Bearing equipment, cleaning device and system

Abstract

The utility model relates to the technical field of smart home, and discloses bearing equipment, a bearing method, a bearing device, a program, a medium, a cleaning device and a cleaning system. The bearing equipment comprises a supporting part, a main body part and a driving assembly, the main body part comprises a bearing part; the driving assembly is connected to the main body part and the supporting part, the driving assembly is configured to drive the main body part and the supporting part to move alternately, and the driving assembly comprises a motor. According to the bearing equipment, the cleaning equipment can realize full cleaning in a larger range, so that the requirements of users are met.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of smart home, in particular to a bearing device, a cleaning device and a system. BACKGROUND

[0002] With the popularity of smart home, the sweeping robot has become an important tool for household cleaning. However, the traditional sweeping robot is limited by its moving ability and is difficult to cope with the cleaning problem in the multi-story environment such as duplex house and villa. In addition, in daily life, scenes such as carrying heavy objects and crossing obstacles also put forward higher requirements for the moving ability of automatic equipment. In the related art, although some devices can realize simple bearing and climbing functions, there are generally problems such as complex structure and poor adaptability, which are difficult to meet the actual application requirements.

[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. UTILITY MODEL CONTENT

[0004] The purpose of the present disclosure is to overcome the shortcomings of the prior art, and to provide a bearing device, a cleaning device and a system.

[0005] According to one aspect of the present disclosure, a bearing device is provided, comprising:

[0006] a support part;

[0007] a main body part comprising a bearing part;

[0008] a driving assembly connected to the main body part and the support part, the driving assembly being configured to drive the main body part and the support part to move alternately, the driving assembly comprising a motor.

[0009] In an exemplary embodiment of the present disclosure, the driving assembly comprises:

[0010] a driving mechanism;

[0011] a connecting piece connected to the driving mechanism, the main body part and the support part, the connecting piece being configured to rotate under the driving of the driving mechanism to alternately drive the main body part and the support part to move.

[0012] In an exemplary embodiment of the present disclosure, the driving mechanism comprises at least two synchronously rotating transmission shafts, at least two of the transmission shafts having at least four driving end portions, the transmission shafts extending in a first direction.

[0013] In an example embodiment of the present disclosure, the support portion includes two support structures, the two support structures being arranged on opposite sides of the main portion in the first direction.

[0014] In an example embodiment of the present disclosure, the connecting member includes at least four connecting rods, the connecting rods having first ends and second ends arranged oppositely, the first ends being connected to the driving end portions one by one and rotatably connected to the main portion, and the second ends being rotatably connected to the support structures.

[0015] In an example embodiment of the present disclosure, in the first state, the first ends of the connecting rods are closer to the ground than the second ends.

[0016] In an example embodiment of the present disclosure, the driving mechanism is arranged in the main portion, and the transmission shaft is rotatably connected to the main portion.

[0017] In an example embodiment of the present disclosure, the driving assembly includes:

[0018] a first driving mechanism fixed to the support portion, the first driving mechanism having a first driving shaft, the first driving shaft being telescopic in a second direction;

[0019] a second driving mechanism fixed to the first driving shaft, the second driving mechanism having a second driving shaft, the second driving shaft being telescopic in a first direction, and the main portion being connected to the second driving shaft.

[0020] In an example embodiment of the present disclosure, the first direction is perpendicular to the second direction.

[0021] In an example embodiment of the present disclosure, the carrying device further includes:

[0022] a first sensor arranged in the main portion, the first sensor being configured to sense whether the main portion is moved into position.

[0023] In an example embodiment of the present disclosure, the carrying device further includes:

[0024] a wheel including a mounting portion and a wheel portion, the wheel portion being rotatably connected to the mounting portion.

[0025] In an example embodiment of the present disclosure, the first sensor is arranged between a bottom of the main portion and the mounting portion, the wheel is arranged movably in a second direction, the wheel is configured to abut against the first sensor when the main portion is moved into position to trigger the first sensor, and the second direction is perpendicular to the ground.

[0026] In an example embodiment of the present disclosure, the carrying device further comprises:

[0027] A second sensor is arranged on the support part, and is configured to sense whether the support part is moved into position.

[0028] According to a second aspect of the present disclosure, a cleaning device is provided, characterized in that it comprises:

[0029] A carrying device, as described in any one of the above, has a carrying part.

[0030] A cleaning device is arranged on the carrying part.

[0031] According to a third aspect of the present disclosure, a cleaning system is provided, comprising:

[0032] A base station;

[0033] A cleaning device, as described above, the carrying device and / or the cleaning device can be docked with the base station.

[0034] The carrying device of the present disclosure, on the one hand, the driving assembly can drive the main body part to move, in the process, the support part is used to support itself and the main body part; the driving assembly can drive the support part to move, in the process, the main body part is used to support itself and the support part; so as to realize the movement of the carrying device; and the carrying device has simple structure, good adaptability, and can meet the actual application requirements. On the other hand, the carrying part can carry the cleaning device, so that the carrying device can drive the cleaning device to move together, so that the cleaning device can realize the cleaning of a larger range, so as to meet the needs of users.

[0035] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present disclosure. BRIEF DESCRIPTION OF DRAWINGS

[0036] The drawings incorporated into the specification and forming part of the specification, show embodiments consistent with the present disclosure, and together with the specification, serve to explain the principles of the present disclosure. Obviously, the drawings in the following description are only some embodiments of the present disclosure, and other drawings can be obtained by those skilled in the art without creative labor.

[0037] Figure 1 The three-dimensional structure schematic diagram of an example embodiment of the carrying device of the present disclosure.

[0038] Figure 2 The three-dimensional structure schematic diagram of the carrying device in the above is removed. Figure 1 The three-dimensional structure schematic diagram of the carrying device in the above is removed.

[0039] Figure 3 is an exploded structural schematic view of the structure in Figure 2

[0040] Figure 4 is a perspective structural schematic view of the drive assembly in Figure 2

[0041] Figure 5 is a structural schematic view of another example embodiment of the carrying device of the present disclosure.

[0042] Figure 6 is a structural schematic view of the carrying device of the present disclosure at a wheel.

[0043] Figure 7 is a schematic view of the carrying device climbing stairs in Figure 1

[0044] Figure 8 is a structural schematic view of still another example embodiment of the carrying device of the present disclosure.

[0045] Figure 9 is a flowchart schematic view of an example embodiment of the movement control method of the carrying device of the present disclosure.

[0046] Figure 10 is a flowchart schematic view of another example embodiment of the movement control method of the carrying device of the present disclosure.

[0047] Figure 11 is a flowchart schematic view of still another example embodiment of the movement control method of the carrying device of the present disclosure.

[0048] BRIEF DESCRIPTION OF THE DRAWINGS

[0049] 1, support part; 11, support structure; 111, support surface; 1a, linear drive mechanism; 1b, first walking wheel;

[0050] 2, main body part; 21, carrying part; 22, cover body; 23, side plate; 2a, second walking wheel;

[0051] 3, drive assembly; 31, drive mechanism; 311, transmission shaft; 312, driver; 313, gear box; 32, connecting piece; 321, connecting rod; 3211, first end; 32111, connecting sleeve; 3212, second end; 32121, connecting shaft;

[0052] 31a, first drive mechanism; 31a1, first drive shaft; 31b, second drive mechanism; 31b1, second drive shaft;

[0053] 3a, first drive motor; 3b, second drive motor; ​​​

[0054] 41, first sensor; 42, second sensor;

[0055] 5, wheel; 51, mounting portion; 52, wheel portion;

[0056] 6, connecting shaft; 7, elastic member; 8, cleaning device; 9, stairs;

[0057] X, first direction; Y, second direction. DETAILED DESCRIPTION

[0058] 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 as non-limiting examples so that this disclosure will be thorough and complete, and will fully convey the scope of the example embodiments to those skilled in the art. Like reference numerals refer to like elements throughout the figures, and thus a detailed description of the same will not be repeated. In addition, the drawings are only schematic and are non-limiting exemplary, and should not be interpreted as strictly following scale.

[0059] Although relative terms such as "upper", "lower", etc. are used herein to describe one component's relationship to another component as the device is positioned in a particular orientation, such terminology is used herein for convenience only and is not limiting, unless specifically so stated. It is to be understood that the same component can be upper or lower, depending on the orientation of the device. The term "on" as used herein refers to a direct or indirect contact between elements.

[0060] The terms "a", "an", "the", "said", and "at least one" are used to indicate one or more elements / constituents / etc.; the terms "include" and "have" are used to indicate an open-ended inclusion; and the terms "first", "second", and "third", etc. are used merely as labels, not as quantities.

[0061] In the present application, unless specifically stated and limited otherwise, the term "connected" is used broadly and encompasses direct and indirect connections, fixed and removable connections, and one component formed integrally with another component. The term "and / or" includes all combinations of one or more of the associated listed items. In addition, the term "or" as used herein is intended to mean "and / or", unless otherwise specifically indicated and limited.

[0062] The example embodiments of the present disclosure provide a carrying device, which can include a support part 1, a main body part 2, and a driving assembly 3; the main body part 2 can include a carrying part 21; the driving assembly 3 is connected to the main body part 2 and the support part 1, and is configured to drive the main body part 2 and the support part 1 to move alternately, and the driving assembly 3 includes a motor. Figures 1-8

[0063] The carrying device of the present disclosure, on the one hand, the main body part 2 can be driven to move by the driving assembly 3, and in this process, the support part 1 is used to support itself and the main body part 2; the support part 1 can be driven to move by the driving assembly 3, and in this process, the main body part 2 is used to support itself and the support part 1; thereby realizing the movement of the carrying device; and the carrying device has simple structure and good adaptability, and can meet the actual application requirements. On the other hand, the carrying part 21 can carry a cleaning device 8, so that the carrying device can drive the cleaning device 8 to move together, and the cleaning device 8 can realize all cleaning in a larger range to meet the needs of users.

[0064] The cleaning device 8 can be a sweeping machine, a mopping machine, a sweeping and mopping all-in-one machine, etc. The cleaning device 8 can include a device body, a driving module, a sensing module, a control module, a cleaning module, an energy module, and a human-computer interaction module, etc.

[0065] In some example embodiments of the present disclosure, referring to Figure 1 The main body part 2 can include a carrying part 21, side plates 23, and a cover 22, the carrying part 21 can be provided in a plate shape, and the carrying part 21 is used to accommodate the cleaning device 8. The side plates 23 can be provided in two, and the two side plates 23 can be oppositely arranged, so that the cleaning device 8 can enter or move out of the carrying part 21 between the two side plates 23; or the side plates 23 can be provided in three, two of which can be oppositely arranged, and the other side plate 23 is connected to the two oppositely arranged side plates 23, and the cleaning device 8 can enter or move out of the carrying part 21 between the two side plates 23. The side plates 23 can be provided in four, and the four side plates 23 can be connected end to end to form a frame-shaped side frame, and the side frame is arranged around the carrying part 21, one of the side plates 23 has a relatively narrow width, and an entrance and exit is arranged between the side plate 23 and the carrying part 21, and the cleaning device 8 can enter or move out of the carrying part 21 through the entrance and exit.

[0066] The cover 22 is arranged on the side of the side plate 23 away from the carrying part 21, so that the main body part 2 forms an accommodation cavity, and the cleaning device 8 can be arranged in the accommodation cavity. Of course, in some other example embodiments of the present disclosure, the cover 22 can not be provided, and only the carrying part 21 and the side plates 23 can be provided.

[0067] In some example embodiments of the present disclosure, referring to​Figure 1 As shown in FIG. 1, the support part 1 can include two support structures 11. For example, the support structure 11 can be a support plate, i.e., the support structure 11 can be provided in a plate shape; or the support structure 11 can be a support frame, i.e., the support structure 11 can be provided in a frame shape. The support structure 11 has a support surface, which is a surface of the support structure 11 close to the ground or the tread of the stairs, and which can be provided in a plane, and which is used to contact the ground or the tread of the stairs, so that the support structure 11 can support itself and the main body part 2.

[0068] In some example embodiments of the present disclosure, referring to Figure 1 and Figure 2 As shown in FIG. 1, the drive assembly 3 is connected to the main body part 2 and the support part 1, and is configured to drive the main body part 2 and the support part 1 to move alternately, i.e., the main body part 2 and the support part 1 do not move at the same time.

[0069] The main body part 2 can be driven to move by the drive assembly 3, and in this process, the support part 1 is used to support itself and the main body part 2; the support part 1 can be driven to move by the drive assembly 3, and in this process, the main body part 2 is used to support itself and the support part 1; so as to realize the movement of the carrying device. The cleaning device 8 is arranged on the carrying part 21, so that the carrying device can drive the cleaning device 8 to move together, and thus the cleaning device 8 can perform cross-floor cleaning to meet the needs of the user.

[0070] Alternatively, the drive assembly 3 is configured to drive the main body part 2 to move to a position at a first time, and in this process, the support part 1 is used to support itself and the main body part 2; the drive assembly 3 is configured to drive the support part 1 to move to a position at a second time, and in this process, the main body part 2 is used to support itself and the support part 1.

[0071] In some example embodiments, the first time can be earlier than the second time, i.e., the drive assembly 3 is configured to first drive the main body part 2 to move to a position, and then drive the support part 1 to move to a position. Of course, in some other example embodiments of the present disclosure, the first time can be later than the second time, i.e., the drive assembly 3 is configured to first drive the support part 1 to move to a position, and then drive the main body part 2 to move to a position.

[0072] In some example embodiments of the present disclosure, referring to Figures 1-4 As shown in FIG. 1, the drive assembly 3 can include a drive mechanism 31 and a connecting piece 32; the connecting piece 32 is connected to the drive mechanism 31, the main body part 2 and the support part 1, and is configured to rotate under the drive of the drive mechanism 31 to alternately drive the main body part 2 and the support part 1 to move, i.e., the drive mechanism 31 drives the connecting piece 32 to rotate, and the connecting piece 32 rotates to alternately drive the main body part 2 and the support part 1 to move.

[0073] In particular, referring to Figures 2-4 As shown in the figure, the driving mechanism 31 can include a driver, a gear box and at least two synchronous transmission shafts 311, the driver 312 has a driving shaft; the driver 312 can be a motor. The gear box 313 can include a driving gear and at least two driven gears, for example, the gear box 313 can include a driving gear and two driven gears, the gear box 313 can also include a driving gear and three driven gears, and the gear box 313 can also include a driving gear and more driven gears.

[0074] In the case of even number of driven gears, the at least two driven gears are symmetrically arranged, and the symmetry axis is the diameter of the driving gear, that is, the size and structure of the driven gear meshing with the driving gear are the same, and the size and structure of the driven gear next to the driving gear are the same, and the subsequent driven gears are also symmetrically arranged; in this way, the synchronism of the transmission shaft 311 connected with the driven gear is ensured. In this case, the two transmission shafts 311 are generally connected to the two driven gears farthest from the driving gear.

[0075] In the case of odd number of driven gears, the size and structure of the odd number of driven gears are the same, in order to ensure the synchronism of the transmission shaft 311 connected with the driven gear. In this case, the transmission shaft 311 can be connected to each driven gear, and three transmission shafts 311 can be provided.

[0076] The driving gear is connected to the driving shaft, the at least two driven gears are meshed with the driving gear, and the at least two transmission shafts 311 are connected to the at least two driven gears. The driving gear can be driven to rotate by the driver 312, the driving gear drives the at least two driven gears to rotate, and the at least two driven gears drive the at least two transmission shafts 311 to rotate; and the above-mentioned arrangement of the driven gears can ensure the synchronism of the transmission shaft 311 connected with the driven gear.

[0077] Driving at least two transmission shafts 311 by one motor can ensure the synchronism of the rotation of the at least two transmission shafts 311, and save one motor, thereby reducing the cost.

[0078] Of course, in some other example embodiments of the present disclosure, two motors can also be used to drive the two transmission shafts 311 to rotate, i.e., the number of motors is the same as the number of transmission shafts 311; in this case, a rotary encoder and a controller can be provided, the actual rotating speed of each driver 312 and the rotating position at each moment can be detected through the rotary encoder, the input end of the controller is electrically connected to the output end of the at least two rotary encoders, so that the rotary encoder can transmit the detected actual rotating speed of each driver 312 and the rotating position at each moment to the controller. The output end of the controller is electrically connected to the control end of the at least two drivers 312, and the controller can detect the speed of one motor and compare it with the speed of another motor; then, it will generate a signal to adjust the speed of the second motor, so that the speed of the second motor remains consistent with that of the first motor. This method can achieve more accurate synchronization. The controller can include a phase-locked loop (PLL).

[0079] The opposite ends of the transmission shaft 311 are driving ends, one transmission shaft 311 has two driving ends, and at least two transmission shafts 311 have at least four driving ends. For example, the driving mechanism 31 can include two transmission shafts 311 that rotate synchronously, and the two transmission shafts 311 have four driving ends; the driving mechanism 31 can also include three transmission shafts 311 that rotate synchronously, and the three transmission shafts 311 have six driving ends, the driving mechanism 31 can include more transmission shafts 311 that rotate synchronously, and the number of driving ends is twice the number of transmission shafts 311. The two transmission shafts 311 rotate synchronously, i.e., the two transmission shafts 311 start and stop rotating at the same time, and the rotating speeds are the same, and the starting position and the ending position are also the same. Among them, the transmission shaft 311 extends along the first direction X.

[0080] It should be noted that in the present disclosure, the first direction X is parallel to the horizontal plane; the second direction Y is perpendicular to the horizontal plane.

[0081] The two support structures 11 are arranged on opposite sides of the main body portion 2 along the first direction X, i.e., one support structure 11 is arranged on one side of the main body portion 2 along the first direction X, and the other support structure 11 is arranged on the opposite side of the main body portion 2 along the first direction X, so that the main body portion 2 is located between the two support structures 11.

[0082] The connecting member 32 can include at least four connecting rods 321, for example, the connecting member 32 can include four connecting rods 321, the connecting member 32 can also include six connecting rods 321, the connecting member 32 can also include eight connecting rods 321, and the connecting member 32 can also include more connecting rods 321, the number of connecting rods 321 is even, and details are not repeated here.

[0083] Each connecting rod 321 has oppositely arranged first end 3211 and second end 3212, and at least four connecting rods 321 have at least four first ends 3211 and at least four second ends 3212.

[0084] The following is described by taking an example of two transmission shafts 311 and four connecting rods 321.

[0085] Referring to Figure 3 and Figure 4 , the first ends 3211 of the four connecting rods 321 are connected to the at least four driving end portions one by one, that is, the first ends 3211 of two connecting rods 321 are connected to the two driving end portions of one transmission shaft 311, and the first ends 3211 of the other two connecting rods 321 are connected to the two driving end portions of the other transmission shaft 311, so that one transmission shaft 311 can simultaneously drive two connecting rods 321 to rotate, ensuring the synchronization of the rotation of the two connecting rods 321, and the synchronization of the rotation of the four connecting rods 321 is ensured by the synchronous rotation of the transmission shaft 311. Two connecting rods 321 in the four connecting rods 321 form two groups, and the two groups of connecting rods 321 are located on opposite sides of the first direction X of the main body portion 2 one by one; and are rotatably connected to the main body portion 2, so that two connecting rods 321 are rotatably connected on opposite sides of the first direction X of the main body portion 2, and the four connecting rods 321 simultaneously rotate to drive the main body portion 2 to move, avoiding the rotation of the main body portion 2 due to the offset of the center of gravity of the main body portion 2, which prevents the main body portion 2 from moving to the position. The second end 3212 is rotatably connected to the support structure 11, so that two connecting rods 321 are connected to one support structure 11, and the two connecting rods 321 simultaneously rotate to drive one support structure 11 to move, and the four connecting rods 321 simultaneously rotate to drive two support structures 11 (supporting portion 1) to move, avoiding the rotation of the supporting portion 1 due to the offset of the center of gravity of the support structure 11.

[0086] Alternatively, the driving mechanism 31 can be arranged in the main body portion 2, and through holes are arranged on opposite sides of the first direction X of the main body portion 2, bearings are arranged in the through holes, the driving end portions are installed in the bearings, and the transmission shaft 311 is rotatably connected to the main body portion 2, that is, the transmission shaft 311 can rotate relative to the main body portion 2, and the connecting rod 321 is fixedly connected to the transmission shaft 311, so that the connecting rod 321 is rotatably connected to the main body portion 2.

[0087] The rotatable connection between the connecting rod 321 and the support structure 11 can also be achieved through a bearing. Specifically, a connecting shaft extending in the first direction is arranged on the connecting rod 321, and a bearing can be arranged on the connecting shaft; a bearing hole can be arranged on the support structure 11, and the bearing on the connecting shaft is installed in the bearing hole.

[0088] Alternatively, referring to Figures 2-4As shown, in the first state, the first end 3211 of the connecting rod 321 is closer to the ground relative to the second end 3212. Such an arrangement makes the support structure 11 a structure supported by the connecting rod 321. The first state can be a stair climbing state.

[0089] The structure of the driving assembly 3 is not limited to the above description. In some other example embodiments of the present disclosure, referring to Figure 5 As shown, the driving assembly 3 can include a first driving mechanism 31a and a second driving mechanism 31b; the first driving mechanism 31a is fixed to the support part 1, and the first driving mechanism 31a has a first driving shaft 31a1 that is telescopic in the second direction Y; the second driving mechanism 31b is fixed to the first driving shaft 31a1, and the second driving mechanism 31b has a second driving shaft 31b1 that is telescopic in the second direction Y, and the main body part 2 is connected to the second driving shaft 31b1.

[0090] The first driving mechanism 31a and the second driving mechanism 31b can be linear motors, electric cylinders, air cylinders, oil cylinders, etc.

[0091] The main body part 2 can be arranged above the support part 1; when climbing stairs, the first driving shaft 31a1 of the first driving mechanism 31a is extended to lift the second driving mechanism 31b and the main body part 2 upward to the height of the upper two steps of the stairs, and the second driving shaft 31b1 of the second driving mechanism 31b is extended to push the main body part 2 to the tread of the upper two steps of the stairs. Then, the first driving shaft 31a1 of the first driving mechanism 31a is retracted to lift the first driving mechanism 31a and the support part 1 upward to the height of the upper step of the stairs, and the second driving shaft 31b1 of the second driving mechanism 31b is retracted to push the support part 1 to the tread of the upper step of the stairs; such reciprocating motion realizes stair climbing.

[0092] In some other example embodiments of the present disclosure, referring to Figure 8 As shown, the driving assembly 3 can include a first driving motor 3a and a second driving motor 3b; the support part 1 can include at least two linear driving mechanisms 1a, the structure of the main body part 2 can be the same as that of the main body part in the above-mentioned embodiments, and the bottom of the main body part 2 can be provided with a second walking wheel 2a. The driving end of the linear driving mechanism 1a is connected with a first walking wheel 1b, and the first walking wheel 1b is connected to the first driving motor 3a; the telescopic direction of the linear driving mechanism 1a is perpendicular to the ground. The driving end of the second driving motor 3b is connected to the second walking wheel 2a.

[0093] The linear driving mechanism 1a can be a linear motor, an electric cylinder, an air cylinder, an oil cylinder, etc.

[0094] When climbing stairs, the driving end of the linear driving mechanism 1a is extended, and the main body part 2 is lifted upward to the height of the stairs of the last floor; the first driving motor 3a drives the first walking wheel 1b to rotate, and drives the main body part 2 to move to the tread of the stairs, and the second walking wheel 2a abuts against the tread of the stairs; the driving end of the linear driving mechanism 1a is retracted, the second driving motor 3b drives the second walking wheel 2a to rotate, and drives the main body part 2 to move to the kick surface of the stairs, so as to realize the climbing of the stairs of one floor; the above-mentioned reciprocating movement is repeated, so as to realize the climbing of the stairs.

[0095] In some example embodiments of the present disclosure, referring to Figure 6 As shown in the figure, the carrying device can further comprise a first sensor 41, and the first sensor 41 is arranged on the main body part 2. For example, the first sensor 41 can be arranged on the bottom of the main body part 2 close to the ground, and specifically, the first sensor 41 can be arranged on the bottom of the carrying part 21 of the main body part 2 close to the ground; the first sensor 41 is configured to sense whether the main body part 2 is moved to the position; for example, when the main body part 2 is moved to the position, the first sensor 41 located on the bottom of the main body part 2 abuts against the carrying surface (for example, the ground, the tread of the stairs, etc.), so that the first sensor 41 generates an electrical signal and transmits the electrical signal to the processor, and the processor receives the electrical signal and confirms that the main body part 2 is moved to the position. By arranging the first sensor 41, it can be confirmed whether the main body part 2 is moved to the position, so that the processor can accurately control the rotation time of the driving mechanism 31 driving the connecting part 32; and in the case that the main body part 2 has not been moved to the position, the carrying part 21 is driven to rotate, so that the main body part 2 cannot well support itself and the carrying part 21, thereby avoiding that the carrying device is not well supported and is inclined or even overturned, so as to ensure the stability of the carrying device.

[0096] Compared with “connection”, “abutment” emphasizes the existence of force between the two; that is, “abutment” reflects the state of the existence of force between the two in contact with each other.

[0097] Alternatively, referring to Figure 6 As shown in the figure, the carrying device can further comprise a wheel 5, and the wheel 5 can comprise a mounting part 51 and a wheel part 52, and the wheel part 52 is rotatably connected to the mounting part 51, so that the wheel part 52 can rotate to drive the carrying device to move; the first sensor 41 is arranged between the bottom of the main body part 2 and the mounting part 51, and the wheel 5 is movably arranged in the second direction Y, that is, the wheel 5 can move a certain distance in the second direction Y; the wheel 5 is configured to abut against the first sensor 41 to trigger the first sensor 41 when the main body part 2 is moved to the position, for example, when the main body part 2 is moved to the position, the wheel 5 abuts against the tread of the stairs, and under the action of the gravity of the main body part 2, the wheel 5 moves a certain distance upward in the second direction Y, so that the mounting part 51 abuts against the first sensor 41, thereby causing the first sensor 41 to generate an electrical signal and transmit the electrical signal to the processor, and the processor receives the electrical signal and confirms that the main body part 2 is moved to the position.

[0098] Alternatively, with reference to Figure 6 As shown, the bearing device can further include a connecting shaft 6 and an elastic member 7; the connecting shaft 6 is connected between the mounting portion 51 and the bottom of the main body portion 2, one end of the connecting shaft 6 can be fixedly connected to the bottom of the main body portion 2, and the mounting portion 51 is slidably connected to the other end of the connecting shaft 6, so that the wheel 5 is movably arranged in the second direction Y; the elastic member 7 is arranged between the mounting portion 51 and the bottom of the main body portion 2, for example, the elastic member 7 can be a spring, for example, a compression spring, and there is a certain gap between the coils of the compression spring, and the spring is deformed and deformed when subjected to external load, and the deformation energy is stored. The elastic member 7 is sleeved on the connecting shaft 6, and the connecting shaft 6 can provide guidance for the deformation of the elastic member 7, so as to avoid the elastic member 7 from being tilted during compression and causing jamming and other adverse effects. The two ends of the elastic member 7 abut against the mounting portion 51 and the bottom of the main body portion 2 (for example, the two ends of the elastic member 7 can be fixedly connected to the mounting portion 51 and the bottom of the main body portion 2). The elastic member 7 is configured to be compressed by the mounting portion 51 when the main body portion 2 is moved into position, for example, the main body portion 2 is moved into position, the wheel 5 abuts against the tread of the stairs, and under the action of the gravity of the main body portion 2, the wheel 5 moves a certain distance upward in the second direction Y, so that the mounting portion 51 abuts against the elastic member 7, and the elastic member 7 is compressed under the action of force. The elastic member 7 can have a certain damping effect.

[0099] Of course, in some other example embodiments of the present disclosure, the elastic member 7 can be a plurality of elastic pieces, and the plurality of elastic pieces are arranged between the mounting portion 51 and the bottom of the main body portion 2, one end of the plurality of elastic pieces is fixedly connected to the mounting portion 51, and the other end of the plurality of elastic pieces is fixedly connected to the bottom of the main body portion 2.

[0100] At the moment when the wheel 5 abuts against the tread of the stairs, the abutting force generated by the wheel 5 due to the action of gravitational acceleration is relatively large, so that the wheel 5 moves upward in the second direction Y, thereby causing the mounting portion 51 of the wheel 5 to abut against the first sensor 41, so that the first sensor 41 generates an electrical signal and transmits the electrical signal to the processor. In the state where the wheel 5 does not fall, that is, in the state where the wheel 5 does not abut against the ground or the tread of the stairs, the elastic member 7 remains in an extended state, so that the mounting portion 51 of the wheel 5 does not abut against the first sensor 41.

[0101] In addition, a limiting structure can also be provided to movably arrange the wheel 5 in the second direction Y, and the limiting structure can be a key groove structure extending in the second direction Y arranged between the mounting portion 51 and the connecting shaft 6, the length of the groove in the second direction Y is greater than the length of the key in the second direction Y; the limiting structure can also be a limiting plate provided on the bottom of the main body portion 2, the limiting plate is provided with a through hole, the wheel portion 52 of the wheel 5 can penetrate through the through hole, and the mounting portion 51 of the wheel 5 cannot penetrate through the through hole, and the limiting of the wheel 5 is achieved by the abutment of the mounting portion 51 and the limiting plate.

[0102] Alternatively, the wheels 5 can be universal wheels, i.e. the wheels 5 are able to rotate so that the carrying device is able to turn. Of course, the wheels 5 can also not be universal wheels, and the wheels 5 can only be walking wheels.

[0103] Alternatively, the carrying device can further comprise a second sensor 42, which is arranged on the support part 1, for example, the second sensor 42 can be arranged on the bottom of the support part 1 close to the ground, and the second sensor 42 is configured to sense whether the support part 1 is moved to position; for example, when the support part 1 is moved to position, the second sensor 42 at the bottom thereof abuts against the carrying surface (for example, the ground, the tread of the stairs, etc.), so that the second sensor 42 generates an electrical signal to the processor, and the processor receives the electrical signal to confirm that the support part 1 is moved to position. By arranging the second sensor 42, it can be confirmed whether the support part 1 is moved to position, so that the processor can accurately control the rotation time of the driving mechanism 31 driving the connecting member 32; and avoid driving the main body part 2 to rotate when the support part 1 has not been moved to position, so that the support part 1 cannot well support itself and the main body part 2, thereby avoiding that the carrying device is not well supported and is inclined or even tilted, to ensure the stability of the carrying device.

[0104] The carrying device can further comprise a processor, which can be fixed in the accommodating cavity of the main body part 2. The output terminals of the first sensor 41 and the second sensor 42 are electrically connected to the input terminal of the processor, and the output terminal of the processor is electrically connected to the control terminal of the driver 312, and the processor controls the action of the driver 312 by receiving the trigger signals of the first sensor 41 and the second sensor 42. The driver 312 can comprise a motor, a gear box, etc.

[0105] Based on the same inventive concept, the example embodiments of the present disclosure provide a moving control method of a carrying device, which is suitable for the carrying device of any one of the above-mentioned embodiments. The specific structure of the carrying device has been described in detail above, and thus will not be described here again. Referring to Figure 9 The moving control method can comprise the following steps:

[0106] Step S10, receiving a moving request instruction.

[0107] Step S20, controlling the driving assembly to drive the main body part and the support part to move to position alternately.

[0108] In this example implementation, the processor receives a movement request instruction, which can be sent by a user through a terminal device (e.g., a mobile phone, tablet, etc., with an app installed on it). The movement request instruction can also be sent by the cleaning device 8. For example, when the cleaning device 8 has finished cleaning the first floor and needs to clean the second floor, it can send a movement request instruction. Specifically, the cleaning device 8 can send the movement request instruction via a wireless communication device, and the carrying device can also receive the movement request instruction via a wireless communication device and transmit it to the processor. The movement request instruction can also be sent by a user via a remote control.

[0109] Optionally, the processor controls the drive component 3 to drive the main body 2 and the support part 1 to move into place alternately. This can include: the processor controls the drive component 3 to drive the main body 2 to move into place at a first moment, and at the same time controls the support part 1 to support itself and the main body 2; the processor controls the drive component 3 to drive the support part 1 to move into place at a second moment, and at the same time controls the main body 2 to support itself and the support part 1. The first moment can be earlier than the second moment, that is, the drive component 3 is first controlled to drive the main body 2 to move into place, and then the drive component 3 is controlled to drive the support part 1 to move into place.

[0110] Of course, in some other example embodiments of this disclosure, the first moment may be later than the second moment, that is, first control the drive component 3 to drive the support part 1 to move into place, and at the same time control the main body part 2 to support itself and the support part 1; then control the drive component 3 to drive the main body part 2 to move into place, and at the same time control the support part 1 to support itself and the main body part 2.

[0111] Optionally, refer to Figure 10 As shown, the processor controls the drive assembly 3 to drive the main body 2 and the support 1 to move alternately into place, which may include: step S21, controlling the drive mechanism 31 to drive the connector 32 to rotate and move the main body 2 into place; step S22, controlling the drive mechanism 31 to drive the connector 32 to rotate and move the support 1 into place.

[0112] Reference Figure 7As shown in the figure, the thin solid line is the initial state, the main body 2 of the initial state is not embodied; the dashed line is the intermediate state, the thick solid line is the final state after climbing the stairs, and the arrow is the rotation direction of the connecting rod 321. The connecting rod 321 rotates away from the stairs 9, so that the main body 2 also rotates away from the stairs 9, gradually lifting the main body 2 to the highest point; then, the connecting rod 321 rotates towards the stairs 9, so that the main body 2 also rotates towards the stairs 9, gradually lowering the main body 2 to the tread of the previous step of the stairs 9. Then, the connecting rod 321 continues to rotate away from the stairs 9, so that the support part 1 also rotates away from the stairs 9, gradually lifting the support part 1 to the highest point; then, the connecting rod 321 rotates towards the stairs 9, so that the support part 1 also rotates towards the stairs 9, gradually lowering the support part 1 to the tread of the previous step of the stairs 9. Complete the climbing of the first step of the stairs.

[0113] It should be noted that the stairs 9 are not limited to the stairs between two floors, but also to several steps between two planes of different heights, so the climbing can also be climbing up and down the steps.

[0114] Of course, the carrying device can also be used for non-climbing, for example, the carrying device can be used for walking, crossing obstacles, etc.

[0115] Alternatively, after receiving the moving request instruction, the moving control method can further include: controlling the carrying device to move to abut against the kick surface of the stairs and issuing a signal of abutting against the kick surface, that is, controlling the carrying device to move towards the stairs until the carrying device abuts against the kick surface of the stairs, and determining that the carrying device has the condition for climbing the stairs by the carrying device issuing the signal of abutting against the kick surface, so that the carrying device can climb the stairs.

[0116] Alternatively, with reference to Figure 11 As shown in the figure, after the driving mechanism 31 drives the connecting piece 32 to rotate to drive the main body 2 to move to the position in step S201, the moving control method can further include: step S202, detecting whether the main body 2 moves to the position; specifically, it can be detected by the first sensor 41 arranged at the bottom of the main body 2 close to the ground, for example, when the main body 2 moves to the position, the first sensor 41 at the bottom of the main body 2 abuts against the carrying surface (for example, the ground, the tread of the stairs, etc.), so that the first sensor 41 generates an electrical signal to the processor, and then step S203 is performed, the electrical signal is received, and it is confirmed that the main body 2 moves to the position; the processor controls the driving mechanism 31 to drive the connecting piece 32 to move to the next position, for example, the driving mechanism 31 can be controlled to drive the connecting piece 32 to rotate to drive the support part 1 to move to the position.

[0117] Alternatively, with reference to Figure 11As shown, after the control driving mechanism 31 drives the connecting piece 32 to rotate to move the support part 1 to the position, the movement control method can further include: step S204, detecting whether the support part 1 moves to the position; specifically, the detection can be performed by the second sensor 42 arranged at the bottom of the support part 1 close to the ground, for example, when the support part 1 moves to the position, the second sensor 42 at the bottom of the support part 1 abuts against the bearing surface (for example, the ground, the tread of the stair, etc.), so that the second sensor 42 generates an electrical signal transmitted to the processor, and then step S204 is performed to receive the electrical signal to confirm that the support part 1 moves to the position; then step S201 is performed to control the driving mechanism 31 to drive the connecting piece 32 to move to the position in the next step, for example, the driving mechanism 31 can be controlled to drive the connecting piece 32 to rotate to move the main part 2 to the position. The above steps are repeated to realize the stair climbing function.

[0118] It should be noted that although the steps of the movement control method in the present disclosure are described in a specific order in the accompanying drawings, this does not require or imply that the steps must be performed in this specific order, or that all the steps shown must be performed to achieve the desired result. In addition or alternatively, some steps can be omitted, a plurality of steps can be combined into one step, and / or one step can be divided into a plurality of steps, etc.

[0119] Based on the same inventive concept, the example embodiments of the present disclosure provide a movement control device of a bearing device, the bearing device including a support part, a main part, a driving assembly, and a processor; the driving assembly is connected to the main part and the support part; the movement control device can include a first control module and a second control module; the first control module can be used to respond to a movement request instruction; the second control module can be used to control the driving assembly to drive the main part and the support part to move to the position alternately.

[0120] In some example embodiments of the present disclosure, the second control module can include a first control unit and a second control unit; the first control unit can be used to control the driving assembly to drive the main part to move to the position at a first time, and at the same time control the support part to support itself and the main part; the second control unit can be used to control the driving assembly to drive the support part to move to the position at a second time, and at the same time control the main part to support itself and the support part; the first time is earlier than the second time, or the first time is later than the second time.

[0121] In some example embodiments of the present disclosure, the driving assembly includes a driving mechanism and a connecting piece, the connecting piece is connected to the driving mechanism, the main part and the support part; the second control module can include a third control unit, the third control unit can be used to control the driving mechanism to drive the connecting piece to rotate to move the main part to the position, and to control the driving mechanism to drive the connecting piece to rotate to move the support part to the position.

[0122] In some example embodiments of the present disclosure, the third control unit can include a first detection unit and a first control assembly; the first detection unit can be configured to detect whether the main body part is moved into position; and the first control assembly can be configured to control the driving mechanism to drive the connecting member to rotate and drive the support part to move into position after detecting that the main body part is moved into position.

[0123] In some example embodiments of the present disclosure, the third control unit can further include a second detection unit and a second control assembly; the second detection unit can be configured to detect whether the support part is moved into position; and the second control assembly can be configured to control the driving mechanism to drive the connecting member to rotate and drive the main body part to move into position after detecting that the support part is moved into position.

[0124] In some example embodiments of the present disclosure, the control device can further include a third control module, which can be configured to control the carrying device to move so that one side of the carrying device abuts against the kickboard of the staircase.

[0125] Based on the same inventive concept, the example embodiments of the present disclosure provide a cleaning device, which can include a carrying device and a cleaning device 8. The carrying device can be any of the carrying devices described above, and the specific structure of the carrying device has been described in detail above, and thus will not be described again here. The carrying device has a carrying part 21, and the cleaning device 8 is arranged on the carrying part 21. The carrying part 21 can be a containing cavity, and the cleaning device 8 is arranged in the containing cavity.

[0126] Based on the same inventive concept, the example embodiments of the present disclosure provide a cleaning system, which can include a base station and a cleaning device. The cleaning device can be any of the cleaning devices described above, and the cleaning device 8 can be docked with the base station. The base station can charge, replenish water, and clean the cleaning device 8, or suck out the dirt stored in the cleaning device 8. The carrying device can also be docked with the base station, and the base station can charge and clean the carrying device.

[0127] In some embodiments, a computer-readable storage medium is also provided, on which at least one program code is stored. The at least one program code can be loaded and executed by a processor to implement the moving control method of the carrying device described in the above embodiments.

[0128] In some embodiments, a computer program product is also provided, which includes computer instructions stored in a computer-readable storage medium and adapted to be read and executed by a processor to cause a computer device having the processor to perform the moving control method of the carrying device described in the above embodiments.

[0129] 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 that contains or stores the computer program product, which can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0130] The computer program product can be stored in one or more computer-readable storage media. The computer-readable storage media 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 electronic, magnetic, optical, electromagnetic, infrared, or 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 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.

[0131] The readable signal medium can include a data signal propagated in a baseband or as part of a carrier wave, in which a readable program code is borne. Such a propagated data signal can take on multiple 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 a program for use by or in connection with an instruction execution system, apparatus, or device.

[0132] The program code contained in the computer-readable storage medium can be transmitted in any suitable medium, including but not limited to wireless, wired, optical cable, RF, etc., or any suitable combination thereof.

[0133] The program code for executing the operation of the present application can be written in any combination of one or more programming languages, including object-oriented programs.

[0134] In some embodiments, a bearing device is provided. The bearing device can include, but is not limited to, one or more processors and one or more memories. Among them, at least one program code is stored in one or more memories, and at least one program code can be loaded and executed by one or more processors to implement each step in the mobile control method of the bearing device described in the above embodiments.

[0135] 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).

[0136] 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 specification and examples be considered as exemplary only, with the true scope and spirit of the disclosure being indicated by the following claims.

Claims

1. A load bearing device, characterized by, The bearing device comprises: a support part; a main part comprising a bearing part; a driving assembly connected to the main part and the support part, the driving assembly being configured to drive the main part and the support part to move alternately, the driving assembly comprising a motor.

2. The load bearing device of claim 1, wherein, The driving assembly comprises: a driving mechanism; a connecting piece connected to the driving mechanism, the main part and the support part, the connecting piece being configured to rotate under the driving of the driving mechanism to drive the main part and the support part to move alternately.

3. The load bearing device of claim 2, wherein, The driving mechanism comprises at least two synchronously rotating transmission shafts, and the at least two transmission shafts have at least four driving end portions, and the transmission shafts extend in a first direction.

4. The load bearing device of claim 3, wherein, The support part comprises two support structures, and the two support structures are arranged on opposite sides of the main part in the first direction.

5. The load bearing device of claim 4, wherein, The connecting piece comprises at least four connecting rods, the connecting rods have oppositely arranged first ends and second ends, the at least four first ends are connected to the at least four driving end portions one by one, and the second ends are rotatably connected to the support structures.

6. The load bearing device of claim 5, wherein, In a first state, the first ends of the connecting rods are closer to the ground relative to the second ends.

7. The load bearing device of claim 4, wherein, The driving mechanism is arranged in the main part, and the transmission shafts are rotatably connected to the main part.

8. The load bearing apparatus of claim 1, wherein, The driving assembly comprises: a first driving mechanism fixed to the support part, the first driving mechanism having a first driving shaft, and the first driving shaft being telescopic in a second direction; a second driving mechanism fixed to the first driving shaft, the second driving mechanism having a second driving shaft, and the second driving shaft being telescopic in the first direction, and the main part being connected to the second driving shaft; wherein the first direction is perpendicular to the second direction.

9. The load bearing device of claim 1, wherein, The bearing device further comprises: a first sensor arranged on the main part, the first sensor being configured to sense whether the main part is moved to a position.

10. The load bearing device of claim 9, wherein, The bearing device further comprises: a wheel comprising a mounting part and a wheel part, and the wheel part being rotatably connected to the mounting part.

11. The load bearing device of claim 10, wherein, The first sensor is arranged between the bottom of the main part and the mounting part, and the wheel is movably arranged in a second direction, and the wheel is configured to abut against the first sensor when the main part is moved to a position to trigger the first sensor, and the second direction is perpendicular to the ground.

12. The load bearing apparatus of claim 1, wherein, The bearing device further comprises: a second sensor arranged on the support part, the second sensor being configured to sense whether the support part is moved to a position.

13. A cleaning device characterized by The bearing device comprises: a bearing device, the bearing device being the bearing device according to any one of claims 1 to 12, and the bearing device having a bearing part; a cleaning device arranged on the bearing part.

14. A cleaning system characterized by, The bearing device comprises: a base station; a cleaning device, the cleaning device being the cleaning device according to claim 13, and the bearing device and / or the cleaning device being capable of being docked with the base station.

Images