the main body portion. The side support portion is movable from the first surface to the second surface or from the second surface to the first surface, wherein the second surface is higher than the first surface. The side support includes a first support module, which is configured to support the first suspended portion when the side support is located on the second surface and has a first suspended portion.

2. The bearing device according to claim 1, characterized in that, The first support module includes: First drive unit; A first support rod is connected to the first driving part, and the first driving part can drive the first support rod to support the first surface.

3. The bearing device according to claim 2, characterized in that, The first support rod has a first support end; The first driving unit can drive the first support end to move toward the first surface so that the first support rod is supported on the first surface.

4. The bearing device according to claim 2, characterized in that, The first support rod has a first support end; The first driving unit can drive the first support rod to rotate in a first direction, rotating the first support end to the first surface, so that the first support rod is supported on the first surface.

5. The bearing device according to claim 3 or 4, characterized in that, The first support module also includes: A first detector, configured to detect the relative position between the first support end and the first surface; A first controller, connected to the first detector, is configured to control the first drive unit to stop providing driving force to the first support end when the first support end contacts the first surface.

6. The bearing device according to claim 5, characterized in that, The first detector is mounted on the first support end; the controller is configured to control the first drive unit to stop providing driving force to the first support end when the first detector contacts the first surface.

7. The bearing device according to claim 6, characterized in that, The first support rod includes: A first support block is disposed on and connected to the first support end. The contact area between the first support block and the first surface is greater than the contact area between the first support end and the first surface.

8. The bearing device according to claim 7, characterized in that, The first detector is mounted on the side of the first support block facing the first surface.

9. The bearing device according to claim 8, characterized in that, The first support block has a first mounting groove on the side facing the first surface, and the first detector is disposed in the first mounting groove; when the first support block contacts the first surface, the first detector contacts the first surface.

10. The bearing device according to claim 5, characterized in that, The side support portion further includes: a body portion; the first driving portion is capable of driving the first support rod to move towards the first surface; the first support module further includes: A first guide sleeve is installed on the main body and sleeved on at least a portion of the outer peripheral surface of the first support rod to provide guidance for the movement of the first support rod.

11. The bearing device according to claim 10, characterized in that, The outer circumferential surface of the first support rod is provided with a first thread; the inner circumferential surface of the first guide sleeve is provided with a second thread that meshes with the first thread. The first driving unit can drive the first guide sleeve or the first support rod to rotate, so that the first support rod moves toward the first surface.

12. The bearing device according to claim 11, characterized in that, The first driving unit is capable of driving the first guide sleeve to rotate; at least a portion of the outer peripheral surface of the first guide sleeve is provided with a first tooth; the first driving unit includes: First driving component; A first transmission component is connected to the first driving component, and the outer peripheral surface of the first transmission component is provided with a second tooth that meshes with the first tooth. The first driving component is capable of driving the first transmission component to rotate.

13. The bearing device according to claim 3, characterized in that, The first driving unit can drive the first support end to move away from the first surface to release the support of the first support rod on the first suspended part.

14. The bearing device according to claim 4, characterized in that, The first driving unit can drive the first support rod to rotate in a direction opposite to the first direction, so that the first support end leaves the first surface, thereby releasing the support of the first support rod on the first suspended part.

15. The bearing device according to claim 13 or 14, characterized in that, The first support module also includes: A second detector is configured to detect the position where the first support end moves away from the first surface; A second controller, connected to the second detector, is configured to control the first drive unit to stop providing driving force to the first support end when the first support end moves to a preset position away from the first surface.

16. The bearing device according to claim 15, characterized in that, The second detector is installed at the preset position, and the second controller is configured to control the first drive unit to stop providing driving force to the first support end when the first support end moves away from the first surface and comes into contact with the second detector.

17. The bearing device according to claim 10, characterized in that, The first support module also includes: A first guide rod is arranged parallel to and connected to the first support rod; the first guide rod is configured to provide guidance for the movement of the first support rod.

18. The bearing device according to claim 17, characterized in that, The first support module also includes: The first connecting block has a first through hole and a second through hole, the first support rod passes through the first through hole, and the first guide rod passes through the second through hole, so that the first support rod and the first guide rod are connected.

19. The bearing device according to claim 18, characterized in that, The first support module also includes: The second connecting block is fixedly connected to the first support rod and the first guide rod so that the first support rod and the first guide rod can move synchronously relative to the first connecting block.

20. The bearing device according to claim 19, characterized in that, The first support module also includes: The second guide sleeve is installed on the main body and sleeved on at least a portion of the outer peripheral surface of the first guide rod to provide guidance for the movement of the first guide rod.

21. The bearing device according to claim 18, characterized in that, The first support rod is fixedly connected to the first connecting block through the first through hole, and the first guide rod is slidably connected to the first connecting block through the second through hole. The first support rod and the first connecting block can move relative to the first guide rod.

22. The bearing device according to any one of claims 1 to 4, characterized in that, The main body includes: The second support module is configured to support the second suspended portion when the main body is located on the second surface and has a second suspended portion.

23. The bearing device according to claim 22, characterized in that, The second support module includes: Second drive unit; The second support rod is connected to the second driving part, and the second driving part can drive the second support rod to support the first surface.

24. The bearing device according to any one of claims 1 to 4, 13 to 14, characterized in that, The supporting device includes two side support parts, which are located on both sides of the main body.

25. The bearing device according to any one of claims 1 to 4, characterized in that, The main body includes: A support structure for supporting cleaning equipment.

26. A control method for a bearing device, characterized in that, The load-bearing device includes a side support, the side support includes a first support module, and the control method of the load-bearing device includes: Detect whether the side support portion has the first suspended portion; When the side support has the first suspended portion, the first support module is used to support the first suspended portion.

27. The control method for the bearing device according to claim 26, characterized in that, The first support module includes a first drive unit and a first support rod. Supporting the first suspended portion using the first support module includes: The first support end is driven by the first driving part to move closer to the first surface, so that the first support rod is supported on the first surface; Alternatively, the first drive unit can be used to drive the first support rod to rotate in a first direction, rotating the first support end to the first surface so that the first support rod is supported on the first surface.

28. The control method for the bearing device according to claim 27, characterized in that, The first support module includes a first detector and a first controller. The control method for the carrier device further includes: The first detector is used to detect whether the first support end is in contact with the first surface; When the first support end comes into contact with the first surface, the first controller controls the first drive unit to stop providing driving force to the first support end.

29. The control method for the bearing device according to claim 27, characterized in that, The control method for the carrier equipment further includes: The first support end is driven by the first driving unit to move away from the first surface, so as to release the support of the first support rod on the first suspended part; Alternatively, the first drive unit can be used to drive the first support rod to rotate in a direction opposite to the first direction, so that the first support end leaves the first surface, thereby releasing the support of the first support rod on the first suspended part.

30. The control method for the bearing device according to claim 29, characterized in that, The carrier device further includes a second detector and a second controller, and the control method for the carrier device further includes: The second detector is used to detect whether the first support end has moved to a preset position in a direction away from the first surface; When the first support end moves to the preset position, the second controller controls the first drive unit to stop providing driving force to the first support end.

31. The control method for the bearing device according to any one of claims 26 to 30, characterized in that, The supporting device further includes a main body connected to the side support portion, and the control method of the supporting device includes: Detect whether the main body has a second suspended portion; When the main body has the second suspended portion, the second suspended portion is supported by the second support module.

32. A computer program product, characterized in that, The computer program product includes computer instructions stored in a computer-readable storage medium and adapted to be read and executed by a processor to cause a computer device having the processor to perform the control method of the bearer device as described in any one of claims 26 to 31.

33. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores at least one piece of program code, which is loaded and executed by a processor to implement the operations performed by the control method of the bearer device as described in any one of claims 26 to 31.

34. A carrying device, characterized in that, The carrier device includes one or more processors and one or more memories, wherein at least one piece of program code is stored in the one or more memories, and the at least one piece of program code is loaded and executed by the one or more processors to implement the control method of the carrier device as described in any one of claims 26 to 31.

35. A cleaning device, characterized in that, include: A load-bearing device, wherein the load-bearing device is the load-bearing device according to any one of claims 1 to 25 and 34, and the main body includes a load-bearing structure; A cleaning device is located on the supporting structure, and the cleaning device is capable of cleaning the surface to be cleaned.

36. A cleaning system, characterized in that, include: Base station; A cleaning device, wherein the cleaning device is the cleaning device as described in claim 35 above, and the carrier device and / or the cleaning device is capable of docking with the base station.

Images