Bearing equipment, cleaning device and cleaning system

Abstract

The utility model relates to bearing equipment, a cleaning device and a cleaning system. The bearing equipment can climb a step or move along a kicking surface of the step, and the bearing equipment comprises a detection module which is configured to detect the relative position between the bearing equipment and the kicking surface of the step; and the movement module is configured to drive the bearing equipment to climb the step and / or move along the kicking surface of the step when the relative position between the bearing equipment and the kicking surface is within a preset range. Therefore, the risk when the bearing equipment climbs the steps or moves along the kicking surface can be avoided, and the safety when the bearing equipment climbs the steps or moves along the kicking surface is improved.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of cleaning equipment manufacturing, and in particular to a carrying device, a cleaning device and a cleaning system. BACKGROUND

[0002] In the technical field of manufacturing household carrying devices, when the carrying device climbs a step or moves along the kick surface of the step, there is a risk of falling or deviation due to the inaccuracy of the position of the carrying device, thereby reducing the safety of the carrying device during operation.

[0003] It should be noted that the information disclosed in the above background section is only used to strengthen the understanding of the background of the present disclosure, and therefore can include information that does not constitute prior art known to those of ordinary skill in the art. CONTENT OF THE UTILITY MODEL

[0004] The present disclosure aims to provide a carrying device, a cleaning device and a cleaning system, which can avoid the risk of the carrying device climbing a step or moving along the kick surface, and improve the safety of the carrying device when climbing a step or moving along the kick surface.

[0005] In one aspect, the present disclosure provides a carrying device, which can climb a step and / or move along the kick surface of the step, and the carrying device comprises:

[0006] a detection module configured to detect the relative position between the carrying device and the kick surface of the step;

[0007] a movement module configured to drive the carrying device to climb the step and / or move along the kick surface of the step when the relative position between the carrying device and the kick surface is within a preset range.

[0008] In an exemplary embodiment of the present disclosure, the movement module is further configured to drive the carrying device to move towards the kick surface when the relative position between the carrying device and the kick surface is outside the preset range.

[0009] In an exemplary embodiment of the present disclosure, the carrying device comprises:

[0010] a main body portion;

[0011] a side support portion connected to the main body portion;

[0012] wherein the detection module is arranged on the main body portion and / or the side support portion.

[0013] In an exemplary embodiment of the present disclosure, the detection module is arranged on the main body portion, and the detection module comprises:

[0014] a collision plate disposed on a side of the main body part facing the kick surface and protruding from the main body part, the collision plate being movable toward or away from the main body part;

[0015] a position detector disposed between the collision plate and the main body part and configured to detect a relative position between the collision plate and the main body part;

[0016] when the position detector detects that the collision plate is moving toward the main body part, the carrier device is in contact with the kick surface, and at this time, the relative position between the carrier device and the kick surface is within the preset range.

[0017] In an exemplary embodiment of the present disclosure, the position detector includes a trigger switch, and when the collision plate is in contact with the trigger switch, the carrier device is in contact with the kick surface.

[0018] In an exemplary embodiment of the present disclosure, the detection module includes a plurality of position detectors, and the plurality of position detectors are disposed at intervals.

[0019] In an exemplary embodiment of the present disclosure, the detection module includes:

[0020] a first position detector and a second position detector, the first position detector and the second position detector being disposed at intervals in a height direction of the main body part.

[0021] In an exemplary embodiment of the present disclosure, the detection module further includes:

[0022] a third position detector, the third position detector being disposed at an interval with the first position detector in a direction in which the carrier device moves along the kick surface.

[0023] In an exemplary embodiment of the present disclosure, the detection module further includes:

[0024] a reset member disposed between the collision plate and the main body part, the reset member being configured to drive the collision plate to reset when the collision plate is moving toward the main body part.

[0025] In an exemplary embodiment of the present disclosure, the reset member includes:

[0026] a fixed part fixed to the main body part;

[0027] An elastic part is arranged to abut against or be connected to one side of the collision plate close to the main body part, and the elastic part is capable of elastic deformation when the collision plate moves towards the main body part.

[0028] In an example embodiment of the present disclosure, the detection module comprises a plurality of reset members arranged at intervals.

[0029] In an example embodiment of the present disclosure, the detection module further comprises:

[0030] A fixing plate is fixed to one side of the main body part facing the kick surface, and the collision plate is connected to the fixing plate and is capable of moving towards or away from the fixing plate;

[0031] The position detector and the reset member are both mounted on the fixing plate and located between the fixing plate and the collision plate.

[0032] In an example embodiment of the present disclosure, the detection module comprises:

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

[0034] In another aspect of the present disclosure, a cleaning device is provided, comprising:

[0035] A carrying device, which is any of the carrying devices described above, is provided with a carrying structure.

[0036] A cleaning device is located on the carrying structure, and the cleaning device is capable of cleaning the surface to be cleaned.

[0037] In another aspect of the present disclosure, a cleaning system is provided, comprising:

[0038] A base station;

[0039] A cleaning device, which is the cleaning device described above, is capable of interfacing with the base station.

[0040] The technical solutions provided by the present disclosure can achieve the following beneficial effects:

[0041] The carrying device provided by the present disclosure comprises a detection module and a movement module. The detection module can be configured to detect the relative position between the carrying device and the kick surface of the step. The movement module is configured to drive the carrying device to climb the step and / or move along the kick surface of the step when the relative position between the carrying device and the kick surface is within a preset range.

[0042] Therefore, the carrying device can avoid climbing the steps and / or moving along the kick surface when the distance between the carrying device and the kick surface is far, thereby avoiding the risk of falling or deviation of the carrying device when climbing the steps and / or moving along the kick surface, and improving the safety of the carrying device when climbing the steps and / or moving along the kick surface.

[0043] It should be understood that the foregoing general description and the following detailed description are only exemplary and explanatory, and are not limiting to the present disclosure. BRIEF DESCRIPTION OF DRAWINGS

[0044] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments consistent with the present disclosure and serve to explain the principles of the present disclosure. It is apparent that the accompanying drawings are only some embodiments of the present disclosure, and other drawings can be obtained by those skilled in the art without creative labor on the basis of the accompanying drawings.

[0045] Figure 1 A structural schematic diagram of a carrying device according to an exemplary embodiment of the present disclosure is shown;

[0046] Figure 2 A schematic diagram of the carrying device on the steps according to an exemplary embodiment of the present disclosure is shown;

[0047] Figure 3 A structural schematic diagram of a detection module under a first view according to an exemplary embodiment of the present disclosure is shown;

[0048] Figure 4 A partial structural schematic diagram of a detection module according to an exemplary embodiment of the present disclosure is shown;

[0049] Figure 5 A partial structural schematic diagram of a detection module according to another exemplary embodiment of the present disclosure is shown;

[0050] Figure 6 A structural schematic diagram of a collision plate according to an exemplary embodiment of the present disclosure is shown;

[0051] Figure 7 A structural schematic diagram of a detection module under a second view according to an exemplary embodiment of the present disclosure is shown;

[0052] Figure 8 A flowchart of a control method of a carrying device according to a first exemplary embodiment of the present disclosure is shown;

[0053] Figure 9 A flowchart of a control method of a carrying device according to a second exemplary embodiment of the present disclosure is shown;

[0054] Figure 10 A flowchart illustrating a control method of a bearing device according to a third example embodiment of the present disclosure is shown;

[0055] Figure 11 A flowchart illustrating a control method of a bearing device according to a fourth example embodiment of the present disclosure is shown;

[0056] Figure 12 A flowchart illustrating a control method of a bearing device according to a fifth example embodiment of the present disclosure is shown.

[0057] BRIEF DESCRIPTION OF DRAWINGS

[0058] 1. Bearing device; 11. Detection module; 111. Impact plate; 1111. First plate portion; 1112. Second plate portion; 1113. Body portion; 1114. Connecting plate; 1115. Connecting hole; 1116. First limiting structure; 1117. Connecting block; 112. Position detector; 1121. First position detector; 1122. Second position detector; 1123. Third position detector; 1124. Fourth position detector; 113. Reset member; 1131. First reset member; 1132. Second reset member; 1133. Third reset member; 1134. Fourth reset member; 1135. Fixed portion; 1136. Elastic portion; 114. Fixed plate; 1141. Rotation shaft; 1142. Second limiting portion; 1143. First mounting hole; 1144. Second mounting hole; 1145. Mounting protrusion; 1146. Receiving groove; 12. Body portion; 13. Side support portion; 14. Bearing structure; 15. Movement module;

[0059] 2. Step; 21. Kicking surface; 22. Treading surface. DETAILED DESCRIPTION

[0060] Example embodiments now will be described more fully hereinafter with reference to the accompanying drawings. Example embodiments, may, however, be implemented in many different forms and should not be construed as limited to the implementations set forth herein; rather, these implementations are provided so that this disclosure will be thorough and complete, and will fully convey the scope of example embodiments to those skilled in the art. Like reference numerals refer to like elements throughout the figures, and descriptions of the same elements will be omitted from descriptions of subsequent figures.

[0061] Although relative terms are used in this specification, such as "upper", "lower", to describe one component's relationship to another component of the icon, these terms are used herein solely for convenience, e.g., based on the example's orientation as shown in the figures. It will be understood that if the icon's device is turned over, so that what is on "top" becomes on the "bottom", then as described the component on the "top" becomes the component on the "bottom". When a structure is "on" another structure, it can mean that the structure is formed integrally with the other structure, or that the structure is "directly" on the other structure, or that the structure is "indirectly" on the other structure via another structure.

[0062] The terms "one", "a", "an", "the", "said", are used to mean that "zero", "one", or more of the elements / components / etc. are present with the understanding that the terms "one", "a", "an", "the", "said", are used in this specification to refer to one or more elements / components / etc.; the term "includes" and "having" are used to mean "comprising" in the open sense and that additional elements / components / etc. can be present in addition to the listed elements / components / etc.; the terms "first", "second", etc. are used only as labels, and are not meant to limit the number of components / elements / etc.

[0063] As shown in Figures 1 to 7 The present disclosure first provides a cleaning device, which can include a carrying device 1 and a cleaning device. The cleaning device can be a floor cleaning robot, a floor washing machine, a vacuum cleaner, a sweeping and mopping all-in-one machine, a window cleaning robot, etc. The cleaning device can include a cleaning part, which can be a roller brush, an edge brush, a water outlet, a mopping piece, a window cleaning piece, etc., for cleaning a surface to be cleaned, which can be a floor, a surface of a step 2, etc.

[0064] As shown in Figure 1 and Figure 2 The carrying device 1 can have the function of climbing the step 2 and / or moving along the kick surface 21 of the step 2, for example, the carrying device 1 can be a stair climbing machine, but is not limited thereto, and the carrying device 1 can also be other machines with carrying function.

[0065] It should be noted that the step 2 can have a tread surface 22 and a kick surface 21, the tread surface 22 of the step 2 refers to the surface of the step 2 parallel to the horizontal plane, and the kick surface 21 of the step 2 refers to the surface of the step 2 parallel to the vertical plane and extending in the horizontal direction. The above-mentioned movement of the carrying device 1 along the kick surface 21 of the step 2 means that the carrying device 1 can move in the direction in which the kick surface 21 extends.

[0066] The carrying device 1 can be provided with a carrying structure 14, and the cleaning device can be located on the carrying structure 14, so that the carrying device 1 can carry the cleaning device to climb the step 2 and / or move along the kick surface 21 of the step 2, so as to clean the surface of the step 2 or the floor of different floors, etc. surface to be cleaned by using the cleaning device.

[0067] The carrying structure 14 can be located at the bottom surface of the carrying device 1, so that the distance between the carrying structure 14 and the surface to be cleaned is closer, facilitating the cleaning device to clean the surface to be cleaned. The carrying device 1 can also have a containing cavity, and the cleaning device can be located in the containing cavity to be limited and protected by the inner wall of the containing cavity and the carrying structure 14, so as to reduce the probability of the cleaning device being separated from the carrying structure 14, and avoid the cleaning device being damaged by colliding with objects in the external environment.

[0068] In some embodiments, the carrying device 1 itself can also have a cleaning function, that is, the bottom surface of the carrying device 1 can also be directly provided with a cleaning device, so that the carrying device 1 and the cleaning device form an integral structure, which can climb the steps 2 and / or move along the tread 22, and clean the surface to be cleaned. In this way, the integration of the carrying device 1 can be improved, and additional cleaning devices no longer need to be added, and the carrying structure 14 for carrying other cleaning devices no longer needs to be provided on the carrying device 1.

[0069] As shown in Figures 1 to 7 The carrying device 1 can include a detection module 11 and a motion module 15. The detection module 11 can be configured to detect the relative position between the carrying device 1 and the kick surface 21 of the step 2.

[0070] The motion module 15 can be used to drive the carrying device 1 to move. The motion module 15 can be configured to drive the carrying device 1 to climb the step 2 and / or move along the kick surface 21 of the step 2 when the relative position between the carrying device 1 and the kick surface 21 is within the preset range. In addition, the motion module 15 can also be configured to drive the carrying device 1 to move towards the kick surface 21 when the relative position between the carrying device 1 and the kick surface 21 is outside the preset range.

[0071] In this way, the carrying device 1 can avoid climbing the step 2 and / or moving along the kick surface 21 when the distance between the carrying device 1 and the kick surface 21 of the step 2 is far, so as to avoid the problems of falling or deviation of the carrying device 1 when climbing the step 2 or moving along the kick surface 21, and improve the safety and stability of the carrying device 1 when climbing the step 2 or moving along the kick surface 21.

[0072] The preset range can be set according to actual needs. For example, when the bearing device 1 is in contact with the kicking surface 21, the relative position between the bearing device 1 and the kicking surface 21 can be within the preset range. Alternatively, when the distance between the bearing device 1 and the kicking surface 21 is relatively short, the relative position between the bearing device 1 and the kicking surface 21 can be within the preset range. In some embodiments, the detection module 11 can also be configured to detect the relative attitude between the bearing device 1 and the kicking surface 21. The movement module 15 can be configured to switch the movement state of the bearing device 1 when the bearing device 1 is in an inclined attitude relative to the kicking surface 21, so that the bearing device 1 is in a substantially parallel attitude relative to the kicking surface 21. For example, when the bearing device 1 is in an inclined attitude relative to the kicking surface 21, the movement module 15 can drive the bearing device 1 to deflect, so as to correct the attitude of the bearing device 1 and make the bearing device 1 in a substantially parallel attitude relative to the kicking surface 21.

[0073] In this way, the attitude of the bearing device 1 can be accurately judged before the bearing device 1 climbs the step 2 or moves along the kicking surface 21, and the attitude of the bearing device 1 is adjusted to a substantially parallel attitude relative to the kicking surface 21, so as to avoid the risk of falling or deviation of the bearing device 1 due to incorrect attitude when the bearing device 1 climbs the step 2 or moves along the kicking surface 21, and the safety of the bearing device 1 when climbing the step 2 or moving along the kicking surface 21 can be further improved.

[0074] In some embodiments, when it is detected that the bearing device 1 is in a substantially parallel attitude relative to the kicking surface 21, the step 2 can be considered as a straight step. When the bearing device 1 is in an inclined attitude relative to the kicking surface 21, the step 2 can be considered as a rotating step. In this way, the type of the step 2 can be judged by using the detection module 11.

[0075] When the step 2 is a straight step, the movement module 15 can drive the bearing device 1 to climb the step 2. When the step 2 is a rotating step, the movement module 15 can adjust the attitude of the bearing device 1 so that the bearing device 1 is in a substantially parallel attitude relative to the kicking surface 21, and then drive the bearing device 1 to climb the step 2. In this way, the type of the step 2 can be accurately judged before the bearing device 1 climbs the step 2, so that different climbing strategies can be adopted according to the type of the step 2 to avoid the risk of falling of the bearing device 1 due to the change of the type of the step 2 when the bearing device 1 climbs the step 2, and the safety of the bearing device 1 when climbing the step 2 can be further improved.

[0076] In some embodiments, a controller can be arranged in the bearing device 1. The controller can be used to receive the detection signal sent by the detection module 11, and control the movement module 15 to drive the bearing device 1 to move according to the relative position or relative attitude between the bearing device 1 and the kicking surface 21 of the step 2 detected by the detection module 11. The controller can be a processor or a single-chip microcomputer, but is not limited thereto.

[0077] In some embodiments, the detection module 11 can be configured to detect the relative posture between the side of the supporting device 1 facing the kick surface 21 and the kick surface 21, so as to detect the relative posture between the supporting device 1 and the kick surface 21. When the detection module 11 detects that the side of the supporting device 1 facing the kick surface 21 is substantially parallel to the kick surface 21, the supporting device 1 is in a substantially parallel posture relative to the kick surface 21; when the side of the supporting device 1 facing the kick surface 21 is tilted relative to the kick surface 21, the supporting device 1 is in a tilted posture relative to the kick surface 21.

[0078] In some embodiments of this disclosure, the supporting device 1 may include a main body 12 and a side support 13. The side support 13 may be connected to the main body 12. The aforementioned supporting structure 14 and the receiving cavity may be located on the main body 12. The detection module 11 and the controller may be disposed on the main body 12, or the detection module 11 and the controller may be disposed on the side support 13, or the detection module 11 and the controller may be disposed on both the main body 12 and the side support 13.

[0079] like Figures 3 to 7 As shown, the detection module 11 may include a collision plate 111 and a position detector 112. The collision plate 111 may be disposed on the side of the main body 12 facing the kick surface 21 and may protrude from the main body 12. The collision plate 111 is movable towards or away from the main body 12. The position detector 112 may be disposed between the collision plate 111 and the main body 12, and the position detector 112 may be configured to detect the relative position between the collision plate 111 and the main body 12.

[0080] When the position detector 112 detects that the collision plate 111 is moving towards the main body 12, it can be considered that the supporting device 1 and the kick surface 21 are in contact, and the relative position between the supporting device 1 and the kick surface 21 is within a preset range. Similarly, it can be understood that when the position detector 112 detects that the collision plate 111 is not moving towards the main body 12, it can be considered that the supporting device 1 is not in contact with the kick surface 21, and the relative position between the supporting device 1 and the kick surface 21 is outside the preset range.

[0081] By detecting whether the load-bearing device 1 is in contact with the riser 21, it can be ensured that the load-bearing component can be close to the riser 2 when climbing the riser 2, thus ensuring the stability and safety of climbing the riser 2 and avoiding the problem of stepping into the air.

[0082] Furthermore, when the supporting device 1 comes into contact with the kick surface 21, the kick surface 21 can be used to guide the movement of the supporting device 1, so that the supporting device 1 will not deviate or fall when it moves along the kick surface 21, thereby further improving the safety of the supporting device 1 moving along the kick surface 21.

[0083] The collision plate 111 can include a first plate portion 1111 and a second plate portion 1112, which can be located on both sides of a center line S1 along which the collision plate 111 extends in the height direction Y of the main body portion 12. That is, it can be understood that the center line S1 along which the collision plate 111 extends in the height direction Y of the main body portion 12 can divide the collision plate 111 into two portions. The position detector 112 can be configured to detect the relative attitude between the side of the carrying device 1 facing the kick surface 21 and the kick surface 21 by detecting the movement positions of the first plate portion 1111 and the second plate portion 1112.

[0084] In some embodiments, the collision plate 111 can be able to rotate around the center line S1 along which it extends in the height direction Y, and when the position detector 112 detects that only one of the first plate portion 1111 and the second plate portion 1112 moves in the direction close to the main body portion 12, it can be considered that the side of the carrying device 1 facing the kick surface 21 is inclined to the kick surface 21. When the position detector 112 detects that both the first plate portion 1111 and the second plate portion 1112 move in the direction close to the main body portion 12, it can be considered that the side of the carrying device 1 facing the kick surface 21 is substantially parallel to the kick surface 21.

[0085] That is, it can be understood that when the side of the carrying device 1 facing the kick surface 21 is inclined to the kick surface 21, one of the first plate portion 1111 and the second plate portion 1112 is closer to the kick surface 21 relative to the other, so that the one closer to the kick surface 21 will collide with the kick surface 21 first. After the plate portion collides with the kick surface 21, the collision force will drive the collision plate 111 to rotate, so that the plate portion will move in the direction close to the main body portion 12, and the other plate portion will move in the direction away from the main body portion 12. When the side of the carrying device 1 facing the kick surface 21 is substantially parallel to the kick surface 21, the distances between the first plate portion 1111 and the second plate portion 1112 and the kick surface 21 are the same, so that the first plate portion 1111 and the second plate portion 1112 will collide with the kick surface 21 at the same time, and at this time the collision force will not drive the collision plate 111 to rotate, so that the entire collision plate 111 will move in the direction close to the main body portion 12.

[0086] In other embodiments, the first plate portion 1111 and the second plate portion 1112 can be able to move independently, respectively. That is, when the first plate portion 1111 moves in the direction close to or away from the main body portion 12, the second plate portion 1112 can not move in the direction close to or away from the main body portion 12; or, when the second plate portion 1112 moves in the direction close to or away from the main body portion 12, the first plate portion 1111 can not move in the direction close to or away from the main body portion 12; or, the first plate portion 1111 and the second plate portion 1112 can move in the direction close to or away from the main body portion 12 at the same time.

[0087] In this embodiment, when the position detector 112 detects that only one of the first plate portion 1111 and the second plate portion 1112 moves towards the main body portion 12, it can be considered that the side of the supporting device 1 facing the kick surface 21 is inclined to the kick surface 21. When the position detector 112 detects that both the first plate portion 1111 and the second plate portion 1112 move towards the main body portion 12, it can be considered that the side of the supporting device 1 facing the kick surface 21 is substantially parallel to the kick surface 21.

[0088] In other words, it can be understood that when the side of the supporting device 1 facing the kick surface 21 is tilted relative to the kick surface 21, one of the first plate portion 1111 and the second plate portion 1112 is closer to the kick surface 21 than the other, so that the one closer to the kick surface 21 will preferentially collide with the kick surface 21. After colliding with the kick surface 21, the collision force will drive it to move towards the main body portion 12. The other plate portion, being farther away from the kick surface 21, will not collide with the kick surface 21 and will not move towards the main body portion 12. When the side of the supporting device 1 facing the kick surface 21 is substantially parallel to the kick surface 21, the distance between the first plate portion 1111 and the second plate portion 1112 and the kick surface 21 is the same, so that the first plate portion 1111 and the second plate portion 1112 will collide with the kick surface 21 simultaneously. At this time, the collision force will simultaneously drive the first plate portion 1111 and the second plate portion 1112 to move towards the main body portion 12.

[0089] In some embodiments, such as Figure 4 and Figure 5 As shown, the position detector 112 may include a trigger switch, that is, the position detector 112 may be a micro switch, but is not limited to this. When the collision plate 111 contacts the trigger switch, it can be determined that the bearing device 1 is in contact with the kick surface 21.

[0090] Furthermore, when only one of the first plate portion 1111 and the second plate portion 1112 is in contact with the trigger switch, the side of the device 1 facing the kick surface 21 is inclined to the kick surface 21. When both the first plate portion 1111 and the second plate portion 1112 are in contact with the trigger switch, the side of the device 1 facing the kick surface 21 is substantially parallel to the kick surface 21.

[0091] The detection module 11 may include multiple position detectors 112, which may be spaced apart to improve the accuracy and sensitivity of the detection module 11 in detecting the position of the collision plate 111, and further improve the safety of the carrying device 1 climbing the step 2 and / or moving along the riser 21.

[0092] The detection module 11 can include a first position detector 1121 and a second position detector 1122, which can be arranged at intervals in the height direction Y of the main body 12. In this way, the relative positions between the different height regions of the collision plate 111 and the main body 12 can be detected by the first position detector 1121 and the second position detector 1122, so as to expand the detection range of the detection module 11, and the height of the step 2 can be detected. That is, only when the position detector 112 located below detects that the collision plate 111 moves towards the main body 12, it can be judged that the height of the step 2 is low. When the first position detector 1121 and the second position detector 1122 both detect that the collision plate 111 moves towards the main body 12, it can be judged that the height of the step 2 is high.

[0093] The detection module 11 can further include a third position detector 1123. The third position detector 1123 and the first position detector 1121 can be arranged at intervals in the direction in which the carrying device 1 moves along the kick surface 21. It can be understood that the direction in which the carrying device 1 moves along the kick surface 21 can be the width direction X of the main body 12. In this way, the relative positions between the different width regions of the collision plate 111 and the main body 12 can be detected by the first position detector 1121 and the third position detector 1123, so as to expand the detection range of the detection module 11.

[0094] The detection module 11 can further include a fourth position detector 1124. The fourth position detector 1124 can be arranged at intervals with the third position detector 1123 in the height direction Y of the main body 12, so as to further expand the detection range of the detection module 11.

[0095] The first position detector 1121 and the second position detector 1122 can be arranged between the main body 12 and the first plate 1111, so as to detect the movement position of the first plate 1111. The third position detector 1123 and the fourth position detector 1124 can be arranged between the main body 12 and the second plate 1112, so as to detect the movement position of the second plate 1112.

[0096] In some embodiments, as shown in Figure 4 and Figure 5 The detection module 11 can further include a reset member 113. The reset member 113 can be arranged between the collision plate 111 and the main body 12. The reset member 113 can be configured to drive the collision plate 111 to reset after the collision plate 111 moves towards the main body 12, so as to prepare for the next detection.

[0097] The reset member 113 can include a fixed part 1135 and an elastic part 1136. The fixed part 1135 can be fixed to the main body part 12, and the elastic part 1136 can abut against or be connected to the side of the collision plate 111 close to the main body part 12, and the elastic part 1136 can be elastically deformed when the collision plate 111 moves in the direction close to the main body part 12, so that the reset member 113 has a restoring force inside. The reset member 113 can drive the collision plate 111 to reset by the restoring force. The reset member 113 can be a spring, but is not limited thereto, and can also be a structure that can be elastically deformed.

[0098] When the collision plate 111 has the first plate part 1111 and the second plate part 1112, the reset member 113 can be configured to drive the first plate part 1111 and / or the second plate part 1112 to reset when the first plate part 1111 and / or the second plate part 1112 move in the direction close to the main body part 12. And when the first plate part 1111 and / or the second plate part 1112 move in the direction close to the main body part 12, the elastic part 1136 can be elastically deformed, so that the reset member 113 has a restoring force inside. The reset member 113 can drive the first plate part 1111 and / or the second plate part 1112 to reset by the restoring force.

[0099] The detection module 11 can include a plurality of reset members 113. The plurality of reset members 113 can be arranged at intervals. In this way, the driving force for resetting the collision plate 111 can be improved to ensure that the collision plate 111 can be accurately and timely reset to ensure that the subsequent detection work of the detection module 11 can be carried out normally.

[0100] The detection module 11 can include a first reset member 1131 and a second reset member 1132. The first reset member 1131 and the second reset member 1132 can be arranged at intervals in the height direction Y of the main body part 12 to apply a resetting driving force to different areas of the collision plate 111 in the height direction Y to ensure that the collision plate 111 can be accurately and timely reset.

[0101] The detection module 11 can further include a third reset member 1133. The third reset member 1133 and the first reset member 1131 can be arranged at intervals in the direction in which the side support part 13 points to the main body part 12 to apply a resetting driving force to different areas of the collision plate 111 in the height direction Y to ensure that the collision plate 111 can be accurately and timely reset.

[0102] The detection module 11 can include a fourth reset member 1134. The fourth reset member 1134 and the third reset member 1133 can be arranged at intervals in the height direction Y of the main body part 12 to further improve the driving force for resetting the collision plate 111.

[0103] The first position detector 1121 and the second position detector 1122 can be arranged between the main body 12 and the first plate 1111 for driving the first plate 1111 to reset. The third position detector 1123 and the fourth position detector 1124 can be arranged between the main body 12 and the second plate 1112 for driving the second plate 1112 to reset. In this way, the first plate 1111 and the second plate 1112 can be accurately and timely reset after the collision, and the first plate 1111 and the second plate 1112 can work normally in the subsequent detection.

[0104] In some embodiments, as shown in Figures 4 to 7 The fixing plate 114 can be fixed to the side of the main body 12 facing the kick surface 21, and the collision plate 111 can be connected to the fixing plate 114 and can move towards or away from the fixing plate 114. The position detector 112 and the reset member 113 can be mounted on the fixing plate 114 and located between the fixing plate 114 and the collision plate 111. By arranging the fixing plate 114, the collision plate 111, the position detector 112 and the reset member 113 can be provided with stable mounting positions, so that the detection module 11 is an integral structure, and the detection module 11 can be easily mounted on the side of the main body 12 facing the kick surface 21.

[0105] As shown in Figure 5 The fixing plate 114 can be provided with a first mounting hole 1143, and the position detector 112 can be mounted in the first mounting hole 1143 to improve the mounting stability of the position detector 112 and facilitate the electrical control wiring of the position detector 112. When the detection module 11 includes a plurality of position detectors 112, the fixing plate 114 can be provided with a plurality of first mounting holes 1143, each position detector 112 can have a corresponding first mounting hole 1143, and each position detector 112 can be mounted in the corresponding first mounting hole 1143.

[0106] The fixing plate 114 can be provided with a second mounting hole 1144, and the reset member 113 can be mounted in the second mounting hole 1144 to improve the mounting stability of the reset member 113. When the detection module 11 includes a plurality of reset members 113, the fixing plate 114 can be provided with a plurality of second mounting holes 1144, each reset member 113 can have a corresponding second mounting hole 1144, and each reset member 113 can be mounted in the corresponding second mounting hole 1144.

[0107] Further, the side wall of the second mounting hole 1144 can be provided with a mounting protrusion 1145, and the fixing plate 114 of the reset member 113 can be clamped with the mounting protrusion 1145 to realize the connection between the reset member 113 and the fixing plate 114. The reset member 113 can have a plurality of fixing portions 1135, and the side wall of the second mounting shell can also be provided with a plurality of mounting protrusions 1145. The plurality of fixing portions 1135 can correspond to the plurality of mounting protrusions 1145 one by one, and each fixing portion 1135 can be clamped with the corresponding mounting protrusion 1145. In this way, the installation stability of the reset member 113 can be further improved.

[0108] In some embodiments, as shown in Figure 4 The fixing plate 114 can be provided with a rotating shaft 1141, and the collision plate 111 can be rotationally connected with the rotating shaft 1141. The center line S2 of the rotating shaft 1141 extending along the height direction Y can coincide with the center line S1 of the collision plate 111 extending along the height direction Y. In this way, the collision plate 111 can rotate around the center line S1 extending along the height direction Y.

[0109] The rotating shaft 1141 can be arranged on at least one side of the fixing plate 114 in the height direction Y. The collision plate 111 can include a body portion 1113 and at least one connecting plate 1114. The body portion 1113 can be arranged to face the kicking surface 21. The connecting plate 1114 can be located on one side of the body plate in the height direction Y, and the connecting plate 1114 can extend towards the fixing plate 114. The connecting plate 1114 can be rotationally connected with the rotating shaft 1141. In this way, the connecting area between the collision plate 111 and the fixing plate 114 can be increased by the connecting plate 1114, and the connection strength can be improved.

[0110] The rotating shaft 1141 can be arranged on both sides of the fixing portion 1135 in the height direction Y. The collision plate 111 can include two connecting plates 1114, and the two connecting plates 1114 can be respectively located on both sides of the body portion 1113 in the height direction Y. The two connecting plates 1114 can extend towards the fixing plate 114 and be respectively rotationally connected with the rotating shaft 1141 close to them.

[0111] As shown in Figure 4 and Figure 6 The connecting plate 1114 can be provided with a connecting hole 1115, and the connecting hole 1115 can be arranged on the side of the connecting plate 1114 close to the rotating shaft 1141. The rotating shaft 1141 can extend into the connecting hole 1115 to realize the rotational connection.

[0112] In some embodiments, the connecting plate 1114 may be provided with a connecting block 1117, and a connecting hole 1115 may be provided within the connecting block 1117 to increase the thickness at the connection between the connecting plate 1114 and the fixing plate 114, thereby improving the connection strength between the connecting plate 1114 and the fixing plate 114. Simultaneously, the side of the fixing plate 114 facing the connecting plate 1114 may be provided with a receiving groove 1146, and the rotating shaft 1141 may be located within the receiving groove 1146. When the rotating shaft 1141 is connected to the connecting hole 1115, at least a portion of the connecting block 1117 may be located within the receiving groove 1146, thereby limiting the connection block 1117 and preventing the connecting block 1117 from detaching from the rotating shaft 1141.

[0113] The connecting plate 1114 may also be provided with a first limiting structure 1116, and at least one side of the fixing plate 114 in the height direction Y may be provided with a second limiting structure. The first limiting structure 1116 and the second limiting structure can cooperate to limit the movement range of the collision plate 111. The first limiting structure 1116 may be a limiting hole, and the second limiting structure may be a limiting post, which may extend into the limiting hole to achieve the limiting cooperation. However, it is not limited to this; the first limiting structure 1116 may be a limiting post, and the second limiting structure may be a limiting hole; or the first limiting structure 1116 and the second limiting structure may be other limiting structures besides the limiting hole and the limiting post.

[0114] In some embodiments, such as Figure 7 As shown, the side of the fixing plate 114 near the main body 12 can be a grid-like hollow structure. This design can reduce the weight and manufacturing cost of the fixing plate 114 while ensuring that the fixing plate 114 has high structural strength, thereby further reducing the weight and manufacturing cost of the supporting device 1.

[0115] In some other embodiments of this disclosure, the detection module 11 may include a distance sensor, such as an infrared sensor. The distance sensor can be configured to detect the specific distance between the supporting device 1 and the kick surface 21, thereby detecting the relative position between them. By using a distance sensor, this embodiment can directly detect the specific distance between the supporting device 1 and the kick surface 21, thus accurately determining the relative distance and improving accuracy.

[0116] The detection module 11 can further include an angle detector, such as a gyroscope, etc. The angle detector can be arranged on the main body 12, and the angle detector can be configured to detect an angle value of the inclination of the carrying device 1. In this way, when adjusting the posture of the carrying device 1, the posture of the carrying device 1 can be accurately adjusted according to the specific angle value detected by the angle detector, so as to adjust the carrying device 1 from the inclined posture to the substantially parallel posture.

[0117] Some embodiments of the present disclosure, as shown in Figure 8 and Figure 9 provide a control method of a carrying device 1. The control method of the carrying device 1 can be used to control the above-mentioned carrying device 1, but is not limited thereto. As shown in Figure 8 , the control method of the carrying device 1 can include:

[0118] Step S100, detecting the relative position between the carrying device 1 and the kick surface 21 by using the detection module 11.

[0119] Step S110, driving the carrying device 1 to move by using the movement module 15 according to the relative position between the carrying device 1 and the kick surface 21.

[0120] Step S120, when the relative distance between the carrying device 1 and the kick surface 21 is within the preset range, the movement module 15 drives the carrying device 1 to climb the step 2 and / or move along the kick surface 21 of the step 2; when the relative distance between the carrying device 1 and the kick surface 21 is outside the preset range, the movement module 15 drives the carrying device 1 to move towards the direction close to the kick surface 21.

[0121] It should be noted that the specific structure, working principle and beneficial effects of the carrying device 1 have been described in detail in the above-mentioned embodiments of the present disclosure, so in this embodiment, the specific structure, working principle and beneficial effects of the carrying device 1 will not be described again, and the specific description in the above-mentioned embodiments can be referred to, which is within the protection scope of the present disclosure.

[0122] Through the control method of the carrying device 1, the carrying device 1 can avoid climbing the step 2 and / or moving along the kick surface 21 when the distance between the carrying device 1 and the kick surface 21 of the step 2 is far, so as to avoid the risk of falling or deviation when the carrying device 1 climbs the step 2 or moves along the kick surface 21, and improve the safety of the carrying device 1 when climbing the step 2 or moving along the kick surface 21.

[0123] In some embodiments, in the step S100, the relative position between the collision plate 111 and the kick surface 21 can be detected by the position detector 112. When the position detector 112 detects that the collision plate 111 moves towards the main body 12, it can be considered that the collision plate 111 contacts the kick surface 21. When the position detector 112 does not detect that the collision plate 111 moves towards the main body 12, it can be considered that the collision plate 111 does not contact the kick surface 21.

[0124] The relative position between the carrying device 1 and the kick surface 21 can be obtained according to the relative position between the collision plate 111 and the kick surface 21. When the collision plate 111 contacts the kick surface 21, the relative position between the carrying device 1 and the kick surface 21 is within a preset range. When the collision plate 111 does not contact the kick surface 21, the relative position between the carrying device 1 and the kick surface 21 is not within the preset range.

[0125] In some embodiments, in the step S100, when the position detector 112 includes a trigger switch, the relative position between the collision plate 111 and the kick surface 21 can be detected by the position detector 112. When the trigger switch of the position detector 112 contacts the collision plate 111, it can be considered that the collision plate 111 contacts the kick surface 21. When the trigger switch of the position detector 112 does not contact the collision plate 111, it can be considered that the collision plate 111 does not contact the kick surface 21.

[0126] The relative position between the carrying device 1 and the kick surface 21 can be obtained according to the relative position between the collision plate 111 and the kick surface 21. When the collision plate 111 contacts the kick surface 21, the relative position between the carrying device 1 and the kick surface 21 is within a preset range. When the collision plate 111 does not contact the kick surface 21, the relative position between the carrying device 1 and the kick surface 21 is not within the preset range.

[0127] In the step S110, the controller can control the movement module 15 to move the carrying device 1 according to the relative distance between the carrying device 1 and the kick surface 21 of the step 2.

[0128] Some embodiments of the present disclosure, as shown in Figures 9 to 10 The carrying device 1 control method can be used to control the carrying device 1 described above.

[0129] As shown in Figure 10 The carrying device 1 control method can include:

[0130] Step S200, before climbing the step 2 and / or moving along the kick surface 21 of the step 2, the detection module 11 detects the relative attitude between the carrying device 1 and the kick surface 21.

[0131] Step S210, according to the relative attitude between the bearing device 1 and the kick surface 21, the bearing device is driven to move by the motion module 15.

[0132] Step S220, when the bearing device 1 is in an inclined attitude relative to the kick surface 21, the motion module 15 drives the bearing device 1 to switch the motion state, so that the bearing device 1 is in a substantially parallel attitude relative to the kick surface 21; when the bearing device 1 is in a substantially parallel attitude relative to the kick surface 21, the motion module 15 drives the bearing device 1 to climb the steps 2 and / or move along the kick surface 21 of the steps 2.

[0133] It should be noted that the specific structure, working principle and beneficial effects of the bearing device 1 have been described in detail in the above embodiments, so in this embodiment, the specific structure, working principle and beneficial effects of the bearing device 1 will not be described again, and can be referred to the specific description in the above embodiments, which are all within the protection scope of the present disclosure.

[0134] Through the control method of the bearing device 1, the attitude of the bearing device 1 can be accurately judged before the bearing device 1 climbs the steps 2 or moves along the kick surface 21, and the attitude of the bearing device 1 is adjusted, so that the risk of falling or deviation of the bearing device 1 due to incorrect attitude when climbing the steps 2 or moving along the kick surface 21 is avoided, and the safety of the bearing device 1 when climbing the steps 2 or moving along the kick surface 21 can be further improved.

[0135] In some embodiments, in the above step S200, the relative attitude between the bearing device 1 and the kick surface 21 can be detected by the detection module 11 to detect the relative attitude between the bearing device 1 and the kick surface 21. When the detection module 11 detects that the side of the bearing device 1 facing the kick surface 21 is substantially parallel to the kick surface 21, the bearing device 1 is in a substantially parallel attitude relative to the kick surface 21. When the side of the bearing device 1 facing the kick surface 21 is inclined to the kick surface 21, the bearing device 1 is in an inclined attitude relative to the kick surface 21.

[0136] Further, the motion positions of the first plate part 1111 and the second plate part 1112 can be detected by the position detector 112. When the position detector 112 detects that only one of the first plate part 1111 and the second plate part 1112 moves in the direction close to the main body part 12, it can be considered that the side of the bearing device 1 facing the kick surface 21 is inclined to the kick surface 21. When the position detector 112 detects that both the first plate part 1111 and the second plate part 1112 move in the direction close to the main body part 12, it can be considered that the side of the bearing device 1 facing the kick surface 21 is parallel to the kick surface 21.

[0137] In some embodiments, during step S200, when the position detector 112 includes a trigger switch, the position detector 112 can be used to detect the movement positions of the first plate portion 1111 and the second plate portion 1112. When only one of the first plate portion 1111 and the second plate portion 1112 is in contact with the trigger switch, it can be assumed that the side of the supporting device 1 facing the kick surface 21 is inclined to the kick surface 21. When both the first plate portion 1111 and the second plate portion 1112 are in contact with the trigger switch, it can be assumed that the side of the supporting device 1 facing the kick surface 21 is parallel to the kick surface 21.

[0138] In step S210, the controller can be used to control the motion module 15 to switch the motion state of the bearing device 1 according to the relative posture between the bearing device 1 and the kick surface 21.

[0139] In some embodiments, in step S220, an angle detector can be used to detect the tilt angle of the supporting device 1. The controller can be used to control the motion module 15 according to the angle value detected by the angle detector, so that the motion module 15 adjusts the posture of the supporting device 1 according to the angle value, so that the supporting device 1 is in a basically parallel posture relative to the kick surface 21.

[0140] In some embodiments, such as Figure 10 As shown, before step S200, the control method for the carrier device 1 may further include:

[0141] Step S230: Use the detection module 11 to detect the relative position between the load-bearing device 1 and the kick surface 21.

[0142] Step S240: When the relative position between the supporting device 1 and the kick surface 21 is within a preset range, execute step S200. When the relative position between the supporting device 1 and the kick surface 21 is outside the preset range, drive the supporting device 1 to move closer to the kick surface 21 until the relative position between the supporting device 1 and the kick surface 21 is within the preset range, and execute step S200.

[0143] This configuration allows for a safety assessment of the load-bearing device 1's movement along the riser 21 before it climbs the step 2 and / or moves along the riser 21. This ensures that the load-bearing device 1 can only move when it is close to the riser 21, thereby further improving its safety when climbing the step 2 and / or moving along the riser 21.

[0144] Some embodiments of this disclosure, such as Figures 11 to 12 As shown, a control method for the carrier device 1 is also provided. This control method for the carrier device 1 can be used to control the aforementioned carrier device 1, but is not limited thereto. For example... Figure 11 As shown, the control method for the carrier device 1 may include:

[0145] Step S300, before the carrying device 1 climbs the step 2, the detection module 11 is used to detect the relative posture between the carrying device 1 and the kick surface 21 of the step 2.

[0146] Step S310, the type of the step 2 is judged according to the relative posture between the carrying device 1 and the kick surface 21.

[0147] Step S320, when the carrying device 1 and the kick surface 21 are in a substantially parallel posture, the step 2 is a straight step 2; when the carrying device 1 and the kick surface 21 are in an inclined posture, the step 2 is a rotating step 2.

[0148] Step S330, according to the type of the step 2, the motion module 15 drives the carrying device 1 to move; when the step 2 is a straight step, the motion module 15 drives the carrying device 1 to climb the step 2; when the step 2 is a rotating step, the motion module 15 adjusts the posture of the carrying device 1 to make the carrying device 1 relative to the kick surface 21 in a substantially parallel posture, and drives the carrying device 1 to climb the step 2.

[0149] It should be noted that the specific structure, working principle and beneficial effects of the carrying device 1 have been described in detail in the above embodiment, so in this embodiment, the specific structure, working principle and beneficial effects of the carrying device 1 will not be described again, and can be referred to the specific description in the above embodiment, which is within the protection scope of the present disclosure.

[0150] Through the control method of the carrying device 1, the type of the step 2 can be accurately judged before the carrying device 1 climbs the step 2, and the carrying device 1 and the kick surface 21 of the step 2 are in a substantially parallel posture before climbing, which can avoid the risk of falling or deviation of the carrying device 1 when climbing the step 2 due to incorrect climbing method, and can further improve the safety of the carrying device 1 when climbing the step 2.

[0151] In some embodiments, in the above step S300, the detection module 11 can be used to detect the relative posture between the side of the carrying device 1 facing the kick surface 21 and the kick surface 21, so as to detect the relative posture between the carrying device 1 and the kick surface 21. When the detection module 11 detects that the side of the carrying device 1 facing the kick surface 21 is substantially parallel to the kick surface 21, the carrying device 1 is in a normal posture relative to the kick surface 21. When the side of the carrying device 1 facing the kick surface 21 is inclined to the kick surface 21, the carrying device 1 is in an inclined posture relative to the kick surface 21.

[0152] Further, the movement positions of the first plate portion 1111 and the second plate portion 1112 can be detected by the position detector 112. When the position detector 112 detects that only one of the first plate portion 1111 and the second plate portion 1112 moves toward the main body portion 12, it can be considered that the side of the support device 1 facing the kick surface 21 is inclined to the kick surface 21. When the position detector 112 detects that both the first plate portion 1111 and the second plate portion 1112 move toward the main body portion 12, it can be considered that the side of the support device 1 facing the kick surface 21 is parallel to the kick surface 21.

[0153] In some embodiments, in the above-described step S300, when the position detector 112 includes a trigger switch, the movement positions of the first plate portion 1111 and the second plate portion 1112 can be detected by the position detector 112. When only one of the first plate portion 1111 and the second plate portion 1112 contacts the trigger switch, it can be considered that the side of the support device 1 facing the kick surface 21 is inclined to the kick surface 21. When both the first plate portion 1111 and the second plate portion 1112 contact the trigger switch, it can be considered that the side of the support device 1 facing the kick surface 21 is parallel to the kick surface 21.

[0154] In step S310, the type of the step 2 can be determined by the controller based on the relative attitude between the side of the support device 1 facing the kick surface 21 and the kick surface 21.

[0155] In some embodiments, in step S320, when the position detector 112 detects that the first plate portion 1111 moves toward the main body portion 12, the direction of rotation of the step 2 is the direction in which the second plate portion 1112 points to the first plate portion 1111.

[0156] For example, when the first plate portion 1111 is located on the left side of the center line S1 extending in the height direction Y of the collision plate 111 and the second plate portion 1112 is located on the right side of the center line S1 extending in the height direction Y of the collision plate 111, when the first plate portion 1111 moves toward the main body portion 12, it can be determined that the direction of rotation of the step 2 is left rotation. When the first plate portion 1111 is located on the right side of the center line S1 extending in the height direction Y of the collision plate 111 and the second plate portion 1112 is located on the left side of the center line S1 extending in the height direction Y of the collision plate 111, when the first plate portion 1111 moves toward the main body portion 12, it can be determined that the direction of rotation of the step 2 is right rotation.

[0157] When the position detector 112 detects that the second plate portion 1112 moves toward the main body portion 12, the direction of rotation of the step 2 is the direction in which the first plate portion 1111 points to the second plate portion 1112.

[0158] For example, when the first plate portion 1111 is located to the left of the center line S1 extending along the height direction Y of the collision plate 111, and the second plate portion 1112 is located to the right of the center line S1 extending along the height direction Y of the collision plate 111, when the second plate portion 1112 moves towards the main body portion 12, it can be determined that the rotation direction of the step 2 is right-handed. When the first plate portion 1111 is located to the right of the center line S1 extending along the height direction Y of the collision plate 111, and the second plate portion 1112 is located to the left of the center line S1 extending along the height direction Y of the collision plate 111, when the second plate portion 1112 moves towards the main body portion 12, it can be determined that the rotation direction of the step 2 is left-handed.

[0159] In some embodiments, in step S330, an angle detector can be used to detect the tilt angle of the supporting device. A controller can be used to control the motion module 15 based on the angle value, so that the motion module 15 adjusts the posture of the supporting device 1 according to the angle value, so that the supporting device 1 is in a substantially parallel posture relative to the kick surface 21. The posture of the supporting device 1 can be adjusted according to the angle value.

[0160] In some embodiments, such as Figure 12 As shown, before step S300, the control method for the carrier device 1 may further include:

[0161] Step S340: Use the detection module 11 to detect the relative position between the load-bearing device 1 and the kick surface 21.

[0162] Step S350: When the relative position between the supporting device 1 and the kick surface 21 is within a preset range, step S300 is executed. When the relative position between the supporting device 1 and the kick surface 21 is outside the preset range, the supporting device 1 is driven to move closer to the kick surface 21 until the relative position between the supporting device 1 and the kick surface 21 is within the preset range, and step S300 is executed.

[0163] This configuration allows for a safety assessment of the carrying device 1's ability to climb the step 2 before it does so, ensuring that the carrying device 1 can only climb when it is close to the riser 21, thereby further improving its safety when climbing the step 2.

[0164] In some embodiments of this disclosure, a computer-readable storage medium is also provided, on which at least one piece of program code is stored, the at least one piece of program code being loaded and executed by a processor to implement the control method of the carrier device 1 described in the above embodiments.

[0165] The computer program product can take a portable compact disc read-only memory (CD-ROM) and include at least one program code, and can be executed on a terminal device, such as a personal computer. However, the program product in the present embodiment is not limited thereto, and in the present embodiment, the computer-readable storage medium can be any tangible medium containing or storing the computer program product, which can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0166] The computer program product can be stored in one or more computer-readable storage media. The computer-readable storage medium can be a readable signal medium or a readable storage medium. The readable storage medium, for example, can be, but is not limited to, an electrical, a magnetic, an optical, an electromagnetic, an infrared, or a semiconductor system, apparatus, or device, or any suitable combination thereof. More specific examples (a non-exhaustive list) of the readable storage medium include an electrical connection having one or more wires, a portable disc, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or a flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof.

[0167] The readable signal medium can include a data signal propagated in a baseband or as part of a carrier wave, in which the readable program code is carried. Such a propagated data signal can take a variety of forms, including but not limited to an electromagnetic signal, an optical signal, or any suitable combination thereof. The readable signal medium can also be any readable medium that is not a readable storage medium and that can transmit, propagate, or transport the program for use by or in connection with an instruction execution system, apparatus, or device.

[0168] The program code contained in the computer-readable storage medium can be transmitted by any suitable medium, including but not limited to wireless, wired, optical cable, RF, etc., or any suitable combination thereof.

[0169] The program code for performing the operations of the present application can be written in any combination of one or more programming languages, including an object-oriented programming language.

[0170] In some embodiments, a bearing device 1 is provided. The bearing device 1 can include, but is not limited to, one or more processors and one or more memories. Among them, the one or more memories store at least one program code, and the at least one program code can be loaded and executed by the one or more processors to implement each step in the control method of the bearing device 1 described in the above embodiments.

[0171] The memory can include a readable medium in the form of volatile memory, such as random access memory (RAM) and / or cache memory, and can further include read only memory (ROM).

[0172] A cleaning system is also provided in some embodiments of the present disclosure. As shown in Figures 1 to 7 The cleaning system includes a base station and a cleaning device. The cleaning device can be the cleaning device described above, and the carrying device 1 and / or the cleaning device in the cleaning device can be docked with the base station. The base station can charge and clean the carrying device 1, and / or can charge, replenish water, and clean the cleaning device, or can suck out dirt stored in the cleaning device.

[0173] It should be noted that the specific structure and beneficial effects of the cleaning device have been described in detail in the above embodiments of the present disclosure, so in the present embodiment, the specific structure and beneficial effects of the cleaning device will not be described again, and reference can be made to the specific description in the above embodiments, which are all within the protection scope of the present disclosure.

[0174] The cleaning system provided by the present disclosure includes the cleaning device described above, which includes the carrying device 1 and the cleaning device. As shown in Figures 1 to 7 The carrying device 1 can include a detection module 11 and a movement module 15. The detection module 11 can be configured to detect the relative position between the carrying device 1 and the kick surface 21 of the step 2.

[0175] The movement module 15 can be used to drive the carrying device 1 to move. The movement module 15 can be configured to drive the carrying device 1 to climb the step 2 and / or move along the kick surface 21 of the step 2 when the relative position between the carrying device 1 and the kick surface 21 is within a preset range. In addition, the movement module 15 can also be configured to drive the carrying device 1 to move towards the kick surface 21 when the relative position between the carrying device 1 and the kick surface 21 is outside the preset range.

[0176] In this way, the carrying device 1 can avoid climbing the step 2 and / or moving along the kick surface 21 when the distance between the carrying device 1 and the kick surface 21 of the step 2 is far, thereby avoiding problems such as falling or deviation of the carrying device 1 when climbing the step 2 or moving along the kick surface 21, and improving the safety and stability of the carrying device 1 when climbing the step 2 or moving along the kick surface 21.

[0177] Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the features disclosed herein. It is intended that the disclosure be construed as including any patents, patent applications, publications, publications, or other disclosure of complementary subject matter that is within the scope of the disclosure. It is intended that the specification and examples be considered exemplary only, with the true scope and spirit of the disclosure indicated by the following claims.

Claims

1. A load bearing device, characterized by, The carrying device is capable of climbing a step and / or moving along a kick surface of the step, and the carrying device comprises: a detection module configured to detect a relative position between the carrying device and the kick surface of the step; a movement module configured to drive the carrying device to climb the step and / or move along the kick surface of the step when the relative position between the carrying device and the kick surface is within a preset range.

2. The load bearing device of claim 1, wherein, The movement module is further configured to drive the carrying device to move towards the kick surface when the relative position between the carrying device and the kick surface is outside the preset range.

3. The load bearing device of claim 2, wherein, The carrying device comprises: a main body; a side support connected to the main body; wherein the detection module is arranged on the main body and / or the side support.

4. The load bearing device of claim 3, wherein, The detection module is arranged on the main body, and the detection module comprises: a collision plate arranged on a side of the main body facing the kick surface and protruding from the main body, the collision plate being capable of moving towards or away from the main body; a position detector arranged between the collision plate and the main body, and the position detector being configured to detect a relative position between the collision plate and the main body; when the position detector detects that the collision plate moves towards the main body, the carrying device contacts the kick surface, and at this time, the relative position between the carrying device and the kick surface is within the preset range.

5. The load bearing device of claim 4, wherein, The position detector comprises a trigger switch, and when the collision plate contacts the trigger switch, the carrying device contacts the kick surface.

6. The load bearing device of claim 4 or 5, wherein, The detection module comprises a plurality of position detectors arranged at intervals.

7. The load bearing device of claim 6, wherein, The detection module comprises: a first position detector and a second position detector arranged at intervals in a height direction of the main body.

8. The load bearing device of claim 7, wherein, The detection module further comprises: a third position detector arranged at intervals with the first position detector in a direction in which the carrying device moves along the kick surface.

9. The load bearing apparatus of claim 4 or 5, wherein, The detection module further comprises: a reset member arranged between the collision plate and the main body, and the reset member being configured to drive the collision plate to reset after the collision plate moves towards the main body.

10. The load bearing device of claim 9, wherein, The reset member comprises: a fixed part fixed to the main body; a resilient part abutting or connected to a side of the collision plate close to the main body, and the resilient part being capable of elastically deforming when the collision plate moves towards the main body.

11. The load bearing device of claim 9, wherein, The detection module comprises a plurality of reset members arranged at intervals.

12. The load bearing device of claim 9, wherein, The detection module further comprises: a fixed plate fixed to a side of the main body facing the kick surface, the collision plate being connected to the fixed plate and being capable of moving towards or away from the fixed plate; the position detector and the reset member are both mounted on the fixed plate and located between the fixed plate and the collision plate.

13. The load bearing apparatus of any one of claims 1 to 5, wherein, The detection module comprises: a distance sensor configured to detect a specific distance value between the carrier device and the kick surface for detecting a relative position between the carrier device and the kick surface.

14. A cleaning device characterized by comprising: a carrier device, the carrier device being the carrier device according to any one of the preceding claims 1 to 13, the carrier device being provided with a carrier structure; a cleaning device, the cleaning device being located at the carrier structure and being capable of cleaning a surface to be cleaned.

15. A cleaning system characterized by, comprising: a base station; a cleaning device, the cleaning device being the cleaning device according to the preceding claim 14, the carrier device and / or the cleaning device being capable of docking with the base station.

Images