Mobile platform and cleaning system

Abstract

The utility model relates to a mobile platform and a cleaning system. The moving platform comprises a bearing part, a telescopic part, a first lifting part and a second lifting part. And after the moving platform is switched from the first operation surface to the second operation surface, the first lifting piece ascends relative to the telescopic piece, the second lifting piece ascends relative to the telescopic piece, and the telescopic piece retracts to the bearing piece. The first lifting piece and the second lifting piece are mutually independent relative to the ascending movement of the telescopic piece, so that the first lifting piece and the second lifting piece can be asynchronously contracted. When one of the first lifting piece and the second lifting piece ascends and shrinks relative to the telescopic piece, the other lifting piece is still supported on the ground, the movable platform can be stably supported, and the movable platform is kept stable. And the cleaning equipment is supported by the movable platform and stably moves on the stair or the step surface along with the movable platform.

Description

Technical Field

[0001] This application belongs to the field of electrical equipment technology, and in particular relates to a mobile platform and a cleaning system. Background Technology

[0002] Cleaning equipment is a type of intelligent appliance that can automatically clean floors by sweeping, vacuuming, and mopping. In recent years, cleaning equipment has developed rapidly and has entered countless households. However, most cleaning equipment is limited to cleaning flat floors, restricting its application scenarios.

[0003] To enable cleaning equipment to be used for cleaning steps, stairs, or different floors, various stair-climbing devices have been disclosed in related technologies. These devices support the cleaning equipment as it moves up stairs or cleans the steps. However, current stair-climbing devices have poor stability when supporting the cleaning equipment on stairs, posing a risk of the equipment falling. Utility Model Content

[0004] Therefore, this application provides a mobile platform and a cleaning system, which aims to at least partially solve the technical problem of poor stability of stair-climbing devices when moving on stairs in the prior art.

[0005] In a first aspect of this application, a mobile platform is provided, comprising: a carrier for supporting cleaning equipment; a telescopic member connected to the carrier; a first lifting member connected to the telescopic member; and a second lifting member connected to the telescopic member. After the mobile platform switches from a first operating surface to a second operating surface, the first lifting member rises relative to the telescopic member, the second lifting member rises relative to the telescopic member, and the telescopic member retracts to the carrier. The ground clearance of the first operating surface is less than the ground clearance of the second operating surface.

[0006] The mobile platform provided in this application includes a load-bearing component, a telescopic component, a first lifting component, and a second lifting component. After the mobile platform switches from the first operating surface to the second operating surface, the first lifting component rises relative to the telescopic component, the second lifting component rises relative to the telescopic component, and the telescopic component retracts to the load-bearing component. The rising movements of the first and second lifting components relative to the telescopic component are independent of each other, therefore the first and second lifting components can retract asynchronously. After the mobile platform switches from the first operating surface to the second operating surface, one of the first and second lifting components rises and retracts relative to the telescopic component, while the other remains supported on the ground, stably supporting the mobile platform and ensuring its stability during the switch from the first operating surface to the second operating surface. The cleaning equipment is supported by the mobile platform and moves stably with the platform on stairs or steps.

[0007] In a second aspect of this application, a cleaning system is provided, including a cleaning device and the aforementioned mobile platform, the mobile platform supporting the movement of the cleaning device.

[0008] The cleaning system provided in this application is equipped with the aforementioned mobile platform, which allows the cleaning equipment to be moved on stairs or steps, greatly expanding the application scenarios of the cleaning equipment. Attached Figure Description

[0009] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0010] Figure 1 The present application illustrates the structural diagram of a mobile platform in one or more embodiments. Figure 1 .

[0011] Figure 2A It shows Figure 1 Structural diagram of the mobile platform during stair climbing Figure 1 In the picture, the first lifting component of the mobile platform has begun to rise, while the second lifting component is still supported on the ground.

[0012] Figure 2B It shows Figure 1 The second diagram shows the structure of the mobile platform climbing stairs. In the diagram, the first lifting component of the mobile platform has been retracted into the load-bearing component, while the second lifting component is still supported on the ground.

[0013] Figure 3 A second schematic diagram of the mobile platform structure is shown in one or more embodiments of this application. To show its internal structure, the support component has been partially sectioned.

[0014] Figure 4 A schematic diagram of the structure of the first leg of the mobile platform in one or more embodiments of this application is shown.

[0015] Figure 5A It shows Figure 3 Structural diagram of the mobile platform during stair climbing Figure 1 In the picture, the first leg of the mobile platform has retracted into the translation platform, while the second leg is still supported on the ground.

[0016] Figure 5B It shows Figure 3 The second diagram shows the structure of the mobile platform climbing stairs. In the diagram, the first leg of the mobile platform has retracted to the translation platform, the second lifting component of the second leg has retracted, but the second telescopic component has not yet retracted, and the rear end of the entire mobile platform is suspended in the air.

[0017] Figure 6 A schematic diagram of the structure of the first lifting component of the mobile platform is shown in one or more embodiments of this application.

[0018] Figure 7 It shows Figure 6 Full sectional view.

[0019] Figure 8 It shows Figure 6 A schematic diagram of the first and second lifting components in the rising state.

[0020] Figure 9 A schematic diagram of the structure of the first telescopic member of the mobile platform is shown in one or more embodiments of this application.

[0021] Figure 10 A schematic diagram of the internal structure of the mobile platform in one or more embodiments of this application is shown. For the convenience of showing the internal structure, part of the structure of the carrier component is hidden.

[0022] Figure 11 A schematic diagram of the front-end structure of a mobile platform in one or more embodiments of this application is shown. The buffer is hidden to facilitate the display of the front-end structure.

[0023] Figure 12 It shows Figure 11 A bottom view.

[0024] Figure 13 It shows Figure 11 The main view.

[0025] Figure 14 The present application shows a schematic diagram of the structure of the carrier of the mobile platform in one or more embodiments. Figure 1 .

[0026] Figure 15 A second schematic diagram of the structure of the carrier of the mobile platform in one or more embodiments of this application is shown.

[0027] Figure 16 A bottom view of the mobile platform is shown in one or more embodiments of this application.

[0028] Figure 17 A schematic diagram of the structure of a buffer for a mobile platform is shown in one or more embodiments of this application.

[0029] Figure 18A The present application illustrates the structure of the cleaning system in stair-climbing mode in one or more embodiments. Figure 1 .

[0030] Figure 18BThe second illustration shows a structural diagram of the cleaning system in stair-climbing mode in one or more embodiments of this application.

[0031] Figure 18C The present application illustrates the structure of the cleaning system in stair-climbing mode in one or more embodiments. Figure 3 .

[0032] Figure 18D The present application illustrates the structure of the cleaning system in stair-climbing mode in one or more embodiments. Figure 4 .

[0033] Figure 18E Figure 5 shows a structural diagram of the cleaning system in stair-climbing mode in one or more embodiments of this application.

[0034] Figure 18F The present application illustrates the structure of the cleaning system in stair-climbing mode in one or more embodiments. Figure 6 .

[0035] Figure 18G The present application illustrates the structure of the cleaning system in stair-climbing mode in one or more embodiments. Figure 7 .

[0036] Figure 18H The present application illustrates the structure of the cleaning system in stair-climbing mode in one or more embodiments. Figure 8 .

[0037] Figure 18I The present application illustrates the structure of the cleaning system in stair-climbing mode in one or more embodiments. Figure 9 .

[0038] Figure 19A This application illustrates the structural diagram of the cleaning system in stair cleaning mode according to one or more embodiments. Figure 1 .

[0039] Figure 19B A second schematic diagram of the structure of the cleaning system in stair cleaning mode, as shown in one or more embodiments of this application, is illustrated.

[0040] Figure 19C This application illustrates the structural diagram of the cleaning system in stair cleaning mode according to one or more embodiments. Figure 3 .

[0041] Figure 19D This application illustrates the structural diagram of the cleaning system in stair cleaning mode according to one or more embodiments. Figure 4 .

[0042] Figure 19EFigure 5 shows a structural diagram of the cleaning system in stair cleaning mode in one or more embodiments of this application.

[0043] Figure 19F This application illustrates the structural diagram of the cleaning system in stair cleaning mode according to one or more embodiments. Figure 6 .

[0044] Explanation of reference numerals in the attached drawings: 100 - Moving platform; 110 - Bearing component; 111 - Translation base; 112 - Bearing plate; 113 - Mounting bracket; 114 - Clearance part; 115 - Slot; 116 - Mounting hole; 120a - First lifting component; 120b - Second lifting component; 121 - Mounting part; 1211 - First slider; 1222 - First guide rail; 122 - Support part; 1221 - Second slider; 1222 - Second guide rail; 123 - First driving part; 124 - Lifting driving part; 1241 - Moving component; 12411 - Lead screw; 12412 - Nut; 1242 - Scissor arm mechanism; 125 - Slide rail; 1251 - First sliding part; 1252 - Second sliding part. 130-Telescopic component, 130a-First telescopic component, 130b-Second telescopic component, 131-Second drive unit, 132-Second transmission unit, 1321-Gear, 1322-Rack, 133-Mounting frame. 140-Controller. 150-Distance detection component, 151-Micro switch, 1511-Contact, 152-Distance sensor. 160-Buffer component, 161-Allowing hole, 162-Upper plate, 163-Lower plate, 164-Hook. 170-Traveling component; 171-First traveling unit; 172-Second traveling unit; 173-First auxiliary wheel; 174-Second auxiliary wheel. 180-Elastic component. 200-Cleaning equipment. 300-Cleaning system. 400-Staircase, 410-Step surface. 500-Ground. Detailed Implementation

[0045] To enable those skilled in the art to more clearly understand this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0046] Furthermore, reference numerals and / or reference letters may be repeated in different examples in this application. Such repetition is for simplification and clarity purposes and does not in itself indicate a relationship between the various embodiments and / or settings discussed. In addition, this application provides examples of various specific processes and materials; however, those skilled in the art will recognize the application of other processes and / or the use of other materials.

[0047] Cleaning equipment is generally limited to cleaning flat surfaces, restricting its application. To enable cleaning equipment to be used for cleaning staircases or different floors, various stair-climbing devices have been disclosed, supporting the cleaning equipment as it moves up stairs. Currently, the stability of these devices when moving up stairs is poor, mainly during the retraction of their outriggers after the main body reaches the step. During this process, the lack of outrigger support leads to instability, potentially causing backward tilting or lateral leaning. Furthermore, there is usually no mechanical connection between the stair-climbing device and the cleaning equipment, allowing the cleaning equipment to enter or leave the device without restriction. When the device becomes unstable, the cleaning equipment is prone to falling off. It should be noted that the "step surface" is not limited to stair treads or raised platforms; any surface with a certain height difference from the ground that the cleaning equipment cannot access can be considered a "step surface."

[0048] To address the issue of poor stability in stair-climbing devices, this application provides a mobile platform and a cleaning system. By setting two lifting components that move independently and retract asynchronously, the stability of the mobile platform during the retraction of the lifting components is improved.

[0049] Specific technical solutions will now be described in detail with reference to the accompanying drawings, which are not necessarily drawn to scale. Similar or identical reference numerals may be used to designate the same or similar parts in different figures. The use of similar or identical reference numerals in different figures does not mean that all figures including similar or identical reference numerals constitute a single or the same embodiment. The accompanying drawings illustrate the various embodiments discussed in this application in a generalized, illustrative, and not restrictive manner.

[0050] This application's mobile platform can climb stairs or ascend to a platform of a certain height. In other words, the mobile platform can switch from a first operating surface to a second operating surface. The first and second operating surfaces are two physical surfaces with a height difference where the mobile platform is currently located. These physical surfaces can be stair steps, the ground, a table, the platform surface, etc. The lower physical surface is the first operating surface, representing the initial position of the mobile platform during the climbing process; the upper physical surface is the second operating surface, representing the target position of the mobile platform during the climbing process. For example, when the mobile platform is climbing the first step, the ground is the first operating surface, and the surface of the first step is the second operating surface; when climbing the second step, the surface of the first step becomes the first operating surface, and the surface of the second step becomes the second operating surface. Similarly, when the mobile platform is climbing to a platform, the ground is the first operating surface, and the platform surface is the second operating surface. The first and second operating surfaces can both be planes, but those skilled in the art will understand that the operating surface N can also be a slope, incline, uneven curved surface, etc. This application does not limit the shape and orientation of the operating surface.

[0051] Understandably, this mobile platform can ascend stairs or climb to a high platform, and similarly, it can descend stairs or move from a high platform to the ground. During the descent, the surface of the upper step becomes the first operating surface, and the surface of the lower step becomes the second operating surface—the exact opposite of how the first and second operating surfaces are determined during the ascent. Furthermore, the movement of each component of the mobile platform during descent is also the reverse of its movement during ascent. Simply put, the descent of the mobile platform can be understood as a reversed version of its ascent.

[0052] It should be noted that, for ease of understanding, the following embodiments are based on the mobile platform being used in a staircase scenario and in a climbing state. For ease of understanding, the descriptions of directions in this application are explained as follows: "Forward" in this application refers to the direction of travel when the mobile platform is climbing stairs, which is parallel to the horizontal extension direction of the stairs, corresponding to the X direction in the attached drawings. "Left" and "right" in this application refer to one side and the other side along the width direction of the stairs, which can be simply understood as the direction of the left and right hands when climbing stairs; the width direction of the stairs corresponds to the Y direction in the attached drawings. "Ascending" and "descending" in this application refer to the vertical extension direction of the stairs, i.e., the height direction, corresponding to the Z direction in the attached drawings.

[0053] Figure 1 This is a schematic diagram of the structure of the mobile platform 100 described in the first aspect embodiment of this application. Please refer to... Figure 1The mobile platform 100 includes a support member 110, a first lifting member 120a, a second lifting member 120b, and a telescopic member 130. The support member 110 supports the cleaning equipment 200. The telescopic member 130 is connected to the support member 110 and can extend and retract relative to the support member 110. In other words, the telescopic member 130 can drive the support member 110 to move relative to the ground 500. The telescopic member 130 can retract to the position of the support member 110, for example, retracting to the inside, above, or below the support member 110. The telescopic member 130 can retract to a position where it completely overlaps with the support member 110, for example, retracting directly below the support member 110 and not visible from a top view. Alternatively, the telescopic member 130 can retract only partially overlap with the support member 110, with the remainder exposed.

[0054] Please combine Figure 2A and Figure 2B The diagrams show the structural schematics of the mobile platform climbing stairs in different embodiments. After the mobile platform 100 switches from the first operating surface to the second operating surface, the first lifting member 120a rises relative to the telescopic member 130, the second lifting member 120b rises relative to the telescopic member 130, and the telescopic member 130 retracts to the bearing member 110. Combined with... Figure 2A and Figure 2B The first operating surface is the ground 500, and the second operating surface is the step surface 410 of the staircase 400. When the moving platform 100 switches from the ground 500 to the step surface 410, the first lifting member 120a and the second lifting member 120b rise relative to the telescopic member 130. It can be understood that the rising of the first lifting member 120a and the second lifting member 120b relative to the telescopic member 130 is an action that occurs during the switching of the moving platform 100 from the ground 500 to the step surface 410, and should not be interpreted restrictively as the first lifting member 120a and the second lifting member 120b being constantly rising relative to the telescopic member 130 during the switching of the moving platform 100 from the ground 500 to the step surface 410.

[0055] Both the first lifting member 120a and the second lifting member 120b are connected to the telescopic member 130 and can rise relative to the telescopic member 130 respectively. In other words, the first lifting member 120a and the second lifting member 120b move independently during their ascent relative to the telescopic member 130, thus achieving asynchronous retraction. When one of the first lifting member 120a and the second lifting member 120b retracts relative to the telescopic member 130, the other remains supported on the ground, stably supporting the mobile platform 100 and keeping it stable. This avoids a sudden change in the center of gravity of the mobile platform 100 caused by the first lifting member 120a and the second lifting member 120b simultaneously leaving the ground 500, which could lead to tilting or backward tilting of the mobile platform 100, thus improving the safety of transferring the cleaning equipment 200.

[0056] The first lifting member 120a and the second lifting member 120b can retract asynchronously, which can be understood as the first lifting member 120a and the second lifting member 120b rising relative to the telescopic member 130 not in sync. As an optional implementation, the first lifting member 120a and the second lifting member 120b can retract alternately. That is, one of the first lifting member 120a and the second lifting member 120b must fully retract before the other begins to retract, such as... Figure 2A As shown. Figure 2A The first lifting component 120a of the mobile platform 100 shown has been fully retracted, while the second lifting component 120b remains supported on the ground 500, maintaining the stability of the mobile platform 100.

[0057] As an alternative implementation, the retraction initiation times of the first lifting member 120a and the second lifting member 120b are different; that is, the first lifting member 120a and the second lifting member 120b begin their retraction actions at different times. Specifically, one of the first lifting member 120a and the second lifting member 120b begins retraction before the other begins to retract. Figure 2B As shown. Figure 2B The first lifting member 120a of the mobile platform 100 shown has begun to rise relative to the telescopic member 130 and retract, while the second lifting member 120b remains supported on the ground 500, maintaining the stability of the mobile platform 100.

[0058] As another optional implementation, the first lifting member 120a and the second lifting member 120b contract at non-uniform speeds, that is, the contraction rates of the first lifting member 120a and the second lifting member 120b are different. Of course, in other embodiments, the asynchronous contraction of the first lifting member 120a and the second lifting member 120b can also be manifested in that both the contraction start time and the contraction rate are different. Specific implementation schemes for the asynchronous contraction of the first lifting member 120a and the second lifting member 120b are not exhaustively described here.

[0059] In some embodiments, the first lifting member 120a and the second lifting member 120b not only retract asynchronously but also extend asynchronously, that is, the first lifting member 120a and the second lifting member 120b operate asynchronously. When the ground 500 is uneven or sloped, the lower of the first lifting member 120a and the second lifting member 120b can be controlled to extend, thereby keeping the support member 110 as a whole horizontal and stably supporting the cleaning equipment 200.

[0060] Please see Figure 3 The diagram shows a top view of the mobile platform 100 in some embodiments. The first lifting member 120a and the second lifting member 120b are located on opposite sides of the support member 110, specifically positioned along the width direction of the staircase 400 on the support member 110. Figure 3 On both sides of the Y-direction. When the support member 110 supports the cleaning equipment 200 to move, the cleaning equipment 200 is arranged in the middle of the support member 110, and the first lifting member 120a and the second lifting member 120b are respectively arranged on both sides of the support member 110. The first lifting member 120a and the second lifting member 120b can realize the climbing action of alternating left and right reciprocating lifting. The stability of the moving platform 100 is good.

[0061] Please combine Figure 3 In some embodiments, a first lifting member 120a is disposed on a first side of the support member 110 along the width direction of the staircase 400, and a second lifting member 120b is disposed on a second side of the support member 110 along the width direction of the staircase 400. The first lifting member 120a and the second lifting member 120b are symmetrically arranged, and the axis of symmetry is parallel to the extension and retraction direction of the telescopic member 130. That is, the first lifting member 120a and the second lifting member 120b are positioned relative to the central axis of the support member 110 (…). Figure 3 The lifting components 120a and 120b are symmetrically distributed along the axis of the platform. The first lifting component 120a and the second lifting component 120b can jointly drive the carrier 110 to rise, or extend from one side to keep the carrier 110 horizontal. The first lifting component 120a and the second lifting component 120b can retract asynchronously, improving the stability of the moving platform 100 during the retraction process.

[0062] Please combine Figure 3 In some embodiments, the telescopic member 130 includes a first telescopic member 130a and a second telescopic member 130b. The first telescopic member 130a is connected to the carrier member 110 and the first lifting member 120a, driving the carrier member 110 to move relative to the first lifting member 120a. The second telescopic member 130b is connected to the carrier member 110 and the second lifting member 120b, driving the carrier member 110 to move relative to the second lifting member 120b.

[0063] In some embodiments, both the first telescopic member 130a and the second telescopic member 130b extend along the horizontal direction of the staircase 400. Figure 3 (In the X direction) setting. The first telescopic member 130a can drive the first lifting member 120a and the load-bearing member 110 to move relative to each other in the horizontal extension direction of the staircase 400. The second telescopic member 130b can drive the second lifting member 120b and the load-bearing member 110 to move relative to each other in the horizontal extension direction of the staircase 400. The first telescopic member 130a and the second telescopic member 130b can jointly drive the load-bearing member 110 to translate forward relative to the first lifting member 120a and the second lifting member 120b.

[0064] In some embodiments, the first telescopic member 130a and the second telescopic member 130b retract asynchronously. That is, the first telescopic member 130a and the second telescopic member 130b jointly drive the carrier member 110 to move forward relative to the first lifting member 120a and the second lifting member 120b. After the carrier member 110 has moved into position, the first telescopic member 130a and the second telescopic member 130b retract asynchronously. Specific implementation schemes for the asynchronous retraction of the first telescopic member 130a and the second telescopic member 130b can be found in the above section regarding the asynchronous retraction of the first lifting member 120a and the second lifting member 120b, and will not be repeated here.

[0065] Please combine Figure 3 In some embodiments, the first lifting member 120a and the second lifting member 120b are distributed on both sides of the support member 110 along the width direction of the staircase 400. The first telescopic member 130a and the second telescopic member 130b are respectively connected to the first lifting member 120a and the second lifting member 120b, and are also distributed on both sides of the support member 110 along the width direction of the staircase 400. The first lifting member 120a and the first telescopic member 130a form the first support leg 100a, as shown below. Figure 4 As shown; the second lifting member 120b and the second telescopic member 130b form the second support leg 100b. The cleaning device 200 is placed on the support member 110. The first support leg 100a and the second support leg 100b are distributed on both sides of the support member 110 along the width direction of the staircase 400. This arrangement allows the cleaning device 200 to be located between the first support leg 100a and the second support leg 100b. The first support leg 100a and the second support leg 100b simulate the alternating climbing action of two legs, which has good stability.

[0066] When the mobile platform 100 of this application climbs stairs, the first lifting member 120a and the second lifting member 120b jointly drive the load-bearing member 110 to rise to a position level with the height of the next step surface 410. Subsequently, the first telescopic member 130a and the second telescopic member 130b jointly drive the load-bearing member 110, now in position, to move horizontally toward the staircase 400 and stop on the step surface 410 of the staircase 400. After the first lifting member 120a, the second lifting member 120b, the first telescopic member 130a, and the second telescopic member 130b all retract, the mobile platform 100 climbs one step. Repeating the above actions, the mobile platform 100 climbs sequentially, realizing the stair-climbing action. The detailed working process of the mobile platform 100 during stair-climbing will be described in detail later. The action during descent is the reverse process of the ascent, and the process of descent will not be elaborated here.

[0067] When the first lifting member 120a and the second lifting member 120b retract, since the supporting member 110 is already resting on the step surface 410 of the staircase 400 and cannot descend, the retraction of the first lifting member 120a and the second lifting member 120b is manifested as retraction towards the supporting member 110. Similarly, when the first telescopic member 130a and the second telescopic member 130b retract, since the supporting member 110 is already resting on the step surface 410 of the staircase 400, under the action of friction, the retraction of the first lifting member 120a and the second lifting member 120b can only be manifested as retraction towards the supporting member 110.

[0068] Because the movements of the first lifting member 120a, the second lifting member 120b, the first telescopic member 130a, and the second telescopic member 130b are independent, the first lifting member 120a and the second lifting member 120b can retract alternately, and the first telescopic member 130a and the second telescopic member 130b can also retract alternately. For example, the first lifting member 120a retracts first, and then the first telescopic member 130a retracts; subsequently, the second lifting member 120b retracts, and then the first telescopic member 130a retracts. In this mode of operation, the first leg 100a and the second leg 100b alternately perform the climbing motion, such as... Figure 5A and Figure 5B As shown, the mobile platform 100 can simulate a human alternating between left and right legs climbing stairs 400, exhibiting good motion stability.

[0069] Please combine Figure 5AWhen the first leg 100a retracts to the support member 110 (both the first lifting member 120a and the first telescopic member 130a are retracted), the second leg 100b remains supported on the ground 500 or the next step surface 410. Furthermore, since the support member 110 is now positioned on the step surface 410 of the staircase 400, both the upper and lower planes can stably support the moving platform 100. When the second lifting member 120b and the second telescopic member 130b retract, because the first lifting member 120a and the first telescopic member 130a have retracted and are close to the support member 110, the mass of the equipment (including the support member 110, the first lifting member 120a, and the first telescopic member 130a) located on the step surface 410 of the staircase 400 is significantly greater than that of the second lifting member 120b and the second telescopic member 130b. Therefore, the moving platform 100 can still remain stable when the second lifting member 120b and the second telescopic member 130b retract. This ensures that the moving platform 100 remains stable throughout the entire stair-climbing process. The cleaning equipment 200 is supported by the mobile platform 100 and ascends on the stairs 400 along with the mobile platform 100.

[0070] The support member 110 rests on the step surface 410 of the staircase 400. Specifically, the front end of the support member 110 is located on the step surface 410 of the staircase 400, and the rear end is supported by the first lifting member 120a and the second lifting member 120b. When both the first lifting member 120a and the second lifting member 120b retract and detach from the ground, the rear end of the support member 110 is suspended in the air, as... Figure 5B As shown. By setting the center of gravity of the bearing member 110 to be located at the front end, the bearing member 110 can be stably placed on the step surface 410 of the stair 400 even when the rear end of the bearing member 110 is suspended in the air. Then, the first lifting member 120a and the second lifting member 120b can also retract at the same time. Correspondingly, the first telescopic member 130a and the second telescopic member 130b can also retract at the same time.

[0071] In the mobile platform 100, the first lifting member 120a and the second lifting member 120b can adopt the same or different structures, and the first telescopic member 130a and the second telescopic member 130b can adopt the same or different structures; this application does not impose any restrictions. Specifically, the first lifting member 120a, the second lifting member 120b, the first telescopic member 130a, and the second telescopic member 130b can be any of the following: a cylinder, a hydraulic cylinder, an electric telescopic rod, a motor-driven rack and pinion mechanism, a motor-driven lead screw and nut mechanism, a motor-driven scissor arm assembly, or a motor-driven linkage mechanism. Of course, the first lifting member 120a, the second lifting member 120b, the first telescopic member 130a, and the second telescopic member 130b can also adopt other existing mechanisms / components capable of linear movement, which will not be listed here. More specific structures of the first lifting member 120a, the second lifting member 120b, the first telescopic member 130a, and the second telescopic member 130b will be described below in conjunction with the accompanying drawings.

[0072] For ease of understanding, the first lifting member 120a in some embodiments will be described below by way of example. Unless otherwise stated, the description of the first lifting member 120a is also applicable to the second lifting member 120b.

[0073] Please see Figure 6 and Figure 7 The diagram shows a schematic diagram and a full sectional view of the first lifting member 120a in some embodiments. The first lifting member 120a includes a lifting drive unit 124, a mounting part 121, and a support part 122. The mounting part 121 is driven by a corresponding first telescopic member 130a or second telescopic member 130b, and moves relative to the carrier member 110 in the front-rear direction. The mounting part 121 serves as the mounting base, and the lifting drive unit 124 is connected to the mounting part 121, driving the support part 122 to rise and fall relative to the mounting part 121. In the lifting direction, the mounting part 121 and the carrier member 110 move together; therefore, when the lifting drive unit 124 drives the support part 122 to rise and fall relative to the mounting part 121, the ground clearance of the carrier member 110 changes accordingly.

[0074] In some embodiments, at least one of the mounting portion 121 and the support portion 122 is a hollow structure, such that when the lifting drive portion 124 is in the retracted state, it is located within the receiving cavity 1201 formed by the mounting portion 121 and the support portion 122, such as... Figure 7 As shown. In one embodiment, both the mounting part 121 and the support part 122 are covers, which are fastened together to enclose the receiving cavity 1201.

[0075] As one implementation method, please refer to Figure 7 The lifting drive unit 124 includes a movable member 1241 and a scissor arm mechanism 1242. The movable member 1241 is mounted in the mounting part 121, and its output part is hinged to at least one upper mounting point of the scissor arm mechanism 1242. At least one lower mounting point of the scissor arm mechanism 1242 is movably connected to the support part 122. The motor drives the output part of the movable member 1241 to change its horizontal position, thereby causing the output part to move at least one upper mounting point of the scissor arm mechanism 1242, thus changing the opening angle of the scissor arm mechanism 1242. The larger the opening angle of the scissor arm mechanism 1242, the smaller its overall height. The scissor arm mechanism 1242 has the characteristics of a large lifting stroke and small size. When its opening angle is close to 180°, it can be completely housed in the space enclosed by the mounting part 121 and the support part 122.

[0076] In some embodiments, at least one of the first lifting member 120a and the second lifting member 120b is provided with a first drive unit 123. The first drive unit 123 outputs power to drive the lifting drive unit 124 to operate. The first drive unit 123 can simultaneously drive the lifting drive units 124 of the first lifting member 120a and the second lifting member 120b via several transmission components, or a clutch can be provided to allow the two lifting drive units 124 to operate independently. In some embodiments, both the first lifting member 120a and the second lifting member 120b are provided with a first drive unit 123, thereby enabling the lifting drive units 124 to operate independently. As an optional implementation, the first drive unit 123 is a motor.

[0077] The moving part 1241 can be a gear rack, a lead screw and nut, a belt drive mechanism, etc., and this application does not impose any restrictions. The output part of the moving part 1241 can be one, for example, a lead screw and nut with a threaded connection, the nut being hinged to one of the upper mounting points of the scissor arm mechanism 1242. The output part of the moving part 1241 can also be two, for example, the lead screw is provided with double threads, each thread segment is fitted with a nut, and the two nuts move in opposite directions to adjust the opening angle of the scissor arm mechanism 1242. Figure 7 The lifting mechanism shown uses a lead screw and nut as the moving part 1241. The lead screw and nut have a self-locking function, which enables the bearing part 110 to be stably raised and lowered to any height throughout the entire lifting stroke.

[0078] Figure 7 A schematic diagram of a scissor arm mechanism 1242 in one embodiment is shown. The scissor arm mechanism 1242 includes two scissor arms 12421 hinged at their intersection, with the free ends of both scissor arms 12421 serving as hinge points. For example, the upper ends of the two scissor arms 12421 form a first upper mounting point 1242a and a second upper mounting point 1242b of the scissor arm mechanism 1242, and the lower ends of the two scissor arms 12421 form a first lower mounting point 1242c and a second lower mounting point 1242d of the scissor arm mechanism 1242. The first upper mounting point 1242a is hinged to the mounting portion 121, the second upper mounting point 1242b is hinged to the output portion of the moving member 1241, the first lower mounting point 1242c is hinged to the support portion 122, and the second lower mounting point 1242d is slidably disposed on the support portion 122. In other words, the first upper mounting point 1242a and the first lower mounting point 1242c are both fixed hinge points, and their relative positions with the connected mounting part 121 and support part 122 remain unchanged; the second upper mounting point 1242b and the second lower mounting point 1242d are both movable hinge points, and their relative positions with the connected mounting part 121 and support part 122 can change, thereby changing the opening angle of the scissor arm mechanism 1242.

[0079] In some embodiments, at least one of the mounting portion 121 and the support portion 122 is provided with a sliding mechanism, the slider of which is hinged to the scissor arm mechanism 1242 to reduce the resistance when the scissor arm mechanism 1242 opens, making the extension and retraction of the lifting member smoother. As an optional embodiment, the sliding mechanism adopts a slidingly fitted slider and guide rail, and both the mounting portion 121 and the support portion 122 are provided with a sliding mechanism.

[0080] Please see Figure 7 In some embodiments, the mounting portion 121 is provided with a slidingly engaged first slider 1211 and a first guide rail 1212. The first slider 1211 is hinged to one of the upper mounting points of the scissor arm mechanism 1242, for example, the first slider 1211 is hinged to the second upper mounting point 1242b of the scissor arm mechanism 1242. The support base 122 is provided with a slidingly engaged second slider 1221 and a second guide rail 1222. The second slider 1221 is hinged to one of the lower mounting points of the scissor arm mechanism 1242, for example, the second slider 1221 is hinged to the second lower mounting point 1242d of the scissor arm mechanism 1242.

[0081] In some embodiments, along the direction in which the carrier 110 translates relative to the first lifting member 120a and the second lifting member 120b, the first upper mounting point 1242a is located in front of the second upper mounting point 1242b, and the first lower mounting point 1242c is located in front of the second lower mounting point 1242d. Figure 8 A schematic diagram of the structure of the first lifting member 120a and the second lifting member 120b in a raised state is shown in some embodiments. It can be seen that when the first lifting member 120a and the second lifting member 120b are in the raised state, the positions of the first upper mounting point 1242a and the first lower mounting point 1242c remain unchanged, while the second upper mounting point 1242b and the second lower mounting point 1242d move forward, so that the distance between the two upper mounting points 1242a and 1242b and the distance between the two lower mounting points 1242c and 1242d both decrease, while the distance between the upper mounting point and the lower mounting point increases. At this time, the support position of the mobile platform 100 is located at its front, ensuring that the mobile platform 100 remains stable and will not tip over after the bearing member 110 moves forward.

[0082] For ease of understanding, the first telescopic member 130a in some embodiments will be described below by way of example. Unless otherwise stated, the description of the first telescopic member 130a is also applicable to the second telescopic member 130b.

[0083] Figure 9 A schematic diagram of the structure of the first telescopic member 130a in some embodiments is shown. Please refer to... Figure 9The first telescopic member 130a includes a second driving part 131 and a second transmission part 132. The second driving part 131 is mounted on the carrier member 110. The input part of the second transmission part 132 is connected to the second driving part 131, and the output part is fixedly connected to the corresponding first lifting member 120a or second lifting member 120b. In some embodiments, the second driving part 131 is mounted on the carrier member 110 via a mounting frame 133. The second driving part 131 is fixed in the mounting frame 133, and the mounting frame 133 is connected to the carrier member 110 via threaded fasteners.

[0084] The second transmission unit 132 includes a meshing gear 1321 and a rack 1322, with the rack 1322 connected to a corresponding first lifting member 120a or second lifting member 120b. (See also...) Figure 9 The rack 1322 is connected to the top of the corresponding first lifting member 120a or second lifting member 120b, specifically to the top surface of the mounting portion 121. The rack 1322 and gear 1321 are stably meshed using the weight of the support member 110. In other embodiments, the rack 1322 may also be located at other positions on the corresponding first lifting member 120a or second lifting member 120b, such as on the side. The rack 1322 can be a separate part, or it can be integrated with the mounting portion 121, for example, by injection molding.

[0085] Combination Figure 10 To achieve automatic operation of the mobile platform 100, a controller 140 and a distance detection device 150 for detecting distances should also be installed in the mobile platform 100. The controller 140 is installed on the support member 110 and is electrically connected to the first lifting member 120a, the second lifting member 120b, the first telescopic member 130a, the second telescopic member 130b, and the distance detection device 150. The distance detection device 150 is used to detect the horizontal distance and height difference between the mobile platform 100 and the stairs 400 and the ground. Its detection signal is transmitted to the controller 140, which can use this information to determine the distance between the mobile platform 100 and the steps, whether the support member 110 has risen to the correct position, and the forward displacement of the support member 110. This allows the controller to control whether the first lifting member 120a, the second lifting member 120b, the first telescopic member 130a, and the second telescopic member 130b move and the specific amount of movement.

[0086] The detection units in the distance detection component 150 can be laser rangefinders 152, ultrasonic rangefinders, visual recognition devices, etc., and this application does not limit the specific type. Considering detection accuracy, the number of detection units in the distance detection component 150 should be as large as possible, and their distribution should be as comprehensive as possible. The detection units can be installed on at least one of the carrier 110, the first lifting component 120a, and the second lifting component 120b. The following describes... Figure 11and Figure 12 The specific details of the distance detection element 150 in some embodiments will be described.

[0087] Please see Figure 11 The distance detection component 150 includes a micro switch 151 and several distance sensors 152. The micro switch 151 is a contact detection device located at the front end of the carrier 110 in the translational direction. When the carrier 110 moves to the position where the contact of the micro switch 151 is touched, the micro switch 151 triggers a signal to the controller 140, controlling the first telescopic member 130a and the second telescopic member 130b to stop working, preventing the carrier 110 from colliding with an obstacle. The micro switch 151 can prevent the moving platform 100 from continuing to move forward and colliding with the obstacle in the event of a malfunction of the distance sensor 152 or if the obstacle is outside the detection area of ​​the distance sensor 152, thus maintaining a safe distance between the moving platform 100 and the obstacle. The several distance sensors 152 are all non-contact detection devices; at least one distance sensor 152 is provided on the bottom surface, top surface, and front end of the carrier 110, as well as on the bottom surface of the first lifting member 120a and the second lifting member 120b.

[0088] Please see Figure 11 and Figure 12 The diagram illustrates the specific number and distribution of distance sensors 152 in one embodiment. All distance sensors 152 are ToF sensors (laser distance sensors 152). Four distance sensors 152 are arranged on the front end face of the support member 110, with two distance sensors 152a near the upper corner of the end face and the remaining two distance sensors 152b near the lower corner of the end face. The four distance sensors 152 are staggered along the width of the staircase 400. The four distance sensors 152 on the end face of the support member 110 primarily detect the distance between the moving platform 100 and the steps. The two distance sensors 152b near the lower corner of the end face can also detect whether there are obstacles on the ground in front of the moving platform 100. Two distance sensors 152c are arranged on the top surface of the support member 110, both near the front edge of the top surface, which can identify whether the support member 110 is carrying an object.

[0089] Please see Figure 12Four ranging sensors 152 are arranged on the bottom surface of the support member 110. Two ranging sensors 152d are close to the front edge of the bottom surface, and the remaining two ranging sensors 152e are located in the middle of the bottom surface, specifically in the rear half of the support member 110 in the X direction. The four ranging sensors 152 on the bottom surface of the support member 110 mainly detect the height difference between the moving platform 100 and the ground or the next step surface 410 to prevent the moving platform 100 from falling. One ranging sensor 152f is arranged on the bottom surface of the first lifting member 120a and the second lifting member 120b, specifically located at the outer edge of the bottom surface of the first lifting member 120a and the second lifting member 120b, and protruding from the outer edge of the first lifting member 120a and the second lifting member 120b, which can detect in advance whether the side of the moving platform 100 is suspended, preventing the moving platform 100 from tipping over.

[0090] Since the ranging sensors 152 all use ToF sensors, and the laser emitted by the ToF sensors cannot be blocked after installation, through mounting holes 116 or outward-facing mounting slots should be provided on the carrier 110, the first lifting member 120a, and the second lifting member 120b. In addition, the carrier 110 should also be provided with a mounting structure for fixing the controller 140. The following describes the process in conjunction with... Figure 13 , Figure 14 and Figure 15 The specific structure of the carrier 110 in some embodiments will be described.

[0091] Please see Figure 13 The support component 110 adopts a split structure, including a translation base 111, a support plate 112, and a mounting bracket 113. The translation base 111 is the main body of the support component 110; the support plate 112 is mounted on the translation base 111 to support the cleaning equipment 200; the mounting bracket 113 is connected to the translation base 111 and is used to mount the controller 140 and the detection unit in the distance detection component 150. To reduce weight, the translation base 111 is designed as a hollow structure with several cavities, which can also serve as installation space. Several through mounting holes 116 are provided on the translation base 111 for mounting the distance sensor 152. The upper surface of the support plate 112 is a flat plane, which can stably hold the cleaning equipment 200. In some embodiments, several limiting structures can also be provided on the support plate 112 to limit the wheels of the cleaning equipment 200 and prevent the cleaning equipment 200 from slipping due to inertia when the mobile platform 100 moves. Mounting bracket 113 is mainly used to mount controller 140. Of course, micro switch 151 and part of distance sensor 152 on the end face of carrier 110 can also be mounted on mounting bracket 113.

[0092] The support member 110 is used to support the cleaning device. To ensure even load distribution, please refer to [reference needed]. Figure 14 and Figure 15In some embodiments, the support member 110 is provided with clearance portions 114 on both sides along the width direction of the staircase 400. The first lifting member 120a and the second lifting member 120b are respectively located in the corresponding clearance portions 114. The first lifting member 120a, the second lifting member 120b and the support member 110 have overlapping areas in the width direction of the staircase 400 and the horizontal extension direction of the staircase 400. The left and right ends of the support member 110 are respectively supported on the first lifting member 120a and the second lifting member 120b. The first lifting member 120a, the second lifting member 120b and the support member 110 jointly bear the weight of the cleaning device.

[0093] The clearance portion 114 can be a groove formed on the side of the support member 110, or it can be a bottom recess on both sides of the support member 110, thereby forming two recessed areas on the side of the support member 110, which constitute the clearance portion 114. In embodiments where the support member 110 adopts a split structure, the clearance portion 114 can be provided on the translation base 111, such as... Figure 14 and Figure 15 As shown.

[0094] The first lifting member 120a and the second lifting member 120b can be completely covered by the bearing member 110. Figure 13 In the illustrated mobile platform 100, the outer surfaces of the first lifting member 120a, the second lifting member 120b, and the carrier member 110 are flush, making the mobile platform 100 as a whole cubic in shape. From a top-down view, only the carrier member 110 is visible, resulting in a smooth and aesthetically pleasing appearance. In other embodiments, the first lifting member 120a and the second lifting member 120b may also be partially covered by the carrier member 110.

[0095] The first telescopic member 130a and the second telescopic member 130b drive the carrier member 110 to translate. For improved smoothness of movement, please refer to [link / reference needed]. Figure 13 In some embodiments, both the first lifting member 120a and the second lifting member 120b are provided with at least one slide rail 125. The slide rail 125 includes a first sliding portion 1251 and a second sliding portion 1252. The first sliding portion 1251 is connected to the corresponding first lifting member 120a or second lifting member 120b, and the second sliding portion 1252 is connected to the support member 110. The slide rail 125 improves the smoothness of movement and serves as the connection point between the first lifting member 120a and the second lifting member 120b and the support member 110.

[0096] In the embodiment where both sides of the support member 110 have clearance portions 114, since the first lifting member 120a, the second lifting member 120b, and the support member 110 have overlapping areas in both the width direction and the horizontal extension direction of the staircase 400, a total of four slide rails 125 are provided. Please refer to [link / reference]. Figure 13Two slide rails 125 are respectively located on the top of the first telescopic member 130a and the second telescopic member 130b, and the remaining two slide rails 125 are respectively located on the inner sides of the first telescopic member 130a and the second telescopic member 130b. Please refer to [link / reference]. Figure 15 Two sets of fixing structures 117 are provided on the side wall of the clearance part 114 of the bearing member 110 for fixing the second sliding part 1252 of the slide rail 125.

[0097] Combination Figure 16 In some embodiments, the mobile platform 100 further includes a buffer 160, which is spaced at the front end of the carrier 110. In order to avoid blocking the signal emitted by the ranging sensor 152, the buffer 160 is provided with a plurality of avoidance holes 161 for avoiding the ranging sensor 152. The avoidance holes 161 correspond one-to-one with the positions of the ranging sensor 152 on the front end face of the carrier 110.

[0098] The buffer 160 can be a part with a certain degree of elasticity, such as foam, spring pads, etc. In some embodiments, the moving platform 100 also includes an elastic element 180, which is disposed between the buffer 160 and the support element 110, and its two ends act on the buffer 160 and the support element 110 respectively, so as to achieve the buffering effect by utilizing the elastic force of the elastic element 180.

[0099] The buffer 160 contacts the contact 1511 of the micro switch 151. When the mobile platform 100 moves to the position where the buffer 160 contacts the obstacle, the buffer 160 touches the contact 1511 of the micro switch 151. The micro switch 151 triggers a signal to the controller 140, and the first telescopic member 130a and the second telescopic member 130b of the controller 140 stop working to prevent the carrier 110 from hitting the obstacle. The gap between the buffer 160 and the carrier 110 serves as a safe buffer space for the mobile platform 100.

[0100] Since relative movement may occur between the buffer 160 and the carrier 110, the connection structure between the buffer 160 and the carrier 110 must ensure a stable connection between them while allowing relative movement. Mechanisms that allow relative sliding, such as guide rails and sliders, can be used, and limiting structures can be set at necessary locations to prevent the buffer 160 from slipping off.

[0101] Please see Figure 14 , Figure 16 and Figure 17The diagram illustrates a structure in some embodiments where the buffer 160 and the carrier 110 are slidably engaged via a hook 164 and a slot 115. The buffer 160 has a hook 164, and the carrier 110 has a corresponding slot 115. The hook 164 is hooked in the slot 115, preventing the buffer 160 from disengaging from the carrier 110. The hook 164 and the slot 115 are slidably engaged in the translational direction of the carrier 110. The slot 115 has two limiting positions at its two ends in the translational direction of the carrier 110. When the buffer 160 is not in contact with an obstacle, the hook 164 is in the first limiting position. When the buffer 160 is blocked by an obstacle and moves towards the carrier 110, it stops moving at the second limiting position. At this point, a certain distance is maintained between the buffer 160 and the carrier 110 to prevent the buffer 160 from excessively compressing the detection unit at the front end of the carrier 110.

[0102] To improve the installation stability of the buffer 160, multiple hooks 164 are provided and distributed along the upper and lower edges of the buffer 160. For easier installation of the buffer 160, please refer to [link / reference needed]. Figure 17 In some embodiments, the buffer 160 adopts a split structure, including an upper plate 162 and a lower plate 162, which are stacked together along the height direction and connected by threaded fasteners.

[0103] As described above, the mobile platform 100 of this application can actively identify the step height and width of the staircase 400 and automatically climb the staircase 400. Considering that some staircases 400 may also have intermediate platforms, the mobile platform 100 is also required to have the function of walking on a flat surface.

[0104] Based on this, please refer to Figure 16 In some embodiments, the mobile platform 100 further includes a walking component 170, which is connected to at least one of the first lifting component 120a, the second lifting component 120b, and the carrier component 110, and is electrically connected to the controller 140. The walking component 170 is used to drive the mobile platform 100 forward, backward, turning, and lateral translation. The specific structure of the walking component 170 can be referenced from the walking device of a robotic vacuum cleaner.

[0105] Figure 16The structure of the walking member 170 in one embodiment is shown, which includes a first walking unit 171 and a second walking unit 172. The first walking unit 171 is used to drive the moving platform 100 to move along the translational direction of the carrier 110. The first walking unit 171 is installed in the carrier 110, and its rollers protrude from the bottom surface of the carrier 110. During the forward translation of the carrier 110 relative to the first lifting member 120a and the second lifting member 120b, the first walking unit 171 may not operate, and only the rollers rotate to reduce the friction between the carrier 110 and the step surface 410. Of course, in other embodiments, the first walking unit 171 may also operate synchronously during the forward translation of the carrier 110 to assist in driving the carrier 110 to move forward.

[0106] Multiple first walking units 171 can be set up. Figure 16 The mobile platform 100 shown is equipped with two first walking units 171. Both first walking units 171 are mounted in the middle of the support member 110. To improve the anti-fall effect of the mobile platform 100, two of the distance sensors 152e arranged on the bottom surface of the support member 110 should be located behind the two first walking units 171, such as... Figure 16 As shown.

[0107] For the corresponding information, please refer to [link / reference]. Figure 16 In some embodiments, the support member 110 is provided with a first auxiliary wheel 173, which also protrudes from the bottom surface of the support member 110. The first auxiliary wheel 173 is configured to rotate along the translational direction of the support member 110. When the first traveling unit 171 drives the mobile platform 100 to move, the first auxiliary wheel 173 rotates accordingly. The first auxiliary wheel 173 and the two first traveling units 171 are arranged in a triangle to stably support the mobile platform 100. It is understood that in other embodiments, the first auxiliary wheel 173 may also be a caster wheel.

[0108] The second traveling unit 172 is used to drive the moving platform 100 to move along the width direction of the staircase 400. The second traveling unit 172 is installed on the first lifting member 120a and / or the second lifting member 120b. One second traveling unit 172 can be provided on both the first lifting member 120a and the second lifting member 120b to improve the driving force for lateral translation. Please refer to [link / reference]. Figure 16 The second traveling units 172 are all located inside the first lifting member 120a and the second lifting member 120b, and their rollers protrude from the bottom surfaces of the first lifting member 120a and the second lifting member 120b. If the moving platform 100 has a large dimension in the X direction, two second traveling units 172 can be arranged in a staggered manner in the X direction.

[0109] For the corresponding information, please refer to [link / reference]. Figure 16In some embodiments, both the first lifting member 120a and the second lifting member 120b are provided with a plurality of second auxiliary wheels 174, which also protrude from the bottom surfaces of the first lifting member 120a and the second lifting member 120b. The second auxiliary wheels 174 are configured to rotate along the width direction of the staircase 400, and rotate accordingly when the second traveling unit 172 drives the moving platform 100 to move. The second traveling unit 172 and the corresponding plurality of second auxiliary wheels 174 are arranged in a triangular or quadrilateral pattern to stably support the moving platform 100. It is understood that in other embodiments, the second auxiliary wheels 174 may also be omnidirectional wheels.

[0110] Figure 16 The diagram illustrates the number and specific distribution of the second auxiliary wheels 174 in one embodiment. In this embodiment, both the first lifting member 120a and the second lifting member 120b are equipped with three second auxiliary wheels 174. Two of the second auxiliary wheels 174 are installed on the outer side of the respective first lifting member 120a or second lifting member 120b, and the remaining second auxiliary wheel 174 is installed on the inner side. To improve the anti-tipping effect of the mobile platform 100, the distance measuring sensor 152 arranged on the bottom surface of the first lifting member 120a and the second lifting member 120b should be located behind the two outer second auxiliary wheels 174, and the distance measuring sensor 152 should protrude from or be flush with the second auxiliary wheels 174 along the Y direction.

[0111] Please see Figure 18A According to a second aspect of this application, a cleaning system 300 is provided, which includes a cleaning device 200 and a mobile platform 100 as described in any of the first aspects above. The mobile platform 100 supports the cleaning device 200 and allows it to move on a staircase 400. The cleaning device 200 can be a robotic vacuum cleaner or an automatic sweeping machine; this application does not impose any limitations. Since the cleaning device 200 is placed on the top surface of the mobile platform 100, the mobile platform 100 does not restrict the size of the cleaning device 200, and the mobile platform 100 can be adapted to different models of sweeping machines, exhibiting good compatibility.

[0112] The working process of a cleaning system 300 according to one embodiment will be described in detail below with reference to the accompanying drawings. In this embodiment, the mobile platform 100 includes a controller 140, a micro switch 151, several ranging sensors 152, a first walking unit 171, and a second walking unit 172. The cleaning device 200 is a robotic vacuum cleaner.

[0113] I. Combination Figures 18A to 18I The cleaning system is currently in stair-climbing mode, and the specific working process is as follows:

[0114] 1.1 The mobile platform 100 carrying the cleaning equipment 200 moves forward. A distance sensor 152 located at the front end of the load-bearing component 110 continuously monitors the distance between the mobile platform 100 and the stairs 400 steps. The mobile platform 100 stops when the set distance is reached. Figure 18A As shown.

[0115] 1.2 The first lifting component 120a and the second lifting component 120b jointly drive the carrier component 110 to rise. During the rising process, the distance sensor 152 located at the front end of the carrier component 110 detects the distance between the moving platform 100 and the steps of the staircase 400 in real time. When the carrier component 110 is detected to have risen to a position where its bottom surface is flush with the step surface 410, the controller 140 controls the first lifting component 120a and the second lifting component 120b to stop moving. Figure 18B As shown.

[0116] 1.3. The first telescopic member 130a and the second telescopic member 130b jointly drive the carrier member 110 to move forward, and the carrier member 110 carrying the cleaning equipment 200 moves together onto the step surface 410, as shown. Figure 18C As shown. During this process, the distance sensor 152 at the front end of the support 110 detects the distance between the moving platform 100 and the steps of the stair 400 in real time, so as to avoid collision between the support 110 and the steps of the stair 400.

[0117] 1.4 The first lifting component 120a retracts, as... Figure 18D As shown.

[0118] 1.5 The first telescopic member 130a moves in the opposite direction, causing the first lifting member 120a and the first telescopic member 130a to retract together to the first side of the bearing member 110, as shown. Figure 18E As shown.

[0119] 1.6 The second lifting component 120b retracts, as... Figure 18F As shown.

[0120] 1.7 The second telescopic member 130b moves in the opposite direction, causing the second lifting member 120b and the second telescopic member 130b to retract together to the second side of the bearing member 110, as shown. Figure 18G As shown, the mobile platform 100 carrying the cleaning equipment 200 climbs up the first step.

[0121] 1.8 Repeat the above arrangement. The mobile platform 100, carrying the cleaning equipment 200, climbs to the last step. The first lifting component 120a and the second lifting component 120b jointly drive the carrier 110 to rise. During the ascent, the distance sensor 152 located at the front end of the carrier 110 continuously detects the distance between the mobile platform 100 and the steps of the staircase 400. When the carrier 110 rises to the position where the bottom surface of the cleaning equipment 200 is level with the top surface of the staircase 400, the controller 140 controls the first lifting component 120a and the second lifting component 120b to stop moving. Figure 18H As shown.

[0122] 1.9 Cleaning equipment 200 drives into the top floor of the staircase 400, such as... Figure 18I As shown, the stair climb is complete.

[0123] II. Combination Figures 19A to 19F The cleaning system is in stairwell cleaning mode, and the specific working process is as follows:

[0124] 2.1 The mobile platform 100 carrying the cleaning equipment 200 moves forward. The distance sensor 152 located at the front end of the load-bearing component 110 detects the distance between the mobile platform 100 and the stairs 400 steps in real time. When the set distance is reached, the mobile platform 100 stops. Figure 19A As shown.

[0125] 2.2 The first lifting component 120a and the second lifting component 120b jointly drive the carrier 110 to rise. During the rising process, the distance sensor 152 located at the front end of the carrier 110 detects the distance between the moving platform 100 and the steps of the staircase 400 in real time. When the carrier 110 is detected to be at the position where the bottom surface of the cleaning equipment 200 is flush with the step surface 410, the controller 140 controls the first lifting component 120a and the second lifting component 120b to stop moving. Figure 19B As shown.

[0126] 2.3 The cleaning equipment 200 enters the step surface 410 and cleans the step surface 410, such as... Figure 19C As shown.

[0127] It should be noted that if the X-axis dimension of the step surface 410 is too small, the cleaning equipment 200 cannot be stably placed on the step surface 410. In this case, the moving platform 100 moves synchronously with the cleaning equipment 200 along the Y-axis during the cleaning process. At this time, the moving platform 100 acts as an extension surface of the step surface 410. When the moving platform 100 moves along the Y-axis, the distance between the moving platform 100 and the ground below is detected in real time by the distance sensor 152 located on the bottom surface to prevent the moving platform 100 from moving too much laterally and tipping over.

[0128] 2.4 After cleaning the step surface 410, the cleaning equipment 200 returns to the mobile platform 100, as follows: Figure 19DAs shown.

[0129] 2.5. The first lifting component 120a and the second lifting component 120b jointly drive the carrier component 110 to rise again. During the rising process, the distance sensor 152 located at the front end of the carrier component 110 detects the distance between the moving platform 100 and the steps of the staircase 400 in real time. When the carrier component 110 is detected to have risen to a position where its bottom surface is flush with the step surface 410, the controller 140 controls the first lifting component 120a and the second lifting component 120b to stop moving. Figure 19E As shown.

[0130] 2.6 The mobile platform 100 carrying the cleaning equipment 200 is moved to the current step surface 410, as follows. Figure 19F As shown.

[0131] 2.7 Repeat the above steps to clean the upper step surface 410 step by step until all step surfaces 410 are cleaned.

[0132] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0133] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", and "counterclockwise" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0134] It should be noted that all directional indications in the embodiments of this application are only used to explain the relative positional relationship and movement of each component in a specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0135] In this application, unless otherwise expressly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0136] Furthermore, the use of terms such as "first" and "second" in this application is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0137] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. In addition, those skilled in the art can combine and integrate the different embodiments or examples described in this specification.

[0138] Furthermore, the technical solutions of the various embodiments can be combined with each other, but only if they are based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0139] Although embodiments of this application have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the claims and their equivalents.

Claims

1. A mobile platform, characterized in that, include: Load-bearing components support the cleaning equipment; The telescopic component is connected to the load-bearing component; The first lifting component is connected to the telescopic component; as well as, The second lifting component is connected to the telescopic component. Wherein, after the mobile platform switches from the first operating surface to the second operating surface, the first lifting member rises relative to the telescopic member, the second lifting member rises relative to the telescopic member, and the telescopic member retracts into the supporting member. The height of the first operating surface from the ground is less than the height of the second operating surface from the ground.

2. The mobile platform according to claim 1, wherein, The first lifting member and the second lifting member rise asynchronously relative to the telescopic member.

3. The mobile platform according to claim 1, wherein, The first lifting component and the second lifting component are symmetrically arranged on the left and right sides of the forward direction of the bearing component.

4. The mobile platform according to claim 3, wherein, The carrier is provided with clearance portions on the left and right sides in the forward direction, and the first lifting member and the second lifting member rise to the corresponding clearance portions respectively.

5. The mobile platform according to any one of claims 1-4, wherein, The first lifting member and the second lifting member each include: The mounting part is connected to the telescopic component; A lifting drive unit is connected to the mounting unit; and, A support portion is connected to the lifting drive portion, and the support portion is driven by the lifting drive portion to rise and fall relative to the mounting portion.

6. The mobile platform according to claim 5, wherein, The lifting drive unit includes: A scissor arm mechanism, with its two ends respectively connected to the mounting portion and the support portion; and, The movable component is hinged to the free end of the scissor arm mechanism.

7. The mobile platform according to claim 6, wherein, The moving part includes a threaded lead screw and a nut, the nut being hinged to the free end of the scissor arm mechanism.

8. The mobile platform according to claim 6, wherein, At least one of the mounting portion and the support portion is provided with a sliding mechanism, and the slider of the sliding mechanism is hinged to the scissor arm mechanism.

9. The mobile platform according to claim 5, wherein, At least one of the mounting part and the support part is a hollow structure; when the lifting drive part is in the retracted state, it is located in the receiving cavity formed by the mounting part and the support part.

10. The mobile platform according to any one of claims 1-4, wherein, The telescopic component includes: A first telescopic member is connected to the carrier member and the first lifting member, and the first telescopic member drives the carrier member and the first lifting member to move relative to each other; and... The second telescopic member is connected to the carrier member and the second lifting member, and the second telescopic member drives the carrier member and the second lifting member to move relative to each other.

11. The mobile platform according to claim 10, wherein, The first telescopic component and the second telescopic component retract asynchronously.

12. The mobile platform according to any one of claims 1-4, further comprising: The slide rail allows both the first and second lifting components to slide in conjunction with the load-bearing component.

13. The mobile platform according to any one of claims 1-4, further comprising: The traveling component is connected to at least one of the first lifting component, the second lifting component, and the load-bearing component.

14. The mobile platform according to claim 13, wherein, The traveling component includes: A first walking unit is connected to the carrier, and the first walking unit drives the carrier to move along a first direction; The second traveling unit is connected to at least one of the first lifting member and the second lifting member, and the second traveling unit drives the carrier to move along a second direction; the first direction and the second direction are set at an angle.

15. The mobile platform according to claim 14, wherein, The traveling component also includes: A first auxiliary wheel is connected to the carrier, and the first auxiliary wheel rotates at least along the first direction; The second auxiliary wheel is connected to both the first and second lifting components, and the second auxiliary wheel rotates at least along the second direction.

16. The mobile platform according to claim 14, further comprising: A distance detection component is installed on at least one of the carrier, the first lifting component, and the second lifting component.

17. The mobile platform according to claim 16, wherein, The distance detection component includes: A micro switch is disposed at the front end of the carrier in the first direction; and, Several ranging sensors are distributed at least on the bottom surfaces of the support member, the first lifting member, and the second lifting member.

18. The mobile platform according to claim 16, further comprising: The controller is electrically connected to the first lifting component, the second lifting component, the telescopic component, the walking component, and the distance detection component.

19. The mobile platform according to claim 14, further comprising: A buffer element is connected to the carrier element, and the buffer element is located at the front end of the carrier element in the first direction.

20. The mobile platform according to claim 19, wherein, The buffer is slidably connected to the carrier, and the buffer moves relative to the carrier in a first direction.

21. A cleaning system, characterized in that, It includes cleaning equipment and a mobile platform according to any one of claims 1-20, wherein the mobile platform supports the movement of the cleaning equipment.

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