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 comprises a detector and a controller. Wherein the detector is configured to be used for detecting the distance between the bottom surface of the bearing equipment and the treading surface of the step; the controller is in communication connection with the detector; and the controller is configured to slow down the speed of the bearing equipment moving towards the tread when the distance between the bottom surface of the bearing equipment and the tread of the step is smaller than a preset distance. By means of the arrangement, large impact force generated when the bearing equipment makes contact with the treading face of the step can be avoided, and the probability that the bearing equipment and / or the step are / is damaged is reduced.

Description

TECHNICAL FIELD

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

[0002] In the technical field of cleaning equipment manufacturing, in the process of climbing steps, the bottom surface of the carrying device is prone to strong collision with the tread of the step, which causes damage to the carrying device and / or the step.

[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 INVENTION

[0004] The present disclosure aims to provide a carrying device, a cleaning device and a cleaning system, which can reduce the probability of damage to the carrying device and / or the step.

[0005] In one aspect, the present disclosure provides a carrying device capable of climbing steps, comprising:

[0006] a detector configured to detect the distance between the bottom surface of the carrying device and the tread of the step;

[0007] a controller in communication with the detector; the controller is configured to slow down the speed of the carrying device moving towards the tread when the distance between the bottom surface of the carrying device and the tread of the step is less than a preset distance.

[0008] In an exemplary embodiment of the present disclosure, the carrying device further comprises:

[0009] a main body structure, wherein the detector and the controller are arranged in the main body structure;

[0010] a driving member connected to the main body structure for driving the main body structure to climb steps;

[0011] wherein the controller is connected to the driving member, and the controller is configured to control the driving member to reduce the driving speed to slow down the speed of the main body structure moving towards the tread when the distance between the bottom surface of the main body structure and the tread of the step is less than a preset distance.

[0012] In an exemplary embodiment of the present disclosure, the driving member is a driving motor; the controller is configured to change the voltage applied to the driving motor to control the driving motor to reduce the driving speed.

[0013] In an exemplary embodiment of the present disclosure, the controller is configured to change the direction of the voltage applied to the drive motor or reduce the intensity of the voltage applied to the drive motor to control the drive motor to reduce the driving speed.

[0014] In an exemplary embodiment of the present disclosure, the drive member comprises:

[0015] a drive structure for outputting a driving force;

[0016] a transmission structure having an input portion and an output portion, the input portion being connected to the drive structure for receiving the driving force, and the output portion being connected to the main body structure for driving the main body structure to climb the steps;

[0017] a brake structure disposed adjacent to the transmission structure, the brake structure being capable of reducing the driving speed of the output portion;

[0018] wherein the controller is configured to control the brake structure to reduce the driving speed of the output portion.

[0019] In an exemplary embodiment of the present disclosure, the transmission structure comprises:

[0020] a transmission shaft, the input portion and the output portion being two ends of the transmission shaft, respectively; the drive structure being capable of driving the transmission shaft to rotate to drive the main body structure to climb the steps;

[0021] the brake structure being disposed adjacent to the outer circumferential surface of the transmission shaft; the controller being configured to control the brake structure to contact the outer circumferential surface of the transmission shaft to slow down the rotation speed of the transmission shaft to reduce the driving speed of the output portion.

[0022] In an exemplary embodiment of the present disclosure, the brake structure is sleeved on the outer circumferential surface of the transmission shaft;

[0023] the controller being configured to control the inner circumferential surface of the brake structure to clamp the outer circumferential surface of the transmission shaft to slow down the rotation speed of the transmission shaft.

[0024] In an exemplary embodiment of the present disclosure, the brake structure is configured such that when the brake structure is applied with voltage, the inner circumferential surface of the brake structure has a gap with the outer circumferential surface of the transmission shaft; and when the brake structure is not applied with voltage, the inner circumferential surface of the brake structure clamps the outer circumferential surface of the transmission shaft.

[0025] the controller being configured to cut off the voltage applied to the brake structure.

[0026] In an example embodiment of the present disclosure, the transmission structure comprises a transmission shaft, and the input portion and the output portion are two ends of the transmission shaft respectively; the driving structure is capable of driving the transmission shaft to rotate, so as to drive the main body structure to climb the steps by the transmission shaft;

[0027] The brake structure comprises a first brake block and a second brake block, the first brake block is fixedly connected with the transmission shaft, the transmission shaft is capable of rotating relative to the second brake block, and the second brake block is capable of moving along the axis of the transmission shaft; the controller is configured to control the first brake block and the second brake block to be attached or separated.

[0028] In an example embodiment of the present disclosure, the brake structure further comprises:

[0029] An electromagnetic structure is arranged in a spaced manner with the first brake block, and the second brake block is located between the electromagnetic structure and the first brake block; the electromagnetic structure is configured to be attracted to the second brake block when the electromagnetic structure is applied with a voltage, and the electromagnetic structure and the second brake block are separated when the brake structure is not applied with a voltage; the controller is configured to be capable of cutting off the voltage applied to the electromagnetic structure.

[0030] In an example embodiment of the present disclosure, the controller is further configured to control the carrying device to stop moving when the bottom surface of the carrying device is in contact with the tread surface of the steps.

[0031] In an example embodiment of the present disclosure, the preset distance is greater than or equal to 5 mm and less than or equal to 100 mm.

[0032] In an example embodiment of the present disclosure, the detector is arranged on the bottom surface of the main body structure.

[0033] In an example embodiment of the present disclosure, the main body structure comprises:

[0034] a main body portion, and the detector is arranged on the bottom surface of the main body portion;

[0035] a side support portion connected with the main body portion;

[0036] The driving member is capable of driving the main body portion and the side support portion to move alternately to the tread surface of the steps to be climbed, so that the main body structure climbs the steps.

[0037] In an exemplary embodiment of the present disclosure, the main body part and the side support part are rotationally connected, and the driving member is capable of driving the main body part and the side support part to rotate alternately, so as to drive the main body part and the side support part to move alternately towards the tread of the step to be climbed.

[0038] In an exemplary embodiment of the present disclosure, the main body structure further comprises:

[0039] A connecting rod, two ends of the connecting rod are rotationally connected with the main body part and the side support part respectively, and the driving member is connected with the connecting rod for driving the connecting rod to rotate.

[0040] In another aspect of the present disclosure, a cleaning device is provided, comprising:

[0041] A carrying device, the carrying device is any one of the carrying devices described above, and the carrying device is provided with a carrying structure;

[0042] A cleaning device, the cleaning device is located on the carrying structure, and the cleaning device is capable of cleaning the surface to be cleaned.

[0043] In another aspect of the present disclosure, a cleaning system is provided, comprising:

[0044] A base station;

[0045] A cleaning device, the cleaning device is the cleaning device described above, and the carrying device and / or the cleaning device can be docked with the base station.

[0046] The technical solutions provided by the present disclosure can achieve the following beneficial effects:

[0047] The carrying device provided by the present disclosure comprises a detector and a controller. The detector can be configured to detect the distance between the bottom surface of the carrying device and the tread of the step. The controller can be in communication connection with the detector. The controller can be configured to slow down the speed of the carrying device moving towards the tread when the distance between the bottom surface of the carrying device and the tread of the step is less than a preset distance.

[0048] In this way, the carrying device can be slowed down when the bottom surface of the carrying device is close to the tread, so as to reduce the impact force when the bottom of the carrying device contacts the tread, thereby reducing the probability of damage to the carrying device and / or the step.

[0049] It should be understood that the foregoing general description and the following detailed description are only exemplary and explanatory, and cannot limit the present disclosure. BRIEF DESCRIPTION OF DRAWINGS

[0050] The accompanying drawings, which are incorporated herein and constitute part of the specification, illustrate embodiments consistent with the present disclosure and, together with the description, further serve to explain the principles of the present disclosure. It is apparent that the accompanying drawings described below are only some embodiments of the present disclosure, and other drawings can be obtained by those of ordinary skill in the art without creative effort based on these drawings.

[0051] Figure 1 A structural schematic diagram of a carrying device according to an exemplary embodiment of the present disclosure is shown;

[0052] Figure 2 A structural schematic diagram of a first state of a carrying device climbing a step according to an exemplary embodiment of the present disclosure is shown;

[0053] Figure 3 A structural schematic diagram of a second state of a carrying device climbing a step according to an exemplary embodiment of the present disclosure is shown;

[0054] Figure 4 A partial structural schematic diagram of a carrying device according to an exemplary embodiment of the present disclosure is shown;

[0055] Figure 5 A structural schematic diagram of a driving member according to an exemplary embodiment of the present disclosure is shown;

[0056] Figure 6 A structural schematic diagram of an A-A cross section of the carrying device according to an exemplary embodiment of the present disclosure is shown; Figure 5

[0057] Figure 7 A structural schematic diagram of an A-A cross section of the carrying device according to another exemplary embodiment of the present disclosure is shown; Figure 5

[0058] Figure 8 A flowchart of a control method of a carrying device according to an embodiment of the present disclosure is shown;

[0059] Explanation of reference signs:

[0060] 1. Carrying device; 11. Detector; 12. Controller; 13. Main structure; 131. Main body; 132. Side support; 133. Containing cavity; 134. Carrying structure; 14. Driving member; 141. Driving structure; 142. Transmission structure; 1421. Input part; 1422. Output part; 1423. Transmission shaft; 143. Braking structure; 1431. First braking block; 1432. Second braking block; 1433. Electromagnetic structure; 15. Connecting rod;

[0061] 2. Step; 21. Tread; 22. Kicking surface. DETAILED DESCRIPTION​​

[0062] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, they are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and therefore their detailed description will be omitted.

[0063] Although relative terms such as "up" and "down" are used in this specification to describe the relative relationship of one component of an icon to another, these terms are used only for convenience, such as according to the orientation of the examples shown in the accompanying drawings. It is understood that if the device of the icon is flipped upside down, the component described as "up" will become the component described as "down." When a structure is "up" of another structure, it may mean that the structure is integrally formed on the other structure, or that the structure is "directly" mounted on the other structure, or that the structure is "indirectly" mounted on the other structure through another structure.

[0064] The terms “a,” “one,” “the,” and “the” are used to indicate the existence of one or more elements / components / etc.; the terms “including” and “having” are used to indicate an open-ended inclusion meaning and that there may be other elements / components / etc. in addition to the listed elements / components / etc.; the terms “first” and “second” are used only as markers and are not a limitation on the number of objects.

[0065] like Figures 1 to 6 As shown, this disclosure first provides a cleaning device, which may include: a carrying device 1 and a cleaning device. The cleaning device may be a sweeping robot, a floor scrubber, a vacuum cleaner, a sweeping and mopping robot, a window cleaning robot, etc. The cleaning device may include a cleaning unit, which may be a roller brush, a side brush, a water outlet, a mopping component, a window cleaning component, etc., for cleaning the surface to be cleaned, such as the ground, the surface of a step 2, etc.

[0066] like Figures 1 to 3 As shown, the supporting device 1 is capable of climbing the steps 2. For example, the supporting device 1 can be a stair climber, but it is not limited to this. The supporting device 1 can also be other machines with supporting functions. It should be noted that climbing the steps 2 as described herein can include climbing up the steps 2 and / or climbing down the steps 2. That is, it can be understood that climbing mentioned in this application includes moving from a lower surface to a higher surface and / or moving from a higher surface to a lower surface.

[0067] The carrying device 1 can be provided with a carrying structure 134, and the cleaning device can be located on the carrying structure 134, so that the carrying device 1 can carry the cleaning device to climb the steps 2 to clean the surfaces of the steps 2 or the ground surfaces of different floors.

[0068] The carrying structure 134 can be located on the bottom surface of the carrying device 1, so that the distance between the carrying structure 134 and the surface to be cleaned is closer, and the cleaning device can clean the surface to be cleaned. The carrying device 1 can also have a containing cavity 133, and the cleaning device can be located in the containing cavity 133, so that the inner wall of the containing cavity 133 and the carrying structure 134 can limit and protect the cleaning device, thereby reducing the probability of the cleaning device separating from the carrying structure 134, and avoiding the damage of the cleaning device caused by the collision between the cleaning device and the objects in the external environment.

[0069] 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 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 clean the surface to be cleaned. In this way, the integration of the carrying device 1 can be improved, and additional cleaning devices do not need to be added, and the carrying structure 134 for carrying other cleaning devices does not need to be provided on the carrying device 1.

[0070] As shown in Figure 3 The carrying device 1 can include a detector 11 and a controller 12, and the detector 11 can be configured to detect the distance between the bottom surface of the carrying device 1 and the tread surface 21 of the steps 2. The detector 11 can be an infrared sensor, but is not limited thereto. The detector 11 can also be a microswitch, an optical coupling sensor, a Hall sensor, etc., as long as it can detect the distance between the bottom surface of the carrying device 1 and the tread surface 21 of the steps 2. The present disclosure does not make specific limitations thereon, and the selection and arrangement can be made according to the actual situation, which is within the protection scope of the present disclosure.

[0071] It should be noted that the steps 2 can have a tread surface 21 and a kick surface 22. The tread surface 21 of the steps 2 refers to the surface of the steps 2 that is parallel to the horizontal plane, and the kick surface 22 of the steps 2 refers to the surface of the steps 2 that is parallel to the vertical plane and extends in the horizontal direction. When the carrying device 1 climbs up the steps 2, the carrying device 1 can move from the lower surface of the bottom of the steps 2 to the upper surface of the steps 2, and at this time, the distance between the bottom surface of the carrying device 1 and the upper surface of the steps 2 can be detected. When the carrying device 1 climbs down the steps 2, the carrying device 1 can move from the upper surface of the steps 2 to the lower surface of the bottom of the steps 2, and at this time, the distance between the bottom surface of the carrying device 1 and the lower surface of the bottom of the steps 2 can be detected.

[0072] The controller 12 can be in communication connection with the detector 11. For example, the controller 12 can be connected with the detector 11 through a transmission line to realize signal transmission. Alternatively, the controller 12 can be wirelessly connected with the detector 11 through Bluetooth, wireless network or the like to realize signal transmission. When the controller 12 is in communication connection with the detector 11, the detector 11 can send distance information between the bottom surface of the bearing part and the tread surface 22 of the step 2 to the controller 12, and the controller 12 can be configured to receive control information generated by the detector 11 and control the bearing device 1 according to the distance information. The controller 12 can be a single-chip microcomputer, a central processing unit or the like.

[0073] The controller 12 is configured to slow down the speed of the bearing device 1 moving towards the tread surface 21 of the step 2 when the distance between the bottom surface of the bearing device 1 and the tread surface 21 of the step 2 is less than a preset distance H. In this way, the bearing device 1 can be slowed down when the bottom surface of the bearing device 1 is close to the tread surface 21, so as to reduce the impact force when the bottom of the bearing device 1 contacts the tread surface 21, thereby reducing the probability of damage to the bearing device 1 and / or the step 2.

[0074] The preset distance H can be greater than or equal to 5 mm and less than or equal to 100 mm. For example, the preset distance H can be 5 mm, 10 mm, 20 mm, 30 mm, 40 mm, 50 mm, 60 mm, 70 mm, 80 mm, 90 mm, 100 mm or the like. In this way, the problem of insufficient deceleration space of the bearing device 1 due to the preset distance H being too small can be avoided, so as to ensure that the bearing device 1 has a smaller speed when contacting the tread surface 21, thereby ensuring that the bearing device 1 has a smaller impact force when contacting the tread surface 21.

[0075] Alternatively, when the preset distance H is too small, due to the limitation of the deceleration space, in order to slow down the speed of the bearing device 1 to a smaller speed, the bearing device 1 needs to have a larger deceleration, which will increase the load borne by the bearing device 1, thereby increasing the probability of damage to the bearing device 1. Therefore, through the above setting, the load borne by the bearing device 1 during deceleration can be reduced, and the probability of damage to the bearing device 1 can be reduced.

[0076] Meanwhile, in this way, the problem of excessive deceleration space of the bearing device 1 due to the preset distance H being too large can be avoided, so as to reduce the distance of slow movement of the bearing device 1, thereby increasing the speed of the bearing device 1 climbing the step 2.

[0077] In some embodiments, as shown in FIG. 1, the bearing device 1 can be a wheelchair, a stroller, a trolley or the like. Figure 3As shown, the carrying device 1 can further comprise a main body structure 13 and a driving member 14. The main body structure 13 can climb the step 2 to make the carrying device 1 climb the step 2. The detector 11 and the controller 12 can be arranged on the main body structure 13. The driving member 14 can be connected with the main body structure 13 to drive the main body structure 13 to climb the step 2. The driving member 14 can be connected with the controller 12, and the controller 12 can be configured to control the driving member 14 to reduce the driving speed when the distance between the bottom surface of the main body structure 13 and the tread surface 21 of the step 2 is less than the preset distance H, so as to slow down the speed of the main body structure 13 moving close to the tread surface 21.

[0078] In some embodiments, the driving member 14 can be a driving motor, but is not limited thereto. The driving member 14 can also be a hydraulic driving member 14 or a pneumatic driving member 14, etc.

[0079] When the driving member 14 is a driving motor, a power source can be used to apply a voltage to the driving motor to make the driving motor rotate and drive the main body structure 13 to climb the step 2. When the voltage applied to the driving motor changes, the driving speed of the driving motor can change. For example, when the direction of the voltage applied to the driving motor changes, the driving speed of the driving motor can be slowed down. Alternatively, when the intensity of the voltage applied to the driving motor decreases, the driving speed of the driving motor can also be slowed down.

[0080] Therefore, the controller 12 can be configured to change the voltage applied to the driving motor to control the driving motor to reduce the driving speed.

[0081] Specifically, the controller 12 can be configured to change the direction of the voltage applied to the driving motor to control the driving motor to reduce the driving speed. For example, when the main body structure 13 is in a first climbing stage, the controller 12 can be used to control the power source to apply a voltage of a first direction to the driving motor. The first climbing stage can be a climbing stage when the distance between the bottom surface of the main body structure 13 and the tread surface 21 is outside the preset distance H. When the distance between the bottom surface of the main body structure 13 and the tread surface 21 is within the preset distance H, the controller 12 can be used to control the power source to apply a voltage opposite to the first direction to the driving motor, so that the driving motor has a tendency of reverse rotation, thereby achieving deceleration in a second climbing stage. The second climbing stage can be a climbing stage when the distance between the bottom surface of the main body structure 13 and the tread surface 21 is within the preset distance H.

[0082] When the controller 12 controls the power supply to apply a voltage opposite to the first direction to the driving motor, the controller 12 can control the power supply to apply a voltage with a dynamically changing voltage intensity to the driving motor for adapting to different motion states of the body structure 13. However, the controller 12 can also control the power supply to apply a voltage with a stable voltage intensity to the driving motor when the controller 12 controls the power supply to apply a voltage opposite to the first direction to the driving motor, which can be selected and set according to actual conditions.

[0083] The controller 12 can also be configured to reduce the voltage intensity applied to the driving motor to control the driving motor to reduce the driving speed. For example, when the body structure 13 is in the first climbing stage, the controller 12 can be used to control the power supply to apply a voltage with a first intensity to the driving motor. When the distance between the bottom surface of the body structure 13 and the tread surface 21 of the step 2 is at a preset distance H, the controller 12 can be used to control the power supply to apply a voltage smaller than the first intensity to the driving motor, so that the driving motor has a tendency to slow down, thereby achieving a speed reduction in the second climbing stage.

[0084] When the controller 12 controls the power supply to apply a voltage smaller than the first intensity to the driving motor, the controller 12 can control the power supply to apply a voltage with a dynamically changing voltage intensity to the driving motor for adapting to different motion states of the body structure 13. However, the controller 12 can also control the power supply to apply a voltage with a stable voltage intensity to the driving motor when the controller 12 controls the power supply to apply a voltage opposite to the first direction to the driving motor, which can be selected and set according to actual conditions.

[0085] In one embodiment, as shown in Figures 2 to 6 The driving member 14 can include a driving structure 141, a transmission structure 142, and a braking structure 143. The driving structure 141 can be used to output a driving force. The transmission structure 142 can have an input portion 1421 and an output portion 1422. The input portion 1421 can be connected with the driving structure 141 to receive the driving force output by the driving portion. The output portion 1422 can be connected with the body structure 13 to drive the body structure 13 to climb the step 2. The braking structure 143 can be arranged adjacent to the transmission structure 142, and the braking structure 143 can be used to reduce the driving speed of the output portion 1422.

[0086] In the embodiment, when the distance between the bottom surface of the body structure 13 and the tread surface 21 of the step 2 is smaller than the preset distance H, the controller 12 can be configured to control the braking structure 143 to reduce the driving speed of the output portion 1422.

[0087] As shown in Figure 6As shown, the transmission structure 142 may include a transmission shaft 1423. In some embodiments, the transmission structure 142 may include only the transmission shaft 1423, but is not limited thereto. In other embodiments, the transmission structure 142 may also include other structural components besides the transmission shaft 1423, which is not a limitation of this disclosure.

[0088] like Figures 2 to 6 As shown, the two ends of the drive shaft 1423 can be the aforementioned input section 1421 and output section 1422, respectively. That is, the two ends of the drive shaft 1423 can be connected to the drive structure 141 and the main structure 13, respectively. The drive structure 141 can drive the drive shaft 1423 to rotate, so as to use the drive shaft 1423 to drive the main structure 13 to climb the step 2.

[0089] The braking structure 143 can be disposed adjacent to the outer peripheral surface of the drive shaft 1423. When the distance between the bottom surface of the main structure 13 and the tread surface 21 of the step 2 is less than a preset distance H, the controller 12 can be configured to control the braking structure 143 to contact the outer peripheral surface of the drive shaft 1423 to slow down the rotational speed of the drive shaft 1423, thereby reducing the drive speed of the output unit 1422. It is understood that when the braking structure 143 contacts the outer peripheral surface of the drive shaft 1423, there is friction between the braking structure 143 and the outer peripheral surface of the drive shaft 1423, thereby slowing down the selected speed of the drive shaft 1423 through friction. Alternatively, when the braking structure 143 contacts the outer peripheral surface of the drive shaft 1423, the braking structure 143 can stop the rotation of the rotating shaft, thereby also slowing down the rotational speed of the drive shaft 1423.

[0090] The braking structure 143 can be fitted onto the outer peripheral surface of the drive shaft 1423. The controller 12 can be configured to control the inner peripheral surface of the braking structure 143 to clamp the outer peripheral surface of the drive shaft 1423, thereby slowing down the rotational speed of the drive shaft 1423. That is, when the inner peripheral surface of the braking structure 143 clamps the outer peripheral surface of the drive shaft 1423, there is a large frictional force between the inner peripheral surface of the braking structure 143 and the outer peripheral surface of the drive shaft 1423, thereby slowing down the rotational speed of the drive shaft 1423.

[0091] In some embodiments, the braking structure 143 can be configured such that when voltage is applied to the braking structure 143, there is a gap between the inner circumferential surface of the braking structure 143 and the outer circumferential surface of the drive shaft 1423, allowing the drive shaft 1423 to rotate freely. When voltage is not applied to the braking structure 143, the inner circumferential surface of the braking structure 143 clamps the outer circumferential surface of the drive shaft 1423, thereby slowing down the rotational speed of the drive shaft 1423. The controller 12 can be configured to cut off the voltage applied to the braking structure 143 to control the inner circumferential surface of the braking structure 143 to clamp the outer circumferential surface of the drive shaft 1423.

[0092] In other embodiments, such as Figure 7 As shown, the braking structure 143 may include a first brake block 1431 and a second brake block 1432. The first brake block 1431 may be a friction disc, and the second brake block 1432 may be an armature, but is not limited thereto. The first brake block 1431 may be fixedly connected to the drive shaft 1423, the drive shaft 1423 may rotate relative to the second brake block 1432, and the second brake block 1432 may move along the axis of the drive shaft 1423. The controller 12 may be configured to control the engagement or disengagement of the first brake block 1431 and the second brake block 1432. That is, when the first brake block 1431 and the second brake block 1432 are engaged, there may be friction between the first brake block 1431 and the second brake block 1432 to slow down the rotational speed of the drive shaft 1423; when the first brake block 1431 and the second brake block 1432 are disengaged, there will be no friction between the first brake block 1431 and the second brake block 1432, and the drive shaft 1423 may rotate normally.

[0093] The braking structure 143 may further include an electromagnetic structural member 1433. The electromagnetic structural member 1433 may be an electromagnet, but is not limited to this. The electromagnetic structural member 1433 may be spaced apart from the first braking block 1431, and the second braking block 1432 may be located between the electromagnetic structural member 1433 and the first braking block 1431. The electromagnetic structural member 1433 may be configured such that when a voltage is applied to the electromagnetic structural member 1433, the electromagnetic structural member 1433 engages with the second braking block 1432. When no voltage is applied to the braking structure 1433, the electromagnetic structural member 1433 and the second braking block 1432 separate. The controller 12 may be configured to cut off the voltage applied to the electromagnetic structural member 1433. That is, when a voltage is applied to the electromagnetic structural member 1433, the electromagnetic structural member 1433 may have an electromagnetic force, causing the second braking block 1432 to move towards the electromagnetic structural member 1433, thereby separating the first braking block 1431 and the second braking block 1432. When no voltage is applied to the electromagnetic structure 1433, there is no electromagnetic force on the electromagnetic structure 1433. At this time, the second brake block 1432 will be in contact with the first brake block 1431. There can be friction between the first brake block 1431 and the second brake block 1432 to slow down the rotation speed of the transmission shaft 1423.

[0094] Furthermore, the braking structure 143 may also include a reset member, which may be disposed on the side of the electromagnetic structure 1433 near the first brake block 1431. When the electromagnetic structure 1433 is attracted to the second brake block 1432, the reset member may have a restoring force. When the electromagnetic structure 1433 is separated from the second brake block 1432, the reset member may use the restoring force to push the second brake block 1432 toward the first brake block 1431, so that the first brake block 1431 and the second brake block 1432 are in contact. The reset member may be a spring, but is not limited thereto.

[0095] The braking structure 143 described above can be a mechanical brake, but is not limited to this. The braking structure 143 can also be other structures with braking capabilities.

[0096] In other embodiments, the supporting device 1 may further include a buffer structure. When the distance between the bottom surface of the supporting device 1 and the tread surface 21 of the step 2 is less than a preset distance, the controller 12 may control the buffer structure to extend to slow down the speed at which the supporting device 1 moves towards the tread surface 21. The buffer structure may be a buffer leg, a sponge pad, etc.

[0097] In other embodiments, the supporting device 1 may further include a reverse thrust structure. When the distance between the bottom surface of the supporting device 1 and the tread surface 21 of the step 2 is less than a preset distance, the controller 12 can control the reverse thrust structure to work, so as to apply a reverse force to the supporting device 1 and slow down the speed at which the supporting device 1 moves towards the tread surface 21. The buffer structure may be a buffer leg, a sponge pad, etc.

[0098] In some embodiments, such as Figures 1 to 6 As shown, the controller 12 can also be configured to stop the movement of the load-bearing device 1 when the bottom surface of the load-bearing device 1 contacts the tread surface 21 of the step 2. This configuration prevents the load-bearing device 1 from continuing to move when it contacts the tread surface 21 of the step 2, thus preventing the bottom surface of the load-bearing device 1 from continuously applying pressure to the tread surface 21 of the step 2, and further reducing the probability of damage to the load-bearing device 1 and / or the step 2.

[0099] In this embodiment, the detector 11 can be used to detect the distance between the bottom surface of the bearing device 1 and the tread surface 21 of the step 2. When the distance between the bottom surface of the bearing device 1 and the tread surface 21 of the step 2 is 0, it can be considered that the bottom surface of the bearing device 1 is in contact with the step 2.

[0100] When the bearing device 1 comprises the main body structure 13 and the driving member 14, the detector 11 can be used to detect the distance between the bottom surface of the main body structure 13 and the tread surface 21 of the step 2, and when the distance between the bottom surface of the main body structure 13 and the tread surface 21 of the step 2 is 0, it can be considered that the bottom surface of the main body structure 13 is in contact with the step 2. The controller 12 can be configured to turn off the driving member 14 when the bottom surface of the main body structure 13 is in contact with the tread surface 21 of the step 2, so that the driving speed of the driving member 14 is 0. In this way, it can be ensured that the main body structure 13 will not continue to move when the bottom surface of the main body structure 13 is in contact with the step 2.

[0101] When the driving member 14 is a driving motor, the controller 12 can be configured to cut off the voltage applied to the driving motor to turn off the driving motor, so that the driving speed of the driving motor is 0.

[0102] In some embodiments of the present disclosure, as shown in Figure 3 The detector 11 can be arranged on the bottom surface of the main body structure 13, so that the detector 11 can be closer to the tread surface 21 of the step 2 and can be arranged opposite to the tread surface 21 of the step 2 when the main body structure 13 moves close to the tread surface 21 of the step 2, thereby improving the accuracy of the detector 11 in detecting the distance between the bottom surface of the main body structure 13 and the tread surface 21. However, the detector 11 can also be arranged on the circumferential surface of the main body 131 or other positions, which can be selected and arranged according to actual conditions.

[0103] As shown in Figures 1 to 4 The main body structure 13 can comprise a main body 131 and a side support 132. The above-mentioned accommodating cavity 133 and the bearing structure 134 can be arranged in the main body 131. The main body 131 and the side support 132 can be connected, and the driving member 14 can drive the main body 131 and the side support 132 to move alternately towards the tread surface 21 of the step 2 to be climbed, so that the main body structure 13 climbs the step 2.

[0104] That is, it can be understood that the driving member 14 can first drive the main body 131 to move towards the tread surface 21 of the step 2 to be climbed, and then drive the side support 132 to move towards the tread surface 21 of the step 2 to be climbed when the main body 131 is located on the tread surface 21 of the step 2 to be climbed, until the side support 132 is located on the tread surface 21 of the step 2 to be climbed, so as to complete the task of climbing the step 2.

[0105] Alternatively, the driving member 14 can first drive the side support portion 132 to move towards the tread 21 of the desired step 2 to be climbed, and when the side support portion 132 is located on the tread 21 of the desired step 2 to be climbed, the driving member 14 can drive the main body portion 131 to move towards the tread 21 of the desired step 2 to be climbed, until the main body portion 131 is located on the tread 21 of the desired step 2 to be climbed, and the task of climbing the step 2 is completed.

[0106] In some embodiments, the main body portion 131 and the side support portion 132 can be rotationally connected. The driving member 14 can drive the main body portion 131 and the side support portion 132 to rotate alternately, so that the main body portion 131 and the side support portion 132 move alternately towards the tread 21 of the desired step 2 to be climbed.

[0107] In the present embodiment, the main body structure 13 can further include a connecting rod 15. The two ends of the connecting rod 15 can be rotationally connected with the main body portion 131 and the side support portion 132 respectively. The driving member 14 can be connected with the connecting rod 15 to drive the connecting rod 15 to rotate. In this way, by arranging the connecting rod 15, the driving force output by the driving member 14 can be applied to the main body portion 131 and the side support portion 132 to drive the main body portion 131 and the side support portion 132 to rotate alternately. At the same time, by rotationally connecting the connecting rod 15 with the main body portion 131 and the side support portion 132, it can be ensured that the main body portion 131 and the side support portion 132 always maintain a horizontal posture under the action of gravity during the process of climbing the step 2, so as to avoid the problem that the cleaning equipment located in the main body portion 131 falls due to the inclination of the posture of the main body portion 131 when climbing the step 2.

[0108] The main body structure 13 can include a plurality of connecting rods 15, which can be arranged at intervals in the direction from the front end to the rear end of the main body portion 131, and each of the plurality of connecting rods 15 can be connected with the driving member 14 to drive the plurality of connecting rods 15 to move simultaneously by one driving member 14, so as to improve the stability of the main body portion 131 and the side support portion 132 when climbing the step 2.

[0109] In some embodiments, the side support portion 132 can have two, which can be located on both sides of the main body portion 131 and connected with the main body portion 131, so as to improve the stability of the carrying equipment 1 when it is static and / or moving.

[0110] In some embodiments, as Figure 3As shown, the detector 11 can be arranged on the bottom surface of the main body 131. Since the main body 131 is heavier than the side support 132, the main body 131 exerts a greater pressure on the tread 21 of the step 2 than the side support 132. Therefore, arranging the detector 11 on the bottom surface of the main body 131 can enable the detector 11 to detect the distance between the bottom surface of the main body 131 and the tread 21 of the step 2 when the main body 131 moves towards the tread 21 of the step 2. When the distance between the bottom surface of the main body 131 and the tread 21 of the step 2 is less than the preset distance H, the controller 12 can slow down the movement of the main body 131 towards the tread 21 to reduce the impact force when the bottom of the main body 131 contacts the tread 21, thereby reducing the probability of damage to the main body 131 and / or the step 2. Moreover, when the bottom surface of the main body 131 contacts the tread 21 of the step 2, the controller 12 can control the main body 131 to stop moving. In this embodiment, arranging the detector 11 only on the main body 131 can reduce the number of detectors 11 in the carrying device 1, thereby reducing the manufacturing cost of the carrying device 1.

[0111] Alternatively, the detector 11 can also be arranged on the bottom surface of the side support 132, which can enable the detector 11 to detect the distance between the bottom surface of the side support 132 and the tread 21 of the step 2 when the side support 132 moves towards the tread 21 of the step 2. When the distance between the bottom surface of the side support 132 and the tread 21 of the step 2 is less than the preset distance H, the controller 12 can slow down the movement of the side support 132 towards the tread 21 to reduce the impact force when the bottom of the side support 132 contacts the tread 21, thereby reducing the probability of damage to the side support 132 and / or the step 2. Moreover, when the bottom surface of the side support 132 contacts the tread 21 of the step 2, the controller 12 can control the side support 132 to stop moving.

[0112] Alternatively, the detector 11 can also be arranged on the bottom surface of the side support 132, which can enable the detector 11 to detect the distance between the bottom surface of the side support 132 and the tread 21 of the step 2 when the side support 132 moves towards the tread 21 of the step 2. When the distance between the bottom surface of the side support 132 and the tread 21 of the step 2 is less than the preset distance H, the controller 12 can slow down the movement of the side support 132 towards the tread 21 to reduce the impact force when the bottom of the side support 132 contacts the tread 21, thereby reducing the probability of damage to the side support 132 and / or the step 2. Moreover, when the bottom surface of the side support 132 contacts the tread 21 of the step 2, the controller 12 can control the side support 132 to stop moving.

[0113] In some embodiments, as shown in FIG. 1, the carrying device 1 can further comprise a detector 11 arranged on the bottom surface of the main body 131, which can detect the distance between the bottom surface of the main body 131 and the tread 21 of the step 2 when the main body 131 moves towards the tread 21 of the step 2. When the distance between the bottom surface of the main body 131 and the tread 21 of the step 2 is less than the preset distance H, the controller 12 can slow down the movement of the main body 131 towards the tread 21 to reduce the impact force when the bottom of the main body 131 contacts the tread 21, thereby reducing the probability of damage to the main body 131 and / or the step 2. Moreover, when the bottom surface of the main body 131 contacts the tread 21 of the step 2, the controller 12 can control the main body 131 to stop moving. Figure 3 and Figure 4As shown, the driving member 14 can be arranged on the main body part 131. Since the main body part 131 has a larger mounting space relative to the side support part 132, arranging the driving member 14 on the main body part 131 can facilitate the installation of the driving member 14. However, the driving member 14 can also be arranged on the side support part 132, which is also within the protection scope of the present disclosure.

[0114] Some embodiments of the present disclosure provide a control method of a carrying device for controlling the carrying device 1 described above, but are not limited thereto. The execution subject of the control method of the carrying device can be a controller of the carrying device. For example, the controller can be arranged on the carrying device or can be independent of the carrying device. The present disclosure does not make special limitations on this.

[0115] Reference Figure 8 , Figure 8 A flowchart of the control method of the carrying device in the embodiments of the present disclosure is shown, which includes steps S810-S820:

[0116] In step S810, the relative distance between the carrying device and the tread surface of the step to be climbed is obtained.

[0117] In this step, the controller can obtain the relative distance between the carrying device and the tread surface of the step to be climbed. Specifically, a detector can be arranged on the carrying device. The detector can detect the relative distance between the carrying device and the tread surface of the step to be climbed and upload the relative distance to the controller.

[0118] For example, the detector can be one or a combination of a laser range finder, an ultrasonic sensor, a vision sensor, etc. The present disclosure does not make special limitations on this.

[0119] The relative distance between the carrying device and the tread surface of the step to be climbed can be the relative distance between the bottom surface of the carrying device and the tread surface of the step to be climbed, or can also be the relative distance between a specified surface or a specified part of the carrying device and the tread surface of the step to be climbed. The present disclosure does not make special limitations on this. In the following embodiments, the relative distance between the bottom surface of the carrying device and the tread surface of the step to be climbed is taken as an example for illustration.

[0120] In step S820, the movement speed of the carrying device relative to the tread surface of the step to be climbed is dynamically adjusted according to the relative distance to control the impact force of the carrying device relative to the tread surface of the step to be climbed.

[0121] In this step, the controller can dynamically adjust the moving speed of the carrying device relative to the step surface according to the relative distance, so as to control the impact force of the carrying device relative to the step surface. For example, when the relative distance is greater than or equal to the preset distance threshold H, the carrying device can be controlled to accelerate, so as to speed up the operation of the device under the premise of ensuring the safety of the device; and when the relative distance is less than the preset distance threshold H, the carrying device can be controlled to decelerate, so as to avoid the large impact force of the device on the step surface.

[0122] The impact force of the carrying device relative to the step surface refers to the instantaneous force applied to the surface of the step when the carrying device contacts the step surface. This impact force is usually caused by the sudden stop or deceleration of the device during movement, which may cause damage to the device itself and the step surface.

[0123] Specifically, when the controller determines that the relative distance is less than the preset distance threshold H, i.e., when the bottom surface of the carrying device is close to the step surface, the carrying device can be decelerated to reduce the impact force when the bottom of the carrying device contacts the step surface, thereby reducing the probability of damage to the carrying device and / or the step.

[0124] In an optional embodiment, when the carrying device includes a main body structure and a driving member, the controller can control the driving member to reduce the driving speed to slow down the moving speed of the main body structure relative to the step surface when the controller determines that the relative distance is less than the preset distance threshold H, i.e., when the bottom surface of the carrying device is close to the step surface, thereby reducing the impact force when the bottom of the carrying device contacts the step surface and reducing the probability of damage to the carrying device and / or the step.

[0125] In an optional embodiment, when the driving member is a driving motor, the controller can control the driving member to reduce the driving speed by changing the voltage applied to the driving motor to control the driving motor to reduce the driving speed and slow down the moving speed of the main body structure relative to the step surface. Specifically, the controller can control the driving motor to reduce the driving speed by changing the voltage direction applied to the driving motor (for example, providing a reverse voltage), or reducing the voltage intensity applied to the driving motor, or changing the voltage direction while reducing the voltage intensity (for example, providing a lower reverse voltage), so as to slow down the moving speed of the main body structure relative to the step surface.

[0126] In an optional embodiment, when the driving member includes a driving structure, a transmission structure and a braking structure, the controller can control the driving member to reduce the driving speed by controlling the braking structure to reduce the driving speed of the output part of the transmission structure, so as to slow down the moving speed of the main body structure relative to the step surface, i.e., to slow down the driving speed of the driving member.

[0127] Optionally, when the transmission structure is a transmission shaft, the controller can control the braking structure to contact the outer circumferential surface of the transmission shaft to hinder or slow down the rotation speed of the transmission shaft, so as to slow down the movement speed of the main body structure to the tread surface.

[0128] Optionally, the braking structure can be sleeved on the outer circumferential surface of the transmission shaft, so that the controller can control the inner circumferential surface of the braking structure to clamp the outer circumferential surface of the transmission shaft. For example, the controller can cut off the voltage applied to the braking structure to control the inner circumferential surface of the braking structure to clamp the outer circumferential surface of the transmission shaft, so as to slow down the rotation speed of the transmission shaft, thereby slowing down the movement speed of the main body structure to the tread surface.

[0129] In an optional embodiment, the above-mentioned braking structure can include a first braking block and a second braking block. The first braking block can be a friction disc, and the second braking block can be an armature, but not limited thereto. The first braking block can be fixedly connected with the transmission shaft, the transmission shaft can rotate relative to the second braking block, and the second braking block can move along the axis of the transmission shaft. Therefore, the controller can control the rotation speed of the transmission shaft by controlling the first braking block and the second braking block to adhere or separate. Specifically, when the first braking block and the second braking block adhere, the first braking block and the second braking block can have a friction force therebetween, so as to slow down the rotation speed of the transmission shaft; when the first braking block and the second braking block separate, the first braking block and the second braking block will not have a friction force therebetween, at this time the transmission shaft can rotate normally, and the rotation speed of the transmission shaft is not affected. Therefore, the controller can control the driving member to reduce the driving speed by controlling the first braking block and the second braking block to adhere.

[0130] In an optional embodiment, the braking structure can further include an electromagnetic structure. The electromagnetic structure can be an electromagnet, but not limited thereto. The electromagnetic structure can be arranged in a spaced manner with the first braking block, and the second braking block can be located between the electromagnetic structure and the first braking block. The electromagnetic structure can be configured to attract the second braking block when the electromagnetic structure is applied with a voltage. When the braking structure is not applied with a voltage, the electromagnetic structure and the second braking block separate. Therefore, when the electromagnetic structure is applied with a voltage, the electromagnetic structure can have an electromagnetic force thereon, so that the second braking block moves in a direction close to the electromagnetic structure to separate the first braking block and the second braking block. When the electromagnetic structure is not applied with a voltage, the electromagnetic structure does not have an electromagnetic force thereon, at this time the second braking block adheres to the first braking block, and the first braking block and the second braking block can have a friction force therebetween to slow down the rotation speed of the transmission shaft. Therefore, the controller can cut off the voltage applied to the electromagnetic structure to control the first braking block and the second braking block to separate, so that the driving member reduces the driving speed.

[0131] In an alternative embodiment, the braking structure can further comprise a reset member, which can be arranged on the side of the electromagnetic structure close to the first braking block. When the electromagnetic structure is attracted to the second braking block, the reset member can have a restoring force. When the electromagnetic structure is separated from the second braking block, the reset member can push the second braking block to the first braking block by the restoring force, so that the first braking block and the second braking block are attached.

[0132] In addition, it should be noted that when the controller detects that the relative distance is equal to the target distance value (for example: 0), that is, it is determined that the bearing device has contacted the tread surface of the step to be climbed, the controller can cut off the voltage applied to the driving motor to close the driving member, so that the driving speed of the driving member is 0, thereby controlling the bearing device to stop moving, and ensuring that the bearing device stops moving stably.

[0133] In some embodiments of the present disclosure, a computer readable storage medium is also provided, and at least one program code is stored on the computer readable storage medium. The at least one program code can be loaded and executed by a processor to implement the control method of the bearing device 1 described in the above embodiments.

[0134] The computer program product can adopt a portable compact disc read-only memory (CD-ROM) and include at least one program code, and can run on a terminal device, such as a personal computer. However, the program product in the present embodiment is not limited to this. 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 combination with an instruction execution system, device or apparatus.

[0135] 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 can be, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or apparatus, or any combination thereof. More specific examples (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 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 of the above.

[0136] A readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, carrying readable program code. This propagated data signal may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A readable signal medium may also be any readable medium other than a readable storage medium, capable of sending, propagating, or transmitting a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0137] Program code contained on a computer-readable storage medium may be transmitted using any suitable medium, including but not limited to wireless, wired, optical fiber, RF, etc., or any suitable combination thereof.

[0138] Program code for performing the operations of this utility model can be written in any combination of one or more programming languages, including object-oriented programming languages.

[0139] In some embodiments, a carrier device 1 is provided. The carrier device 1 may include, but is not limited to, one or more processors and one or more memories. The one or more memories store at least one line of program code, which can be loaded and executed by the one or more processors to implement the various steps of the control method for the carrier device 1 described in the above embodiments.

[0140] The memory may include readable media in the form of volatile memory, such as random access memory (RAM) and / or cache memory, and may further include read-only memory (ROM).

[0141] A cleaning system is also provided in some embodiments of this disclosure. For example... Figures 1 to 6 As shown, the cleaning system includes a base station and a cleaning device. The cleaning device can be the cleaning device described above, and the carrier device 1 and / or the cleaning device can interface with the base station. The base station can charge and clean the carrier device 1, and / or charge, replenish water, and clean the cleaning device, or suck out the dirt stored in the cleaning device.

[0142] It should be noted that the specific structure and beneficial effects of the cleaning device have been described in detail in the above embodiments. Therefore, in this embodiment, the specific structure and beneficial effects of the cleaning device will not be described again. Please refer to the specific description in the above embodiments, which are all within the protection scope of this disclosure.

[0143] The cleaning system provided by the present disclosure comprises the cleaning device described above, which comprises a carrying device 1 and a cleaning device. The carrying device 1 can comprise a detector 11 and a controller 12. The detector 11 can be configured to detect the distance between the bottom surface of the carrying device 1 and the tread 21 of the step 2. The controller 12 can be in communication connection with the detector 11. The controller 12 can be configured to slow down the speed of the carrying device 1 moving close to the tread 21 when the distance between the bottom surface of the carrying device 1 and the tread 21 of the step 2 is less than a preset distance H.

[0144] In this way, the carrying device 1 can be slowed down when the bottom surface of the carrying device 1 is close to the tread 21, so as to reduce the impact force when the bottom of the carrying device 1 contacts the tread 21, thereby reducing the probability of damage to the carrying device 1 and / or the step 2.

[0145] Other embodiments of the present disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. The present disclosure is intended to cover any variations, uses or adaptive changes of the present disclosure, which follow the general principles of the present disclosure and include common knowledge or conventional technical means in the art not disclosed by the present disclosure. The specification and examples are only regarded as exemplary, and the true scope and spirit of the present disclosure are indicated by the appended claims.

Claims

1. A load bearing device, characterized by, The carrying device comprises: a detector configured to detect the distance between the bottom surface of the carrying device and the tread of the step; a controller connected with the detector, configured to slow down the speed of the carrying device moving towards the tread of the step when the distance between the bottom surface of the carrying device and the tread of the step is less than a preset distance.

2. The load bearing device of claim 1, wherein, The carrying device further comprises: a main body structure, wherein the detector and the controller are arranged on the main body structure; a driving member connected with the main body structure, configured to drive the main body structure to climb the step; wherein the controller is connected with the driving member, and the controller is configured to control the driving member to reduce the driving speed so as to slow down the speed of the main body structure moving towards the tread of the step when the distance between the bottom surface of the main body structure and the tread of the step is less than a preset distance.

3. The load bearing device of claim 2, wherein, The driving member is a driving motor, and the controller is configured to change the voltage applied to the driving motor so as to control the driving motor to reduce the driving speed.

4. The load bearing device of claim 3, wherein, The controller is configured to change the direction of the voltage applied to the driving motor or reduce the intensity of the voltage applied to the driving motor so as to control the driving motor to reduce the driving speed.

5. The load bearing apparatus of claim 2, wherein, The driving member comprises: a driving structure configured to output a driving force; a transmission structure having an input portion and an output portion, wherein the input portion is connected with the driving structure to receive the driving force, and the output portion is connected with the main body structure to drive the main body structure to climb the step; a braking structure arranged adjacent to the transmission structure, and the braking structure is configured to reduce the driving speed of the output portion; wherein the controller is configured to control the braking structure to reduce the driving speed of the output portion.

6. The load bearing device of claim 5, wherein, The transmission structure comprises: a transmission shaft, wherein the input portion and the output portion are two ends of the transmission shaft, and the driving structure is configured to drive the transmission shaft to rotate so as to drive the main body structure to climb the step; the braking structure is arranged adjacent to the outer circumferential surface of the transmission shaft, and the controller is configured to control the braking structure to contact the outer circumferential surface of the transmission shaft.

7. The load bearing device of claim 6, wherein, The braking structure is sleeved on the outer circumferential surface of the transmission shaft; the controller is configured to control the inner circumferential surface of the braking structure to clamp the outer circumferential surface of the transmission shaft so as to slow down the rotation speed of the transmission shaft.

8. The load bearing device of claim 7, wherein, The braking structure is configured such that, when the braking structure is applied with voltage, there is a gap between the inner circumferential surface of the braking structure and the outer circumferential surface of the transmission shaft; and when the braking structure is not applied with voltage, the inner circumferential surface of the braking structure clamps the outer circumferential surface of the transmission shaft; the controller is configured to cut off the voltage applied to the braking structure.

9. The load bearing device of claim 5, wherein, The transmission structure comprises: a transmission shaft, wherein the input portion and the output portion are two ends of the transmission shaft; and the driving structure is configured to drive the transmission shaft to rotate so as to drive the main body structure to climb the step; The brake structure comprises: a first brake block and a second brake block, the first brake block is fixedly connected with the transmission shaft, the transmission shaft can rotate relative to the second brake block, and the second brake block can move along the axis of the transmission shaft; the controller is configured to control the first brake block and the second brake block to adhere or separate.

10. The load bearing device of claim 9, wherein, The brake structure further comprises: An electromagnetic structure is arranged in a spaced manner with the first brake block, and the second brake block is located between the electromagnetic structure and the first brake block; the electromagnetic structure is configured to: when the electromagnetic structure is applied with a voltage, the electromagnetic structure is attracted to the second brake block; when the brake structure is not applied with a voltage, the electromagnetic structure and the second brake block are separated; the controller is configured to be able to cut off the voltage applied to the electromagnetic structure.

11. The load bearing apparatus of any one of claims 1 to 10, wherein, The controller is further configured to control the carrying device to stop moving when the bottom surface of the carrying device is in contact with the tread surface of the step.

12. The load bearing apparatus of any one of claims 1 to 10, wherein, The preset distance is greater than or equal to 5mm and less than or equal to 100mm.

13. The load bearing apparatus of any one of claims 2 to 10, wherein, The detector is arranged on the bottom surface of the main body structure.

14. The load bearing device of claim 13, wherein, The main body structure comprises: A main body portion, the detector is arranged on the bottom surface of the main body portion; A side support portion connected with the main body portion; Wherein, the driving member can drive the main body portion and the side support portion to move alternately towards the tread surface of the step to be climbed, so that the main body structure climbs the step.

15. The load bearing device of claim 14, wherein, The main body portion and the side support portion are rotationally connected, and the driving member can drive the main body portion and the side support portion to rotate alternately, so that the main body portion and the side support portion move alternately towards the tread surface of the step to be climbed.

16. The load bearing device of claim 15, wherein, The main body structure further comprises: A connecting rod, two ends of the connecting rod are rotationally connected with the main body portion and the side support portion respectively; and the driving member is connected with the connecting rod for driving the connecting rod to rotate.

17. A cleaning device, characterized by Comprise: A carrying device, the carrying device is the carrying device of any one of claims 1 to 16, the carrying device is provided with a carrying structure; A cleaning device located on the carrying structure, and the cleaning device can clean the surface to be cleaned.

18. A cleaning system characterized by, Comprise: A base station; A cleaning device, the cleaning device is the cleaning device of claim 17, the carrying device and / or the cleaning device can be docked with the base station.

Images